Hi,
It seems that I didn't properly understand how the IAI "homing" was being done. Below is a better description;
The IAI robot does not return to the original position when you send a move command like "X20.0" > "X0.0".
It is not "Homing". Generally, homing means looking for the home position using sensor or motor torque limit. In our system M7 is the homing command and it works well, "SOMETIMES FAILS". (M9 is reset homing command).
Could it be that the problem is that ISI robot moves at a different duration with same pulse command which is send from CSMIO?
As for the XML, do you have an email address I can send it to?
Thanks,
Will...