Teledyne Q-1250 User manual

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Q-1250
Z-1250
Power Trimaran
User’s Guide
P/N 95L-8001-00 (September 2017)
© 2017 Teledyne Oceanscience, Inc. All rights reserved.

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TABLE OF CONTENTS
INTRODUCTION .................................................................................................................................................1
Warranty ......................................................................................................................................................1
OVERVIEW.......................................................................................................................................................2
Safety ...........................................................................................................................................................3
Terminology .................................................................................................................................................4
Specifications and Operational Limits ..........................................................................................................5
SYSTEM SETUP..................................................................................................................................................7
Tri-Hull Assembly .........................................................................................................................................8
ADCP Installation..........................................................................................................................................9
StreamPro Installation..........................................................................................................................9
SonTek River Surveyor S5 or M9 Installation .......................................................................................11
RiverPro ADCP Installation ...................................................................................................................13
Single Beam Echo Sounder Installation ................................................................................................14
Installing the Power/Telemetry Module ..............................................................................................15
GPS Installation ....................................................................................................................................15
Battery Installation and Charging.................................................................................................................16
Charging the Batteries..........................................................................................................................16
Battery Charging Recommendations....................................................................................................17
Installing the Battery System ...............................................................................................................19
Charging the Transmitter Battery ................................................................................................................20
Charging the Power/Telemetry Module ......................................................................................................21
Antenna Safety.............................................................................................................................................22
Range Testing .......................................................................................................................................22
Antenna Position ..................................................................................................................................22
Elevation...............................................................................................................................................23
Powering Up the Boat and Transmitter .......................................................................................................24
OPERATION .....................................................................................................................................................26
Battery Voltage Monitoring .........................................................................................................................27
Failsafe Mode Selection ...............................................................................................................................27
Using the RC Transmitter .............................................................................................................................28
Selecting Throttle and Steering Control Models ..................................................................................29
Setting Throttle End Points (Restricting Boat Speed) ...........................................................................30
Changing the Control Stick Characteristics...........................................................................................34
Setting the Low Voltage Alarm.............................................................................................................36
Using the Power/Telemetry Module............................................................................................................37
SD1000U Baud Rate Setting...........................................................................................................38
SD1000U Com Port Identification ..................................................................................................39
ParaniWin Software Configuration ................................................................................................40
MAINTENANCE .................................................................................................................................................44
General Maintenance ..................................................................................................................................45
After Each Use ......................................................................................................................................45
After Each Use (Dirty Water Conditions)..............................................................................................45
Checking the Thruster Oil Compensation.....................................................................................................46
Filling the Oil Compensation Tube ...............................................................................................................46
Replacing the O-Ring....................................................................................................................................49
Replacing a Thruster ....................................................................................................................................50

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LIST OF FIGURES
Figure 1. Q/Z-1250 Overview ....................................................................................................................4
Figure 2. Tri-Hull Assembly........................................................................................................................8
Figure 3. StreamPro ADCP Installation Overview....................................................................................10
Figure 4. StreamPro Transducer Installation...........................................................................................10
Figure 5. StreamPro Electronics Chassis Installation...............................................................................11
Figure 6. SonTek River Surveyor S5 or M9 Transducer Installation.........................................................12
Figure 7. SonTek River Surveyor S5 or M9 Electronics Installation .........................................................12
Figure 8. RiverPro Installation .................................................................................................................13
Figure 9. Echo Sounder Installation.........................................................................................................14
Figure 10. Power/Telemetry Module Installation .....................................................................................15
Figure 11. Charging the Batteries..............................................................................................................17
Figure 12. Installing the Batteries .............................................................................................................19
Figure 13. Charging the Hitec Aurora 9 Remote Control Battery ..............................................................20
Figure 14. Charging the Power/Telemetry Module...................................................................................21
Figure 15. Antenna Position ......................................................................................................................22
Figure 16. Omni Antenna ..........................................................................................................................23
Figure 17. Monitoring the Q/Z-1250 Battery Voltage ...............................................................................27
Figure 18. Power/Telemetry Module Overview........................................................................................37
Figure 19. SD1000U Dip Switches .............................................................................................................39
Figure 20. Replacing the Battery Compartment O-Ring ............................................................................49
Figure 21. Thruster Installation .................................................................................................................50
LIST OF TABLES
Table 1. Throttle and Steering Control Models......................................................................................29
Table 2. SD1000U DIP Switch Setting.....................................................................................................38
REVISION HISTORY
September 2017
•Added Power Module documentation
•Added RiverPro and Echo Sounder installation
•Added Specifications
December 2016
•Initial release.

