There is a RA UDFB that has most of the controls I need such as speed ref, speed feedback, basic info so I can control and monitor from the HMI. However, I am also using a PID statement in the drive and I want to be able to turn the PID off for hand operation, as well as change the PID setpoint. I think I have figured most of it out, but I would like to run through see someone ru through it using the CIP Generic messaging to see if I can minimize my time debugging.