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Is there a way to detect if an ERIO drop has a problem on one or more of its IO modules?

Yes, the following System Words can be used to detect a problem in an ERIO drop.

 %SW152-153  Referred to as ERIO_Drop_Status
                        0=There is a problem with one or more modules in this drop
                        1=Drop status is good, no IO problems in this drop

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