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Introduction

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Windows
Linux
Mac

DYNAMIXEL Wizard 2.0

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

Supported Protocols

NOTE: Compatibility Table

Supported OS

WARNING:

  • DYNAMIXEL Wizard 2.0 is tested with a desktop and laptop only.
  • Only x86 architectures support DYNAMIXEL Wizard 2.0.

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          
AX AX-12W AX-12+/12A AX-18F/18A    
DX DX-113 DX-116 DX-117    
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 XL330-M288
XL330-M077		 XL430-W250 2XL430-W250  
XC XC330-T288
XC330-T181
XC330-M288
XC330-M181		 XC430-W150
XC430-W240
XC430-T150BB
XC430-T240BB		 2XC430-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		  
XD [XD430-T350]
[XD430-T210]		 XD540-T270-R
XD540-T150-R		      
XW XW430-T333
XW430-T200		 XW540-T140
XW540-T260		      
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)    
PH PH42-020-S300-R PH54-100-S500-R PH54-100-S500-R    
PM PM54-060-S250-R PM54-040-S250-R PM42-010-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.

  5. After completing the installation, please add account id to dialout group in order to access the USB port. Replace the in the command below to your actual user id. 
     $ sudo usermod -aG dialout <your_account_id>
  6. Reboot in order the changes to be effective. 
     $ reboot

Install: Mac

NOTE: Modern Mac OS supports app store installation only.

  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 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 DYNAMIXEL’s according to communication ports, baudrates, and products. Detected DYNAMIXEL’s 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 Type, 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 DYNAMIXEL’s.

    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 DYNAMIXEL’s are listed on the left column.

DYNAMIXEL Control Table

  1. Once the Scan is complete, detected model of DYNAMIXEL will be shown at the device list on the left side pannel.

  2. Detected DYNAMIXEL’s are classified according to communication ports, baudrates, and products. Select a group or device to run the test.

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

  4. Click the Torque button to enable DYNAMIXEL Torque.

  5. Select Goal Position or Goal Velocity item in the control table in the middle column.

    NOTE: Read the control table of your DYNAMIXEL as the item can be different depending on the model and Operating Mode of the DYNAMIXEL.

  6. 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.

    • When selecting Position control from Operation Mode, you can use a virtual dial controller
    • Control a horn of DYNAMIXEL by using the controller.
    • Input values into the input window.

    • When selecting Velocitiy control/Current control/PWM control from Operation Mode, you can use a virtual joypad.
    • Move a horn to CW / CCW by using the controller.
    • Input values into the input window to increase (or decrease) the speed of a horn of DYNAMIXEL.
    • More information on the virtual controller is available at Modifying Control Value

  7. Communication Status on the buttom left corner represents communication status between PC and DYNAMIXEL’s.

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

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

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

  11. 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. (< can remove item)

  4. Double-click an item, to call Read Item Settings box.

  5. Read Item Settings customizes a line color with Y axis number.

    NOTE: Scale and Offset are no longer appearing at the option box above, from the latest version of software. Adjust these factors at the Graph Window in real time. (See the additional explanation at Y-Axis below)

    • Y-Axis: it adds Y-axis to a selected item. The Maximum is 10.

      • Scale: Adjust scale of axis at the Graph Window (Main Axsis, Secondary Axis) using a mouse wheel.
      • Offset: Adjust Offset by dragging the desired axis up and down at the Graph Window (Main Axsis, Secondary Axis).

  6. 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.

  7. 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.

  8. Printing Mode captures your graph with white background.

  9. 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. Disable the plotting graph by clicking the certain item on the right side of the graph window.

  5. Use the 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
    • Load : Load CSV file
    • Enable/Disable Item : Click items on the right to toggle visibility
    • Zoom : Drag an area to zoom
      • Shift + Select Area : Zoom In on X axis only
      • Ctrl + Select Area : Zoom In on Y axis only
      • Ctrl + Mouse Wheel: Zoom In / Out.
    • While running the graph, use Shift + 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 Type and instruction to use. In this example, Write instruction for Protocol Type 2.0 is selected.

    NOTE : Protocol Type can be different depending on a model of DYNAMIXEL. Confirm Protocol Type of your DYNAMIXEL.

  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. Clicking the sent packet shows the detailed packet information.

Firmware Update

When your connected DYNAMIXEL has a firmware update available an asterisk (*) will be displayed next to the model name on the device list.
When positioning your mouse cursor over the model name, Firmware update is Available will also be displayed as a tooltip.

  1. Go to Tools > Firmware Update

    NOTE : If no DYNAMIXELS are detected, the Firmware Update option will not be available.

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

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

  4. Confirm the firmware update result.

Firmware Update All

  1. Go to Tools > Firmware Update All

  2. Select all or desired DYNAMIXEL’s, then click Next button.

  3. Firmware of selected DYNAMIXEL’s 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 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. Select a desired firmware version.

  5. 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 DYNAMIXEL firmware.

