Tritech Intelligent Gyro Compass, Product Manual

Page 1: ...Intelligent Gyro Compass iGC Product Manual 0707 SOM 00004 Issue 02 Outstanding Performance in Underwater Technology ...

Page 2: ...upplied by Tritech International Limited on the understanding that it may not be copied used or disclosed to others except as authorised in writing by Tritech International Limited Tritech International Limited reserves the right to change modify and update designs and specifications as part of their ongoing product development programme ...

Page 3: ...ion 10 6 0 Typical Applications Drawings 12 7 0 Installation 16 8 0 Commissioning 22 9 0 Calibration 27 10 0 Operation 28 11 0 Maintenance 32 12 0 Basic Fault Finding 37 Appendices Appendix A iGC Supply Specification Appendix B Specification Change Table Appendix C Build and Test Record Appendix D Interface Method Plan Interconnection Issue 2 0707 SOM 00004 Page 4 of 51 ...

Page 4: ...Appendix G Firmware Modes Proprietary Outputs Appendix H Firmware Modes Industry Standard Outputs Appendix I Electrical Interconnection Diagrams Appendix J Technical Specifications Appendix K Programming Test Cable Appendix L Recommended Spares List Appendix M Certification Issue 2 0707 SOM 00004 Page 5 of 51 ...

Page 5: ...e operated in accordance with the following instruction manual Failure to follow the recommendations of this manual may lead to safety hazards or equipment failure Danger Throughout the manual certain safety related comments and requirements that could lead to injury or loss of life will be highlighted to the operator by indications in the margin identified as opposite Caution Throughout the manua...

Page 6: ...e cause to use our Technical Support service please ensure that you have the following details at hand prior to calling iGC Assembly Part No iGC Serial No Operating mode settings if known Firmware version if known Fault Description Details of other equipment used in the iGC system e g iFG iIF etc Details of remedial action or faultfinding already implemented It is worthwhile keeping a copy of this...

Page 7: ...his manual Any queries comments or suggestions regarding the content of this manual or the safe installation operation or maintenance of the iGC should be referred to Tritech Caution 4 2 2 Pressure If a seal has failed AND then acts as a one way check during flooding it is possible that pressurised fluid and gas has been trapped inside the iGC pressure vessel This may be indicated by one or more o...

Page 8: ...upply circuitry as to the equipment described in this manual Before doing any work inside the iGC the electrical power supply to the iGC should isolated and the power connector unplugged This includes electrical faultfinding so as to avoid inadvertent contact between the pressure housing and exposed connections on any of the electrical components or circuit boards during removal installation of th...

Page 9: ...ooking for a more reliable or compact solution As standard the iGC is supplied with a PC software application that gives a clear animated display of heading pitch roll turns counter heave acceleration and iGC status This PC programme is normally used when the user does not have an effective heading display for diagnostics additional data control or in applications where an additional display is us...

Page 10: ...Bs are installed in the host system in place of the existing heading sensor interface PCB and emulate the original sensor outputs e g synchro analogue digital etc but use the iGC iFG as the data source These PCBs offer a simple hardware upgrade to existing systems without the requirement to rewrite control system software or redesign hardware They also offer additional capabilities over existing s...

Page 11: ... Intelligent Gyro Compass 6 0 Typical Applications Drawings There are various methods of integrating the iGC with existing control systems the following sketches showing typical applications Issue 2 0707 SOM 00004 Page 12 of 51 ...

Page 12: ... integrated data management and control reduced telemetry path requirements reliability etc In applications where Arcnet is used a separate RS232 Industry Standard iGC telegram can be selected to interface directly with the Host control system or navigation system This is available either directly from the iGC or from the topside Arcnet controller Issue 2 0707 SOM 00004 Page 13 of 51 ...

Page 13: ...Tritech International Ltd Intelligent Gyro Compass Issue 2 0707 SOM 00004 Page 14 of 51 ...

Page 14: ...are numerous alternative options for interconnection of the iGC product family to existing or bespoke control systems If your desired application is not shown please contact Tritech for advice on the best method of achieving the interface that you require Issue 2 0707 SOM 00004 Page 15 of 51 ...

Page 15: ...c The iGC is more susceptible to ferrous materials underneath the assembly than from the side or above 7 2 3 Alignment The electrical connector is mounted at the rear of the iGC In addition three meridian lines have been engraved into the body of the iGC These show the forward port and starboard directions of the iGC axes Refer to Section 7 3 Installation Drawing for details To maximise the accura...

Page 16: ... The following drawing shows installation dimensions and fastener details for the installation of the iGC NB As stated previously non magnetic fasteners and mounting bracket should be used for mounting the iGC Issue 2 0707 SOM 00004 Page 17 of 51 AFT VIEW PORT VIEW BOTTOM VIEW ...

