- Robotis actuators (the ones *not *in the hands): can respond to Dynamixel
protocol V1 or V2. It is user selectable but they won't respond to both at
the same time.

- On our side, and due to integration requirements with other Robot arms,
we *recently *started responding to Protocol V1 and V2 simultaneously by
default.
However, this can be changed by the user to only respond to V1 OR V2 (just
like the Robotis actuators).

By the time we wrote the integration in PyPot there was still no support
for Dynamixel 2 in the PyPot framework.
Therefore, to rule out any case of "auto detection" introduced recently
in PyPot, you may configure the hands to respond to Protocol V1 only. This
way we ensure they have homogenous behaviour with the Robotis actuators. >>*
I am not sure if this is the cause, but this is in fact new functionality
and is simple to set it to V1 only, so it may be worth giving it a try.*

To set the hands to protocol V1 only, take the following procedure:
1) Follow the procedure as if you were upgrading the MAIN board, but DON'T
actually upgrade it. Steps here
http://kb.seedrobotics.com/doku.php?id=eros:upgrademainboard_fw
Just follow the "Pre-requisites" section. This will install TyQT which is a
useful tool to have to access the Serial Terminal.

2) Connect the USB cable to the hand as explained in Pre Requistes,
  -open TyQT,
  - go to the "Monitor" window, and type the command below, to send to the
board:
config extprotocols 1

This should configure the board to use Dynamixel 1 only. (fyi the values
are "1" for Dyn 1 only, "2" for Dyn 2, and "3" for Dyn1+Dyn2, which is the
default).

3) Next click the "Restart" button on the top left of the TyQT Window. This
will reboot the board to bring the changes into effect.

4) You can double check that the board is properly configured, by typing
the about command on the same monitor window. You should get a line output
like this:

[...]

-

CONFIGURATION:

-

[...]

External bus communication settings:

*External Protocols Enabled: Dynamixel 1;*

[...]


You can then try re-running the PyPot code you were attempting to run
(DxlIO class) and see if it makes a difference.
If it still doesn't respond to the DxlIO class, please send me the full
source code for this so that we can test it on our end and further debug it.

Looking forward to your reply,

Best Regards

Pedro Ramilo


seedrobotics.com