Technical Reference
By Eliot
This page acts as a quick reference to the most important technical details of the main products in each category. It is primarily intended for quickly accessing several technical documents or comparing similar products by their main properties.
Additional details can be found in the linked product pages, and not all products are covered from each linked category.
This reference is a work in progress – not all information has been transferred yet. Sections with [table "name" not found /] are not yet complete.
All information is taken from the relevant product pages, so can still be found there. If you would like a particular section focused on for this reference as a priority, or want something added or changed, feel free to mention it on the Technical Reference forum post.
Vehicles and Accessories
Vehicles
These vehicles offer high-performance at affordable prices. They use open-source electronics and software and offer plenty of expandability, making them perfect for inspections, research, and adventuring.| Vehicle | Thrusters | Control Axes | Dimensions | 3D Models |
|---|---|---|---|---|
BlueROV2 | Vertical: 2 Horizontal: 4 (vectored) | Degrees of Freedom: 5 Vertical (up/down) Forward/backward Lateral (left/right) Yaw (turning) Roll (lean side down) | Length: 457 mm (18 in) Width: 338 mm (13.3 in) Height: 254 mm (10 in) | BLUEROV2-R3 (.zip) BLUEROV2-R1 (.zip) |
BlueROV2 Heavy | Vertical: 4 Horizontal: 4 (vectored) | Degrees of Freedom: 6 Vertical (up/down) Forward/backward Lateral (left/right) Yaw (turning) Pitch (tilt nose) Roll (lean side down) | Length: 457 mm (18 in) Width: 575 mm (22.6 in) Height: 254 mm (10 in) | BlueROV2 Heavy 3D Model (GrabCAD) |
Frames and Mounting
[table “frames-comp” not found /]Thrusters, Actuators, and Lights
Thrusters
These thrusters use our patented flooded motor design, which makes them powerful, efficient, compact, and affordable. They use three-phase brushless motors optimized for underwater use, and are controlled by a sensorless brushless electronic speed controller (ESC). Bidirectional ESCs (like our BasicESC) can run a thruster both forwards and in reverse.| Thruster | Electrical | Max Thrust (FWD/REV) | Propeller | Dimensions | Weight (w/ cable) | 3D Models |
|---|---|---|---|---|---|---|
T500 | Voltage: 7-24 volts Max Current (Power): @12V: 16.9 Amps (202 Watts) @16V: 25.1 Amps (402 Watts) @20V: 34.0 Amps (681 Watts) @24V: 43.5 Amps (1044 Watts) | @12V: 6.0 / 4.0 kg f @16V: 9.3 / 6.2 kg f @20V: 13.0 / 8.5 kg f @24V: 16.1 / 10.5 kg f | Material: Polycarbonate Blades: 3 Diameter: 114.5 mm | Length: 160 mm Diameter: 141 mm | Air: 1157 g Water: TBD g | T500-THRUSTER-R1-PUBLIC (.zip) |
T200 | Voltage: 7-20 volts Max Current (Power): @16V: 24 Amps (390 Watts) @20V: 32 Amps (645 Watts) | @16V: 5.25 / 4.1 kg f @20V: 6.7 / 5.05 kg f | Material: Polycarbonate Blades: 3 Diameter: 76 mm | Length: 113 mm Diameter: 100 mm | Air: 344 g Water: 156 g | T200-THRUSTER-R1 (.zip) |
T100 [Retired] | Voltage: 12 volts Max Current (Power): @12V: 11.5 Amps (130 Watts) | @12V: 2.36 / 1.82 kg f | Material: Polycarbonate Blades: 2 Diameter: 76 mm | Length: 101 mm Diameter: 97 mm | Air: 295 g Water: 120 g | T100-THRUSTER-R1 (.zip) |
Speed Controllers (ESCs)
These bi-directional electronic speed controllers allow controlling brushless DC motors like those used in our thrusters. They are controlled by a servo-style PWM signal, where a pulse-width of 1100 μs corresponds to max reverse, 1900 μs max forward, and 1500 μs (+/- 25 μs of deadband) is stopped.| ESCs | Voltage | Max Current | Signal Voltage | Update Rate | 3D Models | Documents | Firmware |
|---|---|---|---|---|---|---|---|
