TMT-NMA-027 Typhoon MK2 150 ROV Technical Manual

Typhoon MK2 150 ROV
SNM Brazil
ROV Technical Manual
TMT-NMA-027 Total Marine Technology Pty Ltd Revision Number: 3

Document Control Details
Document Control Details

Job Code: 3613
Project Title: Typhoon MK2 150 ROV SNM Brazil
Subject: ROV Technical Manual
Client: TMT
Doc No: TMT-NMA-027
Date: 20 October 2015
Revision History:
Rev. Date Description Created / Updated By Checked By Approved By
L Licsik
1 17/04/14 First Release R White M de Castro
J Dobra
Updated photos &
2 21/07/14 R White M de Castro M de Castro
layout
Updated photos & A Huettner
3 20/10/15 layout, added R White M de Castro
information & options R Azarhoush
Total Marine Technology Pty Ltd

Disclaimer:
The information contained in this document is provided for the sole use and benefit of the
recipient. No reliance should be placed on such information by any other person and any
other person acting or relying on such information does so at their own risk. In the event
such information is disclosed to and used or relied upon by any other person, then Total
Marine Technology Pty Ltd accepts no liability or responsibility whatsoever, including in
contract or in tort, to that person.
Confidential Information:
The information contained in this document is made available to the recipient on the
express acknowledgment and understanding that such information is to be regarded and
treated by the recipient as strictly confidential. The information contained in this document
is provided for the sole use and benefit of the recipient and should not be disclosed to any
other person.
Copyright:
All rights reserved. No part of the content of this document may be reproduced, published,
transmitted or adapted in any form by any means without the written permission of
Total Marine Technology Pty Ltd.
Requests for technical information or other TMT publications should be made to:
Total Marine Technology

1 Ambitious Link
Bibra Lake WA 6163
PO Box 3054
Success WA 6964
Tel: +61 8 9411 6500
Fax: +61 8 9411 6522
Mail@tmtrov.com.au
Page 2 of 202 TMT-NMA-027 Revision Number: 3 Total Marine Technology Pty Ltd
Table of Contents
Table of Contents
Document Control Details .................................................................................................... 2

Table of Contents ................................................................................................................ 3
1. Associated Documentation and Terminology ............................................................. 16
1.1 Terminology .......................................................................................................... 16
1.2 Document Conventions ........................................................................................ 19
1.3 Document Tree ..................................................................................................... 20
2. Overview .................................................................................................................... 21
2.1 Features ............................................................................................................... 22
2.1.1 Electronic Architecture ................................................................................... 22
2.1.2 Manipulators .................................................................................................. 22
2.1.3 Hydraulic Tooling Interface ............................................................................ 22
2.1.4 Instrumentation .............................................................................................. 22
3. ROV Core Systems .................................................................................................... 23
4. Electrical System ........................................................................................................ 24
4.1 Power System ...................................................................................................... 24
4.1.1 Power System Requirements......................................................................... 24
4.1.2 Maximum Power Demands ............................................................................ 24
4.2 System Earthing ................................................................................................... 26
5. ROV Electrical System Components .......................................................................... 27
6. Electrical Bottles & Enclosures ................................................................................... 28
6.1 Tether Termination J-Box ..................................................................................... 28
6.1.1 Function ......................................................................................................... 28
6.2 Instrument Transformer Box ................................................................................. 30
6.2.1 Function ......................................................................................................... 30
6.3 Main Electronics Enclosure .................................................................................. 32
6.3.1 MEE Cable Assembly Identification ............................................................... 34
6.3.2 Function ......................................................................................................... 40
6.4 MEE Power Slide.................................................................................................. 42
6.4.1 Power Supply ................................................................................................. 43
6.4.2 Insulation Monitors – Digital ........................................................................... 44
6.4.3 Insulation Monitors – Analogue ...................................................................... 45
6.4.1 Power Slide Fuses ......................................................................................... 47
Total Marine Technology Pty Ltd TMT-NMA-027 Revision Number: 3 Page 3 of 202
Table of Contents
6.4.2 Contactors...................................................................................................... 49
6.5 MEE Comms Slide ............................................................................................... 50
6.5.1 Back Plane Board .......................................................................................... 51
6.5.2 RS485 Isolator ............................................................................................... 51
6.5.3 DC / DC Converter ......................................................................................... 52
6.5.4 Survey J-Box Relay Block .............................................................................. 53
6.6 Sensor Bottle ........................................................................................................ 54
6.6.1 Function ......................................................................................................... 54
6.7 Light Dimmer Bottle .............................................................................................. 57
6.7.1 Function ......................................................................................................... 57
6.8 Survey Junction Box ............................................................................................. 59
6.8.1 Function ......................................................................................................... 60
6.8.2 Connectors in the Survey J-Box..................................................................... 61
7. DCIMP ........................................................................................................................ 63
8. Typhoon PCB Cards................................................................................................... 66
8.1.1 Master Console Board - MC02....................................................................... 68
8.1.2 FET RPM Board - FR02 ................................................................................. 70
8.1.3 Power Control Board – PC02 ......................................................................... 72
8.1.4 Current Sensing Board - CS01 ...................................................................... 74
8.1.5 Node Hub Board - NH01 ................................................................................ 75
8.1.6 FET Drive Board - FD02 ................................................................................ 77
8.1.7 Analogue Video Switch Board - VB01............................................................ 78
8.1.8 UART PCB - UC03 ........................................................................................ 79
8.1.9 Fibre Optic MUX Stack .................................................................................. 80
8.1.10 RTD HV Board - RH01 ................................................................................... 82
8.1.11 Light Dimmer Board - LD02 ........................................................................... 84
9. Sensors ...................................................................................................................... 86
9.1.1 Analogue Level Sensor .................................................................................. 86
9.1.2 HPU Oil Temperature .................................................................................... 87
9.1.1 Instrument Transformer Box Temperature ..................................................... 87
9.1.2 Wet Sensor .................................................................................................... 88
9.1.3 Hydraulic Fluid Pressure ................................................................................ 90
10. Camera and Lights ..................................................................................................... 91
10.1 Pan & Tilt .............................................................................................................. 94
Table of Contents
10.2 Cameras ............................................................................................................... 97

10.2.1 High Definition Enhanced CCD, OE15-101c .................................................. 98
10.2.2 Colour Zoom, OE14-367A............................................................................ 100
10.2.3 Mini Observation Black & White Camera, OE15-109 ................................... 102
10.2.4 Compact Colour CCD Camera, OE14-111 .................................................. 104
10.3 Lights .................................................................................................................. 106
10.3.1 LED Light – 115VDC.................................................................................... 106
10.3.2 TMT LED Light – 24VDC ............................................................................. 108
11. Navigation Bottle - TOGSNAV .................................................................................. 109
11.1 CDL North Seeking Gyro .................................................................................... 111
11.2 Doppler Velocity Log .......................................................................................... 112
11.3 miniIPS ............................................................................................................... 113
11.4 Use of the TOGSNAV......................................................................................... 114
11.4.1 TOGSNAV Initial Power Up ......................................................................... 116
11.4.2 Updating the EEPROM Latitude / Longitude Settings .................................. 116
11.5 Magnetic Compass ............................................................................................. 118
12. Sonar ........................................................................................................................ 119
13. Emergency Recovery Devices ................................................................................. 121
13.1 Novatech ST400A Strobe ................................................................................... 121
13.2 MPT- 342/N Kongsberg Transponder / Responder ............................................ 122
13.3 cNODE Maxi Transponder/ Responder – Optional ............................................. 124
14. Cabling Assemblies ................................................................................................. 125
14.1 Neoprene Cable Assemblies .............................................................................. 125
14.2 Poly-Urethane Cable Assemblies ....................................................................... 125
14.3 Trex-Onics Cables .............................................................................................. 126
14.4 Oil-Filled Cable Assemblies ................................................................................ 126
14.1 Cable Assemblies ............................................................................................... 127
15. Compensation System ............................................................................................. 129
15.1 Theory of Operation............................................................................................ 130
15.2 System Description............................................................................................. 131
15.3 Oil Compensator Bottle ...................................................................................... 133
15.4 TMT 2.4 Litre Compensator Bottle - Optional ..................................................... 134
16. Hydraulic System...................................................................................................... 136
16.1 Main Hydraulic System ....................................................................................... 137
Table of Contents
16.2 Auxiliary Hydraulic System ................................................................................. 139

16.3 Theory of Operation............................................................................................ 140
16.4 Hydraulic System Parameters ............................................................................ 142
16.1 Hydraulic Oil ....................................................................................................... 143
16.2 Hydraulic Power Unit .......................................................................................... 144
16.2.1 HPU Motor ................................................................................................... 145
16.2.2 Hydraulic Pumps .......................................................................................... 146
16.2.3 Pump Control Valves ................................................................................... 147
16.2.4 Pump Controllers ......................................................................................... 148
16.2.5 Aft Gauge Board .......................................................................................... 150
16.3 Hydraulic Oil Filters ............................................................................................ 151
16.3.1 Main Hydraulic Filters .................................................................................. 152
16.3.2 Aux Hydraulic Filters .................................................................................... 152
16.3.3 Cardev Filter ................................................................................................ 153
16.4 Hydraulic Reservoir ............................................................................................ 156
16.5 Hydraulic Valve Manifolds .................................................................................. 159
16.6 Aux Manifold ....................................................................................................... 160
16.6.1 Relief Valve 0000-6478 ................................................................................ 162
16.6.2 0000-6282 – Integrated POC and Flow Valve.............................................. 163
16.6.3 Pilot Operated Check Valve ......................................................................... 164
16.6.4 Meter In / Meter Out ..................................................................................... 165
16.6.5 Hydraulic Aux Manifold Loads...................................................................... 165
16.6.6 Aux Distribution Manifolds............................................................................ 167
16.7 Tooling - Hydraulic Low Flow Manifold ............................................................... 168
16.7.1 Horizontal STBD Low Flow Manifold............................................................ 168
16.7.2 Horizontal STBD Low Flow Manifold Loads ................................................. 168
16.7.3 Vertical STBD Low Flow Manifold ................................................................ 171
16.7.4 Vertical STBD Low Flow Manifold Loads ..................................................... 171
16.8 Thrusters - Hydraulic Manifolds .......................................................................... 173
16.8.1 Function ....................................................................................................... 173
16.8.2 PORT Thrusters Manifold ............................................................................ 175
16.8.3 STBD Thruster Manifold .............................................................................. 176
16.9 Thrusters ............................................................................................................ 177
16.9.1 Thruster Control Circuit ................................................................................ 178
Table of Contents
16.9.2 Bearing Housing Assemblies ....................................................................... 178

16.9.3 Case Drain System ...................................................................................... 178
17. Manipulators ............................................................................................................. 179
17.1 Z-Function .......................................................................................................... 179
17.1 Low Profile Z-Function - Optional ....................................................................... 180
17.2 Conan Manipulator Arm...................................................................................... 181
17.1 Atlas Manipulator Arm ........................................................................................ 183
17.2 Titan 4 Manipulator Arm – Optional .................................................................... 184
17.3 RigMaster Manipulator Arm - Optional ............................................................... 185
17.4 Grabber - Optional .............................................................................................. 186
18. Floatation System ..................................................................................................... 187
18.1 Typhoon Floatation Layout ................................................................................. 189
18.1.1 Floatation System Mounting Bolt ................................................................. 191
18.1.2 Additional Floatation .................................................................................... 192
18.1.3 Trim Lead ..................................................................................................... 193
19. Frame ....................................................................................................................... 195
19.1 Skid Interfacing ................................................................................................... 198
19.2 ROV Lift Points ................................................................................................... 199
19.2.1 ROV Operations Lift Point ............................................................................ 199
19.2.2 Permanent Recovery Point .......................................................................... 200
19.2.3 Transport & Load Test Lift Point .................................................................. 201
19.3 Frame Corrosion Protection ............................................................................... 202
Table of Contents
Table of Figures
Figure 1: Typhoon Documentation Tree ..............................................................................20
Figure 2: Typhoon MK2 150 ................................................................................................21
Figure 3: Core Systems .......................................................................................................23
Figure 4: Typhoon ROV & TMS Power Distribution .............................................................25
Figure 5: IT Circuit ...............................................................................................................26
Figure 6: Major Electrical Components ................................................................................27
Figure 7: Tether Termination J-Box .....................................................................................28
Figure 8: Instrument Transformer Box - As Seen From Top & Side ....................................30
Figure 9: MEE Disassembled ..............................................................................................32
Figure 10: Main Electronics Enclosure ................................................................................32
Figure 11: Locations of MEE Vacuum Ports ........................................................................33
Figure 12: MEE - Empty & Loaded and Energised ..............................................................33
Figure 13: MEE Lead Identification......................................................................................34
Figure 14: MEE Head Sockets ............................................................................................34
Figure 15: Grounding Screw ................................................................................................35
Figure 16: Main Electronic Enclosure Block Diagram ..........................................................41
Figure 17: MEE Power Slide................................................................................................42
Figure 18: MEE Power Supply.............................................................................................43
Figure 19: Safety Fuse ........................................................................................................43
Figure 20: MEE GFM – Digital Model ..................................................................................44
Figure 21: GFM Alarms on Control Console - Digital ...........................................................45
Figure 22: GFM Alarms on Control Console - Analogue .....................................................46
Figure 23: Power Slide Fuses and K1 & K2 Relays .............................................................47
Figure 24: Contactors – Power Slide ...................................................................................49
Figure 25: MEE Comms Slide .............................................................................................50
Figure 26: Back Plane and Board Fuse ...............................................................................51
Figure 27: RS485 Isolator ....................................................................................................51
Figure 28: RS485 Isolator Block Diagram............................................................................52
Figure 29: Survey J-Box Relay Block ..................................................................................53
Figure 30: Sensor Bottle ......................................................................................................54
Figure 31: Sensor Bottle Internals .......................................................................................55
Figure 32: Light Dimmer Bottle ............................................................................................57
Figure 33: Survey Junction Box ...........................................................................................59
Table of Contents
Figure 34: Typhoon Communications ..................................................................................64

Figure 35: Master Control Board Rev C – Configured as a MCB2, Jumper Installed ..........68
Figure 36: Master Control Board Rev B – Configured as a MCB2.......................................69
Figure 37: FET RPM Board - FR02 .....................................................................................70
Figure 38: Location of Part Number / Software Configuration ID .........................................71
Figure 39: Power Control Board – PC02 .............................................................................72
Figure 40: Current Sensing Board - CS01 ...........................................................................74
Figure 41: Node Hub Board - NH01 ....................................................................................76
Figure 42: FET Drive Board - FD02 .....................................................................................77
Figure 43: Video Switch Board - VB01 ................................................................................78
Figure 44: UART Board - UC03 ...........................................................................................79
Figure 45: Fibre Optic MUX Stack Installed on MEE Comms Slide .....................................80
Figure 46: Fibre Optic MUX Stack .......................................................................................80
Figure 47: Optical Switch Card Typhoon to Surface ............................................................81
Figure 48: RTD HV PCB – RH01.........................................................................................82
Figure 49: NH01 Light Dimmer Board - LD02 ......................................................................84
Figure 50: Analogue Level Sensor ......................................................................................86
Figure 51: Analogue Level Sensor Pin-Out Description ......................................................86
Figure 52: HPU Oil Temperature & Wet Sensor ..................................................................87
Figure 53: Transformer Temperature ..................................................................................87
Figure 54: Wet Sensors .......................................................................................................88
Figure 55: Pressure Sensor .................................................................................................90
Figure 56: Cameras and Lights ...........................................................................................92
Figure 57: Lighting System Diagram ...................................................................................93
Figure 58: Forward Pan & Tilts ............................................................................................94
Figure 59: Aft Pan & Tilt.......................................................................................................95
Figure 60: Pan & Tilt ............................................................................................................95
Figure 61: Front Pan & Tilt...................................................................................................96
Figure 62: Camera Locations ..............................................................................................97
Figure 63: High Definition Enhanced, OE15-101c ...............................................................98
Figure 64: Colour Zoom, OE14-367A ................................................................................100
Figure 65: Pan & Tilt for Camera & Light ...........................................................................100
Figure 66: Mini Observation Camera, OE15-109...............................................................102
Figure 67: Compact Colour CCD Camera, OE14-111 .......................................................104
Table of Contents
Figure 68: 30º Offset on OE14-111 - Left ..........................................................................104

Figure 69: LED Light – 115VDC ........................................................................................106
Figure 70: LED Light 115VDC Cross-section ....................................................................107
Figure 71: LED Light – 24VDC ..........................................................................................108
Figure 72: TOGSNAV ........................................................................................................109
Figure 73: TOGSNAV Block Diagram ................................................................................110
Figure 74: TOGSNAV Location .........................................................................................110
Figure 75: Fibre Optic Gyro Coils ......................................................................................111
Figure 76: Doppler Velocity Log ........................................................................................112
Figure 77: miniIPS .............................................................................................................113
Figure 78: TOGSNAV Start Up Status ...............................................................................116
Figure 79: Dynamic EEPROM Settings .............................................................................117
Figure 80: Compass Location ............................................................................................118
Figure 81: Sonar Head ......................................................................................................119
Figure 82: Location of Sonar Head & Strobe .....................................................................119
Figure 83: Novatech ST400A Strobe .................................................................................121
Figure 84: Strobe Location ................................................................................................121
Figure 85: Underwater Transponder / Responder .............................................................122
Figure 86: Beacon Location Front – Top ROV...................................................................123
Figure 87: Underwater Transponder / Responder End Cap & External Connector ...........123
Figure 88: CNODE Maxi Transponder ...............................................................................124
Figure 89: Neoprene Cable Assemblies ............................................................................125
Figure 90: Poly-Urethane Cable Assemblies - Camera and the LED 24VDC Lights .........125
Figure 91: Trex-Onics Cables – Dimmer Bottle & 115VDC Main Light ..............................126
Figure 92: Oil Filled Cable Assembly .................................................................................126
Figure 93: Compensation Bottle Location ..........................................................................129
Figure 94: Oil Compensation Schematic ...........................................................................131
Figure 95: Oil Compensation Bottle ...................................................................................133
Figure 96: TMT 2.4 Litre Compensator Bottle....................................................................134
Figure 97: TMT 2.4 Litre Compensator Bottle Lid ..............................................................135
Figure 98: Typhoon Hydraulic System ...............................................................................136
Figure 99: Main Hydraulic System .....................................................................................137
Figure 100: Propulsion Sub-System of Main Hydraulics ....................................................138
Figure 101: Auxiliary Hydraulic System .............................................................................139
Table of Contents
Figure 102: Example of Quick Disconnects .......................................................................141

Figure 103: Example of Minimess Connector ....................................................................141
Figure 104: HPU & Gauge Panel with Optional Fluid Skid Gauges ...................................144
Figure 105: HPU Motor ......................................................................................................145
Figure 106: Aux and Main Hydraulic Pumps......................................................................146
Figure 107: Pump Control Valves ......................................................................................147
Figure 108: Main Pump Controller .....................................................................................148
Figure 109: Auxiliary Pump Controller ...............................................................................148
Figure 110: Aft Gauge Board .............................................................................................150
Figure 111: Hydraulic Filter................................................................................................151
Figure 112: Flow Path through Filter .................................................................................151
Figure 113: Cardev Filter ...................................................................................................153
Figure 114: Diagram of Cardev Filter ................................................................................153
Figure 115: SDFC Cartridge ..............................................................................................154
Figure 116: Filter Action.....................................................................................................155
Figure 117: Aux and Main Reservoirs ...............................................................................156
Figure 118: Aux Manifold ...................................................................................................160
Figure 119: Assorted TMT Hydraulic Valves .....................................................................160
Figure 120: Relief Valve 0000-6478 ..................................................................................162
Figure 121: 0000-6282 – Integrated PDC & Flow Valve – Image with Hydraulic
Representation ..................................................................................................................163
Figure 122: Example Pilot Operated Cross Check Valves.................................................164
Figure 123: Aux Distribution Manifolds ..............................................................................167
Figure 124: Aux Distribution Manifold, Cross-Section .......................................................167
Figure 125: Horizontal STBD Low Flow Manifold ..............................................................168
Figure 126: Vertical STBD Low Flow Manifold ..................................................................171
Figure 127: PORT & STBD Thruster Manifolds .................................................................173
Figure 128: PORT Thruster Manifold .................................................................................175
Figure 129: STBD Thruster Manifold .................................................................................176
Figure 130: Typhoon Thrusters .........................................................................................177
Figure 131: Thruster Bearing House Assembly .................................................................178
Figure 132: Z-Function ......................................................................................................179
Figure 133: TMT Low Profile Z-Function ...........................................................................180
Figure 134: Conan Manipulator Arm & Range of Vertical Motion ......................................181
Figure 135: Conan Manipulator Controller .........................................................................182
Table of Contents
Figure 136: Atlas 7R Manipulator Arm & Range of Vertical Motion ...................................183
Figure 137: Titan Manipulator & Range of Vertical Motion ................................................184
Figure 138: RigMaster Manipulator & Range of Vertical Motion ........................................185
Figure 139: 2 - Function Grabber ......................................................................................186
Figure 140: Macro-sphere Floatation .................................................................................187
Figure 141: Cross Section of Micro-sphere Syntactic Foam ..............................................188
Figure 142: Floatation System ...........................................................................................188
Figure 143: Centre of Gravity ............................................................................................189
Figure 144: Floatation Block Layout ..................................................................................190
Figure 145: Belleville Washer ............................................................................................191
Figure 146: Floatation Mounting Bolt .................................................................................191
Figure 147: Floatation Lay Out ..........................................................................................192
Figure 148: Extra Floatation, Right & Left Hand Sheets ....................................................192
Figure 149: Lead Ballast Layout ........................................................................................193
Figure 150: Lead Ballast Tie Downs ..................................................................................193
Figure 151: Frame .............................................................................................................195
Figure 152: Frame Assembly.............................................................................................197
Figure 153: Typhoon MK2 150 Skid Interface ...................................................................198
Figure 154: ROV Operations Lift Point, Type 1 Perry TMS is Shown ................................199
Figure 155: Permanent Recovery Point .............................................................................200
Figure 156: Standard WLL 9.5 tonne Shackle ...................................................................200
Figure 157: Transport & Load Test Lift Point .....................................................................201
Figure 158: Example of Sacrificial Anodes ........................................................................202
Figure 159: Example of Sacrificial Anode New - Used ......................................................202
Table of Tables
Table 1: Standards Referenced ...........................................................................................16
Table 2: Document Conventions .........................................................................................19
Table 3: ROV Spread Power System Requirements ...........................................................24
Table 4: Maximum Power Demands ....................................................................................24
Table 5: Tether Termination J-Box Pin Out .........................................................................29
Table 6: Opticon CCP Hose & LPMBH-8-FS .......................................................................31
Table 7: MEE Lead Identification .........................................................................................34
Table 8: MEE Bell Power & Comms Slide Connectors ........................................................36
Table 9: GFM Sensing Points ..............................................................................................44
Table of Contents
Table 10: Insulation Monitors – Analogue............................................................................45

Table 11: Power Slide Fuses ...............................................................................................47
Table 12: Contractor K1 & K2 ..............................................................................................49
Table 13: Back Plane Board Fuses .....................................................................................51
Table 14: DC / DC Converter...............................................................................................52
Table 15: Survey J-Box Relay Block ...................................................................................53
Table 16: Sensor Bottle .......................................................................................................56
Table 17: Light Dimmer Bottle .............................................................................................58
Table 18: RS485 Tooling .....................................................................................................61
Table 19: RS232 Tooling .....................................................................................................61
Table 20: +24VDC: USBL / Beacon.....................................................................................61
Table 21: MEE to Survey J-Box...........................................................................................62
Table 22: RS485 Network Nodes IDs ..................................................................................64
Table 23: Typhoon System PCB .........................................................................................66
Table 24: FR02 Position Identifiers ......................................................................................70
Table 25: Power Control Board Specifications ....................................................................73
Table 26: Power Control Boards..........................................................................................73
Table 27: Current Sensing Locations ..................................................................................74
Table 28: Fibre Optic MUX Stack ........................................................................................81
Table 29: Light Dimmer Board Specification........................................................................85
Table 30: Wet Sensor States ...............................................................................................88
Table 31: Wet Alarm States & Locations .............................................................................89
Table 32: 24VDC Light Addresses and Locations ...............................................................91
Table 33: Location of Cameras & Lights ..............................................................................93
Table 34: Pan & Tilt Ports ....................................................................................................96
Table 35: Pan & Tilt Specifications ......................................................................................96
Table 36: Camera Pin-Out Description ................................................................................97
Table 37: OE15-101C Specifications ...................................................................................98
Table 38: OE14-367, Colour Zoom Specifications.............................................................101
Table 41: LED Light 115VDC Pin-Out Description ............................................................106
Table 42: LED Light 115VDC Specification .......................................................................107
Table 43: TMT LED 24VDC ...............................................................................................108
Table of Contents
Table 44: Light Pin-Out Description (LPMBH-4-MP) .........................................................108

Table 45: miniIPS ..............................................................................................................113
Table 46: TOGSNAV Specifications ..................................................................................114
Table 47: TOGSNAV Seacon Connector...........................................................................115
Table 48: TOGSNAV Start Up Status ................................................................................116
Table 49: Sonar Head Specifications ................................................................................120
Table 50: Sonar Connector................................................................................................120
Table 51: MPT- 342 Kongsberg Transponder / Responder ...............................................123
Table 52: CNODE Maxi Kongsberg Transponder Specifications.......................................124
Table 53: External Signal Connector Pin-out .....................................................................124
Table 54: List of Cable Assemblies ...................................................................................127
Table 55: Compensation Bottle Loads ...............................................................................131
Table 56: Compensation Specifications.............................................................................133
Table 57: Specifications / Spare Parts ...............................................................................135
Table 58: Hydraulic System Parameters ...........................................................................142
Table 59: Hydraulic Oil Properties .....................................................................................143
Table 60: Electric Motor Specifications ..............................................................................145
Table 61: Hydraulic Pump Specifications ..........................................................................146
Table 62: Comparison of Pump Control Valves .................................................................147
Table 63: Main Hydraulic System Filters ...........................................................................152
Table 64: Aux Hydraulic Filters ..........................................................................................152
Table 65: Hydraulic Tank Analogue Sensors.....................................................................156
Table 66: Hydraulic Reservoir Specifications ....................................................................158
Table 67: Hydraulic Manifold Drawings .............................................................................159
Table 68: Aux Manifold ......................................................................................................161
Table 69: Hydraulic Aux Manifold Loads ...........................................................................166
Table 70: Horizontal STBD Low Flow Manifold Loads .......................................................169
Table 71: Vertical STBD Low Flow Manifold Loads ...........................................................172
Table 72: Thruster Manifold ...............................................................................................173
Table 73: PORT Thruster Hydraulic Manifold Loads .........................................................175
Table 74: STBD Thruster Hydraulic Manifold Loads..........................................................176
Table 75: Thrusters Specifications ....................................................................................177
Table 76: Low Profile Z-Function Specifications ................................................................180
Table 77: Conan Functions & Ranges ...............................................................................181
Table of Contents
Table 78: Atlas 7R Functions & Ranges ............................................................................183

Table 79: Titan Functions & Ranges .................................................................................184
Table 80: RigMaster Functions & Ranges .........................................................................185
Table 81: Grabber Functions & Ranges ............................................................................186
Table 82: Floatation Modules ............................................................................................189
Table 83: Typhoon Buoyancy ............................................................................................190
Associated Documentation and Terminology
1. Associated Documentation and Terminology

