Kongsberg EM 2000 Maintenance Manual
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Kongsberg EM 2000 Maintenance Manual

Kongsberg EM 2000 Maintenance Manual

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EM 2000
Multibeam echo sounder

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Summary of Contents for Kongsberg EM 2000

  • Page 1 Maintenance Manual EM 2000 Multibeam echo sounder...
  • Page 3 852-164378 EM 2000 Multibeam echo sounder Maintenance manual...
  • Page 4 The information contained in this document is subject to change without prior notice. Kongsberg Maritime AS shall not be liable for errors contained herein, or for incidental or consequential damages in connection with the furnishing, performance, or use of this document.
  • Page 5 Maintenance manual Remarks References Further information about the EM 2000 system supplied to Base version may be found in the following manuals: • EM 2000 Operator Manual • EM 2000 Installation Manual The reader This maintenance manual is intended to be used by a trained maintenance technician or engineer, with experience of electronic and digital circuitry, computers and electromechanical design.

  • Page 6: Table Of Contents

    EM 2000 / Base version INTRODUCTION .........
  • Page 7 Maintenance manual Digital Video Interface (DVI) display cable ....W600 - Remote synchronization ......W807 - Sonar Head cable .
  • Page 8 EM 2000 / Base version Beamformer Interface Board (BIFB) ......Passive Backplane BP-10S ....... . .
  • Page 9 ....... . . 11.3 EM 2000 File system ........
  • Page 10 EM 2000 / Base version 12 SPARE PARTS ..........
  • Page 11 Maintenance manual High voltage safety warning Precautionary measures 2 Open his mouth and check for and remove any false teeth, chewing gum etc. The voltages used to power this equipment 3 Check if the victim is breathing. If not, are potentially lethal. Even 110 volts can kill. check if his heart is beating.
  • Page 12 EM 2000 / Base version Artificial respiration Remove the victim to a hospital as soon as possible, but do not interrupt the artificial 1 Kneel besides the victim’s head. Place one respiration and EMC cycles till his heart beat hand under his neck and lift, allowing his and breathing returns.

  • Page 13: Introduction

    Introduction 1 INTRODUCTION General This is the maintenance manual for the EM 2000 multibeam echo sounder system. Note This manual is common for the AUV Processing Unit and the Standard Processing Unit. The manual contains detailed descriptions of each of the units in the system.

  • Page 14: Maintenance Philosophy

    It is further expected that you can use standard electronic instruments, such as an oscilloscope. You should be trained by Kongsberg Maritime to perform maintenance on the system. Typical tasks may include troubleshooting, testing and circuit board replacement.

  • Page 15: System Overview

    6000 m water depth. The EM 2000 system has a high ping rate of up to 10 Hz. It operates with 111 roll stabilised beams per ping with 1.5°...
  • Page 16 Attitude (roll, pitch and heave) Heading Clock Special interfaces: Trigger input/output Clock synchronization Supply voltage: 115 or 230 Vac 50/60 Hz Sonar Head Transmit transducer Figure 1 EM 2000 system units and interfaces, 120 degrees sonar head 852-164378 / D...
  • Page 17 Attitude (roll, pitch and heave) Heading Clock Transmit Special interfaces: transducer Trigger input/output Clock synchronization Supply voltage: 115 or 230 Vac 50/60 Hz Sonar Head Figure 2 EM 2000 system units and interfaces, 150 degrees sonar head 852-164378 / D...

  • Page 18: General Safety Rules

    EM 2000 / Base version General safety rules The system operates on 115 and/or 230 Vac, 50/60 Hz without any need for wiring changes. Warning This voltage can be lethal. The following safety precautions must be followed at all times during installation and maintenance work: •...

  • Page 19: Technical Specifications

    Technical specification 2 TECHNICAL SPECIFICATIONS Note Kongsberg Maritime is engaged in continuous development of its products and reserves the right to alter specifications without prior notice. System performance data Frequency: 200 kHz Maximum ping rate: 10 Hz Number of beams per ping: 111 Alongtrack beamwidth: 1.5_...

  • Page 20: Interfaces

    EM 2000 / Base version ADC resolution: 12 bits Interfaces Serial lines with operator adjustable baud rate, parity, data length and stop bit length for: • Motion sensor (roll, pitch, heave and optionally heading) in format supported by sensors from Applanix, iXSEA, Kongsberg Seatex and VT TSS •...

  • Page 21: Physical Specifications

    Technical specification Physical specifications Transmit transducer Width/diameter: 114.3 mm Height: 73.2 mm Length: 419.1 mm Weight: Approximately 5 kg Pressure rating: 3000 m depth Sonar Head 120_ system Diameter: 228 mm (without “ears”) Height: 238 mm Weight: Approximately 16.6 kg Pressure rating: 3000 m depth Cable diameter: 17 mm Connector: Seacon MING-10...
  • Page 22 EM 2000 / Base version Width: 140 mm Depth: 421 mm (excluding handles and connectors) Weight: 4.5 kg Power: +24 Vdc, 29 VA and +5 Vdc, 33 VA Note Note that these power measurements are for normal operations. Start-up values may be higher. The external power supply must be rated for higher, inrush current.

  • Page 23: Environmental Specifications

    Technical specification Environmental specifications Operating temperatures: • Processing Unit: 0 to +45_C • Operator Station: 0 to +45_C Storage temperatures: • Processing Unit: -30 to +70_C • Operator Station: -30 to +70_C Note Processing Unit specifications for both standard and AUV versions.

  • Page 24: Cable Layout

    Cable plan - Operator Station, page14 → Cable plan -Processing Unit, page 15 → Cable plan - AUV Processing Unit, page 16 → EM 2000 AUV Processing Unit cabling details, page 17 → Cable specifications, page 18 → Sonar Head Connections, page 45 →...

  • Page 25: System Cabling

    • Corresponding terminations System and shipyard cables Cables fall into two categories: • System cables supplied by Kongsberg Maritime with the EM 2000 system delivery. • Shipyard cables provided by the shipyard performing the installation, or the shipowner. Cables to be provided by the installation shipyard are specified in the cable specifications.

  • Page 26: Cable Plan

    External hard disk or tape (Optional) (W 0 ) C15 Serial A (W119) Keyboard C16 Serial B (W118) (W503) HUB/SWICH Mouse Ship’s Ethernet to printer/plotter C17 (W400) (CD21406) Ethernet to Processing Unit Figure 3 EM 2000 Cable plan - Operator Station. 852-164378 / D...
  • Page 27 AC power Serial line 1 C21 (W105) C24 (W118) 1 PPS Clock Serial line 2 C22 (W600) C26 (W118) Remote Serial line 4 C25 (W118) Serial line 3 Figure 4 EM 2000 Cable plan - Processing Unit 852-164378 / D...
  • Page 28 Hard Disk (optional) SERIAL PORT 2 SERIAL PORT 3 1PPS (CD21405D) C49 (W124) Serial line and +24 Vdc C48 (W400) C46 (W807) Ethernet Sonar Head (W807) Sonar Head Figure 5 EM 2000 Cable plan - AUV Processing Unit 852-164378 / D...
  • Page 29 Cable layout and interconnections CD21408B Figure 6 EM 2000 AUV Processing Unit - cabling details 852-164378 / D...

