Revision #: 0x20020103 (No XML update. Revision number is not changed)

1. Bug Fixes

   1. Statusword error bit not asserted on 0x7510 error
      The statusword error bit was only not asserted if there was a communication problem to the drive on power up. 

      Changes

      1. Clearing the fault on a power up fault will reset the MCU in an attempt to initiate communication. If the fault reset bit remains active and the fault occurs again a reset will occur again. This process will repeat itself.
      2. Clearing the fault if it occurs during regular runtime will not reset the MCU. Alternate methods are attempted in this case that do not require a reset.
   2. Motion not occuring in CSV, CSP or Profile Velocity though the drive indicates it is.
      Changes
      1. EtherCAT slave switches modes and has additional checks before sending data to the drive

Revision #: 0x20020103 (No XML update. Revision number is not changed)

1. Feature updates
   1. Object 0x2201 added. Object is 4 volatile 32 bit registers that can be used as variables. Variable 1 BIT15 and BIT14 are mapped to the Statusword (0x6041). This allows the bits to be used as flags. For example a homing complete flag.

Revision #: 0x20020103 (No XML update. Revision number is not changed)

1. Feature updates
   1. Target velocity in CSV mode is now in count/s. Previously it was counts/ms
   2. Velocity Actual Value is now in counts/s. Previously was in counts/ms

Revision #: 0x20020103 (No XML update. Revision number is not changed)

1. Feature updates
   1. PDO communication rate now includes multiple periods.
      1. Specifically 200us, 250us, 500us and 1ms.
      2. No setting is required on the slave/drive which autodetects the rate.
2. Bug fixes
   1. OUT LED indicator fixed.

Revision #: 0x20020103

1. Feature Updates
   1. SM and PDI watchdog implemented. The motor will disable if a watchdog timeout is encountered
   2. Mode of Operation and Mode of Operation Display have been added to the Profile Mode RxPDO and TxPDO respectively.
   3. Statusword BIT12 is implemented for CSV and CSP mode. BIT12 indicates if the drive is following the commanded position.
   4. EEPROM data is included in the update and will load automatically.
   5. Revision # is updated with each release. The matching XML is required. This allows for multiple version on the same network.
2. Bug fixes
   1. Halt bit on Homing Mode would not halt the motor when switching modes at the same time.
   2. Speed for HM and PP mode is now correctly returned. It was 1/4 or the actual value.
3. General improvements on task handling and timing.

1. Feature Updates
   1. F/W update through FoE in Bootstrap.
   2. Object 0xFF01 - Status LED override
2. Bug Fixes
   1. SDO objects now available in all ESM states. In previous versions the entire
      dictionary was not available until the slave had transitioned into OP at least one.

1. Added support for Explicit Device ID
2. Improved SDO data transfer

1. Improved USB communication for
   1. Changing H gain parameters
   2. Running the motor in CML mode
   3. Updating firmware