diff --git a/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp b/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp
index 7a39c37ab2bbd2074b5fcbfe2b09fc7a693acd7b..c2a5e07f994419b1be484cb996779a610b75f7c5 100644
--- a/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/CsoneControllerService.cpp
@@ -737,7 +737,7 @@ void setNewTimeDelay(int newTimeDelay)
 	float delta_T_in_milliseconds = 1000.0 / yaml_control_frequency;
 
 	// Convert the time delay to a number of time steps
-	int time_delay_in_steps = int( float(newTimeDelay) / delta_T_in_milliseconds );
+	int time_delay_in_steps = int( float(newTimeDelay) + 0.1 / delta_T_in_milliseconds );
 
 	// Wrap this value into the allowed limits
 	if (time_delay_in_steps<0)