We recently had a customer with a robot that experienced a power failure. After the failure they restarted the robot and it crashed into a retractable blade guard that normally is controlled & verified by an interrupt routine.
After further testing we discovered that interrupts that are connected to TRAP routines do not automatically reconnect after a power failure.
According to the RAPID Technical Reference manual:
All interrupts in a task are cancelled when program pointer is set to main for that task and must be reconnected. The interrupts will NOT be affected by a power fail or a warm start.
Any help or advice would be greatly appreciated.
Thanks,
Toby