Impact Subsea ISD4000 User manual

IMPACT SUBSEA

INNOVATIVE UNDERWATER PRODUCTS www.impactsubsea.com

T. +44 (0) 1224 460 850

Impact Subsea Ltd, Company Number: SC498003, Registered in Scotland, Registered

Office: Unit 10, Castle Street, Castle Road Industrial Estate, Ellon, AB41 9FR, UK

E. [email protected].uk

W. www.impactsubsea.com

ISD4000

Depth & Temperature Sensor

With Optional AHRS

Installation & Operation Manual

Revision Number:

2.0

Date

27th June 2022

IMPACT SUBSEA

INNOVATIVE UNDERWATER PRODUCTS www.impactsubsea.com

Document No: 0000.1907 | Version No: 2.0 | 27th June 20221

1.0 Introduction......................................................................................................................................2

2.0 Specification .....................................................................................................................................3

2.1 ISD4000 Overview.........................................................................................................................3

2.2 ISD4000 Dimensions......................................................................................................................3

2.3 Depth, Temperature & AHRS........................................................................................................4

2.4 Communications, Power & Physical.............................................................................................4

3.0 Overview...........................................................................................................................................5

4.0 Installation........................................................................................................................................6

4.1 Location .........................................................................................................................................6

4.1.1 Pressure (For Depth Accuracy)................................................................................................6

4.1.2 Magnetic Disturbers (For Heading Accuracy).........................................................................6

4.1.3 Alignment with Vehicle (For Pitch/Roll Accuracy).................................................................7

4.1.4 Heat Sources (For Temperature Accuracy).............................................................................7

4.2 Mounting.......................................................................................................................................8

4.3 Electrical ........................................................................................................................................9

4.3.1 Connector Pin Out..................................................................................................................9

4.3.2 Power................................................................................................................................... 10

4.3.3 Serial Interface .................................................................................................................... 10

4.3.4 RS232 Wiring ....................................................................................................................... 10

4.3.5 RS485 Wiring ....................................................................................................................... 11

4.3.6 Establishing Communications............................................................................................. 12

4.3.7 Connector Mating................................................................................................................ 12

4.3.8 Connector Cleaning ............................................................................................................. 13

5.0 Operation...................................................................................................................................... 13

5.1 Use With The Impact Subsea Software ......................................................................................13

5.2 Integration With Systems ...........................................................................................................15

5.3 Calibration ...................................................................................................................................16

5.4 Magnetic Calibration...................................................................................................................16

6.0 ASCII Output Strings..................................................................................................................... 24

6.1 Depth ...........................................................................................................................................24

6.2 AHRS ............................................................................................................................................27

7.0 Servicing........................................................................................................................................ 33

8.0 Warranty....................................................................................................................................... 34

9.0 Technical Support......................................................................................................................... 35

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INNOVATIVE UNDERWATER PRODUCTS www.impactsubsea.com

Document No: 0000.1907 | Version No: 2.0 | 27th June 20222

Every effort is made to ensure that information within this document is up to date. However, information within this document

is subject to change without notice, in-line with our commitment to continuous product development and improvement.

1.0 Introduction

The ISD4000 sensor provides depth and temperature measurement with exceptional accuracy

and resolution. Optionally, the ISD4000 can also measure Heading, Pitch & Roll.

Suitable for a large range of underwater applications, the ISD4000 can be used with ROVs,

AUVs, Hydro-graphic Survey, Construction, Positioning and any other task where accurate

depth and temperature is required underwater.

The ISD4000 utilises the latest in temperature compensated piezo-resistive depth sensing

technology, to provide an exceptional 0.01% full scale depth measurement accuracy. A highly

accurate RTD sensor is used to provide temperature to 0.01°C accuracy.

Where fitted, the Heading, Pitch and Roll readings are provided from integrated MEMs based

Magnetometers, Accelerometers and Gyroscopes. The MEMs based devices are fused together

to provide highly accurate and stable Heading, Pitch and Roll measurements.

Housed in a compact and lightweight titanium or acetal housing ensures that the ISD4000 is not

only at the forefront of sensor technology; but is built to withstand the most extreme

underwater environments.

ISD4000 Depth & Temperature Sensor

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Document No: 0000.1907 | Version No: 2.0 | 27th June 20223

2.0 Specification

2.1 ISD4000 Overview

2.2 ISD4000 Dimensions

All dimensions are in mm.

