Control SEW Movidrive MDX61B-00-0T with Python: 6 PO's e 6 PI's

Hello everyone,

I am developing software in Python to control the SEW Movidrive MDX61B-00-0T using the extended positioning module. The control involves 6 control words for PO's and PI's:

PO's:

1. PO1: Controlword 2
2. PO2/3: Setpoint position
3. PO4: Setpoint speed
4. PO5: Start ramp
5. PO6: Stop ramp

PI's:

1. PI1: Statusword
2. PI2/3: Actual position
3. PI4: Actual speed
4. PI5: Active current
5. PI6: Device utilization

I am using the EthernetIP protocol with the pycomm3 library. The goal is for the program to perform the same function as the SEW Ethernet Master Simulator. With my program, I can control the drive with 3 PO's and PI's (PO1: Statusword, PO2: Setpoint speed, PO3: Target position and PI1: Statusword, PI2: Setpoint speed, PI3: Setpoint position), but I need to control it with 6 PO's and PI's.

I downloaded and consulted the EDS file from the SEW website, but I believe I am configuring the Open Forward for 6 PO's and PI's incorrectly. I humbly ask forum members who have had to do a similar application or have experience in Python programming with this library for help. I would be very grateful and can provide the code without any problem.

Thank you!