> For the complete documentation index, see [llms.txt](https://manual.rotrics.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://manual.rotrics.com/faq-troubleshooting/troubleshooting/failed-to-upgrade-rotrics-dexarms-firmware.md).

# 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. 

![](/files/-MCQvPy6HDyshj3M9ghF)

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. ](/files/-MCQsHDeF8tN0RLZbeIG)

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

<div align="left"><img src="/files/-MCQrtor0C3Qq68R0N11" 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="/files/-MCFZYpMCQRsZWZ9HpEu" 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="/files/-MGpzeXNWmTSIZ_n0M32" 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="/files/-MCFZl5GTE0cSwQvK5k6" alt=""></div>

![](/files/-MCFZpB5BGMbokU_jVjz)

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

<div align="left"><img src="/files/-MGpzRM4GwR0BHxVl1Bh" alt=""></div>

<div align="left"><img src="/files/-MGpzIyyrmKJPr0LGYSS" alt=""></div>

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

<div align="left"><img src="/files/-MGpz8shmiQo3OrfGQ3j" 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="/files/-MJPv9dUy9GtHHl7PEIh" alt=""></div>

<div align="left"><img src="/files/-MJPvKW22_SWQgFn-8F5" 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="/files/-MCF_uD17xpEWN2UtkYK" alt=""></div>

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

<div align="left"><img src="/files/-MEvkfbFWSstaRByHdKF" alt=""></div>

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

<div align="left"><img src="/files/-MEvknEXRCwRAprt1SUa" 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**​

![](/files/-MCFaHQkK8OH9HP1TL5p)

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

![Picture from the internet. ](/files/-MCQsHDeF8tN0RLZbeIG)

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

![](/files/-MCFfS7QvwbjnHVT_Qr0)

#### 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.

![](/files/-MCFfVPnGcAh_qFMjA8v)

#### ‌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.

![](/files/-MCFfZa_49AhnNf6KIJI)

![](/files/-MCFfct824o-netDXz8M)

#### ‌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`.

![](/files/-MCFfu-_jaTAcJjPPPb6)

![](/files/-MCFfxBvpWokj6jaOf9u)

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

![](/files/-MCFgCoTHWNTCsPhEObP)

![](/files/-MCFgEuu8av47CQa49GD)

![](/files/-MCFgHLHUwD4a_DeJsuc)

‌❗**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.

![](/files/-MCFgJ51HSbjsXg6tJvc)

#### 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.