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VideoRay Defender MSS Operator's Manual

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Defender MSS Operator's Manual

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  • Page 1 Defender MSS Operator's Manual...

  • Page 2: Copyright Notice

    This material is copyright protected. No material may be reproduced or transmitted in any form or by any means for any purpose without expressed written consent of VideoRay LLC. Copyright © 2019, VideoRay LLC - The Global Leader in Micro-ROV Technology...
  • Page 3 Operator's Manual, 1.00.00 Table of Contents Copyright Table of Contents About this Document How to Get Help Product Overview MSS Vehicle Configurations Quick Start Instructions Safety First System Components Pre-Dive Preparations Dive Operations Post-Dive Operations ROV System Specifications ROV Modules Specifications Power Module Communications Module AHRS Module...
  • Page 4 HD Monitor Hand Controller Tether Tether Specifications Connections Summary Accessories Included Accessories Mission Support Accessories Software Guide Greensea Interface Overview VideoRay Interface Overview Software Management Folder Structure Module Configuration Configuration Commands Command: vr_refresh Updating Firmware Command: vr_enum Command: vr_setid Command: vr_debug_putty...

  • Page 5: About This Document

    We encourage you to explore options beyond the scope of these materials to expand your knowledge and skills necessary to support your applications. In addition to this documentation, VideoRay offers training and technical support and hosts a general user discussion forum and user image gallery.
  • Page 6 VideoRay LLC 212 East High Street Pottstown, PA 19464 Email info@videoray.com General Information and Sales support@videoray.com Technical Support Telephone +1 610-458-3000 Office +1 610-458-3010 Disclaimer This document is deemed accurate at the time of its writing, however it is not a legal contract and the information contained herein should not be construed to represent any form of commitment.

  • Page 7: How To Get Help

    Training training.html Operational Strategies and Tactics Support If you need help understanding how to apply your system to a specific project, contact VideoRay or you local VideoRay dealer. We can provide guidance or help you find a certified consultant.
  • Page 8 Operator's Manual, 1.00.00 MSS Overview The VideoRay Mission Specialist Series is the world's first ROV to deliver custom purpose-built vehicles using a standard production packaging process. Mission Specialist ROVs are literally built around the payload using core modules instead of figuring out how to adapt an existing vehicle platform in order to mount the payload.
  • Page 9 Operator's Manual, 1.00.00 MSS Vehicle Configurations MSS vehicle configurations include: Defender Pro 5 Vehicles are shown approximately to scale.

  • Page 10: Quick Start Instructions

    Operator's Manual, 1.00.00 Quick Start Instructions These Quick Start Instructions are streamlined to cover just the essentials of operating your MSS system. They are provided to get you started as quickly as possible, while keeping you and the equipment safe. They cover the equipment set up and basic operation, but are not intended to result in a comprehensive base of knowledge or set of operational and piloting skills.
  • Page 11 Keep fingers, hair, loose clothing and other objects away from VideoRay's propellers and other pinch points. Monitor weather and sea conditions and heed any warnings or alerts. Be aware of and follow any legal ordinances or regulations in your area regarding operation of vessels and underwater equipment in the water.

  • Page 12: Pre-Dive Preparations

    Hand Controller The hand controller is used to pilot the VideoRay and operate other features like the lights, camera controls and manipulator. The hand controller is pre-programmed, but can be customized to meet specific user or operational needs. See the...
  • Page 13 Conduct a Visual Inspection Assuming this is your first time using the VideoRay, everything should be in proper working order and ready to go, but it is good practice to perform a pre-dive inspection before every dive, even your first. If any problems are noticed, they should be addressed before continuing.
  • Page 14 If the system does not pass any of the following tests, it should not be used until the problem is identified and corrected. The VideoRay MSS includes two circuit safety components. GFCI (Ground Fault Circuit Interrupter) LIM (Line Insulation Monitor) Testing the Circuit Safety Components Connect the power cord to a suitable power source.
  • Page 15 When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord. Power On and LIM Tests Set the Power switch to the On position. The green Power On indicator light should turn on. If the green Power On indicator light is not on, make sure the system is connected to a working power source and the GFCI switch is turned on.

  • Page 16: Dive Operations

    ROV. The ROV is designed to be operated in a near neutrally buoyant configuration, so the last step before launching your VideoRay is to check the buoyancy, and adjust the ballast if necessary. For most operations, the buoyancy is optimal when the top of the float block is even with the water surface and the ROV is level.

