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Setup Xbee S2 only with only "minicom"

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I want to setup two Xbee with raspberry pi. Therefore, I used "minicom" to Tx/Rx the serial from/to Xbee. I succeed to follow the command line setup instructions (such as ATID, DL, DH), and receive "OK" from Xbee. However, I cannot transfer text between them after setting.
Does anything I miss? or I can only use Xctu?
asked Jan 31, 2016 in Interface/Development Boards by dannylin New to the Community (2 points)

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Is one of the module loaded with Coordinator firmware. Only a coordinator can initiate a network.

If not, use XCTU and XBIB dev. board to load 'Coordinator AT' firmware on one module and 'Router AT' on another.
answered Feb 1, 2016 by asgm Veteran of the Digi Community (1,497 points)
selected Mar 1, 2016 by dannylin
Thanks. I need to load the coordinator's firmware first.