# Stretch gripper ping failed **URL:** \ **Category:** Ask\ **Created:** [September 11, 2021, 9:53pm UTC](https://forum.hello-robot.com/t/stretch-gripper-ping-failed/295 "2021-09-11T21:53:25Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![Chaoran\_Zhang](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/chaoran_zhang/32/198_2.png) [@Chaoran\_Zhang](https://forum.hello-robot.com/u/Chaoran_Zhang)\ **Post date:** [September 11, 2021, 9:53pm UTC](https://forum.hello-robot.com/t/stretch-gripper-ping-failed/295/1 "2021-09-11T21:53:25Z")
Hi, I am using dex wrist, while, when performing stretch\_gripper\_home.py, I got the following error msg. [WARNING] [stretch\_gripper]: DynamixelHelloXL430 Ping failed… stretch\_gripper DynamixelHelloXL430 Ping failed… stretch\_gripper When performing stretch\_robot\_home.py, similar error msg shows: [WARNING] [stretch\_gripper]: DynamixelHelloXL430 Ping failed… stretch\_gripper DynamixelHelloXL430 Ping failed… stretch\_gripper ## --------- Homing Lift ---- Homing lift… [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 42.398803 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 45.771546 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 24.871454 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 17.266612 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 13.257754 errors per minute Upward contact detected at motor position (rad) 115.422622681 1.10220485666 Marking lift position to (m) 1.10003981419 [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 10.768152 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 9.068680 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 7.833981 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 6.895839 errors per minute [WARNING] [tool\_stretch\_gripper]: Device tool\_stretch\_gripper generating 6.159041 errors per minute --------- Homing Arm ---- Homing Arm… Retraction contact detected at motor position (rad) -0.176993817091 Marking arm position to (m) 0.0 Arm homing successful --------- Homing wrist\_yaw ---- Moving to first hardstop… Contact at position: -13 Hit first hardstop, marking to zero ticks Homing is now 4742 Raw position: 11 Moving to calibrated zero: (rad) --------- Homing stretch\_gripper ---- [WARNING] [stretch\_gripper]: Not able to home stretch\_gripper. Hardware not present I beilieve there might be some software issues, could you please help suggest ways to solve this? ---
**Author:** ![aedsinger](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/aedsinger/32/6_2.png) [@aedsinger](https://forum.hello-robot.com/u/aedsinger)\ **Post date:** [September 12, 2021, 2:51pm UTC](https://forum.hello-robot.com/t/stretch-gripper-ping-failed/295/2 "2021-09-12T14:51:16Z")
Hi. Can you check that the cable is fully seated into your gripper? Sometimes they can partially pull out. Also, what is reported when running ```auto RE1_dynamixel_id_scan.py /dev/hello-dynamixel-wrist --baud 115200 ``` ---
**Author:** ![Chaoran\_Zhang](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/chaoran_zhang/32/198_2.png) [@Chaoran\_Zhang](https://forum.hello-robot.com/u/Chaoran_Zhang)\ **Post date:** [September 13, 2021, 7:38pm UTC](https://forum.hello-robot.com/t/stretch-gripper-ping-failed/295/3 "2021-09-13T19:38:38Z")
Hi, Please find the output of the ID scan for wrist follows: ## Overwritting Factory Params with User Params. Type mismatch for key: tool\_none Scanning bus /dev/hello-dynamixel-wrist at baud rate 115200 [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1060 [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [Dynamixel ID:015] ping Succeeded. Dynamixel model number : 1120 [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. [ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1. ---
**Author:** ![aedsinger](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/aedsinger/32/6_2.png) [@aedsinger](https://forum.hello-robot.com/u/aedsinger)\ **Post date:** [September 14, 2021, 3:34am UTC](https://forum.hello-robot.com/t/stretch-gripper-ping-failed/295/4 "2021-09-14T03:34:18Z")
Thank you. What do you see with: `RE1_dynamixel_id_scan.py /dev/hello-dynamixel-wrist --baud 57600` Also, what is the output of `stretch_params.py | grep baud`