VFTech GNOM STANDARD User manual

Underwater remotely
operated vehicle for inspections
GNOM STANDARD
Underwater remotely
operated vehicle for inspections
GNOM STANDARD
Operator manual
Vápenická 24, 971 0
Tel/
Fax
Underwater remotely
operated vehicle for inspections
GNOM STANDARD
VFTECH
,
s.r.o.
Vápenická 24, 971 0
1 Prievidza,
Slovakia
Fax
: [phone]
[e-mail]
http://www.vftech.sk

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TABLE OF CONTENTS
Warning!!!
Voltage on cable 180VDC!
Do not touch the cable in a water during operation!
If any damage occurs on the cable surface, it must be repaired or changed!
ttention! C power maximum 240V!
1. Description 3
1.1 Purpose 3
1.2 Design 4
1.3 Technical specifications 6
2. User’s anual for operation with GNOM 7
3. Keys and Buttons at the control panel 13
4. Screen odes 18
5. Calibration 19
6. Maintenance operation 20
7. Safety require ents 23
8. Warranty state ent 24
9. Exa ples of linking odules 25
10. Appendix 27

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1. DESCRIPTION
1.1 PURPOSE
LIST OF ABBREVIATIONS:
Underwater odule
Surface control odule
Protective polypropylene fra e
Hand reel
Coaxial cable
Joystick
Digital video recorder
Co puter
Monitor
Waterproof case
Grabber
Underwater spear gun with laser
Sector sonar
USBL positioning syste
Remotely operated underwater vehicle GNOM is intended for inspection of underwater wrecks
and other objects by video camera.
The device uses modern computer and telecommunication technologies, that make it easy to
handle, compact, light, and inexpensive.
These solutions allowed us to use thin (only 3-4 mm diameter) and flexible communication cable for
the transmission of data, power and video signals to/from the vehicle. The special Kevlar threads
help to improve the tensile strength of the cable and to keep the highest degree of stabilization very
important for inspections. The vehicle has good maneuverability and can easily turn on the spot.
High-effective electric motors with magnetic couplings and hi-tech electronics provide high speed of
the GNOM with low power consumption.
One of the most important features of this device is a possibility to operate it from PC and via
LAN/Internet.
The GNOM is an underwater helicopter with the video camera that moves in any direction according
to the operator instructions.
For updated info please visit our website www.vftech.sk

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1. DESCRIPTION
1.2 DESIGN
ROV GNOM Standard basic complete set
–ROV GNOM Standard
–Control box with joystick
–Hand reel with tether
–Coaxial cable
–Joystick
ROV GNOM Standard full complete set + options
- ROV GNOM Standard, – Control box integrated in waterproof case, – Hand reel with slip ring, -
Coaxial cable, – Joystick, –LCD monitor 15", – Grabber, - Frame, - Waterproof case
Main features
•High Resolution color video camera with tilt servo and digital zoom
•4 thrusters, adjustable speed
•Slow/fast mode, tilt mode
•LE lights
•Flexible thin cable
•epth gauge, Autodepth mode
•Heading (compass), Autoheading
•Videotext overlays with graphics
•On screen menu
•Easy game joystick control
•igital data channel
•PC interface, LAN/Internet web video/control (option)
•All packed in 2 cases, hand carried

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1. DESCRIPTION
The underwater unit consists of two aluminum cylinders – the front cylinder  and the main one  . The
vertical thruster  is located between the cylinders. At the back of the vehicle, there is a fastening for the
second vertical thruster  or the second camera. At the front, there is a glass dome  for the main camera
 .
The composite video signal from the high resolution camera (450 TV lines, sensitivity 0.5 lux) is transmitted to
the LCD monitor or another video device. The camera has 3x digital zoom mode that allows to make image
larger or smaller, this function is adjusted by the Sony PS joystick buttons. Instead of the rear thruster  ,the
second camera can be installed at the back of the vehicle. This camera is used for the vertical view (up and
down). The cameras are switched from the control unit.
Two horizontal thrusters  have LED lights in front  , and are fastened to the main cylinder. The foam
plastic float on the top serves as the buoyancy tank  . The 4-thruster version has the tilt function (45-60°in
vertical direction) that allows to increase the field of vision. At the end of the thruster axis, there is a screw
propeller .
On each side of the vehicle, there is a set of 14 LED lights, in front of the horizontal engines. Brightness is
adjusted from the control panel.
All the electronics (the power supply converter, central processing unit, and electronic compass), and the
camera are placed in the main aluminum cylinder. At the back – in the cylinder cap - there are 6 connectors
for thruster cables, the communication cable, one empty connector for additional devices, and the depth
sensor .

