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Service > Product FAQs
Manipulators, General
What is my Manipulator Wrist Torque?
Why Does the Arm Move When I Press "Freeze" Button?
What is the Relationship Between Pressure, Flow, and Horsepower?
What is in a Spares Kit, or Where Can I Find a Spares List for my Manipulator?
What Causes Fatal Telemetry Errors?
How Do I Reset the EPROM?
Manipulators, TITAN
What Do I Do When the Shoulder Actuator Locks Up on Deck?
What is the Makeup of the Resolver Wiring?
How Do I Troubleshoot Joint Problems?
How Much Can Each Joint Lift?
Why is the Azimuth Joint Loose (swings back and forth) when Hydraulics are Turned off?
Are TITAN 3 and TITAN 4 Resolvers Interchangeable?
Manipulators, CONAN
How Do I Enable Position Control Jaw in CONAN Manipulators?
Can I Convert a CONAN 7R to a CONAN 7P Position Controlled Arm?
Can I Convert a CONAN 7P to a CONAN 7R?
Why Does the Manipulator Drift While Frozen?
Manipulators, ORION
Why Doesn't the Roll Joint Have Full Motion?
Manipulators, RigMaster
What is the Wrist Torque of the RigMaster?
Does the RigMaster Need Over-Pressure Relief Valves?
Manipulators, Master Console
What EPROM Should I Use in My Manipulator?
How do I Reset my Software to Factory Defaults?
What is the Part Number of the New Electronics Board for the Master Consolette?
What Happens When I Select Overwrite EPROM?
ROV, UHD Hydraulics
What is the Relationship between Pressure, Flow, and Horsepower?
ROV, UHD Telemetry
What Bandwidth can the SIM Module Talk On?
What is the Power Rating of the Node?
ROV, UHD Hydraulics
What is the Power Output of the Survey J-Box?
How is the Lighting Control Unit Fused?
How is the AC J-Box Fused?
ROV, UHD Console
How do I Backup the Flat File and Registry?
How do I Access the Master Executive Screen?
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Manipulators, General
What is my Manipulator's Wrist Torque?
The maximum wrist torque for all Schilling manipulators is very close to the same, as they all use the same hydraulic motor. A new motor operating at 207 bar (3,000 psi) at 18C (70 F) will achieve about 245 Nm (180 lb/ft) of torque. The best test of health for a wrist motor is to see how slowly you can rotate the motor without stalling. A good motor will continuously rotate at less than 4 RPM.
A wrist motor should not have any leakage to return. A motor that leaks to return has either been assembled wrong or the driveshaft seals are damaged.
The wrist torque cannot be adjusted; however, since the torque is a function of hydraulic pressure, adjusting the main hydraulic supply will vary the maximum achievable torque. This will affect all the joints, so lift capacity will be reduced proportionally.
For specific torque amounts, please see the Manipulator Comparison Chart for more details.
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Manipulators, General
Why Does the Arm Move When I Press "Freeze" Button?
This is caused by servo valve offset. Each time you freeze the arm, the controller commands the joint to the actual position. If a joint has high offset, when you command it to 30 degrees, it will actually go to 33 degrees. Now if you freeze again, you are commanding it to the actual position (33 degrees) it will go to 36 degrees (the actual position plus the offset). Each time you press the freeze button, any joint with a significant offset will move. Adjustment of Servo Offset varies with type of manipulator. Consult the appropriate Technical Manual for additional information.
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Manipulators, General
What is the Relationship between Pressure, Flow, and Horsepower?
The equation is:
PSI times GPM divided by 1714 equals Horsepower (PSI x GPM/1714=HP)
If you know the pressure and flow:
3,000psi x 5GPM / 1714 = 8.75 HP
If you know the HP and pressure:
3,000psi x GPM / 1714 = 8.75
GPM = 8.75 x 1714/3,000
GPM = 4.99
If you know the flow and HP:
PSI x 5 /1,714 = 8.75
PSI = 8.75 x 1,714 / 5
PSI = 2,999
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Manipulators, General
What is in a Spares Kit or Where Can I Find a Spares List for my Manipulator?
