Kongsberg cPAP ROV positioning in Long Base Line transponder array Instruction manual
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ಜಾಹಿರಾತು
Instruction manual cPAP
®
Subsea transceiver MF and LF
(Space available for illustration)
cPAP
®
Subsea Transceiver MF and LF
Instruction manual
Document history
Rev Date
2 July 2015
Written by
IJG
Checked by
T GE
Approved by
SER
B
Added cPAP 17 with all relevant information and outline drawing.
Copyright
© 2015 Kongsberg Maritime AS. All rights reserved. The information contained in this document remains the sole property of Kongsberg Maritime. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Maritime.
Disclaimer
Kongsberg Maritime endeavors to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omission.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.
Support
HiPAP, HPR, Transponder and ACS:
Phone 24 hour: +47 3303 2407
E-mail: [email protected]
Instruction manual
HIGH VOLTAGE SAFETY WARNING
The voltages used to power this equipment are potentially lethal.
Even 110/230 Vac can kill.
Whenever possible, the following precautionary measures should be taken before any work is carried out inside the equipment:
• Switch off all high-voltage power supplies.
• Check the operation of any door interlocks and any other safety devices.
• Completely discharge all high-voltage capacitors.
It should be noted that interlocks and safety devices are normally located only at regular access points, and high voltages may be exposed during dismantling.
Caution Never work alone on high-voltage equipment!
Refer to general safety procedures.
352661/B V
Table of contents
Instruction manual
2 BASIC SYSTEM INFORMATION ....................................................................... 2
Connecting the subsea cable to the cPAP and the transducer .................................... 9
Connecting the subsea interface cable to the cPAP and the external unit ................. 9
5 DEPLOYMENT AND OPERATION .................................................................. 11
352661/B VII
cPAP Subsea transceiver
VIII 352661/B
Instruction manual
1 ABOUT THIS MANUAL
This is the Instruction manual for the cPAP Subsea transceiver.
Manual content
This manual describes the cPAP Subsea transceiver.
The manual provides a general introduction to the unit, technical specifications, operating information and maintenance procedures. It also includes spare part list and outline dimension drawings.
Abbreviations
APC
APOS
Acoustic Positioning Computer
Acoustic Positioning Operator Station
AUV Autonomous Underwater Vehicle
HiPAP® High Precision Acoustic Positioning
LBL
LF
MF
N/A
ROV
SBL
SSBL
TD
TDR
TP
Long Base Line
Low Frequency
Medium Frequency
Not applicable
Remotely Operated Vehicle
Short Base Line
Super Short Base Line
Transducer
Remote transducer
Transponder
352661/B 1
cPAP Subsea transceiver
2 BASIC SYSTEM INFORMATION
This chapter gives an overall description of the cPAP Subsea transceiver.
Topics
→
→
→
Remote transducers – on page 3
→
→
Short description
Figure 1 cPAP 34 with TDR30H
• The cPAP is designed for ROV LBL positioning and other underwater umbilical connected vehicle or module.
• The cPAP subsea transceiver is compatible with both Cymbal acoustic protocol for positioning and data link, and HPR 400 channels and telemetry.
• LBL positioning
• Acoustic telemetry link for command and data transfer.
• SSBL Range measurement positioning
• The subsea transceiver unit is designed with a modular construction such that the transducer, transceiver electronics and end cap modules can be replaced individually to suit its purpose.
• cPAP 34 is a medium frequency transceiver with a 4000 metre depth rating.
• cPAP 17 is a low frequency transceiver with a 7000 metre depth rating.
2 352661/B
Models
Basic system information
Medium frequency
cPAP 34
• Basic unit - subsea transceiver without transducer
• Up to three (3) remote transducers connected
P/N: 330098 cPAP 34-30H
• Subsea transceiver with integrated transducer
• 30° horizontal beam width
P/N: 349741
Low frequency
cPAP 17
• Basic unit - subsea transceiver without transducer
• Up to three (3) remote transducers connected
P/N: 392298
Remote transducers
Medium frequency
TDR30H
• 30° horizontal beam width
P/N: 345773
352661/B 3
cPAP Subsea transceiver
TDR180
• 180° beam width
P/N: 349742
TDR40V
• 40° vertical beam width
P/N: 349743
Low frequency
TDR180
• 180° beam width
P/N: 394674
Topside system
The topside HiPAP/HPR system and the operation station are described in separate manuals.
System description
→
Refer to the HiPAP / HPR Instruction manuals.
Operation
→
Refer to APOS Instruction manual/APOS online help.
Subsea system
The cPAP system has the subsea transceiver unit installed on the
ROV together with the transducer(s).
