Mohican Manual No.12 PDF

MOHICAN ROV & TMS SYSTEM
Mohican Serial No. SA-RMOC-2K-012

Type 1 Serial No. TMS No. SA-G1B-022
OPERATION & MAINTENANCE
MANUAL
SUPPLIED TO
INNOVA AS
Mohican No.12.doc Revision 1

1.0 INTRODUCTION .......................................................................... 5
1.1 General.............................................................................................................5
1.2 Safety ...............................................................................................................6
2.0 SYSTEM OVERVIEW................................................................... 7
2.1 Scope of Supply..............................................................................................7
2.2 General System Description..........................................................................8
2.2.1 Mohican ROV Specifications....................................................................9
2.2.2 Mohican Control Consoles .....................................................................10
2.2.3 Mohican Tether Management System (TMS) .....................................11
2.2.4 TMS Specification....................................................................................12
3.0 MOHICAN OPERATION AND MAINTENANCE .................13
3.1 Mohican ROV.................................................................................................13
3.1.1 Frame .......................................................................................................13
3.1.2 Buoyancy..................................................................................................13
3.1.3 Thrusters..................................................................................................14
3.1.4 Vector Angle Control ..............................................................................18
3.1.5 Vehicle Transformer Housing................................................................18
3.1.6 Oils and Lubricants (ROV) .....................................................................20
3.2 Port Electronics Enclosure...........................................................................21
3.2.1 DC Power Supply ....................................................................................22
3.2.2 Thruster Termination Board..................................................................22
3.2.3 Thruster Isolation Board........................................................................23
3.2.4 Light Dimmer Board ...............................................................................24
3.2.5 Line Insulation/Capacitor Board ...........................................................25
3.2.6 Cooling Fan..............................................................................................26
3.2.7 Vacuum (Port Pod) .................................................................................26
3.3 Starboard Electronics Enclosure.................................................................27
3.3.1 Control System........................................................................................28
3.3.2 Telemetry/Relay Interface Board .........................................................28
3.3.3 The Gyro/Power Supply Board .............................................................29
3.3.4 4-15 Channel Relay Board.....................................................................30
3.3.5 Fibre Optic Board....................................................................................30
3.3.6 DC Power Supplies .................................................................................31
3.3.7 Vehicle Telemetry ...................................................................................32
3.3.8 Vacuum (Starboard Pod) .......................................................................34
3.4 Vehicle Sensors.............................................................................................35
3.4.1 Depth sensor ...........................................................................................35
3.4.2 Compass Pod...........................................................................................35
3.4.3 Altimeter...................................................................................................36
Mohican No.12.doc Rev.1 Page 2

3.4.4 Cameras ...................................................................................................36
3.4.5 Sonar ........................................................................................................37
3.4.6 Tracking Beacon or Transponder .........................................................37
3.5 Vehicle Equipment........................................................................................37
3.5.1 Camera Tilt Unit......................................................................................37
3.5.2 Lights ........................................................................................................39
3.5.3 Vehicle Interconnecting Cables ............................................................40
3.6 Surface Control Consoles ............................................................................41
3.6.1 Remote Pilots Console...........................................................................41
3.6.2 Joystick Interface Board ........................................................................45
3.6.3 Telemetry System...................................................................................47
3.6.4 ROV/TMS Electronics Rack....................................................................52
3.6.5 Video Distribution ...................................................................................52
3.6.6 DC Power Supplies .................................................................................53
3.6.7 Video Overlay System ............................................................................54
3.6.8 Power Distribution Unit (PDU)..............................................................60
3.6.9 Earth Fault Monitoring System .............................................................61
3.6.10 Inverter/Transformer Modules ..............................................................63
3.2.11 2 x 9 Dual Channel Colour Monitors ...................................................67
3.2.12 Sonar Control Unit ...................................................................................67
4.0 MOHICAN TETHER MANAGEMENT SYSTEM ...................68
4.0.1 General Description ................................................................................68
4.0.2 Safety .......................................................................................................69
4.1 Specification ..................................................................................................71
4.1 Tether Management System (Mechanical)...............................................72
4.1.1 Frame .......................................................................................................72
4.1.2 Lifting Gimbal ..........................................................................................73
4.1.3 Ballast Weights........................................................................................73
4.1.4 Drive System ...........................................................................................74
4.1.5 Drive Motor Assembly ............................................................................75
4.1.6 Tether Drum Gear-box...........................................................................77
4.1.7 Traction Wheel Gear-box.......................................................................78
4.1.8 Flexible Drive Assembly .........................................................................79
4.1.9 Level Wind ...............................................................................................80
4.1.10 ROV Depressor Assembly......................................................................81
4.1.11 Tether Drum Assembly..........................................................................81
4.1.10 Radius Gooseneck Assembly..................................................................82
4.2 TMS Electrical System..................................................................................83
4.2.1 Transformer/Junction Box .....................................................................83
4.2.2 TMS Electronics Enclosure.....................................................................85
4.2.3 Camera .....................................................................................................87
4.2.4 Lights ........................................................................................................87
4.2.5 Interconnecting Cables ..........................................................................88

4.3 TMS Maintenance .........................................................................................89
4.3.1 General Maintenance .............................................................................89
4.3.2 Oils and Lubricants (TMS) .....................................................................91
4.3.3 Pre-Dive Checks (TMS) ..........................................................................92
5.0 GENERAL SAFETY PROCEDURES ........................................93
5.1 Safety .............................................................................................................93
5.1.1 Electrical...................................................................................................93
5.1.2 Electrical Safety Guidelines ...................................................................93
5.1.3 Hydraulic ..................................................................................................94
5.1.4 Heavy Weights ........................................................................................94
5.1.5 Underwater Connectors .........................................................................95
5.1.6 O-rings......................................................................................................95
5.1.7 Tools .........................................................................................................96
5.1.8 Spare Parts ..............................................................................................96
6.0 INTEGRATION, OPERATION & EMERGENCY
PROCEDURES .......................................................................................97
6.1 System Installation & Integration..............................................................97
6.2 Operations .....................................................................................................99
6.2.1 Powering Up ............................................................................................99
6.2.2 Pre-dive Checks (Vehicle)....................................................................101
6.2.3 Pre-Dive Checks (TMS) ........................................................................102
6.2.4 Diving and Operation ...........................................................................103
6.2.5 System Recovery ..................................................................................104
6.3 Optional Equipment ...................................................................................106
6.3.1 Valve Pack/HPU Interface ...................................................................106
6.3.2 System Software...................................................................................107
7.0 DRAWING PACKAGE..............................................................108
7.1 Mechanical Drawings .................................................................................108
7.2 Electrical/Electronic Drawings ..................................................................110
7.3 Warranty ......................................................................................................112
7.4 Service Support & Spare Parts .................................................................112
8.0 AUXILLIARY VENDOR SUPPLIED EQUIPMENT
MANUALS - REFER TO VOLUME 2 ...............................................113

1.0 INTRODUCTION
Welcome, you have just entered the world of underwater Remotely

Operated Vehicles (ROVs) by purchasing the Mohican ROV System from
Sub-Atlantic, 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.
1.1 General
This manual is intended to serve as a user point-of-reference for the safe
operation, maintenance, repair and the identification of the manufacturers
proprietary replacement parts.
Warning!! The Mohican is a high voltage (3000V) 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 012 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.

1.2 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 3000VAC.
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 3000VAC. 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.

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 auto-functions are selected.
Ensure that all personnel in the proximity of the system are notified when
power is to be applied to the system.
2.0 SYSTEM OVERVIEW
2.1 Scope of Supply
The scope of supply for the Innova AS contract is as follows:
Mohican ROV System 2000m Rated With Additional Buoyancy

(ROV) Single Mode Fibre optic System
Tether Management System (TMS) 2000m Rated
(TMS) Single Mode Fibre optic System
Surface Control Unit
High Voltage Inverter/Transformer
1200 Meters of Main Lift Umbilical (CAB-0057)
350 Meters of Tether (CAB-0058)
Kongsberg OE14-366 Colour Zoom Camera
Kongsberg OE15-100A Low Light Mono Camera
Kongsberg OE15-108 Mono Camera
Kongsberg OE14-500 High Definition Camera
Kongsberg 1071 Sonar
ROV Spares Package
TMS Spares Package
SA 6-Station Valve Pack/HPU
4-Function Hydrolek Manipulator

2.2 General System Description
The Mohican is a state-of-the-art electrically powered ROV system. The

ROV and TMS are supplied with a 3000V high frequency supply. This
allows the use of a small diameter main lift umbilical and tether. The
3000V supply is converted to 320VDC at the TMS and the ROV. It is the
320VDC 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 sonars
and altimeters etc. It also has the ability to carry manipulators. The
Tether Management Systems 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.

2.2.1 Mohican ROV Specifications
Refer to Drawing No. 3265-MAS
Depth rating: 2000msw

Propulsion system: 6 off SPE-180 Brushless DC Thrusters
Forward thrust: Variable 50 to 105 kgf
Lateral thrust: Variable 50 to 105 kgf
Vertical thrust: 60 kgf
Weight and Dimensions:

Weight in Air: 290kg
Height: 800mm
Width: 770mm
Length: 1150mm
Payload: 30kg Excluding Cameras
Automatic functions:
Auto-heading: Accuracy 5
Auto-depth: Accuracy 0.5 m
Auto-altitude: Accuracy 0.5 m
Power Requirements
Transformer Module: 380-440VAC 3-phase 50/60 Hz
@ 25 amps
PDU/Electronics Rack: 230VAC @ 10 amps
ROV User power: 24 VDC @ 2 amps
320VDC @ 15 amps
Standard Interfaces
Camera Interfaces: Connectors for 2 x cameras
Lighting Interfaces: 4 x 250 Watt, 2 dimmable on one
circuit and 2 on another circuit
Sonar Interface: To suit industry standard sonars
Auxiliary Interface: RS232, RS484 and 24VDC
Power Interface: 320VDC @ 15 amps
Electronics Pressure Housings
Port housing contains: Thruster isolation circuitry

Light dimmer circuitry
300VDC Earth Fault Monitoring

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 3000V supply to 320V. 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 M8 stainless steel button
head Allen screws and nylock nuts.
Buoyancy
Syntactic Foam rated to 2000 meters. The vehicle has a payload of 30kg
excluding cameras. The payload is made up from lead ballast unless
optional equipment is fitted.
2.2.2 Mohican Control Consoles
The Mohican Console consists of a Power Distribution unit (PDU) housed in

an 8U 19 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 pilots control console contains all of the necessary switches and
joysticks etc. to fly and control the ROV. The pilots console communicates
with the ROV using a RS485 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 19-way connector.
The high voltage transformer converts the incoming 3-phase supply into a
3000VAC 400Hz supply for the vehicle. The transformer module is
controlled by the PDU using a 16-way connecting lead.

2.2.3 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 316 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 re-enters 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 4 way underwater connector, which carries the
24VDC supply and the video signal.
The TMS has two 250 WATT 230V lights connected to the electronics pod
via 3 way underwater connecting leads. The supplies to the lights are
fused using 2 amp fuses inside the electronics pod.

2.2.4 TMS Specification
TMS Type: Side Entry Garage with winch

and level wind mechanism with
constant tension pulley
Drive System: 2200W DC Electric Motor
Tether Capacity 250 mtrs of 20.5mm diameter
Line Pull: 60kg
Tether Type: Thermo-plastic with Kevlar

strain members
TMS Weight/Dimensions
Weight in air (exc. tether or ROV) 550 kg
Weight in water (exc. tether) 410 kg
Overall length 1600mm
Overall height standard 1630mm min
Overall height extended 2025mm max
Overall width 1075mm

3.0 MOHICAN OPERATION AND MAINTENANCE
3.1 Mohican ROV

Refer to Drawing Nos.
Mohican ROV 3265-MAS
The above drawing shows the standard Mohican ROV. The various sub-
assemblies are described below: -
3.1.1 Frame
Frame Sub-Assembly 1 3100-MAS
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 M8 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 eye-bolt 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 Sub-Atlantic TMS.
Locations are provided on the base frame panel for the attachment of lead
ballast weights and other equipment.
3.1.2 Buoyancy
Buoyancy Main-Assembly 2792-MAS
The buoyancy provides the vehicle with payload of 30kg 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

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 2-part epoxy adhesives or

fillers.
3.1.3 Thrusters
Thruster Unit Assembly 2554-MAS
Rotor Assembly 2547-MAS
The Mohican ROV is fitted with six Sub-Atlantic SPE-180 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 Sub-Atlantics SPE-180 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

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 7-way connecting lead carries the 320VDC 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 8-amp fast blow fuse in series with the
positive leg of the 320VDC supply located on the thruster isolation boards
within the port electronics pod. The electronic thruster drive board
(PCB0876) is located inside the pedestal of the thruster. This board
contains the 3-phase drive bridge and the control circuitry. The control
circuitry which operates from the 12VDC 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 0.1V) will result in a forward rotation thus resulting in forward
thrust. A negative signal (after a dead band of -0.1V) 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 140 degrees centigrade the
thruster will shut down preventing damage from overheating.
See drawing No. 0908-WIS 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

Filling/Charging Thrusters
The thrusters should be oil filled before being fitting to the vehicle:-
1) To fill the rotor cavity, remove the blank fitting from the charging
points on rear end cap.
2) Bleed air from the flushing/charging pump hose and connect up to
the rotor cavity charging point on rear end cap.
3) Position the thruster so that the propeller is upwards.
4) 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, re-tighten the bleed screw, close the valve
when the compensator is fully expanded.
7) Disconnect the pump from the thruster and refit the blanking
plug.
8) 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.
11) Loosen the bleed screw located on the main body. Charge up and
open the pump valve.
12) 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 HF-E46 is suitable biodegradable oil. See data sheet in

Section 6 of this manual. Alternatively Shell 148 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.
Re-fitting is a reversal of removal but care should be taken when re-

connecting the tube fitting. Ensure that any air is bled form the tube

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 auto-functions 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 10,000 hours of use
Replace shaft seal after every 2,000 hours of use.
Ensure that the thruster connectors are clean and dry, and apply
silicone grease to connector o-rings before connecting thrusters to the
electronics pod.

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 o-rings as necessary
Check propeller retaining nuts for tightness (3.4 Nm) once a week,
loose propellers will result in flooding of the rotor cavity.

3.1.4 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 +/-20
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 45 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 +20 degrees. If more lateral thrust is
required the display will read up to -20 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 10,000 hours of use or sooner if signs of wear are
detected.
See drawing No. 2920-MAS for assembly details.
3.1.5 Vehicle Transformer Housing

Transformer Housing Assembly 2924-MAS
Wiring Schematic HAN-1878-WIS
Warning!! The transformer box on the Mohican ROV and TMS are
supplied with 3000VAC. 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 twelve-pulse
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

the tether. The two compartments linked by holes near the top. Re-
termination 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 3000VAC 3-phase at

400Hz via the tether. The secondary side has two 3-phase outputs one
connected in star and the other connected in delta, which are fed to two
3-phase bridge rectifiers. In this manner the 3-phase voltages supplying
the two bridges are displaced by a phase angle of 30 degrees, hence the
two six-pulse outputs are symmetrically displaced to give an overall
twelve-pulse output. The twelve-pulse output provides a near smooth
direct voltage requiring very little capacitance. The outputs from the
rectifiers are series connected to provide 320VDC at 13KW.
The 320VDC supply is fed to the port electronics pod via a 12-way
connector where it is distributed to the smoothing capacitor board,
thruster isolation boards, light dimmer boards and DC power supplies. A
second 12-way connector provides the user with a 320VDC 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 10 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.

3.1.6 Oils and Lubricants (ROV)
Various sub-assemblies 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 22 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 Sub-Atlantic using the following
part numbers.
Castrol Hyspin VG5 1 litre Part Number LUB-0001

Shell Diala: 1 litre Part Number LUB-0002
Shell Tellus 22 1 litre Part Number LUB-0004

3.2 Port Electronics Enclosure
Port Electronics Enclosure Main Assembly 2923-MAS
Port Electronics Pod Wiring Schematic HAN-1871-WIS
Port Electronics Pod Layout HAN-1872-LAS
Thruster Drive Board Layout 0876-LAS
Light Dimmer Board Schematic 0870-ELS
Dimmer Board Layout 0870-LAS
Thruster Isolation Board Schematic 0869-ELS
Thruster Isolation Board Layout 0869-LAS
Thruster Termination Board Schematic 0845-ELS
Thruster Termination Board Layout 0845-LAS
Capacitor/LIM Board Schematic 0847-ELS
Capacitor/LIM Board Layout 0847-LAS
Fan Board - Layout 0031-LAS
Power Supply PCB Layout 0846-LAS
WARNING!!
HIGH VOLTAGE (320VDC) 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 19-way connectors provided the
link between the port and starboard electronics pods.
See drawing No. HAN-1871-WIS for details on Port Pod wiring and drawing
No. HAN-1872-LAS 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 sub-sea
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

connectors. Before reassembly make sure that all board connectors are in
the correct place, clean and apply silicone grease to the o-rings.
The pod is fed a 320VDC supply via a 12-way connector from the oil filled
transformer box. The 320VDC 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 320VDC. The capacitor/Lim
board provides the required soothing and ground fault monitoring for the
320VDC supply. The 320VDC also supplies the light dimmer boards and a
switched mode power supply which supplies 24VDC to all PCBs within the
pod. The port pod feeds the starboard pod with a 320VDC supply via one
of the 19-way 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.
3.2.1 DC Power Supply

The port electronics pod contains a switched mode power supply PCB0846
which provides a 24 VDC output @ 4 amps, this supplies every board
within the pod and may also be used to supply up to 2 amps for additional
user equipment.
3.2.2 Thruster Termination Board

Refer to Drawing No.s
0845-ELS Thruster Termination Board Schematic
0845-LAS 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 12VDC supply for the thruster drive electronics.
An onboard micro processor controlled via an RS232 channel on the

vehicle telemetry system provides 8 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.

3.2.3 Thruster Isolation Board
0869-ELS Thruster Isolation Board Schematic
0869-LAS Thruster Isolation Board Layout
The thruster isolation board is used to switch power to or isolate the

320VDC 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 pilots controller. The switches will
illuminate when the latches have been energised confirming that the
320VDC has been switched to the thruster. When latched, the relays can
not be de-energised 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
1-2 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 320VDC 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 10 amp fast acting type to help prevent any
damage to the thruster drive electronics in the event of a fault.

3.2.4 Light Dimmer Board
0870-ELS Light Dimmer Board Schematic
0870-LAS Light Dimmer Board Layout
The port electronics pod contains two light dimmer boards each capable of
driving 2 x 250 watt 230V lights.
The dimmer boards are connected to the 320VDC supply which is used to
power the lights. A 24VDC supply is used to power the onboard control
circuitry. The control signals (0-5VDC) 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 0-5V input will equate to a 0-230V output. When
the control voltage is zero the relays will be de-energised 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 3-way underwater bulkhead
connector. See drawing No. HAN-1882-WIS for wiring details on the fuse
pod.
Circuit Description
Power to the onboard electronic control circuitry is supplied by an external
24VDC supply. Two onboard DC to DC converters (PS1 and PS2) provides
+12V and 12V for the operational amplifiers and other circuitry. The
input command voltage to the board is 0-5VDC.
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 IC1
which feeds the pulse width modulation (PWM) circuit IC2. When the
command voltage rises above 100mv the relays are energised via the
comparator circuit IC6B and the opto-isolator IC7. Relays 1 and 2 are
used to isolate the lights when switched off. As the command voltage
increases, the duty cycle of the PWM from IC2 increases. The PWM circuit
drives the main output mosfets via opto-isolators IC3 and IC4. Two DC to
Dc converters provide the power supply to the output side of the opto-
isolators. 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

comparator circuitry based around IC1 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 RV1. To adjust the output set the input command voltage
to 5V then adjust RV1 until the output to the lights is 230V
3.2.5 Line Insulation/Capacitor Board

0847-ELS LIM/Capacitor Board Schematic
0847-LAS LIM/Capacitor Board Layout
The LIM/Capacitor board provides the required smoothing and insulation

monitoring of the 320VDC supply. The board contains a standard Bender
Line Insulation Monitoring unit. The bender unit monitors both positive
and negative legs of the 320VDC 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 CN3 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 320VDC supply via IC1. The
output of IC1 is fed to a buffer via RV1 which is adjusted to give an output
of 3.0VDC which represents a supply voltage of 320VDC. 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.

3.2.6 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 24VDC supply and is protected by a 0.5 amp onboard
fuse.
3.2.7 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 -0.8 bar for a period of 30 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.
Sub-Atlantic can supply a

vacuum kit containing a hand
operated vacuum pump,
vacuum gauge, tube and
fittings.
Part No. 2268-MAS.

3.3 Starboard Electronics Enclosure

Stbd. Electronics Pod Main Assembly 2923-MAS
Stbd. Electronics Pod Wiring Schematic HAN-1873-WIS
Stbd. Electronics Pod Layout HAN-1874-LAS
Telemetry Board- Electronic Schematic 0176-ELS
4-15 Channel Relay Board Schematic 1042-ELS
4-15 Channel Relay Board Layout 1042-LAS
Telemetry Interface/Relay Board Schematic 1043-ELS
Telemetry Interface/Relay Board Layout 1043-LAS
Gyro/Power Supply Board Schematic 1045-ELS
Gyro/Power Supply Board Layout 1045-LAS
Fibre Optic Board Schematic 1086-ELS
Fibre Optic Board Layout 1086-LAS
Power supply Layout 0846-LAS
WARNING!!
HIGH VOLTAGE (320VDC) 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 19-way 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 sub-sea
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 320VDC supply from the
port pod via one of the 19-way interconnecting cable between the two
pods. This supply feeds the switched mode power supplies. See drawing
No. HAN-1873-WIS for details on Starboard Pod wiring and drawing No.
HAN-1874-LAS for PCB and connector locations.

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.
3.3.1 Control System

The ROV control system consists of the following five main PCBs:
PCB0176-2 Telemetry Board

PCB1043 Telemetry Interface/Relay Board
PCB1045 Gyro/Power Supply Board
PCB1042 4-15 Channel Relay Board
PCB1086 Fibre Optic Board
These five boards form the main control/telemetry part of the electronics
pod. See drawing No. HAN-1873-WIS for wiring details between the
boards.
3.3.2 Telemetry/Relay Interface Board

1043-ELS Telemetry/Relay Interface Board Schematic
1043-LAS Telemetry/Relay Interface Board Layout
The Telemetry/Relay Interface Board plugs directly into the ROV telemetry
board (PCB0176-2) via the 64-way DIN connector. A series of screw
terminal connectors replicate the 64-way connector on the telemetry board
allowing the user an easier method for termination. The interface board
contains 8 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 3
amps at 230VAC.
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 1 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. IC2 converts
the output data to a RS232 data string which is fed into the telemetry
board.

3.3.3 The Gyro/Power Supply Board
1045-ELS Gyro/Power Supply Board Schematic
1045-LAS Gyro/Power Supply Board Layout
The Gyro/Power Supply Board contains two switched mode power

supplies, a +12V/-12V module @ 0.45 amps per rail and a 5V module @ 3
amps. Both power supplies are fed from the 300VDC supply. The +12V/-
12V 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
(PCB-1086) 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 auto-
heading 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 4 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 +20mv per degree. If the vehicle rotates counter clock wise,
the output will increase by -20mv 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 auto-head. If the vehicle is operating close to a
large steel structure, the compass reading may be affected which will also
affect the auto-heading function.
Note: Only the two rear thrusters are used for the head hold and rate
gyro functions.

3.3.4 4-15 Channel Relay Board
1042-ELS 4-15 Channel Relay Board Schematic
1042-LASmq 4-15 Channel Relay Board Layout
PCB1042 is a 15 channel relay board. The board is powered from the

24VDC power supply (PCB0846). The 15 relays are controlled via a 4-bit
binary word provide by 4 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. IC1 is a binary decoder which decodes
the 4-bit input into one of 16 outputs. The first output is not used as this
is active when all inputs are at zero. The outputs are fed to IC2 and IC3
which are relay driver ICs. The outputs of these ICs 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 4-bit word will be corrupt and the
incorrect function will operate.
The relay contacts are capable of switching loads of 3 amps at 230VAC

and are connected to the edge connectors providing a single pole change-
over facility.
The normally open (N/O) and normally closed (N/C) contacts can be
connected to the +24V or 0V rails by a series of 2-way links, this helps
minimise wiring when using the relay contacts. Link A connects the
contact to +24V and link B connects the contact to 0V. For example to
control a 24VDC motor such as the tilt motor in both directions, 2 relays
and 4 links will be required.
3.3.5 Fibre Optic Board

1086-ELS Fibre Optic Interface Board Schematic
1086-LAS 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 (PCB1086) at the vehicle
and a video receiver board (PCB0456) located inside the electronics rack of
the PDU. The fibre optic boards are fitted with Wave Division Multiplexers

(WDM) allowing the system to run on only one multi-mode or single mode
fibre (depending on customer specification).
The same board may also be used in the TMS to transmit telemetry and
video.
PCB1086 is powered from the 5VDC supply located on PCB1045. Power

consumption is approximately 1 amp.
The system provides three video channels, 4 bi-directional RS232 channels

and 2 bi-directional RS485 channels. One of the RS485 channels is used
for the vehicle telemetry system. The second RS485 and a RS232 channel
are connected to the auxiliary port allowing access for user equipment.
The spare RS485 and RS232 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.
OCE-1394-WIS. The fibres enter the vehicle electronics pod through a
single pass or 4-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.
9-way D-Type connectors are provided on the rear panel PDU module for
user connection to the spare RS232 and RS485 data channels.
See Auxiliary Equipment Manual for more technical information on the

fibre optic boards.
3.3.6 DC Power Supplies
The electronics pod contains three switched mode power supply boards as
standard all powered from the 320VDC supply. PCB1045 which is
described earlier in this section of the manual contains two power supplies,
a +12V/-12V module @ 0.45 amps per rail and a 5V module @ 3 amps.
The pod is also equipped with a further 2 x 24VDC power supply boards
(PCB0846) each capable of supplying 4 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.

3.3.7 Vehicle Telemetry
See Drawing No. 0176-ELS Sheets 1-3
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 twisted-screened pair or a fibre to transmit and receive RS485
data. The telemetry board has 8 x 12 bit resolution analogue inputs and
outputs. It also has 16 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 1 to 8 set the input signals and links 9 to 16 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
PCB0176-2. Link 11,12,13,14,15,16 and 19.
Main Processor
Programmable
Device
Links
11,12,13,14,15,16,
19 on bottom side

The following links should be made on the top side telemetry board
PCB0176-1. Link 4,5,6,7,8,29A and 30A.
Links
4,5,6,7,8,29A,30A
on topside board.
Main processor
programmable
device
Links 11 to 16 on the bottom side board set analogue output channels 3 to

8 to bipolar (5V) mode. Channel 3 is used as an output for the head
hold function. Channels 4 to 8 are used to drive the thrusters.
Links 4 to 8 on the topside board set analogue input channels 4 to 8 to
bipolar. The inputs to these channels come from the joystick interface
board. Link 29A connects the communications link status output to pin
21C.
For more information on the telemetry system see section 3.6.3 of this
manual.

3.3.8 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.
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.

fittings.
Part No. 2268-MAS.

3.4 Vehicle Sensors
3.4.1 Depth sensor
The standard depth sensor is a Scan Sense PS30 0.1% FSD pressure
sensor. The sensor is fed from a 5VDC on the telemetry interface board
(PCB1043). The RS232 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. HAN-1873-WIS for wiring details.
The signal is transmitted to the surface where it is converted to an
analogue output from analogue channel 1 and fed to the video overlay
system and displayed on the pilots video monitor.
3.4.2 Compass Pod

See drawings
HAN-1881-WIS Compass Pod Wiring
0856-MAS Compass Pod Assembly
The vehicle uses a TCM-2 magnetic fluxgate compass. The unit is housed
in a one atmosphere housing located near the front of the vehicle (see
drawing 0856-MAS). A 5-way connecting lead is used to connect the
compass to the vehicle electronics pod. This lead supplies the compass
with 24VDC and connects the RS232 output of heading sensor to the
vehicle telemetry board for use in the vehicle auto-heading functions. The
heading, pitch and roll information is also transmitted to the surface via
the vehicle telemetry system where it is displayed on the pilots video
monitor. The compass module requires a 12VDC supply. A voltage
regulator is used to reduce the 24VDC supply to 12VDC.
The compass should be calibrated while fitted to the vehicle following the
procedure in the manufacturers manual.
Refer to Manufacturers Manual located in Auxiliary Equipment Manual for

more information on the TCM-2 Compass.

3.4.3 Altimeter
An altimeter may be fitted to the ROV. A number of manufacturers can
supply units that are compatible with the Mohican. If fitted, the analogue
output may be used for the auto-altitude functions. The analogue output
is also be transmitted to the surface via the vehicle telemetry to be
displayed on the pilots video monitor.
Refer to manufacturers manual located in Auxiliary Equipment Manual for

more information on the altimeter.
CAUTION!!
Auto-altitude may not be as reliable as auto-depth. 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 auto-altitude.
3.4.4 Cameras
General
The vehicle has standard interface facilities for three cameras. Each
camera is connected to the Electronics Enclosure via a 7-way 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 (PCB1086). All cameras are powered by 24VDC
provided by PCB0846 power supply board. The camera supplies are
switched by relay board PCB1043.
See drawing No. HAN-1873-WIS 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 Manufacturers Manual

located in Auxiliary Equipment Manual.

3.4.5 Sonar
See drawing No. HAN-1873-WIS for sonar wiring details. The sonar
head is connected to the starboard electronics pod via a 5-way under
water connecting lead. Power to the sonar (24VDC) is switched by
relay board PCB1043.
The sonar head is attached to the mounting bracket as shown in drawing

No. 3668-MAS. Refer to Manufacturers Manual located in Auxiliary
Equipment Manual for operation & maintenance instructions.
3.4.6 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.
3.5 Vehicle Equipment
3.5.1 Camera Tilt Unit

Tilt Unit Assembly Drawing 0245-MAS
Tilt Unit Wiring Schematic 0099-WIS
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.

Tilt Unit Specification
Input Voltage: 24VDC
Specific Torque: 1 3N.m/Amp
Nominal Torque: 13 N.m
Nominal Current: Nominal Output Speed: 3.6 RPM
Stall Torque: 13 N.m
Stall Current: 0.8 Amps
Oil Type: Castrol Hyspin 5
Electrical
The Sub-Atlantic tilt unit provides vertical rotation of the cameras and a
light. The unit is powered by 24VDC and has a normal operating current
of 600mA. The stall current is 0.8 amps with a stall torque of 13Nm. 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 0099-WIS 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 0-5V for 0-360
degrees of rotation. This output signal is fed to the vehicle telemetry and
transmitted to the surface to be displayed on the pilots 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 sub-sea environment. The unit is oil filled (oil type: Castrol
Hyspin 5) and has a built in pressure compensator. The compensator
ensures that there is 10PSI pressure differential between the inside of the
unit and the external surrounding environment, the higher pressure being
inside the unit.

