Tuesday, May 14, 2013

Robotis CM-900 Dynamixel Controller (for Robotic)


Controller module based 32-bit ARM Cortex-M3. This module is open source, so that both the firmware, schematic or supporting the program can be downloaded at:
https://github.com/robotis-pandora/ROBOTIS_CM9_Series

On the CM-900 controller can be programmed using C language and using Arduino Style.
CM-900 is an embedded board based on STMicroelectronics’ STM32F103C8 Cortex-M3 MCU.

H/W Specification
  • CPU : STM32F103C8 (ARM Cortex-M3)
  • Op Voltage : 5V~24V( USB 5V, DXL 12V, XL-Series 7.4V)
  • I/O : GPIO 32
  • Timer : 8 ( 16bit )
  • Analog In(ADC) : 10 ( 12bit )
  • Flash : 64 Kbytes
  • SRAM : 20 Kbytes
  • Clock : 72Mhz
  • USB : 1 ( 2.0 FullSpeed )
  • CAN : 1
  • USART : 3
  • SPI : 2
  • I2C(TWI) : 2
  • Debug : JTAG & SWD
  • DMA : 7ch
  • 3 Pin TTL : 2
  • 4 Pin RS485 : 2
  • 3 Pin XL-Serise : 1
  • SIZE : 60mm X 54 mm X 1.6 mm