> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Panels

Wuji Hand HMI consists of [Global Panel](#global-panel), [Single-Axis Panel](#single-axis-panel), and [Log Panel](#log-panel).

<img src="https://mintcdn.com/wuji-0bbde051/dyEhwe8CJy9DHyJb/assets/source/images/en/wuji-hand-hmi/hmi-main-screen.png?fit=max&auto=format&n=dyEhwe8CJy9DHyJb&q=85&s=a898c9ae1e11554cc858d403f4924549" alt="Panel Overview" width="2174" height="1336" data-path="assets/source/images/en/wuji-hand-hmi/hmi-main-screen.png" />

### Global Panel

The Global Panel is for whole-hand operations and status viewing. It operates the entire hand, with feedback from the spinal board.

<img src="https://mintcdn.com/wuji-0bbde051/dyEhwe8CJy9DHyJb/assets/source/images/en/wuji-hand-hmi/global-screen-en.png?fit=max&auto=format&n=dyEhwe8CJy9DHyJb&q=85&s=bb61c31ea46e0d4e1cf444993ec45e2a" alt="Global Panel" width="1553" height="64" data-path="assets/source/images/en/wuji-hand-hmi/global-screen-en.png" />

<table>
  <thead>
    <tr>
      <th>Name</th>
      <th>Description</th>
    </tr>
  </thead>

  <tbody>
    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Port selection**</td>

      <td>
        The Linux HMI auto-filters available ports. The Windows HMI doesn't filter ports automatically. **Launch the HMI first, then connect the hand**. Check the [Log Panel](#log-panel) **Operation Log** for `[INFO] New ports: ['COM XX']` to identify the Wuji Hand port.
      </td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Connect** / **Disconn**</td>
      <td>Choose the correct port and click **Connect**. Click **Disconn** to end the session.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Spinal board status**</td>
      <td>Displays: Left/Right hand, system firmware version, online time, e.g. `Left 1.2.0 24m59s`.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**SN**</td>
      <td>Displays the device serial number.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Enable**</td>
      <td>Click **Enable** to power all joint motors. Motor status becomes `RUN`.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Disable**</td>
      <td>Click **Disable** to de-energize all joint motors. Motor status becomes `READY`.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**CLR ERR**</td>
      <td>If `WARNING/ERROR/FATAL` appears, click **CLR ERR** first, then try enabling again after recovery.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**POS MODE** / **RST POS**</td>
      <td>Click **POS MODE** to set motor mode to `RT_FCL`. While enabled, click **RST POS** to return the hand to the zero pose.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Soft RST**</td>
      <td>Restart the driver boards. During restart, motor status briefly shows `DISCONN`. After completion, motor status returns to `READY`.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**中文 / EN**</td>
      <td>Toggle UI language between Chinese and English.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Run Demo**</td>
      <td>Click **Run Demo** to play a preset motion sequence for quickly verifying communication and basic motion.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Speed**</td>
      <td>Controls the demo playback speed multiplier. Drag the slider to adjust. Range 0.5x–3.0x, default 1.0x.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Glove pose**</td>
      <td>Click **Glove pose** to switch the hand to a posture that facilitates removing and installing soft components and gloves.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Effort Limit**</td>
      <td>Effort limit input field for entering the target value, used with the **Set Effort Limit** button.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Set Effort Limit**</td>

      <td>
        Sets the maximum effort output allowed for joints. Range 0–3.5 (A), default 1.5 (A). Enter a value in the input field and click **Set Effort Limit**.

        <Info>
          **What is Effort?**

          Effort is the actuation value in current space, filtered before output. It is not the actual measured current—think of it as relative actuation strength, useful for load monitoring and collision detection.
        </Info>

        <Warning>
          **Warning: Modifying Effort Limit may cause device damage**

          Increasing effort limit raises motor output torque and increases motor heating. Damage caused by incorrect settings is the user's responsibility.

          * Affects joint lifespan and accelerates component wear with unpredictable impact
          * May cause irreversible damage to joints under certain operating conditions
          * May accelerate thermal protection triggering, reducing continuous operation time
          * May cause other serious consequences beyond those listed above
        </Warning>
      </td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Help**</td>
      <td>Click **Help** to open this documentation page.</td>
    </tr>
  </tbody>
</table>

### Single-Axis Panel

The Single-Axis Panel is for single-joint operations and status viewing. It operates individual joint axes, with feedback from the driver board.

