4.2.2. SW Relay
4.2.2. SW Relay
No. | Description | Others |
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SW3 | PLC Execution Mode (4: PLC OFF, 5: Program does not exist, 0:STOP, 1:R.STOP, 2:R.RUN, 3:RUN) |
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SW4 | Quantity of extended IO board |
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SW5 | Main SW Version 2nd + 1st | 40.05-04và &H05 28 |
SW6 | I/O version +3rd of Main SW Version | 40.05-04 à &H43 04 |
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SW10 | Scan time |
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SW11 | Assignment time |
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SW12 | Maximum Occupation Time |
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SW13 | Average Occupation Time |
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SW14 | Quantity of total steps of Ladder |
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SW15 | CHECKSUM of Ladder Program |
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SW17 | Occupancy rate (%) |
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SW20 | Current program No. of Controller |
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SW21 | Current step No. of Controller |
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SW22 | Current function No. of Controller |
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SW23 | Current main program No. of Controller |
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SW24 | FB1~FB4 active | 0th ~3rd bit |
SW25 | Reading Hilscher status Information (1~4) (1:FB1 Information, 2: FB2 Information) |
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SW26 | LSB:Hilscher COM GlobalBits MSB: reserved | (Valid only for master) |
SW27 | LSB:Error node No. MSB:Error Code | (Valid only for master) |
SW28 | Bus error counter | (Valid only for master) |
SW29 | DeviceNet: Bus Off counter Profibus-DP: Time out counter | (Valid only for master) |
SW30 | Private Input 1 |
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SW31 | Private Input 2 |
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SW32 | Private Input 3 |
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SW33 | Private Output 1 |
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SW34 | Private Output 2 |
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SW35 | Private Output 3 |
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SW37 | LSB: For designated node No, slave_diag request for every 1 second. |
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SW38 | Return value for salve_diag request |
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SW39 | Station Status for the result of slave-diag request. LSB: StationStatus1 MSB: StationStatus2 |
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SW40~59 | Read the robot’s current pose. Refer to section 4.2.3 and 4.2.4. |
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SW60~69 | Space for designating an indirect address(Refer to 4.3 Indirect Address Designation) | -1:SW61 ~ -9:SW69 |
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SW70 | Type of operation time (0:null,1:operation time (accumulative),2: total operation time) Caution) SW(n):MSW(higher), SW(n+1):LSW |
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SW71~SW72 | Run time (10msec unit) |
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SW73~SW74 | Cycle time (10msec unit) |
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SW75 | Quantity of cycle |
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SW76~SW77 | Welder 1 welding time (10msec unit) |
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SW78 | Welder 1 number of welding |
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SW79~SW80 | Welder 2 welding time (10msec unit) |
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SW81 | Welder 2 number of welding |
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SW82~SW83 | Welder 3 welding time (10msec unit) |
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SW84 | Welder 3 number of welding |
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SW85~SW86 | Welder 4 welding time (10msec unit) |
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SW87 | Welder 4 number of welding |
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SW88~SW89 | Wait, DI wait time (10msec unit) |
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SW90~SW91 | Timer wait time (10msec unit) |
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SW70 | Type of operation time (0:null, 3: recent operation time, 4: total operation time) As adding recent operating time, Swap SW to use SL. SW(Odd No.):LSW(lower), SW(Even No.):MSW |
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SL36 | Run time (10msec unit) |
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SL37 | Cycle time (10msec unit) |
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SL38 | Quantity of cycle |
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SL39 | Welder 1 welding time (10msec unit) |
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SL40 | Welder 1 number of welding |
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SL41 | Welder 2 welding time (10msec unit) |
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SL42 | Welder 2 number of welding |
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SL43 | Welder 3 welding time (10msec unit) |
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SL44 | Welder 3 number of welding |
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SL45 | Welder 4 welding time (10msec unit) |
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SL46 | Welder 4 number of welding |
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SL47 | Wait, DI wait Time (10msec unit) |
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SL48 | Timer wait time (10msec unit) | Unit: 10msec |
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SW70 | Running time type (5: Running information (Arc) SW swapping to allow SL to be used by adding the recent running time. In other words, SW(Odd number):LSW(Lower range), SW(Even number):MSW |
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SL36 | Measuring time(Unit: 10msec) |
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SL37 | Cycle time (Unit: 10msec) |
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SL38 | Cycle count |
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SL39 | Arc welding execution time (Unit: 10msec). To be reset daily |
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SL40 | Arc welding execution date (Daily) |
