Using Galil COM library and C# on a Galil 21x3 over Ethernet

I have subcribed to record updates and I'm trying to update motor positions at set intervals using PA and JG commands (3 axis in PT mode and one in JOG mode), but sometimes the commands return "1 unrecognized command" and sometimes the LAN just completely drops out and I get disconnected from the controller, I can reconnect without issue.

And there is not an issue with any other commands at the moment.

I've tried isolating the Galil on a separate switch and lower the interval frequency to no avail.

It is random and leads me to believe the problem lies low-level on the Galil COM or the Galil library not parsing concatenated packets correctly.

We have used raw win sockets in the past without issue, this is the first time we have tried using the COM libraries and this issue has cropped up.

Any advice on how to resolve this issue or investigate further? It is happening on 3 different Galil boards.