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. 0245-MAS
3.5.2 Lights
ML1040 Light Sub-Assembly 0409-MAS
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 2 x 250-watt 230V
lights. Each light is connected to the fuse pod via a 3-way connecting
lead. The fuse pod is connected to the vehicle electronics pod via a 9-way
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 1.6 amps should be used. See drawing No. HAN-1882-WIS
for wiring details on the fuse pod.
The vehicle has two independently dimmable lighting circuits. Two

potentiometers located on the pilots remote control panel control the
brightness of the lights. The pots supply a 0-5V signal to the input of
analogue channels 1 and 2 on the surface telemetry board. The outputs
from analogue channels 1 and 2 on the vehicle telemetry board are
connected to the inputs of the light dimmer board. Each dimmer board
has two on-board fuses rated 2 amps, one for each light. See section
3.2.4 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 Manufacturers Manual located in
Auxiliary Equipment Manual for operation & maintenance instructions.

3.5.3 Vehicle Interconnecting Cables
Vehicle Layout Schematic HAN-1870-LAS
The above drawing shows the inter-connecting 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 o-rings greased with a suitable
silicone grease. The o-rings are located in the lead half of the
connector. To clean o-rings remove the Spiro Clip behind the brass
locking nut which can be pulled back allowing access to the o-rings .
Connector showing locking collar

in operating position.
Connector showing Spirol clip and

Locking collar pulled back allowing
access to the o-rings.
Cables should be inspected regularly for signs of damage and

deterioration and replaced as required

3.6 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 8U, 19 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.
3.6.1 Remote Pilots Console

HAN-1875-WIS Pilots Console Wiring Schematic
0304-ELS Sheets 1 & 2 Joystick Interface Board
0176-ELS Sheets 1-3 Telemetry Board Schematic
0550-ELS Remote Control Power Supply
0550-LAS Remote Control Power Supply
General
The pilots 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 opto-isolated RS485 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 19-way connector.
The pilots console incorporates the following controls for the ROV and
TMS: -

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 3-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 0-5VDC
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 199mv, the signals for the meters are
processed by the joystick interface board. A 5V thruster command will be
equal to 100mv to the meter, which will indicate 100% of thrust. The
supply voltage to the meters is +/-5V. A total of eight LED indicators,

indicate which direction the thrusters are rotating. Comparator circuits on
the joystick interface board control the LEDs, 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 mid-
way position and the axial potentiometer is set to 100%, the pilot will have
a 0-50% spin command and a 0-100% 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
1-2 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 PCB0304.
Always ensure that the trims are switched off before powering up the
vehicle or the thrusters may run and over heat.

Alarms
The front panel of the controller has a series of LEDs and a buzzer to
indicate various faults on the vehicle. The water ingress LEDs 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 pilots console

controls.

3.6.2 Joystick Interface Board
0304-ELS Sheets 1 & 2 Joystick Interface Board
HAN-1875-WIS Pilots Console Wiring
General
The joystick interface board is located within the pilots 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 pilots 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
LEDs which are mounted on the pilots console. The comparators
reference voltage is 0.3V; the LEDs will indicate when the output voltage
rises to +0.3V or falls below 0.3V. 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 auto-functions.
Outputs are also provided for the power indication meters mounted on the
pilots console. These outputs should be adjusted using the on board
potentiometers to obtain a reading of 100.0 for a full joystick command.
This reading represents 0-100% of thrust.

Joystick Interface Board Set-up
The board is best set up whilst connected into the remote controller.
1) Disconnect the connector from the telemetry board to prevent damage
whilst adjusting the joystick interface.
2) Make sure that the power potentiometers are up full, the trims are
switched off and thruster isolation switches are on.
3) Plug the controller into the PDU to apply power.
4) Apply a full clockwise spin command and adjust RV1 until +5V is
obtained at IC1 Pin 1.
5) Apply a full right lateral command and adjust RV2 until +5V is
6) Apply a full forward axial command and adjust RV3 until +5V is
7) Apply a full down vertical command and adjust RV4 until +5V is
8) Whilst applying full commands, adjust RV14 until the spin meter reads
100.0, adjust RV15 until the lateral meter reads 100.0, adjust RV16
until the lateral meter reads 100.0, and adjust RV9 until the vertical
meter reads 100.0. Adjustment is now complete.

3.6.3 Telemetry System
0176-ELS Sheets 1-3 Telemetry Boards Schematic
Topside Board Bottom-side Board

PCB0176-1 PCB0176-2
Telemetry Specification
Supply voltage: 18-36VDC

Supply Current 146mA @ 18V (nominal)
Analogue channels: 8 inputs and 8 outputs

All 12 bit resolution
Input 0-5V Unipolar +/-5V bipolar
Output 0-5V Unipolar +/-5V bipolar
Digital channels: 16 inputs and 16 outputs, TTL levels

Maximum Input Voltage: 5.1V
Minimum Input Voltage: -0.1V
Output current per pin 10mA (nominal)
Communications link: RS 485 Maximum baud rate 115,000

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 pilots
video monitor, and digital signals which may be vehicle water ingress
alarms etc.

Two cards are used in the system: an octagonal sub-sea board located on
the ROV in the Electronics Housing and a single Euro-card format surface
board located in the pilots console enclosure. The circuitry on the top and
bottom side boards is identical. Both boards require a 24VDC power supply
at 150mA.
The telemetry system is a two-way serial multiplexing system that provides

8 analogue inputs and outputs and 16 digital inputs and outputs. The
analogue channels are 12 bit resolution. The data is transmitted via a
single screened twisted pair cable up to 1 kilometre in length in RS 485
format.
The cards communicate in half duplex mode over a serial data link that
uses RS 485 drivers at a maximum rate of 115200 baud. The data
transmission rate is user selectable to one of 8-baud rates as shown in
Table 1.
Table 1 RS485 link baud rate selection

Link 17 Link 18 Link 19 Baud Rate
IN IN IN 115200
OUT IN IN 57600
IN OUT IN 38400
OUT OUT IN 19200
IN IN OUT 9600
OUT IN OUT 4800
IN OUT OUT 2400
OUT OUT OUT 1200
Both cards operate in a master/slave relationship, which is determined by

a link setting as shown in Table 2.
Table 2 Master / slave selection

Link 20 Status
Link Slave
Open Master
The top-end card polls regularly for information from the bottom-end
(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 bottom-end outputs are
refreshed as rapidly as possible. The refresh rate depends on the data
rate selected for the data link.

The sub-sea and surface cards operate in the same manner, and have
identical circuits. See drawing 0176-ELS sheet 1-2 for circuit and pin out
details.
Each card has a high-speed 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 lock-up. The processor
is interfaced to an 8 channel, 12 bit data acquisition system, and to an 8-
12 bit DACS. These will provide 8 analogue inputs/outputs channels at 12-
bit resolution.
The processor also communicates with a Programmable Logic Device

(PLD) which will provide 16 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 0-5V unipolar (links open)
or +/-5v bipolar (links fitted) as shown in Table 3 and Table 4 respectively.
The push on links are located the component side of the boards.
Table 3 ADC Input Selection

Channel Link Unipolar Bipolar
Ch 1 1 Open Link
Ch 2 2 Open Link
Ch 3 3 Open Link
Ch 4 4 Open Link
Ch 5 5 Open Link
Ch 6 6 Open Link
Ch 7 7 Open Link
Ch 8 8 Open Link
Table4 DAC Output selection

Channel Link Unipolar Bipolar
Ch 1 9 Open Link
Ch 2 10 Open Link
Ch 3 11 Open Link
Ch 4 12 Open Link
Ch 5 13 Open Link
Ch 6 14 Open Link
Ch 7 15 Open Link
Ch 8 16 Open Link
The Telemetry system also provides two additional b-directional RS232 data
inputs and outputs, which form part of the RS485 telegram format. One of the
RS232 data channels is used to transmit the compass data to the surface.

The following tables provide baud rate, data bit format and parity jumper link
information.
Table 5 RS485 Baud selection

LK 18 LK 17 Baud
IN IN 115200
IN OUT 19200
OUT IN 38400
OUT OUT 57600
Table 6 RS232 channel A Parity selection

LK 20 LK 19 Parity
IN IN NONE
IN OUT EVEN
OUT IN ODD
OUT OUT NONE
Table 7 RS232 channel A Serial Link Baud rate selection and data bits
Link 23 Link 22 Link 21 Baud Rate Data Bits
IN IN IN 1200 7
IN IN OUT 2400 7
IN OUT IN 4800 7
IN OUT OUT 9600 7
OUT IN IN 1200 8
OUT IN OUT 2400 8
OUT OUT IN 4800 8
OUT OUT OUT 9600 8
Table 8 RS232 channel B Serial Link Baud rate selection and data bits
Link 26 Link 25 Link 24 Baud Rate Data Bits
IN IN IN 1200 7
IN IN OUT 2400 7
IN OUT IN 4800 7
IN OUT OUT 9600 7
OUT IN IN 1200 8
OUT IN OUT 2400 8
OUT OUT IN 4800 8
OUT OUT OUT 9600 8

Table 9 RS232 channel B Parity selection
LK 28 LK 27 Parity
IN IN NONE
IN OUT EVEN
OUT IN ODD
OUT OUT NONE
Note: The RS232 data channels each provide input buffering of up to 200
data bytes. Therefore sufficient time must be allowed between data
packets to allow transmission via the RS485 link. Eight data bytes per
RS232 channel are transmitted via the RS485 link, i.e. 8 data bytes
approximately every 40ms.
Connector Pin Designation

Pin Function Pin Function
1a Digital Out 1 1c Digital In 1
17a RS232 CHA TX 17c RS232 CHA RX
18a RS232 CHA 0V Return 18c RS232 CHB 0V Return
19a RS232 CHB TX 19c RS232 CHB RX
20a RS485 + 20c RS485 -
21a RS485 Common 21c No Connection LK29AB Open/
+5V Reference LK29B Closed/
Comm Status LK29A Closed
22a Digital 0V Return 22c Digital 0V Return
23a Analogue In 1 23c Analogue Out 1
31a Analogue 0V Return 31c +24V DC Supply
32a Analogue 0V Return 32c Supply 0V Return

3.6.4 ROV/TMS Electronics Rack
HAN-1876-WIS PDU/Electronics Module Wiring Schematic
0020-LAS DC Power Supply Layout
0178-LAS DC Power Supply Layout
0176-ELS Telemetry Board Schematic
0207-ELS Relay Board Schematic
0207-LAS Relay Board Layout
1016-LAS LIM Receiver Board Schematic
1016-LAS LIM Receiver Board Schematic
0017-ELS Overlay Processor Board Schematic
0017-LAS 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. HID-1076-WIS shows the interconnections between the

circuit boards and the vehicle controls.
3.6.5 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 1 of the video monitors.
This allows the camera pictures to be viewed on channel 1 of the monitors
before they pass through the video overlay and video recorders.
The video monitors channel 1 outputs are fed to the record select switch.
This switch selects which video signal is diverted through the video overlay
unit.

The overlay unit and recorder are connected in series. The outputs from
the video recorders are fed to channel 2 of the video monitors. Channel 2
allows the viewing of video with over-laid text and serves as a play back
channel for the video recorders.
3.6.6 DC Power Supplies

0020-LAS 24VDC Power Supply Layout
0178-LAS Overlay Power Supply Layout
The Electronic Rack contains two switched mode power supplies. Both
supplies are fed from 230VAC via fuse 3 located on the back panel of the
PDU/Electronics Rack. PCB0020 provides 24VDC for the PDU control
circuitry and the Pilots Console.
PCB0178 provides 5VDC for the Video Overlay Processor and Fibre
Receiver Boards and 12VDC 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.

3.6.7 Video Overlay System
F1-Screen elements to be displayed

Pressing the F1 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
SCREEN COMPONENTS
of the screen or not displayed at 1. TIME: TOP
all. The Logo can only be 2. DATE: TOP
3. LOGO: LOGO1
displayed at the top right of the 4. ADC : BOTTOM
screen or not at all. The choice of
Logo is either 1 or 2. Logo 1 is
Sub-Atlantic and logo 2 is the
Customers. To move or display
one of these elements e.g. Time, ESC TO GO BACK
press the 1 key on the keyboard
(note, it is the numeric 1 key and
not the F1 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:

1 Time
2 Date
3 Logo
4 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.

F2-Screen Appearance
Pressing the F2 key will bring up the
SCREEN APPEARANCE
Screen Appearance menu. Use the 1. INTENSITY: LARGE 7
number keys (as per the previous 2. FONT SIZE: LARGE
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 ESC TO GO BACK
of the keyboard). 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.
F3 Time and Date set-up

Press F3 to set the system time and TIME AND DATE
date. Again, use the numerical keys 1. SET TIME: 10:01/09
2. SET DATE: 06/02/2003
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 ESC TO GO BACK
main front page.
Note: Invalid entry will default to fixed values.
F4 Text page set-up

Pressing the F4 key allows you to SELECT PAGE TO PREVIEW
set-up the text pages. The Overlay 1. MAIN TITLE PAGE A
2. SUB TITLE PAGE A
has a total of 9 text pages which 3. SUB TITLE PAGE B
can be used to annotate video. You 4. LARGE TEXT PAGE A
5. LARGE TEXT PAGE B
may wish to use them as header 6. LARGE TEXT PAGE C
and footer pages to mark the start 7. SMALL TEXT PAGE D
8. SMALL TEXT PAGE B
and end of video footage. 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

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 back-space 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 set-up.
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 F1 to F9 to select text page 1 to 9.
F5 Analogue to Digital Converter set-up

The ADC system has a total of 8 ADC SETUP DESC INPUT
channels which correspond to the
8 channels of the vehicle 0. DIAL
1. CH1 (DEPTH)
RS232 COMPASS
ADC INPUT
telemetry card. These channels 2. CH2 (ALT) ADC INPUT
3. CH3 (TILT) ADC INPUT
have been pre-configured by Sub- 4. CH4 (PAN) ADC INPUT
Atlantic prior to the system being 5. CH5 (PITCH) RS232 PITCH
6. CH6 (ROLL) RS232 ROLL
delivered and there should 7. CH7 (CHAN 7) ADC INPUT
normally be no reason to change 8. CH8 (CHAN 9) ADC INPUT
the functionality of any of these

channels. Any channel-input ESC TO GO BACK
selection can select ADC input,
RS232 Compass, RS232 Pitch or RS232 Roll.
The only channel you may need to

access is the Dial. To do this, COMPASS DIAL
1. DISPLAY ON
press F5 and the first page as
shown above will be visible. Next, 6. MIN V = 0.0000
press numerical 0 to select the 5. MAX V = 395.0000
Dial. Next press numerical 9. 9. INPUT RS232 COMPASS
Your choices for Dial input are
RS232 Compass, RS232 Pitch,
RS232 Roll and ADC channel 1 to
8. You can toggle between the ESC TO GO BACK
available settings by repeatedly
pressing the left or right arrow
keys. Press Escape (Esc) to finish edit mode.

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.
F12 Index to the various pages

Pressing F12 will bring up an
MAIN MENU
index of the various overlay F1. SCREEN COMPONENTS
functions. F2.
F3.
SCREEN APPEARANCE
TIME AND DATE
F4. TEXT PAGE SETUP
F5. ADC SETUP
The ALT F1 key sequence from F6. TECHNICAL SUPPORT
the main screen will toggle a text ALT F1. TEXT SHADOW ON/OFF
FROM MAIN SCREEN ONLY
shadow ON or OFF. Whereas the ALT F2. TURNS COUNTER RESET
ALT F2 key sequence will reset
the turns counter to 0.
ESC TO GO BACK
This version of the Overlay provides two RS232 serial communication ports
for communicating with a Sub-Atlantic Compass and survey equipment on
COM port 1 and 2 respectively.
The first communications port COM1 inputs the telegram from the
Compass as per Table 1. The second port COM2 located on the rear of the
PDU inputs (at approximately once per second) Easting and Northing data
from survey equipment as per Table 2. In addition, COM2 outputs at a
refresh rate of once per second, active on-screen channel data information
as per Table 3.

Table 1
ITEM TITLE REQUIREMENT
1.1 Format RS232
Baud Rate :9600
Start Bits :1
Data Bits :8
Stop Bits :1
1.2 Example Telegram $C328.2P-12.4R2.4*hhCRLF
ASCII Byte: $ Start of Telegram
ASCII Byte: C Compass data delimiter
ASCII Bytes: 328.2 Compass data
ASCII Byte: P Pitch data delimiter
ASCII Bytes: -12.4 Pitch data
ASCII Byte: R Roll data delimiter
ASCII Bytes: 2.4 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 2
2.1 Format RS232
Baud Rate :9600
Start Bits :1
Data Bits :8
Stop Bits :1
2.2 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
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 8 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.

Table 3
3.1 Format RS232
Baud Rate :9600
Start Bits :1
Data Bits :8
Stop Bits :1
3.2 Example Telegram CH0,00.0,CH1,92.9,CH2,7.3,CH3,-121.1,
CH4,-129.1,CH5,00.0?,CH6,00.0?,
CH8,0.6738*hhCRLF
ASCII Bytes: CH0 Start of Telegram Channel 0
ASCII Byte: , Delimiter
ASCII Bytes: 00.0 Channel 0 data fixed to RS232 compass input
ASCII Bytes: CH1 Channel 1 data set to analogue input
ASCII Bytes: 92.9 Depth (Metres)
ASCII Bytes: 7.3 Altitude (Metres)
ASCII Bytes: -121.1 Tilt (Degrees)
ASCII Bytes: -129.1 Pan (Degrees)
ASCII Bytes: CH5 Channel 5 data set to RS232 Easting input
ASCII Bytes: 00.0? Easting (Metres)
Note: ? signifies E or W direction is unknown
ASCII Bytes: CH6 Channel 6 data set to RS232 Northing input
ASCII Bytes: 00.0? Northing (Metres)
Note: ? signifies N or S direction is unknown
ASCII Bytes: 0.6738 CP Probe (Volts)
Byte: 0x0d Carriage Return
Byte: 0x0a Line Feed

3.6.8 Power Distribution Unit (PDU)
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 8U rack mount assembly
containing power controls for the ROV and TMS.
The PDU is connected to the high voltage Inverter/Transformer module via

a 16-way interconnecting lead. This lead carries signals to and from the
inverter. The Inverter/Transformer module is fed from a 25 amp 380-
440VAC 3-phase ships or installation supply. A separate 230 VAC 50/60 Hz
10-amp 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 (F1-F3) also
located on the rear panel. The feeds from the fuses supply various
components within the console. (Refer to Drawing No. HAN-1876-WIS
sheet 1)
The inverter is operated when the vehicle Power ON switch is momentarily

pressed. This latches in relay 1 enabling the inverter. The inverter output
feeds the transformer which supplies 3000V to the ROV and TMS.
Momentarily pressing the Power Off switch or the Emergency Stop switch
will unlatch relay 1 disabling the inverter.
The Main PDU control panel incorporates the following controls and
indicators: -
440VAC Supply Voltmeter

This meter should read 440V when there is an incoming supply to the
Inverter/Transformer module and the isolator and circuit breaker located

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 24VDC
supply to the inerter. The ON switch latches relay 1 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 24VDC control
supply from the control relays thus disabling the inverter. Once activated
twist to reset, power will then be restored to the control circuitry.
3.6.9 Earth Fault Monitoring System

The earth fault detection system monitors the insulation between ground
and the isolated 3000VAC 3-phase supply and the 320VDC supplies on the
ROV and TMS.
3000V Line Insulation Monitor

The 3000V 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 3000V
transformer via a high voltage coupler located in the transformer module.
The system has two alarm settings. The first setting is 400K ohms. If the
fault reaches this level the unit will give an alarm only. .The second setting
is 80K ohms and will shut down the supplies to the TMS and the ROV. A
meter is provided for indication of line fault resistance.

320VDC Line Insulation Monitor
The ROV and TMS operate on a 320VDC 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 (PCB1016) 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 CN3 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 400K ohms. If the fault reaches this level the unit will give an
alarm only. The second setting is 80K 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 key-
switch allows the system to be overridden to the recovery of the vehicle
and TMS to the surface. The Key switch will only override the 320VDC
supplies faults and does not override 3000V 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 2-3 seconds will
simulate an earth fault. Pressing the reset button will reset the fault. Only
the 3000V LIM has a reset button. Testing should be carried out at
regular intervals.
Override Switch
An earth fault override key switch for the 320VDC 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

this switch will depend on the severity of the fault. This decision should be
made by the ROV supervisor.
See Auxiliary Equipment Manual for manufacturers data sheet on the

Bender Line Insulation Monitor.
3.6.10 Inverter/Transformer Modules

HAN-1877-WIS 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 3000VAC
AND 440VAC. 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 380-440V 3-phase supply at 25 amps. The
incoming supply is fed to a lockable isolation switch then to a 20 amp
circuit breaker. The output from the circuit breaker is fed to the 15KW
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 380-440V 3-phase 400Hz 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 3000VAC 3-phase at 400Hz.
The output voltages should always be checked before connecting up to the

transformer in case the ships supply is higher than specified. Adjust as

necessary using the various tapings. See Inverter Set-up Procedure in this
section of this Manual.
The inverter is controlled from the PDU via a 16-way 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 3000V supply. The lid of the transformer box incorporates
a safety switch which will shut down the inverter disabling the 3000V 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 3-phase safety

grounding switch. This is a two position high voltage switch. Position one
connects the 3000V 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-
1877-WIS.
Inverter Set-up
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 1+2,
code 1 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 1+2, 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.

Set up the inverter using the initial setting below:
Initial settings:
Minimum Output Frequency C0010 380
Maximum Output Frequency C0011 440
Ramp Up Time C0012 0.7
Ramp Down Time C0013 0.2
Control Mode C0014 2
VF Rated Frequency C0015 440
Chopper Frequency C0018 3
Gain Analogue Input C0027 200
Set Point Selection Range C0034 0
Configuration Analogue Output C0111 2
The switches on the I/O module will require setting up for 0-5V control
input as follows: Switches 1,2,4,5 OFF and Switch 3 ON.
Final Setup:
1) With the inverter connected to the vessel or installations 3-phase

supply, check the inverter DC bus voltage reading by selecting code
C0053. The reading should approximately equal the AC input
voltage multiplied by 1.41.
2) Select the primary tappings on the step up transformer to suit the
following table.
Table 1
DC Bus Voltage Primary Tapping
530-570V 380V
570-600V 415V
600-630V 440V
630-680V 460V
3) When the ROV is powered up the DC voltage at the ROV will be

displayed on the video overlay system and should be 300V FOR
Mohican and 600V for Comanche.
4) If the voltage is too low, select code C0010 and increase the setting
to 390. This should increase the voltage
5) If the voltage is too high, select code C0010 and reduce the setting
to 370. 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 300V for Mohican and 600V
for Comanche select code C0027 and increase the setting until the
system maintains the correct voltage under load.

7) Increasing code C0027 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
8) If the voltage rises above the required setting when under load,
reduce code C0027 and switch between steps 5 and 6 until the
correct off load and on load voltages are obtained
Voltage/Frequency Output C0010 C0011
500
450
400
350
300
Voltage
250
200
150
100
50
0
0 100 200 300 400 500
Frequency
The above chart shows a typical Voltage/Frequency output from the

inverter with an input of 450V and the maximum frequency setting of 450
(C0011 set at 450). The 0-5V 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.

3.2.11 2 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 230VAC from the outlets on the rear of the main PDU.
Refer to Manufacturers Manual located in Auxiliary Equipment Manual for

operating instructions.
3.2.12 Sonar Control Unit
The ROV has the capability of supplying power to and transmitting signals
through the tether for a range of different manufacturers sonar heads.
The Sonar Control Unit can be supplied with 230VAC from one of the
outlets on the rear of the main PDU. Information to and from the sonar
head is via a 9-way D-type socket also located on the rear of the main
PDU.
Refer to Manufacturers Manual located in Auxiliary Equipment Manual

for operating instructions.

4.0 Mohican Tether Management System
4.0.1 General Description - Tpye 1 - SA-G1B

Mohican TMS Standard 2954-MAS
Warning!! The Mohican Tether Management System is a high

voltage (3000V) 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

under-slung 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 re-enters the TMS.
The TMS is powered using a 3000VAC 400Hz power transmission system

which is converted to 300VDC 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 re-enters the
TMS. Video and telemetry are transmitted through a fibre optic
multiplexer located in the electronics pod.

The electrical junction boxes and slip ring are pressure compensated
using 2 x 2700cc compensators providing a pressure of approximately
0.7bar/10PSI above the surrounding environment.
A third 370cc compensator provides compensation for the drum gear

box, flexible drive shaft and traction wheel gear-box.
4.0.2 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 3000VAC.
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 3000VAC. 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.

The only person permitted to apply electrical power to the ROV is the
appointed Supervisor.

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 auto-functions are selected.
Ensure that all personnel in the proximity of the system are notified
when power is to be applied to the system.

4.1 Specification
TMS Type: Side Entry Garage with winch

and level wind mechanism with
constant tension pulley
Drive System: 2200W DC Electric Motor
Tether Capacity 250 mtrs of 20.5mm diameter
Line Pull: 60kg
Tether Type: Thermo-plastic with Kevlar

strain members
TMS Weight/Dimensions
Weight in air (exc. tether or ROV) 550 kg
Weight in water (exc. tether) 410 kg
Overall length 1600mm
Overall height standard 1630mm min
Overall height extended 2025mm max
Overall width 1075mm

4.1 Tether Management System (Mechanical)
4.1.1 Frame
Lower TMS Frame 0585-MAS
Upper TMS Frame 0964-MAS
TMS Chassis 2947-MAS
The TMS frame consisting of three main structures, upper frame, lower
frame and the chassis are manufactured from 316L 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 under-slung
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 2,000Kg. The frame is rated for a safe gross load of
2,000Kg and is load tested to 6,000Kg.
See Drawing 0599-IAS for full detail of the TMS frame test procedure.
Maintenance
See Section 4.3.1 for maintenance procedures.

4.1.2 Lifting Gimbal
Gimbal Umbilical Termination 0954-MAS
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
1223-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-
Atlantics test procedure TP-0122 which states that a load of 6,000kG is
applied for 5 minutes.
4.1.3 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 re-entry. The total additional weight should be no more
than required to take the system gross weight up to 2,000Kg 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 2,000Kg.

4.1.4 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 370cc pressure compensator providing a pressure of approximately

0.7bar/10PSI above the surrounding environment provides
compensation for the drum gear box, flexible drive shaft and traction
wheel gear-box.
Maintenance

4.1.5 Drive Motor Assembly
SPE180 Drive Assembly 2949-MAS
SPE-180 Rotor Assembly 2951-MAS
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 long-term reliable

performance in a sub-sea 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 7-way 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 10PSI 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 148 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 250 meters.

Filling/Charging Drive Motor
The drive motor should be oil filled before being fitting to the TMS:-
13) To fill the rotor cavity, remove the blank fitting from the charging
points on rear end cap.
14) Bleed air from the flushing/charging pump hose and connect up to
the rotor cavity charging point on rear end cap.
15) Position the thruster so that the propeller is upwards.
17) Loosen the bleed screw located on the front bearing housing.
18) When it is clear that all air is expelled and while oil is still running
from the bleed screw, re-tighten the bleed screw, close the valve
when the compensator is fully expanded.
19) Disconnect the pump from the thruster and refit the blanking plug.
20) 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.
21) Stand the thruster on the pedestal so that bleed point on the main
body is uppermost.
23) Loosen the bleed screw located on the main body. Charge up and
open the pump valve.
24) 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 HF-E46 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 3.1.3 for more details on the thruster motor.
Maintenance

4.1.6 Tether Drum Gear-box
Drum Gearmotor Assembly 2948-MAS
Gear Box Assembly 3424-MAS
The assembly of the drum gearbox is shown in drawing No. 3424-MAS.

The unit is driven by the motor described in the previous section. The
gear-box 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 25 tooth gear which
drives a 169 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 gear-box is pressure compensator using a 3700cc compensator
providing a pressure of approximately 10PSI above the surrounding
environment. The type of oil used in the drive system is Shell Tellus 22
or equivalent hydraulic oil.
The body of the gear box is manufactured in aluminium and anodised.

Maintenance

4.1.7 Traction Wheel Gear-box
Traction Wheel Assembly 0678-MAS
Traction Wheel Gearbox 3423-MAS
The assembly of the traction wheel gearbox is shown in drawing No. 3423-
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 270cc
compensator providing a pressure of approximately 10PSI above the
surrounding environment. The type of oil used in the drive system is
Shell Tellus 22 or equivalent hydraulic oil or equivalent hydraulic oil.
The body of the gear box is manufactured in aluminium and anodised.

Maintenance

4.1.8 Flexible Drive Assembly
Flexible Drive Assembly 0766-MAS
The flexible drive shaft is used to link the tether drum gear-box to the
traction wheel gear-box. 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 1700rpm.
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 370cc
compensator providing a pressure of approximately 10PSI above the
surrounding environment. The type of oil used in the drive system is
Shell Tellus 22 or equivalent hydraulic oil.
Maintenance

4.1.9 Level Wind
Level Wind Assembly 0672-MAS
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 re-adjust 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 re-aligned

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 10mm 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

4.1.10 ROV Depressor Assembly
Retainer Assembly 0673-MAS
Tilt/Rotator Unit 0245-MAS
The vehicle depressor unit utilises a 24VDC 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 M10 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
3.5.1. and drawing No. 0245-MAS of this manual.
4.1.11 Tether Drum Assembly

Refer to Drawing No. 0880-MAS
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 slip-ring is manufactured from stainless
steel. The drum is designed to hold a minimum of 250 meters of 16mm
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 slip-ring 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.

4.1.10 Radius Gooseneck Assembly
Radius Gooseneck Assembly 0671-MAS
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.

4.2 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 3000VAC 400Hz
supply is fed to the transformer from the main lift umbilical. The
transformer and rectifier produce a +320VDC and -230VDC with respect
to 0V and 550VDC across +320VDC to -230VDC. 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 re-enters the
TMS. Video and telemetry are transmitted through a fibre optic
multiplexer located in the electronics pod.
4.2.1 Transformer/Junction Box

Transformer/Junction Box 3331-MAS
Transformer Box Wiring Sch. HAN-1888-WIS
Warning!! The transformer box on the Mohican ROV and TMS are
supplied with 3000VAC. 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 3000VAC 3-phase at

400Hz via the main lift umbilical. The secondary side has two 3-phase
outputs one connected in star and the other connected in delta, which
are fed to two 3-phase bridge rectifiers. In this manner the 3-phase
voltages supplying the two bridges are displaced by a phase angle of 30
degrees, hence the two six-pulse outputs are symmetrically displaced to
give an overall twelve-pulse output. The twelve-pulse output provides a
near smooth direct voltage requiring very little capacitance. The outputs
from the rectifiers are series connected to provide +320VDC and -
230VDC with respect to 0V and 550VDC across +320VDC to -230VDC.
This output is rated at 5.5KW.

The DC output is fed to the TMS electronics pod via a 9-way 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 2700cc pressure
compensators which maintain a positive internal pressure of 10 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 tie-wrapped
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
10mm 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 slip-
ring. The slip ring is connected to the transformer box via a clear Tygon
tube. This allows oil to pass through to the slip-ring and rotating
junction box. The system should be bled free of air at the bleed point
provided on the slip ring.

4.2.2 TMS Electronics Enclosure
Electronics Enclosure Main Assembly 3608-MAS
Electronics Pod Wiring Schematic HAN-1886-WIS
Electronics Pod Layout HAN-1887-LAS
Light Dimmer Board Schematic 0870-ELS
Light Dimmer Board Layout 0870-LAS
LIM/Capacitor Board Schematic 0847-ELS
LIM/Capacitor Board Schematic 0847-ELS
Telemetry Board Schematic 0176-ELS
24VDC Power Supply Layout 0264-LAS
Relay Board Schematic 0053-ELS
Relay Board Layout 0053-LAS
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 +320V and -230V supply from the transformer box via a
12-way connecting lead. The +320V supply is used for the TMS drive
motor and the -230V supply for the lights. The drive is protected by a 10
amp fuse. The direction is controlled by a 5V input switched by the relay
board. The TMS Lights Switch Board (PCB1259) is fed from the
-230VDC supply and the switched mode power supply is fed from the
+320VDC supply. The switched mode power supply provides 24VDC,
12VDC 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

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 29A fitted and the bottom side
board should only have links 19 and 29A fitted.
See Section 3.5.3 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.
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.

fittings.
Part No. 2268-MAS.

