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.
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