Hello Nathanael, In this case it was a Panasonic axis so I used the "Adding Softmotion CoE Axis" below the Datalayer node and it worked, With a ctrlX Drive I also experienced this error, when I added the standard .xml version I could not add the Sofmotion CoE Axis below, What I did to solve this it was to go to the Drive Engineering > Master communication > RPDO 0 and generate my own .xml After this I added the .xml to the ctrlX IO software so when I scanned the Ethercat I read my .xml of the device I transfered this configuration and then in the PLC Engineering I could add the Softmotion CoE axis! Hope this helps, Mind that there is an error in the MC_Power block of the softmotion using ctrlX Drive with Coe, Solved in this thread: https://developer.community.boschrexroth.com/t5/CODESYS-PLC-Add-ons/ctrlX-Drive-as-a-CoE-Slave-drived-with-Softmotion/m-p/78337#M480
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