To find a list of what is included in each of the manipulator spares kits, please
visit our Technical Manuals page.
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Manipulators, General
What Causes Fatal Telemetry Errors?
A Fatal Telemetry Error indicates that the Master in unable to establish communication with the Slave. The possible causes could be:
- A faulty cable connection between the Master and Slave.
- Master Controller Opto Iso, or CPU board failure: 101-1774, 101-1839.
- Slave Controller Board failure: 101-4859.
A fault can be diagnosed using the Status Indicator LEDs.
The Opto Iso Board has 4 LEDs (TX) & (RX) RS422 (TX) & (RX) RS232. When functioning correctly, the transmit LED on the Opto Iso Board will blink momentarily at power up and then both transmit and receive LEDs will flash continuously at 60Hz after communication has been established. They appear solid. During a FTE (Fatal Telemetry Error) the transmit LED will blink and then go solid when communication cannot be established to the Slave. The absence of any LEDs on the Opto Iso Board can be an indicator of a board failure, or power failure.
The Seanet Cable at the Slave Arm has five LEDs. The Red LED is power and is lit when 18VDC or more is present. The other four Amber LEDs are VIDEO 1 AUX, DATA 1 (S - M), DATA 2(M - S) and VIDEO PRIMARY. All will flash briefly and then become solid when communication is established. An unlit LED is a good indication of no signal activity.
The Slave Control PCB also has five LEDs.
- PWR - Lit when 24VDC is present .
- PROC - Flashes once per second under normal conditions. Four to five flashes per second indicates an error. Go to Show Errors Menu. No LED at power up indicates a board, or power failure.
- Valve - Lit when hydraulics are enabled. If not, check connections and power between Master and Slave.
- TX - Lit when Slave Control PCB is transmitting a signal. If not, check connection between Master and Slave and confirm the Slave Arm Resolver are returning values.
- RX - Lit when Slave Control PCB is receiving a signal. If not, check connection between Master and Slave and confirm the Slave Arm Resolver are returning values.
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Manipulators, General
How Do I Reset the EPROM?
From the Main Menu >Set up >Security >Set Level
Change the level and password to the following by pressing INC and then SELECT when the desired number is displayed:
Level 5
Password 1357
Press Select, then exit to the Set up Screen. Select Memory.
- Change the first five numbers at the bottom of the screen to the following by using the UP, DOWN, LEFT, RIGHT buttons:
- [5:00FA-04BA] Note: The last four digits do not have to be changed.
- At the top of the screen press Edit button. It will change to two rows of digits.
- Use the UP or DOWN key to change only the first number. It can be changed to anything.
- Press the Edit button and change it back to Edit: Off.
- Cycle the power and when the screen comes back, you will be prompted to IGNORE, or OVERWRITE EPROM. Press OVERWRITE EPROM.
- This will reset the EPROM back the factory default and erase any limits that may cause errors when communicating.
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TITAN
What Do I Do When the Shoulder Actuator Locks Up on Deck?
A relief valve is now available to install under the lock valve in TITAN 2/3/4 manipulators that will relieve the pressure within the cylinder to prevent the chance of locking. This relief valve is standard equipment on new TITAN 4 manipulators and a retrofit kit is available for purchase. The Schilling part number for the kit is 101-5555.
Continue reading if your TITAN does not have a relief valve.
How to avoid locking the shoulder function:
The TITAN II shoulder joint includes a lock valve. When system hydraulics are turned off, a check valve within the lock valve closes, trapping residual pressure in the shoulder actuator to prevent the shoulder from drooping. Normally, when hydraulics are turned on again, system pressure overcomes the residual pressure (that is, a piston forces the check valve open), allowing hydraulic fluid to flow to the shoulder actuator. If you turn off hydraulics at depth, however, the check valve may not open, and the shoulder will not move.
