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ID : 2969
Acquiring Error Information
If errors occur in the robot controller, external devices that are master can acquire the error status or the error code by referring to the object dictionary.
Acquiring Error Status
If Level 1 to 5 errors occur in the robot controller, Statusword Bit 3 will be 1.
| Index | Subindex | Name | Datatype | Accessright | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x6041 | 0x00 | Statusword(J1) | UINT | RO | - |
Statusword（J1） to (J8) has the same data.
Acquiring Error Code
Index2100 stores the number of errors. Index2101(Subindex0x01 to 0x40) stores the error code.
For example, if 3 errors occurred in the robot controller, the number of error is 3. Those error codes will be stored to Index2101(Subindex0x01), Index2101(Subindex0x02), Index2101(Subindex0x03) in order of that number of occurence.
For more information about the error code, refer to "ERROR CODE".
| Index | Subindex | Name | Datatype | Accessright | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x2100 | 0ｘ00 | Error Count | UDINT | RO | Number of errors | |
| 0x2101 | - | Error Record | - | - | - | - |
| 0x2101 | 0ｘ00 | Number ofElements | USINT | RO | 0x40 | Number of error code erlements (64-fixed） |
| 0x2101 | 0x01 to 0x40 | SubIndex001 to SubIndex064 | UDINT | RO | - | Error code |
ID : 2969