Table 1: Standards Referenced
Document No. Rev. Date Description/Title Company

Documents
TMT-NDP-001 3 20/10/14 Typhoon MK2 150 Drawing Pack TMT
TMT-NMA-032 3 20/10/14 System Operations Manual TMT
TMT-NMA-033 3 20/10/14 System Maintenance Manual TMT
TMT-NMA-034 3 20/10/14 Surface Power & Control Manual TMT
TMT-NMA-037 6 20/10/14 Pilot Software Manual TMT
TMT-NMA-041 3 20/10/14 System Overview Manual TMT
TMT-NMA-068 3 20/01/14 Typhoon MK2 150 TMT Acronyms TMT
Drawings*
Manuals and Data Sheets
Industry Standards
High Voltage Equipment: Safety Procedures for Working on
IMCA R 005 1 2003 IMCA
ROVs
Document No. Rev. Date Description/Title Company
IEEE Standard IEEE Recommended Practices and Requirements for
1992 IEEE
519-1992 Harmonic Control in Electrical Power Systems
Note: *Drawing revision details are maintained within the TMT-NDP-001 Typhoon MK2
150 Drawing Pack.
1.1 Terminology
A Ampere
AC Alternating Current
ACW Anti-Clockwise
ADD Address
ASM Assembly
CAM Camera
CB Circuit Breaker
CCD Charge Coupled Device
CCP Cable Connector Plug
CoG Centre of Gravity

CW Clock Wise
DC Direct Current
DCIMP Distributed Configurable Interface Multiple Processor
DVL Doppler Velocity Log
FET Field-Effect Transistors
GA General Assembly
GFM Ground Fault Monitors
HAD Hole Accumulation Diode
HiPAP High Precision Acoustic Positioning
HMI Human Machine Interface
HPR Hydro-acoustic Position Reference
HPU Hydraulic Power Unit
Hz Hertz
IEEE Institute of Electrical and Electronics Engineers
IMCA International Marine Contractors Association
IMU Inertial Measurement Unit
IT The first letter indicates the connection between earth and the power-supply
equipment (generator or transformer); the second letter indicates the
connection between earth and the electrical device being supplied, IEC
60364.
J-Box Junction Box
kV Kilovolt
kVA kilovolt Ampere
LARS Launch And Recovery System
LED Light Emitting Diode
LFM Low Flow Manifold
LH Left Hand
LIM Line Insulation Monitor
LV Low Voltage (up to 1kV)
MCB Master Console Board
MEE Main Electronics Enclosure
MM Multi Mode
MUX Multiplexer
MV Medium Voltage (from 1kV to 38kV)
NDT Non Destructive Testing

NPT National Pipe Thread
NTSC National Television System Committee
PAL Phase Alternating Line
PCB Printed Circuit Board
PDU Power Distribution Unit
pf Power Factor
ph Phase
PPE Personal Protective Equipment
PPRV Proportional Pressure Reducing Valve
PTC Positive Temperature Coefficient
POCV Pilot-Operated Check Valve
RCD Residual Current Device
RH Right Hand
ROV Remotely Operated Vehicle
RPM Revolutions Per Minute
RTD Resistance Temperature Detector
SAE Society of Automotive Engineers
SC Standard Connector
SDFC Super Duty Filter Cartridge
SIT Silicon Intensified Target
SM Single Mode
SPI Serial Peripheral Interface
SRPS Seabed Reference Positioning System
SSBL Super Short Base Line
ST Split Tooling or Straight Tip
STBD Starboard
TMS Tether Management Systems
TMT Total Marine Technology
TX Transformer
UART Universal Asynchronous Receiver / Transmitter
VAC Voltage Alternating Current
VDC Voltage Direct Current
VI Viscosity Index
1.2 Document Conventions

It is important that you understand the conventions used in this manual in order to use it,
and the system, efficiently.
In addition to general formatting that emphasises a word, some text in this manual has
special formatting so that you can identify it easily as having special meaning. Examples of
these formats are given in Table 2.
Table 2: Document Conventions
Term Meaning
Warnings are operating instructions or practices which, if not correctly followed, can
Warning: result in personnel injury or loss of life.
Cautions are operating instructions or practices which, if not strictly observed, can
Caution: result in damage, destruction of equipment or corruption of data.
Bold text is used to identify text that is important or requires highlighting. For
Bold example, procedure or telephone numbers.
Blue text is used to identify text that is linked to internal or external documents.
Blue To return to previously opened location, press both Alt + Left Arrow keys
simultaneously.
An explanation or condition which it is essential to highlight and deemed necessary

Note for the understanding of the process.
Note: An absence of Warnings or Cautions does not indicate that risks are not present.
When operating and servicing equipment always use the appropriate:
• Equipment
• Personal Protective Equipment (PPE)
• Safety Procedures
Note: Images may vary slightly from actual equipment due to ongoing enhancements and
additions to the Typhoon ROV.
1.3 Document Tree

This manual is part of a suite that covers the Typhoon ROV SNM Brazil Systems.
Figure 1: Typhoon Documentation Tree
Overview
2. Overview
The Typhoon MK2 150 is a 150hp heavy duty, work class, hydraulic ROV with a 3000msw
depth rating, field-proven to 3100msw. It is designed and built in Australia as a cost
effective and client-focused answer to your ROV needs. The Typhoon MK2 has significant
advantages in deck footprint, deck loading, performance and reliability.
The Typhoon MK2 150 system features an enhanced, fully integrated construction and
survey interfaces compatible for all modern survey equipment, including multi-beam sonars,
etc.
In addition, other notable enhancements include the following automatic modes:
• Auto Heading – Gyro / Heading Lock Mode
• Auto Vertical – Depth / Altitude Mode
• Auto Position – Position Lock
The surface control interface for the Typhoon ROV has been updated and reconfigured to
provide the operators with a much more intuitive and ergonomically improved Human
Machine Interface (HMI).
The Pilot Console comprises a multi-image display system / video panels. The Pilot station
is a combination of touch screens and hard controls to form the most ergonomic user
interface available. The displays on the touch screens can be customized in the field and
saved.
The TMT Typhoon MK2 150 provides a significant technical advantage over the other
mainstay ROVs currently produced, in which core control system is not reliant on a
Windows based operating system.
The Typhoon controls are supported by firmware and will allow full functional operation in
the unlikely event of a system computer failure. With the control system running on
firmware, the operator is not waiting for extended periods of time for the control system to
boot-up. The Typhoon core control system switches on immediately with no boot-up time
required.
Figure 2: Typhoon MK2 150
Overview
2.1 Features
2.1.1 Electronic Architecture
The electronic architecture used in the Typhoon ROV is a distributed node control,
including:
• Automated navigation control
• Dual redundant fibre MUX
• Modular control network, easy to expand and customise
2.1.2 Manipulators
The Typhoon ROV can support up to two manipulators and the TMT Grabber (two-function
manipulator) on Z-Function mounts. The default manipulator options with backup units and
onshore full service workshop include:
• Schilling Atlas, 7-function, rate controlled
• Schilling Conan, 7-function, position controlled, Master / Slave
• Z-Function, 2-function
2.1.3 Hydraulic Tooling Interface

The Typhoon ROV has a multitude of hydraulic interfaces that can be easily modified to suit
job requirements, including:
• Five (5) 0-15L/min, 3000psi (207bar) for Tooling
• Eight (8) 0-15L/min, 3000psi (207bar) for Manipulators
• Three (3) 0-8L/min, 3000psi (207bar) proportional for Tooling
• Two (2) High Flow 0-76L/min, 0-3000psi(207bar)
• One (1) Ultra High Flow direct to main 238L/min HPU
• Ten (10) Medium Flow direct to secondary 0-78L/min HPU
• One (1) Ancillary HPU interface
2.1.4 Instrumentation
The Typhoon ROV can be fitted with many types of instrumentation, including:
• Densitometer
• Hydrophone
• Metrology scanner
• pH meter
• Smart level
• Soil sampler
• Ultrasonic NDT
• X-ray NDT
ROV Core Systems
3. ROV Core Systems

The following systems make up the Typhoon ROV Core Systems:
• Electrical
o HPU Motor
o Instrument Transformer Box
o Light Dimmer Bottle
o Main Electronics Enclosure (MEE)
o Navigation Bottle - TOGSNAV
o ROV Survey J- Box
o Sensor Bottle
o Sensors – Temperature, Fluid Level Sensor, Pressure and Wet Sensor
o Tether Termination J-Box
• Compensation
o Oil Compensator Bottles, five (5)
• Hydraulic
o Aux Hydraulic Manifold – Tooling
o Hydraulic Manifold – Thrusters
o Hydraulic Power Unit (HPU)
o Manipulators
o Pan & Tilt
• Floatation
• Frame
Figure 3: Core Systems
Electrical System
4. Electrical System
4.1 Power System
Note: The system power supply must meet IEEE Standard 519-1992.
4.1.1 Power System Requirements

The Typhoon ROV system is designed to run from a power supply within the parameters
outlined in Table 3:
Table 3: ROV Spread Power System Requirements
Parameter Value
ROV Spread PDU Supply
Phase 3
Power Requirements 500kVA
Frequency 60Hz ±5%
Voltage 440VAC ± 5%
Power Factor Range 0.25 (no load) to 0.91 (100% of power)
Note: For the system to function properly, the supply is required to meet following
specifications:
• Single cycle harmonic distortion is not to exceed 3% for any individual harmonic.
• Total harmonic distortion of voltage is not to exceed 5% of a sine wave of 60Hz
frequency.
• Total harmonic distortion of the total current is not to exceed 5% of the frequency
sine wave.
4.1.2 Maximum Power Demands

The following table displays the maximum power demands from the Typhoon ROV
systems:
Table 4: Maximum Power Demands
Parameter Value
440VAC
ROV HPU 200kVA
ROV Instruments 8kVA
Electrical System
Power Distribution Unit Cabinet
3250VAC
2400VAC
2400VAC
2400VAC
Figure 4: Typhoon ROV & TMS Power Distribution
Electrical System
4.2 System Earthing

The following medium voltage Typhoon circuits are ungrounded or identified as an IT
network.
In an IT network, the electrical distribution system has no connection to earth or only to a
high impedance connection. An insulation monitoring device (Megacon LIM) is used to
monitor the impedance.
Figure 5: IT Circuit
These include the:

• ROV HPU - 3250VAC
• ROV Instrumentation - 2400VAC
• TMS HPU - 2400VAC
• TMS Instrumentation - 2400VAC
The Megacon insulation monitors fitted to the system are designed to monitor the insulation
resistance to ground on each MV circuit individually. The Megacon LIMs unit is made up of
a KPM163 and a CH163 MV adaptor. The CH163 is a Medium Voltage (MV) adaptor that is
connected to the secondary side (MV) of the power transformer at the star point or centre
tap. The output of the CH is at a safe voltage level and is connected to earth and the
KPM163. The KPM unit superimposes a DC signal onto the MV line through the CH163 to
measure the resistance level to earth.
For additional Power Supply and System Earthing information: refer to
TMT Docs\Surface Power & Control Manual folder on the digital technical manual.
ROV Electrical System Components
5. ROV Electrical System Components

The Typhoon ROV electrical system consists of the following sub systems:
• Cameras and Lights
• Emergency Recovery Devices
• Electric Motor (Hydraulic Power Unit, HPU)
• Instrument Transformer Box
• Light Dimmer Bottle
• Main Electronics Enclosure (MEE)
• Navigation System - TOGSNAV
• Sensor Bottle
• Sensors
• Sonar
• Survey J-Box STBD
• Tether Termination J-Box Side Tether
Termination Electrical Motor
TOGSNAV J-Box
Instrument
Transformer Box
Light Dimmer Bottle
AFT
FWD Sensor Bottle
Survey J-Box
MEE PORT
Side
Figure 6: Major Electrical Components
Electrical Bottles & Enclosures
6. Electrical Bottles & Enclosures

6.1 Tether Termination J-Box
Warning: The Tether Termination J-Box contains voltages up to 3kVAC. Refer to
TMT-NMA-033 Maintenance manual for electrical safety details.
The Tether Termination J-Box is a lightweight aluminium enclosure, providing an electrical /
fibre connection point on the ROV, from the tether of the Tether Management Systems
(TMS).
The Tether box is located on the STBD side - Middle, see Figure 6.
To access the Tether Termination J-Box schematic; refer to the TMT-NDP-001?Electrical\
0004-8509 ROV Tether Termination Box Typhoon Mk2 folder on the digital technical
manual.
6.1.1 Function
The tether comes in from the rear via a cable gland on the right hand side of the Tether
Termination J-Box. The tether supplies 3 phase, 3kVAC power for the HPU (top three
terminals), single phase 2.4kVAC ROV Instrument Power (bottom two terminals) and a
single mode fibre bundle terminated through four (4) ST connectors at the bottom.
Ground is terminated at the stud near the ST connectors.
A wet sensor is located near the base of the box to detect water ingress. The wet sensor is
wired in parallel with the wet sensor located in the Instrument Transformer Box.
Umbilical Assembly
Screened To MEE
Quad
Earth
Stud
To Tether
To
ROV
Motor
To 6kVA Transformer
Fibre Connectors
Wet
Sensor
Figure 7: Tether Termination J-Box
The Tether Termination J-Box is an oil filled enclosure which is pressure compensated from
the Electrical Enclosure Compensator; refer to Section 15 Compensation System on page
129. The compensator maintains a pressure of approximately 5psi (0.3bar) above ambient
sea pressure within the J-Box.
The braided hose on the PORT side (rear) is an oil-filled hose to supply 3kVAC three phase
power to the 150hp, 4-pole, HPU electric motor on the aft end of the ROV frame.
The braided hose on the STBD side (lower) is an oil filled hose to supply 2.4kVAC single
phase instrument power to the 6kVA transformer in the Instrument Transformer Box.
An oil filled hose, Opticon CCP, connects the 4 Single Mode (SM) optic fibre cable
assembly connects the MEE (connector 6C) to the Tether J-Box.
The SMs are identified by a solid colour with two black rings along the fibre cable every
25mm.
Multimode (MM) fibres are present but are not used. MM fibres are identified by a solid
colour with no black rings along the fibre cable.
Two (2) fibres are available; one as a preinstalled spare and one fibre that is used for:
• Six (6) video signals
• Eight (8) RS485 channels
• Eight (8) RS232 channels
This provides for all the Typhoon ROV’s data and video requirements.
Table 5 describes the Tether Termination J-Box and Cable Connection Plug (CCP) Hose
pin out.
Table 5: Tether Termination J-Box Pin Out
ROV Power to Motor & 6kVA Transformer Opticon CCP Hose Pin Out
ROV Motor Pin Description From Tether Pin Description
SUB HPU L1 L1 3000V HPU P6 Orange 1 Q-White-1
SUB HPU L2 L2 3000V HPU P6 White 2 Q-White-1
SUB HPU L3 L3 3000V HPU P6 Blue 3 Q-White-1
Transformer, 6kVA 4 Q-White-1
SUB INSTR L1 L1 2400V EL P2.5 Red 5 Fibre 1, Red
SUB INSTR L2 L2 2400V EL P2.5 White 6 Fibre 2, Green
7 Fibre 3, Blue
8 Fibre 4, Yellow
N/A White
N/A Natural
Note: The screened quad wires (Q) are present, but not currently used and are available for
future system growth.
6.2 Instrument Transformer Box

Warning: The Instrument Transformer Box contains voltages up to 2.4kVAC. Refer to
TMT-NMA-033 Maintenance manual for electrical safety details.
The Instrument Transformer Box is a lightweight aluminium enclosure; it takes 2.4kVAC
instrument power from the tether and steps it down to 220VAC and 110VAC at 6kVa. The
Transformer Box is located STBD – Middle; refer to Figure 6.
To access the Tether Termination Schematic; refer to the TMT-NDP-001?Electrical\ 0004-
5412 Sub Electric Transformer Wiring Layout Typhoon Mk2 folder on the digital
technical manual.
6.2.1 Function
The Instrument Transformer Box (ROV), supplies power to the Main Electronics Enclosure
(MEE) for further distribution to all ROV power circuits, with the exception of the ROV HPU.
To MEE ROV Instrumentation Transformer
Wet Sensor
To Tether Termination
J-Box
To Compensator
To Tether Termination To MEE

J-Box
To Sensor Bottle
To Compensator
Figure 8: Instrument Transformer Box - As Seen From Top & Side
The Instrument Transformer Box is oil filled and pressure compensated from the Electrical
Enclosure Compensator; refer to Section 15 Compensation System on page 120. The
compensator maintains a pressure of approximately 5psi (0.3bar) above ambient sea
pressure within the enclosure.
The Instrument Transformer box connects to the MEE via a 12 pin cable assembly. The
cable assembly contains 220VAC and 110VAC power conductors.
The Instrument Transformer box contains an RTD temperature sensor in the transformer
windings, and a wet sensor that is connected and monitored from the Sensor Bottle.
Fuses are located on the secondary Low Voltage (LV). Taps are for supplying different
voltages.
A wet sensor is located near the base of the box to detect water ingress. The wet sensor is
wired in parallel with the wet sensor located in the Tether Termination J-Box.
Table 6: Opticon CCP Hose & LPMBH-8-FS
Pin Description Connector 1 Pin Description Connector 2
1 GND 1 WET TX/UMB J-Box-1
2 GND 2 WET TX/UMB J-Box-1
3 N/C 3 N/C
4 230VAC L1,W1 4 N/C
5 230VAC L2,W1 5 RTD+TX-1
6 230VAC L1,W1 6 RTD-TX-2
7 230VAC L2,W1
8 N/C
9 115VAC L1,W2
10 115VAC L2,W2
11 115VAC L1,W2
12 115VAC L2,W2
Note: The Wet Sensor from the Tether J-Box comes to the Instrument Transformer Box,
where it is connected in parallel to the internal Wet Sensor in the Transformer box.
Through Connector 2, the RTD and the Wet Sensors connect to the Sensor Bottle.
6.3 Main Electronics Enclosure

The Main Electronics Enclosure (MEE), constructed of lightweight anodised aluminium
alloy, is a one atmosphere electrical enclosure containing the majority of the subsea
electronics logic and control circuitry carried on board the Typhoon ROV.
The MEE is located Forward – Middle of the ROV; refer to Figure 6.
To access the ROV System Overview Schematic; refer to the TMT-NDP-001?Electrical\
0004-5406 ROV System Overview Typhoon Mk2 folder on the digital technical manual.
Note: The MEE is not oil filled.
Bell Housing
End Cap Comms Slide Vacuum Port (labelled)
Cap Seal Port V1
Bell Housing
Power Slide End Cap
Wet Sensor
Figure 9: MEE Disassembled
Figure 10: Main Electronics Enclosure
Cap Seal
Port V1
Vacuum
Port
Housing
Seal Port
V2
Figure 11: Locations of MEE Vacuum Ports
Figure 12: MEE - Empty & Loaded and Energised
6.3.1 MEE Cable Assembly Identification

·
The labels located on the MEE bell housing are for cable identification e.g. #1.A·B C,
indicating lead number 1 with ring A the closest from the handle (front) and C the furthest
from the front. Table 7 lists all the connector lead IDs found on the MEE.
Figure 13: MEE Lead Identification
Table 7: MEE Lead Identification
A Ring B Ring C Ring

1A Camera & Light 1 1B Fluid / Tooling Skid 1C PORT Thrust Manifold
2A Camera & Light 2 2B Navigation 2C PORT Tool Manifold
3A Camera & Light 3 3B Sensor Bottle 3000 3C STBD Thrust Manifold
4A Camera & Light 4 4B PORT Schilling Arm-Titian, not used 4C STBD FWD Tool Manifold-Atlas Arm
5A Camera & Light 5 5B STBD Schilling Arm-Conan 5C STBD MID Tool Manifold
6A Camera & Light 6 6B Sonar 6C Fibre Optic Cable - Oil Filled
7A Camera & Light 7 7B Dimmer Bottle 3000 7C MEE 3000 Power
8A Camera & Light 8 8B Aux Tool (Not Used) 8C Survey J-Box - Oil Filled
8C- Oil filled Set Screws for Grounding

(SJ-B)
Test Port
Row 8
Power Slide8 Comms Slide8

6 Row 7
7 5
8 4
9 3
C Ring B Ring A Ring
10 2
1
Row 6
6C- Fibre Optic Cable

S
Figure 14: MEE Head Sockets
Grounding screws located on the MEE sockets are the ones with the bolt; refer to Figure
15. For additional information on testing: refer to the TMT-NDP-001?Mechanical\Electrical\
0004-1708 Connector Housing ASM folder on the digital technical manual.
Grounding
Screw
Figure 15: Grounding Screw
To access the MEE 3000 Connector assembly; refer to the TMT-NDP-001?Electrical\ 0004-
7391 ROV System Overview Typhoon Mk2 folder on the digital technical manual.
Note: Care must be taken when disconnecting connector 6C and 8C, from the J-Box as
they are oil filled.
The following Table 8 contains the list of MEE Bell Power & Comms Slide Connectors.
Table 8: MEE Bell Power & Comms Slide Connectors
MEE Bell Power & Comms Slide Connectors

Pin Description Comments
Connector (CN) 1
Powers all the boards on the Comms slide, including the
1. Comms Slide +24VDC
MUX
2. SJB Beacon SW1 Survey Junction Box (SJB)
3. GND (PE) Earth Ground
5. GFM1 Reset Ground Fault Monitor (GFM) Reset
6. GFM2 Reset
7. GFM3 Reset
8. SJB Wet Sensor
9. Comms Slide 0VDC
10. SJB Beacon SW2
11. GND (PE)
12. GND (PE)
13. SJB Trans1 CTRL Responder 1 Trigger Pulse
14. SJB Trans2 CTRL Responder 2 Trigger Pulse
15. Dimmer K1 For 110 Lights Contactor Control
16. Aux Tool K2 Aux Tool Contactor Control
Connector (CN) 2
1. RS232 Rx Nav Port 1 Navigation Device (Nav)
2. RS232 Tx Nav Port 1
3. RS232 Com Nav Port 1 & 2
4. NC
5. RS232 Tx Nav Port 2
6. NC
7. RS232 Rx C1A SJB 1 Survey J-Box RS 232 Mux Channel 1
8. RS232 Tx C1A SJB 1
9. RS232 Com C1A SJB 1
10. NC
11. RS232 Tx DVL Doppler Velocity Log (DVL)
12. RS232 Com DVL
13. RS232 Rx C3A Aux Tool C3A - Mux channel for Aux Tool
14. RS232 Tx C3A Aux Tool
15. RS232 Com C3A Aux Tool
16. RS232 Rx C2A SJB 2 Survey J-Box RS 232 Mux Channel 2
17. RS232 Tx C2A SJB 2
18. RS232 Com C2A SJB2
19. RS232 Rx C1B SON C1B – Mux channel for Sonar
20. RS232 Tx C1B SON
21. RS232 Com C1B SON
22. NC
23. NC
24. NC
Connector (CN) 3
1. NC
2. NC
3. RS485 B (+) Dim Serial Comms for Dimmer
4. RS485 A (-) Dim
5. RS485 B (+) PTH Serial Comms for Prt Thrust Manifold

6. RS485 A (-) PTH
7. RS485 B (+) PTO Serial Comms for Prt Tool Manifold
8. RS485 A (-) PTO
9. RS485 B (+) STH Serial Comms for Stb Thrust Manifold
10. RS485 A (-)STH
11. RS485 B (+) SFT Serial Comms for Stb Fwd Tool Manifold
12. RS485 A (-) SFT
13. RS485 B (+) SMT Serial Comms for Stb Mid Tool Manifold
14. RS485 A (-) SMT
15. RS485 B (+) PSL Serial Comms for Power Slide
16. RS485 A (-) PSL
17. NC
18. NC
19. RS485 B (+) C4B SJB 2 Survey J-Box RS 485 Mux Channel 2
20. RS485 A (-) C4B SJB 2
21. RS485 B (+) C3B SJB 1 Survey J-Box RS 485 Mux Channel 1
22. RS485 A (-) C3B SJB 1
23. NC
24. NC
Connector (CN) 4
1. RS485 B (+) CAM1/LIT1 Serial Comms for Camera and LED Light
2. RS485 A (-) CAM1/LIT1
3. RS485 B (+) CAM2/LIT2
4. RS485 A (-) CAM2/LIT2
5. RS485 B (+) CAM3/LIT3
6. RS485 A (-) CAM3/LIT3
7. RS485 B (+) CAM4/LIT4
8. RS485 A (-) CAM4/LIT4
9. RS485 B (+) CAM5/LIT5
10. RS485 A (-) CAM5/LIT5
11. RS485 B (+) CAM6/LIT6
12. RS485 A (-) CAM6/LIT6
13. RS485 B (+) CAM7/LIT7
14. RS485 A (-) CAM7/LIT7
15. RS485 B (+) CAM8/LIT8
16. RS485 A (-) CAM8/LIT8
17. RS485 B (+) FLS RS 485 Mux Channel for For Fluid Skid
18. RS485 A (-) FLS
19. RS485 B (+) SNB Serial Comms for Sensor Bottle
20. RS485 A (-) SNB
21. RS485 B (+) C3A PSA RS 485 Mux Channel for Port Manipulator
22. RS485 A (-) C3A PSA
23. RS485 B (+) C4A SSA RS 485 Mux Channel for STBD Manipulator (Not Used)
24. RS485 A (-) C4A SSA
Connector (CN) 5
1. CAM 1 SIG Video signal from Camera 1
2. CAM 2 SIG
3. CAM 3 SIG
4. CAM 4 SIG
5. CAM 5 SIG
6. CAM 6 SIG
7. CAM 7 SIG
8. CAM 8 SIG

9. PRT ARM CAM SIG (NA) Video signal from Prt arm camera
10. STB ARM CAM SIG (NA) Video signal from Stb arm camera
11. NC
12. NC
13. CAM 1 SCR SCR – Screen/Shield video cable
14. CAM 2 SCR
15. CAM 3 SCR
16. CAM 4 SCR
17. CAM 5 SCR
18. CAM 6 SCR
19. CAM 7 SCR
20. CAM 8 SCR
21. PRT ARM CAM SCR & OVDC Screen & 0V for Prt Arm camera
22. STB ARM CAM SCR & OVDC
23. NC
24. NC
Connector (CN) 6
1. Tx W1 230VAC L1 Transformer Winding 1, Line 1
2. Tx W1 230VAC L1 230VAC from Inst. Transformer
4. GND (PE)
7. Dimmer Bottle 115VAC L1 115VAC to Dimmer Bottle, Line 1
8. Aux Tool 115VAC L1 115VAC to Aux Tool, Line 1
12. GND (PE)
15. Dimmer Bottle 115VAC L2 115VAC to Dimmer Bottle, Line 2
16. Aux Tool 115VAC L2 115VAC to Aux Tool, Line 2
Connector (CN) 7
1. RS485 B(+) PSL Serial Comms for Power Slide
2. RS485 A(-) PSL Two Nodes parallel in PSL
3. RS485B 0v PSL
4. NC
5. GFM1 Reset Activate Relay R1 in Power Slide
8. NC
9. Dimmer K1 Activate Relay K1, in Power Slide
10. Aux Tool K2 Activate Relay K2, in Power Slide
11. NC
12. NC
13. NC
14. NC
15. NC
16. NC
17. NC
18. NC
19. NC

20. NC
21. NC
22. NC
23. NC
24. NC
Connector (CN) 8
1. CAM1/2 +24VDC From PS2 via Pwr Control Board 1
5. PRT/STB SCHIL ARM +24VDC From PS2 via Pwr Control Board 1
6. SENS BOTTLE +24VDC From PS2 via Pwr Control Board 1
7. COMMS SLIDE +24VDC From PS2, fuse F16
8. SURVEY JB PWR 1 +24VDC From PS2 via Pwr Control Board 1
9. NAVIGATION +24VDC From PS2 via Pwr Control Board 1
10. NC
11. NC
12. NC
13. CAM1/2 0VDC From PS2 via Pwr Control Board 1
17. PRT/STB SCHIL ARM 0VDC From PS2 via Pwr Control Board 1
18. SENS BOTTLE 0VDC From PS2 via Pwr Control Board 1
19. COMMS SLIDE 0VDC From PS2
20. SURVEY JB PWR 1 0VDC From PS2 via Pwr Control Board 1
21. NAVIGATION 0VDC From PS2 via Pwr Control Board 1
22. NC
23. NC
24. NC
Connector (CN) 9
1. LIGHT1/2 +24VDC From PS2 via Power Control Board 2
5. NC
6.
SURVEY JB PWR 3 +24VDC From PS2 via Power Control Board 2
7.
8.
FLUID SKID/AUX TOOL +24VDC From PS2 via Power Control Board 2
9.
10.
SONAR +24VDC From PS2 via Power Control Board 2
11.
12. DVL + 24VDC
13. LIGHT1/2 0VDC From PS2 via Power Control Board 2
17. NC
18.
SURVEY JB PWR 3 0VDC From PS2 via Power Control Board 2
19.
20.
FLUID SKID/AUX TOOL 0VDC From PS2 via Power Control Board 2
21.
22. SONAR 0VDC From PS2 via Power Control Board 2

