RobotHA006 / HA020 / HA010L6. Troubleshooting6.3. Diagnostics and Resolutions for Major Parts FailureOn this page6.3. Diagnostics and Resolutions for Major Parts Failure6.3. Diagnostics and Resolutions for Major Parts Failure 6.3.1. Reduction gear6.3.2. BRAKE6.3.3. MOTOR6.3.4. ENCODER