2.7.0

SACOAPP-181 Create a Bootloader Version register (0x46E3) for the safety subnode.

SACOAPP-187 Implement Safety Core Temperature register using subindexes for accessing CPUA and CPUB temperatures.

SACOAPP-199 Implement a filter in the Safe Inputs for OSSD signals.

SACOAPP-184 Add MCB CRC Checksum error code logging and its reaction.

COMOCOAPP-295 Make the STO reaction configurable via the STO Error Option Code register (0x263B).

SACOAPP-215 SS1 time to STO cannot be set lower than 50 ms.

SACOAPP-219 The internal clock has a drift.

SACOAPP-197 Inconsistent FSoE Reply error is being logged sometimes when transitioning from OP to PREOP.

COMOCOAPP-247 Profiler is not correctly calculated when interrupting a deceleration phase in profiled position.

COMOCOAPP-289 Fix Endat 2.2.

COMOCOAPP-294 The bootloader version is not correctly read and shows 1.0.0.

SACOAPP-183 Make the Error Total Number register show the total number of errors since power up.

SACOAPP-185 Disable write access to dictionary while storing the safety subnode.

SACOAPP-179 Include the flag SRA_Parameteruspported in the ESI file.

SACOAPP-188 Make the safe inputs readable in all operation modes.

SACOAPP-192 Add missing start-up self-tests.

SACOAPP-198 Review and update error codes and reactions.

SACOAPP-222 Increase the internal temperature limit from 80ºC to 85ºC.

SACOAPP-204 Remove the Error Queue CPU Select register (0x464C) and use subindexes for accessing CPUA and CPUB error queues instead.

COMOCOAPP-282 Limit the electrical frequency to 600 Hz.

ID	Description	Workaround
SUMMIT-3237	Wrong value conversion between homing speeds (CiA to manufacturer).	None
SUMMIT-3425	Feedback CLK not being reset after changing the refresh rate.	None
EVS-193	Default MAC address is inverted.	None
MOT3-2748	Register 0x1003 subindex 1 returns an error code when connecting to the device using MotionLab 1.5.0 through CAN. It does not affect the drive functionality and will be fixed in future MotionLab release.	None