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Introduction

CM-550

Specifications

Item Specifications
Weight 58.8 [g]
MCU ARM Cortex-M4 (168 [MHz], 32 [Bit])
Operating Voltage Battery : 6.5 ~ 15 [V], Recommended 11.1 [V] (Li-PO 3cell)
SMPS : 6.5 ~ 15 [V], Recommended 12.0 [V]
Micro USB : 4.75 ~ 5.25 [V], Recommended 5.0 [V]
Current Consumption Standby : 50 [mA]
Port 1 ~ 2 I/O Max : 0.5 [A]
Port 3 ~ 5 I/O Max : 0.02 [A]
Total : 10 [A] (Fuse)
Operating Temperature -5 ~ 70 [°C]
Communication Module BLE Slave Module
Internal I/O Devices Buttons : 2 (MODE, START)
Mic (Sound Detection) : 1
Buzzer : 1
Voltage Sensor : 1
Gyro Accelerometer : 1
Temperature Sensor : 1
RGB LED : 3
External I/O Devices ROBOTIS 5 Pin Port : 5 (Servo Motor / IR Sensor / Temperature & Humidity Sensor : Use Port 1 or 2)
DYNAMIXEL Port X-series TTL (half-duplex asynchronous) 3-Pin connector: 6
DYNAMIXEL Protocol (Packet) Protocol 2.0

XL-320 is not compatible with CM-550.


DANGER
(Ignoring these warnings may cause serious injury or death)

  • Never place items containing water, flammables/open flames, or solvents near the product.
  • Never place fingers, arms, toes, and other body parts near product during operation.
  • Cease operation and remove power from the product if the product begins to emit strange odors, noises, or smoke.
  • Keep product out of reach of children.
  • Check input polarity before installing or energizing wiring or cables.


CAUTION
(Ignoring these warnings may cause mild injury or damage to the product)

  • Always comply with the product’s offical operating environment specifications including input voltage, current, and operating temperature.
  • Do not insert blades or other sharp objects during product operation.


ATTENTION
(Ignoring these warnings may cause minor injury or damage to the product)

  • Do not disassemble or modify the product.
  • Do not drop the product or apply strong impacts.
  • Do not connect or disconnect DYNAMIXEL cables while power is being supplied.

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.