23. Sonar 0VDC
24. DVL 0VDC
Connector (CN) 10
1. PRT THRUST MAN +24VDC
From PS1, fuse F10 in Pwr Slide
2. VALVE
3.
PRT TOOL MAN +24VDC VALVE From PS1, fuse F11 in Pwr Slide
4.
5. STB THRUST MAN +24VDC
6. VALVE
7. STB FWD TOOL MAN +24VDC
8. VALVE
9. STB MID TOOL MAN +24VDC
10. VALVE
11. NC
12. NC
13.
PRT THRUST MAN 0VDC VALVE From PS1&2 0V bus, X2-01
14.
15.
PRT TOOL MAN 0VDC VALVE From PS1&2 0V bus, X2-02
16.
17.
STB THRUST MAN 0VDC VALVE From PS1&2 0V bus, X2-03
18.
19. STB FWD TOOL MAN 0VDC
From PS1&2 0V bus, X2-04
20. VALVE
21. STB MID TOOL MAN 0VDC
From PS1&2 0V bus, X2-05
22. VALVE
23. NC
24. NC
6.3.2 Function
The MEE consists of 24 subsea connectors on one end, the Connector Bell Housing, and is
comprised of two long slide-in units:
• Comms Slide
• Power Slide
The Power Slide contains the DC power supplies, GFMs, contactors, relays, power control
boards and the current sensor PCB.
The Comms Slide contains the communications. This includes the video switching boards
and the Fibre Optic MUX and the slave nodes of the Distributed Configurable Interface
Multiple Processor (DCIMP) system.
Figure 16 is a block diagram displaying the MEE and its associated connections.
Figure 16: Main Electronic Enclosure Block Diagram
6.4 MEE Power Slide

The MEE Power Slide contains the majority of the power control functionality of the MEE.
Specifically, it consists of the following elements:
• Power Control Board – PC02, two (2) of, page 71
• Power Supply, two (2) of, page 43
• Contactors, page 49
• Current Sensing Board - CS01, page 74
• Wet Sensor, page 88
• Safety fuses, relays and terminals.
Ground Fault Monitor
Contactors
Fuses
Current Sensing Board
Fuses
Power Control Board
Fuses
Power Supply
Wet Sensor
Figure 17: MEE Power Slide
To access the MEE Power Slide Connector assembly; refer to the TMT-NDP-001?Electrical\
0004-4912 folder on the digital technical manual.
6.4.1 Power Supply

The two (2) SMT power supplies Excelsys XMD4444, each have a power output of
750W@24VDC.
Figure 18: MEE Power Supply
The power supplies have internal protection against under voltage, over current and
shorted outputs.
The maximum input voltage is 264VAC.
The power inputs are protected by an 8A time-lag safety fuse (5x20 style).
Figure 19: Safety Fuse
All 24VDC circuits are protected by a time-lag safety fuse (5x20 style); refer to
Table 11 on page 47 for values.
To access the MEE Power Slide Connector assembly drawing; refer to the TMT-NDP-
001?Electrical\ 0004-4912 folder on the digital technical manual.
6.4.2 Insulation Monitors – Digital

The three (3) Insulation Monitors are Ground Fault Monitor (GFM) devices which monitor
the impedance between a connected power source and earth.
Note: Either digital or analogue insulation monitors are installed, not both. Refer to Figure 21
and Figure 22 if unsure as to what is installed.
Figure 20: MEE GFM – Digital Model
When the impedance falls below the pre-set value, the warning / alarm output is activated
on the Pilot Interface application on the Control Console.
There are three (3) GFMs located on the Power Slide in the MEE.
Note: Only the 115VAC circuits are tripped off by a GFM.
All reset relays are operated from the Pilot Interface Application.
Caution: Faults on the 230VAC GFM 1 and 24VDC GFM 3 circuits trigger warnings on
the Pilot Control Console only, it is up to the Pilot to take corrective action.
Table 9: GFM Sensing Points
Power Supply Ground Description
Sensed Fault
Monitor
On GFM 1 if insulation drops below 200kΩ, a warning (<200kΩ)
will display on the Pilot Interface. Any fault below 100kΩ will
230VAC Power GFM 1 display a less than100kΩ Alarm. The GFM1 RESET button is then
used to reset the circuit from the Pilot Interface.
Settings: Alarm - 100kΩ, Warning - 200kΩ.
GFM 2 displays a warning below 200kΩ. Any fault below 50kΩ will
trip K1 and K2 contactor and display a below 50kΩ alarm.
The GFM2 RESET button is then used to reset the circuit from the
Pilot Interface.
115VAC Power GFM 2
The 115v GFM Override button on the Pilot Interface over-rides
the 115VAC trip, Tool and Main Light Supply.
K1 and K2 switch the 115VAC circuits (Dimmer and Aux Tools).
Settings: Alarm - 50kΩ, Warning - 200kΩ.
On GFM 3 if insulation drops below 20kΩ, a warning is displayed
on the Pilot Interface. The GFM3 RESET button is then used to
24VDC Power GFM 3
reset the circuit from the Pilot Interface.
Settings: Alarm - 20kΩ.
Figure 21, shows an example of the 115VAC 200K warning tripped, as displayed on the
Pilot Control Console.
Tripped
Alarm
Figure 21: GFM Alarms on Control Console - Digital
For OEM GFM information; refer to the OEM Manuals\MEE folder on the digital technical
manual.
6.4.3 Insulation Monitors – Analogue

The MEE Power Slide has three (3) analogue insulation monitors that are Ground Fault
Monitor (GFM) devices which monitor the impedance between a connected power source
and earth.
Note: Either digital or analogue insulation monitors are installed, not both. Refer to Figure
21 and Figure 22 if unsure as to what is installed.
If the impedance falls below the pre-set value, the alarm output is activated on the Pilot
Interface application on the Control Console. The three (3) GFMs are located on the Power
Slide, as described in 6.4 MEE Power Slide on page 42.
Table 10: Insulation Monitors – Analogue
Ground
Power Supply
Fault Description
Sensed
Monitor
Senses the AC for the 24VDC power supplies.
GFM 1 displays the insulation value for the 230VAC power supply.
Any fault below 100kΩ will display a less than 100kΩ alarm on the
230VAC Power GFM 1 Pilot Interface.
The GFM1 RESET button is then used to reset the circuit from the
Pilot Interface.
Senses the Tool contactor controlled from the Pilot PC.
Main Light contractor controlled from the Control Console.
GFM 2 displays the insulation value for the 115VAC power supply.
Any fault below 50kΩ will trip K1 and K2 contactor and display
below 50kΩ alarm on Pilot Interface.
115VAC Power GFM 2 The GFM2 RESET button is then used to reset the circuit from the
Pilot Interface.
The 115v GFM Override button on the Pilot Interface over-rides
the 115VAC trip, Tool and Main Light Supply.
K1 and K2 switch the 115VAC circuits, Dimmer and Aux Tools.
Ground
Power Supply
Fault Description
Sensed
Monitor
GFM senses the DC Supply for the following:
• Aux Tools
• Cameras
• Fluid Skid
• Hydraulic Valves
• LED Smart Lights
• MUX
24VDC Power GFM 3
• Sonar
• Survey J-Box
GFM 3 displays the insulation value for the 24VDC power supply.
Any fault below 20kΩ warning will display a less than 20kΩ alarm
on the Pilot Interface. The GFM3 RESET button is then used to
reset the circuit from the Pilot Interface.
Note: Only the 115VAC circuits are tripped off by GFM 2.

Faults on the 230VAC and 24VDC circuits will trigger warnings on the Pilot Control
Console only and it is up to the Pilot to take action.
The 24VDC supply lines can be isolated via the Power Control Forms on the Pilot Interface
application, displayed on the Pilot Control Console.
All reset relays are operated from the Pilot Interface application.
The GFM indicate the insulation resistance values on the Pilot Interface application at the
Pilot Control Console. Figure 22 shows an example of the 230VAC alarm Tripped, the
115VAC Cleared and a sensor failure on the 24VDC GFM, as displayed on the Pilot Control
Console.
Tripped Alarm Alarm Cleared Sensor Fail

Current
Value in
MΩ
Figure 22: GFM Alarms on Control Console - Analogue
For OEM GFM information; refer to the OEM Manuals\MEE folder on the digital technical
manual.
For additional information on the Pilot Interface application; refer to the
TMT Manual\Pilot Interface Software Manual folder on the digital technical manual.
6.4.1 Power Slide Fuses

The fuses on the Power Slide provide over-current protection to the various MEE functions;
refer to Table 11 for a complete list of functions, fuse values and a description.
Dimmer Aux Tools
Figure 23: Power Slide Fuses and K1 & K2 Relays
Table 11: Power Slide Fuses
MEE Power Slide Fuses

Fuse Value Purpose Effects on ROV & Indications on Pilot Interface
#
F1 8A PS1 230V Supply PS2 will be able to supply 50% of the full load.
All functions are lost and all indicators on the Pilot
F2 8A PS2 230V Supply Interface application turn Red. MUX loses power, no
comms.
F3 5A GFM 3 230V Supply GFM 3 shuts down, no indication on Pilot Interface.
F4 5A GFM 2 230V Supply GFM 2 shuts down, no indication on Pilot Interface.
F5 5A GFM 1 230V SUPPLY GFM 1 shuts down, no indication on Pilot Interface.
F6 5A GFM 1 230V MONITOR Monitoring line is lost, no indication on Pilot Interface.
F7 5A K1 115V L1 VOLTAGE Lose operation of 110VDC ROV lights.
F8 5A K2 115V L1 VOLTAGE Lose operation of Auxiliary Tooling function.
F9 5A GFM 2 115V MONITOR Monitoring line is lost, no indication on Pilot Interface.
Complete loss of Port Thruster operation. Wet sensor
F10 8A Port Thruster Manifold 24VDC and Port High-Flow indication will turn Red for the Port
Thruster Manifold on the Pilot Interface application.
Complete loss of Port Tooling Aux manifold. Wet
Port Tooling Aux Manifold
F11 8A sensor and the Auxiliary (Aux) pump indication will turn
24VDC
Red on the pilot Interface application.
MEE Power Slide Fuses

Fuse Value Purpose Effects on ROV & Indications on Pilot Interface
#
Complete loss of STBD Thruster operation. Wet
STBD Thruster Manifold sensor, Main hydraulic pressure and Stbd High-Flow
F12 8A
24VDC indication will turn Red on the Pilot Interface
application.
Complete loss of STBD FWD Tooling manifold
STBD FWD Tooling Manifold operation. Wet sensor and manipulator pressure
F13 8A
24VDC indication will turn Red on the Pilot Interface
application.
Complete loss of STBD MID Tooling manifold
STBD MID Tooling Manifold
F14 8A operation. Wet sensor indicator will turn Red on the
24VDC
Pilot Interface application.
GFM 1 + 2 alarm, SJB Pwr 1, LED lights and sonar
F15 8A Power Control Board 2 24VDC indicators will turn Red on the Pilot Interface
application.
Lose all functions; all indicators will turn Red on the
F16 8A Comms Slide 24VDC
Pilot Interface application.
GFM 3, TOGSNAV, Conan, Survey J-Box PWR 1, All
cameras, all sensor bottle functions that includes; all
F17 10A Power Control Board 1 24VDC compensation bottle levels, all temps and wets that go
through the Sensor Bottle. Loss of fluid skid control
power.
All manifold current indicators go Red on the Pilot
F18 1A Current Sensor Board 24VDC
Interface application.
Loss of main lights and Aux tooling, K1, K2 and GFM
F19 10A GFM 3 24VDC Monitor reset relays R1, R2, R3 from the Pilot Interface
application.
6.4.2 Contactors
The contactors on the Power Slide provide the method of controlling the power to the:
• 115VAC Auxiliary Tools
• 115VAC Dimmer Bottle
Figure 23 displays the K1 and K2 relays.
Table 12: Contractor K1 & K2
Contactor Value
Maximum load is 600W at 115VAC,
Contactor K1 (Dimmer)
estimated maximum load is 289W for two (2) lights.
Maximum load is 600W at 115VAC
Contactor K2 (Aux Tools)
depending on the tools that are connected.
Caution: There are 5A fuses in line with K1 and K2 contactor, as the possible load for
the auxiliary tools is variable depending on operational requirements; it could
potentially be overloaded. Refer to Figure 16.
Figure 24: Contactors – Power Slide
For OEM Contactor information; refer to the OEM Manuals\MEE folder on the digital
technical manual.
6.5 MEE Comms Slide

The MEE Comms Slide contains the majority of the control functionality of the MEE.
Specifically, it consists of the following elements:
• Back Plane Board on page 51
• Two (2) Node Hub Board - NH01 on page 75
• FET Drive Board - FD02 on page 77
• Analogue Video Switch Board - VB01 on page 78
• UART PCB - UC03 on page 79
• Fibre Optic MUX stack
• RS485 Isolator on page 51
• DC / DC Converter on page 52
• Survey J-Box Relay Block on page 53
Video Switch
Back Plane Board
DC-S-UART
Survey J-Block Relay Block
DC/DC Converter
Fibre Optic MUX
Stack
FET Drive Board,
DC-S-FC
Node Hub
DC-S-NH
Dimmer Bottle
RS485 Isolator,
RUS-9510A
Figure 25: MEE Comms Slide
To access the MEE Comms slide assembly; refer to the TMT-NDP-001?Electrical\ 0004-
7392 folder on the digital technical manual.
6.5.1 Back Plane Board

The Back Plane Board provides automatic resetting fuses to provide short circuit protection
for the 24VDC power supply. The black brackets secure the PCBs to the Comms Slide. The
board also electrically connects the PCBs and other Comms Slide components to the
DCIMP system.
Back Plane Board
Fuse
Figure 26: Back Plane and Board Fuse
Table 13: Back Plane Board Fuses
Parameter Value
Bourns MF-SM100 Resettable PTC Fuse
Hold Current @ 25°C 1.1A
Trip Current 2.0A
6.5.2 RS485 Isolator

The RS485 Isolator provides 3kV Opto-Isolation of RS485 serial communication between
the Light Dimmer Bottle and the Node Hub. The Isolator contains high-speed transient
suppressors on each data line, to protect the RS485 communications network from possibly
dangerous voltages levels or spikes.
The Isolator power requirement is 24VDC, 0.7W.
Figure 27: RS485 Isolator
Warning: The RS485 Isolator provides additional optical RS485 isolation to prevent the
possiblity of high voltage leaking out from the Light Dimmer Board through the
RS485 wires if the bottle is flooded with water.
The Light Dimmer board can generate DC voltages up to 200VDC.
Figure 28: RS485 Isolator Block Diagram
Built-in opto-couplers on the RUS-9510, provide 3000VDC of isolation to protect the MEE
from ground loops and destructive voltage spikes on the RS-422 / 485 data lines. The RUS-
9510 also provides internal surge-protection on the data lines. Internal high-speed transient
suppressors on each data line, protect the module from dangerous voltages levels or
spikes.
For additional OEM RS485 Isolator information; refer to the OEM Manuals\MEE folder on
the digital technical manual.
6.5.3 DC / DC Converter
The DC / DC Converter converts 24VDC supply to 5VDC for use by the Fibre MUX.
The negative rails are linked.
Table 14: DC / DC Converter
Parameter Value
DC/DC Converter
Model APK25 - 2605
Input 24VDC
Output Voltage 5VDC
Output Amperes 5A
Power 25W
For additional OEM DC / DC information; refer to the OEM Manuals\MEE folder on the
digital technical manual.
6.5.4 Survey J-Box Relay Block

The Survey J-Box Relay Block provides switched output for the Survey J-Box.
The relay block is located on the Comms Slide.
Relay Energised
Figure 29: Survey J-Box Relay Block
The Relay Block consists of four (4) DIN-Rail relays and two (2) terminal blocks.
Note: In Figure 29, only RL4 is energised – Normally closed contact! Open contact when
active, RL1 to RL3 are Off - Open, RL1 to RL3 LEDs red glow is due to the
background light.
The following outputs can be switched:
Table 15: Survey J-Box Relay Block
ID Parameter Value
Survey J-Box Relay Block
RL1 N/C N/C
RL2 Responder 1 Trigger impulse
RL3 Responder 2 Trigger impulse
RL4 Beacon activation Activation of the Beacon on loss of power
6.6 Sensor Bottle

The Sensor Bottle is a one atmosphere electrical enclosure that provides connections for
external temperature, pressure and level sensors. The bottle is made of lightweight
anodised aluminium alloy.
The Sensor Bottle is located on the rear of the ROV; near the PORT side; see Figure 6.
Note: The Sensor Bottle is not an oil filled enclosure.
To access the Sensor Bottle wiring diagram; refer to the TMT-NDP-001?Electrical\0004-

5509 Sensor Bottle 3000 Wiring Diagram Typhoon Mk2 folder on the digital technical
manual.
Figure 30: Sensor Bottle
6.6.1 Function
The Sensor Bottle contains the electronics that monitor the following ROV sensors:
• Compensators 1-5 level sensors
• Main and Aux HPU oil temperature (RTD) and wet sensors located at the bottom of the
hydraulic tanks, the sensor is a single assembly.
• Motor winding temperature (RTD)
• Analogue hydraulic oil tanks level sensors
• Tether Termination box wet sensor
• Instrument Transformer temperature sensor (RTD)
• Instrument Transformer wet sensor
Board A
Board B
RTD HV Board
Wet Sensor
RTD HV Board
Figure 31: Sensor Bottle Internals
Table 16: Sensor Bottle
Sensor Bottle Cap Conn. Monitor Comments
RS 485 Communications and power supply to

C1 Sensor Bottle Comms
MEE 3B. Connector type IE55-1508-FCR
C2 HPU Motor Temperature RTD. Connector type LPMBH-4-MP
C3 Transformer Temperature RTD. Connector type LPMBH-8-MP
C4 N /C Not Connected
C5 HPU Temperature/Wet Main & Tool HPU. Connector type LPMBH-8-MP
C6 Comp level 1/2 0-10VDC. Connector type LPMBH-6-FS
C7 Comp Level 3/4 0-10VDC. Connector type LPMBH-6-FS
0-10VDC, 6 is not used. Connector type
C8 Comp Level 5/6
LPMBH-6-FS
HPU Tank Level,
C9 0-10VDC. Connector type LPMBH-6-FS
Main/Aux
There are two (2) RTD HV Board located within the Sensor Bottle.
Additional information on the RTD HV Board - RH01 is located on page 82.
6.7 Light Dimmer Bottle

Warning: The Light Dimmer Board generates voltages up to 200VDC. The board must
be operated in an appropriate housing to prevent electrocution.
An additional optical RS485 isolation is provided by the RS485 Isolator
located on the Comms Slide, to prevent the possibility of high voltage leaking
out through the RS485 wires when the bottle is flooded with water.
The Light Dimmer Bottle is a one atmosphere electrical enclosure that provides the means
to vary the intensity of four (4) 115VDC main LED lights, two (2) forward and one (1) on the
3rd Pan and Tilt (Aux), if connected and one spare.
Only two forward main 115VDC LEDs are currently configured.
The bottle is made of lightweight anodised aluminium alloy.
Note: The Light Dimmer Bottle is not an oil filled enclosure.
The Light Dimmer bottle is located on the ROV; FWD – Front; refer to Figure 6.
To access the Light Dimmer Bottle wiring diagram; refer to the TMT-NDP-
001?Electrical\0004-7722 Dimmer Bottle 3000 Wiring Diagram Typhoon Mk2 folder on
Figure 32: Light Dimmer Bottle
6.7.1 Function
The Light Dimmer Bottle contains one (1) Light Dimmer Board, which is supplied by
115VAC.
The AC is rectified to DC. Two (2) DC-DC converters provide four (4) regulated DC outputs
for LED arrays and halogen lights.
Individual output current is set via RS485 between 0 – 2.5A; the output voltage can vary
between 0VDC and 135VDC, depending on the load characteristic.
Additional properties:
• Over-temperature protection for the bottle
• Output voltage is over-voltage protected
• Output current limited and regulated
• Internal wet sensor
Table 17: Light Dimmer Bottle
Light Dimmer Bottle Cap Conn. Function Comments
RS 485 Communications and power supply

Dimmer Bottle
C1 to MEE 7B. Connector type IE55-2006-
Comms
FCR.
FWD two (2) 115VDC lights. Main Lights.

C2 115VDC Light / FWD
Connector type IE55-1508-FCR.
rd
3 Pan & Tilt (Aux) if implemented. Both C3
C3 115VDC Light & C4 operate in parallel.
Optional. Both C3 & C4 operate in parallel.

C4 115VDC Light
Note: The C2 (IE55-1508, 8 pin) connector is different from the C3 and C4 connectors
(IE1504, 3 pin), as it is the power source for both forward main115VDC main lights.
To access the Light Dimmer Bottle wiring diagram; refer to the TMT-NDP-
001?Electrical\0004-7722 Dimmer Bottle 3000 Wiring Diagram Typhoon Mk2 folder on
Additional information on the Light Dimmer Board - LD02 is located on page 84.
6.8 Survey Junction Box

The Survey Junction Box (SJB), is an easily accessible means of adding extra ROV tools to
be fitted to the spare data channels from the ROV.
The Survey J-Box is a lightweight aluminium enclosure, oil filled and pressure compensated
from the Thruster Pack & Survey Compensator; refer to Section 15 Compensation System
on page 129. The compensator maintains a pressure of approximately 5psi (0.3bar) above
ambient sea pressure within the J-Box. Serial communication lines are connected directly to
the surface via the Optical Fibre Mux in the MEE.
The Survey J-Box is located; PORT – Middle; see Figure 6.
The Survey J-Box also contains a wet sensor on the lower right-hand side of the enclosure
that indicates on the Pilot Interface Software.
To access the Survey Junction Box wiring diagram; refer to the TMT-NDP-001\Electrical\
0004-8547 ROV Survey Junction Box Wiring Diagram Typhoon Mk2 folder on the digital
technical manual.
P2
P1 RS232-2
P6
P5 RS232-1
SSBL 2
SSBL 1
To MEE
Oil Filled
RS485-2
Torque
24VDC Tool P4
Beacon Power P3
P7 P8
Figure 33: Survey Junction Box
6.8.1 Function
The data channels are accessed via 8-pin Mini Burton style connectors, IE55-1508-FCR.
The Survey J-Box includes the following features:
• Two (2) SSBL Responder outputs (trigger impulse)
• One (1) output Beacon to activate the location beacon
• Two (2) RS485 links, RS485 Serial Ports, no common ground, Channels CH3B and
CH4B
• Two (2) RS232 links, RS232 Serial Ports, Channels CH1A and CH2A
• Eight (8) 24VDC/ 20W outputs, maximum of 26.0 VDC at 20W per each connector,
two (2) separate power supply rails, overcurrent protected and switchable via the
power supply boards on the MEE Power Slide
The SJB is connected to the MEE at Connector 8C.
Default devices are:
• Connector P5: Transponder 1
• Connector P6: Transponder 2
• Connector P3: TMT Torque Tool MK2
• Connector P7: Location Beacon ULB-362-P
Available connectors are:
• Connector P1: RS232 Channel CH1A
• Connector P2: RS232 Channel CH2A
• Connector P3: Torque Tool, RS485
• Connector P4: RS485 Channel CH4B
• Connector P8: Power Supply only, no serial communications
Note: Additional tools can be connected to the available connectors, if they are within the
specified power and data range.
0004-5406 folder on the digital technical manual.
6.8.2 Connectors in the Survey J-Box

Two (2) connectors are allocated for the connection of RS485 Tools back to the fibre MUX
in the MEE.
Power is supplied from 24VDC Aux Pwr1 & Pwr3 from the DC-S-PO “Power Control
Board”, in the MEE. Pin-outs of the two (2) RS485 Tooling and the 8-pin connectors are as
listed in Table 18.
Table 18: RS485 Tooling
Pin Description
1 Spare 1
2 GND (Earth)
3 Spare 2
4 RS485 B +
5 RS485 A-
6 Spare 3
7 +24VDC 20W
8 0VDC
Two (2) connectors are allocated for the connection of RS232 Tools back to the fibre MUX
in the MEE. Power will be supplied from 24VDC Aux Pwr1 & Pwr3, from the DC-S-PO
“Power Control Board”, in the MEE. Pin-outs of the two (2) RS232 Tooling, 8-pin connectors
are listed in Table 19.
Table 19: RS232 Tooling
Pin Description
1 Spare 1
2 GND (Earth)
3 Spare 2
4 RS232TX
5 RS232RX
6 RS232 Common
7 +24VDC 20W
8 0VDC
Three (3) connectors are allocated for the connection of Mini SSBL Transponders and a
Beacon, one spare.
Outputs to these devices are 24VDC power and a switch contact to allow a trigger or
latched output to switch the device on and off. Pin-outs of the three (3) USBL / Beacon, 8-
pin connectors are listed in Table 20.
Table 20: +24VDC: USBL / Beacon
Description
Pin Power
USB Beacon
Supply
1 Spare 1 Spare 1 Spare 1
2 GND GND (Earth) GND
3 Spare 2 Switch NO Beacon SW1
4 Spare 3 Spare 2 Beacon SW2
7 +24VDC, 20W +24VDC 20W +24VDC, 20W
Description
Pin Power
USB Beacon
Supply
8 0VDC 0VDC 0VDC
20pin Connector from the MEE Connector 8C to the Survey J-Box is listed in Table 21.
Table 21: MEE to Survey J-Box
Pin Description
1 GND
2 Ch2A (RS232 TX to MUX)
3 CH2A (RS232 RX to MUX)
4 CH2a (RS232 Common to MUX)
5 CH1A (RS232 TX to MUX)
6 CH1A (RS232 RX to MUX)
7 CH1A (RS232 Common to MUX)
8 Beacon SW2
9 Transponder 1 Ctrl
10 Transponder 2 Ctrl
11 CH3B (RS485+ to MUX)
12 CH3B (RS485- to MUX)
13 CH4B (RS485+ to MUX)
14 CH4B (Rs485- to MUX)
15 Beacon SW1 (Survey J-Box Comms)
16 Wet Sensor (Survey J-Box Comms)
17 +26VDC (Aux PWR 1)
18 +26VDC (Aux PWR 3)
19 0VDC (Aux PWR 1)
20 0VDC (Aux PWR 3)
DCIMP
7. DCIMP
The Distributed Configurable Interface Multiple Processor (DCIMP) is a distributed node
control system based on a two wire, RS485 multi drop interface. It is configured in a master
/ slave (half duplex) arrangement.
Each node on the network has an id and address which allows multiple nodes on the same
network to be individually controlled or interrogated. The node hubs on the ROV allows the
nodes on the same network to be electrically isolated from each other; this provides a
reliable and robust, fault tolerant control network.
DCIMP manages the following devices:
• Cameras and Lights
• Control valves (Thruster, Pan & Tilt, Tooling)
• Relays
• Sensors
• Telemetry feedback to and from the surface Control Console Panel
The following boards are the major components comprising the DCIMP system:
• Two (2) Master Console Boards (MCB) - located on the surface in the Control
Cabinet under the Pilot Control Console
• Fibre MUX – located in the MEE and on the surface in the 19” Rack
• Two (2) Node Hub Cards – located in the MEE
• Device Node cards, i.e. FD02, VB01, UC04, RT01 etc.
One (1) Master Console Board is configured as the main ROV control, the second Master
Console board is configured as the Camera and Light board.
The two (2) Master Control Boards, Pilot - Master and Camera & Light - Slave,
communicate with each other using a Serial Peripheral Interface (SPI) Bus.
The SPI is a synchronous serial data protocol used by microcontrollers. SPI within the
Typhoon is used for communicating between MCB1 (Master) and MCB2 (Slave).The
boards communicate to their own specific ROV Nodes located in the MEE on the ROV,
through independent RS485 networks.
Table 22 details the two networks and their respective nodes.
The MCB is described in Section 8.1.1 Master Console Board - MC02 on page 68.
DCIMP
Figure 34: Typhoon Communications
The ROV nodes are listed in Table 22.
Table 22: RS485 Network Nodes IDs
Node ID Node Comments
MCB1 Pilot – RS485 - Network Master Control Board 1 located in the Console Cabinet
C1 TOGSNAV Via UART board in the MEE
C9 TOGSNAV Via UART board in MEE.
P1 FET RPM PORT Thruster In Port Thruster
S1 FET RPM STBD Thruster In STBD Thruster
P2 FET RPM PORT Tooling Manifold In Port Tooling Manifold
S2 FET RPM STBD FWD Tooling Manifold In STBD Forward Tooling Manifold
S3 FET RPM STBD MID Tooling Manifold In STBD Middle Tooling Manifold
K2 FET Drive 1 In MEE
F1 RTD HV 1 In Sensor Bottle
DCIMP
Node ID Node Comments
F2 RTD HV 2 In Sensor Bottle

