2.6.1

SACOAPP-138 Add support for using the SRA CRC.

COMOCOAPP-284 Implement NVM user space.

SACOAPP-105 Implement the safety function SS1 (safe stop 1).

SACOAPP-105 Implement the safe inputs.

SACOAPP-21 Implement the error manager.

SACOAPP-142 Add identification registers to the safety subnode (product code, software version and serial number).

SACOAPP-141 Fix complete access for safety registers.

SACOAPP-173 Make the build number of software version fixed-size.

SACOAPP-134 Remove the termination character at the end of string objects in EtherCAT.

SACOAPP-85 Exclude 0 from the Safety Address range.

SACOAPP-137 Update the limits of the FSoE watchdog.

SACOAPP-135 Block SDO write access to safety registers while in Operational state.

SACOAPP-124 Add store subnode and restore subnode to the store all and restore all registers.

SACOAPP-131 Review the object dictionary.

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