Kongsberg EM 710 User manual

Maintenance Manual
EM 710
Multibeam echo sounder

KongsbergEM710
Multibeamechosounder
Maintenancemanual
KongsbergMaritime
851-164852/B
June2009

Documenthistory
Documentnumber:851-164852
Rev.AJanuary2006Firstversion.
Rev.BJune2009Newdrawingsandchangesintext
Note
TheinformationcontainedinthisdocumentremainsthesolepropertyofKongsbergMaritimeAS.No
partofthisdocumentmaybecopiedorreproducedinanyformorbyanymeans,andtheinformation
containedwithinitisnottobecommunicatedtoathirdparty,withoutthepriorwrittenconsentof
KongsbergMaritimeAS.
KongsbergMaritimeASendeavourstoensurethatallinformationinthisdocumentiscorrectandfairly
stated,butdoesnotacceptliabilityforanyerrorsoromissions.
Warning
Theequipmenttowhichthismanualappliesmustonlybeusedforthepurposeforwhichitwas
designed.Improperuseormaintenancemaycausedamagetotheequipmentand/orinjurytopersonnel.
Theusermustbefamiliarwiththecontentsoftheappropriatemanualsbeforeattemptingtooperate
orworkontheequipment.
KongsbergMaritimedisclaimsanyresponsibilityfordamageorinjurycausedbyimproperinstallation,
useormaintenanceoftheequipment.
Comments
Toassistusinmakingimprovementstotheproductandtothismanual,wewelcomecommentsand
constructivecriticism.
e-mail:[e-mail]
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Maintenancemanual
Tableofcontents
1ABOUTTHISMANUAL.......................................................7
1.1General.....................................................................................................................7
1.2Maintenancephilosophy...........................................................................................7
1.3Systemoverview......................................................................................................8
1.4Systemcharacteristics............................................................................................11
1.5Optional.................................................................................................................12
1.6Generalsafetyrules................................................................................................13
2TECHNICALSPECIFICATIONS.........................................14
2.1Interfaces...............................................................................................................14
2.2Physicalspecications............................................................................................15
2.3Powerrequirements................................................................................................16
2.4EnvironmentalandEMCspecications.................................................................17
2.5Systemperformancedata.......................................................................................17
3CABLELAYOUT...............................................................19
3.1Systemcabling.......................................................................................................20
3.2OperatorStationcables..........................................................................................21
3.3TransceiverUnitcables..........................................................................................22
3.3.1TransceiverUnit–frontview......................................................................23
3.3.2TransceiverUnit–rearview........................................................................24
3.3.3TRUcompact–2x2degreesystem............................................................25
3.3.4TransceiverUnit–Cableconguration........................................................27
3.4Transducercables...................................................................................................29
3.4.1Transmitarraycablemarkings.....................................................................29
3.4.2Receivearraycablemarkings......................................................................32
3.5Cablespecications................................................................................................32
4OPERATORSTATION.......................................................33
4.1HWSoverview.......................................................................................................33
4.2Technicaldescription..............................................................................................34
4.3HWScircuitboardsandmodules...........................................................................34
5TRANSCEIVERUNIT........................................................35
5.1Theoryofoperation................................................................................................36
5.1.1Externalsynchronisationandremoteon/off..................................................38
5.1.2Clocksync1PPS........................................................................................39
5.2Receiverrack(largeTRU).....................................................................................40
5.3Transmitterrack......................................................................................................43
5.4TRUcompact2x2degreesystem.........................................................................45
5.5Circuitboarddescriptions......................................................................................46
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5.5.1cPCIPowerSupply.....................................................................................47
5.5.2CPUBoardwithPMCModule....................................................................49
5.5.3KontronCP6011pentiumCPUBOARD.....................................................51
5.5.4BSP67BBoard.........................................................................................54
5.5.5EthernetSwitchBoard–Gigabit..................................................................56
5.5.6EthernetSwitchBoard–Megabit................................................................58
5.5.7PowerSupplyPSU6V................................................................................60
5.5.8RX32receiverboard...................................................................................61
5.5.9RXRIO–RearInterfaceBoard..................................................................67
5.5.10RXPRIO–RearInterfaceBoard................................................................68
5.5.11BSPRIO–RearInterfaceBoard.................................................................69
