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Compatibility with XBee 3's Overall, SparkFun boards designed with the XBee footprint are hardware compatible with XBee Series 3 modules. They modules are drop-in replacements for Series 1 and Series 2 with a few exceptions. Below are two of those exceptions taken out of the migration guide and hardware reference manual. ZigBee Operator is a professional tool to learn research, develop, and test Digi's ZigBee/XBee module. It implements both API encoder and decoder for Digi's XBee and ZigBee Mesh and 802.15.4. With amazing new capabilities and updates to features you use every day, iOS 8 is the biggest iOS release ever. Learn more about iOS 8; The latest version of OS X features an elegant design, includes enhancements to the apps you use most, and enables your Mac and iOS devices to work together in new ways. An example how to upgrade Programmable XBee applicaton firmware from within a non-Windows environment using custom tooling (Node.js). Observe how an Unknown application will get replaced with the new version after upgrade: BlinkLed v0.0.1OTA. The contents of this software version update are: 1. Support to launch multiple software simultaneously to control different devices. Add the function that the Bluetooth module can replace the XBEE module 3. Adjust the drop-down menu and drag-effect of the stage. Add six blocks to the AI extension.
In order to run Dobot, please download the softwares and files according to your Dobot Arm's Model..
DobotStudio(Windows)V1.9.4.zip 2020. 11. 17
Dobot robot control software, including driver files. It supports Magician, Magic Box+Magician Lite and other devices, including functions such as Teaching&Playback, Write&Draw, Blockly, Script, etc.
 The content of this software version update is:
 1. EV certificate was added;
 2. Fixed some known bugs.
 If you have trouble downloading directly, click here to download on Google Drive.
View historical versionsDobotStudio(Win-Certificate)-1.9.3Setup.zip 2020. 08. 11
Dobot robot control software, including driver files. It supports Magician, Magic Box+Magician Lite and other devices, including functions such as Teaching&Playback, Write&Draw, Blockly, Script, etc.
 The content of this software version update is:
 1. bug fixes.
 If you have trouble downloading directly, click here to download on Google Drive.
DobotStudio(Windows)V1.9.2.zip 2020. 04. 24
1, Magician added several I/O functions .
 2. You can view alarm information through host computer when Magician moves to a limited point and stops moving.
 3, Magic Box + Magician Lite added offline function in Teaching&Playback, write&draw, Blockly, and Script module.
 4. Fixed the bug that the picture disappeared after zooming and panning in write&draw and LaserEngraving module.
DobotStudio(Windows)V1.9.1.zip 2020. 03. 31
1.Added a device selection box on the main interface, which is compatible with four device types: Magician, Magician Lite, Magic Box + Magician Lite, and Magic Box.
 2.Magician keeps the original function unchanged.
 3.The SVG format file on 'Write&Draw' module only adapts SVG content as path tags, not image and text tags.
 4.Deleted 'Show Console When StartUp' option in 'General' tab.
 5.When upgrading the firmware through 'Firmware' tab, you need to connect the device on the main interface first.
 6.Deleted the serial port selection box in 'Firmware' tab.
 7.Deleted 'QueueCmd', 'Alarms', 'HandTeach', 'CP', 'TRIG', 'AngleSensor', 'WIFI' API on Magician device types and script control module.
 8.When the device is connected, the script control module added the current cursor position right button to add the current coordinate of the robot arm.
 9.When the device is connected, the motion block of the 'Blockly' module is added with a right-click to add the current coordinate function.
 10.Fixed the bug that the picture disappeared after 'Grayscale Adjustment Range' was changed on 'LaserEngraving' module.
 11.The end offset can be set to positive and negative values.
DobotStudioSetup1.7.1.zip 2019. 03. 13
1, Modify operation tips when when no image exists on the Write&Draw module.
 2, Modify the problem that the coordinates of X-axis and Y-axis shown on the Write&Draw and LaserEngraving modules are incorrect.
 3, Support font size modification in annulus area and line wrapping when entering text on Write&Draw module.
 4, Modify the show status of the operation panel page.
