User manual

Jack Terminals Connector Range (V) (mA)

System J1 PSY S1-0 5.5 – 7.2 500

DC Motor J2 PDM S1-1 6.0 – 25.0 System Specific

Servo Motor J3 PSM S2-1 5.0 – 7.2 System Specific

The system power supply is required at all time for the operation of this board and the power

consumption of PMS5005 without connecting any peripheral modules is about 350mA using a 7.2V

battery pack. We also recommend the use of three different power sources in powering the

PMS5005 (System Power Supply, DC Motor Power Supply and Servo Motor Power Supply) since

high power consumption devices (e.g. high torque servos) may affect the operation of voltage

sensitive devices (e.g. sensors) due to voltage frustration.

Note: Please make sure that the DC motor power supply voltage does not exceed the maximum

allowable voltage for the DC motors.

I.2.2 PMS5005 Jumper Settings

The board address jumpers can be set to any value between 0 and 15. The board address is currently

reserved for future use.

Table I.2 Board Address Jumpers B_ADDR

Bit Pin Value 1 Value 0

0 (LSB) 1, 2 open 1-2 short

1 3, 4 open 3-4 short

2 5, 6 open 5-6 short

3 (MSB) 7, 8 open 7-8 short

JP_AD1, JP_AD2 and JP_AD3 are used for enabling and disabling battery voltage monitoring. If the

jumper is removed, the corresponding power supply monitoring and custom AD_IN will be disabled.

Table I.3 Battery Voltage Monitoring Jumpers

Jumper Position Battery Voltage Monitoring

1-2 Enable system power supply monitoring JP_AD1

2-3 Disable system power monitoring and connect Custom

AD_IN1

1-2 Enable DC motor power supply monitoring JP_AD2

2-3 Disable DC motor power and connect Custom AD_IN2

1-2 Enable servo motor power supply monitoring JP_AD3

2-3 Disable servo motor power monitoring and connect Custom

AD_IN3

I.2.3 PMS5005 System Communication Connections

Under the WiRobot system architecture, all controllers are connected in a chain. There is one and only

one host serving as the central controller. All other embedded controllers have at least two SCI ports

for the system communications: upper-reach port and lower-reach port, with the direction respect to

the central controller.