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 |
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.| Thruster | Electrical | Max Thrust | Propeller | Dimensions | Weight (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 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 | 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 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 | 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 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 | 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 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 | 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 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
[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.| 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, RS485 | Yes | Variable up to 360° Resolution: 0.9° Speed: depends on interface and selected range. | No | 750 kHz | Air (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++, 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 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++, 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 /]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.