> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/your-captic-system/plug-and-play-products/robotics/integrating-your-plc.md).

# Integrating your PLC

The easiest way to integrate a Captic Inspection system with any industrial machine is by using one of our default **PLC integrations**. These integrations allow you to program the robot based on PLC coordinates received from Captic.

| Brand          | Status      |
| -------------- | ----------- |
| Siemens PLC    | Available   |
| Beckhoff PLC   | Available   |
| Mitsubishi PLC | Available   |
| Rockwell PLC   | Coming Soon |

{% hint style="info" %}
We’re continuously adding support for more PLC brands. If you use a different PLC, **let us know** — we’re happy to make it work for you!
{% endhint %}

## Configuration steps <a href="#configuration-steps" id="configuration-steps"></a>

* **Navigate to PLC Settings**:
  * Go to **Configuration > PLC Settings**.
* **Set the PLC Parameters**:
  * **Type**: Select the brand of your PLC (e.g., Siemens).
  * **IP**: Enter the IP address of your PLC.

<figure><img src="https://captic-2.gitbook.io/~gitbook/image?url=https%3A%2F%2F482575286-files.gitbook.io%2F%7E%2Ffiles%2Fv0%2Fb%2Fgitbook-x-prod.appspot.com%2Fo%2Fspaces%252F22HCD2cZG8ud6cPRBzVQ%252Fuploads%252FSARETKSWDjCEOdEmC2kC%252Fimage.png%3Falt%3Dmedia%26token%3D79ac64d8-c406-4afb-a4a9-efc1f12777ab&#x26;width=768&#x26;dpr=4&#x26;quality=100&#x26;sign=ee412178&#x26;sv=2" alt=""><figcaption></figcaption></figure>

## Siemens PLC Requirements <a href="#siemens-plc-requirements" id="siemens-plc-requirements"></a>

Ensure your Siemens PLC follows this layout:

* **Data Sent by Captic**:
  * **X, Y, Z Coordinates**
  * **Rotations** (around X, Y, Z)
  * **Object Type**
  * **CapticCounter**: Incremented with each communication
  * **CapticError**: For error communication
* **What We Expect from the PLC**:
  * **Acknowledgment**: Read `CapticCounter` and duplicate the value in `PLCCounter`.
  * **Error Handling**: Communicate errors via `PLCError`.

<figure><img src="https://captic-2.gitbook.io/~gitbook/image?url=https%3A%2F%2F482575286-files.gitbook.io%2F%7E%2Ffiles%2Fv0%2Fb%2Fgitbook-x-prod.appspot.com%2Fo%2Fspaces%252F22HCD2cZG8ud6cPRBzVQ%252Fuploads%252Fsb2c8hGGahBP38EXpdAH%252Fimage.png%3Falt%3Dmedia%26token%3D5916647c-dac8-4a40-84f6-3ca1fe59cb26&#x26;width=768&#x26;dpr=4&#x26;quality=100&#x26;sign=e713eca7&#x26;sv=2" alt=""><figcaption></figcaption></figure>