Ocean Modules V8 SII and V4 ROV Manual
Contents
1. 1205 2 o1NV2 Z pup i IH NYO E WIHSOW 8 AZI Z 00plA 4 395 9279 Jos AOSE 81 188 ANYI 49H89W 6 IH WZHSOW 2 7 n204 L 009 Zi 39H A009 tt 499428 Ol 09plA 6 8 79 5 VL IH 7 pug A typical V8 Sii copper based umbilical ROV System Drawing Ocean Modules V8 Sii ROV Manual 11 44 SU Surface Unit The SU is a collective designation for several units which may or may not be housed together in one container Every V4 or V8 Sii ROV system contains at least a PU and a SIU but may also contain a SEU computer and additional peripheral equipment such as video recording units video switches UPS equipment or broadcasting hardware 1 SU units are 19 rack mountable be delivered variety of different housings depending on customer requirements from rack cabinets for permanent ship installation to rugged and waterproof mobile cases 0000 vo 925 Ocean Modules V8 Sii ROV Manual 12 44 PU Power Unit Electrical resistance of long copper cables in the umbilical cause loss of voltage To avoid increasing the diameter of the copper leads which would increase the weight and thus also the diameter of the tether the current is transferred as high voltage DC Doub2. S 3eH8OW 38H8ON MEA 2 S 32H89W 194 AYZ 8 ID ASHEOW S8HEOW OPPIA 9 sevsu 2 t X wer APZ I av 8 zor 7 wooz 4 ze N S i pvo H ous ISU ATL d WU AZI Arte t x XL7t7SM t 006d PUO o1NVO 8 H we IH Y N 2 si 1 1 WY A09 nod n xog uonounf Ocean Modules V8 Sii ROV Manual 9 44 A typical V4 ROV System Drawing 1 79 ASI e osi e 91 2 194 A0SL o s ASHEOW 8 3SH8OW amp ASHEOW v 3SH8OW 8 3SH82W 3 ASHEOW SHOW XL TEZTSY 9 25265475 Na 7 AZ WN9HgON 39H82 VOU Az gt 3PeH8ONWN 3 5 5 AZHEOW 3 9 pei dSH82W S8vSH 2 58954 zor 7 2 1 pu9 H AUS ipe 247 d 3 25254 a TLTSY 7 AU 91NY2 8 NYO N 2 Hd 2i091n 29413 s A009 2 nad ee Zld WeHg 3SH9 WSH8 AZHEOW AZHEOW 3 H8ON ASHEOW 33814 ASHEOW 38H82 38H82DWN 39H89 A0SI Wa Z 081 I Ave 9 Wy 2 IH E A009 z JEH9 A009 53913 XL Zezs 9
3. ROV Remotely Operated Underwater Vehicle VCT Vehicle Control Tube FVCT Fiber optic Vehicle Control Tube PT1 Power Tube 1 PT2 Power Tube 2 on some systems identical to PT1 MCT Motor Control Tube FT Fiber Tube IMU Inertial Measurement Unit JB Junction Box Subsea SJB Surface Junction Box SU Surface Unit PU Power Supply Unit SEU Surface Expansion Unit SIU Surface Interface Unit PCU Pilot Control Unit Ocean Modules V8 Sii ROV Manual 6 44 Umbilical Umbilical tether cable Fiber Fiber optic communication link Copper Copper wire communication consisting of multiple twisted pairs AC Alternating current DC Direct current Aft Rear of a marine vehicle pointing backward Fore Front of a marine vehicle pointing forward Warranty The product warranty applies to new ROV systems delivered by Ocean Modules to the original customer Any repair or modification to the design not authorized by Ocean Modules in writing including but not limited to replacement of cables or optional equipment will render the warranty void The warranty does not cover any defects that have been caused by failure to follow the instructions in this manual Exceptions or additions to the warranty may be included in the sales contract for each individual system delivered please refer to the delivery documentation for details Copyright This document and the information contained in it is the property of Ocean Modules Sweden AB The document
4. Always ensure that the power supply is properly grounded and observe all warnings displayed on the system s information screens Never disconnect cables without first disconnecting mains power and allowing time for component discharge The ROV system contains high voltage components Never open SU subsystem cases or electronics tubes without first consulting Ocean Modules and receiving written authorization to do so In case of component failure power may be present in the system for several minutes after system shutdown Connector and Cable Handling Mistreated cables and connectors can lead to ground fault warnings and other problems To avoid these issues follow these best practice handling instructions for the connectors All connectors must be carefully cleaned and properly lubricated The manufacturer of the connectors does not recommend any type of lubricant other than Molykote 44 Medium Other types of lubricant may provide too much or too little friction crystallize under pressure or even conduct electric current The following instructions must be observed to ensure correct operation 1 Do not expose connectors and cables to long term heat or sunshine 2 Connectors and cables are rated for a temperature range of 4 C to 60 C during use Correct functionality cannot be guaranteed outside this range If the V8 Sii has been stored or transported in temperatures outside this range please allow cables and connectors to accl
5. Mounted JB underneath top buoyancy block Not all fiber optic V8 Sii ROV systems have a JB some have a FT which is terminated directly onto the the umbilical in which case 600 VDC power supply is provided to PT1 PT2 from the FT Please refer to system specific configuration documentation for details V8 Sii ROV with FT and JB SJB Surface Junction Box The SJB is part of the umbilical for fiber optic V8 Sii ROV systems The SJB is permanently connected to the surface end of the umbilical and splits it into fiber optic and power interfaces which can then be connected to the separate connectors of the SIU using a fiber optic deck cable with ST connectors and a deck power cable Ocean Modules V8 Sii ROV Manual 25 44 If a winch is used the SJB is mounted over the axle bearing and slip ring on the short end of the winch If not the SJB is simply a stand alone unit connected to the end of the umbilical V4 ROV with FT and JB Copper umbilicals connect directly into the SIU or in the case of a winch using a deck cable that is in fact identical to a short umbilical Umbilical Winch and Slip ring The use of a hand wound or electrical winch may facilitates tether deployment and transportation especially when the umbilical length exceeds 200 m To enable the electrical and or fiber optic signals to pass from the static cable to the rotating tether on the winch drum the winch is normally equipped with a slip ring The slip
6. Manual 41 44 umbilical length fiber optic umbilical lengih Recommended system power Min storage temperature Max storage temperature Min operating water temperature Max operating water temperature Min operating surface temperature Max operating surface temperature Max depth Length Width Height without rails or handles Payload in fresh water Weight in air Weight in fresh water Top speed forward Max vehicle power draw Balance rotation Number of thrusters Thruster type Control system Analog video overlay Overlay text input Attitude functions Accelerometer range Magnetometer range Pitch roll range Pitch roll precision Pitch roll resolution Heading range Compass precision Compass resolution Depth sensor resolution Depth sensor precision Number of expansion ports 24 V power output Analog video HD SDI video 150 m 150 m 5 kW 35 70 5 40 0 40 300 636 400 430 3 kg 25 kg O kg 3 knots 3 6 kW Neutral 4 Ocean Modules T110 V8 Stable heading pitch roll time date cable turns compass rose 2 rows 20 characters each Stability control auto depth 59 1 2 Gauss 360 0 2 0 2 360 1 1 0 1 1 500 5 200 W Max 3x Max 1x Ocean Modules V8 Sii ROV Manual 42 44 Simultaneous video channels Video functions Video enhancement 24 V LED illumination Illumination functions P
7. connectors with clean dust caps 13 Allow all components to dry before stowing all components in packing boxes 14 Stow all components in their cases 15 Take care that all loose components are properly cushioned by protective foam so that shock rubbing and vibration can be avoided during transport Avoid excessive bending or twisting of the cables Monitoring and Diagnostics There are a number of monitoring and diagnostics functions the operator needs to be aware of Ground Fault Monitoring The integrity of the power supply from the SIU is constantly monitored by an insulation resistance monitor the ground fault monitor Under normal circumstances the ground fault monitor will indicate 210 MO A ISOMETER IRDH375 ESC A e e e e Ground Fault Monitor status display If the insulation resistance falls below 200 kO a ground fault indicator and an audible alarm will inform the operator of the fault The alarm can be muted by setting the MONITOR switch on the PCU to the BUZZER OFF position position Ocean Modules V8 Sii ROV Manual 38 44 The ROV will automatically shut down if the insulation resistance falls below 100 If the ROV power has been shut down by the ground fault monitor the power can be restored by setting the MONITOR switch to the MONITOR OVERRIDE position WARNING Overriding the ground fault monitor function may might damage equipment and may present a serious personal injury safety t