Page 17: ...he female contact and damage to the O ring seals Do not overtighten the bulkhead nuts Do not disconnect by pulling on the cable and avoid sharp bends at cable entry When using bulkhead connectors see that there are no angular loads as this destroys the connector When disconnecting pull straight not at an angle Ensure the above points are fulfilled to get the best out of your connectors If in doubt...

Page 18: ...usted as described in section 7 4 2 below The correct settings are given in the following table Table 7 4 1 Jumper settings Mode Jumper JP1 Jumper JP2 Jumper JP3 RS232 only don t care don t care don t care RS485 end terminated Position 2 3 Position 2 3 IN RS485 unterminated Position 2 3 Position 2 3 OUT Arcnet Position 1 2 Position 1 2 don t care 7 4 2 Adjusting iGC Mode or Jumpers In order to adj...

Page 19: ... into the desired position Once the DIL switch has been set the RS485 jumpers should be checked set according to Table 7 4 1 above The Jumpers are identified as small red shorting links see photograph The position to set the Jumpers can be seen from the photographs below Settings for Arcnet mode Settings for RS485 mode Settings for RS485 mode terminated with 120R un terminated After setting the Mo...

Page 20: ...m that the output voltage is the correct value and polarity Caution 5 When the correct iGC supply voltage has been confirmed isolate the iGC supply and check that there is no power present on the connector sockets pins 1 2 6 Connect the female Subconn connector to the iGC following the Subconn instructions in Section 7 4 1 above 7 Carefully power up the Host supply or the iGC circuit if switchable...

Page 21: ...erTerminal for faultfinding Under most circumstances the Host data interface should ignore or discard this data and begin responding to or processing the normal output telegram packets once they start If the configuration packet causes problems for the Host interface software it can be disabled as a factory or field installable firmware option 8 3 Powering up for the first time With the host contr...

Page 22: ...al programme s port settings to 19 200 baud No parity 8 data bits and 1 stop bit Enable the terminal programme into connected state if applicable Power up the iGC and observe the terminal output window The configuration data message should be seen on the terminal screen a typical output is shown below If the configuration screen is not seen check the cabling and power supply to the iGC check the t...

Page 23: ...not correctly terminated there should be a 120 ohm resistor at each end of the RS485 bus but no more than 2 on the bus at any one time There is a jumper JP3 o the iGC PCB that enables this terminator Signal ground not connected correctly The RS485 interface requires that the common mode voltage between devices is in the range 7V to 12V typically The 0V signal ground connection between the iGC and ...

Page 24: ...ne or a calibrated gyrocompass If comparing the iGC heading against a True North seeking gyro NSG the appropriate corrections should be made to the NSG heading to convert it to a Magnetic North reference prior to checking the iGC When the North reference is confirmed rotate the Host platform that the iGC is mounted to through 360º heading and check the correlation with the reference gyrocompass or...

Page 25: ...ion figure approximately equal to the measured Heave multiplied by the combined cosine of the pitch and roll angles 8 7 4 Water Ingress Alarm Checks Inside the iGC there is a water ingress detector comprising two gold pins that extend from the interface PCB down to the lowest point inside the iGC housing See photograph below for details Certain output formats support the transmission of a Water in...

Page 26: ... the iGC Navigation software whichever is being used To calibrate the iGC mechanically its mounting bracket should be designed to incorporate vernier adjustment on the axes to be calibrated With the vehicle s pitch roll and heading measured or set to known values e g 0º pitch and roll and known magnetic heading the mounting bracket is adjusted until the iGC outputs match the measured reference val...

Page 27: ...onal iGC data to Industry Standard ASCII formats This mode is useful where specific telegram decoding parsing can be implemented by the Host system Full details of the output data formats in Proprietary modes can be found in Appendix G 10 2 2 Industry Standard Outputs The iGC emulates a large number of commonly used heading sensors In the Industry Standard emulation modes data telegrams are transm...

Page 28: ...gration with different iGC configurations It is also a useful tool for faultfinding commissioning and setting up iGC applications The minimum requirements of the host PC are as follows 1GHz Pentium 3 or 4 or AMD equivalent Windows 98 Windows NT Windows 2000 or Windows XP 256MB RAM 200MB Free disk space 1 x RS232 serial port or USB port for USB to RS232 converter 1024 x 768 display CD ROM drive The...

Page 29: ... to a valid iGC heading having been received IFG unslaved This is the iFG heading after having been slaved to the iGC but the iGC data stream has been lost or the slaving function has been switched off IFG iGC slaved This is the ideal output mode where the iFG is providing stabilised heading output with magnetic slaved corrections from the iGC Survey Gyro Where a survey gyro or North seeking Gyro ...

Page 30: ...Tritech International Ltd Intelligent Gyro Compass Typical screenshot Issue 2 0707 SOM 00004 Page 31 of 51 ...