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NOTES

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Introduction
Dear Valued Customer,
Thank you for purchasing your Q-1250 or Z-1250 Power Trimaran system. Teledyne Oceanscience has a
support team in place to assist you with understanding, operating, and deploying your Q/Z-1250 system.
We strongly encourage you to thoroughly read through this documentation to maximize your user experi-
ence.
TECHNICAL SUPPORT
If you have technical issues or questions involving a specific application or deployment, contact:
Phone: [phone]
FAX: [phone]
Email: [e-mail]
If you have technical issues or questions involving a specific application or deployment with your instru-
ment, contact our Teledyne Field Service group:
SALES
Our products are available from Oceanscience directly or from representatives throughout the world.
Please contact us for more information:
E-mail: [e-mail]
Warranty
The Teledyne Oceanscience Group, Ltd makes every effort to assure its products meet the highest quality,
reliability and durability standards and warrants to the original purchaser or purchasing agency that each
Q/Z-1250 be free from defects in materials or workmanship for a period of one year from date of ship-
ment.
Warranty does not apply to defects due directly or indirectly to misuse, negligence or accidents, repairs or
alterations outside of our facilities, use of the Q/Z-1250 for purposes other than water measurements, or
use with instruments weighing more than 25 lbs.
Teledyne Oceanscience is not responsible for loss of boat, instruments, damage to property, injury or
death associate with the use of any of its products or products that may be included or used with Teledyne
Oceanscience products. Teledyne Oceanscience does not warrant third party products sold by Teledyne
Oceanscience. Contact the manufacturer directly. These may include GPS, depth sounders and other an-
cillary equipment.
All warranty services are FOB Teledyne Oceanscience’s facility in Poway, CA.

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Overview
THE Q/Z-1250 OVERVIEW INCLUDES THE FOLLOWING:
Safety
Terminology
Performance Specifications and Operational Limits

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Safety
Safety is a major concern when working around moving propellers. Extreme caution must be observed
when working on or around the Q/Z-1250. The Q/Z-1250 propellers can rotate at more than 3,000 RPM
and produce 300 W (0.4 HP) each.
There is extreme danger of injury if the propellers are touched while operating. Always stay
clear of the propellers when the batteries are onboard.
The power switch can be depressed (aft deck of boat) to immediately cut power to the motors in an unex-
pected event.
When powering up the Q/Z-1250, always turn the radio transmitter on BEFORE powering the
boat itself.
If, when powered up, the receiver on the boat does not detect a controller signal, the Vessel Control Unit
may unexpectedly enter the fail safe mode. This could be extremely dangerous, depending on the failsafe
setting. The Q/Z-1250’s default failsafe behavior is to stop both propellers until RC contact is reestab-
lished, but may be customized in the field to apply power to one or both propellers
When shutting down, always power down the boat (using the red battery switch) BEFORE
shutting down the transmitter.
Again, if the transmitter is shut off before the boat, unexpected and possibly very dangerous maneuvers
may occur.

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Terminology
Q/Z-1250 systems are comprised of the following components:
Tri-Hull boat
•Made of ABS plastic, the Q/Z-1250 is strong and robust to cope with the worst deployment conditions.
All required cabling, batteries, and antennae are included for easy plug-and-play operation. Electron-
ics are located below deck in a watertight compartment. Doppler profilers of 6.5” (165 mm) diameter
or less may be used with adaptor mounts.
•Two 24 VDC Teledyne Seabotix brushless outdrive motors.
Hitec Aurora 9 Remote-Control System
•Hand held remote transmitter with LCD display for adjusting control settings.
•Paired transmitter receiver receives steering and motor control commands from the transmitter and
sends battery voltage telemetry data back to the transmitter.
•Throttle and steering response characteristics may be adjusted using EPA menu.
Antennae
•Two RC system antennas connected to the receiver to provide redundant operation.
•Optional power/telemetry module includes an additional 2.4GHz, 5dBi antenna for Bluetooth com-
munication.
Figure 1. Q/Z-1250 Overview

