Hi robert
Thank you for your reply,again the same question ,maybe the following example can help.
Suppose that the PID update period is set to be 0.5ms,now at the zoro I send a 1 degree to the card, start the motion and at 0.55ms I send a -1 degree to the card,followed by a multistart.Here is the problem:at the 0.5ms the trajectory generator will calculate the profile data so when I send the -1 degree to the card,it will take effect at 1ms,(I mean that the trajectory generator will compare the new loaded data with the current position at 1ms) but not at 0.55ms(I mean the trajectory generator will not compare the new loaded data with the current position immediately after the multistart).
Hope for your reply!
