How to manage dual conveyor setup programmation

DUAL conveyor set up and wait position

1.0 Manage the 2 conveyors

For now, to manage the 2 conveyor inputs in the structure, we recommend checking the box sensor outside the palletizing node and use if condition to enter node right pallet or node left pallet.

Here an example with 2 nodes and a final condition when no sensor is triggered : 

2.1- Move back to a waiting position only if no sensor is triggered as fast as possible

Here is an example of how to program to perform a dual conveyor setup as fast as possible using script rq_execute_box_trajectory script ( more info on this script in script document enclosed with urcaps download): 

2.2 Moving back to a waiting position only if no sensor is triggered 

You use the same structure as above, but instead of using a script command for left and right, you use the move around feature. This simplifies programmation and allows movement in the collision model.