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I.
PMS5005 Sensing and Motion Controller
I.1
Introduction
The PMS5005 Robot Sensing/Motion Controller can be used as sensing, control, motion execution,
LCD display and wireless communication processing unit for various robotic applications. Its onboard firmware makes the low level function modules such as motor driver module and wireless communication module transparent to the users. A host (e.g. PC, DSP, or processor) will be used to communicate and control the PMS5005 for different applications through the UART (serial) interface.
The system can help robotic and AI researchers and developers focus on the high level logic and algorithm design, and avoid the hassle of writing low level device drivers, standard control schemes and troubleshooting the electronic circuits. The ease of use, powerful functionality and onboard intelligence can eliminate design risk, streamline hardware and software development, and significantly shorten the time to delivery while effectively reducing the cost. Typical applications include humanoid robot, legged robot, wheel-based robot, robot head, robot arm and robot hand.
I.1.1
PMS5005 Robot Sensing/Motion Controller Architecture
As shown in Figure I.1, the PMS5005 features functionalities required by most of the robotic applications, such as sensing, motion control, and data communication.
The PMS5005 contains the following features and capabilities:
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40MIPS 16-bit fix-point hybrid DSP/MCU
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36K x 16-bit words flash
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2.5K x 16-bit words SRAM
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Build-in
.
A/D reference voltage monitoring
.
Over-heating sensor (x2)
.
System voltage monitoring (x1)
.
Watchdog timer (x1)
.
Full duplex UART (x2)
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Embedded firmware for configurable closed loop position, velocity, various sensor data acquisition,
LCD graphic display, wired and wireless communication
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Interfaces to
.
MDM5253 DC motor driver module with position and current feedback (x2), which includes o
General-purpose PWM DC motor interface (x6) o
Motor current feedback interface (x6) o
Potentiometer position feedback sensor interface (x6)
.
Quadrature encoder (x2)
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Standard RC servo motor (x6)
.
DUR5200 Ultrasonic range sensor module (x6)
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DHM5150 Human sensor module (x2)
.
DAT5280 Ambient temperature sensor module (x1)
.
GP2Y0A21YK Infrared range sensor (x1)
.
DTA5102 2 axis tilt/acceleration sensor module (x1)
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Custom A/D (x 8 including 3 channels of optional battery voltage monitoring). It can connect to
MSA3502 if signal amplifying is needed.
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Custom digital input (x8)
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Custom digital output (x8)
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MGL5128 Graphic LCD display module (128 x 64) (x1)
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MIR5538/5540 Full duplex infrared remote control and communication module (x1)
Copyright © Dr Robot Inc. 2005
66
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PMB5010 Multimedia controller (x1)
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MCB3100 Serial Bluetooth wireless module or MCR3210 RS232 interface module (x1) or
WFS802b WiFi802.11b Serial wireless module
Figure I.1 Block Diagram of the PMS5005
I.1.2
PMS5005 Connectors and Jumpers
Figure I.2 shows the function and location of the connectors and jumpers on the PMS5005.
Copyright © Dr Robot Inc. 2005
Figure I.2 PMS5005 Connector and Jumper Locations
67
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Table of contents
- 5 WiRobot Getting Start Guide
- 6 Preface
- 6 Audience
- 6 Feedback
- 7 WiRobot Overview
- 8 Software Components
- 9 Software (WiRobot SDK) Installation
- 9 System Requirements
- 9 WiRobot System Installation
- 10 Connecting to WiRobot System
- 10 WiFi Wireless Connecting
- 11 Serial Cable Connecting
- 13 Building PC Applications Using SDK
- 13 Using WiRobot SDK Component ActiveX Control
- 15 Sample Application 1 - WiRobot DRK8000 Controller (VB)
- 16 Sample Application 2 - WiRobot DRK6000/8000 Controller (VC++)
- 17 Other Sample Applications
- 17 Miscellaneous
- 17 System Update
- 18 DRK6080/8080 System Specification
- 19 WiRobot DRK6080/8080 Overview
- 20 Standard Electronics components and Operation Detail
- 22 Mechanical Specification
- 23 Electrical
- 25 Other Specification
- 25 Miscellaneous
- 25 Battery Recharging
- 25 Sensor Location
- 25 Known Issues
- 26 WiRobot SDK Application Programming Interface (API) (For MS Windows)
- 27 Convention
- 28 WiRobot SDK Overview
- 30 WiRobot SDK API Reference for PMS
- 30 Sensor Peripherals
- 44 Motion Control
- 60 Multimedia Control
- 60 Events
- 61 WiRobot SDK API Reference for PMB
- 61 Multimedia Control
- 64 Events
- 65 WiRobot DRK6080/6000/8080/8000 Specific APIs
- 65 Low Level Protection
- 66 WiRobot Module
- 67 PMS5005 Sensing and Motion Controller
- 67 Introduction
- 69 Operations
- 77 Procedure to upgrade the PMS5005 firmware
- 80 PMB5010 Multimedia Controller
- 80 Introduction
- 82 Operations
- 86 Procedure to upgrade the PMB5010 firmware
- 89 MDM5253 DC Motor Driver Module with Position and Current Feedback
- 89 Introduction
- 89 Operations
- 91 Connections
- 92 Specifications
- 94 WFS802b WiFI 802.11 Serial Module with antenna
- 94 Introduction
- 94 Operations
- 94 Connections
- 96 Specifications
- 97 Configuration via Serial Mode or Telnet Port
- 117 Configuration using Web-Manager
- 129 MCB3100 WiRobot Serial Bluetooth Wireless Module
- 129 Introduction
- 129 Operations
- 130 Connections
- 131 Specifications
- 132 MAC5310 Audio Codec and Audio Power Amplifier Module
- 132 Introduction
- 132 Operations
- 132 Connections
- 133 Specifications
- 135 DUR5200 Ultrasonic Range Sensor Module
- 135 Introduction
- 135 Operations
- 136 Connections
- 137 Specifications
- 138 DTA5102 Two-Axis Tilt and Acceleration Sensor Module
- 138 Introduction
- 138 Operations
- 140 Connections
- 141 Specifications
- 142 DHM5150 Human Motion Sensor Module
- 142 Introduction
- 142 Operations
- 143 Connections
- 144 Specifications
- 144 Fresnel Lens
- 145 DAT5280 Ambient Temperature Sensor Module
- 145 Introduction
- 145 Operations
- 146 Connections
- 147 Specifications
- 148 TROUBLE SHOOTING