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User`s Manual - SeaBotix® Inc.

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1. Asm Asm M HM H H i H i i IS S Seq 10 10 20 40 50 50 70 100 110 120 20 30 40 50 50 50 100 110 120 130 140 150 160 170 160 10 190 10 200 210 220 230 CAD AST SA 2 2011 fc Tac AM IVBILICAL 80 FLL 2 WEIGHT OF BAREBONES SYSTEM 92250 9 1 228 20 1 TEST AND TAG WITH PART NUMBER AND REVSION LETTER NOTES UNLESS CTHER WSE SPECIFED Part Humber 5250 4 2 2 FH725 HA amp 6526 HA533 634 MAGOS Ha amp b6586 55171 55613 FHOOS FHi31 FH353 FH3BH FH611 62 FH6z24 FH625 FH640 FHe55 FHESA LUGOGD2 2 50 FH601 6 Hngis HLOIT 55014 5099 DOCS 127 ACITY 250M 82087 OF 28 3 324 NOMINAL n 174 000 NOT USED Alt Revision Cop on toD p B5 BD pm m T Donno scite l 65 GOA 2 55 SST GIN J SEPARATE UR amp QSO LIRS DESCRIPTION W
2. Erama Elec 02150 Gerd 100004 PAL Sea Drowing rz s ure rs Aseria Hades 00180000 seems i Pet eae Ram 2 ety WA Sema Ss 18 e Washer Fiat 18 6 65 LER LIE NN 1 9367 Sarre 3 Sees X Borm Back Oe 16 28 6 32 X Black O EC Hw m 17 pj J ELI ae TES mem LSASTON Sealiotx Inc nascon EO 1424 ule THD 4 MEO ene ion Diago 7701 Nore gt d 423 1 An cass Gand 10009 OON PAL vi DR 148 a OMIR 5272 NO N DEMO Fw for EDGES ai
3. 64 AME 65 OPUS MENU eee E 66 Seue wee 68 Operating the 72 Operating 444 72 T 73 TONO 7 miele MOMEEC 74 VAC lt EET 74 WACAN 74 Watching the 74 CO MOVING E uL 75 76 IS NER 76 Considerations When Using the Auto Functions 77 PUO Y 77 PUNO TIC ACI 77 AO 77 78 78 After Each Use Dirty Water 78 Aller SO HOUI 79
4. IPEDE t AU R C 25 21 ALLOWED DO NO ICALE ORAWING ALL DIMEHZIONS APTLY PART NO HD2C1511 nasa SCALE 1 5 WEIGHT SHEET T OF Description tr Parent Brushless Thruster 100 Assembl Motor BLOC Thruster Electri 1 00000000 Tube Thruster Short 1 00000000 Back up Ring Thruster Tube 2 00000000 O Ring Thruster Tube 2 029 B 2 00000000 Seal Cartridge Retainer Line 1 00000000 Seal Double Cartridge 1 00000000 O Ring 2 106 Viton Quad Ring 2 00000000 O Ring Cartridge Retainer 2 1 00000000 Screw 6 x 3 8 Phillips Fla 4 00000000 Bale Thruster Short 1 00000000 Propeller 3 Blade 10081 1 00000000 Hut M6 x1 x3 2 31655 2 00000000 Collet 4mm Bore M6 Thread 1 00000000 Pin 5mm Prop Collet 1 00000000 Assembly 011 Compensation Tub 1 00000000 Brushless Thruster 100 Connec 1 00000000 Assy PCT Motor Controller 1 00000000 Brushless Thruster 100 Prop 1 00000000 Label Serial Number 1 00000000 Washer Seal Nylon 2 00000000 Screw 4 x 5 8 Thread Form 1 00000000 011 Mineral Lite 0 10000000 Screw 10 32 x 1 8 Silicone 1 00000000 Syringe 10 0 00000001 Manual Operators vLBV Rev J 13 Sep 13 Required Oty 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 10000 00000 00000
5. ey EN J 26 25 MF m E lt lt AT DEAWBNG B ICC150 Cert I ML APTE i tor mcs SCALE ID a 4 1 1 8 Panel Assy 166150 1000W OOK PAL See Drawing 2 Upper Paner Assy cm oe MB Nyoc 18 8 55 omen eene ass sew ton Hess me X Somm Ba sieer memaster cor 012304487 Button Head 5 32 X 5 55 Black Oxide de Label Surface Power Supply ria abet Seat number SeXi9mm Decal DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 95 of 121 SEABOTIX 6 5 OCU Operator Control Unit 001 ___ Cable Gland Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl Mtl M Mtl Seq Part Number 10 20 40 50 60 80 90 100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 Revision Alt 001 029 CB035 8050 CB053 CBA115 CN012 CN013 CH171 CH316 008 009 EC303 25 FN343 71 FP0395 LB201 18301 MA043
6. 16 1 3 Setting up the 17 1 3 1 CCL UO 17 1 3 4 ourtace Power Supply SPS30XX 18 1 4 Inspection and System Operability 18 1 4 1 CSU m YU 18 1 4 2 SV 20 1 4 3 Connecting and Powering up the 20 1 4 4 Oe rata 25 1 4 4 1 ME YS 26 1 4 4 2 S IIT 26 1 4 4 3 B 28 1 4 4 4 Vaco OVENI T 29 1 4 4 5 ACCO SSON cM HT TP I 30 1 4 4 6 TEN 30 1 4 5 DISCONNECTING the 31 1 5 FOS DING EU 35 1 6 Gran he C OITIDdSS 37 1 7 ele Ihe VEI V S 38 1 8 VLBV n 40 Section 2 3 VEBV 41 2 1 Operator Control Unit OCU 41 2 1 1
7. 42 2 1 2 Numeric 42 2 1 3 Control of Horizontal 42 2 1 4 TONNINE VEDY e 43 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 2 of 121 c3seAESO TIX 9 2 1 5 2 1 6 2 1 7 2 1 8 2 1 9 2 1 10 2 1 11 2 1 12 2 1 13 2 1 14 2 1 15 2 1 15 1 2 1 15 2 2 1 15 3 2 2 2 2 1 2 2 2 2 2 3 2 2 4 2 2 5 2 2 6 2 3 2 3 1 2 3 2 2 3 3 2 3 3 1 2 3 3 2 2 3 3 3 2 3 3 4 2 3 4 2 3 4 1 2 3 4 2 DOCS 127 EHE HEN OI OTHER OE 43 9 o ccn ee DES UR 43 Camera Selection 0 4 02000 44 FOCUS 44 Camera Tilt GOOD 45 Vete 45 Lighting 45 Accessory Control iaa 47 Overlay POSITION 47 ANG Gre TRO ee ene enn ee E ee een ee eee 47 47 PUNO DIC DU 48 AUO TAC AGUNG eer 48 PAULO a a 48
8. Connect the Data Cable CBAO10 from the 11 232 connection on the ICC INC to the Control connector on the front panel of the SPS30XX Connect the ICC power cable CBA701 to the 12 ICC 13 Connect the ICC power cable to power Connect the SPS30XX to power i The power cables for the SPS30XX are located in the rear of the case Turn the power switch on the ICC INC to the ON position The Power and Status lights will illuminate BREAKER 15 This breaker only provides power to 21127 the ICC INC and installed ap electronics No power is provided to the vLBV from the ICC INC DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 22 of 121 SEABOTIX Power the SPS30XX 19 NOTI 5 F This power up sequence must be followed as written Deviation from this procedure may result in damage to the equipment gt On the SPS30XX turn the power switch to ON 1 for the Master power supply Allow the power supply to finish initialization until the display on the right reads Sd PC This takes approximately 2 seconds Until the system is providing power to the vLBV the alarm light and status indicators will flash on the master power supply 16B ae On the SPS30XX turn the power switch to ON 19 I for the Slave power supply Allow the Slave power supply to finish initialization until the display on the right reads 16D This takes approximately 2 seconds Onc
9. epe aio Heo 99 Addendum SubC 1CamX HD Camera 100 Adacnrdom gt OG SRI 103 Addendum H Power Management Settings vs Tether Length 108 Addendum Programming the AMETEK Power Supplies 112 Econ a 120 A 120 ll OOS 120 POEA 120 121 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 5 of 121 SEABOTIX IMPORTANT Read this manual prior to operation Purpose The purpose of this manual is to provide vLBV operators with a clear understanding of the proper and safe operating procedures It is a valuable reference tool and should be thoroughly reviewed prior to the operation of the vLBV If any part of this manual regarding the use of the vLBV is unclear or not thoroughly understood please contact SeaBotix Inc or any authorized distributor for more detailed information Before operating the vLBV it is important to read this manual thoroughly to understand the proper use and precautions required for its safe operation Throughout this manual information of special interest is highlighted with the following symbols Be sure to read and understand each of these important messages Safety
10. To select the light to be controlled press and hold the light button while pressing the number corresponding to the light you want to control Once the light s is selected press and release the LIGHT button again to turn on the selected lights To increase or decrease the light level of the selected light press the or buttons located above and below the LIGHT button To turn the selected light off press and release the LIGHT button When the selected light is turned back on it will turn on at the level it was turned off at i e If light selection 2 was at level 7 when turned Off it will turn back on at level 7 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 28 of 121 SEABOTIX gt 1 4 4 4 Video Overlay The video overlay displays information to assist the operator in the piloting and control of the vLBV Information displayed is the vertical and horizontal thruster gain settings the vLBV heading and turns counter camera angle depth and water temperature Camera Date w Angle a Vertical 5000 esee Selected 2 verme DNAS 7 d Camera Horizontal E Time Thruster Gain Settings Compass Turns Heading Counter Depth Heading Indicator Light Level Indicators Depth can be displayed in metric or imperial measurement The depth can als
11. l y Manual Operators vLBV 13 Sep 13 Fiber Optic Data Transmission Copper Data Transmission Page 86 of 121 SEABOTIX 9 5 3 Basic Block Diagram Video ICC Monitor Electronics Bottle Lower Panel Assembly m MM Up to 4 standard definition 1 camera be equipped Video is routed into the lower panel of the ICC INC through a video distribution board where it is routed to a video out connection and to the monitor 54 Theory of Operation Control of the vLBV starts and ends at the Operator Control Unit OCU The operator generates a command via the joystick vertical thruster control knob or keypad The data is transmitted to the sensor Nav Board and is converted from RS 232 to Ethernet for transmission to the vLBV the tether The data transmission to and from the vLBV is over a 100MB Ethernet fiber optic line inside the tether Once the data transmission is received at the Electronics Bottle Assembly on the bottom side of the vLBV the Ethernet data is converted back to electrical RS232 data It then is transmitted to the Central Processor Board for routing to the specified device The Central Processor Board sends a response back to the OCU to acknowledge the command This allows the system to verify that commands are received The Central Processor Board passes the operational command to the Power Supply Interface Boa
12. If operating with divers advise them to avoid looking at the vLBV lights Electrical Shock The vLBV operates at high voltages that can cause injury and or death Keep the Surface Power Supply plug away from water Check all plugs for the presence of water prior to connecting If the tether is cut chafed or otherwise damaged do not operate the vLBV Do not open the vLBV electronics housing when the power is on NOTICE DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 7 of 121 9 Equipment Cooling The vLBV is a water cooled device DO NOT operate in air for more than 15 minutes damage may result The SPS30XX is an air cooled power supply for proper cooling both the front and rear covers must be removed In addition when opened for operation the SPS30XX must be located to prevent water ingress from rain or wave activity Testing Each vLBV system is carefully manufactured to ensure long term safe operation Prior to shipment every vLBV is tested for proper operation including pressure testing to full operating depth Should a defect be found contact SeaBotix Inc or an authorized distributor immediately Design and Documentation Changes oeaBotix Inc reserves the right to make changes to the specifications of the vLBV and or alter any documentation at any time without notice Connectors Connectors used on and in the vLBV system are primarily plug style connectors Rotation or later
13. lt G lt U gt DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 119 of 121 SEABOTIX Liability SeaBotix Inc shall not be held liable for improper use of the vLBV and any resulting damages injuries or losses as a result of the improper use of the vLBV Additionally SeaBotix Inc shall not be held liable for any damages injuries losses or problems associated with a vLBV system that has been modified without written consent from SeaBotix Inc Warranty SeaBotix Inc has strong commitment to the high quality production of vLBV Each vLBV system has a 24 month or 500 hour whichever comes first limited warranty against defects in workmanship or materials with the exception of those outlined in the limitations and exclusions The purchaser of vLBV must supply to SeaBotix Inc or an authorized representative the system including proof of ownership SeaBotix Inc will repair or replace at its discretion the defective components Limitations and Exclusions The limited warranty does not cover damage caused by improper use poor maintenance or accidental damage to the vLBV The limited warranty does not cover items subject to wear including but not limited to view ports outer shells o rings batteries protective bumper frame Tether and propellers unless found to be defective in workmanship and or materials The limited warranty does not cover any modification made to the vLBV without authorization from Sea
14. DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 16 of 121 SEABOTIX 1 3 Setting up System The basic system requires only a few cable connections and a power source to be up and running In addition the shackle on the vehicle end of the tether should be attached to the vLBV prior to making any other connections NOM 5 DO NOT attempt to connect the tether to the vLBV while voltage is applied This will result in damage to the electronics of the vLBV When connecting and testing the vLBV a dry well lit work space is recommended Place the system components on stable surfaces arranged so that the operator can reach all controls easily The vLBV is designed as a water cooled device Operation in air should NOJ e be kept to 15 minutes or less to prevent component damage from heat build up ap It is recommended that the user always start at the vLBV and work from there to power It is recommended that the following portions be read completely prior to performing any of the steps This allows the operator to have basic understanding of the goals and steps outlined in the proceedures prior to starting 1 3 1 Universal Reel Svstem URS When setting up the Universal Reel System URS there are a few considerations that should be taken into account 1 Set the reel up so that the tether is deployed off of the spool towards the area where the vLBV will be operated 2 Route the cables from the
15. IETA 9W 00 TIN 00000 F 00000000 F SS OTE 40 GH amp 69HdJ 06 TINT naga 00000000 X 9H 5 080 TIN 00000 F 00000000 90 sg 00000 00000000 x G g 095 TINT 00000 00000000 T 30H OGZ WH 00000 00000000 T BIS 8 8 SOHH OG X 9H amp OFS 00007 O0000000 T apts paeoqrejs TINT 00000 00000000 5 Junoy 1040H TESTER TINH 00000 00000000 9 GT 76 61 aataq Lu OTe TINH T OOOO0 T 00000000 ADA Ww Ag 1002 OOO00 T 00000000 ZGT hurry Wi 00000000 gg 661 OFT 00000 10100000071 e nd GOSTEH 091 00000 00000000 55 9 SOHS uupc x gH 4104 O69H4 OST 00000 17 00000000 ATquassy Tou 2 EOOWHH
