Mitsubishi CRn-500 Series Instruction Manual page 90

8.User Mechanism Settings, Operation, and Commands
(5) Program External Variables
Program external variables are used as interlock variables between mechanisms.
The following variables are used.
Variable name
M_01
M_02
The following flow illustrates only the interlock between mechanisms:
Note that programs 1 and 2 in the diagram start simultaneously. (Refer to "Procedure 2: Setting
the task slot parameter " in "(6) Procedure up to program execution.")
Program1 start
Work preparation request
Work preparation
complete?
Work unloading complete
76
Variable (0/1)
0 Preparation of work on rotary axis incomplete
1 Preparation of work on rotary axis complete
0 Unloading of work by robot from rotary axis
incomplete
1 Unloading of work by robot from rotary axis
complete
Explanation
Program2 start
Work preparation
request ?
Work preparation complete
Work unloading
complete?