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Introduction

CM-151

NOTE: R+ Motion does NOT support the CM-151. See Controller Compatibility for more details.

Specifications

Item Description
Weight 19.5g
Size 42mm x 42mm x 18mm
Voltage Supply Range : 3.2V ~ 4.2V
Recommended : 3.7V (Li-ion Battery x1)
Current Consumption Standby(45mA)
Max(140mA)
Operation Temperature -5°C ~ 70°C
Wireless Communication Bluetooth®5 1Mbps Bluetooth® low energy mode
Peripheral role (No BR/EDR)
Internal I/O components IR sensor(measure distance) x 3
Mic(Sound sensor) x 1
Buzzer x 1
AUX LED x 1 (GREEN)
External I/O components 4-pin UART communication x 1
Micro USB port (connect to PC) x 1
Motor potrs (for reduction motor) x 2
Multi-usage port(sensor and outputs) x 2


DANGER
(May cause serious injury or death)

  • Never place items containing water, flammables, and solvents near product.
  • Never place fingers, arms, toes, and other body parts near product during operation.
  • Cut power off if product emits strange odors or smoke.
  • Keep product out of reach of children.
  • Check the power’s polarity before wiring.


CAUTION
(May cause injury or damage to product)

  • Comply with the operating environment such as voltage and temperature.
  • Do not insert sharp blades nor pins during product operation.


ATTENTION
(May cause injury or damage to product)

  • Do not disassemble or modify product.
  • Do not drop or apply strong shock to product.

Control Table

Control Table consists of data regarding the current status and operation of controller. The user can control controller by changing data of Control Table via Instruction packet.

EEPROM Area

Address Size Name Description Access Init Value
0 2 Model Number Model Number R 460
6 1 Firmware Version Firmware Version R -
7 1 ID Controller ID RW 200
8 1 Baud Rate Communication Baud Rate R 1
11 1 Bootloader Version Bootloader Version R 0

RAM Area

Address Size Name Description Access Init Value
21 1 Mode Number Operation Mode RW -
25 1 Press Counter Counts Start Button Press R -
36 1 IR Communication Channel IR Receiver Channel Number RW 1
71 2 Millisecond Delay 1ms unit Delay RW 0
73 1 128ms Timer Value 128ms Timer Counter RW 0
74 2 1ms Timer Value 1ms Timer Counter RW 0
76 1 Power Save Timer Value Power Save Timer Counter RW 0
77 1 Random Number Creating Random Number RW -
79 1 Aux LED (Green) Green LED Status RW 0
82 1 Motion LED Motion LED Status RW 0
84 1 Buzzer Index Buzzer Melody Frequency RW 0
85 1 Buzzer Time Buzzer Play Time RW 0
86 1 Sound Detected Count Final Count for Detected Sound R 0
87 1 Sound Detecting Count Current Count for Detected Sound R 0
91 2 Internal Right IR Sensor Value Sensor Value of Right IR R -
93 2 Internal Left IR Sensor Value Sensor Value of Left IR R -
95 2 Internal Center IR Sensor Value Sensor Value of Center IR R -
128 1 Port 3 Servo Mode Servo Motor on Port 3 RW -
129 1 Port 4 Servo Mode Servo Motor on Port 4 RW -
136 2 Port 3 Motor Speed Speed of the Motor on Port 3 RW -
138 2 Port 4 Motor Speed Speed of the Motor on Port 4 RW -
152 2 Port 1 Motor Speed Speed of the Motor on Port 1 RW -
154 2 Port 2 Motor Speed Speed of the Motor on Port 2 RW -
156 2 Port 3 Servo Position Position of the Motor on Port 3 RW -
158 2 Port 4 Servo Position Position of the Motor on Port 4 RW -
172 2 Port 3 IR Sensor Value IR Sensor Value on Port 3 R -
174 2 Port 4 IR Sensor Value IR Sensor Value on Port 4 R -
204 1 Port 3 Touch Sensor Value Touch Sensor Value on Port 3 R -
205 1 Port 4 Touch Sensor Value Touch Sensor Value on Port 4 R -
212 1 Port 3 LED Module Value Port 3 LED Module Control Value RW 0
213 1 Port 4 LED Module Value Port 4 LED Module Control Value RW 0
220 2 Port 3 User Device Value User Device Value on Port 3 RW 0
222 2 Port 4 User Device Value User Device Value on Port 4 RW 0
236 1 Port 3 Temperature Sensor Value Temperature Sensor Value on Port 3 R -
237 1 Port 4 Temperature Sensor Value Temperature Sensor Value on Port 4 R -
244 1 Port 3 Ultrasonic Sensor Value Ultrasonic Sensor Value on Port 3 R -
245 1 Port 4 Ultrasonic Sensor Value Ultrasonic Sensor Value on Port 4 R -
252 1 Port 3 Magnetic Sensor Value Magnetic Sensor Value on Port 3 R -
253 1 Port 4 Magnetic Sensor Value Magnetic Sensor Value on Port 4 R -
260 1 Port 3 Motion Sensor Value Motion Sensor Value on Port 3 R -
261 1 Port 4 Motion Sensor Value Motion Sensor Value on Port 4 R -
268 1 Port 3 Color Sensor Value Color Sensor Value on Port 3 R -
269 1 Port 4 Color Sensor Value Color Sensor Value on Port 4 R -
276 1 Port 3 Hydro-Thermo Sensor Humidity Value Humidity Value on Port 3 R -
277 1 Port 4 Hydro-Thermo Sensor Humidity Value Humidity Value on Port 4 R -
284 1 Port 3 Hydro-Thermo Sensor Temperature Value Temperature Value on Port 3 R -
285 1 Port 4 Hydro-Thermo Sensor Temperature Value Temperature Value on Port 4 R -
292 2 Port 3 Brightness Sensor Value Brightness Sensor Value on Port 3 R -
294 2 Port 4 Brightness Sensor Value Brightness Sensor Value on Port 4 R -

NOTE : Some Addresses of the Control Table can be tested with R+ Manager 2.0.

Layout

Connecting Power

How to Operate

Connect to PC (Micro USB)

Wireless Communication

References

Certifications

Please inquire us for information regarding unlisted certifications.

FCC

Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

WARNING
Any changes or modifications not expressly approved by the manufacturer could void the user’s authority to operate the equipment.