Norwegian Subsea MRU Marine 3000 User manual

MOTION REFERENCE UNIT
MRU MARINE
HIGH PERFORMANCE, AFFORDABLE & ROBUST
6DOF MOTION SENSOR
MRU MARINE USER MANUAL
0.01 - 0.05 RMS°5 CM / 5 % IP68

MRU Marine User Manual Version 1.6.0
©2023 Norwegian Subsea AS
Document number: NORSUB-MMUM-1.6.0

Intro
The purpose of the user manual is to provide information about the Norwegian Subsea
(NORSUB) Marine Motion Reference Units (MRU Marine 3000, MRU Marine 6000, and MRU
Marine 9000 models).
Restrictions in Warranty
The Seller’s liability for defects is stated in the Norwegian Subsea general terms and
conditions of sale. For the warranty to be valid the MRU:
Support Information
Please contact Norwegian Subsea for technical support at [e-mail].
Technical support is available Monday - Friday between 09.00 – 17.00 CET.
Product Returns
In case of product returns, the buyer shall arrange for return shipment to Norwegian
Subsea. Please note that a return merchandise authorization (RMA) from Norwegian
Subsea is required in advance.
The return address is: Norwegian Subsea
Hovfaret 8
0275 Oslo
Norway
Export Restrictions
The MRU must not be exported or re-exported to countries listed on the Norwegian
Ministry of Foreign Affairs’ prohibition list. Please contact Norwegian Subsea for further
details.
must not be subjected to extreme shock, rough handling or extensive vibrations.
must only be opened by Norwegian Subsea.
must not be stored or used in temperatures outside the range -40 to +85 deg. C.
must be handled with care.
must only be used with the correct power supply (10 – 36 V DC power).
Disposal
All electrical and electronic components have to be disposed
of separately from the municipal waste stream via designated
collection facilities appointed by the government or local
authorities. The correct disposal and separate collection of your old
appliance will help prevent potential negative consequences for
the environment and human health. It is a precondition for reuse
and recycling of used electrical and electronic equipment. For
more detailed information about disposal of your old appliance,
please contact your local authorities or waste disposal service.
In support of the global requirements to dispose of electrical waste within environmentally
acceptable specifications, Norwegian Subsea offers customers the take-back and recycle
process to properly dispose of surplus and end-of-life products.
Equipment that is returned to Norwegian Subsea through this program is disposed of in
an environmentally safe manner using processes that comply with the WEEE (EU Directive
on Waste Electrical and Electronic Equipment) regulations. All Norwegian Subsea-branded
products are accepted under the program.
III
Any breach of the points above will void the warranty.

MRU MARINE USER MANUAL (NORSUB-MMUM-x.x.x)
REVISION HISTORY
VERSION CODE NOTES
LEGACY
1.2.0 NORSUB-MMUM-1.2.0 First digital release.
1.3.0 NORSUB-MMUM-1.3.0
First print release. The manual is completely redesigned to
add all the important mechanical, electrical, and technical
sensor information.
1.3.1 NORSUB-MMUM-1.3.1 Minor correction of typos.
1.3.5 NORSUB-MMUM-1.3.5 Modified section “Restrictions in warranty”.
Added “Maintenance” section.
1.4.0 NORSUB-MMUM-1.4.0 Minor updates.
CURRENT 1.6.0 NORSUB-MMUM-1.6.0 Updated protocols, male/female connector labels.
IV
NOTE
Please read this user manual to ensure proper use of the MRU and the
configuration software.
Disclaimer
© 2014 – 2023, Norwegian Subsea AS. All rights reserved. Information in this document is
subject to change without notice. Copy or redistribution of this document is forbidden
without authorization of Norwegian Subsea AS.

V
.

NORSUB MRU MARINE
VI
HIGH-PERFORMANCE MOTION REFERENCE UNITS
TAILOR-MADE FOR MARINE USE
EASY INTERFACING
NORSUB MRUs are high-performance,
compact, and affordable 6 DOF motion
sensors. They use state-of-the-art MEMS
technology and advanced sensor fusion algo-
rithms, resulting in accurate and reliable roll,
pitch, yaw, surge, sway, heave position and
velocity measurements. Performance is high
also during horizontal accelerations and in
irregular coupled motions.
The MRU Marine is ideal for use in marine
applications such as active heave compen-
sation of offshore cranes & winches, motion
compensated gangways, helideck motion
monitoring, motion compensation of wave
radars and sonars, motion monitoring of ships
and floating offshore wind turbine structures.
High performance in irregular motions makes
it ideal for real sea conditions.
The MRU Marine comes with ethernet and
serial ports for easy communication with your
system. Industrial communication protocols
(e.g. Modbus TCP, Ethernet/IP, Modbus RTU)
can be used for PLC interfacing. The MRU
comes with a wide range of standard and
customized data protocols in ASCII or bina-
ry formats. Custom length cables, junction
boxes, pigtail cables are available too.

