Looking for different communication possibilities.

Andy, i like your suggesting.
Is there already something to send positions remotely by rs485, or is it to be implemented?

There are UART options for Mesa cards, and daughter-boards that have RS485 / 422 drivers: store.mesanet.com/index.php?route=produc...id=117&search=RS-422

I think you would need a (fairly simple) HAL component to connect HAL position commands to the UART channels.

There is a drive that currently exists that would just plug straight in and work (STMBL) but it isn't commercially available.