RoboMaster PM01 User manual

RoboMaster Referee System
Power Management Module PM01
User Guide
使用说明
v1.0 2018.11

Disclaimer
Thank you for purchasing the RoboMaster™ Referee System Power Management Module. Please read this
disclaimer carefully before using this product. By using this product, you hereby signify that you have read
and agree to all content herein. Please install and use this product properly and in strict accordance with the
User Manual and product instructions, as well as any relevant laws, regulations, and policies. Users shall be
responsible for the consequences resulting from their behavior while using this product. DJI™ will not bear
any legal responsibilities for any damages due to improper use, installation or modification.
DJI and RoboMaster are trademarks of SZ DJI™ Technology Co., Ltd and its affiliates. Names of products,
brands, etc., appearing in this document are trademarks or registered trademarks of their respective owner
companies. This product and document are copyrighted by DJI with all rights reserved. No part of this
product or document shall be reproduced in any form without the prior written consent or authorization of
DJI.
DJI reserves the right of final interpretation of this disclaimer.
Product Usage Precautions
1. Make sure that the wiring connections are correct before use.
2. Make sure that the components are intact before use.
3. The case of the Power Management Module becomes hot under high power conditions. Do not touch it
with your hands.
4. Please mount the Power Management Module in a well-ventilated place. Do not mount it on non-heat-
resistant materials such as 3D-printed materials.
5. DO NOT use glue ,to secure the Power Management Module.
6. Before using the product, please download the RoboMaster 2019 Referee System User Manual from

the official RoboMaster website to learn more about the product.
Introduction
The RoboMaster Referee System Power Management Module provides 24 V DC power output to the
chassis, gimbal, and launching mechanism of your robot. The module monitors the current and voltage
of each of the three channels and calculates power, and then turns on or off the power output
according to the commands from the server. Additionally, the Power Management Module offers 5 V, 12
V, and 24 V DC power supply to other modules of the Referee System. The Power Management Module
forwards the data packets sent by the modules to the target module as required. Information about the
Referee System is output via the user serial interface (user interface) of the Power Management Module.
Inventory List
Power Management Module × 1
3-Pin Serial Cable × 1

Interface Description
No.
Name
Description
No.
Name
Description
1
Armor Module
SM06B-GHS-TB
interface (6-pin
socket)
Connected to the
Armor Module,
supplies power to it,
and communicates with
it.
2
RFID Interaction
Module SM04B-
GHS-TB interface
(4-pin socket)
Connected to the RFID
Interaction Module,
supplies power to it,
and communicates
with it.
3
CAN
communication
SM04B-GHS-TB
interface (4-pin
socket)
Has the same function
as the 4-pin interface
of the RFID Interaction
Module.
4
Main Control
Module interface
(an aviation
connector with a
black metal ring)
Connected to the
Main Control Module,
supplies power to it,
and communicates
with it.
5
Interfaces for
other Referee
System
modules (three
aviation
connectors
with a silver
metal ring)
Connected to the
Speed Monitor Module,
UWB Module, Camera
Video Transmitter
Module (VTM) and
Light Indicator Module,
supplies power to
them, and
communicates with
them.
6
User SM03B-
GHS-TB interface
(3-pin socket)
A user information
output interface. The
wiring scheme is
visible on the surface
screen printing at the
bottom of the
interface.
7
System
upgrade
SM03B-GHS-TB
interface (3-pin
socket)
A system upgrade
interface. The wiring
scheme is visible on the
surface screen printing
at the bottom of the
interface.
8
Referee System
power supply
XT60 interface
(input)
24 V DC power input
(XT60 male)
9
Mini PC power
supply XT30
interface
(output)
Mini PC 24 V DC power
input (XT30 female)
10
Power supply
XT30 interface
(output) for the
chassis
24 V DC power output
for the chassis
(XT30 female)
11
Power supply
XT30 interface
(output) for the
gimbal
24 V DC power output
for the gimbal
(XT30 female)
12
Power supply
XT30 interface
(output) for the
launching
mechanism
24 V power output for
the launching
mechanism
(XT30 female)