The NORSUB MRU Marine outputs roll, pitch,
yaw, heave, surge and sway measurements
at configurable output rates up to 100 Hz.
The MRU Marine consists of a high-end
MEMS 6 DOF IMU (3 x gyroscopes and 3 x
accelerometers) and a processing unit where
the motions states are calculated using
an advanced sensor fusion algorithm. It is
available in the basic version for dry use, or in
the S (subsea) version for submerged use (up
to 50 meters). The Marine MRU comes in two
different versions, one with a 16 pin connector
(Basic), and one with a 8 pin SubConn
connector (S). The S version is recommended
for applications where the MRU may be
submerged. The two versions are seen in
the figure below; Basic (left) and S (right).
NORSUB MRU MARINE
A high-end magnetometer can be included in the MRU to provide accurate magnet-
ic heading. The MRU Marine comes in three different versions: 3000, 6000 and
9000 models to accommodate for different accuracy requirements and budgets.
VII
Norwegian Subsea AS offers a portfolio of sensors, cables, connectors, and software tools
which covers a variety of applications, environmental, and operational requirements.
Visit the company website to choose the Norwegian Subsea MRU that fits your needs!
AN MRU FOR YOUR NEEDS
HIGH-PERFORMANCE MOTION REFERENCE UNITS
A SOLUTION FOR EVERY APPLICATION

CONTENTS
1. GENERAL INFORMATION 1
Quick Start Guide 2
MRU Marine Models 3
Product List 4
Items List (Basic, H) 6
Items List (S, HS) 7
System Set-Up (Basic, H) 8
System Set-Up (S, HS) 9
2. MECHANICAL INTERFACE 11
Design (Basic, H) 12
LED Indicators (Basic, H) 14
Technical Drawings (Basic, H) 16
Junction Box Technical Drawings 18
Design (S, HS) 20
Technical Drawings (S, HS) 22
3. ELECTRICAL INTERFACE 25
Marine Cable / Connectors (Basic, H) 26
Junction Box (Basic, H) 28
Shallow Water Cable / Connectors (S, HS) 30
4. TECHNICAL SPECIFICATIONS 35
Output Protocols 36
Output Variables 38
Technical Specifications 40
5. MAINTENANCE 43
Maintenance General Information 44
Firmware Upgrades 44
Re-calibration 44
Repairs 45
Troubleshooting 45
VIII

TABLES
IX
1. GENERAL INFORMATION 1
Table 1: Norwegian Subsea MRU Marine-related
product list (part 1). 4
Table 2: Norwegian Subsea MRU Marine-related
product list (part 2). 5
2. MECHANICAL INTERFACE 11
Table 3: Color and blinking pattern for status LED 1. 14
Table 4: Color and blinking pattern for status LED 2. 15
3. ELECTRICAL INTERFACE 25
Table 5: Marine cable wires color code,
marine connector pinout and signals. 26
Table 6: Marine cable components description. 27
Table 7: Junction box signal diagram. 29
Table 8: Shallow water cable and connector
configurations 1 and 2. 30
Table 9: Shallow water cable and connector
configurations 3,4, and 5. 31
Table 10: Shallow water cable components specs. 32
Table 11: Shallow water cable technical details. 32
4. TECHNICAL SPECIFICATIONS 35
Table 12: List of output protocols (part 1). 36
Table 13: List of output protocols (part 2). 37
Table 14: Output protocol data (part 1). 38
Table 15: Output protocol data (part 2). 39
Table 16: MRU Marine physical characteristics. 40
Table 17: MRU Marine performance. 40
Table 18: MRU Marine range. 40
Table 19: MRU Marine power and interfaces. 41
Table 20: MRU Marine environmental specifications. 41
5. MAINTENANCE 43
Table 21: MRU performance and re-calibration. 45

