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  • OpenCM9.04 is an open-source controller that runs under 32bit ARM Cortex-M3.
  • All hardware and software are disclosed.
  • All Dynamixels can be controlled when using the accessory set of 485 expansion board.
  • Uses USB Cable (Micro-B) to download programs onto the board.
  • JTAG / SWD terminal can be used to run commercial developmental programs.

Various programming tools are optional.

  •  ROBOTIS integrated programming software, RoboPlus
  • ROBOTIS development tool, OpenCM IDE
  • Open Source development tool, Arduino IDE

 Package Components

OpenCM9.04-C 1
1x20 PIN Header Socket 2
1x20 BOXHeader Socket 2
Micro USB Cable 1 1
Instruction Manual 1

H/W Specifications

CPU STM32F103CB (ARM Cortex-M3)
Operation Voltage 5V ~ 16V
Recommended Voltage

5V for USB

7.4V for DYNAMIXEL XL Series (LB-040 3.7V x 2)

(485 Expansion Board recommended to control DYNAMIXELs requiring 12V or higher)

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)
I2C(TWI) 2
Debug JTAG & SWD
TTL port (3Pin) 4 (XL-320 exclusive)
External Sensor(5 Pin) 4 (ROBOTIS Sensor can be used)
Dimensions 27 mm X 66.5 mm

Parts Name



Compatible Products 

  • DYNAMIXEL : XL-320
  • Users must attach connectors.
  • All DYNAMIXEL products can be used when OpenCM485 Expansion Board is used.
  • Wireless Communication : ZIG-110A, BT-110A, BT-210,BT-410
  • Infrared receiver OIR-10 (Not available when using RoboPlus firmware)
  • External Sensor : ROBOTIS Sensors


The OpenCM 485 Expansion Board, which supports TTL and RS-485, can be used to control all types of

DYNAMIXELs, such as AX, MX, X and PRO Series.

When using the OpenCM9.04-C to control the DYNAMIXEL, a separate power supply must be supplied to the DYNAMIXEL.

RoboPlus can be used when the board is connected to the PC via USB Downloader LN-101 or BT-210.

(PC must have Bluetooth device for Bluetooth connection)

ROBOTIS OpenCM IDE can be used only via Micro 5PIN USB Cable.

The RoboPlus and ROBOTIS OpenCM IDE CANNOT be used simultaneously.

The firmware must be changed depending on the software to be used.


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