The communications module is the “brains” of the vehicle and coordinates vehicle control systems and provides data paths for sensors and accessories.
9 Pin Interface Connectors
| Pin | Male Connector (port 1) | Female Connectors (ports 2-6) |
|---|---|---|
| 1 | NC | ETH_RXP + |
| 2 | NC | ETH_RXP – |
| 3 | 24 V DC + | 24 V DC + |
| 4 | M100 EOP + | ETH_TXP + |
| 5 | GND | GND |
| 6 | M100 EOP – | ETH_TXP – |
| 7 | RS-485 A | RS-485 A |
| 8 | RS-485 B | RS-485 B |
| 9 | 12 V DC + | 12 V DC + |
Power is rated at 300 Watts for the 24 Volt circuit and 120 Watts for the 12 Volt circuit. This is the total output of the internal DC/DC converters and is divided across all connections as demanded by each externally connected device. Each connector pin is rated to 5 Amps, which should not be exceeded. For any one connector, the maximum Watts should not exceed 120 Watts for the 24 Volt circuit and 60 Watts for the 12 Volt circuit.
Communications Module Arrangement
| Port Number | Module/Device Assignment | TCP Port | Baud Rate | Notes |
|---|---|---|---|---|
| 1 | Power | 7444 (vrport1) | 115200 | |
| N/A | Communications Module | 7444 (vrport1) | 115200 | |
| 2 | AHRSD | 7445 | ||
| 3 | High Definition Camera | 7446 | ||
| 4 | Oculus Sonar | 7447 | ||
| 5 | DVL | 7448 | ||
| 6 | Rotating Manipulator, GPS | 7449 | 38400 |
Defaults: Group ID – 193; Node ID – 2; IP address – 192.168.1.64; RS-485 accessible
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