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What the meaning of "Internal error detected" of M218 PTO function and how to solve this error?

The error is not well documented in online help. It may happen when instructions push to CPU too fas, so PTO chip crashed, since CPU can not handle all the commands.
The solution can be:
1) Increase task cyclic time (Recommend cyclic time is set to 1.25 times of the max cyclic time in freewheeling mode).
2) Avoid executing PTO commands too fast (Interval time should larger than 10ms).
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