OPERATION & MAINTENANCE MANUAL

Transcription

1 MOHICAN ROV & TMS SYSTEM Mohican Serial No. SARMOCK0 Type Serial No. TMS No. SAGB0 OPERATION & MAINTENANCE MANUAL SUPPLIED TO INNOVA AS Mohican No..doc Revision

2 .0 INTRODUCTION...5. General...5. Safety SYSTEM OVERVIEW...7. Scope of Supply...7. General System Description..... Mohican ROV Specifications Mohican Control Consoles Mohican Tether Management System (TMS)..... TMS Specification....0 MOHICAN OPERATION AND MAINTENANCE.... Mohican ROV..... Frame..... Buoyancy..... Thrusters..... Vector Angle Control Vehicle Transformer Housing Oils and Lubricants (ROV)...0. Port Electronics Enclosure..... DC Power Supply..... Thruster Termination Board..... Thruster Isolation Board..... Light Dimmer Board Line Insulation/Capacitor Board Cooling Fan Vacuum (Port Pod)...6. Starboard Electronics Enclosure Control System..... Telemetry/Relay Interface Board..... The Gyro/Power Supply Board Channel Relay Board Fibre Optic Board DC Power Supplies Vehicle Telemetry..... Vacuum (Starboard Pod).... Vehicle Sensors Depth sensor Compass Pod Altimeter...6 Mohican No..doc Rev. Page

3 .. Cameras Sonar Tracking Beacon or Transponder Vehicle Equipment Camera Tilt Unit Lights Vehicle Interconnecting Cables Surface Control Consoles Remote Pilot s Console Joystick Interface Board Telemetry System ROV/TMS Electronics Rack Video Distribution DC Power Supplies Video Overlay System Power Distribution Unit (PDU) Earth Fault Monitoring System Inverter/Transformer Modules x 9 Dual Channel Colour Monitors Sonar Control Unit MOHICAN TETHER MANAGEMENT SYSTEM General Description Safety Specification...7. Tether Management System (Mechanical) Frame Lifting Gimbal Ballast Weights Drive System Drive Motor Assembly Tether Drum Gearbox Traction Wheel Gearbox Flexible Drive Assembly Level Wind ROV Depressor Assembly..... Tether Drum Assembly Radius Gooseneck Assembly.... TMS Electrical System..... Transformer/Junction Box..... TMS Electronics Enclosure Camera Lights Interconnecting Cables... Mohican No..doc Rev. Page

4 . TMS Maintenance General Maintenance Oils and Lubricants (TMS) PreDive Checks (TMS) GENERAL SAFETY PROCEDURES Safety Electrical Electrical Safety Guidelines Hydraulic Heavy Weights Underwater Connectors Orings Tools Spare Parts INTEGRATION, OPERATION & EMERGENCY PROCEDURES System Installation & Integration Operations Powering Up Predive Checks (Vehicle) PreDive Checks (TMS) Diving and Operation System Recovery Optional Equipment Valve Pack/HPU Interface System Software DRAWING PACKAGE Mechanical Drawings Electrical/Electronic Drawings Warranty Service Support & Spare Parts....0 AUXILLIARY VENDOR SUPPLIED EQUIPMENT MANUALS REFER TO VOLUME... Mohican No..doc Rev. Page

5 .0 INTRODUCTION Welcome, you have just entered the world of underwater Remotely Operated Vehicles (ROV s) by purchasing the Mohican ROV System from SubAtlantic, a world leader in the design and manufacture of electrically propelled Remotely Operated Vehicles. The Mohican is a truly versatile professional ROV system suitable for offshore use. Its size provides a stable platform for high quality video and sonar surveys. The ROV is also capable of carrying neutrally buoyant work skids and multifunction manipulators.. General This manual is intended to serve as a user pointofreference for the safe operation, maintenance, repair and the identification of the manufacturer s proprietary replacement parts. Warning!! The Mohican is a high voltage (000V) system. Before attempting to power up or operate the system please read this manual thoroughly. If the purchaser or the end user is not familiar with underwater ROV systems, it is recommended that product training in the operation and maintenance of the system should be obtained from the manufacturer. This manual relates to the Mohican 0 ROV (Remotely Operated Vehicle) system and auxiliary equipment supplied to Innova AS. This manual is written assuming that the user is competent with electric, electronic and hydraulic principles and has an understanding of ROV operations. Mohican No..doc Rev. Page 5

6 . Safety Safety regarding high voltages and the handling of heavy loads has been recognised as a key issue therefore; this subject is highlighted in detail throughout the manual. Warning!! The Mohican ROV and TMS are supplied with 000VAC. Training on high voltage electrical systems should be obtained by the user before operating or maintaining the system. Warning!! Potentially lethal AC and DC voltages are present throughout the system. To prevent the risk of electric shock, ensure that power to the surface transformer module is disconnected and the isolation switch is locked off before attempting to service or repair any part of the ROV system. Warning!! Thruster propellers rotate at high speeds and high torque. The propeller blades can cause serious injuries to hands and fingers if touched when rotating. Ensure that all personnel are clear of the thrusters before applying power to the vehicle. Do not touch the thruster propellers when power is applied to the vehicle. Warning!! The ROV tether carries 000VAC. Do not handle the tether when power is supplied to the ROV. Safety procedures are a vital aspect of the operation of Remotely Operated Vehicles. They should be carefully studied and the principles contained therein applied to the everyday operation of the ROV system. Always switch off ROV power before deployment and before recovery. A permit to work system should be implemented for the repair and maintenance of the ROV system and controlled by the ROV Supervisors. This system should ensure that power is isolated before repair or maintenance work commences. The only person permitted to apply electrical power to the ROV is the appointed Supervisor. Remove watches, rings and jewellery when working with electrical equipment. Always isolate the system power supply before opening or working on any part of the ROV system. Mohican No..doc Rev. Page 6

7 Never operate equipment that has an insulation fault to ground. Ensure that power to the ROV and TMS is switched off before lifting or moving the vehicle, as it is possible for thrusters to operate without joystick commands if the autofunctions are selected. Ensure that all personnel in the proximity of the system are notified when power is to be applied to the system..0 SYSTEM OVERVIEW. Scope of Supply The scope of supply for the Innova AS contract is as follows: Mohican ROV System 000m Rated With Additional Buoyancy (ROV) Single Mode Fibre optic System Tether Management System (TMS) 000m Rated (TMS) Single Mode Fibre optic System Surface Control Unit High Voltage Inverter/Transformer 00 Meters of Main Lift Umbilical (CAB0057) 50 Meters of Tether (CAB005) Kongsberg OE66 Colour Zoom Camera Kongsberg OE500A Low Light Mono Camera Kongsberg OE50 Mono Camera Kongsberg OE500 High Definition Camera Kongsberg 07 Sonar ROV Spares Package TMS Spares Package SA 6Station Valve Pack/HPU Function Hydrolek Manipulator Mohican No..doc Rev. Page 7

8 . General System Description The Mohican is a stateoftheart electrically powered ROV system. The ROV and TMS are supplied with a 000V high frequency supply. This allows the use of a small diameter main lift umbilical and tether. The 000V supply is converted to 0VDC at the TMS and the ROV. It is the 0VDC that is finally used to power the ROV and TMS. The vehicle is capable of carrying a wide range of cameras and sensors such as sonar s and altimeters etc. It also has the ability to carry manipulators. The Tether Management System s entrance can be extended to allow the attachment of tooling skids to the vehicle. Diver monitoring and support Inspection of structures Payload item deployment Maintenance and repair Survey Oceanography & Research Retrieval of ordnance A brief technical description of the system follows. Refer to the appropriate Section of the Manual for a detailed description of each of these systems and components. Mohican No..doc Rev. Page

9 .. Mohican ROV Specifications Refer to Drawing No. 65MAS Depth rating: 000msw Propulsion system: 6 off SPE0 Brushless DC Thrusters Forward thrust: Variable 50 to 05 kgf Lateral thrust: Variable 50 to 05 kgf Vertical thrust: 60 kgf Weight and Dimensions: Weight in Air: 90kg Height: 00mm Width: 770mm Length: 50mm Payload: 0kg Excluding Cameras Automatic functions: Autoheading: Accuracy 5 Autodepth: Accuracy ±0.5± m Autoaltitude: Accuracy ±0.5± m Power Requirements Transformer Module: 00VAC phase 50/60 5 amps PDU/Electronics Rack: 0 amps ROV User power: amps 5 amps Standard Interfaces Camera Interfaces: Connectors for x cameras Lighting Interfaces: x 50 Watt, dimmable on one circuit and on another circuit Sonar Interface: To suit industry standard sonar s Auxiliary Interface: RS, RS and VDC Power Interface: 5 amps Electronics Pressure Housings Port housing contains: Thruster isolation circuitry Light dimmer circuitry 00VDC Earth Fault Monitoring Mohican No..doc Rev. Page 9

10 Starboard housing contains: Camera control electronics Vehicle Telemetry System Fibre Optic Multiplexer Depth Transmitter Camera Tilt Drive Electronics Transformer Housings The oil filled transformer housing contains the high voltage/high frequency transformer which converts the 000V supply to 0V. It also serves as the termination point for the tether. Frame The frame is manufactured from polypropylene sheet to form a strong corrosion and maintenance free structure. The frame incorporates various attachment points for the mounting of additional equipment. The polypropylene sections are bolted together using M stainless steel button head Allen screws and nylock nuts. Buoyancy Syntactic Foam rated to 000 meters. The vehicle has a payload of 0kg excluding cameras. The payload is made up from lead ballast unless optional equipment is fitted... Mohican Control Consoles The Mohican Console consists of a Power Distribution unit (PDU) housed in an U 9 rack mount module, a remote hand held pilots console and the high voltage transformer module. The Power Distribution Unit controls the power and the line insulation monitoring to the ROV and TMS and also includes an electronics rack which contains the video overlay system and the TMS telemetry system. The pilot s control console contains all of the necessary switches and joysticks etc. to fly and control the ROV. The pilot s console communicates with the ROV using a RS5 data transmission system on a fibre link through the main umbilical and the tether. The remote console is connected to the front panel of the PDU via a 9way connector. The high voltage transformer converts the incoming phase supply into a 000VAC 00Hz supply for the vehicle. The transformer module is controlled by the PDU using a 6way connecting lead. Mohican No..doc Rev. Page 0

11 .. Mohican Tether Management System (TMS) General The Mohican TMS is an extremely compact unit, simple to understand, operate and maintain. The TMS allows the ROV greater excursion distances as opposed to live boating ; that is, if the vehicle was deployed over the side of a vessel rather than from the TMS. It also allows the ROV to be used in more severe weather conditions than live boating as the effect of the swell and currents acting on the tether are minimised. The main structure of the Mohican TMS (Tether Management System) is constructed from 6 grade stainless steel (also available in aluminium). Various plastics are used for components such as the tether drum and pulleys etc. Polypropylene sections around the vehicle entrance prevent damage to the vehicle as it reenters the TMS. A single thruster motor driving a worm type gearbox supplies the motive power for the TMS winch drum. The gear box provides a natural brake for the drum. A video camera is fitted to the TMS to monitor the tether drum and the vehicle as it leaves and returns to the TMS. The camera is connected to the electronics pod via a way underwater connector, which carries the VDC supply and the video signal. The TMS has two 50 WATT 0V lights connected to the electronics pod via way underwater connecting leads. The supplies to the lights are fused using amp fuses inside the electronics pod. Mohican No..doc Rev. Page

12 .. TMS Specification TMS Type: Drive System: Tether Capacity Line Pull: Tether Type: Side Entry Garage with winch and level wind mechanism with constant tension pulley 00W DC Electric Motor 50 mtrs of 0.5mm diameter 60kg Thermoplastic with Kevlar strain members TMS Weight/Dimensions Weight in air (exc. tether or ROV) Weight in water (exc. tether) Overall length Overall height standard Overall height extended Overall width 550 kg 0 kg 600mm 60mm min 05mm max 075mm Mohican No..doc Rev. Page

13 .0 MOHICAN OPERATION AND MAINTENANCE. Mohican ROV Refer to Drawing Nos. Mohican ROV 65MAS The above drawing shows the standard Mohican ROV. The various subassemblies are described below:.. Frame Refer to Drawing Nos. Frame SubAssembly Frame SubAssembly Frame SubAssembly 00MAS 099MAS 09MAS The frame is manufactured from polypropylene sheet to form a strong corrosion and maintenance free structure. The frame incorporates various attachment points for the mounting of additional equipment. The polypropylene sections are bolted together using M stainless steel button head Allen screws and nylock nuts. If a TMS system is to be used, the rear Tether Bracket Assembly will be fitted to guide and position the tether. The frame also incorporates a stainless steel eyebolt for securing of the tether to the ROV by means of a Chinese finger. A lifting point is provided at the top centre of the frame to which a bullet can be attached allowing lifting for live boating or top hat type TMS operations. This bullet would not be used with the SubAtlantic TMS. Locations are provided on the base frame panel for the attachment of lead ballast weights and other equipment... Buoyancy Refer to Drawing Nos. Buoyancy MainAssembly 79MAS The buoyancy provides the vehicle with payload of 0kg excluding cameras. The payload is made up from lead ballast. If optional equipment is fitted, lead will be removed. The buoyancy is made up in four sections from syntactic foam that consists of small spheres cast into an epoxy shell. The individual air filled spheres provide buoyancy and it is Mohican No..doc Rev. Page

14 important that the buoyancy should not be holed or punctured as this will reduce the amount of buoyancy provided and thus reduce the vehicle payload. The outer coating is in the form of a tough red polyurethane paint. Make sure that the buoyancy is bolted to the frame before deployment.. Never deploy the vehicle with any part of the buoyancy removed. Damage to the buoyancy can be repaired using part epoxy adhesives or fillers... Thrusters Refer to Drawing Nos. Thruster Unit Assembly Rotor Assembly 55MAS 57MAS The Mohican ROV is fitted with six SubAtlantic SPE0 brushless DC electric thrusters. This section describes the operation and maintenance of the Mohican thruster system. The following precautions should be noted and observed at all times. WARNING!! VEHICLE THRUSTERS ROTATE AT HIGH SPEEDS. DO NOT TOUCH THE PROPELLER BLADES IF THE VEHICLE IS POWERED UP. DO NOT OPERATE THE VEHICLE THRUSTERS UNLESS YOU ARE SURE THAT ALL PERSONNEL ARE CLEAR OF THE VEHICLE. WHEN MAINTAINING THRUSTERS FITTED TO THE ROV, ENSURE VEHICLE POWER IS ISOLATED AND LOCKED OFF. WARNING!! HIGH VOLTAGE ELECTRICITY IS PRESENT IN THE THRUSTERS. HIGH VOLTAGE ELECTRICITY CAN INJURE AND KILL. ENSURE THAT ALL RELEVANT SAFETY PROCEDURES ARE FOLLOWED. ONLY SUITABLY QUALIFIED PERSONEL SHOULD ATTEMPT TO SERVICE OR REPAIR THRUSTERS. General The Mohican is propelled by SubAtlantic s SPE0 Brushless DC thrusters, four axials positioned in the vectored configuration and two verticals. The vector angle of the axial thrusters can be remotely altered while the vehicle is in use by means of a mechanical linkage driven by a rotator unit. The thrusters have been designed with two cavities, the rotor cavity and the stator/electronics cavity. The reason for this is to keep the electrical side free from any potential water ingress paths such as shaft seals. If water does enter the rotor cavity via the shaft seal it cannot reach the electrical components due to a sealed stainless steel liner between the rotor and stator. Both cavities are oil filled. The rotor cavity is pressure Mohican No..doc Rev. Page

15 compensated using an integral compensator. The stator/electronics cavity is compensated by a separate compensator located elsewhere on the vehicle. All six thrusters are connected to this compensator. The compensator is equipped with a valve for each thruster to allow a thruster to be isolated for removal. These valves must be in the open position before diving the ROV to prevent flooding. It is recommended that each valve is tyraped open to prevent accidental closing. The four axial thrusters are fitted to slew assemblies which are fixed to the upper deck of the ROV frame. The two vertical thrusters are mounted directly to upper sections of the frame. The 7way connecting lead carries the 0VDC supply and control voltages to the thruster, it is therefore essential that the electrical connectors are clean and dry before mating to the electronics pod. Each thruster is protected by an amp fast blow fuse in series with the positive leg of the 0VDC supply located on the thruster isolation boards within the port electronics pod. The electronic thruster drive board (PCB076) is located inside the pedestal of the thruster. This board contains the phase drive bridge and the control circuitry. The control circuitry which operates from the VDC supply, processes the command signals to control the speed and direction of the thruster. The rotational direction of the thruster is dependent on the polarity of the proportional command signal with respect to control 0V. A positive signal (after a dead band of 0.V) will result in a forward rotation thus resulting in forward thrust. A negative signal (after a dead band of 0.V) will result in a reverse rotation thus resulting in reverse thrust. The stator windings are equipped with a temperature sensing thermistor. If the winding temperature rises above 0 degrees centigrade the thruster will shut down preventing damage from overheating. See drawing No. 090WIS for wiring details on the thruster. The anodised aluminium body of the thruster is protected from corrosion by an anode. The anode will slowly corrode and disappear and will require periodic renewal. If the anode is not replaced when depleted, the body of the thruster will begin to corrode. Replace the anode when it is half depleted. If the protective anodising becomes scratched or damaged, clean and cover the damaged area with a suitable paint or coating Mohican No..doc Rev. Page 5

16 Filling/Charging Thrusters The thrusters should be oil filled before being fitting to the vehicle: ) To fill the rotor cavity, remove the blank fitting from the charging points on rear end cap. ) Bleed air from the flushing/charging pump hose and connect up to the rotor cavity charging point on rear end cap. ) Position the thruster so that the propeller is upwards. ) Charge up the pump and open the pump valve. 5) Loosen the bleed screw located on the front bearing housing. 6) When it is clear that all air is expelled and while oil is still running from the bleed screw, retighten the bleed screw, close the valve when the compensator is fully expanded. 7) Disconnect the pump from the thruster and refit the blanking plug. ) To fill the stator/electronics cavity, bleed air from the flushing/charging pump hose and connect up to the charging point located on the pedestal. 9) Stand the thruster on the pedestal so that bleed point on the main body is uppermost. 0) Charge up the pump and open the pump valve. ) Loosen the bleed screw located on the main body. Charge up and open the pump valve. ) When it is clear that all air has been expelled and while oil is still running from the bleed point retighten the bleed screw, close the valve and remove the pump from the thruster. Shell Naturelle HFE6 is suitable biodegradable oil. See data sheet in Section 6 of this manual. Alternatively Shell transformer oil or an equivalent should be used. Thruster Removal To remove a thruster from the vehicle, close the valves on the compensator, disconnect the tube fitting from the thruster by pulling back the collar on the quick disconnect, the fitting should pop out. The quick disconnect is self sealing when the fitting is removed so no oil should be lost during removal. Disconnect the electrical connector from the electronics pod. Remove the four retaining screws securing the thruster to the slew unit for the axial thrusters or the upper frame for the vertical thrusters. When refilling with oil make sure that all the air is removed from the thruster before refitting to the vehicle. Refitting is a reversal of removal but care should be taken when reconnecting the tube fitting. Ensure that any air is bled form the tube Mohican No..doc Rev. Page 6

17 before reconnecting by opening the compensator valve until oil appears. A positive click should be felt ensuring that the fitting is fully connected. Open up the compensator valve and check for leaks. The nozzle is an important part of the thruster assembly, never run the thrusters in water without the nozzle. This will result in a drastic reduction in thrust and an increase in thruster current causing the thrusters to over heat. Although the thrusters can be tested in air for reasonably long periods they are designed to be water cooled. When the system is on the surface, ensure that thruster power and autofunctions are switched of at all times to prevent accidental operation of the thrusters. Thruster Maintenance The thruster has been designed to be a low maintenance unit. The following periodic maintenance should be carried out. Ensure the thrusters have been charged with oil before use. Replace the anode when it is half depleted. Replace roller bearings after every 0,000 hours of use Replace shaft seal after every,000 hours of use. Ensure that the thruster connectors are clean and dry, and apply silicone grease to connector orings before connecting thrusters to the electronics pod. If the protective anodising becomes scratched or damaged, clean and cover the damaged area with a suitable paint or coating. After each dive a visual inspection should be carried out on the thrusters for leaks which may be indicated by a drop in level on the pressure compensator. If a thruster has any sign of leaks remove the unit and replace the seals or orings as necessary Check propeller retaining nuts for tightness (. Nm) once a week, loose propellers will result in flooding of the rotor cavity. Mohican No..doc Rev. Page 7

18 .. Vector Angle Control The benefit of this system is increased thrust in the required direction (forward, aft, lateral) when flying the vehicle in strong currents thus maximising water time in tidal areas. The vector angle of the axial thrusters can be remotely altered by +/0 degrees from the pilots console while the vehicle is in use by means of a mechanical linkage driven by a rotator unit. The rotator unit is the same as used for tilting the cameras. The rotator provides feedback of the vector angle which is displayed on the pilots monitor via the video overlay system. When the thrusters are at 5 degrees to the frame the displayed angle will read zero as this is the centre point. If more forward thrust is required the display will read up to +0 degrees. If more lateral thrust is required the display will read up to 0 degrees. The rotator unit which is located below the central lift point is connected to four mechanical linkages which are connected to the slew units. The thrusters are mounted on the slew units. The slew unit bearings should be replaced after every 0,000 hours of use or sooner if signs of wear are detected. See drawing No. 90MAS for assembly details...5 Vehicle Transformer Housing Refer to Drawing Nos. Transformer Housing Assembly Wiring Schematic 9MAS HAN7WIS Warning!! The transformer box on the Mohican ROV and TMS are supplied with 000VAC. Power to the system should be fully isolated and locked off before any attempt is made to open this box. Only suitably qualified personnel should attempt to work on the system. The benefits of using a high voltage/high frequency system are that the high voltage reduces the volt drop in the umbilical and tether thus reducing overall losses. The high frequency along with the twelvepulse output reduces the size of the transformer and amount of capacitance required to produce a smooth DC supply. Large smoothing capacitors would require a large amount of pod space. The oil filled transformer box has two compartments, one for the high voltage/high frequency transformer and the other for the termination of Mohican No..doc Rev. Page

19 the tether. The two compartments linked by holes near the top. Retermination of the tether can be done by draining the oil only from the termination end saving time and oil. The Mohican communicates and transmits video to the surface controller via a fibre optic link in the tether. The fibres are terminated in the transformer box. A fibre connector connects the tether fibres from the transformer box to the starboard electronics pod which houses the fibre optic multiplexer. The primary side of the transformer is supplied with 000VAC phase at 00Hz via the tether. The secondary side has two phase outputs one connected in star and the other connected in delta, which are fed to two phase bridge rectifiers. In this manner the phase voltages supplying the two bridges are displaced by a phase angle of 0 degrees, hence the two sixpulse outputs are symmetrically displaced to give an overall twelvepulse output. The twelvepulse output provides a near smooth direct voltage requiring very little capacitance. The outputs from the rectifiers are series connected to provide 0VDC at KW. The 0VDC supply is fed to the port electronics pod via a way connector where it is distributed to the smoothing capacitor board, thruster isolation boards, light dimmer boards and DC power supplies. A second way connector provides the user with a 0VDC output that can be used to supply hydraulic power units or other user equipment. The transformer box is oil filled and connected to a pressure compensator which maintains a positive internal pressure of 0 PSI preventing water ingress. This compensator should always be full and the valve should be open before diving the ROV. Lack of oil or failure to open the valve will result in flooding leading to serious damage. It is recommended that the valve should be tyraped in the open position to prevent accidental closing. Mohican No..doc Rev. Page 9

20 ..6 Oils and Lubricants (ROV) Various subassemblies on the ROV are oil filled and pressure compensated. Use the oil type as specified below. Wear the required protective clothing when oil filling assemblies, coveralls, boots, safety glasses and gloves. Thruster The oil type used in the thruster motors is Shell Diala or equivalent transformer oil. Transformer Box and Junction Box The oil type used in the transformer box junction boxes is Shell Diala or equivalent transformer oil. Pan & Tilt and Tilt/Rotator Units The oil type used in the pan & tilt and rotator is Castrol Hyspin VG5. It is essential that Castrol Hyspin VG5 or equivalent is used as any other oil will cause damage to the internal motor. Hydraulic System The oil type used in ROV hydraulic system is Shell Tellus or equivalent hydraulic oil. The electrical side of the valve pack and the HPU motor use Shell Diala or equivalent transformer oil. See Auxiliary Equipment Manual for Data sheets on oils and lubricants. The oils and lubricants can be ordered fro SubAtlantic using the following part numbers. Castrol Hyspin VG5 litre Part Number LUB000 Shell Diala: litre Part Number LUB000 Shell Tellus litre Part Number LUB000 Mohican No..doc Rev. Page 0

21 . Port Electronics Enclosure Refer to Drawing Nos. Port Electronics Enclosure Main Assembly Port Electronics Pod Wiring Schematic Port Electronics Pod Layout Thruster Drive Board Layout Light Dimmer Board Schematic Dimmer Board Layout Thruster Isolation Board Schematic Thruster Isolation Board Layout Thruster Termination Board Schematic Thruster Termination Board Layout Capacitor/LIM Board Schematic Capacitor/LIM Board Layout Fan Board Layout Power Supply PCB Layout 9MAS HAN7WIS HAN7LAS 076LAS 070ELS 070LAS 069ELS 069LAS 05ELS 05LAS 07ELS 07LAS 00LAS 06LAS WARNING!! HIGH VOLTAGE (0VDC) ELECTRICITY IS PRESENT IN THE PORT ELECTRONICS POD WHICH COULD PROVE FATAL IF TOUCH OR MISSUSED. ENSURE THAT POWER TO THE POD IS ISOLATED BEFORE OPENING. DO NOT OPEN THIS POD UNLESS YOU ARE QUALIFIED TO DO SO. General The Port Electronics enclosure contains all the electronics circuits to control the vehicle thrusters and lights. This section of the manual discusses the operation and function of the circuit boards and components of this pod. The circuit boards within the pod are driven by signals from the telemetry board located in the starboard pod. Two 9way connectors provided the link between the port and starboard electronics pods. See drawing No. HAN7WIS for details on Port Pod wiring and drawing No. HAN7LAS for PCB and connector locations. The Electronics Pod is a hard anodised aluminium single atmosphere housing designed for use underwater. A number of underwater connectors connect the pod to the various external devices on the ROV. To remove the pod from the vehicle, disconnect all the subsea connectors, slacken off the two frame retaining clamp screws and slide the pod out the rear of the vehicle. The pod should only be opened in a dry environment. The front end of the pod which is held in place with a nylon cord does not normally need to be removed. Remove the pod clamp and slide out the pod internals being careful not to dislodge any of the board Mohican No..doc Rev. Page

22 connectors. Before reassembly make sure that all board connectors are in the correct place, clean and apply silicone grease to the orings. The pod is fed a 0VDC supply via a way connector from the oil filled transformer box. The 0VDC supply is fed to the capacitor/lim board and the thruster isolation boards. When activated the relays on the isolation boards supply the six thrusters with 0VDC. The capacitor/lim board provides the required soothing and ground fault monitoring for the 0VDC supply. The 0VDC also supplies the light dimmer boards and a switched mode power supply which supplies VDC to all PCB s within the pod. The port pod feeds the starboard pod with a 0VDC supply via one of the 9way interconnecting leads. If the pods protective anodised coating becomes scratched or damaged, clean and apply a suitable paint or coating. Replace the protective anode when it is half depleted... DC Power Supply The port electronics pod contains a switched mode power supply PCB06 which provides a VDC amps, this supplies every board within the pod and may also be used to supply up to amps for additional user equipment... Thruster Termination Board Refer to Drawing No.s 05ELS Thruster Termination Board Schematic 05LAS Thruster Termination Board Layout The thruster termination board is the point where the thruster connectors are terminated except for the high voltage wires which are connected to the thruster isolation boards. Six DC to DC converters, one for each thruster provides the VDC supply for the thruster drive electronics. An onboard micro processor controlled via an RS channel on the vehicle telemetry system provides digital outputs, 6 of which are used to switch latches to drive the relays located on the thruster isolation boards. This board can be removed by unplugging the screw terminal connectors. Ensure that are correctly plugged in and inserted in the correct place before applying power. Mohican No..doc Rev. Page

23 .. Thruster Isolation Board Refer to Drawing No.s 069ELS Thruster Isolation Board Schematic 069LAS Thruster Isolation Board Layout The thruster isolation board is used to switch power to or isolate the 0VDC supply from the thrusters. The onboard relays are energised by latches located on the thruster termination board. The control switches for the latches are located on the pilot s controller. The switches will illuminate when the latches have been energised confirming that the 0VDC has been switched to the thruster. When latched, the relays can not be deenergised unless power to the ROV is switched off. This is to prevent the relay contacts opening under load which would cause continuous arcing and a burn out of the contacts due to the high voltage DC supply. A severe ground fault on a thruster will cause the LIM to shut down power to the ROV. To allow the vehicle to carry on flying the faulty thruster can be isolated. To do this power to the ROV must be momentarily switched off. This will unlatch the relays. It must then be determined which thruster has the problem. Switch on the thrusters one at a time allowing minutes between each one until the fault returns and the faulty thruster has been identified. Momentarily switch off power to the ROV to unlatch the relays then reselect the thrusters missing out the one with a fault. The onboard chokes and capacitors provide filtering of the 0VDC to the thrusters. This helps prevent pulse width modulation noise passing from one thruster to another. The high voltage positive leg to each thruster is protected by an onboard fuse. This fuse must be an 0 amp fast acting type to help prevent any damage to the thruster drive electronics in the event of a fault. Mohican No..doc Rev. Page

24 .. Light Dimmer Board Refer to Drawing No.s 070ELS Light Dimmer Board Schematic 070LAS Light Dimmer Board Layout The port electronics pod contains two light dimmer boards each capable of driving x 50 watt 0V lights. The dimmer boards are connected to the 0VDC supply which is used to power the lights. A VDC supply is used to power the onboard control circuitry. The control signals (05VDC) are generated at the Surface Control Unit and are sent to the vehicle via the telemetry system. The dimmer circuit requires only one control signal per board to simultaneously control both outputs. A 05V input will equate to a 00V output. When the control voltage is zero the relays will be deenergised isolating the lights. The outputs from the boards are fed to a fuse pod which contains a fast blow fuse for each light. When a light controlled by DC blows it often takes out the fuse, this pod allows quick access for fuse replacement. Each light is connected to the fuse pod via way underwater bulkhead connector. See drawing No. HANWIS for wiring details on the fuse pod. Circuit Description Power to the onboard electronic control circuitry is supplied by an external VDC supply. Two onboard DC to DC converters (PS and PS) provides +V and V for the operational amplifiers and other circuitry. The input command voltage to the board is 05VDC. The input command voltage is isolated from the high voltage circuitry by IC5. The output of IC5 is fed to a comparator circuit based around IC which feeds the pulse width modulation (PWM) circuit IC. When the command voltage rises above 00mv the relays are energised via the comparator circuit IC6B and the optoisolator IC7. Relays and are used to isolate the lights when switched off. As the command voltage increases, the duty cycle of the PWM from IC increases. The PWM circuit drives the main output mosfets via optoisolators IC and IC. Two DC to Dc converters provide the power supply to the output side of the optoisolators. The output from the mosfets is fed to a Buck Converter stage consisting of a diode, a choke and a capacitor providing a reasonably smooth output. Feedback from the output voltages are fed to the Mohican No..doc Rev. Page

25 comparator circuitry based around IC and compared with the input command to provide the required brightness of the lights. The output voltage to the lights can be simultaneously altered by potentiometer RV. To adjust the output set the input command voltage to 5V then adjust RV until the output to the lights is 0V..5 Line Insulation/Capacitor Board Refer to Drawing No.s 07ELS LIM/Capacitor Board Schematic 07LAS LIM/Capacitor Board Layout The LIM/Capacitor board provides the required smoothing and insulation monitoring of the 0VDC supply. The board contains a standard Bender Line Insulation Monitoring unit. The bender unit monitors both positive and negative legs of the 0VDC supply. The output of the unit is conditioned and fed into one of the analogue channels of the telemetry system. The output of the analogue channel at the surface controller is fed to a LIM receiver board where it is conditioned and fed to a meter located on the front panel of the PDU. The unit can be tested by applying a 5V signal to pin 9 of CN activating the onboard relay which connects an earth to the test point of the Bender unit. This is done via the telemetry system using one of the digital channels. The board also monitors the level of the 0VDC supply via IC. The output of IC is fed to a buffer via RV which is adjusted to give an output of.0vdc which represents a supply voltage of 0VDC. The output of the buffer is fed to one of the analogue channels of the telemetry system where it is relayed to the surface controller and can be displayed on the pilots monitor for diagnostic purposes. Mohican No..doc Rev. Page 5

26 ..6 Cooling Fan The cooling fan is located at one the end of the electronics rack to aid air circulation thus providing cooling for the internal electronics. The fan runs from a VDC supply and is protected by a 0.5 amp onboard fuse...7 Vacuum (Port Pod) The port pod is not able operate with a vacuum due to the heat generated by the internal electronics. The vacuum port is used for test purposes only. The vacuum should be released once testing is complete. Always vacuum test the pod to 0. bar for a period of 0 minutes after opening and reassembly. The vacuum must be removed before operating the system. This is done by removing the tube from the vacuum pump and connecting it to the vacuum port. This will allow air to enter the housing. Remember to replace the dust cap. Warning!! Make sure that the end of the tube is not lying in water whilst carrying out this process or water will be sucked into the housing causing catastrophic damage. WARNING!! It is important that the dust caps are replaced as deployment without them will result is the pod flooding causing a catastrophic failure. SubAtlantic can supply a vacuum kit containing a hand operated vacuum pump, vacuum gauge, tube and fittings. Part No. 6MAS. Mohican No..doc Rev. Page 6

27 . Starboard Electronics Enclosure Refer to Drawing Nos. Stbd. Electronics Pod Main Assembly 9MAS Stbd. Electronics Pod Wiring Schematic HAN7WIS Stbd. Electronics Pod Layout HAN7LAS Telemetry Board Electronic Schematic 076ELS 5 Channel Relay Board Schematic 0ELS 5 Channel Relay Board Layout 0LAS Telemetry Interface/Relay Board Schematic 0ELS Telemetry Interface/Relay Board Layout 0LAS Gyro/Power Supply Board Schematic 05ELS Gyro/Power Supply Board Layout 05LAS Fibre Optic Board Schematic 06ELS Fibre Optic Board Layout 06LAS Power supply Layout 06LAS WARNING!! HIGH VOLTAGE (0VDC) ELECTRICITY IS PRESENT IN THE STARBOARD ELECTRONICS POD WHICH COULD PROVE FATAL. DO NOT OPEN THIS POD UNLESS YOU ARE QUALIFIED TO DO SO. ENSURE THAT POWER TO THE POD IS ISOLATED BEFORE OPENING. General The Starboard Electronics Pod contains all the electronics circuits to control the vehicle cameras, sonar and camera tilt unit etc. This section of the manual discusses the operation and function of the circuit boards, sensors and components within this pod. Two 9way connectors provided the link between the port and starboard electronics pods. The electronics pod is a hard anodised aluminium single atmosphere housing designed for use underwater. A number of underwater connectors connect the pod to the various external devices on the ROV. To remove the pod from the vehicle, disconnect all the subsea connectors, slacken off the two retaining clamp screws and slide the pod out the rear of the vehicle. The pod should only be opened in a dry environment. The starboard pod is fed with a 0VDC supply from the port pod via one of the 9way interconnecting cable between the two pods. This supply feeds the switched mode power supplies. See drawing No. HAN7WIS for details on Starboard Pod wiring and drawing No. HAN7LAS for PCB and connector locations. Mohican No..doc Rev. Page 7

