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How to solve COMM_FAULT_UI_BAD_MOTION_CMD ?

Posted: Wed Jan 08, 2014 3:00 am
by robostar
Now, we are to run the RMP 440 Flex Omni using OCU.

We are using USB communication and mouse interface.

When starting the OCU, the COMM_FAULT_UI_BAD_MOTION_CMD occur.

From the monitoring splash screen, It seem to go to the tractor mode.

But the actual wheel is not responding to move command (using mouse operation).

Please let me know the cause of this fault and the solution about it.

I could not find this fault in the user manual.

Re: How to solve COMM_FAULT_UI_BAD_MOTION_CMD ?

Posted: Wed Jan 08, 2014 8:30 am
by phussey
The fault is due to sending a non-omni motion command (id 0x500 instead of the appropriate 0x600). Omni motion command format differs from the normal 0x500 motion command format to include angle , yawrate and vel (see manual on motion commands),

In order to use the OCU with omni you must use a Logitech extreme 3D pro joystick. Your other option would be using the Linux version of the OCU, or the basic interface example, which both support omni with no controller requirement. The basic interface example will need to be modified to send omni motion commands rather than general motion commands.