Motor ceases to respond intermittently

I am working with the Hardware C++ API version 0.2.8 on Ubuntu 22.04. After enabling gravity compensation and commanding the end effector to a specific location, I observed an intermittent issue: the device’s motor occasionally stops functioning while the LED indicator remains green. Following this event, gravity compensation ceases to operate, and the device no longer responds to any subsequent commands, although the data stream remains active, allowing position data to be read through the API. I later discovered that the only method to recover the device was to touch the calibration slot with a magnet, suggesting that the device might be entering a random “sleep mode.” However, I am confident that my code does not induce such behavior, and I could not find any documentation explaining this phenomenon. Notably, the device “sleeps” even while actively being used and with the LED consistently green, which indicates that the force mode is still running. Could anyone help explain this behavior?

Sai

Hi Sai,

This seems to indicate a drop in communication to the device for more than 500ms.
The device is expecting communications at 1kHz and if we don’t receive anything for 500ms it will disable power to the motors as a safety.

Our newest SDK (Developer Hub | Haply ) would provide it’s own control loop and adds a bit of freedom in the response time cycle from your code, it will also handle detection and reconnection of the device in case it was disconnected.

Please let us know if you need more help.
Antoine

Hi Antoine,
Thanks for your reply, I will try it out based on this information!
Sai