Basic ESC | 7-26 V (2-6S) | 30 A (depending on cooling) | 3.3-5 V | Max: 400 Hz | BESC30-R3 (.zip) | BLHeli_S Version 16.x manual (.pdf) BR Basic ESC Default Firmware Parameters (.ini) | BLHeli_S 16.6 |
Basic ESC 500 | 7-26 V (2-6S) | 50 A (depending on cooling) | 3.3-5 V | ||||
Blue ESC [Retired] | 6-22 V | In water: 35 A In air: 25 A | PWM: 3.3-5 V I2C: 5 V | 50-400 Hz | SimonK tgy |
Grippers
A gripper is a useful tool for picking up small objects, attaching recovery lines, or freeing a snagged tether. Other manipulators may be useful in cleaning, inspection, or repair tasks. See this forum post for some community-designed jaw alternatives.| Grippers | Jaw | Pressure Rating | Power | Signal | Weight (w/ cable) | Documents | 3D Models |
|---|---|---|---|---|---|---|---|
Newton Gripper | Grip (at tip): 97N Grip (in middle): 124N Opening: 62 mm | 300 m | Supply Voltage: 9 - 18 volts Peak Current: 6 amps | PWM Voltage: 3.3 volts PWM neutral: 1500 µs PWM open: >1530 µs-1900 µs PWM close: <1470 µs-1100 µs | Air: 524 g Water: 267 g | Newton Gripper Mount Drilling Template (.pdf) Brushed ESC Schematic (.pdf) | NEWTON-GRIPPER-ASM-R3-PUBLIC (.zip) NEWTON-MOUNT-ASM-R1-PUBLIC (.zip) |
Lights and Indicators
These lights and indicators can help to see with a camera, or help to find and/or troubleshoot an enclosure.| Lights | Power | Light | 3D Models | Documents |
|---|---|---|---|---|
Lumen Subsea Light | Supply Voltage (Vin): 7 - 48 V Peak Current: (15/Vin) A | Brightness: exponential up to 1,500 lumens Color temperature: 5,700 kelvin Beam Angle: 135 degrees in water | LUMEN-LIGHT-R3-PUBLIC (.zip) | Lumen Schematic (.pdf) |
Subsea LED Indicator | Supply Voltage (Vin): 3 - 18 V (DC) RED Indicator: 3-30 V (DC) Peak Current: 30 mA RED Indicator: 50 mA | Colors: White/Red/Green/Blue | INDICATOR-ASM-R1 (.zip) |
Enclosures, Buoyancy, and Ballast
Watertight Enclosures
These affordable configurable watertight enclosures are great for all kinds of marine robotics applications. Modular end-caps give you options, with clear and flat end-caps with holes for cable penetrators and sensors, and domes for cameras.In the 3D Models, M refers to Metal (aluminium), and P refers to Plastic (acrylic or polycarbonate).
WORK IN PROGRESS (several products not yet/not fully transferred).
| Product Type | Series | Material(s) | Lengths | Depth Rating | Inner Diameter | Penetrator Holes | 3D Models | Documents |
|---|---|---|---|---|---|---|---|---|
Locking Enclosure Tube | 2" Locking Series | Cast Acrylic / Aluminum Precision machined ends | 100mm (3.9") 150mm (5.9") 300mm (11.8") | Aluminum: 950m Acrylic: 100mm→450m 150mm→250m 300mm→150m | Aluminum: 50.0±0.5 mm Acrylic: 49.5±1.5 mm | N/A | M_100_R1.zip M_150_R1.zip M_300_R1.zip P_100_R1.zip P_150_R1.zip P_300_R1.zip | WTE2-LOCKING Tubes (.pdf) |
O-Ring Flange | 2" Locking Series | 6061-T6 Aluminum | Inside Tube: 15.5mm Outside Tube: 6mm | 950m | 38.1mm | N/A | WTE2-M-LOCKING-FLANGE-SEAL-R1.zip | |
Flange Caps / End Caps | 2" Locking Series | Aluminum / Cast Acrylic Polycarbonate (dome retaining ring) | Flange Caps: see Flange Dome: 20.5mm Flat Acrylic: 6.35mm | Flat Acrylic: 600m Dome / Flange Caps: 950m | Flange Caps: see Flange Dome: 35.95mm | 0 / 2 / 4 | M_FLANGE_CAP_BLANK_R1.zip M_FLANGE_CAP_2_HOLE_R1.zip M_FLANGE_CAP_4_HOLE_R1.zip P_END_CAP_R2.zip P_DOME_R1.zip P_RETAINING_R1.zip | WTE2-LOCKING End Caps and Flange Caps (.pdf) |
O-Rings | 2" Locking Series | Nitrile Rubber (NBR70) | N/A | N/A | Face Seal: AS568-030 Radial Seal: AS568-030 | N/A | ||
O-Rings | 2" Series | Nitrile Rubber (NBR70) | N/A | N/A | Face Seal: AS568-030 Radial Seal: AS568-133 | N/A | ||
