Hi, in both RTDEControl and RTDEReceveive, for the reconnect method, the frequency and delta_time are computed without taking in account the constructor parameter. These lines should be removed and used the previous computed ones in the constructor ```cpp frequency_ = 125; // If e-Series Robot set frequency to 500Hz if (versions_.major > CB3_MAJOR_VERSION) frequency_ = 500; // Set delta time to be used by receiveCallback delta_time_ = 1 / frequency_; ```