5.5.12RearI/OInterfaceBoard(Kontron).............................................................70
5.5.13Rawdataloggerinterface(RDL).................................................................72
5.5.14TX36transmitterboard...............................................................................73
5.5.15PowerSupplyPSU12V..............................................................................79
5.5.16TXPRIO–RearInterfaceBoard.................................................................81
5.5.17TXRIO–RearInterfaceBoard...................................................................83
5.5.18PowerSupplyPSU72V..............................................................................84
6TROUBLESHOOTING........................................................85
6.1Messages................................................................................................................85
6.2BISTtests...............................................................................................................85
7REPLACEMENTPROCEDURES..........................................87
7.1ProceduresforTransceiverUnit.............................................................................88
7.2PowerSupply.........................................................................................................89
7.3Fusereplacement....................................................................................................90
7.4Fandrawers............................................................................................................90
7.5NewBSPRIOcardandJumperLink....................................................................91
8SPAREPARTS..................................................................93
9MAINTENANCEPROGRAM...............................................95
9.1Beforeeverysurvey(alongside).............................................................................95
9.2Beforeeverysurvey(offshore)...............................................................................95
9.3Everytimeused......................................................................................................96
9.4Every6months.......................................................................................................96
9.5Everydry-docking..................................................................................................96
10INSTALLATIONDRAWINGS.............................................98
10.1InstallationDrawings.............................................................................................99
10.1.10.5ºmountingframeassemblyTXmodule...................................................99
10.1.21°mountingframeassemblyRXmodule....................................................101
10.1.32°mountingframeassemblyTX/RXmodule..............................................103
10.1.40.5x1°gondola........................................................................................105
10.1.5TransducerTX1Outlinedimensions..........................................................107
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Maintenancemanual
10.1.6TransducerTX2Outlinedimensions..........................................................109
10.1.7TransducerRX1Outlinedimensions...........................................................111
10.1.8TransducerRX2Outlinedimensions...........................................................113
10.1.9HWSOperatorStationOutlinedimensions..................................................115
10.1.10TransceiverUnitOutlinedimensions...........................................................116
10.1.11TransceiverUnit2x2degreesystem–Outlinedimensions..........................118
10.1.12TransceiverUnitmountingbracket............................................................120
10.1.13JunctionBox–outlinedimensions.............................................................121
10.1.14TransceiverUnitcableclamp.....................................................................122
10.2CableDrawings....................................................................................................123
10.2.1GenericRS-232Serialline.......................................................................123
10.2.2Genericcoaxcable....................................................................................124
10.2.3Soundspeedprobeinterface......................................................................125
10.2.4RS-232orRS-422/485serialline..............................................................126
10.2.5Triggerin/out(notused)............................................................................127
10.2.6Internalcontrolsignals..............................................................................128
10.2.7Remotecontrolandexternaltrig................................................................129
10.2.8StandardACpowercable..........................................................................130
10.2.9EthernetcablewithRJ45...........................................................................131
10.2.10VGA/SVGADisplaycable........................................................................132
10.2.11USBcable................................................................................................133
10.2.12Keyboardcable.........................................................................................134
10.2.13Mousecable.............................................................................................135
10.2.14Parallelprinter..........................................................................................136
10.2.15RX/TXtransducercables...........................................................................137
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Aboutthismanual
1ABOUTTHISMANUAL
1.1General
ThisisthemaintenancemanualfortheEM710Multibeamecho
soundersystem.
Themanualcontainsdetaileddescriptionsofeachoftheunits
inthesystem.Eachcircuitboardandmechanicalassemblyis
described.Themanualalsodescribesthetroubleshootingprocess
basedontheBuilt-InSelftest(BIST)software,anditincludes
proceduresfordisassemblyandreassemblyofthereplaceable
items.
ThismanualdoesnotdescribethemaintenanceoftheOperator
Stationandtheperipheraldevices(printers,plottersandsensors).
Forinformationabouttheseitems,refertotheapplicable
manufacturer’sdocumentation.Themanualwillalsolistthe
uniqueboardsinthedifferentsystemdelivered.
1.2Maintenancephilosophy
KongsbergMaritimedenesthreelevelsformaintenance.
