If you have a PowerFlex 755 defined in a Motion Connection within a Motion Group on ControlLogix and are getting an error code 16#0010, in particular check that your Safe Torque Off card (possibly other safety cards) are in Slot 6 on the PowerFlex. There are several other restrictions and requirements on slot assignments and use so see Rockwell’s KnowledgeBase if you have questions about what’s allowed and what’s required. Search for powerflex 755 cip motion slots and that will help narrow it to the correct topic. Note, your mileage may vary, this is not an official Rockwell statement, just something I’ve gotten burned by on 2 separate occasions now. Recommend that when you are changing drives, take photos (or notes) about wiring and also the particular slots. Many of these modules can be installed in multiple ways, but only 1 specific layout will actually work.