The Talon SRX reports the sensor position and sensor velocity every 20ms. The control frame to the Talon is sent every 10ms.
If you are using C++/Java you can change these time periods. If you do this be sure to check the CAN metrics in the DS tab.
See sections 20.5 and 20.7 in the Talon SRX Software Reference Manual for details. Also section 15 for measuring CAN performance.
"Talon SRX Software Reference Manual 2014-12-26 (.pdf)"
http://www.crosstheroadelectronics.c...ol_system.html