Sylvac SCAN S25 - Description of the Safety Application Diagram with a Robot

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2.7 Description of the safety application diagram with a robot
Each red signal refers to a pin of the D-SUB 15p safety connector.
Each signal must remain in the last defined state if not otherwise specified.
Binary 1 defines a state where there is +24V present.
Binary 0 defines a state where there is GND.
When the robot is connected to the Scan, the robot must provide the signals +24V_ROB Pin 1
(binary 1) and GND_ROB pin 13 (binary 0) and all other necessary inputs signals to the Scan.
A.0 The Scan is turned on and a ReflexScan session is opened.
B.1 Scan OK (signals SCAN_OK1 pin 2 and SCAN _OK2 pin 3 in binary 1).
B.2.0 Scan in fault state (signals SCAN _OK1 pin 2 and/or SCAN _OK2 pin 3 in binary 0).
B.2.1 Check the Scan emergency stop button (must be pulled out).
B.2.2 Check the safety signal from the robot (signal ROBOT_OK1 pin 4 and ROBOT_OK2 pin 5 in binary 1).
B.2.3 Restart the Scan (binary 1 for at least 200 ms on the signal RESTART_ROB pin 7, then return to logic 0).
C.0 The remote mode must be activated in ReflexScan.
D.0 The Scan is ready to work with the solution of your choice: Wired, OPCA/UA, Modbus TCP/IP, Profinet.
E.0 If a Scan or robot fault occurs during operation, (signals SCAN_OK1 pin 2 and/or SCAN_OK2 pin 3 in
binary 0 and/or signals ROBOT_OK1 pin 4 and/or ROBOT_OK2 pin 5 in binary 0), return to step B.2.1.