Error code 19

[DailyNir]

i am using custom gripper with RS485 communication, right now it is connected to AC control BOX 24V GND L_A L_B , this is my code:

import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(file), '../../..'))

from xarm.wrapper import XArmAPI
arm = XArmAPI('172.16.1.209')
time.sleep(0.5)
if arm.warn_code != 0:
arm.clean_warn()
if arm.error_code != 0:
arm.clean_error()

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

ret = arm.core.set_modbus_timeout(20)
print('set modbus timeout, ret = %d' % (ret[0]))

ret = arm.core.set_modbus_baudrate(115200)
print('set modbus baudrate, ret = %d' % (ret[0]))
time.sleep(2)
data_frame = [0x01, 0x06, 0x00, 0x80, 0x00, 0x01, 0x49, 0xE2]
ret = arm.core.tgpio_set_modbus(data_frame, len(data_frame))
print('set modbus, ret = %d' % (ret[0]))
time.sleep(2)

---

i am getting: SDK_VERSION: 1.13.8
ROBOT_IP: 172.16.1.209, VERSION: v2.2.2, PROTOCOL: V1, DETAIL: 6,6,XI1304,AC1303,v2.2.2, TYPE1300: [1, 1]
change protocol identifier to 3
ControllerError, code: 1
servo_error_code, servo_id=1, status=3, code=0
ControllerError had clean
servo_error_code, servo_id=1, status=0, code=0
[motion_enable], xArm is not ready to move
[set_state], xArm is ready to move
set modbus timeout, ret = 0
set modbus baudrate, ret = 0
set modbus, ret = 0
ControllerError, code: 19

please advise how to integrate correctly

[MinnaZhong]

Hi Nir,

Does it support standard Modbus RTU protocol? If not, you need to use the data transparent transmission function, set is_transparent_transmission=True.

For example:
arm.set_tgpio_modbus_baudrate(115200)
arm.set_tgpio_modbus_timeout(500,is_transparent_transmission=True)
arm.getset_tgpio_modbus_data(is_transparent_transmission=True)

If there are still problems, please share the SN of your robot to [email protected], thank you,

[DailyNir]

Yes. It does support it.

Please advise how to proceed .

[MinnaZhong]

Hi Nir,

Then no need to add CRC, we will add it automatically. How about removing 0x49, 0xE2?

[DailyNir]

tried this and getting the same: #!/usr/bin/env python3

Software License Agreement (BSD License)

Copyright (c) 2019, UFACTORY, Inc.

All rights reserved.

Author: Vinman [email protected] [email protected]

"""
Example: yinshi gripper Control
Please make sure that the gripper is attached to the end.
"""

import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(file), '../../..'))

from xarm.wrapper import XArmAPI
arm = XArmAPI('172.16.1.221')
time.sleep(0.5)
if arm.warn_code != 0:
arm.clean_warn()
if arm.error_code != 0:
arm.clean_error()

arm.motion_enable(True)
arm.set_mode(0)
arm.set_state(0)
ret=arm.set_tgpio_modbus_baudrate(115200)
print('set modbus baudrate, ret = %d' % (ret))
time.sleep(2)

ret = arm.set_tgpio_modbus_timeout(500,is_transparent_transmission=True)

print('set modbus timeout, ret = %d' % (ret))

def calculate_crc16(data):
crc = 0xFFFF
for pos in data:
crc ^= pos
for _ in range(8):
if (crc & 1) != 0:
crc >>= 1
crc ^= 0xA001
else:
crc >>= 1
return crc & 0xFFFF

def build_modbus_command(slave_addr, function, register_addr, write_data):
command = [
0xFA,
slave_addr,
function,
(register_addr >> 8) & 0xFF,
register_addr & 0xFF,
(write_data >> 8) & 0xFF,
write_data & 0xFF
]
# crc = calculate_crc16(command)
# command.append(crc & 0xFF)
# command.append((crc >> 8) & 0xFF)
return command

Parameters for the calibration command

slave_addr = 0x01
function = 0x06
register_addr = 0x0080
write_data = 0x0001

Build the command

data_frame = build_modbus_command(slave_addr, function, register_addr, write_data)

Print the built command for verification

print("Built command: ", data_frame)

Send the command using tgpio_set_modbus

ret = arm.getset_tgpio_modbus_data(is_transparent_transmission=True, datas=data_frame)
print('set modbus, ret = %d' % (ret[0]))