  • Page 30: Cable Specifications

    EM 2000 / Base version Cable specifications Each cable is identified with a cable identifier; Cxx. The termination of all the cables into plugs or terminal blocks are shown on the referenced pages. Operator Station cables C1 Display monitor (video signal)
  • Page 31 Cable layout and interconnections C9 AC power operator station This is a standard AC power cable. The physical properties of the cable is not specified in this documentation. → Cable details on page 31 C10 AC power external tape storage This is a standard AC power cable.

  • Page 32: Processing Unit Cables

    EM 2000 / Base version Processing Unit cables C17 Ethernet to Operator Station This is a standard CAT-5 ethernet cable, and must be provided by the installation shipyard. → Cable details on page 33 C20 AC power This is a standard AC power cable. The physical properties of the cable is not specified in this dokumentation.

  • Page 33: Auv Unit Cables

    The cable must be provided by the installation shipyard. C46 / C47 - Transducer cable to Sonar Head The standard Sonar Head cable delivered by Kongsberg Maritime has three plugs for connection to the standard Processing Unit. These plugs must be substituted by one underwater plug with minimum 10 pins.
  • Page 34 The AUV Processing Unit uses +5 Vdc and +24 Vdc for the Sonar Head. These cables are delivered without connectors. 100 cm cables are supplied by Kongsberg Maritime. They should be shortened as much as possible to minimize voltage drop.

  • Page 35: Cable Drawing List

    Cable layout and interconnections Cable drawing list → W103 - Generic RS-232 Serial line, page 24 → W105 - Generic coax cable, page 25 → W118 - Generic RS-232 with CTS and RTS, page 26 → W119 - Sound speed probe interface, page 27 →...

  • Page 36: Generic Rs-232 Serial Line

    EM 2000 / Base version Generic RS-232 Serial line This cable comprises a multi-purpose serial line. It provides interface with any peripheral unit. One end of the cable connects to the local unit (DTE) with a 9-pin ’D’ connector, while the other connects to the peripheral (DCE) as described in the peripheral unit’s documentation.

  • Page 37: Generic Coax Cable

    Cable layout and interconnections Generic coax cable This cable is used for connections to peripheral units or networks. Local Coax connector Peripheral unit to Live Live be connected as described Ground in applicable documentation Screen/Ground Live Coax connection to peripheral unit or network W105 / Rev.D 852-164378 / D...

  • Page 38: Generic Rs-232 With Cts And Rts

    EM 2000 / Base version Generic RS-232 with CTS and RTS This is a standard serial cable terminated into a 9-pin D-connector. Local 9-pin ‘D’ connector Peripheral unit to be connected as described in applicable documentation Ground Female 9-pin D-pin connector...

  • Page 39: Sound Speed Probe Interface

    Cable layout and interconnections Sound speed probe interface This cable provides the interconnection between the Processor Unit work station and the sound speed probe. This connection is normally made through a small junction box and with a power supply as indicated in the drawing. AC Power (W301) Power...

  • Page 40: Rs-232 Serial Line With Trigger Signals

    EM 2000 / Base version RS-232 Serial line with Trigger signals This cable is used by the AUV Processing Unit. Local 9-pin ‘D’ connector Peripheral unit to Trig-Out be connected as described RxD-In in applicable documentation TxD-Out Ground Blanking (RTS)

  • Page 41: Rs-485 Serial Line And Power

    Cable layout and interconnections RS-485 Serial line and power Local 9-pin ‘D’ connector RS-485 ref RS-485 B To Sonar Head RS-485 A +24V Female 9-pin D-pin connector View Male 9-pin D-pin connector RS485 Serial line W124 / Rev.A Conductors 6 x 0.5 mm2 Voltage 60 V 852-164378 / D...

  • Page 42: Mini Coax

    EM 2000 / Base version Mini Coax Local Mini Coax connector Peripheral unit to Live Live be connected as described Ground in applicable documentation Mini coax connection to peripheral unit or network W125 / Rev.A 852-164378 / D...

  • Page 43: Standard Ac Power Cable

    Cable layout and interconnections Standard AC power cable This cable is a standard three-wire power cable. It is commercially available in standard lengths, or may be produced locally to suit the specific installation needs. The instrument end is terminated in a standard IEC female socket, while the other end is terminated in a plug suitable for the local standard.

  • Page 44: Emc Ground

    EM 2000 / Base version EMC ground This cable is used to connect the system unit to the ship’s ground. Note that this cable must be as short as possible. Units's ground tag Ships' ground Ship's ground W311 / Rev B...

  • Page 45: Ethernet With Rj45 Plugs (Screened)

    Cable layout and interconnections Ethernet with RJ45 plugs (screened) This cable contains the Ethernet connection. RJ45 plugs are used to terminate the cable. Note that these plugs must be screened to comply to EC rules. 852-164378 / D...

  • Page 46: Ethernet With Ieee 802.3

    EM 2000 / Base version Ethernet with IEEE 802.3 This is a standard ethernet connection. It complies to IEEE 802.3. Male 15-pin Female 15-pin D-pin connector D-pin connector Ethernet Remote socket system Screen Collision presence (+) Transmit (+) Receive (+)

  • Page 47: Standard Usb Cable

    Cable layout and interconnections Standard USB cable This is a standard commercial USB cable terminated with A and B plugs in either ends. The cable can be used for a variety of external devices. The order number provided is for a 4.5 m cable.

  • Page 48: Keyboard Cable

    EM 2000 / Base version Keyboard cable This is a standard keyboard cable. In most cases, the cable is physically connected to the keyboard. It is terminated in a plug suited to fit the computer. Several keyboard types are available for different languages and hardware platforms.

  • Page 49: Mouse Or Pointing Device Cable

    Cable layout and interconnections Mouse or pointing device cable This is a standard mouse cable. It is physically connected to the mouse. It is terminated in a plug suited to fit the computer. Note On Unix work stations, the mouse is normally connected to the keyboard.

  • Page 50: Printer Cable

    EM 2000 / Base version Printer cable This is a standard printer cable. It is terminated in the computer’s parallel port. The socket on the rear side of the computer is normally a 25-pin female D-connector. Parallel port 25-pin connector...

  • Page 51: Digital Video Interface (Dvi) Display Cable

    Cable layout and interconnections Digital Video Interface (DVI) display cable This cable is a standard DVI-I cable. It is connected to the LCD display. DVI cable W508 / Rev.A 852-164378 / D...

  • Page 52: W600 - Remote Synchronization

    EM 2000 / Base version W600 - Remote synchronization The cable is supplied by the manufacturer. Processing Unit 9-pin ‘D’ connector ‘Remote’ Trigger out RX (for test) TX (for test) Remote synchronization W600 / Rev A Conductors 5 x 2 x 0.5 mm2...

  • Page 53: W807 - Sonar Head Cable

    Cable layout and interconnections W807 - Sonar Head cable This is the cable from the EM 2000 Processing Unit to the Sonar Head. The cable is supplied by the manufacturer. Processing Unit Sonar Head P1 / P2 / P3 Watertight connector...

  • Page 54: Sonar Head Cable Drawings

    EM 2000 / Base version Sonar Head cable drawings In-line UV plug Dismantling the coax cables Approx 550 mm Heat-shrinkable sleeve Approx 60 mm 350 mm 350 mm Protection cap Length GMA.1B.045.DV 15 m 379-086961 Protection cap GMA.1B.045.DR 379-086962 Cable RCOP 4x(2x0.5)

  • Page 55: Standard Sonar Head Cable

    Cable layout and interconnections Standard Sonar Head cable Note On newer BIFB boards the TAXI interface is the same as in figure 9. Ser.link RS485 TAXI +24 Vdc +24 Vref 9-pin Delta PROCESSING UNIT Green (CD3740/824-133234/C) Sonar Head cable 642-086803 Diameter 16.9 mm SUBCON SONAR...

