# Failed to upgrade Rotrics DexArm's Firmware

If the upgrade failed, the machine will be stuck in the bootloader and could execute the loaded application. You can see there is a green LED blinking inside the 12-pin port aka **Port 1**. 

In that case, we need to use third-party software to upgrade the firmware. Please follow the instruction to updated the firmware. 

###  Windows System‌

Before going through the firmware update, make sure your DexArm has connected to your computer and open Device Manager to check the COM port. 

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCP_jsClt_hXeLDxhL6%2F-MCQvPy6HDyshj3M9ghF%2Fimage.png?alt=media\&token=32a3788b-c934-40ee-a487-0ef03d42abb0)

It should be an STM Virtual COM Port. If couldn't find it, make sure the cable is physically connected. 

#### 1) Download Tera Term software and the newest version of the firmware.

* <https://www.rotrics.com/pages/download>‌‌

#### 2) Connect Rotrics DexArm to your PC with the USB A-C cable‌

![Picture from the internet. ](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCP_jsClt_hXeLDxhL6%2F-MCQsHDeF8tN0RLZbeIG%2Fimage.png?alt=media\&token=862509c4-8044-4128-a3cd-6d4ad7a58d55)

#### 3) Launch Tera Term software, select`Serial`, choose the corresponding COM port, click `OK`

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCP_jsClt_hXeLDxhL6%2F-MCQrtor0C3Qq68R0N11%2Fimage.png?alt=media&#x26;token=755c7499-0df2-4f90-b5cd-9e52f7cb0b71" alt=""></div>

You can also click​ **File -> New Connection**​ to connect DexArm

#### ‌4) Send command​ **M2002** ​to start preparing mode, send ​**M2003** ​to enter Boot Loader mode.

{% hint style="info" %}
:man\_mage: **Tips:** Jump to **Step 5** if you see a blinking LED in port 1 at the back of DexArm.&#x20;
{% endhint %}

‌The software won't display the commands during inputting, just type in and hit enter.&#x20;

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFZYpMCQRsZWZ9HpEu%2Fimage.png?alt=media&#x26;token=6d503d88-3095-4a13-bdda-b921cdfa13f0" alt=""></div>

#### ‌5) Send ​`5`​, check the hardware version, it should be V3.1 or V3.2, send &#x200B;**`1`**&#x200B; to enter firmware uploading mode.

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MGpn1Rh5dFdbUZ9X4sz%2F-MGpzeXNWmTSIZ_n0M32%2F2.png?alt=media&#x26;token=7f608e84-3348-40d6-ae05-7bf5a74629cf" alt=""></div>

#### 6) Click​ `File - Transfer -> YMODEN -> Send​`, select the ​corresponding firmware​ and click ​**Open**​

❗Warning: Make sure you've selected the corresponding firmware version, check your hardware version and select the correct firmware: if your ​`hardware version is V3.1`​, select the ​`Firmware_V2.1.x_For_Hardware_V3.1_xx`. The ​`Firmware_V2.1.x_For_Hardware_V3.2_xx` ​is for​ `hardware version V3.2`.

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFZl5GTE0cSwQvK5k6%2Fimage.png?alt=media&#x26;token=3d52aba9-f7f9-4b04-b480-975762f627bd" alt=""></div>

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFZpB5BGMbokU_jVjz%2Fimage.png?alt=media\&token=3d095461-32d1-4abb-944d-ff500842cb7c)

#### ​‌7) Wait for the firmware burning process to finish

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MGpn1Rh5dFdbUZ9X4sz%2F-MGpzRM4GwR0BHxVl1Bh%2F3.png?alt=media&#x26;token=590df22a-1d04-42c0-93da-1fd97dd9aaa1" alt=""></div>

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MGpn1Rh5dFdbUZ9X4sz%2F-MGpzIyyrmKJPr0LGYSS%2F4.png?alt=media&#x26;token=baff3e2b-256b-4569-abd3-0e4fb1a1f56a" alt=""></div>

{% hint style="success" %}
After finished, you will get a successful message as below.
{% endhint %}

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MGpn1Rh5dFdbUZ9X4sz%2F-MGpz8shmiQo3OrfGQ3j%2F5.png?alt=media&#x26;token=e08e3b0b-4cab-4dbc-acdb-7992d44c7a66" alt=""></div>

{% hint style="info" %}
:man\_mage: **Tips:** If fail(the progress bar disappears before 100%), send ​**a**​ to cancel burning and send 1 to re-enter firmware uploading mode and repeat **steps 5) and 6)**.‌&#x20;

Try again and again until you get the successful message output.&#x20;
{% endhint %}

{% hint style="info" %}
:man\_mage: **Tips:** If Tera Term outputs "Verification failed!", shown as below, please send **4** to disable the write protection and the system will restart.&#x20;
{% endhint %}

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MJPuNZ1QDpRZHcBxvmD%2F-MJPv9dUy9GtHHl7PEIh%2Fa.png?alt=media&#x26;token=07024c0b-a764-4c5b-8b95-d84904675a9c" alt=""></div>

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MJPuNZ1QDpRZHcBxvmD%2F-MJPvKW22_SWQgFn-8F5%2Fb.png?alt=media&#x26;token=4ff70def-22bc-43e3-b46b-2dcd7d84c5de" alt=""></div>

{% hint style="info" %}
:man\_mage: **Tips:** If ​**Tera Term**​ outputs ​**Invalid Number**​ and ​**Start program execution** ​show as below, please reboot the machine and repeat **Step 5 and the rest.**&#x20;

