Manual

15-2 Appendix E
The precomputation time increases by about 0.5 millisecond for each character transmitted
by the host during the precomputation. Due to the nature of the input handshakes (see
Chapter 5) these characters tend to be transmitted in bursts. Thus any given vector or arc
may take significantly longer to preprocess than its neighbors; this extra delay is very
difficult to predict, but there is a way to eliminate most of the unpredictability. (See Tricks,
below.)
The effects of the PD ("Pre-move Digital Outputs Changes") command occur after the
precomputation and, hence, are precisely and repeatably time-related to the beginning of
motion.