VideoRay Defender MSS Operator's Manual

Defender MSS Operator's Manual

MSS

Operator's Manual, 1.00.00

This material is copyright protected. No material may be reproduced or transmitted in any form or by any means for any purpose without expressed written consent of VideoRay LLC.

MSS

Operator's Manual, 1.00.00

Table of Contents

Table of Contents About this Document How to Get Help

Product Overview

MSS Vehicle Configurations Quick Start Instructions

Safety First System Components

Pre-Dive Preparations

Dive Operations Post-Dive Operations

ROV System Specifications ROV Modules Specifications

Power Module Communications Module AHRS Module Thruster Module Camera Module LED Light Module

ROV Accessories Specifications

Sonar Specifications DVL Specifications Manipulator Specifications ROV GPS Specifications

System Voltage Advisory

Equipment Guide

ROV Submersible

ROV Nomenclature Submersible Frame Buoyancy Ballast Power Module Communications Module AHRS Module

Thruster Module

Alpha Frame Thrusters Defender Frame Thrusters Pro 5 Frame Thrusters

Camera Module

High Definition Camera Low Light Camera

Light Module

Alpha Frame Lights Defender Frame Lights Pro 5 Frame Lights

ROV Connections

Tether Strain Relief

User Control Console

Safety Circuits Switches and Connections Computer

HD Monitor Hand Controller Tether

Tether Specifications Connections Summary Accessories

Included Accessories

Mission Support Accessories

Software Guide

Greensea Interface Overview

VideoRay Interface Overview

Software Management

Folder Structure Module Configuration

Configuration Commands

Command: vr_refresh

Updating Firmware Command: vr_enum Command: vr_setid Command: vr_debug_putty Command: vr_create_virtport

Maintenance Guide

User Maintenance Policy Module Replacement

Power Module Communications Module AHRS Module

Thruster Module

Camera Module LED Light Module

MSS Operator's Manuals

MSS

Operator's Manual, 1.00.00

About this Document

Online Manual

This Quick Start Guide is a subset of the full version of this manual, which is available on the MSS control panel and online in the following formats:

Installed on the MSS control panel at: Home/VideoRay/documentation/mss for viewing the HMTL locally.

http://download.videoray.com/mss for viewing the HMTL online.

http://download.videoray.com/documentation/mss/pdf/videoray_doc_mss.pdf for viewing the PDF online.

http://download.videoray.com/documentation/mss/zip/videoray_doc_mss.exe for downloading the HTML and PDF files.

Document Conventions

Several symbols are used throughout this documentation to add emphasis and to assist in relocating important information. The following table describes these symbols and their uses.

SYMBOL DESCRIPTION

The Danger icon is used to indicate there is a potential risk of personal injury or death. Extra care should be taken to understand the risks, and all personnel should exercise caution. It may also be appropriate to warn others in the immediate vicinity.

The Caution icon is used to indicate there is a potential risk of damage to the equipment or surrounding property. Personnel should receive training in the appropriate procedures before attempting to operate or maintain the equipment.

The Do Not icon is used to indicate that an action or activity should NOT be performed.

The Note icon is used to highlight a specific detail or point of information.

The Tip icon is used to highlight a suggestion or recommendation.

Beyond this Document

There is no substitute for experience and/or training, especially with respect to the real purpose for which you plan to use this equipment. We encourage you to explore options beyond the scope of these materials to expand your knowledge and skills necessary to support your applications. In addition to this documentation, VideoRay offers training and technical support and hosts a general user discussion forum and user image gallery.

We also realize that collectively, users of our products spend considerably more time operating our systems than we do ourselves. Users also encounter more diverse operating environments across an extremely broad range of applications. We highly value this vast experience base, and invite and encourage you to share your experiences and suggestions with us. Please feel free to contact us by any of the methods listed below.

Quality Commitment

VideoRay strives to design, manufacture, deliver and support the highest quality products and services, including this documentation. We have made every effort to ensure that this documentation is accurate and provides you with the most up-to-date information.

If you find any errors in this documentation or have suggestions for improvements, each page contains a "Help us improve this document" feedback link in the left margin (you must be connected to the Internet to use this link).

Address

VideoRay LLC

212 East High Street Pottstown, PA 19464 USA

Email info@videoray.com General Information and Sales support@videoray.com Technical Support

Telephone +1 610-458-3000 Office +1 610-458-3010 Fax

Disclaimer

This document is deemed accurate at the time of its writing, however it is not a legal contract and the information contained herein should not be construed to represent any form of commitment. This document as well as the associated products and services are subject to change without notice.

MSS

Operator's Manual, 1.00.00

How to Get Help

Help for your MSS is available through several channels.

All Hours Self-Service / Crowd-Source Tools

Operator's Manuals and Standard Operating Procedures www.videoray.com/support/manuals.html

Software Downloads www.videoray.com/support/downloads.html

Frequently Asked Questions www.rovfaq.com

ROV User Forum www.rovinfo.com

Global Support

Email support@videoray.com

Phone +1 610-458-3000 (select option 1)

Skype videoray.support (by appointment )

Remote Sessions www.videoray.com/support/remote-support.html (by appointment )

Regional Support

VideoRay Authorized Dealers and Service Centers www.videoray.com/dealer.html

Training

Operator Training www.videoray.com/learn-more/training.html

Advanced Maintenance Training

http://www.videoray.com/learn-more/training/advanced-maintenancetraining.html

Operational Strategies and Tactics Support

If you need help understanding how to apply your system to a specific project, contact VideoRay or you local VideoRay dealer. We can provide guidance or help you find a certified consultant.

MSS

Operator's Manual, 1.00.00

MSS Overview

The VideoRay Mission Specialist Series is the world's first ROV to deliver custom purpose-built vehicles using a standard production packaging process. Mission Specialist ROVs are literally built around the payload using core modules instead of figuring out how to adapt an existing vehicle platform in order to mount the payload. The overall system represents the difference between a pickup truck and purpose-built construction vehicles, with equal differences in performance for specific applications.

Based on modular components and standard interfaces, the development a specific Mission Specialist Series ROV is orders of magnitude faster than designing a vehicle form the ground up or customizing an existing monolithic vehicle.

Modular Primary Components Standard Interfaces Rapid Prototyping Additive Manufacturing Sensor Integration

MSS

Operator's Manual, 1.00.00

MSS Vehicle Configurations

MSS vehicle configurations include:

the Defender

the Pro 5

Vehicles are shown approximately to scale.

MSS

Operator's Manual, 1.00.00

Quick Start Instructions

These Quick Start Instructions are streamlined to cover just the essentials of operating your MSS system. They are provided to get you started as quickly as possible, while keeping you and the equipment safe. They cover the equipment set up and basic operation, but are not intended to result in a comprehensive base of knowledge or set of operational and piloting skills. The remaining sections of this documentation should be referenced for a complete understanding of the features, capabilities, operating procedures and maintenance requirements of your MSS system.

Topics in this Section

Safety First System Components

Pre-Dive Preparations

Dive Operations Post-Dive Operations

Safety First

Operating electrical devices in and near the water can be dangerous. There is always a risk of drowning or electrocution in such an environment. Reduce these risks by using common sense and observing safety regulations and recommended safe practices including the following:

Never handle power cords while in contact with water or allow power cord connectors or the control panel to enter the water. The only components that can safely be placed in water are the submersible, any onboard accessories and tether, and only after making sure the connections are secure.

Always test the safety components, such as GFCI switches and interlock devices, before beginning operations. Follow the procedures described in this manual for.

Have proper safety equipment, such as PFDs (Personal Flotation Devices), on hand and make sure you know how to use them before you need them.

Keep fingers, hair, loose clothing and other objects away from VideoRay's propellers and other pinch points.

Monitor weather and sea conditions and heed any warnings or alerts.

Be aware of and follow any legal ordinances or regulations in your area regarding operation of vessels and underwater equipment in the water.

Before setting up for or commencing any dive, it is a good practice to make sure there are no hazards to people or the equipment on land or in the water. If there are other people in the water nearby, you should advise them that you are going to be operating the ROV. As the owner/operator, it is your responsibility to ensure the safety of those around you as well as that of the equipment and nearby property.

How Safe Is Safe Enough?

Addressing all aspects of safety while working in a water environment is beyond the scope of this documentation. VideoRay encourages you to participate in safety training appropriate for your industry and applications, including such topics as vessel operations, first aid, survival and other relevant topics.

Introduction to the System Components

Unpack the system and familiarize yourself with the components.

ROV

The ROV, or Remotely Operated Vehicle, carries the cameras, lights and sensors or accessories to the underwater places you want to observe. Thrusters provide mobility and these systems are controlled from the surface using the control panel and hand controller.

See the ROV section of the Equipment Guide for more information.

User Control Console

The User Control Console includes the system's power and communications modules, computer and hand controller, and serves as the operator's control interface and video display. Open the User Control Console and familiarize yourself with the components and primary controls on the hand controller. See the User Control Console and Hand

Controller sections of the Equipment Guide for a complete

description of all of the controls and connections.

See the Control Panel section of the Equipment Guide for more information.

Hand Controller

The hand controller is used to pilot the VideoRay and operate other features like the lights, camera controls and manipulator. The hand controller is pre-programmed, but can be customized to meet specific user or operational needs.

See the Hand Controller section of the Equipment Guide for more information.

Tether

The tether connects the ROV to the control panel. It delivers power and control signals to the ROV, and returns video and sensor data (optional) from the ROV to the surface. Some systems come with a TDS (Tether Deployment System), that makes the work of managing the tether easier. The tether is also often referred to as the umbilical.

See the Tether section of the Equipment Guide for more information.

Additional Items

Additional items may be supplied with your system including tools, spare parts and other items. If included, these items are described in other sections of this documentation.

Some items shown may be optional and not included with your configuration.

