The encoder on the servo motor cannot be replaced because:
1. The encoder has zero drift, and the installation position of the encoder needs to be readjusted until the servo motor runs normally.
2. To replace the encoder, you need to read out the program of the bad encoder, and then copy it to the new encoder through programming, and finally zero debugging.
If the new encoder is directly changed to the servo motor, the servo drive will have alarms such as "unable to communicate" or "data error" and "encoder failure".