8. disconnect connectors by pulling on the cable Always pull the connector straight out never at an angle 11 Always check connector pins and sacrificial anodes for excessive corrosion If in doubt about any of these points please contact Ocean Modules for advice Umbilical Tether Handling Instructions The connector used to terminate the umbilical tether cable is particularly vulnerable where the flexible cable exits the rigid mold In some cases depending on usage handling or environment this point may be subjected to excessive stress Visually inspect the inline Subconn connector especially taking notes of any wrinkles cracks or warts If in doubt contact Ocean Modules Measure the resistance of each of the leads in the umbilical tether cable with a multimeter and take note of the values This information will be very useful when diagnosing a cable that is suspected to be failing Please note due to varying thickness of the leads not all will have the same resistance this in itself is not indicative of a problem Umbilical Tether Transport Instructions It is important that all cables especially the tether and deck cable are transported and mounted in such a way that sharp bends in the inline connectors can be avoided at all times The V8 Sii umbilical tether cable may be subjected to the same type of stress described above during transport especially if it is wound on a drum A simple preventative measure is to make
9. functionality of each light sonar camera manipulator and other sensors as applicable This doublechecks that all cables are properly connected If a tool or sensor is not mounted ensure that the corresponding connector is protected by a dummy plug Launching the ROV The ROV should not be operated near divers swimmers or sensitive marine life Operation and maintenance of the ROV system shall at all times be supervised by personnel with proper training authorized by Ocean Modules To launch the ROV proceed as follows Ocean Modules V8 Sii ROV Manual 31 44 Launch the ROV into the water Ensure that the ROV is correctly balanced If the ROV is not powered ON follow the startup procedure Toggle THRUST to the ON position Choose a VEHICLE MODE other than DECK MODE using the dial on the PCU If possible in current environment perform the dry test procedure again to ensure no errors have occurred during launch In a hostile environment dive immediately to a safe depth to avoid impact D mr mrt System Operation Traditional ROV design places the buoyancy material at the top of the vehicle and ballast at the bottom in order to create a stable platform This is a standard solution which works well in many applications but also limits ROV maneuverability and thus its capabilities in many operational scenarios The V8 Sii has been designed to be an extremely maneuverable vehicle with the capability to pitch and roll The
10. is automatically cut when the system power switch on the SIU is switched off WARNING Never use a PU delivered with a V4 with a V8 Sii ROV system or vice versa unless first reprogramming the PU for the proper voltage Ocean Modules V8 Sii ROV Manual 13 44 V4 systems intended to run with short cables in high power mode are delivered with a PU capable of putting out a maximum of 300 VDC Such a PU cannot be used with a V8 Sii system See the chapter on system operation for monitoring and diagnostic tasks that can be performed using the control interface SIU Surface Interface Unit The SUI is primarily a collector and distributor of all the data and video signals that are sent to and from the ROV via the umbilical The SUI houses the fiber optic converters and data processors necessary to amplify convert or relay data to the PCU and peripheral user interfaces such as computers and monitors The SIU front panel holds the connectors for the system power supply the PCU the umbilical and peripheral systems 12243445 VEHICLE RESET PWR FUSE OC oua ON POWER VEHICLE RESET PWR FUSE d gt M4 4 D md p ee POWER WINCH A typical fiber optic SIU configuration The connectors and indicators situated on the front panel of the SIU are Ground fault monitor status display see chapter on system operation for details Main system power switch Vehicle ROV sub system p
11. of the object being tracked NOTE Vehicle Mode can only be changed when power to the ROV vehicle is ON and the PCU has established connection with the con trol processor in the ROV vehicle at all other times turning the MODE knob will have no effect on the system Operating Modes Ocean Modules V8 Sii ROV Manual 32 44 A standard V8 Sii ROV system has five operating modes which have different abilities depending on the specific model The operating mode is chosen using the VEHICLE MODE dial on the PCU Deck Mode DECK MODE is always the default mode when the ROV is powered on No control system is active and all commands from the PCU are directly proportionate to thruster control This mode is used when the vehicle ROV is out of the water or in constrained spaces such as a TMS DECK MODE can also be useful if the operator finds it necessary to manually control the vehicle ROV in a situation where the IMU sensor has failed if the ROV is stuck or if its buoyancy has changed and the automatic control modes struggle with the new operating conditions Horizon Normal In HORIZON MODE all controls are relative to a horizontal plane i e the water surface In this mode the UP command will move the ROV straight up towards the surface even if the ROV has been pitched or rolled any number of degrees Body Normal In BODY NORMAL all controls are relative to the body of the ROV This means that if the ROV has been pitched or rolled a
12. ring is mounted in the center of the winch drum connected directly to the center of the SJB on fiber optic systems Ocean Modules delivers a number of different models of winch to suit a variety of customer requirements such as tether length working environment tether management and price For information regarding a system specific winch please refer to the corresponding user manual System Setup Do not attempt to power on the ROV system before reading the entire manual SYSTEM LIMITATIONS The ROV system shall only be used in environments for which it has been specified fresh or salt water only Examples of environments for which the ROV Ocean Modules V8 Sii ROV Manual 26 44 system has not been specified include but are not limited to water contaminated with fuel or oil strong electro magnetic fields or corrosive gas The ROV is not designed for high impact collisions and vibrations This is of particular importance to observe when launching recovering or transporting the ROV system Surface units are not protected from ingress keep them sheltered from swell spray and harsh weather CAUTION Always ensure that all power switches are set to the OFF position before any cables are connected Failure to do so may might damage equipment and can cause present a serious personal injury safety threat Before connecting any cables check that all power switches including light dimmers on the PCU and SU are in the OFF position
13. the VCT and receives the operator commands from the PCU This data is then used in a continuous loop of measuring receiving pilot commands calculating and controlling in order to determine which thrusters to turn and the power necessary to either keep the ROV stationary or to maneuver it in accordance with the operator commands The VCT may also contain interface connectors for auxiliary equipment such as cameras lights altimeters positioning systems and manipulators Please refer to the customer specific ROV configuration documentation to determine which interfaces are available MCT Motor Control Tube The MCT contains the the circuitry which converts the digital control signal output from the VCT to electrical control signals 0 5V that determine the revolutions per minute of each propeller The MCT also contains DC DC converters which provide 15V DC required by the controller cards located in the thrusters as well as light controllers used by dimmable halogen or LED lights The thrusters require 150V which is relayed from PT1 and 2 to the thrusters through the motor connection cards housed the MCT The two cards hold one fast blow ceramic fuse for each thruster In most cases where a thruster has failed due to propeller blockage the fuse will have blown before the thruster has sustained any damage Thruster Model 110 The V8 Sii ROV is equipped with eight brushless thrusters each delivering approximately 12 5 kg of
