The SCN 5090 Two Encoder Selective Closed Loop mode was not configurable if any of the other DIP Switches that affect Encoder or Analog direction were configured.

An Invalid DIP Switch Configuration error would occur.

This has been resolved.

On modorrn drives the timing of when the drive is enabled and when it is ready to move is not as critical. The drive generates its own motion profile and moves when ready.

With Diax02 drives, the XL has to generate the motion profile and needs to wait until the drive is ready before it starts. Otherwise the drive reports faults.

This change adds a state to the Diax02 state machine where it waits for the drive to report that it is under torque before it begins generating its profile. To avoid an endless loop in the state machine, it will wait up to 500msec for the drive to be ready before it gives up and reinitializes for a new command.