๐Ÿ›‘ Phase 4: ํŽ˜์ผ์„ธ์ดํ”„ E-Stop ๋ฐ ๋กœ๋ด‡ ๊ด€์ ˆ ๊ธฐ๋ฆฝ ๊ณ ์ • Step 1/3: ์ปค๋„ ํŒจ๋‹‰ ์ธํ„ฐ๋ŸฝํŠธ ์ „๋‹ฌ
SMEP #PF ์˜ˆ์™ธ๋กœ ์œ ๋ฐœ๋œ ์ปค๋„ ํŒจ๋‹‰์ด ํ•˜๋“œ์›จ์–ด ์›Œ์น˜๋… ํƒ€์ด๋จธ ๋ฐ ์•ˆ์ „ ์ธํ„ฐ๋ŸฝํŠธ๋กœ ์ฆ‰๊ฐ ์ „ํŒŒ๋จ.
Kernel Oops
๊ณต๊ฒฉ ํ”„๋กœ์„ธ์Šค ์‚ฌ์‚ด
Watchdog NMI
E-Stop ์‹ ํ˜ธ ํ™œ์„ฑ
Relay Cut (0V)
๋ชจํ„ฐ ์ „์› ๋ฌผ๋ฆฌ ์ฐจ๋‹จ
Joint Brake LOCK
๊ธฐ๋ฆฝ ์•ˆ์ „ ์ž์„ธ ๊ณ ์ •
โฑ๏ธ ํ•˜๋“œ์›จ์–ด ์›Œ์น˜๋… NMI SMEP ์œ„๋ฐ˜ ์‹œ ๋น„์ƒ ์‹ ํ˜ธ ์ƒ์„ฑ โšก ์•ก์ถ”์—์ดํ„ฐ ์ „์› ์ฐจ๋‹จ Power Relay: 0V ์ฆ‰์‹œ ์ฐจ๋‹จ ํ† ํฌ ํญ์ฃผ ์›์ฒœ ๋ฌด๋ ฅํ™” ๐Ÿค– ๊ด€์ ˆ ํŒŒํ‚น ๋ธŒ๋ ˆ์ดํฌ ๊ธฐ๋ฆฝ ์ž์„ธ ๊ณ ์ • ์™„๋ฃŒ
์•ก์ถ”์—์ดํ„ฐ ์ธ๊ฐ€ ์ „์••
0.0V (๋ฌผ๋ฆฌ ์ฐจ๋‹จ)
๊ด€์ ˆ ์ œ๋™ ์ƒํƒœ
Mechanical LOCK
๋กœ๋ด‡ ๊ธฐ๊ตฌ๋ถ€ ์ƒํƒœ
์•ˆ์ „ ๋ณด์กด (ํŒŒ์† 0%)