• Schilling Robotics Titan 3


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  • FileName: 9619.pdf [read-online]
    • Abstract: Schilling Robotics Titan 3Slave ControllerUpgrade Kits (In-Arm)Models:1-4863 (SeaNet to Burton 15 Cable) 101-4967-1 (SeaNet Whip & BurtonCable)1-4890 (SeaNet to Burton 20 Cable)101-69081 (6 Pin 20 Shell Burton)

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Schilling Robotics Titan 3
Slave Controller
Upgrade Kits (In-Arm)
Models:
1-4863 (SeaNet to Burton 15 Cable) 101-4967-1 (SeaNet Whip & Burton
Cable)
1-4890 (SeaNet to Burton 20 Cable)
101-69081 (6 Pin 20 Shell Burton)
1-4902 (SeaNet to Burton 20 Cable)
101-6466 (8 Pin Burton)
1-4962 (SeaNet Cable)
101-6786 (8 Pn 20 Shell Burton)
1-4967 (SeaNet to Burton 20 Cable)
101-7155 (8 Pin Burton)
1-5983 (7KM SeaNet)
101-7892 (8 Pin 15 ShellBurton)
Document No. 011– 9619
Copyright © 2012 by Schilling Robotics, LLC. All rights reserved.
Schilling Robotics, the FMC Technologies logo, and their frameworks are trademarks and service
trademark applications of FMC Technologies. No part of this document may be reproduced or
used in any form without the express written permission of FMC Technologies. Descriptions and
specifications are subject to change without notice.
FMC Technologies Schilling Robotics
260 Cousteau Place, Suite 200, Davis, CA 95618 • Ph: (530) 753-6718 • Fax: (530) 753-8092
E-mail: [email protected][email protected][email protected]
Web Site: http://www.schilling.com
TECHNICAL MANUAL REVISION LOG
PRODUCT: Titan 3 Slave Controller Upgrade Kit, 101-4863, 4890,
4902, 4962, 4967, & 4967-1, 6081
TECHNICAL MANUAL: 011–9619
Description Date Rev.
Manual release 05/13/04 A
Production revision 08/21/07 B
Production revision 12/11/07 C
Production revision 02/20/08 D
Production revision 03/26/09 E
Kit 101-7892 added 12/23/10 F
Titan 3 In-Arm Slave Controller
Upgrade Kits
In This Manual:
• 1 Description ....................................................................page 1
• 2 Installing New Slave Arm Components ..............................page 2
• 3 Configuring Telemetry Protocol, Part 1...............................page 9
• 4 Replacing the Master Controller EPROM Chip ......................page 9
• 5 Confirming Master Controller Whip Connections ................ page 10
• 6 Configuring Telemetry Protocol, Part 2............................. page 11
• 7 Telemetry and Power Connections................................... page 13
• 8 Testing Telemetry and Power .......................................... page 16
• 9 Testing Slave Arm Functions .......................................... page 19
• 10 Closing up Components ............................................... page 19
• 11 Completing the Installation .......................................... page 20
• 12 Deck-Test Options ....................................................... page 20
• 13 Updating the Titan 3 Technical Manuals.......................... page 20
• 14 Diagnostics ................................................................ page 20
• 15 SeaNet Cable Primer ................................................... page 22
• 16 Drawings & Part Lists .................................................. page 26
• Technical Manual Revision Notice ....................................... page 89
• Operation ....................................................................... page 91
• Troubleshooting............................................................. page 129
• Maintenance & Service ................................................... page 147
1 Description
Kits models are listed on the manual cover. Kit differences are based on the type of system con-
nector and its pin assignments.
These new upgrade kits place a 24 VDC slave controller PC board in the forearm of the Titan 3
slave arm and eliminate the need for the standard slave controller bottle.
The kits include a new slave arm wiring harness, PC board, and an updated master controller
EPROM. Some kits contain a SeaNet cable, SeaNet adapter cable, or SeaNet whip and OEM con-
nector for connecting the slave arm directly to system power and telemetry. See the part list for
each kit for full details.
011–9619 Page 1 of 88
• Titan 3 In-Arm Slave Controller Upgrade Kits
Power input to the new in-arm PC board is 24 VDC at 12 watts (versus 60W for the original slave
bottle electronics). For ROV systems with 90-260 VAC power, atmospherically compensated, in-line
24V power supplies are available.
The new PC board utilizes a detection grid on the telemetry OPERATE FRZ
------------[WATER*]------------
board to detect the presence of water in the low point of the 1> FREEZE Wrs Md:POS Drivers Jaw Md:POS Scale Tog:100%
screen menus. EXIT Yes key to install the factory default settings for joint limits, stow paths, error
checks, and servo valve offsets (customized settings can be made in “Completing the
Installation” section on page 20).
