[WizenedEE]

You may want to use the system manager (tools -> real time module -> system manager) to see how much CPU the C RIO is using. If it's near 100%, then it may just be the FMS is sending it over the edge.

You may want to try speeding up your code in general though, perhaps by adding longer delays to everything (it may be a good idea to put one in the main loop). If you're just edging the line between lag and no lag, you probably want to back it off a little bit.