# PFC200 and Lenze Servo i950

**URL:** <https://www.wago.community/t/pfc200-and-lenze-servo-i950/2576>\
**Category:** CODESYS\
**Created:** [February 10, 2026, 12:40pm UTC](https://www.wago.community/t/pfc200-and-lenze-servo-i950/2576 "2026-02-10T12:40:48Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![KonstantinKolev](https://avatars.discourse-cdn.com/v4/letter/k/b2d939/32.png) [@KonstantinKolev](https://www.wago.community/u/KonstantinKolev)\
**Post date:** [February 10, 2026, 12:40pm UTC](https://www.wago.community/t/pfc200-and-lenze-servo-i950/2576/1 "2026-02-10T12:40:48Z")

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Hello,

In our workshop we have a Lenze i950 servo drive that has an EtherCAT bus and CiA402 compatibility. The WAGO is PFC200 750-8212 and as per documentation it has built-in license for SoftMotion Light functionality. It is not capable of supporting the full SoftMotion functionality like gearing and synchronizing.

I added the EtherCAT esi files from Lenze and the EtherCAT master does see the drive, then I added a SoftMotion Light Axis object. The problem is that I can only energize the axis, I cannot execute any other commands. I set the positive and negative torque limits from the PDOs to 200% and when I try to move the axis by force it does not move back to its original position.

I use the SML function blocks from the PLCOpen library and the error from the function blocks is that the op mode cannot be changed.

Then I tried using a standard SoftMotion axis object and everything works fine, except the MC\_Home function block. The axis moves back to its position when forced out of it.

I follow this guide from Lenze - [Lenze i950 CODESYS V3](https://download.lenze.com/AKB/German/202500394/Commissioning_example_i750_and_i950_with_Codesys_V3_V10_EN.pdf).

What could cause this issue with the SoftMotion Light axis object?

Best Regards

Konstantin Kolev