Fault Phenomenon: MiR mobile robot forklift while driving, wheel encoder data is abnormal, vehicle veers off when driving straight.

Troubleshooting Process:
– Checked encoder wiring: wiring open circuit.
– Checked encoder disc: disc dirty.
– Checked mounting: mounting loose.
– Checked interference: electromagnetic interference.

Root Cause: The wheel encoder optical grating disc is dirty, causing pulse loss.

Required Parts: Wheel encoder assembly.