Please tell me how to operate Velocity mode and add SoftMotion in "CoE".

“CoE” was set with reference to "https://developer.community.boschrexroth.com/t5/ctrlX-MOTION/Third-party-EtherCat-servo-drives-CiA402-profile-and-ctrlX/m-p/57261"

In “ctrlX-CORE / Motion / Axes / Commissioning”, Positioning (Position Mode) proceeds normally.

But Velocity doesn't work.

Alarms "091F200F : Error in axis command MoveVelocity" and "0C550170 : Operation mode velocity not supported by commanded drive" are triggered.

Ask for help.

And I installed Softmotion Package from CtrlX PLC Engineering.

Softmotion is not added in DataLayer.

Alarm occurs. Alarm content “Value does not fail within the expected range.”