Comanche 02 Aux Equipment Manual Rev 1

Comanche No.2.doc Revision 1

COMANCHE ROV SYSTEM

Comanche ROV Serial No. SA-RCOM-002

OPERATION & MAINTENANCE MANUAL

Section 7

Auxiliary Equipment Operation & Maintenance Manuals

SUPPLIED TO

Oceanteam 2000

Technische Daten Technical data

Isolationskoordination nach IEC 664-1 Insulation coordination acc. to IEC 664-1Bemessungsspannung Rated insulation voltage AC 630 VBemessungsstoßspannung/Verschmutzungsgrad Rated impulse withstand voltage/contamination level 6 kV/3Spannungsprüfung nach IEC 60255 Test voltage acc. to IEC 60255 3,75 kV

Arbeitsbereich der Nennspannung Un Operating range of nominal voltage Un AC 0...828 VDC 0...480 V

Speisespannung US Supply voltage US siehe Typenschild / see nameplate

Ansprechwert RALARM1 Response value RALARM1 2...10 kΩ / 20...100 kΩAnsprechwert RALARM2 Response value RALARM2 10...50 kΩ / 100...500 kΩAnsprechzeiten (0,5 x RALARM/CE = 1 µF) Response time (0.5 x RALARM/CE = 1 µF)Bereich 6...500 kΩ range 6...500 kΩ 8...12 secBereich 2...6 kΩ range 2...6 kΩ 8...35 secMax. Netzableitkapazität Max. system leakage capacitance 50 µ F

DC-Innenwiderstand Internal resistance 200 kΩImpedanz bei 50 Hz Impedance at 50 Hz 180 kΩMax. zulässige Fremdgleichspannung Max. admissible stray DC voltage DC 800 V

Schaltglieder Switching components 2 Wechsler / 2 change over contactsKontaktbemessungsspannung Rated contact voltage AC 250 V / DC 300 VEinschaltvermögen Limited making capacity AC/DC 5 AAusschaltvermögen AC/DC Limited breaking capacity AC/DC 2 / 0,2 A

Prüfung der elektromagn. Verträglichkeit (EMV) Test of electromagnetic compatibility (EMC)Störfestigkeit nach EN 50082-2 Interferences acc. to EN 50082-2Störaussendung nach EN 50081-2 Emissions acc. to EN 50081-2(nur für Indurtriebereich) (for use in industrial areas)

Umgebungstemperatur, bei Betrieb Ambient temperature during operation -10°C ... +55°CUmgebungstemperatur, bei Lagerung Storage temperature range -40°C ... +70°C

IR475LYT-4.. -25°C...+70°C/-40°C...+70°CKlimaklasse nach IEC 60721 Climatic class acc. to IEC 60721

3K5, jedoch ohne Betauung und Vereisung / 3K5, except condensation and formation of ice

Anschlußart/Leitung: Type of connection/cable:Reihen klemmen/Aluminium oder Kupfer screw terminals/Aluminium or CopperTemperaturbereich Leitung Temp. range cable 60°C (18...16 AWG) / 75°C (14...12 AWG)Anschlußquerschnitt Wire cross sectioneindrähtig/feindrähtig Single wire/fine braid 0,2...4 mm2/0,2...2,5 mm2(24...12 AWG)Schutzart nach EN 60529 Protection class acc. to EN 60529Einbauten/Klemmen Internal components/terminals IP 30 / IP 20Gewicht max. Weight max. 430 g

1060

05 /

05.

2002

Isolationsüberwachungsgerät

14

Dipl.-Ing. W. Bender GmbH & Co KG • Postf. 1161D 35301 Grünberg • Tel.: 06401 / 807-0 • Fax: 06401 / 807-259

Bestimmungsgemäße Verwendung

Das A-ISOMETER® IR475LY.-4.. überwacht denIsolationswiderstand eines ungeerdeten Wechsel- oderGleichspannungsnetzes (IT-System) von AC 0...828 V oderDC 0...480V.

Montage, Anschluß und Inbetriebnahme

Auf richtige Nennspannung bzw. Speise-spannung achten.

In jedem IT-System darf nur ein Isolations-überwachungsgerät angeschlossen sein.

Absicherung Speisespannung: Empfehlung, 6 A.Absicherung Netzankopplung: Kurzschluß- underdschlußsichere Verlegung.

Elektrische Geräte sind nur von Elektrofachkräften zu in-stallieren bzw. zu montieren. Dabei sind die bestehendenSicherheitsvorschriften zu beachten.

Das IR475LY.-4.. ist für ein- und dreiphasige AC-Netze gleichermaßen geeignet. Der Anschlußkann dabei auf mehrere Arten erfolgen. Meßtech-

nisch spielt es keine Rolle, ob die Anschlüsse L1 und L2an einen oder an zwei verschiedene Außenleiter oder anden N-Leiter gelegt werden. L1 und L2 bzw. KE und müssen dabei getrennt geführt werden.

Bestandteil der Gerätedokumentation sind neben diesemDatenblatt die beiliegenden „Wichtigen sicherheitstech-nische Hinweise für Bender-Produkte“.

Proper use

The A-ISOMETER® IR475LY.-4.. monitors the insulationresistance of IT AC- or DC systems (isolated power)AC 0...828 V or DC 0...480 V.

Installation, connection, commissioning

Please check for correct system voltage andsupply voltage.

Only one insulation monitoring device may beused in each interconnected system.

Protection, supply voltage: 6 A fuseProtection, system coupling: cabling which is short-circuitand earth-fault proof.

Electrical equipment shall only be installed by qualifiedpersonnel in consideration of the current safety regulations.

The IR475LY.-4.. is suited for both single and threephase AC systems. As indicated in the wiring dia-gram, there are several ways of connection. From

the metrological point of view, it is irrelevant whether theconnections L1 and L2 are connected to one or two dif-ferent line conductors or to the N-conductor. L1 and L2resp. KE and have to be led separately.

Additionally to this data sheet, you will find enclosed„Important safety instructions for Bender products“.

Insulation Monitoring Device

Vorsicht Attention

IR475LY.-4..

Änderungen vorbehalten Right to modifications reservedkΩ

MONITOR

Quality SystemCertified

I S O 9 0 0 1

Maßbild/Hinweis

Anzugsmoment für Klemmschrauben: 0,5...0,6 Nm

Dimension diagram/Note

Tightning torque for terminal screws: 0.5...0.6 Nm

Befestigung auf TragschieneDIN EN 50 022 oderSchraubbefestigung

Mounting onto support railacc. to DIN EN 50 022 or

screw fixing99

91

45

53 65 73

70

44

31

ø 4,3 fürSchraubbefestigung

Befestigung auf TragschieneDIN EN 50 022

5

32

Anschlußschaltbild Wiring diagram Netzankopplung Mains coupling

Das A-ISOMETER IR475LY.-4.. kann mit den Ankoppel-geräten AGH204S-4 oder AGH520S betrieben werden.Der Betrieb ist jedoch nur möglich im Bereich 20...500kΩ. Bereichswahlschalter in diesem Fall unbedingt aufdiesen Bereich stellen (x10)! In Verbindung mit Ankoppel-geräten ist die Anschlußüberwachung nicht möglich! DieAnschlüsse L1 und L2 müssen dabei gebrückt werden.

The A-ISOMETER can be used in combination withcoupling devices AGH204S-4 or AGH520S only withinthe range of 20...500 kΩ. For this purpose, the rangeselector has to be set to x10! Connection monitoring isnot possible when using the device with coupling devices!Therefore the connections L1 and L2 have to be bridged.

Fehlermeldungen/fault indications 1 Alarm LED 2 Melderelais/(bei Werkseinstellung/factory setting) + ~ - alarm relay

11-12-14 21-22-24

ALARM2 Isolationsfehler AC/insulation fault AC x x x

ALARM2 Isolationsfehler DC (L+)/insulation fault DC (L+) x x

ALARM2 Isolationsfehler DC (L-)/insulation fault DC (L-) x x

ALARM1 Isolationsfehler AC/insulation fault AC x x x x x

ALARM1 Isolationsfehler DC (L+)/insulation fault DC (L+) x x x x

ALARM1 Isolationsfehler DC (L-)/insulation fault DC (L-) x x x x

Unterbrechung L1-L2 oder KE- /interruption L1-L2 or KE- o o o x x

Systemfehler (DIP2 auf Sys)/Systemfault (DIP2 to Sys) x

o = blinkend/flashing x = Dauermeldung/continuous indication

46810204060∞

A1 A2 L1 L2AK

T 21 22 24

ALARMTESTRESET

KE

11 12 14

R1 R2M+ M-

2

1 2ON

kΩ

x1x10

A-ISOMETER®IR 475

kΩMONITOR

5010102

AL 1

/ 2

AL 2

/ 1

- / R

es

K K2 K2K1ALARM

ALARM 1 ALARM 2

K1

K2

•

AL /

Sys

+ ~ -

• • •

kombinierte Prüf- und Löschtastekurzzeitiges Drücken (<1s) = RESETlängeres Drücken (>2s) = TEST/combined test and reset buttonshort-time pressing (<1s) = RESETlong-time pressing (>2s) = TEST

Melde-LEDs gelb, leuchten bei Unterschreiten deseingestellten Ansprechwertes, zeigen AC-Fehler oderDC-Fehler und blinken bei Unterbrechung derAnschlußleitungen /KE oder L1/L2/ALARM-LEDs illuminate when the insulation resistancefalls below the pre-set response value and flash in caseof interruption of the connecting leads /KE or L1/L2

kΩ-LED-Zeile/kΩ-LED bar graph indicator

Betriebs-LED/Power-on-LED

Einstellbarer Ansprechwert RALARM2/adjustable response value RALARM2

Melderelais/alarm relay RALARM1

externeskΩ-Anzeigeinstrument/

external kΩ meter

M+ M-

-1,5

U T

2

kΩ1030

50100

200

5001000

R1 R2

externe Löschtasteoder Brücke zur Fehlerspeicherung/

external reset buttonor bridge for fault memory


T

externe Prüftaste/external test button

A1 A2

USsiehe Typenschild/

see nameplate

Schmelz-sicherung / fuse 6 A(Empfehlung/recommendation)

+/~ -/~

Arbeitsweise der Melderelais/operating principle of the alarm relay

Bereichseinstellung RALARM und kΩ-LED-Anzeige/setting range RALARM and kΩ LED indication

x10 kOhm

Arbeitsstromschaltung/N/O operation

x1 kOhm

Ruhestromschaltung/N/C operation

mit Fehlerspeicherung/ with fault memory

ohne Fehlerspeicherung/ without fault memory

K2 (21-22-24) schaltet bei/ switches in case ofALARM1 (Werkseinstellung/factory setting)

ALARM2

ALARM2 (Werkseinstellung/factory setting)

ALARM1

K1 (11-12-14) schaltet bei/ switches in case of

ALARM-Meldungen/ ALARM indications

Systemfehlermeldungen/ system fault indications

K2 (21-22-24) in Ruhestromschaltung schaltet bei/K2 (21-22-24) in NC-operation switches in case of

Arbeitsstromschaltung/ N/O operation(Grundeinstellung/pre-set by factory)Ruhestromschaltung/ N/C operation


21

24 22

11

14 12

2

5 34

Achtung HochspannungDanger High Voltage

AnkopplungsgerätTyp AGH520S

AGH520SUn AC 0...7200 V

L1

L2

AKL1 L2

L1L2L3

PE

Un

N

ohne Stromrichter Un = 3 AC 0...1650 Vwithout rectifier Un = 3 AC 0...1650 V

AK KE

AGH204S-4

L2L1L1 L2 KE

L1

L2

PE

Un AC Netz/system

L1 L2 KE

L+

L-

PE

Un DC Netz/system

L1 L2 KE

L1

L3

PE

L2

Un 3 AC Netz/system

L1 L2 KE

L1

L3

PE

L2

N

Un 3 N AC Netz/system

32

Anschlußschaltbild Wiring diagram Netzankopplung Mains coupling

Das A-ISOMETER IR475LY.-4.. kann mit den Ankoppel-geräten AGH204S-4 oder AGH520S betrieben werden.Der Betrieb ist jedoch nur möglich im Bereich 20...500kΩ. Bereichswahlschalter in diesem Fall unbedingt aufdiesen Bereich stellen (x10)! In Verbindung mit Ankoppel-geräten ist die Anschlußüberwachung nicht möglich! DieAnschlüsse L1 und L2 müssen dabei gebrückt werden.

The A-ISOMETER can be used in combination withcoupling devices AGH204S-4 or AGH520S only withinthe range of 20...500 kΩ. For this purpose, the rangeselector has to be set to x10! Connection monitoring isnot possible when using the device with coupling devices!Therefore the connections L1 and L2 have to be bridged.

Fehlermeldungen/fault indications 1 Alarm LED 2 Melderelais/(bei Werkseinstellung/factory setting) + ~ - alarm relay

11-12-14 21-22-24

ALARM2 Isolationsfehler AC/insulation fault AC x x x

ALARM2 Isolationsfehler DC (L+)/insulation fault DC (L+) x x

ALARM2 Isolationsfehler DC (L-)/insulation fault DC (L-) x x

ALARM1 Isolationsfehler AC/insulation fault AC x x x x x

ALARM1 Isolationsfehler DC (L+)/insulation fault DC (L+) x x x x

ALARM1 Isolationsfehler DC (L-)/insulation fault DC (L-) x x x x

Unterbrechung L1-L2 oder KE- /interruption L1-L2 or KE- o o o x x

Systemfehler (DIP2 auf Sys)/Systemfault (DIP2 to Sys) x

o = blinkend/flashing x = Dauermeldung/continuous indication

46810204060∞

A1 A2 L1 L2AK

T 21 22 24

ALARMTESTRESET

KE

11 12 14

R1 R2M+ M-

2

1 2ON

kΩ

x1x10

A-ISOMETER®IR 475

kΩMONITOR

5010102

AL 1

/ 2

AL 2

/ 1

- / R

es

K K2 K2K1ALARM

ALARM 1 ALARM 2

K1

K2

•

AL /

Sys

+ ~ -

• • •

kombinierte Prüf- und Löschtastekurzzeitiges Drücken (<1s) = RESETlängeres Drücken (>2s) = TEST/combined test and reset buttonshort-time pressing (<1s) = RESETlong-time pressing (>2s) = TEST

Melde-LEDs gelb, leuchten bei Unterschreiten deseingestellten Ansprechwertes, zeigen AC-Fehler oderDC-Fehler und blinken bei Unterbrechung derAnschlußleitungen /KE oder L1/L2/ALARM-LEDs illuminate when the insulation resistancefalls below the pre-set response value and flash in caseof interruption of the connecting leads /KE or L1/L2

kΩ-LED-Zeile/kΩ-LED bar graph indicator

Betriebs-LED/Power-on-LED



externeskΩ-Anzeigeinstrument/

external kΩ meter

M+ M-

-1,5

U T

2

kΩ1030

50100

200

5001000

R1 R2

externe Löschtasteoder Brücke zur Fehlerspeicherung/

external reset buttonor bridge for fault memory


T

externe Prüftaste/external test button

A1 A2

USsiehe Typenschild/

see nameplate

Schmelz-sicherung / fuse 6 A(Empfehlung/recommendation)

+/~ -/~

Arbeitsweise der Melderelais/operating principle of the alarm relay

Bereichseinstellung RALARM und kΩ-LED-Anzeige/setting range RALARM and kΩ LED indication

x10 kOhm

Arbeitsstromschaltung/N/O operation

x1 kOhm

Ruhestromschaltung/N/C operation

mit Fehlerspeicherung/ with fault memory

ohne Fehlerspeicherung/ without fault memory

K2 (21-22-24) schaltet bei/ switches in case ofALARM1 (Werkseinstellung/factory setting)

ALARM2

ALARM2 (Werkseinstellung/factory setting)

ALARM1

K1 (11-12-14) schaltet bei/ switches in case of

ALARM-Meldungen/ ALARM indications

Systemfehlermeldungen/ system fault indications

K2 (21-22-24) in Ruhestromschaltung schaltet bei/K2 (21-22-24) in NC-operation switches in case of

Arbeitsstromschaltung/ N/O operation(Grundeinstellung/pre-set by factory)Ruhestromschaltung/ N/C operation


21

24 22

11

14 12

2

5 34

Achtung HochspannungDanger High Voltage

AnkopplungsgerätTyp AGH520S

AGH520SUn AC 0...7200 V

L1

L2

AKL1 L2

L1L2L3

PE

Un

N

ohne Stromrichter Un = 3 AC 0...1650 Vwithout rectifier Un = 3 AC 0...1650 V

AK KE

AGH204S-4

L2L1L1 L2 KE

L1

L2

PE

Un AC Netz/system

L1 L2 KE

L+

L-

PE

Un DC Netz/system

L1 L2 KE

L1

L3

PE

L2

Un 3 AC Netz/system

L1 L2 KE

L1

L3

PE

L2

N

Un 3 N AC Netz/system

Technische Daten Technical data

Isolationskoordination nach IEC 664-1 Insulation coordination acc. to IEC 664-1Bemessungsspannung Rated insulation voltage AC 630 VBemessungsstoßspannung/Verschmutzungsgrad Rated impulse withstand voltage/contamination level 6 kV/3Spannungsprüfung nach IEC 60255 Test voltage acc. to IEC 60255 3,75 kV

Arbeitsbereich der Nennspannung Un Operating range of nominal voltage Un AC 0...828 VDC 0...480 V

Speisespannung US Supply voltage US siehe Typenschild / see nameplate

Ansprechwert RALARM1 Response value RALARM1 2...10 kΩ / 20...100 kΩAnsprechwert RALARM2 Response value RALARM2 10...50 kΩ / 100...500 kΩAnsprechzeiten (0,5 x RALARM/CE = 1 µF) Response time (0.5 x RALARM/CE = 1 µF)Bereich 6...500 kΩ range 6...500 kΩ 8...12 secBereich 2...6 kΩ range 2...6 kΩ 8...35 secMax. Netzableitkapazität Max. system leakage capacitance 50 µ F

DC-Innenwiderstand Internal resistance 200 kΩImpedanz bei 50 Hz Impedance at 50 Hz 180 kΩMax. zulässige Fremdgleichspannung Max. admissible stray DC voltage DC 800 V

Schaltglieder Switching components 2 Wechsler / 2 change over contactsKontaktbemessungsspannung Rated contact voltage AC 250 V / DC 300 VEinschaltvermögen Limited making capacity AC/DC 5 AAusschaltvermögen AC/DC Limited breaking capacity AC/DC 2 / 0,2 A

Prüfung der elektromagn. Verträglichkeit (EMV) Test of electromagnetic compatibility (EMC)Störfestigkeit nach EN 50082-2 Interferences acc. to EN 50082-2Störaussendung nach EN 50081-2 Emissions acc. to EN 50081-2(nur für Indurtriebereich) (for use in industrial areas)

Umgebungstemperatur, bei Betrieb Ambient temperature during operation -10°C ... +55°CUmgebungstemperatur, bei Lagerung Storage temperature range -40°C ... +70°C

IR475LYT-4.. -25°C...+70°C/-40°C...+70°CKlimaklasse nach IEC 60721 Climatic class acc. to IEC 60721

3K5, jedoch ohne Betauung und Vereisung / 3K5, except condensation and formation of ice

Anschlußart/Leitung: Type of connection/cable:Reihen klemmen/Aluminium oder Kupfer screw terminals/Aluminium or CopperTemperaturbereich Leitung Temp. range cable 60°C (18...16 AWG) / 75°C (14...12 AWG)Anschlußquerschnitt Wire cross sectioneindrähtig/feindrähtig Single wire/fine braid 0,2...4 mm2/0,2...2,5 mm2(24...12 AWG)Schutzart nach EN 60529 Protection class acc. to EN 60529Einbauten/Klemmen Internal components/terminals IP 30 / IP 20Gewicht max. Weight max. 430 g

1060

05 /

05.

