User manual

MCB3100 BTOOTH 1 Bluetooth wireless communication

module

MCR3210 BTOOTH 1 RS232 interface module

DUR5200 US_1 – 6 6 Ultrasonic range sensor

DTA5102 TILT 1 2-Axis tilting and acceleration

sensor

DHM5150 HUMAN1 – 2 2 Human motion sensor

DAT5280 TEMPERATURE 1 Ambient temperature sensor

MIR5538/5540 INFRAR 1 Infrared remote controller module

MDM5253 MOTOR1_IN,

_OUT

MOTOR2_IN,

_OUT

2 3-channel DC motor driver module

with position and current feedback

3rd party SM1 - 6 6 3rd party servo motor

3rd party ENCODER1 - 2 2 3rd party quadrature encoder

GP2Y0A21YK RANGE 1 Infrared range sensor

MGL5128 LCD 1 Mono Graphic LCD display module,

128x64

I.2.5 Connecting DC Motors and Potentiometers to PMS5005

In order to connect DC motors and potentiometers to the PMS5005, MDM5253 (DC Motor Driver

Module with Position and Current Feedback) is required. Each MDM5253 can control up to 3 DC

motors and 3 potentiometers; and each PMS5005 can connect up to 2 MDM5253. The

potentiometer can be used as the position feedback of the DC motor for precise position and velocity

control. Connector MOTOR1-IN and MOTOR1-OUT on PMS5005 are used to connect to a

MDM5253 for DC Motor 1, 2, 3 and Potentiometer 1, 2, 3; and connector MOTOR2-IN and MOTOR2-

OUT are used to connect to a MDM5253 for DC Motor 4, 5, 6 and Potentiometer 4, 5, 6. For details

on how to connect DC motors and potentiometers to the MDM5253, please refer to the Chapter IV.III

MDM5253 (Page 89).

I.2.6 Connecting Custom Sensors/Devices to PMS5005

The PMS5005 has 8 digital inputs, 8 digital outputs and 8 custom A/D extensions. These ports can all

be used to connect to different sensors or output devices. For example, user can connect gyroscope,

more infrared distance sensors or other analog signal devices to PMS5005 by making use of the

available A/D extensions. If a user just wants to have better infrared sensing capabilities in his / her

robot, the PMS5005 can support up to 9 infrared distance sensors (GP2Y0A21YK) through its IR

range sensor port and the 8 custom A/D expansions.

I.2.7 Sample WiRobot Connection Using PMS5005

The following figure illustrates a simple way in using the PMS5005. Note that only a single 7.2V

power source is used to supply power to the system and not all peripheral modules are connected to

the PMS5005 in this figure.