Dynamixel SDK for Windows

Dynamixel SDK for Windows can be downloaded.

 

If using DXL communication 1.0, please download the SDK below.

 

DXL_SDK_Win32_ v1_02.zip

DXL_SDK_Win64_ v1_02.zip

 

If using DXL communication 2.0, please download the SDK below.

 

DXL_SDK_Win32_ v2_02.zip

DXL_SDK_Win64_ v2_02.zip

 

You can use ROBOTIS Dynamixel SDK through 3-clause BSD license. Please refer below for further information on BSD License.

 

Software License Agreement (BSD License)

 

Copyright (c) 2014, ROBOTIS Inc.

All rights reserved.

 

Redistribution and use in source and binary forms, with or without

modification, are permitted provided that the following conditions are met:

    * Redistributions of source code must retain the above copyright

      notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above copyright

      notice, this list of conditions and the following disclaimer in the

      documentation and/or other materials provided with the distribution.

    * Neither the name of ROBOTIS nor the names of its contributors may be

      used to endorse or promote products derived from this software

      without specific prior written permission.

 

THIS SOFTWARE IS PROVIDED BY ROBOTIS "AS IS" AND ANY EXPRESS OR IMPLIED

WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF

MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.

IN NO EVENT SHALL ROBOTIS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,

PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;

OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,

WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR

OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF

ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 

 

 

[System Requirements]

  ▶ OS : Windows XP/Vista/7 (32/64bit)

  ▶ USB2Dynamixel is required.

  ▶ In case DLL loading is not available :  Needs to install Microsoft Visual C++ 2005 re-distribution package.

 

Installing USB2Dynamixel Driver

If you install the RoboPlus,  FTDI Driver (USB2Dynamixel, USB Downloader (LN-101) driver) is installed together automatically.
If you didn't install the RoboPlus yet, or if the driver is not installed appropriately, please install it manually according to following procedures.  

 

  1. Connect a device to PC. If the driver is not installed yet, Found New Hardware Wizard will be popped up.
    Install from a list or specific location (Advanced)(S) -> Next(N)
     
  2. Decide the location of Driver.
    If RoboPlus S/W has been installed automatically, the driver is in LN101 folder of RoboPlus Installation folder.  
    Or if you want to install the newest version, download the newest version VCP driver from FTDI Driver Download page.


     
  3. Click the Next(N) button to start the installation. Installation of USB Serial Converter driver is completed.

     
  4. Install the USB Serial Port driver in the same way.

 

 

Setting the Response Speed

The response speed must be reset to make the response speed of USB2Dynamixel and Dynamixel faster.

How to set the response speed is as follows.

 

1. If you go to Control Panel - System - Device Manager, you can find USB Serial Port as below.

 

2. Click "Advanced" button from "Select Port" tab of registration information window.

 

3. Set the Response Time Adjustment in BM-related setting to 1 as the picture below, and click "Confirm" button.

 

Composing Folder

The folder structure of Dynamixel SDK for Windows is as follows:

/bin             : DLL files for Windows are included.

/import       : necessary files for programming are included.

/src              : DLL sources are included.

/example  : Examples to control Dynamixel for users' programming environment are included.

 

Setting Environment Variables

If you want to execute a program developed by Dynamixel SDK, dynamixel.dll is requred.

dynamixel.dll is included in bin folder of Dynamixel SDK.

If you register the location of dynamixel.dll as an environment variable for Windows, dll is not necessary when the program is executed.
If you do not want to register the location of dll as environment variables, the program and dll must be distributed together.

 

1. If you go to Control Panel - System -  Advanced, you can find Environment Variable as below.

 

2. Find Path category in system variables, and then click "Edit" button.

 

3. Add bin folder to the end of existing variable values with semicolon under the example folder.

Please be careful not to change or delete the existing variable values.

The example below shows added things, assuming the location of DLL file is C:\Project\bin.

 

Example List

Please refer to the following links for examples pursuant to programming environment.

Dynamixel Camunication 1.0

 

Dynamixel Camunication 2.0