I've gotten this error before, there are few possible causes that I've experienced.
1. You have an expansion module in your I/O tree, but it isn't present.
2. The ribbon cable connector is loose, sometimes removing and re-seating will cure this.
3. Faulty expansion module.
4. I've also seen this on ML1200's that are shut down. For some reason the expansion module powers down before the main unit, the fault is detected just before, the main unit shuts down, when the power is restored, it still has the fault bit set. Try setting the fault override at power up bit, S:1/8 to true.