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This page covers power, network setup, power sequencing, and connection recovery for Wuji Hand 2.2. The device runs on nominal 12 V DC power and an Ethernet link with a static IP, with fixed conventions for power sequencing, addressing several devices, and recovering from a lost connection.

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Power Supply

Never reverse-connect. Never plug or unplug the power or communication cables while the hand runs. The product has over-voltage and over-current protection, but don’t rely on protection tripping as part of normal operation.
The external interface form and the supply voltage range will change in later versions (no longer the XT30 + RJ45 two-cable direct layout). Leave room in your integration design.
The electrical data below isn’t available yet and will be added later: the XT30 pin polarity diagram, operating / peak / standby power, and recommendations for inrush current, power protection, fusing, and grounding.

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Power-Up and Power-Down Sequence

  • Power up: connect the XT30 at the device end first, then plug in the adapter. Connect once the status light goes from blue breathing (self-check) to white breathing (ready)
  • Power down: stop motion, call disable(), confirm the device is at rest, disconnect power, then unplug the cables
  • Hot swap: neither the communication cable nor the power cable supports hot swapping. After an accidental disconnect, follow Timeouts, Disconnection, and Reconnection below

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Network Configuration

The device uses a static IP and doesn’t support DHCP. Factory default addresses: Set your computer’s network adapter to a static IP on the same subnet (such as 192.168.1.50). For the full round-trip of changing a device IP (write to flash, reboot to apply, reconnect at the new address), see SDK Reference.

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Multiple Devices and Clients

  • When several hands share a subnet, connect by serial number (sn) or handedness (handedness). With multiple devices of the same handedness on the network, use sn, otherwise the call raises AmbiguousHandedness
  • Multiple clients at once (a visualization tool, a recording script, and your application all connected) is the default behavior (enable_bridge=True). To switch to exclusive single-client mode, see Device Connection in the Wuji SDK

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Timeouts, Disconnection, and Reconnection

  • Connection parameters: ConnectOptions(timeout_ms=1000, retry_count=3)
  • Communication loss while enabled: the device stops the motors and reports a fault. It doesn’t resume motion on its own once communication returns—call enable() again (firmware v2.1.0 and later)
To recover the connection:
  1. Check both ends of the network cable and the network equipment, and confirm that the link to the host has recovered.
  2. Subscribe to joint_diagnostics, read the active error codes, decode them with WujiHand2.describe_error(code), and remove the reported causes.
  3. Call enable() again and confirm that the status light turns solid white.