This task error occurs if there is a new Timer interrupt prior receiving the data back from the ARM or DSP from the prior Timer interrupt.

While searching for the cause of a different task error, 8F000012, that seemed at the time like it may be SERCOS related, I discovered an issue with enabling the SERCOS cyclical interrupt. On the Closed Loop controller, to prevent the 8F00000E task error, the Timer interrupt should be disabled before enabling the SERCOS cyclical interrupt. In addition, if we are waiting on the data from a Timer interrupt, we need to receive that data prior to enabling the Cyclical interrupt.

The reason is that the Timer and the Cyclical interrupt both do the same thing, which is send new data to the DSP or ARM. We need to make sure that we wait to receive expected data from the DSP or ARM before we enable either one of these two interrupts so that we don't get one of them prior to receiving the expected data. If we don't, we may get the 8F00000E task error.