In the EROS architecture all processors have a bootloader pre installed, which means they can all be easily upgraded by the customers.

Seed Robotics policy is that of continuous improvement and, for that reason, we may release firmware upgrades from time to time, either to address potential issues or to add new features.

Firmware upgrades are free of charge and all customers are entitled to them during the support cycle of their products.

If you are using firmware version 23 or newer (which introduced emulated BULK_READ and SYNC_WRITE for compatibility with major frameworks), we recommend that you also check the firmware version of each of the internal actuators.

We recommend updating the firmware of your internal actuators to latest version if you are running actuators with a firmware version older than 20. You should do this only after you update the main board firmware.
This document covers updating the Main Board firmware only. Updating the actuators is a separate procedure and you find instructions on how to that on a dedicated page.

Latest Firmware version

The latest firmware version for the EROS Architecture can be downloaded from the links below.

IMPORTANT: From version 25 (2.5) onward, a Critical compatibility fix is introduced to address a situation with memory allocation strategies that could cause a board to stop responding after a number of SYNC_WRITE or BULK_READ commands.
SYNC_WRITE and BULK_READ are widely used by many libraries including the Darwin-OP framework and PyPot. If you have an older version, please upgrade at your earliest convenience.

The firmware files for the RH4D and RH7D are slightly different. Therefore, please make sure you select the correct file depending on your model.

For RH4D: EROSfw_v27_RH4D.hex (Right-click→Save target As)

For RH7D: EROSfw_v30B_RH7D.hex (Right-click→Save target As)

The Release notes with Full Changelog are available here: EROS firmware Changelog
You may want to read this file before upgrading your firmware.

Older firmware versions are archived under http://storage.seedrobotics.com/firmware_eros/. Make sure you read the Changelog if you are considering downgrading your version as some downgrade paths may not be supported.

Firmware Upgrade Instructions

Pre Requisites

In order to upgrade the firmware of your unit you will need:

  • A USB micro-B cable to connect to the unit's USB port
  • The firmware loader tool from the TyQT version 0.7.5. TyQT is available pre compiled for Windows and Mac; for Linux, download the file with the source code, and refer to the included README file for instructions on how to compile it.
  • If you are using a Windows version earlier than Windows 10, you need to install the necessary Virtual COMM Port drivers; If you are using Linux you need to add udev rules. Check the USB Connection set-up instructions, where you will find the details on how to setup the device drivers for the USB connection, necessary to perform the upgrade procedure.

Upgrading

  1. Download the Firmware file
  2. Open TyQT
  3. Remove the small cover located on the side of your unit, near the back. RH4D units have a snap in cover; for RH7D units you need to remove a small bolt on the side to remove the cover. (Earlier RH7D models don't have a side cover; in this case you need to loosen the top cover screws and gently lift the back of the cover about 5mm; this will expose the connector).
  4. Connect the USB cable to the hand
  5. Wait for the board's processor to show up on the TyQT list. (it should show up as “Teensy”)
  6. Click the “Actions” menu and select “Upload New Firmware”.
  7. Select the firmware file you wish to flash and click Open

The Firmware installation procedure begins: the Teensy icon in the TyQT window turns orange and you will see a progress bar in the TyQT window. Once the upload is complete the icon turns Black again and the unit reboots automatically. Congratulations! You have upgraded your firmware.

Confirming the new version is running correctly

If you wish to confirm the new version is running correctly you have two options:
(1) Open a Console Terminal and enter the help command. The first lines should show you the firmware version.
(2) You can also use the Dynamixel Protocol or STP Protocol and read the memory position 2 on the control table of of the main board. This will return the running firmware version. (3) You may also use a GUI Tool such a the Robotis Dynamixel Wizard or the herborist (pypot) tool to check the installed firmware version.

Troubleshooting

  • If you select the wrong firmware file for your model, you will most likely experience a symptom where communication through the main interface (the connector at the back of the hand) does not return any reply. If this is the case, you can go back and re-install the correct firmware for your unit.

Using TyQT, the firmware update procedure is quite stable and has had a 100% success rate in all our tests.

However if you do run into an issue not covered here, or would simply like some additional guidance, please get in touch with our Technical Support (support@seedrobotics.com) and we'll be happy to assist you.

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