Oh I see, thank you nonetheless! I ended up making up a program in which I can determine how many pieces there are in the 3 axys (X Y Z) for the pallet and that you can determine the distance between pieces on all 3 axys as well. In any case I'll be attaching its code here. In this case you'd need to save PR2 as the first point of your pallet, and if its a linear pallet, it should work just fine.
Code:
1: UFRAME_NUM=3 ;
2: UTOOL_NUM=1 ;
3: ;
4: ;
5: PR[1]=LPOS ;
6: PR[1]=PR[1]-PR[1] ;
7: IF (R[1]=3),R[2]=(R[2]+1) ;
8: IF (R[2]=3),R[3]=(R[3]+1) ;
9: IF (R[1]=3),R[1]=(0) ;
10: IF (R[2]=3),R[2]=(0) ;
11: IF (R[3]=3),R[3]=(0) ;
12: R[4]=R[1]*R[7] ;
13: PR[1,1]=PR[1,1]+R[4] ;
14: R[5]=R[2]*R[8] ;
15: PR[1,2]=PR[1,2]+R[5] ;
16: R[6]=R[3]*R[9] ;
17: PR[1,3]=PR[1,3]+R[6] ;
18: PR[1,3]=PR[1,3]+55 ;
19: ;
20: ;
21:J PR[1] 100% FINE Offset,PR[2] ;
22: PR[1,3]=PR[1,3]-55 ;
23:J PR[1] 100% FINE Offset,PR[2] ;
24: CALL OPEN_GRIPPER ;
25: PR[1,3]=PR[1,3]+55 ;
26:J PR[1] 100% FINE Offset,PR[2] ;
27: R[1]=R[1]+1 ;