A KUKA palletizing program usually combines nested loops, calculated place positions, and safe approach logic. This example shows the basic structure engineers build before adding frame setup, collision-safe moves, and production-specific adjustments.
A palletizing program calculates X/Y offsets for rows and columns and stacks layers vertically.
FOR layer = 1 TO 5
FOR row = 1 TO 4
FOR col = 1 TO 3
PLACE_POS.X = PALLET_BASE.X + (col * BOX_LENGTH)
PLACE_POS.Y = PALLET_BASE.Y + (row * BOX_WIDTH)
PLACE_POS.Z = PALLET_BASE.Z + (layer * BOX_HEIGHT)
ENDFOR
ENDFOR
ENDFOR