Pod Maintenance
If the pod has been dismantled, clean and grease o-rings 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 re-
connected.
Connectors should be inspected, cleaned and o-rings greased once a

month using a suitable silicone grease (MS4). The o-rings are located in
the lead half of the connector. To clean o-rings remove the Spiro Clip
behind the brass locking nut and pull back the nut, this will allow access
to the o-rings.
If the protective anodising becomes damaged, clean and repair the

damaged area using a suitable paint.
4.2.3 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 4-way underwater connector, which carries the
24VDC supply and video signal. The video signal is transmitted to the
surface controller via the fibre optic multiplexer (PCB1086). The video
output is available on BNC7 located on the rear panel of the surface
PDU.
4.2.4 Lights
TMS Light Switch/Capacitor Board Schematic 1259-ELS
TMS Light Switch/Capacitor Board Layout 1259-ELS
The TMS is equipped with two 250 WATT 230V lights connected to the
electronics pod via 3-way underwater connecting leads. The supplies to
the lights are fused using 2 amp fast blow fuses located on PCB-1259
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.

4.2.5 Interconnecting Cables
TMS Layout Schematic HAN-1885-LAS
TMS Connecting Leads HAN-1889-WIS
The above drawings show the inter-connecting 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 3000meters 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 o-rings 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.

4.3 TMS Maintenance
4.3.1 General Maintenance

The TMS and sub-assemblies are designed as low maintenance units.
Follow the maintenance procedures below:
Fame
1) Replace anodes when half depleted.
2) Apply anti gall compound to all stainless steel fasteners during
assembly.
Drive Motor
1) Replace rotary shaft seals after approximately every 2,000 hours
of operation and bearings every 10,000 hours of operation.
2) Check compensators after each dive and top up as necessary.
3) Replace the anode when half depleted.
Drum Gear Box

1) Replace main bearings after approximately 10,000 hours of
operation.
2) Ensure that the drive system pressure compensator valve is open
before diving.
3) To prevent permanent damage to the gears, never run the gear
box without oil
Traction Wheel Gear Box

1) Replace main bearings after approximately 10,000 hours of
operation.
before diving.
3) To prevent permanent damage to the gears, never run the gear
box without oil.
Flexible Drive and Drive Extension

1) Replace flexible drive shaft after approximately 5,000 hours of
operation.
2) Replace main bearings in drive extension after approximately
10,000 hours of operation.
before diving.

4) Replace the anode on drive extension when half depleted.
Level Wind
1) Lubricate the level wind shaft with ZEP Dry Moly NC or equivalent
after each dive.
2) Lubricate drive chain with ZEP Dry Moly NC or equivalent after
each dive and adjust if necessary.
3) Check the condition of the follower after each dive and replace
when necessary.
Electronics Pod
1) Always vacuum the pod after opening.
2) Replace the anode when half depleted
Other Maintenance
1) Before each dive: Check that the pressure compensators and top
up as necessary.
2) After each dive: Carry out a visual check on all the sub-
assemblies 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 o-rings as necessary.
3) When refilling with oil ensure that all the air is removed from the
assembly before refitting the unit to the TMS

4.3.2 Oils and Lubricants (TMS)
Various sub-assemblies 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 slip-ring 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 22 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 Sub-Atlantic using the
following part numbers.
Castrol Hyspin VG5 1 litre Part Number LUB-0001

Shell Diala: 1 litre Part Number LUB-0002
Shell Tellus 22 1 litre Part Number LUB-0004
ZEP DRY MOLY NC 1 Can Part Number LUB-0007

4.3.3 Pre-Dive Checks (TMS)
Carry out the following checks before every dive.
1) Make sure that all connector cables are secure and are fully
connected correctly
2) Check that the drive motor compensator is fully charged
3) Check that the gearbox compensator is fully charged
4) 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, slip-ring 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.
8) 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.
10) Check that the depressor rotator compensator is fully charged.

The oil type used in the depressor rotator is Castrol Hyspin VG5.
11) 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.

5.0 GENERAL SAFETY PROCEDURES
5.1 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.
5.1.1 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 3000VAC. THE INCOMMING

SUPPLY MUST BE ISOLATED AND LOCKED OFF BEFORE ATTEMPTING TO CARRY
OUT ANY REPAIRS OR MAINTENANCE ON ANY PART OF THE SYSTEM.
5.1.2 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.

The ground strap must be reattached before the system is powered on-
deck.
The ONLY person permitted to apply electrical power to the ROV or TMS is
the appointed ROV Supervisor.
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.
5.1.3 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 over-tighten 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 anti-galling 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 lint-free 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.
5.1.4 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 hand-signals used to guide crane operators.
No person shall lift any heavy weight without following recognised
procedures for the lifting of heavy weights.

5.1.5 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
o-rings greased once a month using a suitable silicone grease, (MS4). The
o-rings are located in the lead half of the connector. To clean o-rings
remove the Spiro Clip behind the brass locking nut and pull back the nut.
This will allow access to the o-rings.
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.
5.1.6 O-rings
The correct handling of o-rings is vital to the integrity of the underwater
system components. Full guides to the handling of o-rings are available.
This section is designed as a general overview only.
Pressure housings may develop a semi-vacuum 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 o-rings sit or it could damage the o-ring itself. Jacking points are
normally provided
Always clean o-rings with a lint-free cloth and carefully inspect. O-rings
may be re-used only if they are free from any imperfections or defects. If
the o-ring is not in perfect condition replace it.
Clean o-ring grooves with solvent and lint-free material prior to
reassemble. Apply a thin layer of silicon lubricant to O-ring before
reassemble. Be careful not to trap or damage o-rings during re-assembly.
A recommended lubricant is Silicon Grease.
Do not over apply lubricant to o-rings.
Do not force items with o-rings, gently reassemble.
Always use the correct o-rings as specified in the manual drawings. Failure
to do so may result in flooded pressure housings.

5.1.7 Tools
Always use the correct tool for the job.
Never improvise.
Never use damaged tools.
Ensure electrical measurement devices are calibrated at regular intervals.
5.1.8 Spare Parts

Always use the manufacturers 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.

6.0 INTEGRATION, OPERATION & EMERGENCY PROCEDURES
6.1 System Installation & Integration

See drawing No. HAN-1879-WIS for basic system hook-up 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 380-440V 3-phase
and earth supply from the vessel or installation. This supply should be
suitably protected by a 25 amp circuit breaker or fuses. Power is fed into
the Inverter/Transformers module is via 6 pin socket. A 10 meter mains
lead is supplied with the system. See drawing No. HAN-1877-WIS for
transformer box connection details. The Inverter/Transformers module is
connected to the main PDU via a 16-way, 10 meter long connecting lead
supplied with the system.
The PDU will also require a 230VAC single phase supply rated at 10 amps.
This connection is made via a standard 3-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. HAN-1877-WIS 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. 1223-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.

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 3.6.10 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 PCBs are fully plugged
in. It may be possible for PCBs 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.

6.2 Operations
This section contains basic ROV and TMS operational procedures.
6.2.1 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 230VAC 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 back-lit and read zero. This is an
indication that power is supplied to the controller. The Vehicle Power OFF
switch should be illuminated.
Test the 3000V 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 10K 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 3-4 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 440V.
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 2 or 3 seconds, video pictures should appear on the video monitors.

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 Pilots
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 pilots 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 320VDC 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.

6.2.2 Pre-dive 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.
1) Check cameras, lights, tilt unit etc.
2) Switch on the thruster power.
3) Check that all thrusters operate in the correct direction when given
the appropriate commands from the pilots console.
4) 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.
8) 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.
10) Check all manipulator functions if fitted.
11) Check compensators for any additional equipment that may have
been fitted.
12) Check that the sonar if functioning and communicating with the
surface control unit.
13) Check that line insulation monitors are clear and no alarms are
present on the PDUs and controller.
14) Check that the Vehicle Buoyancy is bolted to the frame.
15) Once the above the above checks have been successfully carried
out, the system is ready to dive

6.2.3 Pre-Dive Checks (TMS)
Carry out the following checks before every dive.
1) Make sure that all connector cables are secure and are fully
connected correctly
2) Check that the drive motor compensator is fully charged
3) Check that the gearbox compensator is fully charged
4) 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, slip-ring 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.
8) 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.
10) Check that the depressor rotator compensator is fully charged.

The oil type used in the depressor rotator is Castrol Hyspin VG5.
11) 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.

6.2.4 Diving and Operation
Do not attempt to put the ROV or TMS or both into the water until all the
Power-Up and Pre-Dive 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
A-frame 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, lock-

latch 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.

Using the auto-functions
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 auto-heading to
prevent the vehicle drifting off a selected heading.
The auto-depth 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 auto-depth will be re-selected and the new depth will be held.
The same applies to the auto-altitude.
If auto-depth and altitude are selected together, auto-depth will take

priority.
Joystick commands override the gyro and auto-function commands.
6.2.5 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 ANTI-CLOCKWISE
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 auto-function 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.

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.
Post-Dive 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 non-saline water.

6.3 Optional Equipment
6.3.1 Valve Pack/HPU Interface

See Drawing No.
2933-MAS 6-Station Valve Pack/HPU Assembly
HAN-1873-WIS Starboard Pod Wiring Schematic
HAN-1874-WIS Pilots Remote Controller Wiring Schematic
HAN-1891-WIS Manipulator Controller
HAN-1890-HYS Hydraulic Schematic
Mohican No. 012 is equipped with an interface to drive a Sub-Atlantic 6-

station valve/power pack. See drawing 0978-MAS for details on the
hydraulic valve/power pack. The power pack is driven by a 320V brushless
DC motor and is connected to the starboard electronics pod via a 9-way
lead. See drawing No. HAN-1873-WIS for power and control connection
details.
The valve pack controller plugs into the ROV controller via a 9-way D-Type
connector. The manipulator controller contains a diode logic board (PCB-
0300) which converts the switch inputs into a 4-bit binary word. This 4-bit
binary word is fed to the valve pack via 4 digital channels on the ROV
telemetry system. A control board (PCB-1017) 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 140 bar for use with Hydrolek Manipulators.
The unit should not be run for more the 3 minutes while the system is on
deck. This is to prevent the pump overheating.
A 370cc 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 22 or equivalent.
Make sure the compensators are topped up before operating the system.
Leave a gap of 20mm on the compensators to allow for oil expansion.

6.3.2 System Software
Mohican 012 left the factory with the following software installed in the
telemetry system and the video overlay:
Table 1
Board Number Firmware Number Version Checksum
ROV Topside PCB-0176-1 SA0530C V1.00 91BC
ROV Bottom Side PCB-0176-2 SA0431R-200 V3.00 5E51
TMS Topside PCB-0176-1 SA0501C V1.00 4124
TMS Bottom Side PCB-0176-2 SA0425R V1.00 D6B6
Video Overlay PCB-0017 SUB0SD.EXE V2.00B
Table 2 should be filled in to reflect any upgrades to software.

Table 2
Board Number Firmware Number Version Checksum

7.0 DRAWING PACKAGE
This section of the manual contains all mechanical and electrical drawings.
7.1 Mechanical Drawings

MAS after the drawing number stands for Main Assembly. IAS stands for
Intermediate Assembly
Drawing No. Title

ROV
3265-MAS Mohican Main Assembly
3142-MAS-012 Customer Specific Vehicle Assembly
3100-MAS Mohican Frame Assembly 1
2792-MAS Mohican Buoyancy Assembly
3595-MAS Additional Buoyancy Assembly
2554-MAS SPE-180 Thruster Unit Main Assembly
2547-MAS SPE-180 Rotor Assembly
2920-MAS Thruster Slew Assembly
2919-MAS Slew Crank Assembly
2921-MAS Slew Bar Assembly
2924-MAS Vehicle Transformer Assembly
3105-MAS 3000V Termination Board Assembly
3769-MAS PDU Inverter Assembly
3096-MAS PDU Transformer Box
2923-MAS Electronics Enclosure
0856-MAS Compass Pod Assembly
3089-MAS Lights Fuse Bottle
0245-MAS Tilt Unit Assembly
0099-WIS Tilt Unit Wiring Schematic
3107-MAS Camera/Light Assembly
3210-MAS 370cc Oil Compensator Assembly
0409-MAS-3000 ML1040 Light assembly
3143-MAS Sonar Mounting Kit Tritech
3668-MAS Sonar Mounting Kit Kongsberg
4328-MAS Transponder Mounting Kit Kongsberg MST342
2313-MAS ROV Remote Controller
1743-MAS Manipulator Control Panel
TMS
2954-MAS Mohican TMS Main Assembly
3442-MAS-017 Customer specific TMS Assembly

0585-MAS Lower TMS Frame Assembly
0964-MAS Upper TMS Frame Assembly
2947-MAS TMS Chassis Assembly
1239-MAS Compensator Sensor Kit
0672-MAS Level Wind Assembly
2948-MAS Tether Drum Gearmotor Assembly
3424-MAS Drum Gearbox Assembly
2949-MAS TMS Drive Motor Assembly
0673-MAS ROV Retainer Assembly
0766-MAS Flexible Drive Shaft Assembly
3331-MAS TMS Transformer Box
3608-MAS Electronics Enclosure Assembly
1229-MAS Pod Tube Retainer Assembly
0678-MAS Traction Wheel Assembly
3423-MAS Traction Wheel Gearbox Assembly
0967-MAS Traction Gearbox Compensator
0671-MAS Radius Gooseneck Assembly
2876-MAS Tether Drum Assembly
2851-MAS Drum Bearing
0579-MAS Drum Bearing
0954-MAS Umbilical Termination Bullet
1223-IAS Bullet Termination Procedure
1619-MAS TMS Camera Assembly
1046-MAS TMS Camera Mounting Assembly
4046-MAS TMS Lights & Mounting Bracket

7.2 Electrical/Electronic Drawings
ELS after the number, stands for Electronic Schematic which is normally
the schematic of the PCBs. LAS after the number, stands for Layout
Schematic which is normally the layout of the PCBs. WIS after the
number stands for Wiring Schematic.
Drawing No. Title

ROV
HAN-1870-LAS Vehicle Layout
HAN-1871-WIS Port Electronics Pod Wiring
HAN-1872-LAS Port Electronics Pod Layout
HAN-1873-WIS Starboard Electronics Pod Wiring
HAN-1874-LAS Starboard Electronics Pod Layout
HAN-1875-WIS Pilots Remote Console Wiring
HAN-1876-WIS PDU/Electronics Module
HAN-1877-WIS Inverter/Transformer Module
HAN-1878-WIS ROV Transformer Box
HAN-1879-WIS System Hook-up Schematic
HAN-1880-WIS PDU/Transformer Connecting leads
HAN-1881-WIS Compass Pod
HAN-1882-WIS Lights Fuse Pod
HAN-1883-WIS Camera Whips
HAN-1884-WIS Sonar Whip
HAN-1894-HYS Thruster Compensation Circuit
0845-ELS Thruster Termination Board Schematic
0845-LAS Thruster Termination Board Layout
0869-ELS Thruster Isolation Board Schematic
0869-LAS Thruster Isolation Board Layout
0870-ELS Light Dimmer Board Schematic
0870-LAS Light Dimmer Board Layout
0847-ELS LIM/Capacitor Board Schematic
0847-LAS LIM/Capacitor Board Layout
0176-ELS Telemetry Boards Schematic
1042-ELS 4-15 Channel Relay Board Schematic
1042-LAS 4-15 Channel Relay Board Layout
1043-ELS Telemetry Interface/Relay Board Schematic
1043-LAS Telemetry Interface/Relay Board Layout
1045-ELS Gyro/Power Supply Board Schematic
1045-LAS Gyro/Power Supply Board Layout
1086-ELS ROV Fibre Optic Board Schematic
1086-LAS ROV Fibre Optic Board Layout

7.2 Electrical/Electronic Drawings (cont)
0846-LAS 24V Power Supply

0550-ELS Remote Controller Power Supply Sch.
0550-ELS Power Supply Layout
0304-ELS Joystick Interface Board
0773-ELS 8-Channel Digital I/O board Schematic
0773-LAS 8-Channel Digital I/O board Layout
0300-ELS Diode logic Board Schematic
0459-ELS Alarm Board Schematic
0459-LAS Alarm Board Layout
0178-LAS Video Overlay Power Supply
0020-LAS Console 24vdc Supply Layout
1016-ELS Surface LIM Receiver Board Schematic
1016-LAS Surface LIM Receiver Board Layout
0099-ELS Tilt Unit Wiring Schematic
0908-WIS Thruster Wiring Schematic
TMS
HAN-1885-LAS TMS Layout
HAN-1886-WIS TMS Electronics Pod Wiring
HAN-1887-LAS TMS Electronics Pod Layout
HAN-1888-WIS TMS Transformer Box/Slip Ring Wiring
HAN-1889-WIS TMS Connecting Leads
1259-ELS TMS Light Switch/Capacitor Board Sch.
1259-ELS TMS Light Switch/Cap Board Layout
0264-LAS TMS Power Supply Layout
0053-ELS TMS Relay Board Schematic
0053-LAS TMS Relay Board Layout
0496-ELS TMS Camera BLD Board
0497-WIS TMS Camera Wiring Schematic.
Optional Equipment
1019-ELS Valve Pack Control Board Schematic
1019-LAS Valve Pack Control Board Layout
1018-WIS Valve/Hydraulic Power Pack Schematic
0226-HYD Valve/Power Pack Hydraulic Schematic
HAN-1890-HYS ROV Hydraulic Schematic
HAN-1891-WIS Manipulator Controller Wiring Schematic
HAN-1892-WIS HD camera Lead
HAN-1893-WIS Transponder Lead

7.3 Warranty
Sub-Atlantic warrant their ROV and TMS systems on a back to base basis
for a period of 12 months. Replacement parts will not be issued until the
defective items have been returned for inspection. Costs of returning
defective components to Sub-Atlantic shall be at the buyers 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. Sub-Atlantic will not warrant any
unauthorised modifications to their products and will not accept liability for
such alterations. Equipment sold by but not manufactured by Sub-Atlantic
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.
7.4 Service Support & Spare Parts

Sub-Atlantic 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 Sub-Atlantic part
number references on the drawings should be quoted.
Any technical queries should be directed to our technical department. A

24 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.
Sub-Atlantic Ltd.
Woodburn Road, Blackburn Business Park,
Blackburn,
Aberdeen. Scotland. U.K. AB21 OPS
Tel: 0044 (0)1224 798660

Fax: 0044 (0)1224 798661
E-Mail: sales@sub-Atlantic.co.uk
Web www.sub-atlantic.co.uk

8.0 AUXILLIARY VENDOR SUPPLIED EQUIPMENT MANUALS - Refer
to Volume 2

THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUB-ATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUB-ATLANTIC IS PROHIBITED THIRD ANGLE PROJECTION
IF IN DOUBT - ASK! Item No.
1
Qty
1
Description
Mohican - Frame Structure 1 Assembly
Sub-Atlantic Part Ref.
3100-MAS
Material
2 6 Thruster - SPE180 2554-MAS

3 1 Compensator Assembly - 370 cc 3120-MAS
4 1 Compensator Assembly - 860 cc 0830-MAS
5 1 Mohican - Buoyancy Set 2000m Assembly 2792-MAS
6 1 Transformer Assembly - 13kVA 2924-MAS
7 1 Mohican - Starboard - Electronics Enclosure 2923-MAS
8 1 Mohican - Port - Electronics Enclosure 2923-MAS
9 1 Compass Pod Assembly 0856-MAS
10 1 Light Fuse Bottle - 3000 msw 3089-MAS
11 2 ML1040 Light Assembly (Single Fixing) 0409-MAS-3000-SS
12 4 Mohican - Buoyancy Retainer 2 - 2000m 3094-DET
13 6 Mohican - Buoyancy Retainer 1 - 2000m 3093-DET
14 1 Light Saddle 2946-DET
15 2 Jubilee Clip 2 - Cameras Dia. as required
16 1 Jubilee Clip - Lamp Dia as required
17 1 ML1040 Light SPE-0002
18 2 Socket Head Cap Screw 1-4in x 1in long F-SHCS-1~4UNC-1-A270 Stainless Gr A2-70
19 2 Spring Washer 1-4 in F-SW-1/4-SS Stainless Steel
20 8 C-Sunk Head Socket Screw M6 x 45 long F-CSHS-M6-45-A270 Stainless Gr A2-70
21 36 Plain Washer M6 F-PW-M6-SS Stainless Steel
22 12 Nylok Hex Nut M6 F-NL-M6-A270 Stainless Gr A2-70
23 6 Penny Washer M8 F-PEN-M8-SS Stainless Steel
24 10 Spring Washer M8 F-SW-M8-SS Stainless Steel
27 20 Socket Head Cap Screw M6 x 30 long F-SHCS-M6-30-A270 Stainless Gr A2-70
29 4 Button Head Cap Screw M6 x 40 long F-BHCS-M6-40-A270 Stainless Gr A2-70
MATERIAL WT AIR WT WATER PROJECT

MOHICAN ROV
SEE BILL OF MATERIALS
- kg (E) - kg (E) TITLE
FINISH DRAWN EBR MOHICAN ROV - BASE BUILD
-
DATE 19/10/05
Woodburn Road,
Blackburn Business Park, Blackburn,
MAIN ASSEMBLY DRAWING
1 EBR 19/10/05 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK -
Aberdeen. U.K. AB21 0PS
Tel: ++44 (0) 1224 798660
Sheet 1 of 2
Fax: ++44 (0) 1224 798661
REV - -
1
DATE DESCRIPTION APP
3265-MAS
BY APPRV. SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. - A3 No.
IF IN DOUBT - ASK! 13
6
5
1
24
10
27
20 23
30 6
28 4
4 20
1 21 24
36 10 12
4 20 2 21
25 8 6 36
12
22
25 12
12 26 1
4 1
25
12 29 8
4 1
6
1 21
36
2 15
6 2
18 16
2 1
21 3 11 19
36 1 2 2 14
1
28
20 17
21 1
29 36
4
27 22
9 12 SEE DRAWING 3107-MAS
20 FOR GENERAL CAMERA ASSEMBLY
21 1
36 AND CABLE ROUTING
PROJECT
MOHICAN ROV
TITLE
7 11 MOHICAN ROV - BASE BUILD

1 2 Woodburn Road, MAIN ASSEMBLY DRAWING
10 Blackburn Business Park, Blackburn,
Aberdeen. U.K. AB21 0PS Sheet 2 of 2
NOTE. 1 Tel: ++44 (0) 1224 798660
USE ANTI GALLING COMPOUND ON ALL FASTENERS 22 Fax: ++44 (0) 1224 798661
21
3265-MAS 1
SCALE (USO) ORIG. SIZE DOC. REV
12
36 A3 No.
IF IN DOUBT - ASK! Item No. Qty Description Sub-Atlantic Part Ref.

REMOVE SHARP EDGES 1 1 Mohican - Main Assembly - Base Build 3265-MAS
2 1 Kit - Mohican - Kongsberg 1071 -6000m Sonar 3668-MAS
3 1 Kit - Mohican - Valvepack and Mount 3449-MAS
4 1 Kit - Mohican - Kongsberg OE15-108 Camera Mount 4013-MAS
15 5 1 Kit - Mohican Additional Buoyancy Set 2000m 3595-MAS
1 6 1 Hydrolek MB4 Manipulator SPE-0012
7 1 Kit - Mohican - Transponder Mounting Kongsberg MST319 4328-MAS
8 1 Camera - Kongsberg OE15-100 SPE-0135
7 9 1 Camera - Kongsberg OE14-366 SPE-0005
1
10 1 Camera - Kongsberg OE14-502A SPE-0337
13 11 2 Camera - Saddle 3954-DET
1
12 2 Camera Band F-WOR-90-120-SS
13 1 Sonar - Kongsberg 1071 Sonar - 6000m SPE-0211
14 1 Camera - Kongsberg OE15-108 SPE-0295
2 15 1 Transponder - Kongsberg MST FREE ISSUED
1 16 1 Chinese Finger - 15mm-20mm (Not Shown) CAA-0010
12
11 2 9
2 1
10
1
8
1
14 389
3 1 1
1 5 6
1 1
MATERIAL WT WATER PROJECT
-
WT AIR
MOHICAN ROV
FINISH DRAWN AJA MOHICAN ROV ASSEMBLY

-
DATE 06/12/2007
Woodburn Road,
SERIAL No: 012
USO, TOLERANCES TO BE CHECK ABO
Aberdeen. U.K. AB21 0PS MAIN ASSEMBLY DRAWING
1 AJA 06/12/2007 ISSUED FOR CONSTRUCTION Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661 Sheet 1 of 1
REV GDU
3142-MAS-012 1
BY DATE DESCRIPTION APP APPRV. SCALE (UOS) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. AJA 1:10 A3 No.
IF IN DOUBT - ASK! Item No. Qty Description Sub-Atlantic Part Ref. Material
1 1 Mohican - Frame Structure 3 Assembly 3098-MAS
2 1 Mohican - Frame Structure 2 Assembly 3099-MAS
3 1 Mohican Frame - Port Side Panel 1 2868-DET
4 1 Mohican Frame - Stbd Side Panel 1 2872-DET
5 2 Mohican Frame - Forward Stiffener 1 2863-DET
6 1 Mohican Frame - Tilt Unit Mounting Plate 1 3069-DET
7 1 Tilt Unit (Plastic) With Comp 0245-MAS
8 28 Nut - M8 x 12 x 25 Round 3065-DET
9 20 Nut - M8 x 12 x 20 Round 2507-DET
10 1 Chain 1 - 8mm Pitch Stainless MIS-0177
11 1 Camera Saddle - Mohican 2887-DET
12 1 Camera Sprocket Retainer 1 - Mohican 2906-DET
13 2 Sprocket 1 - 8mm x 27 Teeth 2905-DET
22 15 Flat Wire Clip CAA-0020
23 30 Self Tapping Screw No.8 x 12.7 long F-STPH-No8-12.7-A270 Stainless Gr A2-70
4 30 6 M12 x M8 Captive Retainer 1077-DET

MOHICAN ROV
4 ABO 16/11/2006 6 M12 X M8 CAPTIVE RETAINER ADDED
3 GDU 27/10/2005 2 M8 X 70 ADDED, 2 M8 X 60 REMOVED
FINISH DRAWN EBR MOHICAN - FRAME STRUCTURE 1
-
2 GDU 24/08/2005 CAMERA AND LIGHT REMOVED FROM ASSEMBLY ECN-372-05 GDU
DATE 30/06/05
Woodburn Road,
Blackburn Business Park, Blackburn, ASSEMBLY DRAWING
1 EBR 30/06/05 APPROVED FOR MANUFACTURE GDU
USO, TOLERANCES TO BE CHECK GDU
Tel: ++44 (0) 1224 798660 Sheet 1 of 2
Fax: ++44 (0) 1224 798661
REV - GDU
4
3100-MAS
RECORD OF REVISIONS ENGR. GDU A3 No.
IF IN DOUBT - ASK!
NOTES :
3
- USE ANTI GALLING COMPOUND ON ALL FASTENERS 19 1
8 15
- PUT THE M12 X M8 CAPTIVE RETAINERS (ITEM 30)
BEFORE ASSEMBLING THE SIDE PANELS 62 16
65
2
4 1
9
20
22
15
21
2
23 20 16 15 17
30 8 65 62 44
16
65 18
4
9 9 SEE DRAWING 3107-MAS

20 20 5 FOR ORIENTATION
2 OF "V"'s ON BLOCK
11
26 1
6 9
16 20
15 65 8 10
62 20 28 1
17 13
16 15 8 6 2
44
15 65 62 1
16 12
17 62 16
20 65 15 13 25 1
44 65 19 14
8 62 2 6
8 2
4 8 28 24
1 28 4 6
1 29 7
1 4 1
27
4 PROJECT
MOHICAN ROV
16 TITLE
65
30
MOHICAN - FRAME STRUCTURE 1
15 Woodburn Road,
62 6 Blackburn Business Park, Blackburn,
Tel: ++44 (0) 1224 798660 Sheet 2 of 2
17 Fax: ++44 (0) 1224 798661
44
3100-MAS 4
A3 No.
1
Qty
1
Description
Mohican - Slew Crank Assembly
Sub-Atlantic Part Ref. Material
2919-MAS
2 4 Mohican - Slew Bar Assembly 2921-MAS
3 4 Slew Assembly - SPE180 2920-MAS
4 1 Mohican Frame - Upper Deck 1 2873-DET
25 5 2 Mohican Frame - Cross Member 1 2861-DET
2 6 2 Mohican Frame - Longitudinal 1 2865-DET
19 8 2 Mohican - Lift Bar Retainer 1 3074-DET
9 1 Mohican - Lift Pin 1 3068-DET
34 10 1 Mohican - Lift Bar 1 3073-DET
11 2 Mohican - Tether Guide 1 2979-DET
12 1 Mohican - Tether Guide 2 3067-DET
13 6 M12 x M8 Captive Retainer 1077-DET
14 20 Nut - M8 x 12 x 20 Round 2507-DET
11 18
19
8
34
Button Head Cap Screw M8 x 60 long
Plain Washer M8
F-BHCS-M8-60-A270 Stainless
F-PW-M8-SS Stainless
Gr A2-70
Steel
2 20 18 Spring Washer M8 F-SW-M8-SS Stainless Steel
11 22 10 Button Head Cap Screw M8 x 50 long F-BHCS-M8-50-A270 Stainless Gr A2-70
2 23 12 C-Sunk Head Socket Screw M8 x 35 long F-CHSS-M8-35-A270 Stainless Gr A270
19 25 2 Hex Bolt M8 x 115 F-HB-M8-115-A270 Stainless Gr A2-70
26 4 Flanged Bearing 16 x 18 x 12 BRG-X161812
34 27 2 Sleeve Bearing 16 x 18 x 20 BRG-X161820
24
14
13
6

SEE BILL OF MATERIALS MOHICAN ROV
-
- - - -
DATE 29/06/05
Woodburn Road,
1 EBR 29/06/05 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK GDU
Tel: ++44 (0) 1224 798660 Sheet 1 of 2
Fax: ++44 (0) 1224 798661
REV - GDU
1
3099-MAS
IF IN DOUBT - ASK!
9 26 26 27 5
1 4 4 2 2
NOTE.
USE ANTI GALLING COMPOUND ON ALL FASTENERS
10
1
23
12
26 16
4 8 6
22 2
10 20 15
26 1 6
18 4 2
19 27
34 2 21
17 6
6
14
20 7
1
12
14 1
20 19
34
22 24
10 19 14
4 34
1
5
14 2
20
14
20 20
2 18
4 19 20 22
34 18 10
3 1
4 1
19
34
NOTE THE ORIENTATION
OF THE PIN AND MARKS 20 PROJECT
SEE DRAWING 2920-MAS 18 MOHICAN ROV
TITLE
18
8 MOHICAN - FRAME STRUCTURE 2
Woodburn Road,
Blackburn Business Park, Blackburn, MAIN ASSEMBLY DRAWING
Tel: ++44 (0) 1224 798660 Sheet 2 of 2
Fax: ++44 (0) 1224 798661
3099-MAS 1
A3 No.
1
Qty
1
Description
Mohican Frame - Lower Deck 1
2866-DET
Material
2 1 Mohican Frame - Rear Pillar - Stbd 2871-DET

3 1 Mohican Frame - Rear Pillar - Port 2867-DET
4 1 Mohican Frame - Rear Cross Pillar 1 2869-DET
5 1 Mohican Frame - Brace 1 2860-DET
6 2 Mohican Frame - Pod Support 3066-DET
7 4 Electronics-Pod Band - Mohican 2930-DET
8 4 9 x 12 x 38 Round Anchor 0401-DET
9 14 Nut - M8 x 12 x 25 Round 3065-DET
10 8 Nut - M8 x 12 x 20 Round 2507-DET
11 12 6 M12 x M6 Captive Retainer 3108-DET
20 1 Eyebolt M10 x 45 lg 1183-DET
11
8
12
6

MOHICAN ROV
-
2 ACR 17/02/06 CAPTIVE INSERTS FOR COMPASS ADDED
DATE 28/06/05
Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 1 of 2
Fax: ++44 (0) 1224 798661
REV - GDU
2
3098-MAS
IF IN DOUBT - ASK!
3 15 16 19
1 26 22 8 13 NOTE.
10 4 USE ANTI GALLING COMPOUND ON ALL FASTENERS
8 15
26
16
2 4 22
1 1 5
7
4 1
13
4
15
26
8 7
6 19 4 4
15 8
2 8 17 9 4
26 4 14
16
22
9 10 9
14 8 14
17
4
9
14
1
1
15
26
18
15 4
PROJECT
MOHICAN ROV
26 TITLE
16 MOHICAN - FRAME STRUCTURE 3

22 Woodburn Road,
14
Tel: ++44 (0) 1224 798660 Sheet 2 of 2
10 Fax: ++44 (0) 1224 798661
3098-MAS 2
A3 No.
IF IN DOUBT - ASK! REMOVE SHARP EDGES
Item No. Qty Description Sub-Atlantic Part Ref.