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Specifications and Operational Limits
Typical Cruising Speed11-1.5 m/s (3.3-5.0 fps)
Top Speed12.3 m/sec (7.5 ft/sec)
Hull Length 127 cm (50")
Width (extended) 94 cm (37")
Width (transport) 64 cm (25")
Height (no instrument) 32 cm (12.5")
Weight (no instrument) 18 kg (40 lbs)
Weight (typical instrument) 22 kg (48 lbs)
Battery Endurance11.0 m/s: ~4 hours 1.5 m/s: >1 hour
Payload (typical) 4.5 kg (10 lbs)
Power 3 @ 24 V, 4.5 AH NiMH Battery Packs
1 @14 V, 4.5 AH NiMH Battery Pack with optional Power Module
Motor 2 x Brushless DC Thrusters
Hull Material ABS (Acrylonitrile Butadiene Styrene)
Hardware Anodized Aluminum, Stainless Steel
R/C Control Hitec
R/C Control Modes 3: Left Throttle/Right Steer; Right Throttle/Left Steer; Dual Throttle
R/C Antenna Omni Directional
R/C Range 750 m
R/C RF Scheme FHSS
R/C Frequency 2.4 GHz
ADCP Size Up to 16.5 cm (6.5") Diameter
Warranty One year on all Q-Boat 1250 components.
1 Speed measured over water; speed over ground will depend on water velocity

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Quick Review
Check that you know the
Terminology used
Reference Figure 1. Q/Z-
1250 Overview

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System Setup
INSTALLATION INCLUDES THE FOLLOWING STEPS:
Tri-Hull Assembly
ADCP Installation
Battery Installation and Charging
Charging the Transmitter
Antenna Position
Power On Sequence

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Tri-Hull Assembly
No tools are required to extend the tri-hulls. Simply loosen the locking knobs, extend the tri-hull until it
reaches the stop pin, and then tighten the knobs to lock the crossbars.
To retract the tri-hulls, loosen the locking knobs and push in the tri-hull until it reaches the stop pin, and
then tighten the knobs to lock the crossbars.
Figure 2. Tri-Hull Assembly

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ADCP Installation
Although a variety of instruments and sensors can be configured on and into the Q/Z-1250, the most com-
mon varieties are shown here.
StreamPro Installation
To install the StreamPro:
1. Loosely attach the Collet 81L-6090-00 to the Instrument Mount 81L-6089-00 using the three M4
screws and flat washers.
2. Install the StreamPro Transducer into the Instrument Mount matching the slots and grooves on
the transducer and mount, inserting the cable connector up through the Collet end of the Instru-
ment Mount assembly. The transducer will protrude from the instrument mount as shown in Fig-
ure 4.
3. Tighten the Collet 81L-6090-00 using the three M4 screws and flat washers to secure the trans-
ducer to the Instrument Mount.
4. Attach the transducer assembly to the Instrument Mounting Plate 81L-6088-00 using the four
M4 screws, flat washers, and lock washers. Note the Forward mark on the Instrument Mounting
Plate and the Beam 3 mark on the transducer do NOT match.
The Instrument Mounting Plate allows the transducer assembly to be mounted in two
orientations, 180 degrees apart. The transducer assembly MUST match the direction of the
electronics chassis compass Beam 3 direction (see Figure 3).
5. Insert the transducer assembly into the StreamPro Foam Plug 81L-6091-00 as shown. Note the
flat side of the foam insert is facing up, and the position of the two notches in the foam ensures
that the curved side of the foam aligns with the hull curvature.
6. Insert the StreamPro instrument assembly into the Q/Z-1250 instrument well and secure it with
the two lock knobs. Note the Forward mark on the Instrument Mounting Plate and the Beam 3
mark on the transducer do NOT match. The StreamPro transducer should protrude slightly below
the Q/Z-1250 hull when installed.
Make sure the arrow on the Instrument Mounting Plate is pointing to the FRONT of the Q/Z-
1250 and the StreamPro transducer Beam 3 mark is pointed AFT as shown in Figure 3. This
will ensure that the transducer is at a 45-degrees angle (plus the 10 degree offset) and
matches the compass which is located inside the electronics chassis.
7. Install the Electronic Chassis Mounting Plate 81L-4024-00 to the bottom of the Electronic Chas-
sis using the four flat head screws. Then install the Electronic Chassis onto the Q/Z-1250 main
hull using the four M4 screws, lock washers, and flat washers (see Figure 5).
8. Connect the transducer cable to the electronics chassis.

