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Introduction

CM-550

Specifications

ItemSpecifications
Weight58.8 [g]
MCUARM Cortex-M4 (168 [MHz], 32 [Bit])
Operating VoltageBattery : 6.5 ~ 15 [V], Recommended 11.1 [V] (Li-PO 3cell)
SMPS : 6.5 ~ 15 [V], Recommended 12.0 [V]
Micro USB : 4.75 ~ 5.25 [V], Recommended 5.0 [V]
Current ConsumptionStandby : 50 [mA]
Port 1 ~ 2 I/O Max : 0.5 [A]
Port 3 ~ 5 I/O Max : 0.02 [A]
Total : 10 [A] (Fuse)
Operating Temperature-5 ~ 70 [°C]
Communication ModuleBLE Slave Module
Internal I/O DevicesButtons : 2 (MODE, START)
Mic (Sound Detection) : 1
Buzzer : 1
Voltage Sensor : 1
Gyro Accelerometer : 1
Temperature Sensor : 1
RGB LED : 3
External I/O DevicesROBOTIS 5 Pin Port : 5 (Servo Motor / IR Sensor / Temperature & Humidity Sensor : Use Port 1 or 2)
DYNAMIXEL PortX-series TTL (half-duplex asynchronous) 3-Pin connector: 6
DYNAMIXEL Protocol (Packet)Protocol 2.0
warning

XL-320 is not compatible with CM-550.

danger


DANGER
(Ignoring these warnings may cause serious injury or death)

  • Never place items containing water, flammables/open flames, or solvents near the product.
  • Never place fingers, arms, toes, and other body parts near product during operation.
  • Cease operation and remove power from the product if the product begins to emit strange odors, noises, or smoke.
  • Keep product out of reach of children.
  • Check input polarity before installing or energizing wiring or cables.
warning


CAUTION
(Ignoring these warnings may cause mild injury or damage to the product)

  • Always comply with the product's official operating environment specifications including input voltage, current, and operating temperature.
  • Do not insert blades or other sharp objects during product operation.
warning


ATTENTION
(Ignoring these warnings may cause minor injury or damage to the product)

  • Do not disassemble or modify the product.
  • Do not drop the product or apply strong impacts.
  • Do not connect or disconnect DYNAMIXEL cables while power is being supplied.

Control Table

Control Table consists of data regarding the current status and operation of controller. The user can control controller by changing data of Control Table via Instruction packet.

  • EEPROM and RAM
    Data in RAM area is reset to initial values whenever the power is turned on while data in EEPROM area is kept once values are set even if the power is turned off.

  • Address
    Represents the location of data. To read from or write data to the control table the user should assign the correct address in the Instruction packet.

  • Access
    Controller has two kinds of data: Read-only data, used mainly for sensing, and read-and-write data used for driving.

  • Initial Value
    In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings.
    In case of data in the RAM Area, the initial values on the right side of the following control table are the ones when the power is turned on.

  • Size
    The size of data varies from 1 ~ 4 bytes depending on its usage. Please check the size of data when updating the data with an Instruction Packet.

