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--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # ecmc hexapod — first simulation prototype
 
+![Hexapod simulation running with ecmc](hexapod_ecmc_running.png)
+
 Twelve axes, with inverse **and** forward kinematics implemented in C++:
 
 | Axes | Meaning | Trajectory source | Encoder source |
@@ -437,6 +439,10 @@ Velocity/acceleration limits in joint space are not implemented by the transform
 
 ## Can IK and FK run at 1 kHz?
 
+Observed execution time on a Beckhoff C6025 with an Intel Core i7:
+approximately **50 µs while idle** and **200 µs while moving**. These are
+reported measurements, not worst-case execution-time bounds.
+
 **Yes, the measured computational cost makes 1 kHz plausible for this C++
 implementation.** A 1 kHz cycle is 1,000 microseconds, shared with all other ecmc,
 EtherCAT, motion and user-logic work. The actual real-time IOC must still be
@@ -524,4 +530,5 @@ nor Channel Access delivery needs to run at 1 kHz for the kinematics to do so.
   encoders, and latched geometry/FK/axis/host faults.
 - Python/C ABI round trip and headless 3D rendering.
 
-A live IOC and real-time execution timing have **not** been tested yet.
+Live IOC execution times reported from the Beckhoff C6025 are recorded above;
+sustained real-time deadline and overrun testing remains outstanding.
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