注：该文档翻译自ROBOTIS官方文档，以下链接将转至ROBOTIS官方技术文档相关产品站点。

介绍

• Windows版本

• Linux版本

• Mac版本

DYNAMIXEL Wizard 2.0

DYNAMIXEL Wizard 2.0是一个跨平台的管理Dynamixel舵机的软件，主要功能如下：

• DYNAMIXEL 固件更新升级
• DYNAMIXEL 舵机诊断
• DYNAMIXEL 舵机设置和测试
• DYNAMIXEL 实时舵机图形化展示
• 生成和监视DYNAMIXEL数据包

支持的协议版本

• Protocol 1.0
• Protocol 2.0
• Compatibility Table

支持的操作系统

• Windows 7 / 8.1 / 10 (32 bit and 64 bit)
• Linux
  • Ubuntu 18.04 (64 bit)
  • Ubuntu 16.04 (64 bit)
• MacOS 10.12 / 10.13 / 10.14 (64bit)

警告:

• DynamicXel Wizard 2.0仅在台式机和笔记本电脑上进行测试。
• 只有x86体系结构支持 DYNAMIXEL Wizard 2.0。

固件定义

固件是操作硬件设备的基本程序。建议保持固件更新，因为它包含各种通信规则，可与其他设备（如计算机或智能手机）交换数据。虽然几乎所有ROBOTIS产品都附带安装的固件，但新固件会不定期发布，新固件会更新产品功能或修复错误。

固件更新的重要性

• 新固件可能包含新开发或更新的功能。
• 可以更新固件以支持软件兼容性。
• 可以更新固件来修复bug。
• 更新最新固件可能会解决功能问题。

支持的产品

软件安装

Windows系统安装方式

1. 下载软件安装包
   • ROBOTIS官方下载 Windows Software Download
   • **或者**：北京小芽科技下载点 Windows版本
2. 双击打开安装包
3. 跟着向导点击 Next 按钮，直到安装完成，点击 Finish 按钮完成安装。

Linux系统安装方式

1. 下载软件安装包

   • ROBOTIS官方下载Linux Software Download(v2.0.9)
   • **或者**：北京小芽科技下载点 Linux版本

2. 在终端中输入以下指令更改文件权限

   1	$ sudo chmod 775 DynamixelWizard2Setup_x64

3. 终端中输入以下指令运行软件包

   1	$ ./DynamixelWizard2Setup_x64

4. 点击 Next 按钮直到安装完毕。

5. 完成安装后，请将帐户id添加到dialout组以访问USB端口。用实际用户id替换下面命令中的

   1	$ sudo usermod -aG dialout <your_account_id>

6. 重新启动系统以使更改生效。

   1

   $ reboot

Mac系统安装方式

1. 下载软件安装包
   • Mac Software Download(v2.0.9)
2. 右键单击下载的dmg文件并从菜单中选择“Open”。
   
3. 运行 DynamixelWizard2Setup_x64 。
   
4. 如果弹出警告消息，请选择“Open”继续安装。
   
5. 单击“Next”继续并按照安装说明操作。
   

卸载软件

卸载软件: Windows端

1. 在Windows Settings（设置），选择Apps.

   

2. 在“Apps & features”选项卡中，找到“Dynamixel Wizard 2”，然后选择“Uninstall”。

   

3. 选择Remove all components ，然后点击Next进行下一步操作。

   

卸载软件: Linux

1. 在DYNAMIXEL Wizard 2的安装文件夹中，双击执行或在终端中执行 maintenancetool文件.

2. 然后选择Remove all components ，点击Next按钮继续下一步，直到卸载完成。

   

卸载软件: Mac端

1. 在Applications中找到DYNAMIXEL2Wizard.
2. 在DYNAMIXEL2Wizard 文件夹中执行maintenancetool .
3. 选择Remove all components ，然后点击Next 按钮继续下一步，直到卸载完成.

软件使用

主界面

软件主屏幕根据通信端口、波特率和产品对检测到的DYNAMIXEL进行分类。可以通过修改控制表值来测试检测到的DYNAMIXEL舵机。

图形窗口

通过选择舵机控制表里的参数，将该参数的值实时显示在图形窗口中。有关选择控制表项的更多详细信息，请参阅[Basic Features > Graph]部分。

数据包窗口

用户可以手动生成所选协议版本的指令包，用户可以通过选择历史数据包来加载详细的数据包内容。

基本特征

连接 DYNAMIXEL舵机

扫描DYNAMIXEL舵机选项

1. 点击 Tools > Options 或者快捷键 F4.

