RM23.03 : MC_stop doesn't reset the IPO command Position in VelocityMode

Hello,

I am using CtrlXCore RM23.03.

One axis is driven in Velocity Mode with MC_MoveVelocity. ("DriveVelMode" input of the FunctionBlock :=TRUE)

When we execute a MC_Stop :

   - the axis is set back to Position control by the ctrlXCore : In my opinion it should be kept in vel mode.

   - the commanded position calculated by the IPO of the ctrlXCore is not initialized to the Axis feedback position : In my opinion it should be automatically initialized to the current feedback af the axis as soon as the MC_Stop is done.

nb : In my application I can't use the function "ML_AxsSetIpoPosFromActPos" because the application is to screw with a dedicated torque a part. The torque could fluctuate so the position too. In this case "ML_AxsSetIpoPosFromActPos" will not give to me the result I expect because if the postion of the axis changes inbetween the MC_Stop and the ML_AxsSetIpoPosFromActPos are executed, the core will return a Fault.