PIRO-10 / PIRO-25

Vertical Reference Unit

User Guide

Nautica Dynamics Pte Ltd

www.nauticadynamics.com
PIRO - 10 / 25 Vertical Reference Unit

Revision Sheet
Release No. Date Revision Description
Rev. 1.0 01 Jan 2018 First release
Rev. 1.1 18 Feb 2018 Second release
Rev. 2.0 07 June 2018 Third release
Rev. 2.1 03 June 2019 Added PIRO-10

PIRO - 10 / 25 User Guide Page 2 Rev 2.0

PIRO - 10 / 25 Vertical Reference Unit

USER GUIDE
TABLE OF CONTENTS

1 INTRODUCTION ................................................................
................................................................................................
..............................................................................
.............................................. 5

1.1 General ............................................................................................................................................... 6

1.2.1 Specifications – PIRO-10 ...................................................................................................................... 7

1.2.2 Specifications – PIRO-25 ...................................................................................................................... 8

1.3 Warranty ........................................................................................................................................... 10

2 GETTING STARTED ................................................................

................................................................................................
........................................................................
........................................ 11

2.1 Ordering ............................................................................................................................................ 12

2.2 Installation ........................................................................................................................................ 12

2.3 Caution.............................................................................................................................................. 12

3 INSTALLATION EXAMPLE ................................................................

..............................................................................................
.............................................................. 13

3.1 Example 1 - Replacing Seatex MRU ................................................................................................... 14

3.2 Example 2 - Replacing TSS RP30 ........................................................................................................ 15

3.2.1 Cable connection – PIRO-10 / 25 to TSS RP30 junction box .................................................................. 16

4 CABLE PINOUTS ................................................................

................................................................................................
............................................................................
............................................ 17

4.1 Main connector pinouts .................................................................................................................... 18

5 CONFIG
CONFIG COMMUNICATION METHODS................................................................
..........................................................................
.......................................... 19

5.1 Configuration Method Primary – Hyperterminal via Config port ....................................................... 20

5.2 Configuration Method Secondary – Android via Bluetooth ............................................................... 21

5.2.1 Android app – Getting connected...................................................................................................... 22

5.2.2 Android app – PIRO configurator....................................................................................................... 23

5.2.3 Android app – PIRO configurator – Sensor summary ......................................................................... 24

6 CONFIGURATION MENU - HYPERTERMINAL................................................................

..................................................................
.................................. 27

6.1 Hyperterminal port settings .............................................................................................................. 28

PIRO - 10 / 25 User Guide Page 3 Rev 2.0

PIRO - 10 / 25 Vertical Reference Unit

6.2 Front page......................................................................................................................................... 29

6.3 Configuration menu .......................................................................................................................... 30

6.3.1 Sensor mounting angle...................................................................................................................... 30

6.3.2 Serial output configuration ............................................................................................................... 31

6.3.3 Analog output configuration (optional) ............................................................................................. 32

6.3.4 Sensor overview................................................................................................................................ 33

6.3.5 Mounting angle setup basic guide ..................................................................................................... 34

7 TROUBLESHOOTING ................................................................
................................................................................................
.....................................................................
..................................... 35

7.1 STATUS LED INDICATIONS ................................................................

.........................................................................................
......................................................... 36

7.2 TROUBLESHOOTING................................................................
................................................................................................
..................................................................
.................................. 37

PIRO - 10 / 25 User Guide Page 4 Rev 2.0

PIRO - 10 / 25 Vertical Reference Unit

1 INTRODUCTION

PIRO - 10 / 25 User Guide Page 5 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

Every effort has been made to ensure that the information in this document is complete,
accurate and up-to-date. Nautica Dynamics Pte Ltd assumes no responsibility for the results
of errors beyond it’s control and also cannot guarantee that changes in software and
equipment made by other manufacturers, and referred to in this guide, will not affect the
applicability of the information in this guide. Mention of products manufactured by other
companies does not necessarily endorsement by Nautica Dynamics Pte Ltd.

