Do normall commissioning as usual:
> Configure fieldbusses and IO
> Configure safety
> Adapt soft limits as appropriate
> Measure tools and bases
> Setup loads
Decide on program architecture based on process and recovery requirements.
For example palletizer application process may require use slip sheets, palets, conveyors, custom tooling (segmented pick and place). Each station (conveyor, pallet, stack of slipsheets etc.) will need a base. Recovery may need to start/stop/resume/cancel process at any time. Details matter. For example one may consider need for completing current pallet, other may say just take the partially complete pallet out and start with new empty system. An example of this is after planned or accidental power outage. So one need to plan for correctly declared variables - it is not just scope but also life to be considered.
For each station there will be need for at least one pick or place program. There may be need to determine current situation by determining height of products (pallets etc.). depending on available sensing option this may be more or less complicated. Certain things can be measured using statically mounted cameras or distance sensor, other may need robot guided sensors and use of interrupts.
You will also need a way to configure each layer since products are usually elongated (bags, boxes etc) so placement in different orientations is used to interlock them. this makes completed pallet more stable so products are not falling off.
Normally such patterns are stored in suitable record (an array of appropriate structure).
And every pelletizing system i have worked with was always geared for high throughput. This means programmer must have very clear knowledge of advance run pointer...
The best way to learn programming is to take suitable training courses. KUKA offers Programming 1,2,3. For pelletizing application i would strongly suggest taking at least the first two courses.
the first one teaches about basic commissioning and ILF programming.
second course covers expert programming (without ILF), use of variables including structures and one of the exercises is a very simple palletizing program (only one layer, no orientation change etc.).