VideoRay Defender MSS, Operator'S Manual

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Number Assignment Port
1 Power 7444 (vrport1) 115200
N/A Communications
Module 7444 (vrport1) 115200
2 AHRSD 7445
3 High Definition Camera 7446
4 Oculus Sonar 7447
5 Nortek DVL 7448
6 Rotating Manipulator,
GPS 7449 38400
Defaults: Group ID - 193; Node ID - 2; IP address - 192.168.1.64; RS-485 accessible
AHRS Module
AHRS - A ttitude and H eading R eference S ystem
The AHRS is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback
on the vehicle's orientation. Measurements include magnetic heading, attitude and rates of change.
The AHRS also includes a pressure sensor to determine the depth of the vehicle.
The AHRS compass may require a Magnetic Field Calibration. See the Compass Calibration page
for more information.
Cable Pinout
Pin Function
1 E
2 ETH_RXP -
3 24 V DC +
4 E
5 GND
6 ETH_TXP -
7 RS-485 A