I have no experience in designing fieldbus communications, and am going to have learn it. My PLC experience is moderate, however only with the siemens logo, which has no fieldbus interface. I looked at the Automation Direct Productivity 1000 and it appears that I could set up the servo drive protocol I need (Rexroth HCS01) in order to have a running PLC program that can instruct the drive to move the actuator, get position and fault info and do other minor tasks. Does it sound like I'm on the right track?