Compute Installation

Smart Controller Removal

To remove the smart controller, follow these steps:

1. Ensure the robot dog is powered off.
2. Use a hex wrench to remove the four M5 screws from the mounting holes.
3. Use a tool to disconnect the three aviation connectors on the smart controller from both sides of the body, then remove the smart controller.
4. Power on the robot dog and configure the motion host parameters as described in Motion Parameter Configuration below. If the robot dog has no payload, use the following configuration:
   • Communication parameter file network.toml:

     ip = '192.168.1.105'
     target_port = 43897
     local_port = 43893
     ips = ["192.168.1.105"]
     ports = [43897]

   • Motion parameter file motion.toml:

 ```toml
 load = 0.0
 ……
 load_x = 0.0
 load_y = 0.0
 load_z = 0.0
 ```

5. After configuration, run the restart.sh script to restart the motion program, then the robot dog can be used normally.

Smart Controller Installation

The smart controller can be installed at three positions to adjust front-to-back extension space for different mounting needs:

• Position A

• Position B

• Position C

Follow these steps for installation:

1. Ensure the robot dog is powered off.
2. Place the smart controller at the appropriate mounting position on the robot dog’s back. Insert the three aviation connectors into the corresponding ports on both sides of the body, and tighten the four M5 screws to secure the controller to the two mounting rails.
3. Power on the robot dog and configure the motion host parameters as described in Motion Parameter Configuration below. If only the smart controller is installed, use the following configuration:
   • Communication parameter file network.toml:

     ip = '192.168.1.105'
     target_port = 43897
     local_port = 43893
     ips = ["192.168.1.105","192.168.1.106"]
     ports = [43897,43897]

   • Motion parameter file motion.toml:

     load = 3.0
     ……
     load_x = 0.05
     load_y = 0.0
     load_z = 0.10

4. After configuration, run the restart.sh script to restart the motion program, then start the smart controller.

Motion Parameter Configuration

Payload Parameter Configuration

When adding or removing payload, access the motion host at /home/ysc/jy_exe/conf, open the configuration file motion.toml, and configure the payload weight and center of gravity position. New motion parameters take effect after restarting the motion program.

Communication Parameter Configuration

Adding a Payload

When adding a payload that needs to communicate with the motion host (e.g., receiving UDP messages or sending UDP commands), configure the communication parameters after installation.

1. Access the motion host at /home/ysc/jy_exe/conf, open the configuration file network.toml:

   ip = '192.168.1.105'
   target_port = 43897
   local_port = 43893
   ips = ["192.168.1.105","192.168.1.106"]
   ports = [43897,43897]

2. Add the new payload’s IP address and port number in the brackets at the end of the file, maintaining one-to-one correspondence:

   ip = '192.168.1.105'
   target_port = 43897
   local_port = 43893
   ips = ["192.168.1.105","192.168.1.106","xx.xx.xx.xx"]  # xx.xx.xx.xx is the new payload's IP
   ports = [43897,43897,xxxxx]  # xxxxx is the new payload's UDP port

3. After configuration, restart the motion program. The motion host’s UDP receiving IP is 192.168.1.103, port 43893.

Removing a Payload

When removing a payload that communicates with the motion host, reconfigure the communication parameters.

1. Access the motion host at /home/ysc/jy_exe/conf, open network.toml:

   ip = '192.168.1.105'
   target_port = 43897
   local_port = 43893
   ips = ["192.168.1.105","xx.xx.xx.xx"]  # xx.xx.xx.xx is the payload to be removed
   ports = [43897,xxxxx]  # xxxxx is the payload's UDP port

2. Remove the corresponding IP address and port number from the brackets:

   ip = '192.168.1.105'
   target_port = 43897
   local_port = 43893
   ips = ["192.168.1.105"]
   ports = [43897]

3. Save and close the file. New communication parameters take effect after restarting the motion program.

Payload Installation Requirements

• Payloads must be secured to the mounting holes on both rails. Payload height should not exceed 500mm.

Ensure the payload is fixed securely and cannot move, shake, or rotate.

Do not secure the payload to only one rail.