The Pallet Loading Problem (PLP) in packaging industry usually deals with generating optimal pallet patterns of placing boxes on a rectangular pallet. For a given pattern, the boxes can be placed in different set of sequences each affecting efficiency and productivity of robotic palletisation. Therefore, getting an optimal pallet pattern does not guarantee an optimal pattern placement strategy. Therefore, there is a need to develop a methodology that considers the palletisers physical characteristics and limitations in robotic palletising systems. This paper presents development of a methodology to determine the placement sequence in robotic pallet pattern formation with the aim of improving the operational efficiency in robotic palletisation.