We used EOE to connect drive,Please see the follow link. https://developer.community.boschrexroth.com/t5/Store-and-How-to/Establish-connection-to-ctrlX-DRIVE-via-ctrlX-CORE/ba-p/14511
... View more
The delay time used in the SIEMENS function is matched with the maximum transition times which ctrlXProgrammatore showed in the screen shot of the Safe Motion parameterization. The function is equivalent to SIEMENS.
... View more