MC_Home triggers drive controlled homing procedure (C600) in the drive and writes the drive and axis reference position. I have configured the drive to home at it's current position, so it should take very little time for C600 to complete. In the video you can see that the actual homing process finsihes quickly, as evidenced by the bit "bHomeComplete" which is mapped to "DriveReferenceStatus" (S-0-0403 bit 0) and a check that the axis position is matching the new reference position. Yet for some reason the Done of MC_Home doesn't go TRUE until 7 seconds later. It seems as if the function is using a timer to turn on Done intead of looking at actual status.
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Additional info: the Done turns on 7 seconds later even if the homing procedure is not successful. For example, if the measuring system is absolute and "drive controlled homing with absolute measuring system" is not enabled, activation of C0600 does not result in successful reference (S-0-0403 stays 0) - yet MC_Home turns on Done instead of Error.
We have an application that involves moving long distances and requires repetitive re-referencing based on external sensors. This is due to error that can accumulate during the move due to slippage. Having the PLC Open state machine stuck in "Homing" for 7 seconds causes an undue delay in triggering the next move in the process, and the Done bit cannot be used as a reliable indicator of success.
Sorry for the late reply is this problem still present or could get around it?