# Description of the Plc-Robot signals

This mapping corresponds to the standard communications mapping established by Wepall for communication between the robot and the PLC. This mapping is editable and adaptable to the specific needs of the installation.

This manual indicates only the inputs-outputs of the robot. For the corresponding PLC address, please refer to the mapping excel file.

Control to the clamp must be via the PLC. Refer to the PLC integration manual for more information.

# Mapping structure

The mapping is segmented into the following signal groups.

# Tool

Set of signals that encompass the various signals of the robot hand.

# Robot

Robot setup and start signals. These are specific to each robot manufacturer and require a specific startup sequence.

# User

Area for interaction with the user.

# Pallet Magazine

Management signals used for the interaction with a pallet warehouse. The robot is in charge of positioning each new pallet in the palletizing station.

# Interlayer Dispenser

Signals required for the integration of a interlayer dispensing system.

# Height Pallet Sensor

Pallet height value provided by the PLC after processing, to evaluate the optimal drop height of the product on the pallet.

# Measure sensor

Sonar signal installed on the robot hand for increased cardboard/pallet picking speed.

# Bag Offset

Manual pallet height adjustment value.

# Pickup

Pickup management between PLC and robot.

# Pallet Station

Pallet station control signals. The pallet can be positioned automatically or by robot.

# Manual Robot

Signals for robot movement while in manual mode, by the user.

# Product Size

Dimensions values of the product to be palletized.