Facing Error 19 While Using set_position with Xarm gripper?

[Shrav211]

When I tried to control the Lite6 gripper using set_position, I kept getting error code 19, which usually indicates unsupported command for the gripper model.

After some digging, I found the solution: instead of set_position, use the built-in commands open_lite6_gripper() and close_lite6_gripper() provided by the xArm API. Once I made the switch, everything worked perfectly.

Here’s the code with proper handling:

from xarm.wrapper import XArmAPI
import time

def control_gripper():
arm = XArmAPI('192.168.1.200')
arm.connect()
arm.clean_warn()
arm.clean_error()

try:
    print("Opening gripper...")
    code = arm.open_lite6_gripper()
    if code != 0:
        print(f"Failed to open gripper. Error code: {code}")
    time.sleep(2)

    print("Closing gripper...")
    code = arm.close_lite6_gripper()
    if code != 0:
        print(f"Failed to close gripper. Error code: {code}")
    time.sleep(2)

    print("Stopping gripper...")
    code = arm.stop_lite6_gripper()
    if code != 0:
        print(f"Failed to stop gripper. Error code: {code}")
except Exception as e:
    print(f"An error occurred: {e}")
finally:
    arm.disconnect()
    print("Disconnected from xArm.")

if name == 'main':
control_gripper()