Diamond Dynamics Underwater Thruster TD1.2 Tutorial
The Diamond Dynamics TD1.2 underwater thruster is a popular choice among developers of small ROVs (Remotely Operated Vehicles) and AUVs (Autonomous Underwater Vehicles). With a thrust range of 1-2 kg, it is ideal for small-scale underwater projects. However, for those new to using this thruster, there may be some challenges in setting it up and operating it. This tutorial will guide you through the process of using the TD1.2 effectively.
Components of the TD1.2 Thruster
There are two versions of TD1.2,WITH and WITHOUT ESC.
The thruster itself is made up of five key parts:
Duct: The outer casing that directs water flow.
Propeller: Available in both clockwise (CW) and counter-clockwise (CCW) rotations. Typically, users purchase these in pairs (one CW and one CCW).
Rear Cover: Protects the internal components.
Waterproof Glued Brushless Motor: Ensures the motor remains functional underwater.
Waterproof ESC: Controls the speed and direction of the motor.(TD1.2E)
Wiring and Power Requirements
The TD1.2 operates at 12V (3S), so it is crucial not to exceed this voltage. Additionally, the ESC included with the TD1.2 does not have a BEC (Battery Eliminator Circuit). This means that if you are using a remote control, you will need to provide separate power to the receiver of your remote control.
The TD1.2 Can achieve 4S ,but not suggested.
Control Signal
The TD1.2 is controlled using a PWM (Pulse Width Modulation) signal, with a range of 1ms to 2ms. The ESC supports bidirectional control, which allows you to control the direction of the propeller:
1.5ms to 2ms: Controls the thruster to rotate clockwise.
1ms to 1.5ms: Controls the thruster to rotate counter-clockwise.
1.5ms: Stops the thruster (neutral position).
Initial Setup and Calibration
Power On: After wiring the thruster, connect it to the power source. The thruster will emit three beeps (beep-beep-beep), indicating that it has powered on successfully.
Maximum Speed Signal: Push the remote control throttle to send either a 2ms (clockwise) or 1ms (counter-clockwise) signal to the ESC. The thruster will respond with a single beep.
Stop Signal: Send a 1.5ms signal to stop the thruster. It will emit another single beep.
Speed Control
Once the above steps are completed, the thruster is ready for operation. You can now adjust the speed and direction of the thruster by varying the PWM signal within the 1ms to 2ms range.
Conclusion
The Diamond Dynamics TD1.2 underwater thruster is a versatile and reliable tool for small underwater vehicles. By following this guide, you can easily set up and control the thruster for your ROV or AUV projects. Whether you're a beginner or an experienced developer, the TD1.2 offers a straightforward solution for underwater propulsion.