I am working with two Panasonic servo drivers—MBDLN25BE and MADLNO5BE—connected to a Delta AX308EA0MA1T PLC. The goal is to make both motors and a linear actuator run in tight, high-precision synchrony over EtherCAT. I will share a clear flowchart of the current automation concept so you can see signal paths, command structure, and required interlocks before you start. What I need from you is a clean, well-commented PLC program that: • Builds a stable EtherCAT network between the Delta PLC and the two Panasonic drives • Achieves millisecond-level following accuracy for position and speed • Includes homing, start/stop, fault handling, and manual jog routines • Comes with concise notes that map directly to the flowchart I provide Remote commissioning support to verify motion profiles on my bench is important; I can supply live feedback via video call and oscilloscope screenshots. If you know Delta’s ISPSoft, Panasonic MBDL drive parameters, and EtherCAT motion control blocks, you should feel right at home.