text: <s>[INST] Formula for calculating Coarse Update Period for 17-axes, 1755-L7x processor + 1756-M16SE cards What is the formula for calculating Coarse Update Period for 17-axis system using the newest 1755-L7x processor and 1756-M16SE cards? [/INST] Welcome to the Forum! Not an expert on that, just reporting what the User Manual indicates: see the table at pag.35 to understand the starting point for CUP settings... Than, see starting from page 32, about the Cycle Time of the Sercos Module. - fuzzy logic \\n </s>