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Hello Filip_K, the RuD colleagues tested your case (RM2203) and returned with the results. (additionally checks on RM2111/RM2207 done). Regarding AH on drive-side newer gets reached: KinInterface on top of the AxisInterface connected with the motion and cmding ctrlX-Drive or other. The dialog of Drive-Engineering visualisze all bubbles even their state are not reached under all conditions. Since the motion on ctrl side is realizing the AH PosHold it does not rely on the realiszation on the drive. Drive stays in AF and holds the position commanded by the ctrl-side ( will not change till new kin/axis-ctrl triggers). So that behaviour on drive side is solved. AH is realized ctrl-interally and visible by arAxisStatus_gb[].admin ...  STANDSTILL.   Regarding your claim: KinInterface is switched to _CoordAB and Drive stays in AF : We could not reproduce the behaviour. Could you please support with a trace-measurement covering the Kin- and Axis ctrl/status info of the admin/opmode /opmodeAkn to see if the programm calls correctly. Maybe the axis-Interface is not called and motion/drive are not updated with the desired Mode.  Please include the trace by configuring and DL and retrigger the casesteps. We really appreciate your cooperation, it is an important point that needs to be clearified. Thanks in advance.         ... View more

Hello, reproduced your described behaviour. And had a look in the docu available unter: https://developer.community.boschrexroth.com/t5/Store-and-How-to/Template-for-cartesian-handling-systems-V1-0/ba-p/58570 It is mentioned to modify the CXA_MotionInterface lib to 1.12.1.0. Doing so made the template project compile. Please try: Did it work for you? Bye     ... View more

Hello Kelvin, the current resolving of the Ecat-DatalayerKnots is limited yet. The implementation does not cover yet the subnotes under instances. Not nice but I case you can live with a workaround inside the PLC. you could make the values available als RTData read and provided as new RT-Variable by the PLC. ( Time delay of 1cycle expected/acceptable?). 1.Add the RT-Infos of the AI-channels to the PLC. 2. Provide new vars als RT Vars into the Datalayer (using the pragma declare) 3. copying read value to new var. Unfortunately I can not provide a releasedate for the expected resolving. OK? Bye   ... View more