Can I read in the MTX whether a motor is connected to a ctrlX DRIVE single or double axis device? How do I know with the double axis device whether the motor is connected to slot 1 or 2?
Use parameters S-0-1300.20.4 and S-0-1300.20.1 to get known what motor type and serial number is connected. Of course you need to call these parameters for each of the affected sercos addresses.
