Joint Torque Sensor Data Sequence Error

When error [5.7023] occurs, the following symptoms may appear:

• When you try to turn the servo on, the error is raised immediately and the servo does not turn on. It often appears together with 5.7021, 5.7024 or 5.7122.
• During operation, motion stops briefly or the robot stops, often together with 4.1023.
• With an external controller, the error repeats when Force Function, Hand Guiding or another special function is used.

[5.7023] Safety controller category

Joint torque sensor data sequence number error occurred on Inverter board.

The torque sensor in each joint sends its data to the controller in numbered frames. This error means a frame arrived out of sequence — data was lost or delayed on the way.

• Communication cable or connector — poor contact, damage or a loose connector between the controller and the robot.
• Power, noise or grounding — a voltage drop, electrical noise from nearby inverters, servo drives or welders, or poor grounding.
• Software version — the controller software and the robot arm software are not a matching combination.
• Heavy load in a specific function — Force Function, Hand Guiding or an external controller integration.
• A part in the robot arm — this needs service.

• Check that the main cable between the controller and the robot is firmly connected.
• Check that the cable is not routed close to a high-voltage or high-current line, or to an inverter, servo drive or welder.
• Check the grounding of the controller and the installation, and the power supply for drops or momentary loss.
• Note when the error happens: right after servo on, intermittently during operation, or when a specific function starts.
• If other robots on the same line fail at the same time, suspect the installation, power or environment.
• If you use an external controller, re-check the communication settings, especially for Force Function, Hand Guiding and heartbeat handling.
• Check that the controller software is up to date.

If the error continues, contact your distributor. See also What Is JTS Calibration and When Is It Needed?

• Robot model and serial number
• Software version of the controller
• All error codes shown with 5.7023, and the date and time
• When it happens, and which function was running
• The controller log exported right after the error

• 4.1023 Communication Error-Heart Beat
• 5.7021 Raw data sequence number error occurred on Inverter board
• 5.7024 Joint torque sensor data CRC32 check failed on Inverter board
• 5.7025 Motion Controller data sequence number error occurred
• 5.7122 STO relay fault occurred