Good morning, Attached a new info on this topic. Perhaps at the level of use it is not as clean as the one described above, but it is better "understood" what we are doing. The problem with all this is that we cannot "quickly" disable the "_bCheckOpMode" bit. However, we can do it if we use the state Machine control module provided by the CIA402. In the example, my axis is called DriveCoE and this is the one that contains the internal access data to the Softmotion functional structure. In the State Machine module the StatusWord must be added, otherwise it will not start and very importantly the wControlWord as it appears in the image. the ConfigurationPhase structure must also be added With this option and if you try to put a variable in the "_b CheckOpMode" input, you can test that if this input is active the system does not work and that if you set it to FALSE the system is activated Best Regards Jordi Laboria E-Mail: jordi.laboria@boschrexroth.es https://www.youtube.com/channel/UCzE-ieCIkyMsuvyE0UDji9g DCET/SLF4-ES
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