01_OpenCM9-04控制板介绍

小芽科技 2021-12-07 10:20:45
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简介

zhuyi注意:OpenCM9.04控制板分为3个版本(如下图所示),3个版本的底板都是一样的,接口连接件不一样而以,现在B版已经停产;A版没有端子连接件等配件,需要另行选配;C版使用了适用于XL-320舵机的连接件,主要为XL-320舵机使用,当然,也可以用于其他舵机,但需要另外选配接口转接线。

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名目 OpenCM9.04 A 版 OpenCM9.04 B 版 OpenCM9.04 C 版
Power Switch X 1 1
User Button 1 1 1
2Pin Battery(LBS-40) X 2 2
JTAG/SWD X 1 1
Micro B USB X 1 1
5-Pin Port X 4 4
DYNAMIXEL TTL BUS X 4biaoji 1 4biaoji 2
4 Pin Communication X 1 1

biaoji1: MOLEX 53253-0370 x 2(for XL-320), MOLEX 22-03-5035 x 2(for AX/MX-Series)
biaoji 2: MOLEX 53253-0370 x 4(for XL-320)

警告:更新或恢复Dynamixel固件时,请断开OpenCM9.04和OpenCM 485扩展板。

规格参数

Item Description
CPU STM32F103CB (ARM Cortex-M3)
Operation Voltage 5V ~ 16V
I/O GPIO x 26
Timer 4 (16bit)
Analog Input(ADC) 10 (12bit)
Flash 128Kb
SRAM 20Kb
Clock 72Mhz
USB 1 (2.0 Full Speed) Micro B Type
USART 3
SPI 2
I2C(TWI) 2
Debug JTAG & SWD
DYNAMIXEL TTL BUS 4 (Max 1Mbps)
Dimensions 27mm x 66.5mm

控制表

zhuyi一般情况下不会使用OpenCM9.04的控制表,出厂固件的默认设置就可以支持产品的正常使用,除非对此板非常了解,需要更改控制表里面的信息达到特殊用途,否则是不用修改控制表内容的。

EEPROM Area

Address Size Name Description Access Init Value
0 2 Model Number Model Number R 400
6 1 Firmware Version Firmware Version R -
7 1 ID Controller ID RW 200
8 1 Baud Rate Communication Baud Rate R 1
9 1 Return Delay Time Response Delay Time RW 0
10 1 Status Return Level Select Types of Status Return RW 2
11 1 Bootloader Version Indicates Bootloader Version R -
12 1 DXL Baud Rate DYNAMIXEL Communication Baud Rate RW 3
16 1 DYNAMIXEL Channel Select DYNAMIXEL Port RW 0

RAM Area

Address Size Name Description Access Init Value
21 1 Mode Number Operation Mode RW -
26 1 Button Status Start Button Status R 0
66 2 Motion Play Page Motion Play Page Number RW 0
68 1 Motion Play Status Motion Play Status R -
73 1 128ms Timer Value 128ms Timer Counter RW 0
74 2 1ms Timer Value 1ms Timer Counter RW 0
77 1 Random Number Creating Random Number RW -
79 1 Green LED Green LED Status RW 0
82 1 Motion LED Motion LED Status RW 0
360 2 Port 1 IR Sensor Value IR Sensor Value on Port 1 R -
366 2 Port 4 IR Sensor Value IR Sensor Value on Port 4 R -
368 2 Port 1 DMS Sensor Value DMS Sensor Value on Port 1 R -
370 2 Port 2 DMS Sensor Value DMS Sensor Value on Port 2 R -
372 2 Port 3 DMS Sensor Value DMS Sensor Value on Port 3 R -
374 2 Port 4 DMS Sensor Value DMS Sensor Value on Port 4 R -
376 1 Port 1 Touch Sensor Value Touch Sensor Value on Port 1 R -
377 1 Port 2 Touch Sensor Value Touch Sensor Value on Port 2 R -
378 1 Port 3 Touch Sensor Value Touch Sensor Value on Port 3 R -
379 1 Port 4 Touch Sensor Value Touch Sensor Value on Port 4 R -
381 1 Port 2 LED Module Value LED Module Control Value on Port 2 RW 0
382 1 Port 3 LED Module Value LED Module Control Value on Port 3 RW 0
386 2 Port 2 User Device Value User Device Value on Port 2 RW 0
388 2 Port 3 User Device Value User Device Value on Port 3 RW 0
392 1 Port 1 Temperature Sensor Value Temperature Sensor Value on Port 1 R -
393 1 Port 2 Temperature Sensor Value Temperature Sensor Value on Port 2 R -
394 1 Port 3 Temperature Sensor Value Temperature Sensor Value on Port 3 R -
395 1 Port 4 Temperature Sensor Value Temperature Sensor Value on Port 4 R -
396 1 Port 1 Ultrasonic Sensor Value Ultrasonic Sensor Value on Port 1 R -
397 1 Port 2 Ultrasonic Sensor Value Ultrasonic Sensor Value on Port 2 R -
398 1 Port 3 Ultrasonic Sensor Value Ultrasonic Sensor Value on Port 3 R -
399 1 Port 4 Ultrasonic Sensor Value Ultrasonic Sensor Value on Port 4 R -
400 1 Port 1 Magnetic Sensor Value Magnetic Sensor Value on Port 1 R -
401 1 Port 2 Magnetic Sensor Value Magnetic Sensor Value on Port 2 R -
402 1 Port 3 Magnetic Sensor Value Magnetic Sensor Value on Port 3 R -
403 1 Port 4 Magnetic Sensor Value Magnetic Sensor Value on Port 4 R -
404 1 Port 1 Motion Sensor Value Motion Sensor Value on Port 1 R -
405 1 Port 2 Motion Sensor Value Motion Sensor Value on Port 2 R -
406 1 Port 3 Motion Sensor Value Motion Sensor Value on Port 3 R -
407 1 Port 4 Motion Sensor Value Motion Sensor Value on Port 4 R -
409 1 Port 2 Color Sensor Value Color Sensor Value on Port 2 R -
410 1 Port 3 Color Sensor Value Color Sensor Value on Port 3 R -

:可使用R+Manager 2.0测试控制表中的某些地址。

警告:当OpenCM9.04使用R+Manager恢复出厂默认固件时,Dynamixel舵机不应该使用ID 200,ID 200将在出厂默认固件中分配给OpenCM9.04。