I've got a UR 10 and I'm working on a project that the robot takes 15 parts from an injection mold machine and put them in 3 rows of 5 on a table to cool.  I then take the first part that was placed on the table and put it in an air press to remove the gate.  From there the Robot places the parts in a fixture.  It then grabs the 16th part from the injection mold machine and places it on the table where the 1st one was removed.  The UR then grabs the 2nd part on the table that was cooling and places it in the air press to remove the gate.  This sequence goes on, the UR takes the parts from the injection mold machine and places them to cool and grabs the next one in the pattern etc...    Is there a way i can make a paletizing sequence using variables, or some other simple way to paletize and unpaletize these 15 parts with out having to input a fixed position for all 15 placement and then 15 more fixed positions for retrieving them again?  Thanks for the help...  

@Kevin I recommend you look at the video that @David_Gariepy posted but if you are still looking for a way to do this with variables the answer is definitely.  

The simplest way is to teach one corner of the pallet as a feature point, that way you have a single point of reference for the entire pallet, both loading and unloading.  Then you simply use some pose math to adjust the waypoint based on row and column offsets such as this, pseudocode below

var rows = 3
var columns = 5
var rowOffset = .15 (meters)
var columnOffset = .15 (meters)
var i=0 , j = 0

#move to some area near the pallet

#this would be your code for both unloading and loading, you would loop through this once to load up everything and then you would loop through the unload sequence and then the load sequence together as you want to unload a position and then fill it with a newly molded part

loop i < rows
    loop j < columns
        var pickPoint = pose_trans(var_myPallet, p[j*columnOffset, i* rowOffset,0,0,0,0]) 
        var overPickPoint = pose_trans(pickPoint, p[0,0,.050,0,0,0])
        movel(overPickPoint)
        movel(pickPoint)
        Do Something to Pick
        movel(overPickPoint)
        j=j+1
    end
    i=i+1
    j=0
end

Thanks so much!!  Very helpful. Works perfectly.  Appreciate the help.  

You're welcome, glad it helped!