You must be in the Web Application Development perspective to open the Palette. By default, the Palette is available from the Fast View shortcut bar, but if you close the Palette, you can reopen it as a view and, if you want, convert it to a Fast View.
To open the Palette:
Select Window|Show View|Palette from the main menu bar of the Web Application Development perspective.
The Palette displays in your perspective.
Converting a Fast View to a View
Web Application Development Palette
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