Reducing the number of cables needed for the actuators and sensors of humanoid and other robots with high numbers of degrees of freedom (DoF) is a relevant problem, often solved by using a common bus for all communication, which may result in bandwidth limitation problems. This paper proposes an optimized method to re-order the commands sent to the joint-local controllers of a serial manipulator. The proposed method evaluates which local controller would benefit the most from an updated command given a cost function, and sends a command to this controller. As is demonstrated in both simulation and on a real robot, the resulting scheme can significantly improve system performance, equivalent to increasing the communication frequency by up to 3 times.