The cPAP Subsea transceiver unit is connected to the topside
HiPAP/HPR operator station via optical fibers or RS-422 line in an umbilical. The interface to the topside HiPAP/HPR secures full operation from the APOS.
The cPAP system uses the same positioning transponders as a topside HiPAP/HPR system, and the operational principles are identical to those systems.
4 352661/B
Technical specifications
3 TECHNICAL SPECIFICATIONS
This chapter lists the main technical specification for the cPAP
Subsea transceiver units.
Topics
→
→
→
Remote transducers – on page 6
Medium frequency
Frequency band
Depth rating
Operating temperature
Power supply
Power consumption
Data interface
Baud rate
Housing
Housing coating
Low frequency
Frequency band
Depth rating
Operating temperature
Power supply
352661/B
Power consumption
Data interface
30 kHz
4000 m
-5 °C to 55 °C
110/230 Vac or
Max. 15 V DC (optional)
Max. 250 W
(transmitting pulses)
RS-422 and RS-232
9600 baud
Anodised aluminium
Polyurethane
10-16 kHz
7000 m
-5 °C to 55 °C
110/230 Vac or
Max. 15 V DC (optional)
Max. 250 W
(transmitting pulses)
RS-422 and RS-232
5
cPAP Subsea transceiver
Baud rate
Housing
Housing coating
Remote transducers
Transducer beam
Transducer beam widths
-90
-60
- 30
-10 -20 -30 -40
-30
-40
-10 dB
-20
9600 baud
Stainless steel
Polyurethane
30
TDR30H
60
90
-120
120
-150
(CD6035) 180
150
Source level = 194 dB (Horizontal)
6 352661/B
Transducer beam
Technical specifications
TDR180
Transducer beam TDR40V
352661/B 7
cPAP Subsea transceiver
4 SETUP AND CONFIGURATION
This chapter gives a brief overview of the basic system setup for the cPAP Subsea transceiver.
Topics
→
Installing the transducer - on page 8
→
Connecting the subsea cable to the cPAP and the transducer - on page 9
Connecting the subsea interface cable to the cPAP and the external unit on page 9
→
Turning the cPAP ON and OFF- on page 10
→
→
Setting up the cPAP in APOS - on page 10
Installing the transducer
The transducer needs to be protected during launch and recovery of the ROV. It is also important to get a good line of sight to the LBL transponders while the ROV is navigating close to the seabed. This can be solved by using a hydraulic ram to raise and lower the transducer as needed.
Power supply
cPAP automatically detects 110/230 Vac and 15 V DC
(optional).
8 352661/B
Setup and Configuration
Connecting the subsea cable to the cPAP and the transducer
1
Connect transducer to TD 1 and/or
TD 2.
Fit the unused connector with a dummy plug if only one transducer is connected
2
Connect the other end to the transducer.
Connecting the subsea interface cable to the cPAP and the external unit
Caution
352661/B
→
See wiring diagram for this cable in the drawing file chapter
Max. 15 V DC Ext power connected to the 16 pin connector on the cPAP.
1
Connect the 16 pin connector (1) to the connector on the cPAP.
2
Fasten the cable with the plastic sleeve (2) once connected.
9
cPAP Subsea transceiver
3
The customer has to add their plug to the cable.
Turning the cPAP ON and OFF
The ON/OFF switch has 4 positions. The subsea transceiver is only switched ON when the two marker dots are aligned.
All other positions are OFF.
Data interface
cPAP automatically detects both RS-232 and RS-422 signal.
Setting up the cPAP in APOS
→
For all information about the setup and configuration of the cPAP subsea transceiver - see APOS Online Help.
10 352661/B
Deployment and Operation
5 DEPLOYMENT AND OPERATION
This chapter describes how to start using the cPAP Subsea transceiver.
Topics
→
Pre-deployment checks - on page 11
→
→
Pre-deployment checks
Before you deploy the subsea transceiver, you must
:
1
Ensure that interface cable and transducer cables are properly connected to the cPAP.
2
Ensure the on/off switch on the end cap is switched ON.
3
Perform a visual inspection of the subsea transceiver.
The ventscrew and the pressure relief valve must be closed.
The lock cords are inserted.
4
Perform a functional check before deployment.
The functional check can be performed as follows:
→
Refer to the APOS Instruction manual/APOS online help.
• On deck test:
Operate the cPAP together with a transponder on deck.
Place the cPAP transducer face to face with the transponder transducer.
Mounting
Mounting brackets
The subsea transceiver may be secured to a ROV using mounting brackets.
→
See proposed installation of transducer on page 8.
352661/B 11
cPAP Subsea transceiver
Transducers
Ensure free sight between the cPAP transducers on the ROV and transponders on the sea bed.