16. AS NEW Condition means that there are no scratches marks or blemishes on the item there are no signs of wear on the product or the cases the product must not have been altered in any way These following conditions must be met by you Return the merchandise to us within 30 days of the date the items were shipped The product must be returned in new resalable condition You must include all packaging materials Packaging materials must not be torn or damaged All manuals must be unmarked You must pay any return shipping expense Display the RMA prominently on the outside of the box to avoid delays to your refund Upon receipt of the returned merchandise in good order in accordance with the above and within 30 days of original shipping date SeaBotix Inc will retund the money Testing Each vLBV system is carefully manufactured to ensure long and safe operation Prior to shipment every vLBV system is pressure tested to full operating depth and every item operationally tested Should a defect be found immediately contact SeaBotix Inc or your authorized distributor Design and Documentation Changes SeaBotix Inc reserves the right to make changes to the specifications of vLBV at any time without notice Also SeaBotix Inc may alter any or all documentation without notice DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 121 of 121
17. MA202 ML016 ML204 0 55035 5W208 5W210 DOCS 127 C ona Manual Operators vLBV Rev J 13 Sep 13 Description Operator Control Unit 150 Wire WHT 24AWC Teflon Strand Wire 24AWC Teflon Strand Wire BLU 24AWG Teflon Strand Wire BLE 24 Teflon Strand Retractable Cable Operator Conn Header 3 Pos Vertical Conn Receptacle 3 Pos 24 Aw Connector Dust Cover B Pos Conn Receptacle B Pos 24 Aw Capacitor Ceramic 0 1 uF 50 Pot 100 1 Turn MCU PIC17C56A 33I L Prog Screw x Phillips Pan He Standoff M3 r 5 Hex F F Screw M3 x 12 Phillips Pan PIC Securing Tab Label Control Console Label Serial Humber Enob Control Console Gen 2 Case Control Console Mod Ge Gland Cable BLE Boot Control Console Assy PCT Operator Control Un Heat shrink 3 8 OD 2 1 Blac 4 Control Console Engli Joystick Control Console Tal 0 67000000 0 50000000 1 00000000 50000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 2 00000000 1 00000000 5 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000 0 16666666 1 00000000 1 00000000 Required Oty 00000 67000 50000 00000 50000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 000
18. 1 00000 1 00000 2 00000 4 00000 6 00000 6 00000 2 00000 18 00000 38 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 00000 ppppppppPpppppmmmpmSES P oh d Page 89 of 121 SEABOTIX 6 1 1 Electronics Bottle 8 CAD nt LOCAnON 2 Meet Soo Ameis BADD CLIC PONS BOTTLE VU LAST Morctcy 82124 P 34110 2 APROXMATE DISPLACEMENT VOLUME 2 621 1 MODEL CONFIGURATION 2D SHOWN NOTES UNLESS OTHERWISE SPECIFED se em T came nome FO ML auk gt E e CEEE ee II sees 240 Oo ERR Ds gt SECTION A A SCALE 1 2 oc 9 c8 724 2 NO ALL FART 42 3 DO NO A n ur M ALL APPL o oo C Anm SCALE 15 Qty Parent T M BOUK inc 2877 m 9 le tT ae X ILL ELECTRONICS BOTTLE ASSY VLBV EDGES 25 121 SUF PART DANNMG SHER OFF Required Qty UM 1 Mtl 1 1 Mtl 2 1 Mtl 3 1 Mtl
19. 1 00000000 1 00000000 1 00000000 1 00000000 1 00000 EA 1 00000 1 00000 EA 1 00000 ER 1 00000 ER 10 00000 ER 2 00000 ER 4 00000 ER 2 00000 EA 4 00000 ER 3 00000 2 00000 ER 0 67000 MT 1 00000 ER 2 00000 EA 2 00000 ER 1 00000 EA 1 00000 ER 1 00000 ER 1 00000 EA 1 00000 1 00000 ER 1 00000 ER 1 00000 ER 1 00000 Page 90 of 121 ue SEABOTIX 6 1 2 Thrusters CAD FLEE LOCADON 3 at Sch c ot Anerian Product 18 1 THIELEOTN 100 ASEMA Y SHORT LAD Thuncioy Moveis 2547 2 442 TEMPLAIE RELEASE DAE 1 SOLD MODEL AVAILABLE FOR TOOL PATH NOTES UNLESS OTHERWISE Lvl Typ m er m Cnoab to Po de BEE ct en Asm 16 Asm 18 Asm 15 Asm 20 Mtl 21 Mtl 22 Mtl 23 Mtl 24 Mtl 25 Mtl 100 Hm Hm dm Hm HM s Fart Humber Revision Alt BLA1510 0310 1072 5L329 5L313 MA561 ML341 51317 51315 044 WF310 ML405 902 1075 1125 1503 BLC1504 045 BGP1501 18301 101 FN310 11003 FN0295 55081 DOCS 127 B A A tomo mmm mv ip Docs inc MR E EXE peces amp gABOTIX JE sm gt A BRUSHLESS THRUSTER Es
20. 49 49 Gain Control and Light Level Indicator 49 Heading and nnns 50 sno TEMS r NUO 50 m 50 velis 91219 TERR 51 Ma 51 Quick Access 51 MaN MO eee 52 TS VS 52 53 54 ume 54 RS SU FOE 55 Calibrate Menu 0 00 000000000 55 Compass Calibration 57 5 Manual Operators vLBV Rev J 13 Sep 13 Page 3 of 121 SEABOTIX 2 3 5 2 3 6 2 3 7 2 3 8 2 3 9 2 4 Section 3 3 1 3 2 3 9 3 4 3 5 3 5 1 3 5 2 3 6 3 7 3 8 3 9 3 9 1 3 9 2 3 9 3 Section 4 4 1 4 1 1 4 2 4 3 4 4 4 5 4 6 Section 5 5 1 5 2 DOCS 127 Oy SUC MN uo 60 SUSI 62 UIA
21. After 500 84 Weise 84 PCD NG UE 84 84 Fault Isolation usata koi REIR 85 Basic Power Block Diagram 85 Basic Communications Block Diagram 85 Manual Operators vLBV Rev J 13 Sep 13 Page 4 of 121 SEABOTIX 5 3 Basic Blbek Diagram VOGO 86 5 4 TheorV or OD CTA ON 87 Section 6 Exploded Diagrams and Parts Lists 89 6 1 ug 89 6 1 1 VCCI OMICS DOUG UU 90 6 1 3 DEA eae NEU UU UU MT 92 6 2 Dirtcc 93 6 3 q O 94 6 4 je ec 95 Addendum B Video bulkhead connection wiring 97 Addendum C Ethernet bulkhead connection wiring 98 Addendum D Serial Port RS232 and or 5485 bulkhead connection wiring diagram 98 Anaderndum E OOO
22. Select Options Press 5 Select Camera Type Select Zoom EN Press 3 Select HD 7 0 Ee 8 Press selecting the 1 for display DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 101 of 121 SEABOTIX Press and hold the camera button on the OCU Select Number 5 on the keypad Refer to Section 2 17 of this manual for additional information on camera selection DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 102 of 121 SEABOTIX Addendum ARIS Tool Skid With the ARIS Tool Skid option the operator can roll the sonar head up to 907 either port or starboard The skid also allows the operator to pitch the sonar head up or down up to 25 This allows the operator to obtain greater target definition and increases system flexibility for investigating sonar targets The tilt and roll functions of the Tool Skid are controlled via the ACCESSORIES selection of on the Operator Control Unit ACCESSORIS AUNAR OVERLAY 4 FM POSTIN GAM HORIZ 1 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 103 of 121 SEABOTIX 9 Roll Control ACCESSORIES Press the SELECT button on the Operator Control Unit SELECT Verify that the overlay shows RS in the accessory position The left arrow will roll the sonar to port and the right arrow will roll the sonar to starboard SELECT DOCS 127 Ma
23. of a propeller requires the removal of both the propeller and the propeller guard to remove the fouling With material under the shroud of the propeller the potential for the material to be ingested into the shaft seals of the propeller is increased To remove the propeller remove the 2 ea 6 mm radio pattern nuts and pull the propeller off of the collet Hemove any debris from underneath the propeller hub and re install DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 78 of 121 SEABOTIX 9 4 2 After Every 50 Hours After every 50 hours of operational use we recommend re lubricating the propeller shaft seal on each of the thrusters This procedure should also be performed if the system has been stored for 6 months or more In the menu selection for the vehicle there is a counter that records and will display hours run Refer to Section 2 5 2 3 for instructions on how to access this information The materials required for this procedure are 1 2 Phillips screwdriver SeaBotix P N TOO15 2 Shaft Seal Lubricant SeaBotix P N GLAO03 5 DO NOT substitute lubricant Use of any lubricant other than that specified by SeaBotix may damage the shaft seals and will affect the warranty Time required to perform this procedure is approximately 20 minutes 1 Place the vLBV on a flat stable surface 2 Hemove the four 8mm nylon wing nuts securing the floatation module to the vLBV NOTE It will
24. 100 mm propellers DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 116 of 121 SEABOTIX Integrated Control Console This console is used for command and control ICC the LBV and video display only It has external data connections for exporting SONAR and Tracking to a separate display device Integrated Navigational Console a one unit solution for operators of LBV vLBV s equipped with SONAR and or Navigation systems The monitor displays both the LBV vLBV video and the SONAR Tracking information on a single monitor It is also equipped with a hard drive and video recording equipment so the information can be recorded into a single file on the hard drive Long Base Line systems utilize three or more acoustic transponders on the seafloor to communicate with a beacon on the ROV By triangulation with the ship and its GPS the position of the transponders can be accurately determined and then used to determine the position of the ROV LBL is the most accurate type of acoustic tracking system but has several drawbacks including the lengthy time to set up and calibrate the cost of multiple transponders and the ability to only track the ROV when it is within range of all of the seafloor transponders A variant of this approach is inverted LBL which uses transponders on surface buoys each with GPS receivers instead of ones on the seafloor LBV Light Weight Launch and Recovery System A self contained Tether IWLARS management syst
25. 13 Page 41 of 121 SEABOTIX 2 1 1 Power The power button is used to turn the power on to the vLBV Once selected the red LED above the power button will light 2 1 2 Numeric Keypad The numeric keypad has several functions It is used to select the displayed video camera select the light head for control set horizontal and vertical thruster gain settings assessing and navigating the menus and entering text Numbers 1 9 also have assigned alpha characters for text entry 2 1 3 Control of Horizontal Movement The joystick controls the 4 horizontal plane thrusters Movement of the vLBV mirrors the controls push the joystick left to move left push forward to move forward DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 42 of 121 SEABOTIX 2 1 4 Turning vLBV Rotation of the top portion of the joystick causes the vLBV to turn in the same direction as the knob 5 rotated Rotate anti clockwise Turn to port Rotate clockwise Turn to starboard 2 1 5 Vertical Thruster Control The vertical thruster control knob is located on the left side of the OCU The default control settings are rotation forward will drive the vLBV upwards Surface and rotation towards the operator will drive the vLBV down Dive NOTE This control is not spring return to center so the operator must manually return it to the center position to stop the vertical thrusters 2 1 6 Thruster Gain Control The vLBV thr
26. During the initial phases of learning to operate the vLBV it is can be helpful to directly observe the vehicle while controlling it This allows the operator to quickly get a feel for how the vLBV reacts to controls However when the vLBV is pointed back in the operators direction the controls will react as they should but the operators perspective is reversed What will happen is that the target will be to the right of the vLBV but the operator will see it to the left and turn in the incorrect direction When flying to a distant inspection point most operators find it easier to fly to the location with the vLBV on the surface and descend once the target is in sight In this case direct observation of the vLBV can be beneficial 3 5 2 Watching the Monitor DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 74 of 121 SEABOTIX Learn to control the vLBV at all times while watching the video from the vehicle Try not to look at the vLBV This develops intuitive control of the vLBV If your target slides off the monitor to the left the operator need only turn the top of the joystick to the left to re acquire the target visually Once the vLBV is at depth this is the only way to control the vehicle 3 6 Controlling the vLBV Proper hand placement when holding the OCU Operator Control Unit reduces operator fatigue and makes piloting easier Proper hand placement is both hands on the controller with the thumb and forefinge
27. Primary Camera 5 Zoom Camera Bow Secondary 7 Port 9 Starboard 0 Aft Default camera for display on vLBV power up is the primary camera Camera Selection 2 Bow Zoom Port Starboard and Aft cameras are optional After verifying video output from all installed cameras the operator should verify the tilt control and readings for the forward mounted camera s Use the tilt up and tilt down buttons on the OCU to drive the forward camera s to full up and full down position Verify that the overlay displays 90 for full up and 90 for full down Return the camera to and visually verify that it is centered with the vLBV If the cameras equipped have variable focus verify the focus controls operate Press FOCUS for close focus and FOCUS for distant focus Experience shows that a focus range of approximately 1 5m provides good focus range and depth of field for most operational requirements DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 27 of 121 1 4 4 3 Lightin When testing the vLBV lighting only operate them in air long enough to NOM verify that they operate then turn them off Water cooling is required for extended operation of the light heads The external lighting heads on the vLBV are individually controlled for both operation and brightness levels Each light has 10 brightness settings 1 10 1 being the dimmest and 10 being the brightest BJ
28. Pull Out Hub so that they are protected from traffic and not a trip hazard 3 the URS as close to the water as possible This will reduce the amount of vLBV tether in a potential transit area DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 17 of 121 SEABOTIX 9 1 3 4 Surface Power Supply SPS30XX NOJ The Surface Power Supply is not water or spray tight when set up for operation Allowing water into the electronics will cause damage Remove the front and rear covers from the SPS30XX Part Number Breakdown for the SPS30XX 5 53003 110 VAC Supply lt 250 Tether 5 53004 110 VAC Supply 350M Tether 5 53005 220 VAC Supply 250M Tether 5 53006 220 VAC Supply gt 350 Tether NOTE When connected to 110VAC two separate 20A supplies must be utilized to avoid overloading the wiring 1 4 Pre Dive Inspection and System Operability Tests Prior to placing the vLBV in water for the first time or after repairs a vacuum test should be performed on the Electronics Bottle Assembly The vacuum fitting is located on the aft end of the Electronics Bottle Assembly adjacent to the electrical and fiber optic tether connections Connect the supplied vacuum pump hose to the vacuum fitting and verify that the system reads between eight to ten 8 10 inches of mercury vacuum 1 4 1 Vacuum Test Locate the vacuum fitting Use a 2 Phillips screwdriver remove the 10 32 Phillips head seal screw DOCS 127 Manual Ope