14. to the retrieval apparatus and attach the hook if a LARS is to be used If LARS is not used position the ROV so that it can be retrieved by the umbilical without snagging or bending beyond its minimum bend radius 3 Toggle the THRUSTER switch on the PCU to the OFF position as soon as possible to avoid debris getting entangled in the thrusters 4 Toggle the VEHICLE switch on the SIU to the OFF position to power off the ROV Ocean Modules V8 Sii ROV Manual 37 44 5 Ifthe SU contains a computer shut down Microsoft Windows 6 Toggle the POWER switch on the SIU to the OFF position to power off the entire ROV system 7 Commence lifting and retrieve the ROV from the water 8 Avoid bumping and scraping the ROV taking special care to protect the camera lenses 9 Disconnect all 240V power leads 10 Rinse or preferably submerge in fresh water all parts of the ROV which have been exposed to salt water biological material or any type of contaminant Disconnected wetmateable connectors may be submerged as well as long as all power has been disconnected Fiber optic connectors are not wetmateable 11 Disconnect the umbilical from the ROV using the reverse procedure used to connect Ensure fiber connectors have been dried with a clean cloth before disconnecting and immediately cover it with a dust cap after disconnecting 12 Remove each interconnecting surface cable checking for wear and damage Immediately cover fiber optic
15. with six degrees of freedom is made possible by the the unique design placing the two floatation blocks above and below the payload instead of at the top This configuration aims to place the center of buoyancy and the center of gravity in the middle of the vehicle Keeping the vehicle neutrally buoyant and allowing it to rotate freely around its own center is important for the vehicle s performance which is why the weight and balance of the ROV should be adjusted The ROV is kept stable propelled and maneuvered through direct and indirect control of eight powerful brushless thrusters Ocean Modules V8 Sii ROV Manual 17 44 Four of the thrusters are situated in the upper floatation block mounted vertically and outward from the center to provide thrust for movement vertically horizontally pitch and roll Four additional thrusters are mounted in the lower floatation block horizontally and tangentially to the center to provide horizontal and rotational movement The thrusters are primarily controlled by a feedback control system The control system continuously monitors the attitude of the ROV in the water and uses that information to turn each individual thruster so that the ROV either maintains its position or is moved according to the operator s commands The vehicle s power conversion control system and data interfaces are contained in five sturdy anodized aluminum tubes Each tube contains electronic circuit boards processors
16. Aux 1 Configuration dependant 14 Aux 2 Configuration dependant 15 Aux 3 Vehicle Status Check 16 Trim 17 Roll On Off 18 PCU On Off 19 Light Dimmer Controls 20 Vehicle Mode 21 Menu 22 Attitude Reset push button on left joystick A number of switches and buttons provide thruster on off manipulator control camera selection camera focus camera zoom camera auto focus roll deactivation lock and PCU reset The standard video overlay which can be switched on or off displays the vehicle s pitch roll depth heading date time a software set text string and a compass rose Additional data can be selected such as a turn counter or system diagnostics The overlay color can be set to light dark light with dark background or dark with light background to suit different conditions For detailed operating instructions of the menu system and the operating modes please see the chapter on system operation The Remotely Operated Vehicle The Ocean Modules V4 V8 Sii ROV is primarily a platform designed to carry and position whatever sensors and tools required to perform a particular underwater task The ROV has been constructed around a watertight open stainless steel frame whose main purpose is to provide a protective cage for the payload and a steady mount for sensors and tools Two floatation blocks provide the buoyancy required to compensate for the weight of the payload The V8 Sii ROV s maneuverability
17. QUALITY 0 8 ASSURED Modules ISO 9001 mu Ocean Modules Sweden AB rs tter Industrigallerian S 597 91 tvidaberg Sweden info Qocean modules com www ocean modules com DNV ISO 9001 2008 Certificate no 100266 2011 AQ SWE SWEDAC Ocean Modules VA V8 Sii ROV Manual Printed for General Use Revision C 2013 02 19 5 Supplementary Instructions ai e e ae es EU e id x re i e a 5 Target a etie i c ta at a 5 ACIS OT ance i ca D M LE 5 Reading Instructions ro ca e a at au a a RR eee Hii ned 5 Definitions and Abbreviations ete data d d 6 7 COPY CGEM o e RE e at ta a a ed a eg a a at 7 System OvervieW a ga da dintate a 8 The Difference between a V4 ROV and a V8 Sii 8 The V4 or V6 SI ROV SYSTEM COE ia 8 The V4 or V8 Sii ROV System 8 A typical V8 Sii copper based umbilical ROV System 11 SU Surface nib acte eid basa EE duc E Ue 12 MUN ao MD PERLE 13 SIU Surface Interface ite dave a eoa b 14 SEU Surface Expansion Unit ege Uu o rd ea e eee aa 15 870140 015 EAE EM UMEN 15 PCU Pilot Control URI ce
18. ROV Maneuvering is primarily managed through two three function joysticks and a pitch wheel Different controls may be engaged simultaneously so that the vehicle may be maneuvered freely in six degrees of freedom When a joystick is released to the center position the ROV will immediately stop and maintain the given attitude and depth The switched labeled TRIM allows the operator activate a function similar to a car s cruise control keeping the ROV moving at a constant speed in any direction and at any angle even though no controls are active until switched off The video overlay will display a flashing TRIM text when the function is active Four continuous dimmers are used to individually control the intensity of up to four lights The VEHICLE MODE is used to select one of several different operating modes The various modes offer the operator different controls and automatic functions which may be chosen to suit operator preference and the job at hand Please refer to the chapter on system operation for more information A typical PCU X Configuration dependent normally manipulator open close Y Configuration dependant Thrust On Off Power Indicator Link Indicator CameraSelect 1 2 3 Camera Focus Camera Zoom AP gs Ae lt Ocean Modules V8 Sii ROV Manual 16 44 9 PCU Display 10 Left Joystick Depth and Roll 11 Right Joystick Forward Reverse and Heading 12 Pitch 13
19. XY Zezsu 9 xoq IN uonaunp 7 1Y AZ S Ave 7 VOU V 4 av 8 jou W00z 4 Arte t 204 jeu ADSL Z 9 8 AE p se PUAT Av t 1 lt 006d 2 IPUO exu A typical V8 Sii fiber optic umbilical ROV System Drawing Ocean Modules V8 Sii ROV Manual 10 44 HS8CI091n Hd82i091n Wuue3 H 9 4 3 a aun 9 eura eun v V9 AvZ 9Jnue jueuno Keano 16415 01 asn HS8ZLOOLN Hd8ZL091N Jeuog eunjdeo GSN TAO O9plA m QU 5 9 ASL P osi 193 AOSL I 301 Ave PY AvT t 2 17 c APZ V Ave t 2 Z 222 1 25254 XH Zt7SH 7 4SH89W ASHEOW ASHEOW SHOW ASHSOW ASHEOW ASHEOW SSHSOW 4PH89W ejay JjSH8OW avH9 WAd I 10 v 293 Eod J uos Avz 7 92 N E ADSL 2 mine z AOS b I WvH8 Z uobojeH 194 AOS AZHEOW I 194 ADSL Z AZHEOW eee IN8H8 39H82W A009 9 S DA Y 2 10 e
20. a ere D pue NE 29 Connecting the System dee c iin RR i a a a 29 Startup ProOcedule seio eode du eat 30 Dy Test i e 31 Eaunching the ROV ci i Le pet re IRE lias de dor ERR er k re LU eiie e e UL ee 31 System Operatlion RN 32 Operating Modes te pex e tata pg E a 32 Deck udin ot et net d te Pret tetto 33 Ocean Modules V8 Sii ROV Manual 2 44 Horizon Normal ces 33 Body Normal RR DR ERG ae a VE ER DEM REED 33 Horizon Vertical m Aa SAR PORT MCI t Dal 33 Body Vertical GyrO i ii as SP a d il Et 33 foro EE 33 Using PCU Menu and Display 1 20022000 000000000000 33 SOUINGS 3 o eee nS dated het e aici 34 Reset TUNIS nana anor po pala ia ene 34 I i 34 OVEN AY cet A ao at o a 34 Time Date sie EDI 34 au 34 FOGG 35 SOU COCK cui oie E ads aid i ARS e e etie ue i ari Ani nade ERE HERA eet SNC 35 Color poesi tnc t di ta d e d oe da d Rat ac et quede o
21. ailable options are 1 System Stat On Ocean Modules V8 Sii ROV Manual 34 44 2 System Stat Off Heading This option sets the display mode of the heading on the video overlay The available settings are 1 Heading Simple 2 Heading Compass Set Clock The year month day hour minute and second will be highlighted one at a time allowing the user to set the time used by the overlay Overlay Color The overlay display color can be adjusted to suit different situations For operation close to the surface in sunlight a dark color may provide the best readability compared to operation at depth where a light color may be a better choice For mixed conditions it may be necessary to use one of the two options with a solid contrasting background The available options are 1 Light 2 Dark 3 Light with Dark Background 4 Dark with Light Background Thrust Gain This option sets the maximum gain of the thrusters Reducing thruster gain can be useful on situations where collisions need to be avoided and very precise movement is required The available settings are 10096 7596 5096 2596 Exponential pn Vehicle Status Check Activating the Vehicle Status Check Aux 3 on the PCU provides an overview of the current state of a number of the vehicle s vital functions The status display has two rows each containing eight indicators Ideally the display will read 12345678 Ocean Modules V8 Sii ROV Manua
