DYNAMIXEL Wizard Guide

This guide explains how to use DYNAMIXEL Wizard 2.0 to connect, monitor, and control the ROBOTIS Hand.

Prerequisites

Before using DYNAMIXEL Wizard 2.0, make sure:

• The ROBOTIS Hand is properly set up and powered ON
• The ROBOTIS Hand is connected to the PC via a U2D2

Connecting to DYNAMIXEL Wizard 2.0

DYNAMIXEL Wizard 2.0 is a configuration and management tool for DYNAMIXEL actuators. Follow the steps below to connect the ROBOTIS Hand.

1. Install DYNAMIXEL Wizard 2.0

Download and install DYNAMIXEL Wizard 2.0 from the official ROBOTIS e-Manual:

• DYNAMIXEL Wizard 2.0 Download Page

2. Connect the Hardware

Ensure the following hardware connections are complete:

1. Connect the U2D2 to your PC via USB
2. Connect the U2D2 Power Hub to the U2D2
3. Connect the ROBOTIS Hand to the U2D2 Power Hub using 4-pin robot cables
4. Supply power to the U2D2 Power Hub (24V recommended)

3. Scan for Connected Devices

1. Launch DYNAMIXEL Wizard 2.0
2. Click the Options button in the top menu bar

3. Select Protocol 2.0
4. Select the appropriate COM port (or /dev/ttyUSB0 on Linux)
5. Set the Baudrate to match the ROBOTIS Hand configuration

6. Click Scan to detect all connected actuators and sensors in the side panel

Once the scan is complete, all connected actuators will be listed in the device panel on the left side of the application.

Control Monitoring

• The ROBOTIS Hand HX5-D20 features five fingers, each equipped with four actuators and one tactile sensor. You can easily monitor the real-time status of every component.

HX Hands Tool

You can control the ROBOTIS Hand through the specialized HX Hands Tool.

1. In the menu bar, navigate to Tools and select HX Hands
2. Click the Sync button to synchronize the hand with the Wizard software
3. Choose a control mode: Preset or Hand
4. Monitor the hand's current status via the GUI

Preset Control via Tools Menu

The Preset feature allows you to save and load up to three custom configurations. This is ideal for quickly testing and switching between predefined poses or grip patterns.

Accessing the Preset Feature

1. Open DYNAMIXEL Wizard 2.0 and connect to the ROBOTIS Hand
2. Go to Tools > HX Hands and navigate to the preset configuration section

Default Presets

Preset	Example Use Case
Preset 1	Pinch Grip
Preset 2	3-Finger Grasp
Preset 3	Envelope Grasp

Custom Preset

Click Custom Preset as shown in the image below.

You can customize the release and grasp positions as shown in the image below.

• Set a joint value for each finger
• Set PID gain values and current limits for the robot hand.

When using preset mode, executing the release pose before the grasp pose is recommended.

Saving Presets

You can save up to three presets, each storing specific joint positions. There are two ways to capture a pose:

Method A: Manual Posing

1. Select Hand Mode
2. Physically move the ROBOTIS Hand into the desired pose by hand
3. Select an available preset slot (Preset 1, Preset 2, or Preset 3)
4. Click Save to store the current joint configuration

Method B: Numerical Entry

1. Select an available preset slot (Preset 1, Preset 2, or Preset 3)
2. Manually type the desired joint values into the input fields for the selected preset slot
3. Click Save to store the current joint configuration

Loading and Executing Presets

Once presets are saved, you can instantly apply them to control the ROBOTIS Hand:

1. Open the preset configuration window via Tools
2. Select the desired preset (Preset 1, Preset 2, or Preset 3)
3. Click Execute (or Load) to apply the saved joint positions to the hand
4. Click Grasping (or Releasing) to execute a saved preset
   • Use the hand icon next to the Preset table
   • It is safe to execute Grasping and Releasing alternately

Ensure the hand is in a safe position before executing a preset to avoid unexpected collisions or movements.

Checking Tactile Sensors

The GUI provides a visual representation of tactile sensor data. Pressure levels are indicated by color changes:

• Bright Green: Strong pressure detected
• Black Background: Weak or no pressure