1Organizational:Youwillonlyperformlimitedpreventive
andcorrectivemaintenanceonthesystem.Thereisnoneed
fortechnicaleducationortraining,andnoneedforany
instruments.Typicaltasksareexteriorcleaning,orchanging
fuses.
2Intermediate:Youwillperformoverallpreventiveand
correctivemaintenanceonthesystem.Itisrecommended
thatyouareaneducatedengineerwithexperiencefrom
computerizeddesignandmechanicalsystems.Itisfurther
expectedthatyoucanusestandardelectronicinstruments,
suchasanoscilloscope.YoushouldbetrainedbyKongsberg
Maritimetoperformmaintenanceonthesystem.Typical
tasksmayincludetroubleshooting,testingandcircuitboard
replacement.
3Depot:Youwillperformdetailedmaintenanceonthesystem
andonthecircuitboardsandmodules.Y oumustbean
educatedengineerwithexperienceofcomputerizeddesign
andmechanicalsystems.Itisfurtherexpectedthatyoucan
usestandardelectronicinstruments,suchasanoscilloscope.
YoushouldbetrainedbyKongsbergMaritimetoperform
maintenanceonthesystem.Typicaltasksarecircuitboard
repair.
Note
Thismanualispreparedfortheintermediatelevel.
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1.3Systemoverview
Keyfacts
TheEM710multibeamechosounderisahightoveryhigh
resolutionseabedmappingsystemcapableofmeetingallrelevant
surveystandards.Thesystemcongurationcanbetailoredtothe
userrequirements,allowingforchoiceofbeamwidthsaswellas
transmissionmodes.Theminimumacquisitiondepthisfromless
than3mbelowitstransducers,andthemaximumacquisition
depthisupto2000m.
Acrosstrackcoverage(swathwidth)isupto5.5timeswater
depthtoamaximumofmorethan2000m.Thesoundingdensity
isveryhigh,allowingeventheverydemandingLINZspecial
ordersurveyspecicationforobjectdetectiontobemetinfull.
TherearethreebasicversionsoftheEM710:
•EM710-Fullperformanceversion.
•EM710S-CWpulseformsonly.
•EM710RD-ShortCWpulseonly.
ThereducedperformanceversionsEM710SandEM710RDare
upgradabletofullperformance.
Innovativeacousticprinciples
TheEM710operatesatsonarfrequenciesinthe70to100kHz
range.Thetransmitfanisdividedintothreesectorstomaximize
rangecapabilitybutalsotosuppressinterferencefrommultiples
ofstrongbottomechoes.Thesectorsaretransmittedsequentially
withineachping,andusesdistinctfrequenciesorwaveforms.
BothCWpulsesofdifferentlengthsandevenlonger,
compressiblewaveforms(chirps)areutilized.Thealongtrack
beamwidthdependsuponthechosentransducerconguration
with0.5,1and2degreesavailableasstandard.Focusingis
appliedindividuallytoeachtransmitsectortoretaintheangular
resolutioninsidetheneareld.Apingrateofupto25persecond
ispossible.Thetransmitfaniselectronicallystabilizedforroll,
pitchandyaw.
TheEM710hasareceivebeamwidthofeither1or2degrees
dependingonthechosenreceivetransducer.Thenumber
ofbeamsis256or128respectively,withdynamicfocusing
employedintheneareld.
Ahighdensitybeamprocessingmodeprovidesupto400or
200soundingsperswathbyusingalimitedrangewindowfor
thedetections,whichinpracticeisequivalenttosynthetically
sharpeningthebeamwidth.
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Thesystemwillbeabletogeneratetwoseparatealongtrack
swathsperping.Thesystemproducesupto800(with1degree
receivetransducer)soundingsperpinginthismode.
Thebeamspacingmaybesettobeeitherequiangularor
equidistant.Thereceivebeamsareelectronicallyrollstabilized.
Thiscanbeusedtoincreasetheresolutionbeyondwhatis
achievableinnormaloperation.Inhighdensitymode,thesize
ofeachacousticfootprintisreducedtotthehighersounding
density.Thecoveragemaybelimitedbytheoperatoreither
inangleorinswathwidthwithoutreducingthenumberof
beams.Acombinationofphaseandamplitudebottomdetection
algorithmisused,inordertoprovidesoundingswiththebest
possibleaccuracy.