CM-550 Control Table

Area Address Size[Byte] Data Name Access Default Value Range Unit Value Description
EEPROM 0 2 Model Number R 450 - - - Model Number
EEPROM 6 1 Version of Firmware R - 0 ~ 255 - - Firmware Version
EEPROM 7 1 ID R 200 - - - Controller ID
EEPROM 11 1 Bootloader Version R - 0 ~ 255 - - Bootloader Version
EEPROM 12 1 Baud Rate (DYNAMIXEL) RW 3 0 ~ 7 - 0 : 9600 bps
1 : 57600 bps
2 : 115200 bps
3 : 1 Mbps
4 : 2 Mbps
5 : 3 Mbps
6 : 4 Mbps
7 : 4.5 Mbps
 DYNAMIXEL Communication Baud Rate
Note that, If a baudrate of DYNAMIXEL is 57600 bps while CM550 is on boot, the baudrate of DYNAMIXEL will be automatically set to 1 M bps. Baud rates other than 57600 bps will stay on boot time.
EEPROM 13 1 Baud Rate (UART) RW 1 0 ~ 7 - See Address 12 Emebedded UART Comunication Baud Rate
EEPROM 15 1 Contorller Direction RW 0 0 ~ 1 - 0 : Vertical
1 : Horizontal		 Set the value (Vertical or Horizontal) by the direction of the controller
EEPROM 16 1 Temperature Limit RW 60 -20 ~ 100 °C - Set the value to limit temperature. In excessing this value, DYNAMIXEL connected with a controller will not operate.
RAM 20 1
Bypass Port		 R 0 0 ~ 2 - 0 : BLE
1 : UART
2 : USB
The communication port to bypass with DYNAMIXEL port.
RAM 21 1 Mode Number RW 2 0 ~ 4 - 0 : IDLE
1 : Task Play
2 : Manage
3 : Bootloader
4 : Reboot		 - Set IDLE (0), Task Play(1) or Manage(2) to change operating mode.
- Set Bootloader(3) to run a boot loader
- Use Reboot(4) to reboot a controller.
RAM 22 1 Dxl Power Switch RW 1 0 ~ 1 - 0 : False
1 : True
Power On (True) / Off (False) DYNAMIXEL. In detecting an error, it sets the value to ‘0’ from ‘1’ (1: Default)
RAM 23 2 Error Code R 0 0 ~ 65535 - - Error codes when a controller detects an error.
RAM 26 1 Start Button Status R 0 0 ~ 3 - 0 : None is pressed
1 : START button pressed
2: MODE button pressed
3. Both START and MODE buttons are pressed		 Button Status. In pressing either Start or Mode button, this value will be changed depending on what you press.
RAM 27 1 BLE Check R - 0 ~ 1 - 0 : False
1 : True		 0 is set when BLE module in a controller is missing or not operating.
RAM 28 1 Button Released Event R 1 0 ~ 1 - 0 : False
1 : True		 When Start button is released from holding down, it returns True, and returns False after controller reads the event.
RAM 29 2 Button Pressed ms R 1 0 ~ 65535 ms - The value will increase at ms unit in holding down a button.
RAM 31 1 Button Pressed Sec RW 1 0 ~ 255 Sec - The value will increase at sec unit in holding down a button.
RAM 35 1 Task Print Port RW 0 0 ~ 2 - 0 : BLE
1 : UART
2 : USB		 Select a port in order to monitor a serial output with R+ Task software.
RAM 36 1 App Port RW 0 0 ~ 1 - 0 : BLE
1 : UART
- Set BLE (0) to use an embedded Bluetooth module.
- Set UART (1) to use an external port supporting UART comunication
RAM 37 1 App Connected R 0 0 ~ 1 - 0 : False
1 : True		 App status check if a smart device is connected.
RAM 39 1 Num of Dxl R 0 0 ~ 255 - - - The number of connected DYNAMIXEL with a controller.
- Update the status of connected DYNAMIXELs using Scan DXL (Address 40)
RAM 40 1 Scan Dxl RW 0 0 ~ 1 - 0 : False
1 : True		 Search connected DYNAMIXELs via Protocol 1.0 / 2,0 and update the status of connected DYNAMIXELs.
RAM 41 1 Dxl Torque RW 0 0 ~ 3 - 0 : NONE
1 : OFF, Busy
2 : ON
3 : REBOOT		 Enable (or disable) a torque of connected DYNAMIXEL, or to reboot.
- Be sure to wait for few until the value is read and turned back to ‘0’.
RAM 43 1 Remote Port RW 0 0 ~ 2 - 0 : BLE
1 : UART
2 : USB		 Select a port for use of remote controller. (Default: BLE (0))
RAM 51 4 Print Number W 0 -32768 ~ 32767 - - 4 bytes signed value for serial monitor output without a newline character.