Pre-Dive Preparations

Select a safe and preferably level area to set up the User Control Console. See the On-site

Operations section of the Project Management Guide for more information about site selection and set

up.

The pre-dive preparations consist of five parts:

1. Visual inspection before setting up the system

2. Setting up the system including making connections

3. Power on tests of the system's safety circuits

4. Primary functions test of the systems features

5. Adjusting the ballast for the desired buoyancy (to be completed in the next phase)

Conduct a Visual Inspection

Assuming this is your first time using the VideoRay, everything should be in proper working order and ready to go, but it is good practice to perform a pre-dive inspection before every dive, even your first. If any problems are noticed, they should be addressed before continuing.

1. Inspect the ROV and other system components to make sure there are no visible signs of damage or loose or worn parts. Also check for water inside any pressure hull modules, such as the camera.

2. Check the horizontal thrusters to make sure that the shafts are not bent and the propellers are free to spin and are not fouled, loose or binding on the thruster guards.

3. Check the vertical thruster(s) to make sure the shaft is not bent and the propeller is not fouled or loose or binding on the float block.

Make the Connections

It is best to start making connections at the ROV and working your way to connecting the system to the power source.

Connecting or disconnecting cables while the system is powered on is not

recommended.

Make sure the User Control Console power switch is set to the Off position and make sure the

ROV power switch is set to the off position by pressing it.

Top View

Side View

Some of the cables have been connected at the factory. See the appropriate sections of the

Equipment Guide for detailed information about each of the connections.

You will typically need to connect only the ROV, tether, strain relief hand controller, and power cord.

1. Connect the female end of the tether connector to the ROV. The connectors have one pin that is offset towards the center of the connector. Make sure the connectors are clean, align the pins, and push the connectors together - do not twist the connectors. Secure the locking collar by screwing the halves together.

2. Connect the braided strain relief from the tether to the rear of the ROV using the retaining screw. See the strain relief section for more information.

3. Connect the male end of the tether to the User Control Console. When not in use, keep the tether connectors clean and protected for the best performance and reliability.

4. Connect the hand controller to one of the USB ports on the User Control Console

5. Plug the User Control Console power cord into a conventional power source (100-240 Volts AC, 50,60 Hz). Power can be supplied through a land-based power outlet, generator or battery and inverter. See the User Control Console section of the Equipment Guide for power source requirements.

Power On Tests

If the system does not pass any of the following tests, it should not be used

until the problem is identified and corrected.

The VideoRay MSS includes two circuit safety components.

GFCI (Ground Fault Circuit Interrupter)

LIM (Line Insulation Monitor)

Testing the Circuit Safety Components

Connect the power cord to a suitable power source.

The GFCI can be found inline in the power cord.

1. Press the GFCI Reset button to turn on the GFCI. The green LED should illuminate.

2. Press the test switch on the GFCI. The GFCI should interrupt power and the green LED should go out.

3. Press the GFCI Reset button to restore power and continue the pre-dive steps.

When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and

can be removed from the power cord.

Power On and LIM Tests

Set the Power switch to the On position. The green Power On indicator light should turn on. If the green Power On indicator light is not on, make sure the system is connected to a working power source and the GFCI switch is turned on.

Twist the ROV Power switch to the On position. The green 400 V Power On indicator light should turn on. If the green 400 V Power On indicator light is not on, make sure the system is connected to a working power source and the GFCI and main power switches are turned on.

Test the LIM. The LIM can be found on the right side of the User Control Console. The GFCI switch and the main and 400 V Power switches must both be set to On in order to perform this test.

1. The yellow Alarm light should be off. If the yellow light is on, press and hold the Reset button until the yellow Alarm light turns off.

2. To test the LIM, press and hold the Test button until the yellow Alarm light turns on. This may take up to 10 seconds. Release the button when the yellow Alarm light turns on.

3. Press and hold the Reset button to reset the LIM. The yellow Alarm light should turn off. Release the button when the yellow Alarm light turns off.

Starting the VideoRay Control Software

Make sure the system is connected to a working power source and the GFCI / Circuit Breaker and Power switches are turned on.

1. Turn on the User Control Console and wait for the system to complete the boot up process.

2. To start the MSS EOD Workspace control software, double click on the MSS icon on the desktop.

See the Software Guide for more information about the VideoRay control software.

Testing the System's Functions

The next step is to ensure that the essential features of the ROV are functioning properly. Use the hand controller to perform the following tests. The manipulator functions listed below do not necessarily represent the full capabilities of the system. See the Hand Controller section of the

Equipment Guide for the complete list of functions and more information about using the hand

controller.

1 Horizontal Control joystick

2 Depth Control knob 3 Camera Tilt Up button 4 Camera Tilt Down button 5 Camera Focus In button 6 Camera Focus Out button 9 Lights Intensity knob

Additional features and controls may be available depending on the system configuration. These

tests represent the minimum set for all configurations.

Test the thrusters

For the next two steps, do not operate horizontal thrusters out of water for more than 30

seconds to avoid overheating or premature wear of the cartridge seals.

1. Gently move the joystick forward and backward and left and right - the horizontal thruster motors should turn the propellers. Release the joystick - it will return to center on its own, and the propellers will stop turning.

2. Rotate the Depth Control knob - the vertical thruster motor should turn the propeller. Return the Depth Control knob to center to cease the vertical propeller rotation.

Test the lights

For the next two steps, do not leave the lights on bright for more than 30 seconds while

the ROV is out of water to avoid overheating.

1. Turn the Lights Intensity knob to brighten or dim the lights - the lights intensity should vary according to the knob's position.

Test the camera functions

1. Press and hold the Camera Tilt Up button - the camera should tilt up smoothly through its entire range.

2. Press and hold the Camera Tilt Down button - the camera should tilt down smoothly through its entire range.

3. Press and hold the Camera Focus In button - the camera should focus in smoothly through its entire range.

4. Press and hold the Camera Focus Out button - the camera should focus out smoothly through its entire range.

If a manipulator or other accessories are attached, these items should be checked at this time.

Good Advice

The time to catch small problems before they become big problems is during the pre-dive inspection.

Dive Operations

After the previous four pre-dive checks and tests have been completed successfully, you are almost ready to commence the dive. But, there is one more issue to address that could affect the performance of the ROV. The ROV is designed to be operated in a near neutrally buoyant configuration, so the last step before launching your VideoRay is to check the buoyancy, and adjust the ballast if necessary. For most operations, the buoyancy is optimal when the top of the float block is even with the water surface and the ROV is level. If the ROV is too buoyant or too heavy, the vertical position may be hard to maintain or control.

Buoyancy will need to be adjusted for use in fresh water versus salt water and depending upon

whether accessories are used with the ROV.

Buoyancy Check and Adjustment

To determine if the buoyancy is correct, lower the ROV and at least 3 meters (10 feet) of tether into the water. You can lower the ROV by the tether - it will not hurt the tether because there is Kevlar in it. Observe the ROV in the water - it should not be floating too high or sink. It should also be floating level and not tipped to one side or pitched up or down. If the ROV floats too high, you will need to add some ballast weights. If the ROV sinks, you will need to remove some ballast weights. If the ROV is not floating level, you can change the locations of the weights.

The buoyancy can be adjusted by adding or removing the supplied ballast weights to the vehicle. The weights can be added to or removed from the slots by hand. For most operations, the weights should be evenly distributed to provide a balanced attitude of the ROV in water.

Commence the Dive

Once the buoyancy has been adjusted the ROV is ready to launch. Lower it into the water and operate the controls to maneuver it. The ROV can be lowered using the tether.

Start with the ROV on the surface and push the joystick forward slightly to make the ROV move forward. Move the joystick to the left or right to make it turn left or right. Get a feel for how agile the ROV is.

Observe the video display as well as the ROV to become acquainted with the camera's wide angle lens and its affect on depth perception underwater.

Once you feel comfortable with the horizontal maneuverability of the ROV, rotate the depth control knob to dive the ROV. Tilt the camera down as you dive so you can see towards the bottom. Rotate the depth control knob to bring the ROV back to the surface. Tilt the camera up as you surface so you can see towards the surface.

Change the lights settings, and adjust the camera focus. If you have a manipulator, tilt the camera down so you can see it and open and close the jaws.

As you get familiar with maneuvering the ROV, you can start to observe some of the on-screen displays including the depth, heading, camera settings and other data.

For your first dives, practice until you are comfortable operating the controls without looking at them and you are able to control the ROV with some precision.

See the Hand Controller section of the Equipment Guide for complete information about using the hand controller and see the Piloting section of the Operations Guide for more advanced tips on piloting the MSS.

Automated Flight Operations

Automated flight operations require additional configuration and tuning to ensure accurate flight dynamics and control. See the Automated Flight Operations section for more details.

Practice Makes Perfect

Developing the skills to operate your MSS like an expert may take some time. Practicing on a regular basis is highly recommended.

Post-Dive Operations

At the conclusion of your dive, retrieve the VideoRay and power down the system by closing VideoRay Balefire software, turning off the ROV power switch, shutting down the computer and then turning off the main power switch.. Make sure the ROV is secure before disconnecting the tether. After disconnecting the tether, keep the tether connectors clean and do not let them drag on the ground.

Proper maintenance of your VideoRay system ensures a long service life and that it will be ready to operate when you are. After each dive, you should visually inspect the system for damage that might have occurred during your operation.

Keeping the ROV clean is one of the most important aspects of good preventative maintenance practices, especially after using it in salt water. If you use your ROV in salt water, or water with contaminants, you should first rinse it, and then soak it in clean fresh water for at least one-half hour. After cleaning the ROV and tether, they should be allowed to air dry before being put away for storage.

Failure to properly maintain the ROV by thoroughly cleaning it after use may dramatically

reduce its service life.

Debriefing

Congratulations! You are well on your way to becoming an accomplished micro-ROV operator, but there are still many things to learn and skills to master. Continue learning about the system by reviewing the additional sections of this documentation and, most importantly, practice, practice, practice.

