Mitsubishi CRn-500 Series Instruction Manual page 56

7.Setting, Operation and Command Explanation of Robot Additional Axis
(3) Input/Output signal
The general I/O signals to be used are as follows
General purpose
input/output name
General purpose input 11
General purpose
input/output name
General purpose output 11
(4) Position variable
The position data is as follows
PBEDA
Mechanism name Position variable name
Robot arm
42
Signal H/L
H (1)
L (0)
Signal H/L
H (1)
L (0)
Travel axis unit
PBST
PBEDB
Station B
PSF Safe position
PA Position where works are unloaded from station A
Position where works are loaded to station B
PBST
(Start position of pallet)
Position where works are loaded to station B
PBEDA
(End-A position of pallet)
Position where works are loaded to station B
PBEDB
(End-B position of pallet)
Explanation
Transport of works from the external location to
station A has been complete.
No work in station A
Explanation
Works are full in station B (work table change
request)
Transporting a work to station B
PSF
PA
Station A
Explanation