System Base Services
Logging
Section titled “Logging”During robot motion, three types of log files are generated and saved in the /jy_exe/data directory on the motion host’s internal storage.
- Event logs (.log): Every event during robot operation is recorded in this file.
- Computation logs (.csv) and fault snapshots (.snapshot.csv) compressed packages: If a fault occurs during robot operation, use the “Save Data” function on the App. The robot will save the fault data and stop the motion program. The default logging frequency is 1000Hz, and each record can be viewed directly with Microsoft Excel.
System Protection
Section titled “System Protection”Over-Temperature Protection
Section titled “Over-Temperature Protection”The motion system has built-in temperature sensing. If the robot operates for an extended period causing motors or drivers to overheat, it will automatically enter over-temperature protection mode — the robot will stop moving and lie down in place.
Fall Protection
Section titled “Fall Protection”When the IMU module detects an excessively large attitude angle change and the robot cannot avoid falling, all joints will immediately enter damping mode. Please ensure there are no obstacles around the robot before attempting to flip it back up. If the robot cannot get up, press the software emergency stop button, then save data via the “Settings” page on the App or power off directly.