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Related Manuals for ImpactSubsea ISA500
Summary of Contents for ImpactSubsea ISA500
- Page 1 Innovative Underwater Products ISA500 Altitude, Pitch, Roll & Heading Sensor Installation & Operation Manual Revision: Date: 15/01/2020 Impact Subsea Ltd T. +44 (0) 1224 460 850 info@impactsubsea.co.uk www.impactsubsea.com...
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Page 2: Table Of Contents
Contents 1.0 Introduction..........................3 2.0 Specification..........................4 2.1 Overview .........................4 2.2 Dimensions........................4 2.2.1 Forward Looking Housing..................4 2.2.2 Right Angle Housing....................4 2.3 Acoustic, Heading, Attitude & Temperature..............5 2.4 Communications, Power & Physical................5 3.0 Installation ..........................6 3.1 Electrical Installation.......................6 3.1.1 Connector Pin Out....................6 3.1.2 Power........................7 3.1.3 Serial Interface.....................7 3.1.4 RS232 Wiring.......................7 3.1.5 RS485 Wiring.......................8... -
Page 3: Introduction
Roll and Temperature readings. Designed to measure distance to the seabed (as an underwater Altimeter) the ISA500 can also be used in a number of underwater applications where a distance requires to be measured or monitored. Utilising a broadband composite transducer and advanced digital signal processing techniques;... -
Page 4: Specification
Innovative Underwater Products 2.0 Specification 2.1 Overview ISA500 (Forward Looking Titanium Housing) ISA500 (Right Angle Acetal Housing) 2.2 Dimensions 2.2.1 Forward Looking Housing 2.2.2 Right Angle Housing All dimensions are in mm. © Impact Subsea Ltd... -
Page 5: Acoustic, Heading, Attitude & Temperature
Innovative Underwater Products 2.3 Acoustic, Heading, Attitude & Temperature Acoustic Attitude Frequency 500kHz Standard Pitch Range ± 90° (400 to 600kHz Roll Range ± 180° Selectable) Range 0.1 to 120+m Accuracy 0.2° (Maximum range dependant on seabed type: Ranges in excess... -
Page 6: Installation
Innovative Underwater Products 3.0 Installation 3.1 Electrical Installation The ISA500 is fitted with a SubConn MCBH8M-SS connector as standard. This will mate to a SubConn MCIL8F connector/cable assembly. 3.1.1 Connector Pin Out The standard connector pin out is provided below:... -
Page 7: Power
Innovative Underwater Products 3.1.2 Power The ISA500 is polarity protected and fused with a 400mA resettable poly fuse. Internal circuitry isolates the supply from the outside environment requiring the serial interface, TTL trigger and analogue output to use the digital and analogue 0V reference pin. -
Page 8: Rs485 Wiring
Innovative Underwater Products 3.1.5 RS485 Wiring The RS485 termination resistor is software selectable. The digital 0V must be connected on an RS485 interfaces, otherwise the voltage potential between one of the A+ or B- lines to ground could reach a damaging level... -
Page 9: Analogue Out And Ttl Trigger
Innovative Underwater Products 3.1.6 Analogue Out and TTL Trigger The Analogue interface can be configure to output voltage or current. It is isolated from the supply and has in-line fused protection. A prolonged transient voltage on this line will blow the surface mount fuses which will require replacement by Impact Subsea or an approved distributor. -
Page 10: Establishing Communications
3.1.7 Establishing Communications The default serial settings are RS232, 9600, N81 If the ISA500 is tilted from vertical to upside down 3 times within the first 10 seconds of power up then it will temporarily configure the serial interface to the default (RS232, 9600, N81) and output an ASCII message displaying the settings. -
Page 11: Connector Cleaning
– see Section 5 for details. 3.2.2 Magnetic Disturbers (Heading Performance) Where the heading output is to be used, the ISA500 should be mounted as © Impact Subsea Ltd... -
Page 12: Alignment With Vehicle (Pitch/Roll Accuracy)
When mounting horizontally (for horizontal range measurements) the ISA500 should be mounted with the transducer facing in the direction of measurement to be made, with the indentation in the connector end cap pointing upwards:... -
Page 13: Heat Sources (Temperature Accuracy)
ISA500 housing. This can be achieved by using rubber or plastic strips around the body of the ISA500. The ISA500 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. -
Page 14: Operation
RS232 or RS485 at any standard baud rates above 4800. The parity must be none, stop bits 1 and data bits 8. If the ISA500 communication settings differ from this then perform the communications reset as described in the establishing communications section of this manual. -
Page 15: Integration With Systems
Autonomous mode will make a measurement and output the result over serial or analogue at a specified time interval. The ISA500 can be configured to operate in one or both of these modes at the same time. ISA500's with the HMRU option make use of the same interrogated and autonomous mechanises to output heading pitch and roll data over the serial interface. - Page 16 The ISA500 does not average or filter readings in any way. This provides zero lag making it ideal for control systems. A simple reliable target tracking algorithm can be created by applying the last known altitude reading to analyse the multi echo outputs.
