Two new options have been added to the MODBUS interface.

Requesting a Field Bus Reset will reset any present Field Bus, SERCOS or EtherCAT at the moment, back to its full operational state. Errors are cleared during the reset.

Requesting all Drives to be Disabled does what it says.

These options are available in MODBUS Version Level 1.30. More detailed documentation can be sources in the MODBUS Spec.