This is Why:
When you turn off manipulator hydraulics, the residual pressure trapped in the shoulder actuator is the sum of the current system hydraulic pressure (typically 3,000 psi) and the current ambient pressure. If you turn off hydraulics at depth, the residual pressure in the shoulder actuator can be very high. Afterward, when you try to operate the arm on deck, the system pressure of 3,000 psi is insufficient to overcome the residual pressure, and no hydraulic fluid can flow to the shoulder actuator.
We have calculated that if you turn off system hydraulics at any depth above 1,091 meters (3,580 feet), the shoulder joint will still function on deck when hydraulics are turned on again. If you turn off system hydraulics below 1091 meters, the shoulder joint will be locked on deck. (These calculations assume that system pressure is 3,000 psi both when you turn off hydraulics and when you turn them on again.)
Calculating the Forces Involved:
When you turn off manipulator hydraulics, the residual pressure trapped in the shoulder actuator is the sum of the current system hydraulic pressure (typically 3,000 psi) and the current ambient pressure. If you turn off hydraulics at depth, the residual pressure in the shoulder actuator can be very high. Afterward, when you try to operate the arm on deck, the system pressure of 3,000 psi is insufficient to overcome the residual pressure, and no hydraulic fluid can flow to the shoulder actuator.
If you are interested performing force calculations for various condition depths and system pressures, use the formulas below. The force holding the check valve shut = (check valve surface area) x (system pressure + ambient pres-sure). In this equation, the check valve surface area is always 0.0145 square inch, and the system pressure and ambient pressure refer to the pressures at the time that hydraulics were turned off. When you start up hydraulics again, the force trying to open the check valve = (piston surface area) x (system pressure + ambient pressure). In this equation, the piston surface area is always 0.0222 square inch.
Example:
If you turn off system hydraulics at 2,000 meters when system pressure is 3,000 psi:
- Check valve area = 0.0145 square inch
- System pressure = 3,000 psi
- Ambient pressure at 2,000 meters = 2,920
- The force holding the check valve closed = 0.0145 square inch x (3,000 psi + 2,920 psi) = 85.84 pounds.
- Later, on deck, when you turn on manipulator system pressure at 3,000 psi and attempt to operate the shoulder, a piston tries to force open the closed check valve.
- Piston surface area = 0.0222 square inch
- System pressure = 3,000 psi
- Ambient pressure on deck = 0 psi
- The force trying to open the check valve is: 0.0222 square inch x (3,000 psi + 0 psi) = 66.60 pounds.
- Because the force holding the check valve closed (85.84 pounds) is greater than the force trying to open the check valve (66.60 pounds), the shoulder joint cannot move.
- Using the diagnostic screen note that the diagnostic screen contains two columns of numbers. The one labeled “Command” shows what the control system is telling each manipulator joint to do.
- Numbers in the next column, labeled “Feedback,” show what each joint is actually doing. If the shoulder joint is locked due to residual hydraulic pressure (as described above), the command number will change but the feedback number will not.
- It is important to distinguish between the command and feedback numbers when you troubleshoot the manipulator system. Generally, if a command number changes but the feedback number does not, the problem is in the slave arm rather than the control electronics.
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TITAN
What is the Makeup of the Resolver Wiring?
The resolvers require six wires for operation: two for the reference, two for Sine, and two for Cosine. TITAN resolvers have two additional wires on the rotor that are not used.
- Two different size resolvers are used. Most are size 30, but a size 15 resolver is used in the wrist. The size 15 resolver is a brushless resolver; therefore, there are no wires to the rotor.
- The resistance of the rotor coil in a size 30 resolvers is about 12.6 Ohms
- The resistance of the stator coils in a size 30 resolver is about 7.2 Ohms
- The resistance of the rotor transformer in a size 15 resolvers is about 38 Ohms
- The resistance of the stator coils in a size 15 resolver is about 75 Ohms
- All resolvers use the same 7 pin connector, either 005-4785 or 005-1388. There are two different manufacturers of the connector but they are backwards compatible.
- All resolvers except the Pitch and Jaw LVDT are wired the same. The pitch has the Sine Hi and Low swapped since it is mounted upside down and we need to keep our positive directions consistent with the other resolvers.
