Proper connection of electrical robot components: 4 Dynamixel robotic servos, 3 steppers + drivers, Raspberry Pi + RP-Cam, Energy source(s)

Hi all,

I need help with the hardware concept for my robot controls of my 6DOF robot arm. The joints are moved with 4 Dynamixel robotic servos (2 XL430-W250T and 2 XL330-M288T) with integrated motor controllers and 3 stepper motors. In addition, there is a Raspberry Pi as control unit (incl. a RP Camera connected to the RP via ribbon cable), Stepper Drivers and power source(s).

Do you have a suggestion how to connect these components properly? At this point I am interested in a rough schematic, not in a detailed circuit diagram.

I have already been recommended the OpenCM9.04 controller board as the central interface between all components. Has anyone of you ever worked with it and can say what this board does exactly?

Grateful for any help.

Hi @CaptainMorgigi
If you are trying to run DYNAMIXEL with Raspberry Pi, you may use a U2D2 interface between the SBC and DYNAMIXEL for easier control.
Please see below video for more details.


Have you tried these 3 posts from another Robotis Community?