2002

Isolationsüberwachungsgerät

14

Dipl.-Ing. W. Bender GmbH & Co KG • Postf. 1161D 35301 Grünberg • Tel.: 06401 / 807-0 • Fax: 06401 / 807-259

Bestimmungsgemäße Verwendung

Das A-ISOMETER® IR475LY.-4.. überwacht denIsolationswiderstand eines ungeerdeten Wechsel- oderGleichspannungsnetzes (IT-System) von AC 0...828 V oderDC 0...480V.

Montage, Anschluß und Inbetriebnahme

Auf richtige Nennspannung bzw. Speise-spannung achten.

In jedem IT-System darf nur ein Isolations-überwachungsgerät angeschlossen sein.

Absicherung Speisespannung: Empfehlung, 6 A.Absicherung Netzankopplung: Kurzschluß- underdschlußsichere Verlegung.

Elektrische Geräte sind nur von Elektrofachkräften zu in-stallieren bzw. zu montieren. Dabei sind die bestehendenSicherheitsvorschriften zu beachten.

Das IR475LY.-4.. ist für ein- und dreiphasige AC-Netze gleichermaßen geeignet. Der Anschlußkann dabei auf mehrere Arten erfolgen. Meßtech-

nisch spielt es keine Rolle, ob die Anschlüsse L1 und L2an einen oder an zwei verschiedene Außenleiter oder anden N-Leiter gelegt werden. L1 und L2 bzw. KE und müssen dabei getrennt geführt werden.

Bestandteil der Gerätedokumentation sind neben diesemDatenblatt die beiliegenden „Wichtigen sicherheitstech-nische Hinweise für Bender-Produkte“.

Proper use

The A-ISOMETER® IR475LY.-4.. monitors the insulationresistance of IT AC- or DC systems (isolated power)AC 0...828 V or DC 0...480 V.

Installation, connection, commissioning

Please check for correct system voltage andsupply voltage.

Only one insulation monitoring device may beused in each interconnected system.

Protection, supply voltage: 6 A fuseProtection, system coupling: cabling which is short-circuitand earth-fault proof.

Electrical equipment shall only be installed by qualifiedpersonnel in consideration of the current safety regulations.

The IR475LY.-4.. is suited for both single and threephase AC systems. As indicated in the wiring dia-gram, there are several ways of connection. From

the metrological point of view, it is irrelevant whether theconnections L1 and L2 are connected to one or two dif-ferent line conductors or to the N-conductor. L1 and L2resp. KE and have to be led separately.

Additionally to this data sheet, you will find enclosed„Important safety instructions for Bender products“.

Insulation Monitoring Device

Vorsicht Attention

IR475LY.-4..

Änderungen vorbehalten Right to modifications reservedkΩ

MONITOR

Quality SystemCertified

I S O 9 0 0 1

Maßbild/Hinweis

Anzugsmoment für Klemmschrauben: 0,5...0,6 Nm

Dimension diagram/Note

Tightning torque for terminal screws: 0.5...0.6 Nm

Befestigung auf TragschieneDIN EN 50 022 oderSchraubbefestigung

Mounting onto support railacc. to DIN EN 50 022 or

screw fixing99

91

45

53 65 73

70

44

31

ø 4,3 fürSchraubbefestigung

Befestigung auf TragschieneDIN EN 50 022

5

SeaLite Operation and Maintenance Instructions

P/N 710-021-601 Rev. 3/11/04

DeepSea Power & Light, Inc. 3855 Ruffin Road San Diego, CA 92123 Tel. (858) 576-1261 FAX (858) 576-0219

Table of Contents Section Page I Introduction ................................................................................................................................ 2 II SeaLite Pre and Post-Deployment Checklist....................................................................... 3 Lamp Changing Procedure........................................................................................................ 3 Lamp Interchangeability Chart ............................................................................................... 4 III Electrical Requirements .......................................................................................................... 5 Voltage Requirements ............................................................................................................... 5 Current Requirements ............................................................................................................... 5 Cold Filament Surge .................................................................................................................. 6 Varying Operational Voltages .................................................................................................. 6 IV Electrical and Thermal Warnings.......................................................................................... 7 V SeaLite Envelope Replacement (Emergency Field Repair Procedure)......................... 8 VI SeaLite Quality Control Procedures...................................................................................... 9 VII Troubleshooting ........................................................................................................................ 10 VIII Flooded Light Repair ............................................................................................................... 11 IX General Notes ............................................................................................................................ 12 Appendix A: Max-SeaLite ................................................................................................................... 13

I Introduction Congratulations on the purchase of your new SeaLite. This product has been subjected

to extensive testing and development and is widely recognized as a high quality underwater light of superior design; on July 28, 1987 the SeaLite was awarded U.S. patent number 4,683,523 for its unique attributes.

Features that contribute to the versatility of the SeaLite include the following: 1) The bezel/envelope assembly unscrews from the light body without the

use of any tools, exposing the lamp for easy replacement. Removal of the light from its mount is usually not required during the relamping process. Also, the glass-metal seal is not disturbed during relamping, which increases reliability and eliminates the need for frequent pressure testing.

2) Many lamps of different voltages and wattages are available. The

factory-set socket position varies between different lamps, and provides optimal filament location for highly efficient performance.

3) Various reflectors are easily interchangeable which provide the capability

to alter beam patterns according to the specific application. There are presently two open-reflectors available which provide either a wide flood or narrow flood beam pattern.

The Max-SeaLite head is a closed-reflector/bezel assembly which screws

directly onto the standard SeaLite body and provides a choice of three different beam patterns (narrow spot, medium flood and wide flood) through the use of interchangeable internal reflectors. The hydrodynamic Max-SeaLite head also resists marine fouling during long term deployments and accepts all lamps available with the standard SeaLite. See Appendix A for further information regarding the Max-SeaLite.

4) Many different connector types are available; depending on the connector

chosen, the standard depth rating of the SeaLite is 20,000 feet. 5) A SeaLite Universal Mounting Bracket is supplied with each SeaLite,

and provides secure mounting in a wide latitude of positions. The SeaLite is manufactured from 6061-T6 aluminum which is hard black anodized for

protection against corrosion; the black finish also reduces stray light reflections which

may cause distracting glare in a video image. A few of the groups that are currently using SeaLites include: Woods Hole ALVIN and Jason Jr., U.S. Navy DSRV's Seacliff and Turtle, Naval Oceans Systems Center, DOE Phantom ROV's, Scripps Institution of Oceanography, Hawaii Undersea Research Laboratory, University of California at Santa Barbara, Martech International, USGS, U.S. and Canadian Departments of Fisheries, and many others.

II SeaLite Pre and Post-Deployment Checklist Warning: After each deployment, carefully check to make sure the light has not

flooded. It is possible for the light to partially flood and then reseal itself while underwater. Upon surfacing, the light can become internally pressurized, which may be potentially dangerous. Additionally, if the power remains on when the light has partially flooded, it is possible for electrolytic generation of an explosive mixture of hydrogen and oxygen gases. If a light appears flooded upon removal from the water, it should be treated as potentially dangerous. Point the light away from persons and valuable equipment and verify whether or not it is internally pressurized. Make sure that the power is disconnected as soon as a flooded condition is suspected.

Each SeaLite is shipped ready for immediate use. To ensure that the light will

perform reliably, please observe the following maintenance guidelines: 1) Try to rinse the light with fresh water after use in salt water. 2) It is normal for a scale buildup to occur on the outside of the glass envelope, and

on the inside surface of the reflector. This can be cleaned off with vinegar. Use a non-abrasive cloth to minimize future buildup.

3) Always check to make sure that the bezel is screwed down tightly onto the body

of the light before deployment. Also check that the rear bulkhead connector is secure (if applicable).

4) Check for condensation inside the envelope, especially after changing lamps. If

any condensation is evident, unscrew the bezel from the body and place both pieces inside a warm oven (at least 100 C or 212 deg F) for at least 30 minutes to bake out any moisture that may present. If possible, purge with dry nitrogen while reassembling the light.

5) After each deployment, examine the power cable and rear connector for damage. Lamp Changing Procedure To change the lamp, simply unscrew the bezel from the body and remove the old lamp

by pushing in and twisting counter-clockwise. When installing the new lamp, be sure not to get any fingerprints on the surface of the lamp. Use a piece of tissue or other clean paper to hold the lamp while installing it. Fingerprints can be cleaned from the

surface of the lamp with isopropyl (rubbing) alcohol. It is recommended to bake the entire light, lamp and bezel assembly (with the bezel removed) in a warm oven for at least 30 minutes to completely remove any moisture that may be present. It is also recommended to purge the inside of the envelope with dry nitrogen while screwing the bezel onto the light body upon reassembly.

Lamp Interchangeability Chart Lamp Socket Envelope Size Voltage Wattage Position 19mm 25mm 12 50 1 X (X) 12 100 1 X (X) 24 150 1 X (X) 24 250 2 X (1) (X) 24 300 2 X (1) (X) 28 150 1 X (X) 120 100 2 X (1) (X) 120 150 2 X (1) (X) 120 200 2 X (1) (X) 120 250 1 NA X 120 500 3 NA X The lamp socket is located at the front end of the SeaLite body. There are three

possible socket positions which are factory pre-set. Socket positions are not user-adjustable.

Socket positions are numbered so that position no. 1 is located toward the front of the

light, position no. 2 is the middle socket position, and position no. 3 is farthest to the rear of the light body.

All of the lamps which require socket position no. 2 with the smaller (19mm) size envelope can be utilized in socket position no. 1 with the larger (25mm) envelope, however the filament placement will not be optimal. Optional socket position/envelope combinations are listed in parentheses.

III Electrical Requirements It is very important to use an appropriate power supply for each particular SeaLite;

factors to consider are: voltage requirements (including voltage drop over long cable lengths), current draw of the lamp, cold filament power surge, and lamp life at various voltages.

Voltage Requirements: The power supply must of course be able to supply sufficient

voltage to the light, however in many cases (especially with low voltage lights), the output voltage from the power supply must be much higher than the lamp voltage. The reason for this is that a significant amount of power is lost due to the electrical resistance of the power cable. The voltage drop over a length of cable can be calculated by using the formula, V = IR, where V is the voltage drop, I is the current draw of the light in amps, and R is the total electrical resistance of the power cable in ohms. The current draw of a particular lamp can be calculated if the wattage and voltage of the lamp are known. The current draw is equal to the lamp wattage divided by the lamp voltage, or, amps = watts/volts.

For example, referring to the table of electrical resistances of various wire gauges

listed below, we can calculate the voltage required to operate a 24 volt-300 watt light at 24 volts over 250 feet of 16 gauge cable. The current draw of a 24 volt-300 watt lamp operating at 24 volts is 300 watts/24 volts = 12.5 amps. The resistance of 16 gauge wire is approximately 4 ohms/1000 feet. Since the total path of the circuit is from the power supply to the light and back to the power supply, the total resistance of the cable is twice the length of the cable times the linear resistance, or for this example, R = (2 x 250 ft) x (4 ohms/1000 ft) = 2.0 ohms. Since V = IR, the voltage drop, V is equal to 12.5 amps x 2.0 ohms = 25 volts. This means that 25 volts is lost due to resistance and so the power supply will need to provide at least 49 volts to power this 24 volt-300 watt light over a 250 foot cable!

Wire Gauge Ohms/1000 ft (approx) 20 10 18 6 16 4 14 2.5 12 1.5 Current Requirements: The current draw of a particular lamp is determined by

dividing the lamp wattage by the lamp voltage. It is worthwhile to note that if high voltage (greater than 110 volts) current is being used to power the light, there is still a voltage drop over the length of cable, but the amperage is often small enough (due to

the high voltage) that the voltage drop is less significant. The power supply must still provide the necessary power; a 120 volt-1000 watt generator will only power 1000 watts' worth of lights at 120 volts.

Cold Filament Surge: Upon initial power-up of the lamp, it takes a great amount of energy to heat up a cold lamp filament--up to 10 times the operational current draw for a short period. The power supply must be capable of providing not only the necessary voltage and sustained operational current draw of the lamp, but must also provide this temporary high current. Many power supplies have built-in safety foldback circuits to protect the power supply (and powered equipment) from accidental short circuits. The cold filament current surge may appear to the power supply as a direct short circuit, and so will trip the foldback circuit. It is often necessary to modify the power supply to desensitize this foldback circuit in order to allow the momentary high current necessary to heat the filament. We suggest that the power supply manufacturer's application recommendations be followed whenever applicable.

Varying Operational Voltages: The various lamps will operate at voltages other than

the nominal recommended voltage, affecting lamp life and color temperature. Undervoltage will increase lamp life, while overvoltage will rapidly decrease lamp life.

Connector Options: Many different industry standard underwater connectors can be

used with the SeaLite. The standard SeaLite connector is a low profile Impulse-type 3-pin male bulkhead connector, model LPBH3M. Molded penetrators allow in-line connectors to be utilized. The standard connector pinout is illustrated below.

PIN-OUT:

IV Electrical and Thermal Warnings

1 2 3

LPBH3MP 1 = Hot 2 = Neutral 3 = Ground to shell

It is essential that caution is exercised whenever electricity is utilized in or near the

water. AC current is certainly more dangerous, but even 12 volts DC can pose an electrocution hazard under certain circumstances. A Ground Fault Interrupt should be used whenever high voltage lights are being utilized; when divers are in the water this is especially critical! Do not operate AC-powered lights without a GFI! Additionally, all high voltage lights should be case grounded for safety. If a protective glass envelope is broken and the light floods, a short circuit will likely occur. The current will flow to the ground reference; if the body of the light is grounded, then the short circuit will occur between the "hot" lead and the body of the light rather than the water surrounding the light.

It is also important not to burn a light in air for more than a few seconds unless that

light has been specifically designed for this purpose. Most lights become quite hot under normal operation and rely on the surrouding water to provide cooling. When an underwater light is burned in air, the resulting heat buildup can pose a fire hazard. This is especially true if that light is equipped with a Delrin reflector (VID-type). Delrin reflectors have caught on fire under these circumstances before, so beware. If the light is operated for testing purposes in air, be sure to let it cool down for a couple of minutes before immersing it in water. It is also a good idea to turn the light off a few seconds prior to removing it from the water. These precautions minimize the thermal shock on the pyrex envelope; thermal shock is a rapid change in temperature which can cause the pyrex to crack. If a certain application requires the light to be operated in a wet/dry environment, the light can be equipped with a quartz envelope, which is unaffected by thermal shock. (A quartz envelope can be immersed in ice water after burning in air for a prolonged period without cracking). If the light will be used primarily in air, extra cooling will be necessary. A special metal heat sink/reflector should be used along with a large size envelope for maximum heat dissipation.

V SeaLite Envelope Replacement (Emergency Field Repair Procedure) Before any field replacement of a SeaLite component is initiated, the work area must

be made as clean as possible. The surface used to work on should be dirt and lint free. Once a suitable work space has been established, use the following procedure:

1) To make servicing the SeaLite easier, it is desirable to first remove the

bezel/envelope assembly from the body. This can be done by firmly grasping the SeaLite body with one hand (do not grasp the connector) and twisting the SeaLite bezel in a counterclockwise direction with the other hand, taking care to grip the bezel only and not the envelope itself. Often the reflector will still be attached. The bezel may be unscrewed by turning the reflector, however, if the reflector spins while the bezel remains tight the reflector must be removed. The reflector can be removed by first unscrewing the set screws located toward the rear of the reflector.

2) Once the bezel/envelope assembly has been removed, stand the SeaLite body on

end to avoid having the O-rings accumulate any particles from the work surface which may inhibit their sealing function. To remove the existing envelope from the SeaLite bezel:

a) Place the bezel on a clean flat surface and hold in place with one

hand. b) Using a small jewelers-type slotted screwdriver or the point of a

small awl, push the flange of the spiral retaining ring out of it's groove toward the envelope and push up.

c) Once the flange has cleared the top of the bezel sufficiently, grip

the exposed end and slowly twist the spiral retaining ring out of the groove, taking care not to twist it out of shape--the ring can be reused if it maintains its original form.

3) Clean out any broken glass and debris from the bezel before installing the new

envelope. A very small piece of debris between the envelope and bezel can cause the glass envelope to crack when pressurized.

4) Inspect the silicon O-ring located in the bezel. Check very closely for slices,

tears, cracks, or rough spots. It is recommended to replace the O-ring with a new one, however the old O-ring may be reused if it is still in good condition.

5) With a fresh O-ring in place, carefully push the new envelope into position on

the front of the bezel. It may be a tight fit--there is some variation between individual envelopes since they are hand-blown--so be careful not to force it into place.

