WiRobot PMB5010 Manuel d'utilisateur

WiRobot DRK6080/8080 USER MANUAL WiFi 802.11 Wireless Mobile System Version: 1.0.2 March 2005

Copyright © Dr Robot Inc. 2005 9By default, all these components will be installed under the directory “C:\Program Files\DrRobot\WiRobot-System” unle

Copyright © Dr Robot Inc. 2005 99Figure VI.1 MAC5310 Connector Locations VI.3.2 Connector Description The definitions of the MAC5310 connector signal

Copyright © Dr Robot Inc. 2005 100 THD + N = 0.5%, f = 1 kHz, RL = 8 Ohm 1.5 Analog input voltage, peak-to-peak VCC3 = 3.3

Copyright © Dr Robot Inc. 2005 101VII. DUR5200 Ultrasonic Range Sensor Module VII.1 Introduction The DUR5200 Ultrasonic Range Sensor Module can dete

Copyright © Dr Robot Inc. 2005 102When using the DUR5200 with the third party controller, the power supply and the input/output signals should be con

Copyright © Dr Robot Inc. 2005 1034 GND Power supply ground VII.4 Specifications Table VII.2 DUR5200 Specification Parameter Conditions MIN

Copyright © Dr Robot Inc. 2005 104VIII. DTA5102 Two-Axis Tilt and Acceleration Sensor Module VIII.1 Introduction The DTA5102 Tilt and Acceleration Se

Copyright © Dr Robot Inc. 2005 105+ Y- Y+ X- X Figure VIII.2 Acceleration sensing directions To measure the tilt or orientation of an object, the DT

Copyright © Dr Robot Inc. 2005 106VIII.2.2 Running as part of WiRobot System When using the DTA5102 with the WiRobot system, user can simply connect

Copyright © Dr Robot Inc. 2005 107 VIII.4 Specifications Table VIII.2 DTA5102 Specification Parameter Conditions MIN TYP MAX Unit P

Copyright © Dr Robot Inc. 2005 108IX. DHM5150 Human Motion Sensor Module IX.1 Introduction The DHM5150 Human Motion Sensor Module incorporates a p

Copyright © Dr Robot Inc. 2005 10 IV.1.2 Run the WiRobot Gateway PC Running the “WiRobot Control Center” LAN WAND-Link DI 514 Wireless Router WiF

Copyright © Dr Robot Inc. 2005 109IX.2.2 Running as Part of WiRobot System When using the DHM5150 with the WiRobot system, user can simply connect th

Copyright © Dr Robot Inc. 2005 110IX.4 Specifications Table IX.2 DHM5150 Specification Parameter Conditions MIN TYP MAX Unit Power

Copyright © Dr Robot Inc. 2005 111X. DAT5280 Ambient Temperature Sensor Module X.1 Introduction The DAT5280 Ambient Temperature Sensor Module uses

Copyright © Dr Robot Inc. 2005 112 Figure X.2 Accuracy vs Temperature X.2.2 Running as part of WiRobot System When using the DAT5280 with WiRobot s

Copyright © Dr Robot Inc. 2005 113X.3.2 Connector Description The DAT5280 can be connected to the controller system via a 3-pin 2.54 mm-pitch single

Copyright © Dr Robot Inc. 2005 114 Chapter V. TROUBLE SHOOTING

Copyright © Dr Robot Inc. 2005 115Q: How to start the robot? A: Push the red button behind the robot’s head. Q: Why the robot does not start afte

25 Valleywood Dr. Unit#20, Markham, ON L3R 5L9 CANADA T: (905) 943-9572 F: (905) 943-9197 Email: [email protected] www.DRR

Copyright © Dr Robot Inc. 2005 11Figure IV.2 WiFi Gateway Check the WiFi Connection and input the IP of the robot which you want to connect, and inp

Copyright © Dr Robot Inc. 2005 12Figure IV.5 Upper reach SCI0 of Lower Socket Board PMB5010 • Then plug the RS232 interface module in Upper Reach S

