Encoder error (4.1017) Robot Inverter Error

# 5.7069 (Safety Controller Error)

The difference between the Incremental encoder and the Absolute encoder values exceeds limit range.

Symptom

Switched to STO, Robot stops

Cause

Incremental Encoder and Absolute Encoder values increase by more than 5 degrees

Action Method

Report the problem to the customer service department and reboot the system

Re-install the Safety Controller software

If the problem occurs repeatedly, replace the Robot joint module

Required Information

Not applicable

Steady State

Incremental Encoder and Absolute Encoder values increase by less than 5 degrees

# 4.1017 (Robot Inverter Error)

Absolute Encoder CRC Error

Symptom

- Message alarm

- Robot stops

Cause

Absolute encoder BiSS CRC error

Action Method

1. This error occurs due to communication failure of the absolute encoder.

2. Turn the robot power off and start again.

3. If the error continues, take it as encoder malfunction and request diagnosis to the A/S department of the main office.

Required Information

- None

Steady State

N/A

# 5.7001

RS422 communication sequence number error

Symptom

Robot stops in SS1 stop mode (switched to STO after deceleration)

Cause

This may occur if the sequence number of the command sent by the TP does not increment by 1, or it the data is arbitrarily changed due to the serial communication problem.

Action Method

Make sure that the Cable/Connector connections are correct.

If the problem occurs repeatedly, replace the Safety Controller board

Required Information

Not applicable

Steady State

The sequence number is incremented by 1 each time the command is transmitted