# About ReadMotor instruction execute time

**URL:** <https://tech-community.robotics.abb.com/t/about-readmotor-instruction-execute-time/9064>\
**Category:** RAPID Programming\
**Created:** [September 2, 2019, 8:52am UTC](https://tech-community.robotics.abb.com/t/about-readmotor-instruction-execute-time/9064 "2019-09-02T08:52:23Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![LIJIANHUA](https://avatars.discourse-cdn.com/v4/letter/l/d78d45/32.png) [@LIJIANHUA](https://tech-community.robotics.abb.com/u/LIJIANHUA)\
**Post date:** [September 2, 2019, 8:52am UTC](https://tech-community.robotics.abb.com/t/about-readmotor-instruction-execute-time/9064/1 "2019-09-02T08:52:23Z")

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I suffer a strange problem, when i use the ReadMotor instruction to read the position of a motor, it need take 8-15 ms. Can anyone explain why it takes so long? And why the execute time is changing? In addiation, i test the follow four instruction GetJointData CJointT CRobT GetMotorTorque , also find the execute time is change from 1-5 ms. Has anyone encountered a similar problem?  
RAPID code:

ClkReset clock\_state;  
ClkStart clock\_state;  
!Cartesian Coordinates  
motor\_position:= ReadMotor(1);  
ClkStop clock\_state;  
time:=ClkRead(clock\_state);  
TPWrite "time " \Num:=time;  
Thank so much!