iXBlue ROVINS User Manual
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iXBlue ROVINS User Manual

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Summary of Contents for iXBlue ROVINS

  • Page 1 ROVINS User Manual...

  • Page 3: Copyright

    improvements.

  • Page 4: Icons

    Abbreviations and acronyms are described in document Inertial Products - Principle & Conventions (Ref.: MU-INS&AHRS-AN-003). Overview of this Document This document is the product user manual of your ROVINS. It gives all information about your product, and about documentation applicable to your product. This document is divided into several parts: •...

  • Page 5: Table Of Contents

    Port X (X being C, D, or E) Connector Specifications ............23     ROVINS Recommended Wirings ..................25     Specifications for Communication between ROVINS & PC ..........28     Power Network ........................28     ....................29...

  • Page 7: I Introduction

    In general, acoustic positioning systems are used mainly during the diving phase of the ROV. Close to seabed ROVINS is be able to maintain its position with only velocity aiding. During most missions, mapping of the seabed is done using a multibeam echo sounder requiring true heading, attitude, position and speed from the ROVINS.
  • Page 8 ROVINS – User Manual To cope with such a mission ROVINS is designed to: • Align at sea • Optimize the integration of most industry standard USBL/LBL/GPS data positioning systems • Smooth data from USBL/LBL/GPS • Reject USBL/LBL/GPS outlier • Provide high output rate position and speed data •...

  • Page 9: Product Documentation

    ROVINS – User Manual RODUCT OCUMENTATION Your ROVINS belongs to the family of the iXBlue inertial products. The following documents are useful to use the best way your product. • This ROVINS User Manual gives information about: Mechanical Specifications Electrical Interface Specifications (included : recommended wiring) Verification of Pack Contents •...
  • Page 10 These commands are sent directly through the repeater port. • INS - Application Note - INS Calibration with RDI Workhorse DVL (Ref.: MU- INSAPN-AN-001) MU–ROVINS–AN-013 Ed. A – March 2012...

  • Page 11: Rovins Specificities ( Including External Sensors )

    (COG) of the vehicle/vessel. In this case, ROVINS will compute heave at the COG and add the heave induced by lever arms from the COG to external monitoring points. For more details see: •...

  • Page 12: Mechanical Specifications

    PECIFICATIONS IV.1 ROVINS Interface Plate The ROVINS interface plate is sketched on Figure 1. It is fixed onboard using six CHC M6 screws which form a 195 mm diameter. Two accurate alignment holes can be used for fine alignment with alignment frame.
  • Page 13 ROVINS – User Manual Figure 1 - ROVINS interface plate (bottom side) layout MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 14 ROVINS – User Manual PAGE INTENTIONALLY LEFT BLANK MU–ROVINS–AN-013 Ed. A – March 2012...

  • Page 15: Iv.2 Rovins Mechanical Alignment

    ROVINS – User Manual IV.2 ROVINS Mechanical Alignment ROVINS interface plate is designed with two holes for alignment of ROVINS axis X with a reference direction on the matching adaptation plate fixed onboard. The accuracy of this mechanical alignment is ± 0.02 degree. For mechanical mounting recommendations refer to the document Inertial Products –...
  • Page 16 ROVINS – User Manual PAGE INTENTIONALLY LEFT BLANK MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 17 ROVINS – User Manual Figure 2 - Center of measurements position MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 18 ROVINS – User Manual PAGE INTENTIONALLY LEFT BLANK MU–ROVINS–AN-013 Ed. A – March 2012...

  • Page 19: Iv.4 Dvl Ready Option

    The characteristics and operation of the DVL is described in the RDI user’s documentation provided with your ROVINS. A mechanical drawing of the ROVINS with DVL ready option is provided in Figure 3. The interface plate used to couple ROVINS or ROVINS with the DVL is sketched on Figure 2 and Figure 3.
  • Page 20 ROVINS – User Manual PAGE INTENTIONALLY LEFT BLANK MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 21 ROVINS – User Manual Figure 3 – Mechanical drawing of the ROVINS + DVL ready option MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 22 ROVINS – User Manual Figure 4 – Centering pin locations MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 23 ROVINS – User Manual Figure 5 – PHINS 6000/ROVINS interface plate (for coupling with the DVL) layout MU–ROVINS–AN-013 Ed. A – March 2012...
  • Page 24 ROVINS – User Manual PAGE INTENTIONALLY LEFT BLANK MU–ROVINS–AN-013 Ed. A – March 2012...

