Hydrographic Survey Solutions | Seafloor Systems, Inc. | Unmanned surface vehicle | United States
User Manual for Seafloor Systems models including: Hydrone RCV Remote Control Survey Boat, Hydrone RCV, Remote Control Survey Boat, Control Survey Boat, Survey Boat
User Manuals | Seafloor Systems Inc
File Info : application/pdf, 60 Pages, 26.04MB
DocumentDocumentHydroneTM RCV User and Technical Manual Seafloor Systems, Inc Contents 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Terms And Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.3 System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.4 System Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.5 Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.6 Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.1 Battery Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2.2 Battery Charging Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2.3 Vessel Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.1 What's Included . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.2 System Overview Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.3 Assembling Your HydroneTM RCV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.4 HydroneTM RCV Endurance Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.5 Remote Control Unit (RCU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.6 Voltage Tester . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.7 Battery Charging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.7.1 E4 Cube Charger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.7.2 Optional - Spektrum Charger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.8 Pre-Launch Check List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 3.9 HydroneTM RCV Power On Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.10 Manual Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.11 HydroneTM RCV Power Off Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.12 Fail-Safe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.13 Voltage Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4 Frequently Asked Questions (FAQ) . . . . . . . . . . . . . . . . . . 26 5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 5.1 Propeller Orientation And Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 5.2 Receiver Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 6 Configure Procedure . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.1 RCU Receiver Binding Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.2 RCU Telemetry Configuration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 6.3 RCU Calibration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 6.4 ESC Calibration Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 6.5 ESC Programming Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7 Service And Maintenance . . . . . . . . . . . . . . . . . . . . . . 37 7.1 Maintaining Your Investment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.2 Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.3 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.3.1 Thruster Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.3.2 Propeller Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 7.3.3 Motor Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 7.3.4 RCU RTC Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 7.4 Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 7.4.1 Pre-launch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 7.4.2 After Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 7.4.3 Monthly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 8 Technical Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . 50 8.1 Beaufort Sea State Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 8.2 Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 8.3 Electrical Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 8.4 Mechanical Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 List of Figures 1 HydroneTM RCV System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2 HydroneTM RCV Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3 HydroneTM RCV Side View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4 HydroneTM RCV Top View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 5 Opening HydroneTM RCV Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 6 Removing Top Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 7 Port(Left) Pontoon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 8 Left And Right Pontoons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 9 Pontoons Not Spaced Correctly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 10 Frame Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 11 Frame Attached . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 12 Fin Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 13 HydroneTM RCV Endurance Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 14 RCU Bottom View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 15 RCU Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 16 RCU Back View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 17 LiPo Voltage Tester . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 18 Cube Balance Charger Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 19 Cube Balance Charger Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 20 Spektrum Charger Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 21 Main Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 22 Display Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 23 HydroneTM RCV Prop Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 24 W30 CCW Prop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 25 W30 CW Prop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 26 Channel 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 27 Receiver AIN2 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 28 Channel 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 29 Receiver AIN2 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 30 Model Select Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 31 Internal RF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 32 Waiting To Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 33 Archer Plus R6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 34 Binding Screen - SimuRX1/2 Is Only Used For Simulation . . . . . . . . . . . . . . . . . . 32 35 Bind Successful . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 36 Model Select Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 37 Telemetry Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 38 Delete All Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 39 Delete All Sensors Pop-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 40 Discover New Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 41 A2 Sensor Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 42 Display Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 43 Main Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 44 RCU Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 45 Hardware Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 46 Start Of Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 47 Joystick Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 48 ESC Programming Card Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 49 ESC Programming Card Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 50 Thruster Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 51 Thruster Adapter Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 52 Thruster Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 53 Thruster Adapter Plate Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 54 Thruster Housing Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 55 Prop Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 56 Prop Removed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 57 Thruster Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 58 Thruster Adapter Plate Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 59 Thruster Housing Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 60 Prop Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 61 Prop Removed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 62 Motor Housing Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 63 Rotor Removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 64 Stator And Rotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 65 RCU 2x Screw Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 66 RCU Final Screw Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 67 RCU RTC Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 68 Beaufort Sea State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 69 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 70 HydroneTM RCV Electrical Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 71 Side View Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 72 Front View Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 73 Top View Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 List of Tables 3 What's Included . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 4 RCU Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 6 E4 Cube Balance Charger Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 7 Spektrum Charger Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 9 Spektrum Charger Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 10 ESC Programming Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 1 Introduction 1.1 System Overview Welcome to the Seafloor Systems HydroneTM RCV manual. This document provides an overview of the key features and functionalities of our cutting-edge Uncrewed Survey Vessel (USV) designed for hydrographic surveying and marine mapping applications. The HydroneTM RCV offers advanced hydrographic surveying capabilities, flexible payload options, and real-time data viewing. The HydroneTM RCV features a robust hull and propulsion system, and reliable communication system. This manual is for hydrographic surveyors, marine scientists, and technical personnel involved in underwater mapping and surveying tasks using the HydroneTM RCV. 1.2 Terms And Acronyms ANP ASV Bow CAA CCW CW ESC FAQ GND GNSS GPS HDPE HLP HUD LED LiPo Motor MBES NMEA PoE Port Prop RCU RCV RDP Receiver, RCVR RSSI RTK RTL Rx SBES Servo Thruster SOC Starboard Stern SVP SVS Thruster Transmitter Tx USV VDC VAC AutoNav Plus Autonomous Survey Vessel Front or forward part of the vessel Collision Avoidance Assist Counter-Clockwise Clockwise Electronic Speed Controller Frequently Asked Questions Ground (Voltage) Global Navigation Satellite System Global Position Satellites High Density Polyethylene Hydrolite Plus Heads Up Display Light Emitting Diode Lithium Polymer Battery Center electronic part of the Thruster MultiBeam Echosounder National Marine Electronics Association Power over Ethernet Left side of vessel - facing towards bow Propeller Remote Control Unit Remote Controlled Vessel Remote Desktop Protocol, Remote Desktop Connection Receiver for the Transmitter Received Signal Strength Indicator Real Time Kinematic Return to Launch Receive Single Beam Echosounder Servo Thruster Assembly State of Charge Right side of vessel - facing towards the bow Rear or aft part of the vessel Sound Velocity Profiler Sound Velocity Sensor Thruster assembly with prop Transmitter also known as Radio Control Unit Transmit Uncrewed Survey Vessel Voltage - Direct Current Voltage - Alternating Current 1 Information Information banner is to notify useful information for operator. Caution Caution banner is provide important information that if disregarded may result in accidental misuse or damage to the system. Important Alert Important Alert is to provide important information that if disregarded may prove harmful to personnel or equipment. 2 1.3 System Specifications Survey Speed Max Survey Speed Length Pontoon Width Overall Width Hull Material Hardware Weight Payload Power Battery Endurance Thruster Steering Remote Control Range Remote Control Voltage Range Sea State Operating Air Temperature Operating Water Temperature 2 knots (1m/s) 4 knots (2m/s)* 45.6in (1.2m) 8.37in (0.21m) 29.25in (0.74m) High-Density Polyethylene (HDPE) 316 Stainless Steel 25lbs (9.8kg) 35lbs (15kg) 14.8VDC Nominal 5.5 Hours At Survey Speed With 16Ah Batteries 2x Electric Thrusters Skid Steer Up To 0.6 Miles (1km) (Conditions Dependent) 6-8.5VDC Beaufort Sea State 2 and Below (Figure 68) 14°F 113°F (-10°C 45°C) 28.4°F 96.8°F (-2°C 36°C) *Speed in ideal conditions. 8 hour operational endurance (with 4 batteries). Refer to Survey Duration Chart. 