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■ Description

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.ROBOTIS MINI also uses.
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.

■ Caution

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

Controller : OpenCM9.04_C x1
Socket : 1x20 PIN Header Socket x2
Socket : 1x20 BOX Header Socket x2
Cable: :USB Downloader Cable (Micro-B) x1
Manual : Instruction Manual x1

■ 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
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

■ Parts Name

■ Compatible Products

Wireless Communication : ZIG-110A, BT-110A, BT-210
IR Receiver IR-10 (CANNOT be used when using RoboPlus)
External Sensor : Sensors sold by ROBOTIS

■ Control Environment

Exclusive Software [ROBOTIS OpenCM IDE] : A Href="http://support.robotis.com/en/techsupport_eng.htm#software/robotis_opencm.htm" target="_blank">Download
Exclusive Software [RoboPlus] : Download
H/W and S/W sources can be downloaded from www.robotis.com or www.robotsource.org.

[ Link to e-Manual]


  • Model: 902-0084-040
  • Shipping Weight: 0.06lbs
  • Manufactured by: ROBOTIS

This product was added to our catalog on Tuesday 10 February, 2015.