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Figure 3. StreamPro ADCP Installation Overview
Figure 4. StreamPro Transducer Installation

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Figure 5. StreamPro Electronics Chassis Installation
SonTek River Surveyor S5 or M9 Installation
To install the Surveyor S5 or M9:
1. Slide the Instrument Mounting Plate 81L-6096-00 around the S5 / M9 as shown (see Figure 6).
2. Place the S5 / M9 in the mounting plate so that it protrudes 6 ¾ inches from the bottom of the
plate as shown. Tighten the knob to hold the mounting plate in place. Do not over tighten the
knob.
3. Use foam plug 81L-6097-00 for M9 transducers and 81L-6098-00 for S5 transducers. Place the
foam plug around the instrument as shown. Note the flat side is facing up and the position of the
two notches in the foam.
4. Install the instrument with the foam plug into the instrument well as shown and secure it with the
two lock knobs.
5. Install the Electronic Chassis Mounting Plate 81L-4024-00 to the bottom of the Electronic using
the four flat head screws. Then install the Electronic Chassis onto the Q/Z-1250 main hull using
the four M4 screws, lock washers, and flat washers (see Figure 7).
6. Connect the transducer cable to the electronics.

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Figure 6. SonTek River Surveyor S5 or M9 Transducer Installation
Figure 7. SonTek River Surveyor S5 or M9 Electronics Installation

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RiverPro ADCP Installation
To install the RiverPro:
1. Slide the Instrument Mounting Plate around the RiverPro as shown (see Figure 8).
2. Tighten the knob to hold the mounting plate in place. Do not over tighten the knob.
3. Place the foam plug around the RiverPro. Note the flat side is facing up and the position of the two
notches in the foam.
4. Install the instrument with the foam plug into the instrument well and secure it with the two lock
knobs.
5. Install the Power Module using the four M4 screws, lock washers, and flat washers.
6. Connect the RiverPro transducer cable to the Power Module.
Figure 8. RiverPro Installation

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Single Beam Echo Sounder Installation
A Single Beam Echo Sounder can be used when installed with the optional Power/Telemetry module. To
install the Single Beam Echo Sounder:
1. Install the Echo Sounder Transducer into the collet, inserting the cable connector up through the
Collet end of the Instrument Mount assembly.
2. Attach the transducer assembly to the Instrument Mount Plate using the four M4 screws, flat
washers, and lock washers. Note the Forward mark on the Instrument Mounting Plate and the
Beam 3 mark on the transducer do NOT match.
3. Insert the transducer assembly into the Foam Plug. Note the flat side of the foam insert is facing
up, and the position of the two notches in the foam ensures that the curved side of the foam aligns
with the hull curvature.
4. Insert the Echo Sounder assembly into the Q/Z-1250 instrument well and secure it with the two
lock knobs.
5. Install the GPS Mount to the Instrument Mount Plate using the two M4 screws and flat washers.
6. Install the Power/Telemetry Module using the four M4 screws, lock washers, and flat washers.
7. Connect the Echo Sounder transducer cable to the Power/Telemetry Module.
Figure 9. Echo Sounder Installation

