Changes made for Pathfinder 5226 controllers.

The 5226 controller has a safety check to make sure that SSI encoders are working as intended. If an error bit is detected then the controller will halt the machine and throw a Hardware Feedback error to essentially lock out the machine until the encoder problem is investigated. The bug with this setup is that the master controller was the only controller testing for this error bit. The master controller only updated encoder feedback from the slave controller instead of also checking for problems.

The fix to this bug was to also check for an error in the encoder when the encoder is located on the slave controller. This will detect a problem with the encoder, the encoder cable and the slave controller.