JMC Servo in PP mode

Hello,
I'm currently trying to run a JMC servo IHSV57/60-EC in contour position mode (PP). I get it to the point where power is enabled to the motor. At least I can feel that it's getting holding torque. But it doesn't move. Here are the objects and the values I set:

• 0x6060 = 1 (profile position mode PP)
• 0x607a = 1000 (target position)
• 0x607b.1 = 0x80000000 (position limit minimum)
• 0x607b.2 = 0x7fffffff (position limit maximum)
• 0x6081 = 1000 (contour velocity)
• 0x6083 = 5000 (contour acceleration)
• 0x6084 = 5000 (contour deceleration
  
  All other values are at their defaults (for example, electronic gear = 1/1, ramp type 0x6086 = 0 (linear ramp). When I bring the state machine to "operation enabled" (0x6040 = 0x0f) I get a positive acknowledge (0x6041 = 0x0637) and the motor has torque. When I set a new target position by writing 0x607a and setting bits 4 and 5 of 0x6040 (new setpoint, latch immediately) the drive responds with 0x6041 = 0x1237. This means that bit 12 (setpoint acknowledge) is set and bit 10 (target pos reached) is cleared. However, the motor doesn't move. Actual position (0x6064) stays the same as before (somewhere close to rero).
  
  I'm not sure if the velocity and acceleration values are meant in steps/s or RPM units. The manual is not clear about that. But 1000 should work in both cases, I think.
  
  I have mapped target position and control word as RxPDOs and status word, actual position and actual torque as TxPDOs. All other parameters are set during the Pre-Op to Safe-Op initialisation. SyncMode is set to free run (0x1c32.1 = 0 and 0x1c33 = 0).
  
  Has anybody successfully run an EtherCat servo in PP mode? Could you please share your initialisation sequence or tell me what I have missed?

That looks like a CiA 402 servo. Does it support CSP mode as well?

You might want to look at the `cia402` HAL plugin, it automates quite a bit of this, but currently only supports CSP and CSV modes, not PP and PV.