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Real-Time Measurement and Control

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The following VI is used on a cRIO-9022, the canopen interface is  NI-9881. The VI is used to actuate valves and the time stamp at SDO/RPDO writes are logged. The actual valve opening is delayed by about 12ms  form the RPDO write on the bus. This can be seen from the plots attached, valve opening is picked up as spikes (vibration) in the X(orange) line plot. The plots are for the 'Valve sequence' event case (RPDO write). Why is this so? How can I reduce the delay?

Best regards,


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