SCHILLING ROBOTICS, LLC
TITAN MANIPULATOR SYSTEM
--------------------------------
The ID Code indicates that this
Master Controller has been
used with a T3 slave arm, but
now a T4 slave arm is detected.
Select [Yes] only if you would
like to change ID Code to T4
and continue operation.
Press 4> Yes
--------------------------------
key
Figure 16 Opening menu screen
7 Telemetry and Power Connections
! Caution
Incorrect connections can damage or destroy electrical components. Do
not assume that an existing penetrator is wired correctly for this upgrade
kit. Power requirements and slave cable pin designations ARE NOT THE
SAME for all Titan 3 models.
7.1 Wiring the Kit to Your System
Wire your system power and telemetry penetrator or the SeaNet penetrator/whip to match the cable
conductor pin functions of your Titan 3 upgrade kit.
Upgrade Kit 101-4863
Connection references:
Wiring Diagram, T3 SCE 101-4863 Upgrade Kit, 035-0702 ........ page 37
Cable Ass’y, SeaNet/Burton 15 Shell, 101-4870 ....................... page 53
Cable Ass’y, Slave Arm, T3SCE, 101-4839 ............................... page 50
Upgrade Kit 101-4890
Connection references:
Wiring Diagram, T3 SCE 101-4890 Upgrade Kit, 035-0701 ........ page 36
Cable Ass’y, SeaNet/Burton 20 Shell, 101-4889 ..............................................page 56
Cable Ass’y, Slave Arm, T3SCE, 101-4839 ............................... page 50
011–9619 7 Telemetry and Power Connections • Page 13 of 88
• Titan 3 In-Arm Slave Controller Upgrade Kits
Upgrade Kit 101-4902
Connection references:
Wiring Diagram, T3 SCE 101-4902 Upgrade Kit, 035-0703 ........ page 38
Cable Ass’y, SeaNet/Burton 20 Shell, 101-4901 .............................................. page 61
Cable Ass’y, Slave Arm, T3SCE, 101-4839............................... page 50
Upgrade Kit 101-4923
Connection references:
Wiring Diagram, T3 SCE 101-4923 Upgrade Kit, 035-0773 ........ page 43
Cable Ass’y, Slave Arm, T3SCE, 101-4839............................... page 50
Upgrade Kit 101-4962
Connection references:
Wiring Diagram, T3 SCE 101-4962 Upgrade Kit, 035-0708 ........ page 39
Cable Ass’y, SeaNet, 101-4155 .............................................. page 47
Penetrator with Whip, SeaNet, 101-4394-1 ............................. page 48
(NOTE: Connect unused video lines to power return line.)
Upgrade Kit 101-4967
Connection references:
Wiring Diagram, T3 SCE 101-4967 Upgrade Kit, 035-0709 ........ page 40
Cable Ass’y, SeaNet/Burton 20 Shell, 101-4872 ....................... page 54
Cable Ass’y, Slave Arm, T3SCE, 101-4839............................... page 50
Upgrade Kit 101-4967-1
See Upgrade Kit 101-4967-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 15
Upgrade Kit 101-5983
Connection references:
Wiring Diagram, T3 SCE 101-4967 Upgrade Kit, 035-0709 ........ page 40
Cable Ass’y, SeaNet-to-CPC, 101-4882 ................................... page 55
Cable Ass’y, Slave Arm, T3SCE, 101-4839............................... page 50
Upgrade Kit 101-6081
Connection references:
Wiring Diagram, T3 SCE 101-6081 Upgrade Kit, 035-0772 ........ page 42
Harness, Slave Arm T4 w/Camera, 6-P 20-S Burton, 101-5887 .. page 71
Cable Ass’y, Deck Test T4, 6-P 20-S Burton, 101-5889.............. page 72
Upgrade Kit 101-6466
Connection references:
Harness, Slave Arm, Titan 4, 8 Pin 20 Shell, 101-6147 ............. page 76
Cable Ass’y, Deck Test, 8 Pin 20 Shell, 101-6150...................... page 78
Upgrade Kit 101-6786
Connection references:
Wiring Diagram, T3 SCE 101-6786 Upgrade Kit, 035-0800 ........ page 44
Cable Assembly, T3 Upgrade, 8 Pin Burton, 101-6787 ............... page 81
Cable Assembly, Deck test, T3 Upgrade, 101-6788 ................... page 83
Page 14 of 88 • 7 Telemetry and Power Connections 011–9619
Titan 3 In-Arm Slave Controller Upgrade Kits •
Upgrade Kit 101-7155
Connection references:
Wiring Diagram, T3 SCE 101-7155 Upgrade Kit, 035-0831 ........ page 45
Harness, Slave Arm, Camera, 101-5082 ................................. page 68
Cable Ass’y, Deck Test, 101-5083........................................... page 70
Upgrade Kit 101-4967-1
In this upgrade kit, the Burton connector on the SeaNet adapter cable and penetrator conductor
assignments are selected by the user.
