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
