Mohican Manual No.12
Mohican Manual No.12
Mohican Serial No. SA-RMOC-2K-012 Type 1 Serial No. TMS No. SA-G1B-022
INNOVA AS
Mohican No.12.doc Revision 1
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3.4.4 Cameras ...................................................................................................36 3.4.5 Sonar ........................................................................................................37 3.4.6 Tracking Beacon or Transponder .........................................................37 3.5 Vehicle Equipment........................................................................................37 3.5.1 Camera Tilt Unit ......................................................................................37 3.5.2 Lights ........................................................................................................39 3.5.3 Vehicle Interconnecting Cables ............................................................40 3.6 Surface Control Consoles ............................................................................41 3.6.1 Remote Pilots Console...........................................................................41 3.6.2 Joystick Interface Board ........................................................................45 3.6.3 Telemetry System ...................................................................................47 3.6.4 ROV/TMS Electronics Rack ....................................................................52 3.6.5 Video Distribution ...................................................................................52 3.6.6 DC Power Supplies .................................................................................53 3.6.7 Video Overlay System ............................................................................54 3.6.8 Power Distribution Unit (PDU) ..............................................................60 3.6.9 Earth Fault Monitoring System .............................................................61 3.6.10 Inverter/Transformer Modules ..............................................................63 3.2.11 2 x 9 Dual Channel Colour Monitors ...................................................67 3.2.12 Sonar Control Unit ...................................................................................67
4.3 TMS Maintenance .........................................................................................89 4.3.1 General Maintenance .............................................................................89 4.3.2 Oils and Lubricants (TMS) .....................................................................91 4.3.3 Pre-Dive Checks (TMS) ..........................................................................92
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1.0
INTRODUCTION Welcome, you have just entered the world of underwater Remotely Operated Vehicles (ROVs) by purchasing the Mohican ROV System from Sub-Atlantic, a world leader in the design and manufacture of electrically propelled Remotely Operated Vehicles. The Mohican is a truly versatile professional ROV system suitable for offshore use. Its size provides a stable platform for high quality video and sonar surveys. The ROV is also capable of carrying neutrally buoyant work skids and multifunction manipulators.
1.1
General This manual is intended to serve as a user point-of-reference for the safe operation, maintenance, repair and the identification of the manufacturers proprietary replacement parts. Warning!! The Mohican is a high voltage (3000V) system. Before attempting to power up or operate the system please read this manual thoroughly. If the purchaser or the end user is not familiar with underwater ROV systems, it is recommended that product training in the operation and maintenance of the system should be obtained from the manufacturer. This manual relates to the Mohican 012 ROV (Remotely Operated Vehicle) system and auxiliary equipment supplied to Innova AS. This manual is written assuming that the user is competent with electric, electronic and hydraulic principles and has an understanding of ROV operations.
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1.2
Safety Safety regarding high voltages and the handling of heavy loads has been recognised as a key issue therefore; this subject is highlighted in detail throughout the manual. Warning!! The Mohican ROV and TMS are supplied with 3000VAC. Training on high voltage electrical systems should be obtained by the user before operating or maintaining the system. Warning!! Potentially lethal AC and DC voltages are present throughout the system. To prevent the risk of electric shock, ensure that power to the surface transformer module is disconnected and the isolation switch is locked off before attempting to service or repair any part of the ROV system. Warning!! Thruster propellers rotate at high speeds and high torque. The propeller blades can cause serious injuries to hands and fingers if touched when rotating. Ensure that all personnel are clear of the thrusters before applying power to the vehicle. Do not touch the thruster propellers when power is applied to the vehicle. Warning!! The ROV tether carries 3000VAC. Do not handle the tether when power is supplied to the ROV. Safety procedures are a vital aspect of the operation of Remotely Operated Vehicles. They should be carefully studied and the principles contained therein applied to the everyday operation of the ROV system. Always switch off ROV power before deployment and before recovery. A permit to work system should be implemented for the repair and maintenance of the ROV system and controlled by the ROV Supervisors. This system should ensure that power is isolated before repair or maintenance work commences. The only person permitted to apply electrical power to the ROV is the appointed Supervisor. Remove watches, rings and jewellery when working with electrical equipment. Always isolate the system power supply before opening or working on any part of the ROV system.
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Never operate equipment that has an insulation fault to ground. Ensure that power to the ROV and TMS is switched off before lifting or moving the vehicle, as it is possible for thrusters to operate without joystick commands if the auto-functions are selected. Ensure that all personnel in the proximity of the system are notified when power is to be applied to the system. 2.0 2.1 SYSTEM OVERVIEW Scope of Supply The scope of supply for the Innova AS contract is as follows: Mohican ROV System 2000m Rated With Additional Buoyancy (ROV) Single Mode Fibre optic System Tether Management System (TMS) 2000m Rated (TMS) Single Mode Fibre optic System Surface Control Unit High Voltage Inverter/Transformer 1200 Meters of Main Lift Umbilical (CAB-0057) 350 Meters of Tether (CAB-0058) Kongsberg OE14-366 Colour Zoom Camera Kongsberg OE15-100A Low Light Mono Camera Kongsberg OE15-108 Mono Camera Kongsberg OE14-500 High Definition Camera Kongsberg 1071 Sonar ROV Spares Package TMS Spares Package SA 6-Station Valve Pack/HPU 4-Function Hydrolek Manipulator
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2.2
General System Description The Mohican is a state-of-the-art electrically powered ROV system. The ROV and TMS are supplied with a 3000V high frequency supply. This allows the use of a small diameter main lift umbilical and tether. The 3000V supply is converted to 320VDC at the TMS and the ROV. It is the 320VDC that is finally used to power the ROV and TMS. The vehicle is capable of carrying a wide range of cameras and sensors such as sonars and altimeters etc. It also has the ability to carry manipulators. The Tether Management Systems entrance can be extended to allow the attachment of tooling skids to the vehicle. Diver monitoring and support Inspection of structures Payload item deployment Maintenance and repair Survey Oceanography & Research Retrieval of ordnance
A brief technical description of the system follows. Refer to the appropriate Section of the Manual for a detailed description of each of these systems and components.
