User manual

* Note that the size of the PCB board of PMS5005 is about 14.5cm x 10.2cm.

I.2 Operations

The PMS5005 Robot Sensing/Motion Controller is designed to be running as part of the WiRobot

system. The hardware preparation when using the PMS5005 is just simply connecting the relevant

WiRobot modules to the relevant connectors on the PMS5005 board and setting the proper jumper

configurations. Lower device-level operations are handled by the firmware embedded in PMS5005

controller with the following functions:

• Control 6 RC servos

• Driver for LCD display, 6 ultrasonic sensors, 2 human sensors, 1 infrared distance sensor, 1

temperature sensor, 1 tilt/acceleration sensor and 1 infrared remote sensor

• Can interface with different digital devices through the general digital input and output ports

• Can interface with different analog devices through the A/D ports

• Built-in voltage monitoring capability

• Built-in 3 DC motor control schemes, including open-loop PWM control, closed-loop position

control, and closed-loop velocity control. Closed-loop position and velocity control required

the use of encoder or rotary sensor as the feedback device

Users can physically connect the PMS5005 to a host (e.g. PC, processor, or DSP) through null

modem cable or serial wireless modules. By default, the PMS5005’s UART setting is 115200, 8, N, 1

with hardware flow control. With this connection, there are two ways to communicate with the

PMS5005:

1. Using WiRobot SDK Software (requires Microsoft platform): High level programs running on

PC can communicate with the PMS5005 firmware using WiRobot SDK Component and

supplied WiRobot Gateway program. Users simply need to make a function call in their

programs to obtain sensor information or to control different devices (e.g. servos, DC motors,

and etc.) without the needs to understand the communication details between PC and

PMS5005. Please refer to the Chapter III. WiRobot SDK API (Page 26) for further

information on programming.

2. Using PMS5005 Communication Protocol: A device (e.g. PC, processor, or DSP) can

communicate with PMS5005 directly using packet-level commands. Such option has no

requirement on the host and provides the freedom for users to choose their development

platform.

I.2.1 PMS5005 Power Supplies and Consumption

Up to three independent groups of power supply can be connected to the PMS5005 supporting board

system circuits (System Power Supply), DC Motor Power Supply and Servo Motor Power Supply

respectively. These power supplies could be connected to the PMS5005 either through the screw

terminals or through the power jacks. Near each screw terminal, there is a connector port for

connecting the power switch or emergency button for each power supply. By default, all three

connector ports are connected together. If power switches are needed, you could disconnect the

connection and add a switch in between for each connector port.

Table I.1 shows the specification of the power supplies. Refer to Section II.2.5 for the connections of

the power jacks and terminals.

Table I.1 Specification of Power Supplies

Power Supply Power Screw Switch Voltage Current Capacity