Acousticalseabedimaging
Integratedseabedacousticalimagingcapabilityisincluded
asstandard.Softwaretousethisdataforautomaticseabed
classicationisavailable.
Watercolumndisplay
Arealtimedisplaywindowforwatercolumnbackscatteris
available.Loggingofwatercolumndataandofrawstavedata
(beforebeamforming)isasystemoption.
Choiceofoperatorsoftware
TheEM710isdeliveredasacompletestand-aloneseabed
mappingsystem.TheOperatorStation,ahigh-performancePC
workstation,includesthenecessaryoperatorcontrolsforsetting
upandrunningthesystem,dataloggingandsystemtesting.The
SeaoorInformationSystem(SIS)byKongsbergMaritimealso
includesanextensivesetofgraphicaldisplaysfordataquality
control,aswellassystemcalibrationandothertoolswhichare
required.SISsupportson-linereal-timedatacleaningtoimprove
theoverallsurveyefciency.
Post-processingsoftwarefortheEM710isavailablefromboth
KongsbergMaritimeandthird-partysuppliers.
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KongsbergEM710
Systemdrawing
Figure1EM710systemunitsandinterfaces
Systemcongurationwithdesktopoperatorstation,transceiver
unitandtransducerarrays.
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1.4Systemcharacteristics
Mainunits
ThebasicEM710multibeamechosounderconsistsfourunits
•TransmitTransducer
•ReceiveTransducer
•TransceiverUnit
•OperatorStation
Acompletemappingsystemwillinadditionincludeavessel
motionsensor,headingsensor,soundvelocitysensor(s)anda
positioningsystem.
Transducers
TheEM710transducersarefullywatertightunitsintendedfor
manyyearsoftrouble-freeoperationinroughseas.Thetransmit
andreceivetransducersbothhaveawidthof224mmandaheight
of118mm.Theirlengthdependsuponthechosenbeamwidth,
either970mmfora1degreeunitor490mmfora2degreesunit.
Theweightsarerespectively35and18kg(excludingcables).
Theweightofa0.5ºx1ºsystemare70and18kg(excluding
cables).
Thetransducershaveamaximumdepthratingof250m.
Atransmitbeamwidthof0.5degreeisachievedbymounting
two970mmtransmittransducerstogetheralongship.Sucha
beamwidthreductionisnotpossiblewiththereceivetransducer.
Thetransducersaresuppliedasstandardwith15mlong
underwatercablesterminatedwithasurfaceconnectordirectly
pluggableintotheTransceiverUnit.Onspecialorderunderwater
connectorsorlongercablesmaybesupplied.Five,tenortwenty
cablesareusedonthetransmittransducer,twoorfouronthe
receivetransducer,inaccordancewiththetransducerlength.
TransceiverUnit
TheEM710TransceiverUnitcontainsalltransmitandreceive
electronics,andtheProcessingUnitwhichperformsthe
beamforming,bottomdetection,andmotionandsoundspeed
corrections.Itcontainsallinterfacesfortime-criticalexternal
sensorssuchasvesselattitude(roll,pitch,headingandheave),
vesselpositionandexternalclock.Morethanonesensorofeach
typemaybeconnectedsimultaneously,withoneinusebutall
logged.
TheTransceiverUnitcomprisestwo19”sub-rackscontainedina
cabinetdesignedforbulkheadordeckmounting.
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Forthe2°x2°system,theTRUarecompressedinone19”
sub-rack.
Thenumberofcircuitboardswilldependuponthechosen
transducerconguration.TwistedpairEthernetisusedfordata
communicationwiththeOperatorStation.
OperatorStation
TheOperatorStationoftheEM710istheHWShigh
performancedual-processorPCworkstation.Theoperator
softwareistheSeaoorInformationSystem(SIS).TheHWS
dualbootabletoeitherLinux®orWindowsXP®.
SIS,asaminimum,allowssettingtheEM710installationand
runtimeparameters,dataloggingandrunningself-testonthe
systemwithoutrestrictions.
TheSISsoftwarealsoincludesfunctionalityforsurveyplanning,
2Dand3Dgeographicaldisplayofthesurveyresults,seabed
imageandwatercolumndisplays,plusreal-timedatacleaning
algorithms.