7 pin connector for all except Pitch and Jaw LVDT
Pin 1 Shield Shield
Pin 2 Ref Hi Brown
Pin 3 Ref Lo Green
Pin 4 Sin Hi Yellow
Pin 5 Sin Lo Blue
Pin 6 Cos Lo Black
Pin 7 Cos Hi Red
Pitch joint only
Pin 1 Shield Shield
Pin 2 Ref Hi Brown
Pin 3 Ref Lo Green
Pin 4 Sin Lo Blue
Pin 5 Sin Hi Yellow
Pin 6 Cos Lo Black
Pin 7 Cos Hi Red
The azimuth resolver has a special slit on the connector nut and ferrule which allows the connector to be disassembled and only the connector insert installed through a small tube. You then slide the split nut and ferrule back over the wire and assemble.
The base resolver for all resolvers except wrist and jaw is the same, part number 005-1595.
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TITAN
How Do I Troubleshoot Joint Problems?
If at least one joint/function is operating correctly, you can use that function to test the others by swapping the known good resolver and servo valve connectors with potentially faulty ones. Be sure to change both the resolver and the servo valve connector, or you will create another problem called "hard-over." If the known good resolver reports bad feedback when plugged into the faulty function, the problem is somewhere upstream, such as the wiring harness, slave cable, or slave controller. If the known good resolver reports good feedback when plugged into the faulty function, the problem is with the resolver.
If the resolver is reporting no feedback, you may appear to have limited control. That joint is running "open-loop." If the master arm is moved a little bit, a small error is generated and the slave arm begins to move slowly. If the master is moved back to the position it thinks it is at to null the servo signal, the arm stops. If you start the joint moving and do not null the signal with the master, the error will become greater and therefore the signal to the servo greater and eventually the slave arm will go "hard over." Needless to say, it is hazardous for the slave arm and its surroundings to operate in this condition.
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TITAN
How Much Can Each Joint Lift?
This is a complicated question that depends on the position of the manipulator. The torque or force of each actuator is listed below.
- Azimuth 2,170Nm (1,600 ft/lbs)
- Shoulder 2,955kg (6,500 lbs)
- Elbow 1,207Nm (890 ft/lbs)
- Pitch 559Nm (412 ft/lbs)
- Yaw 559Nm (412 ft/lbs)
- Wrist 244Nm (180 ft/lbs)
- Jaw 1,355Nm (1,000 lbs)
A single rotary actuator lift can easily be calculated if you know the joint angle and the distance from the joint to the weight you will be lifting. The shoulder actuator's lift capacity depends on the joint angle since the actuator does not apply the force at the center of rotation of the joint. The simple answer is that the manipulator can lift 123Kg (270 lbs) throughout the full range of motion, and can lift about 450Kg (1,000lbs) in its most advantageous configuration when the elbow, pitch, and yaw are pointing straight down.
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TITAN
Why is the Azimuth Joint Loose (swings back and forth) when Hydraulics are Turned off?
This is a common and normal reaction of a servo controlled actuator. A servo valve has an internal spool that we can simplify by saying that it has 3 positions. When it is perfectly centered it blocks all 4 ports; Pressure, Return, C1 (azimuth right), and C2 (azimuth left). When it is not perfectly centered, it connects Pressure to C1 and return to C2, or Pressure to C2 and Return to C1, depending on which side of center the spool comes to rest when hydraulics are turned off.
In addition, the hydraulic solenoid valve is designed to open the manipulator pressure circuit to the return circuit when the valve is closed. This prevents high ambient pressure from being trapped in the manipulator if the hydraulics are turned off at depth and the manipulator is brought to the surface, and also provides compensation pressure to the circuit if the arm is taken to depth with hydraulics off.
Therefore, if the hydraulics is turned off and the servo valve spool is not perfectly centered, any movement of the azimuth will push oil out one side of the actuator and back to the reservoir. The other side of the actuator will draw a vacuum, and slowly draw oil from the reservoir; however the flow of oil is very slow therefore the joint will swing freely from side to side until it fills with oil again.