If you encountered any difficulties or have any questions, review these Quick Start Instructions and the other documentation that came with your system, including the Equipment Guide. If you still have difficulty or questions, contact VideoRay. Your success is our success, and we are here to help you get the most out of your VideoRay.

VideoRay contact information is available on the About this Documentation page.

Ready to Learn More?

To accelerate your learning and receive recognition for your knowledge and skills, VideoRay offers inperson classes and online training as well as the Micro-ROV User Certificate program. Training can be delivered at your site and customized to your needs. To learn more about these opportunities, click on the training link above to visit the VideoRay Educational Resources website.

ROV System Specifications

Open in New Window

MSS Defender features and specifications are subject to change without notice.

Specifications for the ROV Modules

Specifications for the VideoRay M5 Modules are provided on the following pages.

Power Module Specifications

Depth Rating

2,000 meters (6,500 feet)

Mechanical

Dimensions: 18 cm x 13 cm x 4 cm (7.1 inches x 5.1 inches x 1.6 inches) Weight in Air: 1.14 kg (2.5 pounds) Weight in Water: 0.55 kg (1.2 pounds)

Connections

8-Pin Male Connector (Tether) 9-Pin Female Connector (Communications)

5-Pin Female Connectors (Thrusters and LEDs) 2X

Power Input

Input Voltage Range: 200 - 420 V DC

Power Output

48V: 1500 W 24V: 300 W 12V: 120 W

M5 Power Module features and specifications are subject to change without notice.

Communications Module Specifications

Depth Rating

2,000 meters (6,500 feet)

Mechanical

Dimensions: 25.5 cm x 15.2 cm x 5.3 cm (6.12 inches x 6.0 inches x 2.1 inches) not including cable Weight in Air: 1.19 kg (2.6 pounds) Weight in Water: 0.55 kg (1.2 pounds)

Connections

9-Pin Male Connector (Upstream, Port 1) 9-Pin Female Connectors (Accessories, Ports 2 - 6) 5X

Power Input

24V: 300 W 12V: 120 W

Power Output

24V: 300 W 12V: 120 W

Communications

Ethernet RS-485

Sensor Feedback

Current Monitoring Voltage Monitoring

M5 Communications Module features and specifications are subject to change without notice.

AHRS Module Specifications

Depth Rating

2,000 meters (6,500 feet)

Mechanical

Dimensions: 17.8 cm x 7 cm x 5.4 cm (7.0 inches x 2.75 inches x 2.12 inches) not including cable Weight in Air: 0.55 kg (1.2 pounds) Weight in Water: 0.21 kg (0.46 pounds)

Connections

9-Pin Female Connector

Power Input

12 VDC

Communications

Ethernet RS-485

Sensor Feedback

9 DOF IMU Magnetic compass RPM Pressure Based Depth Sensor (100 Bar, with 400 Bar optional)

IMU Features

0.2 degree Static Roll/ Pitch

0.5 degree Dynamic Roll/ Pitch

1.0 degree Yaw 18 degree/h Gyro Bias Stability

M5 AHRS Module features and specifications are subject to change without notice.

Thruster Module Specifications

Depth Rating

2,000 meters (6,500 feet)

Mechanical

Dimensions: 13.2 cm x 12.2 cm x 11.8 cm (5.19 inches x 4.80 inches x 4.64 inches) not including cable Weight in Air: 0.65 kg (1.4 pounds) Weight in Water: 0.33 kg (0.73 pounds)

Connections

5-Pin Male / Female Connector (Stackable)

Power Input

48 VDC at 750-Watt Max input

Communications

RS-485 Galvanically Isolated Control

Sensor Feedback

Input Current Total

Input Voltage RPM Internal Temperature

Features

Direct Drive Brushless Motor Several Mounting Options 90mm Diameter Propeller 3 Blade Propeller with quick connect/release Collet Smooth Start at 120 RPM Instant Reverse No Cogging Very Quiet and Smooth Operation

M5 Thruster Module features and specifications are subject to change without notice.

Camera Module Specifications

Depth Rating

2,000 meters (6,500 feet)

Mechanical

Dimensions: 15.4 cm x 8 cm diameter (6.1 inches x 3.1 inches diameter) not including cable Weight in Air: 0.66 kg (1.45 pounds) Weight in Water: 0.9 kg (0.20 pounds)

Connections

9-Pin Female Connector

Power Input

12 VDC; Power Consumption: 57w

Communications

Ethernet RS485

Sensor Feedback

Internal Pressure/Vacuum Integrity Internal Humidity Internal Temperature Tilt Position

Protocols

Video: Ethernet Camera Control: Ethernet Servo Control: RS485

Visibility

Internal Tilt: 85 Degrees Horizontal Field of View: 80 Degrees

Features

Optical BK7 Glass Dome Autofocus Whitebalance Control 16x Digital Zoom

13.19 Megapixel Still Capture

M5 HD Camera Module features and specifications are subject to change without notice.

LED Light Module Specifications

Depth Rating

2,000 meters (6,500 feet)

Mechanical

Dimensions: 7.6 cm x 7 cm x 2.8 cm (3.0 inches x 2.75 inches x 1.12 inches) not including cable Weight in Air: 0.14 kg (0.31 pounds) Weight in Water: 0.09 kg (0.10 pounds)

Connections

5-Pin Male / Female Connector (Stackable)

Power Input

48 VDC at 76 Watt

Communications

RS-485 Galvanically Isolated Control

Sensor Feedback

Input Voltage Input Current Total Internal Temperature

Features

3,000 K CCT, 80 CRI White 2,880 Calculated minimum flux (lm) per array, 5,760 total lm per light module Individually Controlled Arrays (16 emitters per array, 32 total)

60 Degree Spot Beam 110 Degree Flood Beam

Hard Anodized, Potted Housing

M5 LED Light Module features and specifications are subject to change without notice.

Specifications for the ROV Accessories

Specifications for the VideoRay MSS Defender accessories are provided on the following pages.

Sonar Specifications

Open in New Window

MSS Defender features and specifications are subject to change without notice.

DVL Specifications

Open in New Window

MSS Defender features and specifications are subject to change without notice.

Rotating Manipulator Specifications

The maximum depth rating for the Rotating Manipulator is 300 meters (1,000 feet).

The Rotating Manipulator uses 24 Volts with a maximum current draw of approximately 1 Amp. This equates to 24 Watts of power consumption.

Jaw Specifications

ROV GPS Specifications

TBA

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Operator's Manual, 1.00.00

System Voltage Advisory

AC Input

Input voltage is universal at 100-240 VAC; 50, 60 Hz. The power requirement for the MSS operating at full power settings is 3,000 Watts. A 2,000 Watt source (i.e. generator) can be used if the system will not be used at full power settings.

ROV DC Power

Historically, the tether voltage to power the ROV has been increasing. Economy models (including the Scout, Explorer and Voyager), Pro 3 variants and the Pro 4 Ultra use 48 V DC for vehicle power. The Pro 4 uses 74 V DC. The MSS (Mission Specialist Series) uses 400 V DC with plans to use higher voltages in the future. Systems with voltages higher than 48 V DC include a LIM (Line Insulation Monitor) protection module in the ROV DC circuit.

System components should not be connected to voltage sources higher than their rating.

VideoRay Negative, Neutral and PPT tethers are rated to 600 V DC and are safe to use on any system through the MSS 400 V DC.

The standard TDS and Extended TDS are only rated to 300 V DC and should not be

used with MSS systems or components.

The new version of the extended TDS is available that includes a 600 V rated slip ring.

If you have any questions about system voltage and compatibility, contact VideoRay Support.

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Equipment Guide

Understanding the features and capabilities of the MSS equipment is essential to get the most value out of using the system. The sections within this Equipment Guide provide details about each of the components.

Topics in this Section

ROV

User Control Console

Hand Controller

Tether Connection Summary

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ROV

The MSS ROV consists of modular components (thrusters, lights, cameras, sensors) and a custom frame. Each MSS vehicle is designed to meet the requirements of a specific underwater mission. The frame and sensor payload can be optimized to deliver the vehicle to its intended destination and accomplish the tasks, whether that be recording video, taking measurements of various parameters, or navigation and remote sensing such as sonar or laser imaging.

The sections that follow provide information about the frame and modular components.

ROV Nomenclature

ROV nomenclature follows the general pattern for seagoing vessels. The image below provides a visual reference for the directions and attitude relative to the ROV.

ROV Orientation and Directions Reference

Bow - The front of the ROV.

Stern - The rear of the ROV

Port - The left side of the ROV when facing forward.

Starboard - The right side of the ROV when facing forward.

Fore - Towards the front or The forward direction.

Aft - Towards the rear of the rearward direction.

Surface - To ascend or move up in the water column to a shallower depth.

Dive - To descend or move down in the water column to a deeper depth.

ROV Attitude and Motion Reference

Surge - Forward and Reverse motion of the ROV, forward is positive.

Heave - Up and Down motion of the ROV, up is positive.

Sway - Left (to port) and Right (to starboard) lateral motion of the ROV, left is positive.

Yaw - Right (to starboard) and Left (to port) rotational motion of the ROV, right (clockwise, viewed from the

top) is positive.

Pitch - Bow Up or Bow Down inclination of the ROV, bow up (clockwise, viewed from the port side) is positive.

Roll - Port UP or Port Down relative to Starboard, port up (clockwise, viewed from the rear) is positive.

Submersible Frame

The MSS frame provides the structure to combine the modular components and accessory payload. The modular concept allows the MSS frame to be optimized for the specific tasks for which the vehicle is designed.

Frame Arrangement

The following frame arrangements have been designed.

Alpha Frame Defender Frame Pro 5

Buoyancy

The MSS Vehicle's buoyancy can affect performance and should be adjusted for water type (fresh versus salt), payload and performance requirement.

