Hello all, Right now i try to create project where i use PLC Berghoff ECC 2100 Slim and Stepmotor with Encoder - Nema 23 - 04- CL. Link to step motor: https://joy-it.net/en/products/NEMA23-04CL This step motor has a RS-232 port and PLC has it too, so i think that communication is posible, but unfortunatelly i am not sure how should i do it in CodeSys. Does anyone try to do simillar connection? Have anyone communication protocol or can somebody sugest specification which help me to create this protocol...