3.4 1.4 System Limitations To limit potential damage to the HydroneTM RCV, it is not recommended to use the USV in the following conditions: · Colder environments can lead to decreased battery capacity and shorter endurance compared to what is indicated on the endurance chart. (Refer to 3.4) · Range outside of 0.6mi (1km) line of sight. · Charging: On land only. No equipment leakage circuit interrupter (ELCI) protections for on water charging. · Weather Conditions: Do not use USV in adverse weather. Thunderstorms, lightning, hurricanes, monsoons, extreme heat, strong current, strong wind, heavy rain, etc. 1.5 Warranty Seafloor Systems, Inc. is committed to upholding the highest standards of quality, reliability, and durability in its products. We provide a warranty to the original purchaser or purchasing agency, guaranteeing that each HydroneTM RCV will be free from defects in materials or workmanship for a duration of one year from the date of shipment. The warranty provided does not cover defects resulting directly or indirectly from misuse, negligence, accidents, repairs, or alterations conducted outside of our facilities. It also does not cover the utilization of the HydroneTM RCV for purposes other than water measurements, or pairing it with instruments exceeding a weight of 35lbs (15.9kg). Seafloor assumes no responsibility for the loss of boats, instruments, damage to property, or any injury or fatality associated with the utilization of its products or any products that may be included or utilized in conjunction with Seafloor products. Seafloor's warranty does not extend to third-party products sold by Seafloor, which may encompass items such as GPS devices, depth sounders, and other supplementary equipment. All warranty-related services are carried out from Seafloor's facility in El Dorado Hills, California, U.S.A. 3 1.6 Technical Support Seafloor Systems, Inc. provides comprehensive customer support through both an online support system and a phone support system during regular business hours. For assistance outside of standard business hours, support is available by appointment. If your HydroneTM RCV was purchased through an authorized dealer, we kindly request that you contact your dealer's designated point of contact for immediate support and assistance. To submit a support request, please fill out our support form on our website www.seafloor.com via the big green button. You may also email us at support@seafloor.com. Please include as much information as possible: · Your Name and Company · Where you purchased the system · Purchase Order number · Serial number of the system · In-depth explanation of the issue · Any helpful pictures of the issue Upon submitting your support request through our website or emailing us, a case will be automatically generated in our support system. One of our support representatives will reach out to you to assist with your inquiry or issue within 48 hours. Please note that this response time does not include weekends. · Support: www.seafloor.com · Support Email: support@seafloor.com · Phone (PST/PDT): +1 530-677-1019 (Business Hours: Monday - Friday, 0700-1530) Option 2 for Support Option 1 for USV Support Option 2 for Single Beam Support Option 3 for Multibeam Support 2 Safety 2.1 Battery Safety Please read through these instructions carefully before you operate the HydroneTM RCV. Important Alert Danger to life from electric shock. Contact with uninsulated or damaged parts can result in severe physical injuries. · Before and after every use of a LiPo battery, carefully inspect the pack to ensure no physical damage, swelling or "ballooning" is visible. · If at any time you have an accident with your HydroneTM RCV, or if the battery swells, "balloons", or feels too hot to the touch, immediately stop use and carefully follow these safety steps: 4 Using electrical protective gloves, remove the battery pack from your HydroneTM RCV or charger. Place the battery in a LiPo safety sack or other fireproof container, away from flammable materials and in a well-ventilated area. Observe the battery from a safe distance for at least 30 minutes. If after 30 minutes the pack appears stable, follow the battery disposal instructions below. Under no circumstances should you return a battery to operation that has "ballooned" or been damaged in any way. · Always handle LiPo batteries with extreme care and take all necessary precautions to avoid battery packs and cells being dinged, dented, punctured, or otherwise damaged. · Keep battery packs out of the reach of children and pets. · Do not disassemble, modify, or attempt any form of repair of a LiPo battery. · Do not allow exposed battery wires to touch each other. · Always disconnect your battery from any device when not in use. All devices continue to draw power even when turned off. · Store your batteries in a cool, dry place between 40°F - 80°F (4°C - 26°C). All battery packs should be stored away from any flammable materials in a LiPo safety sack or other fireproof container (not included) with the plugs/connectors covered. · Batteries should be stored at 3.75-3.85V per cell. Failure to maintain these levels could result in a loss of battery capacity. Do not store batteries with voltage above or below this range for longer than one week. Check cell voltage with a voltage tester, following the included instructions. (Refer to 3.6) · LiPo batteries must be fully charged and returned to the recommended storage voltage range (3.75-3.85V per cell) at least once a month. Max voltage of a 4S battery is 16.8VDC. · Always take precautions to cover the battery plugs/connectors while not in use. · Always transport LiPo batteries in LiPo safety sack or other fireproof container with the battery plugs/connectors covered. · Never leave LiPo battery packs in an automobile. Temperatures within a vehicle can quickly reach unsafe levels. · Always keep a class D chemical fire extinguisher nearby, in case of fire when storing, handling, charging, or using LiPo battery packs. · Make sure the battery connections are connected in the proper polarity. Battery packs should be properly secured within the vehicle to prevent movement and damage to the battery while in use. · If the battery exceeds temperatures of 140°F (60°C) immediately discontinue charging and isolate the battery pack. Refer to point number two above from the Safety Warnings for further instruction. · Do not, under any circumstances, heat up a battery pack to increase pack performance. Doing so greatly increases the risk of fire. · Never allow your HydroneTM RCV to discharge a LiPo battery pack at more than the recommended continuous discharge rate. Refer to the label of your specific battery to determine the proper continuous discharge rate. You must also refer to your specific vehicle user manual to ensure your batteries' continuous discharge rate is not exceeded. · Damaged or ruptured battery packs or cells may leak electrolytes which can cause moderate to severe irritation including burning and dryness of the skin and eyes. For contact with the skin, thoroughly wash the affected area with soap and warm water. For contact with the eyes, rinse thoroughly with cool water. Seek immediate medical attention for any burns. Important Alert Never open the batteries. 