Hardware Setup

Connectors

External

pelicase_connectors

* Locator-D1 is not compatible with the BlueROV2 Integration Kit.

Internal

master_d1_headers

Note

NC: Not Connected.

DNC: Do Not Connect, pins used for production.

GND: Boldface indicate power lines (12 V, 3.3 V, VIN, GND).

40 pin Molex Interface

Signal	Pin	Pin	Signal	Function
GPIO 2*	1	2	GPIO 3
D1 TX+	3	4	D1 TX-	Locator-D1
D1 RX+	5	6	D1 RX-	\|
GND	7	8	12 V	Power out
R1 TX+	9	10	R1 TX-	Receiver-D1
R1 RX+	11	12	R1 RX-	\|
GND	13	14	12 V	Power out
R2 TX+	15	16	R2 TX-	Receiver-D1
R2 RX+	17	18	R2 RX-	\|
GND	19	20	12 V	Power out
R3 TX+	21	22	R3 TX-	Receiver-D1
R3 RX+	23	24	R3 RX-	\|
GND	25	26	12 V	Power out
R4 TX+	27	28	R4 TX-	Receiver-D1
R4 RX+	29	30	R4 RX-	\|
ANT RX 1+	31	32	ANT RX 1-	Antenna
ANT RX 2+	33	34	ANT RX 2-	\|
ANT RX 3+	35	36	ANT RX 3-	\|
ANT RX 4+	37	38	ANT RX 4-	\|
A1 TX+	39	40	A1 TX-	Locator-A1

* Used to control relays for switching between Receivers and Antenna.

6 pin NMEA 0183 GPS + PPS (not currently implemented)

Signal	Pin	Pin	Signal
GND	1	2	12 V
NMEA GPS TX	3	4	NMEA GPS RX
NMEA GPS PPS	5	6	GND

6 pin NMEA 0183 Compass (not currently implemented)

Signal	Pin	Pin	Signal
GND	1	2	12 V
NMEAS COMPASS TX	3	4	NMEA COMPASS RX
NC	5	6	GND

6 pin NMEA 0183 Out (not currently implemented)

Signal	Pin	Pin	Signal
GND	1	2	12 V
NMEA OUT	3	4	NC
NC	5	6	GND

16 pin TTL GPIO

Signal	Pin	Pin	Signal
GND	1	2	12 V
DNC	3	4	DNC
DNC	5	6	DNC
DNC	7	8	DNC
GND	9	10	PPS OUT
GND	11	12	PPS IN
GPIO 0	13	14	GPIO 1
GND	15	16	3.3 V

Note

TTL voltage: 3.3 V (5.0 V tolerant).

2 pin MicroFit 3.0 Power

Signal	Pin	Pin	Signal
GND	1	2	VIN*

* 10 - 30 VDC, 0.7 A (12 V nominal).

Fits Molex Micro-Fit 3.0 43645 series.

Receiver-D1 setup

Connect the four Receiver-D1 cables to bulkheads marked "Receiver 1" to "Receiver 4" on the housing.
If using the Locator-D1, connect this to the bulkhead marked "Locator" on the housing.
If using the Locator-A1, connect this to the bulkhead marked "Locator" on the housing.
If using the Locator-U1, no connections to the housing is needed. Just power the Locator and make sure both status leds on U1 and Master-D1 are solid green.

pelicase_cables_connected

IMU

The master electronics has an built in IMU used to provide the orientation of the master electronics. This is used in combination with the acoustic position and GPS to generate the global position of the Locator.

IMU Calibration

For the IMU to work properly it needs to be calibrated. The calibration data is stored when full calibration is obtained for faster calibration on restart of the system. If the system is started on a new location a new calibration is needed for the IMU to work as intended.

To calibrate the IMU disconnect all Receivers and Locator cables, but leave power and Ethernet connected. This is to prevent damaging the cables and connector when performing the calibration. While looking at the top bar in the web GUI on the IMU status, move the peli case in a figure of 8 until all the bars are green.