2.1.4.1. Robot 1

(1) The robot 1 is on the verge of entering the common cube area (cube 2).

àThe Cube entry output signal of the robot 1 and the Cube prohibition input signal of the counterpart (robot 2) are switched off.

(2) After the robot 1 has entered the common cube area (Cube 2),

àThe Cube entry output signal of the robot 1 is switched on.

(3) The robot 1 has withdrawn from the common cube area (Cube 2) and the robot 2 enters it.

àThe Cube entry output signal of the robot 1 is switched off.