Same problem happened on me. If the device in IO Engineering have two nodes(Parrent Node and SubNode, because of Device Description File?), then after you add the node in PLC Engineering, then you can't add axis for using softmotion. I think this problem only happened on softmotion CoE. https://developer.community.boschrexroth.com/t5/CODESYS-PLC-Add-ons/How-to-add-a-Panasonic-Axis-to-Softmotion-in-our-PLC-Engineering/m-p/84130#M536 By the way, when I using Panasonic Drive, I can delete the sub node in IO Engineering and then download, then only the parrent node could been added to the PLC Engineering side, then you can add the softmotion CoE axis successfully. Rexroth AM Drives also have this problem when using softmotion CoE. However, you can't delete the subnode for AM Drives in IO Engineering side,don't know why. Softmotion: do not matter which version it is, at least from 12 to 15 all have this issue. Softmotion Adaption: V 1.20.3 and V 1.20.4 all have this problem ctrlX Works: from 1.20 to 2.04 all have this problem, I think the previous version will also have this issue.
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