Joint Torque Sensor Data CRC32 Check Failed

When error [5.7024] occurs, the robot decelerates and stops, then switches to STO (servo off).

• Servo on fails, or the robot stops during operation.
• It almost always appears together with 5.7023 (joint torque sensor data sequence number error).
• In some cases recovery mode and backdrive mode cannot be used either.

[5.7024] Safety controller category

Joint torque sensor data CRC32 check failed on Inverter board.
Param 1: CPU Number
Param 2: Inverter Number

Each joint has a torque sensor that sends its data to the controller with a checksum (CRC32). This error means the data from one joint arrived with a checksum that did not match — the data was corrupted on the way. Param 2 tells you which joint.

• Cable or connection inside the robot arm — the torque sensor cable or the communication cable of one joint.
• Cable between the controller and the robot arm — loose, damaged or affected by electrical noise.
• A fault in the torque sensor or joint of the axis shown in Param 2.

• Note the Param 2 value (joint number) and all codes shown with 5.7024.
• Turn the controller off, wait about a minute, and turn it on again.
• Check that the robot arm cable is firmly connected at the controller, and that it is not damaged, pinched or running next to welding cables or other strong noise sources.
• Check whether the error started after a collision or after work on the robot.

If the error returns after a restart, contact your distributor. The cables inside the robot arm must be checked by a service partner.

• Robot model and serial number
• Software version of the controller
• The error code with its Param values, all codes shown with it, and the date and time
• Whether servo on, recovery mode and backdrive mode are possible
• The controller log exported right after the error

• 5.7023 Joint torque sensor data sequence number error occurred on Inverter board
• 5.7138 Compare fault of joint torque sensor occurred
• 5.7122 STO relay fault occurred
• 5.7059 Joint torque has exceeded user limit in at least one joint