Standstill Status Violated

When error [5.7056] occurs, the robot switches to STO (servo off) and stops.

• It happens at a moment when the robot should be standing still — after a pause or stop command, when a program is restarted, or while waiting for a signal.
• It is often reported when the robot is controlled from an external program (API, ROS) or in remote control mode.

[5.7056] Safety controller category

Standstill status is violated in at least one joint.

When the robot is in a monitored stop, the safety controller checks that no joint moves. This error means a joint moved more than 3 degrees from its stopped position, so the robot switches off the motors.

• A motion command sent during a stop — an external program, remote control signal or program restart commands motion while the robot is still in a monitored stop state.
• Operating mode — streaming commands such as speedj or servoj sent while the robot is in manual mode.
• A software issue fixed in a later version — for example, errors when using stop() or exit().
• An axis that does not hold its position — heavy load with the arm fully extended, or a fault in a joint. This needs service.

• Note what was happening: pause, stop, program restart, a remote control signal, or an external program command.
• If you control the robot through the API, set the robot mode and safety mode to autonomous/auto before sending streaming commands. Sending speedj in manual mode has caused this error.
• In remote control, make sure the task start signal is sent only after the robot has fully stopped and is ready.
• Check the controller software version and update if a newer version is available.
• Check that the payload setting matches the real tool and workpiece, especially when the arm stops fully extended.
• If an axis visibly sags or moves on its own after stopping, stop using the robot and contact your distributor.

• Robot model and serial number
• Software version of the controller, and the API or ROS version if used
• All error codes shown with 5.7056, and the date and time
• What the robot was doing — the program line, or the external command sent
• The controller log exported right after the error

• 4.1025 Position Following Error
• 2.9010 Joint torque has exceeded user limit in at least one joint
• 5.7053 SS2 (Safe Stop 2, deceleration and standstill monitoring) is activated