FIGURES
1. GENERAL INFORMATION 1
Figure 1: System set-up for the MRU Marine /
MRU Marine H, Ethernet connection. 8
Figure 2: System set-up for the MRU Marine S /
MRU Marine HS, Ethernet connection. 9
2. MECHANICAL INTERFACE 11
Figure 3: MRU Marine / MRU Marine H:
front and back views. 12
Figure 4: MRU Marine / MRU Marine H:
side, top, and bottom views. 13
Figure 5: MRU Marine / MRU Marine H: status LED indicators. 14
Figure 6: Status LED 2 colors cycle. 14
Figure 7: MRU Marine / MRU Marine H
technical drawings: top, side, front views. 16
Figure 8: MRU Marine / MRU Marine H
technical drawings: bottom view. 17
Figure 9: MRU Marine and MRU Marine H junction box. 18
Figure 10: Junction box technical drawings: back side. 18
Figure 11:Junction box technical drawings:
top, left, and right side. 19
Figure 12: MRU Marine S / MRU Marine HS:
front and back views. 20
Figure 13: MRU Marine S / MRU Marine HS:
side, top, and bottom views. 21
Figure 14: MRU Marine S / MRU Marine HS
technical drawings: top, side, front views. 22
Figure 15: MRU Marine S / MRU Marine HS
technical drawings: bottom view. 23
3. ELECTRICAL INTERFACE 25
Figure 16: Marine cable cross section and
marine connectors (female and male). 26
Figure 17: Marine cable cross section. 27
Figure 18: Junction box connectors. 28
Figure 19: Shallow water cable section and 8-pins
SubConn connectors (female and male). 30
X

XI

.

1. GENERAL INFORMATION

GENERAL INFORMATION
2
Verify that all the items are in the shipment (see
MRU Marine User Manual for details).
1. CHECK ITEMS
Connect the MRU Marine to a PC through an
Ethernet port with an Ethernet cable, or through
an RS-232 or RS-485 serial port with an RS-232 or
RS-485 serial cable (see MRU Marine User Manual
for details).
Install the configured MRU Marine at the desired
location.
Install the NORSUB MRU Configuration Software
by double clicking on the installer file (setup.exe)
on the USB memory stick (see MRU Configuration
Software User Manual for details).
Run the NORSUB MRU Configuration Software to
configure the MRU Marine (see MRU Configuration
Software User Manual for details).
3. INSTALL THE SOFTWARE
2. CONNECT THE MRU
4. CONFIGURE THE MRU
5. INSTALL THE MRU
Quick Start Guide

MRU Marine Models
GENERAL INFORMATION
3
The MRU Marine comes in 12 different models which cover a variety of performance and
features. The MRU Marine models are:
MRU Marine 9000 HS
Sensor class
Sensor type
Sensor model: 3000 (lower specs), 6000
(medium specs), 9000 (higher specs)
“Heading”: the MRU includes
a magnetometer for heading
measurement
“Subsea”: the MRU can be used
underwater to 50 meters depth
Variations between models will be explicitly described in this manual.
In the following the MRU Marine 3000/6000/9000 will be referred to as “Basic”, the MRU
Marine 3000/6000/9000 H will be referred to as “H”, the MRU Marine 3000/6000/9000 S will
be referred to as “S”, and the MRU Marine 3000/6000/9000 HS will be referred to as “HS”.
MRU Marine 3000
MRU Marine 6000
MRU Marine 9000
MRU Marine 3000 H
MRU Marine 6000 H
MRU Marine 9000 H
MRU Marine 3000 S
MRU Marine 6000 S
MRU Marine 9000 S
MRU Marine 3000 HS
MRU Marine 6000 HS
MRU Marine 9000 HS
The model name is explained here:
{
{
{
{
BASIC
H
S
HS

NORWEGIAN SUBSEA MRU MARINE-RELATED PRODUCT LIST
PRODUCT NAME Product No.
NORSUB MRU 9000 Marine 10001
MRU MARINE
NORSUB MRU 6000 Marine 10002
NORSUB MRU 3000 Marine 10003
NORSUB MRU 9000 Marine H 10004
NORSUB MRU 6000 Marine H 10005
NORSUB MRU 3000 Marine H 10006
NORSUB MRU 9000 Marine S 10007
NORSUB MRU 6000 Marine S 10008
NORSUB MRU 3000 Marine S 10009
NORSUB MRU 9000 Marine HS 10010
NORSUB MRU 6000 Marine HS 10011
NORSUB MRU 3000 Marine HS 10012
NORSUB MRU 9000 Marine S (Ethernet & RS-232) 10201
NORSUB MRU 6000 Marine S (Ethernet & RS-232) 10202
NORSUB MRU 3000 Marine S (Ethernet & RS-232) 10203
NORSUB MRU 9000 Marine HS (Ethernet & RS-232) 10204
NORSUB MRU 6000 Marine HS (Ethernet & RS-232) 10205
NORSUB MRU 3000 Marine HS (Ethernet & RS-232) 10206
GENERAL INFORMATION
4
Product List
The MRU Marine models, marine cables, junction boxes and other MRU Marine accessories
available for purchase at Norwegian Subsea are listed in the following:
Table 1: Norwegian Subsea MRU Marine-related product list (part 1).

