Descripción
The OpenCM9.04-C is the same as the OpenCM9.04-B except for the two TTL connectors (used for the AX series) has been replaced by two XL-Type TTL connectors.
- OpenCM9.04 is an open-source controller that runs on a 32bit ARM Cortex-M3.
- The 3-Pin connector is used to control ROBOTIS’ Dynamixels with TTL communication.
- Uses a USB Cable (Mircro-B) (included), to download programs onto the board.
- The board is easily programmable with ROBOTIS’ OpenCM, an Arduino-like IDE that allows the user to program in C/C++.
- JTAG / SWD terminal can be used run commercial developmental programs.
PACKAGE CONTENTS
|
Components |
Quantity |
|
| Controller | OpenCM9.04_C |
1 |
| Socket |
1×20 PIN Header Socket |
2 |
| Socket | 1×20 BOX Header Socket |
2 |
| Cable | USB Downloader Cable (Micro-B) |
1 |
| Manual | Instruction Manual |
1 |
HARDWARE SPECIFICATIONS
|
Description |
Specification |
|
CPU |
STM32F103CB (ARM Cortex-M3) |
|
Operating Voltage |
5V – 16V (USB 5V, DYNAMIXEL 7~12V) |
|
Recommended Voltages |
|
|
External I/O |
26 |
|
Timers |
8 |
|
Analog Inputs |
10 (12 bit A/D Conversion) |
|
Flash Memory |
128 Kbytes |
| SRAM Memory |
20 Kbytes |
| Clock Speed |
72Mhz |
| USB port |
1 (2.0 Full Speed) |
| CAN |
1 |
|
USART |
3 |
|
SPI |
2 |
| I2C(TWI) |
2 |
|
Debug Ports |
JTAG & SWD |
| XL-Type TTL port (3 Pin) |
4 (XL Type) |
|
External Sensor port (5 Pins) |
4 (Compatible with ROBOTIS Sensors) |
| Size |
27 mm X 66.5 mm |
| Weight |
13g |
Compatible Products
DYNAMIXEL : XL-320
Wireless Communication : ZIG-110A, BT-110A, BT-210 IR Receiver OIR-10 (Do not used with RoboPlus)
External Sensors : All sensors sold by ROBOTIS
Software Environment
Exclusive Software [ROBOTIS OpenCM IDE] : Download
Exclusive Software [RoboPlus] : Download
H/W and S/W sources can be downloaded fromwww.robotis.com or www.robotsource.org.
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