diff --git a/cpp/sdk b/cpp/sdk
index c1b5bd1..8444338 160000
--- a/cpp/sdk
+++ b/cpp/sdk
@@ -1 +1 @@
-Subproject commit c1b5bd1253974fc896b1aaa8e62a9c578de718b5
+Subproject commit 84443388830e4267ac0cfe699caddf677185812e
diff --git a/dexhand/dexhand.py b/dexhand/dexhand.py
index 493cc35..c3636d3 100644
--- a/dexhand/dexhand.py
+++ b/dexhand/dexhand.py
@@ -49,7 +49,7 @@ def __init__(self, adapter_type=AdapterType.ZLG_200U, adapter_index=0):
         LibDexHand.get_device_id_021s.restype = c_ubyte
 
         LibDexHand.get_firmware_version_021s.argtypes = [c_void_p, c_ubyte]
-        LibDexHand.get_firmware_version_021s.restype = c_ubyte
+        LibDexHand.get_firmware_version_021s.restype = c_uint16
 
         LibDexHand.enable_realtime_response_021s.argtypes = [c_void_p, c_ubyte, c_bool]
 
@@ -66,7 +66,10 @@ def __init__(self, adapter_type=AdapterType.ZLG_200U, adapter_index=0):
         LibDexHand.move_finger_021s.argtypes = [c_void_p, c_ubyte, c_short, c_short, c_ubyte, c_uint, c_ubyte]
 
         LibDexHand.reset_joints_021s.argtypes = [c_void_p, c_ubyte]
-        LibDexHand.clear_error_021s.argtypes = [c_void_p, c_ubyte, c_ubyte]
+        LibDexHand.clear_error_021s.argtypes = [c_void_p, c_ubyte]
+
+        LibDexHand.get_error_code_021s.argtypes = [c_void_p, c_ubyte, c_ubyte]
+        LibDexHand.get_error_code_021s.restype = c_ubyte
 
         LibDexHand.get_motor_current_021s.argtypes = [c_void_p, c_ubyte, c_ubyte]
         LibDexHand.get_motor_current_021s.restype = c_short
@@ -138,10 +141,10 @@ def reset_joints(self, device_id):
         LibDexHand.reset_joints_021s(self.instance, device_id)
 
     def get_error_code(self, device_id, finger_id):
-        LibDexHand.get_error_code_021s(self.instance, finger_id, device_id)
+        return LibDexHand.get_error_code_021s(self.instance, finger_id, device_id)
 
-    def clear_error(self, device_id, finger_id):
-        LibDexHand.clear_error_021s(self.instance, finger_id, device_id)
+    def clear_error(self, device_id):
+        LibDexHand.clear_error_021s(self.instance, device_id)
 
     def get_motor_current(self, device_id, finger_id):
         return LibDexHand.get_motor_current_021s(self.instance, finger_id, device_id)
diff --git a/examples/DX021S_example.py b/examples/DX021S_example.py
index 2ed1294..c97f837 100644
--- a/examples/DX021S_example.py
+++ b/examples/DX021S_example.py
@@ -6,7 +6,7 @@
 
 
 def main():
-    hand021s = DexHand021S(adapter_type=AdapterType.ZLG_200U, adapter_index=0)
+    hand021s = DexHand021S(adapter_type=AdapterType.ZLG_MINI, adapter_index=0)
     hand021s.listen(enable=True)
     device_id = hand021s.get_device_id(channel=0)
     # device_id = 0x01
@@ -20,10 +20,7 @@ def main():
     maxCurrent1 = hand021s.get_safe_current(device_id=device_id, finger_id=0x01)
     print('Maximum allowed Current of finger 1 is {}'.format(maxCurrent1))
 
-    hand021s.clear_error(device_id, 0x01)
-    hand021s.clear_error(device_id, 0x02)
-    hand021s.clear_error(device_id, 0x03)
-    hand021s.clear_error(device_id, 0x04)
+    hand021s.clear_error(device_id)
 
     hand021s.reset_joints(device_id)
     time.sleep(1)
@@ -39,9 +36,7 @@ def main():
 
         print('joint1={}, joint2={}, joint3={}'.format(joint1, joint2, joint3))
 
-        hand021s.clear_error(device_id, 0x01)
-        hand021s.clear_error(device_id, 0x02)
-        hand021s.clear_error(device_id, 0x03)
+        hand021s.clear_error(device_id)
 
         time.sleep(0.8)
 
@@ -49,9 +44,7 @@ def main():
         hand021s.move_finger(device_id, 0x02, 0, 500, 0x55, 10)
         hand021s.move_finger(device_id, 0x03, 0, 500, 0x55, 10)
 
-        hand021s.clear_error(device_id, 0x01)
-        hand021s.clear_error(device_id, 0x02)
-        hand021s.clear_error(device_id, 0x03)
+        hand021s.clear_error(device_id)
         
         time.sleep(0.8)