Connection references:
Wiring Diagram, T3 SCE 101-4967-1 Upgrade Kit, 035-0711 ..... page 41
SeaNet to customer-wired Burton connector cable 101-4872-1:
Cable Ass’y, SeaNet/Burton 20 Shell, 101-4872 ....................... page 54
Note: Connect unused video lines to power return line.)
SeaNet cable kit 101-4872-1 components are shown in the table below.
SeaNet Cable Kit 101-4872-1
Item P/N Description Qty
N/A N/A SeaNet Whip 1
22 005-1216 Tubing, Shrink, 3/32(Brim # Sh135-3/32) 0.4
25 005-4672 Connector, 8 Pin, 20 Shell, CCP PBOF, Burton 55P1-2008 1
27 002-2251 Clamp, Hose, 11/16-1.5, Awab, 316 Ss 1
Cable Assembly
a. Strip the cable conductors, if necessary, as shown in Figure 17.
Figure 17 Preparing whip conductors
b. Slide a 10 mm length of the shrink tubing (22) onto each conductor.
c. Solder conductors to the Burton 20 connector (25) using your selected pin designations.
d. Center the shrink tubing over the solder joints and apply heat to clench.
e. Push the conductors up into the boot, followed by the connector (25). Push in the
connector until fully-seated.
f. Install the cable clamp (27) and hand-tighten.
011–9619 7 Telemetry and Power Connections • Page 15 of 88
• Titan 3 In-Arm Slave Controller Upgrade Kits
7.2 Connecting the System
7.2.1 SeaNet Cables
Note: For complete information on how to connect, disconnect, and bleed SeaNet cables, see “Sea-
Net Cable Primer” section on page 22.
1. Connect the SeaNet cable to the slave arm penetrator (Figure 18).
Secure the cable with enough slack to allow full slave arm movement without stressing the
SeaNet cable or connector.
Note: For kit 101-4923 SeaNet cable is not included and must be supplied by the user.
SeaNet Penetrator
Figure 18 Slave arm SeaNet cable connection
2. When compensation is active, bleed the SeaNet cable by removing the screw on the top of the
adapter boot or loosening the screw on the top of the SeaNet connector.
7.2.2 Burton Cables
Note: Burton cable is not included in the kit and must be supplied by the user.
1. Connect the Burton cable to the slave arm penetrator.
Secure the cable with enough slack to allow full slave arm movement without stressing the
SeaNet cable or connector
7.2.3 All Cables
1. Confirm that the remainder of the long-line and mux/demux connections are consistent for
S>M (slave to master) and M>S (master to slave) communications. See “Multiplexed Long-
Line Diagnostics” section on page 21 for details.
8 Testing Telemetry and Power
8.1 SeaNet Cables Only
These tests may be done through the system long-lines or using the junction box and deck-test cable
identified in “Deck-Test Options” section on page 20.
1. Confirm the master controller is turned OFF.
2. Turn on 26 VDC power to the slave arm.
Page 16 of 88 • 8 Testing Telemetry and Power 011–9619
Titan 3 In-Arm Slave Controller Upgrade Kits •
3. Check the LEDs on the SeaNet cable.
— All LEDS flash briefly as a self-test when power is applied.
— The Power LED should remain red (indicating 26 VDC power is present).
— (RS-232)The Data Up and Data Down LEDs may be solidly lit if an intermediate
component in the long-line telemetry system is supplying voltage to the data line.
They should be unlit if no voltage is present on the data line or the slave arm is
directly connected to the master controller with the deck-test J-box and cable.
(RS-485) The Data Up and Data Down LEDs should be unlit.
— The Video LED should be lit only if a slave arm camera is present.
Data Down
Off = no connection/RS-485 idle
Yellow (red+green, solid) = RS-232
idle
Green (blinking) = Data active
Data Up
Off = no connection/RS-485 idle
Violet (red+blue, solid) = RS-232 idle
Blue (blinking) = Data active
Power
Off = No power,
Red = 26V (>14V),
Green = 12V (


Use: 0.0308