V1 Power Control Board 1 In MEE
V2 Power Control Board 2 In MEE
I1 Current Sensor In MEE
F3 RTD HV 3 Fluid Skid
MCB2 Camera / Light - RS485 Network - Master Control Board 2 located in the Console Cabinet
B1 to B8 Camera
L1 to L8 Lights
D1 Light Dimmer Via RS485 Isolator in MEE

Typhoon PCB Cards
8. Typhoon PCB Cards

TMT PCB identifiers are identified in Table 23. Examples:
• NH01 = Node Hub Board
• FD02 = FET Drive Board
Previously used identifiers may still be found on older manufactured equipment:
• DC-S-CS DC = DCIMP, S = Slave, CS = Current Sensor
• DC-S-PO DC = DCIMP, S = Slave, PO = Power Output
This board is used twice for 24VDC relay isolation, DC-S-PO1 and DC-S-PO2
Table 23 lists all the PCBs used within the Typhoon system:
Table 23: Typhoon System PCB
# PCB ID Name Function Node Number Comments

Location Used
Data Interface between Rev B and

Master Console
1 MC02 Control Console and 2 Rev C, refer to
Console Board Control Box
ROV 8.1.1
RS485 Serial Comms

Node Hub MEE - Comms
2 NH01 Node Hub (acts like a 2
Board Slide
network switch or Mux)
On/Off Switch; GFM-

Reset, Camera Select,
FET Drive MEE - Comms
3 FD02 Aux Tool, Lights and 1
Board Slide
provides trigger impulse
for responder
Video Switch Switching 6 Video MEE - Comms Controlled by

4 VB01 1
6-3 Cameras into 3 Outputs Slide FD02
Communication Interface MEE - Comms Interfaces to

5 UC04 UART Board 1
for Navigation System Slide the TOGSNAV
Temperature 2x Sensor
Measurement of MV- Sensor Bottle Bottles
6 RT01 RTD HV Board 3
Transformer and Fluid and Fluid Skid
Pressure Measurement 1 Fluid Skid
Main LED Work Lights

9 LD02 Dimmer PCB Dimmer Bottle 1
Control Board
FET RPM Hydraulic Valves Switch Hydraulic

10 FR02 5
Board and Control Board Manifolds
Power Control Switching On/Off Power MEE - Power

12 PC02 2
Board Circuits Slide
Typhoon PCB Cards
# PCB ID Name Function Node Number Comments

Location Used
Current Sensor Current Measurements of MEE - Power

13 CS01 1
Board Hydraulic Manifolds Slide
Typhoon PCB Cards
8.1.1 Master Console Board - MC02

There are two (2) Master Console Boards (MCB) located within the Console Control Box,
located underneath the Pilot Control Console.
The cards are configured as MCB1 – Pilot, MCB2 - Camera/ Lights Control through
hardware modification; inserting a Jumper on LK 3 of the card, configures it as the MCB2,
Camera / Lights Master board. Refer to Figure 35; link 3 is outlined in Red.
• Pilot - No Jumper; the MCB1 controls the ROV control communication
• Camera / Lights - With Jumper; the MCB2 controls camera and lights
The Master Console continually iterates through the following tasks:
• Reads digital and analogue inputs from console (joystick, switches, potentiometers)
• Interprets user commands
• Controls LEDs and relays in the Console Junction Box
• Sends control data via serial link to the slave nodes
• Receives data via serial link from the slave nodes
• Sends data via serial link to the ROV Pilot PC
• Receives data via serial link from the ROV Pilot PC
5VDC
PC Sys Analogue
COMs COMs Potentiometers Trims & Joystick
Revision Details
Responder
Inputs
Analogue
Rev C
Inputs
SPI
Link
Digital
Inputs
LED
Driver
LINK 3 12-24VDC
Supply
Figure 35: Master Control Board Rev C – Configured as a MCB2, Jumper Installed
Typhoon PCB Cards
Note: Some Typhoons systems have a MCB Rev B card inserted in the MCB2 position.
The difference between MCB Rev B and MCB1 Rev C is that the Rev C has had
additional responder trigger inputs added which communicate via the SPI to MCB2.
If the responder triggers are not used then the MCB Rev B either may be used in either
position as long as Link 3 is set accordantly. MCB Rev C can be fitted to either position as
long as Link 3 is set accordantly.
Revision Details
LINK 3
Figure 36: Master Control Board Rev B – Configured as a MCB2
To access the Master Console Board - MC02 schematic; refer to the TMT-NDP-
001\Electrical\ 0004-8927 ROV Control Room Console Cabinet General Arrangement
Typhoon Mk2 folder on the digital technical manual.
For additional information on the Console Control Box or the Pilot Control Console: refer
to TMT 0DQXDOV\Surface Power & Control Manual folder on the digital technical manual.
Typhoon PCB Cards
8.1.2 FET RPM Board - FR02

The FET RPM Board is located in each of the five (5) different hydraulic manifolds. The
board interfaces with the PORT and STBD thrusters, Vertical & Horizontal Thrusters,
Tooling and Aux Hydraulic Manifolds to the DCIMP system.
Green LED
Red LED Blue LED
Pressure Sensor
Valve FET Inputs
24VDC
supply RS485
Wet
Sensor Valve FET RPM
Not Used
Figure 37: FET RPM Board - FR02
The FET RPM board provides up to 20 FET outputs to control relays and digital functions.
The FR02 Node has 20 open drain switching FETs capable of switching 2A continuously
per channel. Channels 1 to 14 are digital outputs while channels 15 to 20 can be configured
for Pulse Width Modulation (PWM) operation.
As well as FET switching outputs, the board has a number of analogue inputs that can be
interrogated. These include power supply monitoring, wet sensor, on board temperature
sensor, three pressure inputs and FET switching voltage monitoring.
There are different versions of firmware that are specific to this board, depending on which
manifold it is located in.
Note: The five (5) boards used are identical (part number 0002-0625) but are not
interchangeable, i.e. they have different firmware configurations as indicated by the
last four digits; refer to Table 24.
Table 24: FR02 Position Identifiers
Card Position Manifold TMT Part No.
Port Thruster 0002-0625-0001

Starboard Thruster 0002-0625-0002
Aux Tooling (Port) 0002-0625-0003
Starboard FWD (Vertical) Tooling 0002-0625-0004
Typhoon PCB Cards
Card Position Manifold TMT Part No.
Starboard MID (Horizontal) Tooling

0002-0625-0005
and the Typhoon Tooling Skid.
Part #
Config #
Figure 38: Location of Part Number / Software Configuration ID
The FET RPM PCB has a Red LED that indicates that the power is On, a Blue Status 1
LED (refer to Figure 37) that flashes at 1Hz to indicate that the pic micro is running and a
Blue Status 2 LED that will flash once comms are established, changing state from Off to
On and On to Off every time a new packet is received from MCB#1 Master Node.
Green LEDs (x20) indicates the MOS FET (x20) is active; refer to Figure 37.
Note: With the system running full speed at ten 10) packets per second, the Blue Status 2
LED should be flashing at 5Hz.
The FET RPM is used as part of a standard tooling manifold for a fluid skid as well. The
node controls actuator and proportional hydraulic functions, temperature, system pressure
and wet status can be interrogated.
Note: The tooling manifold is not used on all fluid skids.
Typhoon PCB Cards
8.1.3 Power Control Board – PC02

The Power Control Board is designed to control and protect up to eight (8) separate 24VDC
circuits.
There are two (2) PC02 boards located on the MEE Power slide, see Figure 17.
LED Response
Switched
Supply Switched
Out Supply
Out
Wet RS485 24VDC Supply In GFM Inputs

Sensor
Figure 39: Power Control Board – PC02
The boards provide power outputs for cameras, lights and tools.
These power outputs are voltage and current monitored and can supply currents up to 3A
each. Over-current shutdown is approximately 3.5A.
Output voltages and current values are read on each of the eight (8) outputs and the data is
encoded into RS485 response messages. The boards communicate through a Node Hub
Board with the ROV Master Console Board located on the surface.
There is no RS485 communication required to activate the power outputs. All the power
outputs are activated sequentially after powering up.
When a power output has been switched off due to over-current, the power control firmware
will re-test the particular output after approximately a ten second delay. The power output
will automatically be enabled once the over-current condition is removed.
The RS485 is required for:
• Reading the values of up to four connected GFMs
• Reading the Wet Sensor status
• Reading the on-board Temperature Sensor
• Reading the voltage and current values and the state of each power output
• Switching off a particular power output; for example, to open the respective relay to
verify a GFM alarm source
Typhoon PCB Cards
Table 25: Power Control Board Specifications
Parameter Value
Supply Voltage 24VDC
Output Voltage Close to Supply Voltage
Maximum Current 3A per output
Over Current Shutdown firmware threshold (averaged) 3.5V
Over-Current Shutdown hardware threshold (peak) 9-17A
Table 26 displays the locations of where the current is sensed by Power Control cards A
and B.
Table 26: Power Control Boards
Sensor # Current Sensed Comments

Power Control Board 1 PC02-A
V1 CAM1/2
V2 CAM3/4
V3 CAM5/6
V4 CAM7/8
V5 SENS BOTTLE
V6 PORT / STBD Schilling Arm
V7 SURVEY JB PWR 1
V8 NAVIGATION
Power Control Board 2 PC02-B
V1 LIGHT1/2
V2 LIGHT3/4
V3 LIGHT5/6
V4 LIGHT7/8
V5 SURVEY JB PWR3
V6 FLUID SKD/AUX TOOL
V7 SONAR
V8 SPARE
Typhoon PCB Cards
8.1.4 Current Sensing Board - CS01

One Current Sensor Board is located on the MEE Power slide, see Figure 17.
Communication is through a Node Hub Board located in the MEE with the ROV Master
Console Board located on the surface.
The board monitors the electrical current supplying the hydraulic manifolds.
RS485
Current
Current Loops
Loops
Wet 24VDC
Sensor Supply
Figure 40: Current Sensing Board - CS01
Table 27 displays the currents that are monitored. Related 24VDC supplies come from PS1
in parallel with PS2, via fuses, F10 to F14, then, from CS01 to the McMurdo connector C10.
Table 27: Current Sensing Locations
Sensor # Current Sensed Comments

I1 PORT 5FN ST Thruster Manifold
I2 Vertical STBD Low Flow Manifold
I3 Aux PORT Tool Manifold
I4 STBD Horizontal Low Flow Manifold
I5 STBD 5FN ST Thruster Manifold
I6 Spare
Typhoon PCB Cards
8.1.5 Node Hub Board - NH01

The Node Hub Board allows TMT protocol data to be transmitted over electrically isolated
parts of the RS485 network. Normally, a fault developed on the RS485 network, e.g. a
short, would prevent any communications to take place. By electrically isolating parts of the
network, it restricts the fault to just that section, this provides a reliable and robust, fault
tolerant network.
There are two (2) Node Hub boards located on the Comms Slide of the MEE, refer to
Figure 25. The connections are:
• NH1: Id=n1 has a fibre connection with the MCB1 RS485 System Comms
• NH2: Id=n1 has a fibre connection with the MCB2 RS485 Camera/Lights
Comms
Note: There is no Node Hub board with an Id=n2.
The Node Hub Boards stores the routing information for each ROV board connected to one
of its RS485 channels. Normally, there is no need to change or update these routing
information, it is generally set at the factory.
The Node Hub maintains a lookup table of IDs and Addresses of all the nodes attached to
its 12 RS485 channels.
The table of IDs and Addresses is created by entering into a “Learn Mode”; this can be
triggered by hardware - inserting Jumper J3 momentary or over comms by sending the
command LE via TPoll make sure to only send this command as a “one shot” session
otherwise it will create a continuous Learn cycle.
During the Learn Mode, which can take up to three (3) minutes, the Node Hub will scan
every output channel for all possible IDs and Addresses of connected devices. After that, it
automatically resumes operation by routing through messages.
Caution: Do not leave Jumper J3 in otherwise the Node Hub will continue to scan for
slave nodes.
There are only two (2) reasons to do a restart of the Learn Mode:
1. A Node Hub board is damaged and replaced.
2. A node with a different address is added to the system.
Note: It is not recommend to start a re-learn of a Node Hub board by applying the Jumper
or sending LE command because:
• The Node Hub Board has already learnt the routing matrix in the workshop and it
is safely stored in the EEPROM of the microware.
• At the time the re-learns occures, all the nodes must be up and running with
functional RS485 connections.
Non-functional nodes will not be added in the new counting matrix and are lost,
even if they start working at a later stage, the Node Hub will not recognise them
without another re-learn.
Consult with TMT Enginnering, Bibra Lake before you start using the Learn Mode.
Typhoon PCB Cards
Note: The RS485 biasing termination jumpers must be in place for the card to operate
correctly.
Jumper J3, applied to start Learning Mod
RS485
Ins &
Outs
Internal Setup RS485 or RS232 selection

RS485 Biasing
Termination
Figure 41: Node Hub Board - NH01
Note: The following RS485 devices have dedicated serial ports on the Fibre MUX and do
not go through a Node Hub PCB:
• Channel 3B and Channel 4B on the Survey Junction Box
• PRT Schilling Arm(not used)
• STB Schilling Arm
Typhoon PCB Cards
8.1.6 FET Drive Board - FD02

The FET Drive PCB provides 20 FET outputs to control relays and for general switching
applications.
Located on the Comms Slide of the MEE, see Figure 25.
The FET Drive communicates through a Node Hub Board in the MEE with one (1) Master
Console Board located in the surface Control Console.
The FET Drive controls the following:
• One (1) switched output of the ROV Survey J-Box Auxiliary Tool Power
• Three (3) GFM reset relays
• Main Lights Power
• Two (2) Transponders
• Video Cameras; refer to 8.1.7
24VDC
Supply
RS485
FET
Outputs
Figure 42: FET Drive Board - FD02
Typhoon PCB Cards
8.1.7 Analogue Video Switch Board - VB01

The VB01 is an Analogue Video Switch PCB. The board can direct up to six (6) separate
video camera signals to three (3) possible outputs. The board is basically a 3 channel 2:1
video signal router.
The Video Switch is located on the Comms Slide of the MEE, see Figure 25.
All video inputs and outputs are 75 Ohm coaxial SMB connectors.
The switching is not controlled directly over comms but via three (3) FET outputs on the
FET Drive PCB, see Figure 42. The FET outputs for the video switch are controlled over the
comms from the MCB 2 located on the Pilot Control Console Cabinet.
Figure 43: Video Switch Board - VB01
If the RS485 communication with the FET Drive Board is interrupted, as consequence the
video switcher will automatically select the following channels until the problem is corrected:
• Camera 3
• Camera 7
• Camera 9
Cameras 1, 4 and 5 that are connected directly to the MUX will still be available as well.
Typhoon PCB Cards
8.1.8 UART PCB - UC03

The card operates on a RS485 protocol. It provides one (1) RS485 and three (3) RS232
interfaces to read, for example, the Navigation System.
TOGSNAV Port 1 & 2
DVL-RS232
TX
RS485
24VDC
Power Supply
Figure 44: UART Board - UC03
The board communicates via Node Hub Board 1 located in the MEE with MCB 1 located on
the surface.
The UART card also provides digital and analogue inputs for devices like:
• Compass
• Fibre-Optics Gyro
• Depth sensor
• Altimeter
• Temperature sensor, etc.
Located on the Comms Slide, see Figure 25, it is used to interface the navigation system,
which operates on two (2) separate RS232 serial ports:
• Port 1: Configuration and additional information including:
o Seawater Temperature
o Water Pressure
• Port 2: Navigation and Position Data
Typhoon PCB Cards
8.1.9 Fibre Optic MUX Stack

The Fibre Optic Multiplexer (MUX) Stack converts analogue and digital signals to laser light
signals and transmits them through a single-mode glass-fibre cable to the surface Fibre
Optic Stack. The stack is located on the MEE Comms slide, see Figure 25.
Figure 45: Fibre Optic MUX Stack Installed on MEE Comms Slide
The Stack is made up of four (4) separate individual cards:

• Optical Switcher Card
• RS485 Card
• RS232 Card
• Video Card
Note: For redundancy, the fibre switching is done on the surface MUX and the optical
switcher allows you to change from one fibre to a pre-installed spare one, in case the
first one is damaged.
Optical Switcher
RS485
RS232
Video
Figure 46: Fibre Optic MUX Stack
Typhoon PCB Cards
Table 28: Fibre Optic MUX Stack
Card Details Comments

Optical Switcher Card Two fibre connections – pre-installed spare
1A to Node Hub 1
1B to Node Hub 2
2A Spare
2B to Tooling Skid (FLS)
RS485 Card 8 channels RS485
3A to Port Schilling Arm (Atlas) PSA
3B to SJB 1 - Torque Tool
4A to STBD Schilling Arm (Conan) SSA
4B to SJB 2
1A to SJB1
1B to Sonar
2A to SJB2
2B Spare 8 channels RS232Limited
RS232 Card
3A to Aux 1 (MEE 8B) to 115k Baud
3B Spare
4A to DVL
4B Spare
Three (3) direct and three
Video Card 6 video channels default NTSC / PAL (3) from the Video Switcher
Board
Note: Sonar is connected via RS232 from a dedicated port on the Mux.
Typhoon ROV 19” Rack - Surface
6 Video
Outputs
6 Video
Inputs
Figure 47: Optical Switch Card Typhoon to Surface
For additional on the Fibre Optic MUX Stack information; refer to the OEM Manuals\Fibre
Optic folder on the digital technical manual.
Typhoon PCB Cards
8.1.10 RTD HV Board - RH01

Two (2) Resistance Temperature Detector High Voltage (RTD HV) boards are located in
the Sensor Bottle, see Figure 31.
The cards are configured as either A or B through a hardware modification; inserting a
jumper to Link 1 on the card, refer to Figure 48:
• No Jumper address R1 or A card
• With jumper, address R2 or B card
RTD HV is named from the high voltage isolation barrier used for monitoring temperature
and wet sensor status of high voltage circuits, such as in the HPU motor, Tether J-Box and
Instrument Transformer J-Box. All the sensors from enclosures that have medium voltage
(MV), are connected to the HV inputs on the board.
The RTD board reads the following sensors and encodes the data into RS485 response
messages:
• RTD sensors
• Wet sensors
• Level sensors
• Can support position and proximity switches
The RTD HV board communicates through a Node Hub Board in the MEE with the Master
Console Board located on the surface. Wet 5kV
Digital Inputs Sensor RS485 Barrier
Isolated
Wet Sensor
Inputs
Analogue
Inputs
Isolated
RTD Inputs
24VDC Biasing Termination

Jumper LK 1 Supply
Figure 48: RTD HV PCB – RH01
Note: The analog inputs are continuously sampled in the background and filtering is applied
to the data; therefore, the sensor sampling is asynchronous to the comms polling.
Polling is actively sampling the status of an external device by a client program as a
synchronous activity.
This node is used in the ROV fluid skid to monitor pressure, flow and proximity sensors.
The high voltage inputs are not used on the Tooling Skid.
Typhoon PCB Cards
• Analogue Inputs – four (4) analogue inputs which are configured for 4 to 20mA for
monitoring pressure and flow sensors or 0 to 10VDC for level sensors.
• Digital Inputs – four (4) digital inputs for high side switching proximity sensors.
Typhoon PCB Cards
8.1.11 Light Dimmer Board - LD02

The Light Dimmer PCB is located in the Light Dimmer Bottle.
The Light Dimmer PCB has two (2) independent current controlled DC-DC converters,
regulating the light intensity of four (4) 115VDC LED lights mounted on the ROV.
Note: Only the two (2) forward 115VDC LED lights are currently implemented.
The board has an internal temperature sensor that will reduce the output power when the
Light Dimmer Bottle exceeds 70ºC temperatures; this may be possible if the light is left on
for extended periods while testing the ROV on deck.
Communication is through a Node Hub Board with the MCB1 Master Console Board,
Camera & Lights, in the Control Console on the surface.
110VAC Supply
Outputs V2B
V2A Outputs
RS485 Wet Relay

Sensor
Figure 49: NH01 Light Dimmer Board - LD02
Warning: The Light Dimmer Board generates voltages up to 200VDC. If powering on the
bench during maintenance, then care must be taken to avoid electrical shock.
An additional optical RS485 isolation is provided by the RS485 Isolator
located on the Comms Slide, to prevent the possibility of high voltage leaking
out through the RS485 wires if the bottle is flooded with water.
Note: If comms is lost to the Light Dimmer, it will maintain its last command sent.
As the Light Dimmer receives its power through relay K1, driven by the Output FET
node, the Output FET will reset its outputs if comms is not received for more than
three (3) seconds. The demand will then be set to zero if the power is cycled and the
light dimmer will turn the light off.
Table 29 contains the Light Dimmer Board specifications.
Typhoon PCB Cards
Table 29: Light Dimmer Board Specification
Parameter Value
Supply Voltage 115VAC, rms
Output Voltage 0 – 135VDC
Regulated Output Current range 0 – 2550mA; adjustable in 255 steps of 10mA
Over temperature threshold onset of down 70ºC (on-board temperature sensor)
regulation
Over output voltage threshold Onset of down regulation 135V
Over Duty Cycle threshold Onset of down regulation 94%
Over Current Shutdown threshold Approximately 4A (filter time 2.5ms)
Sensors
9. Sensors
9.1.1 Analogue Level Sensor
Analogue Level Sensors are used to monitor levels in the five compensation bottles and
both the Main and Aux Hydraulic tank.
Switches &
Resistors
Figure 50: Analogue Level Sensor
The Analogue Level Sensors are similar to magnetic float level sensors, in that a
permanent magnet (Neodymium) sealed inside a float moves up and down a stem in which
closely spaced switches and resistors are sealed. When the switches are closed, the
resistance is summed and converted to voltage signals that are proportional to the level of
the liquid.
Figure 51: Analogue Level Sensor Pin-Out Description
For additional information on the sensor; refer to the OEM Manuals\Sensor folder on the
Sensors
9.1.2 HPU Oil Temperature

The HPU Oil Temperature sensor detects the temperature in the base of the Main and
Auxiliary hydraulic tanks.
Figure 52: HPU Oil Temperature & Wet Sensor
The temperature sensor is a two wire Resistance Temperature Detector (RTD).

The RTD connects to and is monitored from the Sensor Bottle. The sensor includes a built
in Wet sensor.
9.1.1 Instrument Transformer Box Temperature

The Instrument Transformer Box Temperature sensor detects the temperature in the
Instrument Transformer box.
Figure 53: Transformer Temperature
The temperature sensor is a two wire Resistance Temperature Detector (RTD).

The RTD connects to and is monitored from the Sensor Bottle.
Sensors
9.1.2 Wet Sensor

Wet Sensors detect the presence of water and are used throughout the ROV in various
locations to report water ingress.
The sensors provide an analogue input with a voltage divider on the input and across the
sensor terminals.
Four possible states of the wet sensor inputs are generated. Only three apply to all the wet
sensors.
The Damp (DMP) state is limited to those not connected through the Sensor Bottle due to
logic limitations.
Table 30: Wet Sensor States
Value Reading on Pilot Interface Application

Unplug Not Connected
Plug In Dry
30kΩ DMP
18kΩ Wet
The sensors are always located in the lowest possible location, allowing the operator to
take the appropriate measures (switching off power or disabling equipment).
The sensors physically consist of two metal pins / screws connected with a pair of wires to
a wet sensor input on a PCB.
Figure 54: Wet Sensors
Note: The Wet Sensor can vary in appearance, dependent on location.

