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.
Best regards,
Brian