ACR Controller Communication Performance

The ACR controller library use a cyclic method of communication instead of a "demand write" method.

It takes approximately 2.5 service ticks to perform a query of a parameter on an ACR controller. Each service tick is 10ms, it will take 20-30ms for the controller to respond with the answer to the query.

Fast Status is a method of retrieving a number of pieces of information simultaneously in that same 20-30ms although the update interval can be set longer than this.

The actual transfer of the Fast Status packet is approximately 60us even though the packet can only be updated every 20ms.