USER LADDER: Compiling error when trying to set an GSOUT

    Hello everyone,

    I'm currently working on my very first project on a GP25 robot (YRC1000), so i'm sorta novice on that one and by extension, on that robot brand.

    I was asked by a colleague if i can link at least one of the robot emergency stops to an output connected physically to an security PLC... looking at the electrical plans, i see that a GSOUT (1) is free, and i'm actually trying to do the link via USER LADDER.

    After looking at the "Concurrent IO" document from Yaskawa, i found out three interesting "status signal"...

    #80026: PPESP: Programming Pendant Emergency Stop

    #80027: PBESP: YRC1000 Door Emergency Stop

    #80402: GSOUT(1)

    Below, the lines i wrote on the User ladder section (i'm currently working on MotoSim):

    0000 0000 STR #80026

    0001 OR #80027

    0002 OUT #80402

    When i'm trying to compile that, to see if the GSOUT(1) actually change state after an Emerg.Stop i got the following error "4010: Illegal Relay No.[0]"

    * I tried the same with an STR-NOT in lieu of the STR, or an GSTR but i always got the same error...

    * I tried to do a second rung with the sames conditions but with the OUT on #80403 (since it's an security signal), but the error is still specified on the relay 0.

    * Is there a way to connect both GSOUT channels as an unique OUT on the relay?

    * I also tried to add this as a new rung but always got the same error, and always on the relay[0], and not on the one i added (Relay[29]).

    Is it purely impossible to use theses sort of signals in an User ladder or something? Or do i have to program it with a very specific way?

    Thank in advance for your replies,

    Olivier.

    Edited 4 times, last by OliveRobot (July 1, 2020 at 2:15 PM).

  • Go to Best Answer

    The 80000 series addresses are control inputs. They are showing the state of something. In the ladder program the only addresses the are allowed to be an output are 00000, 30000, 40000, and 70000. Basically, general purpose inputs, external outputs, specific inputs, and auxiliary relays.

    The concurrent io ladder program is not safety rated. What is a "security plc?" Is this an actually safety plc like a Sick or Pilz? Or is it a Siemens S7, Allen-Bradley GuardLogix, or Omron?

    To write the logic like you are talking about you would use the Safety Logic Circuits, found under Safety Func. in the Main Menu. The status of your two e-stops would turn on GSOUT #1.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Hello 95devils,

    Thank you very much for your reply!

    So if i understand correctly this #80402 (and #80403 for that matter) are only there to show the current state of the GSOUT, not to be themselves useable as an output.

    Yes, by "security PLC" i meant Safety PLC (SICK modules programmed via Flexisoft), i translated litteraly, my error! About the Safety rating, this is actually not a problem.

    I didn't tought about using the safety func., i already used it to receive signals from external components but didn't think about it for these ones.

    So i programmed both PBESP and PPESP to activate #1 GSOUT[1]. After a "Write" and "Confirm", i wanted to check if it does work properly on the "SLC Signal Display" menu, when i try to activate the P.P Emergency stop GSOUT does not visually change state.

    Do i have to do a specific manipulation to see the state of these outputs?

    Or can i see the state of the GSOut on another Place?

    Edited once, last by OliveRobot (July 2, 2020 at 9:21 AM).

    Yes, the 80000 series addresses are status only. They can not be used as an output in the concurrent io ladder. They can, though, be used in the ladder as a logic condition of a rung.

    After writing the safety logic circuit and confirming, you can see the state of the GSOUT in either the "SLC Signal Display" or in the "Safety Logic Circuit" screen. There will be a status circle to the right of each input and the output of the rung. Filled in or darkened is true. Not filled in or light is false.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Quote from evb

    I believe GSOUT1 is #10010

    No. Address 10010 would be a General Purpose Output. Group number 1. First bit in the group. This would output number 1 (OT#1) used in a robot job.

    GSOUT #1 is address 80402 for the first unit. 80406 for the second robot. 80412 for the third robot. 80416 for the fourth. 80422 for the 5th. 80426 for the sixth. 80432 for the seventh and finally 80436 for the eighth.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Just for some more info, here is a screenshot of what my "Safety Logic Circuit" looks like on a robot where I was able to successfully forward the status of the programming pendant E-STOP (PPESP) to global safety output 1 (GSOUT1).

    In order to edit the Safety logic circuit, you need to be logged into "SAFETY MODE". Password for this mode is 5555555555555555

    This example is on a YRC1000.

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