5 2.2 Battery Charging Safety Important Alert Failure to follow any of the instructions and safety warnings contained within this document may cause irreversible damage to the battery pack. Information Due to shipping regulations, batteries are not shipped fully charged. All battery packs should be fully charged prior to first use. Lithium Polymer Battery (LiPo): · LiPo batteries, 2S and greater, feature a separate balancing plug that isolates each cell in a pack and allows each to be charged and monitored independently. This ensures that all cells charge equally and discharge at the same rate during use. Never charge a 2S or greater LiPo battery without connecting the balance lead to the charger. Always balance charge a 2S or greater LiPo battery. · Charge each battery pack individually. Never charge battery packs in series. Charging packs in series may result in improper charger cell recognition, improper charging rate, and overcharging that may lead to a fire. We recommend using a LiPo balance charge when charging your LiPo batteries. · Always check to make sure that your LiPo charger settings match those listed on the battery pack label. Refer to the battery label for the proper cell count and 1C charging amperage settings. · Always use a charger specifically designed for LiPo batteries. Never use NiCD or NiMH chargers to charge LiPo batteries. · Do not charge LiPo batteries to more than 4.2V per cell. · Never leave batteries unattended while charging, even when using a LiPo safety sack or another fireproof container. Batteries on charge MUST remain under constant observation so that you may react quickly should any problems arise. 2.3 Vessel Safety Important Alert Working with electricity in water environments requires utmost caution and adherence to safety protocols. Here are some important safety guidelines when using the HydroneTM RCV: · Electrical Safety: Exercise extreme caution when dealing with electricity in water. Avoid exposed wires and electrical circuits to prevent electrical shock hazards. · Propeller (Prop) Safety: Keep body parts away from the thruster inlet and outlet to prevent injuries. · Operating Conditions: Avoid operating the thrusters for extended periods outside of the water. The thrusters rely on water for cooling and running them dry can result in increased heat build up and potential damage. · Environmental Considerations: While the thrusters can handle saltwater and sandy environments, it's crucial to avoid sucking debris into the thruster. Steer clear of plants, weeds, and other aquatic debris to prevent damage. · Battery Safety: Never leave batteries powered on while the HydroneTM RCV is unattended. Always disconnect all batteries immediately after use. Adhering to these safety guidelines is crucial for the safe and effective operation of the HydroneTM RCV and to prevent accidents or damage to the equipment. Always prioritize safety when working with water-based electrical equipment. 6 3 System Operation 3.1 What's Included Item Pontoons Quantity Description 2 HydroneTM RCV USV Image* Frame 1 Frame with Pole Mounts Fins Frame Bolts 2 Seafloor Fins M5x25mm BHSC, 4 Washer, and Lock Washer Remote Control Unit (RCU) Remote Control 1 Unit for HydroneTM RCV USB Charging Cable 1 Charging Cable for RCU LiPo Charger Velcro Allen Driver: 5mm Allen Driver: 3mm Allen Driver: 2.5mm Hatch Wrench 2 Charger for the 4s LiPo Battery For pontoon 4 batteries(Not included) 1 For Pole Mount 1 For Frame Bolts 1 For Fin Set Screws 1 For Pontoon Hatches Voltage Tester 1 To measure the 4S LiPo voltage 7 USB Drive Loaded with 1 software, drivers, and manuals Programming Card 1 To Program the ESC Receiver Programming Cable 1 For Firmware Flashing Table 3: What's Included *Please note that images provided are for illustrative purposes only and may not precisely represent the delivered product. Seafloor Systems reserves the right to modify any product at its discretion. 8 3.2 System Overview Diagram Figure 1: HydroneTM RCV System Overview 9 2 B Frame 1 Starboard Pontoon Hatch B Starboard Power Switch Port Pontoon Hatch Pole Mount Port Power Switch A Fin Fin A Starboard Thruster Port Thruster 2 1 Figure 2: HydroneTM RCV Front View 10 2 B Frame Starboard Pontoon Starboard Thruster Fin A 2 1 B Pole Mount Port Pontoon Port Thruster Fin A 1 2 1 B B Hatch Power Switch Receiver Cable Gland Figure 3: HydroneTM RCV Side View 11 ESC Battery Thruster Fin A A 2 1 Figure 4: HydroneTM RCV Top View 12 2 Port Pontoon B Frame Hatch Port Power Switch A 2 Pole Mount 1 Starboard Pontoon B Hatch Starboard Power Switch A 1 3.3 Assembling Your HydroneTM RCV Hydrone Pontoons: 1. Open the HydroneTM RCV case. 2. The top section that houses the frame, fins, and other components can be removed and set aside. Figure 5: Opening HydroneTM RCV Case Figure 6: Removing Top Layer 3. Arrange an elevated platform for positioning the HydroneTM RCV pontoons, ensuring sufficient clearance for fins and thrusters. 13 Figure 7: Port(Left) Pontoon 4. Space the pontoons roughly 1' (30.4cm) apart. 5. Verify the port pontoon and starboard pontoon are on their correct sides. Figure 8: Left And Right Pontoons · Power switches and Hydrone Stickers should be facing outward · Using the stickers at the stern. Port is left. Starboard is right. 6. Remove the frame from the top section of foam and lay it across the two pontoons. The pole mount should be on the back half of the vessel. 14 Figure 9: Pontoons Not Spaced Correctly 7. Loosely install all the supplied stainless steel frame hardware. Figure 10: Frame Hardware 8. Tighten them with the supplied 3mm Allen driver. 15 Figure 11: Frame Attached 9. Flip the HydroneTM RCV upside down to gain access to the fin mount channel. 10. Slide the fin with the notch facing the bow into the fin mount channel. 