I'm setting up a PDC600 Microdrive setup as a linear screw and I need to jog it between 2 set points.I have the drive commissioned and have it working using TO and the L_AxisCtrl lib.

I plan to use the home against a stop function to log a zero point for the encoder.  Then I will know what the 2 set point values are via offset. Actually one of the set points will be the home position. The operator should be able to jog the drive but not past the setpoints. the PLC should then be able to move the drive to a point when in auto.

I'm looking how I can read the value of the encoder into my PLC I'm using telegram 3 and have bought it into my tag table. I've split the input words but its not giving me the values I think it should for G1_XIST_1

Is there a UDT setup for telegram3 or will I have to set this up myself? There is so much literature on this I don't know where to start. I'm using a dunkermatoren motor with IQ Encoder. I'm not massively au fait with motion, so any input appreciated or links to literature.