Automatic Palletiser

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I have built a board stacker and need to program a Omron PLC.

The stacker comprises of a roller chain that carries the board back onto a stop. The roller chain then carries on moving under the board until the board falls onto a lift platform. The platform then inches down to allow the rollers to move forward and take the next board back.
All is repeated until the pallet is full.

this is done through a Omron - CPM1A-30CDR-D-V1

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