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.
VehicleThrustersControl AxesDimensions3D 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

Frames and Mounting

[table “frames-comp” not found /]

Thrusters, Actuators, and Lights

Grippers

[table “grippers-comp” not found /]

Lights and Indicators

[table “lights-comp” not found /]

Speed Controllers (ESCs)

[table “escs-comp” not found /]

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.
ThrusterElectricalMax ThrustPropellerDimensionsWeight (w/ 1m cable)3D Models
T200
Voltage: 7-20 volts

Max Current (16V): 24 Amps
Max Current (20V): 32 Amps

Max Power (16V): 390 Watts
Max Power (20V): 645 Watts
FWD/REV (16V):
5.25 / 4.1 kg f
11.6 / 9.0 lb f
FWD/REV (20V):
6.7 / 5.05 kg f
14.8 / 11.1 lb f
Material: Polycarbonate

Blades: 3

Diameter: 76 mm (3.0 in)
Length: 113 mm (4.45 in)

Diameter: 100 mm (3.9 in)
Air: 344 g (0.76 lb)

Water: 156 g (0.34 lb)
T200-THRUSTER-R1
T100 [Retired]
Voltage: 12 volts

Max Current: 11.5 Amps

Max Power: 130 Watts
FWD/REV (12V):
2.36 / 1.82 kg f
5.2 / 4.0 lb f
Material: Polycarbonate

Blades: 2

Diameter: 76 mm (3.0 in)
Length: 101 mm (4.0 in)

Diameter: 97 mm (3.8 in)
Air: 295 g (0.65 lb)

Water: 120 g (0.26 lb)
T100-THRUSTER-R1

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 TypeSeriesMaterial(s)LengthsDepth RatingInner DiameterPenetrator Holes3D ModelsDocuments
Locking Enclosure Tube
2" Locking SeriesCast 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 Flange2" Locking Series6061-T6 AluminumInside Tube: 15.5mm

Outside Tube: 6mm
950m38.1mmN/A WTE2-M-LOCKING-FLANGE-SEAL-R1.zip
Flange Caps / End Caps2" Locking SeriesAluminum /
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-Rings2" Locking SeriesNitrile Rubber (NBR70)N/AN/AFace Seal: AS568-030
Radial Seal: AS568-030
N/A
O-Rings2" SeriesNitrile Rubber (NBR70)N/AN/AFace Seal: AS568-030
Radial Seal: AS568-133
N/A
Enclosure Tube

3" SeriesCast Acrylic /
Aluminum
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
End Caps3" SeriesAluminum /
Cast Acrylic

Polycarbonate (dome retaining ring)
0 / 4 / 7
O-Rings
3" SeriesNitrile Rubber (NBR70)N/AN/AFace Seal: AS568-148
Radial Seal: AS568-230
N/A
Enclosure Tube

4" SeriesCast Acrylic /
Aluminum
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
End Caps4" SeriesAluminum /
Cast Acrylic

Polycarbonate (dome retaining ring)
0 / 5 / 10 / 14 / 18
O-Rings
4" SeriesNitrile Rubber (NBR70)N/AN/AFace Seal: AS568-154
Radial Seal: AS568-238
N/A
Enclosure Tube
6" SeriesCast Acrylic100mm (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
End Caps6" SeriesAluminum /
Cast Acrylic
0 / 5 / 15
O-Rings
6" SeriesNitrile Rubber (NBR70)N/AN/AFace Seal: AS568-162
Radial Seal: AS568-432
N/A
Enclosure Tube
8" SeriesCast Acrylic100mm (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
End Caps8" SeriesAluminum /
Cast Acrylic
0 / 5 / 25
O-Rings
8" SeriesNitrile Rubber (NBR70)N/AN/AFace Seal: AS568-170
Radial Seal: AS568-442
N/A

Buoyancy and Ballast

[table “buoyancy-ballast-comp” not found /]

Sensors, Sonars, and Cameras

Cameras

[table “cameras-comp” not found /]

Leak Sensor

[table “leak-comp” not found /]

Sonars

These sonars can be used for navigation, acoustic imaging, and depth profiling. They communicate using the Ping Protocol.
SonarsPressure RatingRangeSignal Protocol(s)Profiling?Scanning?Estimates Distance?FrequencyWeight3D ModelsCode LibrariesMessage Subsets
Ping360
300 m /
984 ft
0.75 m - 50 m /
2.5 ft - 165 ft

Resolution: 0.08% of range
USB, Ethernet, RS485YesVariable up to 360°

Resolution: 0.9°

Speed: depends on interface and selected range.
No750 kHzAir (w/ cable): 510 g / 18 oz
Water (w/ cable): 175 g / 6.17 oz
PING360-SONAR-R1-PUBLIC (.zip)
PING360-M-FRAME-MOUNT-R1-PUBLIC (.zip)
Python, C++, Arduinocommon, 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)YesNoYes115 kHzAir (w/ cable): 133 g / 4.69 oz
Air (w/o cable): 55 g / 1.94 oz
Water (w/o cable): M5x0.4 mm / #colspan#
PING-SONAR-R2-PUBLIC (.zip)
PING-M-MOUNT-R2-PUBLIC (.zip)
Python, C++, Arduinocommon, 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.
SensorsOperating DepthRegular MaintenancePressure ResolutionPressure AccuracyWet Operating TemperatureTemperature AccuracyArduSub Compatible?Documents3D ModelsCode Libraries
Bar 100

Keller 7LD - PA
0 - 1020m /
0 - 3345 ft
N/A3 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/AN/AN/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 /]



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.