Buoyancy Arrangement

The desired buoyancy of the vehicle is achieved by using a combination of modular flotation and ballast weights.

Ballast

The MSS Vehicle's buoyancy can affect performance and should be adjusted for water type (fresh versus salt), payload and performance requirements.

Ballast Arrangement

The desired buoyancy of the vehicle is achieved by using a combination of modular flotation and ballast weights.

Power Module

The Power Module receives power from the topside and converts it to power levels required by the various modules, sensors and accessories.

8 Pin Male Tether Connector

Pin Function

1 Interlock (GND)

2 Interlock (Sense)

3 Tether V+

4 M100 EOP+

5 Tether V-

6 M100 EOP-

7 RS-485 A

8 RS 485 B

5 Pin Female High Power (Thruster, Lights) Connector (2)

Pin Function Wire AWG Color

1 48 V DC + 20 Red

2 GND 22 Green

3 48 V DC - 20 Black

4 RS-485 A 24 Gray

5 RS-485 B 24 White

Power is rated at 750 Watts per port for 1,500 Watts total.

9 Pin Female Communications Module Interface Connector

Pin Function

1 NC

2 NC

3 24 V DC +

4 M100 EOP +

5 GND

6 M100 EOP -

7 RS-485 A

8 RS-485 B

9 12 V DC +

Power is rated at 300 Watts for the 24 Volt circuit and 120 Watts for the 12 Volt circuit.

Power Module Arrangement

The MSS Power module is usually located at the rear of the vehicle, but can be installed in the optimal location for the specific vehicle.

Communications Module

The communications module is the "brains" of the vehicle and coordinates vehicle control systems and provides data paths for sensors and accessories.

9 Pin Interface Connectors

Pin Male Connector (port 1) Female Connectors (ports 2-6)

1 NC ETH_RXP +

2 NC ETH_RXP -

3 24 V DC + 24 V DC +

4 M100 EOP + ETH_TXP +

5 GND GND

6 M100 EOP - ETH_TXP -

7 RS-485 A RS-485 A

8 RS-485 B RS-485 B

9 12 V DC + 12 V DC +

Power is rated at 300 Watts each for the 24 and 12 Volt circuits.

Communications Module Arrangement

Communication Module is configurable.

AHRS Module

AHRS - Attitude and Heading Reference System

The AHRS is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback on the vehicle's orientation. Measurements include magnetic heading, attitude and rates of change. The AHRS also includes a pressure sensor to determine the depth of the vehicle.

Cable Pinout

Pin Function

1 ETH_RXP +

2 ETH_RXP -

3 24 V DC +

4 ETH_TXP +

5 GND

6 ETH_TXP -

7 RS-485 A

8 RS-485 B

9 12 V DC +

AHRS Module Arrangement

The AHRSD is typically mounted in the top center of the ROV frame.

Thruster Module

MSS vehicles use a modular thruster configuration that allows vehicle designs to be optimized for water conditions and payload delivery requirements. Modular thrusters are also easy to replace in the field.

Thruster Propeller

The propellers are designed to be used on counter-rotating thruster arrangements to eliminate torque roll or yaw. Propellers are identified by their pitch orientation using left and right based on their pitch. The convex edge of the propeller blade is the leading edge during motion that is considered forward for that thruster.

Right-hand propellers can be identified as follows:

The top blade has the leading edge on the right when viewed from the end with the nut. The blades appear to curve counterclockwise when viewed from the end with the nut. Right hand propellers have a stainless steel collar on the hub at the shaft end.

Left-hand propellers can be identified as follows:

The top blade has the leading edge on the left when viewed from the end with the nut. The blades appear to curve clockwise when viewed from the end with the nut. Left hand propellers have hub that is all plastic.

Cable Pinout

The Thruster connector uses a male / female stackable connector allowing the thrusters and LED lights to be connected in series.

Pin Function Wire AWG Color

1 48 V DC + 20 Red

2 GND 22 Green

3 48 V DC - 20 Black

4 RS-485 A 24 Gray

5 RS-485 B 24 White

Thruster Arrangement

The Thruster modules can be located within the vehicle frame and configured as required for the specific vehicle.

Alpha Frame Thrusters

The MSS vehicle is an Alpha frame that uses a vectored horizontal thruster arrangement, and two vertical thrusters. The thrusters are configured as shown below:

Thruster Location

Propeller

Orientation

Reverse

Option

GroupIDNodeIDMotor

TCP/IP

Address

TCP/IP

Port

Notes

Forward Port Right Disabled 129 5 0 192.168.1.64 1 (7444)

Forward Starboard

Left Enabled 129 6 1 192.168.1.64 1 (7444)

Aft Starboard Right Disabled 129 7 2 192.168.1.64 1 (7444)

Aft Port Left Enabled 129 8 3 192.168.1.64 1 (7444)

Forward Vertical

Right Disabled 129 9 4 192.168.1.64 1 (7444)

Aft Vertical Left Enabled 129 10 5 192.168.1.64 1 (7444)

Defender Frame Thrusters

The MSS vehicle is a Defender frame that uses a vectored horizontal thruster arrangement, and three vertical thrusters. The thrusters are configured as shown below:

Thruster Location

Propeller

Orientation

Reverse

Option

GroupIDNodeIDMotor

TCP/IP

Address

TCP/IP

Port

Notes

Forward Port Right Disabled 129 5 0 192.168.1.64 1 (7444)

Forward Starboard

Left Enabled 129 6 1 192.168.1.64 1 (7444)

Aft Starboard Right Disabled 129 7 2 192.168.1.64 1 (7444)

Aft Port Left Enabled 129 8 3 192.168.1.64 1 (7444)

Forward Vertical Port

Right Disabled 129 9 6 192.168.1.64 1 (7444)

Forward Vertical Starboard

Left Disabled 129 10 4 192.168.1.64 1 (7444)

Aft Vertical Left Enabled 129 20 5 192.168.1.64 1 (7444)

Pro 5 Frame Thrusters

The MSS vehicle is a Defender frame that uses a vectored horizontal thruster arrangement, and three vertical thrusters. The thrusters are configured as shown below:

Thruster Location

Propeller

Orientation

Reverse

Option

GroupIDNodeIDMotor

TCP/IP

Address

TCP/IP

Port

Notes

Port Right Disabled 129 5 0 192.168.1.64 1 (7444)

Starboard Left Enabled 129 6 1 192.168.1.64 1 (7444)

Vertical Right Disabled 129 7 2 192.168.1.64 1 (7444)

Camera Module

The camera module provides a live video feed from the vehicle to the surface.

Cable Pinout

Pin Function

1 ETH_RXP +

2 ETH_RXP -

3 24 V DC +

4 ETH_TXP +

5 GND

6 ETH_TXP -

7 RS-485 A

8 RS-485 B

9 12 V DC +

Camera Arrangement

The following cameras have been designed.

High Definition Camera Low Light Camera

High Definition Camera

Low Light Camera

LED Light Module

The LED Light Module provides variable levels of illumination and beam pattern control.

Cable Pinout

The LED Light connector uses a male / female stackable connector allowing the LED lights and thrusters to be connected in series.

Pin Function Wire AWG Color

1 48 V DC + 20 Red

2 GND 22 Green

3 48 V DC - 20 Black

4 RS-485 A 24 Gray

5 RS-485 B 24 White

Lights Arrangement

The Light modules can be located within the vehicle frame and configured as required for the specific vehicle.

Multiple LED Light Modules can be used.

Alpha Frame Lights

The MSS vehicle is an Alpha frame that uses a single Light Module. The Light Module is configured as shown below:

Light Location Group ID Node ID Application ID TCP/IP Address TCP/IP Port Notes

Front top center 131 11 0 192.168.1.64 1 (7444)

Defender Frame Lights

The MSS vehicle is an Alpha frame that uses two Light Modules. The Light Modules are configured as shown below:

Light Location

Group

Node

Application

TCP/IP Address TCP/IP Port Notes

Front Top Port 131 11 0 192.168.1.64 1 (7444)

Front Top Starboard

131 11 0 192.168.1.64 1 (7444)

Pro 5 Frame Lights

The MSS vehicle is an Alpha frame that uses two Light Modules. The Light Modules are configured as shown below:

Light Location

Group

Node

Application

TCP/IP Address TCP/IP Port Notes

Front Top Port 131 11 0 192.168.1.64 1 (7444)

Front Top Starboard

131 12 0 192.168.1.64 1 (7444)

ROV Connections

The MSS ROV system uses 3 types of connectors for power and communications between the control panel, vehicle modules and accessories.

8 Pin Tether Connector

Pin Function

1 Interlock (GND)

2 Interlock (Sense)

3 Tether V+

4 M100 EOP+

5 Tether V-

6 M100 EOP-

7 RS-485 A

8 RS 485 B

Pin numbering starts at 1 for the offset pin and is clockwise on the male connector and counter clockwise on the female connector.

5 Pin Thrusters and Lights Connector

Pin Function

1 48 V DC +

2 Vehicle Local Ground (12 V, 48 V return)

3 48 V DC return

4 RS-485 A

5 RS-485 B

Pin numbering is clockwise starting at 1 in the upper left when looking at the face of the male connector with the row of 3 pins on top.

9 Pin Accessory Connector

Pin Function

1 ETH_RXP-

2 ETH_RXP+

3 24 V DC +

4 ETH_TXP +

5 Ground

6 ETH_TXP -

7 RS-485 A

8 RS-485 B

9 12 V DC +

Pin numbering is clockwise starting at 1 in the upper left when looking at the face of the male connector with the row of 5 pins on top.

ROV Connections

Tether Strain Relief

The strain relief is used to secure the ROV to the tether to prevent separation and loss of the vehicle if the tether connection becomes disconnected. The strain relief also minimized the load on the tether connector.

