Joint Torque Safety Limit Exceeded

When error [5.7059] occurs, the torque measured in one or more joints exceeded the fixed joint torque limit for that robot model. The robot switches to STO (servo off) immediately.

• After servo on, an axis — most often axis 2 or 3 — drifts in the direction of gravity and the error is raised.
• During hand guiding, or when an external force is applied, an axis gives way and the error follows.
• The error occurs during a high-speed or high-acceleration motion, often together with 5.7060.
• The error repeats during recovery after a collision.

[5.7059] Safety controller category

Joint torque has exceeded user limit in at least one joint.

The joint torque limit is fixed for each model and cannot be changed. Unlike the collision detection (5.7060), it is based on the total torque in the joint, and the only stop mode available is STO.

• Excessive load, speed or acceleration — payload exceeded, or a single axis driven fast, so the real joint torque passes the limit.
• Payload setting wrong — the configured payload does not match the real tool and workpiece.
• Friction calibration out of date — the robot's model of its own joints no longer matches reality, often shown as an axis drifting at servo on.
• After a collision — a collision leaves an after-effect on the joint.
• A fault in a joint — the torque sensor, motor, reducer, brake or electronics. This needs service.

• Verify that the mass and center of gravity of the tool, jig and workpiece match the payload and tool weight configured on the robot. Re-measure and re-enter the payload if unsure.
• If the program sets the workpiece weight with a function, check that it is applied correctly.
• Check the speed and acceleration in the section where the error occurs — especially a single axis driven fast, a sudden acceleration under load, or a fast upward motion. Lower them and test again.
• If an axis drifts at servo on, re-run friction calibration from the teach pendant with enough clear space around the robot.
• If the error repeats during recovery after a collision, check whether a real collision occurred and whether the collision sensitivity is set appropriately. Recover in the order: recovery → friction calibration → normal operation.

If the axis still drifts after friction calibration, or the error repeats on one axis with a normal load, 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 5.7059, and the date and time
• The payload setting, and the motion running at the time
• Whether an axis drifts at servo on, and any recent collision
• The controller log exported right after the error

• 5.7060 Collision has been detected — based on external torque, adjustable with collision sensitivity
• 5.7072 Motor torque value does not match the value converted from three-phase current
• 2.9011 Collision has been detected
• 4.1040 Abnormal Torque of the JTS #2
• 4.1044 JTS #2 value does not change
• 5.7122 STO relay fault occurred