  • Page 56: Auv Sonar Head Cable

    EM 2000 / Base version AUV Sonar Head cable +24 Vref Internal Ser.link Filter +24 Vdc PROCESSING RS485 UNIT TAXI NOTE! 24 Vgnd and 5 Vgnd must be connected together externally. 9-pin Delta PRESSURE BOTTLE (CD3740B/824-133234/C) One plug Sonar Head cable 642-086803 Diameter 16.9 mm...

  • Page 57: Sonar Head Connection

    Cable layout and interconnections Sonar Head Connection Sonar Head cable The standard Sonar Head cable delivered by Kongsberg Maritime has three plugs for connection to the standard Processing Unit. These plugs must be substituted by one underwater plug with minimum 10 pins.

  • Page 58: Basic Cabling Requirements

    EM 2000 / Base version Basic cabling requirements Cable trays All permanently installed cables associated with the system must be supported and protected along their entire lengths using conduits and/or cable trays. The only exception to this rule is over the final short distance (max. 0.5 metre) as the cables run into the cabinets/units to which they are connected.
  • Page 59 Cable layout and interconnections Radio Frequency interference All cables that are to be permanently installed within 9 m (30 ft) of any source of Radio Frequency (RF) interference such as a transmitter aerial system or radio transmitters, must, unless shielded by a metal deck or bulkhead, be adequately screened by sheathing, braiding or other suitable material.
  • Page 60 EM 2000 / Base version Electrical continuity must be ensured along the entire length of all cable coverings, particularly at joints and splices. In no case should the shielding of cables be used as the only means of grounding cables or units.

  • Page 61: Operator Station

    Operator Station 4 OPERATOR STATION Description and main functions Introduction The HWS 10 Hydrographic Work Station is the Operator Station normally used by the EM 2000. Topic → HWS 10 outline drawing, page 50 → Theory of operation, page 51 →...
  • Page 62 EM 2000 / Base version Height 127 mm Depth 480 mm (excluding handles and connectors) Width 427 mm (excluding rack fixing brackets) Note: All measurements are in mm. The drawing is not in scale. Page 1 of 1 HWS 10 Operator Station...

  • Page 63: Theory

    It has been specifically designed as the optimal platform for running the Seafloor Information System (SIS) real-time operating software used on the Kongsberg EM multibeam echo sounders. Special features of SIS include real-time: • Gridding of sounding data.

  • Page 64: Installation

    EM 2000 / Base version Installation The HWS 10 is prepared for mounting in a 19” rack. The system’s 17.4” Industrial LCD monitor is also rack mountable, and a universal bracket is supplied for tabletop, overhead or bulkhead mounting. Both the workstation and the monitor are IP22 rated.

  • Page 65: Processing Unit

    Processing Unit 5 PROCESSING UNIT Introduction The EM 2000 Processing Unit performs the data acquisition, signal processing and function control. Topics → Standard Processing Unit drawing, page 54. → AUV Processing Unit drawing, page 55. → Circuit boards and modules, page 56.

  • Page 66: Standard Processing Unit Drawing

    EM 2000 / Base version Standard Processing Unit drawing Unit body width 448 mm Front panel width 482,6 mm Unit body depth 370 mm Front panel height 178 mm (4U) Figure 10 Standard Processing Unit - Outline dimensions 852-164378 / D...

  • Page 67: Auv Processing Unit Drawing

    Processing Unit AUV Processing Unit drawing ø235 Min.ø220 139.7 Chassis shown with top cover, mounted in tube. 192.4 50.8 50.8 Figure 11 AUV Processing Unit - Outline dimensions (shown with Fan Unit and cover). 852-164378 / D...

  • Page 68: Circuit Boards And Modules

    EM 2000 / Base version Circuit boards and modules The Standard Processing Unit holds several circuit boards, fans and a power supply. All connections are made on the rear panel. SON AR HEAD HULL NO 17 HULL NO 28 2 3 4...

  • Page 69: Auv Processing Unit Circuit Boards And Modules

    BSP II BSP I The unit holds the following circuit boards and modules: • Beamformer & Signal Processor (BSP1 and BSP2) • Beamformer Interface (BIFB) • Passive Backplane (made by Kongsberg Maritime.) • Control Processing Unit board 852-164378 / D...
  • Page 70 EM 2000 / Base version Optional: • External harddisk Power for external hard disk must be supplied by the customer. The fan is supplied internally by 5 Vdc.The fan is supplied internally by 5Vdc. 852-164378 / D...

  • Page 71: Theory Of Operation

    Control Processor Beamformer and Signal Processor (BSP) Beamformer Interface Board (BIFB) Processing Unit Figure 13 EM 2000 simplified block diagram Simplified block diagram The simplified block diagram for the Processing Unit presents the following main functions: • Transmission • Reception •...
  • Page 72 EM 2000 / Base version The Control Processor in the standard Processing Unit is not equipped with all interface capabilities, and may thus requires external board to handle serial lines interface. The AUV Processing Unit has ethernet and serial line interfaces locally on the Control Processor Unit board.
  • Page 73 Processing Unit Levels RTS, CTS = high +3 to +15 V RTS, CTS = low --3 to --15 V Trig out TTL level Outputs from PU Trig out = 1 TX is off (high TTL level) Trig out = 0 TX is active (low TTL level) RTS = high PU is ready for a new ping...
  • Page 74 EM 2000 / Base version When the received period is finished and the Processing Unit is ready for a new ping, the RTS will be changed to high, and the Processing Unit will wait for a new trigger (a high level on CTS).

  • Page 75: Standard Processing Unit Details

    These are the main processing boards in the Processing Unit. → The circuit board is explained on page 73. Beamformer Interface (BIFB) This is a Kongsberg Maritime made circuit board. It contains interfaces for the sonar head. It is a single slot half-length ISA board. →...

  • Page 76: Auv Processing Unit Details

    These are the main processing boards in the Processing Unit. → The circuit board is explained on page 73. Beamformer Interface (BIFB) This is a Kongsberg Maritime made circuit board. It contains interfaces for the sonar head. It is a single slot half-length ISA board. →...

  • Page 77: Circuit Board Descriptions

    Processing Unit Circuit board descriptions Overview This chapter describes all the circuit boards and modules in the EM 2000 Processing Unit. A functional description with a block diagram is provided, as well as the facilities provided for maintenance. 852-164378 / D...

  • Page 78: Serial Line Board (Ci-104Js)

    The board is a cabling space saver that features a built-in RJ45 bracket to save cable layout space and reduce cost. It has surge protection and ISA bus. Note A software setup has been done at Kongsberg Maritime to configure the board. Jumper Smartio CI-104J series Figure 15 Illustration of the Serial Line Board.
  • Page 79 Processing Unit Operating temperature 0_ -- 55_C Dimensions 157 x 83 mm (width x depth) Surge protection 25 KV ESD, 2 KV EFT Facilities No switches. References For more information, refer to webpage www.moxa.com. 852-164378 / D...

