User manual

II.2.2 PMB5010 Jumper Settings

The board address can be set to any value between 0 and 15. Please refer to the Table II.2 for the

setting values.

Table II.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

II.2.3 PMB5010 System Communication Connections

Under the WiRobot system architecture, all the 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.

The system communication connection structure of the PMS5010 in the WiRobot RDK is shown in

Figure II.3. PMB5010 can work solely in the WiRobot system or together with a WiRobot Sensing

and Motion controller PMS5005.

Figure II.3 WiRobot System Communication Architecture

The system communication connectors on the PMB5010 are described in Table II.3. Refer to Section

II.2.5 for the definitions of the signals attached to the connector BLUETOOTHT and SCIT.