29. SEABOTIX 2 4 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 68 of 121 SEABOTIX 10 4 Options Menu DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 69 of 121 SEABOTIX 1 0 Menu 1 0 3 1 1 1 10 3 1 1 2 1033113 10 31 14 103 1 1 5 1 0 3 1 1 8 Port Fore Port Port Vertical Stbd Fore Stbxi Vertical DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 70 of 121 c3eAESO TIX 1 0 4 Options Menu DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 71 of 121 Section 3 Operating vLBV Operation of the vLBV was designed be simple and intuitive Operator controls were consolidated to simplify the controller design and ease operation The joystick controls horizontal movement and the vertical thruster control knob controls vertical movement Camera controls were positioned so that the left hand can quickly move from the vertical thruster control knob and back The majority of operator input will be for the horizontal thrusters so even the accessory controls were designed to be operated with the left hand To surface or dive the vLBV rotate the vertical thruster control knob in the desired direction To drive the vLBV move the joystick in the desired direction of travel To turn the vehicle rotate the knob at the top of the joystick in the direction required Hemember that all thruster controls are proportional
30. display the temperature from the processor board in the electronics bottle of the vLBV When internal temp is being displayed the overlay will display an asterisk to the left of the temperature Once the operator navigates away from this menu option the display will return to the external temperature DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 65 of 121 SEABOTIX 2 3 9 The Options Menu allows the operator to select and adjust the operation of four options for the vLBV 1 Audio Channel 1 2 Audio Channel 2 3 Camera Tilt 4 Vertical Thrust selecting Audio Channel 1 or 2 gives the operator access to the input selection for the Audio Channels Once the operator has made a selection an asterisk will display next to the activated selection ay At this time the audio channels are not enabled DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 66 of 121 Selecting Direction allows the operator to control the direction of the camera tilt function Normal is the default setting for the vLBV Inverted An asterisk will display to the right of the selection Vertical Direction allows the operator to set the dive surface operation of the Vertical Thruster Control Knob on the left side of the Operator Control Unit The default setting is rotate forward to surface DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 67 of 121
31. paid to all safety notices to avoid damage to the equipment DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 30 of 121 SEABOTIX 9 1 4 5 Disconnecting system N OTI 5 Never attempt to disconnect any portion of the vLBV system while power is applied Equipment damage will result 1 Press the power button on the operator control unit Turn the power switch on the SPS3000 controller module in the SPS30XX to the off down position Once this switch is turned off no power can transfer to the vLBV 3 Turn off the Slave power supply on the SPS30XX 4 Turn off the Master power supply on the SPS30XX DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 31 of 121 SEABOTIX Turn off the power switch in the lower panel assembly of ET the ICC INC 6 Unplug the power cables for the SPS30XX stow them 7 Unplug the power cable for the ICC INC and disconnect it from the side panel Re install the protective cap 8 Unplug the video cable from video port and re install the protective cap 9 Unplug the Ethernet input cable and any Ethernet output connections made 10 Unplug the data cable connection from the ICC INC Place the OCU in the storage pocket of the lower panel assembly of the ICC INC close and latch the lid 141 NOTE The OCU is placed e face down ICC and face up in the INC DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 32 of 121 SEABO
32. symbols Indicates a hazardous situation which if not avoided will result in death or serious injury Indicates a hazardous situation which if not avoided could result in death or serious injury Indicates a hazardous situation which if not avoided could result in minor or moderate injury Indicates a situation which if not avoided could result in data loss or equipment failure INFORMATION notes to assist the operator DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 6 of 121 SEABOTIX Potential Hazards Although the vLBV is a safe and reliable tool when used and cared for properly there are certain inherent safety hazards associated with the operation of the vLBV that should be reviewed and avoided SeaBotix Inc and its distributors associates and affiliates cannot be held liable for any damages injuries losses or problems whatsoever resulting from negligent operation or a vLBV system that has been altered or modified without the prior written consent from SeaBotix Inc Thruster Propellers Keep the propellers clear of obstructions at all times Do not put fingers or other objects near the propellers at any time Be careful with any loose clothing jewelry etc Three Jaw Grabber High closing force 2 5 bar 36 5 psig keep clear of the jaws when testing Lighting Each light head is capable of outputting 1080 lumens do not look directly into the lights when testing or during system operation
33. testing Operational testing involves verifying that all components are functional Verify video present from all installed cameras Verify that all thrusters operate Verify all installed lights operate Verify all installed accessories operate Verify all installed external sensors operate Check the compass heading displayed on the video overlay and verify that it is correct poU c close proximity to the vLBV Test the compass at least one meter away from these 6 The compass output can be affected by ferrous metal and electrical power transformers in materials T Verify the depth sensor output is at or near zero in air The vLBV should be in view of the operator or if available a second person in communications with the operator can be used to assist I The vLBV is designed for water cooling Do not operate in air for longer than 15 minutes as damage can occur to the electronics DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 25 of 121 9 1 4 4 1 Thrusters Using the Operator Control Unit OCU press the joystick to full forward All four thrusters on the horizontal axis will operate Verify all propeller blades spinning Aft mounted thrusters clockwise and forward mounted anti clockwise Rotational reference for thrusters is with the operator looking directly at the propeller end of the thruster Using the OCU press the joystick fully to the rear All four thrusters
34. the further the control is moved the faster the vLBV moves on that axis The inclusion of Auto features such as Depth Heading and Trim allow the operator to select these features and monitor the video taking control of the vehicle only as needed 3 1 Operating Environment When possible a quiet traffic free operating environment allows the pilot to concentrate on the task at hand while minimizing distractions If it is necessary to operate in an area with spectators a simple boundary will suffice to keep distractions to a minimum In this type of environment consider adding one additional individual whose task is to prevent interference by fielding questions and running interference Set up the equipment a fashion that maximizes comfort This can be done by utilizing the transit cases for the equipment The ICC INC can be set on top of the vLBV transit case and the transit case for the URS can serve as the seat for the operator This places the equipment at an optimal height for comfort and ease of control The SPS30XX can be set on edge just off to the side DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 72 of 121 3 2 Deployment Deploying the system can be as simple as placing it in the water There are steps that can be taken in the planning and setup phase to ease operation and improve the potential for success 1 Knowledge of the area of operation A little research beforehand increases the know
35. the operator will tilt the camera down Arc of travel for the camera is 90 degrees up and 90 degrees down 2 1 10 Zoom Control For cameras with variable zoom control of the zoom function is via the numeric keypad The operator first selects the camera with zoom capability as the active camera following the procedure outlined in 2 1 7 Then use the number 1 key to zoom in Use the number 4 key to zoom out 2 1 11 Lighting Control The external lighting heads on the DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Zoom In Page 45 of 121 c3eAESO TIX 9 vLBV individually controlled for both operation and brightness levels Each light has 10 brightness settings 1 10 1 being the dimmest and 10 being the brightest To select the light to be controlled press and hold the LIGHT button while pressing the number corresponding to the light you want to control Once the light s is selected press the LIGHT button to turn on the selected lights To increase or decrease the light level of the selected light press the or buttons located above and below the LIGHT button To turn the selected light off press the LIGHT button When the selected light is turned back on it will turn on at the level it was turned off at i e If light selection 2 was at level 7 when turned off it will turn back on at level 7 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 46 of 121 2 1 12 Acce
36. the tether to the vLBV while power is applied Connecting the tether to the system while power is applied may result in damage to the electronics 1 Release the reel lock on the URS Deploy 2 3 meters of tether from the URS Universal Reel System 3 Attach the shackle to the pad eye at rear of the vLBV Hemove the protective cap from and connect 4 the Fiber Optic data video connection to the ST Dry connector on the rear of the Electronics Bottle Assembly DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 20 of 121 SEABOTIX 9 Connect the 3 pin wet mateable connector to 5 the 3 pin bulkhead connector on the rear of the Electronics Bottle Assembly Hemove the tether whip from the storage posts and route the cables to the SPS30XX 6 and the ICC INC The tether whip connector routes to the SPS30XX and the RJ 45 connector is routed to the ICC INC Connect the tether whip connector to the input connector on the SPS30XX This connector is keyed Locate the d Hed Dot on the male connector and align it with the Red Dot on the female receptacle on the SPS30XX 8 Connect the RJ 45 cable to the right hand Ethernet input jack on the SPS30XX Connect one end of the BNC BNC 066 9 video cable to the Video Output connector on the Pull Out Hub of the URS DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 21 of 121 SEABOTIX gt Connect the other end to the Video Input connection on the
37. will display on the video overlay to the left of the vLBV depth 2 1 15 2 Auto Heading Auto heading is used to hold the vLBV on a desired compass heading The operator turns the vLBV to the desired heading and presses the HEAD button to engage the feature Control can be taken by the operator and when adjusted using rotation on the joystick the system will automatically lock to the corrected heading When enabled the green LED above the HEAD button will light and asterisk will display on the video overlay to the left of the vLBV heading 2 1 15 3 Auto Trim The TRIM button operates much like cruise control The operator sets the speed of the vLBV using the Joystick and Vertical thruster control knob The operator presses the button and the system then maintains those thruster settings once the joystick is released and the vertical thruster control knob is returned to center When selected the letters TRM will display on the top line of the video overlay to the right of the vertical thruster gain setting DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 AUTO FUNCTIONS CS SF AUTO FUNCTIONS UL 8 2 57 AUTO FUNCTIONS E L EIS 5 48 of 121 SEABOTIX 2 2 Video Overlay Video overlay is a series of alohanumeric characters embedded into the video stream from the vLBV that displays for the operator operating parameters The vLBV overlay data is disp
38. 00 00000 00000 00000 00000 00000 00000 00000 00000 16667 00000 00000 ee 96 121 SEABOTIX Addendum A Standard vLBV Port manifold connections 001 Eight Port Manifold Fwd 4 RS232 Ethernet E RS485 Port 2 3 Bl 5232 RS232 RS485 RS485 Camera Ports Port Side Stbd Side Aft MANOO2 Four Port Manifold Fwd Port Stbd Side 853232 545 Camera Ports lt Addendum B Video bulkhead connection wiring diagram 2 3 4 5 Return 12 VDC Video RX TX DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 97 of 121 SEABOTIX 9 Addendum C Ethernet bulkhead connection wiring diagram Heturn Face View Addendum D Serial Port RS232 and or RS485 bulkhead connection wiring diagram 5485 5485 B Z Face View DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 98 of 121 SEABOTIX 9 Addendum E vLBV300 Copper Attach and secure the shackle to the top of the Use the shackle with the ring attachment Attach and secure the shackle to the rear of the vLBV When attaching ensure that the pin in inserted from the top This ensures that the shackle does not become detached should the lock become disengaged during deployment Connect the tether connector to the vLBV E Bottle The connection will be at the top center
39. 3 Page 107 of 121 DOCS 127 SEABOTIX 9 Addendum Power Management Settings vs Tether Length The purpose of this addendum is to enable the user to control the power limit settings inside the vLBV With longer tethers it is possible for the system to draw more current than can be provided thru the tether with the result being insufficient power delivered to the vLBV The effect is a power reboot of the vLBV when voltage drops below the threshold needed to power the vLBV internal power supplies To prevent this follow the instructions below for each tether length 350 meter tether length Turn on the system Select the key to bring up the menu options page Enter 83 to bring up the Vehicle Power Menu Select menu option 1 Type 1400 Press enter 4 to set the new value Select menu option 1 to verify the setting Press the key to return to vLBV operations DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 108 of 121 SEABOTIX 500 meter tether length Turn on the system Select the PGM key to bring up the menu options page Enter 83 to bring up the Vehicle Power Menu Select menu option 1 Type 1100 Press enter 4 to set the new value Select menu option 1 to verify the setting Press the key to return to vLBV operations DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 109 of 121 SEABOTIX 750 meter tether length Turn on the system Select the PGM key t