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1. DESCRIPTION
At the bottom of the vehicle, there are plastic feet that can be replaced with the protective plastic frame.
Two DC motors inserted in the aluminium cylinders serve as the thrusters  . The rotation is transmitted to
the screw propeller using magnetic coupling disks. One disk is fastened to the motor shaft inside the body,
and the other one to the screw propeller shaft inside the cone-shaped head . The cone-shaped head is
filled up with water and may be removed (with a definite effort) by a user for cleaning.
The vehicle is connected with the surface unit via the thin cable transmitting power voltage, operation
instructions, data, and video signal from and to the vehicle.
The cable with diameter about 3mm is strengthened by the Kevlar threads (breaking effort is 90kg), and the
additional polyethylene shield. The maximum cable length is up to 250m. To counterbalance the weight of the
vehicle and give it neutral buoyancy, the foam polystyrene float is put on the top of the vehicle. The similar
floats may be put on the cable to give it neutral or a little positive buoyancy. The maximal operating depth of
the vehicle is up to 150m.
Using the control pads and the joystick, the operator can move GNOM forward-backward, turn to the right-left,
up-down; adjust the thruster speed and the brightness of the lights. All the data are displayed on the monitor.
By pressing one of the buttons on the joystick, the operator can enter the menu to tune up some of the
functions – calibrating the depth sensor and the compass, as well as some other functions.
1.3 TECHNICAL SPECIFICATION
Speed:
horizontal motion, up to 1,5 m/s
vertical motion, up to 0.5 m/s
(above numbers depend on a length of pooling cable)
Max operating depth 150 m
Power voltage 100-230VAC or 12 VDC
Operating temperature range -5…+45°C
Operating environment humidity, up to 100%
Weight of the vehicle 5 kg
Full weight of the system 25 kg
Dimensions of vehicle 330x180x160mm
Cable:
diameter 5 mm
length up to 250m
Options:
•Rear camera with LED lights (color or b/w with IR lights)
•Additional lights
•Laser pointers
•Grabber
•Slip ring cable reel
•LCD 8-15" built in case
•Sector sonar Micron, Tritech

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2. USER’S MANUAL FOR OPERATION
2.1 Deployment
1. Before use, check all parts of the vehicle, especially the propellers, the cable, and the dome. Clean it, if it is
necessary. Check propeller rotation by finger.
2. Plug the 3-pin plug of the connector to the reel, power and video cables to the monitor.
If you use the built-in monitor, it’s necessary to weaken a clamp before connecting!
Also the AC power cable (if you work from 100-230VAC).
Do not rotate thrusters on air!
Do not switch lights on a full power on air!
Be very careful with cable, do not:
- stand on it;
- press it;
- twist it.
Voltage on the cable is 180VDC! In case of any damage, you must repair or
change the cable.
IF THE LASER IS INSTALLED, MIND YOUR SAFETY. NEVER LOOK INTO
THE LASER LIGHT SOURCE.

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2. USER’S MANUAL FOR OPERATION
2.1.1 NOTE
You cannot connect the GNOM and other devices (accessory) to the mains with the
following problems:
• incorrect wire connections L and N conductors in the appropriate slot.
• without protective earthing conductor.
Before use, the operator must always check the correct wiring connections (phase
conductor - L), e.g. by phase tester
2.1.2 Checking the RCBO
Checking the RCBO (residual circuit breaker with overcurrent protection) must be performed
before any underwater operation at the new location.
• If the requirements of the paragraph 2.1.1 are met, connect only the surface module to the
power supply.
• Switch the mains voltage button on the control panel on.
• After 5 seconds, press the "TEST" button on the RCBO. It would immediately lead to a
safe shutdown of the module.
• Switch the mains voltage button on the control panel off. Switch the RCBO on.
• Switch the power supply button on the control panel on again. The RCBO must remain
switched on.

