Eufy G40+ part 1

Had this Eufy G40+ robot vacuum cleaner in with a S2 fault. never had one of these In before but I have had other Robot vacs in, generally with battery issues.
This one goes around in a circle for 2 seconds then stops and announces a S2 wheel error. I will strip it down and try to find the issue.
I will be back with the 2nd installment when new parts arrive hopefully this week.