40. 4 1 Mtl 5 1 Mtl 6 1 Mtl 7 1 Mtl 8 1 Mtl 9 1 Mtl 10 1 Mtl 11 1 Mtl 12 1 Mtl 13 1 Mtl 14 1 Mtl 15 1 Mtl 16 1 Asm 17 1 Asm 18 1 Mtl 19 1 Asm 20 1 Asm 21 1 Asm 30 1 Mtl 40 1 Mtl 50 DOCS 127 001 1086 1084 1085 1121 FN833 EN860 EN323 FN313 EN388 SL304 14 EN559 H021 SL923 SL107 SL921 1000 001 MA302 MAN002 FIn1501 PCT117 000 CN024 CN403 m om m c ou m Electronics Bottle Assembly v Tube Electronics Bottle vLBV End Cap Closed Electronics B End Cap Open Electronics Bot End Cap Oblong vLBV Washer M6 Flat 316SS Screw M6 1 0 x 10 5 5 5 3 Nut M6 Nyloc Screw 10 32 x 3 8 Silicone Screw 6 x 25 Button Head O Ring 2 014 Buna N 70D Co Plug Camera Housing Retaining Ring Motor Housing Retaining Ring 25mm Bore Seal O Ring Buna N RS568A 2 O Ring 1 1 2 O0D 1 3 8 ID Bu Seal O ring Buna N 5568 0 Depth amp Temp Sensor Assy 100 Electronics Rack Assembly Housing Vacuum Fitting Manifold Input Output 4 Port Fiber Interconnect FO Assembl PCT Electronics Bottle Backpl Connector 3 Contact Male Bu Locking Sleeve Female Manual Operators vLBV Rev J 13 Sep 13 1 00000000 1 00000000 1 00000000 1 00000000 10 00000000 2 00000000 4 00000000 2 00000000 4 00000000 3 00000000 2 00000000 0 67000000 1 00000000 2 00000000 2 00000000 1 00000000 1 00000000 1 00000000 1 00000000 1 00000000
41. Botix Inc The limited warranty does not cover lamps The limited warranty does not cover components damaged due to incorrect power connection per user s manual Shipping Charges All returns for warranty service must be authorized by SeaBotix Inc and will be assigned a RMA Returned Materials Authorization number which must be clearly indicated on each item returned for service After 30 days the client is solely responsible for shipping to and from SeaBotix Inc warranty center There are warranty centers around the world to help reduce the distance a product must travel for warranty or service Return Policy oeaBotix Inc is strongly committed to the high quality production of the vLBV Customer satisfaction is our top priority To achieve this goal SeaBotix Inc is happy to offer a full refund on any of its standard products returned within 30 days of the date the items were shipped If for any reason you are not satisfied with our products simply notify us by calling 1 619 450 4000 or email service seabotix com SeaBotix Inc will immediately issue a Return Material Authorization RMA number When calling for an RMA number please have the following information ready 1 The name of owner DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 120 of 121 SEABOTIX 9 2 of distributor if any 3 The product being returned 4 The product serial number s Items being returned must be in AS NEW condition
42. CEN VO ac Dc VAT DRAWING 5 AME APT Y m o T i 7 m oO Wet Lvl Typ Seq Part Humber VLBVDOi 1 zm 1 FLAD01 1 Asm 2 002 1 zm 3 001 1 sm 4 BLA1510 1 zm 5 5 001 1 Mtl 6 VBA1501 1 7 SL304 8 903 1 sm 9 001 1 Asm 10 001 1 11 BL51094 1 12 945 LAsm 13 VI340 1Htl 100 LB762 1 110 764 1 Asm 120 PCT113 000 1 Asm 130 118 000 1Htl 140 1 66 DOCS 127 np m p bd Be ne Vectored Little Benthic Vehicl Float Assy 3 0DH vLBT Frame Assembly 390 Ballast Assembly Tungsten Brushless Throster 100 Assembl Kort Hozzle Assy 100 Assembly Vertical Thruster Al O Ring 2 014 Co Screw Plastite 6 x 1 2 18 Blectronics Bottle Assembly Tilt Mechanism vLBV Assy Bxternal Lighting System Plug Auxiliary Blank Modifie Camera Color with Hummer Conn Label Set Vehicle Float vLBV vLBV Video Camera Cable Assemb PCT Concentrator NT 16x PCT Compass Interface 1 054000 Compass Board Manual Operators vLBV Rev J 13 Sep 13 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
43. COPPER HUB POH 10 W FOV HJUB POH520 SeaBonx ton Sage TADH a NONE MDEA ime UMBILICAL REEL 08 250M ASSY GEN 2 BETA ali DGZ Lc 2850 PART NO REV gt alow eno unt URS250 URS254 D A aae nau Ail APY sa m a ek ALT NO ms TES SHEET 1 1 Description Umbilical Reel Barebone 250M Drum Assy URS250 Gen 2 Cement PVC Clear 16 oz Screw X 20 Phillipz Flat Screw 6 x 5 Philliips Pan Screw Set x 12 Come Poin Stop Fullout URS Gen Z Flange Drum URS Gen 2 Hub Handle UES Gen 2 Drum Reel URS 250 Gen 2 Dream Bnd Hub UES175H Gen 2 Drum Bnd Handle URS175H Primer FVC 16 Cable Strap Hylon 5 16 Wazher Fender 1 4 Flat 55 Washer H10 316 55 Hut Screw 25 Button Head Screw 3 8 16 Hex Bolt 1 1 4 Coupling Hut x 1 55T Washer 18 8 55 Standoff 1 00 x ID 0 510 Plunger L Handle Locking H10 Hut thin 10 1 5 55T Washer H6 Pender 18 8 55 Screw 75 Button Head So Lubricant Gel Lube Spacer Ring URS 1 4 Base Keel Slip Ring End URS Base Keel Handle Bnd URE Support Tube URS250 2 Tubing Stainlezz T 304 875 Threaded Eod 250 Meters Threaded 1 Pe
44. Click Open Connection Power Supply Found Message will appear asking you to confirm that the AMETEK is connected Release Date 01 29 13 via USB cable Click OK Programmer will search for the connected SPS Programmer will connect to AMETEK and display this message NOTE SN and Version will be different from the example above This information is unique to each AMETEK A 5 Input values for the Master AMETEK fields a Input all fields highlighted in green EXAMPLE Tether number can be found printed on the jacket of the tether Tether length can be found on your sales order or if repaired on the repair work order Enter the value measured in Step 1 a in the block for Resistance 1 Enter the value measured in Step 1 b in the block for resistance 2 NOTE Ignore any information displayed the Read box DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 112 of 121 SEABOTIX The following message will be displayed A 6 Click Write Parameters Parameters Set Power Supply is 5 5 3000 Resistance 16 00 Ohms Click OK Voltage 345 volts Status of Ehe Master is OM A 7 After you click OK the information in the Read box should match the information you entered in the other boxes Hesistance should equal the sum of Resistance 1 and 2 in the Tether Parameters Box Slave AMETEK Setup NOTE Follow these steps after instal
45. H Page 91 of 121 SEABOTIX 6 1 3 Tilt Mechanism NOTES SEE SHEET Lvl Typ Seq Part Number Description Co anon E me Qty Parent NLT VLEV atv 1 2 Required Qty UM 1500 95 003 05 002 1 803 1030 ML802 MA1031 ML801 824 823 MA1032 FN878 et Opbo o RB E DOCS 127 Tilt Mechanism vLBV Motor Housing Tilt Assembly Assembly 011 Compensation Tub Drive Shaft Coupling Camera A Drive Shaft Coupling Light Timing Belt 2 03 Pitch 64 Gr Tilt Axle Camera Bearing Su Flanged Bearing 12mm ID Spli Tilt Axle Light Bearing Supp Flanged Bearing 8mm ID Split Dowel Pin Maxi2mm 31655 Washer 9mm x 15 875 mm x 2 54 Flanged Mount ELS Tilt Mecha Screw M5 x 30mm 5 Polyca Manual Operators vLBV Rev J 13 Sep 13 1 00000000 1 00000000 1 00000000 2 00000000 2 00000000 4 00000000 2 00000000 4 00000000 4 00000000 4 00000000 4 00000000 4 00000000 10 00000000 ost PRR NEE e l2 92 121 SEABOTIX URS 6 2 1 Asm
46. HF video signal to composite video for display from the OCU and the LBV to for data transmission via the tether Sensor Board Used to convert the analog data signals from the internal and B B BT external LBV sensors to digital format for display and utilization by the Auto modes of the LBV Short Base Line These systems consist of one beacon on the ROV and three or more hydrophones hanging over the side of the ship dock or other surface SBL structure SBL systems have the advantage of not needing to deploy and calibrate seafloor transponders It has accuracies and costs that intermediate to the other two methods LBL or USBL Standard Brushed Thruster Tri Tech Gemini Multi Beam SONAR This SONAR device is a multi beam It provides a real time image for its full horizontal 120 and vertical 20 aperture Since the update rate is continuous for the full aperture the strengths SN319 of this device are 1 Search while moving 2 Higher target image resolution making target identification easier for an operator SPS Surface Power Supply Blue View Multi Beam SONAR This SONAR device is a multi beam It provides a real time image for its full horizontal 45 90 or 130 and vertical 20 aperture Since the update rate is continuous for the full aperture the TSA500 strengths of this device are 1 Search while moving 2 Higher target image resolution making target identification easier for an opera
47. Input front panel setting as per table above NOTE This portion of the procedure only applies when required after replacement of one or both of the power supply modules Perform A Master AMETEK Setup Perform B Slave AMETEK Setup DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 115 of 121 SEABOTIX Glossary of Abbreviations The following abbreviations and terms are used when discussing the vLBV and accessories Video Input and Output connectors used by SeaBotix Bulkhead Connectors are devices for connecting external devices to the vLBV Bulkhead 4 electronics It is a physical connector that is mounted and acts as a seal for the Connector housing Camera Chassis Assembly The portion of the LBV housing the Camera Camera s as well as the control electronics It is encased in a clear poly carbonate view port Located at the forward end of the LBV osa Crawler Skid Assembly a subassembly of the LBV150SE 5 system that allows C the operator to attach the LBV to any relatively flat surface for stability while performing inspections Depth and Temperature Assembly Electronics Bottle Assembly External Lighting System Operational program for the LBV vLBV rogram HA Full Fiber Optic data and video All data to and from the LBV vLBV and the video feed from the LBV vLBV is transferred via fiber optic transmission Fiber Optic Ethernet data This designation is utilized for systems requiring
48. OFT T 00000 00000000 T 1040H TINH T 00000 00000000 tr 403 sooTH 00000 00000000 Bg 76 21 05 OTT 00000 00000000 uug TINT 00000 6 00000000 55 OTE x Tamod 06 ngog T 00000000 5 Toye OY 1A g G0sTvH 08 I 0000085 00000000 55 wg OL I 00000 00000000 T PIX4S 1A 09 T 00100 00000000 PTHS Toye yo 05 00000 00000000 T B STVH ngg T 00000000 1A B6FIVH 00000000 PHS 3181 DUSTER 04 00000 00000000 a PTAS 4240 ag T STVH OOOOO T quassy qu 430 TE UO TST nay raqung bag Manual Operators vLBV Rev J 13 Sep 1
49. P VER Ethernet IO Processor firmware selecting option 1 will display the next page of software Processor Ethernet IO Processor boot loader revision VCP EIOP BOOT REV DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 62 of 121 When Next is selected the system will then display the Navigation processor software revision page NAV gt s for VERSION the NAV board Displays the boot bi BOOT loader revision for the NAV board Displays the firmware version for NAV board Ethernet IO Processer NAV EIOP Displays the boot BOOT loader revision for the NAV board LOADER Ethernet IO REV Processor Displays the COMPASS firmware revision for REV the compass board Displays the IO CONN firmware revision for REV the IO Controller board DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 63 of 121 SeABoT x 2 3 7 Hours Run To find out how many hours the system has been run the operator must enter the diagnostics menu from the main menu by selecting option 3 The counter only counts the total time that the system is turned on it does not differentiate between operational and non operational hours DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 64 of 121 2 3 8 Display Int Temp To display the internal temperature of the electronics bottle of the vLBV the operator selects item 4 from the Diagnostics Menu Once selected the system will
50. Rev J 13 Sep 13 Page 52 of 121 SEABOTIX 2 3 3 1 Date Time Adjusting the date and time allows the operator to synchronize the system clock in the vLBV to local time or to a master time clock used for controlling operations When option one is selected at the main menu screen the operator is prompted to set the date then the time for the vLBV The operator 15 first prompted to enter the numeric value for the date After adjusting the value or if no adjustments are needed the operator can press the ENT button on the numeric keypad to save the changes The month is entered as a numeric value 1 for January 12 for December This process 15 repeated for the year hours minutes and seconds DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 53 of 121 SeaBorx 2 3 3 2 Units Water The system is designed to accurately calculate water depth for both fresh and salt water The display can be set for imperial measurement feet or metric measurement meters MF Meters of Freshwater MS Meters of Saltwater FF Feetof Freshwater FS Feet of Saltwater mI The designator MF MS FF or FS will display to the right of the depth reading on the bottom line of the video overlay 2 3 3 3 User Text When user text is selected the operator enters alphanumeric characters to display on the video overlay Each character is entered individually and the ENT key must be pressed to proceed to the next chara
51. TIX 9 12 Disconnect the data cable from the SPS30XX t13 339953 Disconnect the Tether Whip connector from the SPS30XX Grip Here To unplug pull straight back on the locking collar On e F Do not attempt to twist the connector Damage to the connector will result 13 14 Install front and rear covers to the SPS30XX Disconnect the video cable from the video out connection 15 Pull Out Hub of the URS Re install the protective cap Coil the tether whip on the whip storage posts on the 19 Universal Reel System URS DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 33 of 121 SEABOTIX 9 the handle from reel frame install in the center of the URS hub and prepare to recover the tether Disconnect the electrical 3 pin connector from the s Electronics Bottle Assembly Disconnect the fiber optic connector from the Electronics n Bottle Assembly Re install the protective cap 20 Spool the tether back onto the URS and set the reel lock DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 34 of 121 SEABOTIX 9 1 5 Post Dive Inspection After recovering the system a visual inspection is recommended to check for debris fouling or equipment damage that may have occurred during operation 1 Check all thrusters for fouling or damage Verify the propeller guard is undamaged and that all 3 blades are present on the propeller 2 Inspect the light
