security when you disconnect odrive from your computer

I’m developing a robot on ODrive.
And I want to implement the function of safely stopping the robot when ODrive is disconnected from the computer.
I put together a project in Visual Code. how can I control TIM1 and TIM8 when changing vel_setpoint

I think the watchdog functions are there for this reason :slight_smile:

I set odrv0.axis0.config.watchdog_timeout = 10, and when I ON ODrive I get ERROR_WATCHDOG_TIMER_EXPIRED. How I must using watchdog_timeout?

You have to call that function repeatedly from your code to avoid the error. That way, if the connection breaks, it won’t be called and the axis will stop.