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Supported Baudrates for DYNAMIXEL

Baudrate(bps) CM-5 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04 OpenCR OpenRB-150
9600 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
57600 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
115200 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
1M ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
2M X X X ✓ X X X ✓ X
3M X X X ✓ X X X ✓ X
4M X X X X X X X ✓ X
4.5M X X X X X X X ✓ X

Compatibility Table

DYNAMIXEL

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR OpenRB-150
AX Series ✓ X X X X X ✓ ✓ X ✓ ✓ X(✓) X ✓ ✓
DX Series X X X X X X X X X ✓ ✓ X(✓) X ✓ X
RX Series X X X X X X X X X ✓ ✓ X(✓) X ✓ X
EX Series X X X X X X X X X ✓ ✓ X(✓) X ✓ X
MX Series(TTL) ✓ X X X X X ✓ ✓ X ✓ ✓ X(✓) X ✓ ✓
MX Series(RS485) X X X X X X X X X ✓ ✓ X(✓) X ✓ O(Comm Bridge)
XL-320 X X X X X X X X X X ✓ ✓(X) X X ✓
XL Series X X X X X X X X ✓ X X X(✓) X ✓ ✓
XC Series X X X X X X X X ✓ X X X(✓) X ✓ ✓
XM Series X X X X X X X X ✓ X X X(✓) X ✓ ✓
XH Series X X X X X X X X ✓ X X X(✓) X ✓ ✓
XD Series X X X X X X X X ✓ X X X(✓) X ✓ O(Comm Bridge)
XW Series X X X X X X X X ✓ X X X(✓) X ✓ O(Comm Bridge)
PRO Series X X X X X X X X X ✓ X X(✓) X ✓ O(Comm Bridge)

NOTE: OpenCM9.04 with OpenCM 485 EXP can use all types of DYNAMIXEL.

Parts

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
Bioloid Serial Cable ✓ X X X X X ✓ X X X X X X X
Mini USB X X X X X X X ✓ X X X X X X
Micro USB(B) X X X ✓ ✓ X X X ✓ X ✓ ✓ ✓ ✓
LN-101 X X ✓ ✓ ✓ ✓ X X ✓ ✓ ✓ ✓ ✓ ✓
IRSS-10 X X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
TS-10(Touch Sensor) X X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
DMS-80 (Distance Sensor) X X X X X X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
IR Array Sensor ✓ X X X X X ✓ ✓ X ✓ X ✓ X ✓
GS-12 (Gyro Sensor) X X X X X X ✓ ✓ X ✓ ✓ ✓ ✓ ✓
CS-10 (Color Sensor) X X X ✓ ✓ ✓ X ✓ ✓ X ✓ ✓ ✓ ✓
MGSS-10 (Magnetic Sensor) X X X ✓ ✓ ✓ X ✓ ✓ X ✓ ✓ ✓ ✓
PIR-10 (Motion Sensor) X X X ✓ ✓ ✓ ✓ ✓ ✓ X ✓ ✓ ✓ ✓
TPS-10 (Temperature Sensor) X X X ✓ ✓ ✓ ✓ ✓ ✓ X ✓ ✓ ✓ ✓
TMS-10 (Temperature and Moisture sensor) X X X ✓ ✓ ✓ X ✓ ✓ X ✓ ✓ ✓ ✓
AX-S1 (Integrated Sensor) ✓ X X X X X ✓ ✓ X ✓ X ✓ X ✓
SM-10 (Servo Motor) X X ✓ ✓ ✓ ✓ X ✓ ✓ X ✓ X ✓ ✓
GM-10A (Geared Motor) X X ✓ ✓ ✓ ✓ X X X X ✓ X ✓ ✓
High Speed Geared Motor X ✓ ✓ ✓ ✓ X X X X X ✓ X ✓ ✓
Low Speed Geared Motor X ✓ ✓ ✓ ✓ X X X X X ✓ X ✓ ✓
LM-10 (LED Module) X ✓ ✓ ✓ ✓ ✓ X ✓ ✓ X ✓ ✓ ✓ ✓
IR Sensor X X ✓ ✓ ✓ X ✓ ✓ ✓ ✓ X ✓ X ✓
ZIG-100 ✓ ✓ X X X X X X X X X X X X
ZIG-110A X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
BT-110A X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
BT-210 X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
BT-410 X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓
LB-04 Series (Li-ion Battery) X X X ✓ ✓ ✓ X X X X ✓ X ✓ X
11.1V LiPo X X X X X X ✓ ✓ ✓ ✓ X ✓ X ✓
9.6V NiMH ✓ X X X X X X X X X X X X X
OBB-10A X X ✓ X X X X X X X X X X X
ABB-030 X X X X X ✓ X X X X X X X X
LFU-10 X X X X X X ✓ ✓ ✓ ✓ X ✓ X ✓
FU-5 ✓ X X X X X X X X X X X X X
User Device X ✓ X ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓

