OpenCM9.04-A is a board-only product for DIY developers.
Users will need to purchase the OpenCM9.04-Accessory Set and solder the product themselves to make it into a usable, full product.
OpenCM9.04 is an open-source controller that runs under 32bit ARM Cortex-M3.
It is possible to use the 3PIN connector to control ROBOTIS Dynamixels that supports TTL communication.
Uses USB Cable(Mircro-B), which is used for smartphones, to download programs onto theboard.
The board is easily programmable with [ROBOTIS OpenCM], an Arduino-like IDE that allows the user to easily program in C/C++.
JTAG / SWD terminal can be used run commercial developmental programs.
CPU |
STM32F103CB (ARM Cortex-M3) |
Operating Voltage |
7V ~ 16V (USB 5V, DYNAMIXEL 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 ( Combination of Dynamixel & XL-Series) |
External Sensor(5 Pin) |
4 ( compatible with ROBOTIS Sensors) |
Size |
27 mm X 66.5 mm |
Weight |
13g |
When using the OpenCM-9.04 to control the Dynamixel,a separate power supply must be supplied to the Dynamixel.
Exclusive Software [ROBOTIS OpenCM] : Download
Hardware and software sources can be downloaded from www.robotis.com or www.robotsource.org.