Hi Thanks for your reply! When we mapped the controlword within the PLC we set the Motionapp in Configurationmode. We did a trace in the Festodrive of the Controlword and Statusword. Here are the results PowerOn from MotionApp Ready for power on Controlword = 134 (Bit 1,2,7) Statusword = 33329 (Bit 0,4,5,9,15) Then we pressed "PowerOn" Controlword = 15 (Bit 0,1,2,3) Statusword = 33329 (Bit 4,5,6,9,15) The drive does not power up and Motion app throws fault after 2s, no errors in festodrive Motionapp switch the Controlword to = 6 (Bit 1,2) Statusword = 33329 (Bit 0,4,5,9,15) Then we press "Reset error" Controlword = 134 (Bit 1,2,7) Statusword = 33329 (Bit 0,4,5,9,15) Forcing the controlword from PLC Ready for power on Controlword = 134 (Bit 1,2,7) Statusword = 33329 (Bit 0,4,5,9,15) Power on Controlword = 15 (Bit 0,1,2,3) Statusword = 33331 (Bit 0,1,4,5,9,15) The drive powers on and change the statusword Statusword = 37431(Bit 0,1,2,4,5,9,12,15) So we tried to do exactly like the motionapp, but when we force the Controlword from PLC it works.... When we send 15 from PLC the answer in the statusword differs from when we send from Motionapp. Any ideas?? Regards,
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