 5, Modify the interactive design on the prompt box when connecting Magician and PC.
 6, Modify the default file path when you operate file on each module.
 7, Modify the toolbar name on the DobotStudio page.
 8, Add guide pages when launching DobotStudio.
 9, Modify the interactive design on the firmware burning page.
 10, Modify the interactive design on the parameter setting pages.
DobotStudio(Windows)V1.7.0-Magician.zip 2019. 01. 29
1, Modify operation tips when when no image exists on the Write&Draw module.
 2, Modify the problem that the coordinates of X-axis and Y-axis shown on the Write&Draw and LaserEngraving modules are incorrect.
 3, Support font size modification in annulus area and line wrapping when entering text on Write&Draw module.
 4, Modify the show status of the operation panel page.
 5, Modify the interactive design on the prompt box when connecting Magician and PC.
 6, Modify the default file path when you operate file on each module.
 7, Modify the toolbar name on the DobotStudio page.
 8, Add guide pages when launching DobotStudio.
 9, Modify the interactive design on the firmware burning page.
 10, Modify the interactive design on the parameter setting pages.
DobotBlock Setup 1.6.0-beta.9.zip 2020. 10. 13
Newly launched DobotBlock software, users get to program robots and other Dobot hardware devices simply by dragging and dropping. That said, users can have every movement of the robot at their fingertips while having fun exploring and learning AI and other technologies.
 The contents of this software version update are:
 1. EV certificate was added; 
 2. Fixed some known bugs.
 If you have trouble downloading directly, click here to download on Google Drive.
View historical versionsDobotBlock Setup 1.6.0-beta.1.zip 2020. 09. 01
The contents of this software version update are:
 1. Support to launch multiple software simultaneously to control different devices.
 2. Add the function that the Bluetooth module can replace the XBEE module
 3. Adjust the drop-down menu and drag-effect of the stage.
 4. Add six blocks to the AI extension.
 5. Add color recognition and background calibration functions.
 6. Background and character image localization, text reading and machine translation with Tencent solution.
 If you have trouble downloading directly, click here to download on Google Drive.
DobotBlock-Setup-1.5.0.zip 2020. 07. 10
Newly launched DobotBlock software, users get to program robots and other Dobot hardware devices simply by dragging and dropping. That said, users can have every movement of the robot at their fingertips while having fun exploring and learning AI and other technologies.
 The contents of this software version update are:
 1. Tutorial center: update the experiment guide;
 2. Increase the building blocks of AIStarter;
 3. Add AI enlightenment kit;
 4. Internationalization: perfect multi-language function.
DobotBlock-Setup-1.4.0.zip 2020. 04. 29
The main changes in this software are:
 1. Add tutorial center;
 2. Support viewing Python programming;
 3. Detail optimization and bug fix.
DobotBlock-Setup-1.3.3.zip 2020. 03. 17
Newly launched DobotBlock software, users get to program robots and other Dobot hardware devices simply by dragging and dropping. That said, users can have every movement of the robot at their fingertips while having fun exploring and learning AI and other technologies.
DobotStudioXpV1.4.0.zip 2020. 04. 09
Dobot Magician software for windows XP. Includes Dobot driver. For detailed installation and instructions please download Dobot Magician User Manual-Tutorials. ( Attention: Blockly and Leaption are not supported under windows XP OS)
DobotStudio1.9.2.dmg 2020. 09. 08
1. Dobot Magician software for Mac OS, includes driver files. Support Mac OS 10.11 and above;
 2. Support Magic Box+Magician Lite, including Teaching&Playback, write&Draw, Blockly, and Script.
 3. Bug fixes.
 If you have trouble downloading directly, click here to download on Google Drive.
View historical versionsMagicianStudio-Mac-V1.6.7.dmg 2018. 10. 10
Dobot Magician software for Mac OS, includes the driver. Available for mac osx10.11 and mac OS 10.12 .
DobotStudio(Mac)V1.4.12-Magician.dmg 2017. 09. 04
DobotStudioMacV1.4.10-Magician.dmg 2017. 06. 29
Dobot Magician software for Mac OS, includes the driver. Available for mac osx10.10, mac osx10.11 and mac OS 10.12 .
