Notify the PLC when there is an error on the teach pendant

We have a customer that wants to be notified on their HMI whenever there is an error such as motion supervision on the teach pendant. I would like to be able to display the errnum value on the HMI but if that is not possible was wondering if there was a system bit that lets me know that there is an error on the teach pendant. We are using a IRC5 with only one task. 

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