RAM 55 4 Print Number LF W 0 -32768 ~ 32767 - - 4 bytes signed value for serial monitor output with a newline character.
RAM 59 2 Transmitting Remocon Data RW 0 0 ~ 65535 - - Remote data to transmit to Remote Port (Address 43)
RAM 61 2 Received Remocon Data R 0 0 ~ 65535 - - Remote data received to Remote Port (Address 43)
RAM 63 1 Remocon Data Arrived R 0 0 ~ 1 - 0 : False
1 : True		 Check newly arrived remote data.
RAM 64 1 Motion Play Speed W 100 20 ~ 200 - - Adjust motion speed from 20 to 100 %
RAM 66 2 Motion Index Number RW 0 0 ~ 65535 - 0 : Motion stop using an Exit Motion unit.
1~65532 : Motion play with a selected page.
65533 : Immediate Motion stop
65534 : Motion stop at the current Key Frame
65535 : Motion stop at the current unit.		 Play a specific motion or to stop a motion currently played.
RAM 68 1 Motion Play Status R 0 0 ~ 1 - 0 : False
1 : True		 Check Motion Play status
RAM 69 2 Motion Next Page RW 0 0 ~ 65535 - 0~65534 : Page to move next.
65535 : None page.		 Create flexible and smooth motion profile, which keep a motion played without a motion stop, by reading a next page to expect the next motion movement.
RAM 71 2 Motion Count R - 0 ~ 1023 - - The number of motion page saved in FLASH memory.
RAM 73 1 128 ms Timer Value RW 0 0 ~ 255 128 ms - 128 ms countdown timer
RAM 74 2 1 ms Timer Value RW 0 0 ~ 65535 ms - 1 ms countdown timer
RAM 77 1 Random Number RW 0 0 ~ 255 - - Generate random number between 0 to a specific number
RAM 84 1 Buzzer Index RW 0 0 ~ 255 - - - In melody mode, 0 to 25 melody will be played
- In scale mode, 0 to 51 scale will be played
RAM 85 1 Buzzer Time RW 0 0 ~ 255 0.1 sec - - 0 to 50: Scale Mode. Play scale for 0.3 to 5.0 sec; Unit : 0.1 s
- 50 to 254: Scale Mode. Play scale for 5 sec.
- 255 : Enter Melody Mode.
RAM 86 1 Sound Detected Count RW 0 0 ~ 255 - - Detect sound from mic and count the number of detected sound.
RAM 87 1 Sound Detecting Count R 0 0 ~ 255 - - Detect sound in real time from mic.
RAM 88 1 Low Battery Sound Enable RW 1 0 ~ 1 - 0 : False
1 : True		 Enable / disable a low battery alarm.
RAM 89 1 Voltage R - 0 ~ 255 0.1 V   Read input Voltage to a controller
RAM 90 1 Temperature R - -20 ~ 100 °C   Read a controller’s temperature
RAM 91 1 Red LED RW 0 0 ~ 1 - 0 : Off
1 : On		 On/Off Controller’s Aux Red
RAM 92 1 Green LED RW 0 0 ~ 1 - 0 : Off
1 : On		 On/Off Controller’s Aux Green LED
RAM 93 1 Blue LED RW 0 0 ~ 1 - 0 : Off
1 : On		 On/Off Controller’s Aux Blue LED
RAM 102 2 Roll R 0 -18000 ~ 18000 0.01 degree - IMU Roll axis data
RAM 104 2 Pitch R 0 -9000 ~ 9000 0.01 degree - IMU Pitch axis data
RAM 106 2 Yaw R 0 -18000 ~18000 0.01 degree - IMU Yaw axis data
RAM 108 2 Gyro X R 0 -32768 ~ 32767 0.01 degree/s - IMU Gyro X axis data
RAM 110 2 Gyro Y R 0 -32768 ~ 32767 0.01 degree/s - IMU Gyro Y axis data
RAM 112 2 Gyro Z R 0 -32768 ~ 32767 0.01 degree/s - IMU Gyro Z axis data
RAM 114 2 Acc X R 0 -32768 ~ 32767 0.01 G - IMU Accel X axis data
RAM 116 2 Acc Y R 0 -32768 ~ 32767 0.01 G - IMU Accel Y axis data
RAM 118 2 Acc Z R 0 -32768 ~ 32767 0.01 G - IMU Accel Z axis data
RAM 120 4 micros R 0 -2147483648 ~ 2147483647 us - 1 us counter inside the controller
RAM 124 4 millis R 0 -2147483648 ~ 2147483647 ms - 1 ms counter inside the controller
EEPROM 139 1 BLE Signal Power RW 2 0 ~ 9 - 0: unknown (Fail to read BLE Signal Power Data)
1: +4dB
2: 0dB
3: -4dB
4: -8dB
5: -12dB
6: -16dB
7: -20dB
8: -30dB
9: -40dB		 Embeded BLE’s signal strenth.
EEPROM 144 12 BLE MAC Address R 0 - - - Shows to BLE Module’s MAC address inside the controller
RAM 156 1 USB OTG Connected R 0 0 ~ 1 - - - 0: USB OTG cable is disconnected.
- 1: USB OTG cable is connected.
RAM 157 1 Rpi Connected R 0 0 ~ 1 - - - 0: RPI board is disconnected.