DobotBlock-1.4.0.zip 2020. 09. 22
1. Add Tutorial Center;
 2. Support viewing Python programming;
 3. Detail optimization and bug fixes.
 If you have trouble downloading directly, click here to download on Google Drive.
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The XBee is Digi's IEEE 802.15.4 product, some of which are ZigBee compatible.
XBee Pro 60mW PCB Antenna - Series 1 (802.15.4) WRL-11216 37.95 ea. (SparkFun) This is what I have
ds_xbeemultipointmodules.pdf XBee Pro Spec sheet from November, 2015
The XBee Pro S1 is not ZigBee, though the XBee ZigBee modules are ZigBee compatible. 
The two XBee Pros that I have are plugged in to USB boards. Either one seems to work. 
SparkFun XBee Explorer Dongle WRL-11697 $24.95 ea. (SparkFun) Plugs in to a Mac just fine.Uses the 'FT231X USB-to-Serial converter'There are two types of drivers: 'Virtual COM Port (VCP) drivers and direct (D2XX) drivers. The VCP driver emulates a standard PC serial port such that the USB device may be communicated with as a standard RS232 device The D2XX driver allows direct access to a USB device via a DLL interface.' Since we are using RxTx to communicate with a serial port, we would want the VCP driver.
UARTSBee $19.95 ea. (Seeedstudio.com) Has a compact USB connector, so it requires a cable.
The Ptolemy II tree includes an implementation of RXTX (at least for MacOS) and a SerialPort actor that provides low-level access to serial port devices, including the XBee devices. If you plug in the XBee device into your USB port, two new serial devices will be discovered by the SerialPort actor. On my machine, they are called '/dev/tty.usbserial-DA01LK3S' and '/dev/cu.usbserial-DA01LK3S'. I don't know what the difference is, but either worked for me.
The SerialPort actor accepts as input a unsigned byte array and produces as output an unsigned byte array. If you send to its input port a sequence of two strings (convert to unsigned byte array using StringToUnsignedByteArray) '+++' followed by 'ATSHr' within 3 seconds, then you will be returned the upper half of the address of your XBee device, per the AT command instructions (Note that these instructions are self contradictory... the second mention of the three second wait is incorrect. The first one is correct). Note that 'r' is a Windows-style return character. Using 'n' does not work. On my device, this returns '13A200' (a hex number representing the upper half of the address of the device). Adding 'ATSLr' to the commands returns '40D5FF39', the lower half of the address. So the address appears to be a 56 bit address.
Note that the SerialPort actor may produce the output in multiple firings. I.e., it may produce '40' followed by 'D5FF39' or '40D' followed by '5FF39' (or any other partitioning).
The X-CTU Software runs on the Mac or other host. The software is used to configure the XBee and has a simple console application.
XBeeProfile10ee.xml The profile that was saved from X-CTU.
Oddly, I could not get X-CTU 6.3.0 Build IS 20141110-08 to work with Mac OS X 10.7.5. The problem was that clicking on Discover Devices did not find my port. The same two XBees are discovered just fine under 10.11.1.
 XBCTU Under Ubuntu StudioConnect to the SwarmBox using ssh -X -l sbuser swarmnuc001.eecs.berkeley.edu
See HOW-TO-Install-XCTU-in-Linux and download XCTU for x64 and install
sudo usermod -a -G dialout sbuser
Invoke /opt/Digi/XCTU-NG/app
 XCTU: Ubuntu: Permission denied:com.digi.xbee.exceptions.XBeeException: Error initializing XBee device parameters /dev/ttyS0: SerOpenPort failed: Permission denied
Solution:
Then, as sbuser, log out and log back in again. As sbuser, you should see: 
buser@swarmnuc001:~$ groups
admin dialout
sbuser@swarmnuc001:~$ ls-l/dev/ttyUSB1
crw-rw---- 1 root dialout 188, 1 Dec 915:16/dev/ttyUSB1
sbuser@swarmnuc001:~$ 
 XCTU Won't Start under UbuntuUnder Ubuntu 14.04.3 LTS, XCTU failed to start because I accidentally downloaded the x86 version instead of the x64 version, below is the error message
sbuser@swarmnuc001:~$ /opt/Digi/XCTU-NG/app
App:
An error has occurred. See the log file
/home/sbuser/.eclipse/13786435/configuration/1449687334319.log.
