Launching Delta C2000plus + CMC-EC01 in Cyclic synchronous position mode

This turned out to be quite a complex task. Firstly, you need firmware version 3.07 and board version 3.00 for the EtherCAT to work at all. But even with these, there are issues. I tried to run the drive in cyclic synchronous position mode and profile position mode, but so far nothing has worked. The drive is recognized, it reads the encoder position. I even calculated the necessary scale. It powers on and holds the position, but does not respond to the target position. I set the parameters for max speed and max torque. I tried through TwinCAT and LinuxCNC. Most likely, another parameter needs to be set besides 0-20 and 0-21.
I set a few more parameters to get the encoder working correctly, and maybe something else needs to be set?
Does anyone have experience starting this drive?

Thank you all for your help.

I managed to find out that this drive works in Cyclic Synchronous Position Mode when using the EMC-MC01 card, which in turn works with Tamagawa encoders that have Data+ and Data- wires and power +/-. (Without the Clock signal!!!)
It is unclear if such cards are available for sale, as I have not yet found a price for them. However, they are mentioned in several documents. I will inquire with the dealer whether such a card exists and if it can be purchased now.

For now, I can only work (in position) with this drive in Profile Position Mode (6060 = "1").
I hope this information will be useful to someone