OpenCM 9.04-C Microcontroller for Dynamixel XL

The Robotis OpenCM9.04-C is a small robot controller featuring Dynamixel XL Smart Servo connectors and a 32 bit ARM Cortex M3 processor.

The OpenCM 9.04-C has an STM32F103CB 32 bit ARM Cortex-M3 microcontroller with 128K bytes of Flash, 20K bytes of SRAM and full set of GPIOs. This robot controller features four 3 pin Dynamixel TTL Bus connectors for use with Dynamixel XL series smart servos. It also has four sets of 5 pin male header sensor ports, UART, JTAG/SWD Serial Wire Debug, Micro USB.

This robot controller offers a full set of GPIOs available via a set of solder pads. There are 26 GPIOs which include up to 10 analog inputs, 13 PWM channels, 2 USARTs, 2 SPI channels and I2C. A built in user LED and button are available to general use. A power indicator LED, reset button and power switch are also provided.

Develop C/C++ programs using the Robotis OpenCM IDE Integrated Development Environment and load them onto the controller via USB. A handy JTAG/SWD debug port provides industrial strength hardware debugging to maximize productivity.

The OpenCM 9.04C robot controller operates at 3.3V and requires a 5V- 16V input power source. It can be powered by USB for programming and experimentation but requires a separate power supply when driving Dynamixel Smart Servos and other parts.

This package comes with a set of optional male and female headers for maximum flexibility. A micro USB cable is also included. Downloadable software is available for Windows, Mac and Linux.

Documentation

• OpenCM 9.04 Comprehensive User Manual
• OpenCM 9.04 Microcontroller Schematic

References

• Robotis e-Manual for OpenCM9.04 Robot Controller
• Robotis Online Community
• OpenCM Open Source Files on GitHub

Downloads

• OpenCM Software for Windows, Mac and Linux

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