OpenCM9.04 is an open-source controller that runs under 32bit ARM Cortex-M3.
All hardware and software are disclosed.
Uses an exclusive 3PIN connector to control the ROBOTIS DYNAMIXEL XL-320.
Uses USB Cable (Micro-B) to download programs onto the board.
Users can choose between using the ROBOTIS RoboPlus software or ROBOTIS OpenCM IDE.
JTAG / SWD terminal can be used to run commercial developmental programs.
OpenCM9.04-C has the same functions and performance as OpenCM9.04-B, but the 2 x TTL connectors for the AX series has been excluded in OpenCM9.04-C.
The OpenCM 485 Expansion Board, which supports TTL and RS-485, can be used to control all types of DYNAMIXEL's, such as AX, MX, and Pro series.
When using the OpenCM9.04-C to control the DYNAMIXEL, a separate power supply must be supplied to the DYNAMIXEL.
RoboPlus can be used when the board is connected to the PC via USB Downloader LN-101 or BT-210.
(PC must have Bluetooth device for Bluetooth connection)
ROBOITS OpenCM IDE can be used only via Micro 5PIN USB Cable.
The RoboPlus and ROBOTIS OpenCM IDE CANNOT be used simultaneously.
The firmware must be changed depending on the software to be used.
(Please refer to the e-Manual for changing the firmware)
■ Package Contents
1x20 PIN Header Socket
1x20 BOX Header Socket
USB Downloader Cable (Micro-B)
■ Hardware Specifications
STM32F103CB (ARM Cortex-M3)
5V ~ 16V (USB 5V, DYNAMIXEL 7~12V)
5V for USB, 7.4V for DYNAMIXEL XL series
(LB-040 3.7V x 2)
485 Expansion Board is recommended to control DYNAMIXELs requiring over 12V.
1 (2.0 Full Speed)
JTAG & SWD
TTL port (3Pin)
4 (XL-320 exclusive)
External Sensor(5 Pin)
4 (Compatible with ROBOTIS Sensors)
27 mm X 66.5 mm
■ Parts Name
Chart : Click
Software RoboPlus (R+)
: Click Here
Link to e-Manual : Click