joint compliant controller error

Description
When sending joint positions for all 7 joints at once, the following error occurs:


terminate called after throwing an instance of 'Kinova::Api::KDetailedException'
  what():  Device error, Error sub type=WRONG_SERVOING_MODE => <srv: 3, fct: 1, msgType: 3>
description: Wrong servoing mode, must be low level servoing mode

how to fix? 

thanks!