I added the code sysClkRateSet(5000) into SIS3801.c last week to change the taskDelay resolution to 0.2ms, but it will cause the TS cpu crashed while start a run(it works good by using tcp-ip for check). Since this code is working on injector cpu and happex crate cpu, I still don't know why it will cause cpu crash. I'll check it later. I commented it temporary and CODA is working again. Same issue in the left arm's TS.