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User Control Console

The User Control Console provides power, communications and a video interface between the surface and the ROV through the tether. The computer, which runs software to control the ROV, is housed in the User Control Console along with a display monitor .

User Control Console Power Specifications

The VideoRay MSS operates on typical residential power in the range of 100-240 Volts AC, 50,60 Hz. This can be provided from the land-based grid, a generator, or a battery with an inverter (optional). The typical power requirements for operating from a generator or inverter are 3,000 Watts continuous minimum.

The system includes a GFCI (Ground Fault Circuit Interrupter) / Circuit Breaker to protect the operator.

The power in the tether is 400 Volts DC. This circuit is protected by a LIM (Line Insulation Monitor).

The procedures for testing the circuit safety components can be found in the Pre-Dive Preparations section of the Quick Start Instructions.

Do not block the User Control Console fans. Blocking the fans can lead to overheating

and component failure.

Display Monitor Tilt Arm

The Display Monitor Tilt Arm on the left side of the User Control Console can be used to adjust the angle of the User Control Console lid and monitor. To adjust the angle of the monitor, loosen the locking collar, adjust the lid to the desired angle and tighten the locking collar.

Make sure to loosen the display monitor tilt arm before closing the User Control Console lid, and be careful when closing the lid to avoid damaging the computer or monitor or pinching any cables.

Safety Circuits

The User Control Console includes three safety circuit components.

GFCI (Ground Fault Circuit Interrupter)

LIM (Line Insulation Monitor)

ROV Power Safety Interlock

GFCI (Ground Fault Circuit Interrupter)

The GFCI protects the operator from shock from the AC circuit of the power source.

The GFCI is inline with the power cord. When initially connected to a power source, it is in the Off state. You must press the Reset Button to enable it. When enabled, the green LED will be illuminated.

When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and

can be removed from the power cord.

LIM (Line Insulation Monitor)

The LIM protects the operator and persons in the water nearby from shock from the DC circuit of the tether. While the GFCI switches are part of the GFCI component and must be turned on to operate the User Control Console, the LIM is automatically enabled when the system is turned on. The LIM operates on a principle similar to the GFCI and monitors the quality of the insulation of the conductors. If the resistance between the conductors drops below the safe threshold, the LIM will trip.

The MSS LIM is two stage. When the LIM detects the resistance between the ROV power conductors falls below 900 kOhms, the yellow LIM Alarm A1 LED will turn on, but the power circuit will remain on. When the LIM detects the resistance falls below 200 kOhms, the yellow LIM Alarm A2 LED will turn on and the ROV power circuit will be disabled. The LIM can be reset by pressing and holding the R button. The yellow LIM Alarm light should turn off. To test the LIM, press and hold the T button. If the LIM continues to trip, the system should be inspected for a fault before being used.

The LIM has additional features that are described in more detail in the LIM Module Manual.

ROV Power Safety Interlock

The ROV Power Safety Interlock prevents the ROV power from being engaged unless an ROV is plugged into the tether. This feature protects users from accidentally contacting the ROV power circuit of an open tether connector.

See the User Control Console Switches and Connections section for more information about these components and their locations, and see the Pre-Dive Preparations section of the Quick Start

Instructions for information about testing these components.

Switches and Connections

The User Control Console top includes the following switches:

SWITCH LOCATION FUNCTION

Main Power Switch

User Control Console top upper left

Turns the User Control Console on and off.

ROV Power Switch

User Control Console top central left

Turns the ROV power on and off. Twist in the direction of the arrows to turn on the ROV power and press the switch to turn it off.

LIM Module

User Control Console top central right

Test and Reset buttons can be found on the LIM.

The User Control Console top includes the following connections:

CONNECTION LOCATION FUNCTION

Power (100-240 Volts AC, 50, 60 Hz)

IEC male Used to connect the User Control Console to a power

source.

The User Control Console side includes the following connections:

CONNECTION TYPE FUNCTION

Tether Whip (Specifications)

8 pin round female

Used to connect the User Control Console to the tether for power, communications, video and accessory support.

Monitor Power Provides 12 Volts DC. Used to provide power to the monitor.

Monitor Signal Display Port

Female

Used to provide the video signal to the monitor.

USB Ports (3) Type A

female

Can be used to connect USB devices to the computer via the User Control Console.

Ethernet RJ-45

female

Can be used to connect the User Control Console to the computer for Ethernet based ROV accessories.

The Display Port cable uses a locking locking connector. Make sure to press the release button

when disconnecting the cable to avoid damaging the connector.

Computer

The computer provides the hardware and operating system platform for VideoRay ROV control software and image and video editing and production. The computer is embedded in the User Control Console.

For information about using the computer in general, see the instructions that came with it.

VideoRay does not recommend installing additional hardware or software on the computer unless you are familiar with its operation and confident it will not interfere with the VideoRay control software or the computer's ports. Software that is packaged with VideoRay accessories has been tested and is approved for use.

The computer includes the following connections (which are passed through to connectors on the User Control Console):

CONNECTION TYPE FUNCTION

USB (3) Type A

female

Can be used to connect USB devices to the computer.

Ethernet RJ-45

female

Can be used to connect the computer to a network, or the User Control Console for Ethernet based accessories.

Display Port Display Port

Female

Provides an HD video signal. This can be used to connect the computer to an external monitor.

Additional Specifications

Operating System

Ubuntu

Temperature

Operating Temperature: -40 C - 70C Storage Temperature: -40 C - 85C

Power Input

9 - 48 VDC

Hard Disk Space

256 Gb

Computer specifications are subject to change without notice.

HD Monitor

The display port cable has a latching connector. Make sure to press the latch button

before trying to remove the connector.

The monitor includes a brightness knob.

The monitor includes the following connections:

CONNECTION Type FUNCTION

Power 12 VoltDCUsed to connect the monitor to a power source. The control panel provides

a matching 12 Volt DC connector.

Display Port In Display

Port

Used to connect the monitor to the computer.

Additional Specifications

Size

18.5" Diagonal

Power Input

12 VDC

Native Resolution

1920 X 1080

Brightness

High Bright � 1000 nits

Features

Wide Viewing Cone 10 Point PCAP Touch Front Full Range Diming Pot

Monitor specifications are subject to change without notice.

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Hand Controller

The hand controller is used to operate the VideoRay and its features. Several types of hand controllers are supported. Controllers not included in your configuration are available from VideoRay for purchase. Supported controllers include:

VideoRay Industrial Hand Controller

VideoRay IP65 Hand Controller

Logitech Wired or Wireless Gamepad Hand Controller

The hand controller functions are described in more detail in the following pages of this guide.

Hand Controller Compatibility

Any Microsoft® Windows® compatible game controller can be used with the MSS, but each controller requires a configuration file to map the joystick, buttons and knobs to the ROV functions.

Microsoft is a registered trademark of Microsoft. Windows is a registered trademark of Microsoft. Logitech is a registered trademark of Logitech.

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Tether

Tether connects the ROV to the surface and provides power, communications, video and an APIC (Auxiliary Pair of Independent Conductors) for accessory use. The tether consists of conductors, a

Kevlar® strength member, flotation (for Neutral and Performance tethers) and an outer jacket. It is available three types: Negative, Neutral and Performance (often called PPT), and can be purchased in standard and custom lengths. Neutral and Performance are neutrally buoyant in fresh water because they have a specially designed foam jacket.

While larger conductors provide the best power transmission capacity, they lead to thicker tethers, which results in higher drag. Negative tether has the largest conductors (best power transmission capacity), followed by Neutral, and then Performance. Negative and Performance tether have the smallest diameter (least drag), while Neutral tether has the largest diameter.

The tether connectors are wet mateable and can be connected while they are wet. One of the pins in the connector is offset. To connect the tether to the ROV, control panel or another tether, align the offset pin of the connectors and press the two connectors together until the base surface of each connector are touching each other. Then, connect the tether locking sleeves by screwing them together to secure the connection.

Multiple tethers can be connected in series like conventional power extension cords. See the Tether

Management section of the Operations Guide for recommended tether configurations.

Always secure the tether connectors using the locking sleeves and strain relief system to

avoid separation and loss of the ROV.

The strain relief system includes a carabineer that could get hooked on something underwater and cause the ROV to become trapped. To avoid this possibility, tape over the carabineer with electrical or duct tape.

The tether connectors should be kept clean to avoid abrasion and corrosion on the electrical contacts and damage to the rubber insulation. Tether connectors should not be lubricated with petroleum products or grease. Petroleum will degrade the rubber and grease will attract dirt and lead to abrasion and corrosion. VideoRay recommends lubricating the tether connectors with pure silicone spray.

Tether Specifications

Tether Diameter

Units \ Type Negative Neutral Performance

mm 8.51 +/- 0.38 11.18 +/- 0.50 8.18 +/- 0.50

inches 0.335 +/- 0.015 0.440 +/- 0.020 0.322 +/- 0.020

Minimum Tether Bend Radius

Units \ Type Negative Neutral Performance

mm 88.9 114 82.5

inches 3.5 4.5 3.25

Tether Connector Pin Configuration

Tether pin numbering in the connector is shown above. When looking at the mating surface of the connector, Pin 1 is the offset pin / socket. For male connectors, pins 2-8 proceed in a clockwise direction. For female connectors, sockets 2-8 proceed in a counter-clockwise direction.

Tether Pin Function and Conductor Wire Gauge

Pin Function Negative Neutral Performance

1 Interlock (GND) 24 24 28

2 Interlock (Sense) 24 24 28

3 400 VDC + 16 (x2) 20 (x2) 24 (x2)

4 M100 EOP+ 24 28 28

5 Ground 16 (x2) 20 (x2) 24 (x2)

6 M100 EOP- 24 28 28

7 RS-485 A 24 28 28

8 RS-485 B 24 28 28

All conductors are straight through, such that pin 1 in the male connector is connected to socket 1

in the female connector, and so on for all eight pins / sockets.

