text: <s>[INST] How to forcibly reset counts in a 20-750-ENC1 encoder option Summary: Is there a programmatic method to reset the current count of the encoder board? This is a motion application using a CIP-Motion PowerFlex 755 drive with a standard incremental encoder.. In general it works quite well. But the trend of position and velocity that I've been watching worries me at times - velocity becoming ragged and unstable at times.. Passive rehoming of the axis doesn't reset the underlying encoder count, but I may have one of the setup options wrong for doing so. My Axis Travel option is set for Unlimited, therefore the Unwind option isn't available for setting. It's configured this way because that was the default - and I didn't mess with anything that didn't appear to need messing with. As the encoder values increment toward very high integer values, the velocity trace (on a trend) becomes increasingly ragged. Restarting the drive causes the encoder to reset to zero, and the raggedness disappears. My theory is that encoder values that correlate into floating point values (positions and velocities) begin to lose numeric precision when derived from very large integer values. There may be a variety of more elegant ways to solve the problem (and I'd be interested to hear them all), but my brute force method would be to just reach in and reset the encoder. Is there a way to programmatically control the encoder board's count? Is it through an SSV? Or a motion instruction? Or explicit message? Or some other clever thing that hasn't occurred to me? My exact application configuration is contained in an earlier post. The sparseness of this post is an attempt not to be redundant with those details (if relevant). Thanks [/INST] I'd try MRP (Motion Redefine Position). \\n </s>