52. Title Revision Revision Date vLBV ly alae 33 13 Ee abo Tix Manual Document Number DOCS 1 27 02011 SeaBotix Inc all rights reserved Users Manual Proprietary Notice Words and logos marked with or are registered trademarks or trademarks of their respective owners No license under any copyright trademark patent or other intellectual property right of SeaBotix or any third party are granted by implication in connection therewith This Document is being furnished in confidence by SeaBotix Inc This Document and the information disclosed herein are proprietary data of SeaBotix Inc Neither this Document nor the information contained within shall be used reproduced or disclosed to third parties without the express written authorization of SeaBotix Inc Use of this Document for other than the intended purpose is strictly prohibited Head Office SeaBotix Inc 2877 Historic Decatur Road STE 100 San Diego CA 92106 USA 1 619 450 4000 Australia Office SeaBotix Australia Pty Ltd 7 18 Strang Street Beaconsfield WA 6162 Australia 61 0 8 9336 6680 SEABOTIX 9 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 1 of 121 c3eAESO TIX Table of Contents goo lt c 6 SONY E E TTE 6 FOU 2742 U 7 Seclion 1 IntroducllODh eorr EEA EEE PEE rr 9 1 1 Unpacking SyS CO 11 1 2 Power
53. V If equipped with a grabber the grabber needs to be extended to deployment position all accessories that will be utilized must be installed ap NOTE The system does not need to be powered on for this operation 1 Place the vLBV in water of approximately the same salinity and temperature as will be found at the operating location NOTE If you are dockside or water conditions are relatively calm the procedure can be accomplished at the work site 2 Check the trim of the vLBV by visually inspecting how the system sits in the water If the vLBV sinks weight will have to be removed if it floats check for level fore and aft side to side and verify that it is close 6 grams to neutral When properly trimmed the system will float just at the surface of the water and the addition of 1 SS NOTE The blue dashed line fender washer provided in the trim kit will cause the indicates where the water level vLBV to gently descend and removal will allow it to should be without any top mounted surface devices DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 38 of 121 SEABOTIX 9 If additional weight is required the weights are listed at right for the plated tungsten steel trim weights The thinner supplied SS fender washers weigh 6 grams ea 4 Place weights at the 4 corners of the vLBV till the proper trim is obtained Level fore to aft side to side 5 Once the ballast has been determined moun
54. al movement on the connections when mating un mating can cause damage to the connectors DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 8 of 121 The vLBV represents radical new design concept in small ROV s Upgrades electronics and innovative design allow for the incorporation of many new design features capabilities and upgrades into this small footprint Section 1 Introduction Data communications to and from the vLBV is via 100MByte per Sec Ethernet data line This large bandwidth capability allows us to employ a large optional sensor package load while maintaining a separate video data stream Incorporated and available are three 3 RS232 to Ethernet adapters and one 1 RS485 to Ethernet adapter allowing the installation of serial data output sensors for transmission and display to the computer topside Numerous electronics upgrades Up to 4 four attached video sources Single camera display that is selectable during vLBV operation 1 video input is optional as a HD source for up to 1080 video Individual head external lights are installed with independent lighting controls This allows the operator greater control of the lighting to improve video quality adjusting the lighting to prevent hot spots The forward external lights mechanically track the main camera tilt angle An optional spot light for attachment to the forward primary camera to improve the video detection range in water w
55. an Ethernet data link to transfer data from the LBV vLBV Fiber Optic Video This style is used for all tethers The composite video signal FOV from the LBV is converted to fiber optic data in the tether and made available as a composite signal at the Pull Out Hub of the Tether Reel System Frequency Shift Keying A method of data transmission utilizing 2 5 channels FSK of RS232 format for command and control of the LBV Data transmission to an external RS232 device with a remaining simplex channel for data to a device attached to the LBV Grabber Attachment Kit Consists of the Parallel Jaws the Standard GAK Interlocking Jaws and the Cutter Jaws These attachments can be installed on the manipulator to meet the operational needs of the user All hardware descriptions prefixed with the letter M M5x15 indicates the fastener is a metric fastener The first number is the diameter in mm Millimeters and the second number is the fastener length in mm Hardware listed at 14 20 x 1 5 are imperial fasteners The first number is the diameter the Hardware second number is Threads per Inch and the final number is length Smaller Imperial fasteners are numbered for example the seal screw utilized on thrusters grabbers and the vacuum port is a 10 32 x 3 8 so 10 Screw with 32 Threads per Inch and 3 8 s of an inch of overall length Horiz Horzontl 0 0 00 0 0 0000000000000 HPDC100 High Performance Brushless Thruster with
56. ated Add or remove weights till the system sits just at the water surface and is level fore and aft side to side The bumper frames for the vLBV should just break the surface of the water If optional top mounted sensors are included the trim point moves up to the upper surface of the sensor DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 76 of 121 9 3 9 X Considerations When Using Auto Functions The auto functions incorporated into the controls for the vLBV were specifically designed to ease operation and reduce operator overload during inspections 3 9 1 Auto Depth This function does exactly what its name implies The operator sets the vLBV at a desired depth and selects the AUTO DEPTH function The software will then take control of the vertical thrusters to hold the vLBV at the set depth Operation of the Vertical Thruster Control Knob will override the auto setting until it is returned to the neutral position An example of use of the AUTO DEPTH function during a bottom survey the operator is required to maintain a 2 meter HOB Height over Bottom At the beginning of the flight the operator flies the vLBV to the bottom makes a depth reading and then using the vertical thruster control knob moves the vLBV 2 meter up from the bottom then selects Auto Depth after the vLBV is stable at the new depth The operator need now only concentrate on maintaining course and speed to provide the best video
57. be necessary to remove any floatation mounted sensors prior to removal of the float DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 79 of 121 SEABOTIX 3 Lift the floatation module straight up and off of the vehicle 4 Using a 2 Phillips screwdriver remove the three Phillips pan head screws securing the propeller nozzle to the two vertical thrusters 5 Remove the black nylon Phillips head screw from the propeller end cap to gain access to the grease galley for both vertical thrusters DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 80 of 121 e3eAESO TIX 2 6 Ww Insert the tip of the syringe provided GLAO03 and inject lubricant until it comes out of the weep hole located on the propeller side of the propeller end cap 7 Top off the injection hole with lubricant to prevent air voids and re install the nylon screw 8 Clean off excess lubricant DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 81 of 121 SEABOTIX 9 9 Verify proper tightness on all thruster mounting screws including the vertical thruster elbows 23 Fasteners total 3 ea for the horizontal thrusters 5 ea for the vertical thrusters 9 Re install the propeller nozzle 10 Re install the floatation module and the four securing wing nuts DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 82 of 121 SEABOTIX 9 11 Place the vLBV its top and remove the prop
58. cter To add a space press the enter key twice after the last character No special characters are available i e This information will be displayed at all times until the operator turns the feature off by selecting user text again pressing the enter key then exiting the menu DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 54 of 121 SEABOTIX 2 3 3 4 Reset to Default The reset to default selection is used to reset all date time and user text to the default settings The date and time will be set to the value in the program user text will be erased 2 3 4 Calibrate Menu US ONDE Glos 2180082 The calibration menu allows the operator to calibrate the standard sensors on the vLBV Camera Initialize Depth Compass Thruster Trim Reset turns counter a 1 Camera Initialize When selected the camera will drive to the maximum up angle 90 degrees set the angle then return to zero for operation This feature calibrates the tilt angle indicator for the primary camera 2 Depth The calibration options for depth are 1 Set Depth 2 Setto Zero DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 55 of 121 1 Set Depth This option is used to calibrate the depth sensor to a known depth When operating in an area with known depth information the vLBV depth can be adjusted to display the measured depth 2 Set to Zero This option should be use
59. d when the vLBV is on the surface prior to each deployment DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 56 of 121 SEABOTIX 9 2 3 4 1 Compass Calibration This menu section is under revision NOTICE Please visit www seabotix com or contact our service department at service seabotix com for updates and information 2 3 4 2 Thruster Trim The thruster trim feature allows the operator to individually adjust the gain level of each horizontal thruster This feature can be used to compensate for the drag caused by flying the vLBV with an externally mounted attachment For example while flying with a grabber mounted to the starboard side of the vehicle the vehicle will naturally rotate to starboard Using the thruster trim feature allows the operator to reduce the speeds of the port thrusters and compensate for the drag effect of the grabber To do this the operator can set the gain values for each port thruster on a scale ranging from 100 to 100 A value of 50 will cause the port thrusters to operate at half gain A value of 50 will cause the port thrusters to rotate backwards at half gain These settings should only be adjusted by an experienced operator N 5 Incorrect settings can cause the vLBV to operate opposite the operators intentions and could result in damage to or loss of the vehicle N OTI 5 5 recommends that the operator only adjust the rotate portions of this menu to ass
60. e both master and slave power supplies have initialized the display will read as shown Turn the 5 53000 controller in the SPS30XX power switch on The red POWER light will illuminate then after 2 seconds the amber 16 STATUS light will illuminate ina BREAKER STATUS Do not proceed to system power up 4 until the amber light is lit DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 23 of 121 SEABOTIX 9 Press the power key the Operator Control Unit The operator will hear the Master and Slave power supplies increase noise output This indicates that they are supplying power to the vLBV 17 The amber status light on the SPS30XX will 18 now begin to strobe 2 seconds on 2 seconds off BREAKER STATUS Verify the voltage output panels on the Master and Slave power supplies read the correct output voltage and current 19 The Voltage displayed will vary depending on Tether length Operate thrusters using the joystick on the OCU and verify that the current reading on the Master and Slave power supplies show an 18 increase in output The current increase will be slight but noticeable DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 24 of 121 SEABOTIX Verify that video is displayed on the ICC INC zin monitor Verify the overlay information is displayed and all values are as expected 21 System power up sequence complete 1 4 4 Operational
61. e mounted to the vLBV upon arrival but will be included in the shipment along with instructions for mounting and connecting prior to use DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 12 of 121 SEABOTIX 9 URS Universal Reel System 1 Verify that the delivered reel matches order 2 Verify that the reel handle is in place DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 13 of 121 SEABOTIX 9 SPS30XX Surface Power Supply SSeAEBoOTIx 7 Jat E 1 Remove the end caps for the SPS30XX 2 Verify the correct electrical connectors for your location are installed on the power cables located at the rear of the unit NOTE In some cases the power cables will not be terminated with a connector in this case the wires will be stripped back in preparation for installation of connectors and a tag will be attached indicating the proper connections by wire color ab DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 14 of 121 SEABOTIX 9 ICC Integrated Control Console 1 Open the cardboard packing case inspect the exterior of the case for damage 2 Open the case lift the OCU Operator Control Unit from its storage location test operation of the joystick and the vertical thruster control knob 3 Visually inspect the monitor for damage NOTE Retain the cardboard container for the ICC If the ICC requires return ab to SeaBotix shipping damage can be prevented by ut
62. e to a specific acoustic interrogation pulse or responders whose pulse is triggered via an electrical signal from the surface The beacon s pulse is detected by a hydrophone suspended from the surface a computer or controller then determines range and bearing Tracking There are 3 basic configurations for tracking systems LBL SBL amp USBL Refer to each section for further definition Un Manned Launch and Recovery System A remotely controllable launch and recovery system Consisting of a tether reel system surface power supply a power sheave and control circuits for remote launch and recovery of the LBV system UMB URS Ultra Short Baseline systems are similar to SBL except instead of using the three surface hydrophones a single multi element transducer array is used This makes them the quickest tracking system to set up and the least expensive uLARS USBL of the three methods although their accuracy is not as high USBL systems have proven to be the most popular acoustic tracking system used on Mini ROVs and several companies now make USBL systems specifically for this platform Vert Video Graphics Array A computer format for displaying video vLBV Vectored Little Benthic Vehicle Video Overlay Board Creates the characters for displaying the video overlay information from the LBV to the monitor Vehicle Power Supply Converts the 360VDC tether supply voltage to the 28VDC required for LBV operation VOB
