Write function block for Siemens S7 PLC in TIA Portal

I need several Function blocks for Siemens TIA Portal (preferably on SCL) to control 15 servodrives via CAN / Profibus / Modbus from S7 CPU? Each drive should be controlled in 2 ways - via operator panel, user should be able to read or write any of 8 registers by choosing the register and pressing #Write button or #Read button - programmaticaly_1: at startup of CPU all drives should receive Homong command - - programmaticaly_2: move any drive at any time and track actual value (position reached). The FB should also envisage a timeout timer - if a drive is stack against an obstacle and cant reach its position, my program should know it (simple timeout timer) I am going to further use this FB in my program. Depending on a conditions I would like to have an option to choose a sequence, wich drive to move first. That said I need an option to put any drive (its number) to FIFO buffer and then retrive data from FIFO. Sometimes I would need to move the same drive several times to different Target Values (again, it is defined imn other part of my program, that you dont need to know, I just need an interface from my program to the world of servodrives . Of course your fb should handle arrays and structures so that the entire code would look concise and please no excessive calling of instance FB. What I would appreciate is clear code with needed comments You can google up Lenze servodrive manual to learn more about status words, control words bits and other registers You can use [login to view URL] library as a basis of your programm (but these FB doesn`t allow to perform all the functions that I mention, doesnt allow for needed interlockings that you should develop on your own (for example, when a drive is moved programmaically an option to move it from operator panel should be locked etc. Other interlockings is your task and a matter of your common sense and experience Please also mention your price and time that you would need to develop this FB