28 If the pods protective anodised coating becomes scratched or damaged, clean and apply a suitable paint or coating. Replace the protective anode when it is half depleted... Control System The ROV control system consists of the following five main PCB s: PCB076 PCB0 PCB05 PCB0 PCB06 Telemetry Board Telemetry Interface/Relay Board Gyro/Power Supply Board 5 Channel Relay Board Fibre Optic Board These five boards form the main control/telemetry part of the electronics pod. See drawing No. HAN7WIS for wiring details between the boards... Telemetry/Relay Interface Board Refer to Drawing No.s 0ELS Telemetry/Relay Interface Board Schematic 0LAS Telemetry/Relay Interface Board Layout The Telemetry/Relay Interface Board plugs directly into the ROV telemetry board (PCB076) via the 6way DIN connector. A series of screw terminal connectors replicate the 6way connector on the telemetry board allowing the user an easier method for termination. The interface board contains relays which are operated from the remote controller via the telemetry system. Eight digital channels are used to operate the relays using a driver IC. The relay contacts are used to switch power to cameras, sonar and auxiliary port and are capable of switching loads of amps at 0VAC. The interface board also contains the electronic components and probes to provide a water ingress alarm. If water is detected, a 5V output is fed from this board to digital input channel on the telemetry board. This information is relayed to the surface control unit where an alarm is sounded and an indicator indicates the type of alarm. The ROV depth sensor is connected to the telemetry interface board. A DC to Dc converter provides the 5V supply for the sensor. IC converts the output data to a RS data string which is fed into the telemetry board. Mohican No..doc Rev. Page

29 .. The Gyro/Power Supply Board Refer to Drawing No.s 05ELS Gyro/Power Supply Board Schematic 05LAS Gyro/Power Supply Board Layout The Gyro/Power Supply Board contains two switched mode power supplies, a +V/V 0.5 amps per rail and a 5V amps. Both power supplies are fed from the 00VDC supply. The +V/ V power supply is used to power the onboard gyro circuitry and the telemetry board. The 5V supply is used to power the fibre optic board (PCB06) and supply a reference for the feed back potentiometers in the pan & tilt unit The Gyro/Power Supply Board also contains the rate gyro. A rate gyro will give an output voltage proportional to speed at which it rotates on its axis. If selected, this output is mixed with the two rear axial thruster command signals. This keeps the vehicle on a straight line when flying forward or in reverse and stops the vehicle rotating after a spin command. When autoheading is selected the rate gyro is also automatically selected, this helps maintain a stable heading. The gyro is selected from the remote controller. The gyro board works in conjunction with the telemetry and compass board to provide the head hold. When head hold is selected, analogue output channel on the telemetry board becomes active to the compass. This output is connected to the heading input on the gyro board. At the precise moment head hold is selected, the output from the telemetry board will be 0V. If the vehicle rotates clockwise, the output will increase by +0mv per degree. If the vehicle rotates counter clock wise, the output will increase by 0mv per degree. This signal is amplified and fed to the two axial thrusters to maintain the heading. The vehicle may be flown forward or reverse while maintaining the selected heading. It is recommended that the thruster power is trimmed to 70% when flying in autohead. If the vehicle is operating close to a large steel structure, the compass reading may be affected which will also affect the autoheading function. Note: Only the two rear thrusters are used for the head hold and rate gyro functions. Mohican No..doc Rev. Page 9

30 .. 5 Channel Relay Board Refer to Drawing No.s 0ELS 5 Channel Relay Board Schematic 0LASmq 5 Channel Relay Board Layout PCB0 is a 5 channel relay board. The board is powered from the VDC power supply (PCB06). The 5 relays are controlled via a bit binary word provide by digital channels on the telemetry system. This o allows only one function to be operated at a given time but uses less channels on the telemetry system. IC is a binary decoder which decodes the bit input into one of 6 outputs. The first output is not used as this is active when all inputs are at zero. The outputs are fed to IC and IC which are relay driver IC s. The outputs of these IC s drive the relays directly. The relays ere used to switch all the momentary functions on the vehicle such as pan & tilt, camera zoom and focus etc. It should be noted that only one of the momentary functions should be operated at a time. If more than one function is operated the bit word will be corrupt and the incorrect function will operate. The relay contacts are capable of switching loads of amps at 0VAC and are connected to the edge connectors providing a single pole changeover facility. The normally open (N/O) and normally closed (N/C) contacts can be connected to the +V or 0V rails by a series of way links, this helps minimise wiring when using the relay contacts. Link A connects the contact to +V and link B connects the contact to 0V. For example to control a VDC motor such as the tilt motor in both directions, relays and links will be required...5 Fibre Optic Board Refer to Drawing No.s 06ELS 06LAS Fibre Optic Interface Board Schematic Fibre Optic Interface Board Layout The Mohican is fitted with a Focal Fibre Optic System as standard. The system consists of a video transmitter board (PCB06) at the vehicle and a video receiver board (PCB056) located inside the electronics rack of the PDU. The fibre optic boards are fitted with Wave Division Multiplexers Mohican No..doc Rev. Page 0

31 (WDM) allowing the system to run on only one multimode or single mode fibre (depending on customer specification). The same board may also be used in the TMS to transmit telemetry and video. PCB06 is powered from the 5VDC supply located on PCB05. Power consumption is approximately amp. The system provides three video channels, bidirectional RS channels and bidirectional RS5 channels. One of the RS5 channels is used for the vehicle telemetry system. The second RS5 and a RS channel are connected to the auxiliary port allowing access for user equipment. The spare RS5 and RS can be used to communicate with additional user equipment. Because the ROV system is Equipped with a fibre optic system, the tether must be terminated into the oil filled transformer box, see drawing No. OCE9WIS. The fibres enter the vehicle electronics pod through a single pass or pass (depending on customer specification) fibre optic connector and penetrator. Although the connector may contain four optical passes, only one is required to run the vehicle. Additional fibres may be used for survey or inspection equipment. 9way DType connectors are provided on the rear panel PDU module for user connection to the spare RS and RS5 data channels. See Auxiliary Equipment Manual for more technical information on the fibre optic boards...6 DC Power Supplies The electronics pod contains three switched mode power supply boards as standard all powered from the 0VDC supply. PCB05 which is described earlier in this section of the manual contains two power supplies, a +V/V 0.5 amps per rail and a 5V amps. The pod is also equipped with a further x VDC power supply boards (PCB06) each capable of supplying amps. These supplies are used to supply the cameras, sonar, and pan & tilt unit etc. Additional power supplies may be fitted to supply user equipment. Mohican No..doc Rev. Page

32 ..7 Vehicle Telemetry See Drawing No. 076ELS Sheets The vehicle telemetry system is the heart of the starboard electronics pod. It controls all the main functions to and from the vehicle. The system uses a single twistedscreened pair or a fibre to transmit and receive RS5 data. The telemetry board has x bit resolution analogue inputs and outputs. It also has 6 digital inputs and outputs. Five of the analogue outputs are used to drive the thrusters and two to drive the light dimmer board. Four of the analogue inputs are used to transmit information such as depth, altitude and camera tilt positions to the surface to be displayed by the video overlay. The digital outputs drive relay boards which switch various functions such as camera focus, zoom, pan & tilt and auto functions etc. The digital inputs are used to relay alarms such as vacuum and water ingress to the surface. The boards have a series of links which are used to select bipolar inputs and outputs on the analogue channels. The links must be set up correctly as the thruster drive boards require bipolar signals and the light dimmer boards require unipolar signals. Links to set the input signals and links 9 to 6 set the output signals. If the link is not fitted the channel is set for unipolar if fitted the channel is set for bipolar. The following links should be made on the bottom side telemetry board PCB076. Link,,,,5,6 and 9. Main Processor Programmable Device Links,,,,5,6, 9 on bottom side Mohican No..doc Rev. Page

33 The following links should be made on the top side telemetry board PCB076. Link,5,6,7,,9A and 0A. Links,5,6,7,,9A,0A on topside board. Main processor programmable device Links to 6 on the bottom side board set analogue output channels to to bipolar (±5V) mode. Channel is used as an output for the head hold function. Channels to are used to drive the thrusters. Links to on the topside board set analogue input channels to to bipolar. The inputs to these channels come from the joystick interface board. Link 9A connects the communications link status output to pin C. For more information on the telemetry system see section.6. of this manual. Mohican No..doc Rev. Page

34 .. Vacuum (Starboard Pod) The starboard pod is not able operate with a vacuum due to the heat generated by the internal electronics. The vacuum port is used for test purposes only. The vacuum should be released once testing is complete. Always vacuum test the pod to 0. bar for a period of 0 minutes after opening and reassembly. The vacuum must be removed before operating the system. This is done by removing the tube from the vacuum pump and connecting it to the vacuum port. This will allow air to enter the housing. Remember to replace the dust cap. Warning!! Make sure that the end of the tube is not lying in water whilst carrying out this process or water will be sucked into the housing causing catastrophic damage. WARNING!! It is important that the dust caps are replaced, as deployment without them will result is the pod flooding causing a catastrophic failure. SubAtlantic can supply a vacuum kit containing a hand operated vacuum pump, vacuum gauge, tube and fittings. Part No. 6MAS. Mohican No..doc Rev. Page

35 . Vehicle Sensors.. Depth sensor The standard depth sensor is a Scan Sense PS0 0.% FSD pressure sensor. The sensor is fed from a 5VDC on the telemetry interface board (PCB0). The RS output is connected to the ROV telemetry system also via the telemetry interface board where it is used as the reference for the depth hold system. See drawing No. HAN7WIS for wiring details. The signal is transmitted to the surface where it is converted to an analogue output from analogue channel and fed to the video overlay system and displayed on the pilot s video monitor... Compass Pod See drawings HANWIS 056MAS Compass Pod Wiring Compass Pod Assembly The vehicle uses a TCM magnetic fluxgate compass. The unit is housed in a one atmosphere housing located near the front of the vehicle (see drawing 056MAS). A 5way connecting lead is used to connect the compass to the vehicle electronics pod. This lead supplies the compass with VDC and connects the RS output of heading sensor to the vehicle telemetry board for use in the vehicle autoheading functions. The heading, pitch and roll information is also transmitted to the surface via the vehicle telemetry system where it is displayed on the pilot s video monitor. The compass module requires a VDC supply. A voltage regulator is used to reduce the VDC supply to VDC. The compass should be calibrated while fitted to the vehicle following the procedure in the manufacturer s manual. Refer to Manufacturer s Manual located in Auxiliary Equipment Manual for more information on the TCM Compass. Mohican No..doc Rev. Page 5

36 .. Altimeter An altimeter may be fitted to the ROV. A number of manufacturer s can supply units that are compatible with the Mohican. If fitted, the analogue output may be used for the autoaltitude functions. The analogue output is also be transmitted to the surface via the vehicle telemetry to be displayed on the pilot s video monitor. Refer to manufacturer s manual located in Auxiliary Equipment Manual for more information on the altimeter. CAUTION!! Autoaltitude may not be as reliable as autodepth. This is because the altimeter relies on sending and receiving sound waves to and from the sea bed, if for some reason the altimeter fails to receive a signal the output defaults to 0V. This may cause the ROV to fly up or down without notice. Care should be taken when using autoaltitude... Cameras General The vehicle has standard interface facilities for three cameras. Each camera is connected to the Electronics Enclosure via a 7way under water connecting lead. The camera interfaces are wired in a similar way so either camera can be connected to any port. The focus and zoom facility may only be available on one of the camera interfaces. The video outputs from the cameras are connected to the fibre optic transmitter board (PCB06). All cameras are powered by VDC provided by PCB06 power supply board. The camera supplies are switched by relay board PCB0. See drawing No. HAN7WIS for wiring details of camera power supplies, zoom and focus controls. The cameras are attached to brackets which are mounted to the tilt unit. For further information on the cameras refer to Manufacturer s Manual located in Auxiliary Equipment Manual. Mohican No..doc Rev. Page 6

37 ..5 Sonar See drawing No. HAN7WIS for sonar wiring details. The sonar head is connected to the starboard electronics pod via a 5way under water connecting lead. Power to the sonar (VDC) is switched by relay board PCB0. The sonar head is attached to the mounting bracket as shown in drawing No. 66MAS. Refer to Manufacturer s Manual located in Auxiliary Equipment Manual for operation & maintenance instructions...6 Tracking Beacon or Transponder If fitted the Tracking Beacon Head is attached to the mounting brackets in the centre of the vehicle frame. The head protrudes through the main buoyancy block. An interface on the electronics pod may also be provided for charging the transponder..5 Vehicle Equipment.5. Camera Tilt Unit Refer to Drawing Nos. Tilt Unit Assembly Drawing Tilt Unit Wiring Schematic 05MAS 0099WIS If a pan & Tilt Unit is fitted to the ROV, refer to Auxiliary Equipment Manual for further details. The camera tilt unit is the same as the unit used for the thruster vector angle adjustment. It is also used on the TMS for the vehicle depressor. On the Mohican the tilt platform is linked to the tilt unit by a drive chain. This chain will stretch with use and will require periodic adjustment. A nylon tensioner is provided for this purpose. The tilt platform is designed to carry two cameras and one light. Position the camera and light wiring so to prevent snagging when tilting. Ensure that this wiring can not be sucked into the thrusters. This should be checked with the tilt unit in various positions. Mohican No..doc Rev. Page 7

38 Tilt Unit Specification Input Voltage: VDC Specific Torque: N.m/Amp Nominal Torque: N.m Nominal Current: Nominal Output Speed:.6 RPM Stall Torque: N.m Stall Current: 0. Amps Oil Type: Castrol Hyspin 5 Electrical The SubAtlantic tilt unit provides vertical rotation of the cameras and a light. The unit is powered by VDC and has a normal operating current of 600mA. The stall current is 0. amps with a stall torque of Nm. The motor is protected by a current limit board mounted directly on the back of the motor. The tilt unit is connected to the electronics pod via a 5 way under water connecting lead. See drawing 0099WIS for electrical wiring details. Feedback Potentiometer The unit also has a positional feedback potentiometer fitted. The input voltage to the potentiometer is 5VDC and the output will be 05V for 060 degrees of rotation. This output signal is fed to the vehicle telemetry and transmitted to the surface to be displayed on the pilot s monitor. To set the feedback potentiometer, slacken the bracket retaining screw and rotate the body of the pot or the gear until the required output value is obtained at a particular shaft position. Retighten the retaining screw after setting. Mechanical The unit is manufactured from acetal which provides a corrosion free structure for a subsea environment. The unit is oil filled (oil type: Castrol Hyspin 5) and has a built in pressure compensator. The compensator ensures that there is 0PSI pressure differential between the inside of the unit and the external surrounding environment, the higher pressure being inside the unit. Mohican No..doc Rev. Page

39 Preventative Maintenance Maintenance of the tilt unit is minimal and generally consists of changing the oil and carrying out the following checks: Check pressure compensator before and after each dive, top up with oil as necessary. Change pressure compensation oil every 5000 hours of ROV running time. Check for excessive backlash in the tilt shaft and adjust bearing caps as necessary. Repair any damage to the protective anodised coating as soon as possible using a suitable paint. For full details of the Tilt Unit see Drawing No. 05MAS.5. Lights Refer to Drawing Nos. ML00 Light SubAssembly 009MAS The standard vehicle is fitted with four lights, three mounted on the frame and one mounted on the tilt platform. Two dimmer boards located in the starboard electronics pod are each capable of driving x 50watt 0V lights. Each light is connected to the fuse pod via a way connecting lead. The fuse pod is connected to the vehicle electronics pod via a 9way connecting lead. When a light controlled by DC blows it often takes out the fuse, this pod allows quick access for fuse replacement. Fast blow fuses rated at.6 amps should be used. See drawing No. HANWIS for wiring details on the fuse pod. The vehicle has two independently dimmable lighting circuits. Two potentiometers located on the pilot s remote control panel control the brightness of the lights. The pots supply a 05V signal to the input of analogue channels and on the surface telemetry board. The outputs from analogue channels and on the vehicle telemetry board are connected to the inputs of the light dimmer board. Each dimmer board has two onboard fuses rated amps, one for each light. See section.. of this manual for more information on the light dimmer board. The vehicle lights are attached to the mounting brackets as shown in the above referenced drawings. Refer to Manufacturer s Manual located in Auxiliary Equipment Manual for operation & maintenance instructions. Mohican No..doc Rev. Page 9

40 .5. Vehicle Interconnecting Cables Refer to Drawing Nos. Vehicle Layout Schematic HAN70LAS The above drawing shows the interconnecting cables between the various items of equipment on the ROV. Metal shell connectors are used on the system. Care should be taken to prevent water entering the connector by cleaning before separating. Make sure that the connectors are completely free of water before being reconnected. If an item is removed from the vehicle, the connectors should be cleaned and orings greased with a suitable silicone grease. The orings are located in the lead half of the connector. To clean orings remove the Spiro Clip behind the brass locking nut which can be pulled back allowing access to the orings. Connector showing locking collar in operating position. Connector showing Spirol clip and Locking collar pulled back allowing access to the orings. Cables should be inspected regularly for signs of damage and deterioration and replaced as required Mohican No..doc Rev. Page 0

41 .6 Surface Control Consoles WARNING!! The control console contains HIGH VOLTAGE ELECTRICITY, only qualified personnel should attempt to open or repair the system. The transformer isolation switch should be locked OFF before any repair or maintenance work is carried out on the system. The Surface Power Distribution Unit and Control Console are designed for operation in a dry, clean and well ventilated area. General The Mohican is supplied with a Power Distribution Unit/Electronics Rack housed in an U, 9 rack mount unit. This module is connected to the high voltage transformer and the pilots remote console. The console is the interface between Pilot/Operator and the ROV. The unit contains all of the necessary power supplies and electronic interfaces required for communicating with and controlling the ROV from the surface. In conjunction with the Power Distribution Unit (PDU) the Control Console distributes electrical power to the ROV & TMS and contains controls for the other optional equipment that may have been fitted to the ROV. A video overlay system provides the operator with on screen vehicle information such as time, date, heading, depth, altitude and camera tilt angle..6. Remote Pilot s Console Refer to Drawing Nos. HAN75WIS 00ELS Sheets & 076ELS Sheets 0550ELS 0550LAS Pilot s Console Wiring Schematic Joystick Interface Board Telemetry Board Schematic Remote Control Power Supply Remote Control Power Supply General The pilot s control console contains all of the necessary switches and joysticks etc. to fly and control the ROV. The console communicates with the ROV using an optoisolated RS5 data transmission system connected to the vehicle via a fibre link through the main umbilical and the tether. The remote console is connected to the main PDU via a 9way connector. The pilot s console incorporates the following controls for the ROV and TMS: Mohican No..doc Rev. Page

42 Depth Joystick This joystick controls the vertical thrusters. The supply voltage to the joystick is +/5V. When in the centre position, the output is referenced to 0V. Auto depth or altitude should only be selected when the joystick is in the centre position. If auto depth or altitude is selected, the use of the joystick will override the auto function. When the joystick is returned to the centre position, the auto function will be reselected and the new depth or altitude will be maintained. The output from this joystick is fed to the Joystick Interface Board were it is processed and then fed to the telemetry board. Main Joystick The main joystick which has axis controls the four vectored thrusters. The supply voltage to the joystick is +/5V. When in the centre position the output is referenced to 0V. Auto heading should only be selected when the joystick is in the centre position. If auto heading is selected, a spin command will override the auto heading. When the joystick is returned to the centre position, the auto function will be reselected and the new heading will be maintained. The outputs from this joystick are fed to the Joystick Interface Board where they are processed and then fed to the telemetry board. Care must be taken not to apply excessive pressure to the joysticks. Tilt Unit Joystick The tilt unit joystick controls the up and down movements of the tilt unit thus controlling the movement of the vehicle cameras. The supply voltage to the joystick is 5V. The 5V switched outputs from the joystick are fed to the digital inputs on the Telemetry Board. Vehicle Light Dimmer Control Potentiometers The light dimmer control potentiometers are used to control the brightness of the vehicle lights. Two independent channels control up to four lights. The supply to the potentiometers is 5VDC. The outputs, which are 05VDC are fed to two of the analogue channels on the surface Telemetry Board. Vehicle Percentage Thrust Meters Four LCD meters are used to display the percentage of thrust being applied to each thruster as the joysticks are being operated. The meters will still read joystick movements if power to the vehicle is switched off. The full scale of the meters is 99mv, the signals for the meters are processed by the joystick interface board. A 5V thruster command will be equal to 00mv to the meter, which will indicate 00% of thrust. The supply voltage to the meters is +/5V. A total of eight LED indicators, Mohican No..doc Rev. Page

43 indicate which direction the thrusters are rotating. Comparator circuits on the joystick interface board control the LED s, monitoring joystick movements. Thruster Power Sensitivity Controls The thruster power potentiometers control the amount of power available to the thrusters, for example, if the spin potentiometer is set to the midway position and the axial potentiometer is set to 00%, the pilot will have a 050% spin command and a 000% forward/reverse command available at the joystick. The potentiometers signals are processed by the joystick interface board Vehicle Function Switches The vehicle function switches control the vehicle auto functions and the camera controls. The latching switches will be illuminated when in the ON position. The 5V outputs from these switches are fed to the digital input channels of the Telemetry Board. TMS Function Switches The TMS function switches control the TMS tether in, tether out and the TMS lights. The outputs from these switches are fed to the TMS Telemetry Board which is located in the electronics rack. Thruster Isolation Switches A severe ground fault on a thruster will cause the LIM to shut down power to the ROV. To allow the vehicle to carry on flying the faulty thruster can be isolated. To do this power to the ROV must be momentarily switched off. This will unlatch the relays. It must then be determined which thruster has the problem. Switch on the thrusters one at a time allowing minutes between each one until the fault returns and the faulty thruster has been identified. Momentarily switch off power to the ROV to unlatch the relays then reselect the thrusters missing out the one with a fault. Trim Potentiometers and Switches The system is equipped with trims for forward, reverse and lateral movements. If a trim is in use it can be overridden by the joystick or switched off using the trim switches. The trim circuitry is located on the power conditioning board PCB0550. Axial and lateral outputs from the joystick are fed into this board. The outputs of the board are fed into the joystick interface board PCB00. Always ensure that the trims are switched off before powering up the vehicle or the thrusters may run and over heat. Mohican No..doc Rev. Page

44 Alarms The front panel of the controller has a series of LED s and a buzzer to indicate various faults on the vehicle. The water ingress LED s will indicate if water is detected in the bottom of the vehicles electronics pod, the buzzer will also sound. This can be silenced by pressing the mute button. Water ingress and high temperature alarms are provided for the transformer box. The temperature alarm will indicate if the temperature rises above 70 degrees centigrade A steady green comms LED indicates that telemetry has been established with the vehicle. A flashing LED indicates loss of telemetry. The buzzer is not connected to this function. Excessive force should never be used on any of the pilot s console controls. Mohican No..doc Rev. Page

45 .6. Joystick Interface Board Refer to Drawing Nos. 00ELS Sheets & HAN75WIS Joystick Interface Board Pilots Console Wiring General The joystick interface board is located within the pilot s console enclosure. The interface board processes signals from the joysticks and sends the processed information to analogue channels of the telemetry system. The telemetry system converts the analogue information into digital information then transmits it to the vehicle telemetry board where it is converted back to analogue and used to drive the thrusters. Joystick Interface Circuit Description The joystick outputs are fed to the inputs of a series of buffers. The outputs of the buffers are fed to the power control potentiometers, mounted on the pilot s console. The wipers from the potentiometers feed the four main inputs on the interface board, spin, axial, lateral and vertical. The first input stage amplifies the signal to a level of 5V for a full joystick command. The spin, lateral and axial commands are mixed to allow the steering of the vehicle while moving forward or reverse. When the board receives a spin command, this will proportionally reduce the voltage available to the lateral and axial joystick potentiometer. This voltage is normally ±5 V. The board has five main outputs, one for each thruster. The outputs should swing to +5V with a full command in one direction and 5V with a full command in the other direction. A series of comparators monitor the output signals and drive the direction LED s which are mounted on the pilot s console. The comparators reference voltage is 0.V; the LED s will indicate when the output voltage rises to +0.V or falls below 0.V. The comparators are also used to drive relays for the spin and vertical commands. When a spin or vertical command is given, these relays will operate. The relays are used to deselect the autofunctions. Outputs are also provided for the power indication meters mounted on the pilot s console. These outputs should be adjusted using the on board potentiometers to obtain a reading of 00.0 for a full joystick command. This reading represents 000% of thrust. Mohican No..doc Rev. Page 5

46 Joystick Interface Board Setup The board is best set up whilst connected into the remote controller. ) Disconnect the connector from the telemetry board to prevent damage whilst adjusting the joystick interface. ) Make sure that the power potentiometers are up full, the trims are switched off and thruster isolation switches are on. ) Plug the controller into the PDU to apply power. ) Apply a full clockwise spin command and adjust RV until +5V is obtained at IC Pin. 5) Apply a full right lateral command and adjust RV until +5V is obtained at IC Pin. 6) Apply a full forward axial command and adjust RV until +5V is obtained at IC Pin. 7) Apply a full down vertical command and adjust RV until +5V is obtained at IC7 Pin. ) Whilst applying full commands, adjust RV until the spin meter reads 00.0, adjust RV5 until the lateral meter reads 00.0, adjust RV6 until the lateral meter reads 00.0, and adjust RV9 until the vertical meter reads Adjustment is now complete. Mohican No..doc Rev. Page 6

47 .6. Telemetry System Refer to Drawing Nos. 076ELS Sheets Telemetry Boards Schematic Topside Board PCB076 Bottomside Board PCB076 Telemetry Specification Supply voltage: Supply Current 6VDC V (nominal) Analogue channels: inputs and outputs All bit resolution Input 05V Unipolar +/5V bipolar Output 05V Unipolar +/5V bipolar Digital channels: 6 inputs and 6 outputs, TTL levels Maximum Input Voltage: 5.V Minimum Input Voltage: 0.V Output current per pin ± 0mA (nominal) Communications link: RS 5 Maximum baud rate 5,000 Optically isolated General Description The telemetry board receives analogue information from the joystick interface board and light dimmer potentiometer. The digital inputs are from various switches, the tilt joystick camera focus and zoom etc. This information is converted into digital serial information and transmitted to the vehicle telemetry board via a single screened twisted pair cable. The topside board also receives data back from the vehicle board on the same twisted pair cable. This data is converted into analogue signals which are fed to the video overlay unit and then displayed on the pilot s video monitor, and digital signals which may be vehicle water ingress alarms etc. Mohican No..doc Rev. Page 7

48 Two cards are used in the system: an octagonal subsea board located on the ROV in the Electronics Housing and a single Eurocard format surface board located in the pilot s console enclosure. The circuitry on the top and bottom side boards is identical. Both boards require a VDC power supply at 50mA. The telemetry system is a twoway serial multiplexing system that provides analogue inputs and outputs and 6 digital inputs and outputs. The analogue channels are bit resolution. The data is transmitted via a single screened twisted pair cable up to kilometre in length in RS 5 format. The cards communicate in half duplex mode over a serial data link that uses RS 5 drivers at a maximum rate of 500 baud. The data transmission rate is user selectable to one of baud rates as shown in Table. Table RS5 link baud rate selection Link 7 Link Link 9 Baud Rate IN IN IN 500 OUT IN IN IN OUT IN 00 OUT OUT IN 900 IN IN OUT 9600 OUT IN OUT 00 IN OUT OUT 00 OUT OUT OUT 00 Both cards operate in a master/slave relationship, which is determined by a link setting as shown in Table. Table Master / slave selection Link 0 Status Link Slave Open Master The topend card polls regularly for information from the bottomend (slave) card. The master includes the latest settings for the slave outputs in the poll request. When the slave receives the poll request it decodes the output values passed to it from the master, and then replies with its own sampled input data. The result is rapid exchanges of data between the two cards, ensuring that both top and bottomend outputs are refreshed as rapidly as possible. The refresh rate depends on the data rate selected for the data link. Mohican No..doc Rev. Page

49 The subsea and surface cards operate in the same manner, and have identical circuits. See drawing 076ELS sheet for circuit and pin out details. Each card has a highspeed processor that controls the operation of the card and formats data for transmission on the data link. The processor is provided with a watchdog timer to prevent system lockup. The processor is interfaced to an channel, bit data acquisition system, and to an bit DACS. These will provide analogue inputs/outputs channels at bit resolution. The processor also communicates with a Programmable Logic Device (PLD) which will provide 6 bits of digital output data and also provide the logic for selection of the ADC, DAC and multiplexer. The PLD will also have the ability to control the link direction and type. The analogue inputs and outputs can be either 05V unipolar (links open) or +/5v bipolar (links fitted) as shown in Table and Table respectively. The push on links are located the component side of the boards. Table ADC Input Selection Channel Link Unipolar Bipolar Ch Open Link Ch Open Link Ch Open Link Ch Open Link Ch 5 5 Open Link Ch 6 6 Open Link Ch 7 7 Open Link Ch Open Link Table DAC Output selection Channel Link Unipolar Bipolar Ch 9 Open Link Ch 0 Open Link Ch Open Link Ch Open Link Ch 5 Open Link Ch 6 Open Link Ch 7 5 Open Link Ch 6 Open Link The Telemetry system also provides two additional bdirectional RS data inputs and outputs, which form part of the RS5 telegram format. One of the RS data channels is used to transmit the compass data to the surface. Mohican No..doc Rev. Page 9

50 The following tables provide baud rate, data bit format and parity jumper link information. Table 5 RS5 Baud selection LK LK 7 Baud IN IN 500 IN OUT 900 OUT IN 00 OUT OUT Table 6 RS channel A Parity selection LK 0 LK 9 Parity IN IN NONE IN OUT EVEN OUT IN ODD OUT OUT NONE Table 7 RS channel A Serial Link Baud rate selection and data bits Link Link Link Baud Rate Data Bits IN IN IN 00 7 IN IN OUT 00 7 IN OUT IN 00 7 IN OUT OUT OUT IN IN 00 OUT IN OUT 00 OUT OUT IN 00 OUT OUT OUT 9600 Table RS channel B Serial Link Baud rate selection and data bits Link 6 Link 5 Link Baud Rate Data Bits IN IN IN 00 7 IN IN OUT 00 7 IN OUT IN 00 7 IN OUT OUT OUT IN IN 00 OUT IN OUT 00 OUT OUT IN 00 OUT OUT OUT 9600 Mohican No..doc Rev. Page 50

51 Table 9 RS channel B Parity selection LK LK 7 Parity IN IN NONE IN OUT EVEN OUT IN ODD OUT OUT NONE Note: The RS data channels each provide input buffering of up to 00 data bytes. Therefore sufficient time must be allowed between data packets to allow transmission via the RS5 link. Eight data bytes per RS channel are transmitted via the RS5 link, i.e. data bytes approximately every 0ms. Connector Pin Designation Pin Function Pin Function a Digital Out c Digital In a Digital Out c Digital In a Digital Out c Digital In a Digital Out c Digital In 5a Digital Out 5 5c Digital In 5 6a Digital Out 6 6c Digital In 6 7a Digital Out 7 7c Digital In 7 a Digital Out c Digital In 9a Digital Out 9 9c Digital In 9 0a Digital Out 0 0c Digital In 0 a Digital Out c Digital In a Digital Out c Digital In a Digital Out c Digital In a Digital Out c Digital In 5a Digital Out 5 5c Digital In 5 6a Digital Out 6 6c Digital In 6 7a RS CHA TX 7c RS CHA RX a RS CHA 0V Return c RS CHB 0V Return 9a RS CHB TX 9c RS CHB RX 0a RS5 + 0c RS5 a RS5 Common c No Connection LK9AB Open/ +5V Reference LK9B Closed/ Comm Status LK9A Closed a Digital 0V Return c Digital 0V Return a Analogue In c Analogue Out a Analogue In c Analogue Out 5a Analogue In 5c Analogue Out 6a Analogue In 6c Analogue Out 7a Analogue In 5 7c Analogue Out 5 a Analogue In 6 c Analogue Out 6 9a Analogue In 7 9c Analogue Out 7 0a Analogue In 0c Analogue Out a Analogue 0V Return c +V DC Supply a Analogue 0V Return c Supply 0V Return Mohican No..doc Rev. Page 5

52 .6. ROV/TMS Electronics Rack Refer to Drawing Nos. HAN76WIS PDU/Electronics Module Wiring Schematic 000LAS DC Power Supply Layout 07LAS DC Power Supply Layout 076ELS Telemetry Board Schematic 007ELS Relay Board Schematic 007LAS Relay Board Layout 06LAS LIM Receiver Board Schematic 06LAS LIM Receiver Board Schematic 007ELS Overlay Processor Board Schematic 007LAS Overlay Processor Board Layout General The electronics rack is an integral part of the PDU/Electronics module. Access to the various electronic boards is via a hinged door on the front of the module. All of the boards within the rack slide and plug into internal connectors. The card rack contains two power supply boards, TMS telemetry board, TMS relay board, a fibre optic multiplexer, the overlay video board and the overlay processor board. WARNING!! THE PDU/ELECTRONIC RACK CONTAINS HIGH VOLTAGES MAKE SURE THAT POWER TO THE PDU IS ISOLATED BEFORE OPENING THE ELECTRONICS RACK DOOR AND REMOVING POWER SUPPLIES. Drawing No. HID076WIS shows the interconnections between the circuit boards and the vehicle controls..6.5 Video Distribution The fibre optic multiplexer receives up to three video signals from the vehicle. If the system was supplied with a TMS second fibre receiver is used for the TMS video and telemetry. The outputs from the receiver boards are connected to BNC video connectors located on the rear panel of the PDU. The signals are then fed to channel of the video monitors. This allows the camera pictures to be viewed on channel of the monitors before they pass through the video overlay and video recorders. The video monitors channel outputs are fed to the record select switch. This switch selects which video signal is diverted through the video overlay unit. Mohican No..doc Rev. Page 5

53 The overlay unit and recorder are connected in series. The outputs from the video recorders are fed to channel of the video monitors. Channel allows the viewing of video with overlaid text and serves as a play back channel for the video recorders..6.6 DC Power Supplies Refer to Drawing Nos. HAN76WIS PDU/Electronics Module Wiring Schematic 000LAS VDC Power Supply Layout 07LAS Overlay Power Supply Layout The Electronic Rack contains two switched mode power supplies. Both supplies are fed from 0VAC via fuse located on the back panel of the PDU/Electronics Rack. PCB000 provides VDC for the PDU control circuitry and the Pilots Console. PCB07 provides 5VDC for the Video Overlay Processor and Fibre Receiver Boards and VDC for the Overlay Video board. WARNING!! THE PDU/ELECTRONIC RACK CONTAINS HIGH VOLTAGES MAKE SURE THAT POWER TO THE PDU IS ISOLATED BEFORE OPENING THE ELECTRONICS RACK DOOR AND REMOVING POWER SUPPLIES. Mohican No..doc Rev. Page 5

