Check the Target Position that is sent over EtherCAT.

DAC_OUT is the value the controller puts on the telegram.

Every cycle, DPOS --> DPOS * UNITS + offset --> DAC_OUT

Compare DAC_OUT to the Target Position object value in the drive. Over SDO on EtherCAT that is ususally object number $607A sub index $00.

CO_READ_AXIS(axis_number, $607A, $00, 4, -1) ' sends the result to terminal #0.