Edit on GitHub

Introduction

Software Download(v2.0.4)
Windows
Linux
Mac

DYNAMIXEL Wizard 2.0

DYNAMIXEL Wizard 2.0 is an optimized tool for managing DYNAMIXELs from various operating systems. The following features are provided with DYNAMIXEL Wizard 2.0.

Supported Protocols

Supported OS

Definition of Firmware

Firmware is a fundamental program to operate the hardware device. It is recommended to keep the firmware updated because it contains various communication regulations to exchange data with other devices such as computers or smartphones. Although almost all ROBOTIS products are shipped with installed firmwares, new firmwares can be released for updated features or bug fixes.

Importance of Firmware Update

Supported Products

DYNAMIXEL Series          
DX DX-113 DX-116 DX-117    
AX AX-12W AX-12+/12A AX-18F/18A    
RX RX-10 RX-24F RX-28 RX-64  
EX EX-106+        
MX MX-12W MX-28, MX-28(2.0) MX-64, MX-64(2.0) MX-106, MX-106(2.0)  
XL XL320 XL430-W250      
XM XM430-W210 XM430-W350 XM540-W150 XM540-W270  
XH XH430-W210
XH430-W350
XH430-V210
XH430-V350
XH540-W150
XH540-W270
XH540-V150
XH540-V270
 
PRO H H42-20-S300-R H54-100-S500-R H54-200-S500-R    
PRO M M42-10-S260-R M54-40-S250-R M54-60-S250-R    
PRO L L42-10-S300-R L54-30-S500-R L54-30-S400-R L54-50-S500-R L54-50-S290-R
PRO H(A) H42-20-S300-R(A) H54-100-S500-R(A) H54-200-S500-R(A)    
PRO M(A) M42-10-S260-R(A) M54-40-S250-R(A) M54-60-S250-R(A)    
PRO+ H H42P-020-S300-R H54P-100-S500-R H54P-100-S500-R    
PRO+ M M54P-060-S250-R M54P-040-S250-R M42P-010-S260-R    
ETC RH-P12-RN RH-P12-RN(A)      

Software Installation

Install: Windows

  1. Download the package file.
  2. Execute downloaded installation file.
  3. Click on Next button to proceed installation.

Install: Linux

  1. Download the package file.
  2. Enter the following command to change the permission.

     # sudo chmod 775 DynamixelWizard2Setup_x64
    
  3. Run the install program.

     # ./DynamixelWizard2Setup_x64
    
  4. Click on Next button to proceed installation.

Install: Mac

  1. Download the package file.
  2. Right click on the downloaded dmg file and select Open from the mene.
  3. Launch the DynamixelWizard2Setup_x64 file.
  4. If a warning message pops up, select Open to proceed installation.
  5. Click Next to continue and follow the setup instruction.

Uninstall Software

Uninstall: Windows

  1. From Windows Settings, select Apps.

  2. In the Apps & features tab, find Dynamixel Wizard 2 and select Uninstall.

  3. Select Remove all components and proceed by clicking Next button.

Uninstall: Linux

  1. From the folder where Dynamixel Wizard 2.0 is installed, execute maintenancetool.

  2. Select Remove all components and click Next to proceed.

Uninstall: Mac

  1. Go to DYNAMIXEL2Wizard from Applications.
  2. Execute maintenancetool in DYNAMIXEL2Wizard folder.
  3. Select Remove all components and click Next to proceed.

Menu Description

Main Screen

The main screen of software classifies the detected DYNAMIXELs according to communication ports, baudrates, and products. Detected DYNAMIXELs can be tested by modifying control table values.

Graph Window

By selecting control table items to be plotted, values of the selected items will be drawn in the graph window in real time. Please refer to Basic Features > Graph section for more details about selecting control table items.

Packet Window

User can manually generate an Instruction packet for the selected protocol version. Detailed packet data can be loaded by selecting a packet in the packet history.

Basic Features

Connect DYNAMIXEL

DYNAMIXEL Scan Options

  1. Go to Tools > Options or use shortcut key F4.

  2. Select Scan from the left column menu to display scan options.

  3. Select Protocol version, communication ports, baudrates, and the range of ID to scan. Click OK to confirm the selection. Selecting less option reduces time to scan DYNAMIXEL.

