Hello,

I am trying to connect a Festo CMMT-AS-C4-3A-MP-S1 servo drive to a WAGO PFC200 (750-8210) using EtherCAT and CODESYS SoftMotion.

Hardware

• PLC: WAGO PFC200 750-8210
• Drive: Festo CMMT-AS-C4-3A-MP-S1
• Communication: EtherCAT
• CODESYS version: Device description version 6.3.1.1
• Drive firmware: 36.10.3

Current Status

EtherCAT communication is working correctly:

• EtherCAT master = Running
• Drive detected and operational
• PDO input and output mapping is active
• Statusword, position and velocity are updating correctly

Current PDO mapping:

Outputs:

• 6040 Controlword -> %QW0
• 6060 Modes of operation -> %QB2
• 607A Target position -> %QD1
• 60FF Target velocity -> %QD3

Inputs:

• 6041 Statusword -> %IW2
• 6061 Modes of operation display -> %IB6
• 6064 Position actual value -> %ID2
• 606C Velocity actual value -> %ID3

SoftMotion Axis

I added a SoftMotion CiA402 axis under the EtherCAT slave:

• Axis type: SM_Drive_GenericDSP402
• Axis communication state: operational (100)
• No SoftMotion mapping errors anymore

Problem

MC_Power is executed with:

• Enable = TRUE
• bRegulatorOn = TRUE
• bDriveStart = TRUE

but:

• Status = FALSE
• Busy = TRUE
• Error = FALSE
• ErrorID = SMC_NO_ERROR

The axis remains in:

• SMC_AXIS_STATE.power_off
• DSP402 state = SWITCH_ON_DISABLED

The most important observation:

• Statusword = 32784 (0x8010)
• Controlword (%QW0) remains 0 all the time

SoftMotion never writes 6, 7, or 15 to the Controlword.

Additional Information

The axis status page reports:

"The license is missing or invalid. The PLC runs in demo mode."

I am not sure whether:

1. The missing SoftMotion license prevents Controlword generation completely.
2. The axis is still not correctly connected to the EtherCAT slave despite operational communication.
3. There is an additional CiA402 configuration step required for the Festo CMMT-AS drive.

Has anyone successfully used a Festo CMMT-AS MP drive with CODESYS SoftMotion Generic DSP402 on a WAGO PFC200?

Any suggestions on what should be checked next would be greatly appreciated.

Hi gilad,

the missing license does not prevent the axis from being enabled.

As far as I know, Festo distributes a CODESYS SoftMotion driver for the CMMT drives together with their software. I would contact Festo and ask for the driver.

Best regards,

Georg

Thank you very much,
What FESTO provides should work even if I use another PLC (WAGO) that is not from FESTO?

Hi gilad,

I cannot tell for sure. But I think it should work on any PLC that is capable of doing motion control.

Best regards,

Georg

Try to disable _bCheckBit12InPositonMode in Cia402StateMachine.