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.\segm.c 3828 Prepare of tool orientation failed

Hello i am getting warning message above when i load my teach pendant, i have checked the route for the rrs file and all seems to be correct!!! does anyone know what this problem is as i cannot drive to any taught locations unless i jump to in motion 

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Re: .\segm.c 3828 Prepare of tool orientation failed

Hi. Do you have an external axis or servo axis with your robot? The machine data selected likely does not have the servo axis defined, so there is an axis mis-match between RCS and PS or Robcad. This is the usual message seen with ABB robots having a servo gun mounted, but using the standard manipulator data.