The firmware of the controllers and Dynamixels can be recovered and updated using the RoboPlus (R+) software. 

Please refer to the links below for more details.

 

Links

1.    e-Manual

2.    Controller Firmware Recovery

3.    Controller Firmware Update

4.    Dynamixel Firmware Recovery

5.    Dynamixel Firmware Update

6.    Download Center

 

For OpenCM9.04 Types A and B, please refer to the link below:

1.    Recovery Mode