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The track the depot is to put the cart on must be a straight track. I put one right in front of the depot facing the depot but it should also work with a track that is perpendicular to the depot direction.
The hopper must be at the same level as the track and depot for it to be identified and it should be set to remove only. Put your carts in there and it should put them on the track. There is a small delay between each cart being put on the track so if you load it up it'll take some time.