OpenRB-150 can't detect connected XL430-w250 servos


I am using the OpenRB-150 board

Software Description

I am trying to run the scan_dynamixel script from the Dynamixel2Arduino examples.

Issue Description

I have two Dynamixel XL430-w250 motors connected to the OpenRB-150 board but neither servo is being picked up by the scan_dynamixel script.

I have been using the OpenRB-150 board for the last month and I haven’t had any issues with it until today. I replaced the OpenRB-150 with the Dynamixel Shield (DYNAMIXEL Shield) and everything was working fine.
The motors are set to a baud rate of 1000000, and ID’s 1, 2.

Additional Information/Attachments

Picture of the Hardware:

The code:
#include <Dynamixel2Arduino.h>

#define DEBUG_SERIAL Serial
#define DXL_SERIAL Serial1

#define MAX_BAUD 5
const int32_t buad[MAX_BAUD] = {57600, 115200, 1000000, 2000000, 3000000};

Dynamixel2Arduino dxl(DXL_SERIAL);

//This namespace is required to use Control table item names
using namespace ControlTableItem;

void setup() {
// put your setup code here, to run once:
int8_t index = 0;
int8_t found_dynamixel = 0;

// For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
DEBUG_SERIAL.begin(115200); //set debugging port baudrate to 115200bps
while(!DEBUG_SERIAL); //Wait until the serial port is opened

for(int8_t protocol = 1; protocol < 3; protocol++) {
// Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.

for(index = 0; index < MAX_BAUD; index++) {
  // Set Port baudrate.
  for(int id = 0; id < 10; id++) {
    //iterate until all ID in each buadrate is scanned.
    if( {
      DEBUG_SERIAL.print("ID : ");
      DEBUG_SERIAL.print(", Model Number: ");


DEBUG_SERIAL.print(“Total “);
DEBUG_SERIAL.println(” DYNAMIXEL(s) found!”);

I also had found that ping() & scan() do not work properly for my setup with OpenRB-150 (and DXL MKR Shield also). However, Goal Velocity and Goal Position work fine for me. So I just do not use ping() and scan() anymore for my work.