Item Information


SKU 902-0084-040
Manufacturer ROBOTIS
Origin KOREA
Currency USD
Price $ 21.70

Out of stock.

This product is temporarily out of stock due to the global supply chain issue.

상품 기본설명


OpenCM9.04 is an open-source controller that runs under 32bit ARM Cortex-M3.

All hardware and software are disclosed.


All Dynamixels can be controlled when using the accessory set of 485 expansion board.

Uses USB Cable (Micro-B) to download programs onto the board.

JTAG / SWD terminal can be used to run commercial developmental programs.


Various programming tools are optional.

 - ROBOTIS integrated programming software, RoboPlus

 - Open Source development tool, Arduino IDE

 - Open Source Library, DYNAMIXEL2Arduino

※ OpenCM IDE is no longer supported. 

Package Components
1x20 PIN Header Socket2
1x20 BOXHeader Socket2
Micro USB Cable 11
Instruction Manual1
H/W Specifications
CPUSTM32F103CB (ARM Cortex-M3)
Operation Voltage5V ~ 16V
Recommended Voltage

5V for USB

7.4V for DYNAMIXEL XL Series (LB-040 3.7V x 2)

(485 Expansion Board recommended to control DYNAMIXELs requiring 12V or higher)

External I/O26
Analog In(ADC)10 (12bit)
Flash128 Kbytes
SRAM20 Kbytes
USB1 (2.0 Full Speed)
TTL port (3Pin)4 (XL-320 exclusive)
External Sensor(5 Pin)4 (ROBOTIS Sensor can be used)
Dimensions27 mm X 66.5 mm
Compatible Products


* Users must attach connectors. 

* All DYNAMIXEL products can be used when OpenCM485 Expansion Board is used.


Wireless Communication : ZIG-110A, BT-110A, BT-210, BT-410

Infrared receiver OIR-10 (Not available when using RoboPlus



External Sensor : ROBOTIS Sensors

Parts Name

The OpenCM 485 Expansion Board, which supports TTL and RS-485, can be used to control all types of DYNAMIXELs, such as AX, MX, X and P-Series.

When using the OpenCM9.04-C to control the DYNAMIXEL, a separate power supply must be supplied to the DYNAMIXEL.


RoboPlus can be used when the board is connected to the PC via USB Downloader LN-101 or BT-210.

(PC must have Bluetooth device for Bluetooth connection)


ROBOTIS OpenCM IDE can be used only via Micro 5PIN USB Cable.

The RoboPlus and ROBOTIS OpenCM IDE CANNOT be used simultaneously.

The firmware must be changed depending on the software to be used.

(Please refer to the e-Manual for change the firmware)

1. All international orders are processed via DHL from KOREA (not USA) unless otherwise requested.
2. Orders are normally processed within a 2 week time period. A lead time is applicable for certain items. (Normally ships out within 3 working days when in stock).
3. If multiple orders are placed on the same day, they will be shipped in the same package, unless requested to ship separately by order. If an error is discovered in your order that requires change or cancellation, please contact us immediately. We will not be held responsible for any costs that may arise due to your negligence.
4. Please note that destination charges (import tax, customs duty, etc.) are not included in the shipping charges. We will not be able to calculate or pre-pay this fee for you.
5. If an order is placed and the payment is not settled within 14 days, it will automatically be cancelled. If necessary, please re-place the order and make the payment in a timely manner.
6. We recommend you to insure your orders to avoid lost or damaged shipments which is 1% from the total invoice value. We will not be held responsible for lost or damaged shipments.
1. If you are not completely satisfied with your order you may return it within 14 days from your shipment date for an exchange or refund. However, all non-defective products must be in their original packaging, and un-opened new condition. We will not be held responsible for return shipping charges.
All returns must go through the RMA process prior to being sent back to us.
Please note, we will not make any exchanges or repair unless WE HAVE ISSUED YOU AN RMA#.
Please check warranty.
2. Returned packages must include an RMA number on the outside of the package, as well as a copy of your printed invoice.
If you do not have your invoice, please include your name, address and phone number, so we may contact you regarding any questions we may have.
We have the right to refuse your shipment if we have not issued a RMA nubmer.
3. All returned items must be in there original package state. We are not responsible for damage to the print-head or circuitry as a result of improper handling, storage, or misuse.
When removing protective tape and devices please be sure not to damage these areas.
4. Requests for replacement or refunds will not be granted until your returned packages have been received.
5. Please allow up to 14 business days to process your refund from the time it reaches our warehouse, if you need an immediate replacement, we recommend that you place a new order and request a refund of the original order separately. We will not be held responsible for cancellatioin fees.
6. When returning any items, please confirm return address and keep note of the tracking number to avoid losing shipments.
We will not be held responsible for lost items.
7. We reserve the right to deny credit or replacements and charge the customer for parts and labor if the product returned are deemed satisfactory or non-defective.
8. We are not responsible for customer shipping costs to return non-defective or incorrectly ordered products.
9. Customers must obtain a Return Material Authorization('RMA') number by contacting Customer Service at contactus2@robotis.com. Returned products should be informed in advance before being returned.