Tether Buoyancy

Performance and Neutral tether includes buoyancy compensating foam that provides near neutral buoyancy in fresh water. Negative tether contains no foam and will sink. The connectors do not contain any buoyancy compensation and will sink.

Tether Strength

All tether types include Kevlar that is rated at 450 kg (1,000 pounds), the connectors are rated 80 kg (175 pounds).

These values are breaking strength. The tether should not be subjected to a working strength greater than one half of the breaking strength. The ROV and tether are equipped with a strain relief cable and connectors, which are rated at 136 kilograms (300 pounds). The strain relief cable should be used to avoid separation of the tether connectors and loss of the ROV.

The maximum usable tether length is limited by the ability of the tether to transmit power and data signals. The maximum usable tether length of MSS systems is about 550 meters (1,800 feet). MSS systems can fiber tether to extend the range. See the Tether Management section of the Operations Guide for more information.

Kevlar is a registered trademark of E. I. du Pont de Nemours and Company

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Connections Summary

The following connections are required:

1. Connect the female end of the tether to the ROV.

2. Secure the tether strain relief to the ROV.

3. Connect the male end of the tether to the User Control Console.

4. Connect the keyboard to a USB port on the User Control Console.

5. Connect the hand controller to a USB port on the User Control Console.

6. Connect the power cord to a suitable power source.

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Accessories

Numerous accessories can be used with the MSS to extend its capabilities and range of performance. These accessories allow the MSS

Multiple accessories can be connected in parallel by the use of a stackable connector. The manipulator and cutter do not use a stackable connector, but can be used with other accessories by plugging in their connector as the last one in sequence.

The accessory port must be sealed with a terminated accessory connector or the accessory port terminator dummy plug. Failure to seal the accessory port may lead to loss of control of the ROV or damage to the components.

Included Accessories

Several topside accessories are included with all MSS system configurations.

Sun Shade

The sun shade can be attached directly to the control panel lid and provides shade for the computer and monitor to make it easier to see the displays when working in bright light. See the label on the sun shade for installation instructions.

Tool Kit

A basic tool kit is provided in order to perform routine maintenance and field repairs. The tool kit also contains some spare parts including ballast weights, propellers and other items.

Additional Sensors and Tooling

This configuration includes the following sensors and tooling:

Mission Support Accessories

In addition to the equipment that is included with each MSS configuration and the commercially available accessories, VideoRay recommends users procure a variety of mission support items. The list of recommended items will vary depending on the typical mission requirements, although it will be obvious that some of these items have general applicability to all mission profiles.

These brief lists are intended to provide a sample and stimulate thinking about what you might want to add to your "operations kit:"

General Logistical Support

Basic operations support items including tables and chairs, foul weather gear, food, water, etc. Power sources including generators and batteries/inverters Supplemental video display devices for large group viewing (this can help prevent people from hovering over and distracting the pilot) Supplemental tools, such as a flashlight, knife, tape, cable ties, etc. Supplemental spare parts for field repairs (Basic spares are included for some items)

Tactical Operations Support

Tether weights and davit

Retrieval devices or baskets

In general, VideoRay does not supply these items, and users must procure them on their own.

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Software Guide

MSS software consists of three main components:

1. Topside User Interface, installed on the User Control Console and used to control the ROV.

2. Configuration and diagnostic software installed on the User Control Console used to configure and test each ROV module.

3. Module Firmware installed on each module to allow the module to perform its functions.

The topside user interface software is available in several versions:

1. Greensea Systems Inc., with fully autonomous capabilities

2. VideoRay basic interface

3. User developed software

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Greensea Systems Interface Overview

Greensea's EOD Workspace is the topside control software for the MSS.

To Start VideoRay EOD Workspace, double click on the MSS icon on the desktop.

For more information about Greensea's VideoRay EOD Workspace software, see the Greensea

Operator's Manual. For the most recent information, visit Greensea's Knowledge Base (Login Required -

free to request).

To obtain a login for the Greensea Knowledge Base, contact support@greenseainc.com or call +1

802-434-6080.

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VideoRay Interface Overview

There are four applications that are required to operate the VideoRay vehicle control software. These are stored in the ~/Flighthack folder.

Start the thruster controls using vr_engage.py Start the camera controls using vr_engage_camera.py Start the video window

Video is automatically in record mode when the video window is started.

When stopping video, you must enter CTRL-C in the text window to close the file properly.

Start the manipulator controls (optional) using vr_engage_manip_rotating.py

Each application may be started in any sequence, but following a consistent sequence such as above is recommended.

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Software Management

This section provides information about the software environment and managing the software.

Folder Structure

Home/ - User Root Folder

firmware/ - Module Firmware

flighthack/ - MSS Utilities

gss_config/ - Configuration Files

gss_logs/ - Recordings

gss_mission/ - Mission Definition Files

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Module Configuration

The modular concept requires that modules be configured prior to installation or replacement in a specific vehicle arrangement.

Configuration information is specific to each vehicle. Information about the configuration for a

specific vehicle can be found in the Submersible section of the Equipment Guide.

Conceptual Overview

Thrusters and other modules can be thought of as employees, and the vehicle as the jobsite. Each employee (Module) has a unique name (Serial Number stamped or printed on the module and coded in the firmware). When the employee goes to work at the jobsite (is installed on the vehicle), it is assigned an employee number (Node ID) by the person doing the configuration. The jobsite supervisor (control software) communicates with the employees using their employee number, so the employee number for each module on a jobsite must be unique. Work instructions are announced to all employees at the same time, so each employee must listen for their specific instructions and ignore the instructions for other employees. When there are multiple employees of the same type on a jobsite, these employees may be assigned specific work tasks (Application ID or Motor ID). The employee will only listen for instructions related to their work task. For example a starboard thruster will only respond to horizontal control inputs, while a vertical thruster will only respond to vertical control inputs. This approach allows vehicles to be configured with great flexibility. Examples include:

A vehicle can be configured with one LED light, or with multiple LED lights. Multiple LED lights can be controlled in unison, or divided into banks that operate independently.

A vehicle can be configured with a single vertical thruster, or additional vertical thrusters can be added to create a heavy lift vehicle, or to enable pitch and roll control.

General Requirements

1. Each employee (Module) must have a unique name (Serial Number).

2. Each employee (Module) must have a unique employee number (Node ID) on a jobsite (vehicle), but different vehicles may use repeated Node IDs.

3. Some employees (Modules) may be assigned specific work tasks (Application ID or Motor ID).

4. At a specific jobsite (Vehicle) more than one employee (Module) may be assigned the same work task (Application ID or Motor ID).

5. Modules may have additional parameters that can be configured that can affect their operation or performance, such as temperature cut-off, RPM limit or calibration values.

The following sections provide information about module replacement.

Configuration Commands

The following configuration commands are available for updating firmware and configuring M5 modules for MSS vehicle systems:

vr_refresh - Refresh the firmware for a module vr_enum - Enumerate (list) the connected modules vr_setid - Set the Node ID and Group ID for a module vr_debug_putty.py - Debug and/or configure a module vr_create_virtport_all.sh - Create virtual ports for modules not connected directly to the RS-

485 bus

More information about using these commands can be found in the following section of this guide.

Command: vr_refresh

The vr_refresh command is used to update the firmware on a module.

Use

vr_Refresh [OPTIONS] [SINGLE_HEX_FILE_NAME]

[Options] - See the table below [SINGLE_HEX_FILE_NAME] - The file name of the firmware update, including its path.

OPTION Alternate Argument(s) Description Default

-? --help Display this help information

--version Display the Version Number

-c --com Com_Port_Name Com port to use dev/ttyUSB0

-i --id Node_ID Node ID of the Module to update, use 255 for broadcast to all nodes

255

--sn Serial_Number The Serial Number any

--block_size Block_Size The block size of the firmware 1024

--timeout Timeout Set the connection Timeout in mS 1500

skip_bootcheck

Skip sending a bootcheck command

skip_initial_reset

Skip sending an initial reset command

-v --verbose Output verbose diagnostics

-r --reset Reset device upon completion

--UNLOCK Allow programming of the bootloader

---input_file Filename The file name of the firmware update file, including its path

Some of the options use two dashes "--," not a long dash

Updating Firmware

To use vr_refresh on modules connected to the communications module, you need to open a

virtual port and specify the port to use. See vr_create_virtport_all.sh for more information.

Example firmware update commands for different modules (in each case, X.Y.Z should be replaced by the actual version number):

Power Module

vr_refresh -i 1 ~/firmware/power_converter-X.Y.Z.hex --block_size 16384

Communications Module

vr_refresh -i 2 ~/firmware/comms_hub-X.Y.Z.hex --block_size 16384

AHRS Module

vr_refresh -c vrport2 -i 3 ~/firmware/attitude_sensor-X.Y.Z.hex --block_size 16384

Thruster Module (Use the correct Node ID)

vr_refresh -i 5 ~/firmware/motor_controller-X.Y.Z.hex

Camera Module

vr_refresh -c vrport3 -i 4 ~/firmware/camera_adapter-X.Y.Z.hex --block_size 16384

LED Module (Use the correct Node ID)

vr_refresh -i 11 ~/firmware/led_controller-X.Y.Z.hex

Firmware Block Sizes

Module Block Size Comms Path

Power Module 16384 Direct

Communications Module 16384 Direct

AHRS Module 16384 vport2

Power Module Default Direct

Camera Module 16384 vport3

LED Module Default Direct

Command: vr_enum

The vr_enum command is used to enumerate (list) the modules that are connected to the vehicle.

