Forums Niryo One Troubleshooting Changing XL-430 adress

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  • shoune77
    Participant
    Post count: 6

    Hi,
    I just received a XL-430 in replacement for a broken one. Unfortunately, I received one with a red sticker instead of a green sticker.

    My question is, how can I change the adress or name of the XL-430 and are there other parameters to change in it’s firmware ?

    Thanks

    Edouard Renard
    Keymaster
    Post count: 239

    Hi,

    Our apologies for this mistake. Fortunately we have included on the ROS stack, a program to change the ID of Dynamixel motors. (you’ll just have to change the ID, nothing else).

    You’ll have to:

    1. Connect to the Raspberry Pi 3B via ssh: tuto here

    2. Stop the current ROS execution: “sudo systemctl stop niryo_one_ros.service” (sudo password is “robotics”)

    2. Use the dxl_debug_tools: tuto here. You’ll have to follow the Example 2 to set a new ID

     

    shoune77
    Participant
    Post count: 6

    Thank you, I tried and it worked.

    Can you please give me the ID of each servos ? It’s seem like Axis 4 have ID 2. What about axis 5 ?

    Edouard Renard
    Keymaster
    Post count: 239

    Nice! You can find the ID for each motor here on GitHub. The Dxl-430 for axis 5 has ID 3.

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