CM-550 Control Table​

AreaAddressSize[Byte]Data NameAccessDefault ValueRangeUnitValueDescription
EEPROM02Model NumberR450---Model Number
EEPROM61Version of FirmwareR-0 ~ 255--Firmware Version
EEPROM71IDR200---Controller ID
EEPROM111Bootloader VersionR-0 ~ 255--Bootloader Version
EEPROM121Baud Rate (DYNAMIXEL)RW30 ~ 7-0 : 9600 bps
1 : 57600 bps
2 : 115200 bps
3 : 1 Mbps
4 : 2 Mbps
5 : 3 Mbps
6 : 4 Mbps
7 : 4.5 Mbps
DYNAMIXEL Communication Baud Rate
Note that, If a baudrate of DYNAMIXEL is 57600 bps while CM550 is on boot, the baudrate of DYNAMIXEL will be automatically set to 1 M bps. Baud rates other than 57600 bps will stay on boot time.
EEPROM131Baud Rate (UART)RW10 ~ 7-See Address 12Embedded UART Communication Baud Rate
EEPROM151Controller DirectionRW00 ~ 1-0 : Vertical
1 : Horizontal		Set the value (Vertical or Horizontal) by the direction of the controller
EEPROM161Temperature LimitRW60-20 ~ 100°C-Set the value to limit temperature. In excessing this value, DYNAMIXEL connected with a controller will not operate.
RAM201
Bypass Port		R00 ~ 2-0 : BLE
1 : UART
2 : USB
The communication port to bypass with DYNAMIXEL port.
RAM211Mode NumberRW20 ~ 4-0 : IDLE
1 : Task Play
2 : Manage
3 : Bootloader
4 : Reboot		- Set IDLE (0), Task Play(1) or Manage(2) to change operating mode.
- Set Bootloader(3) to run a boot loader
- Use Reboot(4) to reboot a controller.
RAM221Dxl Power SwitchRW10 ~ 1-0 : False
1 : True
Power On (True) / Off (False) DYNAMIXEL. In detecting an error, it sets the value to '0' from '1' (1: Default)
RAM232Error CodeR00 ~ 65535--Error codes when a controller detects an error.
RAM261Start Button StatusR00 ~ 3-0 : None is pressed
1 : START button pressed
2: MODE button pressed
3. Both START and MODE buttons are pressed		Button Status. In pressing either Start or Mode button, this value will be changed depending on what you press.
RAM271BLE CheckR-0 ~ 1-0 : False
1 : True		0 is set when BLE module in a controller is missing or not operating.
RAM281Button Released EventR10 ~ 1-0 : False
1 : True		When Start button is released from holding down, it returns True, and returns False after controller reads the event.
RAM292Button Pressed msR10 ~ 65535ms-The value will increase at ms unit in holding down a button.
RAM311Button Pressed SecRW10 ~ 255Sec-The value will increase at sec unit in holding down a button.
RAM351Task Print PortRW00 ~ 2-0 : BLE
1 : UART
2 : USB		Select a port in order to monitor a serial output with R+ Task software.
RAM361App PortRW00 ~ 1-0 : BLE
1 : UART
- Set BLE (0) to use an embedded Bluetooth module.
- Set UART (1) to use an external port supporting UART comunication
RAM371App ConnectedR00 ~ 1-0 : False
1 : True		App status check if a smart device is connected.
RAM391Num of DxlR00 ~ 255--- The number of connected DYNAMIXEL with a controller.
- Update the status of connected DYNAMIXELs using Scan DXL (Address 40)
RAM401Scan DxlRW00 ~ 1-0 : False
1 : True		Search connected DYNAMIXELs via Protocol 1.0 / 2.0 and update the status of connected DYNAMIXELs.
RAM411Dxl TorqueRW00 ~ 3-0 : NONE
1 : OFF, Busy
2 : ON
3 : REBOOT		Enable (or disable) torque of connected DYNAMIXELs, or reboot them.
- Be sure to wait until the value is read and turned back to '0'.
RAM431Remote PortRW00 ~ 2-0 : BLE
1 : UART
2 : USB		Select a port for use of remote controller. (Default: BLE (0))
RAM514Print NumberW0-32768 ~ 32767--4 bytes signed value for serial monitor output without a newline character.