6) When the envelope is fully seated, replace the metal snap ring, being careful not to chip or scratch the glass. Work the snap ring all the way into its groove with an awl, pushing the ring outward against the wall of the bezel to make sure it is completely seated and won't come out.

7) Make sure the inside of the envelope is clean before reassembling the bezel onto

the body of the light. VI SeaLite Quality Control Procedures This section is included to provide an understanding of the quality control process that

each SeaLite is subjected to. After assembly is completed, each SeaLite is electrically tested with the Meg-Ohm

tester to verify that the socket wire insulation is intact, and that there are no short circuits between a power lead and the metal light body. Each individual lamp is also tested for short circuit between the power leads and the lamp base. The connector is then checked to verify that it is firmly secured to the light body.

Before installing the lamp, the light is pressure tested in one of the DeepSea pressure

test vessels. All bulkhead connector-equipped SeaLites are pressure tested to 6,000 psi. Higher pressure test certifications are also available. After the pressure test the bezel is unscrewed from the body--this should not require undo force.

Both body (with lamp installed) and bezel/envelope are baked out in a 100 C (212 deg

F) oven under vacuum for approximately thirty minutes. (Each lamp is based into its metal bayonet shell with a ceramic potting material. The potting material is initially mixed with water and must be fully cured before using the lamp to avoid a short circuit between the power leads and the shell. Some lamps are delivered from the manufacturer with residual moisture in the potting material, thus the final bake-out in the oven.) All residual moisture resulting from humidity or other sources is also eliminated in this step.

The light is removed from the vacuum oven and immediately assembled. The envelope

is purged with dry nitrogen to prevent condensation (fog) from forming on the inside surface of the envelope.

The light is then test-burned in a test tank for thirty minutes. After the test burn

while soaking, the light is checked for internal condensation. If there is no condensation present, the light is then fitted with a bracket and reflector and prepared for shipping.

VII Troubleshooting

Problem Light doesn't turn on.

Possible Cause Not plugged in. GFI tripped. Lamp burned out. Cable defective. Insufficient voltage.

Recommended Action Secure all connections. Reset GFI. Change lamp. Check continuity from one end to the other. Meg test if possible. Make sure battery is fully charged. Verify power supply is adequate (refer to Section III).

Light flooded. Connector loose.

Damaged O-ring. Envelope cracked or chipped.

See Section VIII. Replace as required. Replace envelope per Section V.

VIII Flooded Light Repair If the light is leaking, first suspect that there is a damaged O-ring, or that the glass

envelope is cracked or has a chipped edge. The source of the leak will not be the seal between the body and bezel if the O-rings are in good condition. Do not try to screw the bezel onto the body with a wrench or other tool; this will only damage the anodized surface and may seize the two components together.

When looking for the source of a leak, first check if the rear connector is loose. If the

connector is secure, check for a sliced or otherwise damaged O-ring; make sure the O-ring sealing surfaces are clean. If there is no apparently damaged O-ring, remove the glass envelope and inspect the edge of the glass. If the edge is chipped, this is probably the source of the leak, and the envelope should be replaced.

Connector Installation (Emergency Field Repair Only) If the rear bulkhead connector is loose, it can be retightened according to the following

procedure: 1) Remove the bezel from the body. Remove the lamp from the lamp socket. 2) Carefully remove the snap ring located above the lamp socket with a jeweler's

screwdriver or other small pry tool. 3) Gently pull the socket free of the light body so it will turn when the connector is

unscrewed. 4) Unscrew the connector. Thread-locking compound is used to prevent the

connector from coming loose; if the connector does not screw off easily it may be necessary to heat the entire light in a 300 degree Farenheit oven for approximately thirty minutes to soften the thread locking compound.

5) Clean all threads thoroughly prior to reassembly. It may be necessary to use

isopropyl alcohol and a sharp pointed tool to remove all debris from the threads. Make sure both the light body and bulkhead connector threads are clean.

6) Dry out the inside of the light body before reassembling. Make sure that the

light socket wires are in good condition, and that the grey silicone heat shrink completely covers the wire solder joints.

7) Screw the connector all the way into the light body to make sure the sealing O-

ring will seat correctly. With the connector on the light body, look at the

mating surface. If there is any brass visible (as with an LPBH3M) that is in contact with seawater and the aluminum body, silicone RTV must be applied to that surface only. Unscrew the connector from the body.

8) If necessary, apply a small bead of RTV to the brass surface of the connector

(LPBH3 and EO bulkheads only) and spread smoothly over the surface. Apply a drop of permanent thread-locking compound and screw the connector into the body. Make sure it is firmly seated. Let the thread-locking compound set for thirty minutes before using the light.

9) Push the socket down into the body onto the red silicone O-ring that sits on top

of the lower snap ring. 10) Replace the upper snap ring by carefully winding it into the appropriate groove.

Replace the lamp and bezel/envelope assembly. If a light is flooded and/or damaged, we recommend that the light be returned to

DeepSea Power & Light for repair or replacement; DeepSea Power & Light cannot be responsible for any damage incurred during emergency field repairs. Such repairs should be undertaken only as a last resort and by qualified personnel.

IX General Notes Do not burn a SeaLite out of water for more than about 30 seconds unless it is

specially equipped for wet/dry use. Do not operate any high voltage electrical equipment without using a Ground Fault

Interrupt circuit for safety, especially when divers are in the water! Do not operate a lamp at higher than recommended voltage. The lamp filament will

melt with severe over-voltage, and slight over-voltage drastically reduces lamp life. Be sure that any fingerprints are cleaned off the lamp with isopropyl alcohol before

use.

Appendix A Max-SeaLite Information

I Description The Max-SeaLite internal reflector/bezel assembly screws directly onto the standard

SeaLite body and replaces either the 19mm or 25mm bezel/envelope. The internal (dry) reflector design offers certain advantages over the standard external (wet) reflector design, such as: smaller size, lighter weight, interchangeable reflectors for different beam patterns, and hydrodynamic shape. The standard SeaLite with an optimized external reflector design does offer superior reflector efficiency and beam control, but is significantly larger in size.

II Internal Reflector Types and Replacement Procedure The Max-SeaLite's easily interchangeable internal reflectors create high versatility.

The light can be used as a work light by inserting the polished spot reflector or medium flood reflector for larger area illumination. For underwater video recording, the wide flood reflector provides an even, hot spot-free beam pattern.

To interchange reflectors, simply unscrew the front dome assembly from the head.

The reflector sits on top of a wave spring; remove the reflector and replace it with the desired beam type. Check the O-ring sealing surfaces for dirt before screwing the front dome assembly back on.

III Wet/Dry Operation Most underwater lights are required to be operated only underwater because the

provides essential cooling of the entire light fixture. There are two other significant problems besides general overheating that are caused by the high temperatures: internal pressurization, and thermal shock of the dome when the hot glass dome is plunged into cold water.

Internal pressure builds as the interior of the light heats up and the air (and water

vapor) inside the light expands. This pressure build up can be potentially very dangerous, causing the glass dome to explode unless it is vented in some way.

A wet/dry seal kit is available for the Max-SeaLite which provides venting as the light

pressurizes. The dome of the light pops out slightly to vent excess pressure, and then reseals itself when the internal pressure is lowered. The wet/dry seal kit reduces the depth rating of the standard Max-SeaLite to 300 meters. The Max-SeaLite utilizes a tempered borosilicate glass dome which can withstand the thermal shock associated with wet/dry applications. The wet/dry Max-SeaLite can use a maximum lamp power

of 250 watts.

April 1995Service Instructions MS-CRD-0047

“CA” & “CPA” Series Check ValveCracking Pressure Adjustment

1. Insert wrenchinto locking screw .

Loosen screw byturning counter-clockwise.

2. Slide wrenchdown intoadjusting screw .

Outlet

AdjustingScrew

“CA” Series

Inlet

AdjustingScrew

LockingScrew

“CPA” Series

LockingScrew

Inlet

Outlet

Tools Needed

"CA" & "4CPA"5/32 in. hex key

"8CPA"5/16" hex key

outlet

“CPA”

“CA”

outlet

“CPA”

“CA”

5. Verify cracking pressure and adjustscrews if required.

4. Slide wrenchback up intolocking screwand turnclockwiseto lock.

“CA”

“CPA”

outlet

3. Turn both screws to reach desiredcracking pressure. (Turn clockwise toincrease cracking pressure, counterclockwise to decrease crackingpressure)

www.swagelok.comThese instructions are also available inFrench, Italian, German and Spanish.

Swagelok – TM Swagelok Company© 1997 Swagelok Company

Printed in U.S.A., CP5-97, Rev. A

MS-CRD-0047

PNI Corporation

TCM2 Electronic Sensor ModuleUser’s Guide

ii

© Copyright PNI Corporation 2004All Rights Reserved. Reproduction, adaptation, or translation with-out prior written permission is prohibited, except as allowed under copyright laws.

Part No. 10824Document No. 1000281Revision 3.0February 2004Printed in USA

PNI Corporation 5464 Skylane Blvd., Suite ASanta Rosa, CA 95403, USATel: (707) 566-2260Fax: (707) 566-2261

Notice.The information contained in this document is subject to change without notice. Companies, names, and data used in examples herein are fictitious unless otherwise noted. PNI Corporation makes no warranty of any kind with regard to this material, includ-ing but not limited to, the implied warranties of merchantability and fitness for a particular purpose. PNI Corporation shall not be liable for errors contained herein or for incidental or consequential damages in connection with the furnishing, performance, or use of this material.

Restricted Rights Legend.Use, duplication, or disclosure by the U.S. Government is subject to restrictions as set forth in subparagraph (c) (1) (ii) of the Rights in Technical Data and Computer Software clause at DFARS 252.227-7013 for DOD agencies, and subparagraphs (c) (1) and (c) (2) of the Commercial Computer Software Restricted Rights clause at FAR 52.227-19 for other agencies.

Conventions Used in this Manual.Any data that is sent to or received from the TCM2 is presented in monospace font, for example: $C326.3*check-sum<cr><lf>. Place markers for ASCII characters are indi-cated by the character “n.” Any monospace characters in straight brackets denote transmitted data that may or may not be in the character string, depending on the circumstances. For instance [Ennn] is the error code string that is output by the TCM2 only when an error condition exists. Also,(-) denotes the presence of a negative sign in a character string when the corresponding value is negative. The parentheses are not included in the output string, and only serve to demark the hyphen.

TCM2 commands can be identified either by their mnemonic, for example, h, or by their full name, for example, Halt continuous sampling.

Items in angle brackets either denote special characters or sum-mary data, for example, <cr> denotes the carriage return character, <lf> denotes a line feed, and <error code> denotes all the charac-ters for an error code string.

Warranty.PNI warrants that each PNI Product to be delivered hereunder, if properly used, will be free from defects in material and workman-ship and will operate in accordance with PNI’s published specifica-tions and documentation for the Product in effect at time of order acceptance if operated as directed by them for one year following the date of shipment unless a different warranty time period for such Product is specified: (i) in PNI’s Price List in effect at time of order acceptance; or (ii) on PNI’s web site (www.pnicorp.com) at time of order acceptance. PNI will make no changes to the specifi-cations or manufacturing processes that affect form, fit, or function of the product without written notice to the OEM. PNI may at any time make minor changes to specifications or manufacturing pro-cesses that do not affect the form, fit, or function of the product. This warranty will be void if the products, serial number, or other identification marks have been defaced, damaged, or removed. This warranty does not cover wear and tear due to normal use, or damage to the product as the result of improper usage, neglect of care, alteration, accident, or damage to the product as the result of improper usage, neglect of care, alteration, accident, or unautho-rized repair.

THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WAR-RANTY, WHETHER EXPRESS, IMPLIED, OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF MERCHANTABILITY, FITNESS FOR ANY PARTICULAR PURPOSE, OR ANY WARRANTY OTHERWISE ARISING OUT OF ANY PROPOSAL, SPECIFICATION, OR SAMPLE. PNI NEITHER ASSUMES NOR AUTHORIZES ANY PERSON TO ASSUME FOR IT ANY OTHER LIABILITY.

If any PNI Product furnished hereunder fails to conform to the above warranty, OEM’s sole and exclusive remedy and PNI’s sole and exclusive liability will be, at PNI’s option, to repair, replace, or credit OEM’s account with an amount equal to the price paid for any such Product which fails during the applicable warranty period provided that (i) OEM promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the deficiency; (ii) such Product is returned to PNI’s service facility at OEM’s risk and expense; and (iii) PNI is satisfied that claimed deficiencies exist and were not caused by accident, misuse, neglect, alteration, repair, improper installation, or improper testing. If Product is defective, transportation charges for the return of Product to OEM within the United States and Canada will be paid by PNI. For all other locations, the warranty excludes all costs of shipping, cus-toms clearance, and other related charges. PNI will have a reason-able time to make repairs or to replace Product or to credit OEM’s account. PNI warrants any such repaired or replacement product to be free from defects in material and workmanship on the same terms as the product originally purchased.

Contents

1 Getting StartedAbout the TCM2 1-2

Packing List 1-3Products and Accessories 1-3

Installation 1-4Electrical Connections 1-4Communicating with the TCM2 1-6Evaluation Software 1-6Where to Install the TCM2 1-7Mechanically Mounting the TCM2 1-8

2 Using the TCM2RS232 Data Output Word 2-2

NMEA 0183 Format 2-2TCM2 Standard Output 2-3

Command Syntax 2-4Programming Conventions 2-4

Data Transmission 2-5Error Codes 2-6

Description of Error Conditions 2-7Compass Operating Modes 2-8

Standby Mode 2-8Sampling in the Standby Mode 2-8Continuous Sampling Mode 2-8Analog Outputs 2-9

Digital Damping 2-10Output Response Time 2-11Latency 2-12Magnetic Distortion Alarm 2-13

How to Use the Magnetic Distortion Alarm 2-13How to Interpret the Magnetic Distortion Alarm 2-13

Pitch and Roll Output 2-14 User Calibration 2-15

Automatic Calibration 2-16Soft Iron Effects 2-17Other Limitations 2-17

Calibration Procedures 2-18Multipoint Calibration (mpcal) 2-19CAL3 Procedure 2-20Temperature Sensor Calibration 2-22

3 Programming CommandsCommand List Quick Reference 3-2Differences Between TCM2 Firmware Version 2.82 and 2.34A 3-4

Changes to the EEPROM 3-4Command List 3-5Request for Data Commands 3-6Action Commands 3-11User Configuration Parameter Commands 3-17

4 TroubleshootingTrouble-Shooting the TCM2 4-2Limitations of the Inclinometer 4-6

Contents-1

5 Performance SpecificationSpecifications 5-2

Assembly Views 5-33-Foot Cable 5-6Optional 6-Foot Cable 5-8

Contents-2

1

About the TCM2 1-2Installation 1-4

Packing List 1-3Electrical Connections 1-4Communicating with the TCM2 1-6Evaluation Software 1-6Where to Install the TCM2 1-7Mechanically Mounting the TCM2 1-8

Getting Started

Getting StartedAbout the TCM2

About the TCM2

Thank you for purchasing the TCM2. You have chosen a product that represents the largest step forward in compass technology for many years. The TCM2 is a state-of-the-art, low power, high performance electronic compass sensor module that combines a revolutionary three-axis magne-tometer with a high-performance two-axis tilt sensor. All compasses must be referenced to level to be accurate, but instead of using a clumsy universal joint or fluid bath to hold its sensors level, the TCM2 uses a highly accurate inclinometer (tilt sensor) to allow the microprocessor to mathematically correct for tilt. This electronic gimbaling eliminates moving parts and provides more information about the environment: pitch and roll angles and three-dimensional magnetic field measurement in addition to compass output. This extra data allows the TCM2 to provide greater accuracy in the field by calibrating for distortion fields in all tilt orientations, providing an alarm when local magnetic anomalies are present, and giving out-of-range warnings when the unit is being tilted too far. At the heart the TCM2, its patented magneto-inductive magnetometers are the first major advance in compass magnetometers since the fluxgate was invented in the 1930’s. Their solenoi-dal, single-winding construction provides a more compact, reliable, and cost-effective solution than torroidal fluxgates. They also consume roughly an order of magnitude less power. Their dynamic range and sensitivity can be easily tailored to the exact needs of any application. The TCM2’s magnetometers provide a very large dynamic range and hence can be calibrated for sys-tems that have extremely strong fields, such as military vehicles. The TCM2’s advantages make it suitable for many applications, including:

• GPS systems requiring backup azimuth data

• Automobile and marine navigation systems

• Virtual reality input devices

• Robotics

• Original equipment instrumentation for automobiles

• Oceanographic buoys and data stations

With its many potential applications, the TCM2 provides a command set designed with flexibil-ity and adaptability in mind. Many parameters are user-programmable, including reporting units, a wide range of sampling configurations, output damping, and more. We hope the TCM2 will help you to achieve the greatest performance from your target system. Thank you for select-ing the TCM2.

1-2

Getting StartedAbout the TCM2

Packing List

Your TCM2 Evaluation Kit should contain the following items:

TCM2 Electronic Sensor Module

Interface Cable, 3 foot (optional 6-foot cable available for purchase)

Connects between the TCM2 and the host system and power supply. Refer to “TCM2 Pin Descriptions” on page 1-4 for a complete description.

User's Guide

3.5" floppy disk containing TCM2 evaluation software

The 3.5" floppy is a high-density disk formatted for DOS systems. It contains the TCM2.EXE program that executes on any IBM-AT compatible computer running DOS. For instructions on installing and using the TCM2.EXE program, refer to “Evaluation Software” on page 1-6.If any of the 4 items are missing please contact PNI Corp.

C A U T I O N The TCM2 board is an ESD-sensitive device and must be handled accordingly.

Products and Accessories

Table 1-1. Products and Accessories

Product Part Number

TCM2-20 10639

TCM2-20 (with user’s guide, 3-ft. cable, and software) 90001

TCM2-50 10651

TCM2-50 Includes user’s guide, 3-ft. cable, and software) 90002

TCM2 Inclinometer only 10657

TCM2 Inclinometer only(with user’s guide, 3-ft. cable, and software) 90003

TCM2 Magnetometer only 10660

TCM2 Magnetometer only(with user’s guide, 3-ft. cable, and software) 90004

Accessories

6-ft. cable 10826

User’s Guide 10824

1-3

Getting StartedInstallation

Installation

This section describes how to configure, program, and control the TCM2 in your target system. To install the TCM2 into your system, follow these steps:

Make electrical connections to the TCM2

Evaluate the software

Choose a mounting location

Mechanically mount the TCM2

Calibrate for hard-iron distortion effects using either the MPCAL or CAL3 calibration proce-dures.