Movement of the manipulator can be caused by either pushing on the manipulator, or just the mass of the manipulator reacting against movements of the ROV. A less likely cause would be if the azimuth seals are worn or defective and oil is leaking directly from C1 to C2. This can be tested by capping the hydraulic fittings going into the actuator and seeing if the joint can be moved. If the joint moves freely when the ports are capped, the actuator should be refurbished.
Service Bulletin 011-7240 describes a solution to this issue; the addition of a lock valve and relief valve. (As is used in the shoulder function) If a lock valve is not desired, the symptom can be minimized by ensuring that the hydraulic return path is as short as possible and with as few fittings as possible between the arm and the reservoir, so oil can be easily drawn back into the actuation to fill the vacuum cause by arm motion.
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TITAN
Are TITAN 3 and TITAN 4 Resolvers Interchangeable?
Yes, with the following caveat:
The TITAN 4 manipulator has the arm PCB in the forearm manifold and all resolvers connect directly to the PCB. The TITAN 3 manipulator contained a wiring harness which connected to 4 resolvers in the forearm manifold and 3 resolvers (Azimuth, Shoulder, and Elbow) in the upper arm. When a TITAN 3 is upgrade to In-Arm-Electronics, extension cables are added to these 3 resolvers to allow them to reach the PCB in the forearm.
It has come to our attention that a replacement resolver was sent to a TITAN 4 system and upon installation it was found that the wire was too short to reach the connector at the PCB in the forearm. To prevent this problem in the future, all spare Azimuth, Shoulder, and Elbow resolvers should be inspected to ensure that the cable is long enough to be used in both TITAN 3 and TITAN 4 systems. Parts that are of a previous revision with a shorter cable should be fitted with an extension kit to ensure they are compatible with both TITAN 3 and TITAN 4.
The cable extension kit is 101-4838-100 and contains 3 extension cables.
Resolvers with wire length adequate for TITAN 3 or TITAN 4:
Azimuth Resolver 101-2628 Rev C or above
Shoulder resolver 101-1573 Rev G or above
Elbow resolver 101-1405 Rev F or above
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CONAN
How Do I Enable Position Control Jaw in CONAN Manipulators?
Note: Special hardware is required for this function to operate.
A special lock valve with a bypass orifice is installed under the jaw servo valve. If you do not have this hardware, the function will not operate correctly. You can still operate in Toggle (full open/full close) and Lock (ignore input from master bands or jaw switch) but you will not be able to maintain intermediate jaw positions as the joint will drift open or closed. As a safety measure, the jaws will relax and open if hydraulic supply is lost or turned off. In order to maintain jaw pressure, you must leave the arm hydraulics enabled. To enable Position Jaw control, you must first establish communications with the slave controller. After you have established communications with the slave controller you may proceed.
Set the users privilege level to 5
- Press Setup
- Press Security
- Press Set Level
- Press the INC button until the value reads LEVEL:5
- Press Select
- Press INC once so the value changes to 1
- Press Select
- Press INC three times so the value changes to 3
- Press Select
- Press INC 5 times so the value changes to 5
- Press Select
- Press INC 7 times so the value changes to 7
- Press Select
- The bottom of the screen should now say: Current Users Privilege Level:5
- Press Exit
- Press Exit
The following commands will use the cursor keys; The 4 keys below the right side master arm location. The keys are called the up, down, left and right key accordingly.
- Navigate to the correct EEPROM address; 5:00F0
- Press Memory
- Press the up button 5 times so the left-most number and the center bottom of the screen reads 5:
- Press the right button 3 times to move the cursor to the right 3 spaces
- Press the Down button 1 time so the value changes to F
- Press the right button 1 time to move the cursor one space to the right
- Press the down button 7 times so the value changes to 0
- The value displayed should be 5:00F0 with 4 additional characters to the right
- Change the value from 0000 to 0001
- Press EDIT
- Press the right button 3 times to move the cursor to the 4th position
- Press the up key 1 time
- Press EDIT
- Press Exit
- Power cycle the master controller
- Pos (Position control) will now be available as one of the Jaw options from the operate menu.
