simplecode

Hi everyone, I'm newbie at here.I need to help.Can you share your experience to me? the scheme is as at picture. https://imgyukle.com/i/R4JDWM the robot is palletizing at conveyor 1 and then send to me palletcompletedbit. After, ı must move this pallet to conveyor 2 with plc code.Also my customer want to run conveyors manually via buttons. My code is :   timer_conv2empty(in:=,pt:=t#20s); CASE MachineMode OF Man: StateAuto:=0; StateConv1:=0; StateConv2:=0; IF AlarmStatus THEN StateMan:=99; END_IF IF StateMan=0 AND bttnMode_RTRIG.Q THEN MachineMode:=Auto; END_IF CASE StateMan OF 0: (*Manual control*) IF bttnConveyor1 THEN IF NOT in_Sensor1 THEN out_Conveyor1:=TRUE; ELSE out_Conveyor1:=FALSE; END_IF END_IF IF bttnConveyor2 THEN IF NOT in_Sensor2 THEN out_Conveyor2:=TRUE; ELSE out_Conveyor2:=FALSE; END_IF END_IF IF bttnConveyorTransfer THEN IF NOT in_Sensor2 THEN out_Conveyor1:=TRUE; out_Conveyor2:=TRUE; ELSE out_Conveyor1:=FALSE; out_Conveyor2:=FALSE; END_IF END_IF IF NOT bttnConveyor1 AND NOT bttnConveyorTransfer THEN out_Conveyor1:=FALSE; END_IF IF NOT bttnConveyor2 AND NOT bttnConveyorTransfer THEN out_Conveyor2:=FALSE; END_IF 99: (*Alarm*) out_Conveyor1:=FALSE; out_Conveyor2:=FALSE; IF NOT AlarmStatus THEN StateMan:=0; END_IF END_IF END_CASE; Auto: StateMan:=0; IF AlarmStatus THEN StateMan:=99; END_IF IF (StateAuto=0 OR StateAuto=99) AND bttnMode_RTRIG.Q THEN MachineMode:=Man; END_IF CASE StateAuto OF 0: (*Stop*) out_Conveyor1:=FALSE; out_Conveyor2:=FALSE; IF in_StartButton_RTRIG.Q THEN StateAuto:=1; END_IF 1: (*Running*) IF in_StopButton_RTRIG.Q THEN StateAuto:=0; END_IF CASE StateConv1 OF 0: (*initial*) out_Conveyor1:=FALSE; IF NOT in_Sensor1 THEN StateConv1:=1; ELSE StateConv1:=2; END_IF 1: (*conveyor empty*) IF palletcompletedbit THEN out_Conveyor1:=TRUE; ELSE out_Conveyor1:=FALSE; END_IF IF out_Conveyor1 AND in_Sensor1 THEN StateConv1:=2; END_IF 2: (*conveyor loaded*) IF StateConv2=1 THEN out_Conveyor1:=TRUE; ELSE out_Conveyor1:=FALSE; END_IF IF NOT in_Sensor1 AND in_Sensor2 THEN StateConv1:=1; END_IF END_CASE; CASE StateConv2 OF 0: (*initial*) out_Conveyor2:=FALSE; IF NOT in_Sensor2 THEN StateConv2:=1; ELSE StateConv2:=2; END_IF 1: (*conveyor empty*) IF StateConv2=2 THEN out_Conveyor2:=TRUE; ELSE out_Conveyor2:=FALSE; END_IF IF out_Conveyor2 AND in_Sensor2 THEN StateConv2:=2; END_IF 2: (*conveyor loaded*) timer_conv2empty.IN:=NOT in_Sensor2 ; IF timer_conv2empty.Q THEN StateConv2:=1; END_IF END_CASE; 99: (*Alarm*) out_Conveyor1:=FALSE; out_Conveyor2:=FALSE; IF NOT AlarmStatus THEN StateAuto:=0; END_IF END_CASE; END_CASE; What should I do if the pallet stays between the sensors?What should I do if the sensors are triggered incorrectly?thank you for reply