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SW81 | Arc retry execution count |
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SW82 | Arc overlap execution count. 1:Arc Off |
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SW83 | Arc overlap execution count. 2:Wire Off |
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SW84 | Arc overlap execution count. 3:Limit Over |
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SW85 | Arc overlap execution count. 4:Gas Off |
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SW86 | Arc Overlap execution count. 5:Coolant Off |
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SW87 | Arc auto stick removal execution count |
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SL45 | Arc running time in 1 cycle |
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SL46 | Tip using time |
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SL47 | Tip using time limit |
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SW99 | Sets whether to process it as Motor Off or not when the mode switch is switched over (0: Not to process, 1: Motor Off when switchover between manual and auto occurs, 2 : Motor Off when mode switchover occurs) |
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SW100~SW109 | Reserved in relation to Program Count |
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SW110 | Enable the speed of each axis (SW110 = 0 × KLMN, in hexadecimal)
N (B3–B0): Resolution (0 × 1 = 10-fold,0 × 2 = 100-fold,0 × 3 = 1,000-fold) M: Other options (B4:1 = absolute value, B5:0 = axial speed, 1 = motor speed) | After the setting values for bits have been determined, they should be input as converted into hexadecimals. e.g., For 1,000-fold resolution, no absolute value, and motor speed setting, input N = 0 3, M = 0 × 2 => 0 × 23 = “35.” |
SW111~SW126 | Speed (16 axis) of each axis (or motor) |
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SW130~SW133 | TP KEYPAD information |
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SW135 | Get Applet |
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SW136 | Set Applet |
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SW140 | List of the embedded DeviceNet master error slaves (0~15) | Bit0=1: Node 0 Error Bit15=1: Node 15 Error |
SW141 | List of the embedded DeviceNet master error slaves (16~31) | Bit0=1: Node 16 Error Bit15=1: Node 31 Error |
SW142 | List of the embedded DeviceNet master error slaves (32~47) | Bit0=1: Node 32 Error Bit15=1: Node 47 Error |
SW143 | List of the embedded DeviceNet master error slaves (48~63) | Bit0=1: Node 48 Error Bit15=1: Node 63 Error |
SW144 | State of the embedded DeviceNet master *1) |
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SW145 | Node number for requesting the state information of the slaves connected to the embedded DeviceNet master |
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SW146 | State of the slaves of the node number of SW145 *2) |
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SW150 | Arc Welding Info | 1=Enable(Digital Only) |
SW151 | Arc Welding Real Current |
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SW152 | Arc Welding Real Voltage |
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SW153 | Arc Welder Error1 |
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SW154 | Arc Welder Error2 |
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SW155 | Wire Feeding Speed |
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SW156 | Arc Welding SI 1~8 (lower byte) and SO 1~8(higher byte) | Support for the version V40.04-00 and up |
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SW160 | DeviceNet explicit message request flag - 0x0001= Request DeviceNet explicit message reply flag - 0x001X= Explicit message request in progress - 0x0000= Explicit message handling completed - 0x002X=Explicit message timeout Others= Error reply | Results =>SW166 ~ SW179 |
SW161 | Explicit message Request: Node ID |
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SW162 | Explicit message Request: Service |
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SW163 | Explicit message Request: Class |
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SW164 | Explicit message Request: Instance |
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SW165 | Explicit message Request: Attribute |
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SW166 | Explicit message Request/Response: Size of Data | Max. 26 |
SW167~SW179 | Explicit message Request/Response: Service Data (SB333~SB358) | Max. 26 bytes |
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SW180 | GUN No. to acquire the consumption rate of SPOT GUN (0: invalid, 1~; GUN No.) |
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SW181 | Moving tip consumption rate |
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SW182 | Fixed tip consumption rate |
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SW183 | Gun search state |
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~SW189 | Reserved for SPOT GUN |
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SW190 | MON_AXIS_CTRL_OFF | 1 axis per Bit |
SW195 | Roller hemming welding force [N] |
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SW200 | Accumulated distance monitoring mode for each axis (For dword support, V31.11-00~, V32.01-00~) | 0:Off, 1:read, 2:write(word) 3:read, 4:write(dword) |
SW201~SW216 | Accumulated distance monitoring for each axis (axis1~axis16) If dword, SL101~SL108 (1~8 axis) | Unit: km, rad Set to 0 when overflow occurs |
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SW220 | Slot 1 code (0: Function off) | [_IDX] 0-base: Read value 30000-base: Set value
Ex1) Setting 352 in SW223 reflects AO2 in SW224. |
SW221 | Slot 1 data: Low word | |
SW222 | Slot 1 data: High word | |
SW223~ SW224, 225 | Slot 2 code Slot 2 data: Low and high words | |
SW226~ SW227, 228 | Slot 3 code Slot 3 data: Low and high words | |
SW229~ SW230, 231 | Slot 4 code Slot 4 data: Low and high words | |
SW232~ SW233, 234 | Slot 5 code Slot 5 data: Low and high words | |
SW235~ SW236, 237 | Slot 6 code Slot 6 data: Low and high words | |
SW238~ SW239, 240 | Slot 7 code Slot 7 data: Low and high words | |
SW241~ SW242, 243 | Slot 8 code Slot 8 data: Low and high words | |
SW244~ SW245, 246 | Slot 9 code Slot 9 data: Low and high words | |
SW247~ SW248, 249 | Slot 10 code Slot 10 data: Low and high words | |
SW250 | (Subtask 1) generation state |
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SW251 | (Subtask 1) current program number |