Copyright © Dr Robot Inc. 2005 13V. Building PC Applications Using SDK This section will discuss how to program user’s applications. Several sample

Copyright © Dr Robot Inc. 2005 14Figure V.2 Using ActiveX module under VB Step 2 • A new icon on the left menu bar will appear and user can simply

Copyright © Dr Robot Inc. 2005 15The following are some functions used in this sample application for controlling the servos mounted on the head: Wi

Copyright © Dr Robot Inc. 2005 16 m_ctlSDK.SetDcMotorControlMode (1, 0); m_ctlSDK.DcMotorPwmTimeCtrAll (32066, 32066, -32768, -32768, -32768, -327

Copyright © Dr Robot Inc. 2005 17 Chapter II. DRK6080/8080 System Specification -DRK6080 Wireless Mobile System -DRK8080 Wireless Mobile Animate

Copyright © Dr Robot Inc. 2005 18I. WiRobot DRK6080/8080 Overview WiRobot is an integrated electronic and software robotic system extended from Dr R

Copyright © Dr Robot Inc. 2005 1 Table of Contents Chapter I. WiRobot Getting Start Guide...

Copyright © Dr Robot Inc. 2005 19I.1 Standard Electronics components and Operation Detail WiRobot DRK6080/8080 Specifications: Table I.1 WiRobot DRK

Copyright © Dr Robot Inc. 2005 20The standard WiRobot DRK series system electronic modules: Table I.2 Standard WiRobot DRK Series System Electronic M

Copyright © Dr Robot Inc. 2005 21I.2 Mechanical Specification The following two diagrams illustrate the mechanical structure of the WiRobot DRK6080

Copyright © Dr Robot Inc. 2005 22 Figure I.2 WiRobot DRK8080 I.3 Electrical I.3.1 Power The DRK6080/8080 is powered by a single 7.2V battery pack

Copyright © Dr Robot Inc. 2005 23I.3.3 Electrical Modules In this system, all electrical modules are located and connected as followed: Table I.3 El

Copyright © Dr Robot Inc. 2005 24I.4 Other Specification Table I.4 Other Specification DRK6080 DRK8080 Weight (including one battery pack) ~2kg ~

Copyright © Dr Robot Inc. 2005 25 Chapter III. WiRobot SDK Application Programming Interface (API) (For MS Windows)

Copyright © Dr Robot Inc. 2005 26I. Convention Data Type int: 16 bit signed interger UWord16: 16 bit unsigned interger short: 16 bit

Copyright © Dr Robot Inc. 2005 27II. WiRobot SDK Overview WiRobot Software Development Kit (SDK) is a part of the WiRobot development system. Being

Copyright © Dr Robot Inc. 2005 28PMB5010 controllers. Data in between WiRobot hardware and the “WiRobot SDK ActiveX Module” is managed and transferre

Copyright © Dr Robot Inc. 2005 2IV.2 Events ...

Copyright © Dr Robot Inc. 2005 29III. WiRobot SDK API Reference for PMS5005 WiRobot SDK APIs for PMS5005 are grouped under the categories of Sensor

Copyright © Dr Robot Inc. 2005 30stop sending Return value: void Remarks: (1) The default update rate is 20Hz. User can set up the data refres

Copyright © Dr Robot Inc. 2005 3110 void DisableStandardSensorSending (); 11 void DisableCustomSensorSending (); 12 void DisableAllSensorSending (

Copyright © Dr Robot Inc. 2005 32packets to PC central controller */ Return value: void Remarks: The default PeriodTime = 50 (ms), i.e. update r

Copyright © Dr Robot Inc. 2005 33255 255 cm or longer 24 short GetSensorIRRange (); Description: GetSensorIRRange returns the current distance m

Copyright © Dr Robot Inc. 2005 34Syntax: ival = GetSensorHumanAlarm1(); //1st human alarm ival = GetSensorHumanAlarm2 (); // 2nd human ala