- 2: RPI board is connected
RAM 164 1 Rpi IP 1 R 0 0 ~ 255 - - The first IP field of connected RPI board
RAM 165 1 Rpi IP 2 R 0 0 ~ 255 - - The second IP field of connected RPI board
RAM 166 1 Rpi IP 3 R 0 0 ~ 255 - - The third IP field of connected RPI board
RAM 167 1 Rpi IP 4 R 0 0 ~ 255 - - The fourth IP field of connected RPI board
RAM 199 1 Offset Control RW 0 0 ~ 3 - 0 : None
1 : Read
2 : Write
3 : Clear		 Save (or read) motion offset data to FLASH memory. Using Clear (3), both saved Motion Offset and Joint Offset will be cleared to 0.
RAM 390 1 Module Category 1 RW 0 0 ~ 18 - 0 : None
1 : Wheel Velocity
2 : Servo Position
3 : Servo Speed
4 : IR Sensor
5 : DMS
6 : Touch Sensor
7 : LED Module
8 : User Device
9 : Temperature Sensor
11 : Magnetic Sensor
12 : Motion Sensor
13 : Color Sensor
14 : Moisture Sensor
15 : Temperature(Moisture)
16 : Brightness Sensor
17 : RED Brightness of RED/BLUE LED Board
18 : BLUE Brightness of RED/BLUE LED Board		 - Used to manually set a desired mode for peripherals in use of 5 pin ports.
- In setting the value ‘0: None’ and reading data from the OLLO ports, the value will be automatically set depending on the feature of the used address with the ports.
RAM 392 1 Module Category 2 RW 0 0 ~ 18 - See Address 390 See Address 390
RAM 394 1 Module Category 3 RW 0 0 ~ 16 - 0 : None
5 : DMS
6 : Touch Sensor
7 : LED Module
8 : User Device
9 : Temperature Sensor
11 : Magnetic Sensor
12 : Motion Sensor
13 : Color Sensor
16 : Brightness Sensor		 See Address 390
RAM 396 1 Module Category 4 RW 0 0 ~ 16 - See Address 394 See Address 390
RAM 398 1 Module Category 5 RW 0 0 ~ 16 - See Address 394 See Address 390
RAM 400 2 Port 1 Wheel Velocity RW 0 0 ~ 2047 - CCW : 0~1023
CW : 1024~2047		 Set to DC motor mode and to adjust PWM output to control the velocity of a motor.
RAM 402 2 Port 2 Wheel Velocity RW 0 0 ~ 2047 -   See Address 400
RAM 404 2 Port 1 Servo Position RW 0 0 ~ 1023 - 0~1023 - Set to Servo mode and to control the position of the motor horn.
- 0–300 ° Only
- The center of the horn position is 512.
RAM 406 2 Port 2 Servo Position RW 0 0 ~ 1023 -   See Address 404
RAM 408 2 Port 1 Servo Speed RW 0 0 ~ 1023 - CCW : 0~1023
CW : 1024~2047		 Configure the moving velocity in the Servo mode.
RAM 410 2 Port 2 Servo Speed RW 0 0 ~ 1023 -   See Address 408
RAM 415 2 Port 1 IR Sensor R 0 0 ~ 1023 - - Read value from an IR sensor
RAM 417 2 Port 2 IR Sensor R 0 0 ~ 1023 - - See Address 415
RAM 419 2 Port 1 DMS Sensor R 0 0 ~ 1023 - - Read value from an DMS.
RAM 421 2 Port 2 DMS Sensor R 0 0 ~ 1023 - - See Address 419
RAM 423 2 Port 3 DMS Sensor R 0 0 ~ 1023 - - See Address 419
RAM 425 2 Port 4 DMS Sensor R 0 0 ~ 1023 - - See Address 419
RAM 427 2 Port 5 DMS Sensor R 0 0 ~ 1023 - - See Address 419
RAM 429 1 Port 1 Touch Sensor R 0 0 ~ 1 - 0 : False
1 : True		 Read value from a touch sensor.
RAM 430 1 Port 2 Touch Sensor R 0 0 ~ 1 - See Address 429 See Address 429
RAM 431 1 Port 3 Touch Sensor R 0 0 ~ 1 - See Address 429 See Address 429
RAM 432 1 Port 4 Touch Sensor R 0 0 ~ 1 - See Address 429 See Address 429
RAM 433 1 Port 5 Touch Sensor R 0 0 ~ 1 - See Address 429 See Address 429
RAM 434 1 Port 1 LED Module RW 0 0 ~ 3 - 0 : Both OFF
1 : Left OFF, Right ON
2 : Left ON, Right OFF
3 : Both ON		 Control a LED module
RAM 435 1 Port 2 LED Module RW 0 0 ~ 3 - See Address 434 See Address 434
RAM 436 1 Port 3 LED Module RW 0 0 ~ 3 - See Address 434 See Address 434
RAM 437 1 Port 4 LED Module RW 0 0 ~ 3 - See Address 434 See Address 434
RAM 438 1 Port 5 LED Module RW 0 0 ~ 3 - See Address 434 See Address 434
RAM 439 2 Port 1 User Device RW 0 0 ~ 1023 - OUTPUT
0 : Left 5V, Right 5V
1 : Left 5V, Right 0V
2 : Left 0V, Right 5V
3 : Left 0V, Right 0V

