When the Safety PLC starts up, it seems to test all of its relay outputs (ours configured as positive and negative pairs) with a positive voltage. These outputs are connected to a robot control unit and put the robot into a fault state if it is turned on before the SafeX finishes booting. I believe this is due to the SafeX pulsing Q0.9 and Q0.11 with a test voltage at startup, when the robot controller is expecting them to be negative. QO.8-11 are configured as redundant outputs.
For now, our process has been to wait 10 seconds for the Safety to boot, then turn on the robot controller. More recently we have had the safety PLC control a contactor that energizes the robot controller once safety has booted. Is there any way to prevent this such that we don’t need additional equipment? Can this function be turned off, or is it a bug?
Safex firmware is 1.0.1.29
