Re: AxisInterface velocity and accel is not updated on REAL axis
The AxisInterface marks axes as "REAL", when an axisprofile is attached.
The motion firmware supports in the actual values of the axis profile today only the position.
As actually only position operation modes are supported, this is sufficient. It would cost additional ressources to transfer also the actual velocity and accelaration.
The velocity mode will be supported in future. Then the actual velocity will also be transfered.
A solution for today: If you need this actual values, you can configure S-0-0040 and S-0-0146 into the AT.
In the documentation ctrlX PLC Engineering, PLC Libraries, Reference Book chapter "CXA_MotionInterface -> AxisInterface -> AxisInterface - User extension" is explained, how to extend the axis-interface structures. Not exactly for this use case, but you can hopefully adapt it to this task.