The setting in your picture is correct. This is what I changed too - moving PLC_PRG from MainTask to EtherCAT_Task. You should also know that my SoftMotion EtherCAT Master is configured to use the EtherCAT_Task (see attachment). Also a small correction in your answer, the Power_on/MC_Power works when called from any task. Only the actual motion FBs (SM3_Basic -> POUs -> Movement) need to be called from the fieldbus / Motion task. My understanding here is that, the motion interpolation calculation...
Hi, I got it to work. The problem with my code was that my motion FBs were called in a POU which was not called in the motion task / EtherCAT task. Once I changed the POU (program) with motion FBs to be called under my EtherCAT task, the problem was solved and I am able to move the axis with the softmotion FBs. Hope this helps :) Pradeep
Hi, I am facing the exact same problem but with SoE. If you managed to solve it, please let us know how. Pradeep.