1 1 1 Mohican - Buoyancy Block 4- 2000m 3047-DET
2 1
3 1 Mohican - Buoyancy Block 2- 2000m 3045-DET
2
3
1
4
1

MOHICAN ROV
SEE BOM
FINISH DRAWN EBR
Woodburn Road,
MOHICAN - BUOYANCY SET 2000 MSW
2 GDU 07/06/2005 COMPLETE REDESIGN
DATE 7/02/05 Blackburn Business Park, Blackburn, ASSEMBLY DRAWING
Sheet 1 of 1
1 EBR 7/02/05 APPROVED FOR MANUFACTURE CMI
USO, TOLERANCES TO BE CHECK GDU Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
REV GDU
2
2792-MAS
RECORD OF REVISIONS ENGR. CMI 1:3 A3 No.
1 2 Mohican - Buoyancy Block 5- 2000m 3594-DET
REMOVE SHARP EDGES 2 4 Penny Washer M8 F-PEN-M8-SS Stainless Steel
4 4 Hex Screw M8 x 170 long F-HHS-M8-170-A270 Stainless Gr A2-70
4
3 4
4 1
2
2 5
4 4

MOHICAN ROV
SEE BOM
- - KIT - MOHICAN ADDITIONAL
kg (E) kg (E) TITLE
FINISH GDU
BUOYANCY SET 2000 MSW
DRAWN
Woodburn Road,
24/04/2006
DATE Blackburn Business Park, Blackburn,
Aberdeen. U.K. AB21 0PS ASSEMBLY DRAWING
AJA
1 GDU 24/04/2006 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 1 of 1
REV GDU
1
3595-MAS
RECORD OF REVISIONS ENGR. GDU 1:3 A3 No.
Item No. Qty Description Sub-Atlantic Part Ref. Material
1 1 SPE-180 Rotor Sub-Assembly 2547-MAS
2 1 Body - SPE180 2544-DET
3 4 Threaded Insert 2050-DET
4 1 Stator Liner - SPE180 2540-DET
TIE CABLE BACK 5 1 Rear Bearing Housing - SPE180 2752-DET
ONTO PENETRATOR 6 1 Compensator Body 21 cc SPE180 2753-DET
7 1 Piston - 21 cc - SPE180 2755-DET
8 3 Nozzle Support - SPE180 2756-DET
9 3 Nozzle Support Extension - SPE180 2757-DET
5 10 1 Nozzle - SPE180 2543-DET
CHARGING 11 1 Body Cover - SPE180 2759-DET
POINT 12 2 Bleed Screw 8MM 1766-DET
13 1 Comp. Spring 1.83 WD x 24.64 OD x 88.9 lg 2754-DET
14 1 Anode 25 x 6.3 x 18 lg 1763-DET
15 1 Ceramic Insulator - IGBT - SPE180 2758-DET
16 1 Propeller Cap - SPE180 2976-DET
17 1 Stator - SPE180 SPE-0125
18 1 Diaphragm - 35 x 30 x 22 DIA-0011 Nitrile
19 1 PCB-0876- SPE180 Thruster Control Board PCB-0876
20 2 1-8 Series 21 Coupling Body HYD-0080
21 3 Dowty - 1~8 Inch BSPP SEA-0015 St. Steel/Nitrile
22 1 SPE180 Thruster Penetrator CAB-0063
23 1 O-RING 3.00 x 56.0 SOR-300-0560-N70 Nitrile 70
24 1 O-RING 2 x 80 SOR-200-0800-N70 Nitrile 70
26 2 O-RING 1.78 x 4.76 (BS 802) SOR-178-0048-N70 Nitrile 70
27 1 O-Ring - Body Cover SPE180 SOR-300-1020-N70 Nitrile 70
TIE CABLE BACK 29 3 Socket Head Cap Screw M6 x 20 long F-SHCS-M6-20-A270 Stainless Gr A2-70
ONTO BOLT 30 3 Socket Head Cap Screw M6 x 65 long F-SHCS-M6-65-A270 Stainless Gr A2-70
31 4 Socket Head Cap Screw M5 x 25 F-SHCS-M5-25-A270 Stainless Gr A2-70
33 4 C-Sunk Head Socket Screw M5 x 20 long F-CHSS-M5-20-A270 Stainless Gr A2-70
5 34 8 Plain Washer M6 F-PW-M6-SS Stainless Steel
43 2 Self Tapping Screw No.6 x 25.4 long F-STPH-No6-25.4-A270 Stainless Gr A2-70
44 4 Socket Head Cap Screw M2.5 x 8 long F-SHCS-M2.5-8-A270 Stainless Gr A2-70
45 4 Spring Washer M2.5 F-SW-M2.5-SS Stainless Steel
46 3 Plain Washer M2.5 F-PW-M2.5-SS Stainless Steel
47 1 Uninsulated Eyelet Terminal - 6BA-M3 ELA-0026
48 2 Plug Sub Assy - SPE 180 2993-IAS
49 1 Hex Plug 1-8 BSPP HYD-0147 Stainless Steel
50 6 Regulator Isolation Sleeve MIS-0151
51 1 SPE-180 PCB Insulation 3551-DET
PRODUCT P/N SA-P-2554-MAS

SEE BOM
SPE-180 THRUSTER
5 GDU 09/01/07 NOTES ABOUT O'RING SIZE AND CABLES ADDED
SPE-180 THRUSTER MAIN ASSEMBLY

4 GDU 21/12/06 PCB INSULATION. ECN-423-06 CMI FINISH DRAWN EBR
3 GDU 16/08/05 REGULATOR BUSH ADDED. ECN-377-05 CMI -
2 GDU 11/08/05 TIGHTENING TORQUE ADDED ECN-0367-05 CMI
DATE 28/03/05
Woodburn Road,
Blackburn Business Park, Blackburn, DRAWING
1 EBR 28/03/05 APPROVED FOR MANUFACTURE CMI USO, TOLERANCES TO BE CHECK GDU
Tel: ++44 (0) 1224 798660 Sheet 1 of 3
Fax: ++44 (0) 1224 798661
REV - CMI
5
2554-MAS
RECORD OF REVISIONS ENGR. CMI 1 : 2.5 A3 No.
IF IN DOUBT - ASK!
EARTH CONNECTOR
11 19 46 44 22 17 27
1 10
1 3 4 1 1 1 1
34 38 28
8 1 1
14
1
21
3 1
20 1
2
43
2
48
2
6
1
13
1
7 16
1 1
18
1
26 12 5 24 25 12 26 2 4 8
2 2 1 1 2 2 2 1 1 3
9
3
29 36 34
3 6 8
30 36 34
3 6 8
PROJECT
SPE-180 THRUSTER
SECTION VIEW (1 : 1.5) TITLE
SPE 180 THRUSTER ASSEMBLY-

Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 2 of 3
Fax: ++44 (0) 1224 798661
2554-MAS 5
A3 No.
IF IN DOUBT - ASK! 17 27
33
1 4 WARNING:
1 BEFORE REMOVING THE CONNECTOR CAP ASSEMBLY
11 48 ENSURE THAT ALL WATER/OIL IS REMOVED FROM THE
40 1 2 ROTOR CAVITY. THIS IS DONE BY POSITIONING THE
6 42 20 THRUSTER WITH THE PROPELLER FACING DOWNWARDS
32 6 2 LOOSEN THE BLEED SCREW AND BLOW AIR THROUGH
51 21
4 6 41 THE CHARGING POINT USING AN EMPTY FLUSHING PUMP.
4 LUBRICATE 1 3
1 6
1 19 ENSURE O'RING - SOR-200-0170-N70 IS FITTED
13 25 1 50
1 2 6
7 15 22 5
1 48 1 1
37 2 38
18
4 1 NOTE THAT ONE PLAIN WASHER
1 20
35 49 (46) IS REPLACED WITH AN
2 35 34 1 EARTH CONNECTOR. SEE WIRING
16 21
16 8 SCHEMATIC 0908-WIS FOR DETAILS
21 3 REMOVE ANODISING LOCALLY
3 FOR GOOD EARTH CONTACT
46 45 44
3 4 4
14
31 1 BLEED
4 3
4 POINT
8
12 34 3 9 34
2 36 30
26 8 3 8 6 3
5 35 16 43
2 1 28 16 1
39 2
24 1
TORQUE M5 BOLTS TO 4Nm 25 8
4 PLC'S 1 2
23
LUBRICATE 2 1
1
1. WIRING NOT SHOWN. REFER TO DRAWING 0908-WIS FOR WIRING DETAILS LUBRICATE
1
2. FILLING/CHARGING THRUSTERS 1
3.1. THE THRUSTER HAS BEEN DESIGNED TO RUN FILLED WITH OIL.
SHELL NATURELLE HF-E46 IS A SUITABLE BIODEGRADEABLE OIL. 34
ALTERNAIVELY SHELL 148 TRANSFORMER OIL SHOULD BE USED. 8 36
6
3.2. REMOVE THE BLANKING CAP FROM THE CHARGING POINT AND CONNECT UP 29
THE FLUSHING CHARGING PUMP. 3
3.3. POSITION THE THRUSTER SO THAT THE PROPELLER IS UPWARDS.
3.5. CHARGE UP THE PUMP AND OPEN THE PUMP VALVE.
3.6. LOOSEN THE BLEED SCREW LOCATED ON THE FRONT BEARING
10
1
PRODUCT P/N SA-P-2554-MAS
HOUSING. PROJECT
SPE-180 THRUSTER
TITLE
3.7. WHEN ALL THE AIR IS EXPELLED AND WHILE WATER OR OIL
IS STILL RUNNING FROM THE BLEED POINT, RE-TIGHTEN THE SPE-180 THRUSTER ASSEMBLY
BLEED SCREW CLOSE THE VALVE AND REMOVE THE PUMP FROM Woodburn Road,
DRAWING
THE THRUSTER. Aberdeen. U.K. AB21 0PS
Tel: ++44 (0) 1224 798660 Sheet 3 of 3
3.8. REMEMBER TO REPLACE THE BLANKING PLUG. Fax: ++44 (0) 1224 798661
2554-MAS 5
A3 No.
1 1 Rotor Intermediate Assembly- SPE180 2551-IAS
IF IN DOUBT - ASK!
2 1 CT-01 Wear Ring 0320-DET
3 1 Bearing Sleeve - SPE75 2056-DET
13
4 1 Bearing Retainer M5 2057-DET
4 1
5 1 Front Bearing Housing - SPE180 2542-DET
6 1 Bleed Screw 8MM 1766-DET 15 1
7 1 Propeller - SPE180 SPE-0122 1
8 1 Drive Pin - SPE180 Part of SPE-0122 1 THREADLOCK
9 2 Rotary Seal 25 x 35 x 7 SEA-0001 Nitrile/SS Spring 1
12 1 Penny Washer M8 F-PEN-M8-SS Stainless Steel
13 1 C-Sunk Head Socket Screw M5 x 12 long F-CHSS-M5-12-A270 Stainless Gr. A2-70
14 1 O-RING 1.78 x 4.76 (BS 802) SOR-178-0048-N70 Nitrile 70 3
15 1 Deep Groove Ball Bearing - 6001 BRG-6001 1
16 1 Deep Groove Ball Bearing - 6203 BRG-6203
16
10 1
2 1
LUBRICATE 1
9
6 14 2
1 1 9
2
2
7 1 16 9 14 6
1 LUBRICATE 1 2
1 1 1
LUBRICATE
2
LUBRICATE 12
4 1
1
13
THREADLOCK 1
11 TORQUE
1 3.4 Nm
TORQUE 13 15 2.5 lb.ft
3.4 Nm 8 1 3
1 1
2.5 lb.ft 1
7
12 NOTE DRIVE PIN (8) TO BE INSERTED IN 10 2 5 8 1
11 1 SHAFT AFTER ASSEMBLY OF ALL COMPONENTS 1 1 1
1
1 PRIOR TO THE PROPELLER.
SECTION VIEW
SPE-180 THRUSTER
FINISH DRAWN GDU SPE-180 ROTOR SUB ASSEMBLY-
-
2 EBR 20/01/06 POSITION OF REAR SHAFT SEAL REVERSED. SEALS NOW BACK TO BACK
DATE 14/07/2004
Unit 12, Airways Industrial Estate
Pitmedden Road, Dyce. MAIN ASSEMBLY DRAWING
1 GDU 14/07/2004 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK CMI
Aberdeen. U.K. AB21 0DT
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - CMI
2
BY DATE DESCRIPTION APP APPRV.
2547-MAS
IF IN DOUBT - ASK! 9
1 1 Slew Housing - SPE180 2774-DET
5 2 1 Slew Shaft - SPE180 2777-DET
3 1 Slew Shaft Retainer - SPE180 2775-DET
11 4 1 Slew Spacer - SPE180 2778-DET
1 5 4 Insert - Threaded M6 x M10 2165-DET
6 1 Slew Pin 2779-DET
7 2 Deep Groove Ball Bearing with Shields - Stainless BRG-S6007-2RSR Stainless Steel
3 8 1 Filter Screen - 8mm HYD-0095
12
2 12 2 Dowel Pin 2.5 dia x 10 long F-DP-2.5-10-SS Stainless Steel
13 4 C-Sunk Head Socket Screw M8 x 35 long F-CHSS-M8-35-A270 Stainless Gr A270
7
2
10
5
1 9
1 5
8
1 NOTE POSITION OF MARKS
RELATIVE TO SLEW PIN WHEN
MOUNTING TO VEHICLE FRAME
4 SECURE WITH
1 LOCTITE 638
13
4
7
2
5 6
4 1
SECURE WITH
LOCTITE 638 SECURE WITH
LOCTITE 638
2
1
10
5
NOTE.
MOHICAN ROV
FINISH DRAWN EBR SLEW ASSEMBLY - SPE 180
-
- - - -
DATE 22/03/05
Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
1
2920-MAS
1 1 Mohican - Slew Crank 1 2907-DET
2
4 2 4 Crank Pin 2915-DET
3 1 Camera Bracket Key 0088-DET
1
1
3
1
5
4
7
1 4
4
8
1
6
1 NOTE.
MATERIAL WT AIR WT WATER PROJECT MOHICAN ROV

FINISH DRAWN EBR MOHICAN - SLEW CRANK
-
- - - -
DATE 21/03/05
Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
1
2919-MAS
RECORD OF REVISIONS ENGR. CMI A3 No.
1 1 Mohican - Slew Bar 1 2877-DET
2 2 Flanged Bearing 8 x 10 x 7.5 BRG-X0810075
2
2
1 NOTE THE ORIENTATION OF THE SLEW BAR

1 TO THE FACE ON WHICH THE FLANGE OF THE BUSH
IS IN CONTACT WITH
2
2

MOHICAN ROV
SEE BILLS OF MATERIALS
FINISH DRAWN EBR MOHICAN - SLEW BAR ASSEMBLY
- - - -
-
DATE 22/03/05
Woodburn Road,
Tel: ++44 (0) 1224 798660
Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
1
2921-MAS
RECORD OF REVISIONS ENGR.
CMI A3 No.
1 1 Termination Board Assembly - 3000 V 3105-MAS
2 1 Transformer Box - 13 kVA 2760-DET
3 1 Transformer 13KVA 3084-DET
4 1 Transformer Box Lid - 13 kVA 2761-DET
5 1 Junction Box Cover 3042-DET
6 27 M6 x M9 Threaded Insert 1201-DET
7 13 M6 x M9 Threaded Insert (straight) 3110-DET Stainless Steel
8 2 Anode 25 x 6.3 x 18 lg 1763-DET
9 1 Gland - 3~4 Inch Hose x 5~8 UNF 3104-DET
10 2 Bleed Screw 6MM 0267-DET
11 1 Water Ingress Sensor LHS and RHS Holes 1238-IAS
12 1 Water Ingress Sensor LHS Holes 1227-IAS
13 2 Bridge Rectifier 70AMP DIO-0002
14 1 Dowty - 1~2 Inch BSPP SEA-0014 Stainless Steel
15 1 Cable Gland (Double Seal-Size A M20) CAA-0038 Brass
18 4 1-8 BSPP Plug HYD-0026 Stainless Steel
3 19 1 Temperature Sensor 1 ELA-0102
20 1 Bulkhead Connector Size B 12 Pin Female SABRB12F050018 Stainless Steel
21 1 Metal Shell Whip Size B SAPLB12F065018PN
22 1 Bulkhead Connector Size A 3 Pin Female SABRA03F050018 Stainless Steel
23 1 O-ring -Transformer Box End SOR-400-2180-N70
24 1 O-ring - Transformer Box Lid SOR-400-3650-N70
3 30 16 Socket Head Cap Screw M6 x 30 long F-SHCS-M6-30-A270 Stainless Gr A2-70
40 1 Studbar M5 X 35 long F-SB-M5-35-A270 Stainless Gr A2-70
41 2 Hex Nut M5 F-HN-M5-A270 Stainless Gr A2-70

MOHICAN ROV
3 GDU 17/01/07 ITEM 19 PART REF. CHANGED AND ITEM 30 - LONGER BOLTS
FINISH DRAWN EBR TRANSFORMER 13Kva ASSEMBLY-
-
2 ACR 23/03/06 ITEM 9 PART REF. CHANGED TO 3104-DET, ITEM 26 CHANGED TO FIT
DATE 22/03/05
Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 1 of 2
Fax: ++44 (0) 1224 798661
REV - GDU
3
2924-MAS
IF IN DOUBT - ASK! 18 LOCTITE 29 30
4 638 36 16 BREAK ANODISING ON LID
4 16 28 UNDERNEATH ANODE AND
7 7 CHECK CONTINUITY WITH
1 13 36
27 BASE, AFTER LID EARTH WIRE
16 8 HAS BEEN CONNECTED
2 NOTES
29 1) USE ANTI GALLING COMPOUND ON ALL FASTENERS
36 2) USE SILICONE GREASE ON ALL O' RINGS
CHECK O' RING IS FITTED 3) SEE ELECTRICAL WIRING DIAGRAM FOR WIRING DETAILS
33
28 13 4) FILL TRANSFORMER BOX WITH SHELL DIALA BG TRANSFORMER
36 17 20 22 OIL OR EQUIVALENT
33 3 1 1 9
38 19 13 1
33 21
1 1 32 1 15
13 31
5
39 7 1
1 42
37 1
1 35 EARTH CABLE LOCTITE
24 3 EARTH CABLE 601
1
3
12
1 36 14
1
4 1
2
1
26 1
16 1 1
7 5
17 LOCTITE 1
3 601
16 25
36 33 2
7 23 11 4 13
1 1 10
LOCTITE 31 2
638 7
41 16
6 2 7
27 33
13 17
3
33 33
7 13 13
40 28
13 35 31 32 36 29
6 1 3 7 5 36
SAME DETAIL AS 27 30
EARTH CABLE 16
OTHER END OF STUD (BOTH SIDES)
LOCTITE PROJECT
638 MOHICAN ROV
13 TITLE
2
28 TRANSFORMER 13KVA ASSEMBLY
36 29 Woodburn Road,
Blackburn Business Park, Blackburn, DRAWING
36 Aberdeen. U.K. AB21 0PS
Sheet 2 of 2
34 Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
4
2924-MAS 3
1:? A3 No.
1 1 Termination Plate - 3000 V 3101-DET
2 1 Termination Board Divider 3102-DET
3 1 Fibre Optic Bracket - Mohican 3118-DET
4 1 3-way Connector strip 1237-IAS
5 2 Grommet - Quick Fit 12 Cable Dia CAA-0028
6 4 Fibre Optic Connector ELA-0087
7 4 Fibre Optic Connector Washer Part of ELA-0087
8 4 Fibre Optic Connector Nut Part of ELA-0087
9 4 Termination Stud - 6 mm SB-M6-44-A270
12 1 14 4 Nylok Hex Nut M3 F-NL-M3-A270 Stainless Gr A2-70
10 21 15 2 Button Head Cap Screw M3 x 12 long F-BHCS-M3-12-A270 Stanless Gr A2-70
18 4 20 1 Fuse 25A 551-934
8 17 21 2 Hex Screw M6 x 25 long F-HHS-M6-25-A270 Stainless Grd A2-70
10 4
32 24 18 22 2 M3 x 6 Spacer F-HSS-M3-6-A270 Stainless Gr A2-70
1 8 23 2 Button Head Cap Screw M3 x 5 long F-BHCS-M3-5-A270 Stainless Gr A2-70
16 24 1 Water Ingress Sensor LHS and RHS Holes 1238-IAS
10
4
1 14
18
8 4
13
17 8
4
8 16
4 10
10
7 32
4 5 10
2 2 12 32
1 10
6 11
4 8
10
32
10
32 9
11 4
12 8
10 10
15 13 22 32
2 8 2 10
23 13 3 32
2 1 16
8 10
MOHICAN ROV
2 AJA 18/04/2006 FUSE AND WATER INGRESS SENSOR ADDED, CONNECTOR MOVED AND
FINISH DRAWN EBR TERMINATION BOARD ASSEMBLY-
-
SPACERS ADDED (ECN-402-06)
DATE 5/07/05
Woodburn Road,
1 EBR 5/07/05 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK MBI
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
2
3105-MAS
Item No. Qty Description Sub-Atlantic Part Ref. Material Item No. Qty Description Sub-Atlantic Part Ref. Material REMOVE SHARP EDGES
1 1 EF8 Main Assembly ELA-0088 57 64 Plain Washer M4 F-PW-M4-SS Stainless Steel IF IN DOUBT - ASK!
2 1 Hazard Warning Sign 3000 Volts 3722-DET 58 32 Nylok Hex Nut M4 F-NL-M4-A270 Stainless Gr A2-70
3 1 Information Label - Rotary Switch 3723-DET 59 22 Nylok Hex Nut M5 F-NL-M5-A270 Stainless Gr A2-70
4 1 Cable Gland Brass Size C CAA-0014 Brass
5 1 PDU Tx Box 13kVA Assembly 3096-MAS NON DISPLAYED COMPONENTS
6 2 Transformer Box Mount - 13 kVA 3081-DET 60 4 Switch Bulb ELA-0122
7 1 Inverter 15 kW with Mains Filter ELA-0089 61 2 Fuse 1A ELA-0054
8 1 Classic XCKS Plastic Switch - Roller ELA-0115
9 2 Tico strip for Tx Box 3360-DET
10 3 Fan - Electric - 4650 Z ELA-0084
11 3 Finger Guard ELA-0085
12 3 DIN Rail 175 Long, M4 Holes 3359-DET
13 1 DIN Rail x 110 LONG 3892-DET
14 3 DIN Rail - Earth Terminal ELA-0123
15 6 High Voltage Terminals CAA-0066
16 1 High Voltage Terminals - End Plate CAA-0067
17 2 EK 10 Earth Terminal CAA-0089
18 2 SAK 4.0 Standard Terminals CAA-0048
19 1 SAK 4.0 Shield CAA-0050
20 1 End Stop for DIN Rail-EW 35 CAA-0098
21 4 Switch Body ELA-0121 23
22 2 Switch Button - Red ELA-0119
23 2 Switch Button - Green ELA-0120
24 4 Terminal Relay - Socket ELA-0116
25 4 Terminal Relay - Diode ELA-0117
26 4 Terminal Relay - Relay ELA-0118 3
27
27 2 Contactor - Telemecanique TeSys LC1D65P7 ELA-0081
28 1 Current Transformer 60-5A ELA-0100
29 1 IP67 Inspection Window ELA-0086
30 1 3 Pole IP65 Switch, 32A ELA-0083
32 1 3 Pole Circuit Breaker-20A ELA-0092
33 1 6 Way Panel Mounted Power Connector CON-0075
34 1 Connector - Panel Mounted Socket H-BE-16 CON-0038
35 2 Fuse Holder ELA-0039
36 1 Rotary Switch Top Support Bracket 3713-DET
37 1 Rotary Switch Bottom Support Bracket 3712-DET
38 1 High Voltage Rotary Switch - 3000V SPE-0227
47 14 Socket Head Cap Screw M4 x 12 long F-SHCS-M4-12-A270 Stainless Gr A2-70 NOTE POSITION OF SWITCHES
51 4 Button Head Cap Screw M5 x 12 long F-BHCS-M5-12-A270
53 8 Nylok Hex Nut M10 F-NL-M10-A270 Stainless Gr A2-70 NOTE: SEE ELECTRICAL SCHEMATIC FOR WIRING DETAILS

MOHICAN
- - kg (E) - kg (E)
DRAWN DAN TITLE PDU CONTROL BOX - TYPE 2
3 ABO 12/12/06 ASSEMBLY, ASSEMBLY NAME & BOM UPDATED
FINISH
- DATE 04/05/06 Woodburn Road, 13 kVA - ROV + TMS VERSION
2 ABO 29/11/06 LIMIMIT SWITCH CHANGED - ISSUED FOR CONSTRUCTION CHECK GDU
1 DAN 04/05/06 APPROVED FOR CONSTRUCTION - USO, TOLERANCES TO BE
APPRV. GDU
Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661 Sheet 1 of 2
3769-MAS 3
REV BY DATE DESCRIPTION APP SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. DAN 1:6 A2 No.
IF IN DOUBT - ASK! 51 2 REMOVE SHARP EDGES

SEE 3714-DET FOR HOLE DETAIL 4 1 SUPPLIED WITH ITEM 38
SEE 3079-DET FOR CUT OUT DETAILS
3 25 HOLE TO
SEE 3082-DET FOR HOLE DETAIL 1 BE DRILLED
DURING 8 55 43
ASSEMBLY 55 31
1 36 4 3
(TOUCH UP PAINT 59 36 35 SEE NOTE 1
AFTERWARD) 22 2
23 SEE NOTE 1
123 2
.10
30
1
.70 50
247 4
12
3 34
1
55
42 36 33
4 59 27 1
54 22 2 13
8 36 1
19 16 1 49
18 1 4
2 1 47
15
17 57 14
6
2 64
29
45 1
57 2
7 24 64
1 4 57
26 21
58 64 4
54 25 4
8 4 32
SEE 3078-DET FOR CUT OUT DETAILS 56 57
4 64 47 32
14 1
48
32 HOLE TO BE DRILLED IN 57 4 57
THE CENTER OF THE PART 40
12 64 64
4
3 58
57
52 5 64 58 32
16 1 58 32
14 38
28 32
20 3 1
9 1
2 1
4
55 1
36
44
10 58
57 32
64
10
3 37
1 SEE NOTE 4
44
52 10
16
55
53 36
8
11
3 55
57 36
64
46
12 41 59
4 22
1
NOTES: 1 52
52 16
1- NON DISPLAYED COMPONENTS ARE FITTED IN THAT AERA, 16
PROJECT
REFERS TO PAGE 1 BILL OF MATERIAL AND WIRING DIAGRAM FOR DETAILS. SEE 3080-DET FOR HOLE DETAIL MOHICAN
53
2- TO ASSEMBLE THE BOX, (ITEM 1) USE THE FASTENERS PROVIDED WITH THE KIT 8 TITLE PDU CONTROL BOX - TYPE 2
(THOSE FASTENERS ARE NOT DISPLAYED) Woodburn Road, 13 kVA - ROV + TMS VERSION
3- ONE OF THE TWO SIDE PANEL IS HIDDEN
Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661 Sheet 2 of 2
4- USE SCREW, SPRING WASHER AND PLAIN WASHER SUPPLIED WITH ITEM 38 TO
3769-MAS 3
SECURE ITEM 37 TO ITEM 38 1:7 A2 No.
1 1 PDU Tx Box 13kVA 3076-DET
12 5
11 22 2 1 Transformer PDU 13KVA 3246-DET
52 2
19 2 3 1 PDU Tx Box Lid 13kva 3077-DET
29 3
1 25 1 4 1 PDU Tx Box Gasket 13kva 3097-DET
12 24 5 2 G-Type DIN Rail x 210 mm 3117-DET
3 4
1 6 1 Sine Filter - 25A ELA-0078
7 1 High Voltage Coupler ELA-0022
26 5 8 1 Valve - Check 3-50 PSI HYD-0030
2 2 9 1 Drain Plug 1-2 BSP HYD-0178
28
3 7 10 1 Column level Indicator HYD-0179
27
3 1 11 19 Socket Head Cap Screw M6 x 25 long F-SHCS-M6-25-A270 Stainless Gr A2-70
26
21 13 25 Nylok Hex Nut M6 F-NL-M6-A270 Stainless Gr A2-70
4 15 23
2 14 4 Socket Head Cap Screw M5 x 25 F-SHCS-M5-25-A270 Stainless Gr A2-70
4
12 20
52 16 1 Cable Gland (Double Seal-Size A M20) CAA-0038 Brass
4
17 1 Cable Gland (Single Seal-Size Os) CAA-0054 Brass
14 18 1 Cable Gland Brass Size A CAA-0013 Brass
2
4 1 19 3 M20 Dowty (20.7 ID) SEA-0044 Stainless Steel
12
1 21 4 Hex Nut M5 F-HN-M5-NYLON Nylon 6.6
52
13 23 2 C-Sunk Head Socket Screw M6 x 100 long F-CHSS-M6-100-A270 Stainless Gr A2-70
25
24 3 SAK 10 Standard Terminals CAA-0088
18 19 25 12 SAK 4.0 Standard Terminals CAA-0048
1 3 26 2 EK 10 Earth Terminal CAA-0089
17
1 28 3 High Voltage Terminals CAA-0066
29 1 High Voltage Terminals - End Plate CAA-0067
16
1
8
1
10 1
1 1
9
1
MATERIAL - WT AIR WT WATER PROJECT

