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The OpenCM9.04-C is the same as the OpenCM9.04-B except for the two TTL connectors (used for the AX series) has been replaced by two XL-Type TTL connectors (used for the XL-320).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 ARC. This controller is also used in the Robotis Bioloid Mini that can be controlled by ARC 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 ARC using the Dynamixel plugin. For AX & MX series molex connectors, the OpenCM Expansion Board is needed