Supported Baudrates for DYNAMIXEL

Baudrate(bps)	CM-5	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04	OpenCR	OpenRB-150
9600	✓	✓	✓	✓	✓	✓	✓	✓	✓
57600	✓	✓	✓	✓	✓	✓	✓	✓	✓
115200	✓	✓	✓	✓	✓	✓	✓	✓	✓
1M	✓	✓	✓	✓	✓	✓	✓	✓	✓
2M	X	X	X	✓	X	X	X	✓	X
3M	X	X	X	✓	X	X	X	✓	X
4M	X	X	X	X	X	X	X	✓	X
4.5M	X	X	X	X	X	X	X	✓	X

Compatibility Table

DYNAMIXEL

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR	OpenRB-150
AX Series	✓	X	X	X	X	X	✓	✓	X	✓	✓	X(✓)	X	✓	✓
DX Series	X	X	X	X	X	X	X	X	X	✓	✓	X(✓)	X	✓	X
RX Series	X	X	X	X	X	X	X	X	X	✓	✓	X(✓)	X	✓	X
EX Series	X	X	X	X	X	X	X	X	X	✓	✓	X(✓)	X	✓	X
MX Series(TTL)	✓	X	X	X	X	X	✓	✓	X	✓	✓	X(✓)	X	✓	✓
MX Series(RS485)	X	X	X	X	X	X	X	X	X	✓	✓	X(✓)	X	✓	O(Comm Bridge)
XL-320	X	X	X	X	X	X	X	X	X	X	✓	✓(X)	X	X	✓
XL Series	X	X	X	X	X	X	X	X	✓	X	X	X(✓)	X	✓	✓
XC Series	X	X	X	X	X	X	X	X	✓	X	X	X(✓)	X	✓	✓
XM Series	X	X	X	X	X	X	X	X	✓	X	X	X(✓)	X	✓	✓
XH Series	X	X	X	X	X	X	X	X	✓	X	X	X(✓)	X	✓	✓
XD Series	X	X	X	X	X	X	X	X	✓	X	X	X(✓)	X	✓	O(Comm Bridge)
XW Series	X	X	X	X	X	X	X	X	✓	X	X	X(✓)	X	✓	O(Comm Bridge)
PRO Series	X	X	X	X	X	X	X	X	X	✓	X	X(✓)	X	✓	O(Comm Bridge)

note

OpenCM9.04 with OpenCM 485 EXP can use all types of DYNAMIXEL.

Parts

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
Bioloid Serial Cable	✓	X	X	X	X	X	✓	X	X	X	X	X	X	X
Mini USB	X	X	X	X	X	X	X	✓	X	X	X	X	X	X
Micro USB(B)	X	X	X	✓	✓	X	X	X	✓	X	✓	✓	✓	✓
LN-101	X	X	✓	✓	✓	✓	X	X	✓	✓	✓	✓	✓	✓
IRSS-10	X	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓
TS-10(Touch Sensor)	X	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓
DMS-80 (Distance Sensor)	X	X	X	X	X	X	✓	✓	✓	✓	✓	✓	✓	✓
IR Array Sensor	✓	X	X	X	X	X	✓	✓	X	✓	X	✓	X	✓
GS-12 (Gyro Sensor)	X	X	X	X	X	X	✓	✓	X	✓	✓	✓	✓	✓
CS-10 (Color Sensor)	X	X	X	✓	✓	✓	X	✓	✓	X	✓	✓	✓	✓
MGSS-10 (Magnetic Sensor)	X	X	X	✓	✓	✓	X	✓	✓	X	✓	✓	✓	✓
PIR-10 (Motion Sensor)	X	X	X	✓	✓	✓	✓	✓	✓	X	✓	✓	✓	✓
TPS-10 (Temperature Sensor)	X	X	X	✓	✓	✓	✓	✓	✓	X	✓	✓	✓	✓
TMS-10 (Temperature and Moisture sensor)	X	X	X	✓	✓	✓	X	✓	✓	X	✓	✓	✓	✓
AX-S1 (Integrated Sensor)	✓	X	X	X	X	X	✓	✓	X	✓	X	✓	X	✓
SM-10 (Servo Motor)	X	X	✓	✓	✓	✓	X	✓	✓	X	✓	X	✓	✓
GM-10A (Geared Motor)	X	X	✓	✓	✓	✓	X	X	X	X	✓	X	✓	✓
High Speed Geared Motor	X	✓	✓	✓	✓	X	X	X	X	X	✓	X	✓	✓
Low Speed Geared Motor	X	✓	✓	✓	✓	X	X	X	X	X	✓	X	✓	✓
LM-10 (LED Module)	X	✓	✓	✓	✓	✓	X	✓	✓	X	✓	✓	✓	✓
IR Sensor	X	X	✓	✓	✓	X	✓	✓	✓	✓	X	✓	X	✓
ZIG-100	✓	✓	X	X	X	X	X	X	X	X	X	X	X	X
ZIG-110A	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓
BT-110A	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓
BT-210	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓
BT-410	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓
LB-04 Series (Li-ion Battery)	X	X	X	✓	✓	✓	X	X	X	X	✓	X	✓	X
11.1V LiPo	X	X	X	X	X	X	✓	✓	✓	✓	X	✓	X	✓
9.6V NiMH	✓	X	X	X	X	X	X	X	X	X	X	X	X	X
OBB-10A	X	X	✓	X	X	X	X	X	X	X	X	X	X	X
ABB-030	X	X	X	X	X	✓	X	X	X	X	X	X	X	X
LFU-10	X	X	X	X	X	X	✓	✓	✓	✓	X	✓	X	✓
FU-5	✓	X	X	X	X	X	X	X	X	X	X	X	X	X
User Device	X	✓	X	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓

1 IR Receiver with OpenCM 9.04 is not supported on R+Task

Software

R+ 1.0

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
R+ Task 1.0	✓	X	✓	✓	X	✓	✓	✓	X	✓	X	✓(X)	X	X
R+ Manager 1.0	✓	X	✓	✓	X	✓	✓	✓	X	✓	X	✓(X)	X	X
R+ Motion 1.0	✓	X	X	✓	X	✓	✓	✓	X	✓	X	✓(X)	X	X

note

NOTE:

• R+ Manager 1.0 only supports a firmware update or restore of a controller, but it isn't possible to read control table of a controller via R+ Manager 1.0.
• Use R+ Manager 2.0 to read control table of a controller.
  • If a controller is not compatible with R+Manager 2.0, use R+Manager 1.0.

R+ 2.0

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
R+ Task 2.0	✓	✓	✓	✓	X	✓	✓	✓	X	✓	X	✓(X)	X	X
R+ Manager 2.0	✓	X	X	✓	✓	✓	✓	✓	X	✓	X	✓(X)	X	X
R+ Motion 2.0	✓	X	X	✓	X	✓	✓	✓	X	✓	X	✓(X)	X	X

R+ 3.0

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
R+ Task 3.0	✓	✓	✓	✓	✓	✓	✓	✓	✓	✓	X	✓(X)	✓	X

R+ Mobile

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
R+ m.Task	✓	✓	✓	✓	X	✓	✓	✓	X	✓	X	✓(X)	✓	X
R+ m.Task 2.0	✓	✓	X	✓	X	✓	✓	✓	X	X	X	✓(X)	✓	X
R+ m.Motion 2.0	✓	X	X	X	X	✓	✓	✓	X	✓	X	✓(X)	X	X
R+ m.Design	✓	X	✓	✓	✓	✓	✓	✓	X	X	X	✓(X)	X	X

R+ Mobile (STEAM KIT)

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
R+ SMART ( I / II / III )	X	X	X	X	X	✓	X	X	X	X	X	X	X	X
R+ Block	X	✓	X	✓	✓	X	X	X	X	X	X	X	✓	X
R+ IoT	X	X	X	X	X	X	X	X	X	X	X	X	✓	X
R+ Play 700	X	✓	X	X	X	X	X	X	X	X	X	X	X	X
ROBOTIS MINI	X	X	X	X	X	X	X	X	X	X	X	✓(X)	X	X

etc

Model	CM-5	CM-50	CM-100	CM-150	CM-151	CM-200	CM-510	CM-530	CM-550	CM-700	CM-900	OpenCM9.04 (+OpenCM 485 EXP)	OpenCM7.0	OpenCR
R+ Scratch	X	✓	X	✓	X	X	X	X	X	X	X	X	✓	X
OpenCM IDE	X	X	X	X	X	X	X	X	X	X	X	✓	X	X
DYNAMIXEL SDK	X	X	X	X	X	X	X	X	X	X	X	✓	X	✓
DYNAMIXEL Workbench	X	X	X	X	X	X	X	X	X	X	X	✓	X	✓
DYNAMIXEL Wizard	X	X	X	X	X	X	X	X	X	X	X	X	X	X
DYNAMIXEL Wizard 2.0	X	X	X	X	X	X	X	X	X	X	X	X	X	✓
ROBOTIS Manipulator library	X	X	X	X	X	X	X	X	X	X	X	X	X	✓
Embedded SDK(CM-510/530/700)	X	X	X	X	X	X	✓	✓	X	✓	X	X	X	X
Arduino IDE	X	X	X	X	X	X	X	X	X	X	X	✓	X	✓

info

• Users can build their own manipulator with ROBOTIS Manipulator library offered by ROBOTIS.
• Users can build their own firmware of CM-510/530/700 with Embedded SDK offered by ROBOTIS.