Abstract: A system and method therefor for use with a conveyor carrying cartons inbound to a printing area and outbound away from the printing area. The system has a printer located in the printing area for printing documents to be inserted into corresponding cartons on the conveyor and a controller for cooperatively controlling operations of the conveyor and the printer based on the positions of the cartons relative to the printer. The controller includes a staging processor for determining when to cause the conveyor to carry the cartons inbound past the printer and when to cause the printer to print the documents. In operation, the controller queues the documents for printing, monitors outbound capacity of the conveyor based on detected positions of the cartons, releases a group of the cartons inbound on the conveyor in response to the outbound capacity reaching a predetermined threshold, and initiates printing the queued documents corresponding to the cartons in the group when the group of the cartons is released.