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Advanced Features

You can increase productivity by using the CLI's convenience features and low-level monitoring.

Packet Monitoring (-v)​

With the -v (verbose) option, you can view the actual packet data (hex) sent and received according to the DYNAMIXEL protocol. This is useful for analyzing communication delays or protocol errors.

COM3, 57600bps > ping 1 -v
TX: FF FF FD 00 01 03 00 01 19 4E
RX: FF FF FD 00 01 07 00 55 00 B0 04 35 B7 54
ID 1 : ACK
[ID:001] XL330-M288, v53
COM3, 57600bps >

Smart Interaction​

Combining ID Memory, Omitting set, and Keyword Search (see Basic Usage) makes device control easier.

Interactive Item Selection​

Entering only an item name shows its current value and the list of settable options.

COM3, 57600bps > Torque Enable
[INFO] Setting Torque Enable
[ID:001] XL330-M288, v53
64   : Torque Enable             :          1,       0x01 : ON
------------------------------
  0 : OFF
  1 : ON
------------------------------
Choose item number (0-1, press Ctrl+C to cancel):1
[Success] change Torque Enable to ON
COM3, 57600bps >

You can find related control table items by keyword even if you do not know the exact item name.

COM3, 57600bps > goal
[INFO] Setting goal
[ID:001] XL330-M288, v53
------------------------------
1 : Goal Current
2 : Goal PWM
3 : Goal Position
4 : Goal Velocity
------------------------------
Choose item number (1-4, press Ctrl+C to cancel):3
116  : Goal Position             :          0, 0x00000000 :     0.00 [°]
Scale :  0.087891 [°]
Input value (0-4095, press Ctrl+C to cancel):2048
[Success] change Goal Position to 2048
COM3, 57600bps >

Full Scan​

When no serial port is open, entering the scan command scans all system ports and common baud rates to find devices. This is useful when you have forgotten the DYNAMIXEL ID or baud rate.

>>> scan
Select ports to scan:
  0: All ports
  1: COM3 (USB Serial Device)
  2: COM4 (USB Serial Port)
  3: COM7 (Standard Bluetooth Serial Link)
  4: COM8 (Standard Bluetooth Serial Link)
Enter port numbers (comma separated, e.g., 0 or 1,2,3): 1,2
Scanning 2 port(s) for devices...
Press Ctrl+C to cancel scan
Scanning port: COM3 at 9600 bps...
Scanning port: COM3 at 57600 bps...
  [ID:001] XL330-M288, v53
  [ID:004] XL330-M077, v53
Scanning port: COM3 at 115200 bps...
Scanning port: COM3 at 1000000 bps...
Scanning port: COM3 at 2000000 bps...
Scanning port: COM3 at 3000000 bps...
Scanning port: COM3 at 4000000 bps...
Scanning port: COM3 at 4500000 bps...
Scanning port: COM3 at 6000000 bps...
Scanning port: COM4 at 9600 bps...
Scanning port: COM4 at 57600 bps...
Scanning port: COM4 at 115200 bps...
Scanning port: COM4 at 1000000 bps...
Scanning port: COM4 at 2000000 bps...
Scanning port: COM4 at 3000000 bps...
Scanning port: COM4 at 4000000 bps...
Scanning port: COM4 at 4500000 bps...
Scanning port: COM4 at 6000000 bps...
Scan completed
>>>