11. Using the supplied 2.5mm Allen driver, tighten the set screw to hold the fin in place. Figure 12: Fin Installation 12. Flip the HydroneTM RCV right side up. 16 3.4 HydroneTM RCV Endurance Chart Figure 13: HydroneTM RCV Endurance Chart 3.5 Remote Control Unit (RCU) The HydroneTM RCV is controlled by a Taranis Q-X7 Access Transmitter. Information Figure 14: RCU Bottom View To charge the battery: · Open bottom dust cover to reveal USB mini port. · Connect supplied USB mini cable. · Connect USB A into a suitable charger source. (5VDC at 2amps) 17 Figure 15: RCU Front View Power Remote Control Unit Functions Press and hold (Not labeled - Release when the fourth loading dot appears - to power on Right below Hook) Release when the last loading dot shows - to power off J1/J2 Starboard Throttle (Up/Down) Left/Right - Unused J3/J4 Port Throttle (Up/Down) Left/Right - Unused S1 Volume Clockwise to turn up Counter-Clockwise to turn down S2 Unused SA Unused SB Unused SC Unused SD Unused SF Unused SH Unused Digit Trims Unused Earphone Port Unused Trainer Port Unused Module Bay Unused Battery Cover RCU Internal Battery Location (Refer to Fig 16) Table 4: RCU Functions 18 Figure 16: RCU Back View 3.6 Voltage Tester Information Max voltage of a 4S battery is 16.8VDC. Connecting to a Voltage Tester: 1. Connect the balance cable connector to the voltage tester. 2. Due to the versatile nature of the voltage tester, it may take a few configurations to connect correctly. Figure 17: LiPo Voltage Tester 19 3. The voltage tester will cycle from overall voltage to each cell voltage. 4. It is recommended to check every battery prior to operation. 3.7 Battery Charging 3.7.1 E4 Cube Charger Important Alert Never leave batteries unattended while charging. Batteries on charge MUST remain under constant observation so that you may react quickly should any problems arise. Caution Max voltage of a 4S battery is 16.8VDC. Caution Charging LiPo Battery: with E4 Cube Balance Charger 1. Using the supplied voltage tester, verify each cell is above 3.2V, below 4.2V, and within 10% of each other. 2. Plug the E4 Cube charger into an AC 100-240VAC/50-60Hz outlet. Note that the battery is not connected to the charger currently. Figure 18: Cube Balance Charger Power 3. Charger will run a self-check. Wait for LED 1, 3 and LED 2, 4 to blink alternately before proceeding. 4. Connect the 4S 14.4V LiPo battery balance cable to the 4S (right) port. Figure 19: Cube Balance Charger Connection 5. After connecting the battery, the LED will blink and indicate the battery capacity percentage. 20 · First LED indicates 25% capacity · Second LED indicates 50% capacity · Third LED indicates 75% capacity · Fourth LED indicates 100% capacity · Four LEDS will always be on when the battery is fully charged 6. When the battery is fully charged, disconnect the AC power first. Then disconnect the LiPo battery. Technical Data Property AC Input Rated Voltage Maximum charge current Charge Mode Value 100-240VAC 2S - 4S 4A Balance Table 6: E4 Cube Balance Charger Technical Data 21 3.7.2 Optional - Spektrum Charger Important Alert Never leave batteries unattended while charging. Batteries on charge MUST remain under constant observation so that you may react quickly should any problems arise. Caution Max voltage of a 4S battery is 16.8VDC. Caution Charging LiPo Battery: with Spektrum Charger Figure 20: Spektrum Charger Layout 1. Using the supplied voltage tester, verify each cell is above 3.2V, below 4.2V, and within 10% of each other. 2. Plug the S2200 G2 Smart Charger into an AC 100-240VAC outlet. Note that the battery is not connected to the charger currently. 3. The charger will initialize and display the home screen, which indicates that the charger is ready to be used. 4. Locate the charger adapter cables. Female IC5 connector to male XT90. 5. Connect male IC5 into the charger. Slide the port cover down to access the female IC5 connector. 6. Connect the female XT90 from the 4S LiPo into the male XT90 on the adapter cable. Then, connect the balance lead into the charger. 22 7. Press and release the menu/select button to display the charger settings list. Task Battery (Type) Cells (Cell Count) Current Start Smart Battery Settings System Settings Charger History Select Charge, Discharge, or Storage Select LiPo Select 4 cells for 4S LiPo battery Select10A for 10,000mAh, 16A for 16,000mAh and 20Afor 22,000mAh batteries Start the charger cycle N/A Charger Settings Displays number of charger cycles per day, total number of cycles, charger temperature, and input power Table 7: Spektrum Charger Settings 8. Select the 'Charge Task' option to charge the battery. 9. Confirm the settings are correct for the battery. Important Alert WARNING: Always check charging parameters before initiating the charge process. Charging any battery with improper settings, including charging a battery in the wrong mode, can result in property damage and fire. 10. Scroll to the 'Start' menu item. Press and release the 'Select' button to begin charging. 11. During the charging process the main screen will provide the following information: (a) Charge percentage (b) Battery data (c) Charge rate (d) Capacity rate (e) Total charge time 12. To view additional cell voltage (scroll to the next screen) (a) To stop the charging cycle, press and release the 'Back' button during charge or press and hold the 'Menu' button. (b) Select the 'Stop' menu item. The charger will then return to the home screen. 13. When charging is complete the charger will beep once to indicate fast charging is done. When the charger is finished balancing the battery it will double beep twice. (a) The main screen will display a green battery bar at the top to indicate the battery is full and the charging process has finished. (b) The total capacity charged and total charge time will be displayed. 14. Disconnect the battery from the charger. Information Charger error If the charger displays an error, follow the on-screen prompts to remedy the error. If necessary, disconnect the battery from the output and balance ports, disconnect the power supply, and then restart the charger. 23 Technical Data Input Voltage Charge Current Discharge Current USB Output Max Charge Power Max Discharge Power Balance Current Balance Cells 100-240 VAC 0.1 - 20.0A 0.1 - 1.5A 5V / 2A 2x200W 10W 1.5A/cell 1-6s Table 9: Spektrum Charger Technical Data 3.8 Pre-Launch Check List · Check all RCU switches and knobs are in correct positions for power on. Ensure volume knob is fully clockwise. (Refer to 3.9) · Check that no warnings are displayed when RCU is powered on. Determine cause of any warning and correct. · Check that no alarms are heard (See volume knob note above) or felt (Haptic Vibration Feedback System). · Check model displayed on main screen is correct. (Figure 43) · Check RCU battery voltage level is sufficient to perform lake test. 6-8.5VDC · Check pontoon battery voltage level is sufficient to perform lake test. 13.6-16.8VDC · Check propulsion system functions properly with manual control. · Check the thruster cable gland is tightened to the cable. (Figure 3) 24 3.9 HydroneTM RCV Power On Procedure Caution · Disconnect the batteries of the HydroneTM RCV at 12.8VDC to avoid irreversible damage. (Refer to 1.4) · To extend the battery life of the HydroneTM RCV, it is advisable to power it off when the voltage reaches 13.6VDC. (Refer to 1.4) Information 1. Power on the RCU. (Refer to 3.5) 2. Verify the joysticks are centered. 