Use

vr_enum [OPTIONS] [min explcit id] [max explicit id]

[Options] - See the table below [min explicit id] - The minimum Node ID to include the list [max explicit id] - The maximum Node ID to include in the list

OPTION Alternate Argument(s) Description Default

-? --help Display this help information

--version Display the Version Number

-c --com Com_Port_Name Com Port to use dev/ttyUSB0

-p --pretty Use nicer human readable device type

display

-v --verbose Output verbose diagnostics

--timeout Timeout Connection timeout in mS 1,000

- --

retry_count

Retry_Count Set retry count for broadcast

enumeration

--explicit either max_node_id or

min_node_id max_node_id

Explicit nodes to search,

Examples

To use vr_enum on modules connected to the communications module, you need to open a virtual

port and specify the port to use. See vr_create_virtport_all.sh for more information.

For Power, Communications, Thrusters and LEDs

vr_enum

For the AHRS and camera modules, you need to include the virtual port.

AHRS Module

vr_enum -c vrport2

Camera Module

vr_enum -c vrport3

Some of the options use two dashes "--," not a long dash

Command: vr_setid

The vr_setid command is used to set the Node_ID and Group_ID of a module.

Use

vr_setid [OPTIONS] SN Node_ID Group_ID

SN - See the table below Node_ID - The Node ID to program into the module (1 - 255) Group_ID - The Group ID to program into the module (1 - 255)

OPTION Alternate Argument(s) Description Default

-? --help Display this help information

--version Display the Version Number

-c --com Com_Port_Name Com port to use dev/ttyUSB0

arguments

Node_ID Group_ID

The Node_ID (1 - 254) and the Group_ID (1 -

254) to program into the module

Examples

To use vr_enum on modules connected to the communications module, you need to open a virtual

port and specify the port to use. See vr_create_virtport_all.sh for more information.

For the examples below, replace "S.N" with the actual serial number. The serial number is case sensitive.

Power Module

vr_setid S/N 1 196

Communications Module

vr_setid S/N 2 193

AHRS Module

vr_setid S/N -c vrport2 3 194

Thruster Module (Use the correct Serial Number and Node ID)

vr_setid S/N 5 129

Camera Module

vr_setid SN -c vrport3 4 196

LED Module (Use the correct Serial Number and Node ID)

vr_setid S/N 11 131

Some of the options use two dashes "--," not a long dash

Command: vr_debug_putty.py

The vr_debug_putty.py command is used to configure or test a module.

Use

./vr_debug_putty.py [OPTIONS] [N [N...]]

[Options] - See the table below N - The Node ID of the module to reset and enter debug mode.

This command must be executed from the flighthack folder and requires the preceding "./"

OPTION Alternate Argument(s) Description Default

-? --help Display this help information

-c --com Com port to use dev/ttyUSB0

Power Module

vr_debug_putty.py 1

Communications Module

vr_debug_putty.py 2

AHRS Module

vr_debug_putty.py -c vrport2 3

Thruster Module (Use the correct Node ID)

vr_debug_putty.py 5

Camera Module

vr_setid SN -c vrport3 4

LED Module (Use the correct Node ID)

vr_debug_putty.py 11

Some of the options use two dashes "--," not a long dash

Command: vr_create_virtport_all.sh

The vr_create_virtport_all.sh command is used to create virtual ports that allow the Ethernet protocol to be used to communication with modules connected to the communications module.

Virtual Ports

MSS communications are supported using Ethernet and RS-485 protocols. Modules may use one protocol or the other, or both. The configuration commands described on the previous page, including vr_enum, vr_setid, vr_refresh and vr_debug_putty.py use only the RS-485 protocol. For modules that only support Ethernet, a virtual port must be set up to bridge the RS-485 to Ethernet for the Communications Module port to which the device is attached. The vr_create_virtport_all.sh can be used to create the required virtual ports.

Use

./vr_create_virtport_all.sh &

There are no arguments for this command.

This command must be executed from the flighthack directory and requires the preceding "./"

The trailing "&" allows this command to run in the background, otherwise you would need to open a new terminal window to use commands that access the virtual ports. When finished using the virtual ports, they should be removed using the following command: killall socat.

Example Using Virtual Ports to Communicate with a Camera

This example assumes that a Camera Module with serial number CAMADP000123 is plugged into port 2 of the Communications Module.

1. Connect and power up the system, but do not start the control software.

2. Launch the terminal program and use the following commands to access the camera.

3. Navigate to the working folder, type: cd flighthack

4. Enumerate the modules on the system, type: vr_enum You will notice that the camera does not show up in the list of enumerated modules.

5. To create the virtual ports, type ./vr_create_virtport_all.sh &

6. Now, when you enumerate the modules using vr_enum, the camera and any other non-RS-485 devices should show up in the list. You can also see the virtual ports using the standard directory listing command, ls

7. To send a commands to the camera, you need to include the -c portNumber option, where the portNumber to use is the one to which the device is attached on the Communications Module (in this case port 2, so vrport2).

To set the Node_ID and Group ID: vr_setid -c vrport2 CAMADP000123 4 196 To enter Debug mode: ./vr_debug_putty.py -c vrport2 4

MSS

Operator's Manual, 1.00.00

Maintenance Guide

This section will describe the maintenance requirements and procedures for periodic or common maintenance requirements. It will not be detailed enough to be considered a component level repair manual, but will address component replacement of modular components.

MSS

Operator's Manual, 1.00.00

User Maintenance Policy

User's are ultimately responsible for the safe operation and longevity of their VideoRay equipment by minimally following best practices outlined in the Operator's / Maintenance Manual, recognized industry standards and using common sense.

VideoRay strongly recommends that all service and repair of VideoRay equipment owned by users be carried out by VideoRay Certified Technicians at VideoRay Authorized Service Centers. Equipment leased from VideoRay MUST be returned to a VideoRay Authorized Service Center for service and repair.

VideoRay also understands that logistics and other issues may make it difficult and costly to return the equipment to a Factory Authorized Service Center for completion of some of the simpler procedures. The following procedures are considered acceptable for the owners and lessees to complete without impact on the warranty. Note that cleaning components is a required condition for continued warranty protection and that failure to exercise reasonable care during these procedures may result in warranty claims being denied.

Cleaning components Lubricating connectors Removing and replacing:

Float Block Skid Propellers Thruster Nozzle Modules in their entirety Externally Mounted Accessories

Instructions for performing these procedures are included in the Operator's / Maintenance Manual. Users who do not feel comfortable completing these procedures are invited to contact VideoRay for assistance.

Opening modules or the control panel may void the warranty.

For users who want to complete service and repair procedures beyond the scope of the above list on their own, VideoRay offers Advanced Maintenance courses and Factory Service manuals for additional fees. These may be valuable for situations where the equipment will be used for mission critical applications or in remote locations. However, the best advice in these situations is to maintain spare equipment on-site for instant resumption of operations in the event of failure.

MSS

Operator's Manual, 1.00.00

Module Configuration and Replacement

Power Module Replacement

Replacing a Power Module requires hardware replacement. Currently, the Power Module will be preconfigured when delivered, so there is no need for software configuration procedures.

Hardware Replacement

To remove and replace a Power Module, follow these steps:

1. Power down the system.

2. Remove the top float block by removing the four screws holding the float block to the frame.

3. The DVL will need to be removed in order to remove the Power Module.

4. For the Power Module to be replaced, disconnect the thruster and LED light connector stack from the top of the Power Module.

5. Using a Phillips head screw driver, remove the 4 screws that hold the Power Module to the frame.

6. Remove the damaged Power Module from the vehicle being careful to thread the remaining connected cables through the frame.

7. Remove the cables from the old Power Module and install them in the same locations on the replacement Power Module.

8. Thread the cables through the frame the way they were routed on the old Power Module.

9. Mount the replacement Power Module in the frame and secure it using the Phillips head screws removed earlier. Do not over-tighten these screws.

10. Reinstall the thruster and LED light connector stack into the top connector on the Power Module.

11. Replace the DVL.

12. Replace the float block using the screws removed earlier.

Power Module and Control Software Configuration

This section is reserved for future use.

Communications Module Replacement

Replacing a Communications Module requires hardware replacement. Currently, the Communications Module will be pre-configured when delivered, so there is no need for software configuration procedures.

Hardware Replacement

To remove and replace a Communications Module, follow these steps:

1. Power down the system.

2. Remove the top float block by removing the four screws holding the float block to the frame.

3. The DVL will need to be removed in order to remove the Communications Module.

4. Remove the Communications Module male connector cable from the front of the Power Module.

5. For the Communications Module to be replaced, note the modules connected and order of the module cables connected to the top of the Communications Module, and remove these cables.

6. Using a Phillips head screw driver, remove the 4 screws that hold the Communications Module to the frame.

7. Remove the damaged Communications Module from the vehicle being careful to thread the remaining connected cables through the frame. You may need to remove one or both of the Module cables. If so, note the modules connected and locations where the cables are connected to the Communications Module

8. Thread the cable for the Power Module through the frame the way it was routed on the old Communications Module and connect it to the Power Module.

9. Mount the replacement Communications Module in the frame and secure it using the Phillips head screws removed earlier. Do not over-tighten these screws.

10. Reinstall the module cables on the Communications Module using the same port locations as the cables were originally installed.

11. Replace the DVL.

12. Replace the float block using the screws removed earlier.

Communications Module and Control Software Configuration

Refer to the configuration parameter table in the Communications Module section of the Equipment Guide.:

These steps are only required if a manipulator is being used on the vehicle.

Commands below are case sensitive.

1. Connect and power up the system, but do not start the control software.

2. Launch the terminal program and use the following commands to program the Communications Module.

3. Navigate to the working folder, type:

cd flighthack followed by the Enter key

4. Enumerate the modules on the system, type:

vr_enum followed by the Enter key

5. The replacement Communications Module serial number should appear in the list of enumerated devices, such as COMHB000356 (COMHB will be present, but the number may be different).

6. Enter diagnostic mode of the new Communications Module, type:

./vr_debug_putty.py 2 followed by the Enter key

where 2 is the default Node ID of the new Communications Module. This will open a new diagnostic window.