22. ance personnel on site Personnel authorized to work with the system shall have read and understood this manual Storage of Manual This manual should be stored in the vicinity of the work area available to operators and supervisors at all times Reading Instructions Please read the entire manual before attempting to set up or operate an Ocean Modules ROV system It is important to comply with all safety regulations in this manual and any additional operating instructions and safety regulations relevant to the work environment and the specific equipment in use Ocean Modules V8 Sii ROV Manual 5 44 This manual contains warnings relating to the risk of accidents that may or will result in personal injury or severe material damage This information has been categorised depending on the probability of accident or the gravity of the possible consequences as either a note caution or warning as follows NOTE Indicates important information and may indicate a risk of breakdown or malfunction of material if not followed CAUTION Indicates that an accident might occur if the regulations are not followed The accident might result in personal injury or material damage WARNING Indicates that an accident might or will occur if the regulations are not followed The accident might result in serious material damage personal injury or death Definitions and Abbreviations The following terminology will be used throughout this manual
23. and software for such functions as DC DC voltage conversion amplification data communication command and control and data conversion The electronic tubes are connected through wetmateable connectors and cables as are all sensors and tools requiring power or a data link Electrical power to the ROV and a communications link for command and control is provided to the ROV from the SU through the Umbilical The vehicle s range of operation is therefore limited to the length of the tether However the length of the tether may in some cases exceed the vehicles maximum dive depth which in turn is limited by the floatation blocks or equipment mounted on the vehicle 0005 ROV 1 ROV stainless frame 2 Upper block 3 Lower buoyancy block Ocean Modules V8 Sii ROV Manual 18 44 4 Thrusters V8 Sii ROV Sub systems The standard V8 Sii ROV consists of either four or five electronics tubes depending if the umbilical is fiber or copper an IMU pod eight thrusters and interconnecting cables PT1 PT2 VCT MCT IMU FT only on fiber systems p gr m m o FT Fiber Tube The FT is the fiber optic interface for all communication data and video signals sent between the ROV and the SU Some V8 Sii systems do not have an umbilical terminated by a JB in these cases the FT will be permanently terminated to the umbilical Interface connectors on permanently terminated FT Depending on th
24. any cables are connected Failure to do so can cause presents a serious personal injury safety threat To setup the ROV before launch proceed as follows 1 Position the SU in a protected environment It is recommended to protect the SU from direct sunlight Protect the SU fan inlets from exposure to water and debris 2 Ensure that all switches on the SIU are in the OFF position 3 Connect any required peripherals such as computers monitors GPS units or USBL systems to the SU 4 Connect the main power supply cable to the power connector on the SU 5 Connect the PCU cable to the PCU connector on the SU using the PCU SU extension cable if required 6 Forfiber optic ROV systems including a winch connect the fiber optic deck cable and power deck cable between the SIU and the SJB on the winch If the system does not include a winch connect the deck cables directly to SJB terminated directly to the surface end of the umbilical Ocean Modules V8 Sii ROV Manual 29 44 7 For copper ROV systems including a winch connect the deck cable between the SIU and the winch slip ring connector For systems that do not include a winch connect the umbilical directly to the SIU 8 Forfiber optic systems including a JB permanently terminated to the umbilical fasten the JB to the bottom of the top buoyancy block using the provided wingnuts For fiber optic systems with a the FT permanently terminated to the umbilical slide the FT into the pr
25. cuit boards for underwater positioning systems and specialized recorders or interpreters The SEU has been designed specifically with the Tritech MicronNav USBL positioning system and the Ocean Modules SPOT ON survey management software in mind 9 NES TERCER lt NL mi 2 2 oo e RAT uss p 5 6 7 SENT e 3 i gt aa 6 a om rer sono sana or ED gt o E VIDEO A typical SEU with MicronNav Hub installed Computer A computer is not required to operate the V8 Sii ROV system but a computer is required to run sonar software positioning software digital video recording applications and the Ocean Modules SPOT ON survey software Any type of computer may be used but a standard Ocean Modules computer mounted in the SU has many advantages The number of cables required is drastically reduced which increases mobility and safety while reducing setup time It is also a standardized component that has been tested with the complete V8 Sii ROV system Ocean Modules V8 Sii ROV Manual 15 44 some fiber optic systems the computer will also contain virtual ports allowing access to sensors and other peripherals on the ROV with a serial RS232 RS485 or Ethernet interface Please refer to system specific configuration documentation for details PCU Pilot Control Unit The PCU is the main user interface for controlling the
26. d tere eat nt tentent 35 Thr st Gain un RA DURER a engen pu en a TAI 35 Vehicle Status Check ee tee tie bed at c est pedet ra ee Pe RARO 35 Ovena y oaa OT ttd M ei 36 Understanding the Overlay ta cete ded epa bee aaa 36 RECOVEn scos sec sa taia MS 37 Monitoring and Diagnostics lanx Ux exl dau aaa i dia a 38 around Eault pa a ae ati il el a a i a at 38 Power Output Monitor se oce za ac enc ea es 39 Specifications sasa aaa aaa aria ia da ai ia pila a a la i alai da 40 V8 Si ROV i a aa at ci 40 ROV Syste PIC Da a 41 Thruster TTO B 43 Umbilical Set es ace FDR aaa 43 pcr a au git ae a M Fn 44 PU i ERP DD RO 44 ANNANS SAS 44 Ocean Modules V8 Sii Manual 3 44 Ocean Modules V8 Sii ROV Manual 4 44 Preface Scope This manual covers the technical description and operating instructions of the Ocean Modules V4 and V8 Sii remotely operated underwater vehicle system providing the basic knowledge required for proper safe and economical
27. e DOWN position 15 Ensure the VEHICLE MODE dial on the PCU has been turned to the maximum counter clockwise position ensuring DECK MODE 16 Toggle the MAIN POWER switch on the SIU to the ON position 17 The ground fault monitor will perform a self test Proceed when the display shows that self test has been completed successfully Once a successful test has been performed the display will show the insulation value which under normal circumstances will read gt 10 MO 18 Ensure that the vehicle ROV especially the propellers are clear from of all fingers tools and other obstructions and that all personal individuals in the immediate vicinity are aware about that power is about to be supplied 19 Toggle the VEHICLE POWER switch on the SIU to the ON position 20 When power is applied to the ROV a sound may be heard from the ROV which is normal Ensure that the PU does not indicate excessive current draw Anything over 400 mA should be considered suspicious Ocean Modules V8 Sii ROV Manual 30 44 21 Ensure that the LINK INDICATOR and POWER INDICATOR on the PCU have turned green The system has now been powered on successfully CAUTION The Power Tube start circuits are sensitive to quick restarts If the power to the vehicle ROV is turned off cut it is necessary to wait approximately 15 seconds before the power is turned on applied again Failure to do so may might result in system damage and need for repairs Dry Test Pr
