1) PC-Based Control
If you would like to program Dynamixel with your PC, you will need the U2D2 adapter.
By interfacing Dynamixel with your PC via the USB2Dynamixel, you can program Dynamixel in a wide variety of
IDEs/programming languages including:
Dynamixel SDKs 1.0 and 2.0, which are designed for use with USB2Dynamixel, can be downloaded
at the DOWNLOAD CENTER.
More information about U2D2 and the Dynamixel SDK are available in the e-Manual.
OpenCM9.04 is an open-source embedded controller than can be programmed with the OpenCM IDE, an
Arduino-like IDE. The controller features a 32-bit ARM Cortex-M3 processor (STM32F103CB), a TTL bus for
control of TTL-based Dynamixels (AX/MX), a 4-pin communication port, a micro B USB port for downloading
programs via PC, 26 GPIO pins to access the STM32F103CB microcontroller, and 4 5-pin ports for connecting
sensors. The OpenCM9.04’s circuit diagram and source code are open.
The OpenCM 485 Expansion Board features 12V and 24V power connectors as well as TTL/RS485 buses for
simultaneous communication with TTL and RS485-based Dynamixels (AX/RX/MX).
Please note that the OpenCM9.04 must be mounted onto the Expansion Board.
More information about the OpenCM9.04, the ROBOTIS IDE, and the OpenCM 485 Expansion Board is available
in the e-Manual.
3) CM-Series Controllers
ROBOTIS also has exclusive controllers for programming Dynamixel. These controllers include the CM-700 and
The CM-700 features an ATmega2561 CPU, GPIO ports for connecting analog sensors, and ZigBee and
Bluetooth connectors. This controller also features a TTL/RS485 communication circuit, allowing for any
TTL-based Dynamixels (AX/MX) to be on the same bus as RS485-based Dynamixels (AX/RX/MX).
The CM-530 features a 32-bit ARM Cortex-M3 processor (STM32F103RE), GPIO ports for connecting analog
sensors, and support for IR, ZigBee, and Bluetooth communication. The controller supports TTL-based AX
and MX series Dynamixels.
The CM-700 and CM-530 are compatible with RoboPlus software. You can develop embedded C firmware using
the SDKs compatible with each controller.
More information about the controllers, RoboPlus software, and embedded C programming can be found
in the e-Manual.
Please check the controller compatibility chart to see which servos, sensors, peripherals, and software are
compatible with which controller.