ABB Alarm Codes 20000 – 20200

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20010, Emergency stop state
Description
The emergency stop circuit has previously been broken, and while
broken, an attempt was made to operate the robot.
Consequences
The system remains in state “Waiting for Motors ON after emergency
stop”.
Probable causes
An attempt has been made to maneuvre a control, before switching the
system back to status Motors ON.
Recommended actions
1) To resume operation, switch the system back to state Motors ON by
pressing the Motors ON button on the Control Module.

20011, Emergency stop state.
Description
Emergency stop reset is required.
Recommended actions
First release the Em stop button
and then press the panel button.

20012, Sys failure state active
Description
Fatal non-recoverable system error.
Warm start is required.
Recommended actions
Turn the mains switch off and on
again if the soft restart command is
ignored or not possible to reach.

20025, Stop order timeout
Description
The stop order was carried out
as a forced guard stop when
no acknowledgement was received
within the expected time
Recommended actions

20030, Axis not commutated
Description
One or several internal drive unit
axes are not commutated.
Recommended actions

20031, Axis not calibrated.
Description
One or several absolute/relative
measurement axes are not calibrated.
Recommended actions
Check what axis that are not
calibrated and calibrate them.

20032, Rev. counter not updated
Description
Revolution counter is not updated.
One or several absolute measurement
axes are not synchronized.
Recommended actions
Move the axes to the sync position
and update the revolution counters.

20033, Axis not synchronized.
Description
One or several relative measurement
axes are not synchronized.
Recommended actions
Order Motors On and synchronize all
mechanical units in the list.

20034, SMB memory is not OK
Description
This action or state is not allowed since data in the Serial Measurement
Board (SMB) memory is not OK.
Consequences
All data must be OK before automatic operation is possible. Manually
jogging the robot is possible.
Probable causes
There are differences between the data stored on the SMB and the data
stored in the controller. This may be due to replacement of SMB,
controller or both, or manually cleared SMB.
Recommended actions
1) Update the Serial Measurement Board data as detailed in Operator’s
Manual, IRC5.

20051, Not allowed command
Description
The command is only allowed when the client is in control of the
resource (program/motion).
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Check if the client is in control, by checking “Write Access” in
RobotStudio.
2) Check if the client who ought to be in control really is.

20054, Not allowed command
Description
The command is NOT allowed when the program is executing.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the program is not executing.

20060, Not allowed command
Description
The command is not allowed in Auto mode.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT in Auto Mode.

20061, Not allowed command
Description
The command is not allowed when changing to Auto mode.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT changing to Auto Mode.

20062, Not allowed command
Description
The command is not allowed in Manual mode.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT in Manual Mode.

20063, Not allowed command
Description
The command is not allowed in Manual full speed mode.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT in Manual full speed Mode.

20064, Not allowed command
Description
The command is not allowed when changing to Manual full speed
mode.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT changing to Manual full speed Mode.

20065, Not allowed command
Description
The command is only allowed in Manual mode (reduced or full speed).
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT in Auto mode or changing to Manual
Mode (reduced or full speed).

20070, Not allowed command
Description
The command is not allowed in Motors ON state.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is in Motors OFF state.

20071, Not allowed command
Description
The command is not allowed while changing to Motors ON state.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Investigate by whom and why the action was requested, and, if
required, correct the reason.

20072, Not allowed command
Description
The command is not allowed in Motors OFF state.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is in Motors ON state.

20073, Not allowed command
Description
The command is not allowed while changing to Motors OFF state.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Investigate by whom and why the action was requested, and, if
required, correct the reason.

20074, Not allowed command
Description
The command is not allowed in Guard Stop state.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Make sure the system is NOT in Guard Stop state.

20075, Not allowed command
Description
The command is not allowed in Emergency Stop state.
Consequences
Emergency stop reset is required.
Recommended actions
1) Make sure the system is NOT in Emergency Stop state.

