I am controlling my xArm7 with c sdk. Using the servo mode the robot give quick responses. However, when there is communication delay, it is quite dangerous as the command may keep updating but the robot did not move. Once the communication is restored, the robot jumps to the new command. Is there a way to regularly get the robot status, or a way to get the timestamped data from the robot so that we write codes to check if the communication is disrupted.
" The most important for Servoj mode is that it requires a real-time system, please don’t use a >> system with network delay, you can use Linux with PREEMPT_RT patched kernel.
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I am using the command " set_servo_cartesian". I am not sure this solve the problem. Sometime after the pc is on for a while, the program may run with some delay. Some time after waking up.