Number one is what is your required payload? Collaborative robots have lower payloads than industrial robots do.
Doosan has a heavy range of collaborative robots (cobots) which are called H-Series, these are the most powerful cobot in the market, with an outstanding payload of 25kgs. Yaskawa Motoman has a wide range of industrial robots with maximum payloads and reaches, therefore payload is not often a problem for industrial robot palletising. In summary, if you are trying to lift a payload that is greater than 25kgs, you would need to consider looking at an industrial robot palletiser solution rather than a collaborative one.
The next consideration is reach, how high do you need to stack your boxes on the pallet? The H Series models from Doosan have a reach of 1500mm and 1700mm which is outstanding flexibility for the powerful payload of 20kg and 25kg! Once your required reach is above the maximum reach for the collaborative robot arm, it may be difficult for a collaborative robot to meet your needs. In this case, industrial robots have larger reaches and would likely suit the application better.