Copyright © Dr Robot Inc. 2005 3529 short GetSensorTiltingX (); 30 short GetSensorTiltingY (); Description: GetSensorTiltingX, GetSensorTiltingY,

Copyright © Dr Robot Inc. 2005 36 ival = GetSensorOverheatAD2(); //2nd overheating sensor Parameter: void Return value: short ival; Retu

Copyright © Dr Robot Inc. 2005 37ival = GetSensorIRCode4 (); // the fourth code Parameter: void Return value: short ival Return data inte

Copyright © Dr Robot Inc. 2005 38GetSensorBatteryADX returns the current value of the relevant power supply voltage if the battery voltage monitor is

Copyright © Dr Robot Inc. 2005 3IX.2 Operations ...

Copyright © Dr Robot Inc. 2005 39The return data is the raw value of the analog to digital converter indicating the output voltage of the monitor. Th

Copyright © Dr Robot Inc. 2005 402. Single sensor is mainly used for the control of robot joint with limited rotation range. The effective mechanica

Copyright © Dr Robot Inc. 2005 41Return value: short ival; Return data interpretation: The return data is the raw value of the analog t

Copyright © Dr Robot Inc. 2005 42III.1.11 Custom Analog and Digital Inputs and Outputs 64 short GetCustomAD1(); 65 short GetCustomAD2(); 66 short

Copyright © Dr Robot Inc. 2005 43The return data is the raw value of the analog to digital converter indicating the input voltage levels. The data ra

Copyright © Dr Robot Inc. 2005 44 Figure III.1 Digital Controlled DC Motor System In the case of PID control, the transfer function of the PID cont

Copyright © Dr Robot Inc. 2005 45ival = SetMotorPolarity5 (short polarity); // Motor #5 ival = SetMotorPolarity6 (short polarity); // Motor #6 iv

Copyright © Dr Robot Inc. 2005 46SetDcMotorVelocityControlPID sets up the PID control parameters of the specified DC motor control channel for veloci

Copyright © Dr Robot Inc. 2005 47 Syntax: SetDcMotorSensorUsage (channel, SensorType) Parameter: short channel; // 0, 1, 2, 3, 4, or 5 for singl

Copyright © Dr Robot Inc. 2005 48 92 void DcMotorPositionTimeCtr (short channel, short cmdValue, short timePeriod); Description: DcMotorPositionTi

Copyright © Dr Robot Inc. 2005 4 Chapter I. WiRobot Getting Start Guide

Copyright © Dr Robot Inc. 2005 491. Motor will be enabled automatically by the system when this command is received. 2. Target position value is in

Copyright © Dr Robot Inc. 2005 50 Syntax: DcMotorVelocityNonTimeCtr (channel, cmdValue); Parameter: short channel; // 0, 1, 2, 3, 4, or 5 s

Copyright © Dr Robot Inc. 2005 5197 void DcMotorPwmNonTimeCtr(short channel, short cmdValue); Description: DcMotorPwmNonTimeCtr sends the PWM contr

Copyright © Dr Robot Inc. 2005 52Return value: void Remarks: 1. All DC Motors will be enabled automatically by the system when this command is rec

Copyright © Dr Robot Inc. 2005 535. When some motors are not under controlled, their command values should be set as -32768 (0x8000). That means NO_

Copyright © Dr Robot Inc. 2005 54DcMotorVelocityNonTimeCtrAll sends the velocity control command to all 6 DC motor control channels on the Sensing an

Copyright © Dr Robot Inc. 2005 55 short timePeriod; // Executing time in milliseconds Return value: void Remarks: 1. All channel (motors) wil

Copyright © Dr Robot Inc. 2005 564. When some motors are not under controlled, their command values should be set as -32768 (0x8000). That means NO_

