text: <s>[INST] MAR.PC delay Summary: In trend I can see that input is armed and I also se that.Reg1InputStatus is 1. Status .RegEvent2Status needs approximately 2 s. Please help me understand MAR.PC delay. We have 11 years old machine with clx L61 and kinetix6000. Last year firmware was updated from v13 to v20. From last weak one registration input on one axis works extremely slow. It takes 2 s to react and in the mean time axis moves to far and registration position is out of the limits. In trend I can see that input is armed and I also se that.Reg1InputStatus is 1. Status .RegEvent2Status needs approximately 2 s. Sequence is: MAS axis MAS.pc starts MRP MRP.dn starts MAR MAR.ip starts JOG .RegEvent2Status calculates end position JOG is merged in to MAM absolute position Thank you [/INST] How do you determine the 2-second delay? Are you trapping the time using code, or simply watching the bit change state from your computer? Doing the second is not a good way to determine true latency of the system - communications with your computer are the lowest priority of the PLC. You said the firmware was changed last year. Did the MAR work correctly after the firmware update, and the anomalous behavior started very recently? If that is the case, what else changed in the system? Are you running a new product on the machine, one with different parameters than previous ones? \\n </s>