This DP Slave application cooperates with the robotic controller applications, in order to initialise and manipulate the robot. Additionally, the robotic controller also, serves the DP Slave with information about the detection of the AGV arrival. A PROFIBUS data exchange between the master (PC1) and PC4 is triggered every communication cycle. This data is used in order to enable the master to signal if the AGV unload should be enabled and, in the opposite direction, to signal the master whether the AGV is detected in the unload station position of not.