Scan DYNAMIXEL

  1. Go to Device > Scan to start searching connected DYNAMIXELs.

    NOTE : If Open failed is shown up, please check whether communication port is connected at the Main Toolbar or not, then button Disconnect to avoid port collision.

  2. Detected DYNAMIXELs are listed on the left column.

DYNAMIXEL Control Table

  1. Detected DYNAMIXELs are classified according to communication ports, baudrates, and products. Select a group or device to run the test.

  2. Factory Reset button in the Sub Menu on the right column will reset the DYNAMIXEL to factory status(ID and Baudrate will not be reset). Reboot button will soft reset the DYNAMIXEL. Torque switch will toggle the Torque of DYNAMIXEL. LED switch will toggle the LED of DYNAMIXEL.

  3. Click the Torque button to enable DYNAMIXEL Torque.

  4. Select Goal Position item in the control table in the middle column.

  5. Position controlling interface will appear on the buttom right corner of the program.

    WARNING : Please be cautious when changing values as DYNAMIXEL can rotate or move.

  6. Communication Status on the buttom left corner represents communication status between PC and DYNAMIXELs.

  7. The Packet Status section indicates the status of responded packet from DYNAMIXEL.

  8. The Hardware Alarm section in the Device Status indicates hardware error status of DYNAMIXEL.

  9. Please refer to e-Manual of each product for more information regarding the Control Table.

  10. Below options in the Control Table allow items to be grouped or ungrouped.

    • Group : Selected items can be grouped and folded or unfolded.
    • Ungroup : Ungroup the selected group.

Graph

Graph Options

  1. Go to Tools > Options

  2. Select Graph from the left column menu to display scan options.

  3. Click + button to add item to be plotted.

  4. Select the control table item, scale, color, and check “Use Multi axis” to enable the secondary axis. Click OK to confirm the selection.

  5. Communication interval can be set between 1 ~ 1000ms. Smaller interval will display refined graph.

    NOTE : The actual communication interval can differ by baudrate and the hardware spec of the PC.

  6. In order to optimize the graph drawing speed, check the option to read selected items only.

    NOTE : Checking this option will only refresh selected items in the Control Table.

  7. Click OK to confirm changes.

Start Plotting

  1. Go to View > Graph to display the graph window.

  2. Click Start button in the graph window to start plotting data.

    WARNING : If there isn’t any detected or connected device, Start button will be disabled. Please scan DYNAMIXEL first.

  3. After start plotting, enable Torque first then change Goal Position to see how Present Position data is plotted in real time.

  4. Use below features to control graph window.

    • Start/Stop : Start/Stop plotting
    • Reset : Reset zoom level
    • Capture : Save current graph window to an image file
    • Save : Save plotted data to CSV file
    • Enable/Disable Item : Click items on the right to toggle visibility
    • Zoom In : Drag an area to zoom in
      • Shift + Select Area : Zoom In on X axis only
      • Ctrl + Select Area : Zoom In on Y axis only
      • Use mouse wheel to undo / redo zoom level setting
    • While running the graph, use Ctrl + Mouse Wheel to adjust X axis length from 1 to 10 seconds.

Packet

  1. Go to View > Packet to display the packet window.

  2. Set the communication port and baudrate then click Open to open the port. Once the port is successfully opened, DYNAMIXEL protocol minitoring on the port will begin.

    NOTE : If Open failed is shown up, please check whether communication port is connected at the Main Toolbar or not, then button Disconnect to avoid port collision.

  3. Select Protocol version and instruction to use. In this example, Write instruction for Protocol version 2.0 is selected.

  4. Specific data can be written on the instuction as shown below. In this example, LED will be turned on by writing 1 to LED control address.

    • Control Table address of LED : 65
    • Length of the LED data[Byte] : 1
    • Value to turn on the LED : 1
  5. Assembled packet can be found at Packet Details section in the bottom of packet window.

  6. Transmit the assembled packet with Send button.

  7. Select a received packet from the packet list to see the detail information.

Firmware Update

  1. Go to Tools > Firmware Update

    NOTE : If there isn’t any detected or connected device, Firmware Update will be disabled. Please scan DYNAMIXEL first.

