Motoplus YRC1000 sometimes does not move

    I have a motoplus app which works correctly on DX200.

    Now I need to run it on YRC1000. I made some fixes (axes directions, checked mpGetRtc() usage) and expected that it to work the same.

    But I have a problem with "freezes". Sometimes the robot does not take targets from buffer and when the buffer is full, mpMotTargetSend returns code -16 (timeout).

    I called mpMotStart() with return code 0 before mpTargetSend, so I don't understand why interpolator does not work.

    Usually freezes appear after changing the type of movement from linear to joint and vice versa

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