  • Page 80: 4-Ports Serial Line Board (C114P)

    EM 2000 / Base version 4-Ports Serial Line Board (C114P) Purpose and description This is a commercial circuit board designed and produced by Moxa Technologies. This is identified as C114P, and is located in the Processing Unit. COM4 COM3 COM2...
  • Page 81 Processing Unit Note Tthis does NOT apply for SW 5, bit 7, which must always be The settings of the C114P DIP switches for use in the EM 2000 are listed in the table below: Switch SW 5 SW 1...

  • Page 82: Viper 629 Control Processor Board

    EM 2000 / Base version VIPer 629 Control Processor Board Purpose and description This is a commercial circuit board designed and produced by Kontron. The board is located in the Standard Processing Unit. A DiskOnModule (DOM) or a DiskOnFlash (DOF) module is mounted on this board.

  • Page 83: Cool Monster C3/400 Control Processor Board For Auv

    Processing Unit Cool Monster C3/400 Control Processor Board for AUV Purpose and description This is a commercial circuit board designed and produced by JUMPtec Industrielle Computertechnik AG. The board is located in the AUV Processing Unit. A DiskOnModule is mounted on this board. This module contains the software needed for this CPU board, and for the BSP boards.
  • Page 84 EM 2000 / Base version (CD6507) Figure 21 CoolMonster board details 852-164378 / D...

  • Page 85: Beamformer & Signal Processor (Bsp)

    Processing Unit Beamformer & Signal Processor (BSP) Purpose and description The Beamforming & Signal Processing (BSP) board is a multi digital signal processor (DSP) board. It is designed to perform the beamforming and signal processing in sonars and multibeam echo sounders. It is controlled from a host processor. The processing power in the Beamforming &...
  • Page 86 EM 2000 / Base version Facilities LEDs D1 (LED): C44 D Test points There is one test point for each C50 digital signal processor (eight total). These testpoints are all connected to the XF/ signal which is active while that particular C50 access the shared DPRAM.
  • Page 87 Processing Unit BSP ID BSP 0 BSP 1 BSP 2 BSP 3 BSP 4 BSP 5 BSP 6 BSP 7 Link applications The following links are ON (closed) in this application: BSP0 is the master processor (no links). BSP1 is the slave processor (link LK1). Switches There are no switches on the board.

  • Page 88: Beamformer Interface Board (Bifb)

    The Beamformer Interface Board (BIFB) is an interface board between the BSP (Beamformer and Signal Processing) board in the Processing Unit (a PC), and a EM 2000 transducer head with high-speed serial data sent on TAXI line. The BIFB board receives data, decode and write them into a FIFO (First In, First Out), located on the BSP board.
  • Page 89 Processing Unit Jumpers One jumper, ST1, is implemented on the BIFB board. This jumper should be connected. TP15 TP22 TP21 TP23 TP24 TP25 TP26 TP27 TP28 TP29 TP30 TP35 TP36 TP37 Figure 22 BIFB board 852-164378 / D...

  • Page 90: Passive Backplane Bp-10S

    EM 2000 / Base version Passive Backplane BP-10S Purpose and description This is a passive backplane. It has ten ISA-bus slots. The board is located in the Standard Processing Unit. Note The AUV Processing Unit has a special 4 slot backplane.

  • Page 91: How It Works

    Processing Unit How it works There are no active components on this backplane. Facilities LEDs The LEDs are used as power supply indicators. There are five LEDs on the backplane: • + 5V • - 5V • + 12V • - 12V - 5V is not used and therefore not lit.

  • Page 92: Processing Unit Power Supply

    EM 2000 / Base version Processing Unit Power Supply Purpose and description The purpose of the power supply is to feed +5 Vdc, -12 Vdc and +12 Vdc to the Processing Unit. It also supplies 24 Vdc to the Sonar Head. It is located on the front side of the Standard Processing Unit.

  • Page 93: Assembly Backplane

    Processing Unit Assembly backplane This is a passive backplane, specially designed for AUV Processing Unit. (CD21409) Figure 24 Assembly drawing backplane 852-164378 / D...

  • Page 94: Sonar Head

    EM 2000 / Base version 6 SONAR HEAD Description and main functions Overview The EM 2000 Sonar Head consist of: • Transducer array • Transformer / preamplifier PCB’s which incorporates the transducer matching band pass filter.s, and low noise gain amplifiers for 80 channels.
  • Page 95 Sonar Head EM 2000 Rx Transducer, 150 degrees system 834-215553 Page 1 of 1 (CD21412C) Outline dimensions Rev.C 852-164378 / D...
  • Page 96 EM 2000 / Base version EM 2000 Rx Transducer, 120 degrees system 834-216175 Page 1 of 1 (CD6400) Outline dimensions Rev.A 852-164378 / D...

  • Page 97: Circuit Boards Descriptions

    Sonar Head Circuit boards descriptions The Sonar Head is a watertight unit containing five circuit boards and a receive transducer with 80 staves. → The Sonar Head - as seen from above - is shown in figure 25. Figure 25 The Sonar Head seen from above 852-164378 / D...

  • Page 98: Theory Of Operation

    24 Vdc Power Board Board (BIF) Processing Unit 16-bit sampled HC 2000 data PDH/MVX/ADC/Tx Only transducer Board 2 No electronics! Transmit Transducer PDH/MVX/ADC/Tx Board 1 Preamplifier Board Rx Transducer Sonar Head Figure 26 EM 2000, simplified block diagram 852-164378 / D...

  • Page 99: Simplified Block Diagram

    Sonar Head Simplified block diagram The simplified block diagram for the Sonar Head presents the following main functions: • Reception • Processing → Refer to figure 86. Control functions The control functions in the Sonar Head are handled by the HC2000 board.

  • Page 100: Sonar Head Details

    EM 2000 / Base version Sonar Head details Circuit boards and modules PDH Receiver Board (PDH / MVX / ADC / Tx) Each PDH board has a 40 channel receiver. → The board is described on page 89. HC 2000 Board The HC 2000 receive commands from the host computer.

  • Page 101: Pdh/Mvx/Adc/Tx Board

    Sonar Head PDH/MVX/ADC/Tx Board Purpose and description Each PDH board has 40 receiver channels and has the following functions: • ten 4 channel TVG amplifier and demodulator hybrids (DPH) • five 16 channel MVXs • five 12 bit A/D converters (real and imaginary samples) •...

  • Page 102: Hc 2000 Board

    EM 2000 / Base version HC 2000 Board Purpose and description The Head Control (HC 2000) Board receives commands from the host computer, on a half duplex RS-485 serial line. It sends sampled data out on a high speed serial line (TAXI link).

  • Page 103: Transmit Transducer

    7 TRANSMIT TRANSDUCER Description and main functions Overview The EM 2000 Transmit transducer contains no electronics. It is controlled by the Sonar Head. It needs to be submerged in water and it is usually mounted close to the Sonar Head.

  • Page 104: Transmit Transducer Outline

    EM 2000 / Base version Transmit Transducer outline Figure 27 Transmit Transceiver, outline dimensions 852-164378 / D...

  • Page 105: Modules

    Transmit Transducer Modules The Transmit transducer is a watertight unit containing a transmit transducer with 2 elements. 852-164378 / D...

  • Page 106: Troubleshooting

    8 TROUBLESHOOTING Messages (for UNIX only) Introduction The EM 2000 provides numerous messages to inform you of major and minor hardware and software errors. The messages, if they occur, will be displayed in the Status Display in the Message field.
  • Page 107 Troubleshooting L: launchpad messages E: sound speed profile editor messages P: Ping Display messages The Hardware and CPU CMOS setup messages are presented with the exact same layout. The Hardware messages also start with a message identifier <Nxxx>, and have a following message text.

