Depalletising

What changes

Almost nothing. The same recipe describes the stack; running it in the depalletising direction takes it apart in reverse order instead of building it.

What does change is the world: a pallet arriving full is a pallet whose contents you did not place, so it may not be exactly where the recipe thinks.

Setting it up

Build the recipe as if you were palletising — see A full palletisation — then choose the direction. Check the first pick of the top layer and the last pick off the bottom: those are the two the geometry is most likely to get wrong.

Running it

The operator chooses the direction beside the recipe; see Choosing a recipe and a target. A target by layer is more useful here than when building — it is how you take two layers off and stop.