Product List
GENERAL INFORMATION
5
NORWEGIAN SUBSEA MRU MARINE-RELATED PRODUCT LIST
PRODUCT NAME Product No.
NORSUB MRU 9000 Marine S (Ethernet & 2 wire RS-485) 10213
MRU MARINE
NORSUB MRU 6000 Marine S (Ethernet & 2 wire RS-485) 10214
NORSUB MRU 3000 Marine S (Ethernet & 2 wire RS-485) 10215
NORSUB MRU 9000 Marine HS (Ethernet & 2 wire RS-485) 10216
NORSUB MRU 6000 Marine HS (Ethernet & 2 wire RS-485) 10217
NORSUB MRU 3000 Marine HS (Ethernet & 2 wire RS-485) 10218
Marine Junction Box 1.0 20001
JUN.
BOX
Marine Junction Box 2.0 20002
Marine Cable 2 m 30001
MARINE
CABLES
Marine Cable 5 m 30002
Marine Cable 10 m 30003
Marine Cable 20 m 30004
Marine Cable xx m 30005
Marine Pigtail Cable 2 m 30006
MARINE
PIGTAILS
Marine Pigtail Cable 5 m 30007
Marine Pigtail Cable 10 m 30008
Marine Pigtail Cable 20 m 30009
Marine Pigtail Cable xx m 30010
Transport Case M 40001
ACCESSORIES
Power Supply 24 V DC 40002
Subsea Dummy Plug F 40003
Subsea Dummy Plug M 40004
USB stick with MRU configuration software 40005
Table 2: Norwegian Subsea MRU Marine-related product list (part 2).

Items List (Basic, H)
GENERAL INFORMATION
6
3. JUNCTION BOX
Junction box to connect the
MRU to a system
NORSUB MRU Marine Marine cable
Standard 24V DC power
supply
A standard shipment of the MRU Marine 3000 / MRU Marine 3000 H, MRU Marine 6000 / MRU
Marine 6000 H, and MRU Marine 9000 / MRU Marine 9000 H contains the following items (*):
1. MRU
6. USER MANUALS
2. CABLE
5. USB FLASH DRIVE
Configuration Software user
manual and MRU Marine
user manual
USB drive with the NORSUB
MRU Configuration
Software
4. POWER SUPPLY
1. 1 x NORSUB MRU Marine;
2. 1 x Marine cable;
3. 1 x Junction box;
4. 1 x Power supply;
5. 1 x USB flash drive with the NORSUB MRU Configuration Software;
6. 1 x Configuration Software user manual and 1 x MRU Marine user manual.
(*) The shipment content (such as cable length and cable connectors) may vary from the
above item list depending on items in your order (see “Product List” on page 4).

Items List (S, HS)
GENERAL INFORMATION
7
NORSUB MRU Marine Subsea shallow water cable
A standard shipment of the MRU Marine 3000 S / MRU Marine 3000 HS, MRU Marine 6000
S / MRU Marine 6000 HS, and MRU Marine 9000 S / MRU Marine 9000 HS contains the
following items (*):
1. MRU
4. USER MANUALS
2. CABLE
3. USB FLASH DRIVE
Configuration Software
user manual and MRU user
manual
USB drive with the NORSUB
MRU Configuration
Software
1. 1 x NORSUB MRU Marine;
2. 1 x Subsea shallow water cable;
3. 1 x USB flash drive with the NORSUB MRU Configuration Software;
4. 1 x Configuration Software user manual and 1 x MRU Marine user manual.
(*) The shipment content (such as cable length and cable connectors) may vary from the
above item list depending on items in your order (see “Product List” on page 4).

System Set-Up (Basic, H)
GENERAL INFORMATION
Connect the female connector of the MRU marine cable to the MRU and the male
connector to the junction box.
Connect the junction box through Ethernet or serial (RS-232 or RS-485) port to the
host-PC.
Connect the power supply to the power terminal block on the junction box. It is
recommended to plug the power supply to the power socket last, because this
operation will start-up the MRUMarine.
Figure 1: System set-up for the MRU Marine / MRU Marine H, Ethernet connection.
8
MRU Configuration Software
Host PC
Ethernet cable
Marine cable
MRU Marine / MRU Marine H
Junction box
Power cable
Power supply
Power socket