If water touches the two contacts, the resistance of the closed-loop circuit changes from a
high to low impedance. This change of impedance is interpreted in a control circuit and sent
through a communications channel to the Pilot Control Console.
Water sensors cannot detect rising humidity or moisture. They must have physical contact
with water to operate.
For open-loop detection and redundancy, there is a 10kOhm resistor mounted in parallel.
Locations on the Typhoon ROV are:
• All of the Oil-filled manifolds (five)
• LED-light housings, TMT designs only, doesn’t display on the Pilot Interface.
Sensors
• Light Dimmer Bottle doesn’t display on the Pilot Interface. Can be read in the
Dimmer Bottle string.
• Main Reservoir HPU, 3 states
• MEE, on Power slide
• Sensor Bottle, 3 states
• Survey Junction Box, 3 states
• Tool Reservoir HPU, 3 states
• Electrical Transformer/Tether Termination Box
• Most PCBs have one or more inputs for a Wet Sensor
Note: As oil floats on water, any leaked-in water will accumulate on the bottom of an oil-
filled reservoir.
Table 31: Wet Alarm States & Locations
Wet Alarm Comment Alarm

Electric Bottle (K2) – Light Dimmer Dry, Dmp, Wet and NC
Electric Bottle (V1) – MEE Dry, Dmp, Wet and NC
Electric Transformer Manifold/Tether Only has NC, Dry and Wet. There is
Termination Manifold a sensor in each enclosure but they
are connected in parallel.
Main Hydraulic Pump Only has NC, Dry and Wet The status indicates:
Port Thrust Manifold Dry, Dmp, Wet and NC • Dry, Normal
• Dmp, Damp
Sensor Bottle Only has NC, Dry and Wet
• Wet, Immersed
Port (Aux) Tooling Manifold Dry, Dmp, Wet and NC
• NC, Not Connected
STBD Manipulator Manifold Dry, Dmp, Wet and NC
STBD Mid Manifold Dry, Dmp, Wet and NC
STBD Thrust Manifold Dry, Dmp, Wet and NC
Survey J Box (K2) Dry, Dmp, Wet and NC
Tool Hydraulic Pump Only has NC, Dry and Wet
Sensors
9.1.3 Hydraulic Fluid Pressure

The Hydraulic Fluid Pressure detector senses the relative pressure (gauge) of the hydraulic
fluid.
Sensor type is “Thin Film on Steel”. Measurement is effected according to the strain gauge
principle. Through the force effect of the sample medium, the strain gauge bridge is
deformed, changing its electrical characteristics.
Figure 55: Pressure Sensor
Advantages:
• Ability to endure a range of temperatures
• Completely weld-sealed sensor system made of stainless steel without O-rings
• Very good long-term stability
• Very high resistance to overpressure
Camera and Lights
10. Camera and Lights

Up to eight (8) zoom and focus cameras can be utilised. For each camera, the zoom level,
manual or auto focus mode and the focus level, if it is in manual mode, is controlled from
the surface Pilot Control Console.
Six (6) camera outputs can be viewed at any one time.
Up to eight (8) 24VDC LED lights and four (4) 115VDC LED lights can be utilised. The
brightness of each light is controlled from the Pilot Control Console Panel.
Note: There is a limit to how many Zoom and Focus cameras that can be installed on the
Typhoon ROV. Only two (2) Kongsberg Zoom & Focus cameras are supported and
these must be on channel 11 (Zoom Camera 1) and 12 (Zoom Camera 2) of the
node hub.
All of the cameras are paired with a light source.
The camera and lights control can be monitored from a program running on an auxiliary PC.
The program displays the camera and light demands with each device status.
Note: The camera and lights plugs are interchangeable and have a standard lead length so,
if required, they can be repositioned for specific jobs. The LEDs Id depends on its
location on the ROV, it must be addressed and positioned correctly on the ROV for it
to operate.
Table 32: 24VDC Light Addresses and Locations
Addresses locations
L1 – Front Pan & Tilt MEE Connector – 1A
L2 – Rear Pan and Tilt MEE Connector – 2A
L3 – No light connected MEE Connector – 3A
L4 – Conan Arm MEE Connector – 4A
L5 – Port Overview MEE Connector – 5A
L6 – Rear facing Docking MEE Connector – 6A
L7 – Upward facing Docking MEE Connector – 7A
L8 – No light connected MEE Connector – 8A
Instruction on how to program or reprogram the 24VDC LED lights either from a test bench
or on the ROV; refer to the TMT Manuals\System Maintenance Manual folder on the
Camera and Lights
Control Console
Camera & Light
Control Panel
Console Junction Box

Aux 1 PC RS485 MCB#2
Camera & Light Channel 1B
Software LOOP
RS485 Channel 1B
Slave Monitoring OUT
Surface MUX
Deck Cable Fibre # 1 or #2
Main Winch FORJ
Armoured Umbilical Cable Fibre # 1 or #2
TMS Slip Ring FORJ
Tether Cable Fibre # 1 or #2
ROV Mux
RS485 Channel 1B
Node Hub #2
1A 2A 3A 4A 5A 6A 7A 8A
CAM1 CAM2 CAM3 CAM4 CAM5 CAM6 CAM7 CAM8
LED1 LED2 LED3 LED4 LED5 LED6 LED7 LED8
ADD1 ADD2 ADD3 ADD4 ADD5 ADD6 ADD7 ADD8
Figure 56: Cameras and Lights
Camera and Lights
Table 33: Location of Cameras & Lights
# Location Camera Light
Kongsberg OE14-367A- TMT 24V LED light P/N 0000-
1 Front Pan & Tilt
0008 1428
TMT 24V LED light P/N 0000-
1428
Kongsberg OE14-367A-
2 Rear Pan & Tilt SeaLite Sphere - 115V LED light
0008
The SeaLite Sphere not currently
connected.
Front General overview, Kongsberg OE15-101C- 2 x SeaLite Sphere - 115V LED
3
STBD mounted 0008 light
4 STBD Arm wrist mounted (Conan) Kongsberg OE14-111-0008 TMT 24V LED light P/N 000-1428
5 Front Port manipulator overview Kongsberg OE15-109-0008
1428
Front-Top mounted rear facing TMT 24V LED light P/N 0000-
6 Kongsberg OE15-109-0008
tether/lift point 1428
7 Top Lift Point facing up Kongsberg OE15-109-0008
1428
8 Aux Front Pan & Tilt - Optional Not implemented Not implemented
6
7
7
6
8 1
3 3 3
5 5
1
Figure 57: Lighting System Diagram

Note: The positions shown in Figure 57 are the default locations as the cameras and lights
can be easily repositions if required by operational requirements or pilot preference.
Camera and Lights
10.1 Pan & Tilt

The Pan & Tilt function is to remotely orient the camera and lighting systems.
The Typhoon ROV is fitted with two (2) hydraulically powered HLK-2150 Pan & Tilt units
and is able to fit one (1) additional optional Pan & Tilt. One is mounted forward (Front) and
one aft on the upper side of the ROV. The Pan & Tilt specifications are contained within
Table 35.
Note: The facility for the third Pan & Tilt (Aux) exists but is not currently implemented.
Front Pan & Tilt
Aux Front Pan & Tilt

when deployed
Figure 58: Forward Pan & Tilts
Camera and Lights
Aft Upper Pan & Tilt
Figure 59: Aft Pan & Tilt
Hydraulic power for the Pan and Tilt unit is supplied and controlled from the Horizontal
STBD Tooling Manifold; refer to Section 16.7.1 Horizontal STBD Low Flow Manifold on
page 168.
ACW
E
R
C
CW
Figure 60: Pan & Tilt

Note: As the Pan & Tilt units are hydraulically powered, they will only operate if the ROV
HPU or a connected Deck HPU is running.
Camera and Lights
Note: The Front Pan & Tilt can be adjusted; slides forward or aft if required; refer to Figure
61.
Figure 61: Front Pan & Tilt
The Pan and Tilt is operated from the Pilot Control Console, refer to TMT ManualV\TMT-
NMA-034 Surface Power and Control Manual folder on the digital technical manual.
Table 34: Pan & Tilt Ports
Ports Value
E Tilt Extended
R Tilt Retracted
C Compensation
CW Pan Clock Wise
ACW Pan Anti-Clock Wise
Table 35: Pan & Tilt Specifications
Parameter Value
Height 300mm
Width 226mm
Depth 76mm
Tilt 120º
Pan 360º
Weight in Air 4.5Kg
Weight Water 3.3Kg
Material 316SS & HE 30 Hard anodised aluminium
Hydraulic Max Working Pressure 3046psi (210bar)
7 1
Ports / 16 SAE / / 8 NPT
For OEM Pan & Tilt information; refer to the OEM Manuals\Hydraulics\Pan and Tilt folder
on the digital technical manual.
Camera and Lights
10.2 Cameras
Four (4) different types of cameras are provided:
• High Definition Enhanced CCD, OE15-101c; on page 98.
• Colour Zoom, OE14-367; on page 100.
• Mini Observation Black & White Camera, OE15-109; on page 102.
• Compact Colour CCD Camera, OE14-111, on page 104.
Figure 62: Camera Locations
All the cameras use the same plug type, but the OE14-367 uses the RS485 functionality for
zoom and focus; refer to Table 36.
Note: The positions shown in Figure 62 are the default locations as the cameras can be
easily repositions if required by operational requirements or pilot preference.
Table 36 provides a description of the camera pin-outs.
Table 36: Camera Pin-Out Description
Pin Description OE14-367 Description - All Other

Camera Cameras
1 Video Core Video Core
2 +24VDC power nominal +24VDC power nominal
3 RS485+ n/c
4 Video Screen Video Screen
5 0VDC power 0VDC power
6 RS485- n/c
Camera and Lights
10.2.1 High Definition Enhanced CCD, OE15-101c

The OE15-101c (525 Line/60Hz) is a high definition enhanced Charge Coupled Device
(CCD) camera. Advanced signal processing circuitry, coupled with a high efficiency optical
system, provides near SIT performance from a non-intensified CCD sensor.
Figure 63: High Definition Enhanced, OE15-101c
The camera housing is made of a titanium alloy, rated for 3,000msw operation.
The cameras’ remote is fully implemented in conjunction with an extended range of camera
protection features.
Key features:
• Near SIT Performance
• Advanced Signal Processing
Table 37: OE15-101C Specifications
OE15-101C
Parameter Value
Electrical Specifications
Horizontal Resolution 570 TV Lines
Light Sensitivity 1.3 x 10-3 Lux (faceplate)(15% video)
(Seawater Equivalent Measurement)
Signal to noise ratio >48dB weighted (CCIR weighted)
Sensor type 1/4” Interline Transfer CCD with colour mosaic filter
Scanning 525 Line/60Hz EIA RS-170A
Power Input Constant voltage 16V – 30VDC, 400mA (max)
Video output 1.0V Pk - Pk composite video into 75Ω
Long Cable Drive IR Remote Control Setting (1,200m max), optional
balanced cable drive
Focus Control 12VDC Bi-polar option/Single-wire option
Electro-Magnetic Compatibility EN50081-1 Emission
EN50082-1 Immunity
Environmental
Water Depth 3,000msw
Temperature Operating -5°C to +40°C in water
Storage -20°C to +60°C
Vibration 10g, 20-150Hz, 3-axes (non-operating)
Shock 30g peak, 25mS half-sine pulse
Optical
Standard Lens 4.2mm f/1.2
Varifocal, can be factory set from 4.0mm to 12.0mm
Camera and Lights
OE15-101C
Parameter Value
Water Compensation Plano-Concave Port
Iris Control Automatic
Focus Control Fixed, 1m to Infinity min. depth-of-field
Angle of View 82° diagonal in water
Mechanical
Diameter 80mm (3.15”)(main body),
93mm (3.66”)(rubber guard)
Length 247mm (9.72”)(excl. connector)
Weight 2.2Kg (4.8lb) in Air
1.0Kg (2.2lb) in Water
Housing Titanium alloy 6AL/4V ASTM B3 48
Connector Type LPMBH-6-MP
For OEM camera information; refer to the OEM Manuals\Cameras & Lights\Camera
folder on the digital technical manual.
Camera and Lights
10.2.2 Colour Zoom, OE14-367A

The OE14-367A (NTSC) Colour Zoom Camera uses super Hole Accumulation Diode (HAD)
CCD technology to provide excellent light sensitivity and image definition.
The HAD CCD reduces electronic noise in a CCD or CMOS imaging sensor by reducing the
“Dark” current that occurs in the absence of light falling on the imager for noise reduction
and enhanced image quality.
Figure 64: Colour Zoom, OE14-367A
The optical zoom lens is water compensated to provide a close-up inspection capability,
combined with an 18x (72x with digital) magnification to assist in stand-off inspections.
Figure 65: Pan & Tilt for Camera & Light
The Kongsberg Maritime IR Remote Control (RC) allows long line drive and camera control
set-up while on deck. Camera control is through RS485 protocol. During ROV operations
the camera is controlled by a panel located on the Pilot Control Console.
Note: There is a limit to how many Zoom and Focus cameras that can be installed on the
Typhoon ROV. Only two (2) Kongsberg Zoom & Focus cameras are supported and
these must be on channel 11 (Zoom Camera 1) and 12 (Zoom Camera 2) of the
node hub.
Camera and Lights
Table 38: OE14-367, Colour Zoom Specifications
OE14-367
Parameter Value
Horizontal Resolution 470 TV Lines (NTSC)
Light Sensitivity 0.02 Lux (faceplate)
Scene Illumination 1.7 Lux
Signal to noise ratio >48dB weighted (AGC off)
Sensor type 1/4” Interline Transfer CCD with colour mosaic filter
Scanning 625 Line/50Hz CCIR
Power Input Constant voltage 16V - 24V dc, 400mA (max)
Video output 1.0V Pk - Pk composite video into 75 Ω
White balance Switch between 3,200K and 5,600K and Auto using the
Remote Control
Back light Compensation Switch on and off using the Remote Control
EN50082-1 Immunity
Environmental
Optical
Standard Lens 4.1mm to 73.8mm, F1.4 - 3
Iris Control Automatic plus override available with digital control
Focus Control 70mm to infinity (wide angle)
820mm to infinity (narrow angle)
Angle of View (1°)* 5.2° - 63° diagonal in water (with Digital Zoom)
Mechanical
Diameter 82mm (main body), 95mm (front end)
Length 182mm (excl. connector)
Weight 2.0Kg in Air
1.0Kg in Water
Housing Titanium alloy 6AL/4V ASTM B3 48
Note: The OE14-367A uses the RS485 functionality for zoom and focus; refer to Table 36.
Camera and Lights
10.2.3 Mini Observation Black & White Camera, OE15-109

The OE15-109 (525 Line / 60Hz) is a miniature black & white CCD camera for general
purpose underwater viewing.
Figure 66: Mini Observation Camera, OE15-109
The cameras are constructed with marine grade aluminium alloy pressure housing rated to
3,000 metre operating depth as standard. The fixed semi-wide angle lens provides focus-
free operation. Compact dimensions and light weight construction makes the OE15-109
ideally suited for ROV manipulator / tooling applications.
Key features:
• High Resolution CCD
• Miniature
• Low Cost
OE15-109
Parameter Value
Sensor Type 1/3” CCD
Signal to noise ratio >50dB weighted
Power Input Constant voltage 12 - 24VDC, 110mA (max)
White balance Switch between 3,200K and 5,600K and Auto using the
Remote Control
EN50082-1 Immunity
Environmental
Water Depth 3,000 metres
Camera and Lights
OE15-109
Parameter Value
Optical
Iris Control Fixed (Electronic Shutter)
Focus Control Fixed, 200mm to Infinity
Angle of View Approximately 73° diagonal in water
Mechanical
Diameter 40mm
Weight 0.25Kg in Air
0.15Kg in Water
Housing Marine Grade Aluminium 6082-T6
Camera and Lights
10.2.4 Compact Colour CCD Camera, OE14-111

The OE14-111 Compact Colour Camera utilises the latest solid state sensor technology to
provide a cost-effective, miniature colour camera with excellent light sensitivity and image
definition.
Figure 67: Compact Colour CCD Camera, OE14-111
The cameras are constructed with marine grade aluminium alloy pressure housing rated to
3,000msw operating depth as standard. The fixed semi-wide angle lens provides focus-free
operation. Compact dimensions and light weight construction makes the OE14-111 ideally
suited for ROV manipulator / tooling applications.
Key features:
• Auto shuttering
• Miniature
• Low Cost
This camera is installed on the Conan manipulator. It is almost identical in appearance to
the Mini Observation Black & White Camera, OE15-109 except for a 30º offset to facilitate
the cable plug connection.
Figure 68: 30º Offset on OE14-111 - Left
Camera and Lights
OE14-111
Parameter Value
1
Sensor Type / 4 CCD
Signal to noise ratio >52dB weighted
Power Input Constant voltage 12 - 24VDC, 200mA (max)
Switch between 3,200K and 5,600K and Auto using the
White balance
Remote Control
BS EN 61000-6-3 2007 Emission
Electro-Magnetic Compatibility
BS EN 61000-6-1 2007 Immunity
Environmental
Optical
Iris Control Fixed (Electronic Shutter)
Focus Control Fixed, 115mm to Infinity
Angle of View Approximately 73° diagonal in water
Mechanical o
Diameter 40mm
Weight 0.25Kg in Air
0.15Kg in Water
Housing Marine Grade Aluminium 6082-T6
Connector Type LPMBH-6-MP, 35º Offset
Camera and Lights
10.3 Lights
Two (2) types of lights are provided as sources of illumination on the Typhoon ROV:
• LED Light – 115VDC, 150W on page 106.
• TMT LED Light – 24VDC, 50W, on page 108.
10.3.1 LED Light – 115VDC

The LED 115VDC light is an LED equivalent to a halogen light. The SeaLite Sphere
provides a bright white light output.
Figure 69: LED Light – 115VDC

The LED light features include:
• Automatic thermal shutdown
• Dimming
• Pressure housing rated to 6000m
• Scratch resistant sapphire crystal port
Table 41: LED Light 115VDC Pin-Out Description
LED 115VDC Pin Name

Connector
1 GND
2 110 L1A
3 110 L2A
Camera and Lights
Figure 70: LED Light 115VDC Cross-section
Table 42: LED Light 115VDC Specification
Parameter Value
Weight in Air 710g
Weight in Seawater 267g
Depth rating 8,820psi (6000msw-20000ft)
Lumens / Watt 53Lumens/Watt
Colour Temperature 6000ºK (White 6kº Mix)
Minimum / Maximum operation temperature -10º to 40ºC
Connector Type XSG-3-BCC-HP
For OEM information; refer to the OEM Manuals\Cameras & Lights\Lights folder on the
Camera and Lights
10.3.2 TMT LED Light – 24VDC

The TMT LED Lights are a small, compact, low energy consumption light source, which is
useful for providing a white light for most applications. The LED light will provide thousands
of hours of service without requiring a change of lights. LED lights are generally paired with
a camera to illuminate the target area in the event that 115VDC LED lights are not
sufficient.
Note: If the light node does not receive comms for more than three (3) seconds, the light
demand will be set to zero. The LED lights will go out.
The part number for TMT LED Light is 0000-1428.
Figure 71: LED Light – 24VDC
Table 43: TMT LED 24VDC
Parameter Value
Overall dimensions Ø50 x120Lmm
Weight in seawater 0.45kg
Voltage - nominal 20-30VDC
Power consumption <15W
Depth rating (Rev P or higher) 3000msw
The 24VDC lights use the LPMBH-4-MP connector. Table 44 provides a description of the
light pin-outs LPMBH-4-MP:
Table 44: Light Pin-Out Description (LPMBH-4-MP)
Pin Description Lights
1 +24VDC
2 RS485+
3 RS485-
4 0VDC power
Navigation Bottle - TOGSNAV
11. Navigation Bottle - TOGSNAV

The Navigation Bottle fitted to the Typhoon MK2 150 is the CDL TOGSNAV. The
TOGSNAV has the following sensors integrated within the one bottle for the navigation of
the ROV:
• Depth Sensor (miniIPS)
• Doppler Velocity Log (DVL)
• Gyro (Heading)
• Pitch & Roll
The sensors provide the means for sea-bed position tracking, altimeter and water current
profiling. A separate RS232 channel is used from the DVL to display water current profiling
graphs on the WinADCP application, accessible from the Control Console.
Doppler Velocity Log (DVL)
Figure 72: TOGSNAV

Acoustic Doppler Current Profiler (ADCP) is a hydroacoustic current meter similar to sonar,
attempts to measure water current velocities over a depth range using the Doppler effect of
sound waves scattered back from particles within the water column.
ADCPs can be employed as acoustic Doppler Velocity Log, i.e. bottom-track. Sound waves
bouncing off the sea floor can be used to determine the velocity vector of the device.
Combine this with a position fix, compass heading and data from the acceleration sensors,
the position of the vehicle with the ADCP can be determined.
The Typhoon ROV uses an Inertial Navigation System (INS), DVL and a pressure sensor to
provide an accurate:
• Altitude – Distance from bottom
• Depth – Distance from surface
• Heading
The TOGSNAV unit runs automatically on power-up. The system has been set for a ten
minute initial alignment period, but will generally be within 1º of accuracy after three (3)
minutes. The user must enter valid Latitude into the TOGSNAV unit for the area of
operation. The Latitude value entered into the TOGSNAV should be better than 1º.
Note: Excessive motion during the initial alignment period will decrease the accuracy of the
TOGSNAV.
The heart of the unit is CDL's true north seeking TOGS (Tiny Optical Gyro System),
combined with Valeport's minilPS (0.01% accuracy) depth sensor and a range of DVL
options, completes the ROV navigation bottle.
Figure 73: TOGSNAV Block Diagram
Figure 74: TOGSNAV Location
11.1 CDL North Seeking Gyro

The fibre optic gyroscope senses changes in orientation, thus performing the function of a
mechanical gyroscope. However, its principle of operation is, instead, based on the
interference of light which has passed through a coil of optical fibre and the “Sagnac Effect”.
Two beams from a laser are injected into the same fibre, but in opposite directions. Due to
the Sagnac effect, the beam travelling against the rotation experiences a slightly shorter
path delay than the other beam. The resulting differential phase shift is measured through
interferometry, thus translating one component of the angular velocity into a shift of the
interference pattern, which is measured photometrically.
Figure 75: Fibre Optic Gyro Coils
For OEM information; refer to the OEM Manuals\Navigation folder on the digital technical
manual.
11.2 Doppler Velocity Log

Doppler Velocity Log (DVL) provides precise velocity and altitude updates for a wide variety
of underwater tasks.
The DVL provides:
• Broadband processing technology, providing both short and long-term high-precision
velocity data.
• Reliable, accurate high-rate navigation and positioning data.
• Proven bottom detection algorithms and single ping bottom location, for robust and
reliable bottom tracking over indeterminate terrain.
• Low-altitude bottom tracking capability.
• Real-time current profiling data.
Note: Under normal operation, the TOGSNAV does not use the Heading and Pitch & Roll
sensors from the DVL unit, as the CDL Gyro fitted to TOGSNAV has higher levels of
accuracy.
Figure 76: Doppler Velocity Log
manual.
11.3 miniIPS
The miniIPS is a precision underwater pressure sensor; 0.01% accuracy, titanium housing
and a choice of pressure ranges providing highly accurate depth information in real time.
Table 45 contains the miniIPS specifications.
Figure 77: miniIPS
Table 45: miniIPS
Parameter Value
Physical
Housing Titanium (6000msw rated)
Size Ø40mm x
185mm (including connector)
Connector Subconn MCBH6F (titanium)
Sensor
Sensor Type Temperature compensated piezo-resistive
Range 10, 30, 100, 300 or 600bar
Accuracy ±0.01% FS
Resolution 0.001% FS
Power Requirements
Input 9 – 30VDC
Power less than 0.4W
manual.
11.4 Use of the TOGSNAV

Typhoon uses the navigation data to automatically control its position in the form of:
• Auto Heading
• Auto Depth / Auto Altimeter
• Station Keeping
The position of the gyro on the Typhoon is critical as the DVL uses four (4) acoustic
transponders which must have clear sight out of the bottom of the ROV. The DVL is the red
and black structure low and in the middle of the ROV, (the TOGSNAV is to be relocated into
tooling skid if a skid is used); refer to Figure 74. Altitude and Velocity can only be measured
if the TOGSNAV is less than 30m above the seabed.
Note: The compass data is derived from the North Seeking Gyro of the TOGSNAV, which
depends only on the Earth’s rotation. This heading is independent of the magnetic
field of the Earth. This gives a more reliable reading, which is not affected by
external magnetic fields, such as from Drill Pipes, BOP Stack, etc.
Table 46: TOGSNAV Specifications
Device Parameters
TOGSNAV
Type Valeport miniIPS
Depth Transducer Operating Range 3000msw
Resolution 0.01% FS depth accuracy
Type Teledyne RD Instruments
Workhorse Navigator 1200khz
Doppler Velocity Log (DVL)
Bottom Range 30mtrs
Water Profiling Range 14m
Performance
Heading accuracy 0. 5º sec lat
Pitch& Roll 0.1º
Heave 5cm or 5%
Operating Range
Gyro
Heading ±360º
Pitch / Roll ±90º ±180 º
Max Rotation Rate 300º/s
Heave ±10m
Operating Temperature -5º to 55ºC
Table 47: TOGSNAV Seacon Connector
TOGSNAV Connector Pin Name Function RS232

1 DVL TX DVL Comms Port Tx
2 DVL GND DVL Comms Port Signal Ground
3 PORT 2 TX Rx
4 +24VDC Power +24V
5 0VDC Power Ground
6 Port 1 GND Primary Port Signal Ground
7 Port Tx Primary Port Tx
8 Port Rx Primary Port Rx
There are three (3) comms ports used on the TOGSNAV:

• Port 1 is a bidirectional RS232, used to configure the TOGSNAV
• Port 2 sends the TOGSNAV data out, i.e. heading, depth, pitch, roll, etc.
• Port 3 sends out the DVL data
All three (3) ports connect to the UART Board on the Comms Slide, in the MEE. The UART
Board generates a data string and sends it to the Node Hub 1 where it enters the ROV data
string, as requested by MCB1.
Note: The TOGSNAV connects to the Mux channel 4A RS232. This additional uplink
enables you to record water profiling data on the surface..
11.4.1 TOGSNAV Initial Power Up

The TOGSNAV unit runs automatically on power up. The system has been set for a ten
(10) minute initial alignment period but will generally be within 1º of accuracy after three (3)
minutes. You must enter a valid Latitude into the TOGSNAV unit for the area of operation.
Note: The Latitude value entered into the TOGSNAV must be better than 1º.
Table 48 contains the different initialisation states for TOGSNAV as indicated by the colour
as displayed on the Compass Rose on the Pilot Interface.
Table 48: TOGSNAV Start Up Status
Arrow Colour Discription Comment

Red Initial Power On Do not change latitude in
Orange Course Alignment EEPROM
Yellow Fine Alignments New Latitude can be entered into
Beige Completed EEPROM
Figure 78: TOGSNAV Start Up Status
Note: Excessive motion during the initial alignment period will decrease the accuracy of the
TOGSNAV.
During the initial static alignment period, the TOGSNAV IMU uses the value stored in the
MCB1 EEPROM field AHd Latitude Loc 38, refer to the Pilot Interface Software Manual.
Caution: After extended operations, greater than 48 hours or if the ROV system moves
from the operating area the accuracy of the latitude/longitude settings will
begin to degrade so the values should be updated.
11.4.2 Updating the EEPROM Latitude / Longitude Settings

The EEPROM latitude and longitude can be updated through the Dynamic EEPROM
Settings Form on the Pilot Interface software application.
Automatically
The Dynamic EEPROM Settings menu in the Pilot Interface application will appear on
startup or when the App Run Time reaches its alarm limit to update the Latitude/Longitude
settings.
Figure 79: Dynamic EEPROM Settings
To reset the App Run Time:

1. Click on the App Run Time (hrs) Reset button.
The Dynamic EEPROM Settings menu will appear.
2. Enter the current latitude and longitude values:

Note: For Latitude, North is a positive value and South is a negative value.
For Longitude, East is a positive value and West is a negative value.
3. Press the OK button to save the entered values to the EEPROM or press on the
Cancel button to continue without saving.
Note: Changing the latitude / longitude on the TOGSNAV will start the alignment process.
The Pilot Interface Compass Rose will indicate the process of the alignment; refer to
Table 48 and Figure 78.
manual.
11.5 Magnetic Compass

A Magnetic Compass is provided attached to the ROV; in the event of a failure of the
navigation system, the ROV can still be operated using the hardware controls located on
the Pilot Control Console and the video systems.
The Magnetic Compass is located between the Z-Functions in the front and bottom of the
ROV.
Figure 80: Compass Location
Sonar
12. Sonar
The Typhoon ROV uses the Kongsberg 1171 Sonar Head.
The dual transducer design allows optimized operational frequency selection for different
requirements:
• Long range obstacle avoidance – Transducer 1
• Shorter range imaging detail – Transducer 2
Figure 81: Sonar Head
The transducer is protected within an oil-filled, pressure compensating dome. The telemetry
is RS485 and RS232 compatible and is automatically sensed and configured at start-up to
match the telemetry link used. On Typhoon MK2, the sonar operates on a RS232 interface.
ROV – Top / Front
Figure 82: Location of Sonar Head & Strobe
Note: The sonar head operation is configured and controlled using the MS1000 Software
Processor.
Sonar
Table 49: Sonar Head Specifications
Parameter Transducer 1 Transducer 2

Operating Frequency: 300kHz to 400 kHz 450kHz to 700kHz
Beam Width (@3dB): 2.7° x 30° Fan (@330kHz) 1.4° x 40° Fan (@675kHz)
Maximum Range: 300m typical (@330kHz) 100m typical (@675kHz)
Range Resolution: ≥ 2.0cm ≥0.5cm
Transmit Pulse Widths: 25µs to 1000µs (auto 5µs to 1000µs (auto selected)
selected)
Receive Bandwidth: 50kHz max. (auto selected) 200kHz max. (auto selected)
Range Sample Count: 238, 476, 952, 1904 (Low Resolution, High Resolution, Zoomx1,
Zoomx2)
Sampling Resolution: ≥ 0.5mm (function of range selection)
Scan Speed: nom 5 sec/360° @ 10 m and 1.8° step size (@ 460kbits/sec.)
nom 34 sec/360° @ 100 m and 1.8° step size (@ 460kbits/sec.)
Scan Angle: 360° continuous
Step Size: 0.45° - 7.2° user selectable
Telemetry: RS485 or RS232 asynchronous serial data – RS232 is currently used
Downlink: 9600bps fixed Uplink : 9600bps to 460kbps
Legacy mode (auto set to highest rate allowed by the quality of the
telemetry link)
Downlink: 9600bps to 460kbps (user selected for
Telemetry Configurations: Fixed compatibility with other serial communication
equipment) Uplink: same speed as downlink
Downlink: 9600bps to 460kbps (auto set to highest
Optimized rate allowed by the quality of the telemetry link) Uplink:
same speed as downlink
Power Requirement: 22-24VDC @ ≤ 0.8A
Temperature Range: -10 to +40°C operating -30 to +40°C storage
Operating Depth: 4000m max.
Connector: Seacon RMG-4-BCL; optional connectors based on customer request
Materials: Alum 6061-T6, 300 Series S.S., Urethane
Finish: Anodize, Black/Gold MIL-A-8625 Type II
Dimensions: Diameter: 5.1in/130mm
Length: 11.5in/292mm (excluding connector)
Weight In Air: 9.0lb / 4.1kg
Seawater: 3.9lb / 1.8kg
Table 50: Sonar Connector
Sonar Connector Pin Name Function

