Report checking if a motor is in position using canbus in Vision & Samba PLC + HMI Controllers & VisiLogic Software Posted August 5, 2018 In my last project, I used Lenze 8400 with embedded CANopen . The capabilities of this driver make possible to prepare "hardware" PDO signal "IN position", "0-position is known", "ACC", "DCC", ect... I did not use timers in the program, but only use system bits SB288, 284, 242, 292 to avoid network collisions . What motor driver used? Maybe it is ready to transfer needed bits or they can be re-assigned manually inside the drive.