Finite logical axis below modulo master now behaves like a modulo axis

SM_Drive_PosControl: default for velocity pilot control is 0 (no velocity pilot control) but should be 1

SMC_Trafo_Bipod_Arm: possiblity to change dArmLength1/2

SMC_MovementCommand: Avoid huge data structures on the stack

AutoMoveGantry, Multicore: Access violation in ElemFunTrace_StartCycle

MC_MoveCircularRelative: Coordinate system ACS is not treated correctly

Possible AccessViolation after a MC_GroupReset

SMC_Interpolator may return error SMC_INT_QPROF_DIVERGES

MC_MoveSuperimposed: make it possible to halt a superimposed movement

Jump in axis positions when moving between configurations with PTP movement

Tracking: When commanding two consecutive MC_GroupInterrupt during tracking, the second one will not finish

Update PLC Device from device that has SoftMotion disabled to SoftMotion device (type 0x1006): compile errors

Interrupt/Continue: The first movement after a continue without movement to the continue position is reporting done to early

MC_TouchProbe: change default of MC_TRIGGER_REF.iTriggerNumber from -1 to 0 and add check for invalid trigger numbers

Generic CiA 402 axis: allow more than 8 drivers per slave if supported

Deprecate SMC3_CaptureDescription.bLatchInController

SMC_GroupConvertPosition: The kinematic configuration should be returned when converting from ACS to a cartesian coordinate system

SMC_ToolRadiusCorr: make it possible to define an offset for the tool radius

SMC_AXIS_GROUP_PATH_DEVIATION_TOO_HIGH after continue of position in dynamic PCS

MC_Home might get stuck in reading the position offset

Assertion in TrajectoryPlanner.StateMachine because CheckInvariant fails

[Docu] SMC_NCDecoder and SMC_NCInterpreter: document which values of piStartPosition are actually used

OriPrimLinear: singularity if orientation difference is close to a multiple of 2*pi

MC_SetDynCoordTransform: GetPose does not return exact save-pos for fTime=0 and uses acceleration and jerk for extrapolation

SMC_ReadNCFile2: make it easier to read from arbitrary streams and to modify the g-code

SM3_Drive_ETC_Staubli_uniVAL: support CS9

MC_GroupStop: Axis group switches to state "stop_done" without having posted the stop movement yet

SMRCP, Planer: AXIS_MAX_VEL constraint does not consider derivatives wrt t

Resume after MC_GroupHalt/MC_GroupStop: continue at stop position

Tracking: Jump in rotary axis (period missmatch) after aborting movement

Single axis movements: possible jumps in trajectory with ramp type sin^2 and blending or aborting

SMC_Interpolator: The segmenter is not reset with a rising Execute edge

Robotics: read information about axes (position or orientation axis)

MC_GroupSetOverride: Setting the override to 0 and then setting it to >0 while the axis group is stopping does not work

SMC_SmoothMerge: Merging of an orientation movement results in an undesired movement of the orientation axis

MC_TouchProbe: With bFastLatching = FALSE, edge detection of the trigger input should be supported

Possible unjustified error SMC_CP_TRAJECTORY_NOT_SMOOTH

SMC_SmoothMerge: Merging results in an undesired loop movement

MC_CamIn: Switching cams no longer works as documented

Fix the documentation for wAuxData of SMC_POSINFO

ElemFunCS_Delta: The function should return an identity frame in case of equal coordinate systems

MC_TouchProbe: May Report Done multiple times for the same trigger event if the touch probe objects are mapped as PDOs

Resume after error: Movements do not finish when MC_GroupContinue is used for an aborted interrupt

Robotics: function block SMC_GroupAddOffset to add an offset to a position

Jogging in a dynamic PCS which is in standstill might not be possible

CNC: allow indirect subprogram calls using string variables instead of the subprogram name

Make it possible to declare and use a local logical axis inside a function block

MC_MoveLinearAbsolute, Override: VelFactor zero "0" can leave the FB in a non-quit state

Settings: Unhandled Exception on creating new project

CNC: Wrong errorpos and error Id if a subprogram cannot be found

SoftMotion on standard PLC: Logical axis below general axis pool disappears when updating the device

SMC_GroupJog2: generates error when running onto border of working area

SMC_GroupJog2: error SMC_ABC_AS_ACS_NOT_SUPPORTED_BY_KINEMATICS is not reported

SM3_Drive_ETC_Parker (Compax 3): update touch probe function by reading source from object 0x2303.0x20

PlugIn: There may be multiple implicit General Axis Pool connectors in a project

SMC_GroupJog2: reset Error output on falling edge of Enable

CNC program can be added to POU window although SoftMotion is disabled

MC_CamIn: periodic tabular cams (byType XYVA) with many points: long runtime if cam period is reached

Create an SDK for the SoftMotion AddOn

Possible jump in axis positions aftert MC_GroupContinue

SMC_ToolRadiusCorr computes wrong path

Robotics: Make it possible to change the limit of velocity, acceleration, and jerk for each axis

An AxisGroup should report an error if modulo axes are configured

SMC_GroupJog2: AxisGroup can start moving in unexpected directions

SMC_GroupJog2: The default value for Vel/Acc/JerkFactor should be 0

Robotics: Support for modulo-axes

SMC_GroupJog2: The axisgroup jogs even when an irrelevant axis is fired

SMC_ReadNCFile2: include bExecute and bAbort

MC_GroupReadActualVelocity/Acceleration, SMC_GroupReadSetVelocity/Acceleration: support for output PathVelocity/PathAcceleration/PathJerk

CiA-402 base driver: the generic limit switch checks does not respect Axis.bHWLimitEnable