The speed is mainly limited on the hardware (motors, gear boxes, linear axis) not of the controller. In the XM22 the minimal cycle time of motion calculation and fieldbus is :
See e.g the "IndraLogic XLC IndraMotion MLC 14VRS Functional Description" chapter "7.2 Cycle times":
XM21
XM22
XM42
4 ms
2 ms
2 ms
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