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

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

  8. Confirm the firmware recovery result.

Advanced Features

ID Inspection

DYNAMIXEL Tips | Use ID Inspector to Change Overlapping IDs with Ease

As the DYNAMIXEL can be distinguished by its own ID in packet communication with your main controller, the ID assigned on DYNAMIXEL has to be unique.

If there are overlapping ID in your application, communication between the main controller and DYNAMIXELs or scanning DYANMIXEL via DYNAMIXEL Wizard 2.0 will be failed.

The ID Inspection resolves the overlapping ID although they remain wired. For more details, watch a tutorial video above or read through the following instructions.

Supported DYNAMIXEL

  • DYNAMIXEL-X (Firmware v45 or above, For X330 Series: Firmware v46 or above)
  • DYNAMIXEL-P (Firmware v12 or above)
  • XL-320 is not supported

  1. Go to Tool > ID Inspection

  2. Select your right USB port and Baud rates, and click on Scan

  3. Once DYNAMIXEL scan is started, state of scanning DYNAMIXEL is displayed.

    Note: Perform Firmware Recovery if you fail to scan any DYNAMIXEL.

  4. Click on Next for “ID Setting”

  5. Select an item (colored red) and assign new ID from the right box to resolve ID overlapping.

    Note : If you select any item in the list, the DYNAMIXEL will blink once.

  6. If new ID are saved to the items of DYNAMIXEL, it will be colored green. Once completed, click on Apply.

  7. Click on Finish to exit the ID Inspection window.

  8. Confirm the DYNAMIXEL Wizard 2.0 scans DYNAMIXELs successfully.

Backup and Restore

DYNAMIXEL Tips | EEPROM and RAM Data Restoring Using Backup Funcion

Data in both EEPROM and RAM (Specific items only) can be stored inside DYNAMIXEL using Backup function.

This can be useful if the DYNAMIXEL are reset after the Firmware Recovery or any situation in data reset.

The stored data by backup can be restored in using Restore EEPROM.

See the available items in Control Table for data backup,

Note: Be sure to set the Restore RAM bit of the Startup Configuration(60) address in order to restore the RAM data on startup.

Supported DYNAMIXEL

  • DYNAMIXEL-X (Firmware v45 or above, For X330 Series: Firmware v46 or above)
  • DYNAMIXEL-P (Firmware v12 or above)
  • XL-320 is not supported

Control Table Backup

  1. Connect and Scan DYNAMIXEL.

  2. Make sure to turn off the Torque of DYNAMIXEL. Otherwise, backup will fail.

  3. Select Tool > Control Table > Backup

  4. Check if the Backup Ready(147) address is set to 1 after backup.

Restoring EEPROM Area

  1. Go to Tool > Control Table > Restore EEPROM

  2. DYNAMIXEL will be rebooted and restore the EEPROM settings.

Restoring RAM Area

  1. Set the Restore RAM bit of the Startup Configuration as below.

  2. The data in specific RAM area(listed below) will be restored when DYNAMIXEL is rebooted.

    • Velocity P.I Gains
    • Position P.I.D Gains
    • Feedforward 1st & 2nd Gains
    • Profile Acceleration
    • Profile Velocity
    • Indirect Addresses (Except for DYNAMIXEL-P Series)

Save and Load Backup File

Save and Load backup data of EEPROM field as .ctd file. Utilizing “Save and Load Backup File” reduces the consuming time tasks of DYNAMIXEL configuration, and loewer the possibility of configuration error.

NOTE: Saved backup file(.cd) can be used between the same DYNAMIXEL models.

When loading backup data from .ctd file, it provides restoring options to ignore restoring particular data at EEPROM field.

The resulting log shows the restored item.

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

    NOTE: Calibration itme will be disabled at the menu for non-supported DYNAMIXEL such as AX Series

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

  2. Calibration will begin with a breif instruction.

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

  4. If DYNAMIXEL is successfully detected, calibration firmware will start being installed. Please do NOT disconnect or turn off DYNAMIXEL.

  5. Calibrate the first position.

  6. Calibrate the second position.

  7. Calibrate the third position.

  8. Calibrate the fourth position.

  9. Clibration is completed.

Self Diagnosis

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

  1. Go to Tool > Self-Diagnosis

    NOTE : Self-Diagnosis item will be disabled at the menu for non-suppored DYNAMIXEL such as RX Series

  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.

    Position Test : Goal Position represents red line and Present Position represents green line.

    Velocity Test : Safe area represents a green zone.

  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.

Logging

Save a log file of a packet information in DYNAMIXEL Wizard 2.0.

Gragh Logging

Once starting the graph, the logging file is saved under Documents/DYNAMIXEL Wizard2/graph/

The whole path to save can be found at a title bar.

Packet Logging

Once opening the communication port, the logging file is saved under Documents/DYNAMIXEL Wizard2/packet/

The whole path to save can be found at a title bar.