Dimensions and Installation
Properly secure the Power Management Module to your robot using four M2.5 screws according to the
size and distance of the mounting holes of the Power Management Module as shown in the figure.
Unit: mm

Light Status Description
The Power Management Module has five indicators in total from top to bottom: chassis indicator (which
indicates the status of the power supply to the chassis), gimbal indicator (which indicates the status of
the power supply to the gimbal), ammo-booster indicator (which indicates the status of the power
supply to the launching mechanism), sys indicator (which indicates the status of the Power
Management Module), and link indicator (which indicates the status of connection with the main
controller). The specific meaning of the indicators are as follows:
Indicator
Status
Description
Sys indicator
Flashes red once per second
The system is functioning properly
Link indicator
No light
Not properly connected to the Main Control
Module
Flashes green
Connected to the Main Control Module
Chassis indicator
No light
The power output to the chassis is turned off
Solid green
The power output to the chassis is turned on
Gimbal indicator
No light
The power output to the gimbal is turned off
Solid green
The power output to the gimbal is turned on
Ammo-Booster
indicator
No light
The power output to the launching mechanism
is turned off
Solid green
The power output to the launching mechanism
is turned on

Product Parameters
Power Supply Voltage
DC 24 V
Output Voltage
DC 5 V, DC 12 V, DC 24 V
Dimensions
70 × 48 × 22.5 mm
Weight
Approx. 120 g
Maximum Output
Current
Chassis
10 A (maximum continuous load); 30 A (output
duration of less than 500 ms)
Gimbal
10 A (maximum continuous load); 30 A (output
duration of less than 500 ms)
Ammo-Booster
(launching mechanism)
8 A (maximum continuous load); 30 A (output
duration of less than 500 ms)
Total of the above
3 channels
20 A (maximum continuous load)
Mini PC
6 A (maximum continuous load)
Power Consumption
Static no-load power consumption: 2.2 W
WWW.ROBOMASTER.COM
and
are trademarks of DJI
Copyright © 2018 DJI All Rights Reserved.

免责声明
感谢您购买 RoboMaster™裁判系统电源管理模块。在使用前，请仔细阅读本声明，一旦使用，即被视为对本声明全部内
容的认可和接受。请严格遵守手册、产品说明和相关的法律法规、政策、准则安装和使用该产品。在使用产品过程中，用
户承诺对自己的行为及因此而产生的所有后果负责。因用户不当使用、安装、改装造成的任何损失，DJI™将不承担法律
责任。
DJI 和RoboMaster 是深圳市大疆™创新科技有限公司及其关联公司的商标。本文出现的产品名称、品牌等，均为其所属
公司的商标。本产品及手册为大疆创新版权所有。未经许可，不得以任何形式复制翻印。
关于免责声明的最终解释权，归大疆创新所有。
产品使用注意事项
1. 使用前请确保连线正确。
2. 使用前请检查零部件是否完好。
3. 电源管理模块在大功率负载工况下，外壳温度偏高，请勿用手触碰。
4. 请将电源管理模块安装至通风良好的地方，避免安装于不耐热材料上，如 3D 打印材料。
5. 禁止使用 3M 胶等胶类物质固定电源管理模块。
6. 使用前，请前往 RoboMaster 官网下载《RoboMaster 2019 裁判系统用户手册》了解产品更为详细的使用功
能。
简介
RoboMaster 电源管理模块可为机器人的底盘、云台、发射机构分别提供 3个通道 24V 的直流电源输出，监测这