Electrical Connections

The TCM2 evaluation kit contains a cable to connect to the TCM2. On one end of the cable is the connector needed to mate to the TCM2. The header is MOLX 22-03-2101style, with 0.100” centers. The mating receptacle is MOLX 22-01-3107, or equivalent. The crimps are MOLX 08-50-0114). The cable’s wires are color coded as indicated below:PNI also has a 6-foot cable with a DB9 connector attached. Contact PNI Corporation for pur-chasing information.

Table 1-2. TCM2 Pin Descriptions

Pin Wire Color Description

1 Orange Vsupply (5 V regulated (±5%)) a

a. Do not apply power to both pin 1 and pin 2 simultaneously.

2 Red Vsupply (6-18 V unregulated) a

3 Black Power Ground

4 Blue RxD (RS-232) –5 to 5 V

5 Yellow TxD (RS-232) –5 to 5 V or –12 to 12 V. These ranges are compatible with most RS-232 chips.

6 White RTS, Wake from Sleep

7 Green Data ground, connected to the RS-232 ground

8 Brown Analog Output 2

9 Purple Analog Output

10 Gray Data Ground

1-4


Procedure

1 Attach a single 9V battery to the unregulated supply and power ground pins of the TCM2’s connector (pins 2 and 3 respectively) to apply power to the TCM2.

2 On the TCM2 connector, connect the three signals used (RxD, TxD, and Data ground) for the RS-232 (pin 4 (blue), pin 5 (yellow), and pin 7 (green)) to the corresponding pins on one of the COM ports on the PC. Refer to Table 1-4 and Table 1-5 for connector information.

Table 1-5. DP9 COM Port Connector

N O T E Some COM ports have pins 2 as TxD and 3 as RxD.

Table 1-3. RS-232 Serial Communication Interface

Parameters 8 data bits, 1 start bit, 1 stop bit, no parity

Transmit Voltages ±5V to ±15V

Baud Rate 300 to 38400

Table 1-4. DB25 COM Port Connector

COM Port TCM2 Connector

Pin number Signal Pin number Signal

2 TxD 4 RxD

3 RxD 5 TxD

7 Ground 7 Data ground

4 RTS 6 Wake from sleep

COM Port TCM2 Connector

Pin number Signal Pin number Signal

2 RxD 4 TxD

3 TxD 5 TxD

5 Ground 7 Data ground

7 RTS 6 Wake from sleep

1-5


Communicating with the TCM2

Once the TCM2 is powered up and the RS232 connection is made with one of the PC’s COM ports, you may begin swapping ASCII serial data with the TCM2. The most direct means is to run any modem or terminal emulation software.Specify the COM port that you have the TCM2 connected to and set the baud rate to the same baud rate of the TCM2. The default baud rate for the TCM2 is 9600. Remember that the TCM2 does not echo characters by default, so you may wish to select the echo output option in your terminal emulation program or press <Ctrl> e on the keyboard.

Evaluation Software

The TCM2.exe DOS evaluation program communicates with the TCM2 through the COM port of your PC. It puts an easy-to-use interface onto the ASCII command language used by the TCM2, so that instead of issuing command codes manually, you can use buttons, check boxes, and dialog boxes. It reads the ASCII responses of the TCM2 instead of reading the ASCII output strings of the TCM2 and formats its sensor data into labeled and easy-to-read data fields. It simultaneously presents a terminal window that shows you the actual ASCII strings being exchanged with the TCM2, so that you may observe and begin to learn the TCM2’s command syntax as you use the evaluation program’s more friendly interface.To install the program on your computer, copy the TCM2.EXE file from the floppy disk to your hard drive. Usage of the program is menu-driven. There are three ways to navigate the menu buttons.

• Use the keyboard’s Tab key to move sequentially through the menu items.

• Use the keyboard’s arrow keys to move through the menu items.

• On the keyboard, enter the shortcut key (the key in the menu item that is white) to go directly to that menu item. For example, the Set Program i/o Parameters button the “P” in Program is white in color.

N O T E The TCM2.EXE program cannot use the 38400 baud rate. Do not use TCM2.exe to change the baud rate to 38400. If the TCM2 is set to 38400 (b=7), the TCM2.exe program will not be able to communicate with the PC.

The 38400 baud rate can be used with other terminal programs that support this rate. Examples of these programs are TELIX, PROCOMM, and HyperTerminal in the Accessories list of Windows. When using a terminal program you will need to set the correct baud rate, no parity, 1 stop bit, 8 data bits and the COM port.

The TCM2.exe program will default to COM2 and baud rate of 9600. To start the TCM2.exe program on COM1, invoke the TCM2.EXE program with the following command:

TCM2 1 (TCM2 "space" 1)

Alternately, the COM Port and baud rate can be set in the TCM2.EXE program.

N O T E The Compass Baud Rate and the Program Baud Rate must be the same. In general, you should set the Compass Baud Rate before changing the Program Baud Rate.

To set the Compass baud rate, and the TCM2.EXE program baud rate and COM port:

1 From the TCM2.EXE program, select Set Compass I/O Parameters, set the Baud Rate to the desired value, and then select OK.

1-6


2 Select Set Program I/O Parameters, choose the correct COM Port and Baud Rate, and then press OK.

The bottom screen echos the commands when the different buttons are selected. It can also serve as a terminal program by pressing the F1 key. In the terminal mode, you can type commands directly to the TCM2. To return to user interface control, press the F2 key.The program also includes a data logging feature. In the Program I/O Parameters menu, you can open a data file (Logging on enabled). After you open the data file, all of the data going to or coming from the TCM2 compass will be saved to the file. When you are done collecting data, close the data file. The file is saved in ASCII text.

Where to Install the TCM2

The TCM2’s magnetometers’ wide dynamic range and its sophisticated calibration algorithms allow it to operate in many environments. For optimal performance however, you should mount the TCM2 with the following considerations in mind:

The TCM2’s magnetometers should not saturate

The TCM2 can be calibrated for large static magnetic fields. However, each axis of the TCM2’s magnetometers has a maximum dynamic range of ±80 µT; if the total field exceeds this value for any axis, the TCM2 will report a magnetometer out of range error condition. When mounting the TCM2, consider the effect of any sources of magnetic fields in the local environment that when added to the earth’s field may saturate the TCM2’s sensors. For example, large masses of ferrous metals such as transformers and vehicle chassis, large electric currents, permanent mag-nets such as electric motors, and so on.

Locate the TCM2 away from local sources of changing magnetic fields

It is not possible to calibrate for changing magnetic anomalies. Thus, for greatest accuracy, keep the TCM2 away from sources of local magnetic anomalies that will change with time; for instance, electric equipment that will be turned on and off or nearby ferrous bodies that will be changing positions. Make sure the TCM2 is not mounted close to cargo or payload areas that may be loaded with large sources of local magnetic fields. To test the magnetic environment of a location:

1 Clear any previous calibration data:

• On the terminal program, send the command cc <Enter>.

• On the TCM2.exe program, select User Calibration, Clear Previous Calibration. After a few seconds, the Start Multipoint Calibration button will be displayed. Select Quit.

2 Set the TCM2 to output the X, Y, and Z sensor data.

• On the terminal program, send the command em=e.

• On the TCM2.exe program, select Set Compass I/O Parameters and then set the Magnetom-eter Output to Enabled.

3 Put the TCM2 into Continuous Output mode:

• On the terminal program, send the command go.

• On the TCM2.exe program, select Start Continuous Sampling.

4 Place the unit in the desired mounting location and note the magnetometer output X, Y, and Z

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values. If you see a Magnetometer Out of Range error, ignore it for now.

5 Pick a direction to begin moving the TCM2, either forward or backward (X sensor), side-to-side (Y sensor), or up or down (Z sensor). The process will eventually go through all combinations with the intent of moving away from any distortions until a location can be found where the TCM2 will be able to operate.

6 Slowly move the TCM2 in the first direction only, until the values of the corresponding sensor stop changing with the movement, or at least the change can be attributed to background noise. It may be that the sensor will still be changing, but it is the least amount of change seen.

7 Select the next direction to move, starting at the finishing point of the previous move. Continue until this sensor’s values stop changing as in the step above.

8 Finally, move the TCM2 along the final sensor direction as done previously. At the end of this movement, the location achieved is the best location to mount the TCM2 relative to the initial desired location.

9 Experiment with different configurations of cargo, as well as turning various equipment on and off to determine if the TCM2’s sensors saturate or detect significant changes in local magnetic anomalies.

Example Test Scenario

The TCM2 starts at point A, which is directly behind an antenna mounted on the top of a van. Begin by moving the TCM2 rearward, away from the antenna along the X axis. At some dis-tance the X values stop changing significantly with movement. From that point begin moving the TCM2 to the right along the Y axis, maintaining the relative rearward location already deter-mined, until the Y sensor stops changing. From this end point move the TCM2 upward along the Z axis. At some point the Z value will have little change. Thus, the best mounting position is achieved.

The TCM2 should be mounted in a physically stable location

Choose a location that is isolated from excessive shock, oscillation, and vibration.

The TCM2 should be mounted as close to level as possible

To maximize the tilt range over which the compass operates, the TCM2 should be mounted as close to level as possible, as indicated by the Pitch and Roll output of the TCM2.

Mechanically Mounting the TCM2

Refer to the TCM2 Dimensional Specification in Chapter 5, “Performance Specification” for the TCM2 board dimensions, location of the mounting holes, and the orientation of the reference frame. The TCM2 is factory calibrated with respect to the mounting holes, thus it must be aligned within the host system with respect to these mounting holes, not the board edges.

1-8

2

RS232 Data Output Word 2-2NMEA 0183 Format 2-2TCM2 Standard Output 2-3

Command Syntax 2-4Programming Conventions 2-4

Data Transmission 2-5Error Codes 2-6Compass Operating Modes 2-8

Standby Mode 2-8Sampling in the Standby Mode 2-8Continuous Sampling Mode 2-8Analog Outputs 2-9

Digital Damping 2-10Output Response Time 2-11Latency 2-12Magnetic Distortion Alarm 2-13Pitch and Roll Output 2-14 User Calibration 2-15

Automatic Calibration 2-16Soft Iron Effects 2-17Other Limitations 2-17

Calibration Procedures 2-18Multipoint Calibration (mpcal) 2-19CAL3 Procedure 2-20Temperature Sensor Calibration 2-22

Using the TCM2

Using the TCM2RS232 Data Output Word

RS232 Data Output Word

The TCM2 sends an “output word” in ASCII form across the RS232 serial link when issued the s? (Single Output Word) command, or when in go (Continuous Sampling) mode. This data out-put word may be configured by the user for the desired format and configuration. You may select either NMEA 0183, or TCM2 standard output word formats, with the sdo= (Set RS-232 Output Word) command.

NMEA 0183 Format

The TCM2 can be configured to conform to the NMEA (National Maritime Electronics Associ-ation) 0183 specification, which describes a standard RS232 bus format for exchange of a vari-ety of navigation information (GPS, radar, compass, and so on). In the NMEA output format, only compass heading information is available. Inclinometer, magnetometer, thermometer data and the distortion detection warning are all unavailable.

$HCHDM,<compass>,M*checksum<cr><lf> !for magnetic heading

For example,

$HCHDM,182.3,M*checksum<cr><lf> !for magnetic heading = 182.3 °

The checksum value is the result of XOR’ing the ASCII bytes between the ‘$’ and ‘*’ charac-ters. This one byte value is reported in the output word by two ASCII characters representing two hex digits, with the most significant nibble first. For example, “...*A3<cr><lf> “indi-cates that the output word has a decimal checksum value of 163.

2-2

Using the TCM2RS232 Data Output Word

TCM2 Standard Output

The TCM2 standard output format may be configured to provide all of the sensor data parame-ters available, or only those parameters required.

$C<compass>P<pitch>R<roll>X<Bx>Y<By>Z<Bz>T<temp>E<error code>*checksum<cr><lf>

For detailed information regarding the character formatting and resolution of the values for each of the data parameters in the output word, refer to “Programming Commands” on page 3-1 for the following commands: c? (Compass Update), m? (Magnetometer Update), i? (Inclinometer Update), t? (Temperature Update).

Example

The TCM2 will return the following:

$C328.3P28.4R-12.4X55.11Y12.33Z-18.43T22.3E001*checksum<cr><lf>

under the following conditions:

• compass heading = 328.3 ° (true or magnetic, depending on configuration)

• pitch = 28.4 °

• roll = -12.4 °

• Bx = 55.11µT (x-component of magnetic field)

• By = 12.33 µT (y-component of magnetic field)

• Bz = -18.43 µT (z-component of magnetic field)

• Temperature = 22.3 ° (F/C depending on configuration)

• E001 = Distortion flag is raised–magnetic anomaly nearby

Any parameters not enabled are not included in the output word. For example:

$C328.3T22.3*checksum<cr><lf> !for compass and thermometer information only.

If all data parameters are disabled, no message will be output in response to s? or in continuous output mode, unless an error condition exists. The checksum value is computed and reported identically to that for the NMEA output format.

2-3

Using the TCM2Command Syntax

Command Syntax

There are three types of commands you may issue to the TCM2:

• User Configuration Parameter commands which set user-definable parameters.

• Request for Data commands which query the TCM2 for data or for the stored value of user-definable parameters.

• Action commands which prompt the TCM2 to perform a specific action.

All commands must be followed with a <cr>, or <cr><lf>. The <lf> characters are ignored by the TCM2, but are supported to allow compatibility with a variety of terminals.

Programming Conventions

Set TCM2 user parameters: <parameter>=<value><cr>

Query TCM2 data (parameter or sensor values): <parameter>?<cr>

Action command: <command><cr>

Detailed descriptions of all commands are in the “Command List” on page 3-5 and a command summary is shown in “Command List Quick Reference” on page 3-2.

2-4

Using the TCM2Data Transmission

Data Transmission

The TCM2 will transmit data across the RS-232 interface in response to input commands, and will also transmit data output words automatically when placed in continuous output mode. The response to the various commands is as follows:

The ‘:’ character signifies a successfully identified and executed command.

Table 2-1. Command Responses

Input Command TCM2 Response

Valid parameter-setting commands :<cr><lf>

Valid action command varies according to command

Valid parameter query commands :<parameter>=<value><cr><lf>

Invalid, or unrecognized command :E<code><cr><lf>

Valid sensor query command varies according to command

2-5

Using the TCM2Error Codes

Error Codes

Error codes are given in the output word immediately before the checksum output indicated by the letter “E” followed by three ASCII characters representing hexadecimal digits (for example, ASCII F equals hexadecimal value F, or decimal value 15). Each error condition corresponds to one bit within one of the hexadecimal digits. When the error condition exists, that bit will be set equal to 1 in the error code transmitted by the TCM2. The error conditions and their correspond-ing bit locations are listed in Table 2-2. Refer to Table 2-3 for a list of the most common error codes.

Thus, if the following error conditions existed: command parameter invalid and magnetic distor-tion alarm, then the corresponding error message would be: E041.

Table 2-2. Error Codes

1st ASCII Character

Bit 3 (MSB) EEPROM1 error

Bit 2 EEPROM2 error

Bit 1 Reserved for future use (always 0)

Bit 0(LSB) Reserved for future use (always 0)

2nd ASCII Character

Bit 3 (MSB) Reserved for future use (always 0)

Bit 2 Command parameter invalid

Bit 1 Reserved for future use (always 0)

Bit 0(LSB) Command invalid or not available on current model of TCM2

3rd ASCII Character

Bit 3 (MSB) Reserved for future use (always 0)

Bit 2 Magnetometer out of range

Bit 1 Inclinometer out of range

Bit 0 (LSB) Magnetic distortion alarm

2-6

Using the TCM2Error Codes

Description of Error Conditions

Command Parameter Invalid – contains an invalid or out of range value.

Command invalid or not available on current model of TCM2 – is not recognized by the TCM2. The syntax is incorrect, or you have entered a command which is not supported by the TCM2 model you are using.

Inclinometer out of range – the inclinometer sensor is detecting an attitude that is outside of its operational range of maximum pitch and roll. When this error flag is raised, compass and inclinometer output data should be disregarded. Note that extreme out of range conditions may not be detected. For example, when the inclinometer is upside down due to the physical dimensions of the inclinometer, it could output angles within the range of the inclinometer even though they are not valid angles.

Magnetometer out of range – the magnetometer sensors are detecting an ambient magnetic field that exceeds the maximum dynamic range of the magnetometer in any of the three axes.

Magnetic distortion alarm – the TCM2 is detecting a local magnetic anomaly that may be compromising the accuracy of compass and magnetometer readings. Refer to “Magnetic Distortion Alarm ” on page 2-13 for more details on this feature.

Table 2-3. Common Error Codes

Error Code Description

E001 Magnetic distortion alarm a

a. Indicates that the unit has detected magnetic filed anomalies that can compromise compass and magnetometeraccuracy based upon the stored values of the last calibration. Refer to “Magnetic Distortion Alarm ” onpage 2-13 for more information.

E002 Inclinometer out of range

E003 Magnetic distortion alarm and inclinometer out of range

E004 Magnetometer out of range

E005 Magnetometer out of range and magnetic distortion alarm

E006 Magnetometer out of range and Inclinometer out of range

E007 Magnetometer out of range, Inclinometer out of range, and magnetic distortion alarm

E010 Command invalid or not available

E040 Command parameter invalid

E050 Command invalid or not available, and command parameter invalid

E400 EEPROM2 error b

b. Indicates that the TCM2 EEPROM has been corrupted. Contact PNI Corporation for assistance.

E800 EEPROM1 error b

EC00 EEPROM2 error and EEPROM1 error b

2-7

Using the TCM2Compass Operating Modes

Compass Operating Modes

Standby Mode

The TCM2 is in Standby mode when you issue an h (Halt) command or ax (Warm Reboot). During Standby mode the TCM2 is idle and not sampling any sensors. You may configure and verify the TCM2’s user parameters in the Standby mode (set sampling rate, filter parameters, and so on.) You may also query the TCM2 for single updates of compass heading, pitch and roll, magnetic field strength, and temperature. Because the TCM2’s sensors are not sampling contin-uously during Standby, filtering is automatically disabled, and power consumption is reduced.

