Incremental and Absolute Encoder Difference Exceeds Limit

When error [5.7069] occurs, the robot switches to STO (servo off) and stops.

• The error is raised at servo on, or shortly after the robot starts moving.
• It often repeats when one particular axis is jogged, or when that axis reaches the same angle every time.
• It is usually accompanied by 4.1050 (Position Error between Encoders) or 4.1017 (Absolute Encoder CRC Error).

[5.7069] Safety controller category

The difference between the Incremental encoder and the Absolute encoder values exceeds limit range.
Param 1: CPU Number

Each joint has two encoders that measure its position. The safety controller raises this error when they differ by 5 degrees or more. It usually appears together with 4.1050, which reports the same condition.

• Encoder cable or connection inside the joint — the most common cause, especially when 4.1017 appears as well.
• A fault or wear in the joint — encoder parts, or play in the reducer after a collision.
• Software version mismatch — for example, when a robot arm bought on its own is connected to an existing controller running a different version. This usually appears together with 4.1001.

• Turn the robot power off and restart it.
• Check which other codes appeared with 5.7069, and on which axis.
• If 4.1001 appears with it, or the robot arm was recently connected to a different controller, check that the robot arm and controller software versions match, and update if they do not.
• Check whether the robot collided or was repaired shortly before the error first appeared.

If the error returns, contact your distributor. See also Position Error between Encoders.

• Robot model and serial number
• Software version of the controller (and of the robot arm, if known)
• All error codes shown with 5.7069, and the date and time
• Collision history, and any recent repair or controller change
• The controller log exported right after the error

• 4.1050 Position Error between Encoders
• 4.1017 Absolute Encoder CRC Error
• 4.1001 Unknown error occurred
• 4.1025 Position Following Error
• 4.1049 Incremental Encoder Count Error