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Page 17: Servicing
Innovative Underwater Products 5.0 Servicing The ISA500 is a highly robust Altitude and Attitude measurement device. The unit has been designed to require minimal maintenance, and as such there are no user serviceable components within the unit. The unit should be rinsed in fresh water to remove growth and salt deposits. If required a light detergent (such as that used to clean household dishes) can be used. -
Page 18: Ascii Output Strings
Innovative Underwater Products ASCII Output Strings 6.1 Altitude ID1: Impact Subsea altitude and temperature String format: $ISADS,ddd.ddd,M,tt.t,C*xx<CR><LF> ddd.ddd = distance in meters from the transducer face to the target. tt.t = temperature in Celsius xx = NEMA standard checksum... - Page 19 Innovative Underwater Products ID4: Impact Subsea mutli echo output with signal level, correlation and temperature String format: $ISAMI,tt.t,C,ddd.ddd,e.eeee,c.cccc,...,...,...*xx<CR><LF> tt.t = temperature in Celsius ddd.ddd = distance in meters from the transducer face to the target. e.eeee = energy level (0 to 1) c.cccc = correlation factor (0 to 1)
- Page 20 Innovative Underwater Products ID8: Tritech multidrop String format: xddd.dddm<CR><LF> x = node address. This the the first character of the interrogation string. ddd.ddd = distance in meters from the transducer face to the target. ID9: Benthos String format: Rdd.dd<CR><LF> or when there's no echo return Rdd.ddE<CR><LF>...
- Page 21 Innovative Underwater Products ID13: PSA900 String format: Ttt.t Rdd.dd<CR><LF> tt.t = temperature in Celsius dd.dd = distance in meters from the transducer face to the target. ID14: Ulvertech Bathy String format: 00000,dddd<CR><LF> dddd = distance in centimetres from the transducer face to the target.
- Page 22 Innovative Underwater Products ID17: Impact Subsea temperature and multi echo (time) String format: $ISAMT,tt.t,C,dddddd,...*xx<CR><LF> tt.t = temperature in Celsius dddddd = time in micro seconds to target. … = another dddddd reading. xx = NEMA standard checksum Example string format for 3 echoes (Note: 10 echoes maximum number of multi- echoes that can be detected): $ISAMD,tt.t,C,dddddd,dddddd,dddddd*xx<CR><LF>...
- Page 23 Innovative Underwater Products ID19: NMEA $SDDBT String format: $SDDBT,x.x,f,x.x,M,x.x,F*hh<CR><LF> x.x,f, = distance in feet from the transducer face to the target. x.x,M,= distance in meters from the transducer face to the target. x.x,F = distance in fathoms from the transducer face to the target.
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Page 24: Ahrs
Innovative Underwater Products 6.2 AHRS ID1: Impact Subsea heading, pitch, roll String format: $ISHPR,hhh.h,spp.p,srrr.r*xx<CR><LF> s = sign + or - hhh.h = heading in degrees (0 to 359.9) pp.p = pitch in degrees (90.0 to -90.0) rrr.r = roll in degrees (180.0 to -180.0) - Page 25 Innovative Underwater Products ID4: Impact Subsea Accelerometer, Gyro, Magnetometer String format: $ISAGM,a.aaa,a.aaa,a.aaa,g.ggg,g.ggg,g.ggg,m.mmm,m.mmm,m.mmm*xx<CR><LF> a.aaa = Accelerometer reading: X then Y then Z g.ggg = Gyroscope reading: X then Y then Z m.mmm = magnetometer reading: X then Y then Z xx = NEMA standard checksum All values are floating point numbers.
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Page 26: Theory Of Operation
7.0 Theory Of Operation 7.1 Altitude - Basic Principles Throughout this section, Altitude is referred to – the ISA500 can equally be used to measure ranges underwater (vertical and horizontal). For simplicity, only Altitude is referenced here, however the same principles apply to range measurements. - Page 27 (temperature, salinity & pressure). However, for the purpose of this explanation, we will assume a speed of sound of 1,500m/s. For example, if an acoustic pulse takes 0.1 seconds to return to the ISA500 after being sent, we can calculate its round trip travel distance as: Distance = Speed x Time = 1,500 x 0.1...
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Page 28: The Sonar Equation
Innovative Underwater Products 7.2 The Sonar Equation Any equipment which relies on acoustics underwater for ranging purposes, falls into the category of a Sonar, and hence the operation is governed by the 'Sonar Equation'. A clear understanding of this equation is essential in the design of any acoustic equipment, and useful to have an understanding of for those wishing to utilise acoustic equipment to its full potential. -
Page 29: Transmission Loss (Tl)
Innovative Underwater Products 7.2.2 Transmission Loss (TL) As the acoustic pulse propagates through the water, it experiences spreading, which causes the energy of the signal to be dispersed over an ever increasing area. This diminishes the energy at any specific point as distance increases. -
Page 30: Directional Index (Di)
An appreciation of the Sonar equation will provide an understanding of the fundamental operation of the ISA500. It may also help during installation and also when fault finding as it provides an indication as to influential factors. -
Page 31: Heading, Pitch & Roll
This reading can be used for reference, or to alter the speed of sound value used by the ISA500. As the temperature of the water will influence the speed of sound, it is important to adjust for this to enable accuracy of measurements to be maintained. -
Page 32: Warranty
Innovative Underwater Products 8.0 Warranty The ISA500 is supplied with a Limited Warranty. This warranty applies only to the ISA500 unit, and only if the ISA500 is purchased from Impact Subsea Ltd. What does the limited warranty cover? This Limited Warranty covers any defects in material or workmanship under normal use during the Warranty Period. -
Page 33: Technical Support
Innovative Underwater Products 9.0 Technical Support Should you require technical support for your ISA500 unit, our Support team can be contacted as follows: T. +44 (0) 1224 460 850 E. support@impactsubsea.co.uk www.impactsubsea.com An out of hours emergency number is available via the Impact Subsea website.