I am sorry but I did not metion the axis is not controlled by standard Axis object. It is very specific welding device so I have to create everything from scratch. I will try to explain it more detailed. I created image of the architecture. The main problem is I have two EL6695 peripherals and they are not the same. One is used for control of the Device itself + control of Axis 1 and second is used for only for control of Axis 2. My idea is to create: WeldingDevice (ComamndHandler) that consists from Axis 1 and Axis 2. The reason for that is I need Axis 1 and Axis 2 controlled independently (independent commands), but they both are dependending on WeldingDevice state. For example none of the axis can be started if the welding device is not powered on or calibrated. What I do not know is how to transfer the data from area "Device Control" of EL6695 to Command handler Welding device. It is hard to explain it in the forum, but if you can, we can discuss it together in Teams.
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