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SW252 | (Subtask 1) current step number |
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SW253 | (Subtask 1) current function number |
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~SW259 | Reserved for (Subtask 1) |
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SW260 | (Subtask 2) generation state |
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SW261 | (Subtask 2) current program number |
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SW262 | (Subtask 2) current step number |
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SW263 | (Subtask 2) current function number |
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~SW269 | Reserved for (Subtask 2) |
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SW270 | (Subtask 3) generation state |
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SW271 | (Subtask 3) current program number |
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SW272 | (Subtask 3) current step number |
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SW273 | (Subtask 3) current function number |
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~SW279 | Reserved for (Subtask 3) |
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SW280 | (Subtask 4) generation state |
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SW281 | (Subtask 4) current program number |
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SW282 | (Subtask 4) current step number |
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SW283 | (Subtask 4) current function number |
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~SW289 | Reserved for (Subtask 4) |
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SW290 | (Subtask 5) generation state |
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SW291 | (Subtask 5) current program number |
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SW292 | (Subtask 5) current step number |
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SW293 | (Subtask 5) current function number |
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~SW299 | Reserved for (Subtask 5) |
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SW300 | (Subtask 6) generation state |
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SW301 | (Subtask 6) current program number |
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SW302 | (Subtask 6) current step number |
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SW303 | (Subtask 6) current function number |
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~SW309 | Reserved for (Subtask 6) |
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SW310 | (Subtask 7) generation state |
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SW311 | (Subtask 7) current program number |
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SW312 | (Subtask 7) current step number |
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SW313 | (Subtask 7) current function number |
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~SW319 | Reserved for (Subtask 7) |
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SW320 | Tool number of current robot |
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SW321 | PRM Regenerative power: Current value (lower 16Bit) | SL161 |
SW322 | PRM Regenerative power: Current value (higher 16Bit) |
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SW323 | PRM Regenerative power: Accumulated value (lower 16Bit) | SL162 |
SW324 | PRM Regenerative power: Accumulated value (higher 16Bit) |
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SW325 | PRM Regenerative power: 5-minute average value (lower 16Bit) | SL163 |
SW326 | PRM Regenerative power: 5-minute average value (higher 16Bit) |
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~SW329 | Reserved |
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SW330 | BD525 Master: Device state *3) |
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SW331 | BD525 Master: Count of configured slaves | 0~65535 |
SW332 ~ SW339 | BD525 Master: List of the configured slaves | List of bits |
SW340 | BD525 Master: Communication state (lower 8bit) *4) BD525 Master: State of the slaves (higher 8Bit) *5) |
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SW341 | BD525 Master: Count of the running slaves | 0~65535 |
SW342 ~ SW349 | BD525 Master: List of the running slaves | List of bits |
SW350 | BD525 Master: Accumulated count of the running slaves | 0~65535 |
SW351 | BD525 Master: Count of the error slaves | 0~65535 |
SW352 ~ SW359 | BD525 Master: List of the error slaves | List of bits |
SW360 | CC-Link IE Link status | Refer to CC-Link IE manual |
SW361 | CC-Link IE cyclic communication status | Refer to CC-Link IE manual |
SW366 | Low byte: iot_converter_client High byte: iot_converter_server | Supported since Hi5a V40.25-00 ON: 1, OFF: 0 |
SW367 | Low byte : iot_connector High byte : iot_ftp | |
SW370 ~ SW385 | Encoder temperature of each axis (J1~J16) Service / Monitoring / System characteristic data / Motor, encoder data / current temperature value of each encoder Cf.) Monitor motor temperature indirectly. | Supported since Hi5a V40.15-00 unit: °C |
SW388 | Temperature of the mainboard (Unit: 0.1°C) | Supported since Hi5a V40.17-00 |
SW389 | CPU temperature of the mainboard (Unit: 0.1°C) | Supported since Hi5a V40.17-00 |
SW390 | Controller’s serial number Monitor serial number in Service / System diagnosis / System version. | Supported since Hi5a V40.15-00
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~SW394 | Reserved |
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SW395 | Robot state monitoring (0: stop, 1: run, 2: wait) | Supported since Hi5a V40.15-00 |
SW396 | Existence of path deviation (1: path deviation, 0: normal path, <0: cannot determine) | Supported since Hi5a V40.19-00 |
SW397 | Step forward/Backward Restricted (Input of the number 1 is restricted, but the other numbers can be normally inputted.) |
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~SW399 | Reserved |
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SW400 | Enable the speed of each axis (SW110 = 0 × KLMN, in hexadecimal)
N (B3–B0): Resolution (0 × 1 = 10-fold,0 × 2 = 100-fold,0 × 3 = 1,000-fold) M: Other options (B4:1 = absolute value, B5:0 = axial speed, 1 = motor speed)
Note: This option is identical to that of SW110. If you want to view the two options concurrently, use this with SW110. | This is available in Hi5a V40.15-00 or a higher version.