28. e connectors may or may not be wetmateable and may come with their own care instructions Please refer to the sensor manufacturer s documentation for details Standard Equipment All sensors delivered with the V8 Sii ROV system are optional and Ocean Modules provides a wide range of sensors to choose from but there are a number of pieces of equipment which are so standardized that they are normally always purchased with the ROV These include at least one video camera two lights a scanning sonar for navigation and obstacle avoidance and a one function grabbing manipulator arm In addition the V8 Sii ROV can also be equipped with additional lights additional cameras with capabilities such as low light high definition wide angle or still footage imaging Ocean Modules V8 Sii ROV Manual 22 44 sonars altimeters cathodic protection probes multifunction manipulators and transponders just to name a few Some equipment can be mounted and interfaced directly on a standard vehicle other equipment may require special electrical or mechanical interfaces or additional buoyancy to increase the vehicles maximum payload capability If additonal interfaces are required please contact Ocean Modules for more information Cameras The ROV will require a forward looking camera for navigation and inspection however a backward looking is recommended for situations such as reversing the ROV out of tight spaces and tether management If requir
29. e customer specific configuration the FT will house modems Ethernet converters serial digital interfaces HD video converters and so on All connectors mounted on the FT are electrical except the fiber optic interface to the JB on systems which do not have the FT permanently terminated to the umbilical PT1 and PT2 Power Tubes The two Power Tubes PT1 and PT2 share the task of transforming 600V DC provided from the surface to 150V DC and 24V DC for use by the various ROV sub systems The content of the two Power Tubes consisting mainly of switch mode power converters are identical However the connector layout varies depending on the ROV configuration Ocean Modules V8 Sii ROV Manual 19 44 On some systems PT1 and 2 are identical with a 3 pin male connector for the 600V DC input and a 5 pin female connector for the 150V and 24V output On other systems PT1 and PT2 are equipped with 3 connectors where 1 is easily identified by the main 12 pin female connector For more detail on the connectors and their function please refer to the pin configuration section and the customer specific configuration documentation delivered with the ROV system VCT Vehicle Control Tube The VCT contains the electronics boards processors and software that make up the control system for the V8 Sii ROV The control system reads heading and attitude data from the IMU depth information from the depth sensor located at the back end of
30. ed it is possible to interface a third camera on the V8 Sii depending on the customer specific configuration of the ROV system Video signals from multiple video cameras can be displayed either simultaneously or one at a time chosen with a switch on the PCU depending on system configuration In the standard configuration one camera interface is supported which has controls for zoom focus and auto focus available on the PCU However this requires that the selected camera has these capabilities and that they are supported by the camera interface Lights The V8 Sii ROV can in the standard configuration be equipped with up to four dimmable LED lights There is up to 2x250 W available to power the lights however used at maximum power they will reduce the power available for the thrusters For this reason the V8 Sii ROV is normally equipped with 2x100 W LED lights which is sufficient for most purposes Sonar The underwater environment tends to offers poor optical visibility which often makes a mechanical scanning sonar a necessity Ocean Modules recommends a Tritech Micron scanning sonar as a cost efficient alternative for navigation and obstacle avoidance The Tritech Micron provides a 360 degree image of the surrounding environment with a practical range up to 80 meters There several types of sonars some providing higher resolution greater range real time images or good coverage However the laws of physics do not allow sonars t
31. enu It is also possible to have multiple video outputs on the SIU front panel some with and some without video overlay Ocean Modules V8 Sii ROV Manual 36 44 Hdn 268 gt 080625 23 57 57 Video overlay Roll Indicates the number of degrees the ROV has rolled a positive number indicates a clockwise movement while observing the ROV from the rear A negative number indicates a counter clockwise movement Pitch Indicates the number of degrees the ROV has pitched a positive number indicates that the ROV has pitched upward and a negative that it has pitched downward Dpt The current depth relative the zero level set in the PCU Hdn Indicates the heading in degrees Date The date set on the PCU CIk The time set on the PCU Compass Rose A visual representation of the heading It is also possible to add additional information to the display by activating System Stat on the PCU This is normally not used but may prove useful for diagnostics and fault searching ROV Recovery CAUTION Toggling Cycling the power to the ROV on and off to quickly may might cause serious damage to the ROV system Always wait at least 15 seconds before switching power back on again Always handle all parts of the equipment with care and provide adequate cushioning for transport To recover the ROV after use proceed as follows 1 Complete any software recordings that have been started 2 Maneuver the ROV
32. hreat Only use these settings if absolutely necessary Power Output Monitoring Before the ROV has been turned on the PU control interface will display a red blinking diode labelled ALARM This is normal the alarm will stop when the ROV is powered on VOLTAGE DC VOLTS GEN600 5 5 0 600 0 55 AMPS CURRENT a 3 ALARM FINE PREV UVL FOLD REMILOC OUT 4 am amm um 07 d J J PU control interface Please observe that most functions of the Lambda Interface are locked or disabled It is possible to check the power output settings before the ROV is powered up by momentarily pushing the PREV button on the Lambda Interface It will then display the set output voltage of 630 V and a maximum current draw of 5 5 A Once the ROV has been activated with the vehicle power switch on the SIU the Lambda Interface will display the output voltage which should be approximately 630 V and current draw that should be approximately 0 2 A when the ROV is idle Ocean Modules V8 Sii ROV Manual 39 44 Specifications Specifications apply to standard systems Specifications will change with customer specific modifications V8 Sii ROV System Max copper umbilical length 500 m Max fiber optic umbilical length 800 m Recommended system power 5 kW Min storage temperature 35 Max storage temperature 70 C Min operating water temperature 5 Max opera
33. imatize before connecting or using 3 Always ensure connectors are lubricated A tube of Molykote 44 Medium has been included with the ROV service kit Use Molykote 44 Medium very sparingly apply just enough to coat the rim of the female connector allowing for easy insertion Using too much may cause pressure in the connector pushing the male connector out A video Ocean Modules V8 Sii ROV Manual 27 44 demonstrating the correct amount to use is available here http www ocean modules com cables 4 Never use any other type of lubricant If other lubricants such as silicone grease have been used previously carefully clean the connectors before applying Molykote 44 Medium 5 If required connectors be cleaned using warm soapy water and cotton swab 6 cleaner is required isopropyl alcohol may be used on both contacts and rubber but the connector must be properly washed with warm soapy water afterwards 7 Any accumulation of sand mud or other contaminants on the connectors especially in the female contact should be removed with fresh water Failure to do so could result in the splaying of the female contact and damage to the o ring seals 8 If connectors appear very dry or brittle soak in fresh water and lubricate before use 9 Avoid sharp bends at cable entry Ensure that there are no angular loads bulkhead connectors Check connections for any gaps caused by uneven pressure 10 Do not
34. is supplied by Ocean Modules Sweden AB on the understanding that it may not be copied used or disclosed to others except as authorized in writing by Ocean Modules Sweden AB All rights shall also be reserved for any patents granted registration of trademarks and technical modifications without prior notifications Ocean Modules AB Ocean Modules V8 Sii ROV Manual 7 44 System Overview Both the Ocean Modules V4 ROV and the Ocean Modules V8 Sii ROV are classified as ROV Class II observation vehicles with payload option in accordance with the NORSOK standard U 102 see www standard no for details which are equipped with lights video cameras and a navigational sonar as standard Class II vehicles are capable of operating without loss of original function while carrying at least two additional sensors The V8 Sii ROV has the capability to carry equipment and sensors such as manipulators multi beam sonars high definition video cameras transponders cathodic protection measurement systems etc The Difference between a V4 ROV and a V8 Sii ROV The V4 and V8 Sii ROV systems share all basic components from surface units and cables to thrusters and electronics tubes The main difference is that the V8 Sii has eight thrusters and onboard power conversion from 600V DC whereas the V4 only has four thrusters does not have the 360 pitch and roll capabilities of the V8 Sii and is fed 160V DC directly from umbilical making it smalle
