Simply VXI11 communication library fo B&R PLC in AS6
Create cyclic task, which will call FB vxi11. This block do all. After enable := TRUE the block create connection to device.
If the status = vxiStatus_User_Wait you can send the commands. Fill the pDataTx with pointer to string command, set pDataRx to receiv buffer, set command type and set enableUser to TRUE. In userStatus you can read status of this request.
When you want to send another request, reset and set enableUser - it's react only to edge.