INPUT
0 : 0V
1023 : 5V		 - OUTPUT: Control Two output pins.
- INPUT: Analog Input.
RAM 441 2 Port 2 User Device RW 0 0 ~ 1023 - See Address 439 See Address 439
RAM 443 2 Port 3 User Device RW 0 0 ~ 1023 - See Address 439 See Address 439
RAM 445 2 Port 4 User Device RW 0 0 ~ 1023 - See Address 439 See Address 439
RAM 447 2 Port 5 User Device RW 0 0 ~ 1023 - See Address 439 See Address 439
RAM 449 1 Port 1 Temperature Sensor R 0 -20 ~ 120 °C - Read value from a temperature sensor.
RAM 450 1 Port 2 Temperature Sensor R 0 -20 ~ 120 °C - See Address 449
RAM 451 1 Port 3 Temperature Sensor R 0 -20 ~ 120 °C - See Address 449
RAM 452 1 Port 4 Temperature Sensor R 0 -20 ~ 120 °C - See Address 449
RAM 453 1 Port 5 Temperature Sensor R 0 -20 ~ 120 °C - See Address 449
RAM 459 1 Port 1 Magnet Sensor R 0 0 ~ 1 - 0 : False
1 : True		 Read value from a magnetic sensor
RAM 460 1 Port 2 Magnet Sensor R 0 0 ~ 1 - See Address 459 See Address 459
RAM 461 1 Port 3 Magnet Sensor R 0 0 ~ 1 - See Address 459 See Address 459
RAM 462 1 Port 4 Magnet Sensor R 0 0 ~ 1 - See Address 459 See Address 459
RAM 463 1 Port 5 Magnet Sensor R 0 0 ~ 1 - See Address 459 See Address 459
RAM 464 1 Port 1 Motion Sensor R 0 0 ~ 1 - 0 : False
1 : True		 Read value from a motion sensor (PIR)
RAM 465 1 Port 2 Motion Sensor R 0 0 ~ 1 - See Address 464 See Address 464
RAM 466 1 Port 3 Motion Sensor R 0 0 ~ 1 - See Address 464 See Address 464
RAM 467 1 Port 4 Motion Sensor R 0 0 ~ 1 - See Address 464 See Address 464
RAM 468 1 Port 5 Motion Sensor R 0 0 ~ 1 - See Address 464 See Address 464
RAM 469 1 Port 1 Color Sensor R 0 0 ~ 6 - 0 : Unknown
1 : White
2 : Black
3 : Red
4 : Green
5 : Blue
6 : Yellow		 Read value from a color sensor
RAM 470 1 Port 2 Color Sensor R 0 0 ~ 6 - See Address 469 See Address 469
RAM 471 1 Port 3 Color Sensor R 0 0 ~ 6 - See Address 469 See Address 469
RAM 472 1 Port 4 Color Sensor R 0 0 ~ 6 - See Address 469 See Address 469
RAM 473 1 Port 5 Color Sensor R 0 0 ~ 6 - See Address 469 See Address 469
RAM 474 1 Port 1 Moisture Sensor R 0 0 ~ 100 Relative Humidity - Read humidity value from a humidity and temperature sensor. 100 will be fully immersed in water.
RAM 475 1 Port 2 Moisture Sensor R 0 0 ~ 100 Relative Humidity - See Address 474
RAM 479 1 Port 1 Moisture Temperature R 0 -20 ~ 105 °C - Read a temperature value from a humidity and temperature sensor.
RAM 480 1 Port 2 Moisture Temperature R 0 -20 ~ 105 °C - See Address 479
RAM 484 2 Port 1 Brightness R 0 0 ~ 1023 - - Read a brightness data from Cds (Photo Resister)
RAM 486 2 Port 2 Brightness R 0 0 ~ 1023 - - See Address 484
RAM 488 2 Port 3 Brightness R 0 0 ~ 1023 - - See Address 484
RAM 490 2 Port 4 Brightness R 0 0 ~ 1023 - - See Address 484
RAM 492 2 Port 5 Brightness R 0 0 ~ 1023 - - See Address 484
RAM 494 1 Port 1 RED Brightness RW 0 0 ~ 100 % - Adjust the level of the brightness in the red LED for #1 port (5 Pin Red / Blue LED module)
RAM 495 1 Port 2 RED Brightness RW 0 0 ~ 100 % - Adjust the level of the brightness in the red LED for #2 port (5 Pin Red / Blue LED module)
RAM 499 1 Port 1 BLUE Brightness RW 0 0 ~ 100 % - Adjust the level of the brightness in the blue LED for #1 port (5 Pin Red / Blue LED module)
RAM 500 1 Port 2 BLUE Brightness RW 0 0 ~ 100 % - Adjust the level of the brightness in the red LED for #2 port (5 Pin Red / Blue LED module)

