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Command Lock X series Actuators
Posted: Wed Aug 26, 2020 2:57 am
by abdulaleey
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?
Re: Command Lock X series Actuators
Posted: Wed Aug 26, 2020 4:17 am
by florian_enner
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.
Re: Command Lock X series Actuators
Posted: Thu Aug 27, 2020 5:01 am
by abdulaleey
florian_enner wrote: ↑Wed Aug 26, 2020 4:17 am
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.