S20 Device IC Hardware Error

[Kyoung_Choe]

Hello, we have a xArm6, which keeps show the S20 error.

I saw a previous post with the same S20 error, and went through a similar process, but the error did not go away: Error code S20 - Driver IC Hardware Error

Please let me know how to solve this. Thank you!

[Kyoung_Choe]

Here is the D11 debugging message:

[Kyoung_Choe]

Here is the arm’s current pose:

[Minna]

Hi Kyoung,

Please enter ‘Settings-General-Debugging Tools-Joint’, send the command below and take a screenshot of the result to us, thanks in advance.
And How did the S20 error happen?

1. H16
2. H114D000CI6
3. H102D000CI6

Best regards,
Minna