COTmrService stops all timers on failed CO_IF_CAN_DRV.Send?

[Jef-GB]

Setup desc.

I am running a FreeRtos setup with an ISR handling the COTmrService function call and a FreeRtos task handling the COTmrProcess.

Problem behavior

When the Can Interface driver send method (CO_IF_CAN_DRV.Send) returns -1, what means that it failed to send, all timers are stopped. The CO_IF_TIMER_DRV.Stop function is invoked, resulting in the COTmrProcess blocking execution. This also results in the HBConsumer not being triggered anymore if the communication is lost for longer than the consuming time.

Question

What is the reason for all timers stopping when there is no CAN data being send or received anymore? Is there a way to work around this? And how do I still have the HB consumer active even when I am not connected to the bus anymore? (With spinning motors, this can result in a dangerous situation).