This document proposes an application of the theory of control systems in discrete events, and its synthesis using GRAFCET specification, for the management of a prototype system for handling and classifying objects by color. The interaction and synchronization between a robot in angular configuration and a conveyor belt are exposed as active elements, in order to establish a sequence of tasks to be executed; which begins with the entry of an object to the process, to end with the positioning of the same in the respective deposit, once its color has been identified. The development of the prototype for testing, the definition and programming of the process control system based on the suggested methodology and the integration of the graphical interface that allows the user to view its status is shown. The results suggest that the application of formal methods, such as GRAFCET, promote the establishment of a functional, structured, scalable, distributed and concurrent control system, by allowing adequate decentralization of the tasks that each active element must execute and at the same time determine its timely action, no interference with each other.