text: <s>[INST] MPL Motor Encoder - Multi turn vs. Single turn We utilize the Hi-Res (2,000,000 counts) MPL motors in our facility. We have both the -S and -M feedback types in use. Occasionally a multi turn will be inadvertently replaced with a single turn (and vice versa) and when power is re-applied to the drive it comes up with a motor attribute fault, as it should. The issue arises when the electrician does not kill control power to the drive, just the high voltage. He then replaces the motor and re-applies the high voltage. The SERCOS ring never re-initializes and therefore the new motor data is not sent to the drive. We are looking into one possible solution of replacing all the singles with multis (or vice versa). My question: What is the benefit of using one over the other? They both provide high resolution absolute position feedback so I don't fully understand the difference. [/INST] The Single-turn and Multi-turn behave just the same, unless you are removing control power from the drive The Single-turn is limited in it's ability to report the actual position to within only one turn of the Encoder.It cannot report outside of one turn when drive's control power is reapplied. Multi-turn encoder provides high-resolution absolute position feedback within 4096 turns. Hope this helps… - fuzzy logic \\n </s>