1, check the power supply: check whether the power supply voltage is stable, whether the power cord is in good contact, and whether the power switch is in normal state. If there is a problem with the power supply, try replacing the power supply or using a voltage regulator.
2, check the motor: check whether the motor is working properly, whether the motor is overloaded or overheated, whether the motor has noise or vibration. If there is something wrong with the motor, try to replace the motor or adjust the motor parameters.
3, check the encoder: check whether the encoder is working properly, whether the encoder is loose or damaged. If the encoder has problems, you can try to replace the encoder or adjust the encoder parameters.