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In this paper, we discuss the advantages and the issues of simulation and visual programming of palletizing machines and, in general, palletizing lines, and we illustrate an integrated software tool suite that meets such requirements. The increasing complexity of lines and the variability of product formats require a common machine model for all the tools, together with the independence from visualization to allow software reuse and extendibility. Furthermore, the model should also be able to include palletizing line components external to the machine that are critical for performance and whose model is only partially known.

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