It may or may not help you, but I have attached an outdated guide describing how to connect a cRIO 9064 controller to IndraDrive over EtherCAT CoE using NI's SDI plugin. I have not tested this configuration with ctrlX DRIVE. The document was originally published in 2016 or 2017 and is not "official" Rexroth documentation.
Unfortunately I do not have access to the necessary hardware (or software) to test this further.
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