OpenCM9.04 Installation

1. OpenCM Software Download

OpenCM9.04 uses the ROBOTIS OpenCM Integrated Developmental Environment (IDE) to allow users to program with ease.

The download link for the ROBOTIS OpenCM IDE can be found below:

2. Connect the OpenCM9.04 to the PC height="168" src="file:///C:/Users/ezracb/AppData/Local/Temp/msohtmlclip1/01/clip_image002.png" alt="http://emanual.robotis.com/assets/images/sw/opencm_ide/opencm_ide_003.png" /

For the installation of the USB driver, simply connect the OpenCM9.04 to the PC using the USB cable as shown below.

However, we do recommend you avoid connecting to a USB hub that is in use with many other USB devices, and instead you connect to the PC directly. There can be rare cases in which if there is not enough electric current from the USB hub then the download can fail.

3. Driver Installation

For Window 8 or 10, go to “PC settings -> Update and recovery -> Recovery -> Advanced startup -> Troubleshoot -> Advanced options -> Startup Settings -> Restart -> Select 7) Disable driver signature enforcement, and then restart” and then install using Run as administrator.

In the previous step, connecting the OpenCM board to the PC will make a device called “ROBOTIS Virtual COM Port” appear in the Device Manager.

Right-click on that device and select “Update Driver Software”.

Next select “Browse my computer for driver software”.

Click on “Browse” and select the directory that you unzipped above(ROBOTIS\drivers).

Click Next and the installation proceeds.

If the USB driver is installed successfully, a message will appear that says, “Windows has successfully updated your driver software” as shown below.

At this stage it is important to check in the Device Manager what COM Port number the ROBOTIS Virtual COM Port has just been installed as.

Connecting to another USB port may change the COM Port number so if you connected to another port then check again and proceed to download.

4. Recovery Mode

If you download the wrong firmware and it does not work, you can force download using recovery mode. Once you have downloaded the normal example, it will be restored and you will be able to download it again.

While holding down the User Button of OpenCM9.04, connect directly to PC with USB cable. Remove all other power sources and connect only to USB while holding down the User Button.

If you enter recovery mode as shown below, the green LED remains on. When the download is completed normally, the board is reset and the LED is turned off.

5. Upload Firmware with Windows 10

Note that the ROBOTIS OpenCM is a portable program that only needs to be unzipped and executed without the need for any separate installation process. If you wish to remove the program, you simply need to delete the directly fully.

Download DynamixelQ Library from GitHub and put into examples folder.

In the unzipped directory(\ROBOTIS) double-click on the file ROBOTIS_OpenCM.exe.

This will execute the ROBOTIS OpenCM tool as shown below.

Go to File → Examples → DynamixelQ-master → DynamixelQ → smartTosser

In Tools → Board, select ROBOTIS OpenCM9.04.

Make sure you select the COM Port number that you checked in the previous step.

[Dynamixel AX-12A] Change the value of BAUD RATE from 3000000 to 1000000.

Click on the Download button as shown below. As the download begins the board’s green LED is continuously turned on. Once the download is complete the board resets and the Blink example is executed, and the LED blinks.

NOTE: If the power turns on for the board and the green LED is continuously turned on then restart the Download. Please refer to the Emergency Recovery Mode(Force Download) section.

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