The conflict mentioned by you is only existing for he RT output data (command word, cyclic set position). Input data (status word, actual position) can always be read without interference. The thing to consider is not to cyclically update the same output data the motion is using.
Currently there is no axisdata structure but there is the CXA_Motioninterface, similar to the known axis/kinematic interface. A template for it can be imported in ctrlX PLC Engineering via right click on your application --> "Insert templates...". But if e.g. actual torque is needed it also has to be added to the cyclic data to be available.
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