Layout

CM-550 Layout

CAUTION : The USB port on CM-550 is designed to be connected with the PC. Please do NOT connect other USB devices, or it may cause damage to the controller.

Battery Socket

The pinout of the battery socket is shown below.

ROBOTIS 5 Pin Ports

The pinout of the ROBOTIS 5 pin ports are shown below.

  1. OUT1 : 3.3 [V] Digital Output
    • Port 1, 2(Yellow) maximum allowed current : < 0.5 [A]
    • Port 3, 4, 5(Red) maximum allowed current : < 0.02 [A] (SM-10, IRSS-10, TMS-10 not supported)
  2. VCC : Power supply (5 [V])
  3. ADC : 3.3 [V] level Analog input
  4. GND : Ground (0 [V])
  5. OUT2 : 3.3 [V] Digital Output
    • Port 1, 2(Yellow) maximum allowed current : < 0.5 [A]
    • Port 3, 4, 5(Red) maximum allowed current : < 0.02 [A] (SM-10, IRSS-10, TMS-10 not supported)

Communication Port

The UART serial port supports wired or wireless communication devices. The pinout of the port is shown below.

  1. GND : Ground (0 [V])
  2. VCC : Power Supply (2.7 ~ 3.6 [V])
  3. RXD : Receive Data
  4. TXD : Transmit Data

DYNAMIXEL Port

The pinout of DYNAMIXEL TTL connector is shown below.

Item TTL
Pinout 1 GND
2 VDD
3 DATA
Diagram
Housing
JST EHR-03
PCB Header
JST B3B-EH-A
Crimp Terminal JST SEH-001T-P0.6
Wire Gauge for DYNAMIXEL 21 AWG

Communication Circuit

To control the DYNAMIXEL actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below.

TTL Communication

NOTE: Above circuit is designed for 5V or 5V tolerant MCU. Otherwise, use a Level Shifter to match the voltage of MCU.

