# Error 20128 when starting PickMaster/IRC5  \[PickMaster 3\]

**URL:** <https://tech-community.robotics.abb.com/t/error-20128-when-starting-pickmaster-irc5-pickmaster-3/475>\
**Category:** PickMaster\
**Created:** [September 26, 2005, 3:47pm UTC](https://tech-community.robotics.abb.com/t/error-20128-when-starting-pickmaster-irc5-pickmaster-3/475 "2005-09-26T15:47:21Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![Erik\_S](https://avatars.discourse-cdn.com/v4/letter/e/58956e/32.png) [@Erik\_S](https://tech-community.robotics.abb.com/u/Erik_S)\
**Post date:** [September 26, 2005, 3:47pm UTC](https://tech-community.robotics.abb.com/t/error-20128-when-starting-pickmaster-irc5-pickmaster-3/475/1 "2005-09-26T15:47:21Z")

</div>

Hello,

When starting a PickMaster project with an IRC5 controller you may end up with an error 20128:

“(IRC5) (20128) Work object data has changed. The active work object T\_ROB1/WObjPick was removed and replaced with wobj0. The work object data was located in task: T\_ROB1 connected to mechanical unit ROB\_1.”

The problem is caused by an active work object that is removed which may be the case if the robot has been stopped in the pick or place procedure with either the Pick or Place work object active. Then at startup, the work object is changed as the module is replaced by a new module.

A workaround for this problem is to move the workobject definitions from the RAPID program within PickMaster to the ppaUser.sys module.

BR,

Erik