Problem/Cause:
When the node number is other than 0, the Yaskawa SGDZ_BS drive does not complete the mtReset due to service channel command errors.

The firmware excepts the number of service commands and the address increment in bits 0 to 15 of the member Flags of the MFWServiceCommandGeneral structure. Some functions in the Yaskawa SGDZ_BS.C and Yaskawas_SGDS.c files were setting the bits 8 to 15 as the node address. This caused the MPI firmware to send multiple service commands when the node number is > 0.

Fix/Solution:
This issue was fixed by correcting the service channel commands.

Problem/Cause:
The Yaskawa MD drives do not mtReset in ASYNQ mode.

The mtReset function in ASYNQ mode requires the network to be shutdown and call the mtReset function. When the network is shutdown, the function that initializes the drive for mtReset tries to identify the controller port to reach the node and fails. This failure is caused because the state of the network is not verified resulting in a failed service command.

Fix/Solution:
The function is corrected to check the network state. If the network is down, it initializes the network to an ASYNQ state at which the service commands are functional.