  • Page 108: Setup Messages

    EM 2000 / Base version Setup messages The following messages are presented by the Setup utility. Display Warning S10: -- Remember to set correct Gain parameters when using Manual bottom detection! Normal mode should be Range And Gain, which uses Automatic bottom...
  • Page 109 Troubleshooting Error S25: -- The Profile contains errors and will not be used. Errors detected: The same message is used for several types of warnings: 1. Out- of- bounds depth values. Legal interval is 0 - 12000m. 2. Out- of- bounds sound speed values. Legal interval is 1400 - 1700 m/s.
  • Page 110 EM 2000 / Base version Error S61: -- The following entries in the set--up--file are missing or contain an error in value specification: All set- up parameters are checked when a set- up file is opened. Any parameters that are not within legal range or missing from the file will be listed in this message.
  • Page 111 Troubleshooting The system cannot use this format for sound speed profiles. These profiles are produced when logging data, based on a Simrad ASCII format profile selected by the user. If this ASCII profile is no longer available, and you would like to use it again, you could use the Profile Editor to convert the profile into the Simrad ASCII profile format.
  • Page 112 EM 2000 / Base version The BSP sub- unit may occasionally lock up, with no pings being produced from the echo sounder. When that happens, the BSP BIST command will fail with this message. It is, however, possible to restart the BSP without rebooting the Processing Unit.
  • Page 113 Troubleshooting Display Warning S150: -- The file <filename> was empty, and factory defaults was read. Please verify all settings and save all settings using the ’File-->Save’ menu option. The specified file containing set- up parameters (runtime or installation) was empty. When this happens, the system automatically installs the default version of the file.
  • Page 114 EM 2000 / Base version Display Error S211: -- Couldn’t locate Workspace of Main Program! If this error occurs, it means that certain workspace functions will be disabled, but that the overall functionality will be present. It has been observed that restarting the Operator Station software may remove the problem.
  • Page 115 Troubleshooting Display Warning S238: -- Profile not located in profile directory! When downloading takes place, the set- up program is notified of the profile name. The system has received a download profile, but it could not be located in the directory used for sound speed profiles.

  • Page 116: Eso Messages

    EM 2000 / Base version ESO messages The following messages are presented by the ESO utility. Display error W5: -- Serial Set--up--file <filename> missing. Install Default file? The specified file is either removed or renamed. However, the default file provided will enable all functions on a system not extended with a serial port expansion card.
  • Page 117 Troubleshooting This means that the set- up- file somehow has been corrupted. (E.g. system crash, text editor). workaround is to set all parameters in the menus as required, and recreate the set- up- file using the ’File- >Save’ command. If this is followed by the ’File- >Read’...
  • Page 118 EM 2000 / Base version The file could be corrupted (system crash), or modified outside the program (text editor), accidentally removing parts of the file. Display error W41: -- Incomplete SVP CALC profile received on the network... When receiving from the network, AML CALC files are supposed to be received in one go, i.e.
  • Page 119 Troubleshooting Warning W54: -- Input buffer overrun -- function disabled! To enable new input, you must reselect the currently disabled input function. Error W60: -- The last command sequence to the probe failed. Repeat your latest action to retransmit sequence. If this message was issued when bringing up this window, select the ’Apply Settings’...

  • Page 120: Launchpad Messages

    EM 2000 / Base version Launchpad messages The following messages are presented by the Launchpad utility. Display Error L12: -- The following Program(s) should always run, but is still NOT running: The Operator Station software is an integrated system, and is based on having a predefined set of programs running.
  • Page 121 Troubleshooting When activating logging of data, the system timestamps some of the datagrams used in the process. The time to use was requested from the Processing Unit, but the reply did not arrive within a fixed period of time. This may be due to a Processing Unit running at full capacity, or - if the situation continues, while having a normal load on the system - that you may have network problems.
  • Page 122 EM 2000 / Base version The sound speed at transducer depth received from the probe exceeded the selected alarm offset 5 times in a row. You should verify that you are using the correct sound speed profile, and also verify the size of the alarm offset.
  • Page 123 Troubleshooting Error L64: -- Connection timeout -- Logging switched Off! The Operator Station stopped receiving broadcast datagrams from the Processing Unit. The continuing flow of broadcasts datagrams tells the rest of the system that the PU is still alive. To prevent gaps in the line and possible data corruption, logging was stopped.
  • Page 124 EM 2000 / Base version The network connection is OK, but the Processing Unit is not responding. Cancel the current attempt. Power the Processing Unit ’Off’ and then ’On’ again. Then try restarting the operating software. Display Error L83: -- Could not create Config--file!
  • Page 125 Troubleshooting The reason for an aborted tape operation may vary. With the exception of a user- triggered abort, the reason stated in the message body originates from the operating system, but should be fairly easy to understand. Examples of this could be a message stating that the tape drive is offline or that no data cartridge is loaded.
  • Page 126 EM 2000 / Base version Display Error L121: -- Error(s) found in the Launchpad Configuration File! When you select the ’OK’ button, the file will be deleted and this program will terminate. When restarting the system, the Factory Default Configuration File will be installed.
  • Page 127 Troubleshooting Each of the programs integrated into the system has a button in the rightmost part of the Launchpad, and each of these buttons should have a symbol / icon for identification purposes. The symbol name specified in the external configuration file was not found, indicating an error in the file, or a mismatch between the configuration file and the file containing the icon descriptions.
  • Page 128 EM 2000 / Base version Display Error L144: -- Program <name> (possibly specified by the environment symbol <symbol name> in the start--up script) was not found in the Network Configuration File. File: DPC.addresses.<hostname> The system cannot work until the problem is fixed, and will terminate when you select the ’OK’...
  • Page 129 Troubleshooting Display Error L149: -- Active Pos. Sys.: No Input... The system does not receive any input from the positioning system defined as Active. This could be due to the wrong system being selected as Active. You should also check input port parameters in the set- up program, and finally, check that the cabling is OK and that the positioning system unit generates the correct datagrams.
  • Page 130 EM 2000 / Base version The system uses built- in mechanisms to handle signals (interrupts) originating both internally and externally. The type of signal is described in the message. All, except the external Terminate Signal, is caused by errors in the program.
  • Page 131 Troubleshooting Display Error L169: -- SIGNAL <signal no.> received! System will shut down when you select the ’OK’ button! The system uses built- in mechanisms to handle signals (interrupts) originating both internally and externally. The type of signal is described in the message. All, except the external Terminate Signal, is caused by errors in the program.
  • Page 132 EM 2000 / Base version Display Error L176: -- The following Program(s) should always run, but is still NOT running: All programs started and supervised by the Launchpad establishes a communication link with the system when they are launched. The listed program(s) did not succeed in establishing this link.
  • Page 133 Troubleshooting Display Error L181: -- Not able to copy the file <filename> to $HOME/<filename>. Program terminates when you select the OK button! This is the file setting up the configuration of the status filed in the Launchpad. An attempt was made to copy this file from the system defaults directory, but failed.
  • Page 134 EM 2000 / Base version Display Error L189: -- Line Statistics File could not be opened! Survey: <survey name> File: <line name>.linestat The line statistics file for the specified line exists, but it could not be opened due to error in file access. You should have read, write &...
  • Page 135 Troubleshooting You do not have the correct access to the specified file. Correct ownership of directories and files are defined when the system is installed, so this problem could be the result of a manual operation in the file system. Please verify that you have read, write &...
  • Page 136 EM 2000 / Base version Display Warning L230: -- Operator <name> has no Config--file... Use the ’Update Operator’s ’Config- file’ popup menu option on the ’All Programs’ icon in the ’Programs’ section of the Launchpad. This will generate a default file for the current operator.
  • Page 137 Troubleshooting The log- file was too big for the available memory resources. If it is important to view the log- file, you could try terminating as many of the programs as possible before retrying. If the problem persists, you should reset the log- file. When resetting, it is possible to take a backup copy of the log- file.
  • Page 138 EM 2000 / Base version Display Error L302: -- Unable to open Serial Datagram Set--up--file It was not possible to open the file due to error in file access. You should have read & write access to all files in the system directory.
  • Page 139 Troubleshooting Currently, only user- defined datagram subscriptions may be modified. Allowing the user to modify the flow of datagrams needed for proper operation of the system could result in operational problems. Display Warning L326: -- You cannot modify the IP address of the system’s reserved programs! Currently, only user- defined datagram subscription set- up may be modified.
  • Page 140 EM 2000 / Base version Display Warning L335: -- Initial Power--Up Test was interrupted! Echo Sounder Not Ready! The initial power- up test was interrupted by the user. And since it is an absolute requirement that this test is successfully completed, this test should be performed (with no errors reported).
  • Page 141 Troubleshooting Display Warning L358: -- No datagrams are selected for the ’remoteLogging’ subscriber! Use ’Options-->DatagramSubscriptions...’ and select datagrams for subscription for the ’remoteLogging’ subscriber. When using the Remote Control functionality, you must define a selection of datagrams that you want distributed ’remoteLogging’...

