22.2.2. 規格

備註：OpenCR 控制板的電源切換：外接電源線(12V, 5A SMPS)跟電池之間的熱插拔功能，可實現 UPS 不斷電的特色。

Items	Specifications
Microcontroller	STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
Sensors	Gyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250)
Programmer	ARM Cortex 10pin JTAG/SWD connector USB Device Firmware Upgrade (DFU) Serial
Extension pins	32 pins (L 14, R 18) *Arduino connectivity Sensor module x 4 pins Extension connector x 18 pins
Communication circuits	USB (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 buttons	LD2 (red/green) : USB communication User LED x 4 : LD3 (red), LD4 (green), LD5 (blue) User button x 2
Powers	External 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
Dimensions	105(W) X 75(D) mm
Mass	60g