Sampling in the Standby Mode

You can activate and receive data from the TCM2 sensors from the h (Halt Continuous Sam-pling, Enter Standby) mode. You may wish to do this if you are manually operating the TCM2 for evaluation purposes, or if the TCM2 only needs to be polled sporadically. With the TCM2 in the Standby mode, you can query sensor data by either issuing single parameter updates with commands like c? (Compass Update), m? (Magnetometer Update) or you can receive output word updates by issuing the s? (Single Update of Output Word) command. The output word may be configured as previously described in “TCM2 Standard Output” on page 2-3 to provide either NMEA formatted compass data, or the TCM2 Standard output word, which presents any combination of TCM2 sensor data that you wish to receive. The single parameter updates allow you to immediately query any sensor data.

N O T E Because the sensors are not continuously sampling in the Standby mode, data damping is automatically disabled. Thus, any updates you request will not be damped.

Continuous Sampling Mode

After configuring the TCM2 in the Standby mode, issue the go command to place the TCM2 into Continuous Sampling mode. In this mode, the TCM2 samples its sensors, processes, and stores this sensor data at the periodic rate you specify with the sp= (Set Sampling Period Divi-sor), clock= (Set Clock Rate), and fast= (Enable Fast Sampling) commands. The principle means of output from the TCM2 is via RS-232 serial communications. You may configure the TCM2 either to output the latest sensor data on a continuous, unprompted basis, or to provide an update only upon demand.

• continuous output (serial)

• analog output

• quadrature output

2-8

Using the TCM2Compass Operating Modes

The TCM2 will output the specified output word at the chosen period rate. As soon as a new set of sensor data is processed by the TCM2, it is immediately transmitted. As discussed in “RS232 Data Output Word” on page 2-2, the output word can either be NMEA or TCM2 Standard for-mats. The continuous output mode should be utilized if you wish to have the TCM2 automatically pro-vide a periodic output without being prompt by the host system.

Analog Outputs

The TCM2 supports analog output of compass heading data to provide compatibility with a wide range of existing systems. The analog output is enabled by sao=e (Select Analog Output) command. However, analog output modes do not provide full resolution, error flags, tilt data, or magnetic field information, so if you are implementing the TCM2 into a new design, utilizing the RS-232 interface is strongly recommended. There are two analog output formats available: linear and quadrature. Use the Select Analog Output mode command, sao=l (linear) sao=q (quadrature) or sao=d (disabled) to configure the TCM2 to provide the analog output mode that you desire. Refer to “sao=” on page 3-25.

Linear Mode

The TCM2’s digital compass heading is converted to a DC voltage ranging from 0 to 4.98 V by an 8-bit digital-to-analog converter (DAC). Thus, heading resolution is 8 bits (256 increments), around a full circle. Specifically, the 5V range is divided into 19.6 mV increments, where each increment corresponds to a 1.4 ° change in compass heading. Thus, an output voltage of 19.6 mV corresponds to a 1.4 ° compass heading. An output voltage of 2.5 V corresponds to a compass heading of 179.5 °. Note that there is an abrupt switch in out-put voltage at 360 °, from 4.98 V to 0 V.

Quadrature Mode

Two DC voltages provide the sine and cosine of the heading angle, thus eliminating voltage dis-continuities. Analog output 1 (pin 9) is cosine of the heading; analog output 2 (pin 8) is sine of the heading 4.98 V corresponds to sin (heading) or cos (heading) equal to 1.0 V corresponds to sin (heading) or cos (heading) equal to –1. If the compass is facing north, 0 °, you will see 4.98 V at pin 9 (cos (0 °) = 1) and 2.5 V at pin 8 (sin (0 °) = 0).

N O T E You should always place a buffer between the TCM2 analog output and the input of an ADC. The analog output should swing from 0 V to 4.98 V. If you do not see the maximum output reach 4.98 V, you are probably loading the TCM2 analog output.

2-9

Using the TCM2Digital Damping

Digital Damping

Digital damping is used to filter the output (damping=). The damping uses an IIR filter on the measured data. It is only enabled during continuous mode. The digital damping feature com-putes the following:

output=(1-f(timeconst)) x current measurement + f(timeconst) x oldmeasurements

It outputs this as the current measurement and stores it in place of the old measurements. The function f is as follows:

f=10^(log(1/2)/timeconst)

The time constant is set using the timeconstant=n (Set Time Constant for Digital Damping) command, the filter time constant over about n measurements. If the sample rate is 16 Hz and n=32, filtering is done over about 32 measurements or for a damping period of 2 seconds.The %skip=n (Skip Measurements) command can be used with digital damping. It allows the TCM2 to take fast continuous measurements but output every nth one. This is useful if you want to filter the output over a large sample. In this mode if every sample was output, due to the low pass filter, every output will not be significantly different from one another, and hence, it would be more useful to output every nth one. For example, if the sample rate is 16 Hz and the time constant is set to 30 samples, a reasonable value for %skip is 15.

2-10

Using the TCM2Output Response Time

Output Response Time

The TCM2 samples the sensors at the rate selected by the clock= (Set Clock Rate) command (between 5 - 40 Hz). Measurement of the sensors requires about 50 mS in normal mode, fast = d (Enable Fast Sampling) and about 30 mS in fast mode, fast = e (Disable Fast Sampling). Refer to “Command List” on page 3-5 for details on the different modes and clock rates. Computation is overlapped with measurement of the sensors and requires about 20 mS. If the data output time (set by b=) command and output word length) exceeds the clock rate (set by clock=), the TCM2 will skip a sensor measurement. You must increase the baud rate, or decrease the clock rate on message length.

2-11

Using the TCM2Latency

Latency

In the go (Enter Continuous Sampling) mode, the maximum latency from the time a measure-ment starts, to the end of the data transmission is as follows:

Table 2-4. Maximum Latency

Normal Fast

Measurement time 50 mS 30 mS

Computation time 20 mS 20 mS

Output word length 30 at 9600 baud rate 30 mS 30 mS

Output word length 39 at 38400 baud rate 8.5 mS 8.5 mS

Total time at 9600 baud rate 100 mS 80 mS

Total time at 38400 baud rate 78.5 mS 58.5 mS

2-12

Using the TCM2Magnetic Distortion Alarm

Magnetic Distortion Alarm

The TCM2’s magnetic distortion alarm indicates magnetic anomalies that can compromise com-pass and magnetometer accuracy. The process of user calibration (See “ User Calibration” on page 2-15) allows the TCM2 to measure the nominal local magnetic field. This field value is then stored as a reference. During continuous sampling, the TCM2 evaluates the quality of mag-netic environment by utilizing an algorithm that compares the instantaneous magnetic field information against the stored reference. If significant deviations are detected, the magnetic dis-tortion alarm error flag is raised (if enabled).

How to Use the Magnetic Distortion Alarm

To utilize the alarm, you must first perform a user calibration. Refer to “ User Calibration” on page 2-15. Next, the magnetic distortion alarm must be enabled by using the ed= (Enable Mag-netic Distortion Alarm) command. From this point on, TCM2 output of compass or magnetome-ter data will be flagged with the magnetic distortion alarm code if the distortion condition exists. See the discussion of TCM2 error codes in “Error Codes ” on page 2-6.

How to Interpret the Magnetic Distortion Alarm

The TCM2 raises the magnetic distortion alarm when it detects a local magnetic anomaly. Your system should consider compass and magnetometer outputs to be suspect when the alarm is raised. The alarm can indicate short-term disturbances; for example, if the TCM2 is placed next to a large source of ferrous metal, or if a nearby piece of electrical equipment is activated. The alarm can also indicate long term disturbances; if, for instance, the TCM2 has been reinstalled in a different system without recalibration in which case the TCM should be recalibrated.

2-13

Using the TCM2Pitch and Roll Output

Pitch and Roll Output

The TCM2 uses a fluid-filled tilt sensor to measure the orientation of the compass with respect to gravity. Since the compass also measures the complete magnetic field, the TCM2 can correct for the tilt of the compass to provide an accurate heading.The tilt sensor measures the angles between the compass Z axis and the gravity vector. This is a different set of angles than the pitch and roll angles as commonly used in an airplane. The pitch and roll of an airplane is usually defined as the angle rotated around an axis through the center of the fuselage; pitch is rotation around an axis through the center of the wings. These two rotations are independent of each other since the rotation axes rotate with the plane body. Because the tilt sensor uses gravity, it is really measuring rotations around the level Earth coor-dinate axes. Because these are fixed, and do not rotate with the body, the pitch and roll output by the TCM2 will act differently than the pitch and roll defined in an airplane.You can use the tilt data output by the TCM2 to calculate the orientation of the TCM2 with respect to the level Earth coordinate frame. Define a vector G that is perpendicular to the com-pass board (and therefore is parallel to the Z-axis of the compass.) The coordinates of G = (X, Y, Z) in the level Earth frame will be:

where P and R are the pitch and roll reported by the TCM2. The tilt range we specify for the TCM2 is the angle this G vector makes relative to gravity. This tilt sensor is accurate within this tilt range. The inclination of the compass relative to gravity, θ, can be easily calculated as:

,

where X, Y, and Z are the components of the G vector given above.The compass will only compensate for the tilt within specifications when the inclination is less than the TCM2 tilt range.

Z SQRT 1 P( )2tan R( )2tan+ +( )( ) 1–=

X Z tan(P)=

Y Z tan(R)=

θ arctangent X2 Y2+( ) Z2⁄( )=

2-14

Using the TCM2 User Calibration

User Calibration

All compasses can perform well in a controlled environment, where the ambient magnetic field consists solely of the earth’s field. In most practical applications, however, an electronic com-pass module will be mounted in a host system such as a vehicle that can contain large sources of local magnetic fields: ferrous metal chassis, transformer cores, electrical currents, and perma-nent magnets in electric motors. By performing the user calibration procedure, you allow the TCM2 to identify the major sources of these local magnetic anomalies and subsequently cancel out their effects when measuring the earth’s magnetic field for computing compass headings. When you perform the user calibration procedure, the TCM2 takes a series of magnetic field measurements. It analyzes these total field measurements in order to identify the components that are created by the earth’s field, which is the desired signal, from those components that are generated by the local environment, which we wish to subtract out. The end goal of the procedure for the TCM2 is to have an accurate measurement of the static three-dimensional magnetic field vector generated by its host system at its mounting location. This vector is subsequently subtracted out of run-time field measurement to yield the resultant earth’s field vector. One major benefit from the TCM2’s triaxial magnetometer/biaxial inclinometer system configu-ration is its ability to compensate for hard-iron effects in all orientations throughout its usable tilt range. As we have mentioned, a compass must measure the local field vector generated by the host system at its current position within the system in order to accurately calibrate. Because the TCM2’s magnetometer is strapped-down, or fixed with respect to its host system, this local field vector does not change as the host system’s attitude changes, allowing the TCM2 to accurately compensate in all pitch and roll orientations. Gimbaled fluxgates, for instance, are unable to pro-vide accurate calibration in non-level orientations because its magnetometers, being gimbaled, change position with respect to the host system as attitude changes. This presents a different local distortion field than that measured during calibration.

2-15


Automatic Calibration

The principal of automatic calibration is to correct for any deviations from the initial calibration corrections. The magnetic anomalies of a system can change over time. Hence, after initial cali-bration, you might need to recalibrate the system to get accurate compass data. The automatic calibration feature allows you to enable the TCM2 to automatically correct for magnetic anoma-lies in the system. Automatic calibration is not required for most purpose and better results will be obtained from rerunning the multipoint calibration. It continuously updates the estimated hard iron distortion vector. At 10 Hz, the response time of the TCM2 will not be affected even with automatic cali-bration enabled. However, if the TCM2 is sampling faster than 10 Hz and auto calibration is set, the real time response of the TCM2 is not fully maintained.

C A U T I O N This mode should be used with care, there are a number of environmental characteristics that lead to incorrect results. This mode should not be used in environments where there are many transient magnetic anomalies or the system has a continuous repetitive movement that does not cover much of a circle while pitching and/or rolling.

Automatic calibration should be enabled after multipoint calibration. The following commands are used to enable automatic calibration:

autocal=e !Enable automatic calibration

go !Run in this mode, take data points

h !Update the EEPROM with the newly computed

! hard iron distortion.

autocal=d ! Disable the autocal mode.

To check how well the automatic calibration improved the score, use the lc? (Last Calibration) command.

N O T E The EEPROM does not save the new autocal computed coefficients until the data acquisition is halted (h), if power is lost during autocal, before it is halted, the TCM2 will restart with the prior mpcal (Multipoint Calibration) values.

2-16


Soft Iron Effects

The TCM2 can calibrate for hard iron effects, or local fields that can be modeled as static fields such as those created by permanent magnets. Hard iron distortions are significant in most sys-tems. There is another class of soft iron effects that are created by the amplification of magnetic fields by highly permeable materials, such as ferrous metals. The TCM2 does not currently com-pensate for soft iron effects. Soft iron effects, however, are generally far weaker than hard iron effects in most systems, and can be more readily defeated by choosing a suitable location to mount your compass module. In some systems, however, it may be difficult to avoid large masses of ferrous metal that may create non-trivial soft iron effects, such as an armor plate in a tracked vehicle. In these instances, try to locate the module as far away from the ferrous metals as possible. Soft iron effects decrease with distance by an inverse square relation so even modest separation can be effective. The TCM2, does collect sufficient data to be mathematically capable of calibration for soft iron effects. Algorithms are currently being developed to implement a soft iron calibration in later models. If you do have soft iron effects from your system, contact PNI Corp. for the soft iron correction software that runs on your PC. The algorithm is too large to fit on to the current 8-bit microprocessor used on the TCM2, hence, the program allows for the algorithm to run on a PC and loads the coefficients into the EEPROM of the TCM2.

Other Limitations

As discussed, the TCM2 models local disturbances as a static magnetic vector contribution to the earth’s field. Any local fields, which are not static, will create errors. You cannot calibrate for anomalies that are not fixed with respect to the compass. For example, you may know that the TCM2 will be used in close proximity to other vehicles. You cannot calibrate for the effects of these other vehicles, as they will be moving with respect to the TCM2. This is a limitation universal to all compasses. However, the TCM2 does present a warning when such local distur-bances occur. See “Magnetic Distortion Alarm ” on page 2-13. Consider, therefore, the TCM2’s position relative to any potential sources of field that will not be static: magnetic cargo or payloads that may be placed in close proximity, fans or other electri-cal equipment that may be turned on and off, and so on. The TCM2 can calibrate for any environment that creates a magnetic field that does not exceed the dynamic range of its magnetometers.

2-17

Using the TCM2Calibration Procedures

Calibration Procedures

There are two basic operations related to user calibrations:

• Calibrating the TCM2 for the first time, or for a new installation.

• Updating the TCM2’s calibration.

There are two internal calibration routines available for calculating the effects of hard iron mag-netism on the compass.

• Multipoint Calibration

• CAL3

Multipoint is convenient for most users as it does not require any precision positioning. Depend-ing on your equipment configuration, you may find the alternative routine, CAL3, to provide an easier, accurate, and quicker method of measuring hard iron correction. Both calibration proce-dures are described below.You must be in Standby mode in order to issue calibration commands. The TCM2 cannot accept other commands during the calibration procedure.

2-18


Multipoint Calibration (mpcal)

Key Points for the MPCAL Routine

• Tilt as much as possible during the calibration. This allows the compass to take full advantage of the 3-axis magnetometer.

• Move slowly, take at least a minute to make a full circle. You are trying to get an even sam-pling of the magnetic field over as many headings and tilts as possible.

• If you get a poor calibration, clear it before making a new calibration.

• Pay attention to the score. A poor score is not good enough.

Procedure

1 Clear any previous calibration by sending cc.

2 Enable multipoint calibration by sending mpcal=e.

3 Put the TCM2 in continuous mode by sending go.

4 Turn the host system with the TCM2 installed around at least twice changing the pitch and roll as much as possible.

Each turn should take longer than 1 minute. The turn does not need to be a perfect circle. In the calibration mode, the TCM2 is trying to take as many different data points as possible to deter-mine the magnetic anomalies. The more pitch and roll points you give it, the better it is able to determine the vertical magnetic fields. If possible, apply as close to a ±90 ° pitch and ±90 ° roll. Doing so will improve the quality of the calibration. Do not worry about exceeding the range of the inclinometer.

5 Halt the TCM by sending h if halt=e; or h <return> if halt=d.

6 Check the calibration score by sending lc?.

• If the calibration score is not satisfactory, set the TCM in the go (Enter Continuous Sampling) mode and take more data points for 1 or 2 turns.

• If the score still does not improve much, disable multipoint calibration by sending mpcal=d, clear the last calibration by sending cc and rerunning the multipoint calibration mpcal=e.

The hard iron calibration algorithm uses a Kalman filtering algorithm. Hence it is best to slowly move the TCM2 during hard iron calibration.

Interpreting the Calibration Score

The TCM2 provides feedback on calibration through the calibration score, which has the follow-ing format: “...HnVnMn....” The first two numbers in the calibration score, HnVn, respectively describe the quality of the calibration for the horizontal component and vertical component of the host system’s local mag-netic field. Higher numbers reflect higher quality. The highest possible score is a “9”. The fac-tors that contribute to a good score for Hn and Vn are as follows:

• a good, magnetically quiet location was chosen for the user calibration procedure.

• the magnetic environment of the TCM2’s host is stable, there are no large sources of changing fields.

• the calibration data points included a change in system inclination to allow for proper mea-

2-19


surement of the horizontal and vertical field vectors.

• there are no significant soft-iron distortion effects.

The last number in the score, Mn.nn, describes the magnitude of local field generated by the host system. Larger numbers denote strong local fields. Small local fields are preferable, since less correction will be necessary, and they utilize less of the magnetometers’ dynamic range. A mag-nitude score greater than 30 indicates strong magnetic fields at the TCM2 location; you should consider alternative mounting locations. Any score less than 10 is very good. You can use the em=e (Enable Magnetometer Data for Output Word) command to find positions on your equip-ment with the least magnetic field. Refer to “Where to Install the TCM2” on page 1-7 for locat-ing the TCM2 away from local sources of changing magnetic fields.The calibration score values mostly provide a qualitative estimation. For example, a good score would be H9V9Mn.nn. A poor score as anything less than H9V9Mn.nn. A poor V score gen-erally indicates that you need to tilt more during the calibration. A poor H score indicates you did not turn two full circles or that you turned too quickly.

