OpenCM9.04-C Controller

OpenCM9.04-C: the open-source controller for Dynamixel servo motors

OpenCM9.04-C is an open-source controller allowing you to control up to 4 Dynamixel servos thanks to a TTL communication (3-pin connectors). It runs under an ARM Cortex-M3 type processor and uses a micro USB cable for downloading programs.

Regarding its programming environment, you have access to Robotis OpenCM, an IDE comparable to the Arduino IDE allowing you to program in C/C++. You can also download RoboPlus, the Robotis software designed for programming your Bioloid creations, and use the JTAG/SWD terminal to operate other business development programs.

The new Robotis controller, following on from OpenCM9.04-B

If you’re already familiar with the OpenCM9.04-B boardyou might have noticed that they have quite similar features and benefits. The real difference created by the OpenCM9.04-C controller is the fact that it has been designed exclusively for XL-series servos. The two TTL connectors that were used on the OpenCM9.04-B to control AX servos have in fact been replaced by TTL connectors for XL servos.

This Robotis open-source controller will therefore allow you to manage up to 4 XL servos, including the famous XL-320 series, a small servo motor used not only for rapid prototyping but also for the DARwin-Mini robot.

Technical specifications of the Robotis open-source OpenCM9.04-C controller

• Each package contains:
  • 1 OpenCM9.04-C controller
  • 2 1x20 PIN header sockets
  • 2 1x20 BOX header sockets
  • 1 Micro-B USB download cable
  • 1 user guide
• Processor: STM32F103CB (ARM Cortex-M3)
• Operating voltage: 5 V–16 V (USB 5 V, DYNAMIXEL 7 ~ 12 V)
• Recommended voltage:
  • 5 V for USB
  • 7.4 V for Dynamixel XL series
• Supply: 2 Li-ion 3.7 V batteries
• External inputs/outputs: 26
• Timers: 8
• Analogue inputs: 10 (12-bit A/D conversion)
• Flash memory: 128 kB
• Clock speed: 72 MHz
• USB port: 1 (2.0 full Speed)
• CAN : 1
• USART : 1
• SPI : 2
• I2C (TWI) : 2
• Debug ports: JTAG and SWD
• XL TTL 3-pin ports: 4
• Port for external sensor (5-pin): 4 (compatible with Robotis sensors)
• Dimensions: 27 x 66.5 mm
• Weight: 13 g

Resources for the Robotis open-source OpenCM9.04-C controller

You can use these links to download the software and consult the guide, both essential for using your open-source OpenCM9.04-C Robotis controller:

Robotis OpenCM programming software download

RoboPlus software download

e-Manual for the Robotis open-source OpenCM9.04-C controller