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Error Analysis and Solutions for Robotic Arm Encoders & Joint Encoders

Error	Causes and Handling Suggestions	Detailed Reasons Related to Encoder	Solutions
0X0020 Encoder Error	1. If encoder errors occur in multiple joints of the robotic arm, it is recommended to check the power output and restart the robotic arm. This phenomenon is caused by insufficient power output, which prevents the robotic arm from performing normal self-check and self-tuning.	Insufficient power supply output causes deviations between encoder readings and actual positions.	Check for abnormal system power supply; try restarting the power.
	2. If an encoder error occurs in a single joint of the robotic arm, first attempt to clear the error. If the error persists, it may be due to excessive joint load, which triggers the error after startup. Reduce the load and restart the power to resolve the issue.	Excessive load degrades power quality, which in turn disrupts normal encoder operation and causes positional deviation of the encoder.	System design avoidance: check the load condition and restart the power.
	3. The continuous deviation between the encoder reading position and the previous data exceeds 1 degree (if there is no hard brake, consider the offset of the output flange position).	Structural stress is transmitted to the encoder, resulting in encoder position deviation.	System structural design avoidance: consider clearance.
		Abnormal trajectory movement causes changes in the offset angle of the magnetic ring (encoder position deviation).	Restarting and resetting can solve the problem.
	4. The error cannot be eliminated and the driver board lights up blue (invisible externally), indicating an encoder failure.	Encoder hardware failure.	If the error cannot be resolved after fully considering structural clearance, ensuring no abnormal power supply, restarting the single joint, and using the single-joint upper computer for separate operation, it is likely an encoder hardware failure, requiring factory repair.
	5. The current motor position read by the encoder exceeds the set limit position.	In the power-off state, manual operation or gravity causes the joint (with soft brake) to move beyond the set limit position.	Refer to the position over-limit handling method. Adjust the position limit to be greater than the current joint angle.