Change Dynamixel baudrate using CM5?

[Miamicanes]

Is there any easy way to change the baudrate of a Dynamixel using the CM5 and its serial cable? Using Robot Terminal, perhaps?

I just finished building the circuit to connect the USART on a SunSPOT controller to the Dynamixel's data bus, but just discovered that there's no apparent or easy way to get the SunSPOT to use anything besides a standard baudrate of 56k or less (its USART is REALLY hosted by an Atmel Mega88 and there's no permanent reason why it couldn't clear UBRR0L and UBRR0H to support it... but I want to play with it right now, not n days or weeks from now when/if support for 1mbps serial gets added to the firmware).

I know I could build another AVR circuit to connect to the dynamixel bus at 1mbps and set the baudrate lower, but I'm trying to eliminate as many independent variables as possible while trying to get the SunSPOT to communicate with the Dynamixels.

[hivemind]

Using the Robot Terminal (with correct COM and baud rate - 56k) you can access the Bioloid "Management Mode". While I do not have a CM-5 myself, I believe you can put it into this state by pressing the mode button several times and then the start button (Or look at section 2 "Learning the Basic Operations" in your Bioloid User manual. Also, section 8 "Management Mode"). The text that appears in the terminal should be similar to this:

[CM-5 Version 1.1]
<->PC:57142 BPS, <->Dynamixel:1000000 BPS
ID:001 002
002(0x02) Dynamixels Found
[CID:001(0x01)]

The ID's mentioned and the number of Dynamixels found ought to correspond and the current ID (CID) ought to pop up (although it may not be 1). From here, simply type "baud" followed by the number that you desire. The Management program will confirm - and you should be good to go.

-Hive