Requirements:
Before you get started, you will need a separate personal computer such as a laptop, PC, Microsoft Surface, etc. (A Windows operating system is recommended. The Mac option is compatible, but it may not work for some users at times)
Instructions:
On your personal computer, download the Dynamixel Wizard 2.0 software for your computer's operating system (Windows preferred, if available).
Turn the Glambot® power on and calibrate normally.
Install the software on your personal computer by following the instructions in the downloaded file. Ensure that your computer has at least one available USB port available for connecting to the motors.
Plug the black USB from the Glambot® into your personal computer.
Upon startup, the Dynamixel Wizard will appear as shown. Click on the [Options] button, which is represented by the gear icon in the taskbar.
Choose the following options in the dialog box before scanning the motors, then click OK.
Start scanning for the motors by clicking on [Scan DYNAMIXEL] in the top-left corner and allow the process to complete. Do not click on anything until the scanning is finished.
Upon scanning completion, the window should look like this below.
We will select the second motor for this example, which has ID: 002. The motor is in Velocity mode. Click on [Reboot] once to clear any motor errors before proceeding.
Select Position mode on the top right corner.
Go to item 20 and click on [Homing Offset] to set its value to 0. To do this, navigate to the right side of the window after selecting Homing Offset, enter 0 in the field, and then click the Save button.
Go to item 116, Goal Position. Switch the torque on by using the pink toggle in the top right corner.
Next, set the Goal Position to 0 degrees by clicking on the 0 button
It should show the value 2048 in the 116 Goal Position and a skewed wrist
Now turn the torque back off using the same pink toggle button.
Manually align the wrist link so that it is perfectly centered at the 0 position.
Note the value shown in the 116 - Goal Position field. Then, subtract this value from 2048.
For example, if the value is 2216, the calculation would be 2048 - 2216 = -168. This result will be your new Homing offset.
Go to field 20 again and change the Homing Offset value (step 9) to the result you calculated above.
Go to field 116 - Goal Position again and turn the torque back on. Test the movement of the motor by giving it +90 degrees and 0 degrees respectively.
You can repeat this process for the other motors as well, making sure that each one is approximately centered.