PTO drive with PLC1512C

Hello.

I struggle with start operating PTO drive with PLC1512C. All parameters set like in manuals, both cases speed_axis and positioning_axis the same error in commisioning panel (fault in the drive) without possibility to erase it.

I use many PTO drives at S7-1200 without any problems (often with strict positioning mode) and here on 1500 i cannot startup it at all.

I downloaded sample project at 1511C (i see that i use exactly the same config) convert it to my 1512C and the same problem - fault in the drive. Ready input is disabled and no error input from the drive so how this info may appear? I checked telegram 3 and see that there is an error but how PLC generates it without such signals from servo?

I have ordinary servo with only pulse and direction PTO signals - no encoders, ready inputs etc just pulses (position check at the external sensors just moving between)

Cannot find any help on the internet and my ideas are exhausted - i use TIA15.1

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Split from 1511C- 1pn unable to configure PTO .

Regards.