63. ed as part of your basic spares kit is a plece of hose designed to slip over the tether and provide an attaching point for the depressor weight Along with this is the SeaBotix DOCS 038 Manual Clump Weight System Instructions This information is also included on the CD of documentation delivered with your system 3 4 Piloting While anyone can operate a vLBV piloting is a skill developed over time It is normal for each pilot to develop a particular skill set at which they excel This should be taken into account when assigning tasks As discussed in the next segment practice is the key to developing piloting skill 3 5 Practice As with many skills practice practice practice When possible practice in a pool or a confined body of water with few obstacles or entanglement hazards This will give the operator experience on the controls while reducing the added issues of dealing with current or poor visibility As the operator gains familiarity with the controls and the response from the vLBV training scenarios can be added to simulate the tasks required Objects can be added for training using the optional manipulator optional sonar s and other sensors Once the operator is comfortable operating the system and the accessories move to open water training Slowly increase the complexity and task loading While time consuming following this type of training regimen will pay dividends during operational use 3 5 1 Watching the vLBV
64. een selected the operator can now choose from the following selection 1 Thruster Motors 2 Voltage Monitor Selecting Thruster Motors will display the options available to monitor each thruster Port Forward Port Aft Port Vertical Starboard Forward Starboard Aft Starboard Vertical DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 60 of 121 DOCS 127 information Revision Current Speed Temp Fault Serial Manual Operators vLBV Rev J 13 Sep 13 As each thruster is selected the system will display the following Software revision programmed into the motor controller board Current being drawn by the thruster of the thruster Temperature inside the thruster housing Fault status reported by the controller board Serial number programmed for the controller board in the thruster When Voltage monitor is selected the system will display the voltage measurements from each of the power supply circuits Page 61 of 121 92 2 3 6 Software Version This displays the software version level of each portion of the system Once selected the system will display the first page of the software versions 1 This displays the OCU VERSION firmware version for the Operator Control Unit Vehicle Control VCP VERSION Processor firmware Vehicle Control Processor boot loader revision VCP BOOT REV Vehicle Control Processor VCP EIO
65. eller nozzles from the 4 thrusters located on the bottom of the vLBV 12 Hepeat steps 5 9 for the four horizontal thrusters 13 Connect and test system for proper operation Use Section 1 4 of this manual DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 83 of 121 SEABOTIX 43 500 Hours After 500 hours of use 5 years whichever comes first we recommend replacing all of the seals the vLBV 4 4 Long Term During the performance of the 50 hour and the 500 hour maintenance the technician should visually inspect all metal exterior components and fasteners for signs of corrosion A faulty cable or component can allow a low voltage signal to short into the water causing corrosion to start The location and severity of corrosion may require replacement of the damaged part 4 5 Repairs All repairs should be carried out by SeaBotix trained technicians SeaBotix offers both in house and field training courses to support the operator The maintenance manual offers step by step instructions describing disassembly replacement and reassembly of the vehicle components Anyone with moderate mechanical skill will be able complete the repairs when the instructions are followed exactly as written For further assistance please contact service seabotix com or call 1 619 450 4000 extension 124 46 Software Upgrades From time to time SeaBotix may issue software upgrades to improve system performance or t
66. em with operator controlled automated payout and recovery of the Tether and LBV vLBV MB Mother Board Multiplexer This function is contained in the POH and converts the fiber data to INC LBL electrical data prior to the slip ring assembly for use by the operator Navigation Computer Console A computer and display console developed for NCC display and control of SONAR and Tracking systems 1115 used in addition to the ICC OCU On Off Keying The simplest method of command and control of the LBV with no additional data channels Utilizing RS232 duplex from the OCU to the LBV via the Surface Power Supply PCA In a penetrator style connection the cable actually passes into the housing of the unit without a connector This is used when connecting an external device to circuitry inside the sealed housing Programmable Integrated Circuit Used on the circuit boards to pre program Penetrator them for functions as required POH Pull Out multiplexer Hub Part of the URS It contains the MUX as well as the termination point for the Tether and the Tether whip Quick Recovery System A secondary manual system used to easily recover QRS the LBV by attaching to the tether allowing the operator to recover the system without handling the tether directly HF Radio Frequency DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 117 of 121 SEABOTIX 9 Coupler decouple data to the tether Demod
67. et Heoprene Dampener Handle Winch 8 UR Strap Velcro BLE B L x 3 4 Loctite 262 Red High Streng Manual Operators vLBV Rev J 13 Sep 13 Oty Parent 2 00000000 1 50000000 00000000 1 00000000 4 00000000 2 00000000 2 00000000 1 00000000 2 00000000 1 00000000 1 00000000 25000000 1 00000000 4 00000000 4 00000000 4 00000000 8 00000000 4 00000000 00000000 8 00000000 4 00000000 1 00000000 1 00000000 20000000 4 00000000 0 50000000 1 00000000 1 00000000 1 00000000 4 00000000 1 20000000 4 00000000 0 31750000 2 00000000 2 00000000 2 00000000 0 05000000 Required Oty 1 00000 1 00000 1 60000 8 00000 1 00000 4 00000 2 00000 2 00000 1 00000 1 00000 1 00000 1 00000 0 25000 1 00000 4 00000 4 00000 4 00000 8 00000 4 00000 6 00000 8 00000 4 00000 1 00000 1 00000 6 00000 4 00000 0 50000 1 00000 1 00000 1 00000 4 00000 4 680000 4 00000 1 27000 4 00000 1 00000 2 00000 0 05000 Page 93 of 121 SeaBorix m 6 3 SPS30XX lt SPS 29000 SeaBotix Bubble m Description Quantity Rolling Case Mounting Rack SPS3000 Control Unit SPS3003 Gen 2 vLBV 250M Tether EC1465 PWR Supply 600VDC 2 8A 85 265VAC 1 Phase IN DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 94 of 121 SEABOTIX 6 4 ICC 3
68. g at the wet end of tether between Socket 2 black lead and Socket 3 red lead Voltage should read approximately 345VDC 1 4 Note The multi meter must to read volts DC and a scale that will read at least 360VDC If voltage is incorrect verify reading and repeat programming procedure C 6 Shut down power Continue to Slave AMETEK Setup if necessary C 7 Connect the tether to vehicle System is ready for operation DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 114 of 121 SEABOTIX Front Panel Setup Steps Setting Slave VOLTS 9 BD AMPS PRT OVP 60 160 PRT UVP 0 50 6 PRT 50 8 CAPR 9 VAPR PGM USB PGM CURR SHAR CONT On for all power supplies AS On for all power supplies PGM LOCLLOC NOTE For Fine Adjust press Adjust Enter knob once Press Adjust Enter knob after entering values once more to set value A AA AT VM S X 2 a 10 7 E IOS Gm Item Description 1 Rotary Adjust Enter control 2 Constant Voltage CV Mode LED green 3 Model Identification Label 4 Output Voltage Display 5 Constant Current CC Mode LED green 6 Output Current Display 7 Alarm Indicator LED red 10 9 Position Mode Control For detailed 9 OUTPUT ENABLE Aux button information see Configuring Settings from the Front Panel STEP 1 Input Front Panel Settings
69. heads for damage Check the oil compensation bladders on each of the 6 installed thrusters for damage air bubbles and proper oil fill level DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 35 of 121 SEABOTIX 4 Inspect the frame for damage 5 Inspect the grabber for damage missing hardware or fouling 6 Inspect all installed sensors for damage or fouling DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 36 of 121 c3eAESO TIX 9 16 Calibrating Compass This menu section is under revision NOTICE Please visit www seabotix com or contact our service department at service seabotix com for updates and information DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 37 of 121 SEABOTIX 9 1 7 Trimming vLBV The vLBV was trimmed at the factory for either 32 ppt salt water at 19C fresh water at 19C This selection was made at the time of order Adjustment of the trim is required for your specific operating conditions A properly trimmed system significantly eases operation If equipment is added or removed from the vLBV the trim will have to be adjusted When trimming the vLBV you are adjusting it for neutral buoyancy and level trim Level side to side and level fore and aft To adjust the trim set the vLBV with tether connected into water of the salinity and temperature that matches to operating area There should be about 2 meters of tether in the water with the vLB
70. ilizing the original packaging Manuals and Cables The vLBV documentation additional cables required for operation and any software required for operation of installed accessories will be located in a separate package Utilize the packing list to verify that all items are delivered DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 15 of 121 SEABOTIX 2 Requirements Voltage and Power required 110VAC 220 4kW minimum lh The SPS3003 is designed to operate on 110VAC Due to the lower voltage and efficiency it is recommended that the SPS3001 be powered via separate 20A supplies 5 53004 is designed to operate on 220VAC The SPS30XX can be operated on either voltage source the following considerations need to be observed euge Do not operate the system from an Uninterruptable Power Supply OT It is not recommended to operate the system from GFI protected circuit 5 Any and all primary power connections must have earth ground reference Do not utilize signal conditioning circuits on the primary power connections Ensure that any extension cords utilized are of sufficient Onl gauge to carry 2 4 of power This can tested by verifying no more than a 10VAC drop over the length of the cable when under load Failing to adhere to the above notices may result in improper vLBV operation or damage to the equipment
71. image and the processor board and software will maintain the depth 3 9 2 Auto Heading This function also does exactly what its name implies The operator sets the vLBV on a desired course and selects the AUTO HEAD function The software will then take control of the horizontal thrusters to hold the vLBV at the set heading Operation of the direction knob at the top of the joystick will override the Auto function but the vLBV will return to the set heading once the operator releases the controls An example for use of AUTO HEAD function the deployment site is located at a distance from the survey site The operator sets the vLBV on a heading required to get to the survey site The operator selects Auto Heading for course keeping and then drives the vLBV forward to the location Hemember water is rarely static so course corrections are required to accommodate for set and drift caused by the currents acting upon the vLBV and the tether 3 9 3 Auto Trim The TRIM function refers to speed settings for all thrusters When the TRIM function is engaged the software locks all thrusters at their current speed setting This is not to be confused with the GAIN settings If the operator is thrusting forward at 5096 throttle the TRIM function will keep the thrusters running at that RPM once the operator releases the joystick As with the other Auto functions the operator can override the TRIM function by simply operating the appropriate control jo
72. ist the operator in controlling the turn rate of the vLBV DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 57 of 121 The operator first selects the desired direction for adjustment using the numeric keypad on the Operator Control Unit Lateral to Port Lateral to Stbd Longitudinal to Aft Longitudinal to Fwd Rotate to Port Rotate to Stbd dab dE oic Here we have selected Lateral to Port The operator then selects the specific thruster for trim adjustment 1 Port Fore 2 Port Aft 3 Stbd Fore 4 Stbd Aft DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 58 of 121 SEABOTIX To enter a value use the numeric keypad on the Operator Control Unit To set a negative value the operator enters 0 on the keypad then type the new value followed by the enter key This step will be performed for each thruster to be adjusted Changing the rotation will require the same operations with the operator adjusting each thruster 1 Port Fore 2 Port Aft 3 Stbd Fore 4 Stbd Aft If the vLBV is heeling to port the operator should adjust the starboard thrusters to a lower setting for Longitudinal Port and leave the Port thrusters at the normal value DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 59 of 121 SEABOTIX 2 3 5 Diagnostics System The diagnostics system menu allows the operator to review each thruster and the voltage levels for each module power supply Once the system menu has b
73. ith gt 10m visibility An improved Sensor Nav Board with a high resolution digital electronic compass DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 9 of 121 SEABOTIX 9 Mechanical improvements A modular floatation system designed for neutral in the basic system configuration and incorporating locations for additional floatation for accommodating up to 10kG of additional payload Three bladed 100mm brushless DC thrusters provide for greater thrust Six thrusters with two employed for the vertical axis and four on the horizontal Vectored mounting angles for the horizontal thrusters with two angles forward and three angles aft are providing up to 22 7kG of forward thrust and up to 15 3kG of lateral thrust See table Configuration three is the factory standard The separate sealed electronics module was designed to allow the operator to quickly change out the entire module in the event of an electronics fault and return to operations in less than 30 minutes A comprehensive mechanical and electronic assembly design with maintainability being as important as ease of operation All components and assemblies were designed to make replacement of any single component possible in a matter of minutes Newly designed removable thruster propeller guards are integrated into the propeller nozzles When removed this will reduce the potential for propeller fouling and subsequent damage when operating in areas
