Impact Subsea ISD4000 Bedienungsanleitung
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Innovative Underwater Products
ISD4000
Depth & Temperature Sensor
With Optional AHRS
Installation & Operation
Manual
Revision: 1.6
Date: 09/01/19
Impact Subsea Ltd
T. +44 (0) 1224 460 850
E. info@impactsubsea.co.uk
W. www.impactsubsea.com
Contents
1.0 Introduction.................................................................................................................................3
2.0 Specification................................................................................................................................4
2.1 Unit Overview .................................................................................................................4
2.2 Unit Dimensions..............................................................................................................4
2.3 Depth, Temperature & HMRU.........................................................................................5
2.4 Communications, Power & Physical...............................................................................5
3.0 Overview.....................................................................................................................................6
4.0 Installation .............................................................................................................................7
4.1 Location............................................................................................................................7
4.1.1 Pressure (For Depth Accuracy).............................................................................7
4.1.2 Magnetic Disturbers (For Heading Accuracy)......................................................7
4.1.3 Alignment with Vehicle (For Pitch/Roll Accuracy)...............................................8
4.1.4 Heat Sources (For Temperature Accuracy)...........................................................8
4.2 Mounting .........................................................................................................................9
4.3 Electrical .......................................................................................................................10
4.3.1 Connector Pin Out..............................................................................................10
4.3.2 Power..................................................................................................................11
4.3.3 Serial Interface....................................................................................................11
4.3.4 RS232 Wiring.....................................................................................................11
4.3.5 RS485 Wiring.....................................................................................................12
4.3.6 Establishing Communications............................................................................13
4.3.7 Connector Mating...............................................................................................13
4.3.8 Connector Cleaning............................................................................................13
5.0 Operation ..................................................................................................................................14
5.1 Use With The Impact Subsea Software..........................................................................14
5.2 Integration With Systems...............................................................................................15
5.3 Calibration......................................................................................................................15
5.4 Magnetic Calibration......................................................................................................17
6.0 ASCII Output Strings ...............................................................................................................22
6.1 Depth .............................................................................................................................22
6.2 AHRS...............................................................................................................................24
7.0 Servicing....................................................................................................................................27
8.0 Warranty....................................................................................................................................28
9.0 Technical Support .....................................................................................................................29
Every effort is made to ensure that information within this document is up to date. However, information within this
document is subject to change without notice, in-line with our commitment to continuous product development and
improvement.
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1.0 Introduction
The ISD4000 sensor provides depth and temperature measurement with
exceptional accuracy and resolution. Optionally, the ISD4000 can also measure
Heading, Pitch & Roll.
Suitable for a large range of underwater applications, the ISD4000 can be used with
ROVs, AUVs, Hydro-graphic Survey, Construction, Positioning and any other task
where accurate depth and temperature is required underwater.
The ISD4000 utilises the latest in temperature compensated piezo-resistive depth
sensing technology, to provide an exceptional 0.01% full scale depth measurement
accuracy. A highly accurate RTD sensor is used to provide temperature to 0.01°C
accuracy.
Where fitted, the Heading, Pitch and Roll readings are provided from integrated
MEMs based Magnetometers, Accelerometers and Gyroscopes. The MEMs based
devices are fused together to provide highly accurate and stable Heading, Pitch and
Roll measurements.
Housed in a compact and lightweight titanium housing ensures that the ISD4000 is
not only at the forefront of sensor technology; but is built to withstand the most
extreme underwater environments.
ISD4000 Depth & Temperature Sensor
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2.0 Specification
2.1 Unit Overview
2.2 Unit Dimensions
All dimensions are in mm.
