Impact Subsea ISA500 User manual
www.impactsubsea.com
Innovative Underwater Products
ISA500
Altitude, Pitch, Roll &
Heading Sensor
Installation & Operation
Manual
Revision: 1.7
Date: 15/01/2020
Impact Subsea Ltd
T. +44 (0) 1224 460 850
E. info@impactsubsea.co.uk
W. www.impactsubsea.com
Contents
1.0 Introduction.................................................................................................................................3
2.0 Specification................................................................................................................................4
2.1 Overview .........................................................................................................................4
2.2 Dimensions.......................................................................................................................4
2.2.1 Forward Looking Housing.....................................................................................4
2.2.2 Right Angle Housing..............................................................................................4
2.3 Acoustic, Heading, Attitude & Temperature....................................................................5
2.4 Communications, Power & Physical...............................................................................5
3.0 Installation .............................................................................................................................6
3.1 Electrical Installation.......................................................................................................6
3.1.1 Connector Pin Out................................................................................................6
3.1.2 Power....................................................................................................................7
3.1.3 Serial Interface.....................................................................................................7
3.1.4 RS232 Wiring.......................................................................................................7
3.1.5 RS485 Wiring.......................................................................................................8
3.1.6 Analogue Out and TTL Trigger............................................................................9
3.1.7 Establishing Communications............................................................................10
3.1.8 Connector Mating...............................................................................................10
3.1.9 Connector Cleaning............................................................................................11
3.2 Location...........................................................................................................................11
3.2.1 Acoustics (Altitude Measurement Performance)................................................11
3.2.2 Magnetic Disturbers (Heading Performance).....................................................11
3.2.3 Alignment with Vehicle (Pitch/Roll Accuracy)..................................................12
3.2.4 Heat Sources (Temperature Accuracy)...............................................................13
3.3 Mounting .......................................................................................................................13
4.0 Operation ..................................................................................................................................14
4.1 Use with seaView software............................................................................................14
4.2 Integration with systems................................................................................................15
4.3 Understanding advanced features..................................................................................15
5.0 Servicing....................................................................................................................................17
6.0 ASCII Output Strings ..............................................................................................................18
6.1 Altitude ..........................................................................................................................18
6.2 AHRS.............................................................................................................................24
7.0 Theory Of Operation.................................................................................................................26
7.1 Altitude - Basic Principles..............................................................................................26
7.2 The Sonar Equation........................................................................................................28
7.2.1 Source Level (SL)............................................................................................28
7.2.2 Transmission Loss (TL)....................................................................................29
7.2.3 Noise Level (NL)..............................................................................................29
7.2.4 Directional Index (DI)......................................................................................30
7.2.5 Detection Threshold (DT)................................................................................30
7.3 Heading, Pitch & Roll....................................................................................................31
7.4 Temperature....................................................................................................................31
8.0 Warranty....................................................................................................................................32
9.0 Technical Support .....................................................................................................................33
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1.0 Introduction
The ISA500 provides exceptionally accurate and long range underwater distance
measurement capability. Optionally the ISA500 can also provide Heading, Pitch,
Roll and Temperature readings.
Designed to measure distance to the seabed (as an underwater Altimeter) the
ISA500 can also be used in a number of underwater applications where a distance
requires to be measured or monitored.
Utilising a broadband composite transducer and advanced digital signal processing
techniques; enables the ISA500 to achieve long range capability with a high degree
of accuracy and stability.
The availability of heading, pitch and roll provides the capability to clearly
understand the orientation of the unit at all times. This can also be used to
automatically correct slant range readings; providing a true altitude measurement if
required. Alternatively these sensor readings can be used for navigation purposes
of a ROV, AUV or other underwater item.
Housed in a compact titanium or lightweight acetal housing and available in
forward looking and right angle housing configurations; ensures that the ISA500 is
not only at the forefront of sensor technology, but is built to withstand the most
extreme underwater environments.
ISA500 (Forward Looking Titanium Housing) ISA500 (Right Angle Acetal Housing)
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2.0 Specification
2.1 Overview
ISA500 (Forward Looking Titanium Housing) ISA500 (Right Angle Acetal Housing)
2.2 Dimensions
2.2.1 Forward Looking Housing
2.2.2 Right Angle Housing
All dimensions are in mm.
