OpenCM9-C Manual - Show Home > Product Information > Robot Parts > Controller > OpenCM9.04 ROBOTIS e-Manual v1.21.00 OpenCM9.04 Product Image OpenCM9.04

OpenCM9-C Manual - Show Home > Product Information > Robot...

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Show Home > Product Information > Robot Parts > Controller > OpenCM9.04 OpenCM9.04 Product Image OpenCM9.04 Types Package OpenCM9.04 A Type OpenCM9.04 B Type Power Switch X 1 User Button 1 1 2Pin Battery(LBS-40) X 2 JTAG/SWD X 1 Micro B USB X 1 5-Pin Port X 4 Dynamixel TTL BUS X 4 4 Pin Communication X 1 OpenCM9.04 is a microcontroller board based on 32bit ARM Cortex-M3. The OpenCM9.04’s schematics and source codes are open-source. 2 types are available: Type A & Type B. The difference between Type A & Type B is the availability of the connectors. (Refer to the image and table above.) (OpenCM9.04 Accessory Set can be purchased to acquire all the necessary connector to upgrade Type A to Type B.) OpenCM9.04 Accessory Set Download Manual OpenCM9.04_manual_en.zip Download Schmatics and Gerber SCHEMATIC-OpenCM9.04.pdf OpenCM9.04_REV_1.-(131009)-TOP.pdf OpenCM9.04_REV_1.-(131009)-BOTTOM.pdf OpenCM9.04_REV_1.-(131009)-Gerber.pdf ROBOTIS e-Manual v1.21.00
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Download Software ROBOTIS OpenCM << Click Block Diagram OpenCM9.04’s block diagram is shown below. OpenCM9.04’s schematic is based on 32bit Cortex-M3 core STM32F103CB microcontroller. The power schematic is designed to cascade through 5V and 3.3V regulators. 5V is supplied to TTL bus and 3.3V is supplied to microcontrollers, 5-pin port and 4-pin communication port. OpenCM9.04 supports USB2.0 FS. Micro-B connector is used to download the program or perform data communication. Pin 11(TX1) & Pin 12(RX1) cannot be used simultaneously because USART Channel 1 is assigned to DYNAMIXEL TTL Bus. USART channel 1 is registered under Dynamixel TTL Bus and cannot be used simultaneously with pin 11(TX1) & 12(RX1). <OpenCM9.04 Block Diagram> Componernts
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[OpenCM9.04 Components] 1. Power Switch : Switch used to control the power supplied to the board and DYNAMIXEL on/off. (Note: the board is always powered ON when USB cable is connected.) 2. Series Battery Socket : Connects two LBS-04 Lithium-ion battery. [ CAUTION: Do NOT charge the battery while its connected to the board because the user will short the circuit. Be sure to disconnect from the board when charging the battery. ] 3. Dynamixel TTL 3 PIN : Port for daisy chaining Dynamixels that use 3-pin cables (Dynamixel TTL Bus). 4. Communication Port : Used from wired/wireless communication using peripheral devices (i.e. BT-210, BT-110A, ZIG-110A, LN-101, etc). OpenCM9.04’s 4-pin communication port uses Serial2(USART2). <4-pin communication port pinmap>
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<Example: Wireless communication between OpenCM9.04 and a smartphone> <Example: Bluetooth communication using OpenCM9.04 and RC100 > <Example: Zigbee communication using OpenCM9.04 and RC100> <Example: Wired communication using OpenCM9.04 and LN-101> 5. User Button : a button that can be controlled/programmed by the user. Can be used as pin 23 or BOARD_BUTTON_PIN. It can be initialized in setup() as pinMode(23, INPUT_PULLDOWN).
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  • Fall '14
  • Volt, power supply, Serial port, digital i/o, dynamixel ttl bus

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