How to Program a Dual Conveyor Setup

Context
This article helps you configure a dual conveyor layout using sensor-based conditions. It covers selecting the correct palletizing node and returning to a wait position when neither conveyor is ready.

1.0 Configure Conveyor Selection

The concept is to use the box sensors outside the palletizing node and implement an if condition to direct the robot to either the Left or Right pallet node.

• In each node uncheck the box presence

• Use sensor logic outside the palletizing node to check sensor status.

• Based on sensor input:

  • If "A" sensor active → go to Left Pallet node.

  • If "B" sensor active → go to Right Pallet node.

  • If no sensor is active → proceed to wait position.

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

2. Wait Position Handling (No Sensor Triggered)

2.1- 2.1 Using rq_execute_box_trajectory for Fast Response

To maximize speed, trigger the robot to return to a waiting position only when no sensor is active. Use the rq_execute_box_trajectory script function. ( more info on this script in script document enclosed with Urcaps download): 

 

The key point is to use a variable named alreadyBack to prevent the program from looping infinitely.

example:

Details on TCP comparison: 

Here you can find a link to the program used : https://share.robotiq.com/public/e1f4d

 

2.2 Using “Move Around” Instead of Script

Alternatively, for simpler programming and compatibility with the collision model, use the Move Around feature in the same conditional structure. This avoids scripting while retaining safe movement.