Integrate Softmotion Driver for WEG SCA06

Integrate SoftMotion Driver for BRC ctrlX DRIVE over CoE

Document that administrative function blocks that use ReadPosition output the configuration with automatic periods

SMC_GroupReadPathDynamics: Default CoordSystem should be MCS

Halt/Stop: a halt with ClearMovement=FALSE might clear unposted movements when it is done

Improve the error message of SMC_AXIS_GROUP_FOLLOW_SETVALUE

Keba KeDrive D3: Invalid Device Id of ETC Slave DA33x

MC_GroupReadStatus: Add new outputs CurrentPlanningForecast and CurrentSyncBufferDuration

SMC_ChangeDynamicLimits: The documentation should include, that the values are interpreted based on the gear output

Some Diagnostic POUs return Valid = True even when the axis group is disabled

Possible division by zero / NaN in trajectory generation (e.g. MC_MoveAbsolute)

Implement SMC_GroupReadPositionInMovement for querying the current relative position in a movement

Path deviation too high when tracking out

MC_GroupContinue: SMC_AXIS_GROUP_CONTINUE_WRONG_POSITION might be falsely reported

An internal error (SMC_CP_INTERNAL_EVAL_CACHE_ERROR) may occur during a reset

SMC_GroupReadPathDynamics: Make it possible to query the path dynamics in the future

Errors during installation of the SoftMotion package >= 4.14.0.0 with CODESYS SP16

fSetJerk does not get reset during a quickstop in velocity or position controller mode

Blending between dynamic coordinate systems with TMCornerDistance might not respect the configured corner distance

Integrate improved depictor models

SoftMotion Libraries contain symbols without namespace or prefix

SMC_ToolRadiusCorr: Does not work correctly when using rotated decoder coordinate system in 2D mode

SMC_ToolRadiusCorr: Documentation has an example where the correction plane is changed

SMC_GroupSaveContinueData: Aborting movements might be omitted when saving continue data

SMC_ChangeGearingRatio: Division by zero exception if the current dwRatioTechUnitsDenom = 0 or iRatioTechUnitsNum = 0

Kin_4AxesPalletizer: Document the singularity at (A,B,C) = (0,0,0)

Improve documentation for error SMC_CP_QUEUE_UNDERRUN

CNC object with Compile Mode SMC_OutQueue or SMC_CNC_REF will lead to new warning C0564 with SP20

Deprecate SMC_CAM_ObjectManager

SM3_Drive_ETC: improve logging of acyclic communication errors of EtherCAT drives

CNC: If special characters are entered in a CNC editor, e.g. "///", an unhandled error appears

CAN CMZ SD: Drive cannot be enabled after homing has been aborted by quick stop

OrientationMode Axis with Kin_Scara2_Z: if the tool in x-direction is longer than arm2, error SMC_TRAFO_INVALID_PARAMETERS might occur

SMC_FB_WASNT_CALLED_DURING_MOTION: The last FB instance that had control of the axis should be logged

MC_GearInPos: No error is reported if the controller mode is not position or velocity

Implement SMC_GroupReadRemainingTrajectoryDuration for querying the remaining duration of a trajectory

CAN-CMZ-SD-ISD: 03_Homing_DriveStart fail on reenable drive

Cam: Tappets on Cam object used on multiple axes do not work correctly

Robotics: Support digital switches on the path

SM: MC_GearInPos, MC_GearIn, MC_Cam: Handle situation if motion FB of master axis is called later in the cycle