Robotis OpenCM 485 User manual
北京智能佳科技有限公司
www.bjrobot.com
第1页 共 10 页
Content
1.Introduction.....................................................................2
2.Specifications..................................................................2
3.Layout............................................................................. 3
4.Connecting OpenCM9.04.............................................. 4
5.Power Circuit Connection.............................................. 6
6.EXP Board Programming...............................................7
7.Button & LED................................................................ 9
8.Downloads.................................................................... 10
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第3页 共 10 页
3.Layout
1. SMPS DC Connector : For using SMPS DC Adapter to supply power to
OpenCM 485 EXP board.
2. DXL Pro Power Connector : Power connector for Dynamixel Pro
(24V).
3. Li-Po battery Connector : Connector for 11.1V Li-Po battery(LBS-10).
4. Dynamixel TTL 3 -Pin Bus : Used to connect 3-Pin Cables(Dynamixel
TTL Bus) and for daisy chaining Dynamixels.
5. User Button : Function of these buttons can be assigned by the user.
6. User LED : LED that can be controlled by the user.
7. I/O header : Header pins used to mount OpenCM9.04(2.54mm pitch).
8. Dynamixel 485 4-Pin Bus : Used to connect 4-Pin Cables(Dynamixel
TTL Bus) and for daisy chaining Dynamixels.
9. Power Switch : Switch that powers the board and Dynamixel. Note:
Does not disconnect the power received via USB cable.
10. JP1 Jumper : Jumper that determines whether the power inputted onto
OpenCM 485 EXP will be supplied to OpenCM9.04 board or not.
WARNING:Check the pinout! The pinout of Dynamixel can differ from the pinout of connector manufacturer.
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www.bjrobot.com
第4页 共 10 页
4.Connecting OpenCM9.04
1.
Prepare OpenCM 485 EXP and OpenCM9.04 boards. Any version of
OpenCM9.04 is compatible. Solder the header onto the OpenCM9.04.
2.
3.
4.
OpenCM9.04 is mounted onto OpenCM 485 EXP as shown below.
5.
CAUTION : The orientation of the connection must be correct.
6.
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北京智能佳科技有限公司
www.bjrobot.com
第5页 共 10 页
7.
8.
Connect the USB cable onto OpenCM9.04 board.
9.
10.
11.
Connect Dynamixel and 12V SMPS adapter onto OpenCM 485 EXP board.
12.
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北京智能佳科技有限公司
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第6页 共 10 页
13.
5.Power Circuit Connection
A power circuit block diagram of the OpenCM 485 EXP and OpenCM9.04,
once mounted, is shown below.
OpenCM 485 EXP supplies 5V from OpenCM9.04 as default. JP1 can be
used to determine if VDD power from OpeCM 485 EXP board is supplied
to OpenCM9.04.
OpenCM 485 EXP Power Connection
OpenCM 485 EXP’s Dynamixel 485 bus operates as a Dynamixel bus using
OpenCM9.04’s USART3(Serial3).
NOTE : OpenCM9.04’s Dynamixel TTL BUS is connected to USART1(Serial1).
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第8页 共 10 页
6.
7.
OpenCM 485 EXP’s 485 Bus sends and receives communication packets
from OpenCM9.04’s Serial3(USART3).
Dynamixel Class variable MUST be set to 3 once it has been declared.
8.
Dynamixel Dxl(3); //Dynamixel on Serial3 (USART3). Needs to be set as 3 to used
USART3 on OpenCM 485 EXP. void setup() {
Dxl.begin(1); //1Mbps }
void loop() {
Dxl.writeWord(6,30,0);
Dxl.writeWord(2,30,0);
delay(1000);
Dxl.writeWord(6,30,1023);
Dxl.writeWord(2,30,4,095);
delay(1000);
}
9.
10.
Click on “Download” button indicated below to download the program.
11.
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