5. Errors and Handling

5.1 Error Codes

Software Error Code	Alarm Code	Handling Instructions
G1	0x01	Gripper G2 FOC operation timeout, please clear the error and try again.
G2	0x02	Gripper G2 overvoltage.
G3	0x03	Gripper G2 undervoltage.
G4	0x04	Gripper G2 overheating.
G6	0x06	Gripper G2 Gripper G2 speed feedback fault.
G7	0x07	Gripper G2 Overcurrent. Please click "OK" to re-enable the gripper.
G8	0x08	Gripper G2 MCSDK software error.
G9	0x09	Gripper G2 driver protection.

For alarm codes not listed above: Re-enable the robotic arm and gripper. Contact technical support if errors persist.

5.2 Error Handling

5.2.1 Clearing Errors via UFACTORY Studio

1. Power cycle the robotic arm using the emergency stop button on controller.
2. Enable the arm: Click the guide button in the error popup or the enable button on Live Control page.
3. Select Gripper G2 and control.
   

5.2.2 Clearing Errors via xArm-Python-SDK

Clearing steps: (Python-SDK API)

1. Power cycle robotic arm using emergency stop button
2. Clear errors: clean_error()
3. Re-enable arm: motion_enable(enable=True)
4. Set motion mode: set_mode(0)
5. Set motion state: set_state(0)
6. Enable Gripper G2: set_gripper_enable(enable=True)

Python example:

import os
import sys
import time

sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))

from xarm.wrapper import XArmAPI

arm = XArmAPI('192.168.1.68')
arm.clean_error() # Clear errors
arm.motion_enable(enable=True) # Re-enable robotic arm
arm.set_mode(0) # Set motion mode
arm.set_state(0) # Set motion state
arm.set_gripper_enable(True)  # Enable Gripper G2