For the functionality: The drive puts its status and control word as well as actual and set position in the cyclic channel of the fieldbus. Now you write cyclically from your c++ app to this values and drive will follow in cyclic positioning mode.
Information can be found in the ctrlX SDK acutal downloadable via the collaboration room after registration. There are examples of how to read and write real time data in the system (com.boschrexroth.sdk.control-1.6.1\public\samples-cpp\datalayer.realtime\) and also EtherCat variables (com.boschrexroth.sdk.control-1.6.1\public\samples-cpp\datalayer.ecat.io\).
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