HYBRIDIn Review
PLC / IO Handshake
Digital IO handshake plan between the robot and the CNC/PLC. Agile IO is addressed by group + signal name (e.g. plc/di0), not a numeric index — confirm real names at commissioning.
Inputs (robot ← cell) 6
| Signal | Type | Idx |
|---|---|---|
| CNC_READY | DIGITAL | 0 |
| CNC_DOOR_OPEN | DIGITAL | 1 |
| CNC_CLAMP_OPEN | DIGITAL | 2 |
| CNC_CLAMP_CLOSED | DIGITAL | 3 |
| MACHINING_COMPLETE | DIGITAL | 4 |
| PART_PRESENT | DIGITAL | 5 |
Outputs (robot → cell) 6
| Signal | Type | Idx |
|---|---|---|
| ROBOT_LOADING | DIGITAL | 0 |
| ROBOT_UNLOADING | DIGITAL | 1 |
| ROBOT_READY | DIGITAL | 2 |
| ROBOT_FAULT | DIGITAL | 3 |
| GRIPPER_OPEN | DIGITAL | 4 |
| GRIPPER_CLOSE | DIGITAL | 5 |