sbuser@swarmnuc001:~$ 
The error message is:
java.lang.UnsatisfiedLinkError: Could not load SWT library. Reasons: 
 /opt/Digi/XCTU-NG/configuration/org.eclipse.osgi/bundles/146/1/.cp/libswt-pi-gtk-4236.so: libgtk-x11-2.0.so.0: cannot open shared object file: No such file or directory
 no swt-pi-gtk in java.library.path
 /home/sbuser/.swt/lib/linux/x86/libswt-pi-gtk-4236.so: libgtk-x11-2.0.so.0: cannot open shared object file: No such file or directory
 Can't load library: /home/sbuser/.swt/lib/linux/x86/libswt-pi-gtk.so
As far as a Java Interface to the XBee, I see two approaches:
Use the XBeeJavaLibrary
Use our own raw serial interface
https://github.com/digidotcom/XBeeJavaLibrary - Mozilla, LGPL and MIT Licenseshttp://www.digi.com/blog/community/official-xbee-java-library/ - Announcement
https://docs.digi.com/display/XBJLIB/XBee+Java+Library - docs
https://github.com/digidotcom/XBeeJavaLibrary/releases - Where the Zip file is located
The docs describe how to create an Eclipse project that uses 
'rxtx-2.2.jar: The RXTX library that provides serial communication in Java.'
'slf4j-api-1.7.12.jar: The Simple Logging Facade for Java (SLF4J) for logging.'
'slf4j-nop-1.7.12.jar: SLF4J binding for NOP, silently discarding all logging.'
'RXTX native library that depends on your PC operating system and the installed Java Virtual Machine'
The Building your first XBee Java application example worked for me under Mac OS X 10.11.1.
The source code for MainApp.java is below: 
packagecom.digi.xbee.example;
importcom.digi.xbee.api.XBeeDevice;
importcom.digi.xbee.api.exceptions.XBeeException;
publicclass MainApp {
/* Constants */
// TODO Replace with the port where your sender module is connected to.
privatestaticfinalString PORT ='COM1';
// TODO Replace with the baud rate of your sender module.
privatestaticfinalint BAUD_RATE =9600;
privatestaticfinalString DATA_TO_SEND ='Hello XBee World!';
publicstaticvoid main(String[] args){
 XBeeDevice myDevice =new XBeeDevice(PORT, BAUD_RATE);
byte[] dataToSend = DATA_TO_SEND.getBytes();
try{
 myDevice.open();
System.out.format('Sending broadcast data: '%s', newString(dataToSend));
 myDevice.sendBroadcastData(dataToSend);
System.out.println(' >> Success');
}catch(XBeeException e){
System.out.println(' >> Error');
 e.printStackTrace();
System.exit(1);
}finally{
 myDevice.close();
}
}
}
What this does is construct an XBeeDevice, open() it and then sendBroadCastData().
The summary is that open() creates a DataReader (JavaDoc, Source) that is a Thread that reads from the serial port using IConnectionInterface (JavaDoc, Source)
Xbee Software For Mac Download Windows 10XBeeDevice Javadoc, Source
See XBeeJavaAnalysis.
This does not totally work, but at least the XBee answers
Use XCTU to reset the XBee to the defaults. 
Note the serial port that is used.
Exit XCTU so that it is not using the port
Update your Ptolemy Tree
Run $PTII/bin/vergil $PTII/ptolemy/actor/lib/io/comm/demo/SerialConsole/SerialConsole.xml
In Vergil, double click on the SerialPort actor and then select the appropriate serial port.
Run the model
Type three + signs: +++, hit Return to send the three plus signs.
The XBee should return OK. However, the ATID command does not work? Welcome to the Ptolemy Serial Console.