<img src="https://mintcdn.com/wuji-0bbde051/dyEhwe8CJy9DHyJb/assets/source/images/en/wuji-hand-hmi/single-axis-panel-2025-11.png?fit=max&auto=format&n=dyEhwe8CJy9DHyJb&q=85&s=cafe4169ffd23a79011cd7e4186722d2" alt="Single-Axis Panel" width="2176" height="964" data-path="assets/source/images/en/wuji-hand-hmi/single-axis-panel-2025-11.png" />

<table>
  <thead>
    <tr>
      <th>Name</th>
      <th>Description</th>
    </tr>
  </thead>

  <tbody>
    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**Joint**</td>
      <td>Joint name.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**STATUS**</td>

      <td>
        * `DEFAULT`: fallback state when the system reads an undefined or abnormal state<br />
        * `READY`: ready state—motor is disabled<br />
        * `RUN`: running state—motor is enabled<br />
        * `CALIBRATE`: calibration in progress. Don't operate while calibrating<br />
        * `DISCONN`: disconnected. The motor and spinal board are disconnected, or the HMI isn't connected to the hand<br />
        * `WARNING`: abnormal state. Click **CLR ERR** in the [Global Panel](#global-panel) to clear<br />
        * `ERROR`: error state. Click **CLR ERR** in the [Global Panel](#global-panel) to clear<br />
        * `FATAL`: unrecoverable error. If multiple power cycles don't recover, contact support
      </td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**TEMP**</td>
      <td>Displays the current motor temperature.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**MODE**</td>
      <td>Displays the current control mode, e.g. `RT_FCL`.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**POS-ACT**</td>
      <td>Displays the position feedback as a percentage within the factory-calibrated travel range.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**POS-TAR**</td>
      <td>Displays the desired position as a percentage within the factory-calibrated travel range.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**POS CRL**</td>
      <td>When MODE is `RT_FCL` and STATUS is `RUN`, drag the slider to set the target position.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**OL-CW** / **OL-CCW**</td>
      <td>Open-loop motion corresponding to clockwise/counterclockwise polarities. Press and hold **OL-CW** or **OL-CCW** to rotate the motor in one direction.</td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**FR**</td>

      <td>
        Click **FR** to open the factory reset dialog:

        <img src="https://mintcdn.com/wuji-0bbde051/dyEhwe8CJy9DHyJb/assets/source/images/en/wuji-hand-hmi/factory-reset-2025-11.png?fit=max&auto=format&n=dyEhwe8CJy9DHyJb&q=85&s=762f6d5d2b7fa21896d68e8cbdb06813" alt="Factory Reset" width="735" height="133" data-path="assets/source/images/en/wuji-hand-hmi/factory-reset-2025-11.png" />

        * **Restore**: restore certain parameters to factory values

        <Info>
          After restoring to factory settings, click **Soft RST** in the [Global Panel](#global-panel) for the changes to take effect.
        </Info>

        * **Save**: save current parameters to Flash<br />
        * **Save Factory Parameters**: save factory calibration parameters to Flash<br />
        * **Reset all parameters**: restore all parameters to factory values
      </td>
    </tr>

    <tr>
      <td style={{ whiteSpace: 'nowrap' }}>**SOC** / **ROC**</td>

      <td>
        <Warning>
          Factory zero may differ slightly from the URDF zero. For Sim2Real alignment, you can manually set a user zero close to the URDF zero.
        </Warning>

        * **SOC** (Set Origin Control): set the user zero to the current position feedback<br />
        * **ROC** (Reset Origin Control): restore the zero to the factory-calibrated zero
      </td>
    </tr>
  </tbody>
</table>

### Log Panel

<img src="https://mintcdn.com/wuji-0bbde051/dyEhwe8CJy9DHyJb/assets/source/images/en/wuji-hand-hmi/log-panel-2025-11.png?fit=max&auto=format&n=dyEhwe8CJy9DHyJb&q=85&s=813bc47db7f88fa595604e931557cc32" alt="Log Panel" width="2147" height="243" data-path="assets/source/images/en/wuji-hand-hmi/log-panel-2025-11.png" />

The Log Panel has two sections. The left side displays the **System log**, recording warnings and errors at WARNING level and above. The right side displays the **Operation log**, recording initialization info and user actions. Right-click in the log area to:

* **Copy system log** / **Copy operation log**: copy selected log content to the clipboard.
* **Export log**: package both system and operation logs for troubleshooting.
* **Clear system log** / **Clear operation log**: clear the corresponding log area.
* **Clear all logs**: clear both system and operation logs.

<Warning>
  If the device or HMI malfunctions, first export logs from the Log Panel and save them. Provide the logs together with a problem description to support for faster diagnosis.
</Warning>


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