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Discovery and Risk Assessment Server 2013 - "An error has occurred initializing record manager: SQL exception generated..."

When launching Discovery and Risk Assessment Server 2013, you may see the following error:

 

 

An unexpected error has occurred: An error has occurred initializing record manager: SQL exception generated by SELECT COUNT(*) FROM UDKDEFINITION WHERE AccountID = @accountId and UDKType = @udkType. Details: Invalid object name 'UDKDEFINITION'.

This error occurs if Audit and Control Management Server 2013 (ACM) is not installed and configured. The installation of ACM creates a database in SQL Server, which is the same database used by Discovery. As stated in the install documentation, ACM must be installed and configured before installing Discovery:

https://technet.microsoft.com/en-us/library/jj612857.aspx