>> +++
OK
>> ATID
See XBee AT Commands (Sparkfun) for details. Note that we have hit return to send the characters. The SerialConsole demo should probably be modified to send characters as they are typed.
See also XBee/XBee-Pro OEM RF Modules Product Manual v1.xAx - 802.15.4 Protocol For OEM RF Module Part Numbers: XB24-...-001, XBP24-...-001
Xbee Xctu SoftwareWhen trying to run the XBee Java example at https://docs.digi.com/display/XBJLIB/Building+your+first+XBee+Java+application with nrjavaserial, the following error appeared: 

Exception in thread 'main' java.lang.NoSuchMethodError:
gnu.io.CommPortIdentifier.open(Ljava/lang/String;I)Lgnu/io/CommPort;
 at
com.digi.xbee.api.connection.serial.SerialPortRxTx.open(SerialPortRxTx.java:167)
 at com.digi.xbee.api.XBeeDevice.open(XBeeDevice.java:195)
 at ptolemy.actor.lib.jjs.modules.xbee.XBeeHello.main(XBeeHello.java:20)
Xbee Software For Mac DownloadsThe error message in question is: 
 gnu.io.CommPortIdentifier.open(Ljava/lang/String;I)Lgnu/io/CommPort;
http://rxtx.qbang.org/pub/rxtx/rxtx-2.1-7/src/CommPortIdentifier.java, which is similar to what is in XBeeJava has: 
publicsynchronized CommPort open(String TheOwner, int i)
https://github.com/NeuronRobotics/nrjavaserial/blob/86b44454cebc7ba29c2032e904cfbe4eb098b841/src/main/java/gnu/io/CommPortIdentifier.java, which is what is in nrjavaserial has: 
However, RXTXPort extends SerialPort which extends CommPort, so this should work (I think). For reference, Line 167 of SerialPortRxTx.java is 
 serialPort =(RXTXPort)portIdentifier.open(PORT_ALIAS +' '+ port, receiveTimeout);
To recompile the XBee Java Library, I edited the pom.xml file and commented out the rxtx references and added references to nrjavaserial.
>
>
>com.neuronrobotics>
>nrjavaserial>
>3.11.0>
>

The XBee is Digi's IEEE 802.15.4 product, some of which are ZigBee compatible.
XBee Pro 60mW PCB Antenna - Series 1 (802.15.4) WRL-11216 37.95 ea. (SparkFun) This is what I have
ds_xbeemultipointmodules.pdf XBee Pro Spec sheet from November, 2015
The XBee Pro S1 is not ZigBee, though the XBee ZigBee modules are ZigBee compatible. 
The two XBee Pros that I have are plugged in to USB boards. Either one seems to work. 
SparkFun XBee Explorer Dongle WRL-11697 $24.95 ea. (SparkFun) Plugs in to a Mac just fine.Uses the 'FT231X USB-to-Serial converter'There are two types of drivers: 'Virtual COM Port (VCP) drivers and direct (D2XX) drivers. The VCP driver emulates a standard PC serial port such that the USB device may be communicated with as a standard RS232 device The D2XX driver allows direct access to a USB device via a DLL interface.' Since we are using RxTx to communicate with a serial port, we would want the VCP driver.
UARTSBee $19.95 ea. (Seeedstudio.com) Has a compact USB connector, so it requires a cable.
The Ptolemy II tree includes an implementation of RXTX (at least for MacOS) and a SerialPort actor that provides low-level access to serial port devices, including the XBee devices. If you plug in the XBee device into your USB port, two new serial devices will be discovered by the SerialPort actor. On my machine, they are called '/dev/tty.usbserial-DA01LK3S' and '/dev/cu.usbserial-DA01LK3S'. I don't know what the difference is, but either worked for me.
