2 FlexGripper-Vacuum2.3.5. Commissioning373HAC040633-002 Revision: -is 0. While ’DO10_14_PostionSeacher_Backward’ is 0 and’DO10_13_PostionSeacher_Forward’ is also 0, there is no pressure in the cylinder whichmeans a pallet is searched.PFPS_PalletSeacher()PROC PFPS_PalletSeacher()IF Present (Forward) THENSetDO DO10_14_PostionSeacher_Backward, 0;SetDO DO10_13_PostionSeacher_Forward, 1;WaitDI DI10_03_PostionSeacher_Searched, 1;ENDIFIF Present (Back) THENSetDO DO10_13_PostionSeacher_Forward, 0;SetDO DO10_14_PostionSeacher_Backward, 1;WaitDI DI10_04_PostionSeacher_Backed, 1;ENDIFIF Present (Search) THENSetDO DO10_14_PostionSeacher_Backward, 0;SetDO DO10_13_PostionSeacher_Forward, 1;WaitDI DI10_03_PostionSeacher_Searched, 1;SetDO DO10_13_PostionSeacher_Forward, 0;WaitDI DI10_03_PostionSeacher_Searched, 1;ENDIFENDPROCContinuedContinues on next page
