Need Ladder Logic example for Modbus


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i'm trying to control a Lenze (AC-Tech) servo drive with Automation Direct D2-260 using Directsoft5 RS485 Modbus. i don't know what to write in the Ladder Logic to communicate with the drive. i need to give the drive a position to go to, then receive when it's in position, etc. Do i need to monitor the encoder or just hook it to the drive? If not how will i know what the position is? i don't know anything about Modbus and don't know where to start. Any examples? please HELP!