OpenCM9.04-C (With Onboard Xl-Type Connectors)

OpenCM9.04-C is an open-source controller that runs under 32bit ARM Cortex-M3. It uses an exclusive 3PIN connector to control the ROBOTIS DYNAMIXEL XL-320 and uses USB Cable (Micro-B) to download programs onto the board. 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.

Specifications of  OpenCM9.04-C:

•     CPU:    STM32F103CB (ARM Cortex-M3)
•     Operating Voltage:    5V ~ 16V (USB 5V, DYNAMIXEL 7~12V)
•     Recommended Voltage:     5V for USB, 7.4V for DYNAMIXEL XL series(LB-040 3.7V x 2)485 Expansion  Board is recommended to control DYNAMIXELs requiring over 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 (XL-320 exclusive)
•     External Sensor(5 Pin):    4 (Compatible with ROBOTIS Sensors)
•     Size:    27 mm X 66.5 mm
•     Weight:    13g

Package Includes :

•     1 x OpenCM9.04_C
•     2 x 1x20 PIN Header Socket
•     2 x 1x20 BOX Header Socket
•     1 x USB Downloader Cable (Micro-B)
•     1 x Instruction Manual

Resources :

•     OpenCM9.04_manual_en.zip
•     SCHEMATIC
•     OpenCM9.04_TOP.pdf
•     OpenCM9.04_BOTTOM.pdf
•     OpenCM9.04_Gerber.pdf