Changes made for Pathfinder 5226 controllers.

The stopping reaction time/distance is used in an open loop system to determine the amount of distance an axis will coast to a stop after a move. This is based on the feedback of the axis letting the open loop know how close it is to the target and whether or not the axis should transition into a coast to stop. Pathfinder has a feature the user can turn on where the controller will look at where the axis ended up after the move compared to the target position and determine if the reaction time/distance needs to be adjusted to get closer to the target the next time a move happens in that direction. The controller will then send up the new value to Pathfinder. The problem is that the 5226 can calculate the parameter to go negative which can cause the controller to never go into coast to stop which leads to the move never ending.

A fix was put into the controller to make sure the parameter would not go negative. The problem is that the wrong check was put into place and ended up making the controller never adjust the parameter. The bug fix was to check on the correct calculation which makes the parameter never go negative.