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This page covers stop behavior and recovery for 2.1 devices, plus the user-serviceable boundary. To diagnose by symptom, see Troubleshooting.

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Safe Stop and Fault Recovery

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Fault Severity and Stop Behavior

Each joint reports its current error code through joint_diagnostics. Decode it with WujiHand2.describe_error(code), which returns an object carrying the error name, description, severity, and clear policy: For an unknown error code, describe_error returns None. For the field definitions, see SDK Reference.

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Emergency Stop

In an emergency, stop the whole hand at any time. The call takes no mask:

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Clear Faults and Reset Safely

  1. Confirm nobody is touching the hand and the device is at rest.
  2. Remove the external cause, such as a jam, an overload, or a pulled cable.
  3. Call hand.clear_fault() to clear every joint, or pass a mask to clear specific joints.
  4. Subscribe to joint_diagnostics again and confirm no error code is active.
  5. Enable again and resume from slow, small motions.
Error codes with a NonClearable policy survive clear_fault, so power-cycle the device. If one persists, contact technical support.

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Status Light and Stop States

The back-of-hand status light runs from the device itself and shows the current state without a host connection. 2.1 uses priority numbering, so when several states coexist the light shows them in this order: fatal error, joint fault, firmware update, no joints detected, warning, running, power-up and self-check, and ready. For the full table, see Back-of-Hand Status Light in Product Introduction.

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Maintenance and Consumables

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What You Can Service

Power the device down before removing or refitting the skin and soft pad. The flex cables on the finger surfaces are fragile, so avoid scraping and pinching them, described in User Notice.

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Daily Checks

Check before each day’s use:
  • No visible damage, with the skin fitted correctly
  • No cable damage and no loose connectors
  • Self-check passes, with the status light reaching white breathing

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Warranty and Support

Warranty coverage and the repair flow aren’t published yet and will follow in a later update. If a prototype is damaged, contact your point of contact or [email protected] right away.