Hi Dmr, I noticed this is your third question about motion in a short period. I recommend considering Mapp motion training, which can provide answers to most of your questions. You can contact your local B&R office for this; it could really simplify your start in this area, believe me 
As a moderator and community member, I suggest providing more details when you ask a question. Users in community are more likely to help if you clearly describe your problem, what you’ve tried, where you are, and why you’re stuck. Simply stating “I have error XXX, what should I do?” isn’t enough information for others to assist you effectively.
Thanks, Jaroslav