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Version: V2.0.4.x

7. Diagnostic Guide

Walker Tienkung is equipped with a comprehensive diagnostic management platform that enables remote monitoring and device operation through WebSocket connections. The platform displays status information for all robot components, including joints, IMU, power supply, and battery details. It also provides real-time system topic data viewing and convenient update buttons to keep information synchronized, ensuring the device operates at peak performance.

7.1 Robot Status​

  • The robot status page uses colors to indicate the status of each joint and current battery charge. Refer to the status legend in the top right corner for color meanings;

  • The data communication status indicator in the top right displays WebSocket connection status: red indicates disconnection, green indicates normal connection.

7.2 Device​

  • The device page displays basic robot information, current version information for each component, and detailed system information for each control board;

  • Users can click the "Connect" button, enter Wi-Fi SSID and password, connect to the Wi-Fi network, and obtain each control board's IP address.

7.2.1 Joints​

  • On the joints page, view detailed information for all joints. Click "Refresh" to update an individual joint's data; select multiple and click "Batch Refresh" to update multiple joints simultaneously.

7.2.2 IMU​

  • On the IMU page, view detailed IMU information. Click the corresponding "Update" button to refresh that IMU's data.

7.2.3 Power Supply​

  • On the power page, view detailed power supply information. Click the corresponding "Update" button to refresh that power supply's data.

7.2.4 Battery​

  • On the battery page, view detailed battery information. Click the corresponding "Update" button to refresh that battery's data.

7.3 Remote Control​

  • On the remote control page, view detailed remote information on the left. Click "Update" to refresh the remote's data.

  • The control interface defaults to expanded on the right. Click "Control Interface" to collapse. Click corresponding action buttons to remotely control the robot to execute actions. This requires the robot to be in standing state and remote "E" joystick moved up.

7.4 Sound Card​

  • On the sound card page, view details about the sound card and audio files.

  • Click "Play" or "Delete" buttons for audio files to control the robot to play or delete that audio.

7.5 Alarms​

  • On the alarm page, users can view detailed information for each alarm. Clicking the “Clear All” button clears all current alarm records.

7.6 Topic​

  • On the Topic page, users can view detailed topic data. Clicking the “Update” button updates the data for a single topic, while clicking the “Update All” button refreshes the data for all topics.

  • When a topic row is clicked, its detailed topic data is displayed in the panel on the right.

7.7 Version​

  • On the Version page, users can view detailed device version information as well as the firmware upgrade status.

  • Only items that display a blue “Upgradeable” button in the upper-right corner can be upgraded. After clicking the “Upgradeable” button, select or drag and drop the upgrade package to upload (only .tar.gz format is supported), then click the “Start Upload” button.

  • After the upload is successful, click “Start Upgrade” to initiate the version upgrade.

  • When the warning “waiting estop pressed” is displayed on the interface, it indicates that the emergency stop button must first be pressed and then rotated clockwise to release it before the upgrade process can continue.

  • When the upgrade success prompt is displayed, it indicates that the version upgrade has been completed successfully.

7.8 Logs​

  • On the Logs page, clicking the “Get Logs” button allows users to download system logs, kernel logs, application logs, and bag logs for the selected time range.

  • After the loading process is complete, the selected log archive can be downloaded from the final URL.