https://forge.codesys.com/u/gilad/Recent posts by giladenWed, 24 Jun 2026 16:36:36 -0000https://forge.codesys.com/forge/talk/Motion/thread/2b57aa3836/?limit=25#c070<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 -&gt; %QW0</li> <li>6060 Modes of operation -&gt; %QB2</li> <li>607A Target position -&gt; %QD1</li> <li>60FF Target velocity -&gt; %QD3</li> </ul> <p>Inputs:</p> <ul> <li>6041 Statusword -&gt; %IW2</li> <li>6061 Modes of operation display -&gt; %IB6</li> <li>6064 Position actual value -&gt; %ID2</li> <li>606C Velocity actual value -&gt; %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>giladWed, 24 Jun 2026 16:36:36 -0000https://forge.codesys.com5c0734b5b466f1f18b58f24b0bae210845b8e526