  2. Firmware update will begin with a breif instruction. Please do NOT disconnect or turn off the DYNAMIXEL.

  3. Click Next to begin firmware update. Be careful not to disconnect or turn off the DYNAMIXEL.

  4. Confirm the firmware update result.

Firmware Update All

  1. Go to Tools > Firmware Update All

  2. Confirm all DYNAMIXEL is correctly detected in the list, then click Next button.

  3. Among detected DYNAMIXELs, devices with outdated firmwares are updated.

  4. Wait until update is completed for all DYNAMIXEL.

Firmware Recovery

  1. Go to Tools > Firmware Recovery

  2. Firmware recovery will begin with a breif instruction. Please do NOT disconnect or turn off the DYNAMIXEL.

  3. During the firmware recovery mode, DYNAMIXEL Wizard 2.0 cannot identify the model information of DYNAMIXEL, so correct model has to be selected manually. Selecting wrong model can cause malfunction or serious hardware damage.

  4. The proper communication port that is connected to DYNAMIXEL has to be selected manually. If the port is in use, it has to be released first.

    WARNING : Only one DYNAMIXEL should be connected to the port when recoverying the DYNAMIXEL firmware.

  5. Toggle the power of DYNAMIXEL to be detected from the DYNAMIXEL Wizard 2.0.

  6. If DYNAMIXEL is successfully detected, wizard begins firmware recovery. Please do NOT disconnect or turn off the DYNAMIXEL.

  7. Confirm the firmware recovery result.

Advanced Features

Modifying Control Values

  1. Drag or slide the interface (Moderately changes value)

  2. Mouse wheel scroll (Slightly changes value)

  3. Directional keys (Finely changes value)

  4. Enter the value

    NOTE : Press Enter key to apply the value.

Firmware Information

Firmware version, release date, update note can be found here.

  1. Go to Help > About Dynamixel Firmware

  2. Firmware version, release date, update note of the selected DYNAMIXEL can be found.

Calibration

If the horn is misaligned after gear set replacement or reassembly, please perform calibration.

  1. Go to Tool > Calibration

  2. Calibration will begin with a breif instruction.

  3. During the calibration mode, DYNAMIXEL Wizard 2.0 cannot identify the model information of DYNAMIXEL, so correct model has to be selected manually. Selecting wrong model can cause malfunction or serious hardware damage.

  4. The proper communication port that is connected to DYNAMIXEL has to be selected manually. If the port is in use, it has to be released first.

    WARNING : Only one DYNAMIXEL has to be connected to the port when calibrating the DYNAMIXEL.

  5. Toggle the power of DYNAMIXEL to be detected from the DYNAMIXEL Wizard 2.0.

  6. If DYNAMIXEL is successfully detected, calibration firmware is installed. Please do NOT disconnect or turn off the DYNAMIXEL.

  7. Calibrate the first position.

  8. Calibrate the second position.

  9. Calibrate the third position.

  10. Calibrate the fourth position.

  11. Clibration is completed.

Self Diagnosis

In order to find error in DYNAMIXEL, self diagnosis can be performed.

  1. Go to Tool > Self-Diagnosis

    NOTE : If there isn’t any detected or connected device, Self-Diagnosis will be disabled. Please scan DYNAMIXEL first.

  2. Self diagnosis will begin with a breif instruction.

    WARNING : DYNAMIXEL will be factory reset during self diagnosis.

  3. Confirm the model name and firmware version of DYNAMIXEL to perform diagnosis.

  4. Check the hardware error status of DYNAMIXEL.

  5. Check the operating temperature of DYNAMIXEL.

  6. Check the input voltage of DYNAMIXEL.

  7. Check if the LED on DYNAMIXEL is blinking.

  8. Check if DYNAMIXEL horn is at the center.

  9. Proceed to performance test.

  10. Confirm the self diagnosis result.

Graph Optimization

In order to use the minimum communication interval(1 [ms]), please follow the instruction below.

USB Latency Setting

Windows

  1. Open Device Manager. Go to Ports item and right click on the relative serial port to select Properties.

  2. In the Properties window, go to Port Settings tab and click Advanced button.

  3. Set the Latency Timer (msec) to 1ms and click OK to confirm the change.

Linux

  1. Execute below commands to configure the latency_timer to 1ms.

     # cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
     16
     # echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
     # cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
     1
    

DYNAMIXEL Setting

  1. Open the graph options window to set Interval to 1ms. Then, mark on the Read only selected item for Speed option.

  2. Set the baudrate of DYNAMIXEL to maximum and set Return Delay Time to 0.