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Please also open the traces of motion.drivecommands and comm.axisprofile to make sure to find out the reason. ... View more

Hello Alex, do you have any update for this topic? Or do you still need remote help from our side?  ... View more

Hello, we have already created a bug ticket: Bug 695604: F2037 with Homing, ctrlx VRS1.20.0 - Copy and still waiting for the response of the colleague. ... View more

Hi, please trying the set blow: 1. As Linhan said above, plese don't mapping the item other than status-/control word, position. Because the PDOs in red box are currently not available for CoE profile:  2. According to the trace error, the error is clearly points to that the operation mode is unknow, currently, only operation mode 8(Cyclic sync position mode) is available for CoE profile, therefore, the operation mode should be 8, as the red box(0x6061) in the figure blow: The 0x6060 could be set here: After set the value as 8 here, download to ctrlX Core is also necessary(red box). But I suggest to set in drive software. 3. I checked the IO configuration, because I don't have the hardware, so only part information are available for me: The receive PDO2 - 4 and transmit PDO 2 looks strange on my side. Please try to create a new IO project for configuration and please do not add PDOs other than status-/control word, position.   4. Another tip is: Axisprofile does not supports profile type change after profile has been created. So please always select CANopen_over_Ethercat, if you need a  CoE profile.   5.  The parameters in figure above also needs to modify, but it may not leads to booting error in motion.   ... View more