MX-64 detailed about position and velocity profile

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    MX-64

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    I am using windows, Labview, Dyanmxiel SDK, protocol 2.0 Labview block.
    usb latency time is 1ms

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    PWM mode

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I am try to use my own joint trajectory planner + pid controller to replace the dynamixel control algorithm.

there are some confusion points during time setting.
**how could I set the each release trajectory points gap time, **
according to the feedback loop time, and control loop time?

how does the dyanmxiel setting?

thanks a lot!