0.7.1

Bug

• CAP-586 Drive moves 1 entire revolution when settings absolute encoder offset and position range settings
• CAP-568 Fake soft-multiturn is happening when the encoder position oscillates around "0" 
• CAP-175 Fix loop frequencies values

• CAP-528 Forced alignment might not work with analog command source selected

Improvement

• CAP-381 Improve Bus Voltage utilization
• CAP-330 Decrease ADC sampling time
• CAP-498 User I2T option code doesn't allow to generate a fault

New Feature

• CAP-507 Implement torque loop registers
• CAP-527 Create registers to reset and monitor PID integral
• CAP-331 Make ADC sampling delay configurable

This version introduces new storable registers. It is necessary to follow a special update procedure:

• Save the drive configuration to a file.
• Restore the drive to defaults.
• Update to the new firmware.
• Load again the drive configuration from the previously saved file.

It may be necessary to redo the phasing.