help with program pallettizing

Maybe you should add which robot it is

Quote from marino_desantis

I need an example of a palletizing program with storage: -first piece deposited at 0 degrees -second deposited piece rotated 90 degrees

What about the 3rd piece? The 4th? The 97th? Palletizing can be very simple, or insanely complex. You need to provide much more detail before anyone can provide a useful answer.

It would also be very helpful to know which robot you're using.

Is there a reason you're putting your message into Code frames instead of typing normally?

Quote from marino_desantis

the second rotated 90 degrees with respect to rx, the third at 0 degrees, the fourth at 90 degrees and so on until the end

Is X axis vertical? What is it the axis of? The Base? The Tool?

Is this a linear tower? There's no lateral offset between these objects?

If your TCP is centered on the object the robot is carrying, then simply programming two points -- one at 0deg, one at 90deg but one object higher, then performing a X axis offset every 2 parts would probably be sufficient.

Quote from marino_desantis

it's a hyundai hs220 with hi5a controller

That I can't help with much, having no knowledge of how Hyundai robots perform offset math.

(Grid pitch 100mm)

' Get current stack quantity from PLC
V10% = GI4

' Calculate Indexing
LV10% = (V10% MOD 4)

' Layer to Layer Offset (Height 300mm)
LV13% = (V10 / 4) * 300

' Define Stack pattern by Index
IF LV10% = 0 THEN
  LV11% = 0 ' X Offset
  LV12% = 0 ' Y Offset
  LV16% = 0 ' Rz Offset
ElseIF LV10% = 1 THEN
  LV11% = -100
  LV12% = 500
  LV16% = 90
ElseIF LV10% = 2 THEN
  LV11% = 500
  LV12% = 600
  LV16% = -180
ElseIF LV10% = 3 THEN
  LV11% = 500
  LV12% = 100
  LV16% = -90
EndIF

' Create Local Offset with Robot Base frame
LR10 = (LV11%, LV12%, LV13%, 0, 0, LV16%)R

' RefPos(P10) & Offset(LR10) Mix
LP1 = P10 + LR10

LR11 = (0, 0, 200, 0, 0, 0)R ' Offset for Approach
LR12 = (0, 0, 50, 0, 0, 0)R ' Offset for Approach

S1 MOVE P, LP1 + LR1, S=50%, A=3, T=0
S2 MOVE L, LP1 + LR2, S=20%, A=1, T=0
S3 MOVE L, LP1, S=5%, A=0, T=0
' Gripper Do Signal Control
S4 MOVE L, LP1 + LR2, S=10%, A=1, T=0
S5 MOVE L, LP1 + LR1, S=50%, A=3, T=0

I'm not sure this code working.
anyway, Palletize key point is ROW, COLUMN, LAYER value assign to Offset Register.