20076, Not allowed command
Description
The command is not allowed in System Failure state.
Consequences
A non-recoverable system error has resulted, and a warm start is
required.
Recommended actions
1) Make sure the system is NOT in Emergency Stop state.
2) Perform a restart as detailed in the Operator’s Manual, IRC5.
3) If restarting is not possible, switch the main power OFF and then
back ON.

20080, Not allowed command
Description
The command is not allowed when axis has not been commutated.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Commutate the axis as detailed in the Additional Axes Manual.
2) Investigate by whom and why the action was requested, and, if
required, correct the reason.

20081, Not allowed command
Description
The command is not allowed when axis is not calibrated.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Calibrate the axis as detailed in the Calibration Pendulum
Instruction or the Instructions for Levelmeter calibration, depending
on which equipment to be used.

20082, Not allowed command
Description
The command is not allowed when axis revolution counter is not
updated.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Update the revolution counter as detailed in Operator’s Manual,
IRC5.

20083, Not allowed command
Description
The command is not allowed when axis is not synchronized.
Consequences
The system remains in the same status, and the requested action will
not be performed.
Recommended actions
1) Synchronize the axis as detailed in the Calibration Pendulum
Instruction or the Instructions for Levelmeter calibration, depending
on which equipment to be used.

20084, Not allowed command
Description
This command is not allowed since data in the Serial Measurement
Board (SMB) memory is not OK.
Consequences
All data must be OK before automatic operation is possible. Manually
jogging the robot is possible.
Recommended actions
1) Update the Serial Measurement Board data as detailed in Operator’s
Manual, IRC5.

20088, Automatic Mode Rejected
Description
The speed could not be set to 100% when automatic mode was
requested.
Consequences
The system can not enter automatic mode.
Probable causes
The speed could not be set to 100%.
Recommended actions
1) Switch back to manual mode
2a) Set the speed in the QuickSet menu
2b) or set System Parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to No if the system should be in debug mode
when switching to auto.
3) Switch back to automatic mode and confirm.

20089, Automatic Mode Rejected
Description
The call chain was altered to begin at a routine other than main and
could not be reset to main when automatic mode was requested.
Consequences
The system can not enter automatic mode.
Probable causes
Program pointer could not be set to Main.
Recommended actions
1) Switch back to manual mode.
2a) Move PP to main.
2b) or if the program always shall start at the new routine, change
System Parameter “Main entry” (Domain Controller, Type Task) to the
new routine name.
2c) or set System Parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to No if the system should be in debug mode
when switching to auto.
3) Switch back to automatic mode and confirm.

20092, Not allowed command
Description
Not allowed in state
System IO Start Blocked.
Recommended actions

20093, Automatic Mode Rejected
Description
One or more of the NORMAL tasks were disabled and could not be
enabled when automatic mode was requested.
Consequences
The system can not enter automatic mode.
Probable causes
It is not possible to reset Task Selection Panel in synchronized block.
Recommended actions
1) Switch back to manual mode.
2a) Set PP to main.
2b) or step out of synchronized block.
2c) or set System Parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to No if the system should be in debug mode
when switching to auto.
3) Switch back to automatic mode and confirm.

20094, Load name could not be found
Description
Load name arg could not be found.
Consequences
It is not possible to jog without a correct defined load.
Probable causes
The module with the load definition is probably deleted.
Recommended actions
Load module with load definition.
Choose other load.

20095, Tool name could not be found
Description
Tool name arg could not be found.
Consequences
It is not possible to jog without a correct defined tool.
Probable causes
The module with the tool definition is probably deleted.
Recommended actions
Load module with tool definition.
Choose other tool.

20096, WorkObject name could not be found
Description
WorkObject name arg could not be found.
Consequences
It is not possible to jog without a correct defined workobject.
Probable causes
The module with the workobject definition is probably deleted.
Recommended actions
Load module with workobject definition.
Choose other workobject.

20097, Not allowed to jog with LOCAL PERS
Load
Description
The object arg is of type LOCAL PERS and is not possible to jog.
Recommended actions
Change Load.

20098, Not allowed to jog with LOCAL PERS
Tool
Description
The object arg is of type LOCAL PERS and is not possible to jog.
Recommended actions
Change Tool.

