> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Troubleshooting

> [!NOTE]
>
> This page gives diagnostic steps by symptom. For device stop behavior, emergency stop, the fault-clearing flow, and maintenance requirements, see [Maintenance](https://docs.wuji.tech/docs/en/wuji-hand/beta1/maintenance). For SDK installation, connection, and subscription problems, see [Wuji SDK troubleshooting](https://docs.wuji.tech/docs/en/wuji-sdk/latest/troubleshooting.md).

## Device Discovery Failure

1. Confirm the device has power and the status light reached white breathing.
2. Confirm the network cable runs between the device port and the computer port with no loose connector.
3. Confirm the computer adapter sits on the same subnet with subnet mask `255.255.255.0`.
4. Run `ping 192.168.1.110` for the left hand or `ping 192.168.1.111` for the right hand.
5. Run `wuji devices` again.

## Connection Fails or IPs Collide

Two devices of the same handedness on one subnet ship with the same IP, which collides. Connect one at a time, change the IP of one following [ip (SET/GET)](https://docs.wuji.tech/docs/en/wuji-hand/beta1/sdk-reference/device-operations#ip-set/get), reboot it, then connect both.

## The Status Light Shows a Warning or Fault

Match the light against [Back-of-Hand Status Light](https://docs.wuji.tech/docs/en/wuji-hand/beta1/overview.md#mechanical-structure) in Product Introduction, then subscribe to `joint_diagnostics` to read the exact error code and work through [Clear Faults and Reset Safely](https://docs.wuji.tech/docs/en/wuji-hand/beta1/maintenance#clear-faults-and-reset-safely).

## Joints Offline (Fewer Than 20 Online)

1. Read the actual count with `hand.online_joints_count().get()`.
2. Subscribe to `joint_diagnostics` and locate the missing joint by each entry's `nid`.
3. Check whether that joint is jammed or its cable is under tension.
4. Power-cycle and check again. If a joint stays missing, export logs and contact technical support.

## Enable Fails

1. Confirm no error code is active, and clear faults first if one is.
2. Confirm the finger workspace is clear with no external constraint.
3. Call `hand.enable()` again and wait for the status word to reach Enabled.
4. After repeated failures, power-cycle and retry.

## A Parameter Write Is Rejected

`effort_limit` and `mit_params` reject NaN, Inf, and negative values, and `effort_limit` also rejects values above the device ceiling. A rejected write leaves the value in effect unchanged, so read the current value back and retry within the ceiling. See [Parameter Safety Limits](https://docs.wuji.tech/docs/en/wuji-hand/beta1/control-guide#parameter-safety-limits).

## Export Logs and Contact Support

When contacting [support@wuji.tech](mailto:support@wuji.tech), include the device serial number, firmware version, SDK version, reproduction steps, and logs. For SDK-side log locations and levels, see [Wuji SDK troubleshooting](https://docs.wuji.tech/docs/en/wuji-sdk/latest/troubleshooting.md).


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