Hello, I am the customer developing the application. As I read in the suggested thread, I added the velocity and torque feedback to the variables in AT in the CtrlX IO Engineering. Then I can see the variables in the Data Layer in the PLC However I still don't see the velocity varying from 0. I tried both linking a plc variable to the object in the datalayer both with the MC_ReadActualVelocity function block. In the web interface/Axis profile, I can now see the feedbacks but I don't have where to map them Thank you, Giacomo
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