1 IR Receiver with OpenCM 9.04 is not supported on R+Task

Software

R+ 1.0

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
R+ Task 1.0 ✓ X ✓ ✓ X ✓ ✓ ✓ X ✓ X ✓(X) X X
R+ Manager 1.0 ✓ X ✓ ✓ X ✓ ✓ ✓ X ✓ X ✓(X) X X
R+ Motion 1.0 ✓ X X ✓ X ✓ ✓ ✓ X ✓ X ✓(X) X X

NOTE:

  • R+ Manager 1.0 only supports a firmware update or restore of a controller, but it isn’t possible to read control table of a controller via R+ Manager 1.0.
  • Use R+ Manager 2.0 to read control table of a controller.
    • If a controller is not compatible with R+Manager 2.0, use R+Manager 1.0.

R+ 2.0

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
R+ Task 2.0 ✓ ✓ ✓ ✓ X ✓ ✓ ✓ X ✓ X ✓(X) X X
R+ Manager 2.0 ✓ X X ✓ ✓ ✓ ✓ ✓ X ✓ X ✓(X) X X
R+ Motion 2.0 ✓ X X ✓ X ✓ ✓ ✓ X ✓ X ✓(X) X X

R+ 3.0

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
R+ Task 3.0 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ X ✓(X) ✓ X

R+ Mobile

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
R+ m.Task ✓ ✓ ✓ ✓ X ✓ ✓ ✓ X ✓ X ✓(X) ✓ X
R+ m.Task 2.0 ✓ ✓ X ✓ X ✓ ✓ ✓ X X X ✓(X) ✓ X
[R+ m.Motion 2.0] ✓ X X X X ✓ ✓ ✓ X ✓ X ✓(X) X X
R+ m.Design ✓ X ✓ ✓ ✓ ✓ ✓ ✓ X X X ✓(X) X X

R+ Mobile (STEAM KIT)

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
R+ SMART
( I / II / III )		 X X X X X ✓ X X X X X X X X
[R+ Block] X ✓ X ✓ ✓ X X X X X X X ✓ X
R+ IoT X X X X X X X X X X X X ✓ X
R+ Play 700 X ✓ X X X X X X X X X X X X
ROBOTIS MINI X X X X X X X X X X X ✓(X) X X

etc

Model CM-5 CM-50 CM-100 CM-150 CM-151 CM-200 CM-510 CM-530 CM-550 CM-700 CM-900 OpenCM9.04
(+OpenCM 485 EXP)		 OpenCM7.0 OpenCR
R+ Scratch X ✓ X ✓ X X X X X X X X ✓ X
OpenCM IDE X X X X X X X X X X X ✓ X X
DYNAMIXEL SDK X X X X X X X X X X X ✓ X ✓
DYNAMIXEL Workbench X X X X X X X X X X X ✓ X ✓
DYNAMIXEL Wizard X X X X X X X X X X X X X X
DYNAMIXEL Wizard 2.0 X X X X X X X X X X X X X ✓
ROBOTIS Manipulator library X X X X X X X X X X X X X ✓
Embeded SDK(CM-510/530/700) X X X X X X ✓ ✓ X ✓ X X X X
Z Arduino IDE X X X X X X X X X X X ✓ X ✓
  • Users can build their own manipulator with ROBOTIS Manipulator library offerd by ROBOTIS.
  • Users can build there own firmware of CM-510/530/700 with Embeded SDK offerd by ROBOTIS.