Pulsecoder first time change

Hello,

Yes, the best thing is to do it with the power off, then I advise you to set the robot to 0° before redoing the operation so that you just have to do a mastering because after changing the encoder the robot will be lost in J2 and you won't be able to move it as you want.

Personally, I've never changed the encoder on a robot, but it seems logical given the courses I've taken.