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2.3 Depth, Temperature & HMRU
Depth Pitch & Roll*
Accuracy ± 0.01% Full Scale Pitch ± 90°
Roll ± 180°
Resolution 0.001% Full Scale Accuracy 0.2° RMS
Range 10, 30, 50, 100, 300,
400 or 600 Bar
Resolution 0.1°
Type Temperature
Compensated Piezo-
Resistive
Temperature
Accuracy 0.01°C
Resolution 0.001°C
Heading*
Accuracy ± 0.5°
Resolution 0.1°
* Available as an option at time or order
2.4 Communications, Power & Physical
Communications & Power Physical
Digital RS232 & RS485 Weight
(Air/Water)
Titanium: 0.42 / 0.28kg
Delrin: 0.20 / 0.10kg
Protocol 300 to 115200
baud
Depth Rating Titanium: 6,000 meters
Delrin: 500 meters
Data Continuous or on
demand
Temperature Operating: -5 to 25°
Storage: -20 to 50°
Data Rate Up to 100Hz Connector Subconn MCBH8M-SS
fitted as standard
Input Voltage 7 to 32V DC
Power < 40mA @ 24V DC
© Impact Subsea Ltd 5
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3.0 Overview
The ISD4000 is a pressure measurement device – making use of increasing pressure
in water to determine depth. It is important to note that the device is designed to
provide depth & temperature measurements in water, and will not provide accurate
readings when operated in air.
The Heading, Pitch and Roll readings are provided by a Micro-Electro-Mechanical
system (MEMS) based technology. MEMs based Gyros, Accelerometers and
Magnetometers are integrated within the unit.
The temperature reading is provided by a dedicated RTD sensor, located in a probe
next to the pressure sensor.
The ISD4000 can be configured using the supplied Impact Subsea software. The
software allows all settings to be configured (output strings, communications protocol,
baud rate, taring etc).
In addition to allowing the ISD4000 to be configured, the Impact Subsea software
also allows all outputs to be viewed in real time and logged.
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4.0 Installation
4.1 Location
When evaluating the installation location of the ISD4000, there are several
factors to consider to achieve optimum operation from each part of the
unit:
–Pressure (Depth Measurement)
–Magnetic Disturbers (Heading)
–Alignment with Vehicle (Pitch/Roll)
–Heat Sources (Temperature Measurement)
4.1.1 Pressure (For Depth Accuracy)
The ISD4000 pressure port must not be blocked or obstructed by any item.
Take care when mounting the unit not to block any of the holes on the
pressure port of the ISD4000.
The unit should be mounted to allow good water flow to the pressure sensor.
Ideally the ISD4000 should be mounted with the pressure sensor end
pointing downwards. This will help to minimise the build up of sediment
on the pressure sensor.
4.1.2 Magnetic Disturbers (For Heading Accuracy)
Where the heading output is to be used, the ISD4000 should be mounted as
far as possible from sources of magnetic interference.
Electrical items which can cause magnetic interference include motors,
transformers and valve packs. Ferrous metals, or any other
magnetically active materials will also have influence on the heading reading.
Thus, where possible, the unit should be installed as far as possible from
magnetically active materials.
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4.1.3 Alignment with Vehicle (For Pitch/Roll Accuracy)
When mounting vertically, the ISD4000 should be mounted with the
Pressure Sensor facing downwards (to the seabed) and the indentation in the
connector end cap pointing forwards, in the direction of forward vehicle
travel:
When mounting horizontally the ISD4000 should be installed with the
indentation in the connector end cap pointing upwards:
4.1.4 Heat Sources (For Temperature Accuracy)
In order for the ISD4000 to read the ambient temperature of the water, it
should not be installed in close proximity of any heat sources (such as
Hydraulic Power Packs).
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4.2 Mounting
The ISD4000 should be mounted using clamps around the mid section of the
body. The unit has a 38mm recess in the main body to enable a clamp to be
tightened securely around the unit:
Ideally a non-metallic clamp should be used, however in the event that this is
not possible, effort should be made to electrically isolate the clamp from the
ISD4000 housing. This can be achieved by using rubber or plastic strips
around the body of the ISD4000.
The ISD4000 has two flats, on either side of the body – these are to enable
the unit to sit tightly against another flat surface if available. These flats also
help prevent the unit moving when on the workbench for testing.
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4.3 Electrical
The ISD4000 is fitted with a SubConn MCBH8M-SS connector as standard.
This will mate to a SubConn MCIL8F connector/cable assembly.
4.3.1 Connector Pin Out
The standard connector pin out is provided below:
Male Connector on ISD4000 Unit
Pin Function Mating Wire Colour
1 0VDC Black
2 7-32VDC White
3 Not Used Red
4 Not Used Green
5 0V Digital Orange
6 Not Used Blue
7 RS232 TX & RS485 A+ White/Black
8 RS232 RX & RS485 B- Red/Black
© Impact Subsea Ltd 10
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2
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