   

2. 在左边栏目中选择 Scan ，右边栏目将显示相关预设选项

   

3. 选择协议版本、通信端口、波特率和要扫描的ID范围。单击“确定”确认选择。选择的选项越少扫描DYNAMIXEL的时间越短。

扫描 DYNAMIXEL 舵机

1. 点击Device > Scan 将开始查找连接中的DYNAMIXEL舵机。

   注意：如果显示Open failed（打开失败），请检查工具栏上通信端口是否处于连接状态，然后按“Disconnect”按钮关闭连接以避免端口冲突。

   

2. 检测到的DYNAMIXEL舵机将罗列在左侧栏目中：

   

DYNAMIXEL 控制表

1. 检测到的DYNAMIXEL根据通信端口、波特率和产品进行分类。请选择要运行测试的组或设备。

2. **Factory Reset**按钮将Dynamixel重置为出厂状态（ID和波特率不会重置）。

   Reboot 按钮将软重启DYNAMIXEL舵机。
   Torque 开关将切换Dynamixel的扭矩状态，上力矩或卸力矩。
   LED 开光将切换 DYNAMIXEL舵机LED亮灭状态。

   

3. 单击 Torque 按钮将给DYNAMIXEL舵机启动力矩。

   

4. 在中栏的控制表中选择 Goal Position 或者 Goal Velocity

注意：请阅读相关型号Dynamixel的控制表，因为根据Dynamixel的型号和操作模式，项目可能会有所不同。

5. 位置控制界面将出现在软件的右下角。

   警告：更改角度值时请小心，注意安全，因为DYNAMIXEL可能会发生旋转或移动。

   

   • 当从Operation Mode中选择Position control时，在右下角将出现一个虚拟仿真控制器。
   • 可以使用仿真器对舵机进行控制；
   • 也可以在仿真器的下方编辑框中输入数值对舵机进行控制；
   • 当从Operation Mode中选择 Velocitiy control/Current control/PWM control ，你可以使用滚动条对舵机进行控制。
   • 可以使用滚动条对舵机进行顺时间/逆时针（CW / CCW）旋转。
   • 或者在编辑框中输入数值对舵机进行控制。

6. Communication Status 软件底部的状态栏表示PC和舵机之间的通信状态。

7. Packet Status 部分指示来自Dynamixel的响应数据包的状态。

8. Hardware Alarm 在设备状态中指示Dynamixel的硬件错误状态。

9. 有关控制表的更多信息，请参阅每个产品的电子手册。

10. 控制表中的以下选项允许对项目进行分组或取消分组。

    • 组：所选项目可以分组、折叠或展开。

    • 解组：解除选定的组。

图形

图形选项

1. 在菜单栏里选择 Tools > Options

   

2. 在左侧栏目里选择 Graph

   

3. 点击 >> 按钮添加项目。 (点击<< 按钮会移除项目)

   

4. 双击项目的颜色可调出 Read Item Settings 选项框。

   

5. 可以对相关参数进行设置

   

   • Y-Axis: 它将Y轴添加到选定的项目，最大值为9。

     

     

   • Scale: 当设置了某个数字时，y轴上选定项目的值表示该项目的值乘以Scale值。When a certain number is set, a value of selected item of y-axis represents the value multiplied of item by the scale.

     

     

   • Offset: It adds Offset to a selected item. Use the option to separate overlapped items on the graph such as Present Position and Goal Position

     

     

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. 点击 OK按钮使更改生效。

Start Plotting

1. 点击菜单栏的 View > Graph 显示图形窗口。

   

2. 点击Graph对话框中的 Start 按钮绘图数据。

   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 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 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.

   

Firmware Update

Update firmware version of DYNAMIXEL, if you see its model name with a special charactor (*), on the device list, in light grey.
When positioning a mouse cursor on its model name, Firmware update is available will be shown up.

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 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,

• 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

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)

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 DYNAMIXEL.

   

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

   

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

   1 2 3 4 5

   # 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.