CAL3 Procedure

The CAL3 calibration requires you to take three measurements in three orientations. It is very important for the accuracy of the routine that the orientations be as exact as possible. Error in positioning will translate directly into errors in the hard iron calibration. The CAL3 calibration requires you to take one measurement, turn the system 180 ° exactly, take another measurement, turn the system upside-down exactly, and take a third measurement. The compass is taking two measurements on each axis with the directions reversed between them. The average of the two measurements is the hard iron vector that the TCM2 needs to correct.

N O T E Do not use the TCM2.exe program to run this calibration. Us a terminal program such as HyperTerminal instead.

Procedure

1 Position the system to start. See Figure 2-1.

2 Type CAL3 and press the keyboard’s Enter key.

The TCM2 will take a measurement and prompt you to turn the system 180 °. It is very impor-tant that this be as exact as possible. In general, this will require some sort of fixture to hold and position your sensor.

3 Turn the system exactly 180 ° and press the keyboard’s Space bar to continue. See Figure 2-2.

The TCM2 will take a measurement, you will be prompted to turn the system upside-down. It is very important that the Z-axis in the new position be exactly 180 ° from the original position.

4 Turn the system upside-down and press the keyboard’s Space bar to continue. See Figure 2-3.

The TCM2 will take the third measurement and calculate the hard iron correction.

2-20


Figure 2-1. Measurement 1



2-21


Temperature Sensor Calibration

The temperature sensor of the TCM2 can be easily calibrated if you can put the TCM2 in two environments with known temperatures. The TCM2 does not require temperature compensation for the inclinometer. To calibrate the temperature sensor of the TCM2 electronic compass module, perform the fol-lowing steps:

1 Send the following command to change the output word to the raw outputs (as opposed to the TCM2 standard output word or NMEA 0183 output word):

sdo=r

"r" stands for raw output.

N O T E All commands are followed by hitting the <Enter> key (which is the carriage return of the keyboard). When you ask for an update of the output word with the s? (Single Update of Output Word) or go Enter Continuous Sampling Mode, the TCM2 will output the raw pitch, roll, 3 axis magnetometers (X, Y, and Z) and temperature readings. For example:

$P0388,0077 R00B8,0320 X57D8,6D46 Y6680,5FB6 Z6328,631C T0269

2 Place the TCM2 in an environment with a known temperature in Celsius (T1). For example: T1 = 10 °C.

3 Query the TCM2 for an update of the output word with the s? (Single Update of Output Word) command. Write down the raw temperature reading (which is the number at the end following the letter "T" in the output word). This temperature is TR1.

4 Change temperature of the environment of the TCM2 to a new known temperature in Celsius (T2). For example, T2 = 20 °C.

5 Query the TCM2 for an update of the output word with the s? command. Write down the raw temperature reading. This is TR2.

6 Solve the following two equations for the temperature constants KT0 and KT1:

Then:

or

7 The coefficients must be scaled for use in the TCM2.

%KT0 = 10 * KT0

%KT1 = 40960 * KT1

T1 KT1 TR1 KT0+•=

T2 KT1 TR2 KT0+•=

T1 T2– KT1 TR1 KT1 TR2 KT0 KT0–+•–•=

T1 T2– KT1 TR1 TR2–( )•=

KT1 T1 T2–( )TR1 TR2–( )

--------------------------------=

KT0 T1 KT1 TR1•–= KT0 T2 KT1 TR2•–=

2-22


8 Send the TCM2 the commands to set the temperature coefficients as follows (assume %KT0=26.23749 and %KT1=0.02389):

C A U T I O N Failure to properly input the following command sequence could corrupt the TCM2 EEPROM. Never leave the *facal= command enabled (that is, facal=e).

9 Send the TCM2 the ax (Warm Reboot) command. On versions 2.77 and higher, give the TCM2 *faccal=e, then ax, and then *faccal=d.

The TCM2 should now use the coefficients KT0 and KT1 which you just stored. Calibration of the temperature sensor should be complete, and outputs of temperature in the TCM2 standard output word should be the correct temperature sensed by the sensor. To check that the TCM2 actually stored these coefficients, you can query the TCM2 what these coefficients are with the following commands:

10 Send the TCM2 the sdo=t command (the command to change the output word back to the standard TCM2 output word.

%KT0 26.23749=

%KT1 0.02389=

%KT0?

%KT1?

2-23


2-24

3

Command List Quick Reference 3-2Differences Between TCM2 Firmware Version 2.82 and 2.34A 3-4

Changes to the EEPROM 3-4Command List 3-5Request for Data Commands 3-6Action Commands 3-11User Configuration Parameter Commands 3-17

Programming Commands

Programming CommandsCommand List Quick Reference

Command List Quick Reference

Table 3-1. Command List

Command Description Page

Request for Data Commands

c? Compass Update page 3-6

i? Inclinometer Update page 3-7

lc? Query Last Calibration Score page 3-8

m? Magnetometer Update page 3-8

s? Single Update Output Word page 3-9

t? Temperature Update page 3-9

Action Commands

autocal Automatic Calibration page 3-11

ax Warm Reboot page 3-12

cc Clear Calibration Data page 3-12

factory Factory Settings page 3-13

go Enter Continuous Mode page 3-13

h Halt Continuous Sampling, Enter Standby page 3-14

halt= Enable single character halt page 3-14

mpcal Multipoint Calibration page 3-15

sleep Sleep Mode page 3-16

wake Wake Mode page 3-16

User Configuration Parameter Commands

%skip= Skip Measurements page 3-17

b= Set Baud Rate page 3-17

cclip= Set Clip Value page 3-18

clock= Set Clock Rate page 3-19

damping= Set Digital Damping page 3-19

ec= Enable Compass Data for Output Word page 3-20

3-2

Programming CommandsCommand List Quick Reference

ed= Enable Magnetic Distortion Alarm page 3-20

em= Enable Magnetometer Data for Output Word page 3-21

ep= Enable Pitch Data for Output Word page 3-21

er= Enable Roll Data for Output Word page 3-22

et= Enable Temperature Data for Output Word page 3-22

fast= Enable Fast Sampling page 3-23

ma= Select Magnetometer Output Option page 3-23

mag_dec= Set Declination Angle page 3-24

sao= Select Analog Output Mode page 3-25

sdo= Set RS232 Output Word Format page 3-25

seriallp= Low Power Serial Consumption page 3-26

sn= Select Magnetic or True North page 3-27

sp= Set Sampling Period Divisor page 3-28

timeconst= Set Time Constant for Digital Damping page 3-28

uc= Set Compass Units page 3-29

ui= Set Inclinometer Units page 3-29

ut= Set Temperature Units page 3-30

Table 3-1. Command List

Command Description Page

3-3

Programming CommandsDifferences Between TCM2 Firmware Version 2.82 and 2.34A

Differences Between TCM2 Firmware Version 2.82 and 2.34A

Firmware version 2.82 is backward compatible with the 2.34A version of the TCM2 firmware except for the following changes:

• The TCM2 takes about 430 mS to start up when power is first applied to the unit. Previously it took about 250 mS to start up.

• All parameters set by the user via the command set were immediately written to EEPROM. In version 2.82, most commands do not update the EEPROM. The new parameters are not up-dated until one of the following updating commands are issued. If the power was disconnected before the new parameters were updated by one of the updating commands, those new param-eters would be lost.

Changes to the EEPROM

The changes to the EEPROM are not visible to the user. Version 2.82 duplicates the factory cali-bration coefficients, user hardiron coefficients, and user configurations in two different memory locations of the EEPROM. Also, the factory calibration coefficients, user coefficients, and the user configuration parameters are all stored in separate banks of memory in the EEPROM. Changes were made to make the data in the EEPROM less susceptible to corruption.The EEPROM changes are as follows:

1 Changed from an 8 bit checksum to a 16 bit checksum.

2 The coefficients are stored in three different sections of the EEPROM. Each section can only be accessed if that section is enabled. The three sections are:

• Factory Calibration: If this section of the EEPROM is corrupt, error E400 will appear.• User Coefficient: The hardiron and softiron calibration coefficients will be stored here. If this

section of the EEPROM is corrupt, error E800 will appear.• User Configurations: All user set configurations will be saved in this section of the EE-

PROM. If this section is corrupt, error E800 will appear.

3 The three sections of the EEPROM are each backed up in a separate bank of EEPROM. The user correction and user configuration banks are updated each time a Write to EEPROM is done.

Table 6-2. Updating Commands

go cc

h save

ax mpcal=d

factory cal3

3-4

Programming CommandsCommand List

Command List

All of the TCM2 commands are summarized in a list in Appendix B, along with the default val-ues for all of the user parameters that are set when you receive the TCM2.

ctrl-e, ctrl-n (Special Commands)

The TCM2 ordinarily does not echo characters received over the RS232 interface. You may enable echo by typing <Ctrl> e or disable it by typing <Ctrl> n.

3-5

Programming CommandsRequest for Data Commands

Request for Data Commands

These commands are used to request data from the TCM2.

c? (Compass Update)

Description Samples the magnetometer and inclinometer sensors, then calculates and returns the compass heading. When in Standby mode (h) use this command to query the compass reading regardless of whether compass data has been selected for inclusion in the output word.

Syntax c?<cr>

Output when compass units are set to degrees:

$Cnnn.n[Ennn]*checksum<cr><lf>:<cr><lf>

when compass units are set to mils:

$Cnnn.n[Ennn]<cr><lf>:<cr><lf>

Resolution 0.1 ° or 2 mils

Valid Values 0 to 359.9 ° or, 0 to 6399 mils

Example If TCM2 is configured for degrees:

c?<cr>

$C255.5[Ennn]*checksum<cr><lf>:<cr><lf>

If TCM2 is configured for mils:

c?<cr>

$C4480[Ennn]*checksum<cr><lf>:<cr><lf>

Related Commands uc= (Set Compass Units)ec= (Compass Data Enable)

3-6


i? (Inclinometer Update)

Description Samples and returns the pitch and roll inclinometer data. When in Standby mode (h) use this command to query the inclinometer readings regardless of whether inclinometer data has been selected for inclusion in the output word.

Syntax i?<cr>

Output When the inclinometer units are set to degrees:

$P(-)nn.nR(-)nn.n[Ennn]*checksum<cr><lf>:<cr><lf>

When inclinometer units set to mils:

$P(-)nnnR(-)nnn[Ennn]*checksum<cr><lf>:<cr><lf>

Resolution 0.1° or 2 mils

Valid Values

Example i?<cr>

$P-30.0R-20.1[Ennn]*checksum<cr><lf>:<cr><lf>

Related Commands ep= (Enable Pitch)er= (Enable Roll)

Degree Mils

0 to ±20.0 ° 0 to ±355.5 mils

0 to +55 ° 0 to +973.5 mils

0 to +80 ° 0 to +1421.6 mils

3-7


lc? (Query Last Calibration Score)

Description Reports the score generated by the last calibration procedure executed, as stored in EEPROM. Use this command to recall the quality of the last calibration procedure. For a complete descrip-tion of user calibration, Refer to “ User Calibration” on page 2-15.

Syntax lc?<cr>

Output: HnVnMn.nn<cr><lf>

Valid Values 0-9 for H and V

Example lc?<cr>

H7V8M8.00<cr><lf> !An example of a poor score

Related Commands mpcal (Multipoint Calibration)autocal (Auto Calibration)

m? (Magnetometer Update)

Description: Samples and returns the X, Y, and Z axes of magnetometer data. When in Standby mode (h) use this command to query the magnetometer readings regardless of whether magnetometer data has been selected for inclusion in the output word.

Syntax m?<cr>

Output $X(-)nn.nnY(-)nn.nnZ(-)nn.nn[Ennn]<cr><lf>:<cr><lf>

Resolution 0.01 µT

Valid Values 0 to ±79.9 µT

Example m?<cr>

$X25.00Y10.50Z-03.00[Ennn]*checksum<cr><lf>:<cr><lf>

Related Commands em= (Enable Magnetometer)

3-8


s? (Single Update of Output Word)

Description Transmits the output word you specified. Refer to “Data Transmission” on page 2-5 for a full discussion of output word formatting. This command can only be used in the Standby (h) mode. The Select RS232 Output Word Format (sdo=) command allows you to select between NMEA or TCM2 Standard formats for the output word. If TCM2 Standard output is selected, only those data parameters that are enabled (with ec, ep, er, em, et) will be output.

N O T E In Standby mode (h), the TCM2 sensors are idle. When this command is issued in Standby mode, the TCM2 will first sample its sensors before transmitting the output word.

Syntax s?<cr>

Output Refer to “RS232 Data Output Word” on page 2-2 for a full description of the output word for-mats.

Example s?<cr>

$C328.3P28.4R-12.4X55.1Y12.3Z-18.4T22.3[Ennn]*check-sum<cr><lf>:<cr><lf>

Related Commands sdo= (Select RS232 Output Word Format)ec= (Enable Compass Data for Output Word)ep= (Enable Pitch Data for Output Word)er= (Enable Roll Data for Output Word)em= (Enable Magnetometer for Output Word)et= (Enable Temperature Data for Output Word)

t? (Temperature Update)

Description Sample and return the ambient temperature. When in the Standby mode (h) use this command to query the temperature readings regardless of whether temperature data has been selected for inclusion in the output word.

Syntax t?<cr>

Output When the units are set to Celsius:

$T(-)nnn.n[Ennn]*checksum<cr><lf>:<cr><lf>

When units set to Fahrenheit:

$T(-)nnn[Ennn]*checksum<cr><lf>:<cr><lf>

Resolution 0.5 °C or 1 °F

3-9


Valid Values

Example t?<cr>

$T25.5[Ennn]*checksum<cr><lf>:<cr><lf>

Related Commands et= (Enable Temperature)ut= (Set Temperature Units)

Celsius Fahrenheit

25.0 to 100.0 °C -13 to 212 °F

3-10

Programming CommandsAction Commands

Action Commands

? (Help Command)

All TCM2 commands are displayed using the "?" command.

autocal (Automatic Calibration)

Description This is an advanced calibration technique that is used after Multipoint Calibration (mpcal). Refer to “ User Calibration” on page 2-15 for details.

Syntax autocal=e<cr>

:<cr><lf>

go<cr>

.......

....... take data in continuos modeh<cr> (or h)autocal=d

:<cr><lf>

Valid Values

Example autocal<cr>go<cr>

........

........ data in continuos modeh<cr>

:<cr><lf>

autocal=d<cr>

:<cr><lf>

Query Response autocal? :autocal=

Input Description

d e, enable automatic calibration

m d, disable automatic calibration (default setting)

3-11


Related Commands lc? (Query Last Calibration Score)mpcal= (Multipoint Calibration)

ax (Warm Reboot)

Description Resets the TCM2. The TCM2 halts its current activity, and resets to the operational mode last specified. Thus, the output mode selected before the Warm Reboot (ax) command remains the same after the warm reboot.

Syntax ax<cr>

Output <cr>

Example ax<cr>

Related Commands h (Halt Continuous Sampling)

cc (Clear Calibration Data)

Description Erases all calibration data. Any further magnetometer or compass output is not corrected for any local fields. This command is only valid during Standby Mode (h). Use this command before recalibrating the TCM2 for a new or changed local magnetic environment. Refer to “ User Cali-bration” on page 2-15.

Syntax cc<cr>

Output HnVnMn.nn<cr><lf>

Example cc<cr>

H0V0M0.00<cr><lf>

Query Response lc? (Last Calibration Score)

Related Commands mpcal= (Multipoint Calibration)autocal= (Automatic Calibration)c? (Compass Update)

3-12


factory (Factory Settings)

For version 2.34 and higher

Description Resets the TCM2 to the factory settings. The internal modes are set to the following factory defaults:

Syntax factory<cr>

Output H0V0m0.00<cr><lf>

Example factory<cr>

go (Enter Continuous Sampling Mode)

Description Enters the Continuous Sampling Mode (go). The TCM2 immediately begins sampling sensors at the specified rate of the Set Clock Rate (clock=) command. Data is automatically transmitted at the sampling rate, and according to the Output Word Format (sdo=) currently specified. To exit the TCM2 and return to Standby mode, issue the Halt Continuous Sampling (h) command. Refer to “Continuous Sampling Mode” on page 2-8 and to “Latency” on page 2-12 for more informa-tion.

Syntax go<cr>

Output Selected data output word.

Example go<cr>

Related Commands s? (Single Update of Output Word)h (Halt Continuous Sampling)

autocal=d er=e seriallp=d

b=9600 et=d %skip=1

cc fast=d sn=m

clock=16 halt=d sp=1

damping=d ma=u timeconst=8

ec=e mag_dec=10 uc=d

ed=e mpcal=d ui=d

em=d sao=d ut=c

ep=e sdo=t

3-13


h (Halt Continuous Sampling, Enter Standby)

Description Exits Continuous Sampling Mode (go) and enters Standby mode (h). If this command is received while the TCM2 is transmitting an output word, the remainder of the output word will be sent before the TCM2 changes modes.

Syntax h<cr>

Output :[Ennn]<cr><lf>

Related Commands go (Enter Continuous Sampling Mode)halt= (Enable Single Character Halt)

halt= (Enable Single Character Halt)

For versions 2.82 and higher

Description In the previous versions of the TCM2, during Enter Continuous Sampling Mode (go), some-times the halt command was not accepted. This is because interrupts are disabled during incli-nometer readings to synchronize the sensor readings. Interrupts are off for several milliseconds, potentially permitting a receive buffer overflow. To correct this, the halt command during go mode has optionally been made a single character command using the halt=e command. Refer to “Standby Mode” on page 2-8 for more information.

Syntax halt=d<cr>


Valid Values

Query Response halt? :halt=

Related Commands go (Enter Continuous Sampling Mode)

Input Description

e halt=e

d h, cr command for halting the output (default setting)

3-14


mpcal (Multipoint Calibration)

Description Initiates a multipoint calibration. This command is only valid during Enter Continuous Sam-pling Mode (go). The TCM2 samples its sensors and adds the data point to the current set of cal-ibration data. For a full description of the user calibration procedure, Refer to “ User Calibration” on page 2-15.