  • Page 142: Sound Speed Profile Editor Messages

    EM 2000 / Base version Sound Speed Profile Editor messages The following messages are presented by the SSP Editor utility. Warning E10: -- Profile contains fewer points than specified in Profile Header. Using number of points read from file! The profile may have been edited manually, creating a mismatch between header no.
  • Page 143 Troubleshooting Error E46: -- Environment ’SVP_EDITOR_MODULE_NO’ not defined or empty! Environment ’SVP_EDITOR_MODULE_NAME’ not defined or empty! These errors results in a program that does not work properly. Fix and restart! Most of the variable elements of the system configuration can be configured outside the programs. This is done by quite a few ’environment variables’, which is set to an initial value when installing the system, and then fetched by the programs when needed.

  • Page 144: Ping Display Messages

    EM 2000 / Base version Ping Display messages The following messages are presented by the Ping Display utility. P32: -- No information received from the ESO! Ignore this message if used in stand--alone mode. When starting up, the program tries to get some information from the ESO system.

  • Page 145: Cmos Setup - - Standard Processing Unit

    Troubleshooting CMOS SETUP - standard Processing Unit Setup for VIPer Standard CMOS Setup Date Time HARD DISKS type Mode Primary Master Auto Auto Primary Slave Auto Auto Secondary Master Auto Auto Secondary Master Auto Auto Drive A: 1.44M, 3.5 in. Drive B: None Video:...
  • Page 146 EM 2000 / Base version Boot Up NumLock: Gate A20 Option: Fast Typematic Rate Setting: Disabled Typematic Rate (Char/Sec): Typematic Delay (Msec): Security Option: Setup PCI/VGA Palette Snoop: Disabled OS Select For DRAM > 64MB: Non-OS2 Report No FDD Fpr WIN 95:...
  • Page 147 Troubleshooting CPU Warning Temperature: 66°C/151°F Current System Temp: Current CPU Temperature CPU FAN Speed VCCP: VTT: VCC3: + 5 V: +12 V: -12 V: - 5 V: Shutdown Temperature: 70°C/158°F Power Management Setup ACPI function: Disabled Power Management: User Define PM Control by APM: Video Off Method: V/H SYNC+Blank...
  • Page 148 EM 2000 / Base version Primary IDE 0: Disabled Primary IDE 1: Disabled Secondary IDE 0: Disabled Secondary IDE 1: Disabled Floppy Disk: Disabled Serial Port: Enabled Parallel Port: Disabled PNP/PCI Configuration PNP OS Installed: Resource Controlled By: Manual Reset Configuration:...
  • Page 149 Troubleshooting Load Setup Defaults Integrated peripherals IDE HDD Block Mode: Enabled IDE Primary Master PIO: Auto IDE Primary Slave PIO: Auto IDE Secondary Master PIO: Auto IDE Secondary Slave PIO: Auto IDE Primary Master UDMA: Auto IDE Primary Slave UDMA: Auto IDE Secondary Master UDMA: Auto...
  • Page 150 EM 2000 / Base version IDE HDD Auto detection Do not choose Disk On Module here, it should be set to auto: Primary Master: Primary Slave: Secondary Master: No Secondary Slave: Save and Exit Setup 852-164378 / D...

  • Page 151: Cmos Setup - - Auv Processing Unit

    Troubleshooting CMOS SETUP - AUV Processing Unit Setup for Cool Monster (C3/400) To change the setup you must mount a standard VGA card and connect a VGA monitor and a keyboard. Main System Time System Date Legacy Diskette A: [1.44/1.25 MB 31/2] Legacy Diskette B: [Disabled] Primary Master: - Type:...
  • Page 152 EM 2000 / Base version System Memory: 640 KB Extended Memory: 62 MB Advanced Note Setup Warning: Setting items on this menu to incorrect values may cause your system to malfunction. Advanced Chipset Control: - Graphics Aperture: [64 Mb] - Enable memory gap:...
  • Page 153 Troubleshooting PCI/PNP ISA UMB Exclusion: - CC00 - CFFFF: [Available] - D000 - D3FFF: [Available] - D400 - D7FFF: [Available] - D800 - DBFFF: [Available] - C00 - DFFFF: [Available] PCI/PNP ISA IRQ Resource Exclusion - IRQ 3: [Available] - IRQ 4: [Available] - IRQ 5: [Available] - IRQ 7: [Available] - IRQ 9: [Reserved]...
  • Page 154 EM 2000 / Base version • Serial port C: [Enabled] - Base I/O address: [3E8] - Interrupt: [IRQ 11] • Serial port D: [Enabled] - Base I/O address: [2E8] - Interrupt: [IRQ 11] - Interface: [RS232] • Parallel port: [Enabled]...
  • Page 155 Troubleshooting PCI Bus Monitoring: [Disabled] Boot Floppy check: [Disabled] Summary screen: [Disabled] QuickBoot Mode: [Disabled] Dark Boot: [Disabled] Boot Device Priority Hard Drive: - SanDisk - Primary Master - Bootable Add-in Cards Removable Devices - Legacy Floppy Drives ATAPI CD-ROM Drive Network Boot Onboard LAN RPL ROM [Disabled]...
  • Page 156 EM 2000 / Base version • Copy the DOS files that are needed. - copy COUNTRY.SYS - copy DISPLAY.SYS - copy EDIT.COM - copy EGA.CPI - copy FDISK.EXE - copy FORMAT.COM - copy HIMEM.SYS - copy KEYB.COM - copy KEYBOARD.SYS - copy MODE.COM...