____________________________________________________________
Warning Do not install any metal clamps etc. onto aluminium surfaces on the subsea transceiver, as this can generate galvanic current, causing corrosion on the subsea transceiver.
Operation
→
For all information about the operation of the cPAP subsea transceiver - see APOS Online Help.
12 352661/B
Maintenance
6 MAINTENANCE
The following maintenance is normally required:
• Washing the unit.
• Lubrication of the external connector
____________________________________________________________
Caution Electronic devices can be destroyed by static electricity.
It is therefore essential that full protection against static is practised by service engineers.
Although the unit is resistant to mechanical vibration and shock, every effort must be made to avoid careless handling when the unit is in use or being transported.
____________________________________________________________
Topics
→
→
Preventive maintenance - on page 13
→
Opening the transponder - on page 14
→
Replacing the transducer - on page 15
→
Assembling the transponder - on page 15
→
Lubricating the subsea connectors - on page 16
O-rings
Whenever the subsea transceiver is opened and the O-rings are exposed, precautions must be taken. This includes keeping the
O-rings and mating surfaces free of dust and debris. If any of the mentioned surfaces is to be cleaned, it is important to use lintfree objects. Q-tips must never be used to clean areas anywhere near an O-ring.
When inserting an O-ring, make sure the surface is clean, and that it is covered with a thin film of silicone grease.
Preventive maintenance
Preventive maintenance is limited to keeping the unit clean.
____________________________________________________________
Caution Do not use high pressure water as this will damage the transducer face.
352661/B 13
cPAP Subsea transceiver
____________________________________________________________
• Remove all traces of salt and debris.
• Before any connectors are disconnected, ensure the surrounding areas are dry.
• Inspect the unit for damage at regular intervals. Pay particular attention to the transducer surface. This is manufactured of a synthetic rubber material, and can easily be damaged.
Opening the cPAP
Before you open the unit:
1
Wash the unit thoroughly in fresh water, and dry off any moisture on the outside.
2
Place the subsea transceiver horizontally on a flat, clean work-bench, and support it so it cannot roll off.
3
Turn OFF the subsea transceiver.
4
Disconnect any external cables.
Opening the unit:
The unit is held together by a lock cord inserted in a groove between the tube and the end cap / transducer. Access to the cord is via two clearly visible slots at either end of the subsea transceiver tube. The cord is inserted by hand, and it is removed by picking up the free end visible in one slot, and pushing the other end (visible in the other slot).
____________________________________________________________
Caution Take care not to use sharp objects that can damage the anodized surface of the aluminium.
____________________________________________________________
Caution Observe the 5 mm orientation peg at either end of the tube. When pulling apart, make sure to keep this orientation until parts are completely free from each other. Forceful twisting of the parts relative to each other while the internal parts are still mated, will damage the unit.
____________________________________________________________
1
Remove the retaining cord between the bottom end cap
(interface) and the tube, as described above.
2
Carefully pull the bottom end cap from the unit.
3
The bottom end cap is fitted with two guiding pins that fit into two holes in the electronic chassis.
14 352661/B
Maintenance
4
Remove the lock cord between the top end cap
(transducer) and the tube, as described above.
5
Pull the tube from the top end cap (transducer). Support the top end cap (transducer) as it is withdrawn.
-
All internal parts are now clearly visible and accessible.
6
Once the O-ring is clear of the housing, the top end cap
(transducer) and electronics chassis may be removed.
Replacing the transducer
If the transducer is not working, the whole module must be replaced.
1
Open the cPAP.
2
Remove the transducer from the electronics chassis (2 fixing screws).
3
Assembly is basically the reverse of dismantling.
Assembling the cPAP
Before you start:
1
Inspect the O-rings and backup rings for damage. If in doubt, or if they have been used for more than one year, they should be replaced.
2
Place the new bag of silica-gel desiccant into the housing to absorb any humidity that may have entered the unit while it was open.
352661/B 15
cPAP Subsea transceiver
3
Ensure all surfaces, O-rings and backup rings are completely
clean and then wipe a thin film of silica-gel over the rings and mating surfaces.
Assembling:
Assembly is the reverse of disassembly.
Handling the O-rings:
1
Check the condition of the rings and carry out any necessary replacements.
2
Ensure the O-ring surfaces are clean and free from any dust, debris or old grease.
3
Lightly grease the rings prior to assembly using Molykote
33 grease or similar.
4
Re-fit the O-rings (see figure below).
Retaining cord
Transducer End cap
(Cd6418)
Figure 2 O-ring locations on transponder
Lubricating the subsea connectors
The subsea connectors should be kept free from grit and dirt.
The manufacturer recommends lubricating the pins with:
• Molykote 44M silicone based grease.
