Recent posts by giladhttps://forge.codesys.com/u/gilad/2026-06-24T16:36:36ZRecent posts by giladCODESYS SoftMotion Generic DSP402 on WAGO PFC200 + Festo CMMT-AS: MC_Power stays Busy, Controlword remains 02026-06-24T16:36:36Z2026-06-24T16:36:36Zgiladhttps://forge.codesys.com/u/gilad/https://forge.codesys.com5c0734b5b466f1f18b58f24b0bae210845b8e526<div class="markdown_content"><p>Hello,</p>
<p>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.</p>
<h3 id="hardware">Hardware</h3>
<ul>
<li>PLC: WAGO PFC200 750-8210</li>
<li>Drive: Festo CMMT-AS-C4-3A-MP-S1</li>
<li>Communication: EtherCAT</li>
<li>CODESYS version: Device description version 6.3.1.1</li>
<li>Drive firmware: 36.10.3</li>
</ul>
<h3 id="current-status">Current Status</h3>
<p>EtherCAT communication is working correctly:</p>
<ul>
<li>EtherCAT master = Running</li>
<li>Drive detected and operational</li>
<li>PDO input and output mapping is active</li>
<li>Statusword, position and velocity are updating correctly</li>
</ul>
<p>Current PDO mapping:</p>
<p>Outputs:</p>
<ul>
<li>6040 Controlword -> %QW0</li>
<li>6060 Modes of operation -> %QB2</li>
<li>607A Target position -> %QD1</li>
<li>60FF Target velocity -> %QD3</li>
</ul>
<p>Inputs:</p>
<ul>
<li>6041 Statusword -> %IW2</li>
<li>6061 Modes of operation display -> %IB6</li>
<li>6064 Position actual value -> %ID2</li>
<li>606C Velocity actual value -> %ID3</li>
</ul>
<h3 id="softmotion-axis">SoftMotion Axis</h3>
<p>I added a SoftMotion CiA402 axis under the EtherCAT slave:</p>
<ul>
<li>Axis type: SM_Drive_GenericDSP402</li>
<li>Axis communication state: operational (100)</li>
<li>No SoftMotion mapping errors anymore</li>
</ul>
<h3 id="problem">Problem</h3>
<p>MC_Power is executed with:</p>
<ul>
<li>Enable = TRUE</li>
<li>bRegulatorOn = TRUE</li>
<li>bDriveStart = TRUE</li>
</ul>
<p>but:</p>
<ul>
<li>Status = FALSE</li>
<li>Busy = TRUE</li>
<li>Error = FALSE</li>
<li>ErrorID = SMC_NO_ERROR</li>
</ul>
<p>The axis remains in:</p>
<ul>
<li>SMC_AXIS_STATE.power_off</li>
<li>DSP402 state = SWITCH_ON_DISABLED</li>
</ul>
<p>The most important observation:</p>
<ul>
<li>Statusword = 32784 (0x8010)</li>
<li>Controlword (%QW0) remains 0 all the time</li>
</ul>
<p>SoftMotion never writes 6, 7, or 15 to the Controlword.</p>
<h3 id="additional-information">Additional Information</h3>
<p>The axis status page reports:</p>
<p>"The license is missing or invalid. The PLC runs in demo mode."</p>
<p>I am not sure whether:</p>
<ol>
<li>The missing SoftMotion license prevents Controlword generation completely.</li>
<li>The axis is still not correctly connected to the EtherCAT slave despite operational communication.</li>
<li>There is an additional CiA402 configuration step required for the Festo CMMT-AS drive.</li>
</ol>
<p>Has anyone successfully used a Festo CMMT-AS MP drive with CODESYS SoftMotion Generic DSP402 on a WAGO PFC200?</p>
<p>Any suggestions on what should be checked next would be greatly appreciated.</p></div>