  • Page 17: Post-Dive Operations

    Proper maintenance of your VideoRay system ensures a long service life and that it will be ready to operate when you are. After each dive, you should visually inspect the system for damage that might have occurred during your operation.
  • Page 18 Equipment Guide. If you still have difficulty or questions, contact VideoRay. Your success is our success, and we are here to help you get the most out of your VideoRay. VideoRay contact information is available on the About this Documentation page.

  • Page 19: Power Module Specifications

    Open in New Window MSS Defender features and specifications are subject to change without notice. Specifications for the ROV Modules Specifications for the VideoRay M5 Modules are provided on the following pages. Power Module Specifications Depth Rating 2,000 meters (6,500 feet) Mechanical Dimensions: 18 cm x 13 cm x 4 cm (7.1 inches x 5.1 inches x 1.6 inches)
  • Page 20 5-Pin Female Connectors (Thrusters and LEDs) 2X Power Input Input Voltage Range: 200 - 420 V DC Power Output 48V: 1500 W 24V: 300 W 12V: 120 W M5 Power Module features and specifications are subject to change without notice. Communications Module Specifications Depth Rating 2,000 meters (6,500 feet)
  • Page 21 Dimensions: 17.8 cm x 7 cm x 5.4 cm (7.0 inches x 2.75 inches x 2.12 inches) not including cable Weight in Air: 0.55 kg (1.2 pounds) Weight in Water: 0.21 kg (0.46 pounds) Connections 9-Pin Female Connector Power Input 12 VDC Communications Ethernet...
  • Page 22 Input Voltage Internal Temperature Features Direct Drive Brushless Motor Several Mounting Options 90mm Diameter Propeller 3 Blade Propeller with quick connect/release Collet Smooth Start at 120 RPM Instant Reverse No Cogging Very Quiet and Smooth Operation M5 Thruster Module features and specifications are subject to change without notice. Camera Module Specifications Depth Rating 2,000 meters (6,500 feet)
  • Page 23 110 Degree Flood Beam Hard Anodized, Potted Housing M5 LED Light Module features and specifications are subject to change without notice. Specifications for the ROV Accessories Specifications for the VideoRay MSS Defender accessories are provided on the following pages. Sonar Specifications...
  • Page 25 Open in New Window MSS Defender features and specifications are subject to change without notice. DVL Specifications...
  • Page 26 Open in New Window MSS Defender features and specifications are subject to change without notice. Rotating Manipulator Specifications The maximum depth rating for the Rotating Manipulator is 300 meters (1,000 feet). The Rotating Manipulator uses 24 Volts with a maximum current draw of approximately 1 Amp. This equates to 24 Watts of power consumption.
  • Page 28 Monitor) protection module in the ROV DC circuit. System components should not be connected to voltage sources higher than their rating. VideoRay Negative, Neutral and PPT tethers are rated to 600 V DC and are safe to use on any system through the MSS 400 V DC.

  • Page 29: Equipment Guide

    Operator's Manual, 1.00.00 Equipment Guide Understanding the features and capabilities of the MSS equipment is essential to get the most value out of using the system. The sections within this Equipment Guide provide details about each of the components. Topics in this Section User Control Console...
  • Page 30 Hand Controller Tether Connection Summary...
  • Page 31 Operator's Manual, 1.00.00 The MSS ROV consists of modular components (thrusters, lights, cameras, sensors) and a custom frame. Each MSS vehicle is designed to meet the requirements of a specific underwater mission. The frame and sensor payload can be optimized to deliver the vehicle to its intended destination and accomplish the tasks, whether that be recording video, taking measurements of various parameters, or navigation and remote sensing such as sonar or laser imaging.
  • Page 32 ROV Orientation and Directions Reference Bow - The front of the ROV. Stern - The rear of the ROV Port - The left side of the ROV when facing forward. Starboard - The right side of the ROV when facing forward. Fore - Towards the front or The forward direction.

  • Page 33: Power Module

    Submersible Frame The MSS frame provides the structure to combine the modular components and accessory payload. The modular concept allows the MSS frame to be optimized for the specific tasks for which the vehicle is designed. Frame Arrangement The following frame arrangements have been designed. Alpha Frame Defender Frame Pro 5...
  • Page 34 8 Pin Male Tether Connector Function Interlock (GND) Interlock (Sense) Tether V+ M100 EOP+ Tether V- M100 EOP- RS-485 A RS 485 B 5 Pin Female High Power (Thruster, Lights) Connector (2) Pin Function Wire AWG Color 48 V DC + 20 Green 48 V DC - 20 Black...