Wait for 2 seconds

time.sleep(2)
###############################
SDK_VERSION: 1.13.8
ROBOT_IP: 172.16.1.221, VERSION: v2.2.2, PROTOCOL: V1, DETAIL: 6,6,XI1304,AC1303,v2.2.2, TYPE1300: [1, 1]
change protocol identifier to 3
ControllerError, code: 19
[motion_enable], xArm is not ready to move
[set_state], xArm is ready to move
set modbus baudrate, ret = 0
ControllerError had clean
set modbus timeout, ret = 0
Built command: [250, 1, 6, 0, 128, 0, 1]
set modbus, ret = 0
ControllerError, code: 19

[DailyNir]

same error here also:import os
import sys
import time

from xarm.wrapper import XArmAPI
arm = XArmAPI('172.16.1.209')
time.sleep(0.5)
if arm.warn_code != 0:
arm.clean_warn()
if arm.error_code != 0:
arm.clean_error()

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

ret = arm.core.set_modbus_timeout(20)
print('set modbus timeout, ret = %d' % (ret[0]))

ret = arm.core.set_modbus_baudrate(115200)
print('set modbus baudrate, ret = %d' % (ret[0]))
time.sleep(2)
data_frame = [0x01, 0x06, 0x00, 0x80, 0x00, 0x01]
ret = arm.core.tgpio_set_modbus(data_frame, len(data_frame))
print('set modbus, ret = %d' % (ret[0]))
time.sleep(2)

[MinnaZhong]

Hi

Please provide the SN of your robot to [email protected],
Do you have xArm Gripper? Can you control it normally?

Please try to send the data via 'Settings-Externals-Modbus RTU', take a screenshot of the result to us.
Btw, what will be returned by your gripper if you sending [01 06 00 80 00 01]?

[DailyNir]

I’ll try, it suppose to return same massage . We don't have xarm gripper . I'll send you the SN when I get back to the office Get Outlook for iOS<https://aka.ms/o0ukef>

…

________________________________ From: Minna ***@***.***> Sent: Monday, August 12, 2024 12:25 PM To: xArm-Developer/xArm-Python-SDK ***@***.***> Cc: Nir Levy ***@***.***>; Author ***@***.***> Subject: Re: [xArm-Developer/xArm-Python-SDK] Error code 19 (Issue #116) Hi Please provide the SN of your robot to ***@***.******@***.***>, Do you have xArm Gripper? Can you control it normally? Please try to send the data via 'Settings-Externals-Modbus RTU', take a screenshot of the result to us. Btw, what will be returned by your gripper if you sending [01 06 00 80 00 01]? image.png (view on web)<https://github.com/user-attachments/assets/14226e01-cee8-4fbb-ac58-46b104d6f838> — Reply to this email directly, view it on GitHub<#116 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/BBPEH6765DGMPG6USCRONALZRB5RFAVCNFSM6AAAAABMGK7XT6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEOBTGQ4DQOJWGI>. You are receiving this because you authored the thread.Message ID: ***@***.***>

[DailyNir]

[https://res.public.onecdn.static.microsoft/assets/mail/file-icon/png/photo_16x16.png]Screenshot from 2024-08-12 13-26-42.png<https://dailyrobotics-my.sharepoint.com/:i:/p/nir/EdLRojwXTYZKoyrN8YZEmboBLlaGwAoUJBdi9a0r_YkHMQ> attached is the error also in the studio . i have set all the modbus RTU enables and baudrate 115200. the SN is: XI130412C23L5C [cid:45425cdf-3867-40a1-a74f-7f0b3539abe5]

…

________________________________ From: Minna ***@***.***> Sent: Monday, August 12, 2024 12:25 PM To: xArm-Developer/xArm-Python-SDK ***@***.***> Cc: Nir Levy ***@***.***>; Author ***@***.***> Subject: Re: [xArm-Developer/xArm-Python-SDK] Error code 19 (Issue #116) Hi Please provide the SN of your robot to ***@***.******@***.***>, Do you have xArm Gripper? Can you control it normally? Please try to send the data via 'Settings-Externals-Modbus RTU', take a screenshot of the result to us. Btw, what will be returned by your gripper if you sending [01 06 00 80 00 01]? image.png (view on web)<https://github.com/user-attachments/assets/14226e01-cee8-4fbb-ac58-46b104d6f838> — Reply to this email directly, view it on GitHub<#116 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/BBPEH6765DGMPG6USCRONALZRB5RFAVCNFSM6AAAAABMGK7XT6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEOBTGQ4DQOJWGI>. You are receiving this because you authored the thread.Message ID: ***@***.***>