MOHICAN
4 ABO 11/12/06 ITEM 24 TO 29 ADDED, CAPACITORS AND CAPACITOR MOUNT REMOVED
3 EBR 9/02/06 DRAWING AND BILL OF MATERIALS UPDATED
FINISH DRAWN WTH PDU TRANSFORMER BOX - 13 kVA
-
2 AJ 22/11/2005 -
DATE 27/6/05
Woodburn Road,
Blackburn Business Park, Blackburn, DETAIL DRAWING
1 WTH 27/6/05 APPROVED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK MBL
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - CMI
4
3096-MAS
RECORD OF REVISIONS ENGR. CMI 1 : 10 A3 No.
1
Qty
1
Description
2000 MSW Endcap Type A
1298-DET
Material
2 1 Electronics Pod Tube 2000m - (465) 3060-DET

3 1 Endcap Blank 1021-DET
4 4 Mounting Rail - (407) 3061-DET
5 1 Mounting Bar - (407) 3062-DET
6 1 Blank End Board PCB-0052B
2 7 1 Strimmer Cord MIS-0190
8 3 O-RING 3.53 x 158.34 (BS-259) SOR-353-1583-N70 Nitrile 70
10 1 Cherokee Support Ring 1019-DET
11 1 Strimmer Cord x 10 long MIS-0003
12 1 Pod Clamp MIS-0033 Stainless Steel
17 3 M4 Nylon Tipped Grub Screw F-SSS-NT-M4-11-SS Stainless Steel
18 2 PCB Guide Strip 0383-DET
20 1 M3 x 139 long stud bar F-SB-M3-139 -A270 Stainless Gr A2-70
21 1 Heat Shrink Material MIS-0063
7 22
23
1
1
Hex Nut M3
Anode 25 x 8.5 x 30 lg
F-HN-M3-A270
1101-DET
Stainless Gr A2-70

25 1 Studbar M8 x 50 long F-SB-M8-50-A270 Stainless Gr A2-70
17 10 15
3 10 16 6 22 18 20 21
3
1 10 1 1 2 1 1
4
4
19
8 10
19 1 8
3 9
5 8 1 12
1 1 1
17 1
3
11
1 14
8 10 15
10 23 25 26 24
3 16 1 1 1 1
8 10
3 13
6
2
1

MOHICAN ROV
FINISH DRAWN EBR MOHICAN - ELECTRONICS POD
-
2 EBR 26/07/05 STRIMMER CORD PART No. CHANGED. ECN-354-05
DATE 21/03/05
Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 1 of 2
Fax: ++44 (0) 1224 798661
REV DATE DESCRIPTION APP - GDU
2923-MAS 2
IF IN DOUBT - ASK!
1. BEFORE ASSEMBLY RUN UNF TAPS OF THE CORRECT SIZE DOWN ALL THE THREADS ON THE END CAP (1) TO ENSURE GOOD
ELECTRICAL CONTACT.
2. PORTS 2, 3, 8, 9 & 12 ARE TAPPED 5/8"-18 UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN ON WIRING 4
DIAGRAM IN MANUAL. 4
3. PORTS 1, 4, 5, 6, 7, 10, 11, 12 , 13 & 14 ARE TAPPED 7/16"-20 UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS
SHOWN ON WIRING DIAGRAM IN MANUAL.
4. 1/4" BSPP PORT INDICATED CAN BE UTILISED FOR DEPTH SENSOR OR WILL BE BLANKED AS SHOWN ON WIRING DIAGRAM IN MANUAL. 20 26
1 1
5. IT IS IMPORTANT THAT THE ZINC ANODE (23) MAKES GOOD ELECTRICAL CONTACT WITH THE ENDCAP (1). ENSURE NYLOC HEX 21
NUT (24) IS TIGHTENED HARD AGAINST ANODE BEFORE EACH VEHICLE EXCURSION. 1
6. EACH PCB SHOWN IN THE MANUAL WIRING DIAGRAM & PHOTOGRAPHS REQUIRES 2 OFF PCB GUIDE STRIPS (18) AND 8 OFF B (1.5 : 1)
SCREWS (19) TO SECURE. STUD BAR MOUNTING
7. LUBRICATE ALL O-RINGS WITH SILICONE GEL DURING ASSEMBLY.
8. APPLY AQUALUBE TO PREVENT GAULLING OF FASTENERS ONLY TO THE THREADS INDICATED. ENSURE NO AQUALUBE
CONTAMINATES THE PCB'S IN THE ENCLOSURE.
7
12 9 8 24 23 E D 8
3
8
3 1 11
1 1 3 1 1 1
1/4" BSPP
PORT
18
4
E (FRONT O-RINGS) POD SECTION 2
4
D (REAR O-RINGS)
PORT 1
PORT 9 PORT 2
B
PORT 14 PORT 10 19
8 A (1.5 : 1)
PORT 8 ANODE
PCB RAIL MOUNTING
PORT 3
PORT 13
A PROJECT
MOHICAN ROV
PORT 11 TITLE
PORT 7 MOHICAN - ELECTRONICS POD

PORT 4 Woodburn Road,
PORT 6 PORT 5 Aberdeen. U.K. AB21 0PS
Tel: ++44 (0) 1224 798660 Sheet 2 of 2
Fax: ++44 (0) 1224 798661
PORT 12
2923-MAS 2
A3 No.
1 1 Compass - TCM2 Module SEN-0001
2 1 Compass Pod 0857-DET Aluminium Alloy
3 1 Compass Pod End Cap 0858-DET Alluminium Alloy
4 1 Compass Bracket 0860-DET Aluminium Alloy
5 1 Compass Plate Bracket 0859-DET ALUMINIUM ALLOY
10 3 M3 x 5 Female Spacer F-HSSF-M3-5-BR Nickel Plated Brass
12 11 5 Pan Head Screw M3 x 10 long F-PHS-M3-10-A270 Stainless Gr A2-70
1 12 1 Compass Securing Bracket 0861-DET
15 3 Fibre Washer M3 F-PW-M3-FI Fibre
7 16 4 Rubber Washer M3 1549-DET
6 18 1 Metal Shell Whip Size A SAPLA05M250018PN
14
2 4 11 16 16
1 5 4 4
NOTE ALTERNATIVE BRACKET
8 POSITIONS DEPENDING ON
7
6 VEHICLE REQUIREMENTS
12
13
2
18
1
8 7 2 1 5
1 1 7
6 12 1
12
6
4
9 3
1 1
6 EBR 12/05/05 BULKHEAD CONNECTOR REPLACED WITH PENETRATOR MATERIAL - WT AIR WT WATER PROJECT
ROV SYSTEM
5 EBR 3/07/02 LAYOUT REVISED CMI
4 EBR 10/06/02 CONNECTOR CHANGED TO METAL SHELL TYPE
COMPASS POD
CMI
FINISH DRAWN SSM
3 SSM 14/02/2002 PART NUMBERS AND DRAWING UPDATED CMI -
2 EBR 1/05/01 COMPONENTS UPDATED CMI
DATE 01/12/2000
Woodburn Road,
1 SSM 19/02/2001 APPROVED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK EBR
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
- Fax: ++44 (0) 1224 798661
CMI
6
REV BY DATE DESCRIPTION APP
0856-MAS
APPRV. SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. SSM 1:1 A3 No.
1 1 Light Fuse Bottle Cap - 3000 msw 3086-DET
2 1 Light Fuse Bottle Tube - 3000 msw 3085-DET
3 1 Light Fuse Holder Bracket 3114-DET
4 1 Fuseholder Plate - 4 way 3087-DET
5 1 Anode - 12 x 25 2025-DET
6 4 Fuse Holder ELA-0070
7 8 M3 x 30 Spacer F-HSS-M3-30-BR Nickel Plated Brass
8 4 Button Head Cap Screw M3 x 12 long F-BHCS-M3-12-A270 Stanless Gr A2-70
1 15 10 4 Spring Washer M3 F-SW-M3-SS Stainless Steel
1 11 1 O-RING 4.0 x 62.0 SOR-400-0620-N70 Nitrile 70
12 1 Metal Shell Whip Size A (9 Pin) SEE NOTE
14 13 4 3 Pin Penetrator Whip SEE NOTE
2 1
11
1
19
2
CABLE SET PART No DETAILS
21 12
2 Cable Set P/N Used On
1
20 CS-3089-MAS-1 MOHICAN
2 CS-3089-MAS-2 COMANCHE
3
1 6
4
1 14 13
1 5 18 4
2 7
8
7
8
4
1
9
4 10
8 4
NOTES. 4
1) USE ANTI GALLING COMPOUND ON ALL FASTENERS
2) SEE WIRING DIAGRAM FOR WIRING DETAILS
3) VARIOUS CABLE CONFIGURATIONS CAN BE USED DEPENDING ON 2
APPLICATION. SEE TABLE FOR CABLE SET PART NUMBERS WHICH 1
CONTAIN ITEMS 12 & 13. ASSEMBLY WITH CABLES

MOHICAN ROV
3 AJA 07/06/06 MOUNTING FASTENERS ADDED

FINISH DRAWN EBR LIGHT FUSE BOTTLE ASSY - 3000M
-
2 CMI 05/03/06 CABLE DETAILS REVISED
DATE 21/06/05
Woodburn Road,
1 EBR 06/07/2005 APPROVED FOR MANUFACTURE CMI USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - CMI
3
3089-MAS
RECORD OF REVISIONS ENGR. 21/06/05 A3 No.
IF IN DOUBT - ASK! - REMOVE SHARP EDGES 1 1 Hollow Shaft 0024-DET Stainless Steel
2 1 Main Gear Wheel 3675-DET
ASSEMBLY PROCEDURE (STAGE 1 - NOTES) 3 1 Gear Spacer - Rotator 0033-DET
4 1 Spacer 0034-DET
5 2 Main Shaft Cap (Plastic) 0454-DET
1. This sheet shows Bill of Materials and completed Tilt Unit. 6 2 Deep Groove Bearing 6005 BRG-6005
Sheets 2 through 4 show a simple to follow step-by-step assembly 7 2 Socket Set Screw-Cup Point M5 x 8 long F-SSS-CP-M5-8-A270 Stainless Gr A2-70
procedure. Dis-assembly of the unit can be carried out by working 8 1 Main Shaft Key 0035-DET
backwards from Sheet 4 to Sheet 2. 9 1 Pinion 3674-DET
10 1 Locknut 0036-DET
2. All parts on the drawing are identified by the upper number 11 2 Angular Contact Bearing 7201B-TVP BRG-7201B
located in a balloon which should be refered back to the first 12 1 Tilt-Rotator Body (Plastic) 0432-DET
13 1 Motor Mounting Plate 0037-DET
column in the Bill of Materials. The fourth column specifies the
14 1 DC Gearmotor 1819-IAS
unique Sub-Atlantic part number which should be used when
15 2 Limit Switch & Diode Sub-Assembly 0232-IAS
ordering spares etc. The lower number represents the quantity of 16 1 2nd Stage Gear 0043-DET -
the items repeated in the assembly. The quantity of each item in 17 1 2nd Stage Pinion 0042-DET
the assembly is also shown on the second column of the Bill of 18 1 Potentiometer POT-0001
Materials. 19 1 Potentiometer Gear 0045-DET
3. The tools required to carry out the assembly are listed below. 20 1 Potentiometer Pinion 0044-DET
21 2 Cam Ring 0040-DET
4. As a general rule, all screws and fastners must be fitted with an 22 1 Potentiometer Clip 0041-DET
application of THREADLOCK to prevent the possibility of slackening 23 19 Plain Washer M4 F-PW-M4-SS Stainless Steel
during operation. All seals and O rings should be fitted with an 24 8 Socket Head Cap Screw M4 x 25 long F-SHCS-M4-25-A270 Stainless Gr A2-70
application of SILICONE GEL or AQUALUBE. Refer to boxed notes 25 1 rotator limit switch mount 0201-DET
next to Item No. Balloon. 26 2 Socket Head Cap Screw M4 x 10 long F-SHCS-M4-10-A270 Stainless Gr A2-70
27 4 Socket Set Screw-Cup Point M5 x 6 long F-SSS-CP-M5-6-A270 Stainless Gr A2-70
5. When fully assembled and tested, the unit is to be filled with the 28 2 3mm O-Ring Material SOR-300 Nitrile 70
specified oil via the fitted plugs. The motor should then be cycled 29 1 Pinion Key 3 x 3 0055-DET
for at least 15 minutes to allow the oil to fully circulate through the 30 1 Socket Set Screw-Cup Point M3 x 3 long F-SSS-CP-M3-3-A270 Stainless Gr A2-70
system after which the unit should be topped up with oil until there 31 2 O-RING 2.62 x 25.07 (BS-120) SOR-262-0251-N70 Nitrile 70
is no air left in the housing. Expulsion of the air can be confirmed 32 2 O-RING 3.00 x 54.00 SOR-300-0540-N70 Nitrile 70
by shaking the body and listening for movement of the oil. Now 33 3 Socket Set Screw-Cup Point M4 x 6 long F-SSS-CP-M4-6-A270 Stainless Gr A2-70
pressurise until Compensator Piston is 6mm from end of 34 1 Socket Head Cap Screw M4 x 12 long F-SHCS-M4-12-A270 Stainless Gr A2-70
Compensator Body 35 8 Socket Head Cap Screw M3 x 10 long F-SHCS-M3-10-A270 Stainless Gr A2-70
36 1 Tilt - Rotator Cover O-Ring SOR-300-1145-N70 Nitrile 70
6. Wiring digram is shown on drawing 0099-WIS 37 2 Camera Bracket 0062-DET
38 2 Camera Bracket Key 0088-DET
7. Refer to Sheet 4 for instructions for setting the LIMIT SWITCHES and 39 8 Plain Washer M5 F-PW-M5-SS Stainless Steel
the FEEDBACK POTENTIOMETERS. 40 2 Nylok Hex Nut M5 F-NL-M5-A270 Stainless Gr A2-70
41 1 Castrol Hyspin 5 Oil LUB-0001
CONSUMABLES 42
43
2 Drain Shaft Plug 1-8 NPT
2 Spring Washer M4
HYD-0011
F-SW-M4-SS Stainless Steel
(A) PRESSURE COMPENSATION OIL 45 6 Nylok Hex Nut M4 F-NL-M4-A270 Stainless Gr A2-70
(B) SILICONE GEL / AQUALUBE 46 2 Socket Head Cap Screw M5 x 25 F-SHCS-M5-25-A270 Stainless Gr A2-70
(C) THREADLOCK 47 2 Pan Head Screw M2.5 x 20 long F-PHS-M2.5-20-A270 Stainless Gr A2-70
(D) LOCKTITE 601 48 4 Plain Washer M2.5 F-PW-M2.5-SS Stainless Steel
TOOLS REQUIRED PRESSURE COMPENSATION OIL 49
50
2 Nylok Hex Nut M2.5
1 Back Plate
F-NL-M2.5-A270
0038-DET
Stainless Gr A2-70

(A) METRIC HEX KEYS USE CASTROL HYSPIN VG 5, SHELL MORLINA 5 52 1 Diaphragm - 35 x 40 x 40 DIA-0005 Nitrile
(B) LONG NOSE PLIERS OR SHELL TELLUS C5 LIGHT OIL (60). 53 1 Piston - 71cc Compensator 0960-DET
(C) SMALL ADJUSTABLE SPANNER
(D) 24 Vdc POWER SUPPLY UNIT SUB-ATLANTIC WARRENTY WILL BE 54
55
1 Body - 71cc Compensator
1 Spring - 71cc Compensator
0891-DET
0970-DET
(E) SOLDERING IRON + SOLDER VOID IF NON-SPECIFIED OILS ARE USED 56 1 Compensator Housing - Rotator 0975-DET Black Acetal
(F) PRESSURE PUMP FOR OIL COMPENSATOR 57 1 71cc Compensator- Tilt O-Ring SOR-178-0347-N70
SPARES 58
59
4 Socket Head Cap Screw M5 x 20
4 Spring Washer M5
F-SHCS-M5-20-A270
F-SW-M5-SS
Stainless Gr A2-70
Stainless Steel
The following spares are recommended to be carried:- 61 1 Valve - Check 3-50 PSI HYD-0030
1. 1 off SEAL KIT, Sub-Atlantic Part Ref. ETR-0245-MAS-SK 62 1 Metal Shell Whip Size A Customer Specified
2. 1 off ELECTRICAL KIT, Sub-Atlantic Part Ref. ETR-0245-MAS-EK 63 2 Dowty - 1~8 Inch BSPP SEA-0015 St. Steel/Nitrile
64 2 Legris 90 Deg Body-Plug 2993-IAS

TILT/ROTATOR UNITS
MBL TILT/ROTATOR UNIT

FINISH DRAWN
10 AJA 11/12/2006 LEGRIS PUSH IN CHECK VALVES NOW LEGRIS COUPLINGS WITH PLUGS Woodburn Road,
DC GEARMOTOR PART NUMBER ALSO CORRECTED DATE 29/07/05 Blackburn Business Park, Blackburn,
9 MBL 29/07/05 SOME ITEMS WRONGLY NUMBERED USO, TOLERANCES TO BE CHECK EBR Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 1 of 4
REV GDU
10
0245-MAS
RECORD OF REVISIONS ENGR. MBL A3 No.
IF IN DOUBT - ASK!
ASSEMBLY PROCEDURE (STAGE 2)

1. Press 2 off ANGULAR CONTACT BEARINGS (11) on PAN
PINION (9), taking care to orientate correctly (Inner race flange 27 27
facing inwards). 4 4
2. Press KEY (29) into shaft.
3. Install PINION & BEARINGS into BODY (12) bore. 10 28
4. Fit and secure using SILICONE SEALANT, the 3mm O RING 1 2
MATERIAL (28) inserts into the LOCKNUT(10). Screw the
LOCKNUT into the BODY and tighten using long nose pliers until 28 11
all the slack has been eliminated and the shaft can turn freely. 2 2
5. Secure the LOCKNUT in position by fitting 2 off M5 x 6 31
SOCKET SET SCREWS (27) to compress O-Ring material. 29 27 27 6 32 5B
Apply a drop of THREADLOCK to each screw. 1 9 2 2 1 2
4 4
6. Press KEY (8) into SHAFT (1). 1
7. Fit MAIN GEAR WHEEL (2) onto SHAFT and secure with 2 off M5 x 8 SOCKET
SET SCREWS (7) and THREADLOCK. 11
8. Fit O-RINGS (31 & 32) to MAIN SHAFT CAPS (5A & B) with a smear of SILICONE GEL 2
or AQUALUBE.
9. Fit WHEEL SPACER(4), BEARING (6) and MAIN SHAFT CAP (5A) over TILT SHAFT, 20 3 21
butting up against MAIN GEAR WHEEL. 1 1 2
10. Insert TILT SHAFT SUB-ASSEMBLY into BODY and screw MAIN SHAFT CAP
(using long nose pliers) allowing gear to mesh with pinion and O Ring
to insert into body.
11. Degrease and bond using LOCKTITE 601 POTENTIOMETER PINION
(20) onto GEAR SPACER (3) and allow to set.
12. Slide GEAR SPACER onto SHAFT and lock with M3 x 3 SOCKET
SET SCREW (30) and a drop of THREADLOCK.
13. Fit 2 off CAMS (21) to GEAR SPACER and secure with
2 off M5 x 6 SOCKET SET SCREWS (27).
14. Slide BEARING and MAIN SHAFT CAP (5B) onto SHAFT 21
and screw into BODY until tight. 7 30 2
15. Proceed to stage 3 of the assembly procedure. 2 1
8
1
31 5A 32 4 1
2 1 2 1 1
12
1
2
1
7
2
6 PROJECT
TILT/ROTATOR UNITS
2
TITLE
TILT/ROTATOR UNIT
Woodburn Road,
Tel: ++44 (0) 1224 798660
Sheet 2 of 4
Fax: ++44 (0) 1224 798661
0245-MAS 10
1:1 A3 No.
IF IN DOUBT - ASK!
33 ASSEMBLY PROCEDURE (STAGE 3)
16 3 1. Fit POTENTIOMETER GEAR (19) to POTENTIOMETER (18) and secure
1 with M3 x 6 long SOCKET SET SCREW (33) and THREADLOCK.
17
1
34 2. Fit POTENTIOMETER into BODY with POTENTIOMETER CLIP (22)
1 33 and M4 x 12 long SOCKET HEAD CAP SCREW (34) and PLAIN WASHER (23)
3 and THREADLOCK.
23
19 3. Fit MOTOR (14) to MOTOR MOUNTING PLATE (13) with 4 off
M3 x 10 long SOCKET HEAD CAP SCREWS (35) and THREADLOCK.
22 4. Fit 2nd STAGE PINION (17) onto MOTOR and secure with
1 35
8 M4 x 6 long SOCKET SET SCREW (33) and THREADLOCK.
18 35 5. Fit MOTOR ASSEMBLY into BODY and secure with 4 off
1 8 M3 x 10 long SOCKET HEAD CAP SCREWS (35) and THREADLOCK.
13
SETTING SHAFT CAPS AND RUNNING CLEARANCES
33
3 1 6. Slacken (anti-clockwise) CAP 5B slightly and then tighten CAP 5A
until MAIN GEAR WHEEL is tight against the PINION SHAFT (This can
19 14 be confirmed by checking that the PINION SHAFT cannot be turned
1 1 by hand). Re-tighten CAP 5B to remove slack.
7. Slacken CAP 5A a minimal amount until the PINION SHAFT can be
15 23 23 26 57 47 turned freely by hand. Re-tighten CAP 5B. Check PINION SHAFT turns
2 19 19 2 4 2 freely by hand.
8. Connect a 24Vdc power supply to the motor pigtails (not shown)
and run motor whilst observing current readings through each full
rotation of the SHAFT.
25 9. Adjust CAPS 5A & 5B to remove backlash whilst running the

1 motor (B clockwise to reduce backlash). Observe the current which
should remain around 100mA during the full revolution. Current
48 peaks during the revolution indicate high spots on the gear set
4 which will require running in.
5A RUNNING-IN NEW GEARS
49
2 10. New gear sets should be run-in for a peroid of 24 hrs to allow
high spots on the gear faces to bed-in. Connect a 24 Vdc power
supply to the motor and run. Note the current draw at the start and
5B end of the running-in period.
11. After running-in, repeat steps 6 through to 9 to remove any
small backlash whilst maintaining the current draw on the motor
to around 100mA.
12 12. Lock Endcaps (5A & B) in place by clamping surround with

1 1 off M5 x 23 Socket Head cap Screw (46, 2 off 39, 40) each side.
PROJECT
TILT/ROTATOR UNITS
TITLE
TILT/ROTATOR UNIT
Woodburn Road,
39
Aberdeen. U.K. AB21 0PS Sheet 3 of 4
46 39 Tel: ++44 (0) 1224 798660
2 4 40 Fax: ++44 (0) 1224 798661

4
0245-MAS 10
SCALE (USO)
2 ORIG. SIZE DOC. REV
1:1 A3 No.
IF IN DOUBT - ASK! ASSEMBLY PROCEDURE STAGE 4
10 64 1. Fit ELECTRICAL CONNECTOR (62) into Lid (50)
60 2 10
2
24 2. Fit 2 off LEGRIS COUPLINGS (60) with DOWTY (63) and LEGRIS PLUG (64)
8 and 1 off CHECK VALVE (42) with PTFE tape.
63 3. Wiring and testing of unit is detailed on 0099-WIS.
10 2
? 4. Fit COMPENSATOR DIAPHRAGM (52), PISTON(53), COMPENSATOR
? SPRING (55) and COMPENSATOR BODY 71cc (54) to COMPENSATOR
24
8 HOUSING (56), LUBRICATE the DIAPHRAGM and secure with 4 off
M5 x 20 SOCKET HEAD CAP SCREWS (58), SPRING WASHERS (59) and
PLAIN WASHERS (39).
43 5. Fit COMPENSATOR sub-assembly and O-RING (57) to BACK PLATE (50)

2 using 4 off M4 x 16 COUNTERSUNK SOCKET SCREWS (51).
23 6. Fit O-RING (36) to BODY with SILICON GEL/ AQUALUBE.

19
7. Fit BACKPLATE ASSEMBLY to BODY with 8 off M4 x 25 SOCKET HEAD
50 58 CAP SCREWS (24), WASHERS (23) and NYLOC NUTS (45).
1 4 DO NOT CRUSH PLASTIC LID
59
4 8. Fit 2 off DRAIN SHAFT PLUG (42) to BODY (12).
51 39
4 8 9. Fit CAMERA BRACKET KEY (38) into CAMERA BRACKET (37) and secure
55 in HOLLOW SHAFT with M8 x 45 SOCKET HEAD CAP SCREW (44)
42 36 1
53 10. Refer to ASSEMBLY PROCEDURE STAGE 1 for oil filling instructions.
2 1 1
52
LUBRICATE
1 56 SETTING LIMIT SWITCHES
42 1
2 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
23 and repeat for the second limit switch. Make fine
19 adjustments as required, checking the stop positions
by forward and reversing the motor.
45 54
6 1 SETTING FEEDBACK POTENTIOMETERS
12 The FEEDBACK POTENTIOMETER is set by slackening
37 1 the retaining screw (34) and rotating the body
2 57 (or gear) until the desired output value for that
44 1 particular shaft position is obtained. Re-tighten
2 LUBRICATE the screw after setting.
PROJECT
TILT/ROTATOR UNITS
TITLE
TILT/ROTATOR UNIT
Woodburn Road,
38
Tel: ++44 (0) 1224 798660
Sheet 4 of 4
Fax: ++44 (0) 1224 798661
2
0245-MAS 10
1:1 A3 No.
1 1 Camera Saddle - Mohican 2887-DET
CAMERAS SHOWN ARE FOR 2 1 Light Saddle 2946-DET
ILLUSTRATIVE PURPOSES 3 1 Camera Sprocket Retainer 1 - Mohican 2906-DET
2 SEE MAIN ASSEMBLY DRAWING OF VEHICLE 4 1 Sprocket 1 - 8mm x 27 Teeth 2905-DET
FOR SPECIFIC CAMERAS 5 1 ML1040 Light SPE-0002
6 2 Jubilee Clip - Cameras Dia. as required
7 1 Jubilee Clip - Lamp Dia as required
2
6 9 2 Socket Head Cap Screw 1-4in x 1in long F-SHCS-1~4UNC-1-A270 Stainless Gr A2-70
2 10 2 Spring Washer 1-4 in F-SW-1/4-SS Stainless Steel
1
1
9
2 MOUNT CAMERAS ON THE SADDLE SO THAT THE
CABLES CLEAR THE TILT UNIT ON THE MOHICAN
OVER THE FULL180 DEGREE SWEEP OF THE TILT
10 UNIT
2
7
1
2
1
3 4 5
8 1 1
2 1
NOTE ORIENTATION
OF CAMERA SADDLE
LARGE 'V' TO BOTTOM NOTE ROUTING OF CAMERA
CABLES. COIL CABLES BACK
TO REAR OF CAMERAS AND
NOTE. DOWN TO REAR OF VEHICLE.
USE ANTI GALLING COMPOUND ON ALL FASTENERS TIEWRAP CABLES TOGETHER
IN LOOP 200-225 DIAMETER.

MOHICAN ROV
FINISH DRAWN EBR MOHICAN - GENERAL CAMERA
-
2 GDU 24/08/05 TITLE CHANGED AND CAMERAS REMOVED FROM BOM, ECN-372-05
DATE 6/07/05
Woodburn Road,
Blackburn Business Park, Blackburn, ASSEMBLY DETAIL DRAWING
1 EBR 6/07/05 APPROVED FOR MANUFACTURE GDU
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
2
3107-MAS
4 6 6
2 2 1 2 1 1 Diaphragm - 60 x 70 x 70 DIA-0007 Nitrile
14 1 1
7 1 2 1 Piston - 370 cc 0482-DET
3 1 Compensator Body - 370 cc 0479-DET
4 1 Compensator Housing - 370 cc 3119-DET
9 5 5 1 370cc Compensator Spring 0749-DET
1 1 6 2 Retainer Flange - 370 cc 0493-DET
7 4 Bolt Spacer - M6 0495-DET
9 1 Valve - Check 3-50 PSI HYD-0030
3
4 2 13 2 Compensator Foot 1217-DET
14 7 Shutoff Valve HYD-0005 Nickel Plt. Brass
USE PTFE TAPE
9 USE PTFE TAPE

1 SEE NOTE NOTE ORIENTATION OF
DIAPHRAGM SEALING LIP
4 3
1 1
FLOW
11
8 13 14
2 7 2
1
1
1
8
1
NOTE. 7 6
1) USE ANTI GALLING COMPOUND ON ALL FASTENERS 4 11 12
2
2) NOTE FLOW DIRECTION ON CHECK VALVE BODY (9) 8 4
5
AND SET AT 1 BAR (14.5 PSI) 1
OIL FILLED COMPENSATORS
FINISH
-
DRAWN EBR
Woodburn Road,
370cc - COMPENSATOR - 7 PORT
DATE 13/07/05 Blackburn Business Park, Blackburn,
VERSION MAIN ASSEMBLY DRAWING
1 EBR 13/07/2005 APPROVED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK GDU Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 1 of 1
REV APP - CMI
1
DATE DESCRIPTION
3120-MAS
RECORD OF REVISIONS ENGR. GDU 1:3 A3 No.
4 6 6 2
2 2 1
1 1 1 1 1 Diaphragm - 80 x 90 x 90 DIA-0006 Nitrile
2 1 Piston - 860 cc 0481-DET
5 5 1 860cc Compensator Spring 0750-DET
1 6 2 Retainer Flange - 860 cc 0494-DET
9 1 Valve - Check 3-50 PSI HYD-0030
1 13 4 Compensator Foot 1217-DET
10 11 6 14 4 Plug 1-4 NPT HYD-0077
4 8 2
NOTE ORIENTATION OF
DIAPHRAGM SEALING LIP
USE PTFE TAPE 14 4 3 7
SEE NOTE 4 1 1 4
FLOW
USE PTFE TAPE

9
SEE NOTE 1
13
4 8
1
1
1 2
1
5
NOTES 1 6 13 11 12
2 4 8 4
1. NOTE FLOW DIRECTION ON CHECK VALVE BODY (9)
& SET AT 1 BAR (14.5 PSI.)

