Motor Setup

Context

I have a servo power supply (AX8620-0000-0105) and two-axis drive combo. They are added in my IO tree, I've created the tasks in the motion planner, and added the drives to Drive Manager 2.
The drives cannot operate however due to the power supply failing to transition from PREOP to SAFEOP The AX8620-0000-0105's current state is "ERR PREOP" with a state value of 82.

Severity Code Description Project File Line Suppression State Action Error 5/20/2026 4:19:59 PM 163 ms | 'Term 49 (AX8620-0000-0105)' (1023): 'PREOP to SAFEOP' failed! Error: 'check device state for SAFEOP'. AL Status '0x0012' read and '0x0004' expected. AL Status Code '0x0035 - invalid master cycle time'

In my System Real Time tab, my Base Time is 1ms.
My PLC Task is set to 10 ticks (10ms)
My NC-Task 1 SAF is set to 2 ticks (2ms)
My NC-Task 1 SVB is set to 10 ticks (10ms)
These are the default values.

I have set up two SyncUnits, "Safety_Sync" with all my safety cards, and "Main_Sync" with everything else.

I added a new sync called "Drive_Sync" and added the drives to it. Now, Drive_Sync has NC_Task 1 SAF under it and is listed as 2ms in the EtherCAT master heading.

However this won't let me go online with the default settings.

In Sync Unit Assignment, the only way to go online is with this task configuration:

This gets rid of the original error AL Status Code '0x0035 - invalid master cycle time, but I have no clue if this is correct.

Beckhoff Support?

After 5.5 hours of remote support from Beckhoff, the issue was narrowed down to the following:

The method of setting up the Drive was correct.
The firmware on the DRIVE (AX8206-0100) needed to be upgraded to a newer version. See provided upgrade guide here: https://infosys.beckhoff.com/english.php?content=../content/1033/ax8000_fb/18023704587.html&id=4133817027622087167
The issue was with TwinCAT interfacing with the drive's firmware.