A method and device for the open-loop/closed-loop control of a robot joint that is driven by an electric motor are provided, wherein the robot joint has a current sensor that comprises first sensor electronics for detecting a first operating current of the electric motor, a first position sensor for detecting a drive position of a drive train of the robot joint, a second position sensor for defecting an output position of an output train of the robot joint, and a first torque sensor for detecting a torque in the output train, wherein the electric motor is controlled by open-loop/closed-loop control on the basis of a pre-determined target control variable. The method comprises: providing measured values; checking for the presence of a fault by the first fault detector when the measured values and/or time derivatives thereof fail to satisfy first threshold values; and checking for a fault with further fault detectors.