New initialization of encoder when changing encoder source

The "New initialization of encoder when changing encoder source" function is always required if the absolute distance reference of an application is to be preserved when changing the encoder source. The encoder source cannot be changed during the movement as a result, however. This means the function can be switched off if an on-the-fly change is required because only relative positionings are being carried out.

In the "Encoder evaluation" configuration menu, the behavior of the software module when switching the encoder source can be defined via the "New initialization of encoder when changing encoder source" parameter. 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.
• As from t2: The actual position is calculated based on the combined operation/external encoder.