1.1 General

The PIRO - 10 / 25 vertical reference unit consists of the following :

• Main sensor unit

• Main connector Souriau 19-pin mil-specs and specified cable
• Configuration connector Lemo 3-pin connector and dust cover
• Multi-colour LED indication light

• User guide

PIRO - 10 / 25 User Guide Page 6 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

1.2.1 Specifications – PIRO-10D , PIRO-10U

Specification - Mechanical
Temperature range
Protection IP65 -20⁰C to 70⁰C
(storage)
Temperature range
Dimension Ø101mm x H100mm -15⁰C to 55⁰C
(operation)
Anodized 6061 aircraft Mounting bracket Available for TSS RP30
Enclosure
grade aluminium (retrofit) Re-use for Seatex MRU-D
Cable interconnect Available for TSS RP30
Weight 1.2kg
(retrofit) and Seatex MRU-D
Connector High quality screened and
Mil-spec Souriau 19-pin Cable specification
(main) twisted pairs
Connector
LEMO 3-pin Colour Anodised black
(config)

Specification - Electrical

Serial output option

Power source 18 – 32 VDC RS232 / RS422 (isolated)
selectable
PSXN, TSS1, PRDID,
Measuring range +/- 30⁰ NMEA 0183 format
custom to order
Resolution 0.003⁰ Data output rate 1, 2, 4, 5, 10Hz
Green – Processor
healthy
Red – Processor
Accuracy 0.10⁰ RMS LED indicators
faulty
Cyan – Sensor healthy
Orange – Analog enabled
Analog output
Zero offset error < +/- 0.02⁰ (@20⁰C) +/- 10VDC (isolated)
(optional)
Maximum offset
+/- 0.002⁰ / ⁰C Power consumption 3.6w
drift

Bluetooth or serial interface

Baudrate 2400 - 19200 bps Configuration
via hyperterminal

PIRO - 10 / 25 User Guide Page 7 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

1.2.2 Specifications – PIRO-25D , PIRO-25U

Specification - Mechanical
Temperature range
Protection IP65 -20⁰C to 70⁰C
(storage)
Temperature range
Dimension Ø101mm x H100mm -15⁰C to 55⁰C
(operation)
Anodized 6061 aircraft Mounting bracket Available for TSS RP30
Enclosure
grade aluminium (retrofit) Re-use for Seatex MRU-D
Cable interconnect Available for TSS RP30
Weight 1.2kg
(retrofit) and Seatex MRU-D
Connector High quality screened and
Mil-spec Souriau 19-pin Cable specification
(main) twisted pairs
Connector
LEMO 3-pin Colour Anodised black
(config)

Specification - Electrical

Serial output option

Power source 18 – 32 VDC RS232 / RS422 (isolated)
selectable
PSXN, TSS1, PRDID,
Measuring range +/- 30⁰ NMEA 0183 format
custom to order
Resolution 0.01⁰ Data output rate 1, 2, 4, 5, 10Hz
Green – Processor
healthy
Red – Processor
Accuracy 0.25⁰ RMS LED indicators
faulty
Cyan – Sensor healthy
Orange – Analog enabled
Analog output
Zero offset error < +/- 0.1⁰ (@20⁰C) +/- 10VDC (isolated)
(optional)
Maximum offset
+/- 0.011⁰ / ⁰C Power consumption 3.6w
drift

Bluetooth or serial interface

Baudrate 2400 - 19200 bps Configuration
via hyperterminal

PIRO - 10 / 25 User Guide Page 8 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

PIRO - 10 / 25 User Guide Page 9 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

1.3 Warranty

Subject to the limitations and exclusions of liability below, Nautica Dynamics Pte Ltd
warrants that the product will, when properly used, perform in accordance with the
functions described in the documentation. Nautica Dynamics Pte Ltd and its suppliers, to the
fullest extent permitted by law, disclaim all other warranties.

Nautica Dynamics Pte Ltd reserves the right to repair and/or replace, at its option, any part
or parts found to be defective, provided such defects, in their opinion, are due to faulty
material or workmanship and are not caused by unauthorised or improper installation,
repair or abuse, or normal wear. Purchaser shall be responsible for all shipping and
insurance of the returned product for repair under this warranty and returning back to
purchaser.

Physical damage due to lightning or other electrical discharge, units subjected to fresh or
salt-water contamination and tempering of hardware / software are not covered.

Warranty does not cover wrong wire termination using input voltage other than 18-32VDC
or connecting power to signal channels.

Nautica Dynamics Pte Ltd assumes no responsibility for any consequential or incidental
losses or damages of any nature with respect to the use of this product.

PIRO - 10 / 25 User Guide Page 10 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

2 GETTING STARTED

PIRO - 10 / 25 User Guide Page 11 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

2.1 Ordering

Two versions are available for order depending on required mounting orientation :

1. PIRO - 10U / 25U – Upright version with connector in up position

2. PIRO - 10D / 25D – Reverse version with connector in down position

2.2 Installation

1. It is possible to install the unit anywhere convenient indoor of vessel and preferably in
air-conditioned room for longer durability.
2. Mounting bracket should be welded on bulkhead and avoid area with vibration from
machineries.
3. Strictly do not mount on wall panel which are flexible and will introduce unnecessary
vibration resonant to sensor.
4. Always secure unit onto mounting bracket before connecting cable and power feed.

