TPDO and motor control conflict on B-G431B-ESC1

[Jan57555]

Hi. I have a B-G431B-ESC1 and use it do drive a motor.

Now I have the following problem: when I use TPDOs, a FOC Duration Error gets triggered as soon as the MC_StartMotor1() function gets called.

I believe it has something to do with the canopen_app_interrupt() function. When deleting the canopen_app_interrupt(), no motor drive errors get triggered. But then of course TPDOs wont work anymore.

Is there a reason for this behaviour? Are these functions in conflict with each other?

Thanks for your help!