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Pressing the unlock button triggers a StopRequest. The SafetyDoor add-on waits until Execute of the add-on's handler is FALSE. Especially if you have a ModeForwarder / several ModeHandler there are some cases in which Execute=FALSE comes too early. Hint: If you are using the TransferMaster with a TransferGroupMaster there is a parameter that the TransferGroupMaster waits for the other ModeHandlers before stopping:   rEnableUnlock is checked and works in general, also in our example project "Digital Machine". This variable is exactly for your use case (prevent doors are opening too early). There are only a few conditions that do not take care of rEnableUnlock (if parameter UnlockedIsSafeState = TRUE): - Some SafetyDoor errors are causing an immediate unlock. - Emergency stop (if parametrized) and control off button (if parametrized) are causing an immediate unlock: Things to check: Make sure that SafetyDoor.ParStart.rEnableUnlock is set in OnApplyParameter.STARTUP. Check if the Boolean variable is really FALSE after pressing the unlock button. What's the value of SafetyDoor._stepUnLock before you press the unlock button? If it is step 10, then everything is fine.   ... View more

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There are two solutions: An easy solution would be to add one BasMove for each set of sensors. Depending on the active type number you can use only one of the BasMoves in your application code. Also in the HMI you can hide the BasMoves except the one that is relevant for the current type number, see explanation/pictures in this forum post: https://community.developer.bosch.com/t5/Control-plus/How-to-realize-3-positions-with-two-cylinders/m-p/73555/highlight/true#M738 Disadvantage of this solution is that you probably have to deativate the IoStableCheck (which is checking that sensors/outputs do not change its state without running command). Don't use the parameters in Control plus Studio / OES, but set the ParCfgIo parameters manually in your appliction code - depending of the current type number. Parameters will only be applied when the UnitState of the BasMove changes from DISABLED to OPERATIONAL. That means, everytime you want to change to IO parameters (e.g. after PLC startup and changeover), you have to set UnitStateReq:=DISABLED, then set the ParCfgIo parameters, then set UnitStateReq:=BACKBONE_CONTROLLED (= OPERATIONAL) again. Disadvantage of this solution: You have to create your own HMI views for the BasMove using the visibility property to show only the IOs in the view that are relevant for the current type number. You cannot use the automatic generated HMI. I didn't test this solution, but it should work.   Solution 1 is easier for debugging, that's why I would prefer this solution. ... View more