Mitsubishi CRn-500 Series Instruction Manual page 98

8.User Mechanism Settings, Operation, and Commands
(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 10
General purpose output 11
(4) Position variable
The position data is as follows
Robot arm
(Mechanism No.1)
Mechanism name
Robot arm
(Mechanism No.1)
Rotation axis
(Mechanism No.2 :
No.1 axis)
84
Signal H/L
H (1)
L (0)
Signal H/L
H (1)
L (0)
H (1)
L (0)
P11
P1SF
Position variable name
P1SF
P11
P12
P231
P232
Transport of works from the external location to
vartical moving axis 1 has been complete.
Work not transported from the external location to
the vartical moving axis 1.
Explanation
Places workpiece
Pickup workpiece
Permits work transport to external location.
Prohibits work transport to external location.
P12
Vertical moving axis 1
(Mechanism No.2：No.1 axis)
Safe position
Front of the position where the standard robot unloads
the work from the vertical moving axis 1 (mechanism
number 2).
Position where works are unloaded from vartical moving
axis 1 (Mechanism No.2)
Position to which the work is to be transported
Position from which the standard robot (mechanism
number 1) unloads the work
Explanation
P232
P231
Explanation