Gearbox problem

[Psb]

Hi All driving from Denmarks to Spain and had a warning saying ‘Emergency Gear box in use ..you can still drive.’
Auto drive won’t engage ‘ACC error’ and we can only use 1st , 2nd 4th & 6 th gear.
The engine management warning light is on but it’s only orange not red.
Anyone got any experience of this ?
Many thanks in advance

Paul