The lead time must be longer than the time for the command to get to the last receiver, which includes the relay. Start with a conservative lead time that exceeds the worst-case command delivery time to all receivers, including the relay to the second VLAN. Allow additional margin for delivery-time variation and differences between camera clocks. Reduce the lead time gradually while comparing the image timestamps from all receivers for each pulse. At each step, send 20 pulses and compare the timestamps of the image captured by each receiver for the same pulse. When the difference increases suddenly, the lead time is too short. A lead time that is too short does not cause missing images. This creates a larger timestamp difference because GenICam standards require devices to execute scheduled action commands unconditionally.
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