Incremental Encoder Count Error

When error [4.1049] occurs, the incremental encoder count of one axis does not match what the controller expects.

• The error is raised during operation or right after servo on, and the robot stops or the affected axis does not move.
• It repeats on the same axis, or occurs together with 4.1031, 4.1003 or 4.1025.

[4.1049] Robot inverter category

Incremental Encoder Count Error
Param 1: Inverter Number

Each joint uses an encoder to measure its position. This error means the position count from one joint's encoder is not what it should be, so the robot cannot trust the position of that joint.

• Encoder signal or cable — noise, poor contact or damage in the encoder cable inside the joint.
• Shock or excessive load — a collision, strong vibration or an offset payload.
• A fault inside the joint — the encoder, the reducer or the joint's electronics.

The cable and parts are inside the robot arm and need service.

• Turn the controller off and on again, and note whether the error returns.
• Check the affected axis for excessive external force, shock or vibration, and for an offset in the tool mass or center of gravity.
• Check whether the program was changed recently, review the speed, acceleration and blending settings, and check the collision history.
• Check that no external cable or hose pulls on the arm.

If the error returns, contact your distributor.

• 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
• Collision history and recent program changes
• The controller log exported right after the error

• 4.1031 Inverter Over Current Error (H/W)
• 4.1003 Malfunction by the electric motor over-current
• 4.1025 Position Following Error
• 5.7073 Joint position control error