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CONAN
Can I Convert a CONAN 7R to a CONAN 7P Position Controlled Arm?
Although technically possible, the cost of the conversion kit, and the number of man hours to make the change makes it impractical.
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CONAN
Can I Convert a CONAN 7P to a CONAN 7R?
Yes. The parts required are as follows:
- 10 ea. 101-3653 Dummy relief valve
- 3 ea. 101-3404 Dummy lock valve
- 1 ea 101-3103 Hose set
- 5 ea 101-3102 Actuator manifold
- The time to complete the retrofit would depend on the condition of the arm you start with, but would be estimated at approximately 10-20 hours.
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CONAN
Why does the Manipulator Drift While Frozen?
This is the first indication of poor hydraulic fluid quality. The movement of the arm is due to 'servo valve silting'. The human eye cannot see less than 40u (40 micron). The material that causes silting is less than 5u; therefore, oil that appears clean may actually be very dirty. And oil that appears dirty is VERY dirty.
To test whether silting is the problem, run the manipulator and observe a single joint for movement. When you see the joint start to drift or hunt, operate the joint quickly back and forth a few times. If the joint is steady for some time but then gradually starts to drift again, the oil quality needs to be improved. An oil cleanliness program should be implemented that included oil quality analysis. Oil quality should exceed ISO 4406 16/14/11.
It should also be noted that oil fresh out of a 55 gallon drum will not meet the requirements for servo controlled systems. Oil must be filtered before use.
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ORION
Why Doesn't the Forearm Roll Joint have Full Range of Motion?
This is most likely caused by the potentiometer not being aligned with the hydraulic actuator. To determine if the potentiometer is aligned properly; Ensure hydraulics are off and secured. Remove the hoses to the roll function at the manifold. (3A and 3B) Manually rotate the joint all to the hardtop in one direction. Establish communication with the controller and observe the position of the roll joint under the diagnose menu. Record the Actual value. Manually rotate the joint to the other hard stop and record the Actual value. The numbers should be within 100 counts of each other except the polarity will be opposite.
If the numbers are not within 100 counts and of opposite polarity, then the potentiometer will need to be adjusted. Manually rotate the joint to its center position. There should be an equal range of movement clockwise and counter-clockwise to each hard stop. When the potentiometer is adjusted correctly, the Actual value should be 0000 +/- 100 counts.
Adjustment of the potentiometer requires aligning the wiper within the potentiometer with the magnetic potentiometer driveshaft. This procedure is best followed with instruction from the Service Instructions within the technical manual 011–5016-1, Page 1 of 28 , Forearm Rotary Actuator, 101-3781, The instructions may vary to some degree, and all steps may not be required to be performed.
! Caution
In this procedure you will set the center position of the rotary actuator position sensor. To do this you will need have the power to the master controller turned on. Do not turn on the hydraulics at this time.
- Turn the rotary actuator all the way to one hard stop. Note position of rotary actuator. Turn the rotary actuator the opposite direction to the other hard stop. Note position of rotary actuator. Turn rotary actuator back to the center of the rotation. Do not rotate the arm away from the centered position.
- Turn on the power to the master controller. Go to the diagnostics menu: Press DOWN TO
EXIT > 4 DIAGNOSE > 2 SLAVE. Locate the “ROL” column and read the “FEED
BACK” readout.
- Place the sensor driveshaft (101-4012) into the position sensor (101-3917) as shown in
Figure 63. Look at the readout and slowly rotate the driveshaft until it reads 0 (± 100). Pull the drive shaft straight out of the sensor.
- Lubricate the bearing (003-0249) with EP grease (see Figure 43). Align the flat on the
sensor driveshaft with the flat on the coupler (see Figure 58) and install the sensor driveshaft
into the rotary actuator (see Figure 30).
- Lubricate o-ring (004-0130) on the top of the adapter plate (001-5210) with o-ring lube
(Figure 42).
- Install the position sensor onto the adapter plate (see Figure 30).
