Fast activation of Digital Out

alavudeen
alavudeen Chennai, India
In my application, a camera is connected to DO1 of Robot controller and the image is captured whenever DO is set or reset. RAPID code will be as follows

MoveJDO p1, vRun, z30, tool2, do1, 1;
MoveJDO p2, vRun, z30, tool2, do1, 0;
MoveJDO p3, vRun, z30, tool2, do1, 1;
MoveJDO p4, vRun, z30, tool2, do1, 0;

This works when it is run at slower speed. Some captures are missing when ran at higher speeds. Looks like a SET or RESET takes some time to get it reflected to physical DO pin ! My application requires to capture one image in every 1 ms or less. Is there any provision in ABB robot controller for such fast Digital Output?