20099, Not allowed to jog with LOCAL PERS
Work Object
Description
The object arg is of type LOCAL PERS and is not possible to jog.
Recommended actions
Change Work Object.

20101, TP (program) in control.
Description
The teachpendant programming
window has focus and is in control
of the program server.
Recommended actions
Change to the production window
and perform the command again.

20103, Controller busy updating Task Selection
Panel.
Description
The Task Selection Panel is having an update.
It is not possible to do the requested command.
Recommended actions
Perform the command again or
make a warm start and perform the command again.

20105, Backup already in progress
Description
A backup is already in progress.
Consequences
The command “Backup” from System Input Signal will be rejected.
Recommended actions
Use System Output Signal “Backup in progress” to control if a backup
can be strarted or not.

20106, Backup path
Description
There are errors in the backup path or the backup name in the
configuration for the System Input Backup. The directory for the
backup can not be created.
Backup path: arg
Backup name: arg
Consequences
The command “Backup” from System Input Signal will be rejected.
Recommended actions
Verify that configured path and name for the System Input Backup are
correct.

20111, TP (program) in control
Description
The teachpendant programming
window has focus and is in control
of the program server.
Recommended actions
Change to the production window
and perform the command again.

20120, System IO in control
Description
See Title
Recommended actions

20126, Load data has changed
Description
The active load arg was removed and replaced with arg. The load data
was located in task: arg connected to mechanical unit arg.
Consequences
The load definition for jogging may not be correct.
Probable causes
The load data was removed. The module containing the original tool
definition may have been deleted.
Recommended actions
If you require the old definition, locate the program or module of the
original load data and load it.

20127, Tool data has changed
Description
The active tool arg was removed and replaced with arg. The tool data
was located in task: arg connected to mechanical unit arg.
Consequences
The tool definition for jogging may not be correct.
Probable causes
The tool data was removed. The module containing the original tool
definition may have been deleted.
Recommended actions
If you require the old definition, locate the program or module of the
original tool data and load it.

20128, Work object data has changed
Description
The active work object arg was removed and replaced with arg. The
work object data was located in task: arg connected to mechanical unit
arg.
Consequences
The work object definition for jogging may not be correct.
Probable causes
The work object data was removed. The module containing the
original tool definition may have been deleted.
Recommended actions
If you require the old definition, locate the program or module of the
original work object data and load it.

20130, Active Task Menu is restored
Description
During warm start, the “Active Task Menu” is restored in Auto mode.
Consequences
If one or several tasks were unchecked, they are now checked again
after the warm start in Auto mode.
Probable causes
A warm start has been performed
Recommended actions
Go to manual mode.
2. Uncheck the not wanted tasks
3. Go back to Auto mode.

20131, Automatic Mode Rejected
Description
One or more logical I/O signals were blocked and could not be
unblocked when automatic mode was requested.
Consequences
The system can not enter automatic mode.
Probable causes
Some blocked I/O signal could not be unblocked.
Recommended actions
1) Switch back to manual mode.
2a) Check Event Log for errors related to I/O.
2b) or set System Parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to No if the system should be in debug mode
when switching to auto.
3) Switch back to automatic mode and confirm.

