In case a search brings someone to this thread in the future, below was the solution for what I needed.
Refer to the General Operators manual section 6.12.5 for outputting each axis position to register. I wanted the feedback value (FB value) so I set the parameters of S1CxG as follows:
337=2 (outputs 4 bytes of data in 0.0001 degrees or um for a linear axis)
1305=20 (lower 2 bytes are mapped to register M020 and upper two bytes are mapped to M021)
You then have to revise the ladder to map those registers to your desired concurrent outputs to get the data into the PLC.