All projects I've done with ABB & Siemens has the PLC as the master and the robot as the slave. Actually, I don't know that a Siemen's processor can be a slave; unless the ABB can accept an I-device GSD definition created by the TIW portal/Step 7 software.True safety signals would be handled differently than common I/O signals; different I/O scan. 99% sure that a robot can't be a safety "master", it would require a safety PLC (which can be a Siemens PLC).
Hi there, I know that the safety signals are handled differently, thats why i need an example project to see how the things are done with the standard signals from sensors in the cell and safe signals. I meant how are they used like going in automatic, manual, interlock, e stops and so.