Just add to this, I have sample code from RA on how to communicate between a MicroLogix 1400 and a K300(http://literature.rockwellautomation.com/idc/groups/literature/documents/qs/cc-qs018_-en-p.pdf), , and a CJ2M and a MicroLogix, just hoping to find a way to have the CJ2M talk to the K300, without weeks of coding.
Have you ever tried to communicate with a Kinetix 300 from a CJ2M? I've looked at your code, and still confused on how to implement it for our application. All we're trying to do is drive the motor at a given velocity(not position), which looks like we have to right 3 variables (ReferenceSource, CommandCurrentOrVelocity, and DriveEn). Omron pushed it off saying it would take weeks to write the code for this, I'm not sure how they came up with that timescale.