PHASE 4 : SAFE 페일세이프 E-Stop 및 관절 기구 안전 록 (Fail-Safe State)
[Step 1/3] SMAP 예외 발생 즉시 워치독 하트비트가 차단되고 하드웨어 세이프티 릴레이가 트립됨.
KERNEL PANIC / SAFE SHUTDOWN Watchdog Heartbeat: DROPPED Emergency Handler • SMAP Trap Detected • Process Terminated (SIGSEGV) • Fail-Safe Pulse Asserted HARDWARE SAFETY RELAY Physical Interlock Controller Relay: DE-ENERGIZED (OPEN) Motor Bus: 0.0 V (CUT) ROBOTIC JOINTS (12-DOF) Kinematic Mechanical State PARKING BRAKE ENGAGED • Actuator Current: 0.0 A • Spring-lock: LOCKED • Pose: Upright Safe Halt
Motor Bus Voltage
0.0 V (Depowered)
Mechanical Brake
SPRING-LOCKED
Locomotion Posture
STABLE UPRIGHT
Physical Damage
0% (Zero Collision)