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Hello

 I am currently trying for testing purposes an Mitsubishi Servo Amplifier M4-J4-TM, which has a Servo motor (also from Mitsubishi) controls to integrate in Beckhoff's TwinCat 3. The controller is directly connected to the computer via EtherCat and is also communication between TwinCat and EtherCAT device is detected. But when I switch to online mode and try to control the engine manually, it always comes the following error message:

 Error 51 'TCNC' (500): 'Axis 1' (axis ID: 1): The axis or the drive is not ready for positioning (error code: 0x4225)!

 Somehow I miss a step to the valid activation of the engine. ?? In the documentation of Beckhoff and Mitsubishi there is no indication. Actually that should work like that. Has anyone ever had a similar problem and knows about advice? Thanks in advance in advance and many greetings

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