RAM554Print Number LFW0-32768 ~ 32767--4 bytes signed value for serial monitor output with a newline character.
RAM592Transmitting Remocon DataRW00 ~ 65535--Remote data to transmit to Remote Port (Address 43)
RAM612Received Remocon DataR00 ~ 65535--Remote data received to Remote Port (Address 43)
RAM631Remocon Data ArrivedR00 ~ 1-0 : False
1 : True		Check newly arrived remote data.
RAM641Motion Play SpeedW10020 ~ 200--Adjust motion speed from 20 to 100 %
RAM662Motion Index NumberRW00 ~ 65535-0 : Motion stop using an Exit Motion unit.
1~65532 : Motion play with a selected page.
65533 : Immediate Motion stop
65534 : Motion stop at the current Key Frame
65535 : Motion stop at the current unit.		Play a specific motion or to stop a motion currently played.
RAM681Motion Play StatusR00 ~ 1-0 : False
1 : True		Check Motion Play status
RAM692Motion Next PageRW00 ~ 65535-0~65534 : Page to move next.
65535 : None page.		Create flexible and smooth motion profile, which keep a motion played without a motion stop, by reading a next page to expect the next motion movement.
RAM712Motion CountR-0 ~ 1023--The number of motion page saved in FLASH memory.
RAM731128 ms Timer ValueRW00 ~ 255128 ms-128 ms countdown timer
RAM7421 ms Timer ValueRW00 ~ 65535ms-1 ms countdown timer
RAM771Random NumberRW00 ~ 255--Generate random number between 0 to a specific number
RAM841Buzzer IndexRW00 ~ 255--- In melody mode, 0 to 25 melody will be played
- In scale mode, 0 to 51 scale will be played
RAM851Buzzer TimeRW00 ~ 2550.1 sec-- 0 to 50: Scale Mode. Play scale for 0.3 to 5.0 sec; Unit : 0.1 s
- 50 to 254: Scale Mode. Play scale for 5 sec.
- 255 : Enter Melody Mode.
RAM861Sound Detected CountRW00 ~ 255--Detect sound from mic and count the number of detected sound.
RAM871Sound Detecting CountR00 ~ 255--Detect sound in real time from mic.
RAM881Low Battery Sound EnableRW10 ~ 1-0 : False
1 : True		Enable / disable a low battery alarm.
RAM891VoltageR-0 ~ 2550.1 VRead input Voltage to a controller
RAM901TemperatureR--20 ~ 100°CRead a controller's temperature
RAM911Red LEDRW00 ~ 1-0 : Off
1 : On		On/Off Controller's Aux Red
RAM921Green LEDRW00 ~ 1-0 : Off
1 : On		On/Off Controller's Aux Green LED
RAM931Blue LEDRW00 ~ 1-0 : Off
1 : On		On/Off Controller's Aux Blue LED
RAM1022RollR0-18000 ~ 180000.01 degree-IMU Roll axis data
RAM1042PitchR0-9000 ~ 90000.01 degree-IMU Pitch axis data
RAM1062YawR0-18000 ~180000.01 degree-IMU Yaw axis data
RAM1082Gyro XR0-32768 ~ 327670.01 degree/s-IMU Gyro X axis data
RAM1102Gyro YR0-32768 ~ 327670.01 degree/s-IMU Gyro Y axis data
RAM1122Gyro ZR0-32768 ~ 327670.01 degree/s-IMU Gyro Z axis data
RAM1142Acc XR0-32768 ~ 327670.01 G-IMU Accel X axis data
RAM1162Acc YR0-32768 ~ 327670.01 G-IMU Accel Y axis data
RAM1182Acc ZR0-32768 ~ 327670.01 G-IMU Accel Z axis data
RAM1204microsR0-2147483648 ~ 2147483647us-1 us counter inside the controller
RAM1244millisR0-2147483648 ~ 2147483647ms-1 ms counter inside the controller
EEPROM1391BLE Signal PowerRW20 ~ 9-0: unknown (Fail to read BLE Signal Power Data)
1: +4dB
2: 0dB
3: -4dB
4: -8dB
5: -12dB
6: -16dB
7: -20dB
8: -30dB
9: -40dB		Embeded BLE's signal strenth.
EEPROM14412BLE MAC AddressR0---Shows to BLE Module's MAC address inside the controller
RAM1561USB OTG ConnectedR00 ~ 1--- 0: USB OTG cable is disconnected.
- 1: USB OTG cable is connected.
RAM1571Rpi ConnectedR00 ~ 1--- 0: RPI board is disconnected.
