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Appendix 103

6 Appendix

6.1 HSL-4XMO Commmand Executuion Time

The testing is conducted at 6MHz baud rate and full-deplux mode.

We list the execution time depending on the command delivering

counts.

The time is measured with one, four, and eight modules respec-

tively. The time unit is mini-second. We have the classification as

follows.

The time is averaged with one thousand testing. The result is as

follows.

Command Type Contents Note

1 Send simple command None

2 Send U16 command None

3 Send U32 command None

4 Get U16 command None

5 Get U32 command None

6 One-axis motion 6 Delivering Times

7 Two-axis motion 7 Delivering Times

8 Short-term motion 2 Delivering Times

Table 6-1: Commmand Executuion Classifications

Command

Type

Time (ms)

Example

One module

(ID: 1, 3, 5, 7)

Four modules

(ID: 1-16)

Eight modules

(ID: 1-32)

1 0.413 0.500 1.000 HSL_M_set_pls_outmode

2 0.429 0.501 1.000 HSL_M_set_home_config

3 0.453 0.501 1.000 HSL_M_set_position

4 0.497 0.505 1.000 HSL_M_get_io_status

5 0.500 0.509 1.000 HSL_M_get_position

6 2.588 3.023 6.000 HSL_M_start_tr_move

7 3.026 3.500 7.000 HSL_M_start_tr_move_xy

8 0.850 1.012 2.000 HSL_M_move_t_distance

Table 6-2: HSL-4XMO Commmand Executuion Times

1 2 ... 108 109 110 111 112 113 114 115 116

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