I'm currently integrating a Yaskawa cell (YRC1000 controllers) with an AB controller with HMI for fixture control. I am looking to send robot alarm information to the PLC/HMI for an operator to easily identify what the issue is without having to look/touch the pendant. I've found some information from Yaskawa regarding discrete messaging but appears that this is not possible to use if FSU Ethernet Safety is being used, and it appears our cell is using this. PLC and YRC are connected via Ethernet/IP. I am hoping to send full alarm messages to the HMI/PLC.
Any advice or resources is appreciated!