Enclosure Tube  | 3" Series | Cast Acrylic / Aluminum | N/A | |||||
| End Caps | 3" Series | Aluminum / Cast Acrylic Polycarbonate (dome retaining ring) | 0 / 4 / 7 | |||||
O-Rings | 3" Series | Nitrile Rubber (NBR70) | N/A | N/A | Face Seal: AS568-148 Radial Seal: AS568-230 | N/A | ||
Enclosure Tube  | 4" Series | Cast Acrylic / Aluminum | N/A | |||||
| End Caps | 4" Series | Aluminum / Cast Acrylic Polycarbonate (dome retaining ring) | 0 / 5 / 10 / 14 / 18 | |||||
O-Rings | 4" Series | Nitrile Rubber (NBR70) | N/A | N/A | Face Seal: AS568-154 Radial Seal: AS568-238 | N/A | ||
Enclosure Tube | 6" Series | Cast Acrylic | 298mm (11.75") | 65 m | 154.40 ± 0.30 mm | N/A | ||
| End Caps | 6" Series | Aluminum / Cast Acrylic | 0 / 5 / 15 | |||||
O-Rings | 6" Series | Nitrile Rubber (NBR70) | N/A | N/A | Face Seal: AS568-162 Radial Seal: AS568-432 | N/A | ||
Enclosure Tube | 8" Series | Cast Acrylic | 298mm (11.75") | 40 m | N/A | |||
| End Caps | 8" Series | Aluminum / Cast Acrylic | 0 / 5 / 25 | |||||
O-Rings | 8" Series | Nitrile Rubber (NBR70) | N/A | N/A | Face Seal: AS568-170 Radial Seal: AS568-442 | N/A |
Buoyancy and Ballast
[table “buoyancy-ballast-comp” not found /]Sensors, Sonars, and Cameras
Cameras
A camera allows the pilot to see and record from the vehicle's point of view. If paired with a Camera Tilt Mount or other gimbal it can be moved during operation.| Camera | Lens | Sensor | Video Stream | Audio | Weight | 3D Models | Documents |
|---|---|---|---|---|---|---|---|
Low-Light HD USB Camera Sony Exmor IMX322 / IMX323 | Mount: M12 x 0.5 FoV: 80° (H) x 64° (V) Focal Length: 2.97 mm | Format: 1/2.9" Pixel Size: 2.8µm (H) x 2.8µm (V) Minimum Illumination: 0.01 lux | Standards: 240p15 - 1080p30 Formats: H.264 / MJPEG / YUV2（YUYV） | single-channel, 44.1 kHz, Linear-PCM (L16) | w/ cable: 17g w/o cable: 13.5g | CAM-USB-WIDE-R1 (.zip) | IMX322 Datasheet (.pdf) IMX323 Datasheet (.pdf) |
Leak Sensor
Leak sensors help to detect and warn about if a leak occurs, before it gets to and damages the electronics in an enclosure.| Sensor | Electrical | Signal | Weight | 3D Models | Documents |
|---|---|---|---|---|---|
SOS Leak Sensor | Voltage: 3.3 - 5 V Max Current: 20 mA | Digital, normally LOW (leak pulls HIGH) | w/ cable and 2 probes: <10 g | SOS-ASM-LEAK-SENSOR-R1 (.zip) | SOS-LEAK-SENSOR-SCHEMATIC (.pdf) |
Sonars
These sonars can be used for navigation, acoustic imaging, and depth profiling. They communicate using the Ping Protocol.| Sonars | Pressure Rating | Range | Signal Protocol(s) | Profiling? | Scanning? | Estimates Distance? | Frequency | Weight | 3D Models | Code Libraries | Message Subsets |
|---|---|---|---|---|---|---|---|---|---|---|---|
Ping360 | 300 m / 984 ft | 0.75 m - 50 m / 2.5 ft - 165 ft Resolution: 0.08% of range | USB, Ethernet (UDP), RS485 | Yes | 1.6 mm Resolution: 4.1 cm Speed: depends on interface and selected range. | No | WLP-M10-4.5MM-LC | Air (w/ cable): 300 m / 984 ft Water (w/ cable): 0-30°C / 32-86°F | PING360-SONAR-R1-PUBLIC (.zip) PING360-M-FRAME-MOUNT-R1-PUBLIC (.zip) | Python, C++, Arduino | common, ping360 |
Ping Sonar | 300 m / 984 ft | 0.5 m - 70 m (50 m typically usable) / 1.6 ft - 230 ft (164 ft typically usable) Resolution: 0.5% of range | TTL Serial (UART) | Yes | No | Yes | 115 kHz | Air (w/ cable): 133 g / 4.69 oz Water (w/ cable): 55 g / 1.94 oz | PING-SONAR-R2-PUBLIC (.zip) PING-M-MOUNT-R2-PUBLIC (.zip) | ArduPilot (limited), Python, C++, Arduino | common, ping1d |
Temperature and Pressure/Depth Sensors
These sensors have an M10x1.5 thread for mounting, and a face-seal o-ring to prevent water ingress.| Sensors | Operating Depth | Regular Maintenance | Pressure Resolution | Pressure Accuracy | Wet Operating Temperature | Temperature Accuracy | ArduSub Compatible? | Documents | 3D Models | Code Libraries |