  1. GND : Ground (0 [V])
  2. VDD : Power Supply (Same as Battery Level)
  3. DATA : Data tranceiving pin

WARNING: To enhance user safety and to prevent proprietary risk or damage, be sure to check the pinout installed on DYNAMIXEL and the board. The Pinout of DYNAMIXEL may differ depending on a manufacturer of connector.

CAUTION : XL-320 is not compatible with CM-550.

Connecting Power

In order to supply power to CM-550, either connect the battery to BAT battery socket or plug the 12V SMPS DC barrel into 12VDC jack.
Set the POWER switch to ON and the Status LED will be turned on.

NOTE : If 12VDC is connected to the power source, the CM-550 controller will cut the BAT input.

How to Operate

Power Up

Setting the POWER switch to ON will turn on the CM-550 controller.

If the controller does not turn on, the battery might have been depleted. Please refer to Charging Battery section to charge the battery, or use 12V SMPS power supply to operate the robot.

Start

In order to operate the robot, press the MODE button until the button flashes green. While the MODE LED is flickering in green, press the START button to run the downloaded task code.

If the MODE LED stops flickering after pressing the START button, task is running normally.

Quit

In order to stop running the task code and exit to standby mode, press the MODE button while task is running.

Operating Mode

The MODE button flickers in Standby Mode. While the MODE LED is flickering, press the START button to enter the mode.
Press the MODE button again to exit to Standby Mode.

MANAGE

CAUTION : XL-320 is not compatible with CM-550.

PLAY

BOOT LOADER

Firmware Recovery

In case of unexpected firmware malfunction or incomplete task code download that interferes normal operation, CM-550 can be recovered with R+ Manager 2.0 via Firmware Recovery.
It is strongly recommended to use USB port for the firmware recovery.

Compatible Software

R+ Manager 2.0

RoboPlus Manager 2.0 is able to connect to CM-550 so that supported peripheral devices such as X series DYNAMIXEL, Touch Sensor, LED Module, IR Sensor and etc.

R+ Task 3.0

R+ Task 3.0 is an integrated software tool that combines R+ Task 2.0 and R+ Motion 2.0.
Task codes and Motions can be created and modified with R+ Task 3.0.

Connect to PC

There are three available options to connect PC and CM-550.

  1. Use 5pin micro USB cable to connect the PC and CM-550.
  2. Use BT-410 Dongle to pair the PC and CM-550 wirelessly.
  3. Use LN-101 to connect the PC and CM-550.

Connect to Smart Device

CM-550 includes BLE bluetooth slave module.
Smart devices or PC with BT-410 Dongle can be paired with CM-550 wirelessly.

  1. Turn on the CM-550 controller.

  2. Launch the smart device app and select the bluetooth icon on the top right corner.

    • In case of R+ ENGINEER

    • In case of R+ Task 3.0

  3. Find the address on the CM-550 controller.

  4. Enter the last two characters of CM-550 BLE address in the left box and press Search icon.

    • In case of R+ ENGINEER

    • In case of R+ Task 3.0


  5. Select the CM-550 BLE address from the search list(R+ ENGINEER).

Charging Battery

CAUTION

  • The provided battery must be charged with the provided charger(LBC-10) in the kit.
  • Please power the charger before connecting the battery.
  • Please fully charge the battery prior to first use.

  1. Get the rechargeable battery in the kit.

  2. Connect the battery to the charger as shown below.

  3. When fully charged, the LED will emit a solid green light.

  4. The robot and controller can also be powered by the SMPS without the battery.

  5. The battery has separate connectors for the charger and the robot. Please disconnect the Robot Connector from the robot when charging the battery.

Battery Level Check

Current battery life can be verified by the color of the LED located on the CM-550.

NOTE : The Power LED will blink when Bluetooth connection is disconnected.

CAUTION : Please disconnect the battery from the charger when charging is completed. Please do not charge the battery while operating the robot.

Fuse Replacement

The fuse in CM-550 protects hardware from unexpected excessive current.
If CM-550 can be turned on with the SMPS, but not with the battery, please check the fuse and replace it if necessary.

DANGER : Disconnect any power sources(SMPS, battery, USB) from CM-550 before replacing the fuse.

Disconnect power source from CM-550 and replace the fuse on the bottom of CM-550.