Each HEBI module run a real time operating system (RTOS) in the module itself that process commands and feedback at 1 kHz. This allows the APIs to provide a much more flexible soft-real time control from a computer over a standard Ethernet network. Under normal conditions on a wired LAN a module will show no packet loss, and round-trip latency of 1-2ms. Our APIs provide sub-millisecond synchronization of modules and API-level command/feedback rates of up to 1 kHz, but most applications only need to operate at about 100 Hz.
More technical details can be found on our blog.