Motor Torque Mismatch Error

When error [5.7072] occurs, the robot stops with the error message below.

• The error appears intermittently during operation, or every time a particular axis is jogged in one direction.
• That axis may vibrate, make noise, or feel stiff and uneven when moved by hand guiding.
• It is reported mostly on the A-Series.

[5.7072] Safety controller category

Motor torque value does not match the value converted from three-phase current
Param 1: Detailed cause

The robot checks the motor torque of each joint in two ways: the value reported by the joint, and a value calculated from the motor current. This error means the two no longer agree, so the robot stops to protect itself.

• A fault in a joint — the motor or the electronics inside one joint are not working normally. This is the most common cause.
• After a collision — a strong impact can damage a joint, and the error starts to appear afterwards.
• Cable connection — a loose or damaged cable between the robot arm and the controller.
• Operating environment — water or moisture reaching the robot, or loose mounting bolts causing vibration.

These checks need no tools and do not require opening the robot.

• Turn the controller off and on again, and note whether the error returns and how often.
• Check whether the robot collided with something shortly before the error first appeared.
• Check that the robot arm cable is firmly connected at the controller, and that it is not pinched, bent sharply or damaged.
• Check that the robot base is firmly fixed and that the tool mounting bolts are tight.
• Check whether water, coolant or moisture can reach the robot.
• Check the program for very high speeds or accelerations, and for a payload setting that does not match the real tool and workpiece.

If the error continues, or the axis vibrates or makes noise, stop using the robot and contact your distributor. Continuing to run it can damage the joint further.

Prepare the following so the problem can be diagnosed quickly:

• Robot model and serial number
• Software version of the controller
• The error code with its Param values, and the date and time it occurred
• Which axis vibrates or makes noise, if any
• The controller log exported right after the error
• A photo of the error message, and a video of the robot's movement if it behaves abnormally

• 2.9015 TCP force has exceeded user limit
• 2.9010 Joint torque has exceeded user limit in at least one joint
• 4.1025 Position Following Error
• 4.1046 Unbalanced current error
• 5.7021 Raw data sequence number error occurred on Inverter board