Networked dynamic model SCARA robot with CAN(controller Area Network) using TrueTime Toolbox

Hi, im using Truetime Toolbox networked my dynamic model of SCARA robot with CAN(controller area network).My focus research are is the delay on networked whichi based CAN.before this i run the DC motor model, active suspension, RIP(rotatry inverted pendulum ) and also kinematic scara robot..all the simulation result is ok. which is the output response is same compared to the system without networked. (the output response only, don't go deeper to the delay of the networked )..the analysis for the delay will come after getting the good response.

Now, im running the networked SCARA model dynamic which is 2DOF using PID or PD controller. I am using the maximum speed of CAN which is in real is 2M and the sampling time is 0.0001.the problem is, i cannot get the better output response similar to SCARA dynamic model without networked. I tuned with PSO, GA, using signal constraint, manual tuning.. still cannot give the better response.

I think the trick is the Truetime itsel or SCARA robot cannot tolerate with delay(delay introduce by network).. Who can help me with the Truetime and SCARA robot?pleasee..