An E-STOP condition has occurred because the two redundant E-STOP signal channels do not report the same E-STOP state. This error can be caused if redundant E-STOP channels do not track each other within a reasonable time (around 0.5 sec). If an external E-STOP circuit is being used verify that both channels are wired and functioning properly. Verify that the proper revision of MCP is being used. Verify that the CIP is connected securely.