54 .6.7 Video Overlay System FScreen elements to be displayed Pressing the F key will bring up the Screen Components menu as shown on the right. Three of the four screen components may be displayed at the top of the screen or the bottom of the screen or not displayed at all. The Logo can only be displayed at the top right of the screen or not at all. The choice of Logo is either or. Logo is SubAtlantic and logo is the Customer s. To move or display one of these elements e.g. Time, press the key on the keyboard (note, it is the numeric key and SCREEN COMPONENTS. TIME: TOP. DATE: TOP. LOGO: LOGO. ADC : BOTTOM ESC TO GO BACK not the F key). You can then toggle between the three available settings (top, bottom, off) by repeatedly pressing the left or right arrow keys (normally found to the bottom right of the keyboard). Press the following keys to select the following functions: Time Date Logo ADC (i.e. analogue to digital settings. These include depth, altitude and pan & tilt angles). Once a choice has been made use the Escape (Esc) key to accept the changes and use the Escape (Esc) key again to go back to the main front page. Mohican No..doc Rev. Page 5

55 FScreen Appearance Pressing the F key will bring up the Screen Appearance menu. Use the number keys (as per the previous explanation) to select the Font Intensity (i.e. 7 levels of brightness) or the font size (large or small). You can then toggle between the available settings by repeatedly pressing the left or right arrow keys (normally found to the bottom right of the keyboard). Once a choice SCREEN APPEARANCE. INTENSITY: LARGE 7. FONT SIZE: LARGE ESC TO GO BACK has been made, use the Escape (Esc) key to accept the changes and use the Escape (Esc) key again to go back to the main front page. F Time and Date setup Press F to set the system time and date. Again, use the numerical keys to select a particular attribute. A blinking cursor will appear for numeric entry into the fields provided. After data entry use the Escape (Esc) key twice to go back to the main front page. TIME AND DATE. SET TIME: 0:0/09. SET DATE: 06/0/00 ESC TO GO BACK Note: Invalid entry will default to fixed values. F Text page setup Pressing the F key allows you to setup the text pages. The Overlay has a total of 9 text pages which can be used to annotate video. You may wish to use them as header and footer pages to mark the start and end of video footage. SELECT PAGE TO PREVIEW. MAIN TITLE PAGE A. SUB TITLE PAGE A. SUB TITLE PAGE B. LARGE TEXT PAGE A 5. LARGE TEXT PAGE B 6. LARGE TEXT PAGE C 7. SMALL TEXT PAGE D. SMALL TEXT PAGE B 9. SMALL TEXT PAGE C Use the standard method of ESC TO GO BACK selecting the parameter you wish to change: for example, selecting the Main Title Page automatically enters the edit mode by showing a blinking Mohican No..doc Rev. Page 55

56 underline cursor. The page will show a previously edited text page or if none exists it will show a blinking cursor. You may navigate to any point on the page by using the up, down, left and right cursor keys. A carriage return line feed will move the cursor to a new line. Text may be deleted by using backspace and delete keys. The text display will automatically wrap around to the beginning of the current line. Use the End key to accept changes or the Escape (Esc) key to abort changes keeping the previous display. Then use the Escape (Esc) key to go back to the Text page setup. Tip: To select a Text page to be overlaid (whilst in the main overlay view) all you need to do is press and hold the Control Key followed by F to F9 to select text page to 9. F5 Analogue to Digital Converter setup The ADC system has a total of channels which correspond to the channels of the vehicle telemetry card. These channels have been preconfigured by Sub Atlantic prior to the system being delivered and there should normally be no reason to change the functionality of any of these channels. Any channelinput selection can select ADC input, RS Compass, RS Pitch or RS Roll. ADC SETUP DESC INPUT 0. DIAL RS COMPASS. CH (DEPTH) ADC INPUT. CH (ALT) ADC INPUT. CH (TILT) ADC INPUT. CH (PAN) ADC INPUT 5. CH5 (PITCH) RS PITCH 6. CH6 (ROLL) RS ROLL 7. CH7 (CHAN 7) ADC INPUT. CH (CHAN 9) ADC INPUT ESC TO GO BACK The only channel you may need to access is the Dial. To do this, press F5 and the first page as shown above will be visible. Next, press numerical 0 to select the Dial. Next press numerical 9. Your choices for Dial input are RS Compass, RS Pitch, RS Roll and ADC channel to. You can toggle between the available settings by repeatedly pressing the left or right arrow keys. Press Escape (Esc) to finish edit mode. COMPASS DIAL. DISPLAY ON 6. MIN V = MAX V = INPUT RS COMPASS ESC TO GO BACK Mohican No..doc Rev. Page 56

57 Press Escape (Esc) twice to exit back to the main Overlay page. Note: Min V and Max V are only used for ADC channel selection. F Index to the various pages Pressing F will bring up an index of the various overlay functions. The ALT F key sequence from the main screen will toggle a text shadow ON or OFF. Whereas the ALT F key sequence will reset the turns counter to 0. MAIN MENU F. SCREEN COMPONENTS F. SCREEN APPEARANCE F. TIME AND DATE F. TEXT PAGE SETUP F5. ADC SETUP F6. TECHNICAL SUPPORT ALT F. ALT F. ESC TO GO BACK TEXT SHADOW ON/OFF FROM MAIN SCREEN ONLY TURNS COUNTER RESET This version of the Overlay provides two RS serial communication ports for communicating with a SubAtlantic Compass and survey equipment on COM port and respectively. The first communications port COM inputs the telegram from the Compass as per Table. The second port COM located on the rear of the PDU inputs (at approximately once per second) Easting and Northing data from survey equipment as per Table. In addition, COM outputs at a refresh rate of once per second, active onscreen channel data information as per Table. Mohican No..doc Rev. Page 57

58 Table ITEM TITLE REQUIREMENT. Format RS Baud Rate :9600 Start Bits : Data Bits : Stop Bits :. Example Telegram $C.P.R.*hhCRLF ASCII Byte: $ Start of Telegram ASCII Byte: C Compass data delimiter ASCII Bytes:. Compass data ASCII Byte: P Pitch data delimiter ASCII Bytes:. Pitch data ASCII Byte: R Roll data delimiter ASCII Bytes:. Roll data ASCII Byte: * End data fields ASCII Byte: h Exclusive OR checksum Upper Byte ASCII Byte: h Exclusive OR checksum Lower Byte Note: (XOR of all Bytes between $ and *) Byte: 0x0d Carriage Return (CR) Byte: 0x0a Line Feed (LF) Table ITEM TITLE REQUIREMENT. Format RS Baud Rate :9600 Start Bits : Data Bits : Stop Bits :. Example Telegram $xxxxxxx.xexxxxxxx.xn*hhcrlf ASCII Byte: $ Start of Telegram ASCII Bytes: xxxxxxx.x Eastings (Metres) ASCII Byte: E Direction E or W.? indicates unknown direction ASCII Bytes: xxxxxxx.x Northings (Metres) ASCII Byte: N Direction N or S.? indicates unknown direction ASCII Byte: * End data fields ASCII Byte: h Exclusive OR checksum Upper Byte ASCII Byte: h Exclusive OR checksum Lower Byte Note: (XOR of all Bytes between $ and *) Byte: 0x0d Carriage Return (CR) Byte: 0x0a Line Feed (LF) The active channel data is output as per the following example for channels 0 to with the exception of channel 7 which is switched off. Any channel which is switched off will not be outputted with the exception to the compass channel 0. Mohican No..doc Rev. Page 5

59 Table ITEM TITLE REQUIREMENT. Format RS Baud Rate :9600 Start Bits : Data Bits : Stop Bits :. Example Telegram CH0,00.0,CH,9.9,CH,7.,CH,., CH,9.,CH5,00.0?,CH6,00.0?, CH,0.67*hhCRLF ASCII Bytes: CH0 Start of Telegram Channel 0 ASCII Byte:, Delimiter ASCII Bytes: 00.0 Channel 0 data fixed to RS compass input ASCII Byte:, Delimiter ASCII Bytes: CH Channel data set to analogue input ASCII Byte:, Delimiter ASCII Bytes: 9.9 Depth (Metres) ASCII Byte:, Delimiter ASCII Bytes: CH Channel data set to analogue input ASCII Byte:, Delimiter ASCII Bytes: 7. Altitude (Metres) ASCII Byte:, Delimiter ASCII Bytes: CH Channel data set to analogue input ASCII Byte:, Delimiter ASCII Bytes:. Tilt (Degrees) ASCII Byte:, Delimiter ASCII Bytes: CH Channel data set to analogue input ASCII Byte:, Delimiter ASCII Bytes: 9. Pan (Degrees) ASCII Byte:, Delimiter ASCII Bytes: CH5 Channel 5 data set to RS Easting input ASCII Byte:, Delimiter ASCII Bytes: 00.0? Easting (Metres) Note:? signifies E or W direction is unknown ASCII Byte:, Delimiter ASCII Bytes: CH6 Channel 6 data set to RS Northing input ASCII Byte:, Delimiter ASCII Bytes: 00.0? Northing (Metres) Note:? signifies N or S direction is unknown ASCII Byte:, Delimiter ASCII Bytes: CH Channel data set to analogue input ASCII Byte:, Delimiter ASCII Bytes: 0.67 CP Probe (Volts) ASCII Byte: * End data fields ASCII Byte: h Exclusive OR checksum Upper Byte ASCII Byte: h Exclusive OR checksum Lower Byte Note: (XOR of all Bytes between $ and *) Byte: 0x0d Carriage Return Byte: 0x0a Line Feed Mohican No..doc Rev. Page 59

60 .6. Power Distribution Unit (PDU) Refer to Drawing Nos. HAN76WIS PDU/Electronics Module Wiring Schematic The Surface Power Distribution Unit and Control Console are designed for operation in a dry, clean and well ventilated area. They are not designed for seawater exposure. Any exposure to seawater can result in damage to the system. WARNING!! THE PDU CONTROL MODULES CONTAINS HIGH VOLTAGE. IT IS VITAL THAT USERS UNDERSTAND THE PRINCIPLE OF ELECTRICITY, THAT YOU ARE FULLY TRAINED IN ELECTRICAL OPERATING AND SAFETY PROCEDURES BEFORE ATTEMPTING TO SERVICE ANY PART OF THE ELECTRICAL SYSTEM INCLUDING THE TETHER AND UMBILICAL. ONLY SUITABLY QUALIFIED PERSONNEL SHOULD WORK ON HIGH VOLTAGE ELECTRICAL SYSTEMS. General The Power Distribution Unit consists of an U rack mount assembly containing power controls for the ROV and TMS. The PDU is connected to the high voltage Inverter/Transformer module via a 6way interconnecting lead. This lead carries signals to and from the inverter. The Inverter/Transformer module is fed from a 5 amp 0 0VAC phase ships or installation supply. A separate 0 VAC 50/60 Hz 0amp single phase supply is fed into the PDU via a rear mounted IEC socket. From the socket, the supply is fed to a series of fuses (FF) also located on the rear panel. The feeds from the fuses supply various components within the console. (Refer to Drawing No. HAN76WIS sheet ) The inverter is operated when the vehicle Power ON switch is momentarily pressed. This latches in relay enabling the inverter. The inverter output feeds the transformer which supplies 000V to the ROV and TMS. Momentarily pressing the Power Off switch or the Emergency Stop switch will unlatch relay disabling the inverter. The Main PDU control panel incorporates the following controls and indicators: 0VAC Supply Voltmeter This meter should read 0V when there is an incoming supply to the Inverter/Transformer module and the isolator and circuit breaker located Mohican No..doc Rev. Page 60

61 in the transformer is switched on. The meter circuit is protected by two internal fuses also located on the inverter/transformer module. Vehicle Ammeter This meter is supplied from the current transformer (CT) located in the Inverter/Transformer module. One of the incoming supply phases passes through the CT. This meter will indicate current being drawn by the inverter as vehicle thrusters etc. are operated. Vehicle and TMS Power On/Off Switches These switches are momentary type with indicators and are used to switch power on and off to the vehicle and TMS. The switches control the VDC supply to the inerter. The ON switch latches relay enabling the inverter thus supplying power to the vehicle TMS. The OFF switch interrupts the latched circuit switching off the power. The illuminated switches will indicate the status of power. Emergency Stop The emergency stop button allows the user to rapidly remove all power from the ROV in an emergency situation by removing the VDC control supply from the control relays thus disabling the inverter. Once activated twist to reset, power will then be restored to the control circuitry..6.9 Earth Fault Monitoring System Refer to Drawing Nos. HAN76WIS PDU/Electronics Module Wiring Schematic The earth fault detection system monitors the insulation between ground and the isolated 000VAC phase supply and the 0VDC supplies on the ROV and TMS. 000V Line Insulation Monitor The 000V supply lines are continuously monitored even when the power is off using an industry standard Bender module located on the rear panel of the PDU. User functions such as test and reset are accessible on the front of the PDU. The Bender unit monitors the neutral point of the 000V transformer via a high voltage coupler located in the transformer module. The system has two alarm settings. The first setting is 00K ohms. If the fault reaches this level the unit will give an alarm only..the second setting is 0K ohms and will shut down the supplies to the TMS and the ROV. A meter is provided for indication of line fault resistance. Mohican No..doc Rev. Page 6

62 0VDC Line Insulation Monitor The ROV and TMS operate on a 0VDC supply. The line insulation monitoring is provided by an industry standard Bender module fitted to the LIM/Capacitor Board located within the ROV and TMS electronics pods. The output of the Bender unit is fed into one of the analogue channels of the telemetry system. The output of the analogue channel at the surface controller is fed to a LIM receiver board (PCB06) where is conditioned and fed to a meter located on the front panel of the PDU. The unit can be tested by applying a 5V signal to pin 9 of CN activating the onboard relay which connects an earth to the test point of the Bender unit. This is done via the telemetry system using one of the digital channels. The alarms are provided by the LIM Receiver board located within the electronics rack. The system has two alarm settings. The first setting is 00K ohms. If the fault reaches this level the unit will give an alarm only. The second setting is 0K ohms and will shut down the supplies to the TMS and the ROV. A meter is provided for indication of line fault resistance. If the system detects a fault which will not reset during operations, a keyswitch allows the system to be overridden to the recovery of the vehicle and TMS to the surface. The Key switch will only override the 0VDC supplies faults and does not override 000V faults. The decision to use this override key switch should be made by the supervisor and only in an emergency situation. Any detected earth faults should be rectified as soon as the vehicle and TMS are recovered to the surface. If an earth fault is detected. Earth Fault Detection Alarm Mute An alarm will sound if an earth fault is detected. This can be silenced by momentarily pressing the alarm mute switch. Test and Reset Remote test and reset switches are located on the front panel of the PDU/Electronics Module. Holding down the test button for seconds will simulate an earth fault. Pressing the reset button will reset the fault. Only the 000V LIM has a reset button. Testing should be carried out at regular intervals. Override Switch An earth fault override key switch for the 0VDC supplies located on the front panel of the PDU/Electronics Module is provided to allow the ROV to return to the TMS if a fault is detected which can not be reset. The use of Mohican No..doc Rev. Page 6

63 this switch will depend on the severity of the fault. This decision should be made by the ROV supervisor. See Auxiliary Equipment Manual for manufacturer s data sheet on the Bender Line Insulation Monitor..6.0 Inverter/Transformer Modules Refer to Drawing Nos. HAN77WIS Inverter/Transformer Module Wiring Schematic The transformers module should be housed or mounted in a well ventilated area. To prevent overheating, do not cover or block the vents at the top of the box. Transformers should be kept as far away as possible from video monitors to prevent electromagnetic interference. WARNING!! THE INVERTER/TRANSFORMER MODULE CONTAINS HIGH VOLTAGES 000VAC AND 0VAC. MAKE SURE THAT POWER TO THE TRANSFORMER IS ISOLATED AND LOCKED OFF BEFORE OPENING THE LID OR CONNECTING TO THE PDU. IT IS VITAL THAT USERS UNDERSTAND THE PRINCIPLE OF ELECTRICITY, THAT YOU ARE FULLY TRAINED IN ELECTRICAL OPERATING AND SAFETY PROCEDURES BEFORE ATTEMPTING TO SERVICE ANY PART OF THE ELECTRICAL SYSTEM INCLUDING THE TETHER AND UMBILICAL. ONLY SUITABLY QUALIFIED PERSONNEL SHOULD WORK ON HIGH VOLTAGE ELECTRICAL SYSTEMS. The Inverter/Transformer Module is the power source for the ROV and TMS. The module requires a 00V phase supply at 5 amps. The incoming supply is fed to a lockable isolation switch then to a 0 amp circuit breaker. The output from the circuit breaker is fed to the 5KW inverter via a mains filter. This filter helps prevent any pulse width modulation (PWM) noise getting back onto the mains supply. The inverter converts its input power into a 00V phase 00Hz output. The output from the inverter is connected to the transformer via a sinus filter. The sinus filter converts the PWM output from the inverter to a more acceptable sine wave for the transformer. The primary side of the transformer has various tappings. The correct tapping should be selected to suit the vessel or installations supply. The secondary side of the transformer produces 000VAC phase at 00Hz. The output voltages should always be checked before connecting up to the transformer in case the ships supply is higher than specified. Adjust as Mohican No..doc Rev. Page 6

64 necessary using the various tapings. See Inverter Setup Procedure in this section of this Manual. The inverter is controlled from the PDU via a 6way connecting lead supplied with system. This lead also carries other signals such as supply voltage, supply current and inverter status to the PDU. A fan supplied from the PDU is fitted to the transformer box to aid cooling. Do not block the fan intake. The high voltage coupler is part of the insulation/ground fault monitoring system for the 000V supply. The lid of the transformer box incorporates a safety switch which will shut down the inverter disabling the 000V when the lid is open. Never override this switch or attempt to power up with any part of the transformer open. This safety facility is also taken to the terminal rail to allow the user to extend this cut out to other junction boxes. A link must be fitted if not used. The transformer module may be fitted with an optional phase safety grounding switch. This is a two position high voltage switch. Position one connects the 000V supply to the ROV and TMS supply lines in the umbilical. Position two connects the supply lines to ground. The switch also incorporates a micro switch that will stop the inverter when switching to the ground position. This switch should be set to the ground position before any repair work or maintenance is carried out on the system. If fitted the connection of this switch will be shown in drawing number HAN 77WIS. Inverter Setup Parameter changes to the inverter are made via the key pad attached to the inverter or fitted remotely on the transformer box. To gain access to all required codes apply power to the transformer/inverter box and switch on the isolator. When the inverter is powered up the key pad should display figures. Press the RIGHT arrow key then the key marked +, code should start flashing. Press the RIGHT arrow key again, user should be displayed. Press the UP arrow key, ALL should be displayed. Press the key marked +, the user code should start flashing. All user codes are now accessible. Press the UP/DOWN arrow keys until the required code is flashing then press the right arrow key, the actual setting should start flashing. Use the UP/DOWN arrow keys to increase or decrease the setting. When the required setting is obtained press the LEFT arrow key and the code will start flashing allowing other code adjustments. Mohican No..doc Rev. Page 6

65 Set up the inverter using the initial setting below: Initial settings: Minimum Output Frequency C000 0 Maximum Output Frequency C00 0 Ramp Up Time C Ramp Down Time C00 0. Control Mode C00 VF Rated Frequency C005 0 Chopper Frequency C00 Gain Analogue Input C Set Point Selection Range C00 0 Configuration Analogue Output C0 The switches on the I/O module will require setting up for 05V control input as follows: Switches,,,5 OFF and Switch ON. Final Setup: ) With the inverter connected to the vessel or installations phase supply, check the inverter DC bus voltage reading by selecting code C005. The reading should approximately equal the AC input voltage multiplied by.. ) Select the primary tappings on the step up transformer to suit the following table. Table DC Bus Voltage Primary Tapping 50570V 0V V 5V 60060V 0V 6060V 60V ) When the ROV is powered up the DC voltage at the ROV will be displayed on the video overlay system and should be 00V FOR Mohican and 600V for Comanche. ) If the voltage is too low, select code C000 and increase the setting to 90. This should increase the voltage 5) If the voltage is too high, select code C000 and reduce the setting to 70. This should reduce the voltage. 6) With the vehicle in the water operate the thrusters and check the volt drop. If the voltage drops below 00V for Mohican and 600V for Comanche select code C007 and increase the setting until the system maintains the correct voltage under load. Mohican No..doc Rev. Page 65

66 7) Increasing code C007 will also increase the off load voltage. To overcome this, switch between steps 5 and 6 until the correct off load and on load voltages are obtained ) If the voltage rises above the required setting when under load, reduce code C007 and switch between steps 5 and 6 until the correct off load and on load voltages are obtained Voltage/Frequency Output C000 C Voltage Frequency The above chart shows a typical Voltage/Frequency output from the inverter with an input of 50V and the maximum frequency setting of 50 (C00 set at 50). The 05V control input will control the output from the minimum to maximum frequency settings. The voltage will automatically follow the frequency as shown in the chart. Mohican No..doc Rev. Page 66

67 .. x 9 Dual Channel Colour Monitors Two dual channel colour video monitors can be provided within the control system to display the vehicle and TMS camera pictures. The monitors can be supplied with 0VAC from the outlets on the rear of the main PDU. Refer to Manufacturer s Manual located in Auxiliary Equipment Manual for operating instructions... Sonar Control Unit The ROV has the capability of supplying power to and transmitting signals through the tether for a range of different manufacturer s sonar heads. The Sonar Control Unit can be supplied with 0VAC from one of the outlets on the rear of the main PDU. Information to and from the sonar head is via a 9way Dtype socket also located on the rear of the main PDU. Refer to Manufacturer s Manual located in Auxiliary Equipment Manual for operating instructions. Mohican No..doc Rev. Page 67

68 .0 Mohican Tether Management System.0. General Description Tpye SAGB Refer to Drawing Nos. Mohican TMS Standard 95MAS Warning!! The Mohican Tether Management System is a high voltage (000V) system. Before attempting to power up or operate the system please read this manual thoroughly. The Tether Management System (TMS) allows the ROV greater excursion distances at the working depth as opposed to a live boating system. Live boating is where the ROV is deployed over the side of a vessel and flown down the required working depth. The TMS operations also enable the ROV to be used in more severe weather conditions than live boating as the effect of swell and currents acting on the tether are minimised. The Mohican TMS is completely electrically operated and utilises a unique system to drive the main tether drum and traction wheel using a single electric motor whilst maintaining cable tension and accurate spooling. The motor which is the same as used for the ROV thrusters drives a worm type gearbox providing a natural brake for the tether drum when power to the motor is switch off. The corrosion resistant stainless steel, telescopic frame allows various underslung tooling skids to be fitted to the ROV. Polypropylene sections around the vehicles entrance prevent damage to the vehicle and tether as it leaves and reenters the TMS. The TMS is powered using a 000VAC 00Hz power transmission system which is converted to 00VDC using a high frequency transformer on the TMS. A dedicated camera and lighting system allows the operator to monitor the status of the ROV and tether spooling as it leaves and reenters the TMS. Video and telemetry are transmitted through a fibre optic multiplexer located in the electronics pod. Mohican No..doc Rev. Page 6

69 The electrical junction boxes and slip ring are pressure compensated using x 700cc compensators providing a pressure of approximately 0.7bar/0PSI above the surrounding environment. A third 70cc compensator provides compensation for the drum gear box, flexible drive shaft and traction wheel gearbox..0. Safety Safety regarding high voltages and the handling of heavy loads has been recognised as a key issue therefore; this subject is highlighted in detail throughout the manual. Warning!! The Mohican ROV and TMS are supplied with 000VAC. Training on high voltage electrical systems should be obtained by the user before operating or maintaining the system. Warning!! Potentially lethal AC and DC voltages are present throughout the system. To prevent the risk of electric shock, ensure that power to the surface transformer module is disconnected and the isolation switch is locked off before attempting to service or repair any part of the ROV or TMS systems. Warning!! The tether drum can rotate at high speeds and high torque. Never insert hands or arms inside the drum unless the surface transformer module is disconnected and the isolation switch is locked off Warning!! Never operate the system with the chain guard removed. Warning!! The ROV tether carries 000VAC. Avoid handling the tether when power is supplied to the ROV. Safety procedures are a vital aspect of the operation of Remotely Operated Vehicles. They should be carefully studied and the principles contained therein applied to the everyday operation of the ROV system. A permit to work system should be implemented for the repair and maintenance of the ROV and TMS systems and controlled by the ROV Supervisors. This system should ensure that power is isolated and locked off before repair or maintenance work commences. Always switch off ROV power before deployment and before recovery. Mohican No..doc Rev. Page 69

70 The only person permitted to apply electrical power to the ROV is the appointed Supervisor. Remove watches, rings and jewellery when working with electrical equipment. Always isolate the system power supply before opening or working on any part of the ROV or TMS systems. Ensure that power to the ROV and TMS is switched off before lifting or moving the vehicle, as it is possible for thrusters to operate without joystick commands if the autofunctions are selected. Ensure that all personnel in the proximity of the system are notified when power is to be applied to the system. Mohican No..doc Rev. Page 70

71 . Specification TMS Type: Drive System: Tether Capacity Line Pull: Tether Type: Side Entry Garage with winch and level wind mechanism with constant tension pulley 00W DC Electric Motor 50 mtrs of 0.5mm diameter 60kg Thermoplastic with Kevlar strain members TMS Weight/Dimensions Weight in air (exc. tether or ROV) Weight in water (exc. tether) Overall length Overall height standard Overall height extended Overall width 550 kg 0 kg 600mm 60mm min 05mm max 075mm Mohican No..doc Rev. Page 7

72 . Tether Management System (Mechanical).. Frame Refer to Drawing Nos. Lower TMS Frame Upper TMS Frame TMS Chassis 055MAS 096MAS 97MAS The TMS frame consisting of three main structures, upper frame, lower frame and the chassis are manufactured from 6L Stainless Steel to form a strong maintenance free structure. Cathodic anodes fixed at various points provide protection against corrosion. The anodes will slowly corrode and disappear when submersed in sea water and will require periodic renewal. Replace the anodes when approximately half depleted. The upper and lower frames are telescopic allowing the height of the vehicle entry to be increased to accommodate vehicles with underslung tooling skids. The position of the traction assembly is also adjustable to keep the tether in the correct position in relation to the vehicle if the TMS is extended. Frame Testing The combined gross in air weight of the TMS, ROV and Tether should not exceed,000kg. The frame is rated for a safe gross load of,000kg and is load tested to 6,000Kg. See Drawing 0599IAS for full detail of the TMS frame test procedure. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 7

73 .. Lifting Gimbal Refer to Drawing Nos. Gimbal Umbilical Termination 095MAS The Gimbal Assembly is bolted to the upper frame and forms the lift point for the TMS. The Gimbal position is adjustable with five different positions available to allow for any movement in centre of gravity due to the positioning of equipment on the ROV. The Gimbal Bullet is the mechanical termination point for the main lift umbilical. To terminate the lift umbilical follow the procedure in Drawing IAS Umbilical Termination Procedure. The electrical part of the lift cable is terminated into the oil filled transformer box. Gimbal Load Testing The Gimbal and bullet assembly are load tested in accordance with Sub Atlantic s test procedure TP0 which states that a load of 6,000kG is applied for 5 minutes... Ballast Weights Ballast weights may be added to the TMS lower frame section to help prevent the TMS drifting in deeper water or strong currents. The ballast may also be used to trim the TMS so that it is level when in water which helps vehicle reentry. The total additional weight should be no more than required to take the system gross weight up to,000kg max. If tooling skids are fitted to the ROV, the in air weight of the skid should be removed from the TMS ballast. The combined in air weight of the TMS, ROV and Tether should not exceed,000kg. Mohican No..doc Rev. Page 7

74 .. Drive System The Mohican TMS is completely electrically operated and utilises a unique system to drive the main tether drum and traction wheel using a single electric motor whilst maintaining cable tension and accurate spooling. The oil filled, pressure compensated drive system consists of the drive motor, tether drum gear box and traction wheel gear box. The Motor is mounted directly onto the tether drum gearbox which drives the drum via a worm gear. The worm gear provides a natural brake for the drum when motor power is removed. The drum gear box and traction wheel gear box are linked using a flexible drive assembly. The traction wheel gear box is used to push tether out of the TMS as required by the ROV and to maintain tension on the drum preventing any incorrect spooling or bunching up of the tether. The level wind is provided for accurate spooling of the tether and is driven from the tether drum via a stainless steel drive chain. A 70cc pressure compensator providing a pressure of approximately 0.7bar/0PSI above the surrounding environment provides compensation for the drum gear box, flexible drive shaft and traction wheel gearbox. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 7

75 ..5 Drive Motor Assembly Refer to Drawing Nos. SPE0 Drive Assembly SPE0 Rotor Assembly 99MAS 95MAS The TMS drive System utilises a Mohican thruster motor body and rotor and is the source of the drive for the tether drum, level wind and the traction wheel. This section describes the operation and maintenance of the drive motor assembly. WARNING!! WHEN MAINTAINING THE DRIVE SYSTEM ON THE TMS, ENSURE THAT SYSTEM POWER IS ISOLATED AND THAT THE PERSON WORKING ON THE DRIVE CARRIES THE ISOLATION SWITCH KEY WARNING!! HIGH VOLTAGE ELECTRICITY IS PRESENT IN THE ELECTRONICS POD AND DRIVE MOTOR. HIGH VOLTAGE ELECTRICITY CAN INJURE AND KILL. ENSURE THAT ALL RELEVANT SAFETY PROCEDURES ARE FOLLOWED. ONLY SUITABLY QUALIFIED PERSONS SHOULD ATTEMPT TO SERVICE AND/OR REPAIR THE DRIVE ASSEMBLY. The drive motor assembly is designed to offer longterm reliable performance in a subsea environment. The assembly consists of a brushless DC motor providing the motive power for the complete TMS drive system. The drive link between the motor and the gearbox is achieved via a flexible jaw type coupling. Power to the motor is taken from the TMS electronics pod via a 7way underwater cable assembly attached directly to the drive assembly housing. The motor is a sealed oil filled unit. An integral pressure compensator ensures that the internal thruster pressure is approximately 0PSI higher than the surrounding environment. Always ensure that the unit has been fully bled of air before fitting to the TMS. The oil type used in the thrusters is Shell or any equivalent transformer oil. When operating the unit on deck or out of the water, i.e., to spool on a new tether, the motor may become overheated, it is recommended that some form of cooling such as a cold water hose or an air line be used if spooling tethers in excess 50 meters. Mohican No..doc Rev. Page 75

76 Filling/Charging Drive Motor The drive motor should be oil filled before being fitting to the TMS: ) To fill the rotor cavity, remove the blank fitting from the charging points on rear end cap. ) Bleed air from the flushing/charging pump hose and connect up to the rotor cavity charging point on rear end cap. 5) Position the thruster so that the propeller is upwards. 6) Charge up the pump and open the pump valve. 7) Loosen the bleed screw located on the front bearing housing. ) When it is clear that all air is expelled and while oil is still running from the bleed screw, retighten the bleed screw, close the valve when the compensator is fully expanded. 9) Disconnect the pump from the thruster and refit the blanking plug. 0) To fill the stator/electronics cavity, bleed air from the flushing/charging pump hose and connect up to the charging point located on the pedestal. ) Stand the thruster on the pedestal so that bleed point on the main body is uppermost. ) Charge up the pump and open the pump valve. ) Loosen the bleed screw located on the main body. Charge up and open the pump valve. ) When it is clear that all air has been expelled and while oil is still running from the bleed point retighten the bleed screw, close the valve and remove the pump from the thruster. Shell Naturelle HFE6 is suitable biodegradable oil. See data sheet in Section 6 of this manual. Alternatively Shell Diala transformer oil or an equivalent should be used. See section.. for more details on the thruster motor. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 76

77 ..6 Tether Drum Gearbox Refer to Drawing Nos. Drum Gearmotor Assembly Gear Box Assembly 9MAS MAS The assembly of the drum gearbox is shown in drawing No. MAS. The unit is driven by the motor described in the previous section. The gearbox is of a worm type providing a natural brake preventing the drum from rotating when not driven by the motor. The gearbox has two output shafts. The side output is fitted with a 5 tooth gear which drives a 69 tooth gear bolted to one of the tether drum flanges. The second output shaft is driven directly from and runs at the same speed as the motor and is used to drive the flexible shaft which drives the traction wheel gearbox. The tether drum gear box along with the flexible drive shaft and traction wheel gearbox is pressure compensator using a 700cc compensator providing a pressure of approximately 0PSI above the surrounding environment. The type of oil used in the drive system is Shell Tellus or equivalent hydraulic oil. The body of the gear box is manufactured in aluminium and anodised. If the protective anodising becomes scratched or damaged, clean and cover the damaged area with a suitable paint or coating. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 77

78 ..7 Traction Wheel Gearbox Refer to Drawing Nos. Traction Wheel Assembly Traction Wheel Gearbox 067MAS MAS The assembly of the traction wheel gearbox is shown in drawing No. MAS. The traction wheel gear box is used to push tether out of the TMS as required by the ROV and to maintain tension on the drum preventing any incorrect spooling or bunching up on the drum. The unit is driven from the drum gear box via the flexible drive shaft. The flexible shaft drives the magnetic clutch which is used to maintain a constant tension when paying out. Constant tension meaning that the flexible drive is trying to drive the pulley faster than the drum but the magnetic drive slips creating a tension between the pulley and the drum. When tethering in a Sprag Clutch is used to allow the pulley to free wheel. I may appear that the free wheel direction is incorrect when the system is not being driven by the motor as the pulley can free wheel in the tether in direction but this is correct as the system must be driven by the motor for the correct operation of the Sprag Clutch. The traction wheel gear box along with the flexible drive shaft and tether drum gear box is pressure compensator using a 70cc compensator providing a pressure of approximately 0PSI above the surrounding environment. The type of oil used in the drive system is Shell Tellus or equivalent hydraulic oil or equivalent hydraulic oil. The body of the gear box is manufactured in aluminium and anodised. If the protective anodising becomes scratched or damaged, clean and cover the damaged area with a suitable paint or coating. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 7

79 .. Flexible Drive Assembly Refer to Drawing Nos. Flexible Drive Assembly 0766MAS The flexible drive shaft is used to link the tether drum gearbox to the traction wheel gearbox. One end of the flexible shaft is connected directly to the traction wheel gear box where it drives the magnetic coupling and the other end is connected to the drum gear box. The flexible shaft is driven at the same speed as the drive motor, approximately 700rpm. The flexible drive shaft is fixed between two mounting couplings and is house by a reinforced clear plastic tube. This tube allows oil to pass from one gear box to the other. Ensure that all air pockets are removed from the tube during oil filling of the system. The flexible drive shaft along with the traction wheel gear box and tether drum gear box is pressure compensator using a 70cc compensator providing a pressure of approximately 0PSI above the surrounding environment. The type of oil used in the drive system is Shell Tellus or equivalent hydraulic oil. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 79

