# Other considerations

# Robot behavior

• Robot speed. During automatic operation mode, the speed of the robot movement will be controlled directly by the PLC, by means of the data sent by the communication channel to the robot. It can be adjusted by the operator. For a safe operation of the system in manual mode, the PLC must automatically reduce the robot operating speed, according to the regulations in force. Without allowing its modification until it returns to automatic mode.

After the application of any change in the installation sequence, it should be operated at low speed to verify correct operation with the inserted parameters.

• Forced pallet exit. When the pallet is removed from the palletizing station, either manually or automatically, and is at a safe distance to avoid potential hazards or collisions, the PLC shall perform the following actions:

  1. Clear the station's internal data (see explanatory section of the automatic mode).

  2. Force the movement of the robot to perform layer 1 and pick 1, instead of the one that would correspond to it in the cycle (see explanatory section of the automatic mode).

• Forced output by maximum number of layers. This functionality can be managed automatically, in case the pallet is required to end once a certain layer value of the mosaic is reached, and this being lower than the total layers.
  
  To do this, the end of production functionality must be used (see pickup management explanatory section), once the current layer value (Current Layer) is the required one, and when the robot activates the Last Layer Movement signal, indicating that it is performing the last movement of the layer. Once the Pallet Finished signal is received, proceed with the steps in the Forced Pallet Exit section of this section.

# Other considerations in the installation

• Transport and light/acoustic indicators . Product or pallet transports that may be in the installation will be managed independently by the PLC, without intervention of the robot. As well as the status and safety signals of the system.

• Pallet exit permits. The presence of laser safety barriers on the pallet exit path requires the management of the exit permits through them. If the barriers are not deactivated, when the pallet exits the station, it will bypass the safety devices because the pallet will be mistaken for an intrusion in the palletizing area.

• Security elements. Both the cell access permissions and the management of the security elements must be carried out by competent technical personnel, and in compliance with current regulations. Under no circumstances will any of these aspects be managed by the code generated by Wepall.