Marine mechanical interface
This page provides an overview of the mechanical interfaces of the MRU Marine and MRU Marine S.
MRU Marine
The MRU Marine have 4 mounting holes and the 2 alignment holes/slots on the center line. The MRU is mounted to a solid surface using 4 x M5 screws. 4 mm diameter alignment dowels are recommended for best alignment during installation.
Design
The dimensions of the MRU Marine are:
Length: 154.0 mm
Width: 86.0 mm
Height: 66.6 mm
Note
The MRU Marine 3000/6000/9000 are identical when considering geometry, construction and materials.
LED indicators
The MRU Marine have two LED indicators that provide feedback on the MRU status and configuration.
The status LED 1 provides a general overview of the MRU status. Its color indicates if the MRU is working properly, requires a restart, or if a critical error must be investigated further.
STATUS LED 1 | ||
|---|---|---|
COLOR | BLINKING PATTERN | DESCRIPTION |
Green | Constant light | MRU powered up, everything is OK |
Yellow | Constant light | MRU powered up, requires restart |
Red | Constant light | MRU powered up, critical error. Check status bits |
The status LED 2 provides detailed information about the MRU status from its color and blinking pattern. The status LED 2 loops through 7 colors with fixed order (see figure below), and every color is associated to a status category.
STATUS LED 2 | ||||
|---|---|---|---|---|
ORDER | COLOR | BLINKING PATTERN | DESCRIPTION | STATUS BIT |
1 | Green | 1 long pulse | Sequence start | - |
2 | Blue | 1 pulse | Only Ethernet configuration port available | - |
2 pulses | Ethernet and RS-232 port available | |||
3 pulses | Ethernet and RS-485 port available | |||
3 | Yellow | 1 pulse | Time and clock synced | 4, 5 |
2 pulses | Time synced. Clock not synced | |||
3 pulses | Time not synced. Clock synced | |||
4 pulses | Time and clock not synced | |||
4 | Magenta | 1 pulse | Sensor and environment OK | 9, 10, 11 |
2 pulses | Sensor saturated, environment OK | |||
3 pulses | Sensor OK, temp. or vibrations out of bounds | |||
5 | White | 1 pulse | Algorithms OK | 13, 14, 15 |
2 pulses | Unstable / initializing algorithms | |||
6 | Turquoise | 1 pulse | All DOFs OK | 16, 18, 20, 22 |
2 pulses | Roll/Pitch not OK | |||
3 pulses | Heading not OK | |||
4 pulses | Heave not OK | |||
5 pulses | More than one DOF not OK | |||
7 | Orange | 1 pulse | Position, velocity and heading aiding | 27, 28, 29 |
2 pulses | Position and velocity aiding | |||
3 pulses | Position and heading aiding | |||
4 pulses | Heading and velocity aiding | |||
5 pulses | No aiding | |||
Technical drawings
MRU Marine top, side, front, bottom and section A-A technical drawings. All dimensions are in millimeters.
Top view
Side view
Front view
Bottom view
Section A-A
MRU Marine S
The MRU Marine S have 4 mounting holes and the 2 alignment holes/slots on the center line. The MRU is mounted to a solid surface using 4 x M5 screws. 4 mm diameter alignment dowels are recommended for best alignment during installation.
Design
The dimensions of the MRU Marine S are:
Length: 154.0 mm
Width: 86.0 mm
Height: 66.6 mm
Note
The MRU Marine 3000/6000/9000 S are identical when considering geometry, construction and materials.
Technical drawings
MRU Marine S top, side, front, bottom and section A-A technical drawings. All dimensions are in millimeters.
Top view
Side view
Front view
Bottom view
Section A-A
Reference point
Reference point (RP) from center aft of MRU:
X: 57.8 mm
Y: -8.9 mm
Z: -15.7 mm
Top view
Side view
Note
MRU Marine and MRU Marine S share the same reference point.