- Lubricate new o-ring (004-0130) with o-ring lube and install into wire housing (001-
5266) (Figure 30).
- Feed the pull-wire through the wire housing as shown in Figure 64. Lubricate four SHCS
(002-1550) with Aqua Lube and install the wire housing onto the rotary actuator (see Figure
- Torque to 28-in./lbs (3.2 Nm).
Note: Check that the “FEED BACK” readout is still at 0 (± 100). If not, repeat steps
1-7 until the desired readout is maintained.
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RigMaster
What is the Wrist Torque of the RigMaster?
A new motor operating at 207 bar (3,000 psi) at 18C (70 F) will achieve about 245 Nm (180 lb/ft) of torque.
The wrist torque cannot be adjusted; however, since the torque is a function of hydraulic pressure, adjusting the main hydraulic supply will vary the maximum achievable torque. This will affect all the joints, so lift capacity will be reduced proportionally.
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RigMaster
Does the RigMaster Need Over-Pressure Relief Valves?
Yes.
All functions should have over-pressure relief valves to prevent high internal pressure if the arm is subject to high forces, such as flying into an object with the arm extended. In addition, the over-pressure relief valves prevent high pressure being trapped in the actuators due to operating at depth, where ambient pressure plus the working pressure is present, when returning to the surface.
In addition, lock valves (PO check valves) should be used on all joints except the jaws and wrist to hold the arm in position without the need for system hydraulics to be on at all times. A lock valve should not be used on the jaws, as the vehicle could get stuck clamped to an object if the system hydraulics fail. The wrist will not benefit from a lock valve as the hydraulic motor internal leakage makes a lock valve less effective.
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Master Console
What EPROM Should I Use in My Manipulator?
The current revision EPROM for standard systems is as follows:
TITAN 4
014-0695 Rev. E
TITAN 3 Master
014-0695 Rev. E (This software will automatically detect whether it is connected to a TITAN 3 or a TITAN 4 and run the appropriate program)
TITAN 3 Slave
014-0594 Rev. C
Orion 7P
014-0608 Rev. C
CONAN 7P
014-0550 Rev. C
It is recommended to run the latest revision of software except if your software has custom features. If you are not sure if you have custom features, call and provide the number starting with 014- that is written directly on the EPROM.
When you install new software or change EPROMs, the controller will detect the change and prompt you to choose whether to Overwrite EEPROM values, Update Version Number Only, or Ignore. In almost every case, you should choose the option to Overwrite EEPROM Values.
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Master Console
How do I Reset my Software to Factory Defaults?
Note: If the manipulator has been previously programmed, you must have communications with the slave controller before proceeding. If the CPU card or the EPROM is new or has a different version number, the utility to overwrite EPROM values will be displayed immediately upon startup and this procedure is not required.
# Set your Security Level to 1 or above
- Establish communications with the slave controller
- Press Setup
- Press Security
- Press Set Level
- Press the INC button until the value reads LEVEL:5
- Press Select
- Press INC once so the value changes to 1
- Press Select
- Press INC three times so the value changes to 3
- Press Select
- Press INC 5 times so the value changes to 5
- Press Select
- Press INC 7 times so the value changes to 7
- Press Select
- The bottom of the screen should now say:
- Current Users Privilege Level :5
- Press Exit
- Press Exit
# Edit the EPROM version number stored in ROM so it doesn't match the EEPROM's version number
The following commands will use the cursor keys; the 4 keys below the right side master arm location. The keys are called the up, down, left, and right key accordingly.
- Press Memory
- Press the up button 5 times so the left-most number and the center bottom of the screen reads 5:
- Press the right button 3 times to move the cursor to the right 3 spaces
- Press the Down button 1 time so the value changes to F
- Press the right button 1 time to move the cursor one space to the right
- Press the down button 6 times so the value changes to A
- The value displayed should be 5:00FA with 4 additional characters to the right
- Press EDIT
- Press the up key 1 time
- Press EDIT
- Press Exit
- # Press the button to OVERWRITE EEPROM
- Power cycle the master controller
- When the option is displayed, choose the OVERWRITE EEPROM option
- You will need to re-teach all stow and limits after performing this procedure.
