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

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.