Absolute Encoder CRC Error

When error [4.1017] occurs, the following symptoms may appear:

• During operation, the robot stops and the servo turns off with the message below.
• When you try to turn the servo on again, 4.1017 appears again and the servo does not turn on.
• From Param 1, you can identify which joint the error occurred on.

[4.1017] Robot inverter category

Absolute Encoder CRC Error
Param 1: Joint Number

Each joint has an absolute encoder that reports the joint's position with a checksum (CRC). This error means the position data from one joint arrived corrupted, so the robot cannot trust it.

Poor contact or a fault in the absolute encoder parts inside the joint — the encoder cable, the encoder header or the joint's main board. A connection disturbed during disassembly or repair is a common case. These parts are inside the robot arm and need service.

• Turn the controller off and on again, and note whether the error returns.
• Note the joint number from Param 1, and any other codes shown with it — 4.1050 or 5.7069 often appear together.
• Check whether the robot collided, or was disassembled or repaired, shortly before the error first appeared.

If the error returns, contact your distributor. See also Position Error between Encoders.

• Robot model and serial number
• Software version of the controller
• The error code with its Param value, all codes shown with it, and the date and time
• Any recent collision, disassembly or repair
• The controller log exported right after the error

• 4.1050 Position Error between Encoders
• 5.7069 The difference between the incremental encoder and the absolute encoder values exceeds limit range
• 4.1055 Inverter Absolute Encoder Error Bit