- 2: RPI board is connected
RAM1641Rpi IP 1R00 ~ 255--The first IP field of connected RPI board
RAM1651Rpi IP 2R00 ~ 255--The second IP field of connected RPI board
RAM1661Rpi IP 3R00 ~ 255--The third IP field of connected RPI board
RAM1671Rpi IP 4R00 ~ 255--The fourth IP field of connected RPI board
RAM1991Offset ControlRW00 ~ 3-0 : None
1 : Read
2 : Write
3 : Clear		Save (or read) motion offset data to FLASH memory. Using Clear (3), both saved Motion Offset and Joint Offset will be cleared to 0.
RAM3901Module Category 1RW00 ~ 18-0 : None
1 : Wheel Velocity
2 : Servo Position
3 : Servo Speed
4 : IR Sensor
5 : DMS
6 : Touch Sensor
7 : LED Module
8 : User Device
9 : Temperature Sensor
11 : Magnetic Sensor
12 : Motion Sensor
13 : Color Sensor
14 : Moisture Sensor
15 : Temperature(Moisture)
16 : Brightness Sensor
17 : RED Brightness of RED/BLUE LED Board
18 : BLUE Brightness of RED/BLUE LED Board		- Used to manually set a desired mode for peripherals in use of 5 pin ports.
- In setting the value '0: None' and reading data from the OLLO ports, the value will be automatically set depending on the feature of the used address with the ports.
RAM3921Module Category 2RW00 ~ 18-See Address 390See Address 390
RAM3941Module Category 3RW00 ~ 16-0 : None
5 : DMS
6 : Touch Sensor
7 : LED Module
8 : User Device
9 : Temperature Sensor
11 : Magnetic Sensor
12 : Motion Sensor
13 : Color Sensor
16 : Brightness Sensor		See Address 390
RAM3961Module Category 4RW00 ~ 16-See Address 394See Address 390
RAM3981Module Category 5RW00 ~ 16-See Address 394See Address 390
RAM4002Port 1 Wheel VelocityRW00 ~ 2047-CCW : 01023
CW : 10242047		Set to DC motor mode and to adjust PWM output to control the velocity of a motor.
RAM4022Port 2 Wheel VelocityRW00 ~ 2047-See Address 400
RAM4042Port 1 Servo PositionRW00 ~ 1023-0~1023- Set to Servo mode and to control the position of the motor horn.
- 0–300 ° Only
- The center of the horn position is 512.
RAM4062Port 2 Servo PositionRW00 ~ 1023-See Address 404
RAM4082Port 1 Servo SpeedRW00 ~ 1023-CCW : 01023
CW : 10242047		Configure the moving velocity in the Servo mode.
RAM4102Port 2 Servo SpeedRW00 ~ 1023-See Address 408
RAM4152Port 1 IR SensorR00 ~ 1023--Read value from an IR sensor
RAM4172Port 2 IR SensorR00 ~ 1023--See Address 415
RAM4192Port 1 DMS SensorR00 ~ 1023--Read value from an DMS.
RAM4212Port 2 DMS SensorR00 ~ 1023--See Address 419
RAM4232Port 3 DMS SensorR00 ~ 1023--See Address 419
RAM4252Port 4 DMS SensorR00 ~ 1023--See Address 419
RAM4272Port 5 DMS SensorR00 ~ 1023--See Address 419
RAM4291Port 1 Touch SensorR00 ~ 1-0 : False
1 : True		Read value from a touch sensor.
RAM4301Port 2 Touch SensorR00 ~ 1-See Address 429See Address 429
RAM4311Port 3 Touch SensorR00 ~ 1-See Address 429See Address 429
RAM4321Port 4 Touch SensorR00 ~ 1-See Address 429See Address 429
RAM4331Port 5 Touch SensorR00 ~ 1-See Address 429See Address 429
RAM4341Port 1 LED ModuleRW00 ~ 3-0 : Both OFF
1 : Left OFF, Right ON
2 : Left ON, Right OFF
3 : Both ON		Control a LED module
RAM4351Port 2 LED ModuleRW00 ~ 3-See Address 434See Address 434
RAM4361Port 3 LED ModuleRW00 ~ 3-See Address 434See Address 434
RAM4371Port 4 LED ModuleRW00 ~ 3-See Address 434See Address 434
RAM4381Port 5 LED ModuleRW00 ~ 3-See Address 434See Address 434
RAM4392Port 1 User DeviceRW00 ~ 1023-OUTPUT
0 : Left 5V, Right 5V
1 : Left 5V, Right 0V
2 : Left 0V, Right 5V
3 : Left 0V, Right 0V

