Electrical
Troubleshooting Guide
IRB6400 M94A
Appendix A - 12
Error Messages
20072: Not allowed command..........................Chapter 5
Not allowed in Motors Off state.
20073: Not allowed command..........................Chapter 5
Not allowed while changing to Motors Off state.
20074: Not allowed command..........................Chapter 5
Not allowed in Guard Stop state.
20075: Not allowed command..........................Chapter 6
Not allowed in Emergency Stop state.
20076: Not allowed command..........................Chapter 2
Not allowed in System Failure state.
20080: Not allowed command..........................Chapter 9
Not allowed when axis is not commutated.
20081: Not allowed command.........................Chapter 10
1234567890123456789012345678901234567890
Not allowed when axis is not calibrated.
20082: Not allowed command.........................Chapter 10
Not allowed when axis rev counter is not updated.
20083: Not allowed command.........................Chapter 10
Not allowed when axis is not synchronized.
20100: Teachp (xxx) in ctrl
A teach pendant application is in control of the requested resource (program/motion).
20101: Teachp (prg) in ctrl
The teach pendant programming window has focus and is in control of the program
server. Change to the production window and perform the command again.
System Error Messages (Cont)
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