The xy plane issue is mainly caused by both the calibration method and the encoder. For the method, single point calibration is not good enough to fix the problem. For the encoder, the linearity of AS5600 would be the problem which makes the position feedback less accurate. What’s more, the dimensional accuracy of each parts and gearbox may also affects. We want to apologize here for everyone who are suffering the xy plane issue and we would do a real-time post about the process of solving this problem to keep everyone updated.