System Base Services
Save Runtime Data
Section titled “Save Runtime Data”The data saving service can be used to have the robot save data from the last five minutes when a fault occurs and automatically exit the motion program.
If the jy_exe program is version v2.2.45 or later:
| Command Code | Command Value | Command Type |
|---|---|---|
| 0x010C01 | - | 0 |
Logging
Section titled “Logging”The Jueying X30 Pro generates three types of log files during operation:
- Event Logs: Records each event during operation. Files have
.logextension, stored in/home/ysc/jy_exe/log, accessible via MobaXterm’s left panel file browser. - Computation Logs: After pressing [Save Data] in the gamepad APP settings page, motion state data from the last 5 minutes is saved at 200Hz recording frequency. Each saved data file can be viewed directly with Microsoft Excel. Files have
.csvextension, saved alongside fault snapshots in/home/ysc/jy_exe/data/. The path can also be found at the end of event logs. - Fault Snapshots: After pressing [Save Data] in the gamepad APP settings page, a fault snapshot is saved containing data from the last 5 minutes, requiring 9 seconds to save. Files have
.snapshot.csvextension, saved alongside computation logs in/home/ysc/jy_exe/data/. The path can also be found at the end of event logs.
Event logs are retained for 7 days (168 hours). Each time the program starts, expired logs are cleaned up to prevent disk space issues.
When pressing [Save Data], ensure the robot dog is in the lying-down position whenever possible.
Motion Program Scripts
Section titled “Motion Program Scripts”The Jueying X30 Pro motion host has built-in scripts at /home/ysc/jy_exe/scripts:
| Script Name | Script Function |
|---|---|
| restart.sh | Restart the motion program |
| stop.sh | Stop the motion program |
| show_log.sh | View real-time motion program event logs |
Users can call scripts from the terminal:
cd ~/jy_exe/scripts./xxxxx.sh # xxxxx.sh is the script to be called