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2.3 Depth, Temperature & AHRS

Depth

Pitch & Roll*

Accuracy

± 0.01% Full Scale

(± 0.005% Full Scale

Option)

Pitch

± 90°

Roll

± 180°

Resolution

0.001% Full Scale

Accuracy

0.2° RMS

Range

10, 30, 50, 100, 300,

400 or 600 Bar

Resolution

0.1°

Type

Temperature

Compensated Piezo-

Resistive

Temperature

Accuracy

0.01°C

Resolution

0.001°C

Heading*

Accuracy

± 0.5°

Resolution

0.1°

* Optional

2.4 Communications, Power & Physical

Communications & Power

Physical

Digital

RS232 & RS485

Weight

(Air/Water)

Titanium: 0.42 / 0.28kg

Acetal: 0.20 / 0.10kg

Protocol

4800 to 115200

baud

Depth Rating

Titanium: 6,000 meters

Acetal: 500 meters

Data

Continuous or on

demand

Temperature

Calibrated: -5 to 35°

Operating: -10 to 60°

Storage: -20 to 70°

Data Rate

Up to 100Hz

Connector

Subconn MCBH8M-SS

fitted as standard

Input Voltage

7 to 32V DC

Power

< 40mA @ 24V DC

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3.0 Overview

The ISD4000 is a pressure measurement device – making use of increasing pressure in water to

determine depth. It is important to note that the device is designed to provide depth &

temperature measurements in water, and will not provide accurate readings when operated in

air.

The Heading, Pitch and Roll readings are provided by a Micro-Electro-Mechanical system

(MEMS) based technology. MEMs based Gyros, Accelerometers and Magnetometers are

integrated within the unit.

The temperature reading is provided by a dedicated RTD sensor, located in a probe next to the

pressure sensor.

The ISD4000 can be configured using the supplied Impact Subsea seaView software. seaView

allows all settings to be configured (output strings, communications protocol, baud rate, taring

etc).

In addition to allowing the ISD4000 to be configured, seaView also allows all sensor readings to

be viewed in real time and logged.

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4.0 Installation

4.1 Location

When evaluating the installation location of the ISD4000, there are several factors to consider

to achieve optimum operation from each part of the unit:

–Pressure (Depth Measurement)

–Magnetic Disturbers (Heading)

–Alignment with Vehicle (Pitch/Roll)

–Heat Sources (Temperature Measurement)

4.1.1 Pressure (For Depth Accuracy)

The ISD4000 pressure port must not be blocked or obstructed by any item. Take care

when mounting the unit not to block any of the holes on the pressure port of the

ISD4000.

The unit should be mounted to allow good water flow to the pressure sensor.

Ideally the ISD4000 should be mounted with the pressure sensor end pointing

downwards. This will help to minimise the build-up of sediment on the pressure sensor.

4.1.2 Magnetic Disturbers (For Heading Accuracy)

Where the heading output is to be used, the ISD4000 should be mounted as far as

possible from sources of magnetic interference.

Electrical items which can cause magnetic interference include motors, transformers

and valve packs. Ferrous metals, or any other magnetically active materials will also

have influence on the heading reading. Thus, where possible, the unit should be

installed as far as possible from magnetically active materials.

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4.1.3 Alignment with Vehicle (For Pitch/Roll Accuracy)

When mounting vertically, the ISD4000 should be mounted with the Pressure Sensor

facing downwards (to the seabed) and the indentation in the connector end cap

pointing forwards, in the direction of forward vehicle travel:

When mounting horizontally the ISD4000 should be installed with the indentation in the

connector end cap pointing upwards:

4.1.4 Heat Sources (For Temperature Accuracy)

In order for the ISD4000 to read the ambient temperature of the water, it should not be

installed in close proximity of any heat sources (such as Hydraulic Power Packs).

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4.2 Mounting

The ISD4000 should be mounted using clamps around the mid-section of the body. The unit

has a 38mm recess in the main body to enable a clamp to be tightened securely around the

unit:

Ideally a non-metallic clamp should be used, however in the event that this is not possible,

effort should be made to electrically isolate the clamp from the ISD4000 housing. This can be

achieved by using rubber or plastic strips around the body of the ISD4000.

The ISD4000 has two flats, on either side of the body – these are to enable the unit to sit tightly

against another flat surface if available. These flats also help prevent the unit moving when on

the workbench for testing.

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4.3 Electrical

The ISD4000 is fitted with a SubConn MCBH8M-SS connector as standard. This will mate to a

SubConn MCIL8F connector/cable assembly.

4.3.1 Connector Pin Out

The standard connector pin out is provided below:

Male Connector on ISD4000 Unit

Function

Mating Wire Colour

0VDC

Black

7-32VDC

White

Not Used

Red

Not Used

Green

0V Digital

Orange

Not Used

Blue

RS232 TX & RS485 A+

White/Black

RS232 RX & RS485 B-

Red/Black

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