If you want to do the whole thing with an Indradrive it works with Softmotion. Simply add a SMC_FreeEncoder under Softmotion. See link
https://content.helpme-codesys.com/en/CODESYS%20SoftMotion/_sm_drive_controller_free_encoder.html
And then set the parameter S-0-0053 to the value <FREE_ENCODER_AXIS>.diEncoderPosition :=value of object S-0-053 map
Then you can use the external encoder like a measuring encoder in the PLC program
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