2.
USER’S MANUAL FOR O
2.2
. Power supply from 230V
Switch the main 230V switch
ON
To finish the operation, set
the main
COMMENT:
The red LED will flash briefly
The green LED
(Communication
2.2.1 If you use the
LCD display
can be adjusted manual
ly (see the user’s manual). For monitor operation
manual.
2.2.2 After the power is ON,
the
2.2.3
If you use GNOM in a sea
underneath the GNOM and
insert
2.3. Operation
Do not rotate thrusters on air!
Do not switch lights on a full power on air!
Put the vehicle into the water. To start operation press
following buttons
on a joystick
All the control functions are
described
#To move the vehicle
Forward/Back
HOME MODE
right joystick
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USER’S MANUAL FOR O
PERATION
. Power supply from 230V
ON
(UP position)
the main
230Vswitch in a middle position
(Communication
) flashes
LCD display
, switch it
on separately. Brightness, contrast
ly (see the user’s manual). For monitor operation
,
the
message WELCOME appears
. GNOM is ready for operation.
If you use GNOM in a sea
, you need to add additional weight. O
pen
insert
metal weights (the best is lead).
Do not rotate thrusters on air!
Do not switch lights on a full power on air!
Put the vehicle into the water. To start operation press
one of the
on a joystick
:
described
on the drawing below.
Forward/Back
and turn Right/Left use the
ANALOG
9
PERATION
on separately. Brightness, contrast
, and color saturation
follow the monitor
. GNOM is ready for operation.
the plastic pipes

2.USER’S MANUAL FOR O
#Slow mode (SLOW). Press
gradually (
25%, 50%, 75%, 100%).
You can adjust the
speed gradually (128 grades)
The direction and speed are
shown
#To move the vehicle
Up/Down
#To tilt the vehicle
, use the
(only works in configur
ation
#Jump mode - A
llows to push
cm, then stop.
Press ②to enter
the Jump mode.
the arrows (
Left/Right, Up/Down
To adjust the jump power,
use
# Simultaneously press ③
+
(LOOP : 0% ÷100%, 100%
÷0% ... )
Press ③+ +
simultaneously
(Simultaneously press
③
+ to
#Hand mode - controlling
the GRABBER (if
Press ② to enter
the Hand mode
= OPEN =
CLOSE
Control the GRABBER turn
by
R
1
R 2
R 2
R
1
R 2
l
Click + UP/DOWN
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2.USER’S MANUAL FOR O
PERATION
the and adjust the power
25%, 50%, 75%, 100%).
speed gradually (128 grades)
by
pressing the joystick.
shown
on the monitor.
Up/Down
,use the .
, use the
- press and hold Up/Down
ation
with 4 thrusters)
llows to push
the vehicle slightly for a distance 30 – 50
the Jump mode.
To chose the jump direction, press
Left/Right, Up/Down
).
use
the
+
to change the intensity of the front lights
÷0% ... )
.
simultaneously
for 100% brightness.
+ to
adjust the rear lights – if installed)
the GRABBER (if
installed)
the Hand mode
CLOSE
by
the arrows.
left joystick
R
1
R 2
right
joystick
left joystick
l
eft joystick
10
PERATION
pressing the joystick.
to change the intensity of the front lights

