# Generic requirements of a palletizing cell

# Robot

The robot must be able to reach all the required points (Pick - Pack - Home, ...).
The robot must be able to move the load to be palletized (gripper + load + center of gravity displacement).
The controller must have a communication protocol with the PLC and configured with an input-output length validated by Wepall mapping (min 256 I/O - max. 512 I/O depending on the characteristics required in the installation).
The robot must NOT have plans/frameworks configured.
The tool must be correctly configured according to the gripper you have installed.

The gripper installed on the robot must operate with the robot flange parallel to the floor to pick up the product and place it on the pallet.
The gripper must be controlled by a PLC. In case you want it to be controlled by the robot, please consult Wepall technical support.
The morphology of the claw must be contemplated with the standard models defined by wepall.

The PLC will be in charge of managing all the elements of the cell (transports, gripper, etc).
The PLC must communicate with the robot, and interact with it through the communication channel.
It is recommended that the system has a display (HMI) to allow the operator to interact between the PLC and the robot.

A recipe is formed by the route defined by: Product - Pickup - Gripper - Robot - Palletizing station - Pallet.
To ensure the correct repeatability of the mosaic, and depending on the type of palletizing station, it is advisable to install the necessary sensors and locking mechanisms to position the pallet.