- OIL FILLED COMPENSATORS
860cc COMPENSATOR
4 EBR 17/09/02 SHUTOFF VALVES REPLACED BY PLUGS
FINISH DRAWN SSM
3 EBR 4/01/02 NOTES REVISED, FEET ADDED CMI -
2 SSM 12/08/2001 CHECK VALVE ADDED CMI
DATE 30/10/00
1 SSM 30/10/2000 APPROVED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK MBI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
- CMI
0830-MAS 4
REV BY DATE DESCRIPTION APP APPRV. SCALE (USO) ORIG. SIZE DOC. REV
IF IN DOUBT - ASK!
BILL OF MATERIALS FOR 1000 METRE LIGHT ASSEMBLY P/N 0409-MAS-1000-SS
Item No. Qty Description Sub-Atlantic Part Ref. Material 2
1 1 ML1040 Light Bracket (Single Fixing) 0405-DET-SS 1
2 1 Multilite 1000 m SPE-0001
3 2 Hex Screw .375 x .625 long F-HHS-3/8UNC-5/8-A270 Stainless Gr A2-70
8 1 Lamp Rubber Mat 1066-DET
BILL OF MATERIALS FOR 3000 METRE LIGHT ASSEMBLY P/N 0409-MAS-3000-SS
6
1 1 ML1040 Light Bracket (Single Fixing) 0405-DET-SS 1
1
2 1 Multilite 3000 metre SPE-0002 1
4
3 2 Hex Screw .375 x .625 long F-HHS-3/8UNC-5/8-A270 Stainless Gr A2-70 3 2
4 2 Plain Washer M10 F-PW-M10-SS Stainless Steel 2
8 1 Lamp Rubber Mat 1066-DET Neoprene Rubber 2
4
2
7
2
1
1
8
1
7
2
5
1
MATERIAL - WT AIR WT WATER PROJECT

LIBRARY PARTS
5 27/05/02 BILLS OF MATERIALS UPDATED
EBR
'MULTILITE' LAMP (Single Fixing)

4 EBR 26/03/01 RUBBER MAT ADDED CMI
FINISH DRAWN CMI
3 SSM 03/10/2000 PART NUMBERS UP DATED CMI
2 MBI 8/9/00 MODIFIED FOR DIFFERENT RATED LAMPS CMI
-
DATE 12/08/99
Woodburn Road,
1 CMI 12/08/99 APPROVED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK MBI
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
- Fax: ++44 (0) 1224 798661
CMI
5
0409-MAS-SS
1 1 Mohican Frame - Sonar Mount 2 - Tritech Seaking 3144-DET
2 1 Nut - M6 x 12 x 15 Round 2886-DET
THIS SONAR IS NOT PART OF

THIS KIT - IT IS SHOWN FOR
ASSEMBLY PURPOSES ONLY
2
9
1
4
2
2
1
3
4
1
1
8 7 6
1 1 1
3
4
5
2
MOHICAN ROV
FINISH DRAWN EBR KIT - MOHICAN - TRITECH SEAKING
-
2 EBR 30/03/06 SONAR REMOVED FROM BOM
DATE 11/07/05
Woodburn Road,
Blackburn Business Park, Blackburn, SONAR - ASSEMBLY DRAWING
1 EBR 25/08/05 APPROVED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK GDU
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
2
3143-MAS
1 1 Mohican Frame - Sonar Mount 4 - Kongsberg 1071 3667-DET
2 1 Nut - M6 x 12 x 15 Round 2886-DET
2
3
4
2
1
1
1
6 NOTE:
7 1
8 1 1. USE AQUALUBE ON ALL FASTENERS TO PREVENT GAULLING.
1 2. SONAR SHOWN FOR ILLUSTRATIVE PURPOSES ONLY, NOT
INCLUDED WITH KIT.
3
4
5
2
KONSBERG 1071 - 6000M. NOT INCLUDED WITH KIT.
WT AIR WT WATER PROJECT

MATERIAL MOHICAN ROV
FINISH DRAWN ACR SONAR CLAMP KIT - KONSBERG 1071
6000m ASSEMBLY DRAWING
USO, SURFACE FINISH TO BE 3.2um Woodburn Road,
1 ACR 02/06/06 RELEASED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK CMI

Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV GENERAL 0.2 CMI
1
3668-MAS
1 1 Mohican Frame - Transponder Mount - Kongsberg MST 319 4327-DET
4 1 Nut - M6 x 12 x 15 Round 2886-DET
KONGSBERG MST319 TRANSPONDER

NOT INCLUDED WITH KIT
4 7
1 2
7
2
1
1 NOTE:
1. USE AQUALUBE ON ALL FASTERNERS TO PREVENT GAULLING
6 2. TRANSPONDER SHOWN FOR ILLUSTRATIVE PURPOSES ONLY,
2 NOT INCLUDED IN KIT.
6
2
8
2 8
2
5 3 2
1 1 1

- MOHICAN ROV
FINISH DRAWN AJA KIT - MOHICAN - TRANSPONDER

-
DATE 19/12/2007
Woodburn Road,
MOUNTING KONGSBERG MST 319
Aberdeen. U.K. AB21 0PS MAIN ASSEMBLY DRAWING
1 AJA 19/12/2007 ISSUED FOR CONSTRUCTION Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661 Sheet 1 of 1
REV BY DATE DESCRIPTION APP GDU
4328-MAS 1
APPRV. SCALE (UOS) ORIG. SIZE
GENERAL 0.2 mm DOC. REV
RECORD OF REVISIONS ENGR. AJA 1:2 A3 No.
IF IN DOUBT - ASK! Item No. Qty Description Sub-Atlantic Part Ref.
1 1 Remote Base MIS-0135
3 1 Remote Console Power Supply (Not Shown) PCB-0550P
4 1 Telemetry Card (Not Shown) PCB-0176-1
5 1 Joystick Interface (Not Shown) PCB-0304P
6 1 Remote Primary Panel 0874-DET
7 1 Main Joystick JOY-0001
8 1 Depth Joystick JOY-0002
9 1 Joystick JOY-0003
10 6 Light Potentiometer POT-0004
24 1 Remote Secondary Panel 0875-DET
29 2 Handle - 94 centres MIS-0136
31 4 Plain Washer M5 (Not Shown) F-PW-M5-SS
32 4 Button Head Cap Screw M5 x 12 long (Not Shown) F-BHCS-M5-12-A270
33 1 Alarm Board (Not Shown) PCB-0459P
34 1 Binary Encoder Board (Not Shown) PCB-300P
35 1 Meters Board (Not Shown) PCB-0525P
16mm PUSH SWITCH - LATCHING - BILL OF MATERIALS
1 1 1 Switch Body - Latching SWI-0024
8 1 24
2 1 Switch Bulb SWI-0025
1 3 1 Switch Lens SWI-0026
1 SWITCH LENS REQUIRES TEXT TO BE ATTACHED. CHECK DIAGRAM
ABOVE FOR REQUIREMENTS
16mm PUSH SWITCH - MOMENTARY - BILL OF MATERIALS
1 1 Switch Body - Latching SWI-0023
2 1 Switch Bulb SWI-0025
3 1 Switch Lens SWI-0026
29 31 32 SWITCH LENS REQUIRES TEXT TO BE ATTACHED. CHECK DIAGRAM ABOVE FOR
2 4 4 REQUIREMENTS
8mm RECTANGULAR SWITCH - LATCHING - BILL OF MATERIALS

1 1 Switch Body - Latching SWI-0022
2 1 Switch Lens SWI-0021
6
1
9 NOTE: THIS DRAWING IS MAINLY FOR REPRESENTATION. BILL OF
1 10 MATERIALS SHOWN ARE NON EXHAUSTIVE. REFER TO WIRING
6 7 1A SCHEMATIC BOM FOR FULL DETAILS.
1
CONTROL PANELS
-
FINISH DRAWN EBR ROV REMOTE CONTROLLER
-
1A ABO 14/11/07 NOTE ADDED, GENERAL TIDYING, BASEBUILD BOM CREATED
DATE 6/01/04
1 EBR 6/01/04 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK -
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV DATE DESCRIPTION APP - -
2313-MAS 1A
RECORD OF REVISIONS ENGR. SSM 1 : 2.25 A3 No.
19 10 11 1 1 Remote Body Auxiliary 1744-DET
18 7 5 3 4 2
1 1 1 8 4 2 1 Remote Base 1739-DET
4 1
9 3 1 Switch panel 1100-DET
8 4 1 Joystick Panel 1102-DET
3 5 4 12 mm Push Switch (Square) SWI-0002
3 6 1 12mm Push Switch (Latching) SWI-0003
12 7 1 LED Bezel ELA-0017
4 8 2 Joystick Microswitch V4 JOY-0003
13 14 16 9 8 Self Tapping Screw No.4 x 5-16 long F-STPH-No4-5~16-A270 Stainless Gr A2-70
16 4 1 4 10 4 Pan Head Screw M2.5 x 20 long F-PHS-M2.5-20-A270 Stainless Gr A2-70
4 11 2 Handle - 55 centres MIS-0055
8 1
13 4 Cheese Head M5 x 15 F-SCH-M5-15-A270 Stainless Gr A2-70
17 15 14 1 Bulkhead 15 Way D CON-0005
1 2 2 15 2 4-40 UNC x 13 Spacer F-HSS-4-40-UNC-13-CS Steel Zinc Plated
1
17 2 Hex Nut 4-40-UNC F-HN-4-40-UNC-CS Steel Zinc Plated
18 1 LED (Red) ELA-0018
20 4 Hex Nut M2.5 F-HN-M2.5-A270 Stainless Gr A2-70
19 8
8 2 WIRING DIAGRAM REF: HAN-1891-WIS
2 20
1 4

CONTROL CONSOLES
3 MBL 10/11/04 BOM REVISED ECN-323-04

FINISH DRAWN EBR MANIPULATOR AUXILIARY PANEL-
-
2 EBR 2/09/04 BOM REVISED ECN-296-04 CMI
DATE 31/07/02
1 EBR 31/07/02 ISSUED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK SSM
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - CMI
3
1743-MAS
IF IN DOUBT - ASK! Item No. Qty Description Sub-Atlantic Part Ref.Material

1 1 Lower TMS Frame 0585-MAS
2 1 Upper TMS Frame 0964-MAS
3 1 TMS Chassis Type 1B 2947-MAS
4 2 Compensator Assembly - 2700cc SA-HC-0745-MAS
NOTES 5 1 TMS Camera Assembly SEE NOTE
6 1 TMS Electronics Enclosure - 2500 SEE NOTE
1. USE AQUALUBE WHEN SECURING ALL COMPONENTS
TO PREVENT FASTENERS GAULLING TOGETHER. 8 16 Plain Washer M16 F-PW-M16-SS Stainless Steel
9 8 Hex Bolt M16 x 40 F-HB-M16-40-A270 Stainless Gr A2-70
2. FOR USE ON TMS SYSTEMS COMPENSATOR FEET 10 8 Hex Screw M12 x 40 long F-HB-M12-40-A270 Stainless Gr A2-70
SHOULD BOTH POINT IN THE SAME DIRECTION 11 16 Plain Washer M12 F-PW-M12-SS Stainless Steel
2 TOWARDS TOP OF COMPENSATORS.
1
3. THE UPPER & LOWER FRAMES ARE TELESCOPIC 13 20 Socket Head Cap Screw M6 x 20 long F-SHCS-M6-20-A270 Stainless Gr A2-70
SET ACCORDING TO THE TOTAL ROV & SKID 14 24 Plain Washer M6 F-PW-M6-SS Stainless Steel
5 HEIGHT WITH APPROXIMATELY 50mm 15 20 Nylok Hex Nut M6 F-NL-M6-A270 Stainless Gr A2-70
1 CLEARANCE. MAX CLEARANCE 70mm. 16 8 Plain Washer M8 F-PW-M8-SS Stainless Steel
4. VARIOUS OPTIONS OF ITEMS 5, 6, 20, 21 & 22 ARE 17 4 Nylok Hex Nut M8 F-NL-M8-A270 Stainless Gr A2-70
USED. REFER TO CUSTOMER SPECIFIC TOP LEVEL TMS 18 4 Socket Head Cap Screw M8 x 25 long F-SHCS-M8-25-A270 Stainless Gr A2-70
ASSEMBLY FOR DETAILS. 19 8 Clamp T-20 Anode MIS-0028 Zinc
20 1 Junction Box - 206 x 210 x 65 SEE NOTE
21 21 1 Greco Lights & Mount SEE NOTE
1 22 1 Junction Box Assembly - 5,5 kVA SEE NOTE
18
4
12 11
16
8 16
8
6
1
15
20
3 14
1 24
4
2
11 A 14 A
16 24
NOTE ORIENTATION OF FEET
10 13
8 20
20
17 16 1
4 8
7 8 1
8 16 1
8
16
9
8
13
20
19
8
14 MATERIAL WT AIR WT WATER PROJECT

TMS SYSTEMS
24 - kg (E) - kg (E) TITLE
15 FINISH DRAWN WTH TMS SYSTEM-TYPE 1B

20 2 ACR 07/02/06 MADE GENERIC, ITEMS 5, 6, 20, 21 & 22 MADE VARIABLE
-
DATE 1/4/05
Woodburn Road,
1 WTH 1/4/05 NEW DRAWING USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV -
2
2954-MAS
BY APPRV. CMI SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. SSM 1 : 10 A1 No.
IF IN DOUBT - ASK!
Customer Specific Items
7 6 Qty Description Sub-Atlantic Part Ref.
1 Type 1B TMS Basebuild SA-G1B-BASEBUILD
1 TMS Camera Assembly 1046-MAS
1 TMS Electronics Enclosure 3608-MAS
1 Lights & Mount Assembly 4046-MAS
1 Transformer Box Assembly 3331-MAS
1 Umbilical Anchor Bullet 2559-DET
1 Umbilical Anchor Sleeve 2560-DET
1 Drum Gearmotor Assembly 2948-MAS
16 1 Slip Ring SPE-0279
2 Tether Clamp MIS-0204
2 2 Tether Gland CAA-0038
1 Chain Sprocket 2975-DET
1 Traction Wheel 2088-DET
1 Junction Box - 206 x 210 x 65 NOT FITTED
13 1 Slip Ring Locking Bracket 3902-MAS
5 1 Slip Ring Guard Assembly 3903-MAS
9 10 11
12 8 15
3 NOTES:
TO PREVENT FASTENERS GAULLING TOGETHER.
2. FOR USE ON TMS SYSTEMS COMPENSATOR FEET
SHOULD BOTH POINT IN THE SAME DIRECTION
TOWARDS TOP OF COMPENSATORS.
3. THE UPPER & LOWER FRAMES ARE TELESCOPIC
SET ACCORDING TO THE TOTAL ROV & SKID
HEIGHT WITH APPROXIMATELY 50mm
CLEARANCE. MAX CLEARANCE 70mm.
4. M6 HOLES HAVE TO BE DRILLED AND TAPPED INTO
FRAME TO ACCOMODATE SLIP RING LOCKING BRACKET (15).
1
14
CUSTOMER: INNOVA
SERIAL NO.: SA-G1B-022
TMS SYSTEMS
FINISH
-
DRAWN AJA TMS SYSTEM-TYPE 1B
ASSEMBLY DRAWING
Woodburn Road,
Sheet 1 of 1
1 AJA 13/12/2007 APPROVED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK LZA Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
-
3442-MAS-022
REV GDU
1
BY DATE DESCRIPTION APP APPRV. SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. AJA 1 : 10 A1 No.
1 1 Lower Bend Restricter 0555-DET
2 1 Right Bend Restricter 0553-DET
3 1 Left Bend Restricter 0556-DET
4 4 Lower Frame Runner Bar 0554-DET
5 1 Lower TMS Frame 0564-DET
5 6 4 TMS Rubber Foot 3259-DET
5
1 5 11 8 Hex Bolt M8 x 30 F-HB-M8-30-A270 Stainless Grd A2-70
NOTE
9 4 USE AQUALUBE WHEN SECURING ALL COMPONENTS
44 4 TO THE FRAME TO GUARD AGAINST THE FASTENERS
GAULLING TOGETHER
7
46
7
46
2
1
10
52
8
60
8
60
8 10 10
60 52 52
8
6
60
4
10
8 52
60
11
8
9
44
9
44
1
4 10 1
4 52
8
60
9
44
MATERIAL SEE BILL OF MATERIALS WT AIR WT WATER PROJECT
TMS TYPE 1
5 AJA 12/12/2005 MODIFIED TO ADD HOLES AND RUBBER FEET (ECN-393-05)
LOWER TMS FRAME

4 EBR 21/10/02 M8 x 22 SCREWS NOW M8 x 25. ECN-030 CMI
FINISH DRAWN SSM
3 EBR 12/03/01 NEW STYLE BEND RESTRICTORS CMI
2 SSM 07/10/2000 PART NUMBERS UPDATED CMI

-
DATE 18/07/00
Pitmedden Road, Dyce. ASSEMBLY DRAWING
1 SSM 18/07/2000 APPROVED FOR CONSTRUCTION RWR USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
- RWR
5
REV DATE DESCRIPTION APP
0585-MAS
3
Item No. Qty Description Sub-Atlantic Part Ref. Material 1
1 1 Traction Wheel Assembly - Type 1 TMS 0678-MAS

UMBILICAL ANCHOR DEPENDENT ON
2 1 Gooseneck Assembly - Type 1 TMS 0671-MAS UMBILICAL DIAMETER. REFER TO 0954-MAS
3 1 Umbilical Termination Assembly 0954-MAS
4 1 Upper TMS Frame (Stainless) - Type 1 0566-DET Stainless Steel
NOTES UMBILICAL TERMINATION ASSEMBLY IS

FITTED FROM BELOW & CAN BE POSITIONED
1. USE ANTI-GAULLING COMPOUND ON ALL SCREW THREADS AXIALLY TO OBTAIN BEST BALANCE.
2. TERMINATION ASSEMBLY WILL BE SPECIFIC TO SYSTEM REQUIREMENTS.
SEE SYSTEM SPECIFIC DRAWING FOR DETAILS.
4
1
2
1
TRACTION UNIT CAN BE MOUNTED

AT VARIOUS HEIGHTS ON FRAME
TO SUIT HEIGHT OF TETHER EXIT
ON ROV. 1
1
TRACTION WHEEL DEPENDENT

ON TETHER DIAMETER REFER
TO 0678-MAS

SEE BILL OF MATERIALS TMS TYPE 1
5 ACR 8/02/06 NOTES ADDED TO SUIT GENERIC ITEMS
4 EBR 9/04/04 PART REFERENCE CHANGED AND NOTE ADDED.
CURRENT REVISION ECN-030
CMI
CMI
FINISH DRAWN EBR UPPER TMS FRAME
ASSEMBLY DRAWING
3 EBR 18/11/02 - Woodburn Road,
2 EBR 12/03/01 CMI
CURRENT REVISION
1 EBR 9/02/01 APPROVED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK SSM
Tel: ++44 (0) 1224 798660
Sheet 1 of 1
- Fax: ++44 (0) 1224 798661
REV DATE APP CMI
5
BY DESCRIPTION APPRV.
0964-MAS
RECORD OF REVISIONS ENGR.
CMI 1:5 A1 No.
NOTES 1 1 Levelwind Assembly - Type 1 0672-MAS
2 1 Gearmotor Tether Drum SEE NOTES
1. USE AQUALUBE T0 PREVENT FASTENERS GAULLING TOGETHER 3 2 Upper Top Runner Bar 0550-DET
4 2 Upper Side Runner Bar 0549-DET
2. DO NOT LUBRICATE THE CHAIN 5 1 Spooling Drive Chain MIS-0018 Stainless Steel
6 1 Belt Tension Wheel 0558-DET
3. LENGTH OF CHAIN (ITEM 6) IS 145 CM/57" 7 1 Belt Tenshioner Shaft 0559-DET
8 1 Belt Tensioner Washer 0557-DET
9 1 ROV Retainer Assembly 0673-MAS
10 1 TMS Chassis Modified for SR176 0565-DET
11 1 Flexible Drive Assembly 0766-MAS
15 1 Drum & JB Drive Guard - Lower 1590-DET
16 1 Drum & JB Drive Guard 1591-DET
17 2 D-Rubber 50 x 40 x 700 lg 1030-DET
18 2 ROV Bumper Support Bar 1031-DET
1 20 1 Gearbox Rubber Mat 1053-DET
21 4 Hex Bolt M8 x 215 F-HB-M8-215-A270 Stainless Gr A2-70
21
4 24 1 Upper Bend Restricter 0551-DET Polypropylene
29 1 Drum Assembly - 400 Dia x 600 Wide (176 SR)2876-MAS
1
22
44 2
1
23
SPROCKET DEPENDENT ON
TETHER SIZE. REFER TO 0672-MAS
60 GEARMOTOR DEPENDENT ON DRIVE MOTOR
SELECTION. REFER TO CUSTOMER SPECIFIC 2
TMS TOP LEVEL ASSEMBLY FOR DETAILS.
24 23
1 60
22 20
44 1
25 23 22
28 60 44
11
1
10
1
28
27 1
1
22
16
44
1
15 12 9
23 22 23
1 20 1
60 44 60
19 14
6 10
22 23
60 12
44
20
5
10 6 8
1
1 1 1
13 25
4 28
12
20
3
14 2
10 17
23
2
26 60
12
23
60
4 18
TMS TYPE 1
22
2 2 - kg (E) - kg (E) TITLE
44
FINISH DRAWN WTH TMS CHASSIS-TYPE 1B
2 WTH 06/02/06 GEARMOTOR MADE GENERIC
-
DATE 31/3/05
Woodburn Road,
1 WTH 31/3/05 APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - CMI
2
2947-MAS
RECORD OF REVISIONS ENGR. WTH 1:5 A1 No.
4 6 6 1 2 1 1 Diaphragm - 120 x 130 x 130 DIA-0003 Nitrile
1 2 2 1 1 2 1 Piston - 2700 cc 0694-DET
5 5 1 2700cc Compensator Spring 0747-DET
12 1 6 2 Retainer Flange - 2700 cc 0692-DET
1 7 4 Bolt Spacer - M6 0495-DET
1 12 1 Valve - Check 3-50 PSI HYD-0030
13 4 Compensator Foot-2700 1755-DET
7 14 4 Plug, Socket Head, 1/4 NPT HYD-0077 Stainless Steel
13 9 10 6 NOTE ORIENTATION OF
4 4 8 DIAPHRAGM SEALING LIP
2
USE PTFE 14
TAPE 4 NOTES
4
1 1. NOTE FLOW DIRECTION ON CHECK VALVE BODY (12)
& SET AT 1 BAR (14.5 PSI.)
FLOW
7 6 10 11
4 2
12 USE PTFE 8 4
TAPE
1
SEE NOTE
8
1
1
1 2 3
5
1 1
1

7 EBR 29/11/02 SHUTOFF VALVES REPLACED WITH PLUGS. CHECK VALVE ADDED ECN-059
6 EBR 22/08/02 CMI
COMPENSATOR FEET REDESIGNED
2700 cc OIL COMPENSATORS

5 EBR 3/01/02 NOTES REVISED, FEET ADDED CMI
FINISH DRAWN SSM
4 SSM 13/08/2001 UPDATED FOR STOCK SYSTEM CMI -
DATE 07/08/00
2 SSM 10/10/2000 PART NUMBERS UPDATED CMI USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - RWR
7
0745-MAS
1 1 Compensator Assembly - 2700cc SA-HC-0745-MAS
2 1 2700 cc Magnetic Sensor Bracket 0850-DET
3 1 2700cc Magnetic Sensor Adapter 0851-DET
4 2 Magnetic Source Assembly SEN-0010
5 1 Magnetic Sensor Assembly 0953-IAS
8 4 Hex Bolt M6 x 20 F-HB-M6-20-A270 Stainless Grd A2-70
6 3
4 1 1
2
4
2
1
1
2 5
1 1
7
4
NOTE 9
8
ENSURE COMPENSATOR IS FULLY DISCHARGED 9
AND EMPTY OF OIL BEFORE UNDOING FASTENERS. 8
USE AQUALUBE ON ALL FASTENERS TO STOP THREADS 8 PART OF
GAULING TOGETHER. 4 COMPENSATOR ASSEMBLY

3 ACR 23/02/06 ADDED MOUNTING FASTENERS

FINISH DRAWN SSM 2700c COMPENSATOR AND MAGNETIC
-
2 EBR 12/02/03 CURRENT REVISION WITH NEW STYLE COMPENSATOR BODY ECN-059 RWR
DATE 13/08/01
Pitmedden Road, Dyce. FEEDBACK KIT ASSEMBLY DRAWING
1 SSM 13/08/2001 APPROVED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK SSM
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - RWR
3
1239-MAS
Item No. Qty Description Sub-Atlantic Part Ref. Material 10 IF IN DOUBT - ASK!
1 2 Pedestal Bearing IGUBAL KSTM-30 BRG-7219611 Plastic 4 8 20
2 1 Levelwind Shaft 0567-DET 1 18
15
3 1 Levelwind Carriage Block Assembly - Bushed Version 4177-MAS 5
4 6 Levelwind Roller 0526-DET
5 4 Levelwind Roller Shaft 0527-DET 14
6 2 Levelwind Centre Roller Shaft 0528-DET 13 7
2
7 2 Levelwind Shaft Retainer 0529-DET
8 1 Levelwind Tether Retainer 3266-DET
9 1 levelwind follower 0589-DET 6
2
10 4 Captive Socket Head Cap Screw M10 x 45 long 0571-DET 20
5 18
11 1 M10 Retainer Washer 0668-DET 4
12 4 Socket Head Cap Screw M10 x 35 long F-SHCS-M10-35-A270 Stainless Gr A2-70 8 20
13 1 Socket Head Cap Screw M10 x 20 long F-SHCS-M10-20-A270 Stainless Gr A2-70 1 18 20
14 13 Plain Washer M10 F-PW-M10-SS Stainless Steel 18 6
15 5 Spring Washer M10 F-SW-M10-SS Stainless Steel 2
7
16 4 Nylok Hex Nut M10 F-NL-M10-A270 Stainless Gr A2-70 2
17 4 Socket Head Cap Screw M6 x 35 long F-SHCS-M6-35-A270 Stainless Gr A2-70 20
18 5
20 18 External Spiral Retaining Ring - 20 Dia F-SRR-EXT-20-SS Stainless Steel 18 4
21 1 Key 8 x 7 x 20 long MIS-0012 Stainless Steel 20 4 4 6
22 1 Levelwind Sprocket (Various Teeth Options) See Notes 18 19 6
DRUM SPOOLING CHAIN PULLEY (22) WILL 4
VARY DEPENEDENT ON SIZE OF TETHER USED. 17
REFER TO TABLE BELOW AND CUSTOMER SPECIFIC 3 4 20 20
TOP LEVEL ASSEMBLY FOR DETAILS. 1 18 18
SECTION VIEW
ALONG 18 1
22 SEE NOTES ROLLER SHAFT 19 4 2
1 17 4
4
11 12
1 4 21
SIZE OF CHAIN PULLEY PART No. PITCH 14 1
14 13
45 TEETH 1527-DET 21.2 mm 13
46 TEETH 1015-DET 20.8 mm
47 TEETH 1657-DET 20.3 mm
15 3
48 TEETH 0508-DET 19.9 mm 1 9
5
49 TEETH 1969-DET 19.5 mm 1
50 TEETH 1968-DET 19.1 mm 14 2
51 TEETH 1967-DET 18.7 mm 13 13 1
52 TEETH 1966-DET 18.4 mm 1
53 TEETH 1965-DET 18.0 mm 16
54 TEETH 2089-DET 17.7 mm 4 USE AQUALUBE TO PREVENT FASTENERS GAULLING TOGETHER
6 AJA 16/10/2007 LEVELWIND BLOCK NOW SUB ASSEMBLY - BOM RE-ORDERED
TMS TYPE 1
5 CMI 01/02/06 LEVELWIND CHAIN SPROCKET MADE GENERIC
CMI
LEVELWIND - TYPE 1 TMS
4 SSM 04/06/2003 EXTRA CHAIN PULLEY SIZES ADDED
FINISH DRAWN SSM
3 EBR 9/08/02 NOW TMS TYPE 1 CMI -
2 EBR 9/02/01 BILL OF MATERIALS UPDATED CMI
DATE 21/06/2000
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV DATE DESCRIPTION APP - RWR
0672-MAS 6
IF IN DOUBT - ASK!
6
1
1
1
2
1
8
1
7
1
5
4 4
8
4
8 3
4

1 1 Gearbox - Tether Drum (M6 x 15 Ratio) 3424-MAS
2 1 O-Ring 3.53 x 85.32 (BS-237) SOR-353-0853-N70 Nitrile 70
NOTE
5 4 Nylok Hex Nut M8 F-NL-M8-A270 Stainless Gr A2-70 1. USE AQUALUBE WHEN SECURING ALL COMPONENTS TO
6 1 SPE180 DRIVE ASSY 2949-MAS PREVENT FASTENERS GAULLING TOGETHER.
7 1 Jaw Coupling - Type S24D - 14mm Bore 2889-DET Aluminium 2. USE SILICON GREASE ON O-RING.
8 1 Jaw Coupling Element - Type 24 (Red 98 Shore) MIS-0163

TETHER MANAGEMENT SYSTEMS
FINISH DRAWN WTH DRUM GEARMOTOR-(M6-15,SPE180)
2 ACR 05/2/06 GEARBOX MADE SUBASSEMBLY
-
DATE 30/3/05
Woodburn Road,
1 WTH 30/3/05 APPROVED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 798660
Sheet 1 of 1
- Fax: ++44 (0) 1224 798661
REV DATE DESCRIPTION APP CMI
2948-MAS
BY
2
RECORD OF REVISIONS ENGR. WTH 1:8 A3 No.
IF IN DOUBT - ASK! THIS DRAWING RELATES TO 2 OPTIONS OF GEARBOX, EACH
Item No. Qty Description Sub-Atlantic Part Ref. Material USING A DIFFERENT WORM (ITEM 8 IN BOM) AS FOLLOWS:
1 1 6 MOD Gearmotor Shaft 0836-DET
2 1 Worm Wheel - M6 x 15 Ratio 0838-DET GEARBOX PART No. 3424-MAS USES WORM PART NO. 0843-DET
3 1 Key 8 x 7 x 40 long MIS-0020 Key Steel GEARBOX PART No. 3424-MAS-CH USES WORM PART NO. 3445-DET
5 1 Wear Ring 0309-DET ENSURE CORRECT WORM IS USED AND LABEL GEARBOX WITH CORRECT P/N
6 1 Gearmotor Cap 1342-DET
LOCTITE 2701 37 40 39 38
1 1 1 1
8 1 Worm - Drum Gearbox (Various Configurations) SEE NOTES 34 2
9 1 6 MOD Gearmotor Worm Spacer 0842-DET 2 36
10 1 6 MOD Gearmotor Worm Shaft 0837-DET 1
11 1 Key 10 x 8 x 17 long 0517-DET Stainless Steel 35
12 2 30 Diameter Spacer 0513-DET 1 7 31 32 15
2 1 1 2 15
13 1 Gearmotor Body 6 MOD 0834-DET 2
14 1 Gearmotor Pinion 0518-DET
15 2 5 x 5 x 20 long Key MIS-0016 Key Steel
16 1 Large Retainer Washer 0667-DET 18
1
17 1 32 Diameter Spacer 0572-DET 2
18 1 External Circlip - 30 Dia F-CIR-EXT-30-CS Carbon Steel 1
12
19 5 Plain Washer M8 F-PW-M8-SS Stainless Steel 2 33 9
20 5 Spring Washer M8 F-SW-M8-SS Stainless Steel 4 1 1
17 34 1 8 7 30 10
1 2 1 2 1 1
21 20 19 12
5 5 5
25 1 Wave Spring Washer - ELP048 BRA-0007 5 SEE NOTE
26 1 Inner Rotary Seal SEA-0002
1 ABOVE
27 1 Rotary Shaft Seal 50 x 72 x 8 SEA-0003 1
28 1 O-Ring 3.53 x 107.54 (BS 244) SOR-353-1076-N70 Nitrile 70 1
25 3 SEE SHT 2 OF 2 FOR SECTIONAL VIEWS
1 1
30 1 Internal Circlip - 62 Diameter F-CIR-INT-62-CS Carbon Steel
31 1 Spirol Pin - 8 x 55 long F-SP-8-55-SS Stainless Steel 28
32 1 6 MOD Worm Spacer 0841-DET 1
33 1 No 4 JIC - 1-8 NPT Male Stud HYD-0052 Stainless Steel
26 6
34 2 4-JIC Cap HYD-0050 Stainless Steel
1 1
35 1 4 JIC - 1-4 NPT Male Stud HYD-0051 Stainless Steel
36 1 Anode 25 x 6.3 x 18 lg 1763-DET 27
37 1 M6 x M9 Threaded Insert (straight) 3110-DET 316L 1 NOTE
38 1 Plain Washer M6 F-PW-M6-SS Stainless Steel 11 14 ENSURE GEARMOTOR CAP (6)
22 23 24 16
39 1 Spring Washer M6 F-SW-M6-SS Stainless Steel 1 1 1 1 1 1 IS ORIENTATED ON THE
40 1 Button Head Cap Screw M6 x 30 long F-BHCS-M6-30-A270 Stainless Gr A2-70 CORRECT BOLT PATTERN TO
SUIT EITHER TYPE 1, 2 OR
USE AQUALUBE WHEN SECURING ALL COMPONENTS 3 TMS
TO PREVENT FASTENERS GAULLING TOGETHER
TETHER MANAGEMENT SYSTEMS
FINISH DRAWN ACR GEARBOX TMS TETHER DRUM
-
DATE 03/02/06
Pitmedden Road, Dyce.
Sheet 1 of 2
2 AJA 03/10/2007 ANODE ADDED TO MAIN BODY - ITEMS 36, 37, 38, 39 & 40
1 ACR 03/02/06 APPROVED FOR CONSTRUCTION-DERIVED FROM 1341-MAS CMI USO, TOLERANCES TO BE CHECK CMI Tel: ++44 (0) 1224 723623
Fax: ++44 (0) 1224 723822
REV DATE DESCRIPTION APP - CMI
3424-MAS
BY
2
IF IN DOUBT - ASK!
USE PTFE
TAPE
27 26 25 28 6 12 34 35 3
1 1 1 1 1 2 2 1 1
2
1
B USE PTFE 34
29
1 13 TAPE 2
1 2
24 1 35
18 1 13
1 1 1
23
1 1 1
1 1
22
1
11 12 3
1 2 1
30
1
10
1
16
1
5
1
13
14 1
1
6 7 9 8 31 7
1 B 2 1 1 1 2
33 34
1 2
17 28 10 8 7
1 1 1 1 2
A-A
SEE SHEET 1 OF 2 FOR BILL OF MATERIALS

