Robotis OpenCM 9.04
The OpenCM9.04-C is the same as the OpenCM9.04-B except for the two TTL connectors (used for the AX series) has been replaced by two XL-Type TTL connectors (used for the XL-320). Both versions C and B are compatible with this firmware to connect with EZ-Builder. This controller is also used in the Robotis Bioloid Mini that can be controlled by EZ-Builder with these firmwares.
OpenCM9.04 is an open-source controller that runs on a 32bit ARM Cortex-M3. The 3-Pin connector(XL-type) is used to control DYNAMIXEL XL-320 with TTL communicatio in EZ-Builder using the Dynamixel plugin. For AX & MX series molex connectors, the OpenCM Expansion Board is needed