Troubleshooting the MX 64 Actuator - Carleton-SRCL/SPOT GitHub Wiki

Common Troubleshooting Steps

Step 1: Check Connections:

The first thing to check is that all connections are properly secured. Make sure that the actuator is connected to the the smps2dynamixel, which should be connected to the usb2dynamixel, which itself should be connected to the computer. Ensure that all cables are tightly connected.

Step 2: Check Communication Protocol:

Next, check that the communication protocol is set to the correct mode. The MX-64 supports both TTL and RS-485 modes. If you are using a USB2Dynamixel, make sure that the switch is set to RS-485 mode. If it's set to TTL, you won't be able to read encoder data. To change the switch setting, disconnect the USB2Dynamixel, move the switch to the correct position, and reconnect it.

Step 3: Use the Dynamixel Wizard 2:

The Dynamixel Wizard 2 is a great tool for configuring and troubleshooting Robotis actuators. It provides an easy-to-use graphical interface for configuring various parameters and reading sensor data. It can be downloaded here: https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/

Basic Use of the Wizard

Connect your Robotis MX-64 actuator to your computer via a USB2Dynamixel and open the Dynamixel Wizard 2 software.

In the Connection Manager, click "Scan" to search for connected devices. If your actuator is connected and powered on, it should be detected automatically. If this is the first time using an actuator and you do not know the ID or baudrate, ensure that the scan covers the entire spectrum under the "Options":

Once your device is detected, you can select it and click "Connect" to establish a connection. Once connected, you can use the various tabs in the Wizard to read sensor data and configure your actuator.

Updating Actuator Firmware

One common task that you may need to do is update the firmware on the MX-64. To do this, first connect the MX-64 actuator to your computer via a USB2Dynamixel. Next, open the Dynamixel Wizard 2 software.

In the Connection Manager, click "Scan" to search for connected devices. If your actuator is connected and powered on, it should be detected automatically.

Once your device is detected, you can select it and click "Connect" to establish a connection.

In the "Tool" dropdown, you can select "Firmware Update" and follow the instructions. DO NOT KILL POWER TO THE ACTUATOR WHILE UPDATING.

Upgrading from Protocol 1.0 to 2.0

This is very similar to the update process. First connect the MX-64 actuator to your computer via a USB2Dynamixel. Then, open the Dynamixel Wizard 2 software.

In the Connection Manager, click "Scan" to search for connected devices. If your actuator is connected and powered on, it should be detected automatically.

Once your device is detected, you can select it and click "Connect" to establish a connection.

In the "Tool" dropdown, you can select "Firmware Recovery" and follow the instructions. DO NOT KILL POWER TO THE ACTUATOR WHILE UPDATING.