Error Code 19 Using Inspire Hand V2 End Effector communicating Through RS485

[sentient-nir]

when sending simple command it workd but instantly makes the arm go into error state for some reason, when the command it self is good the baudrate is correct as well and everything works well other than the arms going into error state .

please suggest a fix here is the data on the arms:

i have another one but it is the same.

please suggest a fix it makes the end effector unsuable .

[MinnaZhong]

Please try to modify the timeout to 1000ms and save, and try it again.

If there is still a problem, please give me an example, we will try.
For example, what will be returned by your device when sending 'EB 90 01 0F xx xx xx... E8 03 77'?

Best,
Minna

[sentient-nir]

tried to increase timeout to 1000ms, still didnt work,
when i send this for example: eb 90 01 0f 12 c2 05 00 00 00 00 00 00 00 00 00 00 00 00 e9 (it includes crc for my robotic hand - type inspire v2)
Here’s a ready-to-paste comment for the GitHub issue.

---

📦 Frame I sent

EB 90 01 0F 12 C2 05 00 00 00 00 00 00 00 00 00 00 00 00 E9

Byte(s)	Value	Meaning
0-1	EB 90	Frame header (little-endian)
2	01	Hands_ID = 1
3	0F	Length = 15 → Register_Length = 12 (15 - 3)
4	12	Command 0x12 → write register(s)
5-6	C2 05	Start address 0x05C2 (first POS_SET(m) register)
7-18	00 … 00	Six 16-bit zeros → POS_SET(0)…POS_SET(5) = 0 (fingers fully open)
19	E9	Checksum (low byte of the unsigned sum of bytes 2-18)

Checksum calc

01 + 0F + 12 + C2 + 05 + (twelve 00s) = 0x1E9
low-byte(0x1E9) = 0xE9 ✓

🖐️ What the hand does

• Moves all actuators to their minimum stroke (fully open).
• Values are volatile (not stored in flash).

🔄 Expected ACK from the hand

90 EB 01 04 12 C2 05 01 DF

Byte(s)	Value	Meaning
0-1	90 EB	Response header
2	01	Hands_ID (echo)
3	04	Length = 4
4	12	Command echo
5-6	C2 05	Address echo
7	01	Result = OK
8	DF	Checksum (01+04+12+C2+05+01 = 0xDF)

If the ACK doesn’t arrive or has a different checksum/result byte, the packet was rejected or bus wiring/ID is wrong.

[MinnaZhong]

Thanks for the example, for checksum I think it's not standard Modbus RTU, that's why it will return C19 on this page.

Please try to use python SDK instead of Modbus RTU page.

1. set_tgpio_modbus_timeout(timeout=1000, is_transparent_transmission=True)
2. getset_tgpio_modbus_data( is_transparent_transmission=True)

Best regards,
Minna

[sentient-nir]

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

arm = XArmAPI('192.168.1.197')
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)

#set tool gpio modbus baudrate
code = arm.set_tgpio_modbus_baudrate(115200)
print('set_tgpio_modbus_baudrate, code={}'.format(code))
time.sleep(2)
code = arm.set_tgpio_modbus_timeout(timeout=1000, is_transparent_transmission=True)

print('set_tgpio_modbus_timeout, code={}'.format(code))
time.sleep(2)
code, ret = arm.getset_tgpio_modbus_data([0xEB, 0x90, 0x01, 0x0F, 0x12, 0xC2, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE9],is_transparent_transmission=True,)
print('open hand code={}, ret={}'.format(code, ret))

and getting the same error:
python3 example/wrapper/common/5000-set_tgpio_modbus.py
SDK_VERSION: 1.16.0
ROBOT_IP: 192.168.1.197, VERSION: v2.5.1, PROTOCOL: V1, DETAIL: 6,6,XI1305,DC1303,v2.5.1, 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_tgpio_modbus_baudrate, code=0
ControllerError had clean
set_tgpio_modbus_timeout, code=0
[SDK][ERROR][2025-06-24 08:45:00][base.py:381] - - API -> getset_tgpio_modbus_data -> code=3, response=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
open hand code=3, ret=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
(base) sim@sim:~/code/xArm-Python-SDK$

also C19 in UfactoryStudio as well .

[MinnaZhong]

Hi,

With the data transparent transmission function, your data is wrong. Please try as below.

0xEB, 0x90, 0x01, 0x0E, 0x12, 0xC2, 0x05, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE8

And inspire V2 supports Modbus RTU as well, I have shared it with you and confirmed its success.
For your reference:
https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wrapper/thridparty/set_yinshi_rh56_gripper.py

Best regards,
Minna