0.7.1

Bug

• CAP-605

  EtherCAT register 0x6502 value is wrong

• CAP-586

  Drive moves 1 entire revolution when settings absolute encoder offset and position range settings

• CAP-579

  Register 0x60F4 cannot be mapped into PDO

• CAP-568

  Fake soft-multiturn is happening when the encoder position oscillates around "0" 

• CAP-560

  EoE Virtual MAC (Mandatory parameter) is not set properly during EoE configuration

• CAP-520

  Missing register drive number of axis 

• CAP-175

  Fix loop frequencies values

• CAP-584

  ECAT cable disconnection error detected during boot up

Improvement

• CAP-381

  Improve Bus Voltage utilization

• CAP-587

  Add subnode information to system error management

• CAP-539

  Improve error notification

• CAP-330

  Decrease ADC sampling time

• CAP-498 User I2T option code doesn't allow to generate a fault

New Feature

• CAP-538 Add subnode 1 store and restore registers

• CAP-507

  Implement torque loop registers

• CAP-527

  Create registers to reset and monitor PID integral

• CAP-522

  Implement subnode 0 product Identification registers

• CAP-591 Implement 0x6007 register in ECAT

• CAP-331

  Make ADC sampling delay configurable

Known issues