Hi,
Without knowing your business requirements or the reason why not to have logging tables, you could do the following.
In your erp you need to create a workflow what is triggered when object is changed. You should have an abap report what could access the HANA DB with native sql call, or with normal abap sql statement (depending on your kernel version)and place entry to the RS_ORDER to stop the load/replication and after some time you should create an entry for load table only, every time when the workflow is triggered.
I think you do not need replication for that table, load (initial load without delta) is enough and that way you will not create any logging table in the source system.
How frequently is your table changing? I would not use this setup if changes are happening hourly basis or your table is have many millions of rows.
BR
Tamas