Robotis - OpenCM9.04-C

• OpenCM9.04 is an open-source controller that runs under 32bit ARM Cortex-M3.
• The C version 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.

Package Contents

• 1 x OpenCM9.04_C Controller
• 2 x 1x20 PIN Header Socket
• 2 x 1x20 BOX Header Socket
• 1 x USB Downloader Cable (Micro-B)
• 1 x Instruction Manual

Hardware Specifications

• CPU: STM32F103CB (ARM Cortex-M3)
• Operating Voltage: 5V ~ 16V (USB 5V, DYNAMIXEL 7~12V)
• Recommended Voltage:
  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.
• External I/O: 26
• Timer: 8
• Analog In(ADC): 10 (12bit)
• Flash: 128 Kbytes
• SRAM: 20 Kbytes
• Clock: 72Mhz
• USB: 1 (2.0 Full Speed)
• CAN: 1
• USART: 3
• SPI: 2
• I2C(TWI): 2
• Debug: JTAG & SWD
• TTL port (3Pin): 4 (XL-320 exclusive)
• External Sensor(5 Pin): 4 (Compatible with ROBOTIS Sensors)
• Size: 27 mm X 66.5 mm
• Weight: 13g

Notes:

• 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)

 OpenCM9.04_manual_en.zip

SCHEMATIC-OpenCM9.04.pdf