Encoder errors: counting error, multi-turn value error
Motor damaged, transmission components abnormal, drive damaged
Communication between the controller and drive module disconnected
Sudden encoder position change
Troubleshooting:
Check whether the battery, battery cable, and encoder connections are normal.
Check whether there is an encoder counting error.
Check for burnt-out motor UVW, brake, encoder, structural problems, reducer, belt, pulleys, etc.
Check whether the drive is operating normally.
Encoder single-turn and multi-turn values are lost.
Solution:
Relative homing + zero position fine adjustment.
After restarting, return to the zero position and perform absolute homing, or use zero position recovery. For a motor problem, use relative homing + zero position fine adjustment
If the zero position is normal before replacement, return the robot to an angle with a known numeric value before disassembly. After replacing the components, restore the zero position through absolute homing (enter the known angle)
If the zero position was already lost before disassembly, the factory zero position cannot be restored
Restart; the zero position is automatically restored after communication is established. Resolve the disconnection problem
Replace the motor. An encoder abnormality may cause runaway motion or a collision