80 ..9 Level Wind Refer to Drawing Nos. Level Wind Assembly 067MAS Manufactured from both plastic and stainless steel components the level wind assembly ensures that the tether is stored neatly and on the drum during operations. As the level wind shaft rotates the carriage block containing the rollers is driven along the shaft by the level wind follower. As the shaft rotates, the follower which is manufactured in bronze runs along the grooves forcing the carriage to move. As the follower is manufactured in a softer material than the shaft it will wear and require periodic renewal. The level wind shaft is driven by a stainless steel drive chain and two sprockets, one on the drum shaft and the other on the level wind shaft. Various sprocket sizes can be fitted to the level wind shaft to accommodate different tether diameters. The chain is protected by a chain guard which should be removed periodically to check the chain tension and to readjust if necessary. The level wind shaft is supported and rotates on two self aligning/self lubricating bearings. These bearings should be checked on a regular basis for wear and replaced as necessary. If a new tether is fitted, the spooling carriage may need to be realigned to the drum. This is done by slackening the chain tensioner and removing the chain, then rotating the spooling gear sprocket until the correct alignment is obtained. Refit and tension the chain. When correctly tensioned the chain should have approximately 0mm of play. Do not use grease to lubricate the level wind shaft or drive chain as this will allow sand and grit to stick causing undue wear or jamming of the level wind shaft. Maintenance See Section.. for maintenance procedures. Mohican No..doc Rev. Page 0

81 ..0 ROV Depressor Assembly Refer to Drawing Nos. Retainer Assembly 067MAS Tilt/Rotator Unit 05MAS The vehicle depressor unit utilises a VDC rotator/tilt unit to vertically restrain the vehicle in the TMS. As the rotator rotates it drives the clamp bar down onto the buoyancy of the ROV clamping it in the TMS. The adjustable clamp bar assembly allows for differing heights in the ROV configurations and telescopic positions of the TMS frame. The clamp bar height is adjusted by altering the length of the M0 screws on the clamping bar. Note: This depressor is not designed to retain the ROV in the TMS. It is designed to vertically restrain the vehicle preventing it moving around during deployment and recovery. The tether will retain the ROV in the TMS as the worm gear in tether drum gear box provides a natural brake preventing the tether from being pulled off the drum. For assembly and maintenance procedure on the tilt unit refer to section.5.. and drawing No. 05MAS of this manual... Tether Drum Assembly Refer to Drawing No. 00MAS The main tether drum flanges and core are manufactured from polypropylene, the main shaft which also doubles up as the rotating junction box and housing for the slipring is manufactured from stainless steel. The drum is designed to hold a minimum of 50 meters of 6mm tether. The tether passes through a cut out in the drum core and is glanded into the rotating junction box where it is terminated to the slip ring termination plate. The centre core or rotating junction box is oil filled and compensated via the tube linking the slipring to the fixed junction box. Bleed points are provided at both ends of the core to allow bleeding of air when oil filling. The drum core is supported and rotates on two self aligning bearings which are manufactured in a self lubricating material. These bearings should be checked on a regular basis for wear and replaced as necessary. Mohican No..doc Rev. Page

82 ..0 Radius Gooseneck Assembly Refer to Drawing Nos. Radius Gooseneck Assembly 067MAS Stainless steel and plastic construction, this assembly freely rotates around the gooseneck pivot pin and aligns the tether from the traction wheel to the level wind carriage. The assembly contains four rollers allowing the tether to pass smoothly through. When fitting a new tether, remove the plastic cover, lay the tether over the rollers and refit the plastic cover. Do not attempt to pass the new tether through the rollers without removing the cover as it is possible for the tether to pass under one of the rollers causing undue stress on the tether. Mohican No..doc Rev. Page

83 . TMS Electrical System The TMS is completely electrically driven by a single drive motor which is the same as used for the Mohican ROV thrusters. A 000VAC 00Hz supply is fed to the transformer from the main lift umbilical. The transformer and rectifier produce a +0VDC and 0VDC with respect to 0V and 550VDC across +0VDC to 0VDC. A telemetry system (the same as used on the vehicles) is used to control functions such as tether in and out, lights and vehicle depressor. It also relays signals back to the surface control unit such as a water ingress warning, compensator low warning and tether line out information. A dedicated camera and lighting system allows the operator to monitor the status of the ROV and tether spooling as it leaves and reenters the TMS. Video and telemetry are transmitted through a fibre optic multiplexer located in the electronics pod... Transformer/Junction Box Refer to Drawing Nos. Transformer/Junction Box Transformer Box Wiring Sch. MAS HANWIS Warning!! The transformer box on the Mohican ROV and TMS are supplied with 000VAC. Power to the system should be fully isolated and locked off before any attempt is made to open this box. Only suitably qualified personnel should attempt to work on the system. The oil filled transformer box houses the high voltage/high frequency transformer and also serves as the termination point for the main lift umbilical. The primary side of the transformer is supplied with 000VAC phase at 00Hz via the main lift umbilical. The secondary side has two phase outputs one connected in star and the other connected in delta, which are fed to two phase bridge rectifiers. In this manner the phase voltages supplying the two bridges are displaced by a phase angle of 0 degrees, hence the two sixpulse outputs are symmetrically displaced to give an overall twelvepulse output. The twelvepulse output provides a near smooth direct voltage requiring very little capacitance. The outputs from the rectifiers are series connected to provide +0VDC and 0VDC with respect to 0V and 550VDC across +0VDC to 0VDC. This output is rated at 5.5KW. Mohican No..doc Rev. Page

84 The DC output is fed to the TMS electronics pod via a 9way connector where it is distributed to the smoothing capacitor boards, light switching board and the DC switch mode power supply. The transformer box is oil filled and connected to two 700cc pressure compensators which maintain a positive internal pressure of 0 PSI preventing water ingress. The compensators should always be full and the valve opened before diving the ROV. Lack of oil or failure to open the valve will result in flooding leading to serious damage. The compensators have a magnetic proximity switch attached. An alarm will sound on the PDU if the compensator level drops to less than two thirds of its capacity. It is recommended that the valve should be tiewrapped in the open position to prevent accidental closing. The compensator should be checked before and after each dive, top up as necessary with Shell Diala BG or equivalent transformer oil. When filling with oil, an indicator shows the amount of oil in the compensator, always leave a 0mm gap between the indicator and the end stop to allow for oil expansion, overfilling may cause the bladder to burst. The transformer box also serves as the termination point for the slipring. The slip ring is connected to the transformer box via a clear Tygon tube. This allows oil to pass through to the slipring and rotating junction box. The system should be bled free of air at the bleed point provided on the slip ring. Mohican No..doc Rev. Page

85 .. TMS Electronics Enclosure Refer to Drawing Nos. Electronics Enclosure Main Assembly Electronics Pod Wiring Schematic Electronics Pod Layout Light Dimmer Board Schematic Light Dimmer Board Layout LIM/Capacitor Board Schematic LIM/Capacitor Board Schematic Telemetry Board Schematic VDC Power Supply Layout Relay Board Schematic Relay Board Layout 60MAS HAN6WIS HAN7LAS 070ELS 070LAS 07ELS 07ELS 076ELS 06LAS 005ELS 005LAS WARNING!! HIGH VOLTAGE ELECTRICITY IS PRESENT IN THE ELECTRONICS POD AT LEVELS WHICH COULD PROVE FATAL. DO NOT OPEN THIS POD UNLESS YOU ARE QUALIFIED TO DO SO. ENSURE THAT POWER TO THE POD IS ISOLATED BEFORE OPENING. General Description The electronics enclosure contains all the electronic circuits boards required to control the TMS functions which include lights, tilt unit, camera and drive motor. This section of the manual discusses the operation and maintenance of this pod. The electronics pod is a hard anodised aluminium single atmosphere housing designed for underwater use. A number of underwater connectors connect the pod to the various external devices on the TMS. The pod is fed a +0V and 0V supply from the transformer box via a way connecting lead. The +0V supply is used for the TMS drive motor and the 0V supply for the lights. The drive is protected by a 0 amp fuse. The direction is controlled by a ±5V input switched by the relay board. The TMS Lights Switch Board (PCB59) is fed from the 0VDC supply and the switched mode power supply is fed from the +0VDC supply. The switched mode power supply provides VDC, VDC and 5VDC. TMS Telemetry A fire optic transceiver along with the telemetry board provides the communication link and video to the surface control unit. The telemetry receives commands from the surface controller to switch lights and drive the drum and control the vehicle depressor. It also sends information to Mohican No..doc Rev. Page 5

86 the surface such as TMS depth (optional), water alarm, compensator alarm and tether line out. Although the telemetry system is the same as that used on the ROV the software and onboard links will be set up differently. The topside board should only have link 9A fitted and the bottom side board should only have links 9 and 9A fitted. See Section.5. of this Manual for more information on the telemetry system Vacuum The TMS electronics pod is not able operate with a vacuum due to the heat generated by the internal electronics. The vacuum port is used for test purposes only. The vacuum should be released once testing is complete. Always vacuum test the pod to 0. bar for a period of 0 minutes after opening and reassembly. The vacuum must be removed before operating the system. This is done by removing the tube from the vacuum pump and connecting it to the vacuum port. This will allow air to enter the housing. Remember to replace the dust cap. Warning!! Make sure that the end of the tube is not lying in water whilst carrying out this process or water will be sucked into the housing causing catastrophic damage. WARNING!! It is important that the dust cap or blanking plug are replaced as deployment without them will result is the pod flooding causing a catastrophic failure. SubAtlantic can supply a vacuum kit containing a hand operated vacuum pump, vacuum gauge, tube and fittings. Part No. 6MAS. Mohican No..doc Rev. Page 6

87 Pod Maintenance If the pod has been dismantled, clean and grease orings before assembly. Always vacuum the pod after opening. Metal shell connectors are used on the system. Care should be taken to prevent water entering the connector by cleaning before separating. Make sure the connectors are completely free of water before being reconnected. Connectors should be inspected, cleaned and orings greased once a month using a suitable silicone grease (MS). The orings are located in the lead half of the connector. To clean orings remove the Spiro Clip behind the brass locking nut and pull back the nut, this will allow access to the orings. If the protective anodising becomes damaged, clean and repair the damaged area using a suitable paint... Camera A video camera is fitted to the TMS to monitor the tether drum and the ROV as it leaves and returns to the TMS. The camera is connected to the electronics pod via a way underwater connector, which carries the VDC supply and video signal. The video signal is transmitted to the surface controller via the fibre optic multiplexer (PCB06). The video output is available on BNC7 located on the rear panel of the surface PDU... Lights Refer to Drawing Nos. TMS Light Switch/Capacitor Board Schematic TMS Light Switch/Capacitor Board Layout 59ELS 59ELS The TMS is equipped with two 50 WATT 0V lights connected to the electronics pod via way underwater connecting leads. The supplies to the lights are fused using amp fast blow fuses located on PCB59 inside the electronics pod. This board is also used to switch the lights. The ON/OFF switches for the lights are located on the front panel of the PDU. When the lights are switched off the onboard relay isolate both positive negative legs of the supply to the lights. Mohican No..doc Rev. Page 7

88 ..5 Interconnecting Cables Refer to Drawing Nos. TMS Layout Schematic TMS Connecting Leads HAN5LAS HAN9WIS The above drawings show the interconnecting cables between the various items of equipment on the TMS. Cables should be inspected regularly for signs of damage or deterioration and replaced as required. On systems rated deeper than 000meters oil filled cables will be used. All air should be bled from the Tygon tubing. If an item is removed from the vehicle, the connectors should be cleaned and orings greased with suitable silicone grease. Metal shell connectors are used on the system. Care should be taken to prevent water entering the connector by drying off before separating. Make sure that the connectors are completely free of water before being reconnected. Mohican No..doc Rev. Page

89 . TMS Maintenance.. General Maintenance The TMS and subassemblies are designed as low maintenance units. Follow the maintenance procedures below: Fame ) Replace anodes when half depleted. ) Apply anti gall compound to all stainless steel fasteners during assembly. Drive Motor ) Replace rotary shaft seals after approximately every,000 hours of operation and bearings every 0,000 hours of operation. ) Check compensators after each dive and top up as necessary. ) Replace the anode when half depleted. Drum Gear Box ) Replace main bearings after approximately 0,000 hours of operation. ) Ensure that the drive system pressure compensator valve is open before diving. ) To prevent permanent damage to the gears, never run the gear box without oil ) Replace the anode when half depleted. Traction Wheel Gear Box ) Replace main bearings after approximately 0,000 hours of operation. ) Ensure that the drive system pressure compensator valve is open before diving. ) To prevent permanent damage to the gears, never run the gear box without oil. ) Replace the anode when half depleted. Flexible Drive and Drive Extension ) Replace flexible drive shaft after approximately 5,000 hours of operation. ) Replace main bearings in drive extension after approximately 0,000 hours of operation. ) Ensure that the drive system pressure compensator valve is open before diving. Mohican No..doc Rev. Page 9

90 ) Replace the anode on drive extension when half depleted. Level Wind ) Lubricate the level wind shaft with ZEP Dry Moly NC or equivalent after each dive. ) Lubricate drive chain with ZEP Dry Moly NC or equivalent after each dive and adjust if necessary. ) Check the condition of the follower after each dive and replace when necessary. Electronics Pod ) Always vacuum the pod after opening. ) Replace the anode when half depleted Other Maintenance ) Before each dive: Check that the pressure compensators and top up as necessary. ) After each dive: Carry out a visual check on all the subassemblies for leaks, which maybe indicated by loss of oil from the pressure compensator. If an assembly has sign of leaks, remove the unit and replace the seals or orings as necessary. ) When refilling with oil ensure that all the air is removed from the assembly before refitting the unit to the TMS Mohican No..doc Rev. Page 90

91 .. Oils and Lubricants (TMS) Various subassemblies on the Tether Management System are oil filled and pressure compensated. Use the oil type as specified below. Wear the required protective clothing when oil filling assemblies, coveralls, boots, safety glasses and gloves. Drive Motor The oil type used in the TMS drive motor is Shell Diala or equivalent transformer oil. Transformer Box The oil type used in the slipring and junction boxes is Shell Diala or equivalent transformer oil. Gear boxes and Flexible drive Drive The oil type used in the gearboxes is Shell Tellus or equivalent. Depressor Rotator The oil type used in the depressor rotator is Castrol Hyspin VG5. It is essential that Castrol Hyspin VG5 is used inside the depressor rotator, if any other oil is used damage to the internal motor will occur. Level Wind and Drive Chain Use ZEP DRY MOLY NC or equivalent lubricate level wind and drive chain after each dive. See Auxiliary Equipment Manual for Data sheets on oils and lubricants. The oils and lubricants can be ordered fro SubAtlantic using the following part numbers. Castrol Hyspin VG5 litre Part Number LUB000 Shell Diala: litre Part Number LUB000 Shell Tellus litre Part Number LUB000 ZEP DRY MOLY NC Can Part Number LUB0007 Mohican No..doc Rev. Page 9

92 .. PreDive Checks (TMS) Carry out the following checks before every dive. ) Make sure that all connector cables are secure and are fully connected correctly ) Check that the drive motor compensator is fully charged ) Check that the gearbox compensator is fully charged ) Check that the transformer/junction box compensator is fully charged and the isolation valves are open. 5) Make sure all air has been bled from junction boxes, slipring and compensators. 6) Check all oil filled systems for leaks, this includes drive motor, compensators and junction boxes etc. 7) Check that personnel are clear of the TMS. Switch on the TMS power, the TMS video picture should be available. ) Switch on the TMS lights for a brief period. 9) Check that the vehicle depressor mechanism operates in both directions and ensure that the ROV is clamped before deployment. 0) Check that the depressor rotator compensator is fully charged. The oil type used in the depressor rotator is Castrol Hyspin VG5. ) Use ZEP Dry Moly NC or equivalent to lubricate the level wind and level wind drive chain. Do not use grease, as this will cause grit and sand to stick causing undue wear. Mohican No..doc Rev. Page 9

93 5.0 GENERAL SAFETY PROCEDURES 5. Safety Safety procedures are a vital aspect of the operation of Remotely Operated Vehicles. They should be carefully studied and the principles contained therein applied to the everyday operation of the ROV system. References Any appropriate National / International Health & Safety laws / Guidelines. Company Health & Safety Policy. First Aid Manual. 5.. Electrical Potentially lethal AC and DC voltages are present throughout the system. Before applying any electrical supply voltages to any part of the system it is vital that a visual check be performed to ensure that personnel are not performing any maintenance work on the system. Ensure that all personnel in the proximity of the system are notified that power is to be applied to the system. Ensure you know which parts become active when power is applied. IT IS VITAL THAT YOU UNDERSTAND THE PRINCIPLE OF ELECTRICITY, THAT YOU ARE FULLY TRAINED IN ELECTRICAL OPERATING AND SAFETY PROCEDURES BEFORE ATTEMPTING TO SERVICE ANY PART OF THE ELECTRICAL SYSTEM INCLUDING THE TETHER AND UMBILICAL. ONLY SUITABLY QUALIFIED PEOPLE SHOULD WORK ON HIGH VOLTAGE ELECTRICAL SYSTEMS. THE INVERTER/TRANSFORMER MODULE CONTAINS 000VAC. THE INCOMMING SUPPLY MUST BE ISOLATED AND LOCKED OFF BEFORE ATTEMPTING TO CARRY OUT ANY REPAIRS OR MAINTENANCE ON ANY PART OF THE SYSTEM. 5.. Electrical Safety Guidelines The ROV and TMS should always be grounded by means of a flexible grounding strap each time the vehicle is returned to deck.. The grounding strap must always be attached to a clean paint free part of the ROV or TMS framework. Resistance between the ROV/ TMS and Power Distribution System ground points, should be regularly checked and recorded. Always switch off thruster power before deployment and before recovery. The ground strap must remain connected to the frame until just before launch. The ground strap must be reattached immediately after recovery. Mohican No..doc Rev. Page 9

94 The ground strap must be reattached before the system is powered ondeck. The ONLY person permitted to apply electrical power to the ROV or TMS is the appointed ROV Supervisor. Remove watches, rings and jewellery when working with electrical equipment. Always turn equipment off, and wherever possible interlock equipment when troubleshooting. Never open electrical enclosures when high voltages are present. Never operate equipment that has low insulation to ground. 5.. Hydraulic The correct functioning of the hydraulic system is based on correct principles being applied and on strict cleanliness. Always change hydraulic filters if it is suspected they may be contaminated. Ensure the correct hydraulic blanking caps are applied to exposed fittings. Never overtighten hydraulic fittings. Ensure correct fittings are used as it is easy to incorrectly identify certain fittings. Never reuse old hydraulic oil. Always dispose of hydraulic oil in accordance with environmental protection regulations. Never mix hydraulic oils of different viscosity or properties. Always apply antigalling compound onto threads of stainless steel fittings prior to tightening. Make sure the compound does not contaminate the hydraulic system. Ensure new components are cleaned with a lintfree cloth before fitting. Always visually inspect new components for any signs of damage before fitting. Carry out a function test if appropriate. Always wear protective glasses when working with hydraulics. Always wash hands with suitable hand cleaner afterwards to prevent skin disorders. 5.. Heavy Weights No person should attempt to walk under any load suspended beneath any lifting device. Any person giving orders to a crane operator shall be familiar with the standard handsignals used to guide crane operators. No person shall lift any heavy weight without following recognised procedures for the lifting of heavy weights. Mohican No..doc Rev. Page 9

95 5..5 Underwater Connectors Metal shell connectors are used on the system. Care should be taken to prevent water entering the connector by cleaning before separating. Make sure the connectors are completely free of water before being reconnected. The correct handling of underwater connectors is vital to the correct functioning of the system. Connectors should be inspected, cleaned and orings greased once a month using a suitable silicone grease, (MS). The orings are located in the lead half of the connector. To clean orings remove the Spiro Clip behind the brass locking nut and pull back the nut. This will allow access to the orings. On rubber type connectors apply a thin film of silicone grease to rubber surfaces that will come into contact with one another. Do not apply excessive silicone grease as this may block holes preventing the correct engagement of the connectors Orings The correct handling of orings is vital to the integrity of the underwater system components. Full guides to the handling of orings are available. This section is designed as a general overview only. Pressure housings may develop a semivacuum state inside resulting in difficulties in opening the housings. If this is the case, under no circumstances should sharp or metallic items be used to open the pressure housing. This will cause damage to the anodising resulting in electrolytic decay of the housing. It could also damage the precision faces upon which the orings sit or it could damage the oring itself. Jacking points are normally provided Always clean orings with a lintfree cloth and carefully inspect. Orings may be reused only if they are free from any imperfections or defects. If the oring is not in perfect condition replace it. Clean oring grooves with solvent and lintfree material prior to reassemble. Apply a thin layer of silicon lubricant to Oring before reassemble. Be careful not to trap or damage orings during reassembly. A recommended lubricant is Silicon Grease. Do not over apply lubricant to orings. Do not force items with orings, gently reassemble. Always use the correct orings as specified in the manual drawings. Failure to do so may result in flooded pressure housings. Mohican No..doc Rev. Page 95

96 5..7 Tools Always use the correct tool for the job. Never improvise. Never use damaged tools. Ensure electrical measurement devices are calibrated at regular intervals. 5.. Spare Parts Always use the manufacturer s spare parts. Failure to adhere to this may result in damage to the system and may invalidate the warranty. Use the parts lists provided on the system drawings to quote part numbers when ordering spare parts. Mohican No..doc Rev. Page 96

97 6.0 INTEGRATION, OPERATION & EMERGENCY PROCEDURES 6. System Installation & Integration See drawing No. HAN79WIS for basic system hookup schematic. This section is a basic guide to installing and integrating the Mohican ROV System. Power and signal Connections The surface Inverter/Transformers module will require a 00V phase and earth supply from the vessel or installation. This supply should be suitably protected by a 5 amp circuit breaker or fuses. Power is fed into the Inverter/Transformers module is via 6 pin socket. A 0 meter mains lead is supplied with the system. See drawing No. HAN77WIS for transformer box connection details. The Inverter/Transformers module is connected to the main PDU via a 6way, 0 meter long connecting lead supplied with the system. The PDU will also require a 0VAC single phase supply rated at 0 amps. This connection is made via a standard pin IEC lead into the rear of the unit. The deck cable should be connected to Umbilical Winch Stationary Junction Box at one end. The other end should be terminated into the transformer box. See drawing No. HAN77WIS for connection details to the transformer box. Connecting the TMS to the LARS Winch The connection is made via the armoured main lift umbilical cable. The TMS should be positioned such that, the umbilical cable may lift it. The umbilical cable should be connected to the TMS as per the recommended termination procedure. See drawing No. IAS for details on the armoured umbilical termination. Only qualified personnel should attempt to terminate the main lift cable. A load test at 6000 Kg should be carried out by a certified test company before using the system. Connecting the Tether to the ROV The tether is terminated into the ROV transformer box through a double seal cable gland. The tether is anchored to the ROV by means of the Chinese Finger which is connected to the central lift member of the frame via a stainless steel shackle. The shackle should be secured with a tyrap to prevent it shaking loose. The transformer box will be connected to a pressure compensator. Check that the compensator is full and the supply valve is open before deployment. Mohican No..doc Rev. Page 97

98 Initial Checks Before applying system power, the following checks should be carried out. Inverter/Transformers Ensure that the transformer has been connected to a suitable supply and that all the plugs are fully connected. Make sure the correct primary tappings have been selected to suit the vessel or installations supply. See Section.6.0 of this Manual for more information on the Inverter/Transformer Module. Control Console Make sure all the connectors on the rear panel are fully connected. Check inside the electronics rack to make sure all PCB s are fully plugged in. It may be possible for PCB s to become dislodged during transportation. ROV and TMS Connectors Make sure that all the connectors on the ROV and TMS are fully connected. Any spare or unused connectors should be protected by fitting the appropriate blanks. Mohican No..doc Rev. Page 9

99 6. Operations This section contains basic ROV and TMS operational procedures. 6.. Powering Up Before powering up the system: Check all power leads to the Isolation Transformer and Surface Control Console are connected and intact. Check that all TMS and ROV umbilical connectors are secure and in good condition. Check that there is no debris, tools etc in TMS or ROV or LARS. Check all personnel are clear of the vehicle thrusters etc. Apply the 0VAC supply to the main PDU and the high voltage PDU. Power should now be available to the video monitors and sonar processor if fitted. The power off switches should also be illuminated. Plug the remote controller into the front of the PDU. With the joystick centralised, the meters should be backlit and read zero. This is an indication that power is supplied to the controller. The Vehicle Power OFF switch should be illuminated. Test the 000V earth fault monitoring system by holding in the test button for about 5 seconds. The alarm will sound and the fault indicator will be illuminated. The ohms meter should indicate a fault of about 0K ohms. Power will be lost to the Vehicle Power switches. Press the mute button, this will silence the alarm but the fault indicator will remain. Hold in the reset button for seconds then release, this will reset the earth fault. After testing, reset everything to OFF. Apply ships power to the ROV/TMS isolation transformer and close the isolation switch and circuit breaker. The volt meters on the main PDU should indicate 0V. Check that personnel are clear of the vehicle and TMS then switch on the ROV power, the flashing communications LED should become steady once telemetry with the vehicle has been established. Switch on the cameras. After or seconds, video pictures should appear on the video monitors. Mohican No..doc Rev. Page 99

100 Check the Telemetry link between the console and the vehicle by operating the camera tilt unit. The tilt unit should move and the tilt angle should change on the video overlay display. Operate the Vehicle Lights they should all be dimmable from the Pilot s console. Switch on the thrusters by momentarily pressing the thruster isolation switches located on the pilots console. The switches should illuminate confirming that the thruster relays are energised. Check that all thrusters operate in the correct direction when given the appropriate commands from the pilot s console. The TMS camera should be available on one of the monitors. Check that telemetry has been established by switching on the lights and testing the vehicle depressor. Do not forget to switch off the lights. With the ROV and TMS power switched on, test the 0VDC line insulation monitors for the ROV and TMS individually. Pressing the test buttons on the main PDU will kill power to the ROV and TMS. Resetting is simply a case of switching the power on. Mohican No..doc Rev. Page 00

101 6.. Predive Checks (Vehicle) Power up the vehicle as described in the previous section and carry out a full function check of all the vehicle functions as listed below. ) Check cameras, lights, tilt unit etc. ) Switch on the thruster power. ) Check that all thrusters operate in the correct direction when given the appropriate commands from the pilot s console. ) Check that the thruster compensator is fully charged and all the isolation valves are open. 5) Check that the transformer box compensator is fully charged and all the isolation valves are open. 6) Check that the compensator on the tilt units are fully charged. 7) Make sure all air has been bled from junction boxes and compensators. ) Make sure that all connector cables are secure and are well clear of the thrusters. 9) Check all oil filled systems for leaks, thrusters and comps etc. 0) Check all manipulator functions if fitted. ) Check compensators for any additional equipment that may have been fitted. ) Check that the sonar if functioning and communicating with the surface control unit. ) Check that line insulation monitors are clear and no alarms are present on the PDU s and controller. ) Check that the Vehicle Buoyancy is bolted to the frame. 5) Once the above the above checks have been successfully carried out, the system is ready to dive Mohican No..doc Rev. Page 0

102 6.. PreDive Checks (TMS) Carry out the following checks before every dive. ) Make sure that all connector cables are secure and are fully connected correctly ) Check that the drive motor compensator is fully charged ) Check that the gearbox compensator is fully charged ) Check that the transformer/junction box compensator is fully charged and the isolation valves are open. 5) Make sure all air has been bled from junction boxes, slipring and compensators. 6) Check all oil filled systems for leaks, this includes drive motor, compensators and junction boxes etc. 7) Check that personnel are clear of the TMS. Switch on the TMS power, the TMS video picture should be available. ) Switch on the TMS lights for a brief period. 9) Check that the vehicle depressor mechanism operates in both directions and ensure that the ROV is clamped before deployment. 0) Check that the depressor rotator compensator is fully charged. The oil type used in the depressor rotator is Castrol Hyspin VG5. ) Use ZEP Dry Moly NC or equivalent to lubricate the level wind and level wind drive chain. Do not use grease, as this will cause grit and sand to stick causing undue wear. Mohican No..doc Rev. Page 0

103 6.. Diving and Operation Do not attempt to put the ROV or TMS or both into the water until all the PowerUp and PreDive checks have been successfully carried out. When these checks have been successfully carried out the vehicle may now be deployed and used to perform the underwater tasks that are required of it. Always launch the system with the thruster power switched OFF. Deployment If the vehicle is used with a Tether Management System, a launch and recovery system will be used for the deployment. This will normally be an Aframe type. Care should be taken when lifting the TMS. Personnel should keep clear of the suspended load. As the TMS is being lowered into the water, it should be taken through the splash zone as quickly as possible to minimise the effects of shock loading on the main lift cable and TMS structure. Once through the splash zone, the system can be lowered to the required depth by monitoring the depth reading on the video monitors through the overlay system. When the required depth has been reached the winch should be stopped and secured, check that all vehicle and TMS functions are still functioning. Switch on one of the TMS lights. To fly the vehicle out of the TMS, switch on thruster power, open the vehicle depressor, apply 75% forward thrust and tether out. Do not forget to apply forward thrust or the tether may become tangled on the drum. The vehicle will fly out of the TMS. When clear of the TMS, check the tether in/out functions. The operator should be able to see the tether, drum and vehicle on the TMS camera. If the vehicle is to be live boated that is without a TMS, a bullet, locklatch and crane arrangement will normally be used to deploy and recover the vehicle. The bullet is fitted to top central point of the vehicle with the tether passing through the centre. The latch which is attached to the crane, slides down the tether and latches onto the bullet. The vehicle can now be lifted. Again care should be taken when lifting the vehicle. Personnel should keep clear of the suspended load. When the vehicle hits the water the latch should be released as soon as the weight comes off the lift wire to minimise the effects of shock loading on the lifting equipment. When the vehicle is undocked the latch should be lifted with the crane and removed from the tether. The vehicle can now be flown down to the required working depth. Mohican No..doc Rev. Page 0

104 Using the autofunctions These are engaged by pressing the relevant button on the remote controller. The rate gyro is used to stabilise and keep the vehicle flying in a straight line. The gyro is also used along with the autoheading to prevent the vehicle drifting off a selected heading. The autodepth will hold the vehicle within 0.5 mtrs of a selected depth. The use of the vertical joystick overrides the depth hold and allow the vehicle to fly up or down. When the joystick is returned to the centre position, the autodepth will be reselected and the new depth will be held. The same applies to the autoaltitude. If autodepth and altitude are selected together, autodepth will take priority. Joystick commands override the gyro and autofunction commands System Recovery System Recovery (TMS) Remove all turns from the ROV tether before returning to the TMS. The turns counter will indicate the amount turns in the tether. If there is a POSITIVE number of turns, fly the vehicle in an ANTICLOCKWISE direction until the turns counter reads zero. If there is a NEGATIVE number of turns, fly the vehicle in a CLOCKWISE direction until the number of turns reads zero. Fly the vehicle towards the TMS at the same time as taking in slack tether using the tether in button. When the ROV is in visual range through the TMS camera, position the Vehicle so that the rear end is near the TMS entry. When good alignment is achieved use the tether in function to pull the vehicle into the TMS. When the vehicle is inside the TMS, close the vehicle depressor to secure the vehicle. Switch off all autofunction and the rate gyro and switch off the thruster power. When the system is being recovered, use the winch speed to pull the TMS through the splash zone quickly to minimise the effects of shock loading on the main lift cable and TMS structure. Recover the system to the deck, attach the earth strap and carry out the post dive checks. Mohican No..doc Rev. Page 0

105 System Recovery (Live Boating) Slowly fly the vehicle upwards at the same time as recovering the tether to the deck. When the vehicle is in sight, fly or pull the vehicle using the tether towards the recovery point. Switch off thruster power. Place the lock latch onto the tether and lower it onto the bullet. As soon as the bullet is latched, recover the vehicle to the surface as quickly as possible to minimise the effects of shock loading caused by wave action. When the vehicle is on the deck, carry out the post dive checks. PostDive Checks ROV Replace camera lens caps. Check all cables are secure. Check for obstructions in thrusters. Check for any obvious signs of damage. Check anodes for wear & overall corrosion levels. Rinse vehicle with fresh water. Check thruster compensator. Check oil filled box compensator. Check pan & tilt compensator. TMS Check all cables are secure. Check all pressure compensators. Check for any obvious signs of damage. Check anodes for wear & overall corrosion levels. Rinse TMS with fresh nonsaline water. Mohican No..doc Rev. Page 05

106 6. Optional Equipment 6.. Valve Pack/HPU Interface See Drawing No. 9MAS 6Station Valve Pack/HPU Assembly HAN7WIS Starboard Pod Wiring Schematic HAN7WIS Pilot s Remote Controller Wiring Schematic HAN9WIS Manipulator Controller HAN90HYS Hydraulic Schematic Mohican No. 0 is equipped with an interface to drive a SubAtlantic 6 station valve/power pack. See drawing 097MAS for details on the hydraulic valve/power pack. The power pack is driven by a 0V brushless DC motor and is connected to the starboard electronics pod via a 9way lead. See drawing No. HAN7WIS for power and control connection details. The valve pack controller plugs into the ROV controller via a 9way DType connector. The manipulator controller contains a diode logic board (PCB 000) which converts the switch inputs into a bit binary word. This bit binary word is fed to the valve pack via digital channels on the ROV telemetry system. A control board (PCB07) located inside the valve pack controls the valves and the pump. The pump will only run when a command is given by the manipulator controller. The pump pressure is set to 0 bar for use with Hydrolek Manipulators. The unit should not be run for more the minutes while the system is on deck. This is to prevent the pump overheating. A 70cc pressure compensator is connected to the valve pack. This provides a reservoir and pressure compensation. The oil used in the hydraulic system is Shell Tellus or equivalent. Make sure the compensators are topped up before operating the system. Leave a gap of 0mm on the compensators to allow for oil expansion. Mohican No..doc Rev. Page 06

107 6.. System Software Mohican 0 left the factory with the following software installed in the telemetry system and the video overlay: Table Board Number Firmware Number Version Checksum ROV Topside PCB076 SA050C V.00 9BC ROV Bottom Side PCB076 SA0R00 V.00 5E5 TMS Topside PCB076 SA050C V.00 TMS Bottom Side PCB076 SA05R V.00 D6B6 Video Overlay PCB007 SUB0SD.EXE V.00B Table should be filled in to reflect any upgrades to software. Table Board Number Firmware Number Version Checksum Mohican No..doc Rev. Page 07

108 7.0 DRAWING PACKAGE This section of the manual contains all mechanical and electrical drawings. 7. Mechanical Drawings MAS after the drawing number stands for Main Assembly. IAS stands for Intermediate Assembly Drawing No. Title ROV 65MAS Mohican Main Assembly MAS0 Customer Specific Vehicle Assembly 00MAS Mohican Frame Assembly 099MAS Mohican Frame Assembly 09MAS Mohican Frame Assembly 79MAS Mohican Buoyancy Assembly 595MAS Additional Buoyancy Assembly 55MAS SPE0 Thruster Unit Main Assembly 57MAS SPE0 Rotor Assembly 90MAS Thruster Slew Assembly 99MAS Slew Crank Assembly 9MAS Slew Bar Assembly 9MAS Vehicle Transformer Assembly 05MAS 000V Termination Board Assembly 769MAS PDU Inverter Assembly 096MAS PDU Transformer Box 9MAS Electronics Enclosure 056MAS Compass Pod Assembly 09MAS Lights Fuse Bottle 05MAS Tilt Unit Assembly 0099WIS Tilt Unit Wiring Schematic 07MAS Camera/Light Assembly 0MAS 70cc Oil Compensator Assembly 00MAS 60cc Oil Compensator Assembly 009MAS000 ML00 Light assembly MAS Sonar Mounting Kit Tritech 66MAS Sonar Mounting Kit Kongsberg MAS Transponder Mounting Kit Kongsberg MST MAS ROV Remote Controller 7MAS Manipulator Control Panel TMS 95MAS MAS07 Mohican TMS Main Assembly Customer specific TMS Assembly Mohican No..doc Rev. Page 0