2.3 Caution

IP65 – Do not immerse in water

Do not drop – Sensitive components inside

Do not connect power to signal pins

No user serviceable parts inside

PIRO - 10 / 25 User Guide Page 12 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

3 INSTALLATION EXAMPLE

PIRO - 10 / 25 User Guide Page 13 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

3.1 Example 1 - Replacing Seatex MRU

Remove old Seatex MRU from Seatex holder.

Install new PIRO-10/25 into Seatex holder and secure with same 4x screws.
Ensure orientation is correct with arrow pointing to bow of vessel.
Connect inter-connect cable with 19-pin to PIRO-10/25 and 26-pin to Seatex cable.

NOTE : In configuration menu, use only COM1 output

DP
controller
cabinet

Reuse MRU PIRO-25D PIRO-10D

holder and
securing
screws
DP
controller
cabinet

Install
interconnect
cable
provided
with both
ends quick-
connector

PIRO - 10 / 25 User Guide Page 14 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

3.2 Example 2 - Replacing TSS RP30

Switch off 24VDC power source.

Remove old TSS RP30 from bracket.
Identify and mark wirings (24VDC power and serial signal) in junction box.
Remove old cable from junction box.
Install new PIRO-10/25 onto bracket and secure with same 3x screws.
Ensure orientation is correct with arrow pointing to bow of vessel.
Connect inter-connect cable with 19-pin to PIRO-10/25 and free end wires into junction box.
(Ensure 24VDC and serial signal wires are connected correctly)
Switch on 24VDC power source.

NOTE : In configuration menu, use COM1 or COM2 output. Terminate correct pair of wire.

J/B

DP
controller
cabinet

Install J/B
interconnect
cable
provided

DP
Same controller
mounting PCD cabinet
and reuse
securing
screws

PIRO-25U PIRO-10U

PIRO - 10 / 25 User Guide Page 15 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

3.2.1 Cable connection – PIRO-10 / 25 to TSS RP30 junction box

19-pin Souriau connector pin assignment

Pin Signal
Description Wire colour
number (from PIRO-25)

1 A + 24VDC Power red

2 B 0VDC Power black

RS232 / RS422
3 C TxD / Tx+ white
output

RS232 / RS422
4 D Gnd / Tx- brown
output

RS232 / RS422
5 E TxD / Tx+ green
output

RS232 / RS422
6 F Gnd / Tx- yellow
output

NOTE 1 : Normally connect 24VDC power (red, black) and COM 1 (white, brown).

NOTE 2 : COM 2 (green, yellow) is spare and usually not used.

NOTE 3 : Do not connect power to signal. Warranty will void.

PIRO - 10 / 25 User Guide Page 16 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

4 CABLE PINOUTS

PIRO - 10 / 25 User Guide Page 17 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

4.1 Main connector pinouts

19-pin Souriau connector pin assignment

Pin Signal Description Wire colour code

number (from PIRO)

1 A + 24VDC Power red

2 B 0VDC Power black

3 C TxD / Tx+ RS232 / RS422 output white

4 D Gnd / Tx- RS232 / RS422 output brown

5 E TxD / Tx+ RS232 / RS422 output green

6 F Gnd / Tx- RS232 / RS422 output yellow

7 G TxD Configuration grey

8 H RxD Configuration pink

9 J Gnd Configuration blue

10 K Roll + Analog output grey / pink

11 L Roll - Analog output red / blue

12 M Pitch + Analog output white / green

13 N Pitch - Analog output brown / green

14 P - - white / yellow

15 R - - yellow / brown

16 S + 5VDC Ready white / grey

17 T 0VDC Ready grey / brown

Potential free
18 U Ready white / pink
contact
Potential free
19 V Ready pink / brown
contact
spare violet

PIRO - 10 / 25 User Guide Page 18 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

5 CONFIG COMMUNICATION METHODS

PIRO - 10 / 25 User Guide Page 19 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

5.1 Configuration Method Primary – Hyperterminal via Config port

Connect main cable to DP and switch on 24VDC power.

Connect configuration cable to PC.
On PC, launch Hyperterminal program and select correct com port number.

Once comminucation is successful, proceed with necessary configuration.