The SerialPort actor accepts as input a unsigned byte array and produces as output an unsigned byte array. If you send to its input port a sequence of two strings (convert to unsigned byte array using StringToUnsignedByteArray) '+++' followed by 'ATSHr' within 3 seconds, then you will be returned the upper half of the address of your XBee device, per the AT command instructions (Note that these instructions are self contradictory... the second mention of the three second wait is incorrect. The first one is correct). Note that 'r' is a Windows-style return character. Using 'n' does not work. On my device, this returns '13A200' (a hex number representing the upper half of the address of the device). Adding 'ATSLr' to the commands returns '40D5FF39', the lower half of the address. So the address appears to be a 56 bit address.
Note that the SerialPort actor may produce the output in multiple firings. I.e., it may produce '40' followed by 'D5FF39' or '40D' followed by '5FF39' (or any other partitioning).
The X-CTU Software runs on the Mac or other host. The software is used to configure the XBee and has a simple console application.
XBeeProfile10ee.xml The profile that was saved from X-CTU.
Oddly, I could not get X-CTU 6.3.0 Build IS 20141110-08 to work with Mac OS X 10.7.5. The problem was that clicking on Discover Devices did not find my port. The same two XBees are discovered just fine under 10.11.1.
 XBCTU Under Ubuntu StudioConnect to the SwarmBox using ssh -X -l sbuser swarmnuc001.eecs.berkeley.edu
See HOW-TO-Install-XCTU-in-Linux and download XCTU for x64 and install
sudo usermod -a -G dialout sbuser
Invoke /opt/Digi/XCTU-NG/app
 XCTU: Ubuntu: Permission denied:com.digi.xbee.exceptions.XBeeException: Error initializing XBee device parameters /dev/ttyS0: SerOpenPort failed: Permission denied
Solution:
Then, as sbuser, log out and log back in again. As sbuser, you should see: 
buser@swarmnuc001:~$ groups
admin dialout
sbuser@swarmnuc001:~$ ls-l/dev/ttyUSB1
crw-rw---- 1 root dialout 188, 1 Dec 915:16/dev/ttyUSB1
sbuser@swarmnuc001:~$ 
 XCTU Won't Start under UbuntuUnder Ubuntu 14.04.3 LTS, XCTU failed to start because I accidentally downloaded the x86 version instead of the x64 version, below is the error message
sbuser@swarmnuc001:~$ /opt/Digi/XCTU-NG/app
App:
An error has occurred. See the log file
/home/sbuser/.eclipse/13786435/configuration/1449687334319.log.
sbuser@swarmnuc001:~$ 
The error message is:
java.lang.UnsatisfiedLinkError: Could not load SWT library. Reasons: 
 /opt/Digi/XCTU-NG/configuration/org.eclipse.osgi/bundles/146/1/.cp/libswt-pi-gtk-4236.so: libgtk-x11-2.0.so.0: cannot open shared object file: No such file or directory
 no swt-pi-gtk in java.library.path
 /home/sbuser/.swt/lib/linux/x86/libswt-pi-gtk-4236.so: libgtk-x11-2.0.so.0: cannot open shared object file: No such file or directory
 Can't load library: /home/sbuser/.swt/lib/linux/x86/libswt-pi-gtk.so
As far as a Java Interface to the XBee, I see two approaches:
Use the XBeeJavaLibrary
Use our own raw serial interface
https://github.com/digidotcom/XBeeJavaLibrary - Mozilla, LGPL and MIT Licenseshttp://www.digi.com/blog/community/official-xbee-java-library/ - Announcement
https://docs.digi.com/display/XBJLIB/XBee+Java+Library - docs
https://github.com/digidotcom/XBeeJavaLibrary/releases - Where the Zip file is located
The docs describe how to create an Eclipse project that uses 
'rxtx-2.2.jar: The RXTX library that provides serial communication in Java.'
'slf4j-api-1.7.12.jar: The Simple Logging Facade for Java (SLF4J) for logging.'
'slf4j-nop-1.7.12.jar: SLF4J binding for NOP, silently discarding all logging.'
'RXTX native library that depends on your PC operating system and the installed Java Virtual Machine'
The Building your first XBee Java application example worked for me under Mac OS X 10.11.1.