109 055MAS 096MAS 97MAS 075MAS 9MAS 067MAS 9MAS MAS 99MAS 067MAS 0766MAS MAS 60MAS 9MAS 067MAS MAS 0967MAS 067MAS 76MAS 5MAS 0579MAS 095MAS IAS 69MAS 06MAS 06MAS Lower TMS Frame Assembly Upper TMS Frame Assembly TMS Chassis Assembly 700cc Oil Compensator Assembly Compensator Sensor Kit Level Wind Assembly Tether Drum Gearmotor Assembly Drum Gearbox Assembly TMS Drive Motor Assembly ROV Retainer Assembly Flexible Drive Shaft Assembly TMS Transformer Box Electronics Enclosure Assembly Pod Tube Retainer Assembly Traction Wheel Assembly Traction Wheel Gearbox Assembly Traction Gearbox Compensator Radius Gooseneck Assembly Tether Drum Assembly Drum Bearing Drum Bearing Umbilical Termination Bullet Bullet Termination Procedure TMS Camera Assembly TMS Camera Mounting Assembly TMS Lights & Mounting Bracket Mohican No..doc Rev. Page 09

110 7. Electrical/Electronic Drawings ELS after the number, stands for Electronic Schematic which is normally the schematic of the PCB s. LAS after the number, stands for Layout Schematic which is normally the layout of the PCB s. WIS after the number stands for Wiring Schematic. Drawing No. ROV HAN70LAS HAN7WIS HAN7LAS HAN7WIS HAN7LAS HAN75WIS HAN76WIS HAN77WIS HAN7WIS HAN79WIS HAN0WIS HANWIS HANWIS HANWIS HANWIS HAN9HYS 05ELS 05LAS 069ELS 069LAS 070ELS 070LAS 07ELS 07LAS 076ELS 0ELS 0LAS 0ELS 0LAS 05ELS 05LAS 06ELS 06LAS Title Vehicle Layout Port Electronics Pod Wiring Port Electronics Pod Layout Starboard Electronics Pod Wiring Starboard Electronics Pod Layout Pilots Remote Console Wiring PDU/Electronics Module Inverter/Transformer Module ROV Transformer Box System Hookup Schematic PDU/Transformer Connecting leads Compass Pod Lights Fuse Pod Camera Whips Sonar Whip Thruster Compensation Circuit Thruster Termination Board Schematic Thruster Termination Board Layout Thruster Isolation Board Schematic Thruster Isolation Board Layout Light Dimmer Board Schematic Light Dimmer Board Layout LIM/Capacitor Board Schematic LIM/Capacitor Board Layout Telemetry Boards Schematic 5 Channel Relay Board Schematic 5 Channel Relay Board Layout Telemetry Interface/Relay Board Schematic Telemetry Interface/Relay Board Layout Gyro/Power Supply Board Schematic Gyro/Power Supply Board Layout ROV Fibre Optic Board Schematic ROV Fibre Optic Board Layout Mohican No..doc Rev. Page 0

111 7. Electrical/Electronic Drawings (cont) 06LAS 0550ELS 0550ELS 00ELS 077ELS 077LAS 000ELS 059ELS 059LAS 07LAS 000LAS 06ELS 06LAS 0099ELS 090WIS TMS HAN5LAS HAN6WIS HAN7LAS HANWIS HAN9WIS 59ELS 59ELS 06LAS 005ELS 005LAS 096ELS 097WIS Optional Equipment 09ELS 09LAS 0WIS 06HYD HAN90HYS HAN9WIS HAN9WIS HAN9WIS V Power Supply Remote Controller Power Supply Sch. Power Supply Layout Joystick Interface Board Channel Digital I/O board Schematic Channel Digital I/O board Layout Diode logic Board Schematic Alarm Board Schematic Alarm Board Layout Video Overlay Power Supply Console vdc Supply Layout Surface LIM Receiver Board Schematic Surface LIM Receiver Board Layout Tilt Unit Wiring Schematic Thruster Wiring Schematic TMS Layout TMS Electronics Pod Wiring TMS Electronics Pod Layout TMS Transformer Box/Slip Ring Wiring TMS Connecting Leads TMS Light Switch/Capacitor Board Sch. TMS Light Switch/Cap Board Layout TMS Power Supply Layout TMS Relay Board Schematic TMS Relay Board Layout TMS Camera BLD Board TMS Camera Wiring Schematic. Valve Pack Control Board Schematic Valve Pack Control Board Layout Valve/Hydraulic Power Pack Schematic Valve/Power Pack Hydraulic Schematic ROV Hydraulic Schematic Manipulator Controller Wiring Schematic HD camera Lead Transponder Lead Mohican No..doc Rev. Page

112 7. Warranty SubAtlantic warrant their ROV and TMS systems on a back to base basis for a period of months. Replacement parts will not be issued until the defective items have been returned for inspection. Costs of returning defective components to SubAtlantic shall be at the buyer s expense. This warranty does not apply to any product that has been misused, modified or damaged by accident. The warranty does not include shaft seals, spooling equipment followers and any other part subject to wear under normal operating conditions. SubAtlantic will not warrant any unauthorised modifications to their products and will not accept liability for such alterations. Equipment sold by but not manufactured by SubAtlantic such as cameras, video monitors, sonar heads and processors etc. will be warranted only to the extent and in the manner of that warranted to Sub Atlantic by the seller and then only to the extent that the original seller is able to enforce such a warranty. 7. Service Support & Spare Parts SubAtlantic operates a comprehensive sales support and technical after sales service based in Aberdeen Scotland. Most spare parts will be held in stock at our premises. When ordering spare parts, the SubAtlantic part number references on the drawings should be quoted. Any technical queries should be directed to our technical department. A hour helpline is normally in operation. A number will be available on the answering system after normal working hours. Please have a system manual available before calling about technical queries, this will help our technical department to answer questions. SubAtlantic Ltd. Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. Scotland. U.K. AB OPS Tel: 00 (0) Fax: 00 (0) sales@subatlantic.co.uk Web Mohican No..doc Rev. Page

113 .0 AUXILLIARY VENDOR SUPPLIED EQUIPMENT MANUALS Refer to Volume Mohican No..doc Rev. Page

114 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Frame Structure Assembly 00MAS 6 Thruster SPE0 55MAS Compensator Assembly 70 cc 0MAS Compensator Assembly 60 cc 00MAS 5 Mohican Buoyancy Set 000m Assembly 79MAS 6 Transformer Assembly kva 9MAS 7 Mohican Starboard Electronics Enclosure 9MAS Mohican Port Electronics Enclosure 9MAS 9 Compass Pod Assembly 056MAS 0 Light Fuse Bottle 000 msw 09MAS ML00 Light Assembly (Single Fixing) 009MAS000SS Mohican Buoyancy Retainer 000m 09DET 6 Mohican Buoyancy Retainer 000m 09DET Light Saddle 96DET 5 Jubilee Clip Cameras Dia. as required 6 Jubilee Clip Lamp Dia as required 7 ML00 Light SPE000 Socket Head Cap Screw in x in long FSHCS~UNCA70 Stainless Gr A70 9 Spring Washer in FSW/SS Stainless Steel 0 CSunk Head Socket Screw M6 x 5 long FCSHSM65A70 Stainless Gr A70 6 Plain Washer M6 FPWM6SS Stainless Steel Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 6 Penny Washer M FPENMSS Stainless Steel 0 Spring Washer M FSWMSS Stainless Steel 5 Plain Washer M FPWMSS Stainless Steel 6 Nylok Hex Nut M FNLMA70 Stainless Gr A Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 0 Spring Washer M6 FSWM6SS Stainless Steel 9 Button Head Cap Screw M6 x 0 long FBHCSM60A70 Stainless Gr A70 0 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 EBR 9/0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) EBR WT WATER 9/0/05 kg (E) PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN ROV BASE BUILD MAIN ASSEMBLY DRAWING Sheet of 65MAS REV

115 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! 5 6 THIRD ANGLE PROJECTION PROJECT SEE DRAWING 07MAS FOR GENERAL CAMERA ASSEMBLY AND CABLE ROUTING MOHICAN ROV NOTE. USE ANTI GALLING COMPOUND ON ALL FASTENERS TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV BASE BUILD MAIN ASSEMBLY DRAWING Sheet of 65MAS REV

116 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! REMOVE SHARP EDGES 7 5 Item No. Qty Description SubAtlantic Part Ref. Mohican Main Assembly Base Build 65MAS Kit Mohican Kongsberg m Sonar 66MAS Kit Mohican Valvepack and Mount 9MAS Kit Mohican Kongsberg OE50 Camera Mount 0MAS 5 Kit Mohican Additional Buoyancy Set 000m 595MAS 6 Hydrolek MB Manipulator SPE00 7 Kit Mohican Transponder Mounting Kongsberg MST9 MAS Camera Kongsberg OE500 SPE05 9 Camera Kongsberg OE66 SPE Camera Kongsberg OE50A SPE07 Camera Saddle 95DET Camera Band FWOR900SS Sonar Kongsberg 07 Sonar 6000m SPE0 Camera Kongsberg OE50 SPE095 5 Transponder Kongsberg MST FREE ISSUED 6 Chinese Finger 5mm0mm (Not Shown) CAA THIRD ANGLE PROJECTION 5 6 AJA 06//007 ISSUED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) AJA ABO GDU 9 WT WATER kg (E) 06//007 AJA Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (UOS) ORIG. SIZE DOC. No. :0 A MOHICAN ROV MOHICAN ROV ASSEMBLY SERIAL No: 0 MAIN ASSEMBLY DRAWING Sheet of MAS0 REV

117 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Frame Structure Assembly 09MAS Mohican Frame Structure Assembly 099MAS Mohican Frame Port Side Panel 6DET Mohican Frame Stbd Side Panel 7DET 5 Mohican Frame Forward Stiffener 6DET 6 Mohican Frame Tilt Unit Mounting Plate 069DET 7 Tilt Unit (Plastic) With Comp 05MAS Nut M x x 5 Round 065DET 9 0 Nut M x x 0 Round 507DET 0 Chain mm Pitch Stainless MIS077 Camera Saddle Mohican 7DET Camera Sprocket Retainer Mohican 906DET Sprocket mm x 7 Teeth 905DET CSunk Head Socket Screw M6 x 6 long FCSHSM66A70 Stainless Gr A Spring Washer M FSWMSS Stainless Steel 6 65 Plain Washer M FPWMSS Stainless Steel 7 Button Head Cap Screw M x 50 long FBHCSM50A70 Stainless Gr A70 Nylok Hex Nut M FNLMA70 Stainless Gr A70 9 Button Head Cap Screw M x 5 long FBHCSM5A70 Stainless Gr A70 0 Button Head Cap Screw M x 60 long FBHCSM60A70 Stainless Gr A70 Button Head Cap Screw M x 70 long FBHCSM70A70 Stainless Gr A70 5 Flat Wire Clip CAA000 0 Self Tapping Screw No. x.7 long FSTPHNo.7A70 Stainless Gr A70 6 Nylok Hex Nut M FNLMA70 Stainless Gr A Plain Washer M FPWMSS Stainless Steel 6 6 CSunk Head Socket Screw M x 5 long FCSHSM5A70 Stainless Gr A70 7 Button Head Cap Screw M6 x long FBHCSM6A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel 9 Spring Washer M6 FSWM6SS Stainless Steel 0 6 M x M Captive Retainer 077DET ABO 6//006 6 M X M CAPTIVE RETAINER ADDED GDU 7/0/005 M X 70 ADDED, M X 60 REMOVED GDU /0/005 CAMERA AND LIGHT REMOVED FROM ASSEMBLY ECN705 GDU EBR 0/06/05 APPROVED FOR MANUFACTURE GDU REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) EBR GDU GDU WT WATER 0/06/05 GDU kg (E) Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN FRAME STRUCTURE ASSEMBLY DRAWING Sheet of 00MAS REV

118 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION NOTES : USE ANTI GALLING COMPOUND ON ALL FASTENERS PUT THE M X M CAPTIVE RETAINERS (ITEM 0) BEFORE ASSEMBLING THE SIDE PANELS SEE DRAWING 07MAS FOR ORIENTATION OF "V"'s ON BLOCK Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN FRAME STRUCTURE MAIN ASSEMBLY DRAWING Sheet of 00MAS REV

119 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Slew Crank Assembly 99MAS Mohican Slew Bar Assembly 9MAS Slew Assembly SPE0 90MAS Mohican Frame Upper Deck 7DET 5 Mohican Frame Cross Member 6DET 6 Mohican Frame Longitudinal 65DET 7 Tilt Unit (Plastic) With Comp 05MAS Mohican Lift Bar Retainer 07DET 9 Mohican Lift Pin 06DET 0 Mohican Lift Bar 07DET Mohican Tether Guide 979DET Mohican Tether Guide 067DET 6 M x M Captive Retainer 077DET 0 Nut M x x 0 Round 507DET 5 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A CSunk Head Socket Screw M x 0 long FCSHSM0A70 Stainless Gr A Nylok Hex Nut M FNLMA70 Stainless Gr A70 Button Head Cap Screw M x 60 long FBHCSM60A70 Stainless Gr A70 9 Plain Washer M FPWMSS Stainless Steel 0 Spring Washer M FSWMSS Stainless Steel 6 Plain Washer M FPWMSS Stainless Steel 0 Button Head Cap Screw M x 50 long FBHCSM50A70 Stainless Gr A70 CSunk Head Socket Screw M x 5 long FCHSSM5A70 Stainless Gr A70 Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Hex Bolt M x 5 FHBM5A70 Stainless Gr A70 6 Flanged Bearing 6 x x BRGX6 7 Sleeve Bearing 6 x x 0 BRGX60 6 EBR 9/06/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR 9/06/05 GDU GDU GDU Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN FRAME STRUCTURE ASSEMBLY DRAWING Sheet of 099MAS REV

120 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION NOTE. USE ANTI GALLING COMPOUND ON ALL FASTENERS NOTE THE ORIENTATION OF THE PIN AND MARKS SEE DRAWING 90MAS 9 0 Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN FRAME STRUCTURE MAIN ASSEMBLY DRAWING Sheet of 099MAS REV

121 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Frame Lower Deck 66DET Mohican Frame Rear Pillar Stbd 7DET Mohican Frame Rear Pillar Port 67DET Mohican Frame Rear Cross Pillar 69DET 5 Mohican Frame Brace 60DET 6 Mohican Frame Pod Support 066DET 7 ElectronicsPod Band Mohican 90DET 9 x x Round Anchor 00DET 9 Nut M x x 5 Round 065DET 0 Nut M x x 0 Round 507DET M x M Captive Retainer 077DET 6 M x M6 Captive Retainer 0DET Button Head Cap Screw M x 70 long FBHCSM70A70 Stainless Gr A70 0 Button Head Cap Screw M x 60 long FBHCSM60A70 Stainless Gr A Plain Washer M FPWMSS Stainless Steel 6 Spring Washer M FSWMSS Stainless Steel 7 CSunk Head Socket Screw M x 50 long FCSHSM50A70 Stainless Gr A70 Nylok Hex Nut M FNLMA70 Stainless Gr A70 9 Button Head Cap Screw M x 50 long FBHCSM50A70 Stainless Gr A70 0 Eyebolt M0 x 5 lg DET Plain Washer M0 FPWM0SS Stainless Steel Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 6 ACR 7/0/06 CAPTIVE INSERTS FOR COMPASS ADDED EBR /06/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /06/05 GDU GDU GDU Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN FRAME STRUCTURE ASSEMBLY DRAWING Sheet of 09MAS REV

122 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION NOTE. USE ANTI GALLING COMPOUND ON ALL FASTENERS Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN FRAME STRUCTURE MAIN ASSEMBLY DRAWING Sheet of 09MAS REV

123 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION REMOVE SHARP EDGES Item No. Qty Description SubAtlantic Part Ref. Mohican Buoyancy Block 000m 07DET Mohican Buoyancy Block 000m 06DET Mohican Buoyancy Block 000m 05DET Mohican Buoyancy Block 000m 0DET GDU 07/06/005 COMPLETE REDESIGN EBR 7/0/05 APPROVED FOR MANUFACTURE CMI REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BOM FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR 7/0/05 GDU GDU CMI : A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. MOHICAN ROV MOHICAN BUOYANCY SET 000 MSW ASSEMBLY DRAWING Sheet of 79MAS REV

124 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! REMOVE SHARP EDGES THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Buoyancy Block 5 000m 59DET Penny Washer M FPENMSS Stainless Steel Spring Washer M FSWMSS Stainless Steel Hex Screw M x 70 long FHHSM70A70 Stainless Gr A70 5 M x M Captive Retainer 077DET 5 GDU /0/006 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BOM FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) GDU /0/006 AJA GDU GDU PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A MOHICAN ROV KIT MOHICAN ADDITIONAL BUOYANCY SET 000 MSW ASSEMBLY DRAWING Sheet of 595MAS REV

125 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! TIE CABLE BACK ONTO PENETRATOR 5 5 CHARGING POINT TIE CABLE BACK ONTO BOLT THIRD ANGLE PROJECTION REMOVE SHARP EDGES Item No. Qty Description SubAtlantic Part Ref. Material SPE0 Rotor SubAssembly 57MAS Body SPE0 5DET Threaded Insert 050DET Stator Liner SPE0 50DET 5 Rear Bearing Housing SPE0 75DET 6 Compensator Body cc SPE0 75DET 7 Piston cc SPE0 755DET Nozzle Support SPE0 756DET 9 Nozzle Support Extension SPE0 757DET 0 Nozzle SPE0 5DET Body Cover SPE0 759DET Bleed Screw MM 766DET Comp. Spring. WD x.6 OD x.9 lg 75DET Anode 5 x 6. x lg 76DET 5 Ceramic Insulator IGBT SPE0 75DET 6 Propeller Cap SPE0 976DET 7 Stator SPE0 SPE05 Diaphragm 5 x 0 x DIA00 Nitrile 9 PCB076 SPE0 Thruster Control Board PCB076 0 Series Coupling Body HYD000 Dowty ~ Inch BSPP SEA005 St. Steel/Nitrile SPE0 Thruster Penetrator CAB006 ORING.00 x 56.0 SOR000560N70 Nitrile 70 ORING x 0 SOR00000N70 Nitrile 70 5 ORING x 5 SOR00050N70 Nitrile 70 6 ORING.7 x.76 (BS 0) SOR700N70 Nitrile 70 7 ORing Body Cover SPE0 SOR0000N70 Nitrile 70 Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 9 Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 0 Socket Head Cap Screw M6 x 65 long FSHCSM665A70 Stainless Gr A70 Socket Head Cap Screw M5 x 5 FSHCSM55A70 Stainless Gr A70 Socket Head Cap Screw M5 x 6 FSHCSM56A70 Stainless Gr A70 CSunk Head Socket Screw M5 x 0 long FCHSSM50A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel 5 6 Plain Washer M5 FPWM5SS Stainless Steel 6 6 Spring Washer M6 FSWM6SS Stainless Steel 7 Spring Washer M5 FSWM5SS Stainless Steel Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 9 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel 6 Spring Washer M FSWMSS Stainless Steel Self Tapping Screw No.6 x 5. long FSTPHNo65.A70 Stainless Gr A70 Socket Head Cap Screw M.5 x long FSHCSM.5A70 Stainless Gr A70 5 Spring Washer M.5 FSWM.5SS Stainless Steel 6 Plain Washer M.5 FPWM.5SS Stainless Steel 7 Uninsulated Eyelet Terminal 6BAM ELA006 Plug Sub Assy SPE 0 99IAS 9 Hex Plug BSPP HYD07 Stainless Steel 50 6 Regulator Isolation Sleeve MIS05 5 SPE0 PCB Insulation 55DET PRODUCT P/N SAP55MAS 5 GDU 09/0/07 NOTES ABOUT O'RING SIZE AND CABLES ADDED GDU //06 PCB INSULATION. ECN06 GDU 6/0/05 REGULATOR BUSH ADDED. ECN7705 GDU /0/05 TIGHTENING TORQUE ADDED ECN06705 EBR /0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI CMI CMI MATERIAL SEE BOM FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) EBR GDU CMI WT WATER /0/05 CMI kg (E) :.5 A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. SPE0 THRUSTER SPE0 THRUSTER MAIN ASSEMBLY DRAWING Sheet of 55MAS REV 5

126 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION EARTH CONNECTOR SECTION VIEW ( :.5) Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A SPE0 THRUSTER SPE 0 THRUSTER ASSEMBLY MAIN ASSEMBLY DRAWING Sheet of 55MAS REV 5

127 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! TORQUE M5 BOLTS TO Nm PLC'S LUBRICATE 5 LUBRICATE. WIRING NOT SHOWN. REFER TO DRAWING 090WIS FOR WIRING DETAILS. FILLING/CHARGING THRUSTERS.. THE THRUSTER HAS BEEN DESIGNED TO RUN FILLED WITH OIL. SHELL NATURELLE HFE6 IS A SUITABLE BIODEGRADEABLE OIL. ALTERNAIVELY SHELL TRANSFORMER OIL SHOULD BE USED... REMOVE THE BLANKING CAP FROM THE CHARGING POINT AND CONNECT UP THE FLUSHING CHARGING PUMP... POSITION THE THRUSTER SO THAT THE PROPELLER IS UPWARDS LUBRICATE WARNING: BEFORE REMOVING THE CONNECTOR CAP ASSEMBLY ENSURE THAT ALL WATER/OIL IS REMOVED FROM THE ROTOR CAVITY. THIS IS DONE BY POSITIONING THE THRUSTER WITH THE PROPELLER FACING DOWNWARDS LOOSEN THE BLEED SCREW AND BLOW AIR THROUGH THE CHARGING POINT USING AN EMPTY FLUSHING PUMP. ENSURE O'RING SOR00070N70 IS FITTED NOTE THAT ONE PLAIN WASHER (6) IS REPLACED WITH AN EARTH CONNECTOR. SEE WIRING SCHEMATIC 090WIS FOR DETAILS REMOVE ANODISING LOCALLY FOR GOOD EARTH CONTACT 9 BLEED POINT THIRD ANGLE PROJECTION CHARGE UP THE PUMP AND OPEN THE PUMP VALVE..6. LOOSEN THE BLEED SCREW LOCATED ON THE FRONT BEARING HOUSING..7. WHEN ALL THE AIR IS EXPELLED AND WHILE WATER OR OIL IS STILL RUNNING FROM THE BLEED POINT, RETIGHTEN THE BLEED SCREW CLOSE THE VALVE AND REMOVE THE PUMP FROM THE THRUSTER... REMEMBER TO REPLACE THE BLANKING PLUG. 0 Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A PRODUCT P/N SAP55MAS SPE0 THRUSTER SPE0 THRUSTER ASSEMBLY DRAWING Sheet of 55MAS REV 5

128 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED Item No. Qty Description SubAtlantic Part Ref. Material Rotor Intermediate Assembly SPE0 55IAS CT0 Wear Ring 00DET Bearing Sleeve SPE75 056DET Bearing Retainer M5 057DET 5 Front Bearing Housing SPE0 5DET 6 Bleed Screw MM 766DET 7 Propeller SPE0 SPE0 Drive Pin SPE0 Part of SPE0 9 Rotary Seal 5 x 5 x 7 SEA000 Nitrile/SS Spring 0 ORING.6 x.9 (BS ) SOR609N70 Nitrile 70 Nylok Hex Nut M FNLMA70 Stainless Gr A70 Penny Washer M FPENMSS Stainless Steel CSunk Head Socket Screw M5 x long FCHSSM5A70 Stainless Gr. A70 ORING.7 x.76 (BS 0) SOR700N70 Nitrile 70 5 Deep Groove Ball Bearing 600 BRG600 6 Deep Groove Ball Bearing 60 BRG60 5 THREADLOCK THIRD ANGLE PROJECTION IF IN DOUBT ASK! 6 LUBRICATE LUBRICATE LUBRICATE LUBRICATE TORQUE. Nm.5 lb.ft THREADLOCK NOTE DRIVE PIN () TO BE INSERTED IN SHAFT AFTER ASSEMBLY OF ALL COMPONENTS PRIOR TO THE PROPELLER SECTION VIEW 7 TORQUE. Nm.5 lb.ft EBR 0/0/06 POSITION OF REAR SHAFT SEAL REVERSED. SEALS NOW BACK TO BACK GDU /07/00 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) GDU /07/00 CMI CMI CMI : A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. SPE0 THRUSTER SPE0 ROTOR SUB ASSEMBLY MAIN ASSEMBLY DRAWING Sheet of 57MAS REV

129 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Slew Housing SPE0 77DET Slew Shaft SPE0 777DET Slew Shaft Retainer SPE0 775DET Slew Spacer SPE0 77DET 5 Insert Threaded M6 x M0 65DET 6 Slew Pin 779DET 7 Deep Groove Ball Bearing with Shields Stainless BRGS6007RSR Stainless Steel Filter Screen mm HYD Plain Washer M FPWMSS Stainless Steel 0 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 Dowel Pin.5 dia x 0 long FDP.50SS Stainless Steel CSunk Head Socket Screw M x 5 long FCHSSM5A70 Stainless Gr A70 SECURE WITH LOCTITE 6 NOTE POSITION OF MARKS RELATIVE TO SLEW PIN WHEN MOUNTING TO VEHICLE FRAME SECURE WITH LOCTITE 6 SECURE WITH LOCTITE NOTE. USE ANTI GALLING COMPOUND ON ALL FASTENERS EBR /0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /0/05 GDU GDU GDU Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV SLEW ASSEMBLY SPE 0 MAIN ASSEMBLY DRAWING Sheet of 90MAS REV

130 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Slew Crank 907DET Crank Pin 95DET Camera Bracket Key 00DET Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 5 Plain Washer M6 FPWM6SS Stainless Steel 6 Socket Head Cap Screw M x 55 long FSHCSM55A70 Stainless Gr A70 7 Plain Washer M FPWMSS Stainless Steel Spring Washer M FSWMSS Stainless Steel NOTE. USE ANTI GALLING COMPOUND ON ALL FASTENERS EBR /0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /0/05 GDU GDU CMI Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN SLEW CRANK MAIN ASSEMBLY DRAWING Sheet of 99MAS REV

131 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Slew Bar 77DET Flanged Bearing x 0 x 7.5 BRGX00075 NOTE THE ORIENTATION OF THE SLEW BAR TO THE FACE ON WHICH THE FLANGE OF THE BUSH IS IN CONTACT WITH EBR /0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILLS OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /0/05 GDU GDU CMI Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN SLEW BAR ASSEMBLY MAIN ASSEMBLY DRAWING Sheet of 9MAS REV

132 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Termination Board Assembly 000 V 05MAS Transformer Box kva 760DET Transformer KVA 0DET Transformer Box Lid kva 76DET 5 Junction Box Cover 0DET 6 7 M6 x M9 Threaded Insert 0DET 7 M6 x M9 Threaded Insert (straight) 0DET Stainless Steel Anode 5 x 6. x lg 76DET 9 Gland ~ Inch Hose x 5~ UNF 0DET 0 Bleed Screw 6MM 067DET Water Ingress Sensor LHS and RHS Holes IAS Water Ingress Sensor LHS Holes 7IAS Bridge Rectifier 70AMP DIO000 Dowty ~ Inch BSPP SEA00 Stainless Steel 5 Cable Gland (Double SealSize A M0) CAA00 Brass 6 7 Dowty ~ Inch BSPP SEA005 St. Steel/Nitrile 7 Series Coupling Body HYD000 BSPP Plug HYD006 Stainless Steel 9 Temperature Sensor ELA00 0 Bulkhead Connector Size B Pin Female SABRBF0500 Stainless Steel Metal Shell Whip Size B SAPLBF0650PN Bulkhead Connector Size A Pin Female SABRA0F0500 Stainless Steel Oring Transformer Box End SOR000N70 Oring Transformer Box Lid SOR00650N70 5 ORING.7 x.76 (BS 0) SOR700N70 Nitrile 70 6 ORING.6 x.7 (BS 6) SOR607N70 Nitrile Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 6 Plain Washer M6 FPWM6SS Stainless Steel 9 6 Spring Washer M6 FSWM6SS Stainless Steel 0 6 Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 7 Spring Washer M5 FSWM5SS Stainless Steel 5 Socket Head Cap Screw M5 x 6 FSHCSM56A70 Stainless Gr A70 Plain Washer M5 FPWM5SS Stainless Steel Socket Head Cap Screw M6 x 6 long FSHCSM66A70 Stainless Gr A70 5 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A70 6 Button Head Cap Screw M x long FBHCSMA70 Stainless Gr A70 7 Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel 9 Spring Washer M FSWMSS Stainless Steel 0 Studbar M5 X 5 long FSBM55A70 Stainless Gr A70 Hex Nut M5 FHNM5A70 Stainless Gr A70 Button Head Cap Screw M5 x 0 long FBHCSM50A70 Stainless Gr A70 GDU 7/0/07 ITEM 9 PART REF. CHANGED AND ITEM 0 LONGER BOLTS ACR /0/06 ITEM 9 PART REF. CHANGED TO 0DET, ITEM 6 CHANGED TO FIT EBR /0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) EBR GDU GDU WT WATER /0/05 CMI kg (E) Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV TRANSFORMER Kva ASSEMBLY MAIN ASSEMBLY DRAWING Sheet of 9MAS REV

133 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! LOCTITE LOCTITE SAME DETAIL AS OTHER END OF STUD LOCTITE 6 EARTH CABLE EARTH CABLE LOCTITE 60 0 BREAK ANODISING ON LID UNDERNEATH ANODE AND CHECK CONTINUITY WITH BASE, AFTER LID EARTH WIRE HAS BEEN CONNECTED CHECK O' RING IS FITTED LOCTITE EARTH CABLE (BOTH SIDES) NOTES ) USE ANTI GALLING COMPOUND ON ALL FASTENERS ) USE SILICONE GREASE ON ALL O' RINGS ) SEE ELECTRICAL WIRING DIAGRAM FOR WIRING DETAILS ) FILL TRANSFORMER BOX WITH SHELL DIALA BG TRANSFORMER OIL OR EQUIVALENT PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. :? A MOHICAN ROV THIRD ANGLE PROJECTION TRANSFORMER KVA ASSEMBLY DRAWING Sheet of 9MAS REV

134 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! AJA /0/006 FUSE AND WATER INGRESS SENSOR ADDED, CONNECTOR MOVED AND SPACERS ADDED (ECN006) EBR 5/07/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH 0 USO, TOLERANCES TO BE 9 SEE BILL OF MATERIALS WT AIR DRAWN DATE CHECK APPRV. ENGR. 0 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Termination Plate 000 V 0DET Termination Board Divider 0DET Fibre Optic Bracket Mohican DET way Connector strip 7IAS 5 Grommet Quick Fit Cable Dia CAA00 6 Fibre Optic Connector ELA007 7 Fibre Optic Connector Washer Part of ELA007 Fibre Optic Connector Nut Part of ELA007 9 Termination Stud 6 mm SBM6A70 0 Plain Washer M6 FPWM6SS Stainless Steel Spring Washer M6 FSWM6SS Stainless Steel 0 Hex Nut M6 FHNM6A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Button Head Cap Screw M x long FBHCSMA70 Stanless Gr A Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 7 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel 9 Nylok Hex Nut M FNLMA70 Stainless Gr A70 0 Fuse 5A 559 Hex Screw M6 x 5 long FHHSM65A70 Stainless Grd A70 M x 6 Spacer FHSSM6A70 Stainless Gr A70 Button Head Cap Screw M x 5 long FBHCSM5A70 Stainless Gr A70 Water Ingress Sensor LHS and RHS Holes IAS WT WATER kg (E) kg (E) EBR 5/07/05 MBI GDU CMI Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV TERMINATION BOARD ASSEMBLY MAIN ASSEMBLY DRAWING Sheet of 05MAS REV

135 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED Item No. Qty Description SubAtlantic Part Ref. Material EF Main Assembly ELA00 Hazard Warning Sign 000 Volts 7DET Information Label Rotary Switch 7DET Cable Gland Brass Size C CAA00 Brass 5 PDU Tx Box kva Assembly 096MAS 6 Transformer Box Mount kva 0DET 7 Inverter 5 kw with Mains Filter ELA009 Classic XCKS Plastic Switch Roller ELA05 9 Tico strip for Tx Box 60DET 0 Fan Electric 650 Z ELA00 Finger Guard ELA005 DIN Rail 75 Long, M Holes 59DET DIN Rail x 0 LONG 9DET DIN Rail Earth Terminal ELA0 5 6 High Voltage Terminals CAA High Voltage Terminals End Plate CAA EK 0 Earth Terminal CAA009 SAK.0 Standard Terminals CAA00 9 SAK.0 Shield CAA End Stop for DIN RailEW 5 CAA009 Switch Body ELA0 Switch Button Red ELA09 Switch Button Green ELA00 Terminal Relay Socket ELA06 5 Terminal Relay Diode ELA07 6 Terminal Relay Relay ELA0 7 Contactor Telemecanique TeSys LCD65P7 ELA00 Current Transformer 605A ELA000 9 IP67 Inspection Window ELA006 0 Pole IP65 Switch, A ELA00 Fibre Optic Connector ELA007 Pole Circuit Breaker0A ELA009 6 Way Panel Mounted Power Connector CON0075 Connector Panel Mounted Socket HBE6 CON00 5 Fuse Holder ELA009 6 Rotary Switch Top Support Bracket 7DET 7 Rotary Switch Bottom Support Bracket 7DET High Voltage Rotary Switch 000V SPE07 0 Socket Head Cap Screw M0 x 5 long FSHCSM05A70 Stainless Gr A70 Socket Head Cap Screw M0 x 5 long FSHCSM05A70 Stainless Gr A70 Socket Head Cap Screw M6 x 6 long FSHCSM66A70 Stainless Gr A70 Socket Head Cap Screw M5 x 0 FSHCSM50A70 Stainless Gr A70 0 Socket Head Cap Screw M5 x 0 FSHCSM50A70 Stainless Gr A70 5 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 6 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 7 Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 9 CSunk Head Socket Screw M5 x 5 long FCHSSM55A70 Stainless Gr A70 50 CSunk Head Socket Screw M x 0 long FCHSSM0A70 Stainless Gr A70 5 Button Head Cap Screw M5 x long FBHCSM5A Plain Washer M0 FPWM0SS Stainless Steel 5 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 5 Plain Washer M6 FPWM6SS Stainless Steel 55 6 Plain Washer M5 FPWM5SS Stainless Steel 56 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Item No. Qty Description SubAtlantic Part Ref. Material 57 6 Plain Washer M FPWMSS Stainless Steel 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 59 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A70 NON DISPLAYED COMPONENTS 60 Switch Bulb ELA0 6 Fuse A ELA005 7 NOTE POSITION OF SWITCHES NOTE: SEE ELECTRICAL SCHEMATIC FOR WIRING DETAILS THIRD ANGLE PROJECTION REMOVE SHARP EDGES IF IN DOUBT ASK! ABO //06 ASSEMBLY, ASSEMBLY NAME & BOM UPDATED ABO 9//06 LIMIMIT SWITCH CHANGED ISSUED FOR CONSTRUCTION DAN 0/05/06 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE WT AIR WT WATER kg (E) kg (E) DRAWN DATE CHECK APPRV. ENGR. DAN 0/05/06 GDU GDU DAN : 6 A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. MOHICAN PDU CONTROL BOX TYPE kva ROV + TMS VERSION ASSEMBLY DRAWING Sheet of 769MAS REV