INPUT
0 : 0V
1023 : 5V		- OUTPUT: Control Two output pins.
- INPUT: Analog Input.
RAM4412Port 2 User DeviceRW00 ~ 1023-See Address 439See Address 439
RAM4432Port 3 User DeviceRW00 ~ 1023-See Address 439See Address 439
RAM4452Port 4 User DeviceRW00 ~ 1023-See Address 439See Address 439
RAM4472Port 5 User DeviceRW00 ~ 1023-See Address 439See Address 439
RAM4491Port 1 Temperature SensorR0-20 ~ 120°C-Read value from a temperature sensor.
RAM4501Port 2 Temperature SensorR0-20 ~ 120°C-See Address 449
RAM4511Port 3 Temperature SensorR0-20 ~ 120°C-See Address 449
RAM4521Port 4 Temperature SensorR0-20 ~ 120°C-See Address 449
RAM4531Port 5 Temperature SensorR0-20 ~ 120°C-See Address 449
RAM4591Port 1 Magnet SensorR00 ~ 1-0 : False
1 : True		Read value from a magnetic sensor
RAM4601Port 2 Magnet SensorR00 ~ 1-See Address 459See Address 459
RAM4611Port 3 Magnet SensorR00 ~ 1-See Address 459See Address 459
RAM4621Port 4 Magnet SensorR00 ~ 1-See Address 459See Address 459
RAM4631Port 5 Magnet SensorR00 ~ 1-See Address 459See Address 459
RAM4641Port 1 Motion SensorR00 ~ 1-0 : False
1 : True		Read value from a motion sensor (PIR)
RAM4651Port 2 Motion SensorR00 ~ 1-See Address 464See Address 464
RAM4661Port 3 Motion SensorR00 ~ 1-See Address 464See Address 464
RAM4671Port 4 Motion SensorR00 ~ 1-See Address 464See Address 464
RAM4681Port 5 Motion SensorR00 ~ 1-See Address 464See Address 464
RAM4691Port 1 Color SensorR00 ~ 6-0 : Unknown
1 : White
2 : Black
3 : Red
4 : Green
5 : Blue
6 : Yellow		Read value from a color sensor
RAM4701Port 2 Color SensorR00 ~ 6-See Address 469See Address 469
RAM4711Port 3 Color SensorR00 ~ 6-See Address 469See Address 469
RAM4721Port 4 Color SensorR00 ~ 6-See Address 469See Address 469
RAM4731Port 5 Color SensorR00 ~ 6-See Address 469See Address 469
RAM4741Port 1 Moisture SensorR00 ~ 100Relative Humidity-Read humidity value from a humidity and temperature sensor. 100 will be fully immersed in water.
RAM4751Port 2 Moisture SensorR00 ~ 100Relative Humidity-See Address 474
RAM4791Port 1 Moisture TemperatureR0-20 ~ 105°C-Read a temperature value from a humidity and temperature sensor.
RAM4801Port 2 Moisture TemperatureR0-20 ~ 105°C-See Address 479
RAM4842Port 1 BrightnessR00 ~ 1023--Read a brightness data from Cds (Photo Resister)
RAM4862Port 2 BrightnessR00 ~ 1023--See Address 484
RAM4882Port 3 BrightnessR00 ~ 1023--See Address 484
RAM4902Port 4 BrightnessR00 ~ 1023--See Address 484
RAM4922Port 5 BrightnessR00 ~ 1023--See Address 484
RAM4941Port 1 RED BrightnessRW00 ~ 100%-Adjust the level of the brightness in the red LED for #1 port (5 Pin Red / Blue LED module)
RAM4951Port 2 RED BrightnessRW00 ~ 100%-Adjust the level of the brightness in the red LED for #2 port (5 Pin Red / Blue LED module)
RAM4991Port 1 BLUE BrightnessRW00 ~ 100%-Adjust the level of the brightness in the blue LED for #1 port (5 Pin Red / Blue LED module)
RAM5001Port 2 BLUE BrightnessRW00 ~ 100%-Adjust the level of the brightness in the red LED for #2 port (5 Pin Red / Blue LED module)