35. l 35 44 11111111 B 11111111 1 4 and B1 B3 not connected and will always read 1 The rest of the indicators provide an overview of the current state of a number of the vital functions of the ROV and will read 1 when no issues have been detected and when a fault has occurred The various positions are to be interpreted as follows Power issues A5 PT2 150V A6 PT1 150V A7 PT2 24V A8 PT1 24V Link issues B4 Lamp Control B5 Motor Control B6 ROV Control B7 Video Interface B8 Overlay The Vehicle Status Check data can displayed on the video overlay as well by activating the System Stats from the PCU Menu Overlay Text Depending on configuration the ROV system may be equipped with a feature to add text to the overlay in order to allow the operator to record events of interest This feature is controlled using Microsoft Windows application Overlay Text provided by Ocean Modules normally located on the desktop Typing text in this application sets the same text on the video overlay All normal standard characters and numbers are possible to use To erase everything from the overlay press the Clear overlay button or use the ESC key Two lines of containing 25 characters each can be added to the video overlay screen When the end of the first line has been reached the text continues on the second line Understanding the Overlay Data The video overlay can be turned on or off using the PCU m
36. ling the voltage reduces the current required to deliver the same amount of power by half which also reduces the loss by half thus increasing the efficiency For the V4 the PU converts 170 265 VAC mains supply to 160 VDC which is led through the umbilical to the ROV where it is converted used directly for thrusters but converted to 24 VDC for peripheral equipment For the V8 Sii the PU converts 170 265 VAC mains supply to 630 VDC which is led through the umbilical to the ROV where it is converted again to voltages used by the ROV thrusters and sensors The PU provides a consistent voltage with a maximum current of 5 5 A allowing the ROV to utilize more than 3 kW of power if required For more information on the PU please refer to the TDK Lambda Power Supply Manual The V4 and V8 Sii can be run off the same PU however it MUST be set to 600V for V8 Sii use and to 160V for V4 use The PU will be locked to the voltage required by the system it was delivered with For use with multiple systems please see separate documentation provided by Ocean Modules with such deliveries The PU The PU contains a power switch and a control interface 10 Lambda power switch always set to the ON position 11 Lambda control interface NOTE There should never be any reason to change or monitor the PU configuration it has been set correctly and tested before delivery The power switch can be left in the ON position as the power to the PU
37. natural stability of the platform has been removed by placing the center of gravity and center of buoyancy in the middle of the V8 Sii ROV Stability is created artificially using eight vectored thrusters an advanced control system and feedback from precise sensors There is no natural up or down which means that the ROV can be positioned at any attitude of pitch and roll The ROV control system will maintain that set attitude within certain limits even though the ROV is affected by external forces The capability to rotate 360 in any dimension while maintaining platform stability allows an operator to conduct sonar and video inspections following the profile of sea floor ship hull or subsea structure Unlike most ROV systems the V8 Sii joystick commands are not sent directly to the thrusters but are instead interpreted by the control system providing power and control to the eight thrusters based on the directions the operator wishes to move in while taking into account external forces such as tether drag and water flow The ROV can be operated at any angle and in any direction allowing it to operate in tricky spaces 360 around any axis in a manner much more natural to the operator Since sonar cameras lights and mounted tools such as a manipulators or samplers are always aligned there is no need for separate pan and tilt controls this reduce reducing the cognitive stress on the operator and thereby the risk of losing sight
38. nd the UP command is issued the vehicle will move in the direction that the top is facing If for example the vehicle ROV has been rolled 180 degrees so that the top is facing straight down the UP command will move the ROV downwards Horizon Vertical Gyro HORIZON VG mode is the same as HORIZON NORMAL except the auto heading feature is disabled This mode is useful when working close to magnetic objects or in a situation where the compass has failed The drawback of the two VG operating modes is that the heading information drifts and becomes unreliable with time Body Vertical Gyro BODY VG is the same as BODY NORMAL except the auto heading feature is disabled This mode is useful when working close to magnetic objects or in a situation where the compass has failed Reverse Mode REVERSE MODE is the same as HORIZON NORMAL but with the forward reverse left right and lateral left right commands swapped so that from the control system s perspective the ROV has had its for and aft reversed This mode is useful when the ROV has cameras or other sensors at both ends which are used for different tasks or when attempting to reverse out of a tricky situation for example when the umbilical has become entangled Using the PCU Menu and Display Ocean Modules V8 Sii ROV Manual 33 44 The PCU menu joystick allows the operator to set a number of options Pushing the joystick straight down enters the settings menu Maneuvering the j
39. o have all these properties at the same time The operator must therefore select a sonar that best suits the task at hand The V8 Sii ROV can be equipped with sonar systems such as but not limited to the Tritech SeaKing scanning sonar the Kongsberg MS1000 scanning sonar the Tritech Gemini multibeam imaging sonar or one of the BlueView multibeam imaging sonars Different sonars use different methods for data communication such as RS 232 RS 485 or Ethernet but they are all digitally controlled through a computer and the sonar images displayed on the computer screen Ocean Modules V8 Sii ROV Manual 23 44 For more information regarding the sonars performance or how to operate them please refer to the corresponding manufactures data sheet and manuals Umbilical Umbilical Tether Cable The umbilical connects the vehicle to the surface providing power supply a communications link and a physical connection with which the vehicle can be retrieved The umbilical consists of copper power supply leads and multiple twisted pair or fiber optic cables in a filler of silicone which in turn is surrounded by a light plastic to provide volume and thus buoyancy A thin plastic foil which is grounded by a drain wire surrounds the core for the detection of ground faults on the 600 V copper leaders A braid and a jacket of hard hard plastic provide physical protection and the main tensile strength of the umbilical It is important to treat the
40. ocedure Carefully following the dry test procedure will minimize the risk of problems once the ROV has been launched CAUTION Please note that the ROV is intended to be water cooled Therefore it is very important that dry testing is performed immediately prior to launch and that the ROV is not left powered on out of water for an extended period of time Monitor the temperature of the aft PT1 PT2 lids to determine if the system needs to be powered off or not They should never become too hot to touch Always use Deck Mode when the ROV is out of water Using any other mode will result in unpredictable spinning of the thrusters Never run the thrusters at high speed out of water 1 Perform a ROV system attitude measurement check one sensor at a time by tilting the ROV from side to side fore to aft and rotating it left and right The corresponding roll pitch and heading values on the video overlay should change accordningly The video overlay will not display any values until the vehicle ROV has shifted position and the values have been updated 2 Perform a ROV system depth check The depth sensor at the center of the VCT rear lid the video overlay depth display should give a brief indication when tapping it 3 Ensure the VEHICLE MODE dial on the PCU is in DECK MODE Switch THRUST to ON Check thruster functionality by slowly giving forward reverse up and down commands All thrusters should have rotated in both directions 4 Check the
