How to solve S17 error?

S17: Single-turn Encoder Error

Product: xArm series, UF 850, Lite6

UFactory version: V2.4.0+

• If you're using the arm ≤1303 version, please follow the steps below to clear it.
• If you're using 850,Lite6, xArm≥1304 version, please take a screenshot of the error page and contact support@ufactory.cc

Status code=16

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, 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.