This is the code I am using now and it is working for me. BinIo._K910 is the signal from the pnozMulti (/// K910 emergency Stop i.O. and bus runs / monitoring compressed air i.O. [PLC input]) // {{{ ---- set global signal emstop active
OutImm.Safety.EmStopActive := NOT BinIo._K910;
// }}} ----
// {{{ ---- set cancel if emstop is activated
IF( _cancelSet )
THEN
// Cancel must be reset in the same way like Execute
Station.Unit.Cancel := FALSE;
_cancelSet := FALSE;
END_IF
_emStopR(CLK := OutImm.Safety.EmStopActive);
IF( _emStopR.Q )
THEN
Station.Unit.Cancel := TRUE;
_cancelSet := TRUE;
END_IF
// }}} ----
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