20061 Not allowed command

Robot Controller
1

Hello,

Every time I switch robot controller to automatic mode and acknowledge ‘change of operating mode’ the event message ‘20061 Not allowed command’ pops up. The description for the message is ‘The command is not allowed when changing to Auto mode’ but the command raising the error is not named. What could be causing this? The message appears even if the background tasks are stopped. It works exactly the same way on VC.
RobotWare Version is 6.04.01.00

Cheers,

Risto

2

Could ABB comment this? Perhaps the error message could contain the actual reason which triggered the error.

3

Look in your event logs to see if there is a message like “Motors on rejected”. Usually something like that is going on.

4

Hello,
I’ve got the same issue.
RW 5.61.8001
The message appears at least 8 times per seconds if I don’t validate Auto Mode:

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I can’t found what causing this. All system input are low.

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5

Hi!

I had similar issue and I think I found a solution.
Seems like it is related to I/O’s that are used in the cross connection.
The I/O’s category, that you are trying to manipulate through CC, must be “All”

br.
Kristo

6

Thanks Kristo, I’ll give it a try!

Kind regards,
Risto