Alternatively,third-partysoftwaresolutionscanbeusedforthe
operatorinterfaceandreal-timeprocessing.
TheHWSisnormallysuppliedwitha19”industrializedLCD
monitorwitharesolutionof1280x1024pixels.Supportfora
secondmonitorisincluded.Aspill-proofUSkeyboardanda
standardopticalmouseisnormallysupplied,butoptionallya
smallIP65ratedkeyboardwithintegratedtrackstickcanbe
delivered.
1.5Optional
Foranoptionaldualsystemamaximumswathwidthof10x
waterdepthinshallowwatercanbeachieved.(200degrees,
3000m)Indeeperwateramaximumof3xwaterdepth.
Adualsystemwillgeneratetwiceasmanybeams/sounding.
512/800perpingfora0.5°and1°systemand256/400perping
fora2°system.
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1.6Generalsafetyrules
Thesystemoperateson115and/or230V ac,50/60Hzwitha
switchintheTransceiverUnit.
WARNING
Thisvoltagecanbelethal.
Thefollowingsafetyprecautionsmustbefollowedatalltimes
duringinstallationandmaintenancework:
•Alwaysswitchoffallpowerbeforeinstallationor
maintenance.Usethemaincircuitbreaker,andlabel
thebreakerwithawarningsignthatinformsothersthat
maintenanceorinstallationworkisbeingcarriedoutonthe
system.
•Readandunderstandtherstaidinstructionsforelectric
shock.
•Forsafetyreasonsduringtroubleshootingontheequipment
withpowerON,twopersonsshouldalwaysbepresent.
•Whenevermaintenanceiscarriedout,itisessentialthatarst
aidkitisavailable,andthatthemaintenancepersonnelare
familiarwiththerstaidinstructionsforelectricalshock.
•Thevariouspartsofthesystemareheavy.Makesurethat
theappropriatetoolsandcertiedliftingequipmentare
available,andthatthepersonnelaretrainedininstallation
andmaintenancework.
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2TECHNICALSPECIFICATIONS
Note
KongsbergMaritimeASisengagedincontinuousdevelopmentof
itsproductsandreservestherighttoalterspecicationswithout
priornotice.
Topics
•Interfacesonpage14
•Physicalspecicationsonpage15
•Powerrequirementsonpage16
•EnvironmentalandEMCspecicationsonpage17
•Systemperformancedataonpage17
2.1Interfaces
TheseinterfacesarefoundontheTransceiverUnitandthe
OperatorStation:
•Seriallineswithoperatoradjustablebaudrate,parity,data
lengthandstopbitlengthfor:
–Motionsensor(roll,pitch,heaveandoptionallyheading)in
formatsupportedbysensorsfromthemainsupplierslike
Applanix,iXSEA,Coda,KongsbergMaritime
–HeadingNMEA0183HDT,SKR82/LR60orEMattitude
formatorSperryMk39format
–PositionsineitherSimrad90,NMEA0183GGAorGGK
format
–ExternalclockinNMEA0183ZDAformat/TrimbleUTC
–Soundspeedattransducer
–Sealevelheight(tide)
–Singlebeamechosounderdepths
–OutputofdepthstraightdowninNMEA0183DPTformat
•Interfacefor1PPS(pulsepersecond)clocksynchronisation
signal
•SA TAandFirewireinterfaceforexternaldatastoragedevices
•USB2.0interfacesfordatastorage,printingorplotting
•ParallelinterfaceforPostscriptcolourgraphicsprinter/plotter
•EthernetinterfaceforvelocityinputneededforDoppler
compensationinchirpmode.
•GigabitandMegabitEthernetinterfaceforinputofsound
speedprole,tideandechosounderdepths,andoutputofall
datanormallyloggedtodisk.