  • Page 157: Replacement Procedures

    9 REPLACEMENT PROCEDURES Introduction Overview This chapter presents the basic procedures for disassembly and reassembly of the replaceable parts in the EM 2000 system. Caution The Sonar Head should not be opened by unauthorized personnel. We recommend that you contact your nearest Kongsberg Maritime office.

  • Page 158: Tools Required

    EM 2000 / Base version Tools required A standard tool set is required to perform the removal and replacement of the modules. This tool set should contain the following tools: • Cabinet key • Standard screwdrivers in different widths and lengths •...

  • Page 159: Processing Unit Procedures

    Replacement procedures Processing Unit procedures Overview The Line Replaceable Units (LRUs) in the EM 2000 Processing Unit are: • 4-Ports Serial Line board • Control Processor board (CPU) • Beamformer & Signal Processor (BSP) • Beamformer Interface (BIF) • Fan •...

  • Page 160: Fans

    EM 2000 / Base version Fans Introduction Two of the fans are mounted on the bottom plate in the Processing Unit. One is mounted next to the Power Supply. Remember to switch off the system. The system must be switched off prior to disassembly. Access is gained to the wired rack by opening the top panel of the Processing Unit.

  • Page 161: Em Datagram Formats

    Datagram formats 10 EM DATAGRAM FORMATS For information on this topic see own document (160962 EM Series Datagrams). 852-164378 / D...

  • Page 162: System Administration (Unix)

    Operator Manual. 11.1 Introduction This chapter provides basic reference information useful for the EM 2000 system supervisor. In order to make the most of the information provided, you may need some basic knowledge of the Unix operating system. 852-164378 / D...

  • Page 163: Passwords

    System administration 11.2 Passwords EM 2000 Installation setup In order to change the installation parameters on the EM 2000 system, you need to enter a password. This password is common for all the operators of the EM 2000 system. You will automatically be prompted to enter the password once you select Edit enable in the Edit menu.

  • Page 164: Em 2000 File System

    The notation $<name> is an “environment variable”, usually specifying a filsystem directory. Survey files During a survey, the EM 2000 system will record and store the following file types: • Raw data • Survey data The information is stored on the Operator Station harddisk on dedicated data formats defined by Kongsberg Maritime..

  • Page 165: Absorption Coefficient File

    System administration $SHAREDHOME The files have extension *.asvp Absorption coefficient file The absorption coefficient file contains number pairs of absorption coefficients and corresponding depths. The coefficients are integrated during loading to the echo sounder and the integrated value is used. The file is named absorption.coef and is stored in directory: $SHAREDHOME Workstation I/O...

  • Page 166: Bist Files

    EM 2000 / Base version Every time you save this file, a backup file is generated automatically. This file is named: where: yyyy=year mm=month dd=day hh=hour mm=minute. You can also save the runtime files with other names you choose yourself. You can then pick any name, but you must keep the extension as “.runtime”.

  • Page 167: Logfiles

    Every time you save the information, the old file will be replaced. The information is stored in ASCII format. Logfiles Each application in the EM 2000 system issues report and error messages when required. These messages are collected in logfiles.

  • Page 168: Survey Jobs

    EM 2000 / Base version $HOME/.eso_system/esoEmX_config.<operator> where <operator> is the current operator of the system, as defined in the Launchpad’s Survey field (below the program icons). The default window layout is: $HOME/.eso_system/esoEmX_config List of known operators The list of the operators known to the system is stored in the following file: $HOME/.eso_system/esoSetup.operators...

  • Page 169: File Formats

    Header files and libraries are available. The SF is a Kongsberg Maritime defined format that fits for all Kongsberg multibeam echo sounder data, and for the EA 500 and EK 500 single beam echo sounders. The data is converted directly to this format if a Kongsberg Maritime logging system is used.
  • Page 170 EM 2000 / Base version Parameter file sound speed file These files contain parameter settings and information about the sound speed that has been used during the data collection. The information about the used sound speed is vital for reprocessing old data with new sound speed profiles.
  • Page 171 Longitude: 1*10E7 decimal degrees per number unit (+180 to -180 degrees). Depths are treated with centimetre resolution in the EM 2000 system, and represented in this resolution on the XYZ files. Use of the Kongsberg Maritime I/O library Introduction The Kongsberg Maritime I/O library consists of two different parts.
  • Page 172 EM 2000 / Base version Message simulator The message simulator (msgSim) simulates messages from the logging system by reading one or more raw data files, putting the message length in front of each message and writing it to stdout. If the messages are separated on different data files, the files containing the depth data message must end with .dpt,...
  • Page 173 System administration • SurveyLines.h • newFormat.h The return structures that you need to know about are found in the newFormat.h file. This file is documented internally in the file, while the other *.h files not are intended to be read, just included to supply you with the structures required for some of the calls.
  • Page 174 EM 2000 / Base version All data are written to file in the native format (little or big Endian) in which the program is running. The index file (with ping data) is written every time the ping number changes. This...
  • Page 175 System administration writeDepth: Write depth data to file (and possible also index and ping) (IN: fileHandler, writeHandler, sounder, depthRecord) writeSidescan: Write sidescan data to file (IN: fileHandler, writeHandler, sounder, sidescanRecord) writePing: Set current ping data, write ping and index data to file (IN: writeHandler, sounder, pingRecord) writeSvel: Write sound speed data to file (IN: fileHandler, writeHandler, soundVelRecord)
  • Page 176 EM 2000 / Base version Note Compressed data can not be transferred between little Endian and big Endian machines. Compressed data can not be transferred between little Endian and big Endian machines. The data can be accessed in several different ways. Ping data,...
  • Page 177 System administration There are also some convenience routines to update flags for position, ping and depth data. These routines read the data, check if some flags are changed and if so, write the changed data back. Modules that keep original survey data structures in memory, should use the ordinary update routines instead.
  • Page 178 EM 2000 / Base version openPosFileAppend Open position file for append IN: fileHandler, directory, fileName, sensor, versionNumber, posHeader) Reading data setFileIndexno Set index and get ping data IN: fileHandler, indexHandler, pingIndex, OUT: pingRecord getDepth Get depth data IN: fileHandler, indexHandler,...
  • Page 179 System administration OUT: fromPingIndex, numbOfPing getPingPos Get ping with interpolated position IN: indexFileHandler, indexHandler, posSearchPnt, pingIndex, deltaDistance, maximumDistance, maximumT imeDifference, OUT: pingRecord, positionRecord freePosInter Free data for position interpolation IN: posSearchPnt getManyIndex- Get noPing pings from fromPing IN: indexFileHandler, fromPing, noPing, OUT: indexes getNoPing- Get number of ping in file...
  • Page 180 EM 2000 / Base version OUT: versionNumber copyHeader Copy general file header IN: fileHandler, directory, OUT: versionNumber Update file updatePing Update ping data and set index IN: fileHandler, indexhandler, pingIndex, pingRecord updateDepth Update depth data IN: fileHandler, indexHandler, singDepthRecord, stbDepthRecord, portDepthRecord...
  • Page 181 System administration toUTM Transform each beam to UTM IN: utmSone, positionRecord, posHeader, gyroHeading, depthRecord, OUT: utmPositions getDiffDist Calculate distance between to positions (in centimetres) IN: fromPositionRecord, toPositionRecord, posHeader OUT: distance calcDirection Calculate the direction from one position to another (in milli- degrees) IN: fromPositionRecord, toPositionRecord, posHeader OUT: direction Header files...
  • Page 182 EM 2000 / Base version Writing and updating The following routines are supplied: int SlAdd ( s110FileType ioFileType /* IN: SL_SURVEY_L or SL_CURRENT_L */ char *dir, /* IN: Directory name */ char *prefix, /* IN: File name prefix */ SlsurveyFileType survFileType /* IN:...
  • Page 183 System administration SlIoFileType ioFileType, /* IN: SL_SURVEY_L or SL_CURRENT_L */ char *dir, /* IN: Directory name */ char *prefix, /* IN: File name prefix */ SlSurveyFileType survFileType, /* IN: SL_POS,SL_INDEX,SL_DEPTH, or SL_SIDESCAN */ ProDescType lastPro /* IN: Process identification */ Delete a survey format file by setting the version equal to 0.
  • Page 184 EM 2000 / Base version int SlUpdateList ( SlIoFileType ioFileType, /* IN: SL_SURVEY_L or SL_CURRENT_L */ SlList *ioList /* IN: Pointer to structure from the SlCreateList function */ SlUpdateList updates an existing SlList structure. Use SlCreateList once to create the list. Then call SlUpdateList repeatedly to get information on changes made to the survey.lines or current.line.
  • Page 185 System administration Structures and files The structures are defined in the adm.h file. 852-164378 / D...