|---|---|---|---|---|---|---|---|---|---|---|
Bar 100 Keller 7LD - PA | 0 - 1020m / 0 - 3345 ft | N/A | 3 mbar (3cm in fresh water) / 0.045 psi (0.1 ft in fresh water) | ± 500 mbar (5.1 m in freshwater) / ± 7.25 psi (16.75 ft in freshwater) | -40°C to 110°C / -40°F to 230°F | ± 2°C (between 0 to 50°C) / ± 3.6°F | Yes | Keller 7LD-PA Datasheet (PDF) Keller Communication Protocol 4LD-9LD (PDF) Bar100 Schematic (PDF) | Bar100 Pressure Sensor (.zip) Bar100 Penetrator Nut (.zip) | KellerLD-Arduino, KellerLD-python, KellerLD-ArduPilot |
Bar 30 MS5837-30BA | 0 - 300m / 0 - 990 ft | Daily drying | .2 mbar (2 mm in fresh water) | ± 200 mbar (204 cm in fresh water) / ± 2.9 psi (6.69 ft in fresh water) | 2 to 40°C / 35.6 to 104°F | ± 1.5°C (between 0 to 60°C) / ± 2.7°F | Yes | MS5837-30BA Data Sheet (PDF) Bar30 Schematic (PDF) | BAR30-PRESSURE-SENSOR-R1 (.zip) PENETRATOR-M-NUT-10-8-R2 (.zip) | MS5837 Arduino, MS5837 Python, MS5xxx ArduPilot |
Bar 02 MS5837-02BA | 10m / 33 ft | Daily drying | .016 mbar (.16 mm in fresh water, 13cm in air at sea level) | ± 4 mbar (4 cm in fresh water) / ± .06 psi (1.6 inches in fresh water) | 2 to 40°C / 35.6 to 104°F | ± 2°C (between -20 to +85°C) / ± 3.6°F | No | MS5837-02BA Data Sheet (PDF) Bar30/Bar02 Schematic (PDF) | BAR02-PRESSURE-SENSOR-R1 (.zip) PENETRATOR-M-NUT-10-8-R2 (.zip) | MS5837 Arduino, MS5837 Python |
Celsius TSYS01 | 0 - 975m / 0 - 3200 ft | N/A | N/A | N/A | -40 to +125°C / -40 to 257°F | ± 0.1°C (between -5 to 50°C) / ± 0.18°F ± 0.5°C (between -40 to 125°C) / ± 0.9°F | Yes | TSYS01 Datasheet (PDF) Celsius Temperature Sensor Schematic (PDF) | CELSIUS-SENSOR-R1 (.zip) PENETRATOR-M-NUT-10-8-R2 (.zip) | TSYS01 Arduino, TSYS01 Python, TSYS01 ArduPilot |
Cables, Penetrators, and Connectors
Cables and Tethers
[table “cables-comp” not found /]Connectors
[table “connectors-comp” not found /]Penetrators
[table “penetrators-comp” not found /]Tether Management
[table “tether-management-comp” not found /]Communication, Control, and Power
Power Supplies, Batteries, and Chargers
[table “power-comp” not found /]Interface Electronics
[table “interfaces-comp” not found /]Autopilot Boards
[table “autopilots-comp” not found /]Onboard Computers
[table “onboard-computers-comp” not found /]Software and Firmware
Software Applications
We develop or contribute to these softwares. They can be used to operate/configure our equipment/products.| Application | Recommended Version(s) | Installation | Runs On | Major Functionalities | Code Repository | Documentation Links |
|---|---|---|---|---|---|---|
| QGroundControl | 4.1.7 | BlueROV2 Software Setup | Surface Computer | - connects to the vehicle - allows controlling via a joystick - displays vehicle telemetry and a video stream, and allows recording - allows setting autopilot parameters | mavlink/ qgroundcontrol | - ArduSub-specific QGC Docs - Official QGC Docs |
| Ping Viewer | 2.3.4 | Ping Viewer Quick Start | Surface Computer | - can display Ping Altimeter and Echosounder (Ping1D) and Ping360 Scanning Imaging Sonar outputs - allows configuring device/scanning settings - allows updating Ping1D firmware - allows replaying previous scans | bluerobotics/ ping-viewer | - Official Ping Viewer Docs |
| BlueOS [Replaces Companion Software] | - Stable: 1.0.1 - Beta: 1.1.0-beta2 | ArduSub BlueOS 1.0 Installation | Onboard Computer (Raspberry Pi 3B, Raspberry Pi 4B, +more to come) | - relays communication between the autopilot board and control software - allows USB connection forwarding, including Ping devices and multiple video streams - provides a web interface for configuration and monitoring system performance and service statuses - allows users to make custom device/sensor integrations | bluerobotics/ BlueOS-docker | - ArduSub BlueOS 1.0 |