3. Install fully charged 4S 16.8VDC batteries into each pontoon. Connect the female XT90 connector of the battery to the male XT90 connector of the ESC. 4. Power on both pontoon switches (Figure 1), wait 15 seconds for the ESCs to initialize with a series of beeps. 5. Verify throttle functions correctly. (Refer to 5.1) 6. Secure all hatches before launching vessel with the hatch wrench. Caution Do not run thrusters for more than a few seconds out of the water. 3.10 Manual Operation HydroneTM RCV is a skid steered vessel. The left joystick controls the port throttle. The right joystick controls the starboard throttle. · Adjust speed using the RCU's throttle control: push forward for forward motion, pull back for reverse, and center for neutral. · To steer left, pull back on the port throttle the same amount you push forward on the starboard throttle. To steer right, pull back on the starboard throttle the same amount you push forward on the port throttle. · Familiarize yourself with the controls in a safe area to get a feel for the boat's responsiveness. · Be mindful of the apparent opposite steering when the HydroneTM RCV is headed toward you. 3.11 HydroneTM RCV Power Off Procedure 1. Upon retrieval of the HydroneTM RCV, center the joysticks. (Refer to 3.5) 2. Power off both pontoon switches. (Figure 1) 3. Disconnect each 4S battery. Disconnect the female XT90 connector of the battery to the male XT90 connector of the ESC. 4. Power off RCU by holding the power button until the 4 dots on the screen count down. Release at one dot. (Refer to 3.5) 3.12 Fail-Safe Information If there's a failure, the HydroneTM RCV is equipped with a built-in fail-safe. · Outside of RCU range if loss of comms: The receivers will go into fail-safe mode. The vessel will drift with no input. Move towards the HydroneTM RCV to attempt to reconnect with the RCU. 25 3.13 Voltage Monitoring HydroneTM RCV has a built-in real-time voltage monitor of the system and RCU. To view RCU battery voltage: 1. Power on the RCU. (Refer to 3.5) 2. Press EXIT to get to the main screen. Figure 21: Main Screen 3. Battery icon and percentage is the RCU battery. · Battery Range is 6-8.5VDC. To view HydroneTM RCV battery voltage: 1. Power on the RCU. (Refer to 3.5) 2. Power on a pontoon(Archer Plus R6 only). (a) Must power on starboard pontoon for older vessels (Archer R4 and older). 3. Hold down PAGE button to access the DISPLAY screen. Figure 22: Display Page · Left voltage(A2) is the starboard pontoon battery. · Right number(Received Signal Strength Indicator (RSSI)) is the RCU signal strength. · Top left name is the RCU model. · Top right voltage is the RCU battery. 4 Frequently Asked Questions (FAQ) · Why does the prop not spin in reverse? The ESC is not programmed to "Forward and Reverse" running mode. Refer to 6.5 for ESC Programming. 26 · Why does the thruster motor not respond while the HydroneTM RCV is powered? Alert tone of beep-, beep- (1 second interval) is heard. There is no signal from the receiver. Verify that the RCU is powered and that the RCU and receiver are bound. Verify all connections are clean and fully seated. · Why is the hatch leaking? Verify the condition of the hatch seal. Lubricate or replace as necessary. · Why is the prop spinning without engaging the throttle? Verify that the throttle trim is centered. Calibrate if necessary, refer to 6.4. · Why is the HydroneTM RCV still powered when the main switch is in the off position? Disconnect the battery. · Why does the HydroneTM RCV have a limited turning radius or only turns in one direction? Verify that the props are clean of debris. If issue still persist calibrate esc. (Refer to 6.4) · Why is the pontoon not powering on? Power switch on ESC is off or not fully seated in the on position. · Why is the receiver not powered? Connector is not fully seated or inadvertently disconnected. · Why do I need to keep programming the ESC? RCU joysticks are not in the neutral position when the pontoon is powered up. 5 Troubleshooting 5.1 Propeller Orientation And Rotation If the propellers on a HydroneTM RCV are rotating in the wrong direction, it will cause the boat to move in circles when attempting to go forward. Similarly, installing the wrong propeller will also lead to same issue. If you recently installed a new thruster or propeller, please use the below information to check proper orientation and rotation. Figure 23: HydroneTM RCV Prop Rotation 27 · Port Thruster: Motor must rotate clockwise(CW) (Figure 23) Prop is CCW Figure 24: W30 CCW Prop · Starboard Thruster: Motor must rotate counter-clockwise(CCW) (Figure 23) Prop is CW Figure 25: W30 CW Prop 28 5.2 Receiver Connections HydroneTM RCV Port(Left) Pontoon Receiver: · ESC connected to Channel 1. Figure 26: Channel 1 · Telemetry power cable connected to AIN2. (Figure 33) Figure 27: Receiver AIN2 Connection HydroneTM RCV Starboard(Right) Pontoon Receiver: · ESC Connected to Channel 2. Figure 28: Channel 2 29 · Telemetry power cable connected to AIN2. (Figure 33) Figure 29: Receiver AIN2 Connection 6 Configure Procedure 6.1 RCU Receiver Binding Procedure Archer Plus R6 Binding: Registration is only required if the RCU or Receiver (RCVR) was replaced. Skip to step 7 to bind for either receivers. 1. Refer to 3.5 for button or switch location on RCU. 2. Power on the RCU, power off the Archer Plus R6. 3. Quick press 'Menu' on the RCU. Figure 30: Model Select Screen 4. Quick press 'Page' to switch to SETUP Page 2/13. 30 Figure 31: Internal RF 5. Using the ENT knob, scroll down to INTERNAL RF. See figure 31. (a) Archer Plus R6 Registration: (Registration ID is the vessel serial number) i. Under Internal RF, Click Reg. A menu will pop up with 'Waiting...' · If you are changing to a new RCU and know the REG ID, you can scroll up and change ID. Once changed, skip to Step 7 below. Figure 32: Waiting To Register ii. On the Archer Plus R6, hold down the receiver button while powering up the Archer Plus R6. See figure 33. Figure 33: Archer Plus R6 · It is suggested to disconnect the main cable to remove power and reconnect when power is needed. iii. On the RCU, 'Waiting...' will be replaced with the model name. iv. Press Enter to confirm, registration complete. v. Power off the receiver. 