Copyright © Dr Robot Inc. 2005 57short timePeriod; // Executing time in milliseconds Return value: void Remarks: 1. Target position value for cm

Copyright © Dr Robot Inc. 2005 58 short cmd2; // Target position for channel #2 short cmd3; // Target position for channel #3 short

Copyright © Dr Robot Inc. 2005 5I. Preface I.1 Audience This document is written for robot developers in using WiRobot systems. It provides the in

Copyright © Dr Robot Inc. 2005 59III.3 Multimedia Control III.3.1 LCD Display 111 void LcdDisplayPMS(LPCTSTR bmpFileName); Description: LcdDispla

Copyright © Dr Robot Inc. 2005 60IV. WiRobot SDK API Reference for PMB5010 WiRobot SDK APIs for PMB5010 supports advanced Multimedia Control feature

Copyright © Dr Robot Inc. 2005 61 Syntax: lpVal = GetVoiceSegment(); Parameter: void Return value: long lpVal; // pointer to current voice dat

Copyright © Dr Robot Inc. 2005 62120 void StopRecord(); Description: StopRecord sends stop-recording command to the Multimedia Controller (PMB501

Copyright © Dr Robot Inc. 2005 63 Remarks: 1. Before calling SavePhotoAsBMP, the TakePhoto command needs to be called to request image taken. 2. W

Copyright © Dr Robot Inc. 2005 64V. WiRobot DRK6080/8080 Specific APIs V.1 Low Level Protection When bumpers (optional) are installed on WiRobot

Copyright © Dr Robot Inc. 2005 65 Chapter IV. WiRobot Module

Copyright © Dr Robot Inc. 2005 66I. PMS5005 Sensing and Motion Controller I.1 Introduction The PMS5005 Robot Sensing/Motion Controller can be used

Copyright © Dr Robot Inc. 2005 67o PMB5010 Multimedia controller (x1) o MCB3100 Serial Bluetooth wireless module or MCR3210 RS232 interface module

Copyright © Dr Robot Inc. 2005 68 * Note that the size of the PCB board of PMS5005 is about 14.5cm x 10.2cm. I.2 Operations The PMS5005 Robot Sensin

Copyright © Dr Robot Inc. 2005 6II. WiRobot Overview WiRobotTM is an integrated electronic and software robotic system extended from Dr Robot’s comp

Copyright © Dr Robot Inc. 2005 69Jack 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

Copyright © Dr Robot Inc. 2005 70The system communication connection structure of the PMS5005 in the WiRobot system is shown in Figure I.1. PMS5005

Copyright © Dr Robot Inc. 2005 71MCB3100 BTOOTH 1 Bluetooth wireless communication module MCR3210 BTOOTH 1 RS232 interface module DUR5200 US_1

Copyright © Dr Robot Inc. 2005 72 Figure I.4 Sample Connection of WiRobot PMS5005 with Different Peripheral Modules I.2.8 PMS5005 Connections The de

Copyright © Dr Robot Inc. 2005 73 Table I.9 Ultrasonic Range Sensor Connectors US_1 - 6 Pin Name Signal Description 1 VCCA +5.0 V 2 URS Ultrasonic

Copyright © Dr Robot Inc. 2005 74 Table I.14 Servo Motor Connectors SM1 - 6 Pin Name Signal Description 1 SCL Servo motor control 2 VSM Positive s

Copyright © Dr Robot Inc. 2005 7514 RESET Reset input 15 R/W Read/write 16 D/I Data/Instruction indication 17 E Enable 18 VEE Negative voltage outp

Copyright © Dr Robot Inc. 2005 7622* D_IN5 Digital in 23* D_IN6 Digital in 24* D_IN7 Digital in * NOTE (Table I.19): These pins have been pulled-up t

Copyright © Dr Robot Inc. 2005 776. Configure the COM port with the setting 115200, 8, N, 1, Xon/Xoff and turn on the “Echo typed characters locally

Copyright © Dr Robot Inc. 2005 78 Figure I.8 Locating the HEX File 9. Please read step 10-13 ahead before turning on the PMS5005 in this step 10.