− Do
not use silicone based sprays like 5-55, WD-40 or similar. These will degrade the rubber fused around the metal pins.
____________________________________________________________
Note
Use it sparingly; half a match-head dose per contact is adequate.
____________________________________________________________
16 352661/B
Drawing file
7 SPARE PARTS
This chapter lists the parts and modules defined by Kongsberg
Maritime as
Line Replaceable Units (LRUs)
. The required mounting components (such as nuts, bolts, washers etc.) are identified on the diagrams, but have not been allocated order numbers as we regard these items as standard commercial parts available from retail outlets around the world.
Maintenance kit
Unit name cPAP Maintenance kit
Medium frequency
Unit P/N
404321
cPAP units
Unit name cPAP 34 cPAP 34-30H
cPAP Main modules
Unit name
Transponder main units
Chassis w/circuit boards and power modules
Housing coated (tube)
Top end cap (transducer)
Options
Top end cap 2 x TD
Transducer TD30H
Bottom end cap
Bottom end cap
Remote transducers
Unit name
TDR30H
352661/B
Unit P/N
330098
349741
Unit P/N
341776
381381
342293
361662
341743
Unit P/N
345773
17
cPAP Subsea transceiver
Unit name
TDR180
TDR40V
Low frequency cPAP units
Unit name cPAP 17
cPAP Main modules
Unit name
Transponder main units
Chassis w/circuit boards and power modules
Housing coated (tube)
Top end cap
Top end cap 2 x TD
Bottom end cap
Bottom end cap
Remote transducer
Unit name
TDR180 LF
Cables for all cPAP’s
Unit name
Subsea cable for cPAP transducer
Subsea cable for cPAP interface
Unit P/N
349742
349743
Unit P/N
392298
Unit P/N
392300
381337
392227
381219
Unit P/N
394674
Unit P/N
345772
345771
18 352661/B
Drawing file
8 DRAWING FILE
This chapter holds illustrations referred to in various sections in this manual. The illustrations are based on the original system drawings and wiring diagrams.
• The original drawings are available in electronic format on request.
Drawings
Draw. No. Rev. Description
Medium frequency
333028
367370
402065
830-219523
386439
E Outline drawing – cPAP 34
A Outline drawing – cPAP 34-30H
Outline drawing – TDR180
A Outline drawing – TDR30H
A Outline drawing – TDR40V
Low frequency
393810
394785
A Outline drawing – cPAP 17
A Outline drawing – TDR180 LF
Cables
345771
345772
A Subsea interface cable
A Subsea cable for transducer
Ref.
on page
352661/B 19
cPAP Subsea transceiver
Outline drawing – cPAP 34
20 352661/B
Outline drawing – cPAP 34-30H
Drawing file
352661/B 21
cPAP Subsea transceiver
Outline drawing – TDR30H
22
Note:
All measurements are in mm.
The drawing is not in scale.
352661/B
Outline drawing – TDR40V
Drawing file
352661/B 23
cPAP Subsea transceiver
Outline drawing – cPAP 17
24 352661/B
Outline drawing – TDR180LF
Drawing file
352661/B 25
cPAP Subsea transceiver
Subsea interface cable
26 352661/B
Subsea interface cable – wiring diagram
Drawing file
352661/B 27
cPAP Subsea transceiver
Subsea cable for transducer
28 352661/B
Drawing file
9 INDEX
The next pages present the index of this manual.
____________________________________________________________
Abbreviations, 1
APOS, 11
APOS Instruction manual, 11
Assembling, 16
Before you start, 15
Assembling the cPAP, 15
Assembling the transponder, 13
Before you open the unit, 14
A
B
Models, 3
Molykote 33 medium, 16
Mounting, 11
Mounting brackets, 11
Online help, 11
Opening the cPAP, 14
Opening the unit, 14
Operation, 11, 12
O-ring, 15
O-rings, 13
O
C
P
Cables, 18 cPAP 17, 3 cPAP 34, 3 cPAP 34-30H, 3 cPAP Main modules, 17, 18
Power supply, 8
Pre-deployment checks, 11
Preventive maintenance, 13
R
D
Remote transducers, 3, 6, 17
Replacing the transducer, 15
Damage, 13
Data interface, 10
Drawing file, 19
Drawings
Outline drawing - cPAP, 19
H
Setting up the cPAP in APOS, 10
Short description, 2
Spare parts, 17
Static electricity, 13
Subsea system, 4
S
High voltage safety warning, V
T
L
Lubricating the subsea connectors, 16
M
TDR180, 4
TDR30H, 3
TDR40V, 4
Technical specifications, 5
Topside system, 4
Maintenance, 13
Manual content, 1
352661/B 29
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