Hi ppBuilder,
Regarding:
A - KFLOP can drive up to 8 axes of coordinated motion
B - yes
C - Index pulse length must be 180us
D - Hardware FRO is immediate. Accelerations are pre-planned by Trajectory Planner and would depend on what you mean by on-the-fly
E - Coordinated motion is 2nd order Trapazoidal. Independent motions and rapids are 3rd order
F - Stand alone User programs can command motion, jogging, etc based on I/O but would depend on what you mean by "steer the machine"
Regards
TK