How to solve S17 error?

S17: Single-turn Encoder Error

Product: xArm series, UF 850, Lite6

UFactory version: V2.4.0+

Status code=16

xArm ≤1303 version

Code:S17 , Joint ID: *(can be 1~7) , status code:16

1. press down the E-stop button and then release.
2. Enter 'Settings-General-Debugging Tools-Joing', send H101 D0104 V1 I* to unlock joint*, manually move joint* a little bit (Note: For Lite6, it is recommended to rotate joints 4, 5, or 6 by at least 45°), and then send H101D0813V2I* , press down E-stop button. (This step will reset the zero position, so you need to mark the original position of joint* before moving)
3. release the E-stop button, move Joint* to the original position, send D13 I* , press down E-stop button.
4. Try to enable the robot again.

850,Lite6, xArm ≥1304 version

Code:S17 , Joint ID: *(can be 1~7) , status code:16, the joint firmware version ≥ 4.0.18

1. According to the documentation, verify if the joint firmware version is ≥ 4.0.18. If the version is ≤ 4.0.18, follow the guide to update the firmware. Reference: How to check/update the joint firmware? | UFactory Docs

2. Enter the controller IP address and click Connect.

3. Switch to the ApiTool tab, select the faulty Joint ID, and click Clear Single-turn Status Code 16.

4. Press the Emergency Stop (E-Stop) button, wait for 5 seconds, then release it. Try to enable the robotic arm again.