74. layed default at the bottom of the screen The operator can change the position by pressing the position button on the OCU SERIFES CANVON Heading Indicator Light Level Indicators Gain Trim and Accessory Camera Angle and Temperature Selected Camera Heading Turns Counter and Depth Date and Time V5 IRM 7076HD 1 15 PORT HA GR D032 2M5 lac 11 45 15 2 2 1 User Text By following the instructions in Section 2 3 3 the operator can enter up to 17 alphanumeric characters that will be displayed on the video at all times No special characters are implemented at this time Examples amp 96 2 2 2 Control Trim and Light Level Indicator DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 49 of 121 SEABOTIX 9 Vertical Thruster Gain A numeric value from 1 0 will be displayed after the V to indicate the current gain setting 121095 2 20 0 100 Trim This setting indicates that the operator has set the thrusters to operate at the last position of the joystick and vertical thruster control knob When selected this function operates like cruise control for an automobile The overlay displays this as a reminder for the operator that the function is enabled Selected Accessory When the operator selects an accessory to control via the OCU the overlay will display the selected component In this case the Three Jaw G
75. ledge of the operating area improving the pilots opportunities for success Knowing the area and the potential risks allows the pilot to plan his operation to avoid the risks Attempting operations without a plan increases the risk of damage or loss 2 Plan the operation and follow the plan It is common for circumstances underwater to be significantly different than what was planned for When this arises it is a best practice to surface the vLBV or stop operations until a new plan is devised Attempting to charge forward without an updated plan will significantly increase the risk of damage or loss 3 Setting up the equipment It is best practice to set the equipment up facing the work area If deploying off the starboard side of a vessel orienting the monitor and hand controller so that the operator is facing to starboard eases the operator s sense of direction in relation to the deployment platform While this is not a critical consideration it should not be overlooked when setting up the system 4 Geographic reference The compass data output from the vLBV is a numeric value from O 360 degrees As humans we reference everything we do to our own orientation as with item 3 above the operator normally needs to know what direction he or she is facing in order to calculate the direction the vLBV is going A simple method to help do this is to include a small magnetic compass as part of your setup Doing this allows the pilot to look down at
76. ling NEW or replacement AMETEKS ONLY Do not perform these steps if only changing tether length This software is installed at the factory for all B 1 Install SPS Programmer systems delivered with the INC The software will be found in the start menu in the SeaBotix folder Connect Slave to USB B 2 Setting Up Slave AMETEK b Tum on AMETEK a Open SPS Programmer b Select Slave c Click Open Connection 4 Message will appear asking you to Eos confirm that the AMETEK is connected Programmer Click OK Programmer will search for the connected AMETEK Power Supply Detecte d B 4 SPS Programmer will connect to AMETEK 7 and display the following message AMETEK X 600 2 8 5 4 1132402830 version 2 23 Release Date 01 29 13 Click OK DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 113 of 121 SEABOTIX 9 5 Click Reset to Default Enable Slave interlock You will be asked to confirm reset Click OK C Verify Voltage and Current Output C 1 Connect tether to SPS 5 Do not connect the vehicle prior to performing these tests Equipment damage could result C 2 Turn on SPS as per instruction manual Power up the system by pressing the power button on the OCU Operator Control Unit C 3 Display Voltage should read approximately 345v Display Current should read approximately 0 amps C 5 Take voltage readin
77. nual Operators vLBV Rev J 13 Sep 13 Page 104 of 121 SEABOTIX 9 Pitch Control ACCESSORIES Press the SELECT button on the Operator SELECT Control Unit Verify that the overlay shows PS in the accessory position ZIDECI BOW 10 95 19 The left arrow will pitch the sonar down and the SELECT right arrow will pitch the sonar up DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 105 of 121 Exploded Parts Diagram DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 106 of 121 Parts List D SEABOTIX 00000 T 00000000 T Apquassy usu T 00000 8 00000000 8 uojjng GE x gy Matos TIN Wa 00000 000000007 ys wg 50 5 2 x 9H Matos 00000000 F PEAH OT X GH Matos OBE OO000 FT 00000000 SS Z OHSH X UH 5 4 09 ngog 00000000 b OSE WH 0000066 101000000742 55 X 9 00000 00000000 5 OZE 00000 8 100000008 SHA X 4 OTE TIAN T 00000 8 00000000 8 559
78. o upgrade system capabilities For the latest revision of the operating software please visit our website http www seabotix com service support software update htm DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 84 of 121 SEABOTIX 9 Fault isolation for the vLBV requires knowledge of system power interconnect and operation Section 5 Fault Isolation The basic system components can be broken down into three portions They are listed in priority 1 Power 2 Control 3 Video The technician operator must first determine where the base fault is and resolve issues in sequence Resolve power issues before addressing control issues Resolve control issues before addressing video issues 5 1 Basic Power Block Diagram Power Source URS SPS3003 3004 Universal Reel Surface Power Supply System and Tether Aux Devices and Thrusters 110 220VAC 360VDC 28VDC 12VDC Electronics Backplane Assembly Bottle Vehicle Power Supply Aux Devices and Thrusters DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 85 of 121 SEABOTIX 9 5 2 Basic Communications Block Diagram ICC Integrated OCU Control Console Operator Control Unit Thrusters Jt JL JP Backplane JOJ Light Heads Thrusters DOCS 127 URS Universal Heel oystem Fiber Optic Ethernet 100Mbps Electronics Bottle
79. o be set for operation and accurate reading for fresh or salt water If depth output is set to metric the temperature is displayed in Celsius When depth is set to imperial the temperature is displayed in Fahrenheit The default position for the video overlay is bottom For ease of reading it is displayed at the second alternative top position in this manual For additional information regarding the video overlay refer to Section 2 2 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 29 of 121 SEABOTIX 9 1 4 4 5 Accessories Accessories refers to SeaBotix designed and installed equipment i e the Three Jaw Grabber The operator should press the select button on the operator control unit cycle between all installed accessories and verify operation For the Three Jaw Grabber the left arrow button closes the jaws For the Three Jaw Grabber the right arrow button opens the jaws 1 4 4 6 Optional Sensors Optional sensors refers to third party equipment that was installed and integrated into the vLBV This would include devices like Scanning Sonar Multi Beam Sonar Acoustic Tracking Systems Echo Sounders Altimeters Thickness Gauges Water Quality Probes etc Connect your computer to the Ethernet output jack on the ICC INC open the manufacturers operational software and verify operation of the device or devices OTI 5 Read the manufactures manual supplied with the system Special attention should be
80. o bring up the menu options page Enter 83 to bring up the Vehicle Power Menu Select menu option 1 Type 1000 Press enter 4 to set the new value Select menu option 1 to verify the setting Press the key to return to vLBV operations DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 110 of 121 SEABOTIX 1250 meter tether length Turn on the system Select the key to bring up the menu options page Enter 83 to bring up the Vehicle Power Menu Select menu option 1 Type 800 Press enter 4 to set the new value Select menu option 1 to verify the setting Press the key to return to vLBV operations DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 111 of 121 SEABOTIX ramming Power Supplies nii A 1 Measure the resistance of each primary 1 a Pin 2 2 resistance Ohms lead Pins 2 amp 3 of the tether with a multi meter from one end of the tether to the other 1 b Pin 3 3 resistance Ohms A 2 Install SPS Programmer This software is installed at the factory for all systems delivered with the INC The software will be found in the start menu in the SeaBotix folder a Connect Master AMETEK to PC INC via A 3 Setting up the Master AMETEK USB A A cable b Turn on AMETEK A 4 Configure Master AMETEK Using SPS z Programmer Power Supply Detected a Open SPS Programmer b Select Master
81. of the E Bottle on the rear and will be blue in color Align the keyway for the connector and rotate the locking collar till it is finger tight Do Not use tools to tighten damage to the connector will occur DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 99 of 121 SEABOTIX Addendum SubC 1 HD Camera Controls The SubC 1CamX HD camera is controlled via keypad entry on the Operator Control Unit To activate the controls the operator will select HD via the select button on the Operator Control Unit Once HD is displayed in the selected accessory position on the video overlay the operator can utilize the numeric keypad of the Operator Control Unit to control the available functions of the camera as shown in the tables below A Camera Operational Controls Take Still Picture Take Still Picture IR Mode NOTE There are no on screen indicators that a picture has been taken or that recording is in progress DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 100 of 121 SEABOTIX Camera Menu Access and controls J p lt gt ex t a d Vi ABC EN gt oo 4 y 4 e 4 T A E 1 L gt Setting up SubC 1 for operation and control Step Action Press Open vLBV Menu Screen Presso Select Main Menu
82. om the deployment site Refer to Section 2 1 9 for specifics on changing the gain settings 3 8 VLBV Trim Adjustments Trim Adjustments refers to the physical adjustment of the vLBV for neutral buoyancy This is accomplished by adding floatation or weight to the vLBV to achieve neutral buoyancy and a level trim fore and aft side to side Three factors affect the trim Salinity Temperature and Depth Of these the salinity has the greatest effect A change in salinity of just 2 parts per thousand will change the trim by as much as 50 grams Temperature will change the buoyancy by about 1 gram per degree and its effect is negligible In the designed operating range for the vLBV the effect of depth on buoyancy will primarily be an issue with the tether As the tether compresses it will decrease its displacement reducing the buoyancy Experience demonstrates that operation of the system is significantly enhanced when the system is properly trimmed When trimmed too light or too heavy the operator expends effort holding depth rather than simply concentrating on the task As delivered from the factory your system was trimmed per the sales order for either fresh water or salt water At our facility the water is about 19C when we set the trim Your specific operating area may have colder or warmer water and or different salinity To adjust the trim place the vLBV in a container of water of the salinity and temperature where it will be oper
83. on the horizontal axis will operate Verify all propeller blades spinning fwd mounted thrusters clockwise and aft mounted anti clockwise Using the OCU rotate the control knob at the top of the joystick fully clockwise Starboard aft thruster will run anti clockwise starboard fwd thruster will run clockwise Port aft thruster will run clockwise port fwd thruster will run anti clockwise Using the OCU rotate the control knob at the top of the joystick fully clockwise Starboard aft thruster will run clockwise starboard fwd thruster will run anti clockwise Port aft thruster will run anti clockwise port fwd thruster will run clockwise To verify rotational direction the operator may need to reduce the rate of thrust by backing off the joystick controls Using the rotate the vertical thruster control knob to full dive Verify that both port and starboard vertical thrusters rotate clockwise Using the rotate the vertical thruster control knob to full surface Verify that both port and starboard vertical thrusters rotate anti clockwise 1 4 4 2 Camera s oince the vLBV can use multiple cameras the operator should verify video output from each installed camera DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 26 of 121 c3eAESOTIX 9 If multiple cameras installed the process for selecting the displayed camera is to press and hold the camera button while selecting the desired camera s number 2 Bow
84. r from each hand on the thruster controls Take the joystick controls with your Right hand and use your left hand on the vertical thruster control knob as shown Use smooth movement of the joystick A jerky motion with the joystick will result in the vLBV duplicating those actions underwater making the video difficult to view and interpret When changing the direction of the vLBV it is a best practice to turn while driving forward If you stop turn then move during the period that the vLBV has no forward motion water movement will dictate where the vLBV is going not the operator DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 75 of 121 9 3 7 Thruster Gain Controls There two 2 settings for thruster gain controls incorporated into the vLBV Vertical and Horizontal There ten 10 steps from 10 to 100 and the steps are referred to as Gains 1 0 Gain 1 is the lowest and Gain 0 is the highest These steps effect the maximum RPM that the thruster motors will operate at with a given joystick or vertical thruster control knob input Thruster RPM equates to speed higher thruster RPM faster lower slower Lower gain settings allow the operator greater precision when positioning the vLBV for either video or when attempting to recover an object using the optional manipulator Higher gain settings are useful when operating in current or piloting the vLBV to a search area located some distance fr
