Sorry for the issue you are getting.
Basically, if the robot lose the step, the best way to make it back to work is power off the robot by power button and then power on it again. Since reset will make the encoder work once and get the correct joint data.
If anyone get some weird issues, would you please try to build a blockly demo and take video for us so that it would be helpful for us to find the problem.
or if you have tried to engrave something by laser, it helps a lot as well.