# Softmotion lite library with EtherCAT servo and CC100

**URL:** <https://www.wago.community/t/softmotion-lite-library-with-ethercat-servo-and-cc100/2931>\
**Category:** CODESYS\
**Tags:** cc100\
**Created:** [October 26, 2026, 4:09pm UTC](https://www.wago.community/t/softmotion-lite-library-with-ethercat-servo-and-cc100/2931 "2026-10-26T16:09:39Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![JordanMKE](https://avatars.discourse-cdn.com/v4/letter/j/90db22/32.png) [@JordanMKE](https://www.wago.community/u/JordanMKE)\
**Post date:** [October 26, 2026, 4:09pm UTC](https://www.wago.community/t/softmotion-lite-library-with-ethercat-servo-and-cc100/2931/1 "2026-10-26T16:09:39Z")

</div>

Hi everyone,

I have a problem with a simple motion program I’m working on and I’m hoping someone can point me in the correct direction.

**Hardware:**

PLC: Wago CC100 (751-9301)

Servo drive: Stepperonline A6 EtherCAT (paired with a 750 watt servo)

**Software:**

Codesys V3.5 SP 22 Patch 1

Libraries: SML\_Basic (for controlling motion on the servo)

**Problem:**

I setup my program to jog to an absolute position when an input is triggered using the MC\_MoveAbsolute\_SML function block. This along with the other absolute move, halt, and stop functions all work as expected.

If I change the PLC to “stop” either in codesys or using the physical button on the PLC, then change back to “run” I get an “ErrorStop” error using the MC\_readStatus\_SML function block. I try to issue a drive reset using MC\_Reset\_SML but it does not clear the error. I’ve read through the documentation and I think I’m using it all correctly. The axis in my device tree will show a configuration error when this happens even though the physical drive shows no error which I confirmed with the drive monitoring software.

The only way I can recover from this error is to power cycle the PLC.

Has anyone else encountered this error, and do you have any advice on how to track down the cause?

I’ve attached a few screenshots showing some info and am happy to provide a project archive but it wont let me attach it right now.

Thanks in advance.

 ![Run OK](https://us1.discourse-cdn.com/flex016/uploads/wago/original/2X/d/d6c21cc28ee876fbf30194c50140dc799286ce4b.jpeg)

 ![ErrorStop TRUE](https://us1.discourse-cdn.com/flex016/uploads/wago/original/2X/6/6dc9df4d65fde5470a38ef45e1c9f9810d481453.jpeg)

 ![Driver config error](https://us1.discourse-cdn.com/flex016/uploads/wago/original/2X/e/ecf5d635fb97bc34eb3d77f124d31890f80a1dd2.png)