41. ock close to the back end of the ROV It is important the IMU is mounted so that the heading measured by the compass is in line with the heading of the ROV For this purpose there is an engraving on the IMU that is to be aligned with the forward direction of the ROV NOTE The sensors in the IMU are sensitive to magnetism it is important to not mount magnetic materials on the ROV If the ROV is used in a magnetic environment such as the steal hull of a ship the IMU may be disturbed which may cause the ROV lose automatic heading functionality resulting in erratic behavior Cables The V8 Sii ROV sub systems including the MCT the VCT PT1 PT2 the thrusters and all mounted sensors and tools are electrically connected using wetmateable connectors and cables These connectors and cables are made from neoprene rubber and are designed to be water resistant to full ocean depths Since the connectors are made of rubber and require a tight fit to prevent leakage it is important that they be kept clean and lubricated Furthermore the connectors must be disconnected and connected with a firm grip around the connector not the cable and without bending and twisting The lifetime of cables and connectors can be lengthened by proper care and avoidance of prolonged exposure to heat and sunshine Most cables used in the V8 Sii ROV are provided by Subconn however some tools and sensors are delivered with connectors from other manufacturers Thes
42. ovided brackets and tighten the screws 9 Connect the subsea end of the umbilical to the ROV For copper systems connect the 12 pin wetmateable connector directly to PT1 For fiber optic systems including a JB permanently terminated to the umbilical connect the provided subsea fiber optic cable between the JB and FT and the provided power cable between the JB and PT1 PT2 For fiber optic systems with a the FT permanently terminated to the umbilical connect all power and interface cables see system specific documentation for details 10 Secure the strain relief to the aft eyelet Failure to do so will place strain on the connectors and possibly make it impossible to retrieve the ROV in case of failure 11 Ensure that all the connectors are properly seated 12 Connect the main power cable to a power source Startup Procedure To start the ROV proceed as follows Always keep clear of the thrusters when the ROV is switched on or off When the vehicle is started or stopped the thrusters may rotate briefly at high speed Ensure that all individuals persons in the immediate vicinity are aware that power is about to be supplied Always use Deck Mode when the vehicle ROV is out of water Using any other mode will result in unpredictable spinning of the thrusters Never run the thrusters at high speed out of water 13 Ensure that the VEHICLE POWER switch on the SIU is in the OFF position 14 Ensure the THRUSTER switch on the PCU is in th
43. ower switch Video overlay reset switch Power fuse 15AT 6 3x32 mm ceramic not required for newer systems Ground fault monitor alarm override switch PCU connector Mains power connector ROV umbilical connector O 0 N o 0 eE Ocean Modules V8 Sii ROV Manual 14 44 Fiber optic systems will have two connectors in place of the 12 pin wetmateable ROV umbilical connector one fiber optic ST connector and one power connector both of which need are connected to the fiber optic umbilical surface junction box or winch junction box of the system includes a winch Please refer to system specific configuration documentation for details Interface connectors A E will vary depending on ROV system configuration Examples of possible interfaces include A BNC analog video output including video overlay B BNC analog video output without video overlay C D Sub IMU data output D USB digital video and sonar interface E Auxiliary throughput typically used for serial devices or Ethernet NOTE Please note that the interface connectors are system specific check the system configuration diagram for connector type and available internal interfaces Please also note that some SEU and computer connections may be routed through connectors in the back panel SEU Surface Expansion Unit The SEU holds additional hardware interface components required by special sensors or tools such as sonar network extension interface cards junction cir
44. oystick to the left or right cycles through the various available options For each option up and down movement of the joystick selects the next available setting and pushing the joystick straight down again saves the chosen setting Depth Settings This option provides a means to recalibrate the depth sensor The available settings are 1 Zero Depth 2 Reset Depth It is possible to set the zero depth at any depth All readings will then be relative to the new zero level Resetting the depth will restore the depth calibration to factory defaults Reset Turns This option resets the recorded number of times the vehicle has spun a full 360 around its Z axis This number may be useful for determining umbilical twist Turns This option enables or disables the display of the number of turns The available settings are 1 Show Turns 2 Hide Turns Overlay This option turns the video overlay data on or off The available settings are 1 Overlay 2 Overlay Time amp Date This option enables or disables the display of the date and clock on the video overlay The available settings are 1 Time amp Date On 2 Time amp Date Off System Stat This option enables or disables the display of the system status on the video overlay Enabling it displays the data sent to the control system from the PCU This information may be valuable when attempting to fault search a V8 Sii that is not functioning correctly The av
45. r and lighter Both the V4 and the V8 Sii are available with fiber optic or copper based umbilical tether cables Where there are differences they will be noted in the manual The V4 or V8 Sii ROV System An observation class ROV system from Ocean Modules consists of four major sub systems Interconnecting cables link the various subsystems to each other SU with or without SEU and or computer PCU Umbilical with or without a winch ROV pe pu woe The V4 or V8 Sii ROV System Drawing The exact contents of the SU port configuration connector specifications cable type equipment mounted at time of delivery and so on will be documented in the System Drawing delivered with each system Examples of three different typical System Drawing documents are included on the next three pages but are provided as examples only Please refer to the System Drawing delivered with each specific ROV system for details on that particular system Ocean Modules V8 Sii ROV Manual 8 44 OOOO jeubis 9 pub OSI lt 2 94 AOSL I lt H ASHEOW AZHEOW pev ES 4SHEOW mE 2 i ASHEOW o WEHS SH ASHEOW AvC 9 195 Av S X1 zezsu 9 T kes TETSY S I N IH E od Ny 7 2 091 WSHSOW 33913 SSHSOW XLZtZSM 9 57747 xoq ZEZSU 9 e JFHSON 9 uonaunp
46. ration looking at the ROV from behind and in the forward direction Top right forward thruster Top right rear thruster Top left rear thruster Top left forward thruster Bottom right forward thruster Bottom right rear thruster Bottom led rear thruster Bottom left forward thruster O RR mc The vector angle of the thrusters must not be changed without also updating the control software Contact Ocean Modules for details Older V8 Sii ROV systems were delivered with thrusters supplied by a different manufacturer These thrusters can be identified by the blue cowling For systems with these thrusters please refer to the specific manual supplied with the system If no such manual is available contact Ocean Modules IMU Inertial Measurement Unit Ocean Modules V8 Sii ROV Manual 21 44 The IMU is a small can containing accelerometers gyros magnetometers which measure movement attitude and heading The data from the IMU is crucial input to the control system which requires continuous feedback to be able to stabilize and maneuver the ROV Data from the IMU such as heading pitch roll and depth may also be displayed on camera video image overlay depending on ROV configuration It may also be available as RS 232 output from the SU through a D Sub or USB connector depending on ROV configuration allowing the data to be used in other systems The IMU is located on bottom side of the upper buoyancy bl