136 NOTES: THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! 5 SEE 07DET FOR CUT OUT DETAILS Ø HOLE TO BE DRILLED IN THE CENTER OF THE PART 0 NON DISPLAYED COMPONENTS ARE FITTED IN THAT AERA, REFERS TO PAGE BILL OF MATERIAL AND WIRING DIAGRAM FOR DETAILS. TO ASSEMBLE THE BOX, (ITEM ) USE THE FASTENERS PROVIDED WITH THE KIT (THOSE FASTENERS ARE NOT DISPLAYED) ONE OF THE TWO SIDE PANEL IS HIDDEN SEE 0DET FOR HOLE DETAIL 55 6 USE SCREW, SPRING WASHER AND PLAIN WASHER SUPPLIED WITH ITEM TO SECURE ITEM 7 TO ITEM SEE 7DET FOR HOLE DETAIL SEE 00DET FOR HOLE DETAIL SUPPLIED WITH ITEM Ø5 HOLE TO BE DRILLED DURING ASSEMBLY (TOUCH UP PAINT AFTERWARD) SEE 079DET FOR CUT OUT DETAILS SEE NOTE 0 9 TITLE SEE NOTE PROJECT SEE NOTE MOHICAN THIRD ANGLE PROJECTION REMOVE SHARP EDGES PDU CONTROL BOX TYPE kva ROV + TMS VERSION ASSEMBLY DRAWING Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 Sheet of SCALE (USO) ORIG. SIZE DOC. A No. : 7 REV 769MAS

137 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material PDU Tx Box kva 076DET Transformer PDU KVA 6DET PDU Tx Box Lid kva 077DET PDU Tx Box Gasket kva 097DET 5 GType DIN Rail x 0 mm 7DET 6 Sine Filter 5A ELA007 7 High Voltage Coupler ELA00 Valve Check 50 PSI HYD000 9 Drain Plug BSP HYD07 0 Column level Indicator HYD079 9 Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 5 Plain Washer M6 FPWM6SS Stainless Steel 5 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Socket Head Cap Screw M5 x 5 FSHCSM55A70 Stainless Gr A70 5 Spring Washer M6 FSWM6SS Stainless Steel 6 Cable Gland (Double SealSize A M0) CAA00 Brass 7 Cable Gland (Single SealSize Os) CAA005 Brass Cable Gland Brass Size A CAA00 Brass 9 M0 Dowty (0.7 ID) SEA00 Stainless Steel 0 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A70 Hex Nut M5 FHNM5NYLON Nylon 6.6 CSunk Head Socket Screw M6 x 0 long FCSHSM60A70 Stainless Gr A70 CSunk Head Socket Screw M6 x 00 long FCHSSM600A70 Stainless Gr A70 SAK 0 Standard Terminals CAA00 5 SAK.0 Standard Terminals CAA00 6 EK 0 Earth Terminal CAA009 7 SAK.0 Shield CAA0050 High Voltage Terminals CAA High Voltage Terminals End Plate CAA ABO //06 AJ //005 WTH 7/6/05 APPROVED FOR CONSTRUCTION ITEM TO 9 ADDED, CAPACITORS AND CAPACITOR MOUNT REMOVED EBR 9/0/06 DRAWING AND BILL OF MATERIALS UPDATED REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) WTH MBL CMI WT WATER 7/6/05 CMI kg (E) : 0 A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. MOHICAN PDU TRANSFORMER BOX kva DETAIL DRAWING Sheet of 096MAS REV

138 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material 000 MSW Endcap Type A 9DET Electronics Pod Tube 000m (65) 060DET Endcap Blank 0DET Mounting Rail (07) 06DET 5 Mounting Bar (07) 06DET 6 Blank End Board PCB005B 7 Strimmer Cord MIS090 ORING.5 x 5. (BS59) SOR55N70 Nitrile 70 9 ORING.5 x 77. (BS6) SOR577N70 Nitrile 70 0 Cherokee Support Ring 09DET Strimmer Cord x 0 long MIS000 Pod Clamp MIS00 Stainless Steel 6 CSunk Head Socket Screw M x 0 long FCSHSM0A70 Stainless Gr A70 0 Socket Head Cap Screw M x 6 long FSHCSM6A70 Stainless Gr A Spring Washer M FSWMSS Stainless Steel 6 0 Plain Washer M FPWMSS Stainless Steel 7 M Nylon Tipped Grub Screw FSSSNTMSS Stainless Steel PCB Guide Strip 0DET 9 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 0 M x 9 long stud bar FSBM9 A70 Stainless Gr A70 Heat Shrink Material MIS006 Hex Nut M FHNMA70 Stainless Gr A70 Anode 5 x.5 x 0 lg 0DET Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Studbar M x 50 long FSBM50A70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel EBR 6/07/05 STRIMMER CORD PART No. CHANGED. ECN505 EBR /0/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /0/05 GDU GDU CMI Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN ELECTRONICS POD MAIN ASSEMBLY DRAWING Sheet of 9MAS REV

139 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION. BEFORE ASSEMBLY RUN UNF TAPS OF THE CORRECT SIZE DOWN ALL THE THREADS ON THE END CAP () TO ENSURE GOOD ELECTRICAL CONTACT.. PORTS,,, 9 & ARE TAPPED 5/" UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN ON WIRING DIAGRAM IN MANUAL.. PORTS,, 5, 6, 7, 0,,, & ARE TAPPED 7/6"0 UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN ON WIRING DIAGRAM IN MANUAL.. /" BSPP PORT INDICATED CAN BE UTILISED FOR DEPTH SENSOR OR WILL BE BLANKED AS SHOWN ON WIRING DIAGRAM IN MANUAL. 5. IT IS IMPORTANT THAT THE ZINC ANODE () MAKES GOOD ELECTRICAL CONTACT WITH THE ENDCAP (). ENSURE NYLOC HEX NUT () IS TIGHTENED HARD AGAINST ANODE BEFORE EACH VEHICLE EXCURSION. 6. EACH PCB SHOWN IN THE MANUAL WIRING DIAGRAM & PHOTOGRAPHS REQUIRES OFF PCB GUIDE STRIPS () AND OFF SCREWS (9) TO SECURE. 7. LUBRICATE ALL ORINGS WITH SILICONE GEL DURING ASSEMBLY.. APPLY AQUALUBE TO PREVENT GAULLING OF FASTENERS ONLY TO THE THREADS INDICATED. ENSURE NO AQUALUBE CONTAMINATES THE PCB'S IN THE ENCLOSURE. 0 B (.5 : ) STUD BAR MOUNTING 6 9 E D /" BSPP PORT 7 E (FRONT ORINGS) POD SECTION D (REAR ORINGS) PORT PORT 9 PORT PORT PORT 0 B 9 A (.5 : ) PORT PORT PORT 7 PORT 6 ANODE PORT PORT PORT PORT 5 PORT A Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A PCB RAIL MOUNTING MOHICAN ROV MOHICAN ELECTRONICS POD MAIN ASSEMBLY DRAWING Sheet of 9MAS REV

140 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Compass TCM Module SEN000 Compass Pod 057DET Aluminium Alloy Compass Pod End Cap 05DET Alluminium Alloy Compass Bracket 060DET Aluminium Alloy 5 Compass Plate Bracket 059DET ALUMINIUM ALLOY 6 Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 7 Plain Washer M6 FPWM6SS Stainless Steel 6 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 9 ORING x 55 SOR000550N70 Nitrile 70 0 M x 5 Female Spacer FHSSFM5BR Nickel Plated Brass 5 Pan Head Screw M x 0 long FPHSM0A70 Stainless Gr A70 Compass Securing Bracket 06DET Button Head Cap Screw M6 x 5 long FBHCSM65A70 Stainless Gr A70 Spring Washer M6 FSWM6SS Stainless Steel 5 Fibre Washer M FPWMFI Fibre 6 Rubber Washer M 59DET 7 CSunk Head Socket Screw M6 x 0 long FCHSSM60A70 Stainless Gr A70 Metal Shell Whip Size A SAPLA05M500PN 6 7 NOTE ALTERNATIVE BRACKET POSITIONS DEPENDING ON VEHICLE REQUIREMENTS EBR /05/05 BULKHEAD CONNECTOR REPLACED WITH PENETRATOR 5 EBR /07/0 LAYOUT REVISED EBR 0/06/0 SSM /0/00 CONNECTOR CHANGED TO METAL SHELL TYPE PART NUMBERS AND DRAWING UPDATED EBR /05/0 COMPONENTS UPDATED SSM 9/0/00 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI CMI CMI CMI MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) SSM 0//000 EBR CMI SSM : A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. ROV SYSTEM COMPASS POD ASSEMBLY DRAWING Sheet of 056MAS REV 6

141 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! NOTES. ) USE ANTI GALLING COMPOUND ON ALL FASTENERS ) SEE WIRING DIAGRAM FOR WIRING DETAILS ) VARIOUS CABLE CONFIGURATIONS CAN BE USED DEPENDING ON APPLICATION. SEE TABLE FOR CABLE SET PART NUMBERS WHICH CONTAIN ITEMS &. CABLE SET PART No DETAILS Cable Set P/N Used On CS09MAS MOHICAN CS09MAS COMANCHE 6 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Light Fuse Bottle Cap 000 msw 06DET Light Fuse Bottle Tube 000 msw 05DET Light Fuse Holder Bracket DET Fuseholder Plate way 07DET 5 Anode x 5 05DET 6 Fuse Holder ELA M x 0 Spacer FHSSM0BR Nickel Plated Brass Button Head Cap Screw M x long FBHCSMA70 Stanless Gr A70 9 Plain Washer M FPWMSS Stainless Steel 0 Spring Washer M FSWMSS Stainless Steel ORING.0 x 6.0 SOR00060N70 Nitrile 70 Metal Shell Whip Size A (9 Pin) SEE NOTE Pin Penetrator Whip SEE NOTE 5 Plain Washer M5 FPWM5SS Stainless Steel 5 Spring Washer M5 FSWM5SS Stainless Steel 6 Socket Head Cap Screw M5 x 5 FSHCSM55A70 Stainless Gr A70 7 Socket Head Cap Screw M5 x 6 FSHCSM56A70 Stainless Gr A70 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A70 9 Button Head Cap Screw M6 x 5 long FBHCSM65A70 Stainless Gr A70 0 Plain Washer M6 FPWM6SS Stainless Steel Spring Washer M6 FSWM6SS Stainless Steel ASSEMBLY WITH CABLES AJA 07/06/06 MOUNTING FASTENERS ADDED CMI 05/0/06 CABLE DETAILS REVISED EBR 06/07/005 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) EBR CMI CMI WT WATER /06/05 /06/05 kg (E) Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV LIGHT FUSE BOTTLE ASSY 000M MAIN ASSEMBLY DRAWING Sheet of 09MAS REV

142 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material IF IN DOUBT ASK! REMOVE SHARP EDGES Hollow Shaft 00DET Stainless Steel Main Gear Wheel 675DET ASSEMBLY PROCEDURE (STAGE NOTES) Gear Spacer Rotator 00DET Spacer 00DET 5 Main Shaft Cap (Plastic) 05DET. This sheet shows Bill of Materials and completed Tilt Unit. 6 Deep Groove Bearing 6005 BRG6005 Sheets through show a simple to follow stepbystep assembly 7 Socket Set ScrewCup Point M5 x long FSSSCPM5A70 Stainless Gr A70 procedure. Disassembly of the unit can be carried out by working Main Shaft Key 005DET backwards from Sheet to Sheet. 9 Pinion 67DET 0 Locknut 006DET. All parts on the drawing are identified by the upper number Angular Contact Bearing 70BTVP BRG70B located in a balloon which should be refered back to the first TiltRotator Body (Plastic) 0DET Motor Mounting Plate 007DET column in the Bill of Materials. The fourth column specifies the DC Gearmotor 9IAS unique SubAtlantic part number which should be used when 5 Limit Switch & Diode SubAssembly 0IAS ordering spares etc. The lower number represents the quantity of 6 nd Stage Gear 00DET the items repeated in the assembly. The quantity of each item in 7 nd Stage Pinion 00DET the assembly is also shown on the second column of the Bill of Potentiometer POT000 Materials. 9 Potentiometer Gear 005DET. The tools required to carry out the assembly are listed below. 0 Potentiometer Pinion 00DET Cam Ring 000DET. As a general rule, all screws and fastners must be fitted with an Potentiometer Clip 00DET application of THREADLOCK to prevent the possibility of slackening 9 Plain Washer M FPWMSS Stainless Steel during operation. All seals and O rings should be fitted with an Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 application of SILICONE GEL or AQUALUBE. Refer to boxed notes 5 rotator limit switch mount 00DET next to Item No. Balloon. 6 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 7 Socket Set ScrewCup Point M5 x 6 long FSSSCPM56A70 Stainless Gr A70 5. When fully assembled and tested, the unit is to be filled with the mm ORing Material SOR00 Nitrile 70 specified oil via the fitted plugs. The motor should then be cycled 9 Pinion Key x 0055DET for at least 5 minutes to allow the oil to fully circulate through the 0 Socket Set ScrewCup Point M x long FSSSCPMA70 Stainless Gr A70 system after which the unit should be topped up with oil until there ORING.6 x 5.07 (BS0) SOR605N70 Nitrile 70 is no air left in the housing. Expulsion of the air can be confirmed ORING.00 x 5.00 SOR00050N70 Nitrile 70 by shaking the body and listening for movement of the oil. Now Socket Set ScrewCup Point M x 6 long FSSSCPM6A70 Stainless Gr A70 pressurise until Compensator Piston is 6mm from end of Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 Compensator Body 5 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 6 Tilt Rotator Cover ORing SOR005N70 Nitrile Wiring digram is shown on drawing 0099WIS 7 Camera Bracket 006DET Camera Bracket Key 00DET 7. Refer to Sheet for instructions for setting the LIMIT SWITCHES and 9 Plain Washer M5 FPWM5SS Stainless Steel the FEEDBACK POTENTIOMETERS. 0 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A70 Castrol Hyspin 5 Oil LUB000 Drain Shaft Plug NPT HYD00 CONSUMABLES Spring Washer M FSWMSS Stainless Steel Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 (A) PRESSURE COMPENSATION OIL 5 6 Nylok Hex Nut M FNLMA70 Stainless Gr A70 (B) SILICONE GEL / AQUALUBE 6 Socket Head Cap Screw M5 x 5 FSHCSM55A70 Stainless Gr A70 (C) THREADLOCK 7 Pan Head Screw M.5 x 0 long FPHSM.50A70 Stainless Gr A70 (D) LOCKTITE 60 Plain Washer M.5 FPWM.5SS Stainless Steel TOOLS REQUIRED PRESSURE COMPENSATION OIL 9 Nylok Hex Nut M.5 FNLM.5A70 Stainless Gr A70 50 Back Plate 00DET 5 CSunk Head Socket Screw M x 6 long FCHSSM6A70 Stainless Gr A70 (A) METRIC HEX KEYS USE CASTROL HYSPIN VG 5, SHELL MORLINA 5 5 Diaphragm 5 x 0 x 0 DIA0005 Nitrile (B) LONG NOSE PLIERS OR SHELL TELLUS C5 LIGHT OIL (60). 5 Piston 7cc Compensator 0960DET (C) SMALL ADJUSTABLE SPANNER (D) Vdc POWER SUPPLY UNIT SUBATLANTIC WARRENTY WILL BE 5 Body 7cc Compensator 09DET 55 Spring 7cc Compensator 0970DET (E) SOLDERING IRON + SOLDER VOID IF NONSPECIFIED OILS ARE USED 56 Compensator Housing Rotator 0975DET Black Acetal (F) PRESSURE PUMP FOR OIL COMPENSATOR 57 7cc Compensator Tilt ORing SOR707N70 5 Socket Head Cap Screw M5 x 0 FSHCSM50A70 Stainless Gr A70 SPARES 59 Spring Washer M5 FSWM5SS Stainless Steel 60 Series Coupling Body HYD000 The following spares are recommended to be carried: 6 Valve Check 50 PSI HYD000. off SEAL KIT, SubAtlantic Part Ref. ETR05MASSK 6 Metal Shell Whip Size A Customer Specified. off ELECTRICAL KIT, SubAtlantic Part Ref. ETR05MASEK 6 Dowty ~ Inch BSPP SEA005 St. Steel/Nitrile 6 Legris 90 Deg BodyPlug 99IAS 0 AJA //006 LEGRIS PUSH IN CHECK VALVES NOW LEGRIS COUPLINGS WITH PLUGS DC GEARMOTOR PART NUMBER ALSO CORRECTED 9 MBL 9/07/05 SOME ITEMS WRONGLY NUMBERED REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) MBL EBR GDU WT WATER 9/07/05 MBL kg (E) Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE A PROJECT TITLE DOC. No. TILT/ROTATOR UNITS TILT/ROTATOR UNIT MAIN ASSEMBLY DRAWING Sheet of 05MAS REV 0

143 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION ASSEMBLY PROCEDURE (STAGE ). Press off ANGULAR CONTACT BEARINGS () on PAN PINION (9), taking care to orientate correctly (Inner race flange facing inwards).. Press KEY (9) into shaft.. Install PINION & BEARINGS into BODY () bore.. Fit and secure using SILICONE SEALANT, the mm O RING MATERIAL () inserts into the LOCKNUT(0). Screw the LOCKNUT into the BODY and tighten using long nose pliers until all the slack has been eliminated and the shaft can turn freely. 5. Secure the LOCKNUT in position by fitting off M5 x 6 SOCKET SET SCREWS (7) to compress ORing material. Apply a drop of THREADLOCK to each screw. 6. Press KEY () into SHAFT (). 7. Fit MAIN GEAR WHEEL () onto SHAFT and secure with off M5 x SOCKET SET SCREWS (7) and THREADLOCK.. Fit ORINGS ( & ) to MAIN SHAFT CAPS (5A & B) with a smear of SILICONE GEL or AQUALUBE. 9. Fit WHEEL SPACER(), BEARING (6) and MAIN SHAFT CAP (5A) over TILT SHAFT, butting up against MAIN GEAR WHEEL. 0. Insert TILT SHAFT SUBASSEMBLY into BODY and screw MAIN SHAFT CAP (using long nose pliers) allowing gear to mesh with pinion and O Ring to insert into body.. Degrease and bond using LOCKTITE 60 POTENTIOMETER PINION (0) onto GEAR SPACER () and allow to set.. Slide GEAR SPACER onto SHAFT and lock with M x SOCKET SET SCREW (0) and a drop of THREADLOCK.. Fit off CAMS () to GEAR SPACER and secure with off M5 x 6 SOCKET SET SCREWS (7).. Slide BEARING and MAIN SHAFT CAP (5B) onto SHAFT and screw into BODY until tight. 5. Proceed to stage of the assembly procedure B 5A 6 7 PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A TILT/ROTATOR UNITS TILT/ROTATOR UNIT MAIN ASSEMBLY DRAWING Sheet of 05MAS REV 0

144 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! ASSEMBLY PROCEDURE (STAGE ) THIRD ANGLE PROJECTION. Fit POTENTIOMETER GEAR (9) to POTENTIOMETER () and secure with M x 6 long SOCKET SET SCREW () and THREADLOCK.. Fit POTENTIOMETER into BODY with POTENTIOMETER CLIP () and M x long SOCKET HEAD CAP SCREW () and PLAIN WASHER () and THREADLOCK.. Fit MOTOR () to MOTOR MOUNTING PLATE () with off M x 0 long SOCKET HEAD CAP SCREWS (5) and THREADLOCK. 5. Fit nd STAGE PINION (7) onto MOTOR and secure with M x 6 long SOCKET SET SCREW () and THREADLOCK Fit MOTOR ASSEMBLY into BODY and secure with off M x 0 long SOCKET HEAD CAP SCREWS (5) and THREADLOCK. SETTING SHAFT CAPS AND RUNNING CLEARANCES 6. Slacken (anticlockwise) CAP 5B slightly and then tighten CAP 5A until MAIN GEAR WHEEL is tight against the PINION SHAFT (This can be confirmed by checking that the PINION SHAFT cannot be turned by hand). Retighten CAP 5B to remove slack Slacken CAP 5A a minimal amount until the PINION SHAFT can be turned freely by hand. Retighten CAP 5B. Check PINION SHAFT turns freely by hand.. Connect a Vdc power supply to the motor pigtails (not shown) and run motor whilst observing current readings through each full rotation of the SHAFT B 5A 9. Adjust CAPS 5A & 5B to remove backlash whilst running the motor (B clockwise to reduce backlash). Observe the current which should remain around 00mA during the full revolution. Current peaks during the revolution indicate high spots on the gear set which will require running in. RUNNINGIN NEW GEARS 0. New gear sets should be runin for a peroid of hrs to allow high spots on the gear faces to bedin. Connect a Vdc power supply to the motor and run. Note the current draw at the start and end of the runningin period.. After runningin, repeat steps 6 through to 9 to remove any small backlash whilst maintaining the current draw on the motor to around 00mA.. Lock Endcaps (5A & B) in place by clamping surround with off M5 x Socket Head cap Screw (6, off 9, 0) each side. PROJECT TILT/ROTATOR UNITS TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A TILT/ROTATOR UNIT MAIN ASSEMBLY DRAWING Sheet of 05MAS REV 0

145 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! ASSEMBLY PROCEDURE STAGE. Fit ELECTRICAL CONNECTOR (6) into Lid (50) THIRD ANGLE PROJECTION. Fit off LEGRIS COUPLINGS (60) with DOWTY (6) and LEGRIS PLUG (6) and off CHECK VALVE () with PTFE tape. 0 6??. Wiring and testing of unit is detailed on 0099WIS.. Fit COMPENSATOR DIAPHRAGM (5), PISTON(5), COMPENSATOR SPRING (55) and COMPENSATOR BODY 7cc (5) to COMPENSATOR HOUSING (56), LUBRICATE the DIAPHRAGM and secure with off M5 x 0 SOCKET HEAD CAP SCREWS (5), SPRING WASHERS (59) and PLAIN WASHERS (9). 5. Fit COMPENSATOR subassembly and ORING (57) to BACK PLATE (50) using off M x 6 COUNTERSUNK SOCKET SCREWS (5) Fit ORING (6) to BODY with SILICON GEL/ AQUALUBE. 7. Fit BACKPLATE ASSEMBLY to BODY with off M x 5 SOCKET HEAD CAP SCREWS (), WASHERS () and NYLOC NUTS (5). DO NOT CRUSH PLASTIC LID. Fit off DRAIN SHAFT PLUG () to BODY (). 9. Fit CAMERA BRACKET KEY () into CAMERA BRACKET (7) and secure in HOLLOW SHAFT with M x 5 SOCKET HEAD CAP SCREW () 0. Refer to ASSEMBLY PROCEDURE STAGE for oil filling instructions. 9 LUBRICATE 5 56 SETTING LIMIT SWITCHES Slacken off all CAM RING set screws to allow the cam to rotate freely. With a hex key in the set screw, operate the motor using a power supply until the tilt shaft is in the desired stop position. Lock the cam ring and repeat for the second limit switch. Make fine adjustments as required, checking the stop positions by forward and reversing the motor LUBRICATE SETTING FEEDBACK POTENTIOMETERS The FEEDBACK POTENTIOMETER is set by slackening the retaining screw () and rotating the body (or gear) until the desired output value for that particular shaft position is obtained. Retighten the screw after setting. PROJECT TILT/ROTATOR UNITS TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A TILT/ROTATOR UNIT MAIN ASSEMBLY DRAWING Sheet of 05MAS REV 0

146

147 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! CAMERAS SHOWN ARE FOR ILLUSTRATIVE PURPOSES SEE MAIN ASSEMBLY DRAWING OF VEHICLE FOR SPECIFIC CAMERAS 6 6 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Camera Saddle Mohican 7DET Light Saddle 96DET Camera Sprocket Retainer Mohican 906DET Sprocket mm x 7 Teeth 905DET 5 ML00 Light SPE000 6 Jubilee Clip Cameras Dia. as required 7 Jubilee Clip Lamp Dia as required CSunk Head Socket Screw M6 x 6 long FCHSSM66A70 Stainless Gr A70 9 Socket Head Cap Screw in x in long FSHCS~UNCA70 Stainless Gr A70 0 Spring Washer in FSW/SS Stainless Steel MOUNT CAMERAS ON THE SADDLE SO THAT THE CABLES CLEAR THE TILT UNIT ON THE MOHICAN OVER THE FULL0 DEGREE SWEEP OF THE TILT UNIT NOTE ORIENTATION OF CAMERA SADDLE LARGE 'V' TO BOTTOM NOTE. USE ANTI GALLING COMPOUND ON ALL FASTENERS 5 NOTE ROUTING OF CAMERA CABLES. COIL CABLES BACK TO REAR OF CAMERAS AND DOWN TO REAR OF VEHICLE. TIEWRAP CABLES TOGETHER IN LOOP 005 DIAMETER. GDU /0/05 TITLE CHANGED AND CAMERAS REMOVED FROM BOM, ECN705 EBR 6/07/05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS GDU MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR 6/07/05 GDU GDU CMI Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV MOHICAN GENERAL CAMERA ASSEMBLY DETAIL DRAWING Sheet of 07MAS REV

148 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! USE PTFE TAPE 5 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Diaphragm 60 x 70 x 70 DIA0007 Nitrile Piston 70 cc 0DET Compensator Body 70 cc 079DET Compensator Housing 70 cc 9DET 5 70cc Compensator Spring 079DET 6 Retainer Flange 70 cc 09DET 7 Bolt Spacer M6 095DET Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 9 Valve Check 50 PSI HYD000 0 Socket Head Cap Screw M6 x 50 long FSHCSM650A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Compensator Foot 7DET 7 Shutoff Valve HYD0005 Nickel Plt. Brass 7 FLOW 9 USE PTFE TAPE SEE NOTE NOTE ORIENTATION OF DIAPHRAGM SEALING LIP NOTE. ) USE ANTI GALLING COMPOUND ON ALL FASTENERS ) NOTE FLOW DIRECTION ON CHECK VALVE BODY (9) AND SET AT BAR (.5 PSI) EBR APPROVED FOR CONSTRUCTION /07/005 REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /07/05 GDU CMI GDU PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A OIL FILLED COMPENSATORS 70cc COMPENSATOR 7 PORT VERSION MAIN ASSEMBLY DRAWING Sheet of 0MAS REV

149 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Diaphragm 0 x 90 x 90 DIA0006 Nitrile Piston 60 cc 0DET Compensator Body 60 cc 00DET Compensator Housing 60 cc 09DET 5 60cc Compensator Spring 0750DET 6 Retainer Flange 60 cc 09DET 7 Bolt Spacer M6 095DET Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 9 Valve Check 50 PSI HYD000 0 Socket Head Cap Screw M6 x 55 long FSHCSM655A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Compensator Foot 7DET Plug NPT HYD0077 NOTE ORIENTATION OF DIAPHRAGM SEALING LIP USE PTFE TAPE SEE NOTE 7 FLOW USE PTFE TAPE SEE NOTE 9 NOTES. NOTE FLOW DIRECTION ON CHECK VALVE BODY (9) & SET AT BAR (.5 PSI.) 5 6 EBR 7/09/0 SHUTOFF VALVES REPLACED BY PLUGS EBR /0/0 NOTES REVISED, FEET ADDED CMI SSM /0/00 CHECK VALVE ADDED CMI SSM 0/0/000 APPROVED FOR CONSTRUCTION CMI REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) SSM 0/0/00 MBI CMI CMI :.5 A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. OIL FILLED COMPENSATORS 60cc COMPENSATOR MAIN ASSEMBLY DRAWING Sheet of 00MAS REV

150 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! BILL OF MATERIALS FOR 000 METRE LIGHT ASSEMBLY P/N 009MAS000SS Item No. Qty Description SubAtlantic Part Ref. Material ML00 Light Bracket (Single Fixing) 005DETSS Multilite 000 m SPE000 Hex Screw.75 x.65 long FHHS/UNC5/A70 Stainless Gr A70 Plain Washer M0 FPWM0SS Stainless Steel 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 6 Button Head Cap Screw M x 0 long FBHCSM0A70 Stainless Gr A70 7 Plain Washer M FPWMSS Stainless Steel Lamp Rubber Mat 066DET BILL OF MATERIALS FOR 000 METRE LIGHT ASSEMBLY P/N 009MAS000SS Item No. Qty Description SubAtlantic Part Ref. Material ML00 Light Bracket (Single Fixing) 005DETSS Multilite 000 metre SPE000 Hex Screw.75 x.65 long FHHS/UNC5/A70 Stainless Gr A70 Plain Washer M0 FPWM0SS Stainless Steel 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 6 Button Head Cap Screw M x 0 long FBHCSM0A70 Stainless Gr A70 7 Plain Washer M FPWMSS Stainless Steel Lamp Rubber Mat 066DET Neoprene Rubber 6 THIRD ANGLE PROJECTION EBR 7/05/0 BILLS OF MATERIALS UPDATED EBR 6/0/0 RUBBER MAT ADDED SSM 0/0/000 PART NUMBERS UP DATED MBI /9/00 MODIFIED FOR DIFFERENT RATED LAMPS CMI /0/99 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI CMI CMI MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) CMI WT WATER /0/99 MBI CMI CMI kg (E) :.5 A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. LIBRARY PARTS 'MULTILITE' LAMP (Single Fixing) ASSEMBLY DRAWING Sheet of 009MASSS REV 5

151 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Mohican Frame Sonar Mount Tritech Seaking DET Nut M6 x x 5 Round 6DET Plain Washer M FPWMSS Stainless Steel Socket Head Cap Screw M x 60 long FSHCSM60A70 Stainless Gr A70 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 6 Plain Washer M6 FPWM6SS Stainless Steel 7 Spring Washer M6 FSWM6SS Stainless Steel Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 THIS SONAR IS NOT PART OF THIS KIT IT IS SHOWN FOR ASSEMBLY PURPOSES ONLY EBR 0/0/06 SONAR REMOVED FROM BOM EBR 5/0/05 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP 5 RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /07/05 GDU GDU GDU Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A MOHICAN ROV KIT MOHICAN TRITECH SEAKING SONAR ASSEMBLY DRAWING Sheet of MAS REV

152 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION REMOVE SHARP EDGES Item No. Qty Description SubAtlantic Part Ref. Material Mohican Frame Sonar Mount Kongsberg DET Nut M6 x x 5 Round 6DET Plain Washer M FPWMSS Stainless Steel Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 6 Plain Washer M6 FPWM6SS Stainless Steel 7 Spring Washer M6 FSWM6SS Stainless Steel Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A KONSBERG M. NOT INCLUDED WITH KIT. NOTE:. USE AQUALUBE ON ALL FASTENERS TO PREVENT GAULLING.. SONAR SHOWN FOR ILLUSTRATIVE PURPOSES ONLY, NOT INCLUDED WITH KIT. ACR RELEASED FOR MANUFACTURE 0/06/06 REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, SURFACE FINISH TO BE.um USO, TOLERANCES TO BE GENERAL 0. WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) ACR 0/06/06 CMI CMI CMI : A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. MOHICAN ROV SONAR CLAMP KIT KONSBERG m ASSEMBLY DRAWING Sheet of 66MAS REV

153 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION REMOVE SHARP EDGES Item No. Qty Description SubAtlantic Part Ref. Material Mohican Frame Transponder Mount Kongsberg MST 9 7DET Plain Washer M6 FPWM6SS Stainless Steel Spring Washer M6 FSWM6SS Stainless Steel Nut M6 x x 5 Round 6DET 5 Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel 7 CSunk Head Socket Screw M x 65 long FCSHSM65A70 Stainless Gr A70 Nylok Hex Nut M FNLMA70 Stainless Gr A70 KONGSBERG MST9 TRANSPONDER NOT INCLUDED WITH KIT NOTE:. USE AQUALUBE ON ALL FASTERNERS TO PREVENT GAULLING. TRANSPONDER SHOWN FOR ILLUSTRATIVE PURPOSES ONLY, NOT INCLUDED IN KIT. 5 AJA 9//007 ISSUED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE GENERAL 0. mm WT AIR WT WATER DRAWN DATE CHECK APPRV. ENGR. kg (E) AJA kg (E) 9//007 GDU GDU AJA Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (UOS) ORIG. SIZE : A PROJECT TITLE KIT MOHICAN TRANSPONDER MOUNTING KONGSBERG MST 9 MAIN ASSEMBLY DRAWING Sheet of DOC. No. MOHICAN ROV MAS REV

154 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Remote Base MIS05 Remote Console Power Supply (Not Shown) PCB0550P Telemetry Card (Not Shown) PCB076 5 Joystick Interface (Not Shown) PCB00P 6 Remote Primary Panel 07DET 7 Main Joystick JOY000 Depth Joystick JOY000 9 Joystick JOY Light Potentiometer POT000 Remote Secondary Panel 075DET 9 Handle 9 centres MIS06 Plain Washer M5 (Not Shown) FPWM5SS Button Head Cap Screw M5 x long (Not Shown) FBHCSM5A70 Alarm Board (Not Shown) PCB059P Binary Encoder Board (Not Shown) PCB00P 5 Meters Board (Not Shown) PCB055P 6mm PUSH SWITCH LATCHING BILL OF MATERIALS Item No. Qty Description SubAtlantic Part Ref. Switch Body Latching SWI00 Switch Bulb SWI005 Switch Lens SWI006 SWITCH LENS REQUIRES TEXT TO BE ATTACHED. CHECK DIAGRAM ABOVE FOR REQUIREMENTS 9 6mm PUSH SWITCH MOMENTARY BILL OF MATERIALS Item No. Qty Description SubAtlantic Part Ref. Switch Body Latching SWI00 Switch Bulb SWI005 Switch Lens SWI006 SWITCH LENS REQUIRES TEXT TO BE ATTACHED. CHECK DIAGRAM ABOVE FOR REQUIREMENTS mm RECTANGULAR SWITCH LATCHING BILL OF MATERIALS Item No. Qty Description SubAtlantic Part Ref. Switch Body Latching SWI00 Switch Lens SWI A NOTE: THIS DRAWING IS MAINLY FOR REPRESENTATION. BILL OF MATERIALS SHOWN ARE NON EXHAUSTIVE. REFER TO WIRING SCHEMATIC BOM FOR FULL DETAILS. A ABO //07 NOTE ADDED, GENERAL TIDYING, BASEBUILD BOM CREATED EBR 6/0/0 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) EBR WT WATER 6/0/0 SSM kg (E) PROJECT TITLE CONTROL PANELS ROV REMOTE CONTROLLER MAIN ASSEMBLY DRAWING Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Sheet of Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. :.5 A MAS REV A

