Hi everyone,
I am newbie at here.Thanks to your post,I programmed several times KUKA robot for palletizing application.Now, I want to make robot movements smoother.
First of all, is it possible to program a KUKA robot like in this video?

nVenia - High Speed Industrial Robotic Palletizer
See some of the unique applications of our nVenia HAMER Brand Industrial palletizers. https://www.nvenia.com/equipment/hamer/
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Robot movement points are in a loop.
And all my moves are PTP type.
I create the coordinates of the bags at the beginning of the loop.
I also use SYNOUT for valves. I use WAIT FOR and CONTINUOUS for piston sensors.
I also control approximation with $ADVANCE=3 and $STOP APROX=TRUE.
However, I could not make a program like in the video.