Layout

CM-550 Layout

  • USB Micro USB Port : The 5 pin micro USB cable can be used to connect to the USB port of the PC.
  • UART Communication Port : BT-210, BT-410, LN-101, IR receiver or other communication modules can be connected.
  • BAT Battery Socket : Provided Li-Po battery can be connected.
  • 12VDC DC Input : The DC barrel jack of provided SMPS can be connected.
  • POWER Power Switch : Controls the power supply of the controller.
  • Status LED : Displays voltage level and wireless device connection status with RGB LED.
  • MODE MODE LED : This RGB LED displays the operating mode of CM-550. Please refer to the Operating Mode of CM-550.
  • START START LED : Please refer to the Operating Mode of CM-550.
  • MODE MODE Button : The operating mode can be changed with this button. Please refer to the Operating Mode of CM-550.
  • START START Button : This button runs selected operating mode. Please refer to the Operating Mode of CM-550.
  • DXL DYNAMIXEL-X Series Port : DYNAMIXEL-X series can be connected in any of these ports.
  • PORT ROBOTIS 5 Pin Port : Sensors such as DMS, Touch sensor, IR sensor can be connected.
    Servo motor, IR array sensor, Temperature & Humidity sensor can only be connected to Port 1 or 2.
  • MIC Internal Microphone : The integrated microphone detects clapping sound.
  • FUSE Fuse : 10A fuse protects electric damage.
warning

CAUTION : The USB port on CM-550 is designed to be connected with the PC. Please do NOT connect other USB devices, or it may cause damage to the controller.

Battery Socket​

The pinout of the battery socket is shown below.

ROBOTIS 5 Pin Ports​

The pinout of the ROBOTIS 5 pin ports are shown below.

  1. OUT1 : 3.3 [V] Digital Output
  • Port 1, 2(Yellow) maximum allowed current : < 0.5 [A]
  • Port 3, 4, 5(Red) maximum allowed current : < 0.02 [A] (SM-10, IRSS-10, TMS-10 not supported)
  1. VCC : Power supply (5 [V])
  2. ADC : 3.3 [V] level Analog input
  3. GND : Ground (0 [V])
  4. OUT2 : 3.3 [V] Digital Output
  • Port 1, 2(Yellow) maximum allowed current : < 0.5 [A]
  • Port 3, 4, 5(Red) maximum allowed current : < 0.02 [A] (SM-10, IRSS-10, TMS-10 not supported)

Communication Port​

The UART serial port supports wired or wireless communication devices. The pinout of the port is shown below.

  1. GND : Ground (0 [V])
  2. VCC : Power Supply (2.7 ~ 3.6 [V])
  3. RXD : Receive Data
  4. TXD : Transmit Data

DYNAMIXEL Port​

The pinout of DYNAMIXEL TTL connector is shown below.

ItemTTL
Pinout1 GND
2 VDD
3 DATA
Diagram
Housing
JST EHR-03
PCB Header
JST B3B-EH-A
Crimp TerminalJST SEH-001T-P0.6
Wire Gauge for DYNAMIXEL21 AWG

Communication Circuit​

To control the DYNAMIXEL actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagram for this is shown below.

TTL Communication​

note

NOTE: Above circuit is designed for 5V or 5V tolerant MCU. Otherwise, use a Level Shifter to match the voltage of MCU.

  1. GND : Ground (0 [V])
  2. VDD : Power Supply (Same as Battery Level)
  3. DATA : Data transceiving pin
danger

WARNING: To enhance user safety and to prevent property damage, be sure to check the pinout installed on DYNAMIXEL and the board. The Pinout of DYNAMIXEL may differ depending on the connector manufacturer.

warning

CAUTION : XL-320 is not compatible with CM-550.

Connecting Power

In order to supply power to CM-550, either connect the battery to BAT battery socket or plug the 12V SMPS DC barrel into 12VDC jack.
Set the POWER switch to ON and the Status LED will be turned on.

note

NOTE : If 12VDC is connected to the power source, the CM-550 controller will cut the BAT input.

How to Operate

Power Up​

Setting the POWER switch to ON will turn on the CM-550 controller.

note

If the controller does not turn on, the battery might have been depleted. Please refer to Charging Battery section to charge the battery, or use 12V SMPS power supply to operate the robot.

Start​

In order to operate the robot, press the MODE button until the button flashes green. While the MODE LED is flickering in green, press the START button to run the downloaded task code.

note

If the MODE LED stops flickering after pressing the START button, task is running normally.

Quit​

In order to stop running the task code and exit to standby mode, press the MODE button while task is running.