  • Page 35: Communications Module

    Function 24 V DC + M100 EOP + M100 EOP - RS-485 A RS-485 B 12 V DC + Power is rated at 300 Watts for the 24 Volt circuit and 120 Watts for the 12 Volt circuit. Power Module Arrangement The MSS Power module is usually located at the rear of the vehicle, but can be installed in the optimal location for the specific vehicle.
  • Page 36 9 Pin Interface Connectors Pin Male Connector (port 1) Female Connectors (ports 2-6) ETH_RXP + ETH_RXP - 24 V DC + 24 V DC + M100 EOP + ETH_TXP + M100 EOP - ETH_TXP - RS-485 A RS-485 A RS-485 B RS-485 B 12 V DC + 12 V DC +...
  • Page 37 AHRS Module AHRS - Attitude and Heading Reference System The AHRS is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback on the vehicle's orientation. Measurements include magnetic heading, attitude and rates of change. The AHRS also includes a pressure sensor to determine the depth of the vehicle. Cable Pinout Function ETH_RXP +...
  • Page 38 Thruster Propeller The propellers are designed to be used on counter-rotating thruster arrangements to eliminate torque roll or yaw. Propellers are identified by their pitch orientation using left and right based on their pitch. The convex edge of the propeller blade is the leading edge during motion that is considered forward for that thruster.
  • Page 39 Cable Pinout The Thruster connector uses a male / female stackable connector allowing the thrusters and LED lights to be connected in series. Pin Function Wire AWG Color 48 V DC + 20 Green 48 V DC - 20 Black RS-485 A 24 Gray RS-485 B 24...

  • Page 40: Camera Module

    Forward Port Right Disabled 192.168.1.64 1 (7444) Forward Left Enabled 192.168.1.64 1 (7444) Starboard Aft Starboard Right Disabled 192.168.1.64 1 (7444) Aft Port Left Enabled 192.168.1.64 1 (7444) Forward Right Disabled 192.168.1.64 1 (7444) Vertical Port Forward Left Disabled 192.168.1.64 1 (7444) Vertical Starboard Aft Vertical...
  • Page 41 Cable Pinout Function ETH_RXP + ETH_RXP - 24 V DC + ETH_TXP + ETH_TXP - RS-485 A RS-485 B 12 V DC + Camera Arrangement The following cameras have been designed. High Definition Camera Low Light Camera High Definition Camera...
  • Page 42 High Definition Camera Low Light Camera Low Light Camera LED Light Module The LED Light Module provides variable levels of illumination and beam pattern control. Cable Pinout The LED Light connector uses a male / female stackable connector allowing the LED lights and thrusters to be connected in series.

  • Page 43: Rov Connections

    Lights Arrangement The Light modules can be located within the vehicle frame and configured as required for the specific vehicle. Multiple LED Light Modules can be used. Alpha Frame Lights The MSS vehicle is an Alpha frame that uses a single Light Module. The Light Module is configured as shown below: Light Location Group ID Node ID Application ID TCP/IP Address TCP/IP Port Notes Front top center 131...
  • Page 44 Pin numbering starts at 1 for the offset pin and is clockwise on the male connector and counter clockwise on the female connector. 5 Pin Thrusters and Lights Connector Function 48 V DC + Vehicle Local Ground (12 V, 48 V return) 48 V DC return RS-485 A RS-485 B...
  • Page 45 The strain relief is used to secure the ROV to the tether to prevent separation and loss of the vehicle if the tether connection becomes disconnected. The strain relief also minimized the load on the tether connector.
  • Page 46 User Control Console Power Specifications The VideoRay MSS operates on typical residential power in the range of 100-240 Volts AC, 50,60 Hz. This can be provided from the land-based grid, a generator, or a battery with an inverter (optional). The typical power requirements for operating from a generator or inverter are 3,000 Watts continuous minimum.

  • Page 47: Safety Circuits

    You must press the Reset Button to enable it. When enabled, the green LED will be illuminated. When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord.