Page 31: ...n the Subconn connector and end cap The following should be noted Any time that a seal is disturbed before replacement in the iGC it should be thoroughly cleaned and inspected for damage The seal housing should be thoroughly cleaned and inspected for damage Any damaged seals or components with damaged sealing faces should be replaced with new components All replacement seals should be correctly sp...

Page 32: ...r any reason then speed is of the essence If the system software interface supports the water ingress sensor signal the iGC should be powered down immediately that the sensor detects water ingress After ensuring that pressure is not trapped inside the pressure vessel see disassembly procedure the iGC should be opened and inspected If the unit has suffered a significant leak and the PCBs have becom...

Page 33: ... the outside of the iGC 2 Unscrew the dome Item 1 from the end cap Item 2 Normally this can be done by hand with the assistance of clean rubber gloves or rubber sheet to improve grip on the smooth anodised surface If additional torque is required a pair of strap wrenches can be used or fasteners can be inserted into the end cap to allow it to be held in a vice and a strap wrench then used to unscr...

Page 34: ...n connector is as follows 1 If a new connector is to be used attach heat shrinkable wire numbers 1 8 to the wire tails and cut tails to the same length as the removed connector 2 Fit a 30mm length of 4 8mm diameter heatshrink over the connector wire tails This is used to protect the wire tails from abrasion when the connector is screwed into the end cap 3 Remove clean re grease and re fit the conn...

Page 35: ...or holes and tapped holes in the end cap 3 Fit the small black plastic insulating bushes Item 17 into the regulator tabs Screw in the 2 x M3 screws and washers Items 16 13 Do not overtighten 4 Check tightness of the 3 x M3 Interface PCB retaining screws 5 Using a multimeter check that there is no electrical continuity between the tab of both regulators and the iGC end cap There is a threaded hole ...

Page 36: ...rom iGC Check that power is applied Under normal conditions the iGC feels warm to the touch when switched ON this can be used as a quick check that power is present No power present on pins 1 2 of the interconnecting cable Check that the supply is switched on Check status of fuses or output from power supply Check continuity of interconnecting cable No output data from iGC but power is present at ...

Page 37: ...ific task Programming is performed simply by using the Programming Test cable and a laptop or desktop PC Refer to Appendix K for details of the programming cable The replacement firmware will be provided by Tritech together with the required PC utility programme that is used to transfer the replacement firmware from the PC to the iGC Full instructions are always supplied with the firmware files bu...

Page 38: ...Tritech International Ltd Intelligent Gyro Compass Appendix A iGC Supply Specification Issue 2 0707 SOM 00004 Page 39 of 51 ...

Page 39: ...Tritech International Ltd Intelligent Gyro Compass Appendix B Specification Change Table Issue 2 0707 SOM 00004 Page 40 of 51 ...

Page 40: ...Tritech International Ltd Intelligent Gyro Compass Appendix C Build and Test Record Issue 2 0707 SOM 00004 Page 41 of 51 ...

Page 41: ...Tritech International Ltd Intelligent Gyro Compass Appendix D Interface Method Plan Interconnection Issue 2 0707 SOM 00004 Page 42 of 51 ...

Page 42: ...Tritech International Ltd Intelligent Gyro Compass Appendix E General Assembly Drawing Issue 2 0707 SOM 00004 Page 43 of 51 ...

Page 43: ...Tritech International Ltd Intelligent Gyro Compass Appendix F Parts List Issue 2 0707 SOM 00004 Page 44 of 51 ...

Page 44: ...Tritech International Ltd Intelligent Gyro Compass Appendix G Firmware Modes Proprietary Outputs Issue 2 0707 SOM 00004 Page 45 of 51 ...

Page 45: ...Tritech International Ltd Intelligent Gyro Compass Appendix H Firmware Modes Industry Standard Outputs Issue 2 0707 SOM 00004 Page 46 of 51 ...

Page 46: ...Tritech International Ltd Intelligent Gyro Compass Appendix I Electrical Interconnection Diagrams Issue 2 0707 SOM 00004 Page 47 of 51 ...

Page 47: ...Tritech International Ltd Intelligent Gyro Compass Appendix J Technical Specifications Issue 2 0707 SOM 00004 Page 48 of 51 ...

Page 48: ...Tritech International Ltd Intelligent Gyro Compass Appendix K Programming Test Cable Issue 2 0707 SOM 00004 Page 49 of 51 ...

Page 49: ...Tritech International Ltd Intelligent Gyro Compass Appendix L Recommended Spares List Issue 2 0707 SOM 00004 Page 50 of 51 ...

Page 50: ...Tritech International Ltd Intelligent Gyro Compass Appendix M Certification Issue 2 0707 SOM 00004 Page 51 of 51 ...