Operating Mode​

The MODE button flickers in Standby Mode. While the MODE LED is flickering, press the START button to enter the mode.
Press the MODE button again to exit to Standby Mode.

MANAGE​

  • In Manage Mode, RoboPlus software can be connected to controllers and DYNAMIXELs for configuration.
  • The MODE LED will appear red under Manage Mode.
  • R+ Manager 2.0 can be used to configure or test CM-550 and connected X series DYNAMIXELs.
  • If CM-550 detects R+ Manager 2.0 or R+ Task 3.0 connection, the mode automatically changes to Manage Mode.
warning

CAUTION : XL-320 is not compatible with CM-550.

PLAY​

  • Task code can be run in Play Mode.
  • The MODE LED will appear green under Play Mode.
  • Task code can be downloaded to CM-550 with R+ Task 3.0.
  • While the MODE LED is flickering in green, press the START button to run the downloaded task code.

BOOT LOADER​

  • The firmware of CM-550 controller can be recovered under this mode.
  • The MODE LED will appear blue under Boot Loader Mode.
  • Press and hold the MODE button and turn on CM-550 or connect the USB cable to enter Boot Loader Mode.
  • While MODE LED is flickering in any color, press and hold the MODE button for five(5) seconds until the notification sounds with blue MODE LED.

Firmware Recovery​

In case of unexpected firmware malfunction or incomplete task code download that interferes with normal operation, CM-550 can be recovered with R+ Manager 2.0 via Firmware Recovery.
It is strongly recommended to use USB port for the firmware recovery.

Compatible Software

R+ Manager 2.0​

RoboPlus Manager 2.0 is able to connect to CM-550 and configure supported peripheral devices such as X series DYNAMIXEL, Touch Sensor, LED Module, and IR Sensor.

R+ Task 3.0​

R+ Task 3.0 is an integrated software tool that combines R+ Task 2.0 and R+ Motion 2.0.
Task codes and Motions can be created and modified with R+ Task 3.0.

Connect to PC

There are three available options to connect PC and CM-550.

  1. Use 5pin micro USB cable to connect the PC and CM-550.
  2. Use BT-410 Dongle to pair the PC and CM-550 wirelessly.
  3. Use LN-101 to connect the PC and CM-550.

Connect to Smart Device

CM-550 includes BLE bluetooth slave module.
Smart devices or PC with BT-410 Dongle can be paired with CM-550 wirelessly.

  1. Turn on the CM-550 controller.

  2. Launch the smart device app and select the bluetooth icon on the top right corner.

    • In case of R+ ENGINEER

    • In case of R+ Task 3.0

  3. Find the address on the CM-550 controller.

  4. Enter the last two characters of CM-550 BLE address in the left box and press Search icon.

    • In case of R+ ENGINEER

    • In case of R+ Task 3.0


  5. Select the CM-550 BLE address from the search list(R+ ENGINEER).

Charging Battery

warning

CAUTION

  • The provided battery must be charged with the provided charger(LBC-10) in the kit.
  • Please power the charger before connecting the battery.
  • Please fully charge the battery prior to first use.

  1. Get the rechargeable battery in the kit.

  2. Connect the battery to the charger as shown below.

  3. When fully charged, the LED will emit a solid green light.

  4. The robot and controller can also be powered by the SMPS without the battery.

  5. The battery has separate connectors for the charger and the robot. Please disconnect the Robot Connector from the robot when charging the battery.

Battery Level Check

Current battery life can be verified by the color of the LED located on the CM-550.

  • Blue : 70% ~ 100%
  • Green : 30% ~ 70%
  • Red : Under 30% (Low voltage alarm)
note

NOTE : The Power LED will blink when Bluetooth connection is disconnected.

warning

CAUTION : Please disconnect the battery from the charger when charging is completed. Please do not charge the battery while operating the robot.

Fuse Replacement

The fuse in CM-550 protects hardware from unexpected excessive current.
If CM-550 can be turned on with the SMPS, but not with the battery, please check the fuse and replace it if necessary.

danger

DANGER : Disconnect any power sources(SMPS, battery, USB) from CM-550 before replacing the fuse.

Disconnect power source from CM-550 and replace the fuse on the bottom of CM-550.

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