  • Page 186: Survey Predefined Files

    EM 2000 / Base version 11.5 Survey Predefined Files Introduction When you define and run a survey, you will always need information describing basic data or set-up, such as: • projection data • user defined colours • user defined show/hide settings •...

  • Page 187: Scope And Purpose

    Kongsberg Maritime Software: You have full access to the library PROJ.4 from USGS. You can give Kongsberg Maritime the source code (in “C”) to his preferred projection, and make that projection a permanent part of all Kongsberg Maritime Software.
  • Page 188 EM 2000 / Base version If the first word is “sharedlib”, the projection from the shared library libsharedProj.so is used If the first word is “user_defined”, a user defined projection from the USGS PROJ.4 library is used. The file $PROCHOME/<survey>/projection.data may...

  • Page 189: Notes

    System administration 16.333333333333 6378137.0 298.257223563 -5000000 ! Line1: GK_AUSTRIA tells Simrad Software ! to use Gauss-Kruger for Austria. ! Transformationsparameter ! für die Umwandlung von WGS84-Koordinaten ! nach Gauss-Krüger-Koordinaten bezogen ! auf das Datum MGI ! Zeile 1: Translation in x [m] ! Zeile 2: Translation in y [m] ! Zeile 3: Translation in z [m] ! Zeile 4: Maßstab...

  • Page 190: Dynamic Projection Library

    There need to be defined a shared library where the customer can implement his own projection routines to use with Kongsberg Maritime’s Graphic System. This shared library will then be a permanent part of all graphic windows. Dynamic projection library definitions...

  • Page 191: Example

    When Kongsberg Maritime’s Graphic System is set up to use projection routines from the shared library libsharedProj.so, it will do so by calling two routines.
  • Page 192 EM 2000 / Base version projection. The programmer has access to the file projection.data in current directory which the user controls. * Parameters: int userProjectionNumber (input) This is the number found in projection.data where the first line looks like this:...
  • Page 193 System administration be 4. * Return values: A dynamically allocated character array containing the name of the projection to use. On error NULL is returned. * References: The Component Interface Doucument: Neptune/UserProjections. * Changes: * **_S** ************************************/ char *getUserProjectionName(int userProjectionNumber) char *p;...
  • Page 194 EM 2000 / Base version (in meters). * Return values: 0 on success, -1 on error. * References: The Component Interface Doucument: Neptune/UserProjections. * Changes: * **_S** ************************************/ int userProjectionLatLongToNorthEast(int userProjectionNumber, double latitude, double longitude, double *north, double *east) if (north == NULL || east == NULL) return...
  • Page 195 The makefile on a DEC OSF1 UNIX workstation looks like this: # $Id: Makefile,v 1.1 1997/01/23 11:12:07 tp Exp $ # Makefile to create libsharedProj.so. # 23 Jan 1997, Terje Pedersen # Copyright: Kongsberg Simrad AS .PHONY:install lib clean CC=cc LD=ld LDFLAGS=-shared -no_archive INSTALL=/usr/local/lib dummyRoutines.o: dummyRoutines.c...

  • Page 196: Notes

    Heights are not used in Kongsberg Maritime’s Graphic system. It is not necessary in the projections since the height varies very little within one survey that a fixed height will suffice. This can be a parameter in $PROCHOME/<survey>/projection.data...

  • Page 197: Spare Parts

    12.1 Overview This chapter contains an illustrated presentation of the spare parts available for the EM 2000 multibeam echo sounder. All the parts are not listed her, only those defined as Line Replaceable Units (LRU) to be changed by the on-board maintenance personnel.

  • Page 198: Parts List Codes

    EM 2000 / Base version Parts list codes These are the code descriptions for the information in the table. Key codes to the parts list Caption Description Serial no. Row number in list. Drawing no. & item no. The number of the drawing, and the position on that drawing, of the part.

  • Page 199: Operator Station (Hws 10) Spare Parts

    Spare parts 12.3 Operator Station (HWS 10) spare parts The line replaceable units in the HWS10 Operator Station are circuit boards, fans and power supply Commercial items can be replaced by other manufactureres than the ones listed here. Ensure compability! Drawing ref Prod.p.no Article name...

  • Page 200: Processing Unit Spare Parts

    EM 2000 / Base version 12.4 Processing Unit spare parts The line replaceable units in the EM 2000 Processing Unit are: • Circuit boards • Fans • Power supply Note The AUV Processing Unit does not contain a power supply and serial board.

  • Page 201: Standard Processing Unit Spare Parts

    Spare parts Standard Processing Unit spare parts Drawing ref Prod.p.no Article name Price Unit Quan- tity Other ref. TM part.no Technical data User- Base code spares spares Date NATO No Other information Status Comp Ser.no. Fig.28 719--098382 4--ports Serial Line Board CI--104JS 21.06.02 Commercial item...

  • Page 202: Auv Processing Unit Spare Parts

    EM 2000 / Base version AUV Processing Unit spare parts Fan Unit -12V +12V BIF B BSP II BSP I (CD6429c/861-216102/399-216101) Figure 29 The AUV Processing Unit, spare parts Drawing ref Prod.p.no Article name Price Unit Quan- tity Other ref.
  • Page 203 Spare parts Fan Unit -12V +12V BIF B BSP I (Cd6429d/860-218015aa) Figure 30 The AUV Processing Unit, spare parts Fig.30 382--218016 Beamformer & Signal Processor (BSP) 12.03.02 Commercial item Fig.29 382--215857 Passive Backplane 12.03.02 Fig.30 382--215857 Passive Backplane 12.03.02 Fig.29 719--097987 Disk On Module (mounted on the Processor board)

  • Page 204: Sonar Head Spare Parts

    EM 2000 / Base version 12.5 Sonar Head spare parts The line replaceable units in the EM 2000 Sonar Head are: • Circuit boards Drawing ref Prod.p.no Article name Price Unit Quantity Other ref. TM part.no Technical data User- Base...
  • Page 205 Maintenance manual 852-164378 / D...
  • Page 206 Maintenance manual E 2006 Kongsberg Maritime 852-164378 / D...

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