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This behavior is explained clearly on the Arm Control Modes page of the Baxter SDK Wiki. Quoting from the Joint Control Fundamentals section:
A control rate timeout is also enforced at this motor controller layer. This states that if a new 'JointCommand' message is not received within the specified timeout (0.2 seconds, or 5Hz), the robot will 'Timeout'. When the robot 'Times out', the current control mode is exited, reverting back to position control mode where the robot will command (hold) it's current joint angles. The reason for this is safety. For example, if controlling in velocity control mode where you are commanding 1.0 Rad/s to joint S0, and you lose network connectivity (someone kicks your router), the robot could result in dangerous motions. By 'timing out', the robot will be safer, reacting to network timeouts, or incorrect control behavior.
Also note that if you want to disable this safety feature, you may do so (be careful!). This is explained on the previously-linked page.
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