6. Scroll to Receiver 1 and select Bnd. 31 Figure 34: Binding Screen - SimuRX1/2 Is Only Used For Simulation 7. Power on the Archer Plus R6 8. Press OK once bind is successful. Figure 35: Bind Successful 6.2 RCU Telemetry Configuration Procedure Information Telemetry configuration is only required if the RCU or Receiver (RCVR) was replaced. RCU and Receiver must be bound. 1. Refer to 3.5 for button or switch location on RCU. 2. Power on the RCU, power on the HydroneTM RCV. 3. Quick press 'Menu' on the RCU. Figure 36: Model Select Screen 4. Quick press 'Page' to switch to TELEMETRY Page 12/13. 32 Figure 37: Telemetry Page 5. Scroll down and select "Delete all sensors". Figure 38: Delete All Sensors Figure 39: Delete All Sensors Pop-Up 6. Scroll up and select "Discover new sensors". Figure 40: Discover New Sensors 7. A2 sensor will be active. 8. Select the A2 sensor. 33 Figure 41: A2 Sensor Page 9. At the top of the screen is the pontoon voltage. 10. Scroll down to the Ratio. Modify the value to set the pontoon voltage. Use the supplied Voltage Checker to check the pontoon voltage. 11. Press 'Exit' and the A2 sensor is setup. 12. Quick press 'Page' to switch to DISPLAY page 13/13. Figure 42: Display Page 13. The A2 will be removed when the sensors were deleted. Select the empty spot and scroll to A2. Do not use A2+ or A2- as they will show higher or lower voltages. 14. Press 'Exit' to complete the configuration. 6.3 RCU Calibration Procedure Calibrations should only be initiated if the HydroneTM RCV demonstrates a delayed response or excessively quick response, while the remainder of the joystick throw remains unchanged. Information All calibrations must be done in the correct order. Please refer to 3.5 to familiarize yourself with the RCU controls. 1. HydroneTM RCV must be powered off. 2. Power on the RCU. (Refer to 3.5) Figure 43: Main Screen 34 3. Hold down 'Menu' button. Figure 44: RCU Settings 4. Quick press 'Page' to switch to HARDWARE to Page 6/7. Figure 45: Hardware Page 5. Highlight 'Calibration' and select. 6. Follow the onscreen instructions. Figure 46: Start Of Calibration 7. Once calibration is complete, screen will cycle back to start of calibration page. 8. Press Exit twice to exit back to main screen. 6.4 ESC Calibration Procedure 1. Calibrate one ESC at a time. 2. Power on the RCU. (Refer to 3.5) 3. Push the Throttle Control to full throttle on the pontoon you are calibrating. 4. Power on the HydroneTM RCV. 5. Two short Beep- Beep- tones will be heard, confirming the full throttle position. 6. Immediately release the Throttle Control to the neutral position. 35 7. A steady and long beep-- can be heard, confirming the neutral position. "Beep- Beep-" "Beep--" Figure 47: Joystick Position 8. Finalization tones can be heard. Calibration complete. 9. Repeat for the opposite side. 6.5 ESC Programming Procedure Solid Red LED Indications Throttle Solid Red and Green Full throttle Flashing Red Low Voltage Cutoff Protection is activated Flashing Green Overheat protection is activated ESC Programming 1. Connect the included ribbon cable into the programming slot on the programming card. Figure 48: ESC Programming Card Ports 36 2. Connect the ribbon cable to the ESC. Pay attention to the connector orientation. Figure 49: ESC Programming Card Connection 3. Power on the HydroneTM RCV. The Programming Card will power on. 4. Using the chart below, match the Items with the Values. 5. Press Item to cycle Items. Press Value to cycle Values. Press 'OK' to save for each Item. Item 1 2 3 4 5 Value 2 1 4 5 4 Description Forward & Reverse Mode Auto Calc LiPo Cells 3.2V/cell Low Voltage Cut Off 15° Timing 100% Reverse Table 10: ESC Programming Values 7 Service And Maintenance 7.1 Maintaining Your Investment Maintaining your HydroneTM RCV asset is essential for its reliable performance. Regular maintenance includes routine checks of propulsion system, sensor, and electronics to ensure they are in optimal working condition. Keeping the hull clean as well as verifying the integrity of communication links and power sources, is crucial. By adhering to a proactive maintenance regimen, the USV remains mission-ready, maximizing its effectiveness and longevity. 7.2 Storage · Store indoors with all hatches open for air circulation. · LiPo batteries stored at 3.75-3.85V a cell - check every month. · Pontoon internals are dry 37 7.3 Service 7.3.1 Thruster Replacement 1. Remove the 2x M5 nyloc with a 8mm wrench. Figure 50: Thruster Removal 2. Disconnect the 3 motor wires from the ESC. (Figure 70) 3. Remove the cable gland nut and seal off the thruster wires. 4. Slide 1 of the 3 motor wires through the cable gland at a time until it's fully removed. 5. Install thruster adapter plate to new thruster, if required. 38 Figure 51: Thruster Adapter Plate 6. Install new thruster motor wires through cable gland. 7. Install the cable gland seal and nut. · Ensure the seal sits in it's notched location for proper sealing. 8. Install new thruster onto the pontoon mating plate. 9. Install the 2x M5 nyloc. 39 7.3.2 Propeller Replacement Caution Use Vibra-tite with all hardware. Plastic may become damaged if Vibra-tite instructions are not properly followed. 1. Remove the 2x M5 nyloc with a 8mm wrench. Figure 52: Thruster Removal 2. Remove the 4x M3x6 bolts with a 2mm Allen driver. 40 Figure 53: Thruster Adapter Plate Removal 3. Remove the 5x screws with a #3 Philips driver. Figure 54: Thruster Housing Removal 4. Remove the 2x screws with a #3 Philips driver. 41 Figure 55: Prop Removal 5. Remove the prop. The prop may be suctioned to the motor housing. Use care when removing. Figure 56: Prop Removed 6. Install the replacement W30 prop. 7. Follow the instructions in reverse order for reassembly. 7.3.3 Motor Cleaning Caution Use Vibra-tite with all hardware. Plastic may become damaged if Vibra-tite instructions are not properly followed. 1. Remove the 2x M5 nyloc with a 8mm wrench. 42 Figure 57: Thruster Removal 2. Remove the 4x M3x6 bolts with a 2mm Allen driver. Figure 58: Thruster Adapter Plate Removal 3. Remove the 5x screws with a #3 Philips driver. 43 Figure 59: Thruster Housing Removal 4. Remove the 2x screws with a #3 Philips driver. Figure 60: Prop Removal 5. Remove the prop. The prop may be suctioned to the motor housing. Use care when removing. 44 Figure 61: Prop Removed 6. Remove the 2x M3 bolts with a 2.5mm Allen Driver Figure 62: Motor Housing Removal 7. Loosen the 2x set screws on the collar towards the bow using a 1.5mm driver(not supplied). Figure 63: Rotor Removal 45 8. The motor rotor and stator are magnets. To remove, pull on the motor rotor to slide off. Figure 64: Stator And Rotor 9. Inspect the magnets and protective coverings. Clean with mild soap and water. 