Mitsubishi CRn-500 Series Instruction Manual page 99

(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".)
Work preparation request
Work unloading complete
8.User Mechanism Settings, Operation, and Commands
Variable (0/1)
0
1
0
1
Program1 start
Work preparation
complete?
Explanation
Preparation of work on vartical moving axis 1
complete
Preparation of work on vartical moving axis 1
incomplete
Unloading of work by standard robot from vartical
moving axis 1 incomplete
Unloading of work by standard robot from vartical
moving axis 1 complete
Program2 start
Work preparation
request ?
Work preparation complete
Work unloading
complete?
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