  • Page 48: Switches And Connections

    The LIM has additional features that are described in more detail in the LIM Module Manual. ROV Power Safety Interlock The ROV Power Safety Interlock prevents the ROV power from being engaged unless an ROV is plugged into the tether. This feature protects users from accidentally contacting the ROV power circuit of an open tether connector.
  • Page 49 VideoRay does not recommend installing additional hardware or software on the computer unless you are familiar with its operation and confident it will not interfere with the VideoRay control software or the computer's ports. Software that is packaged with VideoRay accessories has been tested and is...
  • Page 50 The computer includes the following connections (which are passed through to connectors on the User Control Console): CONNECTION TYPE FUNCTION USB (3) Type A Can be used to connect USB devices to the computer. female Ethernet RJ-45 Can be used to connect the computer to a network, or the User female Control Console for Ethernet based accessories.
  • Page 51 Brightness High Bright � 1000 nits Features Wide Viewing Cone 10 Point PCAP Touch Front Full Range Diming Pot Monitor specifications are subject to change without notice.

  • Page 52: Hand Controller

    Operator's Manual, 1.00.00 Hand Controller The hand controller is used to operate the VideoRay and its features. Several types of hand controllers are supported. Controllers not included in your configuration are available from VideoRay for purchase. Supported controllers include: VideoRay Industrial Hand Controller...
  • Page 53 Microsoft is a registered trademark of Microsoft. Windows is a registered trademark of Microsoft. Logitech is a registered trademark of Logitech.
  • Page 54 Operator's Manual, 1.00.00 Tether Tether connects the ROV to the surface and provides power, communications, video and an APIC (Auxiliary Pair of Independent Conductors) for accessory use. The tether consists of conductors, a ® Kevlar strength member, flotation (for Neutral and Performance tethers) and an outer jacket. It is available three types: Negative, Neutral and Performance (often called PPT), and can be purchased in standard and custom lengths.
  • Page 55 Tether connectors should not be lubricated with petroleum products or grease. Petroleum will degrade the rubber and grease will attract dirt and lead to abrasion and corrosion. VideoRay recommends lubricating the tether connectors with pure silicone spray.
  • Page 56 RS-485 B All conductors are straight through, such that pin 1 in the male connector is connected to socket 1 in the female connector, and so on for all eight pins / sockets. Tether Buoyancy Performance and Neutral tether includes buoyancy compensating foam that provides near neutral buoyancy in fresh water.

  • Page 57: Connections Summary

    Operator's Manual, 1.00.00 Connections Summary The following connections are required: 1. Connect the female end of the tether to the ROV. 2. Secure the tether strain relief to the ROV. 3. Connect the male end of the tether to the User Control Console. 4.

  • Page 58: Included Accessories

    In addition to the equipment that is included with each MSS configuration and the commercially available accessories, VideoRay recommends users procure a variety of mission support items. The list of recommended items will vary depending on the typical mission requirements, although it will be obvious that some of these items have general applicability to all mission profiles.
  • Page 59 Retrieval devices or baskets In general, VideoRay does not supply these items, and users must procure them on their own.

  • Page 60: Software Guide

    3. Module Firmware installed on each module to allow the module to perform its functions. The topside user interface software is available in several versions: 1. Greensea Systems Inc., with fully autonomous capabilities 2. VideoRay basic interface 3. User developed software...
  • Page 61 Greensea Systems Interface Overview Greensea's EOD Workspace is the topside control software for the MSS. To Start VideoRay EOD Workspace, double click on the MSS icon on the desktop. For more information about Greensea's VideoRay EOD Workspace software, see the...
  • Page 62 Operator's Manual, 1.00.00 VideoRay Interface Overview There are four applications that are required to operate the VideoRay vehicle control software. These are stored in the ~/Flighthack folder. Start the thruster controls using vr_engage.py Start the camera controls using vr_engage_camera.py Start the video window Video is automatically in record mode when the video window is started.

  • Page 63: Software Management

    Operator's Manual, 1.00.00 Software Management This section provides information about the software environment and managing the software. Folder Structure Home/ - User Root Folder firmware/ - Module Firmware flighthack/ - MSS Utilities gss_config/ - Configuration Files gss_logs/ - Recordings gss_mission/ - Mission Definition Files...

  • Page 64: Module Configuration

    Operator's Manual, 1.00.00 Module Configuration The modular concept requires that modules be configured prior to installation or replacement in a specific vehicle arrangement. Configuration information is specific to each vehicle. Information about the configuration for a specific vehicle can be found in the Submersible section of the Equipment...