A
PROJECT
TMS
TITLE
GEARBOX, TETHER DRUM

Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 2 of 2
Fax: ++44 (0) 1224 798661
A
3424-MAS 2
1:2 A3 No.
29 9 TIE LEGRIS CABLE (NOT SHOWN) BACK ONTO BOLT

4 1
45
LUBRICATE 24 1
1
14
36
1
6
46 38
1 6
4
1 37
6
6
1 34 47
11 LUBRICATE 1 6 16
1 1
28 7 22 4
2 30
4 1
44 5
4
33 1
17 ENSURE O'RING - SOR-200-0170-N70
4
2 IS FITTED
31 13
31 16 19
18 1
16 1
3
42 39 40 41
1 4 4 3 NOTE THAT EARTH CONNECTOR (42)
12 IS USED AS ONE PLAIN WASHER (41). CHARGING
15 1
1 2 SEE WIRING SCHEMATIC 0908-WIS POINT
27 30 1 FOR DETAILS. REMOVE ANODISING
4 5 LOCALLY FOR GOOD EARTH CONTACT.
20
3 1 LUBRICATE
4
10 25
2 1
23 1
2 31 1
35
16 8
TORQUE M5 BOLTS TO 4Nm
4 PLC'S 8
21 22 3
1 2
LUBRICATE
NOTES
1. WIRING NOT SHOWN. REFER TO DRAWING 0908-WIS FOR WIRING DETAILS
2. FILLING/CHARGING DRIVE UNIT STATOR CAVITY.
2.1. THE DRIVE UNIT STATOR CAVITY HAS BEEN DESIGNED TO RUN FILLED WITH OIL.
SHELL NATURELLE HF-E46 IS A SUITABLE BIODEGRADEABLE OIL.
ALTERNAIVELY SHELL 148 TRANSFORMER OIL SHOULD BE USED.
30
2.2. REMOVE THE BLANKING CAP FROM THE CHARGING POINT ON THE STATOR CAVITY 5 32
(LOCATED ON THE BASE OF THE PEDESTAL) AND CONNECT UP THE FLUSHING CHARGING PUMP. 3 26
3 4
2.3. POSITION THE DRIVE UNIT SO THAT THE UNIT IS STANDING ON THE PEDESTAL.
2.5. CHARGE UP THE PUMP AND OPEN THE PUMP VALVE. WARNING:
BEFORE REMOVING THE CONNECTOR CAP ASSEMBLY ENSURE THAT ALL
2.6. LOOSEN THE BLEED SCREW LOCATED ON THE TOP OF THE MAIN BODY. WATER/OIL IS REMOVED FROM THE ROTOR CAVITY. THIS IS DONE BY
POSITIONING THE THRUSTER WITH THE PROPELLER FACING DOWNWARDS
2.7. WHEN ALL THE AIR IS EXPELLED AND OIL IS STILL RUNNING LOOSEN THE BLEED SCREW AND BLOW AIR THROUGH THE CHARGING POINT
FROM THE BLEED POINT, RE-TIGHTEN THE BLEED SCREW USING AN EMPTY FLUSHING PUMP.
CLOSE THE VALVE AND REMOVE THE PUMP FROM THE DRIVE UNIT.
2.8. REMEMBER TO REPLACE THE BLANKING PLUG. MATERIAL WT AIR WT WATER PROJECT
TMS
SEE BILL OF MATERIALS - kg (E) - kg (E)
3. FILLING/CHARGING DRIVE UNIT ROTOR CAVITY. 4 GDU 09/01/2007 BOLT SIZE CHANGED, NOTE ABOUT O'RING ADDED ECN-425-07 WTH TITLE
DRAWN
3
3.1 THIS CAVITY CAN ONLY BE CHARGED WHEN ASSEMBLED TO THE
AJA 13/12/2006 REGULATOR BUSHES ADDED, FILLING/CHARGING NOTES MODIFIED,
TORQUE ADDED TO REAR BEARING HOUSING FASTENERS
FINISH
- DATE 31/3/05 Woodburn Road,
SPE180 DRIVE ASSY
OTHER DRIVE COMPONENTS OF THE TMS SYSTEM.
2 AJA 31/3/2006 CABLE WHIP, EARTHING STRAP AND PCB INSULATION ADDED CHECK CMI
Tel: ++44 (0) 1224 798660
1 WTH 31/3/2005
3.2 THE DRIVE UNIT ROTOR CAVITY HAS BEEN DESIGNED TO RUN APPROVED FOR MANUFACTURE USO, TOLERANCES TO BE
APPRV. CMI Fax: ++44 (0) 1224 798661
FILLED WITH OIL. SHELL TELLUS 32 IS A SUITABLE OIL. APP SCALE (USO) ORIG. SIZE DOC. SHEET REV
REV BY DATE DESCRIPTION
RECORD OF REVISIONS ENGR. CMI A2
No. 2949-MAS 1 of 2 4
1 1 SPE180 Rotor for Drive Assy 2951-MAS
2 1 Body - SPE180 2544-DET
3 4 Threaded Insert 2050-DET
4 1 Stator Liner - SPE180 2540-DET
5 1 Rear Bearing Housing - SPE180 2752-DET
6 1 Compensator Body 21 cc SPE180 2753-DET
7 1 Piston - 21 cc - SPE180 2755-DET
41 39 40 39 9 42 14 24 19 8 3 Nozzle Support - SPE180 2756-DET
3 4 4 4 1 1 1 1 1 9 1 Body Cover - SPE180 2759-DET
30 34 25 10 2 Bleed Screw 8MM 1766-DET
11 1 Comp. Spring 1.83 WD x 24.64 OD x 88.9 lg 2754-DET
5 1 1
12 1 Anode 25 x 6.3 x 18 lg 1763-DET
13 1 Ceramic Insulator - IGBT - SPE180 2758-DET
12 14 1 Stator - SPE180 SPE-0125
1 15 1 Diaphragm - 35 x 30 x 22 DIA-0011 Nitrile
16 1 PCB-0876- SPE180 Thruster Control Board PCB-0876
18 18 3 Dowty - 1~8 Inch BSPP SEA-0015 St. Steel/Nitrile
3 19 1 SPE180 Thruster Penetrator(TMS) CAB-0064
20 1 O-RING 3.00 x 56.0 SOR-300-0560-N70 Nitrile 70
17
2
44 24 1 O-Ring - Body Cover SPE180 SOR-300-1020-N70 Nitrile 70
6 4 27 4 Socket Head Cap Screw M5 x 25 F-SHCS-M5-25-A270 Stainless Gr A2-70
1 39 4 Socket Head Cap Screw M2.5 x 8 long F-SHCS-M2.5-8-A270 Stainless Gr A2-70
40 4 Spring Washer M2.5 F-SW-M2.5-SS Stainless Steel
22 8 26 32 30 42 1 Uninsulated Eyelet Terminal - 6BA-M3 ELA-0026
23 10 5 21 10 23 2 4
3 3 3 5 43 1 Legris Series 21 90 Deg Elbow 2992-IAS
2 2 1 1 2 2 2 1 1 44 1 Legris Series 21 Plug 2993-IAS
45 1 Hex Plug 1-8 BSPP HYD-0147 Stainless Steel
4 46 1 SPE-180 PCB Insulation 3551-DET
47 6 Regulator Isolation Sleeve MIS-0151
SECTION VIEW (1 : 1.5)
PROJECT
TMS
TITLE
SPE180 DRIVE ASSY

Woodburn Road,
Tel: ++44 (0) 1224 798660 Sheet 2 of 2
Fax: ++44 (0) 1224 798661
2949-MAS 4
A3 No.
IF IN DOUBT - ASK! 17 1
Item No. Qty Description Sub-Atlantic Part Ref. Material 4 1
2 1 ROV Retainer Frame 0594-DET
18
8 USE AQUALUBE WHEN SECURING ALL
3 2 Locking Lever 0596-DET COMPONENTS TO PREVENT FASTENERS
4 4 Locking Link 0595-DET 18 GAULLING TOGETHER
5 4 Hex Bolt M12 x 50 long F-HB-M12-50-A270 Stainless Gr A2-70 3 4 6 5 8
6 12 Plain Washer M12 F-PW-M12-SS Stainless Steel 2 4 12 4
10 4
8
11 1 D-Rubber 50 x 40 x 450 lg 0675-DET 8
12 1 Retainer Support Bar 0676-DET
13 3 Button Head Cap Screw M10 x 100 long F-BHCS-M10-100-A270 Stainless Gr A2-70 8
4 2
4
18 8 Plain Washer M4 F-PW-M4-SS Stainless Gr A2-70 6
20 1 Backing Support Bar 0754-DET 15
21 3 Hex Nut M10 F-HN-M10-A270 Stainless Gr A2-70 12
7 6
6 12
15
12
22
3
20 7 6 6 16
21 1 6 12 12 2
3
14
6
15 SET UP SCREWS TO CLAMP ROV
12 DURING FINAL TMS ASSEMBLY
11
1
15
12
12 13
1 3

TMS TYPE 1
3 EBR 9/08/02 BILL OF MATERIALS UPDATED ECN-030 CMI

FINISH DRAWN SSM ROV Depressor-
-
2 EBR 9/02/01 BILL OF MATERIALS UPDATED CMI
DATE 21/06/00
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV DATE DESCRIPTION APP - RWR
0673-MAS
BY APPRV.
3
1 1 Torque Unit Cap 0543-DET
2 1 Flexible Drive Shaft 0800-DET
1 1 4 6 1 O-Ring 3.53 x 113.89 (BS-246) SOR-353-1139-N70 Nitrile 70
7 1 Flexible Shaft Flange 0510-DET
11
1
4 8 1 O-RING 3.53 x 53.37 (BS 227) SOR-353-0533-N70 Nitrile 70
3 9 10 12 9 4 Spring Washer M8 F-SW-M8-SS Stainless Steel
12 4 4 2
11 1 Flexible Drive Oil Tube 0767-DET
12 2 Hose Band - 70 Diameter F-WOR-60-80-SS Stainless Steel
USE AQUALUBE WHEN SECURING ALL COMPONENTS

TO PREVENT FASTENERS GAULLING TOGETHER
7
1
TOP END 2
1
11 12 7
1 2 1
LOCK NUTS
SEE NOTE 1
BLEED PORTS
SET UP:- 1) ITEM (2) IS SUPPLIED WITH 2 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.
2) SCREW FLANGE (7) ONTO ONE END OF FLEXIBLE
SHAFT (2) AND TIGHTEN AGAINST LOCKNUTS.
3) SLIDE HOSE (11) OVER SHAFT AND SECURE
2 USING HOSE BAND (12) TO FLANGE (7).
1
8 4) SLIDE LOOSE HOSE BAND ONTO HOSE.
1
SECTION ALONG FEXIBLE SHAFT FLANGE 5) SCREW TORQUE UNIT CAP (1) ONTO BOTTOM
END OF DRIVE UNTIL FULLY SCREWED ONTO
LOCKNUTS.
2 LOCK NUTS 6) FIT TOP END INTO TMS DRUM DRIVE GEAR BOX,
1 SEE NOTE 1 TIGHTEN UP TORQUE CAP (1) UNTIL MOUNTING
HOLES ALIGN WITH TRACTION GEARBOX AT
THE FIRST OPPORTUNITY.
11 7) CENTRALISE SHAFT IN HOSE AND SECURE
1 TORQUE CAP TO HOSE WITH HOSE BAND.
BLEED PORTS 5
4
BOTTOM END
3
12
12 12
2
2 5
4
1
1
3
3
12
12 6
1
4
4
6
1
1 3
1 12
SECTION ALONG TORQUE UNIT CAP MATERIAL SEE BILL OF MATERIALS WT AIR WT WATER PROJECT
TMS TYPE 1
4
FLEXIBLE DRIVE SHAFT
4 SSM 13/01/2003 NOTES ADDED, ECN-130 CMI
FINISH DRAWN SSM
3 EBR
4 9/08/02 NOW TYPE 1 TMS, FLANGES NEW STYLE ECN-030 CMI -
DATE 16/08/00
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
- RWR
0766-MAS 4
REV BY DATE DESCRIPTION APP APPRV. SCALE (USO) ORIG. SIZE DOC. REV
IF IN DOUBT - ASK!
Item No. Qty Description Sub-Atlantic Part Ref. Material Item No. Qty Description Sub-Atlantic Part Ref. Material
1 1 Junction Box 5,5 KVA 3332-DET 43 1 Nylok Hex Nut M3 F-NL-M3-A270 Stainless Gr A2-70
2 1 Transformer Junction Box Lid 6 kVA 3355-DET 44 2 Plain Washer M3 F-PW-M3-SS Stainless Steel
3 1 Transformer Junction Box Cradle 5.5kVA 3333-DET 45 1 G-Type DIN Rail x 100 mm 4001-DET
4 1 Junction Box Cable Tray 5.5 kVA 3998-DET 46 3 M6 x 55 Male - Female Hex Spacer 4004-DET
5 1 3.53 Sealing O-ring 6.O kVA Transformer Box SOR-353-4121-N70 Nitrile 70 47 1 Junction Box 5,5 kVA Support Plate for G-Type Rail 4003-DET
6 16 Socket Head Cap Screw M8 x 25 long F-SHCS-M8-25-A270 Stainless Gr A2-70 48 3 Button Head Cap Screw M6 x 10 long F-BHCS-M6-10-A270 Stainless Gr A2-70
7 20 Plain Washer M8 F-PW-M8-SS Stainless Steel 49 4 C-Sunk Head Socket Screw M5 x 12 long F-CHSS-M5-12-A270 Stainless Gr. A2-70
8 4 C-Sunk Head Socket Screw M8 x 35 long F-CHSS-M8-35-A270 Stainless Gr A270 50 4 Plain Washer M5 F-PW-M5-SS Stainless Steel
9 4 Nylok Hex Nut M8 F-NL-M8-A270 Stainless Gr A2-70 51 4 Nylok Hex Nut M5 F-NL-M5-A270 Stainless Gr A2-70
10 4 Hex Screw M6 x 20 long F-HHS-M6-20-A270 Stainless Gr A2-70 52 1 1-8 Series 21 Coupling Body HYD-0080
17 1 No 4 JIC - 1-8 NPT Male Stud HYD-0052 Stainless Steel
20 1 5.5 kVA Transformer 3329-DET
21 1 G-Type DIN Rail x 170 mm 4002-DET
22 3 Fiber Optic Coupler Mount CAA-0051 RS 232-639
23 3 Fibre Optic Connector Nut Part of ELA-0087
25 2 NH Fuse Base - Single ELA-0096 RS 421-845
26 9 SAK 4.0 Standard Terminals CAA-0048
27 2 Bridge Rectifier 70AMP DIO-0002
30 2 EK 4 Earth Terminal CAA-0049
32 4 End Stop G-type DIN Rail-EWK1 CAA-0080 RS 425-780
33 2 NH Fuse 10A ELA-0093 RS 421-621
34 6 Phoenix Terminals-End Cap CAA-0067
35 6 Phoenix Terminals CAA-0066 RS 425-601
36 1 Water Ingress Sensor LHS and RHS Holes 1238-IAS
41 1 Temperature Sensor 1 ELA-0102
5 LZA 23/03/2007 REPLACED CABLE TRAY, NEW CONFIGURATION FOR INTERNAL COMPONENTS MATERIAL SEE BILL OF MATERIALS WT AIR WT WATER PROJECT
TMS
4 GDU 30/01/2007 ADDITIONAL ITEMS ADDED, INTERNAL COMPONENTS ROTATED
TRANSFORMER JUNCTION BOX,
3 ACR 26/04/2006 ELECTRICAL COMPONENTS ADDED
2 ACR 06/12/2005 USING 6kVA BOX PROFILE

FINISH
-
DRAWN ACR
Woodburn Road,
5.5 kVA-400Hz
1 ACR 24/11/2005 APPROVED FOR CONSTRUCTION
ASSEMBLY DRAWING
A ACR 23/11/2005 ISSUED FOR TENDER - DERIVED FROM 0630-MAS USO, TOLERANCES TO BE CHECK CMI Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 1 of 3
REV - CMI
5
BY DATE DESCRIPTION APPRV.
3331-MAS
RECORD OF REVISIONS ENGR. ACR 1:4 A3 No.
IF IN DOUBT - ASK!
48
3
5
11
22
50
4
51
4 49
4
PROJECT
TMS
TITLE
Woodburn Road,
5.5 kVA-400Hz
ASSEMBLY DRAWING
Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 2 of 3
3331-MAS 5
1:3 A3 No.
IF IN DOUBT - ASK!
12
20 1 18
1 1
13 17
NOTES 2 1
1. ANTI-SEIZE COMPOUND TO BE USED ON ALL THREADS
2. USE SILICON GREASE ON ALL 'O' RINGS AND DOWTY WASHERS
LUBRICATE
3 29 11 27
1 11 22 2
32 40 37
4 4 2
31 34 35
6 6 21 1
2 1 1
26 8
9 4
2 4
1 1 14
47 25 3
1 2
15
24 2
3 5 7
20
22 16
3 9 2
45 43
23 46 4
1 1
3 3 14
30 3
2 42 41 38 36
1 1 2 1 15
LUBRICATE 33 2
44 2
13 2
2 39 16
52 11 2 2
1 22
19
5 4
5
1 10 PROJECT TMS
4 TITLE
Woodburn Road, 5.5 kVA-400Hz
6
7 Blackburn Business Park, Blackburn,
DETAIL DRAWING
20
16 Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 3 of 3
3331-MAS 5
1:6 A3 No.
IF IN DOUBT - ASK! Item No. Qty Description Sub-Atlantic Part Ref.Material
1 1 2500 msw Electronics Tube (400 long) 2858-DET
2 1 Electronics Enclosure End Cap - 2500msw 1300-DET
3 4 Mounting Rail - (370) 3616-DET
4 2 PCB Guide Strip 0383-DET
6 3 Tube Retainer Assembly 1229-MAS
7 1 Support Ring Relay PCB PCB-0053
8 2 O-RING 3 x 164.5 SOR-300-1645-N70 Nitrile 70
11 1 TMS Electronics Rack Mount 0898-DET
SEE NOTE 8 15 4 Plain Washer M6 F-PW-M6-SS Stainless Steel
10 7 16 1 Electronics Enclosure Bracket 3 1446-DET
18 1 9 17 1 Electronics Enclosure Bracket 4 1447-DET
12 8 19 1 5-8 x 18 UNF Plug 1773-DET
18 4 30 20 1 Anode 25 x 8.5 x 30 lg 1101-DET
2 1 21 1 Studbar M8 x 50 long F-SB-M8-50-A270 Stainless Gr A2-70
18 32 3 23 1 Nylok Hex Nut M8 F-NL-M8-A270 Stainless Gr A2-70
1 4
24 1 Mounting Bar - (370) 3617-DET
25 1 Endcap Blank 1021-DET
29 24
3 1 11 10
26 1 Strimmer Cord MIS-0190
26 1 18 12 28 1 Strimmer Cord x 10 long MIS-0003
1 27 18 5 29 3 M4 Nylon Tipped Grub Screw F-SSS-NT-M4-11-SS Stainless Steel
31 18 8 30 1 M3 x 139 long stud bar F-SB-M3-139 -A270 Stainless Gr A2-70
2 1 2 2
31
32
1
1
Heat Shrink Material
Hex Nut M3
MIS-0063
F-HN-M3-A270 Stainless Gr A2-70
1
17
1
18
1 19
5
18 12 1 20
18 1 21
10
18 1 22
25 1
1 28 23
1 1
6
3
16 15
1 4 14
4 13
1 4
1

TMS SYSTEM
FINISH DRAWN AAC ELECTRONICS ENCLOSURE,
2 ACR 19/10/06 TITLE CHANGED TO 39 PITCHES
-
DATE 01/05/06
Pitmedden Road, Dyce. 2000msw, 39 PITCHES
1 ACR 01/05/06 ISSUED FOR CONSTRUCTION GDU USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 723623 ASSEMBLY DRAWING Sheet 1 of 2
Fax: ++44 (0) 1224 723822
REV BY - CMI
2
3608-MAS
IF IN DOUBT - ASK!
1. BEFORE ASSEMBLY RUN UNF TAPS OF THE CORRECT SIZE DOWN ALL THE THREADS ON THE END CAP (2) TO ENSURE GOOD
ELECTRICAL CONTACT.
2. PORTS 1 & 8 ARE TAPPED 5/8"-18 UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN ON WIRING 3
DIAGRAM IN MANUAL. 9 4
3. PORTS 2 TO, 7, 9, 10, & 11 ARE TAPPED 7/16"-20 UNF AND WILL BE UTILISED WITH CONNECTORS OR BLANKED AS SHOWN 8
ON WIRING DIAGRAM IN MANUAL.
4. IT IS IMPORTANT THAT THE ZINC ANODE (20) MAKES GOOD ELECTRICAL CONTACT WITH THE ADAPTER (19) AND THE ADAPTER
WITH THE ENDCAP (2). ENSURE NYLOC HEX NUT (23) IS TIGHTENED HARD AGAINST ANODE BEFORE EACH VEHICLE EXCURSION.
DUE TO WIRING REQUIREMENTS THE ANODE MAY BE MOVED TO A 7/16"-20 UNF PORT IN WHICH CASE IT WILL BE SECURED TO
THE POD WITH 1 OFF 7/16"-20 UNF HEX PLUG (0716-DET), 1 OFF M6 x 50 LG STUDBAR, 1 OFF M6 PENNY WASHER & 1 OFF M6
NYLOC HEX NUT. CHECK WIRING DIAGRAM TO CONFIRM.
5. EACH PCB SHOWN IN THE WIRING DIAGRAM & MANUAL PHOTOGRAPHS REQUIRES 2 OFF PCB GUIDE STRIPS (4) AND 8 OFF
SCREWS (9) TO SECURE.
6. LUBRICATE ALL O-RINGS WITH SILICONE GEL DURING ASSEMBLY.
7. APPLY AQUALUBE TO PREVENT GAULLING OF FASTENERS ONLY TO THE THREADS INDICATED. ENSURE NO AQUALUBE 4
CONTAMINATES THE PCB'S IN THE ENCLOSURE. 2
8. REFER TO WIRING DIAGRAM FOR POSITION OF PCB RAIL MOUNTS AND STUD BAR.
PCB RAIL MOUNT
A B (2 : 1)
PORT 9
PORT 1
ANODE D C
PORT 2
PORT 11 PORT 3
1 27 26 25
PORT 8 PORT 10 1 2 1 1
PORT 7 PORT 4
A PORT 5
PORT 6
A-A
8 8
2 2 2
1 1
1
B BACK O-RINGS
C (1 : 1)
PROJECT
TMS SYSTEM
TITLE
FRONT O-RINGS ELECTRONICS ENCLOSURE,
D (1 : 1) Unit 12, Airways Industrial Estate
2000msw, 39 PITCHES
ASSEMBLY DRAWING Sheet 2 of 2
Tel: ++44 (0) 1224 723623
Fax: ++44 (0) 1224 723822
3608-MAS 1
1:4 A3 No.
1 1 Tube Retainer 0397-DET
2 1 Clamping Screw 0816-DET
3 1 Retainer Anchor 0901-DET
4 1 Thrust Washer M6 0399-DET
6 1 Spirol Pin 2.5 dia x 10 long F-SP-2.5-10-A270 Stainless Gr A2-70
2 2
1
5 4
1 1
7
1
1
1
9
1
8 NOTE 1
1
NOTES
1. EXTRA WASHERS (8) MAY BE REQUIRED TO
SECURE THE RETAINER ASSEMBLY SECURELY
TO THE ELECTRONICS BOTTLE.
2. USE ANTI GAULLING COMPOUND ON ITEMS
(2) & (7) DURING ASSEMBLY AND ENSURE 3
ITEM (7) IS LUBRICATED WITH ANTI GAULLING 1
COMPOUND DURING ASSEMBLY TO THE
ELECTRONICS BOTTLE.

ELECTRONICS BOTTLES
3 EBR 9/04/04 TUBE RETAINER PART REFERENCE CHANGED. SCREW LENGTH INCREASED
FINISH DRAWN EBR TUBE RETAINER ASSEMBLY-
-
2 SSM 18/02/2002 SPIROL PIN ADDED EBR
DATE 8/08/01
1 EBR 8/08/01 ISSUED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK MBI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
- CMI
3
REV DATE DESCRIPTION APP
1229-MAS
RECORD OF REVISIONS ENGR. SSM 1.5 : 1 A3 No.
IF IN DOUBT - ASK!
1 1 Gearbox, Traction Wheel 3423-MAS
2 1 Traction Wheel - Type 1 TMS (Various Sizes) See Notes
3 1 Traction Wheel Mounting Plate 0536-DET
4 1 TMS Tether Guide fixed 0538-DET
5 1 20 mm Pinch Roller 0533-DET
6 1 Pinch Roller Shaft 0537-DET
7 1 Lever - Pinch Shaft 0535-DET
8 1 Traction Unit Tether Retainer 0534-DET
11 1 Socket Shoulder Screw Dia 16 x 30 Long F-SHSS-16-30-M12-A270 Stainless Gr A2-70
17 4 Captive Socket Head Cap Screw M10 x 45 long 0571-DET
18 1 TMS Tether Guide Removable 0573-DET
21 1 Traction Wheel Spring Retainer 0705-DET
23 1 Traction Wheel Extension Spring 0798-DET
24 1 Magnetic Sensor Assembly 0953-IAS
25 1 Magnetic Source Assembly SEN-0010
NOTES
1. 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.
2. USE AQUALUBE TO PREVENT FASTENERS

GAULLING TOGETHER.
TMS Type 1
TRACTION WHEEL PART NUMBERS
TETHER DIAMETER PART No.
19 - 20 mm 0532-DET
16.5 - 18.1 mm 2088-DET

TMS SYSTEM
FINISH
-
DRAWN SSM TRACTION WHEEL (TYPE 1 TMS)
ASSEMBLY DRAWING
DATE 21/06/00 Pitmedden Road, Dyce.
8 CMI 01/02/06 ITEM 2 MADE GENERIC, GEARBOX MADE SUBASSEMBLY 3423-MAS USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 723623 Sheet 1 of 2
Fax: ++44 (0) 1224 723822
REV - RWR
8
0678-MAS
14 15 19 24 23
17 15 14 18 4 22 14 2 1 1 1
4 14 22 1 1 1
22
1
2
SEE NOTE ON SHEET 1 1 21 9
14 1 10 1
22 1
15 13
20 14 1
6 4
1
12
1
25
1 3
1
7 14 26
5 4
1 1 22
11 8 16 14
1 1 8 22
16 15 14 17 15 14
8 14 22 4 14 22
PROJECT
TMS SYSTEM
TITLE
TRACTION WHEEL (TMS TYPE 1)