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Technicalspecications
2.2Physicalspecications
Transducer–2degrees
•Length:490mm
•Width:224mm
•Height:118mm
•Weight:18kg(nominalwithoutcables)
Transducer–1degree
•Length:970mm
•Width:224mm
•Height:118mm
•Weight:35kg(nominalwithoutcables)
Transducer–0.5degree(two1degreemodules)
•Length:1940mm
•Width:224mm
•Height:118mm
•Weight:70kg(nominalwithoutcablesandmountingframe)
TransceiverUnit(versionforbulkheadmounting)
•Height:841mm
•Width:540mm
•Depth:750mm(nominalincludingshockabsorbers)
•Weight:
–106kg(2by2degrees)
–111kg(1by2degrees)
–116kg(1by1degree)
–127kg(0.5by1degree)
Note
AsmallerTransceiverUnitisnormallyusedforthe2by2
degreesmodel.Seebelow
TRUcompact–2x2degreesystemonpage25
TransceiverUnit–2x2degreesystem(version
forbulkheadmounting)
•Height:573mm
•Width:540mm
•Depth:750mm(nominalincludingshockabsorbers)
•Weight:83kg
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OperatorStation
•Height:127mm
•Width:427mm(excludingrackxingbrackets)
•Depth:480mm(excludinghandlesandconnectors)
•Weight:Approximately20kg
19”inchLCDmonitor
•Height:444mm(excludingmountingbrackets)
•Width:483mm(excludingmountingbrackets)
•Depth:68mm(excludingmountingbrackets)
•Weight:12kg(approximatelywithbracket)
2.3Powerrequirements
Operationalvoltageandfrequency
•ACvoltage:115(60Hz)or230(50Hz)V ac
V oltage±10%
Frequency±5%
Acceptabletransients
•Shorttime(max.2sec):±20%,42–69Hz
•Spikes(max.50µs):<1000V
TransceiverUnit
•0.5°x1°:<800W
•1°x1°:<600W
•1°x2°:<500W
•2°x2°:<400W
•Thesinglephasesupplymustbeprotectedwith16A(230Vac
supply)slow-blowfuses.
•OperatorStation:<250W
•LCDmonitor:<60W(max)
•RemoteControl:None
Note
For115V acoperation,pleasecontact
[e-mail]
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Technicalspecications
Powerinterrupts
Menusettings,allparametersandthesoundspeedproleare
storedontheOperatorStation’sharddiskduringoperation,so
operationcancontinueafterpowerinterruption.However,the
lesystemmaybedamaged,sotheuseofanuninterruptable
powersupply(UPS)ishighlyrecommended.
2.4EnvironmentalandEMCspecications
ThesystemmeetsallrequirementsoftheIACSE10specication.
TheTransceiverUnitmeettheadditionalstrongerrequirements
oftheIEC60945specication.
TheOperatorStationandtheLCDmonitorarebothIP22rated.
TheTransceiverUnitisIP54rated.
Environment
•Operatingtemperature,sonarroom:–5to50ºCforTRUand
TD
•Operatingtemperature,operatingroom:+5to50ºCforHWS
•Storagetemperature:–30to+70ºC
•Humidity:95%RHat55°C,non-condensing
Humidityrequirementswilldependoncustomerrequirements.
Normalspecicationisupto80%non-condensing.
Note
Toextendthelifetimeoftheequipment,thesonarroomshouldbe
equippedwithsufcientventilationandthetemperatureshould
notbetoohigh(i.e.not>30ºC)forlongperiodsoftime.
Vibration
•5–150Hz,1.23grms
2hoursduration
Shock
•Cabinetsw/shockabsorbers:15ghalfperiodsinepulse
•Duration:11ms
2.5Systemperformancedata
•Frequencyrange:70to100kHz
•Maximumpingrate:30Hz
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•Numberofbeamsandsoundingsforeachping:
–1x2and2x2degrees:128beamswith200soundingsin
HighDensitymodeperswath
–0.5x1and1x1degree:256beamswith400soundingsin
HighDensitymodeperswath
–WithDualswaththenumberofbeamsandsoundingsare
doubled
•Beamwidths:0.5x1,1x2,1x2or2x2degrees
•Beamspacing:Equidistant,Equiangle,HighDensity
•Coveragesector:Upto140degrees
•Transmitbeamsteering:Stabilizedforroll,pitchandyaw
•Receivebeamsteering:Stabilizedforroll
•Depthrangefromtransducers:3toapproximately2.000
metres
•Depthresolution:1cm
•Pulselengths:0.15,0.5and2msCWandupto120msFM
•Rangesamplingrate:14kHz(5cm)atdataoutput
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