155 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material Remote Body Auxiliary 7DET Remote Base 79DET Switch panel 00DET Joystick Panel 0DET 5 mm Push Switch (Square) SWI000 6 mm Push Switch (Latching) SWI000 7 LED Bezel ELA007 Joystick Microswitch V JOY000 9 Self Tapping Screw No. x 56 long FSTPHNo5~6A70 Stainless Gr A70 0 Pan Head Screw M.5 x 0 long FPHSM.50A70 Stainless Gr A70 Handle 55 centres MIS0055 Spring Washer M5 FSWM5SS Stainless Steel Cheese Head M5 x 5 FSCHM55A70 Stainless Gr A70 Bulkhead 5 Way D CON UNC x Spacer FHSS0UNCCS Steel Zinc Plated 6 Plain Washer M FPWMSS Stainless Steel 7 Hex Nut 0UNC FHN0UNCCS Steel Zinc Plated LED (Red) ELA00 9 Plain Washer M.5 FPWM.5SS Stainless Steel 0 Hex Nut M.5 FHNM.5A70 Stainless Gr A70 WIRING DIAGRAM REF: HAN9WIS THIRD ANGLE PROJECTION MBL 0//0 BOM REVISED ECN0 EBR /09/0 BOM REVISED ECN960 EBR /07/0 ISSUED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /07/0 SSM CMI CMI : A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. CONTROL CONSOLES MANIPULATOR AUXILIARY PANEL MAIN ASSEMBLY DRAWING Sheet of 7MAS REV

156 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! 5 NOTES. USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER.. FOR USE ON TMS SYSTEMS COMPENSATOR FEET SHOULD BOTH POINT IN THE SAME DIRECTION TOWARDS TOP OF COMPENSATORS.. THE UPPER & LOWER FRAMES ARE TELESCOPIC SET ACCORDING TO THE TOTAL ROV & SKID HEIGHT WITH APPROXIMATELY 50mm CLEARANCE. MAX CLEARANCE 70mm.. VARIOUS OPTIONS OF ITEMS 5, 6, 0, & ARE USED. REFER TO CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY FOR DETAILS. THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref.Material Lower TMS Frame 055MAS Upper TMS Frame 096MAS TMS Chassis Type B 97MAS Compensator Assembly 700cc SAHC075MAS 5 TMS Camera Assembly SEE NOTE 6 TMS Electronics Enclosure 500 SEE NOTE 7 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 6 Plain Washer M6 FPWM6SS Stainless Steel 9 Hex Bolt M6 x 0 FHBM60A70 Stainless Gr A70 0 Hex Screw M x 0 long FHBM0A70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 0 Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel 5 0 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel 7 Nylok Hex Nut M FNLMA70 Stainless Gr A70 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 9 Clamp T0 Anode MIS00 Zinc 0 Junction Box 06 x 0 x 65 SEE NOTE Greco Lights & Mount SEE NOTE Junction Box Assembly 5,5 kva SEE NOTE A A NOTE ORIENTATION OF FEET /0/06 MADE GENERIC, ITEMS 5, 6, 0, & MADE VARIABLE ACR //05 WTH NEW DRAWING REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER PROJECT kg (E) kg (E) TITLE DRAWN WTH Woodburn Road, DATE //05 Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS CHECK CMI Tel: ++ (0) Fax: ++ (0) 7966 APPRV. CMI SCALE (USO) ORIG. SIZE DOC. ENGR. No. SSM : 0 A TMS SYSTEMS TMS SYSTEMTYPE B ASSEMBLY DRAWING Sheet of 95MAS REV

157 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Customer Specific Items Qty Description SubAtlantic Part Ref. Type B TMS Basebuild SAGBBASEBUILD TMS Camera Assembly 06MAS TMS Electronics Enclosure 60MAS Lights & Mount Assembly 06MAS Transformer Box Assembly MAS Umbilical Anchor Bullet 559DET Umbilical Anchor Sleeve 560DET Drum Gearmotor Assembly 9MAS Slip Ring SPE079 Tether Clamp MIS00 Tether Gland CAA00 Chain Sprocket 975DET Traction Wheel 0DET Junction Box 06 x 0 x 65 NOT FITTED Slip Ring Locking Bracket 90MAS Slip Ring Guard Assembly 90MAS THIRD ANGLE PROJECTION NOTES:. USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER.. FOR USE ON TMS SYSTEMS COMPENSATOR FEET SHOULD BOTH POINT IN THE SAME DIRECTION TOWARDS TOP OF COMPENSATORS.. THE UPPER & LOWER FRAMES ARE TELESCOPIC SET ACCORDING TO THE TOTAL ROV & SKID HEIGHT WITH APPROXIMATELY 50mm CLEARANCE. MAX CLEARANCE 70mm.. M6 HOLES HAVE TO BE DRILLED AND TAPPED INTO FRAME TO ACCOMODATE SLIP RING LOCKING BRACKET (5). CUSTOMER: INNOVA SERIAL NO.: SAGB0 AJA //007 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER PROJECT kg (E) kg (E) TITLE DRAWN AJA Woodburn Road, DATE //007 Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS CHECK LZA Tel: ++ (0) Fax: ++ (0) 7966 APPRV. GDU SCALE (USO) ORIG. SIZE DOC. ENGR. No. AJA : 0 A TMS SYSTEMS TMS SYSTEMTYPE B ASSEMBLY DRAWING Sheet of MAS0 REV

158 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Lower Bend Restricter 0555DET Right Bend Restricter 055DET Left Bend Restricter 0556DET Lower Frame Runner Bar 055DET 5 Lower TMS Frame 056DET 6 TMS Rubber Foot 59DET 7 6 CSunk Head Socket Screw M x 6 long FCHSSM6A70 Stainless Gr A70 60 Plain Washer M FPWMSS Stainless Steel 9 CSunk Head Socket Screw M x 5 long FCHSSM5A70 Stainless Gr A Nylok Hex Nut M FNLMA70 Stainless Gr A70 Hex Bolt M x 0 FHBM0A70 Stainless Grd A70 9 NOTE USE AQUALUBE WHEN SECURING ALL COMPONENTS TO THE FRAME TO GUARD AGAINST THE FASTENERS GAULLING TOGETHER AJA //005 MODIFIED TO ADD HOLES AND RUBBER FEET (ECN905) EBR /0/0 M x SCREWS NOW M x 5. ECN00 CMI EBR /0/0 NEW STYLE BEND RESTRICTORS CMI SSM 07/0/000 PART NUMBERS UPDATED CMI SSM /07/000 APPROVED FOR CONSTRUCTION RWR REV BY DATE APP DESCRIPTION RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER PROJECT kg (E) kg (E) TITLE DRAWN SSM Unit, Airways Industrial Estate DATE /07/00 Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT CHECK CMI Tel: ++ (0) 76 Fax: ++ (0) 7 APPRV. RWR SCALE (USO) ORIG. SIZE DOC. ENGR. No. SSM : 5 A TMS TYPE LOWER TMS FRAME ASSEMBLY DRAWING Sheet of 055MAS REV 5

159 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION REMOVE SHARP EDGES Item No. Qty Description SubAtlantic Part Ref. Material Traction Wheel Assembly Type TMS 067MAS Gooseneck Assembly Type TMS 067MAS Umbilical Termination Assembly 095MAS Upper TMS Frame (Stainless) Type 0566DET Stainless Steel UMBILICAL ANCHOR DEPENDENT ON UMBILICAL DIAMETER. REFER TO 095MAS NOTES. USE ANTIGAULLING COMPOUND ON ALL SCREW THREADS. TERMINATION ASSEMBLY WILL BE SPECIFIC TO SYSTEM REQUIREMENTS. SEE SYSTEM SPECIFIC DRAWING FOR DETAILS. UMBILICAL TERMINATION ASSEMBLY IS FITTED FROM BELOW & CAN BE POSITIONED AXIALLY TO OBTAIN BEST BALANCE. TRACTION UNIT CAN BE MOUNTED AT VARIOUS HEIGHTS ON FRAME TO SUIT HEIGHT OF TETHER EXIT ON ROV. TRACTION WHEEL DEPENDENT ON TETHER DIAMETER REFER TO 067MAS 5 EBR 9/0/0 PART REFERENCE CHANGED AND NOTE ADDED. EBR //0 CURRENT REVISION ECN00 CMI EBR /0/0 CURRENT REVISION ACR EBR /0/06 9/0/0 NOTES ADDED TO SUIT GENERIC ITEMS APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI CMI MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER kg (E) kg (E) TITLE DRAWN EBR Woodburn Road, DATE 09/0/0 Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS CHECK SSM Tel: ++ (0) Fax: ++ (0) 7966 APPRV. CMI SCALE (USO) ORIG. SIZE DOC. ENGR. No. CMI : 5 A PROJECT TMS TYPE UPPER TMS FRAME ASSEMBLY DRAWING Sheet of 096MAS REV 5

160 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! 9 NOTES. USE AQUALUBE T0 PREVENT FASTENERS GAULLING TOGETHER. DO NOT LUBRICATE THE CHAIN. LENGTH OF CHAIN (ITEM 6) IS 5 CM/57" 60 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Levelwind Assembly Type 067MAS Gearmotor Tether Drum SEE NOTES Upper Top Runner Bar 0550DET Upper Side Runner Bar 059DET 5 Spooling Drive Chain MIS00 Stainless Steel 6 Belt Tension Wheel 055DET 7 Belt Tenshioner Shaft 0559DET Belt Tensioner Washer 0557DET 9 ROV Retainer Assembly 067MAS 0 TMS Chassis Modified for SR DET Flexible Drive Assembly 0766MAS 0 Plain Washer M0 FPWM0SS Stainless Steel Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 0 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 5 Drum & JB Drive Guard Lower 590DET 6 Drum & JB Drive Guard 59DET 7 DRubber 50 x 0 x 700 lg 00DET ROV Bumper Support Bar 0DET 9 6 Button Head Cap Screw M0 x 5 long FBHCSM05A70 Stainless Gr A70 0 Gearbox Rubber Mat 05DET Hex Bolt M x 5 FHBM5A70 Stainless Gr A70 Nylok Hex Nut M FNLMA70 Stainless Gr A70 60 Plain Washer M FPWMSS Stainless Steel Upper Bend Restricter 055DET Polypropylene 5 CSunk Head Socket Screw M x 5 long FCSHSM5A70 Stainless Gr A70 6 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 7 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 9 Drum Assembly 00 Dia x 600 Wide (76 SR)76MAS SPROCKET DEPENDENT ON TETHER SIZE. REFER TO 067MAS 60 GEARMOTOR DEPENDENT ON DRIVE MOTOR SELECTION. REFER TO CUSTOMER SPECIFIC TMS TOP LEVEL ASSEMBLY FOR DETAILS /0/06 WTH GEARMOTOR MADE GENERIC WTH //05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION RECORD OF REVISIONS APP MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER PROJECT kg (E) kg (E) TITLE DRAWN WTH Woodburn Road, DATE //05 Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS CHECK CMI Tel: ++ (0) Fax: ++ (0) 7966 APPRV. CMI SCALE (USO) ORIG. SIZE DOC. ENGR. No. WTH : 5 A TMS TYPE TMS CHASSISTYPE B MAIN ASSEMBLY DRAWING Sheet of 97MAS REV

161 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! NOTE ORIENTATION OF DIAPHRAGM SEALING LIP 7 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Diaphragm 0 x 0 x 0 DIA000 Nitrile Piston 700 cc 069DET Compensator Body 700 cc 0695DET Compensator Housing 700 cc 069DET 5 700cc Compensator Spring 077DET 6 Retainer Flange 700 cc 069DET 7 Bolt Spacer M6 095DET Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 9 Socket Head Cap Screw M6 x 55 long FSHCSM655A70 Stainless Gr A70 0 Plain Washer M6 FPWM6SS Stainless Steel Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Valve Check 50 PSI HYD000 Compensator Foot DET Plug, Socket Head, / NPT HYD0077 Stainless Steel USE PTFE TAPE NOTES. NOTE FLOW DIRECTION ON CHECK VALVE BODY () & SET AT BAR (.5 PSI.) FLOW USE PTFE TAPE SEE NOTE EBR 9//0 SHUTOFF VALVES REPLACED WITH PLUGS. CHECK VALVE ADDED ECN059 6 EBR /0/0 COMPENSATOR FEET REDESIGNED CMI 5 EBR /0/0 NOTES REVISED, FEET ADDED CMI SSM /0/00 UPDATED FOR STOCK SYSTEM CMI SSM 6/0/00 CHECK VALVE ADDED CMI SSM 0/0/000 PART NUMBERS UPDATED CMI REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) SSM 07/0/00 CMI RWR SSM : 5 A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. OIL FILLED COMPENSATORS 700 cc OIL COMPENSATORS MAIN ASSEMBLY DRAWING Sheet of 075MAS REV 7

162 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material Compensator Assembly 700cc SAHC075MAS 700 cc Magnetic Sensor Bracket 050DET 700cc Magnetic Sensor Adapter 05DET Magnetic Source Assembly SEN000 5 Magnetic Sensor Assembly 095IAS 6 Button Head Cap Screw M6 x 6 long FBHCSM66A70 Stainless Gr A70 7 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Hex Bolt M6 x 0 FHBM60A70 Stainless Grd A70 9 Plain Washer M6 FPWM6SS Stainless Steel 6 THIRD ANGLE PROJECTION 5 NOTE ENSURE COMPENSATOR IS FULLY DISCHARGED AND EMPTY OF OIL BEFORE UNDOING FASTENERS. USE AQUALUBE ON ALL FASTENERS TO STOP THREADS GAULING TOGETHER PART OF COMPENSATOR ASSEMBLY ACR /0/06 ADDED MOUNTING FASTENERS EBR /0/0 CURRENT REVISION WITH NEW STYLE COMPENSATOR BODY ECN059 SSM /0/00 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS RWR MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) SSM /0/0 SSM RWR SSM : A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. OIL FILLED COMPENSATORS 700c COMPENSATOR AND MAGNETIC FEEDBACK KIT ASSEMBLY DRAWING Sheet of 9MAS REV

163 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED Item No. Qty Description SubAtlantic Part Ref. Material Pedestal Bearing IGUBAL KSTM0 BRG796 Plastic Levelwind Shaft 0567DET Levelwind Carriage Block Assembly Bushed Version 77MAS 6 Levelwind Roller 056DET 5 Levelwind Roller Shaft 057DET 6 Levelwind Centre Roller Shaft 05DET 7 Levelwind Shaft Retainer 059DET Levelwind Tether Retainer 66DET 9 levelwind follower 059DET 0 Captive Socket Head Cap Screw M0 x 5 long 057DET M0 Retainer Washer 066DET Socket Head Cap Screw M0 x 5 long FSHCSM05A70 Stainless Gr A70 Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 Plain Washer M0 FPWM0SS Stainless Steel 5 5 Spring Washer M0 FSWM0SS Stainless Steel 6 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 7 Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel 9 Spring Washer M6 FSWM6SS Stainless Steel 0 External Spiral Retaining Ring 0 Dia FSRREXT0SS Stainless Steel Key x 7 x 0 long MIS00 Stainless Steel Levelwind Sprocket (Various Teeth Options) See Notes DRUM SPOOLING CHAIN PULLEY () WILL VARY DEPENEDENT ON SIZE OF TETHER USED. REFER TO TABLE BELOW AND CUSTOMER SPECIFIC TOP LEVEL ASSEMBLY FOR DETAILS THIRD ANGLE PROJECTION IF IN DOUBT ASK! SIZE OF CHAIN PULLEY PART No. PITCH 6 5 AJA CMI EBR 5 TEETH 57DET. mm 6 TEETH 05DET 0. mm 7 TEETH 657DET 0. mm TEETH 050DET 9.9 mm 9 TEETH 969DET 9.5 mm 50 TEETH 96DET 9. mm 5 TEETH 967DET.7 mm 5 TEETH 966DET. mm 5 TEETH 965DET.0 mm 5 TEETH 09DET 7.7 mm 6/0/007 0/0/06 LEVELWIND BLOCK NOW SUB ASSEMBLY BOM REORDERED LEVELWIND CHAIN SPROCKET MADE GENERIC SSM 0/06/00 EXTRA CHAIN PULLEY SIZES ADDED CMI EBR 9/0/0 NOW TMS TYPE CMI 9/0/0 BILL OF MATERIALS UPDATED SSM /06/000 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS 5 5 CMI RWR MATERIAL FINISH SEE BILL OF MATERIALS USO, TOLERANCES TO BE SEE NOTES WT AIR DRAWN DATE SECTION VIEW ALONG ROLLER SHAFT 6 CHECK APPRV. ENGR. kg (E) SSM WT WATER CMI RWR kg (E) /06/000 SSM 7 Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE : 7 9 A PROJECT TITLE LEVELWIND TYPE TMS MAIN ASSEMBLY DRAWING Sheet of DOC. No. 9 USE AQUALUBE TO PREVENT FASTENERS GAULLING TOGETHER TMS TYPE 067MAS REV 6

164 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Gearbox Tether Drum (M6 x 5 Ratio) MAS ORing.5 x 5. (BS7) SOR505N70 Nitrile 70 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 6 SPE0 DRIVE ASSY 99MAS 7 Jaw Coupling Type SD mm Bore 9DET Aluminium Jaw Coupling Element Type (Red 9 Shore) MIS06 NOTE. USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER.. USE SILICON GREASE ON ORING. ACR 05//06 GEARBOX MADE SUBASSEMBLY WTH 0//05 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) WTH 0//05 CMI CMI WTH : A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. TETHER MANAGEMENT SYSTEMS DRUM GEARMOTOR(M65,SPE0) MAIN ASSEMBLY DRAWING Sheet of 9MAS REV

165 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material 6 MOD Gearmotor Shaft 06DET Worm Wheel M6 x 5 Ratio 0DET Key x 7 x 0 long MIS000 Key Steel Deep Groove Ball Bearing 606 BRG606 5 Wear Ring 009DET 6 Gearmotor Cap DET 7 Deep Groove Ball Bearing 605 BRG605 Worm Drum Gearbox (Various Configurations) SEE NOTES 9 6 MOD Gearmotor Worm Spacer 0DET 0 6 MOD Gearmotor Worm Shaft 07DET Key 0 x x 7 long 057DET Stainless Steel 0 Diameter Spacer 05DET Gearmotor Body 6 MOD 0DET Gearmotor Pinion 05DET 5 5 x 5 x 0 long Key MIS006 Key Steel 6 Large Retainer Washer 0667DET 7 Diameter Spacer 057DET External Circlip 0 Dia FCIREXT0CS Carbon Steel 9 5 Plain Washer M FPWMSS Stainless Steel 0 5 Spring Washer M FSWMSS Stainless Steel 5 Socket Head Cap Screw M x 50 long FSHCSM50A70 Stainless Gr A70 Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 Spring Washer M0 FSWM0SS Stainless Steel Plain Washer M0 FPWM0SS Stainless Steel 5 Wave Spring Washer ELP0 BRA Inner Rotary Seal SEA000 7 Rotary Shaft Seal 50 x 7 x SEA000 ORing.5 x 07.5 (BS ) SOR5076N70 Nitrile 70 9 ORing.6 x.99 (BS5) SOR600N70 Nitrile 70 0 Internal Circlip 6 Diameter FCIRINT6CS Carbon Steel Spirol Pin x 55 long FSP55SS Stainless Steel 6 MOD Worm Spacer 0DET No JIC NPT Male Stud HYD005 Stainless Steel JIC Cap HYD0050 Stainless Steel 5 JIC NPT Male Stud HYD005 Stainless Steel 6 Anode 5 x 6. x lg 76DET 7 M6 x M9 Threaded Insert (straight) 0DET 6L Plain Washer M6 FPWM6SS Stainless Steel 9 Spring Washer M6 FSWM6SS Stainless Steel 0 Button Head Cap Screw M6 x 0 long FBHCSM60A70 Stainless Gr A70 USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER THIS DRAWING RELATES TO OPTIONS OF GEARBOX, EACH USING A DIFFERENT WORM (ITEM IN BOM) AS FOLLOWS: GEARBOX PART No. MAS USES WORM PART NO. 0DET GEARBOX PART No. MASCH USES WORM PART NO. 5DET THIRD ANGLE PROJECTION ENSURE CORRECT WORM IS USED AND LABEL GEARBOX WITH CORRECT P/N NOTE LOCTITE 70 ENSURE GEARMOTOR CAP (6) IS ORIENTATED ON THE CORRECT BOLT PATTERN TO SUIT EITHER TYPE, OR TMS SEE NOTE ABOVE SEE SHT OF FOR SECTIONAL VIEWS 5 0 AJA 0/0/007 ANODE ADDED TO MAIN BODY ITEMS 6, 7,, 9 & 0 ACR 0/0/06 APPROVED FOR CONSTRUCTIONDERIVED FROM MAS REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) ACR CMI CMI WT WATER 0/0/06 CMI kg (E) Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE : A PROJECT TITLE DOC. No. TETHER MANAGEMENT SYSTEMS GEARBOX TMS TETHER DRUM MAIN ASSEMBLY DRAWING Sheet of MAS REV

166 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION B USE PTFE TAPE 5 USE PTFE TAPE B AA 7 A 7 9 SEE SHEET OF FOR BILL OF MATERIALS 7 PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 A SCALE (USO) ORIG. SIZE DOC. No. : A TMS GEARBOX, TETHER DRUM ASSEMBLY DRAWING Sheet of MAS REV

167 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED THIRD ANGLE PROJECTION LUBRICATE TIE LEGRIS CABLE (NOT SHOWN) BACK ONTO BOLT LUBRICATE ENSURE O'RING SOR00070N70 IS FITTED TORQUE M5 BOLTS TO Nm PLC'S LUBRICATE NOTE THAT EARTH CONNECTOR () IS USED AS ONE PLAIN WASHER (). SEE WIRING SCHEMATIC 090WIS FOR DETAILS. REMOVE ANODISING LOCALLY FOR GOOD EARTH CONTACT. LUBRICATE CHARGING POINT NOTES. WIRING NOT SHOWN. REFER TO DRAWING 090WIS FOR WIRING DETAILS. FILLING/CHARGING DRIVE UNIT STATOR CAVITY... THE DRIVE UNIT STATOR CAVITY HAS BEEN DESIGNED TO RUN FILLED WITH OIL. SHELL NATURELLE HFE6 IS A SUITABLE BIODEGRADEABLE OIL. ALTERNAIVELY SHELL TRANSFORMER OIL SHOULD BE USED... REMOVE THE BLANKING CAP FROM THE CHARGING POINT ON THE STATOR CAVITY (LOCATED ON THE BASE OF THE PEDESTAL) AND CONNECT UP THE FLUSHING CHARGING PUMP... POSITION THE DRIVE UNIT SO THAT THE UNIT IS STANDING ON THE PEDESTAL..5. CHARGE UP THE PUMP AND OPEN THE PUMP VALVE..6. LOOSEN THE BLEED SCREW LOCATED ON THE TOP OF THE MAIN BODY..7. WHEN ALL THE AIR IS EXPELLED AND OIL IS STILL RUNNING FROM THE BLEED POINT, RETIGHTEN THE BLEED SCREW CLOSE THE VALVE AND REMOVE THE PUMP FROM THE DRIVE UNIT. 0 5 WARNING: BEFORE REMOVING THE CONNECTOR CAP ASSEMBLY ENSURE THAT ALL WATER/OIL IS REMOVED FROM THE ROTOR CAVITY. THIS IS DONE BY POSITIONING THE THRUSTER WITH THE PROPELLER FACING DOWNWARDS LOOSEN THE BLEED SCREW AND BLOW AIR THROUGH THE CHARGING POINT USING AN EMPTY FLUSHING PUMP. 6.. REMEMBER TO REPLACE THE BLANKING PLUG.. FILLING/CHARGING DRIVE UNIT ROTOR CAVITY.. THIS CAVITY CAN ONLY BE CHARGED WHEN ASSEMBLED TO THE OTHER DRIVE COMPONENTS OF THE TMS SYSTEM.. THE DRIVE UNIT ROTOR CAVITY HAS BEEN DESIGNED TO RUN FILLED WITH OIL. SHELL TELLUS IS A SUITABLE OIL. GDU 09/0/007 BOLT SIZE CHANGED, NOTE ABOUT O'RING ADDED ECN507 AJA //006 REGULATOR BUSHES ADDED, FILLING/CHARGING NOTES MODIFIED, TORQUE ADDED TO REAR BEARING HOUSING FASTENERS AJA //006 CABLE WHIP, EARTHING STRAP AND PCB INSULATION ADDED WTH //005 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER kg (E) kg (E) DRAWN WTH DATE CHECK APPRV. ENGR. //05 CMI CMI CMI A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. TMS SPE0 DRIVE ASSY MAIN ASSEMBLY DRAWING 99MAS SHEET REV of

168 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! SECTION VIEW ( :.5) THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material SPE0 Rotor for Drive Assy 95MAS Body SPE0 5DET Threaded Insert 050DET Stator Liner SPE0 50DET 5 Rear Bearing Housing SPE0 75DET 6 Compensator Body cc SPE0 75DET 7 Piston cc SPE0 755DET Nozzle Support SPE0 756DET 9 Body Cover SPE0 759DET 0 Bleed Screw MM 766DET Comp. Spring. WD x.6 OD x.9 lg 75DET Anode 5 x 6. x lg 76DET Ceramic Insulator IGBT SPE0 75DET Stator SPE0 SPE05 5 Diaphragm 5 x 0 x DIA00 Nitrile 6 PCB076 SPE0 Thruster Control Board PCB076 7 Series Coupling Body HYD000 Dowty ~ Inch BSPP SEA005 St. Steel/Nitrile 9 SPE0 Thruster Penetrator(TMS) CAB006 0 ORING.00 x 56.0 SOR000560N70 Nitrile 70 ORING x 0 SOR00000N70 Nitrile 70 ORING x 5 SOR00050N70 Nitrile 70 ORING.7 x.76 (BS 0) SOR700N70 Nitrile 70 ORing Body Cover SPE0 SOR0000N70 Nitrile 70 5 Socket Head Cap Screw M6 x 5 long FSHCSM65A70 Stainless Gr A70 6 Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 7 Socket Head Cap Screw M5 x 5 FSHCSM55A70 Stainless Gr A70 Socket Head Cap Screw M5 x 6 FSHCSM56A70 Stainless Gr A70 9 CSunk Head Socket Screw M5 x 0 long FCHSSM50A70 Stainless Gr A Plain Washer M6 FPWM6SS Stainless Steel 6 Plain Washer M5 FPWM5SS Stainless Steel Spring Washer M6 FSWM6SS Stainless Steel Spring Washer M5 FSWM5SS Stainless Steel Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 5 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A Plain Washer M FPWMSS Stainless Steel 6 Spring Washer M FSWMSS Stainless Steel 9 Socket Head Cap Screw M.5 x long FSHCSM.5A70 Stainless Gr A70 0 Spring Washer M.5 FSWM.5SS Stainless Steel Plain Washer M.5 FPWM.5SS Stainless Steel Uninsulated Eyelet Terminal 6BAM ELA006 Legris Series 90 Deg Elbow 99IAS Legris Series Plug 99IAS 5 Hex Plug BSPP HYD07 Stainless Steel 6 SPE0 PCB Insulation 55DET 7 6 Regulator Isolation Sleeve MIS05 Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) PROJECT TITLE Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. A TMS SPE0 DRIVE ASSY MAIN ASSEMBLY DRAWING Sheet of 99MAS REV

169 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material Tilt Unit (Plastic) With Comp 05MAS ROV Retainer Frame 059DET Locking Lever 0596DET Locking Link 0595DET 5 Hex Bolt M x 50 long FHBM50A70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel 7 6 Nylok Hex Nut M FNLMA70 Stainless Gr A70 Button Head Cap Screw M6 x 6 long FBHCSM66A70 Stainless Gr A70 9 Spring Washer M6 FSWM6SS Stainless Steel 0 Plain Washer M6 FPWM6SS Stainless Steel DRubber 50 x 0 x 50 lg 0675DET Retainer Support Bar 0676DET Button Head Cap Screw M0 x 00 long FBHCSM000A70 Stainless Gr A70 6 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 5 Plain Washer M0 FPWM0SS Stainless Steel 6 Socket Head Cap Screw M x 70 long FSHCSM70A70 Stainless Gr A70 7 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Gr A70 9 Nylok Hex Nut M FNLMA70 Stainless Gr A70 0 Backing Support Bar 075DET Hex Nut M0 FHNM0A70 Stainless Gr A70 Spring Washer M0 FSWM0SS Stainless Steel THIRD ANGLE PROJECTION USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER SET UP SCREWS TO CLAMP ROV DURING FINAL TMS ASSEMBLY EBR 9/0/0 BILL OF MATERIALS UPDATED ECN00 CMI EBR 9/0/0 BILL OF MATERIALS UPDATED SSM /06/000 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI RWR MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) SSM /06/00 CMI RWR SSM : 6 A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. TMS TYPE ROV Depressor MAIN ASSEMBLY DRAWING Sheet of 067MAS REV

170 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Torque Unit Cap 05DET Flexible Drive Shaft 000DET Plain Washer M FPWMSS Stainless Steel Socket Head Cap Screw M x 50 long FSHCSM50A70 Stainless Gr A70 5 Nylok Hex Nut M FNLMA70 Stainless Gr A70 6 ORing.5 x.9 (BS6) SOR59N70 Nitrile 70 7 Flexible Shaft Flange 050DET ORING.5 x 5.7 (BS 7) SOR505N70 Nitrile 70 9 Spring Washer M FSWMSS Stainless Steel 0 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 Flexible Drive Oil Tube 0767DET Hose Band 70 Diameter FWOR600SS Stainless Steel USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER 7 TOP END 7 LOCK NUTS SEE NOTE BLEED PORTS SET UP: ) ITEM () IS SUPPLIED WITH LOCKNUTS FITTED ON EACH END. TIGHTEN THESE LOCKNUTS FULLY ONTO END OF THREADED PORTION ON FLEXIBLE SHAFT ENDS. FULLY SCREW LOCKNUTS UP TO TOP OF THREADS. ) SCREW FLANGE (7) ONTO ONE END OF FLEXIBLE SHAFT () AND TIGHTEN AGAINST LOCKNUTS. SECTION ALONG FEXIBLE SHAFT FLANGE ) SLIDE HOSE () OVER SHAFT AND SECURE USING HOSE BAND () TO FLANGE (7). ) SLIDE LOOSE HOSE BAND ONTO HOSE. 5) SCREW TORQUE UNIT CAP () ONTO BOTTOM END OF DRIVE UNTIL FULLY SCREWED ONTO LOCKNUTS. LOCK NUTS SEE NOTE 6) FIT TOP END INTO TMS DRUM DRIVE GEAR BOX, TIGHTEN UP TORQUE CAP () UNTIL MOUNTING HOLES ALIGN WITH TRACTION GEARBOX AT THE FIRST OPPORTUNITY. 7) CENTRALISE SHAFT IN HOSE AND SECURE TORQUE CAP TO HOSE WITH HOSE BAND. BLEED PORTS 5 BOTTOM END SECTION ALONG TORQUE UNIT CAP SSM /0/00 NOTES ADDED, ECN0 CMI EBR 9/0/0 NOW TYPE TMS, FLANGES NEW STYLE ECN00 CMI SSM 0/0/000 PART NUMBERS UPDATED CMI SSM 6/0/000 APPROVED FOR CONSTRUCTION RWR REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH SEE BILL OF MATERIALS USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) SSM CMI WT WATER 6/0/00 RWR SSM kg (E) PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. : A TMS TYPE FLEXIBLE DRIVE SHAFT ASSEMBLY DRAWING Sheet of 0766MAS REV

171 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED THIRD ANGLE PROJECTION IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material Item No. Qty Description SubAtlantic Part Ref. Material Junction Box 5,5 KVA DET Nylok Hex Nut M FNLMA70 Stainless Gr A70 Transformer Junction Box Lid 6 kva 55DET Plain Washer M FPWMSS Stainless Steel Transformer Junction Box Cradle 5.5kVA DET 5 GType DIN Rail x 00 mm 00DET Junction Box Cable Tray 5.5 kva 99DET 6 M6 x 55 Male Female Hex Spacer 00DET 5.5 Sealing Oring 6.O kva Transformer Box SOR5N70 Nitrile 70 7 Junction Box 5,5 kva Support Plate for GType Rail 00DET 6 6 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 Button Head Cap Screw M6 x 0 long FBHCSM60A70 Stainless Gr A Plain Washer M FPWMSS Stainless Steel 9 CSunk Head Socket Screw M5 x long FCHSSM5A70 Stainless Gr. A70 CSunk Head Socket Screw M x 5 long FCHSSM5A70 Stainless Gr A70 50 Plain Washer M5 FPWM5SS Stainless Steel 9 Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Nylok Hex Nut M5 FNLM5A70 Stainless Gr A70 0 Hex Screw M6 x 0 long FHHSM60A70 Stainless Gr A70 5 Series Coupling Body HYD000 Plain Washer M6 FPWM6SS Stainless Steel Hex Screw M0 x 5 long FHHSM05A70 Stainless Gr A70 Dowty ~ Inch BSPP SEA005 St. Steel/Nitrile Plain Washer M0 FPWM0SS Stainless Steel 5 Spring Washer M0 FSWM0SS Stainless Steel 6 Hex Nut M0 FHNM0A70 Stainless Gr A70 7 No JIC NPT Male Stud HYD005 Stainless Steel JIC Cap HYD0050 Stainless Steel 9 Spring Washer M6 FSWM6SS Stainless Steel kva Transformer 9DET GType DIN Rail x 70 mm 00DET Fiber Optic Coupler Mount CAA005 RS 69 Fibre Optic Connector Nut Part of ELA007 Fibre Optic Connector ELA007 5 NH Fuse Base Single ELA0096 RS SAK.0 Standard Terminals CAA00 7 Bridge Rectifier 70AMP DIO000 Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 9 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 0 EK Earth Terminal CAA009 SAK.0 Shield CAA0050 End Stop Gtype DIN RailEWK CAA000 RS 570 NH Fuse 0A ELA009 RS 6 6 Phoenix TerminalsEnd Cap CAA Phoenix Terminals CAA0066 RS Water Ingress Sensor LHS and RHS Holes IAS 7 CSunk Head Socket Screw M x 0 long FCSHSM0A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel 9 Nylok Hex Nut M FNLMA70 Stainless Gr A70 0 CSunk Head Socket Screw M6 x 5 long FCSHSM65A70 Stainless Gr A70 Temperature Sensor ELA00 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 5 LZA /0/007 REPLACED CABLE TRAY, NEW CONFIGURATION FOR INTERNAL COMPONENTS GDU 0/0/007 ADDITIONAL ITEMS ADDED, INTERNAL COMPONENTS ROTATED ACR 6/0/006 ELECTRICAL COMPONENTS ADDED ACR 06//005 USING 6kVA BOX PROFILE ACR //005 APPROVED FOR CONSTRUCTION A ACR //005 ISSUED FOR TENDER DERIVED FROM 060MAS REV BY DATE DESCRIPTION RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) ACR //05 CMI CMI ACR : A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. TMS TRANSFORMER JUNCTION BOX, 5.5 kva00hz ASSEMBLY DRAWING Sheet of MAS REV 5

172 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A TMS TRANSFORMER JUNCTION BOX, 5.5 kva00hz ASSEMBLY DRAWING Sheet of MAS REV 5

173 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION 0 NOTES. ANTISEIZE COMPOUND TO BE USED ON ALL THREADS. USE SILICON GREASE ON ALL 'O' RINGS AND DOWTY WASHERS LUBRICATE LUBRICATE PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : 6 A TMS TRANSFORMER JUNCTION BOX, 5.5 kva00hz DETAIL DRAWING Sheet of MAS REV 5