  • Page 65: Updating Firmware

    Command: vr_refresh The vr_refresh command is used to update the firmware on a module. vr_Refresh [OPTIONS] [SINGLE_HEX_FILE_NAME] [Options] - See the table below [SINGLE_HEX_FILE_NAME] - The file name of the firmware update, including its path. OPTION Alternate Argument(s) Description Default --help Display this help information --version...
  • Page 66 Camera Module vr_refresh -c vrport3 -i 4 ~/firmware/camera_adapter-X.Y.Z.hex --block_size 16384 LED Module (Use the correct Node ID) vr_refresh -i 11 ~/firmware/led_controller-X.Y.Z.hex Firmware Block Sizes Module Block Size Comms Path Power Module 16384 Direct Communications Module 16384 Direct AHRS Module 16384 vport2 Power Module Default...
  • Page 67 vr_enum -c vrport2 Camera Module vr_enum -c vrport3 Some of the options use two dashes "--," not a long dash Command: vr_setid The vr_setid command is used to set the Node_ID and Group_ID of a module. vr_setid [OPTIONS] SN Node_ID Group_ID SN - See the table below Node_ID - The Node ID to program into the module (1 - 255) Group_ID - The Group ID to program into the module (1 - 255)
  • Page 68 Some of the options use two dashes "--," not a long dash Command: vr_debug_putty.py The vr_debug_putty.py command is used to configure or test a module. ./vr_debug_putty.py [OPTIONS] [N [N...]] [Options] - See the table below N - The Node ID of the module to reset and enter debug mode. This command must be executed from the flighthack folder and requires the preceding "./"...
  • Page 69 ./vr_create_virtport_all.sh & There are no arguments for this command. This command must be executed from the flighthack directory and requires the preceding "./" The trailing "&" allows this command to run in the background, otherwise you would need to open a new terminal window to use commands that access the virtual ports.
  • Page 70 Operator's Manual, 1.00.00 Maintenance Guide This section will describe the maintenance requirements and procedures for periodic or common maintenance requirements. It will not be detailed enough to be considered a component level repair manual, but will address component replacement of modular components.
  • Page 71 VideoRay MUST be returned to a VideoRay Authorized Service Center for service and repair. VideoRay also understands that logistics and other issues may make it difficult and costly to return the equipment to a Factory Authorized Service Center for completion of some of the simpler procedures.

  • Page 72: Power Module Replacement

    Operator's Manual, 1.00.00 Module Configuration and Replacement Power Module Replacement Replacing a Power Module requires hardware replacement. Currently, the Power Module will be pre- configured when delivered, so there is no need for software configuration procedures. Hardware Replacement To remove and replace a Power Module, follow these steps: 1.
  • Page 73 2. Remove the top float block by removing the four screws holding the float block to the frame. 3. The DVL will need to be removed in order to remove the Communications Module. 4. Remove the Communications Module male connector cable from the front of the Power Module. 5.
  • Page 74 You do not need to type the Enter key. In configuration mode you are now able to configure the baud rate for the rotating manipulator port. 8. Using the values from the Communications Module configuration table change the parameters on the Communications Module to match the baud rate for the manipulator port from the table. To change the baud rate value for the manipulator port, follow these steps: 1.
  • Page 75 Hardware Replacement To remove and replace a thruster, follow these steps: 1. Power down the system. 2. Remove the top float block by removing the four screws holding the float block to the frame. 3. Note the position of the thruster being replaced in the vehicle frame. The position of the thruster being replaced will determine the propeller orientation and configuration parameters to be programmed into the replacement.

  • Page 76: Camera Replacement

    where SN is the serial number of the replacement thruster (case sensitive value as found in the vr_enum output), and the NodeID and GroupID are from the thruster configuration table This step ensures that each thruster has a unique Node ID on this vehicle. 7.

  • Page 77: Led Light Replacement

    4. Carefully thread the disconnected cable and connector back through the frame until it is clear. 5. Using a Phillips head screw driver, loosen the 4 screws (2 in each bracket) that hold the Camera to the frame. 6. Slide the camera out of the brackets from the front of the vehicle. 7.
  • Page 78 Refer to the configuration parameter table in the LED Light section of the Equipment Guide.: Commands below are case sensitive. 1. Connect and power up the system, but do not start the control software. 2. Launch the terminal program and use the following commands to program the LED Light. 3.

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