[kamocat]

Thank you for your detailed response. That clears a lot of things up, and gives me more insight as to why I'm seeing such poor performance on the FRC CAN system. (It's because there's a lot of handshaking and token messages going on in "trusted" mode, and I don't have a specification for them, so I can't quantify them and take them into consideration when I make estimations.)

So with the exception of the enumeration command, the message throughput on the CAN bus in FRC directly relies on the rate of communication between the cRIO and the master CAN device? There isn't much overhead in the CAN plugin on the cRIO, or in translating the message from RS232/ethernet to CAN?