Joint Position Control Error

When error [5.7073] occurs, the difference between the commanded and the actual position, speed or torque of a joint has exceeded the allowed range.

• Right after servo on, or when jog is attempted, the error is raised immediately and jog is not possible. It often appears with 4.1050 or 4.1049.
• During operation an axis sags, usually downward, or falls behind and then collides.
• When it appears together with 4.1023, 5.7021 or 5.7023, the robot cannot be driven at all.

[5.7073] Safety controller category

Joint position control error exceeds error tolerance.

• Excessive load, external force or collision — payload exceeded, a heavy workpiece in a long-reach posture, or contact from outside.
• Aggressive motion — high speed or acceleration, or a sudden direction change under heavy load.
• Communication fault first — when 4.1023, 5.7021 or 5.7023 occurs first, the joint briefly loses valid feedback.
• A fault in a joint — the encoder, or wear in the reducer, brake or bearing. This needs service.

• Verify that the payload configured on the robot matches the actual tool, jig and workpiece, and that the allowed payload is not exceeded.
• Check the tool and flange mounting for loose screws or play.
• Identify the motion section where the error occurs. Lower the speed and acceleration, or smooth the path, and test again.
• Check for a section where the robot actually touches a cable track, structure, jig or workpiece.
• Reproduce the error with a simple jog or a short test program instead of the production program. If it occurs without a program, a hardware problem is more likely; if only in the program, the motion or the load.
• Check that the controller software is up to date.

If an axis sags, or the error occurs without a program, contact your distributor. See also Position Following Error with Large Blend Values – Why Does It Occur?

• Robot model and serial number
• Software version of the controller
• All error codes shown with 5.7073, and the date and time
• Whether it occurs with jog only, or only in the program
• The controller log exported right after the error

• 4.1049 Incremental Encoder Count Error
• 4.1050 Position Error between Encoders
• 4.1023 Communication Error-Heart Beat
• 5.7021 Raw data sequence number error occurred on Inverter board
• 5.7023 Joint torque sensor data sequence number error occurred on Inverter board