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