This may be premature, but I have successfully created a C driver in Epic shell that a Pac Control subroutine passes and receives variables with an S712 Kollmorgen drive. It runs with a 2 ms cyclic connection to the drive via port 1 which is directly connected to port 7 (Ethercat port) of the drive. This is early in development, but seems to be stable. The module starts on bootup. I ran the subroutine and it provides position, current, and other things like CW and SW.
Next step is to provide mains power to drive and see what it can do.
After I get something that is workable, I will move on to mods that allow it to talk to the AKD2G and AKD series.
Although it does operate on a 2 ms cycle, I still intend for this to be used to manage the drive with drive table moves and so on, not really direct control over actual moves.
Oh and btw, Claude get the credit for the work…