Controlling Yakawa drives via DeviceNet

I am trying to control Yakawa (Saftronics) drives via DeviceNet (using the SI-N card) with a Omron PLC (CS1) as master using the DRM21-V1
CompoBus/D (DeviceNet) card. If anyone has accomplished this before, and could give me some tips it would be greatly appreciated.

Thanks,

Scott Misener BESc E.E
Electrical Project Manager

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