Unit of speed - Straight-motion axis: mm/sec - Rotary axis: degree/sec - Motor speed: RPM |
SW401~ | Monitoring speed of each axis (or motor) (16 axes) | Supported since Hi5a V40.15-00 |
SW420 | Service / Monitoring / System characteristic data / Loading rate data (1: I/Ir , 2: i/Ip, 3: continuous load rate %) |
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SW421~ SW436 | Monitor load rate of each axis (or motor) (16 axes). | Unit: % |
SW440 | Sets the elements to which the automatic grease injector will be applied. | Supported since Hi5a V40.18-00 |
SW441~ SW456 | Reference distance for automatic grease injection by individual element | Supported since Hi5a V40.18-00 Unit of distance - Linear axis: km - Rotation axis: rad |
SW461~ SW476 | Axis number assigned to each element | Supported since Hi5a V40.19-00 |
SW480 | “Low grease” warning (0 : Normal, 1~16 : Abnormal in the relevant element’s grease injector) | Supported since Hi5a V40.19-00 |
SW481 | “Empty” warning (0 : Normal, 1~16 : Abnormal in the relevant element’s grease injector) | Supported since Hi5a V40.19-00 |
SW482 | “Overload” warning (0 : normal, 1~16 : Abnormal in the relevant element’s grease injector abnormal) | Supported since Hi5a V40.19-00 |
SW483 | FAN abnormal information monitoring - Bit 0: R-FAN Board information (0:normal, 1:abnomal) - Bit 8: R-FAN Board information (0:normal, 1:abnomal)
| Supported since Hi5a V40.22-00 |
SW484 | LCD hand collision detection sensor data monitoring - Information by bit (0: no detection, 1: detection) ( Bit0 : LSR1, Bit1 : LSR2, Bit8 : RSR1, Bit9 : RSR2)
- Monitoring data will be loaded only when the collision detection sensor is used (Path : F2: System > 4: Application parameter > 29:Hand collision detection sensor) | Supported since Hi5a V40.26-00 |
SW485, SW486 | SW485: Error, Warning number SW486: Most significant bit(0:Error, 1:Warn) Bit 1~15: Additional error information (Axis number etc.) | Supported since Hi5a V40.25-00 |
*1) State of the embedded DeviceNet master
Bit 15~9 : Reserved
Bit 8 : Initialization state (1: Initialization in progress. 0= Initialization completed)
Bit 4 : State of the master operation (0=RUN, 1=IDLE(PLC STOP)
Bit 3~0 : State of the DeviceNet
(0=Running, 1=Reset(Out-of-box), 2=Init(Out-of-box),
3=Reset(Normal), 4=Init(Normal), 5=Dupplicated MAC ID Check, 6=Fault)
*2) State of the slaves
Bit 15 : 1=Node in use, 0=Node not in use
Bit 14 : Maker (1=CREVIS, 0=Others)
Bit 13~12 : Node status (1=Standby, 2=Connection Fault, 3=Configuration Fault)
Bit 11 : 0=IO mode (State of IO data being exchanged with the master), Not 1=IO mode
Bit 9~0 : Stage of the slaves
0x000=Online, 0x001=Offline, 0x002=IO Connection Closed,
0x004=Input Size Error, 0x008=Output Size Error, 0x010=Vendor ID mismatch,
0x020=Device type mismatch, 0x040=Production code mismatch,
0x080=CCV mismatch, 0x100=IO size is too big, 0x200=No connection
*3) BD525 Master: Device state
Bit 0: 1= Ready
Bit 1: 1=Running
Bit 2: 1=Bus On
Bit 3: 1=Configuration locked
Bit 4: 1=New configuration
Bit 5: 1=Restart required)
Bit 6: 1=Restart required Enable)
Bit 7~31: Reserved
*4)BD525 Master: Communication state
0=Unknown, 1=NOT Configured, 2=STOP, 3=IDLE, 4=OPERATE
*5)BD525 Master: State of the slaves
0=UNDEFINED, 1=OK(No Fault), 2=FAILED(More than on slave error)