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2.2.1 Mohican ROV Specifications Refer to Drawing No. 3265-MAS Depth rating: Propulsion system: Forward thrust: Lateral thrust: Vertical thrust: 2000msw 6 off SPE-180 Brushless DC Thrusters Variable 50 to 105 kgf Variable 50 to 105 kgf 60 kgf 290kg 800mm 770mm 1150mm 30kg Excluding Cameras 5 0.5 m 0.5 m 380-440VAC 3-phase 50/60 Hz @ 25 amps 230VAC @ 10 amps 24 VDC @ 2 amps 320VDC @ 15 amps Connectors for 2 x cameras 4 x 250 Watt, 2 dimmable on one circuit and 2 on another circuit To suit industry standard sonars RS232, RS484 and 24VDC 320VDC @ 15 amps
Weight and Dimensions: Weight in Air: Height: Width: Length: Payload: Automatic functions: Auto-heading: Accuracy Auto-depth: Accuracy Auto-altitude: Accuracy Power Requirements Transformer Module: PDU/Electronics Rack: ROV User power:
Standard Interfaces Camera Interfaces: Lighting Interfaces: Sonar Interface: Auxiliary Interface: Power Interface:
Electronics Pressure Housings Port housing contains: Thruster isolation circuitry Light dimmer circuitry 300VDC Earth Fault Monitoring
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Starboard housing contains: Camera control electronics Vehicle Telemetry System Fibre Optic Multiplexer Depth Transmitter Camera Tilt Drive Electronics Transformer Housings The oil filled transformer housing contains the high voltage/high frequency transformer which converts the 3000V supply to 320V. It also serves as the termination point for the tether. Frame The frame is manufactured from polypropylene sheet to form a strong corrosion and maintenance free structure. The frame incorporates various attachment points for the mounting of additional equipment. The polypropylene sections are bolted together using M8 stainless steel button head Allen screws and nylock nuts. Buoyancy Syntactic Foam rated to 2000 meters. The vehicle has a payload of 30kg excluding cameras. The payload is made up from lead ballast unless optional equipment is fitted. 2.2.2 Mohican Control Consoles The Mohican Console consists of a Power Distribution unit (PDU) housed in an 8U 19 rack mount module, a remote hand held pilots console and the high voltage transformer module. The Power Distribution Unit controls the power and the line insulation monitoring to the ROV and TMS and also includes an electronics rack which contains the video overlay system and the TMS telemetry system. The pilots control console contains all of the necessary switches and joysticks etc. to fly and control the ROV. The pilots console communicates with the ROV using a RS485 data transmission system on a fibre link through the main umbilical and the tether. The remote console is connected to the front panel of the PDU via a 19-way connector. The high voltage transformer converts the incoming 3-phase supply into a 3000VAC 400Hz supply for the vehicle. The transformer module is controlled by the PDU using a 16-way connecting lead.
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2.2.3 Mohican Tether Management System (TMS) General The Mohican TMS is an extremely compact unit, simple to understand, operate and maintain. The TMS allows the ROV greater excursion distances as opposed to live boating; that is, if the vehicle was deployed over the side of a vessel rather than from the TMS. It also allows the ROV to be used in more severe weather conditions than live boating as the effect of the swell and currents acting on the tether are minimised. The main structure of the Mohican TMS (Tether Management System) is constructed from 316 grade stainless steel (also available in aluminium). Various plastics are used for components such as the tether drum and pulleys etc. Polypropylene sections around the vehicle entrance prevent damage to the vehicle as it re-enters the TMS. A single thruster motor driving a worm type gearbox supplies the motive power for the TMS winch drum. The gear box provides a natural brake for the drum. A video camera is fitted to the TMS to monitor the tether drum and the vehicle as it leaves and returns to the TMS. The camera is connected to the electronics pod via a 4 way underwater connector, which carries the 24VDC supply and the video signal. The TMS has two 250 WATT 230V lights connected to the electronics pod via 3 way underwater connecting leads. The supplies to the lights are fused using 2 amp fuses inside the electronics pod.
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2.2.4 TMS Specification TMS Type: Side Entry Garage with winch and level wind mechanism with constant tension pulley 2200W DC Electric Motor 250 mtrs of 20.5mm diameter 60kg Thermo-plastic with Kevlar strain members 550 kg 410 kg 1600mm 1630mm min 2025mm max 1075mm