
OpenCM 9.04 by Robotis
Download Firmware
The OpenCM9.04-C is the same as the OpenCM9.04-B except that the two TTL connectors (used for the AX series) have been replaced by two XL-Type TTL connectors (used for the XL-320).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 ARC. This controller is also used in the Robotis Bioloid Mini that can be controlled by ARC with these firmware.
Controller Specs
OpenCM9.04 is an open-source controller that runs on a 32bit ARM Cortex-M3. The 3-Pin connector(XL-type) controls DYNAMIXEL XL-320 with TTL communication in ARC using the Dynamixel plugin. For AX & MX series Molex connectors, the OpenCM Expansion Board is needed
Robotis Dynamixel Robot Skill
The chances are that you're using this OpenCM 9.04 board with Robotis dynamixel servos. If that is the case, the Robotis Open CM9.04 controller can support servos connected directly to itself or through the expansion board. Using only the controller, UART #0 is used in ARC. If using the expansion board, UART #2 is used in ARC.
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I am getting an error message when I try to upload the firmware to my OpenCM9. I have followed the steps in the video successfully up to that point. I am using Parallels VM Windows 10 on a MacBook Pro. This is the message:
Arduino: 1.8.12 (Windows 10), Board: "OpenCM9.04 Board, OpenCM Bootloader"
Sketch uses 50080 bytes (42%) of program storage space. Maximum is 116736 bytes.
Global variables use 11160 bytes of dynamic memory.
C:\Users\clank\AppData\Local\Arduino15\packages\OpenCM904\tools\opencm_tools\0.0.2/win/opencm9.04_ld.exe COM10 57600 C:\Users\clank\AppData\Local\Temp\arduino_build_186828/EZ-OpenCM9.ino.bin 1 opencm
An error occurred while uploading the sketch
Any suggestions? I appreciate any help.
I'm super surprised the open cm usb won't work with the parallels. Can you run the arduino ide to program the open cm in mac os?
Unfortunately I am now having trouble with the final step using the Dynamixel plugin. It shows a successful install and the option is available to add when I am in ARC. I get the following error message.
Screen Shot Error Message.pdf
(Hopefully you can open the file.). It sounds like it is looking for ARC.DLL... I removed the plugin and reinstalled but that did not fix it.
I will continue to look for previous discussions on the topic, but I am hoping you have an idea on the solution. Feel free to redirect me if needed.
ARC is being deprecated and will no longer exist in a week or two. See details of ARC here: https://synthiam.com/Products/Releases/ARC-Beta-2020-03-11-00-19052
What is the reason for not using the open cm directly with the ax12 servos? (Removing the expansion board from the picture)
PS, you will notice robotis makes great servos, but they severely lack documentation and modular implementation. Getting stuff to work with their controllers is mostly luck.
The good news is that my IoTiny is on the way. I may also splurge for my birthday and get JD and the smaller rover. I am turning 60 after all. LOL. :-)
Hope all is well. My PincherArm with Dynamixel (from Trossen) is working now with the Open CM thanks to all of your help. I have been working with the Auto Position control and had a couple of questions. I have reviewed the manual and the tutorials. First - the servo at the base of the arm that rotates the arm left and right does not move with the controls I have tried (Horizontal, Vertical and Auto.). It is connected and getting enough power - and you can ping it. All of the other joints work. Do you think that it could be the weight of the arm - maybe a torque strength issue? The servo does lie flat, but I wouldn't think that was a problem. (These are AX12As). It works with the other controllers and software so I think that the build is correct.
My other question is the speed of the servos. I set the Action speed as slow as it can go and testing each frame it is slower - but when I save and exit and then use the execute button it is very fast - which throws the weight of the arm forward.
All in all though...it is pretty cool so far....I am building a small robot to play with the IoTiny.
One more question - is there a way to set the movement limits on servos for the Auto Position Control?
Thanks again for your help. Vicki