2.USER’S MANUAL FOR O
#To tilt the camera
Up/Down
Press +
simultaneously
position.
# Laser – switch the laser
on/off b
IF THE LASER
IS INSTALLED,
THE
LASER LIGHT SOURCE
# By the key switch
# Autodepth mode. Press
①
To change the depth,
use left joystick. Autodepth mode and
are shown on monitor.
#Autoheading
maintains the speed and direction.
the key (variant
: left joystick to
Select the forward speed,
then switch
L
1
L
2
SELECT
Start
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2.USER’S MANUAL FOR O
PERATION
Up/Down
press / .
simultaneously
to to return the camera to the initial
on/off b
y pressing ③ +
IS INSTALLED,
MIND
YOUR SAFETY. NEVER LOOK INTO
LASER LIGHT SOURCE
.
- active forward/back camera
①
to fix the vehicle at the depth you need.
use left joystick. Autodepth mode and
the depth
maintains the speed and direction.
Turn ON/OFF by
: left joystick to
the left - ON, to the right - OFF ).
then switch
the autoheading on.
L
1
L
2
SELECT
11
PERATION
YOUR SAFETY. NEVER LOOK INTO

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2.USER’S MANUAL FOR OPERATION
# Press ④ to select SCREEN MODES :
Mode1, Mode2, or Mode3 (see below)
# You can choose the menu language (Russian/English)
2.4 Finishing the operation
To finish the operation, switch the power OFF, then disconnect
cables and wind them up into the reel.
Try to avoid nods and twisting of the cable.
After operation, clean the propellers and motor shafts, and wash
the vehicle in fresh water.
Sleep mode (Power Saving Mode)
In order to save power and extend the battery life, the wireless joystick has the power
saving system. The joystick enters the sleep mode (power saving mode) under the following
conditions:
A. There is no operation within 30 seconds from establishing the connection between the
controller and the receiver.
B.There is no operation for 5 minutes.
To wake from the sleep mode, press one of the following keys:
ANALOG HOME MODE

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3. CONTROL KEYS

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3. CONTROL KEYS

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3. CONTROL KEYS
Alternative without a computer

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3. CONTROL KEYS
Alternative with computer

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3. LYYN SYSTEM KEYPAD
Further nformat on on the control and descr pt on funct on - see attached
manual LYYN

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4. SCREEN MODES

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5. CALIBRATION
To enter this ode, you should be in Start ode ( essage WELCOME on the screen). To calibrate the depth
sensor and co pass, press and hold ③ for 7-8 sec - only while the WELCOME message is shown Message
"Calibration mode" appears. To select the function, use the arrows on the left. To enter the function, use the
key ② on the right.
-“Set current depth as 0” To calibrate the depth sensor, set 0 when GNOM is on the surface. To finish
the calibration, press the②to confir the 0 depth. We reco end to set the 0 depth 5 inutes after
turning the power ON.
-“Compass Calibration” Set by the manufacturer Only perform, when works incorrectly
- Compass calibration procedure
:
1. Put the GNOM on flat surface, far fro etal objects, with ca era pointing North.
2. Press
② ) to start the calibration.
3. Slowly
t
urn the GNOM clockwise around its axis.Turn at least two ti es.
4. Press
②
) to finish the calibration.
-“Joystick for left-handler” Unavailable
- “Camera color adjust” Unavailable
- “Max vertical power” Set up the axi u power of vertical thrusters in %.
- “Max horizontal power” Set up the axi u power of horizontal thrusters in %.
- “Max straight jump power”. Set up the length of the straight ju p
- “Date/Time Setup”. Set up the date and ti e.
- “Video system”. Select PAL or NTSC.
- “Перейти на Русский” Select the language (Russian or English).
- “- Bereg Vxxxx -” and “- Bort Vxxxx -” software version.
To exit the calibration enu, set the cursor to Exit and press Enter ( ).

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6. MAITENANCE OPERATION
To maintain the vehicle, always perform the following steps:
•clean the propellers from algae, sand and mud
•rinse the vehicle in the fresh water after using in the sea
•inspect the cable after the operation. In case of any damages, the cable must be
repaired or changed
•check the magnetic disk coupling regularly
•use the silicon oil spray to lubricate the propeller shafts every time after diving. Oil
must get inside the conical heads of motors. See appendix position 96, 147, 217 of
thrusters assembly.
•Avoid nods and twists on the cable.
Within the certificate of warranty, the bond (joint) maintenance manual is included.
Use it only in case of emergency, if standard maintenance is insufficient.
Before this service, consult technical problems in our company on email address:
[email protected] .
Attention:
In case of non-professional action and damage of any part, the consecutive service in our
company will be charged.