Syntax mpcal=e<cr>

:<cr><lf>

go<cr>

.......

...... take data in continuos modeh<cr> (or h):<cr><lf>

mpcal=d<cr>

Valid Values

Output HnVnMn.nn<cr><lf>

The TCM2 only reports a calibration score after it has been put in Standby mode (h).

Example mpcal=e<cr>

:<cr><lf>

go<cr>

........

....... take data in continuos modeh<cr>:<cr><lf>

mpcal=d<cr>

H4V3M5.00:<cr><lf> (This is an example of a poor score)

Query Response mpcal? :mpcal=

Related Commands lc? (Query Last Calibration Score)autocal= (Automatic Calibration)

Input Description

e e, enable multipoint calibration

d d, disable multipoint calibration (default setting)

3-15


sleep (Sleep Mode)

Description Enters the sleep mode of operation. This command turns off the internal clocks and the RS-232 chip.

Syntax sleep<cr>

Output

Example

Related Commands wake (Wake Mode)

wake (Wake Mode)

Description Enters the wake mode of operation.To wake the TCM2, a falling edge on the int2 (interrupt 2) pin of the processor is required. This is achieved by connecting pin 6 of the TCM2 connector to the RTS pin (pin 4 on a DB25 and pin 7 on a DB9) of the COM port.A sample wake.c program is provided on the TCM2.exe diskette.

Syntax wake<cr>

Output

Example

Related Commands sleep (Sleep Mode)

3-16

Programming CommandsUser Configuration Parameter Commands

User Configuration Parameter Commands

The following commands allow you to set and query the values of the TCM2’s user configura-tion parameters. These parameters specify how the TCM2 will operate, such as sampling rate, baud rate, and so on. The TCM2 stores all parameter values in EEPROM when specified, so that after a reboot or power cycling, it will return to the last configuration set. Note that any parame-ter that specifies a numeric value must be specified with the current setting of the appropriate units.

%skip= (Skip Measurements)

Description Takes continuous measurements but outputs at a slower rate. For instance you could set the time constant to 100 in the digital damping mode and set %skip=50 and output every fiftieth mea-surement. This command is used with the Set Digital Damping (damping=) command.

Syntax %skip=n<cr>


Valid Values

Example %skip=integer<cr> !set number of measurements to skip:<cr><lf>

Query Response %skip? :%skip=

Related Commands damping= (Set Digital Damping Mode)timeconst= (Set Time Constant for Digital Damping)

b= (Set Baud Rate)

Description Sets the baud rate for the RS232 interface. The new baud rate specified is not used immediately, but only after the TCM2 has been reset with a Warm Reboot (ax) command or by cycling power on and off.

Input Description

Integer value between 1 - 255 Skip n number of measurements. (Default is set to 1)

3-17


N O T E The TCM2.EXE program cannot use the 38400 baud rate. Do not use TCM2.exe to change the baud rate to 38400. If the TCM2 is set to 38400 (b=7), the TCM2.exe program will not be able to communicate with the PC.

The 38400 baud rate can be used with other terminal programs that support this rate. Examples of these programs are TELIX, PROCOMM and the telephone icon in the Accessories window of Windows. When using a terminal program you will need to set the correct baud rate, no parity, 1 stop bit, 8 bits and the COM port.

Syntax b=n<cr>

Output :<cr><lf>

Valid Values

Example b=5<cr> !set baud rate to 9600 baud:<cr><lf>

Query Response b? :b=

cclip= (Set Clip Value)

Description Sets a clipping value for the maximum positive and negative angle of the inclinometer. When the inclinometer angle exceeds this value, it is clipped to output that value along with an out-of-range flag.

Syntax cclip=nn.n<cr>

Output :<cr><lf>

Input Baud Rate

1 300

2 1200

3 2400

4 4800

5 9600 (default setting)

6 19200

7 38400

3-18


Valid Values

Example cclip=nn.n<cr> !set the value for the clip angle:<cr><lf>

Query Response cclip? :cclip=

clock= (Set Clock Rate)

Description Allows you to have precise control of the clock rate. The ability to sample at the higher speeds must be matched with the amount of data being output at each sample. At 9600 baud, each char-acter requires about 1 mS to output, so at 30 Hz, the most that can be output is 30 characters, which is not enough for all data outputs to be enabled in the output word.

Syntax clock=nn.nn<cr>


Valid Values From 5 Hz to 40 Hz. 5 is equal to 5 Hz, 10 is equal to 10 Hz, and so on. (Default is set to 16 Hz)

Example clock=30<cr> !set clock rate to 30 Hz:<cr><lf>

Query Response clock? :clock=

Related Commands fast= (Enable Fast Sampling)sp= (Set Sampling Period Divisor)

damping= (Set Digital Damping)

Description Enables or disables filtering of the output. The damping uses an IIR filter on the measured data. It is only enabled during Enter Continuous Sampling Mode (go). Refer to “Digital Damping” on page 2-10 for more information.

Syntax damping=n<cr>


Input Description

Positive floating point minus the range of the inclinometer.

Clip the reading of the inclinometer at this value. (Default is 1 degree)

3-19


Valid Values

Example damping=e<cr> !enable damping:<cr><lf>

Query Response damping? :damping=

Related Commands %skip= (Skip Measurements)

ec= (Enable Compass Data for Output Word)

Description Enables or disables compass data for inclusion in the TCM2 Standard Output Word. For a description of the TCM2 Standard Output Word format, refer to “TCM2 Standard Output” on page 2-3.

Syntax ec=n<cr>


Valid Values

Example ec=e<cr> !include compass data in output word:<cr><lf>

Query Response ec? :ec=

ed= (Enable Magnetic Distortion Alarm)

Description Enables or disables the magnetic distortion alarm output feature. If enabled, the TCM2 reports the magnetic distortion condition when detected. The magnetic distortion alarm is reported as an error flag in the error code response in TCM2 output messages. For a full description of the magnetic distortion alarm, refer to “Magnetic Distortion Alarm ” on page 2-13.

Syntax ed=n<cr>

Input Description

e enable damping

d disable damping (default setting)

Input Description

e Compass data enabled. It will be included in the output word. (Default setting)

d Compass data disabled. It will be excluded in the output word.

3-20



Valid Values

Example ed=e<cr> !enable magnetic distortion alarm:<cr><lf>

Query Response ed? :ed=

em= (Enable Magnetometer Data for Output Word)

Description Enables or disables magnetometer data for inclusion in the TCM2 Standard Output Word. For a description of the TCM2 Standard Output Word format, refer to “TCM2 Standard Output” on page 2-3.

Syntax em=n<cr>


Valid Values

Example em=e<cr> !enable magnetometer data :<cr><lf>

Query Response em? :em=

ep= (Enable Pitch Data for Output Word)

Description Enables or disables pitch data for inclusion in the TCM2 Standard Output Word. For a descrip-tion of the TCM2 Standard Output Word format, refer to “TCM2 Standard Output” on page 2-3. For a description of Pitch and roll, refer to “Pitch and Roll Output” on page 2-14.

Syntax ep=n<cr>

Input Description

e Magnetic distortion alarm enabled. (Default setting)

d Magnetic distortion alarm disabled.

Input Description

e Magnetometer data enabled. It will be excluded from the output word.

d Magnetometer data disabled. It will be excluded in the output word. (Default setting)

3-21



Valid Value s

Example ep=e<cr> !include pitch data in output word:<cr><lf>

Query Response ep? :ep=

er= (Enable Roll Data for Output Word)

Description Enables or disables roll data for inclusion in the TCM2 Standard Output Word. For a description of the TCM2 Standard Output Word format, refer to “TCM2 Standard Output” on page 2-3. For a description of Pitch and roll, refer to “Pitch and Roll Output” on page 2-14.

Syntax er=n<cr>


Valid Values s

Example er=e<cr> !include roll data in output word:<cr><lf>

Query Response er? :er=

et= (Enable Temperature Data for Output Word)

Description Enables or disables temperature data for inclusion in the TCM2 Standard Output Word. For a description of the TCM2 Standard Output Word format, refer to “TCM2 Standard Output” on page 2-3.

Syntax et=n<cr>

Input Description

e Pitch data enabled. It will be excluded from the output word. (Default setting)

d Pitch data disabled. It will be excluded in the output word.

Input Description

e Roll data enabled. It will be excluded from output word. (Default setting)

d Roll data disabled. It will be excluded in output word.

3-22



Valid Values

Example et=e<cr> !include temperature data in output word:<cr><lf>

Query Response et? :et=

fast= (Enable Fast Sampling)

Description Enables or disables fast sampling. This command in conjunction with the Set Clock Rate (clock=) command allows the unit to sample up to 30 Hz with less accurate magnetometer and compass measurements. The random noise in the compass heading measurements increases to about ±0.3 ° in this mode. Use this command at sample rates greater than 16 Hz.

Syntax fast=n<cr>


Valid Values

Example fast=e<cr> !enable fast sampling mode:<cr><lf>

Query Response fast? :fast=

ma= (Select Magnetometer Output Option)

Description Outputs either corrected or non corrected magnetometer readings. If corrected readings are selected, the magnetometer readings output by the TCM2 reflect corrections to ambient field as a result of user calibration. If not corrected, the magnetometer readings output reflect total ambi-ent field, including local fields. Note that compass readings always are based upon corrected magnetometer readings.

Input Description

e Temperature data enabled. It will be excluded from the output word.

d Temperature data disabled. It will be excluded in the output word. (Default setting)

Input Description

e enable fast sampling

d disable fast sampling (Default setting)

3-23


Syntax ma=n<cr>


Valid Values

Example ma=c<cr> !corrected magnetometer readings :<cr><lf>

Query Response ma? :ma=

mag_dec= (Set Declination Angle)


Description Sets the magnetic declination angle in degrees. Sets the declination offset for a reading of True North. Based on the setting of the Compass Units (uc) command. Positive declination is easterly declination and negative is westerly declination. This is not applied until True North is set to true.

Declination, also called magnetic variation, is the difference between true and magnetic north, relative to a point on the earth. It is measured in degrees east or west of true north. Correcting for declination is accomplished by storing the correct declination angle, and then changing the heading reference from magnetic north to true north. Declination angles vary throughout the world, and change very slowly over time. For the greatest possible accuracy, go to the National Geophysical Data Center web page below to get the declination angle based on your latitude and longitude: http://www.ngdc.noaa.gov/cgi-bin/seg/gmag/fldsnth1.pl

Syntax mag_dec=nn.n<cr>


Valid Values

Example mag_dec=17.2 !sets the declination angle to 17.2 degrees:<cr><lf>

Query Response mag_dec? :mag_dec=

Input Description

c Choose corrected magnetometer readings.

u Choose non corrected magnetometer readings. (Default setting)

Input Description

nn.n declination angle in degrees

(The default value is set to 10)

3-24

http://www.ngdc.noaa.gov/cgi-bin/seg/gmag/fldsnth1.pl


Related Commands sn= (Select Magnetic or True North)

sao= (Select Analog Output Mode)

Description Sets the mode for analog output. For a full description of analog output modes, refer to “Analog Outputs” on page 2-9.

Syntax sao=n<cr>


Valid Values

Example sao=l<cr> !set analog output mode to linear :<cr><lf>

Query Response sao? :sao=

sdo= (Set RS232 Output Word Format)

Description Sets the output word format to be used in response to the Single Update Output Word (sdo?) command and in Continuous Output Mode (go). For a full description of TCM2 output words, refer to “RS232 Data Output Word” on page 2-2.

Syntax sdo=n<cr>


Valid Values

Example sdo=t<cr> !output word format to TCM2 standard:<cr><lf>

Input Description

d Analog output disabled. (Default setting)

l Linear analog output enabled.

Q Quadrature analog output enabled.

Input Description

t standard TCM2 output word (Default setting)

r raw data

3-25


Query Response sdo? :sdo=

seriallp= (Low Power Serial Communication)

Description Places the TCM2 into low power mode. The following tables shows the power consumption in the different modes. Note that the power consumption will vary ±0.5 mA between units. The fol-lowing measurements were made on serial number 7536.

Table 3-3. Power Supply via the Unregulated Input: seriallp=d

Modes Power Consumption

Standby Mode 11.7 mA

Continuous sample at 16 Hz 16.74 mA



Sleep mode 2.87 mA

Table 3-4. Power Supply via the Unregulated Input: seriallp=e


Standby Mode 4.0 mA




Sleep mode 2.87 mA

Table 3-5. Power Supply via the 5 V Regulated Input: seriallp=d






Sleep mode 2.7 mA

3-26


Syntax seriallp=n<cr>


Valid Values

Example seriallp=e<cr>

:<cr><lf>

Query Response seriallp? :seriallp=

sn= (Select Magnetic or True North)


Description Selects either magnetic or true north. True North sets the heading reference to True North or Magnetic North. If the value is set to true, then declination is applied to get the True North head-ing.

Syntax sn=n<cr>


Table 3-6. Power Supply via the 5 V Regulated Input: seriallp=e






Sleep mode 2.87 mA

Input Description

e enable

d disable (Default setting)

3-27


Valid Values

Example sn=t<cr> !the declination angle set with mag_dec is added to the!computed heading

:<cr><lf>

Query Response sn? :sn=

Related Commands mag_dec= (Set Declination Angle)

sp= (Set Sampling Period Divisor)

Description Divides the clock rate set by Set Clock Rate (clock=). For the TCM2, this command is meant to be used in conjunction with the clock= command to set the sampling period below 5 Hz. In the TCM1, this command was used to divide down the 8 Hz sampling rate. It can be used the same way in the TCM2 if the clock rate is set to 8 Hz.

Syntax sp=nnn<cr>


Valid Values

Example sp=5<cr>

:<cr><lf>

Query Response sp? :sp=

timeconst= (Set Time Constant for Digital Damping)

Description This command is used with the digital damping command. It sets the time constant to nn sam-ples for the digital damping. Refer to “damping=” on page 3-19.

Syntax timeconst=n<cr>

Input Description

t true north (Default setting)

m magnetic north

Input Description

1 to 5 Sample every second sample of the clock rate. (Default setting is 1)

3-28



Valid Values

Example timeconst=16<cr> !Filter over 16 measurements:<cr><lf>

Query Response timeconst? :timeconst=

Related Commands damping= (Set Digital Damping)%skip= (Skip Measurements)

uc= (Set Compass Units)

Description Sets the units to be used for the input and output of the heading data.

Syntax uc=n<cr>


Valid Values

Example uc=d<cr> !set units to degrees:<cr><lf>

Query Response uc? :uc=

ui= (Set Inclinometer Units)

Description Sets the units to be used for the input and output of the tilt (pitch & roll) data.

Syntax ui=n<cr>


Input Description

Integer value between 1-255 Set the measured time constant. (Default setting is 8)

Input Description

d degrees, 360 °in a full circle (Default setting)

m mils, 6400 mils in a full circle

3-29


Valid Values

Example ui=d<cr> !set units to degrees:<cr><lf>

Query Response ui? :ui=

ut= (Set Temperature Units)

Description Sets the units to be used for input and output of temperature data.

Syntax ut=n<cr>


Valid Values

Example ut=f<cr> !set units to Fahrenheit:<cr><lf>

Query Response ut? :ut=

Input Description

d degrees, 360 °in a full circle (Default setting)

m mils, 6400 mils in a full circle

Input Description

f Fahrenheit

c Celsius (Default setting)

3-30

4

Trouble-Shooting the TCM2 4-2Limitations of the Inclinometer 4-6

Troubleshooting

TroubleshootingTrouble-Shooting the TCM2

Trouble-Shooting the TCM2

When I connect the TCM2 to my PC, there is no response from the TCM2• Make sure that you are giving the TCM2 the correct power, refer to “Electrical Connections”

on page 1-4 for proper connection of power, ground, TXD, RXD, and data ground.

• The TCM2 is defaulted to h (standby) mode. To enable the TCM2 either type the go (Enter Continuous Sampling) command or select the start continuous sampling button in the TCM2.exe program. This button is located at the top middle position on the TCM2.exe dis-play.

• With the TCM2.EXE program (or any terminal program you use), the program must be set to the correct COM port and baud rate that the TCM2 is currently using. The TCM2.EXE pro-gram default is COM2. For COM1, type TCM2 1 when you launch the program to select the COM1 port or use the set Program i/o parameters... button to select the COM port and reset the TCM2.

• When you change the baud rate, the TCM2 does not start using the new baud rate until after an ax (Warm Reboot) command or save (Save Settings) command has been sent, followed by cycling the power off and on again. When cycling the power after the save command, make sure a ":" is returned from the TCM2 before cycling power off. If power is removed during a write to the EEPROM, it can get corrupted.

• If you change the baud rate to 38400 using the TCM2.EXE program and then cannot commu-nicate with the TCM2, you will have to find a computer and terminal program (such as TELIX or PROCOMM) that can communicate at 38400. Then you can set the TCM2 to the desired baud rate. There is no other way to change the baud rate of the TCM2 from 38400 after it has been changed; that is, there is no hard reset which will change the baud rate.

N O T E The TCM2.EXE program CAN ONLY use baud rates up to 19200. Although it can give the command to change the baud rate to a faster baud rate, the TCM2.EXE will not be able to communicate at a baud rate greater than 19200.

• The TCM2 needs to be set to the same baud rate as the communication program. If you do not know the baud rate of the TCM2, try using COM1 and each baud rate. If none of those com-binations work, try using COM2 and each baud rate.

The calibration score looks good, but when I move the TCM2, the output of head-ing only changes a few degrees when I turn the TCM2 through 360 °

• Α good score is H9V9Mnn.n where nn.n < 30.0 µT. Any value of the H and V that is less than 9 is not a good score.

• Your previous calibration may have been "bad" and you may not have cleared the previous calibration data (the cc command) before starting the new calibration.

• You may have softiron. The Multipoint and CAL3 calibration procedures remove the effects of hardiron, but will not account for softiron. Softiron effect is a magnetic anomaly vector that changes as you rotate it around the earth's field. This is a much more complicated anomaly to fix. Refer to “Soft Iron Effects” on page 2-17 for more information.