1 0VDC/RS232 COM -V
2 RS232 Rx RS485-
3 +24VDC +V
4 RS232 Rx RS485+
Note: The Sonar data is sent to the surface via the MUX B, located in the MEE.
For OEM information; refer to the OEM Manuals\Sonar folder on the digital technical
manual.
Emergency Recovery Devices
13. Emergency Recovery Devices

The Typhoon is fitted with Emergency Recovery Devices to assist in the recovery, in the
unfortunate case that the ROV is lost at sea.
Two different devices are fitted:
• Novatech ST400A Strobe
• Transponder / Responder
13.1 Novatech ST400A Strobe

The ST-400A is a self-contained, submersible Xenon Flasher designed to assist in the
location and recovery of the ROV lost, on the surface. It can be submerged for long periods
in ocean depths up to 7300 meters (24,000 feet).
The activation of the ST-400A is completely automatic, when submerged below 10 meters it
is Off and at the surface it is On, at night only. At the surface, the ST-400A “Double Burst”
flashes for approximately seven (7) days and the visual range is up to three (3) miles.
Strobe can be manually switched on and off for testing; refer to Figure 83.
The Strobe is mounted on the top front nose of the floatation block of the Typhoon ROV;
refer to Figure 84.
On / Off Switch
Figure 83: Novatech ST400A Strobe
Figure 84: Strobe Location

For OEM Strobe information; refer to the OEM Manuals\Emergency Devices\Strobe
13.2 MPT- 342/N Kongsberg Transponder / Responder

The Mini SSBL transponders (MST) are medium frequency mini transponders. The MST
transponders can be used with the following underwater positioning and navigation
systems:
• HiPAP system
• HPR series
Batteries are NiMH, lasting 20 days on stand-by or nine (9) hours when active, it will work
indefinitely when supplied by the ROV.
The Transponders are connected to the Survey J-Box.
Note: The batteries should be topped up weekly and twice-yearly depleted and fully re-
charged.
Both Kongsberg Transponders fitted to the ROV can be triggered via the Pilot Interface on
the Control Console or from the Survey Room on the vessel.
Figure 85: Underwater Transponder / Responder
Acoustic
Beacon
Acoustic
Beacon
Figure 86: Beacon Location Front – Top ROV
Table 51: MPT- 342 Kongsberg Transponder / Responder

Parameter Value
Overall dimensions: ∅85 x349Lmm
Weight in Air 4.1kg
Weight in Water: 2.0kg
Source level 203dB (Max)
Frequency 30kHz band
Beam Width ±20º
Depth Rating 4000msw
Figure 87: Underwater Transponder / Responder End Cap & External Connector
For OEM acoustic beacon information; refer to the OEM Manuals\Emergency

Devices\Acoustic Beacon folder on the digital technical manual.
13.3 cNODE Maxi Transponder/ Responder – Optional

The cNODE Maxi transponder is for accurate underwater acoustic positioning and data link.
The transponder has more than 100 channels available. The transponder operates
acoustically. The transponder is backwards compatible with the older FSK channels and
telemetry protocols and can therefore be used as part of any HPR400 and HiPAP®
systems.
If used in responder mode, the device is triggered by an electric pulse from the vessel's
positioning system. This trigger pulse has +24V at 2-6ms (nominal 4.5ms) and is sent every
1 to 4 seconds depending on water depth. The responders respond by sending an acoustic
pulse back up to the vessel's receivers through the water.
Note: cNodes operate on a non-chargeable LiO battery pack.
Figure 88: CNODE Maxi Transponder
Table 52: CNODE Maxi Kongsberg Transponder Specifications

Parameter Value
Options With release mechanism
Receiver Sensitivity 85dB
Max: 206dB
High: 200dB
Source level
Low: 194dB
Min: 186
Frequency 30kHz
External signal Connector 8 pin female Subcon MCBH8F
Depth Rating 4000msw
Table 53: External Signal Connector Pin-out
cNODE Connector Pin Signal

1 TP TX (RS-232)
2 GND
3 TP RX (RS232)
4 Res+
5 Res-
6 On
7 NC
8 NC
For OEM cNODE Maxi information; refer to the OEM Manuals\Emergency

Devices\Acoustic Beacon folder on the digital technical manual.
Cabling Assemblies
14. Cabling Assemblies

Four (4) types of cable assemblies are used on the Typhoon ROV:
1. Neoprene
2. Poly-Urethane cable
3. Trex-Onics cables, a type of Poly-Urethane
4. Oil Filled cable
14.1 Neoprene Cable Assemblies

To identify Neoprene, it is usually black in colour and has a soft jacket. The black cables
are used for the Hydraulic Manifolds, Sonar, TOGSNAV and the Sensor Bottle.
Figure 89: Neoprene Cable Assemblies
14.2 Poly-Urethane Cable Assemblies

To identify Polyurethane; it has a fairly hard jacket covering and coloured green and yellow
on the Typhoon ROVs. The green cables are used for the camera and the LED 24VDC
lights.
Figure 90: Poly-Urethane Cable Assemblies - Camera and the LED 24VDC Lights
Cabling Assemblies
14.3 Trex-Onics Cables

Trex-Onics Cables are also of Poly-Urethane but are of a heaver duty version for the higher
voltages found on the Dimmer Bottle and the LED main lights.
To identify Trex-Onics Cables, it is a fairly hard jacket covering and coloured yellow on the
Typhoon ROVs. The Trex-Onics cables are used for the Dimmer Bottle and the 115VDC
LED Main Lights.
Figure 91: Trex-Onics Cables – Dimmer Bottle & 115VDC Main Light
14.4 Oil-Filled Cable Assemblies

Electrical cables are run inside oil-filled pressure compensated tubing to protect them from
corrosion in seawater. Additional benefits include:
• Ground faults less likely to develop.
• Superior protection to the inner cables.
• Enhance shielding.
Figure 92: Oil Filled Cable Assembly
Cabling Assemblies
14.1 Cable Assemblies

Table 54 contains a list of the ROV cable assemblies with links to the drawings.
Table 54: List of Cable Assemblies
Number Name Type
0004-1666 Typhoon mkII ROV HPU Sensor Module Cable Assembly Neoprene
0004-1667 ROV HPU Motor Temp Cable Assembly Typhoon Mk2 Neoprene
0004-1668 ROV Transformer Sensor Cable Assembly Typhoon Mk2 Neoprene
0004-1669 ROV Electronics Bottle Power Cable Assembly Typhoon Mk2 Neoprene
0004-1670 ROV Thruster Manifold Cable Assembly Typhoon Mk2 Neoprene
0004-1671 ROV Tool arm Cable Assembly Typhoon Mk2 Neoprene
0004-1693 ROV Survey J-Box Oil Filled Cable Assembly Typhoon Mk2 Oil Filled
0004-1707 ROV 110v Light Cable Assembly Typhoon Mk2 Trex-Onics
0004-1717 ROV 110v Light Dimmer Bottle Cable Assembly Typhoon Mk2 Trex-Onics
0004-5288 ROV Camera Light Cable Assembly Typhoon Mk2 Poly-Urethane
0004-5633 ROV Sonar Cable Assembly Typhoon Mk2 Neoprene
0004-7570 ROV Sensor Bottle Cable Assembly Typhoon Mk2 Neoprene
0004-7571 ROV Comp Level Sensor Cable Assembly Typhoon Mk2 Neoprene
0004-7573 ROV HPU Wet Temp Sensor Cable Assembly Typhoon Mk2 Neoprene
0004-8976 ROV New CDL TOGSNAV MEE Cable Assembly Typhoon Mk2 Neoprene
0004-9524 Transponder Cable Assembly Typhoon Mk2 Neoprene
0004-9566 Conan 7p Schilling Arm Cable Assembly Typhoon Mk2 Neoprene
0005-5145 ROV New 110v Light Cable Assembly Typhoon Mk2 Trex-Onics
0005-5323 ROV Tooling Skid MEE Cable Assembly Typhoon Mk2 Neoprene
0005-5536 Tooling Skid Transducer Manifold Cable Assembly Typhoon Neoprene

Mk2
0005-5537 Tooling Skid Transducer Box Level Sensor Cable Assembly Neoprene
Typhoon Mk2
0005-6085 Typhoon mkII Seacon 8-Way Opticon CCP Hose Oil Filled
0009-4023 Torque Tool mkII Junction Box Manifold Cable Assembly Trex-Onics
Cabling Assemblies
Number Name Type
0009-4024 Typhoon mkII Torque Tool mkII Manifold Tool Cable Assembly Trex-Onics
0009-7216 Typhoon mkII cNode Transponder Cable Assembly Neoprene
Compensation System
15. Compensation System

The Compensation System stores and supplies hydraulic fluid to electronic, electrical and
mechanical component cavities that require compensation when the ROV is submerged.
A spring-loaded accumulator raises the compensated pressure slightly higher than the
ambient water pressure (regardless of depth) to prevent possible intrusion of seawater into
the cavities.
The Compensators are fitted with a sensor for measuring fluid level. A pressure relief valve
is fitted, preventing over-pressure.
Thruster Bearing Case

Compensator
Electrical
Enclosures
Compensator
Manipulator
Compensator
Tooling Pack
Compensator
Thruster Pack
& Survey
Compensator
Figure 93: Compensation Bottle Location
Compensation System
15.1 Theory of Operation

Many of Typhoon’s electrical system i.e., PCBs, resistors, transformers can operate in oil;
thus reducing the number of one-atmosphere pressure bottles required.
Another advantage is where electrics-control mate with hydraulic power such as valve
packs. A typical valve pack will have an oil-enclosure to house the electro-controllers,
solenoids or servos, and place these controllers on a manifold to control hydraulic power to
tools and thrusters; therefore, the solenoids are contained within an insulated oil
environment and will not short circuit.
Note: The Compensation and Hydraulic Systems are separate isolated systems.
Once the Typhoon is subjected to water pressure, these enclosures undergo a compressive
force.
The Compensator System compensates the force acting on the component cavities.
What it does is to charge the oil-enclosures with a soft bellow which reacts to the sea depth
pressure and, thus, to equalise the pressure within the enclosures. A spring behind the
bellow provides a pressure boost to maintain the enclosures 5psi (0.3bar) higher than the
ambient subsea pressure, 3psi when fully empty and 5psi when full. This prevents water
from entering the system if the enclosures leak. In the event of a leak, the oil will instead
push out. A smart level sensor reads the level of oil within the compensators. In the event of
the compensator oil level dropping, the Typhoon can be recovered to prevent damage to
expensive equipment.
The Compensation System is made up of five (5) separate sub-systems that supply various
cavities with varying quantities of the hydraulic fluid.
A relief check valve is set to 20psi (1.25bar) to protect each of the compensation bottles
from over-pressure.
To access the Compensation System drawings: refer to the TMT-NDP-001\Drawing\
Mechanical\CompSystem 0004-4996 folder on the digital technical manual.
Compensation System
15.2 System Description

Figure 94 displays the Oil Compensation Schematic.
Figure 94: Oil Compensation Schematic
To access the Compensation System Schematic: refer to the TMT-NDP-

001\Mechanical\Comp System 0004-5643 folder on the digital technical manual.
To view the Compensation Hose Register; refer to the TMT-NDP-001\Mechanical\Comp
System\Compensation Hose Register TMT-0004-8855 located on the digital technical
manual
Table 55 provides a list of all the compensation bottles, volumes and the loads supplied.
Table 55: Compensation Bottle Loads
Compensation Loads Litres Comments

Bottles
All Thruster Bearing Seals the shaft and provides lubrication

Thruster Bearing Case 6
Cases to thruster bearings
Transformer Box 12.3

Electrical Enclosure Tether Termination J-Box 24.3
HPU Housing 20
Manipulator Conan Manipulator 3
Compensation System
Compensation Loads Litres Comments

Bottles
STBD Vertical, Low Flow

1.8
Tooling Manifold
STBD Horizontal Low
Tooling Pack 1.8
Flow Tooling Manifold
PORT Auxiliary Low Flow
1.8
Tooling Manifold
PORT Thruster Manifold 19
Thruster Pack &
STBD Thruster Manifold 19
Survey
Survey Box 7.9
For OEM compensation bottle information; refer to the OEM Manuals\Compensation

Compensation System
15.3 Oil Compensator Bottle

The Oil Compensation Bottles control the compensation oil in the oil-filled boxes to maintain
oil pressure. The bottle is translucent with easily identifiable level bands.
Pressure
Relief & Vent
Quick
Disconnect
Loads
Level
Sensor
Connectors to
Sensor Bottle
Figure 95: Oil Compensation Bottle
The level sensor has a 0-10VDC output proportional to the level of the oil.
The sensor is connected to and monitored from the sensor bottle.
There are five (5) Compensation Bottles fitted to the Typhoon ROV.
Table 56: Compensation Specifications
Specification Value
Volume (each bottle) 2.76L
Pressure 2.5-5psi (0.17 to 0.35bar)
Relief Check Valve 20psi (1.25bar)
Oil Shell Tellus 22
Compensation System
15.4 TMT 2.4 Litre Compensator Bottle - Optional

The TMT 2.4 Litre Compensator Bottle is used to maintain compensation oil pressure. The
Compensator Bottle acts as a spring-loaded accumulator to maintain compensated oil in
the pressure range of 3.5psi at 5% and 13.5psi at 95% with standard spring configuration,
four (4) springs, above ambient depth pressure and will also allow for any temperature
changes.
The Compensator Bottle is easy to fill or empty, through the quick connect/disconnect
fittings.
A pressure relief valve is fitted, preventing over-pressure.
The Compensator Bottle can be fitted with an optional level sensor.
Attachment to the ROV is fast and easy, by connecting the supply, return and drain line to
the ROVs valve pack function.
Top
Bottom
Figure 96: TMT 2.4 Litre Compensator Bottle
Compensation System
Pressure Relief
Level Sensor
Load
Connections
Quick
Disconnects
Figure 97: TMT 2.4 Litre Compensator Bottle Lid
Table 57: Specifications / Spare Parts
Parameter Values
Dimensions 187 x375.5mm
Weight in Air empty 6.7kg
Weight in Seawater empty 4.6kg
Oil Capacity 2.4L
7
Fluid connector / 16 JIC
Impulse 3 Pin SS Male Bulkhead Connector

Electric Connector 1
MCBH3MSS- / 2 -24”
Depth Rating Unlimited
Hydraulic System
16. Hydraulic System

The Typhoon Hydraulic System is actually two independent hydraulic systems sharing a
common electric motor:
• Main Hydraulic System
• Auxiliary Hydraulic System
Pressure
Return
Figure 98: Typhoon Hydraulic System Case Drain
To access the Hydraulic System schematic diagram; refer to the TMT-NDP-

001\Mechanical\Hydraulics System\ TMT-0009-2216 folder on the digital technical
manual.
Hydraulic System
16.1 Main Hydraulic System

The Main Hydraulic System provides the hydraulic supply for the propulsion thrusters.
Features include:
• Compensated electronics
• Filters
• Pressure Relief Valve
• High Flow Ports
• Variable Pressure with proportional set point.
The Main Hydraulic System is self-contained circuit including an electric motor, pressure
compensated pump with adjustable proportional pressure set point, compensated reservoir,
pressure, return and case drain filters, salt water filter, high flow ports and the propulsion
system.
Cardev Filter Top View

STBD Thruster Manifold
Main Pump
High Flow
Ports
Front Main
Aft
Port Thruster Manifold
Isometric View
Pressure
Return
Case Drain
Cardev Filter
Figure 99: Main Hydraulic System
Hydraulic System
Notes:
• Thruster manifolds include Auxiliary High Flow Tooling Ports.
• The STBD Horizontal Low Flow Manifold houses the auxiliary tooling functions and
the Main pump controller.
The propulsion hydraulic elements are:
• Two (2) Thruster Manifolds, PORT & STBD
• Four (4) Vertical Thrusters (SubAtlantic SA300-30), 300mm (11.8”) Diameter
Propeller.
• Four (4) Horizontal Thrusters (SubAtlantic SA380-41), 380mm (15.1”) Diameter
Propeller
Top View
STBD Thruster Manifold
PORT Thruster Manifold
Front Vertical SA-300 Aft
Side View
Horizontal SA380
Figure 100: Propulsion Sub-System of Main Hydraulics
Hydraulic System
16.2 Auxiliary Hydraulic System

The Auxiliary (Aux) Hydraulic System drives all the ROV tooling ports and manifolds.
Features include:
• Compensator
• Filters
• Pressure Relief Valves
• Variable Pressure with proportional set point
• Two High Flow Tooling Ports with proportional pressure and flow control
The system is a fully self-contained circuit incorporating hydraulic motor, pressure
compensated pump, compensated reservoir, pressure and return line filters and Aux
Tooling Manifold that is dedicated for remote tooling.
Top View
STBD Vertical
Manifold
High Flow
Tooling Ports
Front Distribution
Manifold Aft
AUX Pump
Aux Tooling Manifold

AUX Tank
Filters
Cardev Filter
STBD Vertical
Manifold
Distribution Isometric View

Manifold
Aux Tooling STBD Horizontal Manifold

Manifold
Cardev Filter
Pressure
AUX Tank
Return
Figure 101: Auxiliary Hydraulic System
Case Drain
Hydraulic System
16.3 Theory of Operation

The hydraulic pumps are powered by the electric motor; the pump supplies pressurised
hydraulic oil to system components and their control valves.
The control valves inside the various manifolds electronically control the flow direction to
the actuators, for example:
• Camera Pan & Tilt
• Manipulators
• Thrusters
• Torque Tool
The control valves in the manifolds are actuated by the surface control system through the
DCIMP cards located in the MEE, these drive the FET RPM board located in each manifold;
refer to Figure 125.
The FET RPM board provides the electrical / control interface with the hydraulic control
valves. A command is sent from the Pilot Control Console on the surface to the DCIMP
cards in the MEE. The FET RPM board which, in turn, actuates the appropriate control
valve which, in turn, actuates the thruster or tool or whichever component is being
controlled. When the component is turned on, the increased hydraulic demand and a
corresponding drop in pressure is sensed by the pump control circuits.
The pump pressure control serves to maintain a constant pressure in the hydraulic system,
within the pressure range of the pump. The pump, therefore, supplies only the amount of
hydraulic fluid required by the actuators.
The maximum pump pressure is set by the pump control pilot valve.
The maximum system pressure is set by the proportional pressure reducing valve in the
Starboard Horizontal Low Flow Manifold (LFM) for the Main Hydraulic system.
The proportional pressure reducing valve in the Auxiliary Port LFM sets the maximum
pressure for the Auxiliary (Aux) Hydraulic System.
Pressure relief valves are located on the Aux System Distribution manifolds and the Main
System Thruster Manifolds. The relief valve, set at approximately 10% above normal
system operating pressure, vents hydraulic pressure back to the tank in case of
overpressure due to pump control failure or high pressure spikes.
Both, Main and Aux hydraulic systems use variable-displacement pressure-compensated
hydraulic pumps and both are driven by the same electro-Hydraulic Power Unit (HPU).
The Main Hydraulic system supplies the:
• Propulsion system
Hydraulic System
The Auxiliary Hydraulic system supplies the:

• High Flow Tooling Ports
• Low Flow Tooling Ports
• Manipulators
• Z-Functions
• Pan & Tilts
• Auxiliary Tooling
Main case drains flow from the thrusters and the main pump case drains via the case drain
manifolds to the main case drain filter and then to the main tank. The Aux case drain ports
are on the Distribution Manifolds for tooling with motors which connect to the Aux pump
case drain and then flow through the Aux case drain filter and back to the auxiliary tank.
Aux case drain filter and back to the auxiliary tank. The case drain filters bypass-check-
valve is 50psi, to prevent blocked filter from developing a higher pressure which may
damage the filters and also keeping the oil flowing.
Quick disconnects have been added to strategic locations to allow easy on-deck filling and
draining of tanks and compensated enclosures.
Figure 102: Example of Quick Disconnects
Minimess connectors have been added to assist in testing pressure differentials across
filters and can assist with hydraulic troubleshooting.
Figure 103: Example of Minimess Connector
Caution: Water could enter through the quick disconnect or test fittings during a dive,
so it is important to verify that all valve caps are correctly fitted as part of
Pre-Dive checks.
Hydraulic System
16.4 Hydraulic System Parameters

The Main and Aux Hydraulic system consists of the following subsystems and parts:
• Aux Manifold
• HPU Motor
• Hydraulic Oil Filters
• Low Flow Manifolds
• Aux Distribution Manifolds
• Main & Aux Pumps
• Main & Aux Reservoirs
• PORT / STBD Thruster High Flow Manifold
• Pressure Relief Valve
Note: The hydraulic system is designed for use with only high-quality, petroleum-based
hydraulic fluid.
Table 58: Hydraulic System Parameters
Specification Value
Shell Tellus 22 (Default)
Oil type:
Tellus 32 may be used if required
Oil maximum temperature: 70°C (Allowing at 60°C intermediate).
Oil Minimum temperature: 20°C
Oil temperature Optimum 37.5°C
ROV Hydraulic system pressure: 3000psi (207bar)
Standby system pressure (ROV hydraulic pump is
290psi (20bar)
idling):
Main Hydraulic Pressure relief setting: 3336psi (230bar)
Main System Flow: 238L/min
Aux System Flow 76L/min
Flow low flow tooling ports directional: 15L/min
Flow low flow tooling ports proportional: 8L/min
Flow high flow tooling port: 76L/pm with proportional control
Main Tank Volume 45L
Total Main system Volume Approximately 75L
Aux Tank Volume 12.3L
Total Aux Volume Approximately 20L
Aux Pressure Relief Set point 3336psi (230bar)
Hydraulic Pressure reliefs are located in: Thruster & Distribution Manifolds
Hydraulic System
16.1 Hydraulic Oil

The Typhoon ROV / TMS use Shell Tellus S2 M 22 for both the Hydraulic and
Compensation system. Tellus is a high performance hydraulic fluid that resists breakdown
under heat and mechanical stress.
Table 59: Hydraulic Oil Properties
Properties Value
ISO Viscosity Grade 22
ISO Fluid Type HM
Kinematic Viscosity @:
0ºC 180
40ºC 22
100ºC 4.3
Viscosity Index 100
Density 0.866kg/l
Flash Point 210ºC
Pour Point -30ºC
Note: For shallow water operations in warmer climates, use of Shell Tellus S2 M 32 may be
considered.
For a detailed specification sheet and a safety data sheet; refer to the OEM
Manuals\Hydraulics\Oil folder on the digital technical manual.
Hydraulic System
16.2 Hydraulic Power Unit

The Hydraulic Power Unit (HPU) is the main driving component of the hydraulic systems.
Comprising a motor and a hydraulic pump, these units can generate a tremendous amount
of power to drive any kind of hydraulic actuator. The motive force for the HPU is an SME
motor; refer to Section 16.2.1 HPU Motor on page 145.
The HPU supplies all hydraulic power to the ROV via the Main and Aux Hydraulic pumps;
refer to Section 16.2.1 HPU Motor on page 145.
Gauge Panel with Optional Fluid Skid Gauges
Auxiliary Pump Electric Main Pump

Motor
Figure 104: HPU & Gauge Panel with Optional Fluid Skid Gauges
For detailed OEM motor information: refer to the OEM Manuals\Hydraulic\Motor folder on
Hydraulic System
16.2.1 HPU Motor

The HPU motor is a 150Hp SME motor and has an oil-filled aluminium housing that is
pressure compensated from the Electrical Enclosures Compensator; refer to Section 15
Compensation System on page 129. The compensator maintains a pressure of minimum
5psi (0.3bar) above ambient pressure.
Figure 105: HPU Motor
The 3kV power is supplied via an oil-filled wire hose to the Tether Termination box.
The motor temperature is monitored by the Pilot Interface from an RTD located in the motor
windings. The RTD is connected to the Sensor Bottle.
The specifications for the HPU electric motor are:
Table 60: Electric Motor Specifications
Specification Value
RPM 1750pm
Phases 3ø
Volts 3000VAC
Frequency 60Hz
Horse Power (max) 150hp
Current 24.4A
Poles 4poles
SF 1.00
PF 0.814
INS Class F
Connection STAR
For detailed OEM motor information; refer to the OEM Manuals\Hydraulic\Motor folder on
Hydraulic System
16.2.2 Hydraulic Pumps

The motor supplies all hydraulic power to the ROV via the two connected HPU pumps:
• Main Hydraulic
• Aux Hydraulic
The Main Hydraulic Pump is an A10VO140 Rexroth variable displacement. The Aux
Hydraulic Pump is an A10V045. Both pumps are set at working pressure 3000 psi(207
bar)..The two pumps (Main & Aux) only differ in size and direction of shaft spin. The 140cc
Main pump is R/H or CW rotation and the 45cc Aux pump is L/H or ACW rotation.
Note: Check valves are located on the pump outlets to prevent the pumps from running
backwards.
Main Pump
Aux Pump
Control Valve
Control Valve
Figure 106: Aux and Main Hydraulic Pumps
Table 61: Hydraulic Pump Specifications
Specification Value
Common Characteristics
Type Variable Axial Piston Pumps
Nominal Pressure 4061psi (280bar)
Peak Pressure 5076psi (350bar)
ROV Working Pressure 3000psi (207bar)
Main Pump
Size 140cc
Flow 238L/min @ 1750RPM
Aux Pump
Size 45cc
Flow 76.5L/min @ 1750rpm
Hydraulic System
16.2.3 Pump Control Valves

The control valves on the hydraulic pumps are displayed in Figure 107 and Table 62. The
generally the 140cc pump has the old series and the 45cc pump has the new series. The
valves are painted over to prevent inadvertently adjusting.
DFR1 5
1
5 1 DRS
3 3
2
4 3
3
2 4
Figure 107: Pump Control Valves
Table 62: Comparison of Pump Control Valves
Control Valve General

DFR1 (old) DRS (new) Features
Features
1) Sealing of Leak proof also during

Seal and cup nut O-ring
adjustment screw adjustment
2) Sealing between
With gasket seal and Secure assembly and
valve and pump O-rings
visual inspection control
housing
No safeguards against With safeguards against

3) Adjustment screws Accident prevention
unscrewing unscrewing
Prevention of overload
4) Pressure controller Without adjustment limit With adjustment limit
adjustment
Special Features DFR1 (old) DRS (new) Features
• No dirt deposits in
load sensing
Generally without
5) Flushing function With flushing function chamber (X-Port)
flushing function
• Fast heating up of
load sensing line
Hydraulic System
16.2.4 Pump Controllers

The pump controller used is the DFR1 type which is normally used in load sense hydraulic
systems. The system used on the Typhoon Mk2 is a remote pressure control with pressure
being adjusted by a Proportional Pressure Reducing Valve (PPRV).
The Main pump PPRV is located in the STBD Horizontal Low Flow Manifold and the
Auxiliary pump PPRV is located in the PORT Vertical Low Flow manifold; refer to Figure
101 on page 139.
With this type of pump pressure control an orifice needs to be installed in the load sense
line, usually 0.5mm; refer to Figure 108.
Not included in supply
DFR1 Remote Pressure / Flow Control

The DFR1 Control can be used for a combination of
remote pressure and flow control. A pressure relief
valve may be externally piped to the X –point, Not included in supply
together with the load sensor. An orifice 0.5mm
needs to be installed in the location sense line.
Figure 108: Main Pump Controller

