Mass on days other than Sundays and Holy Days of Obligation is completely optional and voluntary. There is no obligation that would be compromised by being late. Therefore, if the person is otherwise properly disposed, he has committed no sin by being late, and may receive.
That said, there are valid reasons for being late and there are careless, rude people who should make a better effort to be on time. We as observers have no way of knowing which category a certain person falls into, so should make no judgement about a person who arrives late to daily Mass and receives Communion.
Betsy