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NOTE: The OpenCM 485 EXP e-Manual in Japanese (日本語) is available for the Japanese.

OpenCM 485 Expansion Board

Introduction

Specifications

Item	Description
Input voltage	5 ~ 30V
Power	SMPS, LiPo, DXL PRO 24V
Power Switch	1
DYNAMIXEL Port	4Pin x 5, 3Pin x 5
Button	2
LED	5
Size	68 mm X 66.5 mm
Weight	32g
Serial3 TX	Header Pin #24
Serial3 RX	Header Pin #25
Direction Control	Header Pin #22

Layout

1. SMPS DC Connector (2.5mm ID / 5.5mm OD, Center Positive) : For using SMPS DC Adapter to supply power to OpenCM 485 EXP board.
2. DXL Pro Power Connector : Power connector for DYNAMIXEL Pro (24V).
3. Li-Po battery Connector : Connector for 11.1V Li-Po battery(LBS-10).
4. DYNAMIXEL TTL 3 -Pin Bus : Used to connect 3-Pin Cables(DYNAMIXEL TTL Bus) and for daisy chaining DYNAMIXEL’s.
5. User Button : Function of these buttons can be assigned by the user.
6. User LED : LED that can be controlled by the user.
7. I/O header : Header pins used to mount OpenCM9.04(2.54mm pitch).
8. DYNAMIXEL 485 4-Pin Bus : Used to connect 4-Pin Cables(DYNAMIXEL TTL Bus) and for daisy chaining DYNAMIXEL’s.
9. Power Switch : Switch that powers the board and DYNAMIXEL. Note: Does not disconnect the power received via USB cable.
10. JP1 Jumper : Jumper that determines whether the power inputted onto OpenCM 485 EXP will be supplied to OpenCM9.04 board or not.

• See Connector Information.

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.

Using with OpenCM9.04

Connecting OpenCM9.04 to the expanstion board

1. Prepare OpenCM 485 EXP and OpenCM9.04 boards. Any version of OpenCM9.04 is compatible. Solder the header onto the OpenCM9.04.

   

2. OpenCM9.04 is mounted onto OpenCM 485 EXP as shown below.

   CAUTION : Be sure to check the direction of the OpenCM9.04 when inserting it into the OpenCM 485 EXP board.

   

3. Connect the USB cable onto OpenCM9.04 board.

   

4. Connect DYNAMIXEL and 12V SMPS adapter onto OpenCM 485 EXP board.

   

Using DYNAMIXEL-X

To use ROBOTIS software (R+ Task, R+ Motion 및 R+ Manager) with DYNAMIXEL-X series, Configuring DYNAMIXEL Channle is required.

NOTE: Arduino IDE does not require DYNAMIXEL Channel configuration.

Configuring DYNAMIXEL Channel

Change DYNAMIXEL Channel’s item to use various DYNAMIXEL-X series.

1. Open R+ Manager, and select OpenCM 9.04 in the Home tab.

   

2. Select Update & Test.

   

3. When the control table appears, select an DYNAMIXEL’s bus channel on the list of Dynamixel Channel. For example, select EXP Board(X-Series) to use DYNAMIXEL-X series on the expansion board.

   

Item	Description
On Board(XL-320)	Uses XL-320 only with the OpenCM 9.04 on ROBOTIS Software (R+ Motion and R+ Task)
EXP Board(X-Series)	Uses DYNAMIXEL-X series, XL-320 excluded, with the expantion board on ROBOTIS Software (R+ Motion and R+ Task)
EXP Board(XL-320)	Uses XL-320 only with the expantion board on ROBOTIS Software (R+ Motion and R+ Task)
On Board(X-Series)	Uses DYNAMIXEL-X series, XL-320 excluded, with the OpenCM 9.04 on ROBOTIS Software (R+ Motion and R+ Task)

NOTE: After setup is complete, restart the OpenCM9.04 or the expansion board to activate DYNAMIXEL’s bus channel. Consequently, the DYNAMIXEL with the controller will properly work on the motion tool or with the motion file on the task program.

Reference

Connector Information

Item	TTL	RS-485	Power
Pinout	1 GND 2 VDD 3 DATA	1 GND 2 VDD 3 DATA+ 4 DATA-	1 GND 2 VDD
Diagram
Housing	MOLEX 50-37-5033	MOLEX 50-37-5043	MOLEX 39-01-2020
PCB Header	MOLEX 22-03-5035	MOLEX 22-03-5045	MOLEX 39-28-1023
Crimp Terminal	MOLEX 08-70-1039	MOLEX 08-70-1039	MOLEX 39-00-0038
Wire Gauge for DYNAMIXEL	21 AWG	21 AWG	20 AWG

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.

Power Circuit Connection

A power circuit block diagram of the OpenCM 485 EXP and OpenCM9.04, once mounted, is shown below.
OpenCM 485 EXP can supply 5V to OpenCM9.04 when connected to a power source. JP1 can be used to determine whether the VDD power from OpeCM 485 EXP board is supplied to OpenCM9.04 DYNAMIXEL ports.

OpenCM 485 EXP Power Connection

OpenCM 485 EXP’s DYNAMIXEL 485 bus operates as DYNAMIXEL bus using OpenCM9.04’s USART3(Serial3).

NOTE : OpenCM9.04’s DYNAMIXEL TTL BUS is connected to USART1(Serial1).

OpenCM9.04 & OpenCM 485 EXP Bus Connections

EXP Board Programming

In order to use OpenCM 485 EXP board with OpenCM9.04, please use Arduino IDE.

1. Install Arduino IDE

2. OpenCM 485 EXP’s 485 Bus sends and receives communication packets via OpenCM9.04’s Serial3(USART3).

   • In case of programming with DYNAMIXEL SDK, please set Serial3 port as shown below.

    #include <DYNAMIXEL SDK.h>
   
    #define DEVICENAME      "3"   //Use Serial3 port
   
    dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);
    portHandler->openPort();
   

   • In case of programming with DYNAMIXELWorkbench, please set Serial3 port as shown below.

    #include <DYNAMIXELWorkbench.h>
   
    #define DEVICENAME      "3"   //Use Serial3 port
    #define BAUDRATE        57600
   
    DYNAMIXELWorkbench dxl_wb;
    dxl_wb.begin(DEVICE_NAME, BAUDRATE);
   

Button and LED

OpenCM 485 EXP board has 2 buttons and 3 LED’s that are connected to OpenCM9.04 I/O pins.
The OpenCM9.04 I/O pin numbers for the buttons and LED’s are indicated below.

	OpenCM9.04 I/O
Button1	16
Button2	17
LED1	18
LED2	19
LED3	20

Drawings

• Download PDF PCB Schematic