Copyright © Dr Robot Inc. 2005 7II.1 Software Components The WiRobot system comes with a CD containing the following software components and documen

Copyright © Dr Robot Inc. 2005 79 Figure I.10 Successful PMS5005 Firmware Upgrade 13. When the download is finished, you could disconnect the COM c

Copyright © Dr Robot Inc. 2005 80II. PMB5010 Multimedia Controller II.1 Introduction The PMB5010 Robot Multimedia Controller can be used as audio,

Copyright © Dr Robot Inc. 2005 81II.1.2 PMB5010 Connectors and Jumpers Figure II.2 shows the function and location of the connectors and jumpers on

Copyright © Dr Robot Inc. 2005 82 II.2.2 PMB5010 Jumper Settings The board address can be set to any value between 0 and 15. Please refer to the Tab

Copyright © Dr Robot Inc. 2005 83Table II.3 System Communication Connectors Connector Type Description BLUETOOTHT Upper Reach SCI port with handsha

Copyright © Dr Robot Inc. 2005 84 Table II.7 Lower Reach Communication Port SCIT Pin Name Signal Description 1 VCC +3.3 V 2 RXD Data receiving 3 T

Copyright © Dr Robot Inc. 2005 8516 D7 Image data bit 7 II.3 Procedure to upgrade the PMB5010 firmware 1. Download and save the latest PMB5010 f

Copyright © Dr Robot Inc. 2005 867. The lower left corner of the hyper-terminal will show the connection status. If the hyper-terminal is still not

Copyright © Dr Robot Inc. 2005 87 Figure II.7 Status after Turning on the PMB5010 11. Within 5 seconds (start counting when you turn on the PMB5010

Copyright © Dr Robot Inc. 2005 88III. MDM5253 DC Motor Driver Module with Position and Current Feedback III.1 Introduction The MDM5253 DC Motor Dri

Copyright © Dr Robot Inc. 2005 8III. Software (WiRobot SDK) Installation III.1 System Requirements The PC requirements in using the WiRobot system

Copyright © Dr Robot Inc. 2005 89 Figure III.1 H-Bridge Switching Device In the design of the MDM5253, only one PWM control signal is required to co

Copyright © Dr Robot Inc. 2005 90By working with the PMS5005, users can simply call a function offered by the WiRobot SDK software on PC (requires Mi

Copyright © Dr Robot Inc. 2005 913 GND3 Signal ground Table III.3 Control Signal Connector MOTOROUT Pin Name Function 1 CTL1 Channel #1 PWM contr

Copyright © Dr Robot Inc. 2005 92Enable Input Current IENA 25 100 µA PWM Input Current ICTL ±

Copyright © Dr Robot Inc. 2005 93IV. WFS802b WiFI 802.11 Serial Module with antenna IV.1 Introduction The WFS802b WiFi (802.11b) serial module is t

Copyright © Dr Robot Inc. 2005 94 Figure IV.1 WFS802bStructure IV.3.2 Connector Description The WFS802b is connected to WiRobot system via an 8-pin

Copyright © Dr Robot Inc. 2005 95IV.4 Specifications Table IV.3 WFS802b Specification Network Standard IEEE 802.11b Frequency Range 2.412 – 2.484

Copyright © Dr Robot Inc. 2005 96V. MCB3100 WiRobot Serial Bluetooth Wireless Module V.1 Introduction The MCB3100 Serial Bluetooth Wireless Module

Copyright © Dr Robot Inc. 2005 97V.3.2 Connector Description The MCB3100 is connected to WiRobot system via an 8-pin 2.54 mm-pitch single row connec

Copyright © Dr Robot Inc. 2005 98VI. MAC5310 Audio Codec and Audio Power Amplifier Module VI.1 Introduction The MAC5310 Audio Codec and Audio Power