I found a problem when using NexeedEcIaiMconDrive_native object, the version is 2.0.4.0. the problem is described below: When I start Axis with this peripheral, the ExecState of Unit becomes DONE soon, but the Axis is still running, then I set Execute of Unit to False, then I can start Axis again, and this time it works right, please see the picture which I got by TwinCAT Scope (Blue line is Unit.ExecState, Red is Peripheral._status.Pending, Cyan is Peripheral._status.Moving). I think this is a bug for NexeedEcIaiMconDrive_native object, it think it just check Pending signal, if Pending is True, then set RetVal of method to OK. but actually, the sevo is not running now, I think after start axis, it must check running, then check Pending, and also must handle the case that Axis move to current position(axis should not move and set RetVal to OK)
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