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If you run kinetic, checkout https://github.com/ThomasTimm/ur_modern_driver/pull/120. This work will probably replace the previous branch in kinetic+ and has some adjustments also w.r.t. latency. Additionally make sure you run a low-latency linux kernel on your machine to avoid random delays.
The driver sends target poses to the controller with 4*125 Hz, but the controller performs an emergency stop (do_brake) if it doesn't receive a target in even a single cycle of the 125Hz update loop. With generic kernel and lots of activity on the machine that is very much possible though and we saw similar behavior in our lab too.
It's gone since we changed the kernel and use the new branch.
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