In order to not use SMO function in case the hardware "M5" option is present, one has to deactivate SMO function and functionally enable the drive. See How-To: https://developer.community.boschrexroth.com/varuj77995/attachments/varuj77995/dcdev_community-dev-blog/134/6/How_to__commission_SafeMotion_SMO_with_ctrlX_DRIVE_V03.zip
In principle that is what "CodeShepered" already advised to you.
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