# 20061 Not allowed command

**URL:** <https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880>\
**Category:** Robot Controller\
**Created:** [September 1, 2017, 6:41am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880 "2017-09-01T06:41:00Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![Risto\_Virtanen](https://avatars.discourse-cdn.com/v4/letter/r/2bfe46/32.png) [@Risto\_Virtanen](https://tech-community.robotics.abb.com/u/Risto_Virtanen)\
**Post date:** [September 1, 2017, 6:41am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880/1 "2017-09-01T06:41:00Z")

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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

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<div class="post-metadata">

**Author:** ![Risto\_Virtanen](https://avatars.discourse-cdn.com/v4/letter/r/2bfe46/32.png) [@Risto\_Virtanen](https://tech-community.robotics.abb.com/u/Risto_Virtanen)\
**Post date:** [May 22, 2018, 8:28am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880/2 "2018-05-22T08:28:47Z")

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

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [May 22, 2018, 11:47am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880/3 "2018-05-22T11:47:57Z")

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

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**Author:** ![DenisFR](https://avatars.discourse-cdn.com/v4/letter/d/dc4da7/32.png) [@DenisFR](https://tech-community.robotics.abb.com/u/DenisFR)\
**Post date:** [June 22, 2018, 8:21am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880/4 "2018-06-22T08:21:47Z")

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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:

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/5/5e9f3a82649f90c5b00b484d3c82f0ceaccee315.png)

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

 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/8/84ab420642d636f7f70f581414b0a9f45fd8e4d8.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/53f9add9007fa6ecb190f2036975c88a7ab0e769.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/d/d62f880c454727b3d8cea84a4d2242dec0f5a044.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/d/db8c70b07b8c2da4eba9769f1e96ae9b5585f2f0.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/22be82fb4101d500882ba83a2d01cf83ac3afa0c.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/6/627c965ab4bcc003bc2f2cfc51e7cbbe69c60316.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/5/58fcc278a3146208309b48c3a67db9300501b846.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/1/1df453213b2ff8f75fa18c0c82d354bfb9d169fe.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/88da72d08fec0359d195bca351a4134dad326350.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/8/808f89836f32494b28ae2251e7e1b2a7292b8076.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/b/bd71c84456480d7dc9a3c7c80bf5ddfe0b453c9d.png)  
 ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/8/8925b93862c247f7fd1545cb3da65e3497e87110.png)

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<div class="post-metadata">

**Author:** ![thepikk](https://avatars.discourse-cdn.com/v4/letter/t/ce73a5/32.png) [@thepikk](https://tech-community.robotics.abb.com/u/thepikk)\
**Post date:** [September 12, 2022, 11:10am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880/5 "2022-09-12T11:10:45Z")

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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

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<div class="post-metadata">

**Author:** ![Risto\_Virtanen](https://avatars.discourse-cdn.com/v4/letter/r/2bfe46/32.png) [@Risto\_Virtanen](https://tech-community.robotics.abb.com/u/Risto_Virtanen)\
**Post date:** [September 28, 2022, 8:55am UTC](https://tech-community.robotics.abb.com/t/20061-not-allowed-command/7880/6 "2022-09-28T08:55:48Z")

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Thanks Kristo, I’ll give it a try!

Kind regards,  
Risto