Description

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

All Dynamixels can be controlled when using the accessory set of 485 expansion board. Uses USB Cable (Micro-B) to download programs onto the board. JTAG / SWD terminal can be used to run commercial developmental programs.

Various Programming Tools are Optional.

• ROBOTIS integrated programming software, RoboPlus
• Open Source development tool, Arduino IDE
• Open Source Library, DYNAMIXEL2Arduino
• OpenCM IDE is no longer supported

HW Specification:

• CPU                                 STM32F103CB (ARM Cortex-M3)
• Operation Voltage        5V ~ 16V
• 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)
• USART                            3
• TTL port(3Pin)              4 (Port Only)
• Ext. Sensor(5 Pin)        4 (ROBOTIS Sensor can be used)

** Caution **

1. Connectors are not include.
2. When using the OpenCM9.04-A to control the DYNAMIXEL, a separate power supply must be supplied to the DYNAMIXEL.