Pilz PSENvip RL D P - Manual (Page 127)

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10-5
10.2 Communication with the safety system
10 System Connections
LD bToolchangeFlag
S bStartCom
// Waiting for the communication start
LDN bStartCom
ORN bStartToolChangeE0
JMPC RESTORE
// Acknowledge for the communication from PSS4000 to PSENvip
LD TRUE
ST bAcknowledgeToolChangeA0
CAL RisingFlagE1(
clk := bValidToolChangeE1,
q => bToolValidFlag
)
LD bToolValidFlag
S bToolValid
// Waiting for the tool valid signal from PSENvip
LDN bToolValid
JMPC END
// Tool NOT Valid
ANDN bToolTypeE2
ANDN bToolTypeE3
JMPC END
// Tool class 01
LDN bToolTypeE2
AND bToolTypeE3
JMPC TOOL01
// Tool class 02
LD bToolTypeE2
ANDN bToolTypeE3
JMPC TOOL02