Prior to this change SERCOS and EtherCAT drives were allowed 100msec to indicate that they were under torque after being enabled. If the drive faulted and disabled itself, the same 100 msec timeout was used.

A customer recently had an issue with a drive where the 100msec was not enough time for the drive to report that it was under torque. Several changes were made.

1. The time that a drive is allowed to report that it is under torque after being enabled has been increased to 1000msec.
2. Once under torque, if torque is lost, the error will be detected and reported within 50msec.
3. A feedback loop has been added to the enable request. The enable request will no longer wait for a fixed timeout. It will wait until the drive is under torque, or an error occurs, whichever comes first.
4. The windows simulation was modified to be able to test all these new features.