Command Lock X series Actuators

[HebiMigrator]

X Series actuators were running fine previously. But Now I am having an issue that they are not taking any command because I guess command lock is enabled. How to fix this issue?

Originally posted by abdulaleey on forums.hebi.us » Wed Aug 26, 2020 2:57 am

[HebiMigrator]

The lock-out gets set by APIs and is limited to maximum 5 seconds per message. You likely have some other process or other computer running that is actively sending commands to the actuators.

APIs send commands with a maximum lifetime that sets an expiration time. It exists for two reasons:

• While a command is "alive", the actuators won't accept commands frm any other source. This prevents accidentally commanding the robot from two sources, which is what you are running into.
• If a program crashes or stops sending commands for some reason, the lifetime expires and the actuators turn off output commands. This is particularly important for velocity/effort control where actuators would otherwise continue to spin until actively being stopped.

Originally posted by florian_enner on forums.hebi.us » Wed Aug 26, 2020 4:17 am

[HebiMigrator]

The lock-out gets set by APIs and is limited to maximum 5 seconds per message. You likely have some other process or other computer running that is actively sending commands to the actuators.

APIs send commands with a maximum lifetime that sets an expiration time. It exists for two reasons:

• While a command is "alive", the actuators won't accept commands frm any other source. This prevents accidentally commanding the robot from two sources, which is what you are running into.
• If a program crashes or stops sending commands for some reason, the lifetime expires and the actuators turn off output commands. This is particularly important for velocity/effort control where actuators would otherwise continue to spin until actively being stopped.

Thank you very much that will solve my issue.

Originally posted by abdulaleey on forums.hebi.us » Thu Aug 27, 2020 5:01 am