The SERCOS Multi-Axis driver failed to check the Enabled status of the drive and would get stuck in the Moving state if the drive was externally disabled before or during a move.

The SERCOS code had no test to check the enabled status of a drive to see if it became disabled due to external conditions.

Both of these conditions led to the Axis getting stuck in the Moving state if the drive lost enable due to external conditions.

This issue was discovered by a tech in the field. An attempt was made to test the enabled status of all SERCOS drives. It fixed the Multi-Axis drive but a timing issue prevented a DA or Feeder drive from being enabled. Due to time constraints the fix was only applied to Multi-Axis drives.

The UART Pwr status on V5 controllers with Sourcing 5387 boards indicated a Bad state.

The status bits get reported by the 5387 board. The issue stemmed from the V4 software. The hardware test used the raw status bits defined for Rev D and higher boards. However, all other DSP applications mapped them into the rev C 5397 format.

The ARM on the V5 controller has one shared function. That function was modified to return either the Rev C or the Rev D format so the Hardware test and applications can select which version they need.