# Robot group

As these signals are specific to each robot model, for additional information on their management and configuration, please refer to the information provided by the manufacturer.

# Inputs

# Robot system signals

Plc to Robot	Abb	Fanuc	Kuka
IN 33	Motors_On	Imstp	Pgno_FBit
IN 34	Motors_On_And_Start	Hold	Pgno_SBit
IN 35	Motors_Off	Sfspd	Pgno_TBit
IN 36	Load_And_Start	Cicle_Stop	Pgno_4Bit
IN 37	Interrupt	Faul_Reset	Pgno_5Bit
IN 38	Start	Start	Pgno_6Bit
IN 39	PP_To_Main	In_Home	Pgno_7Bit
IN 40	Stop	Enable	Pgno_8Bit
IN 41	Quick_Stop	Rsr1_Pns1	Pgno_Parity
IN 42	Soft_Stop	Rsr2_Pns2	Pgno_Valid
IN 43	Stop_At_End_Of_Cycle	Rsr3_Pns3	Move_Enable
IN 44	Stop_At_End_Of_Instruction	Rsr4_Pns4	Conf_Mess
IN 45	Reset_Execution_Error_Signal	Rsr5_Pns5	Drives_On
IN 46	Reset_Emergency_Stop	Rsr6_Pns6	Drives_Off
IN 47	System_Restart	Rsr7_Pns7	Chck_Movea
IN 48	Load	Rsr8_Pns8	I_O_Act
IN 49	Auto	Pns_Strobe	Ext_Start
IN 50		Prod_Start

# Manual/Automatic (IN 53)

Signal indicating to the robot which mode is activated, manual (0) or automatic (1).

# Go to Home (IN 54)

Signal that with disabled line and in automatic mode, moves the robot to the home position.

# Change mode (IN 55)

Interrupt signal that will indicate to the robot that there has been a change in the Manual/Automatic (IN 53) signal.

# Go to maintenance area (IN 56)

Signal that, with line disabled and in automatic mode, moves the robot to the maintenance area.

# Load Data (IN 51)

Signal that enables the robot to load data into memory for the selected recipe.

# Cell enable (Global) (IN 52)

This signal indicates to the robot that it is enabled to start the palletizing process, it is a global value.

# Outputs

# Robot system signals

Plc to Robot	Abb	Fanuc	Kuka
OUT 33	Auto_On	Cmd_Enable	Rc_Rdy1
OUT 34	Simulated_IO	System_Ready	Alarm_Stop
OUT 35	Cycle_On	Prg_Runing	User_Saf
OUT 36	Emergency_Stop	Prg_Pause	Peri_Rdy
OUT 37	Execution_Error	Motion_hold	Rob_Cal
OUT 38	Motors_Off_State	Faul	I_O_Act_Conf
OUT 39	Motors_On_State	At_Petch	Stopmess
OUT 40	Motors_Off	Tp_Enable	Intestop
OUT 41	Motors_On	Batt_Alarm	Pro_Act
OUT 42	Motion_Supervision_On	Busy	Pgno_Req
OUT 43	Motion_Supervision_Triggered	Ack1_Sn01	Appl_Run
OUT 44	Power_Fail_Error	Ack2_Sn02	Pro_Move
OUT 45	Path_Return_Region_Error	Ack3_Sn03	In_Home
OUT 46	Runchain_Ok	Ack4_Sn04	On_Path
OUT 47	Mechanical_Uni_activated	Ack5_Sn05	Near_Posret
OUT 48	TaskExecuting	Ack6_Sn06	Rob_Stopped
OUT 49		Ack7_Sn07	Ext
OUT 50		Ack8_Sn08	Err_To_PLC
OUT 51		Snack	T1
OUT 52		Reserved

# In Home (OUT 54)

Signal indicating that the robot is in the Home position.

# In mantenance (OUT 56)

Signal indicating that the robot is in the maintenance position.

# Manual Robot Group

Signals to manually move the robot in its Cartesian coordinates. Requires the PLC to be in manual mode.

# Robot Manual +X (IN 57)

Signal for manual movement of the robot gripper in the X positive axis.

# Manual Robot -X (IN 58)

Signal for manual movement of the robot gripper in axis X negative.

# Manual Robot +Y (IN 59)

Signal for manual movement of the robot gripper in the positive Y axis.

# Manual Robot -Y (IN 60)

Signal for manual movement of the robot gripper in axis Y negative.

# Robot Manual +Z (IN 61)

Signal for manual movement of the robot gripper in the positive Z axis.

# Manual Robot -Z (IN 62)

Signal for manual movement of the robot gripper in axis Z negative.

# Robot Manual +R (IN 63)

Signal for manual rotation of the robot gripper in axis R positive.

# Robot Manual -R (IN 64)

Signal for manual rotation of the robot gripper in axis R negative.