47. rotective measures Tool survey skid option Thruster 110 Power input Isolated driver input Speed command Weight in air Weight in water Depth rating Thrust Connector Oil Thruster 110 Umbilical Tether diameter Tether breaking strain Tether minimum bend radius Buoyancy 1x PCU zoom focus LYYN option 4x 4x dimmable Isolation monitor emergency stop V8 Sii Skid 150 VDC 5 5A 15 VDC 100 mA 5 1 5 kg 0 9 kg 500 12 5 kg Subconn MCBH6MSS Shell Odina 917 12 5 14 18 mm depending on type 500 kg 200 mm Close to neutral Ocean Modules V8 Sii ROV Manual 43 44 SU The SU specification will vary greatly depending on which units it contains and if it is housed in mobile or permanently mounted container This specification applies to a mobile SU only containing a PU and a SIU Width 600 mm Depth 600 mm Height 250 mm Weight 21 kg PU Power Single phase AC 170 265 V 47 63Hz Max Draw 3 3 kW Output 630 VDC V8 Sii Output 160 VDC V4 PCU Width 240 mm Depth 180 mm Height 130 mm including joysticks Weight 2 kg Ocean Modules V8 Sii ROV Manual 44 44
48. ssa ete perve despecta Sube aee ape egal ptas a dela 16 The Remotely Operated Vehicle 17 V8 Sil HOV Sub Systemsi ntel abo etu 19 NR eT MR 19 PTA and PT2 Power Tube8s cn n de e Vie D ee e end RR Aa Dag pita 19 VEE Vehicle Conitrol Tube sas tit oii ga de enn at at Da d i ei d ahaa la c ta 20 Motor ControlTUbe a za euet e n ere ene e Perro rd t ud pi pod ti ceia a iat 20 Thr ster Model 110 aaa erbe edere tl rada a 20 IMU Inertial Measurement Uhnit ierit h rint a atasa taia ia iad iai aaa ii dna aia a i dt s 21 Cables X dt 22 Standard Eguipmehl 45 2 a retea Mau eei eui bic ini 22 Umbilical Umbilical Tether 24 JBSubsea Junction BOX 5 uie RR Ret Ode m tents MM 24 SJB Surface Junction BOX Uo rptu ett ddp npe pala 25 Umbilical Winch and SIip ring die a reg ei bci a ee aii pe eens ag eb te Erde ee iR 26 System SetU M ja 26 Connector and Cable Handling e ed i cedex KKR RR det e a 27 Umbilical Tether Handling 28 Umbilical Tether Transport Instructions eee nennen 28 Balancing the ROV Sacs oca daia cea a ea a
49. sure that the drum does not turn if it is mounted on a winch and to place the connector mold inside a length of drainage pipe available at any plumbing shop Strap the pipe to the cable and secure the end of the tether to both sides of the winch and ensure that the drum is secured to the winch frame so that it cannot rotate during transport This will guarantee that the inline connector cable cannot bend at a sharp angle Ocean Modules V8 Sii ROV Manual 28 44 Balancing the Correct balancing is essential for successful operation Balance the ROV to float just below surface in a level position There are eight weight pockets four in each of the buoyancy material blocks These pockets are used to provide a basic configuration in order to compensate for manipulators or other tools Once a basic configuration has been established the balance can be fine tuned by adding lead weights to the ROV frame with cable ties Lead weight pocket If giving the vehicle ROV a light push that should cause it to move shift in that direction If it does not most likely the vehicle ROV is bottom heavy Additional lead weights can be ordered from Ocean Modules Buoyancy will not be the same in fresh and salt water so it will be necessary to rebalance the ROV when it is moved to a new environment Connecting the System Always ensure that all power switches are set to the OFF position and that all mains power leads are disconnected before
50. tether with care avoiding cuts kinks impact or compression which may damage lead wires or cause the jacket to leak Therefore avoid 1 Pulling the tether over sharp stones barnacles etc 2 Exceeding the minimum bend radius especially when the tether is under tension 3 Jamming it in doorways rolling loads over it dropping heavy equipment on it During ROV operations always employ a tether manager who shall Give out tether and take home slack and properly coiling it Keep the tether from drifting under the working platform into propellers etc Keep the tether away from sharp edges stones and barnacles Keep the tether from knotting tangling and snagging Keep a lookout for boats which could run the over tether Keep track of the amount of tether in the water duco mc The tether manager shall always be able to communicate with the ROV pilot and if working from a moving boat with the skipper When not in use the tether should be stored coiled up in figure eights or in over and under loops to avoid knotting and entanglement during deployment away from direct sunlight and extreme temperatures JB Subsea Junction Box The JB is part of the umbilical for fiber optic V8 Sii ROV systems The SJ is permanently connected to the subsea end of the umbilical and splits it into fiber optic and power interfaces which are then connected to the FT and PT1 PT2 using subsea cables Ocean Modules V8 Sii ROV Manual 24 44
51. thrust The thrusters all rotate in the same direction the propellers are identical all thrusters are completely interchangeable The thrusters are filled with a non toxic medicinal white oil for lubrication and to prevent water penetration and are kept pressurized by a pre tensioned spring and a piston A white pin at the back end of the thruster functions as a gauge for the oil level When only a few millimeters of the pin remain visible it is recommended that the oil be re filled The oil will seep out very slowly under normal circumstances but may leak due to high Ocean Modules V8 Sii ROV Manual 20 44 temperatures low pressure during air transport or damaged o rings It is advisable that a leaking thruster be serviced After each use the thrusters propellers should be visually inspected to ensure that they are no obstructions such as seaweed or fishing line If obstructive material has been wrapped around the propeller axel the propeller can be removed with a hex key and the material removed Other than rinsing with fresh water after use inspection for damage or obstructions and monitoring of the oil level the thrusters require no specific day to day maintenance V8 Sii ROV thruster placement Thrusters must be connected to the correct corresponding connectors on the rear lid of the MCT Failure to do so will result in erratic ROV behavior The connectors are numbered and need to be connected according to the following configu
52. ting water temperature 40 C Min operating surface temperature 0 C Max operating surface temperature 40 C Max depth 500 m Length 750 mm Width 650 mm Height without rails or handles 480 mm Payload in fresh water 10 kg Weight in air 50 kg Weight in fresh water O kg Top speed forward 3 knots Max vehicle power draw 3 6 kW Balance rotation Neutral Number of thrusters 8 Thruster type Ocean Modules T110 Control system V8 360 Analog video overlay Overlay text input heading pitch roll time date cable turns compass rose 2 rows 20 characters each Ocean Modules V8 Sii ROV Manual 40 44 Attitude functions Accelerometer range Magnetometer range Pitch roll range Pitch roll precision Pitch roll resolution Heading range Compass precision Compass resolution Depth sensor resolution Depth sensor precision Number of expansion ports 24 V power output Analog video HD SDI video Simultaneous video channels Video functions Video enhancement 24 V LED illumination Illumination functions Protective measures Tool survey skid option V4 ROV System trim Stability control auto depth auto heading 50 1 2 Gauss 360 0 2 0 2 360 1 1 0 1 1 500 5 200 W 3x 1 1 PCU zoom focus LYYN option 4 4x dimmable Isolation monitor emergency stop V8 Sii Skid Ocean Modules V8 Sii ROV
53. use Please observe that certain information encompasses all V4 and V8 Sii systems while some information is version specific Where the information is version specific it will be noted In some cases the V4 or V8 Sii may be delivered with customer specific interfaces sensors tools equipment or functionality In these cases this manual may require complementary technical data and operating instructions Utilizing the content of the technical documentation will help to avoid hazards and to reduce repair and downtime costs as well as to increase the reliability and lifetime of the system Ocean Modules Sweden AB reserves the right to change modify or update designs and specifications as part of ongoing product development Supplementary Instructions This manual describes the standard Ocean Modules V4 and V8 Sii remotely operated underwater vehicle systems only A system delivery may include optional equipment such generators launch and recovery systems or tether management systems and sensors such as cameras sonars altimeters or positioning systems Please read the corresponding manuals supplied by each equipment manufacturer This manual does not cover national regulations on work safety health protection and environmental protection Neither does it cover topics such as work organization work instructions instructions on supervising or reporting obligations Target Group This manual is intended for all operations and mainten
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