New initialization of encoder when changing encoder source

In the "Encoder evaluation" configuration menu, the behavior of the software module when switching the encoder source can be defined via "New initialization of encoder when changing encoder source".

If "New initialization of encoder when changing encoder source" is activated, the actual position of the software module jumps when the encoder source is changed. This jump at the time of changing the encoder source can lead to undesired behavior.

The following diagram illustrates this behavior:

• Up to t1: The actual position is calculated based on the combined operation/external encoder.
• t1: The encoder source is switched to the "motor encoder".
• t1 to t2: The actual position is calculated based on the motor encoder.
• t2: The encoder source is switched to the combined operation/external encoder.
• From t2: The actual position is calculated based on the combined operation/external encoder.