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Basic Usage

Convenience Features and Precautions​

Mastering these CLI-specific features can significantly increase your workflow speed.

:::tip Productivity features

  • Command Auto-completion: Press the Tab key after typing part of a command to complete it.
  • Item Name Auto-completion: Long names like Torque Enable and Goal Position can be completed via the Tab key.
  • Keyword Search: Enter a partial name (e.g., present) to see a list of matching control table items.
  • Command History: Use the arrow keys (↑, ↓) to recall previous commands.
  • ID Memory: Once an ID is specified, subsequent commands can omit the ID and will target the last accessed device.
  • Omitting set: You can enter an item name alone to enter control mode without typing set each time.

:::

:::warning Precautions

  • Firmware Management: Disconnecting power or cables during an update may cause device failure.
  • Reconnect after a Factory Reset: A Protocol 1.0 reset also restores the ID and baud rate defaults. Reopen the port with the changed settings and scan for the device again.
  • Port Occupancy: The open command fails if another program (such as the DYNAMIXEL Wizard 2.0 GUI) is using the same serial port. Make sure only one process uses the port at a time.

:::

Quick Examples​

Examples based on a typical CLI workflow.

Connection and Scan​

List serial ports with port​

>>> port
Available ports:
  1. COM3 (USB Serial Device)
  2. COM4 (USB Serial Port)

Open a serial port with open​

>>> open COM3 57600
[Success] Port opened successfully

Scan DYNAMIXELs with scan​

COM3, 57600bps > scan
broadcast ping : please wait...
Press Ctrl+C to cancel
  [ID:001] XL330-M288, v53
  [ID:004] XL330-M077, v53
broadcast ping : done
COM3, 57600bps >

Checking DYNAMIXEL Status​

Check the current status with status​

COM3, 57600bps > status 1
[ID:001] XL330-M288, v53
--------------------------------------------------
Operating Mode  : Position control
Torque          : OFF
LED             : OFF
Hardware Error  :
--------------------------------------------------
Position        :   180.35 [°]
Velocity        :     0.23 [rev/min]
Current         :     0.00 [mA]
Voltage         :     4.50 [V]
Temperature     :       23 [°C]
COM3, 57600bps >

View the control table with table​

COM3, 57600bps > table 1
[ID:001] XL330-M288, v53
0    : Model Number              :       1200 :     0x04B0 : XL330-M288
2    : Model Information         :          0 : 0x00000000 :
6    : Firmware Version          :         53 :       0x35 :
7    : ID                        :          1 :       0x01 : ID 1
8    : Baud Rate (Bus)           :          1 :       0x01 : 57600 bps

...

COM3, 57600bps >

Position Control and Monitoring​

Enable torque for ID 1​

COM3, 57600bps > set 1 Torque Enable 1
[ID:001] XL330-M288, v53
[INFO] Setting Torque Enable to 1
[ID:001] XL330-M288, v53
[Success] write Torque Enable 1 OK

Move to goal position 2048​

COM3, 57600bps > set 1 Goal Position 2048
[ID:001] XL330-M288, v53
[INFO] Setting Goal Position to 2048
[ID:001] XL330-M288, v53
[Success] write Goal Position 2048 OK

Monitor the present position in real time (Ctrl+C to stop)​

COM3, 57600bps > get 1 Present Position -c
[ID:001] XL330-M288, v53
Press Ctrl+C to stop continuous reading...
132  : Present Position          :       2052 : 0x00000804 :   180.35 [°]
[INFO] KeyboardInterrupt
COM3, 57600bps >

Help​

Use the help command to list all commands, or type help [command] for detailed usage and examples.

List all commands with help​

>>> help
Available commands:
  port      - Prints a list of available serial ports on the system.
  open      - Open serial port.
  close     - Close serial port.
  exit      - Quit the program.
  ping      - Check the existence of a Device and basic information.
  scan      - Search connected DYNAMIXELs.
  timeout   - Set additional time for Timeout.
  protocol  - Set DYNAMIXEL protocol version.
  table     - Print the Control Table.
  get       - Get a value from Control Table.
  set       - Set a value on the Control Table.
  status    - Show DYNAMIXEL status summary.
  reset     - Reset the Control Table to its initial factory default settings.
  reboot    - Reboot the DYNAMIXEL.
  clear     - Initialize supported DYNAMIXEL state.
  update    - Update the DYNAMIXEL.
  upgrade   - Update DYNAMIXEL Wizard CLI to the latest version.
  license   - Display software and third-party license information.
  copyright - Display copyright and third-party software notices.
Type "help [command]" for more information.
>>>

View get usage and examples with help get​

COM3, 57600bps > help get
get : Get a value from Control Table.
use) get [id] <item name> [-c]
  [id] : optional - Device ID (uses last ID if omitted)
  <item name> : required - Control table item name
  [-c] : optional - Continuous mode (updates value continuously)
ex1) get 1 Torque Enable
ex2) get Present Position
ex3) get 1 Present Position -c (continuous mode)
ex4) get -c Present Position (continuous mode with last ID)

<info> Do not need to enter full name.
  1) Type "get 1 present".
  2) It will be shown a list of readable items.
COM3, 57600bps >