Symptoms
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.
Expected Cause
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.
What You Can Check
- 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.
When You Contact Support
- 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
Related Error Codes
- 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
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