85. rabber is selected GR Horizontal displayed after the H to indicate the current gain Thruster Gain A numeric value from 1 0 will be setting 1 210925 2 20 0 100 2 2 3 Heading and Depth Heading This portion of the overlay displays two pieces of information The compass heading of the vLBV and the number of full turns that the vehicle has made A value proceeded by the minus sign indicates turns anti clockwise If the value is preceded by a positive sign the turns are clockwise D96HD 0032 2 5 Depth Depth can be displayed of four measurements MS Meters of Saltwater FS Feet of Saltwater MF Meters of Freshwater of Freshwater Because each water type has its own density the operator should ensure that the measurement is set to ensure accurate depth readings Refer to Section 2 3 3 2 for instructions on changing the measurement 2 2 4 Camera Angle and Temperature Camera Angle Camera angle is displayed as a positive or negative value from 90 through to 90 Positive values are for upward looking angles and negative values are looking down Water Temperature Water temperature is displayed in either Celsius or Fahrenheit The scale is determined by the depth measurement setting depth is set to feet the temperature 15 displayed in Fahrenheit if depth is set to Meters then the temperature 15 displayed in Celsius 2 2 5 Date and Time Date The date is displayed in
86. rators vLBV Rev J 13 Sep 13 Page 18 of 121 SEABOTIX 9 Install the hose fitting for the vacuum test fixture and read system vacuum oystem vacuum should read from 8 to10 in Hg If the reading is less than eight inches of mercury the vacuum should be increased to ten inches and held for ten minutes If the needle moves at all the Electronics Bottle Assembly fails the vacuum test Once the vacuum test is complete fully connect the system and power the vLBV Test the operation of all features and devices N I The vLBV is a water cooled device Do not operate in air for longer than 15 minutes as damage can occur to the electronics When testing the vLBV lighting only operate them in air long enough to e gt verify that they operate then turn them off Water cooling is required for extended operation of the light heads It is recommended that this step be performed prior to shipping and at least one day prior to operation DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 19 of 121 SEABOTIX 9 1 4 2 System Inspection Prior to operation verify that all components are present cables accessories etc Visually inspect all portions of the system Verify that no damage has occurred during the last use or during transit 1 4 3 Connecting and Powering up the vLBV Always connect the system starting with the vLBV and work backwards to N OTI 5 the power source This is to prevent accidental connection of
87. rd for routing to backplane mounted devices such as lights thrusters or auxiliary devices like the Three Jaw Grabber Thrusters lights and auxiliary devices are controlled using I C data protocols On power up the system polls each of these devices to populate a table allowing the Central Processor to communicate and control them DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 87 of 121 SEABOTIX 5 5 Functional Block Diagram vLBV Function Button 10 21 U99U0D 0 Central Processor Board Backplane CAM CH8 STBD Data EXP 1 FSK J2 CH4 STBD UART 2 3 4 UART EXP 2 CH 1 J7 1 CH5 J3 VID 3 CH 9 VID 4 CH 10 360VDC VID Out 1 CH 12 Fiber Optic Line Tether DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 88 of 121 SEABOTIX vLBV 6 1 ff LOC 1 SOUD MODEL AVAILABLE FOR TOOL PATH NOTES UNLESS OTHERWISE SPECIFED ATON P Section 6 Exploded Diagrams and Parts Lists FRONT VEN DUM Te Up One ecce AB wu wc s Im 247 awe Lio aw nie VECTORED LITTLE BENTHIC VEHICLE 300M E Tem Ot ads LOO COT e j gt Zt HO wee Ao 876 i arc 28217 monet OR ADODO VLE VOO1 X1
88. ssory Control To select a device press the select button on the OCU the overlay will display the abbreviation for the selected device The operator then uses the right and left triangle buttons to control the device NOTE Sonar s and other sensor devices are not accessories they are Optional Sensors 2 1 13 Overlay Position Control The default display position for the video overlay information is bottom center of the video By pressing the position button the operator can move it to the top of the display or turn it off Each press of the position button will cycle the overlay to the next display position 2 1 14 Aux Controls The Auxiliary button is used for re enabling the auto focus option for cameras with that option Press and hold the AUX button and select the number 1 on the keypad 2 1 15 Auto Functions Included in the controls are three auto functions that when enabled by the operator give primary control of that function over to the processor board inside the electronics bottle of the vLBV ACCESSORIES OVERLAY AUXILIARY AUTO FUNCTIONS CTS DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 47 of 121 SEABOTIX 2 1 15 1 Auto Depth Auto depth is used to hold the vLBV at a desired depth The operator maneuvers the vLBV to the desired depth and presses the DEPTH button to engage the feature When enabled the green LED above the depth button will light and asterisk
89. t the weights to the vLBV at the ballast mounting points at the 4 corners of the lower section of the bumper frame then secure them with the nylon wing nut DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 39 of 121 1 8 vLBV Storage Prior to storage the vLBV should be rinsed and dried Low pressure air can be used to speed the drying process All provided connector caps should be installed prior to storage 1 Place the vLBV in the provided transit case 2 Place the URS in the provided transit case 3 Install the SPS30XX front and rear covers after stowing the power cables inside the frame 4 Place the OCU joystick down in the lower panel assembly of the ICC INC and close the lid on the ICC INC Store the system in a clean dry space hour maintenance be performed prior to operation after storage to ensure adequate ab NOTE If the system is to be stored for more than 3 months it is recommended that the 50 lubrication on the shaft seals for the thrusters DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 40 of 121 SEABOTIX 9 2 1 Operator Control Unit Section2 A vLBV Controls Joystick Vertical thruster control knob The Operator Control Unit controls all features of the vLBV The Horizontal movement of the vLBV is controlled by the joystick and the vertical thruster movement is controlled by the vertical thruster knob DOCS 127 Manual Operators vLBV Rev J 13 Sep
90. the compass and quickly determine the direction of vLBV travel at a glance 3 3 Tether Proper control of the tether is an important part of vehicle operations Do not deploy excess tether Only use what is necessary to complete the job Deploying too much tether places the vLBV and the tether at risk of damage By only having the amount of tether in the water required for the free movement of the vLBV the risk of entanglement is reduced and the risk of damage to the fiber line inside the tether is also reduced Active tether management is one of the key components to successful operation A dedicated tether manager that deploys tether as the operator drives away and recovers tether recovering as the operator returns is very useful While this will not prevent entanglement it significantly reduces the risk When operating in areas of high current active tether management will also make the vLBV easier to operate Reducing the amount of tether surface area exposed to the current reduces the effect of the current on the vLBV Another technique useful in high current areas is a system utilizing a clump weight attached to the tether to hold it straight up and down in the water column with free tether below that to allow DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 73 of 121 9 operation of the vLBV Experience has shown that this should be limited to less than 30 meters of free tether below the clump weight Deliver
91. the international format of DDMMMY Y 11 45 15 Time The time is displayed as a 24 hour clock 55 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 50 of 121 SEABOTIX 2 2 6 Selected Camera BOW Primary navigation camera selection 2 on the keypad Default camera on power up of vLBV ZOOM Zoom Camera normally mounted forward selection 5 on the keypad PORT Port side looking camera selection 7 on the keypad STBD Starboard side looking camera selection 9 on the keypad AFT Aft facing camera selection O on the keypad 2 3 Menus The menus allow the operator to select display and control all of the standard features of the vLBV 2 3 1 Quick Access Menu The quick access menu is the entry point for all other menus To access the Quick Access Menu screen press the PRGM key on the numeric keypad of the operator control unit The video overlay will now display the Quick Access Menu option screen Press the O button to continue DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 51 of 121 SEABOTIX 2 3 2 Main Menu In the Main Menu the operator has four selections 1 Setup 2 Calibrate 3 Diagnostics 4 Options select the corresponding number the keypad 2 3 3 Setup menu The setup menu allows the operator to 1 Set date and time 2 Change units of measurement and water type 3 Enter user text 4 Reset to default DOCS 127 Manual Operators vLBV
92. tor Micron Scanning SONAR This SONAR device is a scanning or searchlight style SONAR It has a maximum range of 100 meters with a vertical beam width of 32 degrees It has the advantage of being able to search in 360 degrees around the ROV but update rate is range dependant The system can only display target information for where the acoustic transmitter receiver is pointed at the time Sound Navigation and Ranging SeaBotix offers 3 primary versions of SONAR for installation SONAR 1 Micron Scanning SONAR TSS750 2 Blue View Multi Beam SONAR TSS500 Gemini Multi Beam SONAR SN319 Surface Power Supply Converts supply AC power to DC at 6 for transfer to the LBV vLBV via the tether 5 53000 3000 Watt Surface Power Supply Converts supply AC power to DC at DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 118 of 121 1755750 SEABOTIX 9 Series 360VDC for transfer to the LBV vLBV via the tether used on all 6 thruster BV VLBV TJG TMS Acoustic Tracking Systems Since GPS signals do not penetrate through water acoustic methods have been devised to allow the operator to know the position of his LBV vLBV at all times This is helpful for a variety of reasons including navigating search patterns and re locating underwater objects All acoustic tracking systems rely on beacons which can be pingers which emit a sound pulse at a predetermined interval transponders which emit a pulse in respons
93. usters 10 gain settings 1 0 that are user selectable The default setting for both horizontal and vertical is Gain 5 when the vLBV is powered To change the level press and hold either the HORIZ or VERT button and press the new value 1 0 1 10 5 50 0 100 DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 43 of 121 c3eAESOTIX 2 1 7 Camera Selection If multiple cameras are installed the process for selecting the displayed camera is to press and hold the camera button while selecting the number of the desired camera 2 Bow Primary Camera 5 Zoom Camera Bow Secondary 7 Port Camera 9 Starboard Camera 0 Aft Camera Default camera for display on vLBV power up is Camera Selection 2 the primary camera All other camera positions are upgrade options 2 1 8 Focus Controls To adjust the camera focus press the FOCUS button to adjust for close objects press the FOCUS to adjust for distant objects NOTE This option will only be available on cameras with variable focus To return to Auto Focus Press the AUX key and the 1 key simultaneously on the keypad DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 44 of 121 SEABOTIX 2 1 9 Camera Control Only the forward mounted camera or cameras have tilt control The factory default setting is operation of the tilt arrow pointing away from the operator will tilt the camera up and operation of the arrow pointed towards
94. with floating marine growth i e kelp Propeller attachment redesigned as a collet and nut system making removal and replacement of propellers simpler DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 10 of 121 1 1 Unpacking System The system will arrive individually packed in rugged watertight transit cases protected by cardboard boxes The standard basic system will arrive in at least five separate boxes marked with their primary contents The vLBV the Universal Reel System the Surface Power Supply the Integrated Control Console and a box for spares documentation and software Upon receipt open and visually inspect each case and its contents Verify that the system is undamaged and that all items ordered are provided DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 11 of 121 SEABOTIX y vLBV vectored Little Benthic Vehicle 1 Verify the affixed tag noting the water type for which the vLBV is trimmed for Salt Green or Fresh Blue 2 If a Three Jaw Grabber was requested verify that it is mounted to the cross brace at the bottom of the vLBV 3 Verify the correct number of external lights and mounting configuration 4 Verify the proper number of cameras are installed and their location 5 Verify additional sensors mounted such as scanning sonar multi beam sonar tracking other sensors per the sales order NOTE Due to packaging considerations some sensors may not b
95. ystick or vertical thruster control knob DOCS 127 Manual Operators vLBV Rev J 13 Sep 13 Page 77 of 121 SEABOTIX 9 vLBV was designed to keep routine operator maintenance to minimum Section4 Maintenance The basic concept is that the operator will clean the exterior of the vLBV with fresh water after each operation The operator will then dry the vehicle and stow it in preparation for its next deployment 4 1 After Each Use After retrieving the vLBV it is the operator should immerse the system in a container of fresh water run the thrusters for a period of about 2 minutes at low speed to rinse any salt mud or other contaminants from the exterior of the system Utilization of this method ensures the best clean possible If you are not able to do this then use a hose with a low velocity spray nozzle to rinse the vLBV top and bottom The vLBV can be stood on its rear to facilitate rinsing the underside When possible allow the system to air dry prior to stowing in the provided transit case Low pressure air and clean dry towels can be substituted to speed the drying process 4 1 1 After Each Use Dirty Water Conditions When the system is operated in dirty water environments with high sediment loads or significant biological activity or the presence of drifting debris the cleaning process will need to be more involved First visually inspect the propeller guards for fouling Any material sticking out from under the dome

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