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Master Console
What is the Part Number of the New Electronics Board for the Master Consolette?
The PCB for a 90-260 VAC version Master Processor PCB is 005-5195. The part number for an 18-36 VDC version Master Processor PCB is 005-5195-1. However, you will also need a telemetry board 005-4645 when upgrading to the new electronics. he same telemetry board is used in both the AC and DC version and the same telemetry board is used with the TITAN 4 in Arm Electronics board.
To upgrade your old controller to the new master processor, you should order kit number 008-0466 for the AC version, and 008-0366 for the DC version. These kits include some additional standoffs and screws to mount the new board.
The Master Processor Board is pre-loaded with all standard manipulator software so an EPROM is no longer required.
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Master Console
What Happens When I Select Overwrite EPROM?
When a new EPROM is installed onto the CPU Board, a menu will appear.
By selecting “Ignore” the current values for servo offset, error checks, stow position and joint limits will be retained for operation. Selecting “Overwrite EPROM“ will erase any saved values and reset the Master Controller to the factory default.
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ROV, UHD Hydraulics
What is the Relationship between Pressure, Flow, and Horsepower?
The equation is:
PSI times GPM divided by 1,714 equals Horsepower
To find the hydraulic flow of a 200HP ROV at 3,000PSI we use the equation:
3,000 x GPM /1,714 = 200
and rewrite this as:
GPM = 200/3,000 x 1,714
=114.26 GPM
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ROV, UHD Telemetry
What Bandwidth can the SIM Module Talk On?
The SIM can talk on any baud rate (1200 - 230k). It depends on what the device wants connected to the SIM requires.
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ROV, UHD Telemetry
What is the Power Rating of the Node?
Each Node is rated for a total output of 30A among all ports.
Each port is capable of 15A and up to 250W continuous electrical power (at 26 VDC) and an inrush current of 1000W for up to 100ms.
Ports equipped with a SIM (serial interface module) are also capable of supplying 12 VDC at 750mA.
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ROV, UHD Electrical
What is the Power Output of the Survey J-Box?
Power rating ports 1-7 26 VDC @15 A max. (Subject to max. of 50A on the Node)
Power rating ports 8-11 48 VDC @ 5A or 26 VDC @15 A max.
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ROV, UHD Electrical
How is the Lighting Control Unit Fused?
The LCU's power supply is fused at the IPA with a 50A fuse. This fuse also protects the AC J-Box so the load is shared between the two devices. This allows the LCU 25A of current draw. Internally there are two 7A fuses in series on each light channel. These fuses are soldered to the circuit board inside the unit and are not user serviceable. This device is also protected by a software fuse that will sense an over current condition and shutoff power to the affected port.
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ROV, UHD Electrical
How is the AC J-Box Fused?
The power supply cable for the AC J-Box has a 50A fuse at the IPA that it shares along with the LCU. Though this fuse is rated at 50A, the AC J-Box is only allowed 25A to accommodate the LCU's current draw as well. Inside the AC J-Box are two additional 20A fuses; one on the 120VAC Positive and one on the 120VAC Neutral legs. These are the only hard fuses in the unit. Each of the four 120VAC ports on the AC J-Box has a software fuse that will sense an over current condition and turn off the corresponding Seanet control module shutting down power to the port.
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ROV, UHD Console
How do I Backup the Flat File and Registry?
Refer to Schilling Procedure 130-0572, UHD System Specific Data Backup & Restore Procedure.
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ROV, UHD Console
How do I Access the Master Executive Screen?
Make certain that the KVM Switch is set to control the Server computer. You can confirm this by moving the mouse on the provided system keyboard/mouse combo. If set to the Server Computer the cursor will be active on the two side video screens (left and right Dell monitors).
Once you are controlling the Server, press F1 once. If this does not bring up the Master Exec screen, press Control, Shift, Insert to gain control of the Keyboard Hook and then press F1 again.
Press F1 again to exit the Master Exec screen and return to the video.
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