The controller, in Figure 108, is used on the A10VO140 main pump.
The pump controller seen on the A10VO45 auxiliary pump looks slightly different as it does
not use the seal nuts on the adjusting screws. This was a design change by Rexroth so
internal sealing of the adjusting screws was possible to eliminate external sealing.
Figure 109: Auxiliary Pump Controller
Hydraulic System
Additionally, the controller also has an internal flushing feature taking oil from the pump side
through an internal orifice and into the X port chamber. This is for flushing the X port when
used in a true load sense system.
With this feature the external orifice does not need to be fitted to the auxiliary pump.
The Main Hydraulic pump may also be fitted with this type of controller depending on
delivery state from the pump supplier and available parts. The external orifice is still fitted to
stop any confusion. It will not have any effect on the pump performance.
Figure 109 is a diagram of the controller used on the auxiliary pump showing the flushing
orifice from the pump side to the X port.
For detailed OEM pump information; refer to the OEM Manuals\Hydraulic\Pump folder on
Hydraulic System
16.2.5 Aft Gauge Board

An Aft Gauge panel allows continued operation of the Typhoon ROV in the event of the loss
of the Pilot Interface application. This gauge panel can be monitored by the aft Pan & Tilt
camera.
The Aft Gauge panel provides the following information:
• Main Hydraulic Pressure
• Aux Hydraulic Pressure
• Optional Hot Stab Panel gauges
Main Pressure
Aux
Pressure
Optional Hot Stab Panel Gauges
Figure 110: Aft Gauge Board
For additional information on operations without the Pilot Computer; refer to the
TMT Manual\System Operations Manual folder on the digital technical manual.
For additional information on operations without the Pilot Interface Application; refer to the
TMT Manual\Pilot Software Manual folder on the digital technical manual.
Hydraulic System
16.3 Hydraulic Oil Filters

An essential component of the hydraulic system, the Hydraulic Oil Filters, is to remove solid
particles contamination from the hydraulic fluid, which would otherwise reduce the service
life of system components through abrasive wear.
Figure 111: Hydraulic Filter
Fluid cleanliness is maintained by three (3) filter assemblies in the hydraulic system. High-
pressure filter assemblies feature high pressure collapse rated elements without a bypass
valve.
The return and case drain filter assemblies include 50psi (3.5bar) bypass valves,
respectively, to provide an alternative fluid path if the filter clogs and protecting the filters.
As the filter clogs with solid particles, back-pressure will rise and can be monitored by
connecting gauges to the mini-mess points provided. A baseline pressure reading should
be established after installing a new filter.
Caution: The filter should be changed when backpressure rises 29psi (2bar) above the
baseline pressure.
Flow Path Flow Path
Figure 112: Flow Path through Filter
Hydraulic System
Note: When determining a historical baseline pressure, as well as when checking the back-
pressure, the system should always be in the same hydraulic state; the system
pressure should be the same, and there should be little or no demand from the
hydraulic functions. Back-pressure can vary somewhat due to varying hydraulic
demand, therefore, it is important to have the vehicle in the same state when
determining whether the filter is clogged or not.
For OEM hydraulic oil filter information the OEM Manuals\Hydraulic\Filter folder on the
16.3.1 Main Hydraulic Filters

The following hydraulic oil filters are fitted to the Main Hydraulic System:
Table 63: Main Hydraulic System Filters
Main Hydraulic System Filters

Pressure Filter x 2 Norman Filter Company
Filter part number 4588AF-B5CN-DR2-S2
Element number 588F-B5CN
Return Filter x 2 Norman filter Company
Filter part number 4588AF-B10AN-R-DR2-S2
Element number 588F-B10AN
Case Drain Filter x1 Norman Filter Company
Filter part number 4526NAA-10RN-R-DR2-S2
Element number 536A-10RN
Cardev Filter
Part number SDUH350-UW
Element type SDFC
16.3.2 Aux Hydraulic Filters

The following hydraulic oil filters are fitted to the Aux Hydraulic System:
Table 64: Aux Hydraulic Filters
Aux Hydraulic System Filters

Pressure Filter, x1 Norman Filter Company
Filter part number 4537AF-B5CN-DR2-S2
Element number 586F-B5CN
Return Filter, x1 Norman Filter Company
Filter part number 4537AF -B10AN-R-DR2-S2
Element number 586F-B10AN
Case Drain Filter, x1 Norman Filter Company
Filter part number 4526NAA-10RN-R-DR2-S2
Element number 536A-10RN
Cardev Filter
Part Number SDUH350-UW
Element Type SDFC
Hydraulic System
16.3.3 Cardev Filter

The Cardev Filter, in addition to filtering particle contamination, also removes water
contamination from the hydraulic oil.
Figure 113: Cardev Filter
Caution: The maximum torque applied on SDUBN bolt is 50Nm (37ft/ Lbs ); exceeding
this figure, can damage the filter housing.
A Cardev Filter is installed on both the Main and Aux hydraulic systems. The filter is located
between a high pressure and a return port, providing the motive force to move the oil
through the filter. An internal pressure-compensated flow control valve restricts flow to a
rate of approximately 2L/min.
A Manual Shut-Off Valve is used to isolate the filter when it needs to be replaced.
Figure 114: Diagram of Cardev Filter
Hydraulic System
Caution: As there is no accurate method to determine the filter’s remaining water

absorbing capacity, it is recommended that the filter be changed after every
200 hours of HPU operation or when the pressure across the filter gauge
reads 5bar, whatever comes first.
SDFC Cartridge Description
The Cardev Super Duty Filter Cartridge is a depth cartridge made of long fibre cellulose
with a full diameter polyester protection disc. The filter is covered with nylon and encased in
an outer tube which forms an integral part of the cartridge. The cartridge can be used on all
pure oil based products such as hydraulic, engine and gearbox oils. The filtration is carried
out at low pressures, off-line.
Cartridge pressures are controlled between 1 and 4bar with a 6bar maximum.
Figure 115: SDFC Cartridge
Action of Cartridge
The filter cartridge acts by absorption in a continuous recycling process. The long cellulose
fibres attract the water whilst, at the same time, rejecting the larger oil molecules which are
forced to pass between the tight windings of the cartridge. Thus the cartridge, by removing
water, inhibits the production of acids. As the oil passes through the cartridge, minute
particles of carbon, wear metals and silicon are extracted from the oil by adhering to the
many surfaces of the filter.
Through the continuous removal of water and contaminants, the catalysing effect of the oil
additives will be prevented, enabling the oil life to be extended within the original
specification laid down by the manufacturer. The additional extension of oil life is dependent
upon the operating conditions and maintenance programme applicable to the ROV.
Hydraulic System
Figure 116: Filter Action
Important Note - Additives

While the filter is extracting the water and contaminants, it is continuously safeguarding the
desirable elements (additives) compounded within the oil itself. These typically include,
dependent on use, dispersants, viscosity index (VI) improvers, lubricate agents, fungicidal,
anti-foaming and gelling additives. These additives are held in suspension and their levels
can be critical if the oil is to maintain its beneficial effect. The Cardev Filter does not
remove these additives.
Note: Always change the lid seal when changing Cardev Filter element.
For OEM hydraulic oil filters information; refer to the OEM Manuals\Hydraulic\Filter folder
Hydraulic System
16.4 Hydraulic Reservoir

There are two (2) Hydraulic Reservoirs, one for each of the hydraulic systems:
• The Main Hydraulic system reservoir is a 45 litres sealed and pressure compensated
variable displacement tank.
• The Aux Hydraulic system reservoir is a 12.3 litres sealed and pressure
compensated variable displacement tank.
Pressure Relief
Vent
Level Sensor Service Clamp
Service Clamp Level Sensor
Fill Point
Fill Point
Aux Reservoir Main Reservoir
Figure 117: Aux and Main Reservoirs
The Hydraulic Reservoirs are fitted with analogue oil level sensors. Both reservoirs are
fitted with RTD and wet sensors to monitor the oil temperature and possible water ingress,
respectively.
The linear level sensors (analogue) provide the oil level to be displayed on the Pilot Control
Console and a low level alarm. The sensor is also interlocked with the HPU so, if either
reservoir tank reaches empty, the HPU will automatically shut down on low level. This can
be overridden at the Pilot Control Console. Alarms are set for below 40%.
Note: Fill the initial tank levels on deck to 90%, leaving 10% of tank volume to provide for oil
expansion due to oil temperature increment within the hydraulic systems.
Table 65: Hydraulic Tank Analogue Sensors
Hydraulic Compensation
Indication Function Comments
>60% No beeps normal operation
Main level sinks ≤60 One acoustic beep (MCB1 buzzer) to warn the
but > 50% Pilot of the developing situation
Main level sinks ≤50 Double acoustic beeps (MCB1 buzzer) to warn
Main Hydraulic Reservoir
but > 40 the Pilot of the developing situation.
Permanent acoustic beeps (MCB1 buzzer) and
Main level sinks ≤40 the MCB1 will trigger alarm and pump shutdown.
the associated pump on low level.
Hydraulic System
Hydraulic Compensation
Indication Function Comments
Permanent acoustic beeps (MCB1 buzzer) and
the MCB1 shuts the pump off. Option override
Aux Hydraulic Reservoir Aux level sinks ≤50 button on the PI to restart the pump.
Optional silence button on PI to silence the
beeper.
Note: The AUX hydraulic compensation level has only one alarm.
Caution: When service clamps are locked on the hydraulic tanks, the ROV HPU must
be locked out and a Caution tag placed on the Pilot Control Console.
This is to prevent an accidental start up during maintenance and prevent
possible damage to the hydraulic pumps, if they were inadvertently left
clamped.
Hydraulic System
When performing maintenance on the hydraulic system connected to the tank, for example,
the Cardev filter or HPU main pump, service clamps are provided to lock the tank upper
plate to the high level position. Otherwise, spring tension will force the hydraulic oil out.
There is one service clamp per guide post, three (3) on the Main and four (4) on the Aux
reservoir tank.
For the Cardev filter change, disconnect the reservoir hose from the Cardev filter side and
plug the hose to prevent oil flowing out of the reservoir.
Table 66: Hydraulic Reservoir Specifications
Specification Value
Main Reservoir
Type Pressure compensated variable displacement tank
Volume 45 Litres
Pressure Relief Valve 20psi (1.4bar)
Swagelok Valve Check Valve, safety feature)
Aux Reservoir
Type Pressure compensated variable displacement tank
Volume 12.3 Litres
Pressure Relief Valve 20psi (1.4bar)
Hydraulic System
16.5 Hydraulic Valve Manifolds

All the Hydraulic Valve Manifolds are constructed of lightweight aluminium that is oil filled
and pressure compensated by the Tooling Pack Compensator. The compensator maintains
a pressure of approximately 5psi (0.3bar) above ambient sea pressure within the manifold
enclosure.
The Valve Manifold distributes pressurised hydraulic oil via control valves mounted in the
manifolds. The oil is then directed from the manifold through tubing to an actuator, normally
a cylinder or hydraulic motor. Depending on the work device, different types of mechanical
work can be performed in a linear or rotational manner. Exhaust oil is returned to the
manifold though tubing where it is consolidated and returned to the holding tank (reservoir)
via a filter, where it will be re-circulated.
The system provides smooth, reliable control of small hydraulic manipulator systems using
small bore pistons.
All manifolds are fitted with wet sensors for detecting water ingress.
A multitude of spare functions are available to be used to power cable cutters, tools, etc.
requiring low power input.
The Typhoon ROV has seven (7) manifolds in total:
• Two (2) Distribution Manifolds, linked together by external connectors
o Auxiliary
• One (1) Aux Tooling Low Flow Manifold (PORT)
• Two (2) Tooling Low Flow Manifolds
o STBD Horizontal Low Flow Manifold
o STBD Vertical Low Flow Manifold
Note: The three low flow manifolds are all the same type of manifold but with different valve
configurations.
• Two (2) Thruster Manifolds, each with a high flow tooling port (PORT & STBD)
Table 67: Hydraulic Manifold Drawings
Manifold Location Hydraulic Electric

Main, Mounted Front, Centre TMT-0005-8300, ST Distribution Manifold N/A
TMT-0001-0778, Vertical STBD Low Flow TMT-0004-8162 Stbd Vertical Low Flow
Mounted Vertically, STBD Front
Manifold ASM Manifold
TMT-0001-0779, Aux PORT Low Manifold TMT-0004-8161 AUX Port Low Flow
Mounted Vertically, PORT Front
ASM Manifold
TMT-0001-0790, STBD Horizontal Low Flow TMT-0004-8163 Stbd Horizontal Low
Mounted Horizontally, STBD, Middle
Manifold G.A. Flow Manifold
STBD Thruster Manifold, STBD TMT-0005-8235, STARBOARD Thruster
TMT-0004-8159 Stbd Thruster Manifold
Middle Manifold
PORT Thruster Manifold, PORT
TMT-0005-8237, PORT Thruster Manifold TMT-0004-8160 Port Thruster Manifold
Middle
Hydraulic System
16.6 Aux Manifold

The Aux Manifold is dedicated for Auxiliary Tooling.
The Aux Manifold is located at the forward PORT side of the ROV.
The Aux Manifold enclosure is oil-filled and pressure compensated from the Tooling Pack
Compensator; refer to Section 15 Compensation System on page 129.
Figure 118: Aux Manifold
The Hydraulic Aux Manifold controls the eight (8) auxiliary low-flow ports on the ROV.
The manifold contains 40 valves.
Assorted Integrated POC and Flow Valve
Pressure
Relief
Valve
Colour Designates Valve Type
Figure 119: Assorted TMT Hydraulic Valves
Hydraulic System
Valves used in the low flow manifolds and their functions are:
• Relief Valve 0000-6478 Relief Valve, refer to Section 16.6.1 on page 152.
• Integrated POC and Flow Valve, refer to Section 0 on page 163.
• Wandfluh NG3 Flying Lead Valve WDP F A03-ADB-V-5-G24-M35/55 – Proportional
Directional Control Valve
• Wandfluh NG3 Flying Lead Valve BM4D32-24-M35/55 – Directional Control Valve
• Wandfluh MVPPM22-275-G24/ML-HB4,5M35 Pressure Reducing Valve
Note: This is the manufacturing default only and can vary depending on customer
requirements.
One pressure transducer is attached to the Manifold. The transducer senses pressure at
the Hydraulic Aux System.
Note: The same control PCBs are fitted to Aux, Tooling, STBD and PORT Thruster
Manifolds, the PCBs are not interchangeable as the boards are loaded with different
firmware configurations.
The Aux Manifold is connected to the MEE via an 8-pin cable assembly. This connects
RS485 half-duplex from the Aux Manifold to the MEE node hub and supplies 24VDC from
the MEE for the manifold power.
Table 68: Aux Manifold
Connector Pin Function Comments

Male Face View IE55-1508-FCR
1 Spare-1
2 GND
3 +24VDC Valve
4 RS485+
5 RS485-
6 0VDC Valve
7 +24VDC Valve
8 0VDC Valve
The circuit board drives the valve coils, reads hydraulic pressure and has a wet sensor
fitted.
Hydraulic System
16.6.1 Relief Valve 0000-6478

The 0000-6478 – Pressure Relief Valve is a TMT manufactured valve. The relieving chart
and an image of the valve are in Figure 107.
Figure 120: Relief Valve 0000-6478
Hydraulic System
16.6.2 0000-6282 – Integrated POC and Flow Valve

The 0000-6282 – Integrated Pilot Operated Check Valve (POC) and Flow Valve is a TMT
manufactured valve that comes in four possible configurations:
1. 0000-6282_01 Meter Out with POC, default blue washer
2. 0000-6282_02 Meter Out without POC, blue & silver washer
3. 0000-6282_03 Meter In with POC, red washer
4. 0000-6282_04 Meter In without POC, red & silver washer
Refer to Figure 121.
Meter Out with POC Meter Out without POC
0000-6282_01 0000-6282_02
Meter In with POC Meter In without POC
0000-6282_03 0000-6282_04
Figure 121: 0000-6282 – Integrated PDC & Flow Valve – Image with Hydraulic Representation
Hydraulic System
16.6.3 Pilot Operated Check Valve

In hydraulic systems leakage past the control valve will allow the cylinder to creep.
A simple check valve cannot be used as the flow may be required in both directions. Pilot
Operated Check valves (POC) solves this problem, the valve is similar to basic check valve
but with a port for an external pilot pressure signal connected to the opposite control line to
open the valve when the direction changes.
Note: In certain situations valve creep may be desired for example, in a manipulator jaw. If
hydraulics is lost the jaw will slow open allowing the jaw to release an object or the
structure it is holding.
Warning: Some hydraulic functions are equiped with pilot operated cross-check valves
that can hold pressure in the hydraulic lines, refer to the hydraulic schematic,
TMT-0009-2216.
After operating a function and shutting down, the hydraulic system pressure
can remain in the function line. Run a function while gradually dialing down the
pressure, such as thrusters or tooling functions to reduce the system
pressure.
Figure 122: Example Pilot Operated Cross Check Valves
Hydraulic System
16.6.4 Meter In / Meter Out

Meter-In / Meter Out is a method by which a flow control valve is placed in a hydraulic
circuit in such a manner that there is a restriction in the amount of fluid flowing to or from
the actuator.
If the flow control valve were not used, the extension and retraction speed of the actuator
would not be adjustable.
The presence of meter in flow control valve enables restriction in the fluid flow to the
cylinder and thereby slowing down its extension. In the event of the flow direction being
reversed, the check valve ensures that the return flow bypasses the flow control valve.
Meter out is safer in a load holding application but creates back pressure in the actuator
which is not suitable for tools such as actuators.
For OEM manifold valve information for all other valves; refer to the OEM
Manuals\Hydraulic\Valves folder on the digital technical manual.
16.6.5 Hydraulic Aux Manifold Loads

The following notes comments apply to Table 69:
• The same control PCBs are fitted to the Aux, Tooling, STBD and PORT thruster
manifolds; the PCBs are not interchangeable as the boards are loaded with different
• Pressure reliefs on all ports provide protection from over pressure in the event of
bumping the manipulator or a pressure build up on surfacing from depth.
• Always verify flow and pressure after attaching a tool on deck before subsurface
operations.
Caution: A dirty oil pack is strongly recommended when attaching tools that could
contaminate the Aux Hydraulic system. For example, hot stabs, rock breakers
or any tools that could contain contaminated oil, etc.
Hydraulic System
Table 69: Hydraulic Aux Manifold Loads
Aux Manifold (0001-0779)

Name Solenoid Type Max Flow Comments
L/min
Port One
Pressure Relief 0000-6478 6 2 Pressure Relief - 3500psi
Meter Out With POC 000-6282_01 10 2 Controls via Out
Proportional Directional WDP F A03-ADB-V-
8 1 Controls Flow and Direction
Control Valve 5-G24-M35/55
Port Two
Port Three
Meter In Without POC 000-6282_04 10 2 Controls via In
Port Four
Directional Control
BM4D32-24-M35/55 16 1 Directional Control Valve
Valve
Port Five
Directional Control
Valve
Port Six
Directional Control
Valve
Port Seven
Directional Control
Valve
Port Eight
Directional Control
Valve
Pressure Regulation
Pressure Regulation WDP F A03-ADB-V-5 60 Proportional Pressure Reducing
Pressure Transducer
System Pressure
Pressure sensing 8251 NAT250.0V N/A
Tooling Pressure
Hydraulic System
16.6.6 Aux Distribution Manifolds

The Aux Distribution Manifolds are located forward side of the ROV.
Figure 123: Aux Distribution Manifolds

The Aux Distribution Manifolds provides a means of attaching additional tools that contain
their own hydraulic controls and require pressure, tank and case lines only.
Examples include:
• Cutting Tools with on-board pressure and flow regulators
• Cleaning Tools that turn on via a Pilot signal from Aux manifold via a Pilot operated
check valve.
• Torque Tool with custom control manifold
• Manipulators with built in hydraulic control e.g. Conan Arm
Case
(Yellow)
Flow Pressure
(Red)
Tank
(Blue)
Pressure Relief Valve

230Bar
Figure 124: Aux Distribution Manifold, Cross-Section
Hydraulic System
16.7 Tooling - Hydraulic Low Flow Manifold

There are two (2) additional Hydraulic Tooling Low Flow Manifolds that are part of the Aux
Hydraulic system:
• Vertical STBD Low Flow Manifold
• Horizontal STBD Low Flow Manifold
This box is oil-filled and compensated from the Tooling Pack Compensator, refer to Section
15 Compensation System on page 129.
The Manifolds are connected to the MEE via an 8-pin cable assembly. This connects the
RS485 half-duplex from the Manifold to the MEE node hub and supplies 24VDC from the
MEE for the manifold power; refer to Table 68.
16.7.1 Horizontal STBD Low Flow Manifold

The Horizontal STBD Low Flow Manifold controls the following functions on the Typhoon:
• Front Nose Pan & Tilt movement, two (2) ports
• Front Pan &Tilt movements, two (2) ports
• Rear Pan &Tilt movements, two (2) ports
• STBD Z-Function, one (1) port
• Spare Tooling Port, one (1) port
Note: Horizontal STBD Low Flow Manifold houses the Main Hydraulic Pump controller.
Figure 125: Horizontal STBD Low Flow Manifold
The circuit board drives the valve coils, reads hydraulic pressure enclosure temperature
and it has a wet-sensor fitted.
16.7.2 Horizontal STBD Low Flow Manifold Loads

• Pressure reliefs on all ports provide protection from over pressure in the event of the
tool sticking or a pressure build up on surfacing from depth.
Hydraulic System
Table 70: Horizontal STBD Low Flow Manifold Loads
Horizontal STBD Manifold (0001-0790)

L/min
Port 1 – Nose Pan
Meter In without POC 000-6282_02 10 2 Controls via Out
Directional Control
Valve
Port 2 – Nose Tilt
Meter In With POC 000-6282_01 10 2 Controls via Out
Directional Control
Valve
Port 3 - Front Pan
Meter In with POC 000-6282_03 10 2 Controls via In
Directional Control
Valve
Port 4 - Front Tilt
Meter In with POC 000-6282_03 10 2 Controls via In
Directional Control
BM4D32-24-M35/55 1 Directional Control Valve
Valve
Port 5 - Z-Function STBD
Meter Out with POC 000-6282_01 10 2 Controls via Out
Directional Control
Valve
Port 6 - Spare
Meter In without POC 000-6282_04 10 2 Controls via In
Directional Control
Valve
Port 7 - Rear Pan
Meter In With POC 000-6282_03 10 2 Controls via In
Directional Control
BM4D32-24-M35/55 1 Directional Control Valve
Valve
Port 8 - Rear Tilt
Meter In With POC 000-6282_03 10 2 Controls via In
Directional Control
Valve
Pressure Regulation
Pressure Transducer
Hydraulic System
Horizontal STBD Manifold (0001-0790)

L/min
System Pressure
Pressure sensing 8251 NAT250.0V N/A
Tooling Pressure
For OEM manifold valve information; refer to the OEM Manuals\Hydraulic\Valves folder
Hydraulic System
16.7.3 Vertical STBD Low Flow Manifold

The Vertical STBD Low Flow Manifold provides controls for the Atlas manipulator on the
Typhoon ROV.
Figure 126: Vertical STBD Low Flow Manifold
This enclosure is oil filled and compensated from the Tooling Pack Compensator; refer to
Section 15 Compensation System on page 129.
The Manifold is connected to the MEE via an 8-pin cable assembly. This connects the
RS485 half-duplex from the Manifold to the MEE node hub and supplies 24VDC from the
MEE for the manifold power; refer to Table 68.
The circuit board drives the valve coils, reads hydraulic pressure, enclosure temperature
and it has a wet sensor fitted.
16.7.4 Vertical STBD Low Flow Manifold Loads

• Port 1, the Atlas Jaw Open/Close is Meter Out without POC to allow the jaw to slowly
open if hydraulic pressure is lost to prevent the ROV become stuck if a structure is
griped.
• Pressure reliefs on all ports provide protection from over pressure in the event of
bumping the manipulator or a pressure build up on surfacing from depth.
Hydraulic System
Table 71: Vertical STBD Low Flow Manifold Loads
Vertical STBD Manifold (0001-0778)

L/min
Port 1 - Atlas Jaw Open Close
Meter Out Without POC 000-6282_02 10 2 Controls via Out
Directional Control Valve BM4D32-24-M35/55 16 1 Directional Control Valve
Port 2 - Atlas Wist Rotate
Port 3 - Atlas Yaw
Port 4 - Atlas Pitch
Port 5 - Atlas Elbow
Port 6 - Atlas Shoulder
Port 7 - Atlas Azimuth
Port 8 - Z-Function
Pressure Regulation
Pressure Transducer
System Pressure
Pressure Sensing 8251 NAT250.0V N/A
Tooling Pressure
Hydraulic System
16.8 Thrusters - Hydraulic Manifolds

There are two (2) Hydraulic Thruster Manifolds:
• PORT
• STBD
Both Thruster Manifolds use the same cable assemblies.
Table 72: Thruster Manifold
Connector Pin Function Comments

Male Face View IE55-2412-FCR
1 GND (PE)
2 Spare-1
3 Spare-2
4 RS485B(+) PTH
5 RS485B(-) PTH
6 Spare-3
7 +24VDC Valve
8 +24VDC Valve
9 +24VDC Valve
10 0VDC Valve
11 0VDC Valve
12 0VDC Valve
16.8.1 Function
The Hydraulic Thruster Manifolds control the eight (8) thrusters and the two (2) Hi-Flow
tooling ports on the ROV.
Note: Both Hi-Flow tooling ports are powered by the Auxiliary HPU.
Each of the Thruster Manifolds contains 17 valves.
Figure 127: PORT & STBD Thruster Manifolds
Hydraulic System
The valves used in the thruster manifolds and their functions are:
• 1AR100P40S – Pressure Relief Valve
• DCDC-XYN Piloted Directional Valve – Thruster Direction
• EPV-16-A-10-24D – Flow Control
• PBFB-8WN + RBAP-MAN – Proportional Pressure Reducing Valve
• PV72-20 – Pressure Compensated Proportional Flow Control Valve
• Eaton SV9-8-F Solenoid Valve – Valve Direction
Note: Some of the ROVs are equipped with IH S271 valve instead of the Eaton SV9-8-F;
refer to manifold assembly drawing TMT-0005-7654 and the electrical
schematics TMT-0004-8159 and TMT-0004-8160.
Two (2) pressure transducers are used in the STBD thruster manifold.
One is for system pressure and the second one is for the high flow tooling pressure.
One pressure transducer is in the PORT thruster manifold for the high-flow tooling.
Note: The same control PCBs are fitted to the Auxiliary, Tooling STBD and PORT thruster
The manifold enclosures are oil filled and compensated from the Thruster Pack & Survey
Compensator; refer to Section 15 Compensation System on page 129.
A 12-pin cable assembly connects to the MEE 24VDC and the RS485 connection to Node-
Hub 1 (NH1) in the MEE for control functionality; refer to Table 72.
Hydraulic System
16.8.2 PORT Thrusters Manifold

The PORT Thruster Manifold is a five (5) station manifold located at mid-height, PORT side
of the ROV.
Figure 128: PORT Thruster Manifold
Table 73: PORT Thruster Hydraulic Manifold Loads

Manifold Name Solenoid Type Max Flow Comments
L/min
PORT FWD Horizontal Thruster
Pressure Compensated
Proportional Flow Control PV72-20 64 Thruster Propeller Speed
Piloted DCV DCDC-XYN 120 Thruster Direction
Pilot Solenoid Valve SV9-8-F 13.2 Pilot Directional Valve
PORT FWD Vertical Thruster
PORT AFT Vertical Thruster
PORT Pilot Solenoid Valve SV9-8-F 13.2 Pilot Directional Valve
Thruster PORT AFT Horizontal Thruster
Manifold Pressure Compensated
0005-8237 Proportional Flow Control PV72-20 64 Thruster Propeller Speed
PORT High Flow Tooling
Pressure Reducing Valve
with Pilot Control Cavity
PBFP-8WN + RBAP-MAN 80 Pressure Control
Proportional Flow Control EPV-16-A-10-24D 160 Flow Control
Piloted DCV DCDC-XYN 120 Tool Direction
Pressure Relief
Pressured Relief 1AR100P40S Pressured Relief @
3200psi
Pressure Transducer
Pressure sensing 8251 NAT250.0V N/A Tooling Pressure
Hydraulic System
16.8.3 STBD Thruster Manifold

