# Send Robot Faults to PLC

**URL:** <https://tech-community.robotics.abb.com/t/send-robot-faults-to-plc/7590>\
**Category:** RAPID Programming\
**Tags:** rapid, rapid-code\
**Created:** [February 22, 2017, 11:03pm UTC](https://tech-community.robotics.abb.com/t/send-robot-faults-to-plc/7590 "2017-02-22T23:03:35Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![bkn](https://avatars.discourse-cdn.com/v4/letter/b/48db29/32.png) [@bkn](https://tech-community.robotics.abb.com/u/bkn)\
**Post date:** [February 22, 2017, 11:03pm UTC](https://tech-community.robotics.abb.com/t/send-robot-faults-to-plc/7590/1 "2017-02-22T23:03:35Z")

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I am using a IRC5 to run a IRB2600. I am interfacing with the IRC5 to my Omron PLC via EIP option 841-1. What are my options with regards to transferring the faults from the IRC5 over to my PLC via EIP? I thought I could compare ERRNO to all the possible errors and write a different numerical value and transfer it back across EIP. Please look at the attached code I can’t seem to get the numerical value written back to my PLC.  
[MyRapid1.txt](https://tech-community.robotics.abb.com/uploads/short-url/q8eoisWKobm1n6QYM9jwlMmQurW.txt) (11.1 KB)

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<div class="post-metadata">

**Author:** ![bkn](https://avatars.discourse-cdn.com/v4/letter/b/48db29/32.png) [@bkn](https://tech-community.robotics.abb.com/u/bkn)\
**Post date:** [February 22, 2017, 11:17pm UTC](https://tech-community.robotics.abb.com/t/send-robot-faults-to-plc/7590/2 "2017-02-22T23:17:28Z")

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Is it as simple as just using the SetAO command instead of using := ?

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**Author:** ![soup](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/soup/32/1592_2.png) [@soup](https://tech-community.robotics.abb.com/u/soup)\
**Post date:** [March 1, 2017, 2:20pm UTC](https://tech-community.robotics.abb.com/t/send-robot-faults-to-plc/7590/3 "2017-03-01T14:20:22Z")

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The ERR\_XXXXX are constants that are already numbers so you should be able to just “SetGO goErrorNumberToPLC, ERRNO;” Run “TPWrite NumToStr(ERR\_ACC\_TOO\_LOW,0);” to see it print the ERR\_ACC\_TOO\_LOW as 1066. A list of the numbers associated with each error should be available in a manual, online, or maybe via 1-800-HELP-365 so you can interpret the number on the PLC side.

Also, check this out: [http://developercenter.robotstudio.com/BlobProxy/manuals/RapidIFDTechRefManual/doc163.html](http://developercenter.robotstudio.com/BlobProxy/manuals/RapidIFDTechRefManual/doc163.html) – it looks similar to what you seem to be trying to accomplish.