The source code for MainApp.java is below: 
packagecom.digi.xbee.example;
importcom.digi.xbee.api.XBeeDevice;
importcom.digi.xbee.api.exceptions.XBeeException;
publicclass MainApp {
/* Constants */
// TODO Replace with the port where your sender module is connected to.
privatestaticfinalString PORT ='COM1';
// TODO Replace with the baud rate of your sender module.
privatestaticfinalint BAUD_RATE =9600;
privatestaticfinalString DATA_TO_SEND ='Hello XBee World!';
publicstaticvoid main(String[] args){
 XBeeDevice myDevice =new XBeeDevice(PORT, BAUD_RATE);
byte[] dataToSend = DATA_TO_SEND.getBytes();
try{
 myDevice.open();
System.out.format('Sending broadcast data: '%s', newString(dataToSend));
 myDevice.sendBroadcastData(dataToSend);
System.out.println(' >> Success');
}catch(XBeeException e){
System.out.println(' >> Error');
 e.printStackTrace();
System.exit(1);
}finally{
 myDevice.close();
}
}
}
What this does is construct an XBeeDevice, open() it and then sendBroadCastData().
The summary is that open() creates a DataReader (JavaDoc, Source) that is a Thread that reads from the serial port using IConnectionInterface (JavaDoc, Source)
Xbee Software For Mac Download Windows 10XBeeDevice Javadoc, Source
See XBeeJavaAnalysis.
This does not totally work, but at least the XBee answers
Use XCTU to reset the XBee to the defaults. 
Note the serial port that is used.
Exit XCTU so that it is not using the port
Update your Ptolemy Tree
Run $PTII/bin/vergil $PTII/ptolemy/actor/lib/io/comm/demo/SerialConsole/SerialConsole.xml
In Vergil, double click on the SerialPort actor and then select the appropriate serial port.
Run the model
Type three + signs: +++, hit Return to send the three plus signs.
The XBee should return OK. However, the ATID command does not work? Welcome to the Ptolemy Serial Console.
>> +++
OK
>> ATID
See XBee AT Commands (Sparkfun) for details. Note that we have hit return to send the characters. The SerialConsole demo should probably be modified to send characters as they are typed.
See also XBee/XBee-Pro OEM RF Modules Product Manual v1.xAx - 802.15.4 Protocol For OEM RF Module Part Numbers: XB24-...-001, XBP24-...-001
Xbee Xctu SoftwareWhen trying to run the XBee Java example at https://docs.digi.com/display/XBJLIB/Building+your+first+XBee+Java+application with nrjavaserial, the following error appeared: 

Exception in thread 'main' java.lang.NoSuchMethodError:
gnu.io.CommPortIdentifier.open(Ljava/lang/String;I)Lgnu/io/CommPort;
 at
com.digi.xbee.api.connection.serial.SerialPortRxTx.open(SerialPortRxTx.java:167)
 at com.digi.xbee.api.XBeeDevice.open(XBeeDevice.java:195)
 at ptolemy.actor.lib.jjs.modules.xbee.XBeeHello.main(XBeeHello.java:20)
Xbee Software For Mac DownloadsThe error message in question is: 
 gnu.io.CommPortIdentifier.open(Ljava/lang/String;I)Lgnu/io/CommPort;
http://rxtx.qbang.org/pub/rxtx/rxtx-2.1-7/src/CommPortIdentifier.java, which is similar to what is in XBeeJava has: 
publicsynchronized CommPort open(String TheOwner, int i)
https://github.com/NeuronRobotics/nrjavaserial/blob/86b44454cebc7ba29c2032e904cfbe4eb098b841/src/main/java/gnu/io/CommPortIdentifier.java, which is what is in nrjavaserial has: 
However, RXTXPort extends SerialPort which extends CommPort, so this should work (I think). For reference, Line 167 of SerialPortRxTx.java is 
 serialPort =(RXTXPort)portIdentifier.open(PORT_ALIAS +' '+ port, receiveTimeout);
To recompile the XBee Java Library, I edited the pom.xml file and commented out the rxtx references and added references to nrjavaserial.
>
>
>com.neuronrobotics>
>nrjavaserial>
>3.11.0>
>