  • Page 25: Electrical Interface Specifications

    Ethernet connector is MINK- 19#22-CCP-TI. The following are supplied as a standard with the ROVINS unit: • A 19-pin test cable with Ethernet, 3 power supply couples (ROVINS, EXT1, EXT2), PPS and serial repeater • A 24V power supply with banana pins •...

  • Page 26: Listing Of Interfaces

    ROVINS configuration with this Web-based User Interface. In this configuration, the Web server connection will need to be configured in PPP. The ROVINS unit is powered by 24 Volts direct current. ROVINS central connector is configured as shown in Figure 7.
  • Page 27 Port A: RS422 RX(-)(A)/RS232 RX(+) Port B: GND_B (**) (*) ROVINS and Ext sensor 1 (resp.2) power lines are isolated from each other. Ext sensor 1 (resp. 2) pins are linked together. If Ext sensor 1 (resp. 2) is powered from 19 pin connector this voltage will be present on 26 pin and 12 pin connectors.

  • Page 28: Ethernet Connector Specifications

    Ethernet RX(-) Repeater: GND_R (**) (*) ROVINS and Ext sensor 1 (resp.2) power lines are insulated from each other. Ext sensor 1 (resp. 2) pins are linked together. If Ext sensor 1 (resp. 2) is powered from 19- pin connector this voltage will be present on 26-pin and 12-pin connectors.

  • Page 29: Port X (X Being C, D, Or E) Connector Specifications

    The Port C, Port D and Port E connectors are used to connect external sensors and system to ROVINS. Refer to Figure 9 for the corresponding wiring. These inputs/outputs are user-configurable through the Web-Based User Interface. Refer to document INS - Configuration &...
  • Page 30 Port X: GND_X (**) Reserved except if X=C : Pulse C: IN TTL (*) ROVINS, V1, V2 power GND are insulated and insulated from RS GND (**) Serial GND and Pulse GND are common for a given port (i.e., GND_A for port A, GND_R for repeater port).

  • Page 31: Rovins Recommended Wirings

    External cable shielding link All pins marked GND are common electrical ground and can be used indifferently. Mechanical GND connection is recommended through connector backshell Figure 11 - Description of mono-directional RS232 Input wiring (Port A example) MU–ROVINS–AN–013 Ed. A – March 2012...
  • Page 32 All pins marked GND are common electrical ground and can be used indifferently. Mechanical GND connection is recommended through connector backshell. Figure 15 - Description of the Pulse Output wiring with a Shielded Twisted Pair (Pulse A example) MU–ROVINS–AN–013 Ed. A – March 2012...
  • Page 33 Shield Electrical common GND Black Tx(+)232/422 White GND or Tx(-)422 Shield Electrical common GND Yellow Rx(+)232 or RX(-)422 White GND or Rx(+)422 Shield Electrical common GND Figure 18 - Example of cabling with a Shielded Multi-Twisted Pairs MU–ROVINS–AN–013 Ed. A – March 2012...

  • Page 34: Specifications For Communication Between Rovins & Pc

    Web-based User Interface (see Network Set-up Guide (Ref.: MU-INS&AHRS-AN-005) for more details). For the Ethernet link, the following parameters are default defined: • IP Address: 192.168.36.1xx, xx being the last two numbers of the ROVINS serial number • Connection through http web server (port 80) •...

  • Page 35: Verification Of Pack Contents

    ONTENTS You will find in the shipping case a Packing List detailing all the items delivered. This Packing List has been completed and checked by iXBlue before shipment, and should match the contents of the pack you have received. However, we recommend that you check the contents of the pack and the equipment immediately on receipt of your ROVINS unit.

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