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PAL-AX10 v1.3 Error: Please use the safeguard reset before starting the linear axis

How to clear the safeguard reset error when using the PAL-AX10 linear axis

When starting the PAL-AX10 v1.3 linear axis, you may encounter the error message:

Please use the safeguard reset before starting the linear axis

This error occurs because the system requires a safeguard reset before the axis can be initialized. This safety step ensures the robot environment is secure before movement.

If the Error Persists

If you have already double-checked the Safeguard Reset wiring and Safety I/O configurations but still cannot clear the error:

  • The safeguard reset is primarily handled by the wiring inside the UR controller.

  • However, a second validation check is performed by the Siemens PLC.

  • If there is a mismatch between:

    • the URCap check (Festo Drive), and

    • the Siemens PLC check,
      the safeguard reset error will remain active.

 In other words: even if the wiring is correct, a disagreement between the UR and PLC validation may prevent the error from clearing.

Troubleshooting Steps

  1. Check Siemens PLC LEDs

    • Press the pallet sensors:

      • Left sensors → DI0 & DI1 should light up.

      • Right sensors → DI2 & DI3 should light up.

    • ✅ If these LEDs light up, proceed to the next step.

    • ❌ If they do not light up, check PLC power and confirm the RUN light is green.

  2. Check the Safety Status LED (DI4b)

    • Locate the Safety Status LED on the Siemens PLC.

    • DI4b must be ON.

    • ❌ If the LED is OFF, there is a wiring issue with the safety status check.

SiemensPLC-png

Solution: Check the 24V Line with a Voltmeter

If the above checks fail, confirm the 24V wiring between the Safety Relay and the Siemens PLC:

  1. Probe the Siemens Safety Relay at Port 2, Wire 55.

    • You should measure 24V.

    • (Probing in continuity mode also works.)

  2. Probe the PLC terminal X16, pin 1.13 (Wires 55/60).

    • You should still measure 24V.

    • (Probing in continuity mode also works.)

 If 24V is not present at one of these points, the issue is in the wiring between the Safety Relay and the Siemens PLC.

  1. Finally, probe between Wire 60 on terminal X16 1.13 and DI4b on the Siemens PLC.

    • At this point, you may discover that one of the wires is not connected to the correct terminal.

    •  Ensure all wires are securely fastened into the correct ports and terminals.

 

::note=Please contact the support team if you still cannot figure out the issue. support@robotiq.com