Attached the parameters of same drive and motor with different FW versions The max travel range needs to be set at 214748.3647 because if not this type of errors occurs: https://developer.community.boschrexroth.com/t5/CODESYS-PLC-Add-ons/CODESYS-SoftMotion-Command-position-rollover-for-modulo-axes/m-p/47611 This is something that is already explained in the How-To https://developer.community.boschrexroth.com/t5/Store-and-How-to/CODESYS-Softmotion-How-to-configure-ctrlX-CORE-and-Drives/ba-p/56123 FW0404: FW0312:
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