20132, Blocked I/O signals
Description
One or more logical I/O signals were blocked during startup in
automatic mode.
Consequences
Blocked signals will be unblocked.
Probable causes
System was switched to automatic mode during warm start.
System parameter AllDebugSettings is set to Yes.
Recommended actions
None, system has automatically reset debug settings.
To keep debug settings in auto:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to NO.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20133, Debug Settings in Auto
Description
One or more logical I/O signals were blocked during startup in
automatic mode.
Consequences
Blocked I/O signals will stay blocked.
System will not be in full production mode in auto.
Recommended actions
For full production mode:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to YES.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20134, Call Chain
Description
The call chain has been altered to begin at a routine other than main.
Consequences
Program pointer will be reset to main routine.
Probable causes
System was switched to automatic mode during warm start.
System parameter AllDebugSettings is set to Yes.
Recommended actions
For debug mode in auto:
1) Switch back to manual mode
2) Set system parameter AllDebugSetting, reset to NO.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20135, Debug Settings in Auto
Description
The call chain has been altered to begin at a routine other than main.
Consequences
Program pointer will not be set to main.
System will not be in full production mode in auto.
Recommended actions
For full production mode:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to YES.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20136, Reduced Speed
Description
The system was running at reduced speed during startup in automatic
mode.
Consequences
Speed will be set to 100%.
Probable causes
System was switched to automatic mode during warm start.
Recommended actions
None, system has automatically reset debug settings.
To keep debug settings in auto:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to NO.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20137, Debug Settings in Auto
Description
The system was running at reduced speed during startup in automatic
mode.
Consequences
Speed will stay unchanged.
System will not be in full production mode in auto.
Recommended actions
For full production mode:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to YES.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20138, Disabled Tasks
Description
One or more of the NORMAL tasks were disabled during the startup
when in automatic mode.
Consequences
All disabled normal tasks will be enabled.
Probable causes
System was switched to automatic mode during warm start
System parameter AllDebugSettings is set to Yes.
Recommended actions
None, system has automatically reset debug settings.
To keep debug settings in auto:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to NO.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20139, Debug Settings in Auto
Description
One or more of the NORMAL tasks were disabled during startup in
automatic mode.
Consequences
Disabled tasks will stay disabled.
System will not be in full production mode in auto.
Recommended actions
For full production mode:
1) Switch back to manual mode
2) Set system parameter Controller/Auto Condition Reset/
AllDebugSettings/Reset to YES.
3) Switch back to automatic mode and confirm.
4) For more info, see the Technical Reference Manual – System
Parameters.

20140, Motors On rejected
Description
Motors On, via System IO, was rejected.
Recommended actions

20141, Motors Off rejected
Description
Motors Off, via System IO, was rejected.
Recommended actions

20142, Start rejected
Description
Start/restart of program, via System IO, was rejected.
The reason could be that the robot is outside of regain distance.
Recommended actions

20143, Start at main rejected
Description
Start of program at main, via System IO, was rejected.
Recommended actions

20144, Stop rejected
Description
Stop of program, via System IO, was rejected.
Recommended actions

20145, Stop cycle rejected
Description
Stop of program after cycle, via System IO, was rejected.
Recommended actions

20146, Manual interrupt rejected
Description
Manual interrupt of program, via System IO, was rejected.
Recommended actions

20147, Load and start rejected
Description
Load and start of program, via System IO, was rejected.
Recommended actions
The name of the program file to be loaded (including mass memory
unit) must be defined.

20148, Confirm rejected
Description
Emergency Stop reset confirm, via System IO, was rejected.
Recommended actions

20149, Error reset rejected
Description
Program execution error reset, via System IO, was rejected.
Recommended actions

20150, Load failure
Description
Load of program, via System IO, failed.
Consequences
Program will not be possible to start.
Probable causes
– The arguments for the System Input Load are wrong.
– The module was loaded, but the system failed to set the program
pointer.
– The program was executing.
Recommended actions
Check the following:
– correct arguments for System Input Load.
– defined and correct name of the program file to be loaded (including
mass memory unit).
– defined and correct name of the task that the program should be
loaded in.
– program stopped before activating System Input Load.

20153, Motors On and Start rejected
Description
Motors On and Start/Restart of program, via System IO, was rejected.
The reason could be that the robot is outside of regain distance.
Recommended actions

20154, Stop instruction rejected
Description
Stop of program after instruction, via System IO, was rejected.
Recommended actions

20156, Undefined Argument
Description
Interrupt routine name for System IO
Manual Interrupt is not defined.
Recommended actions
Configure the interrupt routine name.

20157, Undefined Argument
Description
Program name for System IO
LoadStart is not defined
Recommended actions
Configure the program name.

20158, No System Input signal
Description
A System Input has been configured to
an I/O-signal that doesn’t exist.
System Input: arg
Signal Name: arg
Consequences
The system goes to status SYS FAIL.
Recommended actions
Add signal arg to eio.cfg or remove System Input arg from eio.cfg.
For every System Input a signal must be configured.

