Universal Robots+

URScript function for resetting incremental encoder tick count

Summary

Reset encoder tick count when using an incremental encoder

What is it?

Simply resets the tick count of the decoded encoder tick count variable held in the UR.

Why is it needed?

Today the controller has to be power cycled in order to reset the tick count, this takes time and is not efficient. The maximum value of the encoder tick count using an incremental encoder is also not known as far as I can understand by reading documentation and posing questions in this forum. This feature will enable the user to software reset the incremental encoder.