7. To access the configuration menu in the diagnostic window, type:

You do not need to type the Enter key. In configuration mode you are now able to configure the baud rate for the rotating manipulator port.

8. Using the values from the Communications Module configuration table change the parameters on the Communications Module to match the baud rate for the manipulator port from the table.

To change the baud rate value for the manipulator port, follow these steps:

1. Identify the port where the manipulator is connected and note the option number for the baud rate parameter.

2. Type the Option Number followed by Enter, then type the Desired Baud Rate Value (38400) followed by Enter.

9. Press the s key followed by Enter to save the configuration.

10. Press the x key followed by Enter to exit the configuration menu.

11. Press the x key again to exit diagnostic mode. You do not need to press Enter.

12. Close the diagnostic window.

13. Close the terminal window.

AHRS Replacement

Replacing an AHRS requires hardware replacement. Currently, the AHRS will be pre-configured when delivered, so there is no need for software configuration procedures.

Hardware Replacement

To remove and replace an AHRS, follow these steps:

1. Power down the system.

2. Remove the top float block by removing the four screws holding the float block to the frame.

3. For the AHRS to be replaced, follow the AHRS cable to the Communications Module and remove it noting its location.

4. Carefully thread the disconnected cable and connector back through the frame until it is clear.

5. Using a Phillips head screw driver, remove the 2 screws that hold the AHRS to the frame.

6. Remove the damaged AHRS from the vehicle.

7. Mount the replacement AHRS on the frame and secure it using the Phillips head screws removed earlier.

8. Thread the cable and connector through the same routing as the old AHRS. Connect the cable to the same location on the Communications Module as before.

9. Replace the float block using the screws removed earlier.

AHRS and Control Software Configuration

This section is reserved for future use.

Thruster Replacement

Replacing a thruster requires both hardware replacement and software configuration procedures. Each thruster must be configured for its specific location on the vehicle. Configuration parameters are identified in the Thruster section of the Equipment Guide.

Hardware Replacement

To remove and replace a thruster, follow these steps:

1. Power down the system.

2. Remove the top float block by removing the four screws holding the float block to the frame.

3. Note the position of the thruster being replaced in the vehicle frame. The position of the thruster being replaced will determine the propeller orientation and configuration parameters to be programmed into the replacement.

4. For the thruster to be replaced, follow the thruster cable to the main thruster connector stack (located under the main float block) and disconnect the damaged thruster from the stack.

5. Carefully thread the disconnected cable and connector back through the frame until it is clear.

6. Using the 5mm hex driver, remove the two (2) M6 plastic thruster bolts securing the thruster to the frame.

7. Remove the damaged thruster from the vehicle. If the propeller is still in good shape, remove it from the damaged thruster using a 7/16" nut driver.

8. Install a new correct orientation propeller (or the recovered propeller) on the replacement thruster.

9. Note the serial number for the replacement thruster. This number will be used to identify and program the replacement thruster once installed in the vehicle.

10. Install the replacement thruster in the same location as the one being replaced, and thread the cable and connector through the same routing as the old thruster. Connect the cable to the same location in the connector stack as before.

11. Mount the thruster to the frame using the M6 nylon bolts, and the 5mm hex driver. Do not overtighten the bolts.

12. Replace the float block using the screws removed earlier.

Thruster and Control Software Configuration

Refer to the configuration parameter table in the Thruster section of the Equipment Guide.:

Commands below are case sensitive.

1. Connect and power up the system, but do not start the control software.

2. Launch the terminal program and use the following commands to program the thruster.

3. Navigate to the working folder, type: cd flighthack followed by the Enter key

4. Enumerate the modules on the system, type: vr_enum followed by the Enter key

5. The replacement thruster serial number should appear in the list of enumerated devices. Note

that the serial number on the thruster strut is only the ending significant digits. The serial number found in the output from vr_enum uses the complete format, such as THRxxxxxx, where xxxxxx is the sequential number.

6. Register the replacement thruster, type: vr_setid SN NodeID GroupID followed by the Enter key

where SN is the serial number of the replacement thruster (case sensitive value as found in the vr_enum output), and the NodeID and GroupID are from the thruster configuration table This step ensures that each thruster has a unique Node ID on this vehicle.

7. Type: vr_enum followed by the Enter key

again to verify the replacement thruster is registered with its Node ID.

8. Enter diagnostic mode of the replacement thruster, type: ./vr_debug_putty.py NodeID followed by the Enter key

where [Node ID] is the Node ID of the replacement thruster. This will open a new diagnostic window.

9. To access the configuration menu in the diagnostic window, type: c

You do not need to type the Enter key. In configuration mode you are now able to define the thruster's position on the vehicle (Motor or Application ID) and other operating parameters.

10. Using the values from the thruster configuration table change the parameters on the thruster to match those from the table. Minimally, the following settings should be entered or confirmed:

1. Whether reverse is Enabled or Disabled (configuration parameter 2)

2. Maximum Thruster Power (configuration parameter 17)

3. Motor or Application ID (configuration parameter 31)

To change the values, follow these steps:

1. For most parameters, type the Option Number followed by Enter, then type the Desired Value followed by Enter.

2. For the Reverse command (configuration parameter 2), simple type 2 followed by Enter to toggle the value from Disabled to Enabled or back again.

11. Press the s key followed by Enter to save the configuration.

12. Press the x key followed by Enter to exit the configuration menu.

13. Press the x key again to exit diagnostic mode. You do not need to press Enter.

14. Close the diagnostic window.

15. Close the terminal window.

Camera Replacement

Replacing a Camera requires hardware replacement. Currently, the Camera will be pre-configured when delivered, so there is no need for software configuration procedures.

Hardware Replacement

To remove and replace a Camera, follow these steps:

1. Power down the system.

2. Remove the top float block by removing the four screws holding the float block to the frame.

3. For the Camera to be replaced, follow the Camera cable to the Communications Module and remove it noting its location.

4. Carefully thread the disconnected cable and connector back through the frame until it is clear.

5. Using a Phillips head screw driver, loosen the 4 screws (2 in each bracket) that hold the Camera to the frame.

6. Slide the camera out of the brackets from the front of the vehicle.

7. Slide the replacement Camera cable and then the replacement camera into the brackets and make sure it is level with the tilt gear on the right (when viewed from the front of the camera) and secure it using the Phillips head screws loosened earlier. Tighten the screws evenly and do not over-tighten the screws.

8. Thread the cable and connector through the same routing as the old Camera. Connect the cable to the same location on the Communications Module as before.

9. Replace the float block using the screws removed earlier.

Camera and Control Software Configuration

This section is reserved for future use.

LED Light Replacement

Replacing an LED Light requires both hardware replacement and software configuration procedures. Each LED Light must be configured for its specific location on the vehicle. Configuration parameters are identified in the LED Light section of the Equipment Guide.

Hardware Replacement

To remove and replace an LED Light, follow these steps:

1. Power down the system.

2. Remove the top float block by removing the four screws holding the float block to the frame.

3. Note the position of the LED Light being replaced in the vehicle frame. The position of the LED light being replaced will determine the configuration parameters to be programmed into the replacement.

4. For the LED Light to be replaced, follow the LED Light cable to the main thruster / Light connector stack (located under the main float block) and disconnect the damaged LED Light from the stack.

5. Carefully thread the disconnected cable and connector back through the frame until it is clear.

6. Using a Phillips head screw driver, remove the 4 screws that hold the LED module to the tilting / pivoting bracket.

7. Remove the damaged LED Light from the vehicle.

8. Note the serial number for the replacement LED Light. This number will be used to identify and program the replacement LED Light once installed in the vehicle.

9. Mount the LED Light in the tilting / pivoting bracket and secure it using the Phillips head screws removed earlier.

10. Thread the cable and connector through the same routing as the old LED Light. Connect the cable to the same location in the connector stack as before.

11. Replace the float block using the screws removed earlier.

LED Light and Control Software Configuration

Refer to the configuration parameter table in the LED Light section of the Equipment Guide.:

Commands below are case sensitive.

1. Connect and power up the system, but do not start the control software.

2. Launch the terminal program and use the following commands to program the LED Light.

3. Navigate to the working folder, type: cd flighthack followed by the Enter key

4. Enumerate the modules on the system, type: vr_enum followed by the Enter key

5. The replacement LED Light serial number should appear in the list of enumerated devices, such

as LED000356 (LED will be present, but the number may be different)

6. Register the replacement LED Light, type: vr_setid SN NodeID GroupID followed by the Enter key

where SN is the serial number of the replacement LED Light (case sensitive value as found in the vr_enum output), and the NodeID and GroupID are from the LED Light configuration table This step ensures that each LED Light has a unique Node ID on the this vehicle.

7. Type: vr_enum followed by the Enter key

again to verify the replacement LED Light is registered with its Node ID.

8. Enter diagnostic mode of the replacement LED Light, type: ./vr_debug_putty.py NodeID followed by the Enter key

where [Node ID] is the Node ID of the replacement LED Light. This will open a new diagnostic window.

9. To access the configuration menu in the diagnostic window, type: c

You do not need to type the Enter key. In configuration mode you are now able to define the LED Light's position on the vehicle (Application ID) and other operating parameters.

10. Using the values from the LED Light configuration table change the parameters on the LED Light to match those from the table. Minimally, the following settings should be entered or confirmed:

1. Application ID (configuration parameter 21)

To change the values, follow these steps:

1. Type the Option Number followed by Enter, then type the Desired Value followed by Enter.

11. Press the s key followed by Enter to save the configuration.

12. Press the x key followed by Enter to exit the configuration menu.

13. Press the x key again to exit diagnostic mode. You do not need to press Enter.

14. Close the diagnostic window.

15. Close the terminal window.

VideoRay Defender MSS Operator's Manual

Specifications and Main Features

Frequently Asked Questions

User Manual