3个通道的电流、电压并计算功率，然后根据服务器下发的控制指令执行电源输出通断控制操作。同时，除了为这
三路通道提供供电和检测功能外，电源管理模块还可提供 5V、12V、24V 直流电源供其他裁判系统模块使用。电源
管理模块具有通信转发功能，可将各模块发送的数据包按照要求转发至目标模块。裁判系统相关信息将可通过电源
管理模块的用户串口（User 接口）输出。
物品清单
电源管理模块 ×1
3-Pin 串口线 ×1
接口说明
1. 装甲模块 SM06B-GHS-TB 接口（6-Pin 插座）
连接至装甲模块，对装甲模块进行供电，并与其通
信。
2. 场地交互模块 SM04B-GHS-TB 接口（4-Pin 插
座）

连接至场地交互模块，对场地交互模块进行供电，
并与其通信。
3. CAN 通讯 SM04B-GHS-TB 接口（4-Pin 插座）
与场地交互模块的 4-Pin 接口具有相同功能。
4. 主控模块接口（1根金属圈为黑色的航空插头）
连接至主控模块，对主控模块进行供电，并与其通
信。
5. 其他裁判系统模块接口（3根金属圈为银白色
的航空插头）
连接至测速模块、UWB 模块、相机图传模块和灯
条模块，对上述模块进行供电，并实现模块间的通
信。
6. 用户 SM03B-GHS-TB 接口（3-Pin 插座）
用户信息输出接口，可于接口下方的表面丝印查看
线序。
7. 系统升级 SM03B-GHS-TB 接口（3-Pin 插座）
系统升级接口，可于接口下方的表面丝印获取线序。
8. 裁判系统电源 XT60 输入接口
24V直流电源输入（XT60 公头）
9. Mini PC 电源 XT30 输出接口
Mini PC 24V直流电源输出（XT30 母头）
10. 底盘电源 XT30 输出接口
底盘 24V直流电源输出（XT30 母头）
11. 云台电源 XT30 输出接口
云台 24V直流电源输出（XT30 母头）
12. 发射机构电源 XT30 输出接口
发射机构 24V电源输出（XT30 母头）
尺寸与安装
请按照图中电源管理模块安装孔尺寸大小及间距，使用 4个M2.5 螺丝固定电源管理模块到机器人的合适位置。

单位：mm
灯效说明
电源管理模块从上到下共有 5个指示灯，分别为：Chassis 指示灯（指示底盘供电状态）、Gimbal 指示灯（指示云
台供电状态）、Ammo-Booster 指示灯（指示发射机构供电状态）、Sys 指示灯（指示电源管理模块状态）和 Link
指示灯（指示与主控的连接状态），指示灯的具体意义如下：
信号灯
灯效
说明
Sys 指示灯
红灯每秒闪烁一次
系统正常工作
Link 指示灯
绿灯不亮
未正常连接至主控模块
绿灯闪烁
已连接至主控模块

Chassis 通道输出状态
指示灯
绿灯不亮
底盘通道电源输出关闭
绿灯常亮
底盘通道电源输出打开
Gimbal 通道输出状态
指示灯
绿灯不亮
云台通道电源输出关闭
绿灯常亮
云台通道电源输出打开
Ammo-Booster 通道输
出状态指示灯
绿灯不亮
发射机构通道电源输出关闭
绿灯常亮
发射机构通道电源输出打开
产品参数
供电电压
DC 24 V
输出电压
DC 5 V, DC 12 V ,DC 24 V
尺寸
70×48×22.5 mm
重量
约120 g
最大输出电流
Chassis(底盘)
10 A（最大持续负载）； 30 A（输出持续时间小于 500 毫秒）
Gimbal(云台)
10 A（最大持续负载）； 30 A（输出持续时间小于 500 毫秒）
Ammo-
Booster ( 发射
机构)
8 A（最大持续负载）； 30 A（输出持续时间小于 500 毫秒）
以上 3通道合计
20 A（最大持续负载）
Mini PC
6 A（最大持续负载）
功耗
静态空载功耗：2.2 W
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