174 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! SEE NOTE Item No. Qty Description SubAtlantic Part Ref.Material 500 msw Electronics Tube (00 long) 5DET Electronics Enclosure End Cap 500msw 00DET Mounting Rail (70) 66DET PCB Guide Strip 0DET 5 Socket Head Cap Screw M x 6 long FSHCSM6A70 Stainless Gr A70 6 Tube Retainer Assembly 9MAS 7 Support Ring Relay PCB PCB005 ORING x 6.5 SOR0065N70 Nitrile 70 9 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 0 Plain Washer M FPWMSS Stainless Steel TMS Electronics Rack Mount 09DET Spring Washer M FSWMSS Stainless Steel Socket Head Cap Screw M6 x 6 long FSHCSM66A70 Stainless Gr A70 Spring Washer M6 FSWM6SS Stainless Steel 5 Plain Washer M6 FPWM6SS Stainless Steel 6 Electronics Enclosure Bracket 6DET 7 Electronics Enclosure Bracket 7DET ORING.7 x.77 (BS0) SOR70N70 Nitrile x UNF Plug 77DET 0 Anode 5 x.5 x 0 lg 0DET Studbar M x 50 long FSBM50A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 Mounting Bar (70) 67DET 5 Endcap Blank 0DET 6 Strimmer Cord MIS090 7 ORING.5 x 5. (BS59) SOR55N70 Nitrile 70 Strimmer Cord x 0 long MIS000 9 M Nylon Tipped Grub Screw FSSSNTMSS Stainless Steel 0 M x 9 long stud bar FSBM9 A70 Stainless Gr A70 Heat Shrink Material MIS006 Hex Nut M FHNMA70 Stainless Gr A THIRD ANGLE PROJECTION ACR 9/0/06 TITLE CHANGED TO 9 PITCHES ACR 0/05/06 ISSUED FOR CONSTRUCTION GDU REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. CMI WT WATER kg (E) kg (E) AAC 0/05/06 CMI CMI : A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. TMS SYSTEM ELECTRONICS ENCLOSURE, 000msw, 9 PITCHES ASSEMBLY DRAWING Sheet of 60MAS REV

175 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION. BEFORE ASSEMBLY RUN UNF TAPS OF THE CORRECT SIZE DOWN ALL THE THREADS ON THE END CAP () TO ENSURE GOOD ELECTRICAL CONTACT.. PORTS & ARE TAPPED 5/" UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN ON WIRING DIAGRAM IN MANUAL.. PORTS TO, 7, 9, 0, & ARE TAPPED 7/6"0 UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN ON WIRING DIAGRAM IN MANUAL.. IT IS IMPORTANT THAT THE ZINC ANODE (0) MAKES GOOD ELECTRICAL CONTACT WITH THE ADAPTER (9) AND THE ADAPTER WITH THE ENDCAP (). ENSURE NYLOC HEX NUT () IS TIGHTENED HARD AGAINST ANODE BEFORE EACH VEHICLE EXCURSION. DUE TO WIRING REQUIREMENTS THE ANODE MAY BE MOVED TO A 7/6"0 UNF PORT IN WHICH CASE IT WILL BE SECURED TO THE POD WITH OFF 7/6"0 UNF HEX PLUG (076DET), OFF M6 x 50 LG STUDBAR, OFF M6 PENNY WASHER & OFF M6 NYLOC HEX NUT. CHECK WIRING DIAGRAM TO CONFIRM. 5. EACH PCB SHOWN IN THE WIRING DIAGRAM & MANUAL PHOTOGRAPHS REQUIRES OFF PCB GUIDE STRIPS () AND OFF SCREWS (9) TO SECURE. 6. LUBRICATE ALL ORINGS WITH SILICONE GEL DURING ASSEMBLY. 7. APPLY AQUALUBE TO PREVENT GAULLING OF FASTENERS ONLY TO THE THREADS INDICATED. ENSURE NO AQUALUBE CONTAMINATES THE PCB'S IN THE ENCLOSURE.. REFER TO WIRING DIAGRAM FOR POSITION OF PCB RAIL MOUNTS AND STUD BAR. 9 PCB RAIL MOUNT PORT 9 PORT PORT A PORT ANODE PORT PORT PORT 0 D C B ( : ) PORT 7 PORT 6 A PORT 5 PORT AA B BACK ORINGS C ( : ) FRONT ORINGS D ( : ) PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. : A TMS SYSTEM ELECTRONICS ENCLOSURE, 000msw, 9 PITCHES ASSEMBLY DRAWING Sheet of 60MAS REV

176 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! 6 THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Tube Retainer 097DET Clamping Screw 06DET Retainer Anchor 090DET Thrust Washer M6 099DET 5 Plain Washer M6 FPWM6SS Stainless Steel 6 Spirol Pin.5 dia x 0 long FSP.50A70 Stainless Gr A70 7 Button Head Cap Screw M5 x 5 long FBHCSM55A70 Stainless Gr A70 Plain Washer M5 FPWM5SS Stainless Steel 9 Spring Washer M5 FSWM5SS Stainless Steel NOTES. EXTRA WASHERS () MAY BE REQUIRED TO SECURE THE RETAINER ASSEMBLY SECURELY TO THE ELECTRONICS BOTTLE.. USE ANTI GAULLING COMPOUND ON ITEMS () & (7) DURING ASSEMBLY AND ENSURE ITEM (7) IS LUBRICATED WITH ANTI GAULLING COMPOUND DURING ASSEMBLY TO THE ELECTRONICS BOTTLE. NOTE EBR 9/0/0 TUBE RETAINER PART REFERENCE CHANGED. SCREW LENGTH INCREASED SSM /0/00 SPIROL PIN ADDED EBR /0/0 ISSUED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS EBR MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) EBR /0/0 MBI CMI SSM.5 : A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. ELECTRONICS BOTTLES TUBE RETAINER ASSEMBLY MAIN ASSEMBLY DRAWING Sheet of 9MAS REV

177 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material Gearbox, Traction Wheel MAS Traction Wheel Type TMS (Various Sizes) See Notes Traction Wheel Mounting Plate 056DET TMS Tether Guide fixed 05DET 5 0 mm Pinch Roller 05DET 6 Pinch Roller Shaft 057DET 7 Lever Pinch Shaft 055DET Traction Unit Tether Retainer 05DET 9 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 0 Plain Washer M0 FPWM0SS Stainless Steel Socket Shoulder Screw Dia 6 x 0 Long FSHSS60MA70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 Plain Washer M0 FPWM0SS Stainless Steel 5 Spring Washer M0 FSWM0SS Stainless Steel 6 Socket Head Cap Screw M0 x 5 long FSHCSM05A70 Stainless Gr A70 7 Captive Socket Head Cap Screw M0 x 5 long 057DET TMS Tether Guide Removable 057DET 9 Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 0 Socket Head Cap Screw M0 x 70 long FSHCSM070A70 Stainless Gr A70 Traction Wheel Spring Retainer 0705DET Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 Traction Wheel Extension Spring 079DET Magnetic Sensor Assembly 095IAS 5 Magnetic Source Assembly SEN000 6 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 THIRD ANGLE PROJECTION NOTES. VARIOUS TRACTION WHEELS CAN BE FITTED TO SUIT PARTICULAR TETHER DIAMETER. REFER TO TABLE BELOW AND CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY DRAWING FOR PART NUMBER SELECTION.. USE AQUALUBE TO PREVENT FASTENERS GAULLING TOGETHER. TMS Type TRACTION WHEEL PART NUMBERS TETHER DIAMETER PART No. 9 0 mm 05DET 6.5. mm 0DET CMI 0/0/06 ITEM MADE GENERIC, GEARBOX MADE SUBASSEMBLY MAS REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) SSM /06/00 CMI RWR SSM : 5 A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. TMS SYSTEM TRACTION WHEEL (TYPE TMS) ASSEMBLY DRAWING Sheet of 067MAS REV

178 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION REMOVE SHARP EDGES SEE NOTE ON SHEET SEE SHEET FOR BILL OF MATERIALS & ASSEMBLED VIEW PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. : 5 A TMS SYSTEM TRACTION WHEEL (TMS TYPE ) ASSEMBLY DRAWING Sheet of 067MAS REV

179 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED Item No. Qty Description SubAtlantic Part Ref. Material Traction Wheel Shaft 059DET Traction Worm Wheel 057DET AS5 Freewheel MIS00 Key x 5 x 50 long 050DET 5 Deep Groove Ball Bearing 60 BRG60 6 Deep Groove Ball Bearing 60 BRG60 7 Wear Ring 009DET Deep Groove Ball Bearing 606 BRG606 9 M0 Bearing Locknut BRA M0 Lock Washer BRA0005 Traction Gearbox Body 05DET Traction Gearbox Cap 050DET Traction Worm GEA000 Traction Worm Shaft 055DET 5 Worm Spacer 056DET 6 Precision Torque Unit 75IAS 7 Tork Unit Input Shaft 05DET Internal Circlip 7 Diameter FCIRINT7CS Carbon Steel 9 Worm Spacer short 057DET 0 Spirol Pin 6 x 0 long FSP60SS Stainless Steel Socket Head Cap Screw #0 x.75 long FSHCS0UNF/A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel Spring Washer M FSWMSS Stainless Steel Wave Spring Washer ELP0 BRA000 5 Wave Spring Washer ELP065 BRA Inner Rotary Seal SEA000 7 Rotary Shaft Seal 50 x 7 x SEA000 ORing.6 x.99 (BS5) SOR600N70 Nitrile 70 9 ORing.5 x. (BS9) SOR5N70 Nitrile 70 0 Key 5 x 5 x 0 long MIS006 Key Steel key.76 x.76 x. MIS007 Key Steel Compensator Assembly 70 cc Self Supporting 0967MAS mm Spacer 6DET mm Spacer 67DET 5 JIC Cap HYD0050 Stainless Steel 6 BSP Ball Valve(.5 lg) HYD00 Stainless Steel 7 mm BSPT Hose Adapter HYD009 Stainless Steel NPT Male Stud HYD007 Stainless Steel 9 NPT x JIC Male Stud HYD005 Stainless Steel 0 M6 x M9 Threaded Insert (straight) 0DET 6L Plain Washer M6 FPWM6SS Stainless Steel Spring Washer M6 FSWM6SS Stainless Steel Button Head Cap Screw M6 x 0 long FBHCSM60A70 Stainless Gr A70 Anode 5 x 6. x lg 76DET THIRD ANGLE PROJECTION IF IN DOUBT ASK! NOTES. USE AQUALUBE TO PREVENT FASTENERS GAULLING TOGETHER. AJA 0/0/007 ANODE AND FASTENERS ADDED ITEMS 0,,, & ACR 0/0/06 ASSEMBLY BROKEN OUT OF 067MAS REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) ACR CMI CMI WT WATER 0/0/06 CMI kg (E) GEARBOX, TRACTION WHEEL ASSEMBLY DRAWING Sheet of :5 A DOC. REV No. MAS Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE PROJECT TITLE TMS SYSTEM

180 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! WHEN INSTALLING THE FREEWHEELS (ITEM ) PRESS FIT THEM INSIDE THE TRACTION WORM WHEEL AND BEARINGS (ITEM, & 6), INSURING THAT THEY ROTATE IN THE SAME DIRECTION. HOLDING THE TRACTION WHEEL SHAFT AND CAP ASSEMBLY (ITEMS,, 7,, 9, 0,, 5, 7, & 9) POINTING AWAY FROM YOU, PRESS IT INTO THE FREE WHEELS SO THAT THE WORM GEAR ROTATES ANTICLOCKWISE. GO NO GO THIRD ANGLE PROJECTION REMOVE SHARP EDGES AA ( :.5) BB ( :.5) LOCTITE B B A A SEE SHEET FOR BILL OF MATERIALS ASSEMBLED VIEW PROJECT TITLE TMS SYSTEM GEARBOX, TRACTION WHEEL ASSEMBLY DRAWING Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 Sheet of SCALE (USO) ORIG. SIZE DOC. No. :0 A MAS REV

181 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! FLOW USE PTFE TAPE NOTE REAR VIEW 9 FLOW 7 Item No. Qty Description SubAtlantic Part Ref. Material Diaphragm 60 x 70 x 70 DIA0007 Nitrile Piston 70 cc 0DET Compensator Body 70 cc 079DET 70cc Compensator Spring 079DET 5 Retainer Flange 70 cc 09DETSS 6 Bolt Spacer M6 095DET 7 Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 Compensator Housing Self Mounting 70 cc 090DET 9 ORING.5 x.6 (BS6) SOR509N70 Nitrile 70 0 Socket Head Cap Screw M6 x 0 long FSHCSM60A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel Spring Washer M6 FSWM6SS Stainless Steel Socket Head Cap Screw M6 x 75 long FSHCSM675A70 Stainless Gr A70 Nupro CPA Check Valve HYD FLOW AA THIRD ANGLE PROJECTION 0 NOTES. NOTE FLOW DIRECTION ARROW ON CHECK VALVE () BODY & SET AT BAR (.5 PSI) 5 EBR 9//0 LATEST REVISION ECN0 CMI SSM 6/0/00 CHECK VALVE ADDED SSM /0/00 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR kg (E) DRAWN SSM DATE CHECK APPRV. ENGR. WT WATER /0/0 EBR CMI SSM kg (E) PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. : A OIL FILLED COMPENSATORS 70cc COMPENSATOR SELF SUPPORTING ASSEMBLY DRAWING Sheet of 0967MAS REV

182 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! Item No. Qty Description SubAtlantic Part Ref. Material Radius Goosneck Mounting Plate 050DET Gooseneck Pulley Shaft 05DET 0 mm Goooseneck Pulley 05DET Gooseneck Pivot Bearing 05DET 5 Gooseneck Tether Retainer 05DET 6 Gooseneck Pivot Bracket 055DET 7 Gooseneck Pivot Pin 0570DET Plain Washer M0 FPWM0SS Stainless Steel 9 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 0 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 Button Head Cap Screw M x 60 long FBHCSM60A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Captive Socket Head Cap Screw M0 x 5 long 057DET 6 6 Plain Washer M0 FPWM0SS Stainless Steel 7 Spring Washer M0 FSWM0SS Stainless Steel Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 9 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER THIRD ANGLE PROJECTION REMOVE SHARP EDGES EBR //0 BILL OF MATERIALS UPDATED ECN00 CMI SSM 0/0/000 PART NUMBERS UPDATED SSM /06/000 ISSUED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI RWR MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR kg (E) DRAWN SSM DATE CHECK APPRV. ENGR. CMI WT WATER /06/00 RWR SSM kg (E) PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. : A TMS TYPE RADIUS GOOSENECK MAIN ASSEMBLY DRAWING Sheet of 067MAS REV

183 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED 5 A NOTE NOTE SEE NOTE THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Drum Shaft 600 Wide Flange (76 SR) 7DET Drum Flange Drive End 00 Dia (SR76) 5DET Drum Core 00 Dia x 600 Wide 07DET Drum Flange Free End 00 Dia 07DET 5 Drum Gear 5 teeth 0779DET 6 Drum Gear Guard 5 Teeth 07DET 7 SelfAligning Bearing Assembly(SR76) 5MAS Oilon or equivalent Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 9 Plain Washer M0 FPWM0SS Stainless Steel 0 Spring Washer M0 FSWM0SS Stainless Steel 6 CSunk Head Socket Screw M x 55 long FCHSSM55A70 Stainless Gr A70 6 Studding 056DET 6 Plain Washer M6 FPWM6SS Stainless Steel 6 Nylok Hex Nut M6 FNLM6A70 Stainless Gr A70 5 Sprocket ~ Inch Pitch 9 Teeth 0507DET 6 ORing.6 x. (BS6) SOR60N70 Nitrile 70 7 Spherical Bearing Shell (SR76) 9DET STAINLESS 6L Spherical Bearing Shell Threaded 9DET STAINLESS 6L 9 Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 0 Conector Mounting Plate For Drum 77.5 Bore 97DET in PIPE CLAMP SEE NOTE Socket Head Cap Screw M6 x 65 long FSHCSM665A70 Stainless Gr A70 JIC NPT Male Stud HYD005 Stainless Steel JIC Cap HYD0050 Stainless Steel 5 Drum Entrance Plate 00 Dia 70DET 6 Drum Access Plate 00 Dia 779DET 7 0 CSunk Head Socket Screw M6 x 6 long FCSHSM66A70 Stainless Gr A70 Spherical Bearing Shell Threaded 079DET 9 Spherical Bearing Shell 079DET 0 SelfAligning Bearing Assembly 0579MAS Slip Ring SEE NOTE Drum Shaft Junction Box Assembly 550MAS Drum Shaft Gasket (SR76) 5DET COMP. ASBESTOS ORING.6 x 6.6 (BS) SOR6066N70 Nitrile 70 5 Adapter M5 x M0 Hawke CAA Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 7 Studbar M5 X 5 long FSBM55A70 Stainless Gr A70 6 Hex Nut M5 FHNM5A70 Stainless Gr A Plain Washer M5 FPWM5SS Stainless Steel 0 Spring Washer M FSWMSS Stainless Steel 6 NOTES. USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER.. SLIP RING (ITEM 5) IS SPECIFIC TO CUSTOMER REQUIREMENTS. REFER TO CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY FOR DETAILS A ( : 5) AJA 05/06/007 ITEM 9 CHANGED FROM M5 TO M, OFF ITEM 0 ADDED 5 AJA 5/0/007 ITEM 0 CHANGED, TERMINAL BLOCKS & FASTENERS REMOVED. STUDBAR, NUTS & WASHERS ADDED AJA 0//006 OFF ITEM 9 REMOVED, REPLACED WITH OFF ITEM 0 ACR /09/06 CABLE GLAND CHANGED TO M0 ADAPTOR ACR 07//06 MADE GENERIC, SLIP RING & PIPE CLAMP MADE VARIABLE WTH 5//05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI MATERIAL SEE BILL OF MATERIALS FINISH 9 USO, TOLERANCES TO BE 0. CLAMP (ITEM 5) IS DEPENDENT ON TETHER DIAMETER. REFER TO CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY FOR DETAILS.. VARIOUS OPTIONS OF CABLE GLAND ARE USED DEPENDING ON TEHER DIAMETER. REFER TO CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY FOR DETAILS. WT AIR WT WATER PROJECT kg (E) kg (E) DRAWN WTH TITLE DATE 5//05 Woodburn Road, Blackburn Business Park, Blackburn, CHECK GDU Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 APPRV. GDU SCALE (USO) ORIG. SIZE ENGR. WTH DOC. No. : 6 A TMS SYSTEMS DRUM ASSEMBLY, TMS TYPE B 00 DIA x 600 WIDE (SR76) MAIN ASSEMBLY DRAWING 76MAS SHEET REV of 6

184 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! THIRD ANGLE PROJECTION : 5 A PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. TMS SYSTEMS DRUM ASSEMBLY TMS TYPE B 00 DIA x 600 WIDE (SR76) MAIN ASSY DRAWING Sheet of 76MAS REV 6

185 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! SP 6.00 C +0.0 A B THIRD ANGLE PROJECTION REMOVE SHARP EDGES 0.0 AA ADDITIONAL NOTES:. BOLTS TO BE FIRMLY TIGHTENED PRIOR TO MACHINING SPHERICAL BORE.. ASSEMBLIES TO BE MARKED (STAMPED) AS MACHINED PAIRS AND STORED AS A UNIT AFTER MACHINING. ACR 0//06 CLEARANCE FIT INCREASED TO C FROM D0 WTH 5//05 APPROVED FOR MANUFACTURE REV BY DATE DESCRIPTION APP RECORD OF REVISIONS GDU A MATERIAL FINISH USO, TOLERANCES TO BE B BB 6 5 Item No. Qty Description SubAtlantic Part Ref. Material Bearing Block Half (SR76) 50DET Oilon Bearing Block Location Sleeve(SR76) 5DET Stainless Steel Large Washer M 0DET Stainless Steel Hex Screw M x 70 long FHSM70A70 Stainless Gr A70 5 Spring Washer M FSWMSS Stainless Steel 6 Hex Nut M FHNMA70 Stainless Gr A70 WT AIR WT WATER PROJECT APACHE TMS kg (E) kg (E) TITLE SEE B.O.M. ABOVE NONE PLACE DECIMALS 0.5 PLACE DECIMALS 0.5 ANGLES 0.5 DRAWN DATE CHECK APPRV. ENGR. WTH 5//05 GDU GDU WTH Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE DOC. No. : A SELF ALIGN. BRG. ASSY.(SR76) MACHINEDMAIN ASSY DRAWING Sheet of 5MAS REV

186 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! ADDITIONAL NOTES:. BOLTS TO BE FIRMLY TIGHTENED PRIOR TO MACHINING SPHERICAL BORE.. ASSEMBLIES TO BE MARKED (STAMPED) AS MACHINED PAIRS AND STORED AS A UNIT AFTER MACHINING SPH A B THIRD ANGLE PROJECTION REMOVE SHARP EDGES SECTION AA A B SECTION BB 6 7 ISOMETRIC VIEW 5 EBR /0/0 SPRING WASHERS NO LONGER USED CMI SSM 0/0/00 SPHERICAL TOLERANCE MODIFIED CMI /0/00 GENERAL MODIFICATION SSM 07/0/000 PART NUMBERS UPDATED CMI 0/05/00 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI RWR MATERIAL FINISH SEE B.O.M. ABOVE NONE USO, TOLERANCES TO BE PLACE DECIMALS 0.5 PLACE DECIMALS 0.5 ANGLES 0.5 WT AIR 7.7 Item No. Qty Description SubAtlantic Part Ref. Material Bearing Block Half 0576DET Oilon Bearing Block Location Sleeve 057DET Stainless Steel Large Washer M 0DET Stainless Steel Hex Screw M x 0 long FHHSM0A70 Stainless Gr A70 6 Plain Washer M FPWMSS Stainless Steel 7 Nylok Hex Nut M FNLMA70 Stainless Gr A70 WT WATER PROJECT kg (E) kg (E) TITLE DRAWN DATE CHECK T.C.TULLOCH Unit, Airways Industrial Estate 0MAY'00 Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT CMI Tel: ++ (0) 76 Fax: ++ (0) 7 APPRV. RWR SCALE (USO) ORIG. SIZE DOC. ENGR. CMI No. : A APACHE TMS SELF ALIGN. BEARING ASSY. M/C'D MAIN ASSEMBLY DRAWING Sheet of 0579MAS REV 5

187 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! 9 0 SEE NOTES BELOW SEE NOTES BELOW THIRD ANGLE PROJECTION Item No. Qty Description SubAtlantic Part Ref. Material Internal Umbilical Anchor Socket 095DET Umbilical Anchor Dia Bore 05DET Internal Umbilical Anchor Retainer 097DET Socket Head Cap Screw M0 x 6 long FSHCSM06A0 Stainless Gr A0 5 Socket Head Cap Screw M0 x 50 long FSHCSM050A0 Stainless Gr A0 6 Plain Washer M0 FPWM0SS Stainless Steel 7 Nylok Hex Nut M0 FNLM0A0 Stainless Gr A0 Umbilical Anchor Sleeve.5 bore 6DET 9 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 0 Plain Washer M FPWMSS Stainless Steel Spring Washer M FSWMSS Stainless Steel 6 FASTENERS ARE FOR THE LATER ATTACHEMENT TO TMS FRAME THESE SCREWS TO BE DRIVEN FULLY HOME AND TORQUED TO 0 N.m (0 LB.FT) (THROUGH SLOTS IN ITEM ) A A Anchor ID (Item ) Used On TMS Part No. mm & 559DET mm, & 05DET mm & 096DET mm & 60DET TEKMAR mm 7DET HYDRAMEC mm DET HYDRAMEC mm 6DET Sleeve ID (Item ) Dwg. No. 6 mm 560DET 9 mm 95DET 0 mm 095DET REFER TO SEPARATE PROCEDURE FOR POTTING OF UMBILICAL AND UMBILICAL ANCHOR ASSEMBLY (VARIES DEPENDANT ON UMBILICAL CONSTRUCTION). UMBILICAL ANCHOR & SLEEVE ARE DEPENDANT ON UMBILICAL AND INNER SHEATH DIAMETER. REFER TO CUSTOMER SPECIFIC TOP LEVEL ASSEMBLY FOR DETAILS AND PART NUMBERS. NOTE TABLE ABOVE SHOWS CURRENT OPTIONS. ORIENTATION SECTION AA 0 9 ABO MLI 0/0/07 7/09/07 NOTES MODIFIED TO INCLUDE HYDRAMEC ANCHOR (mm BORE) NOTES MODIFIED TO INCLUDE HYDRAMEC ANCHOR (mm BORE) AJA /09/06 NOTES MODIFIED TO INCLUDE TEKMAR ANCHOR (mm BORE) 7 CMI /0/06 DESIGN REVISED TO ACCOMMODATE TYPE TMS REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) SSM EBR CMI WT WATER kg (E) 07/0/00 CMI Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE : A PROJECT TITLE TMS UMBILICAL TERMINATION ASSEMBLY DRAWING Sheet of DOC. No. TMS SYSTEM 095MAS REV 0

188 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED UMBILICAL TERMINATION PROCEDURE, STEEL ARMOURED IMPORTANT: PASS CABLE THROUGH UMBILICAL ANCHOR SOCKET (ITEM ON 095MAS) BEFORE TERMINATION OF UMBILICAL. CHECK 095MAS FOR ORIENTATION. IF IN DOUBT ASK!. Fit cable complete with wire armour through hole in termination, leaving sufficient cable to reach junction box with spare for reterminations.. Mark cable at desired length (Position 'A') and clamp armour to avoid splaying of wire with use of hose clip or heavy cable tie.. Cut outer armour wires at approx. 5 mm and the inner wires at approx. 5 mm from Position 'A' taking care not to damage jacket of cable. Cutting is best done by partially cutting armour wire with hacksaw which will then allow armour wire to be snapped.. Separate the inner wires from the outer wires 5. Thoroughly degrease all wires and termination bullet using a suitable substance which will not attack the umbilical core. 6. On the outer wire layer, bend back the end of the wire to form a 0 mm hook. 7. Both inner and outer layers should be approx. equal length.. Remove hose clip/cable tie and pull bullet over wires until they are inside the end of the termination flush with end. INNER ARMOUR WIRES CUT ENDS FLUSH WITH CONE END STAINLESS STEEL SLEEVE UMBILICAL CORE LENGTH AS REQUIRED TO JBOX 5 9. Wrap tape or putty to seal and fit hose clip around armour wires at Position 'B' hard against termination entry bullet. 0. Pass Sleeve over umbilical core (note orientation) and push into termination cone as far as possible (use an adustable spanner). Fit a hose clip behind Sleeve to retain position. (Position 'C'). Upend assembly to vertical orientation ensuring cable exits vertically from bullet in secure position so that WIRELOCK potting compound can be poured into cone.. Mix compound in accordance with manufacturers instructions and hazard warnings ensuring both tins are mixed completely. Note: One kit is required per termination. Pour resin into socket of termination ensuring cable wires are central in termination.. Allow 90 minutes for curing.. Proof load termination bullet. See Sheet for Termination Retermination Procedure NOTE: REFER TO WIRELOCK INSTRUCTION LEAFLET OR MANUAL FOR MIXING, POURING AND HEALTH & SAFETY ISSUES OUTER WIRES BEND BACK 0 MM UMBILICAL TERMINATION BULLET THIRD ANGLE PROJECTION POSITION 'B' WRAP TAPE OR PUTTY AROUND END TO SEAL AND FIT HOSE CLIP POSITION 'C' FIT HOSE CLIP AROUND CORE TO HOLD SLEEVE IN POSITION DURING WIRELOCK POTTING POSITION 'A' WIRE SEPARATION POSITION 5 EBR 0/0/0 UMBILICAL ANCHOR SOCKET DRAWING REFERENCE CHANGED. ECN990 SSM 7/0/0 ND SHEET ADDED WITH TERMINATION REMOVAL PROCEDURE, ECN07 CMI EBR 9/09/0 DRAWING CHANGED TO IAS. TITLE CHANGED. ECN0500 CMI EBR 5/0/0 DRAWING UPDATED CMI 6/07/0 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI MATERIAL FINISH USO, TOLERANCES TO BE WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) CMI 6/07/0 RWR RWR CMI A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. TMS SYSTEMS UMBILICAL TERMINATION PROCEDURE, STEEL ARMOURED INTERMEDIATE ASSY DRAWING Sheet of IAS REV 5

189 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! UMBILICAL RETERMINATION PROCEDURE, STEEL ARMOURED THIRD ANGLE PROJECTION. Cut umbilical / inch above the termination bullet head.. Heat termination bullet in an oven at 0050 C until fumes start to appear from both ends of the termination. If an oven is not available, it is possible to heat the termination with a blow torch rotating the termintion constantly during the heating process to ensure a consistant temperature throughout.. Stop heating and allow to cool for five minutes.. Press on the umbilical above the termination bullet head with a hydraulic ram. Maximum force required should not exceed Tonne. If Tonne is reached with no movement of termination start heating processs again. If a hydraulic press is not available it is acceptable to tap out the termination using a hammer, ensuring the bullet is not marked in the process. 5. Allow the bullet to cool fully before using it to reterminate the umbilical. 6. Follow instructions on Sheet for terminating the umbilical to the bullet. UMBILICAL TERMINATION BULLET STEEL ARMOURED UMBILICAL CUT / INCH ABOVE BULLET PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. A TMS SYSTEMS UMBILICAL TERMINATION PROCEDURE, STEEL ARMOURED INTERMAEDIATE ASSY DRAWING Sheet of IAS REV 5

190 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED Item No. Qty Description SubAtlantic Part Ref. Material Body 65DET Chassis 67DET Mini B + W Camera 70IAS TMS Camera Port 66DET 5 TMS Camera PCB PCB096 6 Metal Shell Whip Size A SAPLA0M00 7 Socket Head Cap Screw M x long FSHCSMA70 Stainless Gr A70 Spiral Retaining Ring Housing Dia FSRRINTSS Stainless Steel 9 Pan Head Screw M x 6 long FPHSM6CS Carbon Steel 0 ORING.6 x. (BS) SOR60N70 Nitrile 70 Spring Washer M FSWMSS Stainless Steel Regulator Isolation Sleeve MIS05 Socket Set ScrewCup Point M x long FSSSCPMA70 Stainless Gr A70 Regulator Isolation Shim MIS05 5 ORING.7 x. (BS0) SOR70N70 Nitrile 70 6 ORING.7 x 9.9 (BS 05) SOR7099N70 Nitrile THREADLOCK 5 6 INITIALLY SUPPLIED WITH CONNECTOR 6 THIRD ANGLE PROJECTION IF IN DOUBT ASK! HEAT SINK COMPOUND 0 NOTES. ALL ORINGS TO BE FITTED WITH SMEAR OF SILICONE GEL.. TRIM LENGTH OF ISOLATION SLEEVE () TO SUIT REGULATOR ON PCB (5).. USE HEAT SINK COMPOUND (RS PART No. 55) TO ENSURE THERMAL INTEGRITY BETWEEN PCB (5), ISOLATION SHIM () & CHASSIS () B ( : ) SECTION VIEW B 0 SSM /0/00 ISOLATION SLEEVE AND SHIM PART NUMBERS CHANGED, ECN70 EBR //0 CHASSIS & BILL OF MATERIALS CHANGED ECN07 MBI /05/0 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI CMI MATERIAL FINISH USO, TOLERANCES TO BE SEE BILL OF MATERIALS WT AIR DRAWN DATE CHECK APPRV. ENGR. WT WATER kg (E) kg (E) MBI /05/0 MBI CMI MBI : A PROJECT TITLE Unit, Airways Industrial Estate Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT Tel: ++ (0) 76 Fax: ++ (0) 7 SCALE (USO) ORIG. SIZE DOC. No. TMS CAMERA TMS CAMERA MAIN ASSEMBLY DRAWING Sheet of 69MAS REV

191 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED Item No. Qty Description SubAtlantic Part Ref. Material Camera Bracket Base 09DET Socket Head Cap Screw M x 5 long FSHCSM5A70 Stainless Gr A70 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Socket Head Cap Screw M0 x 0 long FSHCSM00A70 Stainless Gr A70 6 Plain Washer M0 FPWM0SS Stainless Steel 7 Nylok Hex Nut M0 FNLM0A70 Stainless Gr A70 TMS Camera 69MAS 9 6mm PIPE CLAMP MIS009 0 Camera Bracket 97DET Spring Washer M6 FSWM6SS Stainless Steel Socket Head Cap Screw M6 x 55 long FSHCSM655A70 Stainless Gr A70 Plain Washer M6 FPWM6SS Stainless Steel THIRD ANGLE PROJECTION IF IN DOUBT ASK! USE AQUALUBE WHEN SECURING ALL COMPONENTS TO PREVENT FASTENERS GAULLING TOGETHER 5 EBR /07/0 NEW CAMERA BRACKET & CLAMP ECN00 CMI EBR 9//0 BILL OF MATERIALS UPDATED ECN0 CMI EBR 7/06/0 BILL OF MATERIALS CHANGED EBR /06/0 NEW TMS CAMERA SSM 6/0/00 APPROVED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS CMI MBI CMI MATERIAL SEE BILL OF MATERIALS FINISH USO, TOLERANCES TO BE WT AIR WT WATER PROJECT kg (E) kg (E) TITLE DRAWN SSM Unit, Airways Industrial Estate DATE 6/0/0 Pitmedden Road, Dyce. Aberdeen. U.K. AB 0DT CHECK EBR Tel: ++ (0) 76 Fax: ++ (0) 7 APPRV. CMI SCALE (USO) ORIG. SIZE DOC. ENGR. No. SSM :.5 A TMS SYSTEM TMS CAMERA ASSEMBLY DRAWING Sheet of 06MAS REV 5

192 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUBATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUBATLANTIC IS PROHIBITED IF IN DOUBT ASK! NOTE: THIRD ANGLE PROJECTION REMOVE SHARP EDGES USE AQUALUBE ON ALL FASTENERS TO PREVENT GAULLING AJA 0/0/07 ISSUED FOR CONSTRUCTION REV BY DATE DESCRIPTION APP RECORD OF REVISIONS MATERIAL FINISH USO, TOLERANCES TO BE Item No. Qty Description SubAtlantic Part Ref. Material TMS Lights Mounting Bar 77DET ML090 Light 000m Version SPE000 Plain Washer M FPWMSS Stainless Steel Nylok Hex Nut M FNLMA70 Stainless Gr A70 5 Socket Head Cap Screw M x 0 long FSHCSM0A70 Stainless Gr A70 6 Socket Head Cap Screw in x in long Stainless Gr A70 7 Spring Washer in Stainless Steel Plain Washer M6 FPWM6SS Stainless Steel BILL OF MATERIALS WT AIR DRAWN DATE CHECK APPRV. ENGR. kg (E) AJA ABO GDU WT WATER kg (E) 0/0/007 AJA Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB 0PS Tel: ++ (0) Fax: ++ (0) 7966 SCALE (USO) ORIG. SIZE :.5 A PROJECT TITLE TMS LIGHTS & MOUNT MAIN ASSEMBLY DRAWING Sheet of DOC. No. TMS SYSTEMS 06MAS REV