CM-700 is a control module
type controller with a CPU, TTL / RS485 communication circuit and
ZIG-110 connector. You cannot control dynamixels or other peripheral
devices alone with the CM-700. You will need a SUB board.
CM-700 SUB Board is composed
of a power department, connector department, switch, and an additional
circuit for 5 pin peripheral devices.
You may refer to the connector pin layout to make your own SUB
board.
Name of Each Part
[The name of each part
: CM-700]
PC Link (Serial Cable) & Communication
Device Connection Port : LN-101
is used to connect the CM-700 and PC. It is used to download
task code or communicate with PC. Also, it can be used for wireless
communication module such as ZIG-110
etc., or communication with other external board.
Battery Socket : Socket
for connecting the battery.
Power LED : ON and OFF
LED for the power.
Power Switch : Used to
turn the robot ON / OFF.
MODE Button : Used to change
the operation mode of CM-700. Please read below for more information.
START Button : Used to
START selected mode. Please read below for more information.
3-Pin Cable Connector :
Used to connect Dynamixels using 3 pin cable(TTL Communication) in
a daisy chain method.
4-Pin Cable Connector :
Used to connect Dynamixels using 4 pin cable (RS-485 Communication)
in a daisy chain method.
Peripheral Devices Connection
Port : Used to connect peripheral devices such as DMS,
Touch Sensor, and IR Sensor etc.
Mode Display LED : LED
to display current operation mode of CM-700. Detailed descriptions
are provided as below.
[ MON
]
It displays Dynamixel Management Mode is in progress.
It is used to set or test the operations of CM-700 and
Dynamixel using RoboPlus Manager.
It is automatically executed when RoboPlus
Manager and CM-700 are connected.
[ EDIT
]
It displays the motion edit mode
is in progress.
It is used when the motions are
editted with RoboPlus Motion.
It is automatically executed when
RoboPlus
Motion and CM-700 are connected.
[ PLAY
]
It displays the task edit mode
is in progress.
It is used after downloading the
written code to CM-700 with RoboPlus
Task.
The Start button must be pressed
directly by the user to execute When PLAY LED flickers.
Status Display LED : The
LED represents the current status of CM-700. Detailed discriptions
are provided as below.
TxD : Turned on while
CM-700 is transmitting the data to the outside.
RxD : Turned on while
CM-700 is receiving the data from the outside.
AUX : Assigned LED
to be used by the user in the program. It can be turned
on or off using task code.
Power Supply
The CM-700 which consists of a micro-controller, is divided into a power
department, various connectors, and SUB board. Depending on the connection
of each board, the working voltage range may change so please refer to
the below information to make your own battery.
CM-700 + User's Custom SUB Board
Because the CM-700
does not have a regulator, the power supply from the user’s custom
SUB board to the CM-700 must be 5V.
CM-700 Working
Voltage : 4.5 ~ 5.5 V
CM-700 + CM-700 SUB Board
When connecting
and using the CM-700 and ROBOTIS’s SUB board only, below is the
allowed power range for the SUB board.
CM-700 + SUB
Working Voltage : 7 ~ 35 V
CM-700 + CM-700 SUB Board + Dynamixels
Our SUB board has
a comprehensive working voltage range to use all released dynamixel
line-ups. Thus, the working voltage for the SUB board is restricted
depending on the dynamixel you are using.
Dynamixel In Use
Min. Voltage
Max. Voltage
Li-Po Conversion
Ni-MH Conversion
AX-12A
9
12
3 cells
8 ~ 10 cells
DX-117
12
18.5
3 ~ 5 cells
10 ~ 15 cells
RX-10
9
12
3 cells
8 ~ 10 cells
RX-28
12
18.5
3 ~ 5 cells
10 ~ 15 cells
RX-64
12
18.5
3 ~ 5 cells
10 ~ 15 cells
EX-106+
12
18.5
3 ~ 5 cells
10 ~ 15 cells
MX Series
10
14.8
3 ~ 4 cells
9 ~ 12 cells
When using 2 or more different types of dynamixels together,
the voltage range must be where all of the dynamixels can work.
Thus, the minimum voltage should be the dynamixel’s highest voltage
spec and the maximum voltage should be the lowest voltage to suit
the working range.
For example, when using the AX-12+ and RX-64 together, AX-12+
is 7 ~ 12 V, and RX-64 is ~ 18 V. Thus the working voltage would
be 12V, meaning Li-Po conversion would be 3 cells and Ni-MH would
be converted in 10 cells.
