NI 9514 in Scan Interface Mode (architecture questions)

Hi,

I would like to confirm that I understood correctly how the NI 9514 work. I'm used to build axis that have a trajectory and a supervisory code on the realtime side and an FPGA that do the spline / PID, etc.

Using the NI 9514 is quite different, I don't have a FPGA to build, from what I understood, the FPGA is on the c-series 9514.

Now, where is the realtime part for the trajectory generator and supervisory control and at what speed is its timed loop that do that TG? 

I have a critical application and I want a low (2-4ms) for to send setpoints. I don't see that code at all so I can't confirm.

Let me know please.That will help me.

Patrick