how to Speed up in cubic B-Spline mode?

I need do cubic B-Spline movement in project, the host program write and read parameter through DPRAM.the golbal variable I42 is set to zero,so each programmed will move takes TM time. when running ,the host program will write the objective postion to UMAC and keep synchronous through HostMoveCounter and UMACMoveCounter variable.

 

;Spline Movement

#define XSentPos M59

XSentPos->F:$060200

 

#define YSentPos M61

YSentPos->F:$060201

 

#define ZSentPos M63

ZSentPos->F:$060202

 

#define ASentPos M64

ASentPos->F:$060203

 

#define BSentPos M65

BSentPos->F:$060204

 

#define VSentPos M66

VSentPos->F:$060205

 

#define UMACMoveCounter M67

UMACMoveCounter->Y:$060206,0,16,U

 

#define HostMoveCounter M68

HostMoveCounter->X:$060206,0,16,U

 

#define SplineSymbol M69

SplineSymbol->Y:$060207,0,16,U

 

OPEN PROG 10 CLEAR

ABS

SPLINE1

I42=0 ;Use TM to adjust Splline move time

TM100

UMACMoveCounter=0

While (SplineSymbol = 1)

PointSent=(HostMoveCounter-UMACMoveCounter)%2Power16

If (PointSent = 1)

XDesPos=XSentPos

YDesPos=YSentPos

ZDesPos=ZSentPos

ADesPos=ASentPos

BDesPos=BSentPos

VDesPos=VSentPos

UMACMoveCounter=UMACMoveCounter+1

X(XSentPos)Y(YSentPos)Z(ZSentPos)A(ASentPos)B(BSentPos)V(VSentPos)

EndIf

 

the issue is that the movement speed is very slow, when I decrease the TM,it leads that the whole movement is not a continuous,it there any solution optimized the speed.

Your host computer program that is feeding points to the PMAC needs to check frequently the HostMoveCounter and UMACMoveCounter registers, and when it finds them equal, to send the next set of points. The more frequently it does this, the smaller the move time that can be executed. Many people have gotten times of just a few milliseconds using this technique.