$ reboot
Right click on the downloaded dmg file and select Open from the mene.
Launch the DynamixelWizard2Setup_x64 file.
If a warning message pops up, select Open to proceed installation.
Click Next to continue and follow the setup instruction.
From Windows Settings, select Apps.
Go to DYNAMIXEL2Wizard from Applications.
Execute maintenancetool in DYNAMIXEL2Wizard folder.
Select Remove all components and click Next to proceed.
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.
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.
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.
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.
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.
Once the Scan is complete, detected model of DYNAMIXEL will be shown at the device list on the left side pannel.
Detected DYNAMIXEL’s are classified according to communication ports, baudrates, and products. Select a group or device to run the test.
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.
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
Communication Status on the buttom left corner represents communication status between PC and DYNAMIXEL’s.
The Packet Status section indicates the status of responded packet from DYNAMIXEL.
The Hardware Alarm section in the Device Status indicates hardware error status of DYNAMIXEL.
Please refer to e-Manual of each product for more information regarding the Control Table.
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.
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).
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.
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.
Printing Mode captures your graph with white background.
Click OK to confirm changes.
Go to View > Graph to display the 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.
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.
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 of your DYNAMIXEL.
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.
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.
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
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,
All Data in EERPOM
Velocity P.I Gains
Position P.I.D Gains
Feedforward 1st & 2nd Gains
Profile Acceleration
Profile Velocity
Indirect Addresses (Except DYNAMIXEL-P Series)
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
Connect and Scan DYNAMIXEL.
Make sure to turn off the Torque of DYNAMIXEL. Otherwise, backup will fail.
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 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.
Drag or slide the interface (Moderately changes value)
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.
Calibration will begin with a breif instruction.
In order to use the minimum communication interval(1 [ms]), please follow the instruction below.
Windows
Open Device Manager. Go to Ports item and right click on the relative serial port to select Properties.
Execute below commands to configure the latency_timer to 1ms.
# cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
# echo 1 > /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
# cat /sys/bus/usb-serial/devices/ttyUSB0/latency_timer
In case of Graph, it saves the most nearest, the minimum, the maximum and the average value at your set interval.
In case of Packet, it saves every monitored packets.
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.
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.
