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    Software Features

    Hardware Features

    OpenCR1.0 (Open-source Control module for ROS) is an open source robot controller embedded with a powerful MCU from the ARM Cortex-M7 line-up.

    The hardware, software, schematics, PCB Gerber, BOM, and firmware source codes of the OpenCR1.0,

    the main controller used in the official ROS education platform TurtleBot3, are accessible and open to the public.

    Supports RS-485 and TTL to control the Dynamixels, and offers UART, CAN and a variety of other communication environment, development tools such as Arduino IDE are available as well.

    It has the advantage of being able to operate more powerfully when used with a host controller such as SBC (Single Board Computer).

    It provides various exclusive sources based on ROS, so that you can maximize the functions of OpenCR1.0 when using ROS.

    Package Components

    USB Micro B Cable1

    H/W Specifications

    MicrocontrollerSTM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
    SensorsGyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250)
    ProgrammerARM Cortex 10pin JTAG/SWD connector
    USB Device Firmware Upgrade (DFU)
    Extension pins32 pins (L 14, R 18) *Arduino connectivity
    Sensor module x 4 pins
    Extension connector x 18 pins
    Communication circuitsUSB (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG)
    TTL (B3B-EH-A / Dynamixel)
    RS485 (B4B-EH-A / Dynamixel)
    UART x 2 (20010WS-04)
    CAN (20010WS-04)
    LEDs and buttonsLD2 (red/green) : USB communication
    User LED x 4 : LD3 (red), LD4 (green), LD5 (blue)
    User button x 2
    PowersExternal input source
    5 V (USB VBUS), 7-24 V (Battery or SMPS)
    Default battery : LI-PO 11.1V 1,800mAh 19.98Wh
    Default SMPS : 12V 5A
    External output source
    12V@1A(SMW250-02), 5V@4A(5267-02A), 3.3V@800mA(20010WS-02)
    External battery Port for RTC (Real Time Clock) (Molex 53047-0210)
    Power LED: LD1 (red, 3.3 V power on)
    Reset button x 1 (for power reset of board)
    Power on/off switch x 1
    Dimensions105(W) X 75(D) mm

    Compatible Products

    DYNAMIXEL X-Series

    DYNAMIXEL AX/MX Series (Requires Molex-JST convertible cable)

    DYNAMIXEL P-Series (Requires Molex-JST convertible cable)

    Robotis Sensor Products