Please see also this thread for the function of clearing errors via the web interface (REST API) of the ctrlX CORE.
Also there is this thread for how to use the IMC interface that is part of the CXA_MOTIONINTERFACE library.
We are using the same mechanisms (see this thread) in our "Template for cartesian handling systems V1.0". This is open source, so you could have a look to it. Also a CODESYS web visu example is included.
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