This application is responsable for controlling the robotic arm R1 (scorbot ER-VII). It runs in the Master PC01, so it doesn't have direct access to R1. Its tasks are fulfilled by sending instructions via a TCP connection to the application Robot Arm Operator Slave (RAOS) in Slave PC06, which has direct control (RS232) of R1. When AGV1 (green AGV - GOFER) arrives at Unload Station 1, the SCADA application sends a Windows Message saying that the process of unloadign the buffer may start. In order to achive this the application performes some tasks: first asks RAOS for a snapshot of the AGV1, and uses that snapshot to locate the position of the buffer (the AGV doesn't always stop in the same spot), then it sends commands to RAOS to "instruct" R1 with the correct coordinates (on robot coordinates), and finally sends RAOS a command to unload the buffer. After the buffer is unloaded is put back on AGV1, and RAOM sends a Windows Message to SCADA application saying that the AGV1 is unloaded.