Mai 15, 2022 V2.51
Added new message ticket "Binary Can Ticket Full" with additional information like speed and torque for all attached slaves
Added new Velocity / Direction interface over digital I/O

Oct 06, 2021 V2.49
Fixed a bug in the Homing procedure. Different starting positions on the axis could lead to different zero positions after a successful homing.
relaxed the over speed observer

July 17, 2021 V2.48
Changed DRV8412 fault pin detection algorithm to a more relaxed one.
Auto disable the motor when firmware upgrade process is running
Fixed digital I/O Interface
Removed ABI interface of motor encoder because it is not used anymore

Mar 18, 2021 V2.45
Fixed “PWM in” for Position, Speed or Torque control by Digital I/O
Digital I/O Pin mapping synced for HW rev. 5 and rev. 6
Increased ADC current filters by oversampling of the ADC
Changed internal velocity measurement to continuous data acquisition
Fixed a bug in the scaling of the graphs in the GUI
Fixed the torque scaling in stepper mode (the torque was to high) 

Feb 22, 2021 V2.42
Improved ADC measurement accuracy to reduce system noise
Continuous speed filter to increase deterministic 

Jan 25, 2021 V2.41
Added compatibility for HW. Rev 6
Increased performance of control timings
Fixed the TCP-Port - it was set statically
Fixed Digital I/O, the protocol did not deliver the whole Digital I/O state
Fixes CAN issues
Updated to Web GUI to version1.10 with many bugfixes
General Refactoring, disabled support for HW. Rev 4 or less.