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2.3 Acoustic, Heading, Attitude & Temperature
Acoustic Attitude
Frequency 500kHz Standard
(400 to 600kHz
Selectable)
Pitch Range ± 90°
Roll Range ± 180°
Range 0.1 to 120+m
(Maximum range dependant on
seabed type: Ranges in excess
of 175 meters are achievable
with a strong acoustic reflector)
Accuracy 0.2°
Resolution 1mm Resolution 0.1°
Beam Angle 6° conical at 500kHz Temperature
Signalling Monotonic Accuracy 0.5°
Pulse Length User Defined Resolution 0.1°
Heading
Accuracy ± 1°
Resolution 0.1°
2.4 Communications, Power & Physical
Communications & Power Physical
Digital RS232 & RS485 F/L: Weight (Air/Water)
R/A: Weight (Air/Water)
0.5 / 0.325kg (Titanium)
0.3 / 0.11kg (Acetal)
0.52 / 0.35kg (Titanium)
0.325 / 0.125kg (Acetal)
Protocol 300 to 115200
baud
Depth Rating 6,000 meters (Titanium)
1,000 meters (Acetal)
(11,000 meter option
available)
Analogue 0 to 5 V DC or
0 to 10V DC or
4-20mA
Temperature Operating: -10 to 40°
Storage: -20 to 50°
Data Continuous or on
demand
Connector Subconn MCBH8M-SS
fitted as standard
Data Rate Up to 10Hz
* 100% Tx power, 10Hz update rate
Input Voltage 9 to 36V DC
Power (No Altitude) 25mA @ 24V DC
Power (With
Altitude)
51mA @ 24V DC
*
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3.0 Installation
3.1 Electrical Installation
The ISA500 is fitted with a SubConn MCBH8M-SS connector as standard.
This will mate to a SubConn MCIL8F connector/cable assembly.
3.1.1 Connector Pin Out
The standard connector pin out is provided below:
Male Connector on ISA500 Unit
Pin Function Mating Wire Colour
1 0VDC Black
2 9-36VDC White
3 Analogue Out Red
4 0V Analogue Green
5 0V Digital Orange
6 Trigger Blue
7 RS232 TX & RS485 A+ White/Black
8 RS232 RX & RS485 B- Red/Black
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3.1.2 Power
The ISA500 is polarity protected and fused with a 400mA resettable poly
fuse. Internal circuitry isolates the supply from the outside environment
requiring the serial interface, TTL trigger and analogue output to use the
digital and analogue 0V reference pin.
3.1.3 Serial Interface
The RS232 and RS485 interface is isolated from the supply and has in-line
fused protection on the serial lines. A prolonged transient voltage on these
line will blow the surface mount fuses which will require replacement by
Impact Subsea or an approved distributor.
3.1.4 RS232 Wiring
Note: RS232 will not function if the digital 0V pin is not use as the
RS232 ground.
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3.1.5 RS485 Wiring
The RS485 termination resistor is software selectable.
The digital 0V must be connected on an RS485 interfaces, otherwise
the voltage potential between one of the A+ or B- lines to ground could
reach a damaging level
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3.1.6 Analogue Out and TTL Trigger
The Analogue interface can be configure to output voltage or current. It is
isolated from the supply and has in-line fused protection. A prolonged
transient voltage on this line will blow the surface mount fuses which will
require replacement by Impact Subsea or an approved distributor.
The TTL input can be used to trigger a ping, update the analogue output and
transmit the user selected serial string. These events can happen when the
trigger is connected to digital 0V or disconnected, the software allows the
user to choose.
Notes:
TTL trigger input is referenced to Digital 0V
Analogue out is referenced to Analogue 0V
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3.1.7 Establishing Communications
The default serial settings are RS232, 9600, N81
If the ISA500 is tilted from vertical to upside down 3 times within the first 10
seconds of power up then it will temporarily configure the serial interface to
the default (RS232, 9600, N81) and output an ASCII message displaying the
settings.
Note: When the device is powered cycled the serial interface setting will
revert back to the last configuration.
3.1.8 Connector Mating
When mating the cable to the SubConn connector, to maximise the life of the
connector, it is important to observe the following:
–Always apply grease before mating. Molykote 44 Medium grease must be
used.
–Disconnect by pulling straight, not at an angle.
–Do not pull on the cable and avoid sharp bends at cable entry.
–Do not over-tighten the bulkhead nut.
Do not expose the connector to extended periods of heat or direct sunlight. If
a connector becomes very dry, it should be soaked in fresh water before use
© Impact Subsea Ltd 10
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