Connect the battery into the CM-700’s battery socket, and then set the
power switch to supply power. Once the power is supplied, the POWER LED
will turn on, and one of the MODE LED will start blinking.
How to Operate
[Turning the power on] :The power is turned on by moving the switch fromOFF to ON.
※ If the power is not turned on in spite
of moving the switch to ON, the batteries may have been discharged.
Please refer
to Charging
to recharge, or connect the power using SMPS.
[ Start ] : Move to PLAY using Mode
Button to operate robots. Press START
Button to execute when the LED on PLAY flickers.
※ If START button is pressed, the LED on
PLAY is not supposed to be flickering
any more; that is the normal status of the execution.
[ End ] : If you want to
stop the executed operations, press MODE
Button to get back to waiting mode stauts, or turn OFF
the power using Power Switch.
Usage
RoboPlus
It is used to control Dynamixel and the peripherals, and it can
connect Dynamixel(AX-12A, AX-18A, AX-S1, DX-Series, RX-Series EX-Series...
etc.) and various parts of OLLO(Touch
Sensor, LED Module,
IR Sensor etc.).
Specific motions can be edited and saved through RoboPlus
Motion. The saved motion (mtn file) can be always executed
by RoboPlus Task,
and also the motions of each part can be controlled by writing the
task codes for control.
The controller of CM-700 can be controlled in C language. Please
refer to Embedded C
for more information.
Connecting PC
For the PC and CM-700 to communicate, LN-101
must be connected to CM-700 Port.
Connecting Wireless Communication Module
ZIG-110 wireless communication module can be connected to CM-700.
Replacing the Fuse
There is a fuse to prevent from damaging the circuit due to over current.
If the CM-700 does not turn on, there is a high chance your fuse is
blown. Replace the fuse right away.
※ The fuse size of CM-700 is as below, and you may use a product with
a capacity between 125V / 5A ~ 10A. (It
is the same as CM-510)
Sub-Board Connector Information
The pin layout of the connector which connects CM-700 and SUB board
is as below.
Pin Information to Build User Application Device
Power
The pin composition of CM-700 power is as
below.
External 5-Pin Port
Users can create a sensor to control and
connect to the 5 pin peripheral device connection port. However, composing
the wrong circuits may damage your controller’s circuit, so please learn
more about circuit before doing so.
Below is the 5 pin layout information for
a peripheral device.
OUT : 5V Output Possible (Maximum Allowed Current 0.9A)
VCC (5V)
ADC : The analog signals from the sensor made by the user can be
read.
GND
NC : Not Used
Communication Device Connection Port
The functions of pins on the communication
device connection port are as follows.
TXD : Transmit Signal Terminal
RXD : Receive Signal Terminal
VCC : Supply Voltage ( 2.7~3.6V
)
GND : Ground Level (0v)
3-Pin Connector Port
The functions of pins on the 3-pin connector
port are as follows. Pleaser refer to AX-Series
Pin Assignment for more information.
Please be careful not to change the direction
considering the angular part.
GND : Ground Level (0v)
VDD : Supply Voltage (It is equal to the voltage of battery)
DATA : Data Transmission Pin
4-Pin Connector Port
The functions of pins on the 4-pin connector
port are as follows. Pleaser refer to RX-Series
Pin Assignment for more information.
(It is compatible with 4-pin of DX and EX
Series.)
Please be careful not to change the direction
considering the angular part.
GND : Ground Level (0v)
VDD : Supply Voltage (It is equal to the voltage of
battery)
DATA+ : Data Transmission Pin
DATA- : Data Transmission Pin
H/W Specification
Weight : 37.3g
Controller : ATMega2561
Working Voltage
oAllowed
Range : 7V ~ 35V
oRecommended
Voltage : Please refer to the above "Power Supply."
Consumed Current
oWhen
IDLE : 40mA
oExterior
I/O Maximum Current : 0.9A
oOverall
Maximum Current : 10A (Fuse)
Working Temperature : -5℃~70℃
Internal I/O Device
oButton
: 2 sets (Reset 1, Start 1)
oVoltage
Sensor : 1
External I/O Device
oOLLO
Peripheral-Device Compatible 5 pin I/O Port : 6
o3-Pin
Connector for Dynamixel using TTL Communication : 4
o4-Pin
Connector for Dynamixel using RS-485 Communication : 5