(Refer to configuration guide)

!!! IMPORTANT !!! : Always re-install dust cap after removing config cable

Main cable to DP

Config cable to PC

PIRO - 10 / 25 User Guide Page 20 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

5.2 Configuration Method Secondary – Android via Bluetooth

Basic requirements :

1. Android smartphone and tablet must be with Android version 5.1 and newer
2. Send email to piro@nauticadynamics.com to request for PIRO BT app
3. Bluetooth range is 5m from connector surface of PIRO-10/25

Connect main cable to DP and switch on 24VDC power.

Once powered, Bluetooth on PIRO-10/25 will be available for pairing within first 3 minutes.
On android smartphone with PIRO BT app installed, start app and “Find Devices” to and scan
Bluetooth signal for PIRO-10/25 xxxx (xxxx is the serial number of PIRO-10/25)

Pairing password is 1234.

Bluetooth from PIRO-10/25 will timeout if not paired within 3 minutes

Cycle power to PIRO-10/25 to re-initialise bluetooth.

Main cable to DP

PIRO - 10 / 25 User Guide Page 21 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

5.2.1 Android app – Getting connected

Enable Bluetooth should be selected.

FIND DEVICES to search for PIRO-10/25.
Select the correct PIRO-10/25 with corresponding serial number.

It may take up to 30 seconds to pair and complete

connection.
Once connected, app will display real time PITCH and
ROLL readings

PIRO - 10 / 25 User Guide Page 22 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

5.2.2 Android app – PIRO configurator

Select CONFIG SENSOR to enter Select User define/Zero Roll | Pitch

configuration page to set sensor to zero or user define

Select Invert Roll | Pitch if required Select COM port 1 settings to configure
( use with caution ) required interface protocol

PIRO - 10 / 25 User Guide Page 23 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

Format : Select required output Baudrate : Select required baudrate

telegram Default is 9600bps

Output Rate : Select required output Output Type : Select RS232 or RS422
rate. Default is 4Hz Default is RS232 for COM 1 and RS422
for COM 2

PIRO - 10 / 25 User Guide Page 24 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

5.2.3 Android app – PIRO configurator – Sensor summary

Tap top right corner menu button Select SAVE to proceed to next page
for sensor summary

Input vessel name Select VRU number as on DP system

PIRO - 10 / 25 User Guide Page 25 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

Select maker of DP system Select installed location of PIRO-10/25

Select SAVE to store sensor summary in text format on android smartphone or tablet.
Once sensor summary is saved, it is important to proceed to send sensor summary via email to factory.

PIRO - 10 / 25 User Guide Page 26 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6 CONFIGURATION MENU - HYPERTERMINAL

PIRO - 10 / 25 User Guide Page 27 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.1 Hyperterminal port settings

Bits per second 9600

Data bits 8

Parity None

Stop bits 1

Flow control None

PIRO - 10 / 25 User Guide Page 28 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.2 Front page

Once communication is established successfully, sensor data will appear showing current
value for ROLL and PITCH.

MOTION DEFINITION – RIGHT HAND RULE

ROLL Positive sign (+) PORT is UP

ROLL Negative sign (-) STBD is UP
PITCH Positive sign (+) BOW is UP
PITCH Negative sign (-) STERN is UP

Press M to go into main configuration menu

PIRO - 10 / 25 User Guide Page 29 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.3 Configuration menu

6.3.1 Sensor mounting angle

Press M to go into main configuration menu

User define
Press 1
Roll angle [ 0.74 deg ] : 0.55
Pitch angle [ 0.814 deg ] : -0.33

Main menu Save new mounting angle? Y/N : Y

New mounting angle saved !
1. Sensor mounting angle
2. Serial output configuration
3. Analog output configuration
4. Sensor overview Set sensor to zero
0. Exit Press 2
Set sensor to zero? Y/N : Y
Save new mounting angle? Y/N : Y
New mounting angle saved !
Press 1

Sensor data display

Sensor mounting angle
Roll : 0.55
1. User define
Press 3 Pitch : -0.33
2. Set sensor to zero
3. Sensor data display
Press any key to return to previous
4. Axis invert
menu
0. Return to main menu

Axis invert

Press 4 Invert Roll ? [N] Y/N : Y

Invert Pitch ? [N] Y/N : Y
Save configuration ? Y/N : Y

New configuration saved !

