Hello Johnny su,
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How can I create and Configure an EtheCat Master at J206 ?
With uniVAL plc the J206 IO interface is fixed.
uniVALplc server gives you the current tcp position in the variable of T_StaeubliRobot type that you must create in your PLC application.
The robot position is available in the member yourVariable_ofT_StaeubliRobot_type.Status.actualPosition.
Best regards.