Hello @Goldfinger and @Jochen_Mueller Today I had a good play with this system. I found that arAxisStatus_gb[AxisA.AxisNo].Admin.CmdDone works as I would like it to work for ModePosAbs. However, I found that it doesn't work for ModePosRel and ModePosAdd. In these modes, when you run a command for the second time, the sequential function chart sees the CmdDone bit TRUE and skips to the next state immediately. See attached video and sample program (zip file containing .project, CtrlX works 1.20.10). I am running the code on an X3 with virtual axes. Axes setup as Rotary, Modulo 360 degrees. So, it looks like there is a bug for ModePosRel and ModePosAdd. At least in 1.20.11. I don't have a 2.6 setup yet. Can one of you try the same thing with OS2.6? If there is still a bug then maybe it can be raised as a bug to be fixed.
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