NOTE : Entries shown above are for example only

PIRO - 10 / 25 User Guide Page 30 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.3.2 Serial output configuration

Main menu COM port 1

1. Sensor mounting angle Press SPACE to toggle options. ENTER to move to

2. Serial output configuration next item
3. Analog output configuration
4. Sensor overview 1. Output format : PSXN (Kongsberg)
0. Exit 2. Baudrate : 9600
3. Data bits :8
Press 1 4. Stop bit :1
5. Parity : None
Press 2 6. Checksum (N/A if TSS1) : Yes
7. Output rate : 4 Hz
8. Output type : RS-422

Serial output configuration

1. COM port 1
COM port 2
2. COM port 2
0. Return to main menu
Press SPACE to toggle options. ENTER to move to
next item

1. Output format : TSS1

Press 2 2. Baudrate : 9600
3. Data bits :8
4. Stop bit :1
5. Parity : None
6. Checksum (N/A if TSS1) : Yes
7. Output rate : 4 Hz
8. Output type : RS-232

NOTE : Entries shown above are for example only

PIRO - 10 / 25 User Guide Page 31 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.3.3 Analog output configuration (optional)

Main menu

1. Sensor mounting angle

2. Serial output configuration
3. Analog output configuration
4. Sensor overview
0. Exit

Press 3

Analog output configuration

1. Enable / disable analog output

0. Return to main menu

PIRO - 10 / 25 User Guide Page 32 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.3.4 Sensor overview

Main menu

1. Sensor mounting angle

2. Serial output configuration
3. Analog output configuration
4. Sensor overview
0. Exit

Press 4

Sensor overview

Firmware version : 1.1

Hardware version : 10.10.10
Serial number : 1101

Alpha Roll / Pitch : 0.125 deg / 0.236 deg

Invert Roll / Pitch : No / No
Enable analog output : No

Serial settings COM port 1 COM port 2

1. Output format : PSXN (Kongsberg) TSS1
2. Baudrate : 9600 9600
3. Data bits : 8 8
4. Stop bit : 1 1
5. Parity : None None
6. Checksum ( N/A if TSS1 ) : Yes No
7. Output rate : 4 Hz 4 Hz
8. Output type : RS-422 RS-232

Press any key to return to main menu

PIRO - 10 / 25 User Guide Page 33 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

6.3.5 Mounting angle setup basic guide

Scenerio 1 :
Setup is ideal if vessel is on even keel.
On the configuration menu, go to <Sensor Mounting Angle> and select
<Set angle to zero>.

Scenerio 2 :
If vessel is not on even keel, calculate pitch and roll based on vessel
draughts.
Once calculated, go to <Sensor Mounting Angle> and select <User
Define> in configuration menu to input pitch and roll value.
Be aware of +/- polarity when entering pitch and roll value.

Scenerio 3 :
Take reference to other working VRS showing correct pitch and roll.
Go to <Sensor Mounting Angle> and select <User Define> in
configuration menu to input pitch and roll value.
Be aware of +/- polarity when entering pitch and roll value.

!!! IMPORTANT !!!

Once configuration is completed, release the PIRO-10/25 from the bracket and
manually pitch and roll the unit slowly to verify direction/polarity is correct on
the DP system.

NOTE : Axis invert is rarely used. Use with caution.

PIRO - 10 / 25 User Guide Page 34 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

7 TROUBLESHOOTING

PIRO - 10 / 25 User Guide Page 35 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

7.1 STATUS LED INDICATIONS

COLOUR STATUS

Green Processor is healthy

Cyan Sensor is healthy

Yellow Analog output enabled (optional)

Blue Bluetooth is available for pairing

Red Processor not healthy

None Missing 24VDC power input

PIRO - 10 / 25 User Guide Page 36 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

7.2 TROUBLESHOOTING

FAULT POSSIBLE CAUSE REMEDY

Ensure main cable is properly

PIRO-10/25 display fails to
1.1 No 24VDC input connected and 24VDC power is
start and no LED indication
available

PIRO-10/25 does not show

1.2 Sensor failure Contact your supplier
cyan LED

1.3 PIRO-10/25 shows red LED Fault with processor Contact your supplier

Pitch & roll data not shown

1.4 Unit not powered up Check 24VDC power to unit
on DP

Check output data configuration on

Pitch & roll data not shown Wrong data output
1.5 baudrate, telegram type and com
on DP configuration
port number

Pitch & roll data not shown Check wire connection on PIRO-25,
1.6 Loose wire connection
on DP junction box and DP cabinet

Pitch & roll data not shown

1.7 Wrong serial line wire polarity Exchange serial line wire polarity
on DP

Pitch & roll data wrong

Wrong analog signal wire Exchange analog signal wire
1.8 direction / polarity
polarity polarity
( analog signal )

PIRO - 10 / 25 User Guide Page 37 Rev 2.0

PIRO – 10 / 25 Vertical Reference Unit

Technical assistance & enquiry : piro@nauticadynamics.com

PIRO - 10 / 25 User Guide Page 38 Rev 2.0