Ok, thanks. So my endgoal is this: I want to automate the testing procedure of an energy harvesting system and for that I want to create various motion profiles/control loops/cycles with changing parameters (velocity, position, torque, etc), with diferent durations. My goal is to automate the testing procedure as much as possible (aka click in as few buttons as possible (just in the beginning, then system shall be autonomous)). How can I reach my goal more effectively: using case one or case two? I assume case one to be: Using the drive internal "position set mode". There you can add several movement sets in a table and let them run in a cycle ("8.7.4 Sequential Block Processing") and case two to be: If more flexibility and interaction possibility is needed, the MLD (kind of drive internal PLC) commanding via PLCopen function blocks can be used ("10.3 Rexroth IndraMotion MLD (Drive-Integrated PLC)") How then can I reach my goal more efficiently, effectively and easily? Should I opt for case one or case two?
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