Commands
This page lists the commands available in the interactive REPL. [] denotes optional arguments; <> denotes required arguments.
Connection and Environment Setup
| Command | Arguments | Description |
|---|---|---|
| port | - | List available serial ports on the system |
| open | [port] [baudrate] | Open a port (enters interactive mode if arguments are omitted) |
| close | - | Close the serial port connection |
| protocol | [version] | Set the protocol version (1.0 / 2.0) |
| timeout | <ms> | Set additional DYNAMIXEL network delay (unit: ms). Separate from the per-command deadline (30 s) in Script Mode. |
Device Search and Diagnostics
| Command | Arguments | Description |
|---|---|---|
| scan | [range] | Scan an ID range (e.g., scan 0-252) |
| ping | [id] | Check the device connection and print its model/version |
| reboot | [id] | Reboot the DYNAMIXEL |
| reset | [id] | Factory reset. Protocol 2.0 keeps the ID/Baudrate; Protocol 1.0 resets them as well |
| status | [id] | Display hardware status information |
Control Table (Read/Write)
| Command | Arguments | Description |
|---|---|---|
| get | [id] <item name> [-c|--continuous] | Read a value (-c/--continuous for continuous reading) |
| set | [id] <item name> [value] | Write a value (enters interactive mode if the value is omitted) |
| table | [id] [range] [-p|--page] | Print the control table (-p/--page for page view) |
Utility and System
| Command | Arguments | Description |
|---|---|---|
| clear | <ID> <param> | 1: Normalize position / 2: Clear error status / 10: Initialize the multi-turn encoder (supported models only) |
| update | [id] | Update the DYNAMIXEL firmware; exits with a notice when the installed version is already current or newer |
| upgrade | [-c|--check] | Update DYNAMIXEL Wizard CLI itself to the latest version (-c/--check only checks for updates; Linux AppImage only) |
| help | [command] | Show all commands or detailed help for a specific command |
| license | - | Display software and third-party license information |
| copyright | - | Display copyright and third-party software notices |
| exit | - | Exit the program |
Program Invocation
wizard-cli # Interactive REPL
wizard-cli --help # Command-line help
wizard-cli --version # Version information
wizard-cli --license # License information
wizard-cli -e "<command>" # Run a script command
wizard-cli -f <path> # Run a script file
wizard-cli upgrade [--check|-c] # Linux AppImage argv command
--help, --version, and --license are options; long options use two hyphens. Use --license, not -license. upgrade is an independent argv command rather than an option, and accepts either no argument or exactly one of --check and -c.