Hello, from your description it seems, that you have configured the drive control word cyclic to the plc. So you can change bits from plc. But this means that the plc sends cyclic data to this control word and the motion does not have acces anymore. You can either use the plc to control the drive, but then you have to do everything by your own or you do not configure the control word cyclic in plc and use instead the motion functions for power and movements. (e.g. from CXA_Motion ML_AxisPower or from CXA_PLCOpen MC_Power) The first option is for example for users that do not want to use the motion app and control the drive fully by plc.
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