Soft optical tactile sensors allow robots to capture important information, such as contact geometry, estimations of object compliance, and slip detection. However, most optical tactile sensors utilize gel-filled elastic membranes with nonvariable stiffness. To overcome this limitation, this paper presents the development of a pneumatic tactile sensor with tunable pressure (PnuTac). The sensor comprises a pneumatic system, an elastic membrane, and a sealed chamber with a camera inside. The inner side of the membrane layer has dot markers on its surface that are used for slip detection. Slippage is prevented by controlling a Robotiq 2-finger gripper that closes according to the slip detection signal. Additionally, objects held by the gripper appear as contours in sensor images. A dataset of 10,000 such images from 10 tools was utilized for training a VGG-19 convolutional neural network for tool classification. Our results show that increasing the pressure of the PnuTac sensor reduces the time it takes for the gripper to stabilize a slipping object. The trained neural network, fed from the PnuTac's sensor live data, successfully classified 8 out of the 10 tools.