Delay raspberry pi encoder hat

I'm working to control motor with DFROBOT Motor Driver (SKU:DFR0592) and raspberry pi 4B.

condition :I2C connection, maxon motor, maxon incremental encoder , python using DFROBOT API

now I have trouble that the system especially to get rpm data from using python node has delay (about 0.2s).

Do you have any suggestions or comment to decrease delay.

People who use DFROBOT Motor Driver (SKU:DFR0592), you also have some delay ?