Conveyor behind palletizer

Context

Yes, it is possible to pick boxes on a conveyor located behind the palletizer on a PE series. 

Knowledge

In the following configuration, one conveyor is located in front of the palletizer and the second one is located behind it. The right pallet is rotated 90 degree to allow pallet removal from the right.

You can see a quick animation of the simulation in the folder here  as well as the program i used

I limited the base joint to improve trajectory logic so the robot won't move in the low left of the image and will always do the bigger rotation while it does not have a box. Otherwise the robot would make unnecessary rotations.