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PLC Software Overview
Error Registers
When an error occurs, the Error Registers described in Table 6-11 are written to by the PLC
Server. The maximum length of each string value is 82 characters.
Table 6-11. Error Register Definitions
RSLogix 500 RSLogix 5000 Description
ST245:0 <strong>Adept</strong>_Error.0 Current error message
ST245:1 <strong>Adept</strong>_Error.1 Date and time error occurred
ST245:2 <strong>Adept</strong>_Error.2 Cartesian location of the robot
ST245:3 <strong>Adept</strong>_Error.3 Joint-coordinate location of
the robot
ST245:4 <strong>Adept</strong>_Error.4 Cartesian destination of the
robot
ST245:5 <strong>Adept</strong>_Error.5 Command words received by
the PLC Server
All the error registers are cleared by the PLC Server when a Fault Reset <strong>com</strong>mand is
processed.
The current error register (ST245:0 or <strong>Adept</strong>_Error.0) contains the current PLC Server
message string (see “PLC Server Messages” on page 149).
The date and time of the error is provided in ST35:1 or <strong>Adept</strong>_Error.1.
A Cartesian description of the location of the robot at the time of the error is provided in
ST245:2 or <strong>Adept</strong>_Error.2 (the format is described below).
The joint positions of the robot at the time of the error is provided in ST245:3 or
<strong>Adept</strong>_Error.3 (the format is described below).
A Cartesian description of the destination location of the robot at the time of the error is
provided in ST245:4 or <strong>Adept</strong>_Error.4 (the format is described below).
The values of all the Command Registers at the time of the error are provided in ST245:5
or <strong>Adept</strong>_Error.5 (the format is described below).
The string formats are as follows:
• For ST245:1
dd-Mmm-yyyy hh:mm:ss
where “dd-Mmm-yyyy” represents the date and “hh:mm:ss” represents the time
(in 24-hour format).
• For ST245:2 and ST245:4
X=xx.xx Y=xx.xx Z=xx.xx y=xx.xx p=xx.xx r=xx.xx
where “xx.xx” represents a positive or negative real value with one or more
integer digits and two fractional digits.
<strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B 95