I put together many solid Uni/Festo applications. I can email you my demo for V350 supporting FHPP in profile positioning and direct mode (not record select). What is cool about Festo Handling Positioning Protocol is it works exactly the same over tcp or canbus. When reading from the cmmo first 4 bytes are status bits and the last 4bytes are a double word representing position/speed/current draw % depending on which mode your in. When you write these 8 bytes they are control bits and ref command.
I’m on my iPad so I’ll try and post the vlp from laptop tomorrow.