Hello, I would like to achieve the goal of AGV for "Take one and put down the other" of multi-variety machine tools (the same machine tool can process multiple parts, but they are not processed simultaneously). How can this be accomplished? 
At present, I can achieve the goal of "one pick-up and one placement" for AGVs in processing machines of a single type.

Operation method（Utilizing "Gantt Chart"）

• AGV(capacity:1/2) - Task selection mode: The nearest pending task of resources
• Machine Gantt Chart: Transform（Part 1—Part2）---> Load 2（Part 1） ---> Unload 1(Part2) --->Unload 2（Part 1） --->buffer（Part 1）--->Transform（Part 1—Part2）---> ...circulation
• Machine connection buffer configuration: Workpieces for unload 2

Detailed operation steps can be found in the video:

This is the original document:

A little pity.Unable to meet the requirements of flexible manufacturing for machine tools.

Meanwhile, I also tried this method,but I feel this method is not very reliable, especially when there are multiple machines in the factory.

Operation method（Utilizing logical control）

• AGV - Task selection mode: The nearest pending task of the resources
• Machine tool - transform1(When the activity ends)
   SG_MachineActiveT1=1
• Gantt chart of the connection machine for the machine : Load 1 - Transfer 1 (same type of workpiece)(At the start of the operation)
   if(SG_MachineActiveT1 == 1)
   {
   S_StartActivity=false
   }
   else
   {    
   S_StartActivity=true
   }
• AGV Decision Zone - Unload( At the beginning of the activity)
   SG_MachineActiveT1 = -1
   U_T1\\S_StartActivity=true

Detailed operation steps can be found in the video:

This is the original document:

Thank you for your help!