diff --git a/msg/MotionReadyEnum.msg b/msg/MotionReadyEnum.msg
index 0c96260..6829e86 100644
--- a/msg/MotionReadyEnum.msg
+++ b/msg/MotionReadyEnum.msg
@@ -61,4 +61,7 @@ string NOT_READY_OTHER_TRAJ_MODE_ACTIVE_STR="Another trajectory mode is already
 uint16 NOT_READY_NOT_CONT_CYCLE_MODE=115
 string NOT_READY_NOT_CONT_CYCLE_MODE_STR="Continuous cycle mode not set. Please set the cycle mode to continuous"
 
+uint16 NOT_READY_MAJOR_ALARM=116
+string NOT_READY_MAJOR_ALARM_STR="The controller has an active Major Alarm that cannot be reset. Check teach pendant"
+
 uint16 value