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Interrupts not working after Power Failure?

tbaumg
tbaumg ✭
in Robot Controller

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. <?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />
Any help or advice would be greatly appreciated.
Thanks,
Toby
 

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