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Installing the Power/Telemetry Module
To install the Power/Telemetry Module:
1. Place the Power/Telemetry Module on the Instrument Mounting Deck with the power switch fac-
ing Aft.
2. Install the Power/Telemetry Module onto the Q/Z-1250 main hull using the four M4 screws, lock
washers, and flat washers.
3. Connect the ADCP or Single Beam Echo Sounder cable to the Power/Telemetry Module’s Instru-
ment Port.
4. Connect the GPS Cable to the Power/Telemetry Module’s GPS Port.
5. Rotate the antenna to a vertical position.
Figure 10. Power/Telemetry Module Installation
GPS Installation
To install the GPS mounting post and bracket:
1. Use M6 screws and washers to attach the Acrylic GPS mounting bracket to the Instrument Mount-
ing plate.
2. Use the #10-32 screws, washers, and lock nuts to attach the threaded GPS mounting post to the
Acrylic bracket.
3. Screw the GPS receiver onto the GPS mounting post.
4. Connect the GPS cable to the GPS receiver and to the Power/Telemetry module.

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Battery Installation and Charging
The Q/Z-1250 uses three 24 VDC, 4.5 AH battery packs connected to the electronics by red / black “An-
derson” connectors. Battery life is highly dependent on boat and water speed. This set of 3 battery packs
should last for approximately four hours at 2 kts (1 m/sec), at least 1.5 hours at 3 kts, and approximately
40 minutes at 4 kts (combined boat and water speed).
It is recommended that three battery packs are used in the Q/Z-1250 at all times to ensure
adequate power reserves are available. This also provides security in case one or more packs
are defective / poorly charged.
The batteries are installed in the battery compartment with the thermistor connector and wiring routed
safely out of the way; make sure ALL THREE connectors are accessible. Care must be taken when con-
necting the batteries. Ensure that the connectors are clean and the “Anderson” terminals are properly in-
terlocked. Periodically inspect the metal terminals inside the connectors. It is good practice to measure
the 3x individual battery cell voltages before and after the survey to ensure all cells are discharging to a
similar voltage which indicates a good status. The Hitec transmitter may be used as a voltmeter to meas-
ure individual battery voltage before and after surveys by connecting one battery at a time and noting the
displayed voltage on the LCD panel. Ensure that no battery wiring is trapped between the battery com-
partment and cover, and then tighten the six battery cover thumbscrews uniformly to create a watertight
seal. Periodically check the O-ring in the battery compartment cover and replace if damaged.
Charging the Batteries
The Q/Z-1250 is normally equipped with three 24V 10Ah NiMH battery packs and a smaller battery pack
inside the handheld RC transmitter. It is important that the user fully charge each battery system before
deployment.
The propulsion batteries’ operating endurance between charges ranges from 30 minutes to four hours,
depending on operating speed and use of steering.
Once each month, the propulsion battery(s) should be fully discharged before recharging to avoid memory
problems that may be caused by repeatedly charging partially discharged batteries.
To charge the batteries:
1. Disconnect all shipboard connections to the batteries and remove the batteries from the boat.
2. Place the batteries in a well-ventilated area away from flammable hazards ensuring the batteries
are spaced sufficiently to allow proper airflow during charging.
3. Connect the small red thermistor connector on the battery to the opposite red thermistor connec-
tion on the charger.
4. Connect the battery connector to the opposite connector on the charger. Insure that polarities are
correct (black-black, red-red). Plug each 24V smart charger into an acceptable wall unit; the
charger’s LED will flash red a couple of times then shift to solid red. NOTE: if the charger is
plugged into a wall outlet prior to connecting the battery, it may not switch into a charging state
automatically and the LED may remain green. If that occurs, unplug the charger from the wall un-
til the green LED fades off, and then plug it back into the wall.
5. When charging is complete the LED will change to illuminate green.
6. Do NOT overcharge the batteries. Batteries should be supervised while charging and should not
be left unattended. Ensure the batteries are disconnected as soon as charging is complete.
7. Under rare circumstances, the charger may finish the charging cycle prematurely before the bat-
tery has been fully charged. Verify that the battery has been fully charged by measuring the volt-
ages across each of the 3 discharge terminals. All voltages should be roughly equal and should be
higher than the battery’s rated voltage of 24V. Also, factor in the duration of charge when deciding