:bulb: No need to close Tera Term.
{% endhint %}

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCF_uD17xpEWN2UtkYK%2Fimage.png?alt=media&#x26;token=f4a16e93-dd7d-4bd6-8c45-4f74cbb8c0d3" alt=""></div>

{% hint style="success" %}
You will get the Main Menu output once DexArm has been rebooted.&#x20;
{% endhint %}

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEvh8-ZuJ-VtsYa40cY%2F-MEvkfbFWSstaRByHdKF%2Fimage.png?alt=media&#x26;token=1617be55-69db-46f8-ad0d-155566182b55" alt=""></div>

#### 8) Send ​3​, start the program of the newest firmware version.

<div align="left"><img src="https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MEvh8-ZuJ-VtsYa40cY%2F-MEvknEXRCwRAprt1SUa%2Fimage.png?alt=media&#x26;token=9069c0f8-0158-4a76-ba4f-9ff4d006fc80" alt=""></div>

#### 9) Close Tera Term software, open Rotrics Studio to start using your Rotrics Arm.‌

### **Mac OS System‌**

Watch the tutorial video to upgrade Rotrics's firmware on Mac

{% embed url="<https://youtu.be/wDeUeTTzO6M‌>" %}

Or follow the step-by-step instructions below:‌

#### 1) Download the Serial 2 software and Rotrics Firmware‌

* [www.decisivetactics.com](http://www.decisivetactics.com)
* <https://www.rotrics.com/pages/download>

Click ​**Try Free**​

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFaHQkK8OH9HP1TL5p%2Fimage.png?alt=media\&token=9f121df6-ce73-427e-8369-5fa4f3000d6b)

**2) Connect Rotrics Arm to your Mac with the USB A to C cable and power on**‌

![Picture from the internet. ](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCP_jsClt_hXeLDxhL6%2F-MCQsHDeF8tN0RLZbeIG%2Fimage.png?alt=media\&token=862509c4-8044-4128-a3cd-6d4ad7a58d55)

**3) Launch**​**Serial 2**&#x200B;**, click** ​**USB** ​**to select Rotrics Arm and click** ​**Open**​

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFfS7QvwbjnHVT_Qr0%2Fimage.png?alt=media\&token=071340d4-9681-4b19-8465-4157bfdd40bc)

#### 4) Send command​ **`M2002`** to start preparing mode, send​ **`M2003`**&#x200B; to enter Boot Loader mode.‌

💡**Tips:** Jump to **Step 5** if you see a blinking LED in port 1.&#x20;

💡**Tips:** The Serial 2 software will discount with Rotrics after sending M2003. We need to re-open the Serial 2 software.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFfVPnGcAh_qFMjA8v%2Fimage.png?alt=media\&token=ac3ed37d-9115-4cdd-9a3f-dc30294edb38)

#### ‌5) Send ​5​, check the hardware version, it should be V3.1 or V3.2, send ​1​ to enter firmware uploading mode‌

💡**Tips:** After reconnecting, the screen will be blank, send **`5`** and it will show the hardware info.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFfZa_49AhnNf6KIJI%2Fimage.png?alt=media\&token=473f9527-7c04-4957-bcda-e2e9acfcce72)

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFfct824o-netDXz8M%2Fimage.png?alt=media\&token=c36a3e47-b149-4207-be69-4646552209a4)

#### ‌6) Click **`File - Send File`**, select the corresponding firmware and click &#x200B;**`Send File​`**

❗Warning: Make sure you've selected the corresponding firmware version, check your hardware version and select the correct firmware: if your `​hardware version is V3.1`​, select the ​Firmware\_`V2.1.x_For_Hardware_V3.1_xx`​. The ​`Firmware_V2.1.x_For_Hardware_V3.2_xxx` ​is for​ `hardware version V3.2`.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFfu-_jaTAcJjPPPb6%2Fimage.png?alt=media\&token=579265cf-95d0-4c9a-b116-2400fddc9e2a)

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFfxBvpWokj6jaOf9u%2Fimage.png?alt=media\&token=a732965e-8288-43a1-b4ae-c13ba3bfcd61)

#### ​‌7) Select ​YMODEM ​transfer protocol, click send and wait for the firmware burning process finish

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFgCoTHWNTCsPhEObP%2Fimage.png?alt=media\&token=79906c1d-fc77-4b08-89e8-9828e244ce83)

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFgEuu8av47CQa49GD%2Fimage.png?alt=media\&token=09ca23cf-144b-48e2-a1cb-29f49ec035b3)

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFgHLHUwD4a_DeJsuc%2Fimage.png?alt=media\&token=b1c5aa9f-241a-46af-b0ba-7dcc0e65be65)

‌❗**Notice**: Serial 2 won't show the successful message after burning. Under our test, it's 100% successful.‌

#### 8) Send ​`3`​, start the program of the newest firmware version.

![](https://2132465959-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LtPFIBncU5l4J8tl5Yh%2F-MCFX6kyno7_6V4xC4ov%2F-MCFgJ51HSbjsXg6tJvc%2Fimage.png?alt=media\&token=f1560ab8-4d2e-4d09-9b76-d4dea0baf859)

#### 9) Reconnect DexArm and send M2010 to check the firmware has been updated. &#x20;

#### 10) If success, close ​Serial 2 ​software, open Rotrics Studio to start using your Rotrics Arm.