10. Follow the instructions in reverse order for reassembly. 46 7.3.4 RCU RTC Battery Replacement Replace the RTC battery when you receive "Battery Warning: RTC Battery Low". Part Required: · CR21220 Coin Battery Tool Required: · Phillips Screwdriver 1. Power off and flip over the RCU. 2. Locate the two visible Phillip screws and unscrew them. Figure 65: RCU 2x Screw Locations 3. Remove the module bay cover. 4. Remove the battery cover. (Figure 16) 5. Disconnect the battery. 47 Figure 66: RCU Final Screw Locations 6. Locate the additional two Phillip screws and unscrew them. 7. Carefully split case of the RCU. Figure 67: RCU RTC Location 8. Locate the RTC battery(circled red) and remove it. 9. Replace it with a new CR1220 battery. 48 10. Carefully put the two case halves together. Verify the module bay pins (circled yellow in Figure 67) slide through the slot (Figure 16). 11. Screw in the four Philip screws. 12. Connect the battery. 13. Install battery spacing foam. 14. Install the battery and module bay covers. 7.4 Maintenance Schedule 7.4.1 Pre-launch · Hull inspection for damage, cracks, or signs of wear. · Seals are lubricated with silicone-based lubricants. · Anti-seize on hardware. · Electronics are functioning. · Batteries are fully charged. · Check all hardware is tight. · Check that cable connections are screwed tight. · Confirm full insulation of all cables. 7.4.2 After Recovery · Hull inspection for damage, cracks, or signs of wear. · Seals are lubricated with silicone-based lubricants. · Anti-seize on hardware. · Electronics are functioning. · Batteries are fully charged. · Check all hardware is tight. · Cleaned with fresh water and mild soap. · Dried off. · Stored with hatches open for circulation. 7.4.3 Monthly · Hull inspection for damage, cracks, or signs of wear. · Check for loose or corroded electrical connections. · Lubricate seals with silicone-based lubricants. · Anti-seize on hardware. · Electronics are functioning. · Battery maintenance. LiPo batteries should be stored at 3.6V a cell. · Replenish any parts that were pulled from the spares kit. · Stored with hatches open for circulation. 49 8 Technical Diagrams 8.1 Beaufort Sea State Chart Estimating Wind Speed and Sea State with Visual Clues Beaufort number Wind Description Wind Speed Wave Height Visual Clues 0 Calm 0 knots 0 feet Sea is like a mirror. Smoke rises vertically. 1 Light Air 1-3 kts < 1/2 Ripples with the appearance of scales are formed, but without foam crests. Smoke drifts from funnel. 2 Light breeze 4-6 kts 1/2 ft (max 1) Small wavelets, still short but more pronounced, crests have glassy appearance and do not break. Wind felt on face. Smoke rises at about 80 degrees. 3 Gentle Breeze 7-10 kts 2 ft (max 3) Large wavelets, crests begin to break. Foam of glassy appearance. Perhaps scattered white horses (white caps). Wind extends light flag and pennants. Smoke rises at about 70 deg. Small waves, becoming longer. Fairly frequent white horses (white caps). 4 Moderate Breeze 11-16 kts 3 ft Wind raises dust and loose paper on deck. Smoke rises at about 50 deg. No (max 5) noticeable sound in the rigging. Slack halyards curve and sway. Heavy flag flaps limply. Moderate waves, taking more pronounced long form. Many white horses (white caps) are formed (chance of some spray). 5 Fresh Breeze 17-21kts 6 ft Wind felt strongly on face. Smoke rises at about 30 deg. Slack halyards whip (max 8) while bending continuously to leeward. Taut halyards maintain slightly bent position. Low whistle in the rigging. Heavy flag doesn't extended but flaps over entire length. Large waves begin to form. White foam crests are more extensive everywhere (probably some spray). 6 Strong Breeze 22-27 kts 9 ft (max 12) Wind stings face in temperatures below 35 deg F (2C). Slight effort in maintaining balance against wind. Smoke rises at about 15 deg. Both slack and taut halyards whip slightly in bent position. Low moaning, rather than whistle, in the rigging. Heavy flag extends and flaps more vigorous. Sea heaps up and white foam from breaking waves begins to be blown in streaks along the direction of wind. Necessary to lean slightly into the wind to 7 Near Gale 28-33 kts 13 ft (max 19) maintain balance. Smoke rises at about 5 to 10 deg. Higher pitched moaning and whistling heard from rigging. Halyards still whip slightly. Heavy flag extends fully and flaps only at the end. Oilskins and loose clothing inflate and pull against the body. 8 Gale 34-40 kts Moderately high waves of greater length. Edges of crests begin to break into the spindrift. The foam is blown in well-marked streaks along the direction of 18 ft the wind. Head pushed back by the force of the wind if allowed to relax. (max 25) Oilskins and loose clothing inflate and pull strongly. Halyards rigidly bent. Loud whistle from rigging. Heavy flag straight out and whipping. 9 Strong Gale 10 Storm 41-47 kts 48-55 kts 23 ft High waves. Dense streaks of foam along direction of wind. Crests of waves (max 32) begin to topple, tumble and roll over. Spray may affect visibility. Very high waves with long overhanging crests. The resulting foam, in great 29 ft (max 41) patches is blown in dense streaks along the direction of the wind. On the whole, the sea takes on a whitish appearance. Tumbling of the sea becomes heavy and shock-like. Visibility affected. 11 Violent Storm 56-63 kts Exceptionally high waves (small and medium-sized ships might be for time 37 ft (max 52) lost to view behind the waves). The sea is completely covered with long white patches of foam lying along the direction of the wind. Everywhere, the edges of the wave crests are blown into froth. Visibility greatly affected. 12 Hurricane 64+ kts 45+ ft The air is filled with foam and spray. The sea is completely white with driving spray. Visibility is seriously affected. Figure 68: Beaufort Sea State 50 8.2 Block Diagrams THRUSTER ESC ESC THRUSTER RECEIVER RECEIVER RCU Figure 69: Block Diagram 51 8.3 Electrical Diagrams Figure 70: HydroneTM RCV Electrical Diagram 52 8.4 Mechanical Diagrams Figure 71: Side View Diagram 53 2 B 45.00" A (114cm) 2 1 B AIR DRAFT 6" (15cm) DRAFT 6" (15cm) A 1 1 B 29" (74cm) A 1 2 B 12" (30cm) A 2 Figure 72: Front View Diagram 54 Figure 73: Top View Diagram 55 2 B 29" (74cm) A 2 1 45" (114cm) B A 1 Revision History Revision Date Author(s) 1.0 3.7.2024 BA Description Created 56