VideoRay Defender MSS, Operator'S Manual

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8 RS-485 B
9 12 V DC +
AHRS Module Arrangement
The Defender vehicle AHRSD is mounted in the top center of the ROV frame.
AHRSD
Location
Group
ID
Node
ID
Application
ID
TCP/IP
Address
TCP/IP Port
Number
Notes
Top Center 194 3 N/A 192.168.1.65 2 (7446) Port 7444 IMU, Port
7445 Depth
Thruster Module
MSS vehicles use a modular thruster configuration that allows vehicle designs to be optimized for
water conditions and payload delivery requirements. Modular thrusters are also easy to replace in the
field.
Thruster Propeller
The propellers are designed to be used on counter-rotating thruster arrangements to eliminate torque
roll or yaw. Propellers are identified by their pitch orientation using left and right based on their pitch.
The convex edge of the propeller blade is the leading edge during motion that is considered forward
for that thruster.
Right-hand propellers can be identified as follows:
The top blade has the leading edge on the right when viewed from the end with the nut.
The blades appear to curve counterclockwise when viewed from the end with the nut.
Right hand propellers have a stainless steel collar on the hub at the shaft end.