Walking Encoder Values

[JoeyPass]

We have two active Encoders on our robot that read the positions of our arm and wrist. After a couple of movements and bringing the arm and wrist back to starting position we are getting increasing values. It should be reading near zero each time we return to the initial positions but on the arm we get increasing or "walking values" in increments of about 4 - 6 per iteration. Has any one encountered this and do you have any suggestions.

Thanks,