20159, No System Output signal
Description
A System Output has been configured to
an I/O-signal that doesn’t exist.
System Output: arg
Signal Name: arg
Consequences
The system goes to status SYS FAIL.
Recommended actions
Add signal arg to eio.cfg or remove System Output arg from eio.cfg.
For every System Output a signal must be configured.

20161, Path not found
Description
The system module arg in task
arg has a corresponding
specification in the configuration
for “Task modules” that point out
a non existing file path
Recommended actions
View “Task modules” in the “System
Parameter” menu and change the path
in the item for this system module

20162, Write error
Description
A write error occur when the system try
to save the system module arg
at arg
in task arg. Or the file
system was full
Recommended actions
View “Task modules” in the “System
Parameter” menu and change the path
in the item for this system module

20164, Reconfig failed
Description
There are still some unsaved system
modules.
Recommended actions
Read error descriptions in earlier
messages.
Try another system start

20165, Program Pointer lost.
Description
Restart is no longer possible from
current position.
Recommended actions
The program has to be
started from the beginning.

20166, Refuse to save module
Description
The module arg
is older than the source
at arg
in task arg.
Recommended actions

20167, Unsaved module
Description
The module arg
is changed but not saved
in task arg.
Recommended actions

20170, The system was stopped
Description
An error was detected, which stopped the system.
Consequences
The system goes to status SYS STOP and the robot is stopped along
the path. The full meaning of this status is described in the Trouble
Shooting Manual, IRC5.
Probable causes
A number of errors may cause this status transition.
Recommended actions
1) Check other event log messages occurring at the same time to
determine the actual cause.
2) Fix the cause of the fault.

20171, The system was halted
Description
An error was detected, which halted the system.
Consequences
The system goes to status SYS HALT, the program and robot motion
is stopped and the motors are switched OFF. The full meaning of this
status is described in the Trouble Shooting Manual, IRC5.
Probable causes
A number of errors may cause this status transition.
Recommended actions
1) Check other event log messages occurring at the same time to
determine the actual cause.
2) Fix the cause of the fault.
3) Restart the program.

20172, The system has failed
Description
An error was detected, which caused the system to fail.
Consequences
The system goes to status SYS FAIL. The program and robot motion
is stopped and the motors are switched OFF. The full meaning of this
status is described in the Trouble Shooting Manual, IRC5.
Probable causes
A number of errors may cause this status transition.
Recommended actions
1) Check other event log messages occurring at the same time to
determine the actual cause.
2) Fix the cause of the fault.
3) Perform a system restart as detailed in the Operator’s Manual, IRC5.

20176, Analog System Output Outside Limits
Description
The value arg for the System Output arg, signal arg, is outside its
limits (logical min: arg m/s, logical max: arg m/s).
Consequences
The new value is not set; the previous value of the analogue signal is
preserved.
Probable causes
The logical upper and/or lower limit for the signal may be defined
wrongly.
Recommended actions
Adjust the values of the logical upper and/or lower limit for the signal
and restart the controller.

20177, Short circuit in Motor phase circuit
Description
The motor or motor cable for joint arg in drive module arg, drive
unit number arg, is a short circuit.
Consequences
No operation will be possible until after correcting the fault. The
system goes to status SYS HALT.
Probable causes
This may be caused by a faulty motor or motor cable. It may also be
caused by contamination in the contactors for the cables or a failure of
the motor windings.
Recommended actions
1) Make sure the motor cable is correctly connected to the drive
unit.
2) Check the cable and motor by measuring their resistance
respectively. Disconnect before measuring.
3) Replace any faulty component.

20178, Wrong task name configured
Description
Wrong task name arg configured for System Input arg.
Consequences
The digital input signal will not be connected to the specified event.
Recommended actions
Change the configuration and restart the system.

