Can't clear error 19 or 22

xArm/850 Troubleshooting
1

I am having difficulty getting the controller to register a Modbus baud of 115200 for the gripper. It has been working but now keeps giving me an error. Sometimes it tells me that the baud rate is 32512 which is not in any of the parameters.

Code run:

#!/usr/bin/env python3

Software License Agreement (BSD License)

Copyright (c) 2020, UFACTORY, Inc.

All rights reserved.

Author: Vinman vinman.wen@ufactory.cc vinman.cub@gmail.com

“”"
Example: Control the bio gripper through the modbus of the end tool
“”"

import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(file), ‘…/…/…’))

from xarm.wrapper import XArmAPI
from configparser import ConfigParser
parser = ConfigParser()
parser.read(‘…/robot.conf’)
try:
ip = parser.get(‘xArm’, ‘ip’)
except:
ip = input(‘Please input the xArm ip address[10.1.10.199]:’)
if not ip:
ip = ‘10.1.10.199’

arm = XArmAPI(ip)
time.sleep(0.5)

arm.clean_warn()
arm.clean_error()
arm.motion_enable(True)
arm.set_mode(0)
arm.set_state(0)

set tool gpio modbus baudrate

code = arm.set_tgpio_modbus_baudrate(115200)
print(‘set_tgpio_modbus_baudrate, code={}’.format(code))
time.sleep(2)

get tool gpio modbus baudrate

code = arm.get_tgpio_modbus_baudrate()
print(‘get_tgpio_modbus_baudrate, code={}’.format(code))
time.sleep(2)

arm.motion_enable(False)

Output

“C:\Users\My Indoor Farm\PycharmProjects\pythonTK\venv\Scripts\python.exe” “C:/Python Files/xArm-Python-SDK/example/wrapper/common/ResetArm.py”
is_old_protocol: False
version_number: 1.6.5
send(17): 00 02 00 02 00 01 11
recv(17): 00 02 00 02 00 02 11 00
send(16): 00 03 00 02 00 01 10
recv(16): 00 03 00 02 00 02 10 50
send(13): 00 04 00 02 00 01 0d
recv(13): 00 04 00 02 00 03 0d 50 04
[clean_error], xArm is not ready to move
[SDK][ERROR][2021-01-05 20:59:15][base.py:268] - - API → clean_error → code=1
send(11): 00 05 00 02 00 03 0b 08 01
ControllerError, code: 19
recv(11): 00 05 00 02 00 02 0b 50
send(13): 00 06 00 02 00 01 0d
recv(13): 00 06 00 02 00 03 0d 50 04
[motion_enable], xArm is not ready to move
send(19): 00 07 00 02 00 02 13 00
recv(19): 00 07 00 02 00 02 13 50
send(12): 00 08 00 02 00 02 0c 00
recv(12): 00 08 00 02 00 02 0c 00
send(13): 00 09 00 02 00 01 0d
recv(13): 00 09 00 02 00 03 0d 00 00
[set_state], xArm is ready to move
send(128): 00 0a 00 02 00 04 80 09 0a 0b
ControllerError had clean
recv(128): 00 0a 00 02 00 06 80 50 00 00 7f 00
send(15): 00 0b 00 02 00 01 0f
recv(15): 00 0b 00 02 00 04 0f 50 13 00
[SDK][ERROR][2021-01-05 20:59:16][base.py:268] - - API → set_tgpio_modbus_baudrate → code=22
set_tgpio_modbus_baudrate, code=22
send(128): 00 0c 00 02 00 04 80 09 0a 0b
recv(128): 00 0c 00 02 00 06 80 50 00 00 7f 00
get_tgpio_modbus_baudrate, code=(1, -1)
send(11): 00 0d 00 02 00 03 0b 08 00
recv(11): 00 0d 00 02 00 02 0b 50
send(13): 00 0e 00 02 00 01 0d
recv(13): 00 0e 00 02 00 03 0d 50 04

Process finished with exit code 0

2

Hello,
You can get the baud rate of the gripper first, and see if the baud rate of the gripper is 115200.

3

The code asks for the baudrate and the response is “get_tgpio_modbus_baudrate, code=(1, -1)”
It doesn’t matter if I ask for the baudrate before or after the “set_tgpio_modbus_baudrate, code=22”

4

Hello，
You can run the following program:
You can get the baud rate of the gripper first, without setting its baud rate.
Thanks.

    import os
    import sys
    import time
    sys.path.append(os.path.join(os.path.dirname(file), ‘…/…/…’))

    from xarm.wrapper import XArmAPI
    from configparser import ConfigParser
    parser = ConfigParser()
    parser.read(’…/robot.conf’)
    try:
    ip = parser.get(‘xArm’, ‘ip’)
    except:
    ip = input(‘Please input the xArm ip address[10.1.10.199]:’)
    if not ip:
    ip = ‘10.1.10.199’

    arm = XArmAPI(ip)
    time.sleep(0.5)

    arm.clean_warn()
    arm.clean_error()
    arm.motion_enable(True)
    arm.set_mode(0)
    arm.set_state(0)

    code = arm.get_tgpio_modbus_baudrate()
    print(‘get_tgpio_modbus_baudrate, code={}’.format(code))
    time.sleep(2)

    arm.motion_enable(False)