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Motion Controller QMP-SynqNet PCIe

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I have the following queries related to QMP - SynqNet motion controller
1) What is the smallest control loop time that can be executed using MPI APIs? We need real time performance for controlling the 2-axis gimbal at 0.01deg accuracy, which may require control loop to be executed every 10msec / 20msec. Please let us know whether with windows framework and MPI library this timing can be achieved.
2) Is it possible to have run a program on the QMP-SynqNet controllers to execute the control function instead of running on Master running windows OS? If so, which environment to be employed to develop such program and how to program it on the controller?
Can you share some example programs written using MPI APIs to run control functions?
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1) The fastest controller sample rate will be 16KHz.
2) The API is available for configurations as well as setting up motion, etc. We have very extensive functions that will allow motion and other critical tasks running on the controller instead of on the Windows OS. You can read more about how it works here
http://support.motioneng.com/Software-MPI_04_02/basics/basics/intro_mpi_...
http://support.motioneng.com/Software-MPI_04_02/Topics/default.htm
You can find application examples here
http://support.motioneng.com/Software-MPI_04_02/apps/default.htm
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