20179, Disk memory critically low
Description
The amount of free storage capacity on the disk has reached a critical
level. It is now less than 10 Mb. Execution of RAPID programs is
stopped.
Consequences
The disk memory is very close to being completely full. When this
happens the system will not be able to function.
Probable causes
Too much data on the disk
Recommended actions
1) Save the files on some other disk connected to the network.
2) Erase data from disk.
3) After removing files from the drive, restart the program.
20181, System Reset rejected.
Description
System Reset via System IO
not allowed.
Recommended actions

20184, Incorrect argument for System Inputs
Description
An undefined Start Mode has been
declared for System IO.
Recommended actions

20185, Incorrect Name
Description
An undefined Name has been declared
in current runchn_bool configuration.
Recommended actions

20187, Diagnostics record file created
Description
Due to any of a number of faults, a system diagnostics file was created
at arg. This file contains internal debug info and is intended for trouble
shooting and debugging purposes.
Consequences
The system will react to the error causing the stop as specified in its
own event log text.
Probable causes
A number of errors may cause this. Faults causing the system to go to
status SYS FAIL will generally also create a diagnostics record file.
Recommended actions
If required, the file may be appended to an error report sent to your
local ABB representative.

20188, System data is not valid
Description
The contents of the file, arg, containing system persistent data is
invalid. Internal error code: arg. The system has been started using last
good system data saved earlier at arg.
Consequences
Any changes made in the system configuration or RAPID programs
since arg will NOT be available after restart. Any such changes will
have to be re-implemented.
Recommended actions
1) Check other event log messages occurring at the same time to
determine the actual cause.
2) If acceptable, perform a B-restart to accept starting with the loaded
last good system data.
3) Reinstall the system.
4) Check the available disk storage capacity. If required, erase data to
increase free storage capacity.

20189, Robot data not valid
Description
Could not load the system independent
robot data from file arg.
The file exists but the content is not
valid. Internal code: arg
Recommended actions
Check other logged messages for needed
actions.
Make sure there is free memory
left on the device.

20192, Disk memory low
Description
The amount of free storage capacity on the disk is less than 25 MB.
When reaching 10 MB, execution of RAPID programs will be stopped.
Consequences
The disk memory is close to being completely full. When this happens
the system will not be able to function.
Probable causes
Too much data on the disk
Recommended actions
1) Save the files on some other disk connected to the network.
2) Erase data from disk.

20193, Robot data update warning
Description
Axis sync values and service information
data (SIS) was restored from backup.
The system independent robot data was
not saved during system shutdown. The
data was restored from latest backup.
Recommended actions
Make sure there is free memory left on
the device.
The backup battery may be drained. Check
the hardware log.

20194, System data backup could not be
created
Description
The system was restored successfully
but a backup of the current system data
could not be created.
Recommended actions
Make sure there is free memory left on
the device arg.

20195, System data from last shutdown is lost
Description
Normally, all system data is saved on shutdown. During the last
shutdown saving data has failed. The system has been started using last
good system data saved earlier at arg.
Consequences
Any changes made in system configuration or RAPID programs since
arg will NOT be available after restart. Any such changes will have to
be re-implemented.
Probable causes
The backup energy bank may have been drained at the time of the shut
down. The storage disk may be full.
Recommended actions
1) Check other event log messages occurring at the same time to
determine the actual cause.
2) If acceptable, perform a B-restart to accept starting with the loaded
system data.
3) Reinstall the system.
4) Check the available disk storage capacity. If required, erase data to
increase free storage capacity.

20196, Module saved
Description
During reconfiguration of the system a changed and not saved module
was found.
The module was saved to
arg.
Recommended actions

20197, System data from last shutdown can not
be found
Description
Normally, all system data is saved on shutdown. The file containing
system persistent data cannot be found. The system has been started
using last good system data saved earlier at arg.
Consequences
Any changes made in system configuration or RAPID programs since
arg will NOT be available after restart. Any such changes will have to
be re-implemented.
Probable causes
The file containing the saved system data may have been manually
moved or deleted.
Recommended actions
1) Check the location and availability of the saved system data file.
2) If acceptable, perform a B-restart to accept starting with the loaded
last good system data.
3) Reinstall the system.

20199, System SoftStop Rejected
Description
The System Input SoftStop is not allowed
Recommended actions