Bruce Klawiter wrote: > See images 1 and 2 of the encoder here: > https://sites.google.com/site/bmklawt/home/robot/robot-picture Hmm, looks like a magnetic encoder. I worked on some Yaskawa encoders a while back. That black drum has a pattern of magnetic info written on it, and even touching the drum can damage it. I had one that was acting "goofy" and it had gotten a LOT of gear oil in it. I cleaned all the oil out and then wiped the drum. I wiped the entire magnetic track right off the drum, although there was no visible material removed.
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