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TMS320F28076: Endat reading takes to long

Part Number: TMS320F28076

Hello All,

I need to read an Endat absolute encoder every 50us.

I see that the execution time of library procedures is about 20 us (at 100 Mhz), which is a considerable part of the cycle time.

The most time consuming procedure is the PM_endat22_setupCommand(ENCODER_SEND_POSITION_VALUES, 0, 0, 0).

Is it necessary to call every time this procedure? The command is the same for each cycle, so is it not possible to set it once and the call only the “PM_endat22_startOperation()”?

Or, is there another way to reduce the time for the endat position reading?

Many Thanks,

Maurizio