PalletTech program

PalletTech is Kuka product (yes, this is a paid option and it also requires editor - another paid option).

alternatively you can create your own...

that depends on what works for you...

i would start with basic legwork - planing:

a) talk to all parties and determine specs (number of "stations" robot must serve, product varieties, layer patterns etc.)
b) select robot (reach, cycle-time and load study,...)
c) determine safety requirements
d) determine user interaction requirements

proper robot commissioning should be the next step:

a) make schematics (someone will need to troubleshoot this some day)
b) do proper power-up and safety configuration
c) robot setup (tools, bases, loads, I/O or fieldbus configuration, naming signals etc.)
d) wire everything (part present sensor, pallet present, any buttons and interlocks, EOAT)
e) setup workspaces, exclusion zones, etc (in case something goes wrong, we don't want to crash) etc.

when all of the above is done, i would start thinking about programming:

a) talk to all parties and determine specs (number of "stations" robot must serve, product varieties, layer patterns etc.)
b) define data structures (enum, struc,...) and initialize them (some data must be retentive but most will be recalculated each time)
c) write subs (determine priorities, check if ok to continue, pick from "A", place on "B", log data, send notificaitons ... )
d) decide on process workflow (how to start, stop, pause, resume, what are interactions with operator, how to display messages and prompts, any recovery modes, etc)
e) write main program (actually use all above)
f) test...

many things can be added (or removed) based on your application needs.

You'll want to read the section of the manual on how Base frames work in detail.

For a VERY bare-bones example, you can do this:

(in the DAT file)
DECL REAL XIncrement = 500 ; 500mm per item along X axis
DECL REAL YIncrement = 1000; 1000mm per item along Y axis
DECL REAL ZIncrement = 250 ; each item is 250mm tall
DECL INT XTotal = 10 ; stack pattern is 10 items across in X
DECL INT YTotal = 5 ; stack pattern is 5 items across in Y
DECL INT ZTotal = 7 ; Stack pattern is 7 items high
(/DAT file)
(in the SRC File)
DECL INT XCounter, YCounter, ZCounter
DECL FRAME Shift
$BASE = BASE_DATA[1] ; original base, with 0,0,0 set at bottom front left corner of stack, Z straight up, and X and Y aligned with pallet edges
FOR XCounter = 0 TO XTotal
  FOR YCOunter = 0 TO YTotal
    FOR ZCounter = 0 TO ZTotal
      Shift = $NULLFRAME ; init to 0,0,0,0,0,0
      Shift.X = XCounter * XIncrement
      Shift.Y = YCounter * YIncrement
      Shift.Z = ZCounter * ZIncrement
      $BASE = $BASE_DATA[1] ; Init to "corner" base
      $BASE = $BASE : Shift ; shift base by dimensions of one item and/or layer.  When all shifts are 0, robot lays item in first "starter corner" position
      PTP Above_Drop ; teach this position above the "starter corner", when the Counter values are all 0
      LIN At_Drop ; teach this position exactly at the dropoff position of the "start corner", with all the counter values at 0
      ; insert open-gripper code here
      LIN Above_Drop ; re-use the point, move straight up to it
      $BASE = BASE_DATA[1]
      ; goto pickup position here
    ENDFOR
  ENDFOR
ENDFOR

That will give you the very barest bones of a simple 3D palletizing pattern, controlled by the Increment and Total values.
(/SRC File)

thanks !!
that will work for me.