| Companion Software [End of Life] | 0.0.31 | ArduSub Installing Companion | Companion Computer (Raspberry Pi 3B) | - relays communication between the autopilot board and control software - allows USB connection forwarding, including Ping devices and a video stream - provides a web interface for configuration and monitoring system performance and service statuses - allows users to make custom device/sensor integrations | bluerobotics/ companion | - ArduSub Required Software - ArduSub Companion Web Interface |
Device Firmwares
These device firmwares power our devices.| Firmware | Recommended Version(s) | Installation | Runs On | Major Functionalities | Code Repository | Documentation Links |
|---|---|---|---|---|---|---|
| ArduSub | - Stable: 4.0.3 - Beta: 4.1.0-beta7 - Development: 4.2.0 | ArduSub Firmware | Autopilot Computer (e.g. Pixhawk) | TODO | ArduPilot/ ardupilot | - ArduSub.com - ArduPilot Documentation |
| BLHeli_S | 16.6 | Basic ESC R3 Firmware Files and Customisation | Basic ESC | - allows bi-directional control of a sensorless brushless DC motor - forward, stop, or reverse rotation depending on PWM pulse-duration (stops at 1500±25 µs) - variable rotation speed (max reverse 1100 µs, max forward 1900 µs) - built in thermal protection and stall protection - motor phase detection and ESC arming beeps - regenerative braking - also supports control via Oneshot125, Oneshot42, Multshot, Dshot150, Dshot300, and Dshot600 | bitdump/ BLHeli | BLHeli_S Version 16.x manual |
| Brushed ESC | N/A | avrdude installer script | Newton Subsea Gripper | - allows bidirectional control of a brushed DC motor - forward, stop, or reverse rotation depending on PWM pulse duration (stops at 1500±30 µs) - automatic motor stall detection - single rotation speed | bluerobotics/ newton-firmware | - |
| Ping | 3.28_auto | Ping Viewer Firmware Update | Ping Altimeter and Echosounder | - enables sonar profiling with a variable range and ping rate - includes distance estimation algorithm with confidence measure - variable sensor gain - allows setting speed of sound - supports 'common' and 'ping1d' message subsets of Ping Protocol - serial communication, with 115200 or 9600 baudrate | bluerobotics/ ping-firmware | - Ping Protocol: Ping1D - Ping Viewer: Ping1D |
| Ping360 | - | - | Ping360 Scanning Imaging Sonar | - enables multi-directional sonar scanning and profiling, with a variable range and ping rate - provides low-level device control including sensor gain, transmit duration, sample period, and samples per profile - supports 'common' and 'ping360' subsets of Ping Protocol - serial/USB/ethernet communication options | - | - Ping Protocol: Ping360 - Ping Viewer: Ping360 |
| H6 Pro | - Default (limited): V1.0 - Full: V1.0.11 | H6 Pro Charger Firmware Unlock Guide | H6 Pro Lithium Battery Charger | Limited Firmware: - allows balancing high capacity lithium batteries, and charging to full or storage levels - supports internal discharging to storage level Full Firmware: - allows balancing and charging a variety of battery types, at custom rates and to custom levels - supports internal, external and regenerative discharging - multi-function port can test servos, measure PWM, and provide PPM signals | - | HOTA H6 PRO Full Manual |
Authors
Eliot
Eliot is the Community Manager / Applications Engineer at Blue Robotics. He has a background in robotics and computer vision, and loves to help discover and share knowledge. You can find him on our forums as EliotBR.