SEE SHEET 1 FOR BILL OF MATERIALS & ASSEMBLED VIEW
Tel: ++44 (0) 1224 723623 Sheet 2 of 2
Fax: ++44 (0) 1224 723822
0678-MAS 8
1:5 A3 No.
1 1 Traction Wheel Shaft 0539-DET 37 IF IN DOUBT - ASK!
1
2 1 Traction Worm Wheel 0547-DET
3 2 AS25 Freewheel MIS-0011
4 1 Key 8 x 5 x 50 long 0504-DET
36
5 3 Deep Groove Ball Bearing - 6204 BRG-6204 1
7 1 Wear Ring 0309-DET
9 1 M30 Bearing Locknut BRA-0006
38
10 1 M30 Lock Washer BRA-0005 1
11 1 Traction Gearbox Body 0541-DET
12 1 Traction Gearbox Cap 0540-DET
13 1 Traction Worm GEA-0003
14 1 Traction Worm Shaft 0545-DET
15 1 Worm Spacer 0546-DET
16 1 Precision Torque Unit 1175-IAS
17 1 Tork Unit Input Shaft 0544-DET
18 1 Internal Circlip - 47 Diameter F-CIR-INT-47-CS Carbon Steel
19 1 Worm Spacer short 0574-DET
20 1 Spirol Pin - 6 x 40 long F-SP-6-40-SS Stainless Steel
21 3 Socket Head Cap Screw #10-32 x .75 long F-SHCS-10-32UNF-3/4-A270 Stainless Gr A2-70
24 1 Wave Spring Washer - ELP041 BRA-0008
25 1 Wave Spring Washer - ELP065 BRA-0009
26 1 Inner Rotary Seal SEA-0002
27 1 Rotary Shaft Seal 50 x 72 x 8 SEA-0003
30 1 Key 5 x 5 x 20 long MIS-0016 Key Steel
31 1 key 4.76 x 4.76 x 22.22 MIS-0017 Key Steel
32 1 Compensator Assembly - 370 cc - Self Supporting 0967-MAS
33 1 21 mm Spacer 1648-DET
34 2 3 mm Spacer 1647-DET
36 1 1-4 BSP Ball Valve(44.5 lg) HYD-0088 Stainless Steel
37 1 8mm-1-4 BSPT Hose Adapter HYD-0089 Stainless Steel
38 1 1-4 NPT Male Stud HYD-0087 Stainless Steel 39
39 1 1-4 NPT x 4JIC Male Stud HYD-0051 Stainless Steel 1
40 1 M6 x M9 Threaded Insert (straight) 3110-DET 316L
44 1 Anode 25 x 6.3 x 18 lg 1763-DET 1
NOTES
1. USE AQUALUBE TO PREVENT FASTENERS
GAULLING TOGETHER.
TMS SYSTEM
FINISH DRAWN ACR GEARBOX, TRACTION WHEEL
-
DATE 03/02/06
-
2 AJA 04/10/2007 ANODE AND FASTENERS ADDED - ITEMS 40, 41, 42, 43 & 44
USO, TOLERANCES TO BE CHECK CMI
Aberdeen. U.K. AB21 0DT ASSEMBLY DRAWING
1 ACR 03/02/06 ASSEMBLY BROKEN OUT OF 0678-MAS
-
Tel: ++44 (0) 1224 723623
Fax: ++44 (0) 1224 723822 Sheet 1 of 2
REV DATE DESCRIPTION APP CMI
3423-MAS 2
IF IN DOUBT - ASK! WHEN INSTALLING THE FREEWHEELS (ITEM 3) PRESS FIT THEM INSIDE REMOVE SHARP EDGES
THE TRACTION WORM WHEEL AND BEARINGS (ITEM 2, & 6), INSURING 21
30 THAT THEY ROTATE IN THE SAME DIRECTION. HOLDING THE TRACTION 3 23
11 17 3
1 1 1 WHEEL SHAFT AND CAP ASSEMBLY (ITEMS 1, 4, 7, 8, 9, 10, 12, 25, 27, 28
21 23 22 & 29) POINTING AWAY FROM YOU, PRESS IT INTO THE FREE WHEELS SO 17
3 3 3 1 22
THAT THE WORM GEAR ROTATES ANTI-CLOCKWISE.
3
GO 30
1
14
1
14
1 16
2 34 1
18
16 1 2 1
1 31
1
11 33
10 26 5
1 1
1 1 NO GO 3
19
34 1
5 2 15
3 27 1
31 1 20
1 1
5
7 1 3
19
1 1
13
2
1 1 43 42 41
24
1 1 1
20 1
1
2
13 15
1 1 32 44
1 1
5 40
3 4 1 2
28 6 1
5 1 2 LOCTITE 2701
3 3 25
2 1 24
9 12 8 9 1 11
1 1 1 10 1 1
8 1 5
A-A (1 : 1.5) B-B (1 : 1.5) 25 1 3
1
3 6 29 33 2 3 6 34
11 6 2 2 1 1 1 2 2 2
1 2
34 3
2 2
ASSEMBLED
26
1
12
1
29
1 VIEW
A 28 27 7
B 1 1 1
1
1
PROJECT
TMS SYSTEM
TITLE
A
GEARBOX, TRACTION WHEEL
Woodburn Road,
-
B
SEE SHEET 1 FOR BILL OF MATERIALS Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661 Sheet 2 of 2
3423-MAS 2
1:10 A3 No.
1 1 Diaphragm - 60 x 70 x 70 DIA-0007 Nitrile
USE PTFE TAPE 2 1 Piston - 370 cc 0482-DET
14 NOTE 1 3 1 Compensator Body - 370 cc 0479-DET
9
1 1 4 1 370cc Compensator Spring 0749-DET
5 1 Retainer Flange - 370 cc 0493-DET-SS
FLOW
8 1 Compensator Housing - Self Mounting - 370 cc 0902-DET
1
1 2 7 14 1 Nupro 4CPA Check Valve HYD-0030
1 1
11
8
13 8 10 12 11
4 1 4 8 8
12
8
6 11 3
13 1
4 4 8
FLOW
12
4 8
1
10
4 14
1
FLOW
A-A
8 1 2 4
1 1 1 1
3
1
REAR VIEW
NOTES 5
1
1. NOTE FLOW DIRECTION ARROW ON CHECK VALVE (14) BODY & SET AT 1 BAR (14.5 PSI)
3 EBR 9/12/02 LATEST REVISION ECN-031 CMI

FINISH DRAWN SSM 370cc COMPENSATOR -SELF
-
DATE 12/02/01
Pitmedden Road, Dyce. SUPPORTING ASSEMBLY DRAWING
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
- CMI
3
REV
0967-MAS
1 1 Radius Goosneck Mounting Plate 0520-DET USE AQUALUBE WHEN SECURING ALL
2 4 Gooseneck Pulley Shaft 0523-DET COMPONENTS TO PREVENT FASTENERS
3 4 20 mm Goooseneck Pulley 0522-DET GAULLING TOGETHER 7
1
4 1 Gooseneck Pivot Bearing 0521-DET
5 1 Gooseneck Tether Retainer 0524-DET
6 1 Gooseneck Pivot Bracket 0525-DET
7 1 Gooseneck Pivot Pin 0570-DET
9 1 Nylok Hex Nut M20 F-NL-M20-A270 Stainless Gr A2-70 12 13 19 6
10 4 Plain Washer M12 F-PW-M12-SS Stainless Steel 4 8 2 1
6 16
15 2 Captive Socket Head Cap Screw M10 x 45 long 0571-DET 4 18
11 10 7 13
4 4 6 1 8
1
11 14
4 4
2 10 8
4 4 1
4 9
1 1 1
1
1
1 12
4 16
6
15 14
2 4 17
17 13 2
2 8
1 15
1 16 2
6 5
3 2 1
4 4
5 9 8
1 1 1

TMS TYPE 1

FINISH DRAWN SSM RADIUS GOOSENECK-
-
DATE 21/06/00
1 SSM 21/06/2000 ISSUED FOR CONSTRUCTION RWR USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
- RWR
3
REV
0671-MAS

1 1 Drum Shaft - 600 Wide Flange (176 SR) 2783-DET
4 3 25 2 5 2 1 Drum Flange - Drive End - 400 Dia (SR176) 2854-DET
1 1 1 1 1 3 1 Drum Core - 400 Dia x 600 Wide 0784-DET
30 11 4 1 Drum Flange - Free End - 400 Dia 0781-DET
1 16 5 1 Drum Gear - 125 teeth 0779-DET
20
15 1 6 1 Drum Gear Guard - 125 Teeth 0782-DET
1 7 1 Self-Aligning Bearing Assembly(SR176) 2851-MAS Oilon or equivalent
32 NOTE4 1 SEE NOTE 2 11 16 C-Sunk Head Socket Screw M8 x 55 long F-CHSS-M8-55-A270 Stainless Gr A2-70
1 12 6 Studding 0568-DET
1 7 15 1 Sprocket -1~2 Inch Pitch - 39 Teeth 0507-DET
1
29 17 1 Spherical Bearing Shell (SR176) 2849-DET STAINLESS 316L
1 18 1 Spherical Bearing Shell - Threaded 2849-DET STAINLESS 316L
1
6
28 20 1 Conector Mounting Plate For Drum 77.5 Bore 3978-DET
1 21 4 3-4in PIPE CLAMP SEE NOTE
7
26 12 1
9 10 8 1 1 23 1 4 JIC - 1-4 NPT Male Stud HYD-0051 Stainless Steel
18 18 18 1 6
25 1 Drum Entrance Plate - 400 Dia 1780-DET
6 6 26 1 Drum Access Plate - 400 Dia 1779-DET
14 13 36 35 12 1 17 40 19 24 23 22 21 13 14 5 6 27 10 C-Sunk Head Socket Screw M6 x 16 long F-CSHS-M6-16-A270 Stainless Gr A2-70
16 16 2 1 6 1 1 2 2 1 1 4 4 16 16 1 1 28 1 Spherical Bearing Shell - Threaded 0879-DET
7 29 1 Spherical Bearing Shell 0879-DET
15 1
1 30 1 Self-Aligning Bearing Assembly 0579-MAS
31 1 Slip Ring SEE NOTE
32 32 1 Drum Shaft Junction Box Assembly 1550-MAS
1 33 1 Drum Shaft Gasket (SR176) 2853-DET COMP. ASBESTOS
35 1 Adapter - M25 x M20 Hawke CAA-0077
37 4 Studbar M5 X 35 long F-SB-M5-35-A270 Stainless Gr A2-70
A 6 40 2 Spring Washer M4 F-SW-M4-SS Stainless Steel
NOTE
3
16
1 NOTES

TO PREVENT FASTENERS GAULLING TOGETHER.
4 2. SLIP RING (ITEM 35) IS SPECIFIC TO CUSTOMER REQUIREMENTS. REFER

1 TO CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY FOR DETAILS.
3. CLAMP (ITEM 25) IS DEPENDENT ON TETHER DIAMETER. REFER
39 39 TO CUSTOMER SPECIFIC TOP LEVEL TMS ASSEMBLY FOR DETAILS.
38 38
16 16 16
16 4. VARIOUS OPTIONS OF CABLE GLAND ARE USED DEPENDING ON
9 10 8 TEHER DIAMETER. REFER TO CUSTOMER SPECIFIC TOP LEVEL TMS
20 18 18
1 18 18 ASSEMBLY FOR DETAILS.
1
2 33
1 7 8 10 9 11 1
1 18 18 18 16
3
1 6 AJA 05/06/2007 ITEM 19 CHANGED FROM M5 TO M4, 2 OFF ITEM 40 ADDED MATERIAL WT AIR WT WATER PROJECT
25 TMS SYSTEMS
1 5 AJA 15/03/2007 ITEM 20 CHANGED, TERMINAL BLOCKS & FASTENERS SEE BILL OF MATERIALS - kg (E) - kg (E)
37 REMOVED. STUDBAR, NUTS & WASHERS ADDED DRAWN WTH TITLE
4 AJA 10/11/2006 2 OFF ITEM 19 REMOVED, REPLACED WITH 2 OFF ITEM 40
4
28/09/06 CABLE GLAND CHANGED TO M20 ADAPTOR
FINISH
- DATE 15/2/05 Woodburn Road,
DRUM ASSEMBLY, TMS TYPE 1B
3 ACR
38 Blackburn Business Park, Blackburn, 400 DIA x 600 WIDE (SR176)
2 ACR 07/2/06 MADE GENERIC, SLIP RING & PIPE CLAMP MADE VARIABLE CMI CHECK GDU Aberdeen. U.K. AB21 0PS
16 1 WTH 15/2/05 APPROVED FOR MANUFACTURE CMI USO, TOLERANCES TO BE
Tel: ++44 (0) 1224 798660
38 39 39 APPRV. GDU Fax: ++44 (0) 1224 798661
16 16 16 A (2 : 5) REV BY DATE DESCRIPTION
RECORD OF REVISIONS
APP
ENGR. WTH 1:6 A2
No. 2876-MAS SHEET
1 of 2 6
IF IN DOUBT - ASK!
27 25
10 1
27 26 PROJECT
10 1 TMS SYSTEMS
TITLE
DRUM ASSEMBLY - TMS TYPE 1B

400 DIA x 600 WIDE (SR176)
Woodburn Road,
Tel: ++44 (0) 1224 798660 MAIN ASSY DRAWING Sheet 2 of 2
Fax: ++44 (0) 1224 798661
2876-MAS 6
1:5 A3 No.
0.2 0
1 + .53
4
40
A
C1 +0
2
B 2
0
4
6.0
18
1.6
SP
1
2
120.00
2
2
3
4
5
2
20.0 A 6
2
B B-B
A-A
ADDITIONAL NOTES:- 1 2 Bearing Block Half (SR176) 2850-DET Oilon
2 2 Bearing Block Location Sleeve(SR176) 2852-DET Stainless Steel
1. BOLTS TO BE FIRMLY TIGHTENED PRIOR 3 4 Large Washer M12 0881-DET Stainless Steel
TO MACHINING SPHERICAL BORE.
4 2 Hex Screw M12 x 270 long F-HS-M12-270-A270 Stainless Gr A2-70
2. ASSEMBLIES TO BE MARKED (STAMPED) AS MACHINED 5 2 Spring Washer M12 F-SW-M12-SS Stainless Steel
PAIRS AND STORED AS A UNIT AFTER MACHINING.
SEE B.O.M. ABOVE
APACHE TMS
FINISH
NONE
DRAWN WTH
Woodburn Road,
SELF ALIGN. BRG. ASSY.(SR176) -
2 ACR 30/1/06 CLEARANCE FIT INCREASED TO C11 FROM D10 DATE 15/2/05 Blackburn Business Park, Blackburn,
MACHINED-MAIN ASSY DRAWING
1 WTH 15/2/05 APPROVED FOR MANUFACTURE GDU USO, TOLERANCES TO BE CHECK GDU Tel: ++44 (0) 1224 798660
Fax: ++44 (0) 1224 798661
Sheet 1 of 1
1 PLACE DECIMALS 0.5 GDU
2851-MAS
2
2 PLACE DECIMALS 0.25
RECORD OF REVISIONS ANGLES 0.5 ENGR. WTH 1:2 A3 No.
ADDITIONAL NOTES:-
1. BOLTS TO BE FIRMLY TIGHTENED PRIOR
TO MACHINING SPHERICAL BORE.
2. ASSEMBLIES TO BE MARKED (STAMPED) AS MACHINED 4
PAIRS AND STORED AS A UNIT AFTER MACHINING. 2
20.00
A B 3
2
SP
H.
106
.00 +0.18
+0 7
.10 1
0
2
90.00
2
2
1.6
75.00
1
2
6
2
A B
7
SECTION A-A SECTION B-B
2

1 2 Bearing Block Half 0576-DET Oilon
2 2 Bearing Block Location Sleeve 0578-DET Stainless Steel
3 2 Large Washer M12 0881-DET Stainless Steel
ISOMETRIC VIEW

SEE B.O.M. ABOVE
APACHE TMS
SPRING WASHERS NO LONGER USED CMI
5 EBR 28/02/02
7.7 kg (E) - kg (E) TITLE
4 SSM 20/02/2001 SPHERICAL TOLERANCE MODIFIED CMI
3 CMI 14/012/00 GENERAL MODIFICATION CMI
FINISH
NONE
DRAWN T.C.TULLOCH SELF ALIGN. BEARING ASSY. - M/C'D
2 SSM 07/10/2000 PART NUMBERS UPDATED -
DATE 02MAY'00 Pitmedden Road, Dyce.
1 CMI 02/05/00 APPROVED FOR CONSTRUCTION RWR USO, TOLERANCES TO BE CHECK CMI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
1 PLACE DECIMALS 0.5 Fax: ++44 (0) 1224 723822
RWR
5
REV
0579-MAS
BY DATE DESCRIPTION APP APPRV. SCALE (USO) ORIG. SIZE
2 PLACE DECIMALS 0.25 DOC. REV
RECORD OF REVISIONS ANGLES 0.5 ENGR. CMI 1:2 A3 No.
1 1 Internal Umbilical Anchor Socket 0895-DET
10 2 1 Umbilical Anchor 28 Dia Bore 0584-DET
9 11 3 1 Internal Umbilical Anchor Retainer 0897-DET
2 SEE NOTES BELOW
3 7 4 Nylok Hex Nut M10 F-NL-M10-A4-80 Stainless Gr A4-80
1 8 1 Umbilical Anchor Sleeve - 24.5 bore 1216-DET
2 SEE NOTES BELOW 9 2 Socket Head Cap Screw M8 x 20 long F-SHCS-M8-20-A270 Stainless Gr A2-70
7 6 6 5
4 8 8 4 2
FASTENERS ARE FOR THE LATER 1
ATTACHEMENT TO TMS FRAME
THESE SCREWS TO BE
DRIVEN FULLY HOME
AND TORQUED TO
40 N.m (30 LB.FT) 1
(THROUGH SLOTS
IN ITEM 1) 1 A A
4
2
Anchor ID (Item 2) Used On TMS Part No. 3 1
23 mm 1&2 2559-DET
28 mm 1, 2 & 3 0584-DET
1 4 1
32 mm 1&2 0896-DET 2
34 mm 1&2 1630-DET
TEKMAR 28 mm 3 3724-DET 4
HYDRAMEC 28 mm 2 4231-DET 10 2
HYDRAMEC 34 mm 2 2386-DET
7 2
3 1 1
Sleeve ID (Item 8) Dwg. No. 4 6 1 1
16 mm 2560-DET 6 5
19 mm 3395-DET 8 8 4
20 mm 2095-DET
REFER TO SEPARATE PROCEDURE FOR POTTING OF UMBILICAL AND UMBILICAL ANCHOR ASSEMBLY
(VARIES DEPENDANT ON UMBILICAL CONSTRUCTION).
8
UMBILICAL ANCHOR & SLEEVE ARE DEPENDANT ON UMBILICAL AND INNER SHEATH DIAMETER. 1
REFER TO CUSTOMER SPECIFIC TOP LEVEL ASSEMBLY FOR DETAILS AND PART NUMBERS.
NOTE SECTION A-A
TABLE ABOVE SHOWS CURRENT OPTIONS. ORIENTATION
TMS SYSTEM
TMS UMBILICAL TERMINATION

10 ABO 30/10/07 NOTES MODIFIED TO INCLUDE HYDRAMEC ANCHOR (28mm BORE)
FINISH DRAWN SSM
9 MLI 27/09/07 NOTES MODIFIED TO INCLUDE HYDRAMEC ANCHOR (34mm BORE) -
8 AJA 12/09/06 NOTES MODIFIED TO INCLUDE TEKMAR ANCHOR (28mm BORE)
DATE 07/02/2001
7 CMI 22/04/06 DESIGN REVISED TO ACCOMMODATE TYPE 3 TMS USO, TOLERANCES TO BE CHECK EBR
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - CMI
10
0954-MAS
IF IN DOUBT - ASK!
UMBILICAL TERMINATION PROCEDURE, STEEL ARMOURED
IMPORTANT: PASS CABLE THROUGH UMBILICAL ANCHOR SOCKET (ITEM 1 ON 0954-MAS) BEFORE TERMINATION OF UMBILICAL. CHECK 0954-MAS FOR ORIENTATION.
1. Fit cable complete with wire armour through hole in termination, leaving 9. Wrap tape or putty to seal and fit hose clip around armour wires at
sufficient cable to reach junction box with spare for re-terminations. Position 'B' hard against termination entry bullet.
2. Mark cable at desired length (Position 'A') and clamp armour to avoid 10. Pass Sleeve over umbilical core (note orientation) and push into termination cone as
splaying of wire with use of hose clip or heavy cable tie. far as possible (use an adustable spanner). Fit a hose clip behind Sleeve to retain position.
3. Cut outer armour wires at approx. 135 mm and the inner wires at approx. (Position 'C')
115 mm from Position 'A' taking care not to damage jacket of cable. Cutting is 11. Upend assembly to vertical orientation ensuring cable exits vertically from bullet in
best done by partially cutting armour wire with hacksaw which will then allow secure position so that WIRELOCK potting compound can be poured into cone.
armour wire to be snapped. 12. Mix compound in accordance with manufacturers instructions and hazard warnings
4. Separate the inner wires from the outer wires ensuring both tins are mixed completely. Note: One kit is required per termination
5. Thoroughly degrease all wires and termination bullet using a suitable 12. Pour resin into socket of termination ensuring cable wires are central in termination.
substance which will not attack the umbilical core. 13. Allow 90 minutes for curing.
6. On the outer wire layer, bend back the end of the wire to form a 20 mm hook. 14. Proof load termination bullet.
7. Both inner and outer layers should be approx. equal length.
8. Remove hose clip/cable tie and pull bullet over wires until they are inside the See Sheet 2 for Termination Re-termination Procedure
end of the termination flush with end.
NOTE: REFER TO WIRELOCK INSTRUCTION LEAFLET OR MANUAL
115
FOR MIXING, POURING AND HEALTH & SAFETY ISSUES
INNER ARMOUR WIRES OUTER WIRES BEND BACK 20 MM
CUT ENDS FLUSH WITH CONE END
POSITION 'B'
WRAP TAPE OR PUTTY
STAINLESS STEEL SLEEVE AROUND END TO SEAL
UMBILICAL TERMINATION BULLET
AND FIT HOSE CLIP
UMBILICAL CORE LENGTH
AS REQUIRED TO J-BOX
POSITION 'C' POSITION 'A'

FIT HOSE CLIP AROUND CORE TO HOLD SLEEVE WIRE SEPARATION POSITION
IN POSITION DURING WIRELOCK POTTING
MATERIAL
-
WT AIR WT WATER PROJECT
TMS SYSTEMS
5 EBR 30/08/04 UMBILICAL ANCHOR SOCKET DRAWING REFERENCE CHANGED. ECN-299-04
- - kg (E) TITLE
4 SSM 17/02/03 2ND SHEET ADDED WITH TERMINATION REMOVAL PROCEDURE, ECN-107 CMI
FINISH
kg (E)
CMI
UMBILICAL TERMINATION
PROCEDURE, STEEL ARMOURED
DRAWN
3 EBR 9/09/02 DRAWING CHANGED TO IAS. TITLE CHANGED. ECN-050-02 CMI - Unit 12, Airways Industrial Estate
26/07/01
-INTERMEDIATE ASSY DRAWING
DATE Pitmedden Road, Dyce.
2 EBR 15/02/02 DRAWING UPDATED CMI
RWR
1 CMI 26/07/01 APPROVED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK Tel: ++44 (0) 1224 723623
Fax: ++44 (0) 1224 723822 Sheet 1 of 2
REV RWR
5
1223-IAS
BY - APPRV. SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. CMI - A3 No.
IF IN DOUBT - ASK!
UMBILICAL RE-TERMINATION PROCEDURE, STEEL ARMOURED
1. Cut umbilical 1/2 inch above the termination bullet head.

2. Heat termination bullet in an oven at 300-350 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.
3. Stop heating and allow to cool for five minutes.
4. Press on the umbilical above the termination bullet head with a hydraulic ram. Maximum force required
should not exceed 1 Tonne. If 1 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 1 for terminating the umbilical to the bullet.
UMBILICAL TERMINATION BULLET 0.5

12.7
STEEL ARMOURED UMBILICAL

CUT 1/2 INCH ABOVE BULLET
PROJECT
TMS SYSTEMS
TITLE
UMBILICAL TERMINATION
PROCEDURE, STEEL ARMOURED
- INTERMAEDIATE ASSY DRAWING
Tel: ++44 (0) 1224 723623
Fax: ++44 (0) 1224 723822
Sheet 2 of 2
1223-IAS 5
- A3 No.
1 1 Body 1625-DET 7
IF IN DOUBT - ASK!
2 1 Chassis 1627-DET 11 1 9 THREADLOCK
3 1 Mini B + W Camera 1701-IAS 1 4
4 1 TMS Camera Port 1626-DET
5 1 TMS Camera PCB PCB-0496 12
6 1 Metal Shell Whip Size A SAPLA04M210018 1 14
1 6
8 1 Spiral Retaining Ring -Housing 38 Dia F-SRR-INT-38-SS Stainless Steel 5
9 4 Pan Head Screw M2 x 6 long F-PHS-M2-6-CS Carbon Steel
1 1
12 1 Regulator Isolation Sleeve MIS-0151 3 13
13 1 Socket Set Screw-Cup Point M3 x 4 long F-SSS-CP-M3-4-A270 Stainless Gr A2-70 1 15 INITIALLY SUPPLIED
14 1 Regulator Isolation Shim MIS-0154 3 1 WITH CONNECTOR
15 1 O-RING 1.78 x 12.42 (BS-014) SOR-178-0124-N70 Nitrile 70 2
16 1 O-RING 1.78 x 29.9 (BS 025) SOR-178-0299-N70 Nitrile 70 1 16
1
HEAT SINK
COMPOUND
1
1
NOTES
3
1 1. ALL O-RINGS TO BE FITTED WITH SMEAR OF SILICONE GEL.
10
1 2. TRIM LENGTH OF ISOLATION SLEEVE (12) TO SUIT REGULATOR ON PCB (5).
4
1 3. USE HEAT SINK COMPOUND (RS PART No. 554-311) TO ENSURE THERMAL
8
1 INTEGRITY BETWEEN PCB (5), ISOLATION SHIM (14) & CHASSIS (2).
6 15 16 5 9 13 4 8
1 1 1 1 4 1 1 1
5 7 11
1 1 1
14 12
1 1
SECTION VIEW
B (2 : 1) B
2 1 3 2 10
1 1 1 1 1
TMS CAMERA
3 SSM 11/08/2004 ISOLATION SLEEVE AND SHIM PART NUMBERS CHANGED, ECN-274-04
FINISH DRAWN MBI TMS CAMERA
-
2 EBR 12/12/02 CHASSIS & BILL OF MATERIALS CHANGED ECN-074 CMI
DATE 24/05/02
1 MBI 24/05/02 APPROVED FOR CONSTRUCTION CMI USO, TOLERANCES TO BE CHECK MBI
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - CMI
3
1619-MAS
RECORD OF REVISIONS ENGR. MBI 1:2 A3 No.
Item No. Qty Description Sub-Atlantic Part Ref. Material IF IN DOUBT - ASK!
1 1 Camera Bracket Base 1029-DET
8 1 TMS Camera 1619-MAS
9 2 36mm PIPE CLAMP MIS-0092 5
10 1 Camera Bracket 1973-DET 5
8
1
7
1 6 2
2 1 9
2
3 10
2 1 9
2 13
2
11
2
12
2
1
1 6
2
5
1
3
2
4 USE AQUALUBE WHEN SECURING
1 ALL COMPONENTS TO PREVENT
FASTENERS GAULLING TOGETHER

TMS SYSTEM
CMI
5 EBR 2/07/03 NEW CAMERA BRACKET & CLAMP ECN-180-03
3 EBR 17/06/02 BILL OF MATERIALS CHANGED CMI

FINISH
-
DRAWN SSM TMS CAMERA
ASSEMBLY DRAWING
2 EBR 11/06/02 NEW TMS CAMERA MBI
DATE 16/03/01 Pitmedden Road, Dyce.
Tel: ++44 (0) 1224 723623 Sheet 1 of 1
Fax: ++44 (0) 1224 723822
REV - CMI
5
DATE APP
1046-MAS
BY DESCRIPTION APPRV. SCALE (USO) ORIG. SIZE DOC. REV
RECORD OF REVISIONS ENGR. SSM 1 : 1.5 A3 No.
NOTE:
USE AQUALUBE ON ALL FASTENERS TO PREVENT GAULLING
6
4
7
4
8
4
1
1
2
2
3 5
4 2
3
2 4
2
4
2
1 1 TMS Lights Mounting Bar 1771-DET
2 2 ML1090 Light - 3000m Version SPE-0002
6 4 Socket Head Cap Screw 1-4in x 3-4in long Stainless Gr A2-70
7 4 Spring Washer 1-4 in Stainless Steel
BILL OF MATERIALS TMS SYSTEMS
FINISH DRAWN AJA TMS LIGHTS & MOUNT-
-
DATE 20/04/2007
Woodburn Road,
1 AJA 20/04/07 ISSUED FOR CONSTRUCTION USO, TOLERANCES TO BE CHECK ABO
Tel: ++44 (0) 1224 798660 Sheet 1 of 1
Fax: ++44 (0) 1224 798661
REV - GDU
1
4046-MAS
RECORD OF REVISIONS ENGR. AJA 1 : 2.5 A3 No.
Date Drawn Check Rev A Sheet
23/02/05 DOW 1 of 2
Date 23/02/05
Project Drawing No.
MOHICAN 1016-ELS
Title Filename
LIM RECEIVER 1016.SCH
Date Drawn Check Rev A Sheet
23/02/05 DOW 2 of 2
Date 23/02/05
Project Drawing No.
MOHICAN 1016-ELS
Title Filename
LIM RECEIVER 1016.SCH
PARTS LIST - PCB 1016
REF DESCRIPTION PART No.
R1 Res met film 100K 1% 0.4w FAR 332-290
R13 Res met film 100R 1% 0.4w FAR 331-934
R2-R8 Res met film 10K 1% 0.4w FAR 332-173
R11 Res met film 20K 1% 0.4w FAR 514-330
VR1-VR2 Pot 20K 10% 0.25w RS 160-231
C9-C11 Cap Alum 47U 16V FAR 920-423

C1-C8 Cap Ceramic 100N RS 264-4876
D1-D6 Diode 1N4148 RS 436-7341
TR1-TR3 Transistor NPN ZTX450 RS 652-702
TP1-TP3 Test Point XXX-XXXX
RL1-RL6 Relay DPCO RS 492-6596
IC1 Op Amp LM324 XXX-XXXX
IC2 Op Amp LM358 RS 632-871
CN1 DIN 32 way RS XXX-XXXX
Date Drawn Check Rev Sheet

23/02/05 ISH 2 1 of 1
Project Drawing No.
Mohican 1016-LAS
Title Filename
LIM Receiver 1016.PCB

Mohican Manual No.12 PDF

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MOHICAN ROV & TMS SYSTEM

Mohican Serial No. SA-RMOC-2K-012

Mohican No.12.doc Revision 1

Mohican No.12.doc Rev.1 Page 2

Mohican No.12.doc Rev.1 Page 3

Mohican No.12.doc Rev.1 Page 4

Welcome, you have just entered the world of underwater Remotely

The Mohican is a truly versatile professional ROV system suitable for

Warning!! The Mohican is a high voltage (3000V) system. Before

Mohican No.12.doc Rev.1 Page 5

Warning!! Potentially lethal AC and DC voltages are present throughout

Warning!! Thruster propellers rotate at high speeds and high torque.

Safety procedures are a vital aspect of the operation of Remotely Operated

A permit to work system should be implemented for the repair and

Remove watches, rings and jewellery when working with electrical

Mohican No.12.doc Rev.1 Page 6

2.0 SYSTEM OVERVIEW

2.1 Scope of Supply

The scope of supply for the Innova AS contract is as follows:

Mohican ROV System 2000m Rated With Additional Buoyancy

Mohican No.12.doc Rev.1 Page 7

The Mohican is a state-of-the-art electrically powered ROV system. The

Diver monitoring and support

A brief technical description of the system follows. Refer to the

Mohican No.12.doc Rev.1 Page 8

Refer to Drawing No. 3265-MAS

Depth rating: 2000msw

Weight and Dimensions:

Electronics Pressure Housings

Port housing contains: Thruster isolation circuitry

Mohican No.12.doc Rev.1 Page 9

2.2.2 Mohican Control Consoles

The Mohican Console consists of a Power Distribution unit (PDU) housed in

Mohican No.12.doc Rev.1 Page 10

The main structure of the Mohican TMS (Tether Management System) is

Mohican No.12.doc Rev.1 Page 11

TMS Type: Side Entry Garage with winch

Drive System: 2200W DC Electric Motor

Tether Capacity 250 mtrs of 20.5mm diameter

Line Pull: 60kg

Tether Type: Thermo-plastic with Kevlar

Weight in water (exc. tether) 410 kg

Overall length 1600mm

Overall height standard 1630mm min

Overall height extended 2025mm max

Overall width 1075mm

Mohican No.12.doc Rev.1 Page 12

3.1 Mohican ROV

The frame is manufactured from polypropylene sheet to form a strong

If a TMS system is to be used, the rear Tether Bracket Assembly will be

The buoyancy provides the vehicle with payload of 30kg excluding

Mohican No.12.doc Rev.1 Page 13

Damage to the buoyancy can be repaired using 2-part epoxy adhesives or

The Mohican ROV is fitted with six Sub-Atlantic SPE-180 brushless DC

Mohican No.12.doc Rev.1 Page 14

The stator windings are equipped with a temperature sensing thermistor.

See drawing No. 0908-WIS for wiring details on the thruster.

The anodised aluminium body of the thruster is protected from corrosion

If the protective anodising becomes scratched or damaged, clean and

Mohican No.12.doc Rev.1 Page 15

Shell Naturelle HF-E46 is suitable biodegradable oil. See data sheet in

Re-fitting is a reversal of removal but care should be taken when re-

Mohican No.12.doc Rev.1 Page 16