The STBD Thruster Manifold is a five (5) station manifold located at mid-height, STBD side
of the ROV.
Figure 129: STBD Thruster Manifold

Table 74: STBD Thruster Hydraulic Manifold Loads
Manifold Name Solenoid Type Max Flow Comments
L/min
STBD FWD Horizontal Thruster
STBD FWD Vertical Thruster
STBD AFT Vertical Thruster
STBD Pilot Solenoid Valve SV9-8-F 13.2 Pilot Directional Valve
Thruster STBD AFT Horizontal Thruster
Manifold Pressure Compensated
0005-8235
STBD High Flow Tooling
Pressure Reducing Valve PBFP-8WN + RBAP-
with Pilot Control Cavity 80 Pressure Control
MAN
Proportional Flow Control EPV-16-A-10-24D 160 Flow Control
Piloted DCV DCDC-XYN 120 Tool Direction
Pressure Relief
Pressured Relief 1AR100P40S Pressured Relief @
3200psi
Pressure Transducer
System Pressure
Pressure sensing x2 8251 NAT250.0V N/A Tooling Pressure
For OEM valve information; refer to the OEM Manuals\Hydraulic\Valves folder on the
Hydraulic System
16.9 Thrusters
The Typhoon propulsion system is comprised of eight (8) thrusters:
• Vertical Thrusters: four (4) subAtlantic SA300-30
• Horizontal Thrusters: four (4) subAtlantic SA380-41
The Horizontal Thrusters have a larger propeller with a diameter of 30cm (15.1”), while the
smaller Vertical Thruster propellers are 20cm (11.8”) in diameter.
Note: Other than size, there is no apparent difference between the two sub-Atlantic
thrusters; however, they are not interchangeable.
Vertical Thruster Horizontal Thruster
Figure 130: Typhoon Thrusters
The sub-Atlantic hydraulic thrusters are reliable due to a rugged, lightweight construction
and a ceramic shaft sealing system. These thrusters also benefit from producing near equal
forward / reverse efficiency within a 5% band.
Note: The sub-Atlantic thrusters on the Typhoon ROV are not counter rotating.
Table 75: Thrusters Specifications
SA-300
Weight in Air 17.4kg
Weight in Water 9.8kg
Propeller Diameter 20cm (11.8”)
SA-380
Weight in Air 27.0kg
Weight in Water 14.0kg
Propeller Diameter 30cm (15.1”)
For OEM thruster information; refer to the OEM Manuals\Hydraulic\Thruster folder on the
Hydraulic System
16.9.1 Thruster Control Circuit

Thrust control for each thruster is controlled by varying the current (amperage) to each
proportional flow control valve located in the Port and Stbd thruster manifolds. The current
delivered to the valves is controlled by the position of the Thruster Power switch on the
Auto Control Panel and the Horizontal Joystick located on the Pilot Control Console.
The proportional range for each valve is approximately ~0-1.0A.
16.9.2 Bearing Housing Assemblies

All the Thruster bearing Housing Assemblies are compensated from the Thruster Bearing
Case Compensator, refer to Section 15 Compensation System on page 129.
Figure 131: Thruster Bearing House Assembly
16.9.3 Case Drain System

Case-drain lines from each thruster motor are routed back to the thrusters case-drain
manifolds (one forward / one aft) which merge and pass through a case-drain filter. The oil
exits through to the main hydraulic reservoir.
Some general maintenance suggestions:
• To ensure the full life of the thruster motor, it is recommended that a thruster bearing
housing oil sample be taken weekly.
• Follow the manufacturer’s instructions for disassembly and troubleshooting
procedures.
• Always use caps and plugs on open hydraulic lines.
• Verify thruster rotation direction by ensuring thruster power is set to 10% power on
the Pilot Control Console and activating the required thruster control and observe the
correct rotational direction on the thrusters. View rotation looking at the propeller.
• Refer to the OEM manual for any additional maintenance requirements.
For OEM thruster information; refer to the OEM Manuals\Hydraulic\Thruster folder on the
Manipulators
17. Manipulators
One Schilling Conan position-controlled arm and one Schilling Atlas rate-controlled
manipulators are fitted to the front of the ROV. Both arms are mounted on the TMT Z-
Function assemblies. The Conan is supplied with a dedicated hydraulic valve pack. The
Atlas is operated from directional valves installed in the Vertical STBD Low Flow Manifold.
Manipulator jaw setups can be varied to suit specific job and client requirements.
Other options are available. Contact TMT for further information.
17.1 Z-Function
The 300mm Z-Function is mounted to the front of an ROV and provides 304.8mm (12”) of
controlled movement in the Z axis, to increase the reach of a tool and / or manipulator.
The Z-Function provides a sturdy mounting platform for even the heaviest of tools and its
compact stainless steel structure is very rigid.
The Z-Function is also ideally suited to engaging and removing hot stabs by linear means.
Z Function Extended Z Function Retracted
Figure 132: Z-Function
Manipulators
17.1 Low Profile Z-Function - Optional

The TMT Low Profile Z-Function is mounted to the front of an ROV and provides 305mm of
controlled movement along the horizontal Z axis, to increase the reach of a tool and/or
manipulator. The new low profile provides a lower mounting height; details are dependent
on the specific tool selected. The Low Profile Z-Function provides a sturdy mounting
platform for even the heaviest of tools and its structure is very rigid.
The Low Profile Z-Function is also ideally suited to inserting and removing hot stabs in the
horizontal plane. The Low Profile Z-Function has the same mounting hole pattern as the
previous Z-Function design, so it can be easily retrofitted.
The Low Profile Z-Function can mount any of the Schilling Manipulators lower than the
previous Z-function design. It can handle all Schilling Manipulator loads; it is stronger than
the previous Z-Function and is 50% lighter in seawater. The tool is constructed from bolted
aluminium instead of stainless steel. The minimal use of welding avoids any reduction in
strength.
Figure 133: TMT Low Profile Z-Function
Table 76: Low Profile Z-Function Specifications
Specifications Value
Dimensions, Extended 1063L x235H x393Wmm
Dimensions, Retracted 760L x235H x393Wmm
Weight in Air 33kg
Weight in Seawater 22.4kg
Stroke 305mm (12”)
Depth Rating Unlimited
Manipulators
17.2 Conan Manipulator Arm

The CONAN 7P is a seven-function, position-controlled and high-capacity remote
manipulator system. The CONAN was engineered specifically to be easily maintained in the
field. This is true for both installation and maintenance. Through-base bolting makes it easy
to install or remove.
All electronic components and valves are located in enclosures on the manipulator arm
itself, eliminating the need to install and interconnect an external subsea controller or valve
package.
9.6” 243mm
65.4” 1661mm
6.7” 169mm
54.5” 1383mm
11.2” 284mm 71.1” 1806mm

1 Square = 5” 127mm
Figure 134: Conan Manipulator Arm & Range of Vertical Motion
The manipulator is used for tasks such as connecting the ROV to assets to provide a stable
platform for operating subsea valve, flowline connections , guide wire installation, cutting
and for manipulating a wide variety of other tools required for subsea work.
Table 77: Conan Functions & Ranges
Function Actuator Mechanical Range

Azimuth Linear 120°
Shoulder Pitch Linear 120°
Elbow Pitch Linear 120°
Wrist Pitch Linear 120°
Wrist Yaw Linear 120°
Wrist Rotate Gerotor 360°
Jaw Linear 152mm
Conan is capable of lifting 273kgs at a 1.8 metre reach. The level of automation inherent in
this system also enables the unit to perform safely with one operator, once the ROV is in
the water, in position to perform the work.
Manipulators
Figure 135: Conan Manipulator Controller
For OEM manipulator information; refer to the OEM Manuals\Manipulator folder on the
Manipulators
17.1 Atlas Manipulator Arm

The Atlas 7R is a seven-function, rate-controlled and high-capacity remote manipulator
system. It is constructed primarily of anodised aluminium and stainless steel. The
manipulator is primarily designed for demanding ROV intervention tasks involving heavy
lifting jobs; for example, the positioning or anchoring of the ROV when grasping onto
objects such as tools or panels. The Typhoon utilizes a combination of the seven-function
Atlas rate-controlled and seven-function Conan position-controlled functions to perform
most tasks.
Figure 136: Atlas 7R Manipulator Arm & Range of Vertical Motion
Table 78: Atlas 7R Functions & Ranges

Azimuth Linear 120°
Elbow Pitch Linear 135°
Wrist Pitch Linear 120°
Wrist Yaw Linear 360°
Wrist Rotate Gerotor 360°
Gripper Linear 198mm (7.8”)
The Atlas is capable of lifting 250kgs at a full extension of 1.6m. Nominal maximum lift is
500kg. The level of automation inherent in this system also enables the unit to perform
safely with one operator, once the ROV is in the water.
Manipulators
17.2 Titan 4 Manipulator Arm – Optional

The Schilling Titan 4 is a seven function, position-controlled, heavy-lift manipulator arm.
The manipulators high dexterity and accuracy can be used to preform fine movements
required for complex and / or delicate tasks.
Constructed primarily of titanium, the Titan 4 provides the power, performance, and
reliability required and is widely used on heavy work ROVs.
The Titan 4 can be used for a wide variety of tasks that require precision and strength. The
Titan is considered in the industry as the premium option of seven function manipulators.
78.3”
1989mm
75.4”
1916mm
51.7”
1313mm
1 Square =4 inches
=101.6mm
Figure 137: Titan Manipulator & Range of Vertical Motion
Table 79: Titan Functions & Ranges

Azimuth Rotary 240º
Shoulder Pitch Linear 120º
Elbow Pitch Rotary 270º
Wrist Pitch Rotary 180º
Wrist Yaw Rotary 240º
Wrist Rotate Gerotor 360º
Jaw - standard Linear 99mm (3.9”)
The manipulator has a 1.922 metre reach and is capable of lifting:

• Maximum Lift, nominal: 454kg
• Full arm extended: 122Kg
The level of automation inherent in this system also enables the unit to perform safely with
one operator, once the ROV is in the water.
Manipulators
17.3 RigMaster Manipulator Arm - Optional

The RigMaster is a five-function, rate-controlled, heavy-lift grabber arm. The grabber arm
can be used to grasp and lift heavy objects or to anchor the ROV by clamping the gripper
around a structural member at the work site. Constructed primarily of aluminium and
titanium, the RigMaster delivers the power, performance, and reliability required for such
demanding work.
75º
56.9” 1445mm
11.7” 296mm
6.9” 175mm 30º
15.1” 383mm 71.1” 1138mm
Figure 138: RigMaster Manipulator & Range of Vertical Motion
The RigMaster is used for tasks such as connecting ROV to assets to provide a stable
platform for grabbing hold of a structure to allow the vehicle to hold position.
Table 80: RigMaster Functions & Ranges

Base Yaw Linear 105°
Boom Extend / Retract Linear 305mm
Wrist Rotate Rotary 360°
Gripper, Standard Linear 284mm
The manipulator has a 1.06 metre reach and is capable of lifting:

• Boom retracted: 270kg
• Full arm extended: 181Kg
The level of automation inherent in this system also enables the unit to perform safely with
one operator, once the ROV is in the water and in a position to perform the task.
Manipulators
17.4 Grabber - Optional

The TMT Grabber is a two-function manipulator that is suitable for attaching to a greater
than standard guidepost. The Grabber is used to grab hold of a structure to allow the
vehicle to hold position. The Grabber can also be used as a platform to deploy various TMT
tools.
Table 81: Grabber Functions & Ranges

Extend Linear 914.4mm (36”)
Grabber Linear 324mm (12.7”) Max distance between jaws.
The use of the Grabber can free up to two manipulators for performing other work.
Figure 139: 2 - Function Grabber
Floatation System
18. Floatation System

The Typhoon is built with a large floatation block mounted on top of its aluminium frame, to
provide the necessary buoyancy. The syntactic foam used contains hollow particles
embedded in a matrix material. The syntactic foam has a test depth rating 15% greater than
the system test depth. Syntactic foam, though costly, provides high performance at a
greater depth. Two (2) different types of syntactic foam floatation are used for the Typhoon
ROV floatation:
Note: Syntactic Foam need not be sealed to control water absorption.
• Macro-sphere floatation, floatation uses larger spheres, average diameter of 0.1875
inches or 5mm, which are trapped in a resin block; the spheres have air inside to
reduce the weight of the block while having sufficient strength to be able to withstand
the pressure at the depth rating. Ideally suited for fabrication of larger sizes, macro-
sphere syntactic foam generally equates to lower cost buoyancy for a given depth.
The Typhoon main centre floatation block is made of Macro-sphere flotation
syntactic. The block is designed with thruster, instrumentation and sonar tunnels.
Different colours
indicate different
material depth
ratings.
Figure 140: Macro-sphere Floatation
Floatation System
• Micro-sphere floatation; is comprised solely of resin and hollow glass microspheres.

These spheres have an average diameter of between 10 and 100 microns. Other than
the main floatation block, the rest of the floatation blocks are a micro-sphere type.
Different colours
indicate different
material depth
ratings.
Figure 141: Cross Section of Micro-sphere Syntactic Foam

Note: Syntactic foam need not be sealed to control water absorption. So any damage to the
PU coating will not affect floatation.
By placing the light components on the top and the heavy components on the bottom, the
overall system has a large separation between the centre of buoyancy and the centre of
gravity; this provides stability for performing work underwater.
Figure 142: Floatation System
Floatation System
18.1 Typhoon Floatation Layout

Typhoon is delivered in level trim and neutrally buoyant in seawater with the majority of the
ballast lead placement equally distributed on the vehicle. Lead ballast placement is detailed
in Section 18.1.3 Trim Lead on page 193. The Typhoon ROV Centre of Gravity (CoG) is
displayed in Figure 143.
The Typhoon delivered configuration is approximately 350kg (330 without permanent
recovery tool) buoyant in seawater. If no tooling skid is mounted on the ROV, approximately
365kg of trim lead will need to be placed on the bottom frame FRP grating in order to make
the ROV neutrally buoyant. Some of the possible trimming configurations are shown in
Table 83.
Figure 143: Centre of Gravity
Table 82: Floatation Modules
Floatation Modules Weight in Air (kg) Seawater Buoyancy (kg)
Typhoon ROV FWD 172 216
Typhoon ROV Rear 75 93
Typhoon ROV RH 22 26
Typhoon ROV LH 22 26
Note: There can be minor variations in the buoyancy from different production batches.
Floatation System
The floatation blocks are laid out in the following manner:

• Manufactured from macro-sphere encapsulated within a high visibility polyurethane
elastomer coating.
Figure 144: Floatation Block Layout
• Additional floatation blocks of syntactic foam core, with polyurethane coating, are
strategically positioned on the Typhoon; refer to Figure 148.
Table 83 shows various trim configurations of the ROV.
Note: Depending on the ROV configuration, extra accessories and tooling, these figures
will vary. No permanent recovery point has been considered in these weights.
Table 83: Typhoon Buoyancy
ROV Configuration
Survey Mode with Survey Mode

Survey Mode Survey Mode tooling skid & with tooling skid
Survey Mode
No lead with tooling skid 100kg additional & 240kg
tools additional tools
No Grabber No Grabber No Grabber No Grabber No Grabber

2 Z-Functions 2 Z-Functions 2 Z-Functions 2 Z-Functions
2 Z-functions 1 Atlas 1 Atlas 1 Atlas
No tooling 1 Conan, 1Conan 1 Conan
No tooling No extra floatation 50kg trim lead 50kg trim lead 50kg trim lead
No extra floatation 1 Atlas 660kg tooling skid 660kg tooling skid 6600kg tooling
1 Conan, 2 layer extra 100kg additional tool skid, 240kg
1 Atlas 350kg trim lead floatation 3 layer extra additional tool
1 Conan floatation 6 layer extra
floatation
In Air weight (kg) 5360 5710 6183 6320 6624
Nominal weight
-330 -12 -3 -2 4
in seawater (kg)
± 10% ± 10% ± 10% ± 10% ± 10%
(Tolerance)
Note: A negative value indicates positive buoyancy i.e. it will float.

Note: Assumptions: Tools weight in water is 80% of its weight in air.
Floatation System
18.1.1 Floatation System Mounting Bolt

A Belleville washer, also known as a Belleville spring or cupped spring washer, is a type washer
that is spring-shaped. It has a conical shape which gives the washer a spring characteristic; typically
used as springs, or to apply a pre-load or flexible quality to a bolted joint or bearing.
Figure 145: Belleville Washer
The mounting bolts are tightened on the surface so the stack is in the fully compressed
condition, applying a preload to floatation blocks.
Figure 146: Floatation Mounting Bolt
Torque requirements are detailed in drawing TMT-0000-8994 located in the TMT-NDP-

001\Mechanical\Floatation System.
When the vehicle travels to depth, pressure and temperature will cause the floatation to
contract in three dimensions; the preloading acts as a spring to maintain a sufficient
compressive force to keep the floatation secured to the frame.
Floatation System
18.1.2 Additional Floatation

The Typhoon MK2 150 ROV is designed with the provision to add or remove extra
floatation blocks.
Extra Floatation
Extra Floatation
Figure 147: Floatation Lay Out
The extra floatation pieces are keyed so that they can only fit the one way.
A total of four (4) pairs (requires one LHS and one RHS sheet) can be inserted at the front
and four (4) pairs that can be added to the rear.
Note: Only three (3) pairs are generally provided.
RH 0000-5277
LH 0000-5278
Figure 148: Extra Floatation, Right & Left Hand Sheets
Note: The extra floatation can only be added in pairs, one Right Hand Sheet (RHS) – one
Left Hand Sheet (LHS).
The nominal buoyancy of each pair is 52kg, so the total extra floatation available is:
• 208kg front
• 208kg rear
For instructions on how to add or remove extra floatation; refer to the TMT
Manual\Typhoon MK2 150 Maintenance Manual folder on the digital technical manual.
To access the Floatation System drawings; refer to the TMT-NDP-
001\Mechanical\Floatation System folder on the digital technical manual.
Floatation System
18.1.3 Trim Lead

The lead ballast on the ROV is easily removed or on top of the bottom frame FRP grating.
Lead placement for ROV trim is fitted in such a way so as not to restrict the access,
installation or removal of equipment. Sufficient lead is fitted to adjust the buoyancy for level
trim and a slight positive buoyancy in saltwater.
The Typhoon ROV without a tooling skid requires about 365kg of lead. Operation with its
custom tooling skid requires about 50kg of lead.
Each lead ingot weighs approximately 16.5kg. Two layers of extra flotation, one layer in
front and one layer on the rear, adds about 100kg extra buoyancy in total.
Depending on the ROV configuration, additional tools and accessories mounted on ROV
e.g. permanent recovery tool and finally the operator policy for trimming the ROV, some
extra flotation or lead ingots might need to be added to trim the ROV.
Figure 149: Lead Ballast Layout
Figure 150: Lead Ballast Tie Downs
Floatation System
For instructions on how to add or remove extra lead ballast; refer to the TMT
Manual\Typhoon MK2 150 Maintenance Manual folder on the digital technical manual.
To access the lead ballast drawings; refer to the TMT-NDP-001\Mechanical/ Tooling,
Instruments, Trim Options 0004-4994 folder on the digital technical manual.
Frame
19. Frame
Warning: Contact the ROV Manager prior to proceeding with any modifications to the
original frame set-up.
The Typhoon frame is manufactured from aluminium and is uncoated, sandblasted to
uniform finish and suitable for saltwater submersion. The design provides for ready access
to maintenance and interconnects points, specifically:
• Electrical connectors
• Hydraulic connections/adjustments
• Hydraulic oil filters
Figure 151: Frame
The open frame concept allows resident ROV components to be located for easy access,
while retaining a large open volume for mounting of additional ancillary components.
The open available volume in front: 0. 28m3, when Grabber and 3rd Z-function are removed.
Lower fame mounting area (foot print): 0.56m2.
Available volume on PORT side: 0.055m3.
Lower fame mounting area (foot print): 0.1 m2.
This open volume and deck space is available space for the placement of third party
components not typically included and not normally considered part of a “Standard” work
class ROV.
To access the Frame Assembly drawings; refer to the TMT-NDP-001\Mechanical\Frame
Assembly 0004-4999 folder on the digital technical manual.
To access the Lift Point drawings; refer to the TMT-NDP-001\Mechanical\Lift point 0000-
The Typhoon ROV frame assembly structure is designed, analysed and tested to a
combination of DNV and Lloyds requirements. The structural load path summary, included
Frame
in the drawings, specifies the safe working load for each system. The ROV frame assembly
provides a through-frame lift from the ROV lift point to the skid attachment of 3500kg
(7716lbs) weight in air, neutral or negatively buoyant in seawater. A tooling skid, fluid skid
or similar may be attached to the base of the ROV via the four (4) provided bolting points.
Critical areas are the blue/green shaded area as displayed in Figure 152.
If in any doubt in making modifications to the frame assembly, contact TMT Engineering for
guidance.
The guidelines for drilling holes in other areas are;
• Hole diameter not bigger than plate thickness.
• Distance to edge greater than the hole diameter.
Note: The load capacity of the bottom TMS latch and / or Typhoon ROV lift-point and / or
LARS / winch may limit the allowable skid weight.
Caution: No modifications to the frame critical members are allowed.
This includes cutting, drilling or welding.
Note: All weldments welding is in accordance with ASME Section IX, 1989 Code
Requirements.
Contact the ROV Manager prior to proceeding with any modifications to the original frame
set-up.
Frame
Figure 152: Frame Assembly
Frame
19.1 Skid Interfacing

Refer to drawing TMT-0009-4865 for details on the Skid interface.
Figure 153: Typhoon MK2 150 Skid Interface
Frame
19.2 ROV Lift Points

The Typhoon ROV has three (3) types of lift points available, dependent on the planed
operation:
• ROV Operations Lift Point, used for normal subsea operations with Type 5 Perry
TMS. Type 1 Perry TMS lift point is also available.
• Permanent Recovery Point, used as an emergency lifting point for the ROV in case
of a cut tether.
• Transport & Load Test Lift Point, used for transport on shore, ship to ship or load
testing.
19.2.1 ROV Operations Lift Point

ROV Lift Point is designed to match Type 5a Perry TMS. Lift point Safe Working Load
(SWL) is 8 tonnes.
Note: Other designs and those with higher SWLs are available on request. Contact TMT.
The Lift Point has a universal joint which allows the Lift Point bullet to swing in two planes;
also, the whole joint can rotate around the vertical axis.
Figure 154: ROV Operations Lift Point, Type 1 Perry TMS is Shown
The specific design of the Lift Point allows it to be adjusted longitudinally along the frame
lifting rails, as shown in Figure 154.
Four M24x160 grade A4-100 hex head custom made bolts bear the ROV weight and also a
tension force created by the 550Nm tightening torque.
Warning: These bolts are a very important part of the Lift Point so there are special
requirements for maintenance.
To prevent fatigue caused by reversed loads on the bolts they must be used
only once and replaced with new ones once they are un-torqued. Contact
TMT for replacement bolts.
To access the Lift Point drawings, refer to the TMT-NDP-001\Mechanical\Lift Point 0000-
Frame
19.2.2 Permanent Recovery Point

The permanent recovery point, located inside the top floatation cavity, is be part of the main
ROV lift point and provides an emergency lifting point for the Typhoon MKII 150 in case of a
cut tether
A round soft sling will be connected to the permanent recovery point via two standard WLL
9.5 tonne shackles, facilitating ROV’s retrieval from sea bed. The soft sling as default is
wrapped around the liftpoint and tucked away in the flotation cavity and tied down by cable
ties.
A monkey fist is attached to the slings to allow easy access by the second recovery ROV.
Figure 155: Permanent Recovery Point Permanent Recovery Points
Figure 156: Standard WLL 9.5 tonne Shackle
To access the Permanent Lift Point drawings, refer to the TMT-NDP-001\Mechanical\Load

Test Gear and other Accessories\0009-3227 folder on the digital technical manual.
Frame
19.2.3 Transport & Load Test Lift Point

The Transport and Load Test Lift Point has ten (10) tonnes SWL and will be used for
onshore / offshore lifting and transportation.
Figure 157: Transport & Load Test Lift Point
To access the Lift Point drawings; refer to the TMT-NDP-001\Mechanical\ Lift Point 0001-
Frame
19.3 Frame Corrosion Protection

All materials are suitable for intermittent submersion in saltwater. Galvanic corrosion is
controlled by minimizing the combination of dissimilar metals throughout the frame
assembly. Cathodic protection is provided by strategically locating sacrificial anodes in the
vicinity of bolted joints where stainless steel are in direct contact with aluminium material.
Sacrificial anodes come in a multitude of sizes and shapes.
Figure 158: Example of Sacrificial Anodes
The sacrificial anodes must be replaced as they deteriorate to minimize corrosion within
the frame assembly. The sacrificial anodes must be periodically removed, wire brush
cleaned and then re-installed.
New
Used
Figure 159: Example of Sacrificial Anode New - Used
The sand blasted aluminium finish will passively protect itself from general corrosion due to
the impermeable aluminium oxide layer that forms over all surfaces of the frame.
For additional information on frame corrosion; refer to the TMT Manual\Typhoon MK2 150
Maintenance Manual folder on the digital technical manual.

TMT-NMA-027 Typhoon MK2 150 ROV Technical Manual

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

TMT-NMA-027 Typhoon MK2 150 ROV Technical Manual

Uploaded by

Copyright:

Available Formats

Typhoon MK2 150 ROV

TMT-NMA-027 Total Marine Technology Pty Ltd Revision Number: 3

Document Control Details

Total Marine Technology Pty Ltd

Total Marine Technology

Document Control Details .................................................................................................... 2

10.2 Cameras ............................................................................................................... 97

16.2 Auxiliary Hydraulic System ................................................................................. 139

16.9.2 Bearing Housing Assemblies ....................................................................... 178

Figure 34: Typhoon Communications ..................................................................................64

Figure 68: 30º Offset on OE14-111 - Left ..........................................................................104

Figure 102: Example of Quick Disconnects .......................................................................141

Table 10: Insulation Monitors – Analogue............................................................................45

Table 44: Light Pin-Out Description (LPMBH-4-MP) .........................................................108

Table 78: Atlas 7R Functions & Ranges ............................................................................183

1. Associated Documentation and Terminology

Document No. Rev. Date Description/Title Company

Manuals and Data Sheets

CoG Centre of Gravity

NDT Non Destructive Testing

1.2 Document Conventions

An explanation or condition which it is essential to highlight and deemed necessary

1.3 Document Tree

Figure 1: Typhoon Documentation Tree

Figure 2: Typhoon MK2 150

2.1.3 Hydraulic Tooling Interface

3. ROV Core Systems

Figure 3: Core Systems

4.1.1 Power System Requirements

Table 3: ROV Spread Power System Requirements

4.1.2 Maximum Power Demands

Power Distribution Unit Cabinet

Figure 4: Typhoon ROV & TMS Power Distribution

4.2 System Earthing

These include the:

5. ROV Electrical System Components

Light Dimmer Bottle

FWD Sensor Bottle

Figure 6: Major Electrical Components

6. Electrical Bottles & Enclosures

Figure 7: Tether Termination J-Box

Table 5: Tether Termination J-Box Pin Out

6.2 Instrument Transformer Box

To MEE ROV Instrumentation Transformer

To Tether Termination To MEE

Figure 8: Instrument Transformer Box - As Seen From Top & Side

6.3 Main Electronics Enclosure

Cap Seal Port V1

Figure 9: MEE Disassembled

Figure 10: Main Electronics Enclosure

Figure 11: Locations of MEE Vacuum Ports

Figure 12: MEE - Empty & Loaded and Energised

6.3.1 MEE Cable Assembly Identification

Figure 13: MEE Lead Identification

Table 7: MEE Lead Identification

A Ring B Ring C Ring

8C- Oil filled Set Screws for Grounding

Power Slide8 Comms Slide8

6C- Fibre Optic Cable

Figure 15: Grounding Screw

Table 8: MEE Bell Power & Comms Slide Connectors

MEE Bell Power & Comms Slide Connectors

MEE Bell Power & Comms Slide Connectors

MEE Bell Power & Comms Slide Connectors