4-2


The heading from the TCM2 jumps around or just seems wrong• First look for any error code. Refer to “Error Codes ” on page 2-6 for detailed error code de-

scriptions.

• The heading of the TCM2 is calculated using the 3 magnetometer outputs and 2 axis inclinom-eter. It is important to identify the sensor that is noisy. Send the following commands to enable all the sensor outputs:

em=e !magnetometer data enabled

ep=e !enable pitch data for output word

er=e !enable roll data for output word

ec=e !enable compass data for output word

go !enter continuous sampling mode

Check the values of pitch, roll, and the X, Y and Z magnetometers. Check if any of the sensors are noisy. If the magnetometers are noisy, look for external sources of magnetic fields that could be changing. If the inclinometer is noisy, check for vibration.

• Check for any distortion sensed by the TCM2 by checking if there is an error flag (“Ennn”) in the output word. If there is an error flag including “E001” or “E004”, then you may not have cleared the calibration data (cc) before a new calibration. If the error flag is then “E400”, then there is a serious EEPROM error, and you must contact PNI Corp. to determine how to restore the EEPROM coefficients.

• Check whether the three magnetometer sensors are working by giving the following com-mands:

sdo=r !set data output to raw

s? !get a single update of the output word

The first line of the output will look like this:

$Pnnnn,nnnn Rnnnn,nnnn Xnnnn, nnnn Ynnnn,nnnn Znnnn,nnnn Tnnnn<cr><lf>:<cr><lf>

If both numbers (nnnn,nnnn) after X, Y or Z are 0000 (for example, X 0000,0000), then that sen-sor or the drive circuitry is malfunctioning. Please contact PNI Corp.

• To put the TCM2 back in normal operating mode, give the sdo=t (Set RS232 Output Word Format) command for the Standard TCM2 output word or sdo=n command for the NMEA 0183 output word.

The pitch or roll output does not change• First make sure that the inclinometer is not set to clip at any particular angle with the “cclip?”

command. Either set the clip to 0 (cclip=0) or set the clip to a value that is greater than the tilt range of your system (for example, cclip=19 °).

• Make sure that you are giving the TCM2 power correctly, refer to “Electrical Connections” on page 1-4.

• Check the voltage level applied to the TCM2. The sensor accuracy depends on the present voltage level and current level.

4-3


The output rate is slower than it should be• The output rate is a function of a number of commands: clock= (Set Clock Rate), sp= (Set

Sampling Period Divisor) and %skip= (Skip Measurements) commands. The sampling rate is equal to the clock divided by the sampling period (clock/sp). The TCM2 uses the %skip value even when damping is not enabled. The actual output rate is equal to the sampling rate (clock/sp) divided by the number of samples that the TCM2 is to skip (%skip). Therefore, the output rate is clock/sp/%skip. If you are not using the digital damping feature, then use the %skip=0 command so that the TCM2 does not skip any outputs.

1 There is an error message (“Ennn”) in the output word.

• Refer to “Error Codes ” on page 2-6 for descriptions of each error code and the most likely cause for the error.

2 When the host system moves, the fluid in the inclinometer sloshes around and gives inaccurate tilt, which results in inaccurate heading calculations.

• If the TCM2 will experience significant vibration or sloshing, there are two ways to dampen the effect. First, try the “digital damping” function, refer to “Digital Damping” on page 2-10. Second, a more viscous fluid can be used in the inclinometer. You must contact PNI Corp. for pricing and ordering a TCM2 with a different inclinometer.

3 I want to see if the compass is accurate.

• Try this simple functional test.

1 Set the TCM2 on a flat surface and mark its location.

2 Take a reading of the heading.

3 Turn the compass 180 ° and take another reading.

Try this at about 4 different orientations (for example, starting at 0 °, 45 °, 90 °, and 135 °) The compass should read a difference of 180 ° between pairs of readings. Watch out for nearby metal; most tables, for example, have metal parts that distort the magnetic field and will make the compass give inaccurate readings.

4-4


What else should I not do?• Do not remove power before a command is complete. Power must not be removed from the

TCM2 while the TCM2 is executing a command. Doing this can erase the EEPROM because the EEPROM is not write-protected at that time. You must wait for the TCM2 complete the command. For example, when you send a command em=d (disable magnetometers), it will return a “:” to indicate it is finished.

• Do not set the baud rate too fast. With the TCM2.EXE program (or any terminal program you use), the program must be set to the correct COM port and baud rate that the TCM2 is currently using. The TCM2.EXE program default is COM2. For COM1, type TCM2 1 when you launch the program to select the COM1 port or use the set Program i/o parameters... button to select the COM port and reset the TCM2.

Also, you can overflow the serial input buffer of your computer if the b= (Set Baud Rate) and sp= (Set Sampling Period Divisor) are set too fast. For example, many 486 computers cannot process the serial input if the sample rate is 30 Hz and the baud rate is 38400.

• Do not use steel parts (or other parts which can be magnetized) near the TCM2. Steel and other parts can be magnetized, meaning that the material will take on a different magnetic charge than the charge it had during calibration. These parts can be magnetized by moving a magnet (or any source of a magnetic field) near them. If you must use a certain part with these prop-erties, then your customers should be warned to keep the product away from sources of mag-netic fields which could magnetize that part. They should also look for the E001 error. Auto calibration function of the TCM2 can be used for these situations. Auto calibration will try to adjust the hardiron calibration coefficients to reflect the change but if the magnetization is too large, a full multipoint calibration will be necessary.

• Do not put a magnet on the TCM2 compass. Some components on the board can become mag-netized if exposed to a strong magnetic field.

• We recommend conformal coat if the board will be exposed to moisture or sources of contam-ination.

4-5

TroubleshootingLimitations of the Inclinometer

Limitations of the Inclinometer

While the TCM2 electronic compass can handle many rugged environments and dynamic situa-tions, there are limits. The majority of the limits result from the inclinometer (the tilt sensor), which is filled with an electrolytic fluid.

Acceleration

When the TCM2 is in acceleration, the fluid in the tilt sensor will be thrown up against the side of its bubble. Examples of situations with acceleration include banking turns of an airplane and take off of an airplane. The tilt sensor will measure the angle of the fluid as the tilt of the system because it cannot distinguish between acceleration and tilt. The error from this measurement will result in an error in the calculated heading. Therefore, the host system has to be able to tol-erate inaccurate heading when acceleration is present. A formula which relates acceleration to the error in tilt is as follows:

Acceleration = 5* gravity * tangent(A)

where A is the error measured in degrees (solve for A to get the error). This equation only applies to the standard 20% dampened tilt sensor fluid used on the TCM2. The scale factor 5 will be different for different types of tilt sensor fluids. For example, with acceleration of about 0.84 m/sec*sec and gravitational force of 9.8 m/sec*sec, then the error in tilt will be about 1 °. The related error in heading will be from 1° to about 8°, depending on where the compass is on earth. Here in Mountain View, CA, the error in heading for 1° of tilt will be about +/-2.1 °.

Settling Time

After a sudden change in heading, the settling time for the inclinometer (which is the limiting factor) is approximately 300 mS.

Shock

The limiting factor for surviving shock is the inclinometer. The vendor of the inclinometer pro-vided the only test results we have for the inclinometer: it was shown to withstand 20 g for 11 mS and to withstand 11 g for 18 mS. We do not have any test results for any other situations.

Vibration

The natural frequency of the standard fluid in the inclinometer is approximately 20 Hz. If the system has frequencies that are within a few hertz of this, the tilt sensor will give inaccurate readings, which means that the heading will also be inaccurate. If your application has frequen-cies in this range, contact PNI Corp. to discuss using a different fluid in the inclinometer.

4-6

5

Specifications 5-2Heading and Tilt Specifications 5-2Magnetic Field Specifications for the TCM2-20, TCM2-50, and the Magnetometer Only 5-2General Specifications 5-3Assembly Views 5-33-Foot Cable 5-6Optional 6-Foot Cable 5-8

Performance Specification

Performance SpecificationSpecifications

Specifications

The TCM2-20 electronic compass sensor module has ±20 ° of tilt compensation, while the TCM2-50 has ±50 ° of tilt compensation.

Table 5-1. Heading and Tilt Specifications

TCM2-20 TCM2-50 Inclinometer Only

Heading SpecificationsAccuracy when LevelAccuracy when tiltedResolutionRepeatability

0.5 ° 1.0 ° 0.1 °±0.1 °

1.0 ° 1.5 ° 0.1 °±0.3 °

N/AN/AN/AN/A

Tilt SpecificationsAccuracyResolutionRepeatabilityRange

±0.5 °0.1 °±0.2 °±20 °

±1.0 °0.3 °±0.3 °±50 °

±1.0 °0.3 °±0.3 °±50 °

Table 5-2. Magnetic Field Specifications for the TCM2-20, TCM2-50, and the Magnetometer Only

Absolute Accuracy

ResolutionRepeatabilityRange

±1 µT up to 70 µT (typical)±5 µT from 70 µT to 80 µT

0.01 µT±0.2 µT±80 µT

5-2


Assembly Views

Unless otherwise noted:• Units are in U.S. inches• Tolerances are:

• x.x = ±0.1• x.xx = ±0.01• x.xxx = ±0.005

• The compass module should be aligned within the host system with respect to the centers of the mounting holes.

Table 5-3. General Specifications

Power RequirementsSupply Voltage

Currenta

Operating Standard ModeOperating Low Power ModeSleep Mode

a. For version 2.82K only.

+5 VDC regulated or6 to 18 VDC unregulated

15 to 20 mA, depending on user configuration7 to 13 mA, depending on user configuration2.5 mA

Physical MeasurementsDimensionsWeight

2.5 in. x 2.0 in. x 1.25 in.1.6 ounces

InterfacesDigitalAnalog

RS232C or NMEA01830.5 V linear, 19.53 mV resolution (256 discrete levels)0.5 V quadrature (sine and cosine)

Temperature Informationb

Accuracy after CalibrationResolutionRange

b. Sensor is uncalibrated.

±1 °C, ±2 °F±1 °C, ±2 °F–20 °C to 70 °C

Environmental CharacteristicsOperating TemperatureStorage Temperature

–20 °C to 70 °C–30 °C to 90 °C

5-3


Figure 5-1. Front View

5-4


Figure 5-2. Top View

Figure 5-3. Side Views

5-5


3-Foot Cable

Figure 5-4. 3-Foot Cable with Molex Connector

5-6


Table 5-4. Molex Connector Pin Description

Pin Wire Description

1 Orange Vsupply (5VDC ±5%)

2 Red Vsupply (6 - 18 VDC)

3 Black GND (power)

4 Blue RXD (RS-232)

5 Yellow TXD (RS-232)

6 White Mouse Input (not used)

7 Green GND (data)



10 Gray GND (data)

5-7


Optional 6-Foot Cable

Unless otherwise specified all units are in standard U.S. inches.

Figure 5-5. 6-Foot Cable with Detail View of DB9 Connector

Figure 5-6. 6-Foot Cable with Detail View of Molex Connector

Table 5-5. DB9 Connector Pin Description


1 not connected


3 Blue RXD (RS-232)

4 not connected

5 Green GND (data)

6 not connected

7 White Mouse Input (unused)

8 not connected

9 not connected

5-8


Table 5-6. Molex Connector Pin Description


1 Orange Vsupply (5VDC ±5%)

2 Red Vsupply (6 - 18 VDC)

3 Black GND (power)

4 Blue RXD (RS-232)


6 White Mouse Input (not used)

7 Green GND (data)



10 Gray GND (data)

5-9


5-10

Datasheet PS-30 ver. 1.0-2004 page 1 www.scansense.no 1

Thin-film sensor technology for OEM applications.

PS-30 Series OEM Pressure/Temp. Transmitter .

Ranges 0-10…1200 bar (G), (SG), (A) Pressure accuracy better than ±0,1%FS

(optional 0,05%FS) Long term stability 0,05%FS per 6 months (can

be removed with zero command in protocol to compensate drift)

Temperature accuracy better than ±0,3°C (optional 0,15°C)

ASCII protocol interface Hastelloy C22 material in all wetted parts

Applications

Sea depth/temperature measurements Liquid, steam, gas, hydraulic pressure/temperature measurements in offshore, sub-sea, process

applications Pressure calibration equipment Applications powered with batteries Pressure/temperature monitoring and control requiring high accuracy To be integrated in OEM electronic systems with direct interface to micro controllers

Description The model PS-30 pressure/temperature transmitter includes a diaphragm with thin film strange gauge and a nickel temperature sensor placed on the diaphragm surface to ensure a fast temperature step response. The integrated electronic design in this transmitter allows various parameters in calibration to optimise the different OEM customers need to accuracy in pressure and temperature measurements. The design of the sensor electronics has been developed to assure a low power consumption. This design will also fit applications powered by batteries. The Hastelloy C22 diaphragm used in these sensors has been developed and tested trough experience during the last 15 years with excellent track records and valuable field experience. Baud rate, alarm limits, sampling rate, excitation voltage, temperature span, pressure range, etc. are adjusted in the different models of the PS-30 to fit individual customers OEM applications.

Pressure inlet, housing and electrical connection according to OEM specifications.

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http://pdf.iteksoft.com/modules.php?op=modload&name=Sections&file=index&req=viewarticle&artid=4

www.scansense.no


Specifications PS-30 OEM Pressure/Temp. Transmitter Pressure range bar 0-10…1200 , Gauge, sealed gauge or absolute Over pressure safety bar 1,5 x FS Burst pressure bar 3 x FS Pressure medium Medium compatible with Hastelloy C22 Pressure inlet connection ¼ “ BSP male, others on request Permissible temperatures

Medium °C -40…+100 Custom specified compensation points. .∆t=30°C Ambient °C -40…+80 Storage °C -40…+80

Accuracy Pressure % of span <± 0,1 (optional 0,05) max.∆t=30°C Temperature % of span < ± 0,3 (optional 0,15) max.∆t=30°C

Temperature step response 90% at 140 sec. Temperature sensor resolution °C 0,1 Sampling rate (default) 14 Hz, adjustable up to 0,5 Hz Long term drift % of FS ± 0,1 per year, zero function command in software protocol Input voltage V 3,3 to 8 V 5,7 to 16 Electrical connection 4 pin (+, -, Rx, Tx) Power on, initializing time s < 2,2 Power consumption mA < 2,0 ASCII protocol SC00008, available on request Materials

Wetted parts Hastelloy C22 Housing Stainless Steel S-165M

Ingress protection, submersible IP 68 3000m H2O Secondary containment pressure bar 1034 Weight (nominal) kg 0,135 Further Information: You can get further information on our internet web page: www.scansense.no

Manufactured by: Scan-Sense AS, Bekkeveien 163, 3173 Vear, NORWAY Phone: +47 33 36 30 00, Fax: +47 33 36 31 80, e-mail: [email protected]



www.scansense.no

www.scansense.no

mailto:[email protected]


Model Code: 5PS30H XXX - 003 - XV 300 (range 0-10………20 bar) 600 (range 0-20……...40 bar) 121 (range 0-40…..….80 bar) 221 (range 0-80….…150 bar) 451 (range 0-150…..300 bar) 901 (range 0-300…..600 bar) 182 (range 0-600…1200 bar) 003 Standard OEM model, others on request 2,8 V out (Voh 2,8 V Tx data) 5,0 V out (Voh 5,0 V Tx data)

Glass/ metal penetrator, secondary containment 15000 PSI, flying leads:

- Red (+) - Blue (-) - Yellow (Rx) - Green (Tx)

Custom specified cable/connector on request.

Manufactured by: Scan-Sense AS, Bekkeveien 163, 3173 Vear, NORWAY Phone: +47 33 36 30 00, Fax: +47 33 36 31 80, e-mail: [email protected]

Dimensions and Connection PS-30 OEM Pressure/Temp. Transmitter

Ordering Information PS-2000 series Pressure Transmitter

Housing made from Stainless Steel S-165 M ¼” BSP male pressure port connection, all wetted parts in Hastelloy C22.

Flexible design, OEM specified: - Pressure ranges - Cable/wire lengths - Temp. compensation points - Temperature accuracy - Pressure accuracy

Ø 27mm



www.scansense.no

mailto:[email protected]

AIR BLEED

8

8

MOTORS There are two motors available

PRESSURE COMPENSATION OIL (ITEM 64)

USE CASTROL HYSPIN 5, SHELLMORLINA 5 OR SHELL TELLUS C5 LIGHT OIL.SUB-ATLANTIC WARRANTY WILL BE VOID IF NON-SPECIFIED OILS ARE NOT USED

NOTE.BODY IS TAPPED 5/8" 18 UNF TO TAKE A METAL SHELL WHIP SIZE B, BUT OTHER CONNECTORS INCLUDING OIL FILLED CABLES ARE AVAILABLE. SEE APPROPRIATE WIRING DIAGRAM FOR CABLE.

8

Item No.Qty Description Sub-Atlantic Part Ref. Material1 1 Tilt Shaft 0050-DET -2 2 Main Gear Wheel GEA-0001G3 2 Gear Spacer 0054-DET4 2 Wheel Spacer 0034-DET5 3 Main Shaft Cap 0454-DET Plastic6 4 Deep Groove Bearing 6005 BRG-60057 4 Socket Set Screw-Cup Point M5 x 8 long F-SSS-CP-M5-8-A270 Stainless Gr A2-708 2 Main Shaft Key 0035-DET9 2 Pinion GEA-0001P10 2 Locknut 0036-DET11 4 Angular Contact Bearing 7201B-TVP BRG-7201B12 4 Limit Switch & Diode Sub-Assembly 0232-IAS13 2 2nd Stage Gear 0043-DET -14 2 Potentiometer POT-000115 2 Potentiometer Gear 0045-DET16 2 Potentiometer Pinion 0044-DET17 4 Cam Ring 0040-DET18 2 Pan & Tilt Potentiometer Clip 1140-DET Aluminium Alloy19 2 Pinion Key 3 x 3 0055-DET20 4 Socket Set Screw-Cup Point M5 x 10 long F-SSS-CP-M5-10-A270 Stainless Gr A2-7021 8 Socket Set Screw-Cup Point M5 x 6 long F-SSS-CP-M5-6-A270 Stainless Gr A2-7022 2 Socket Set Screw-Cup Point M4 x 6 long F-SSS-CP-M4-6-A270 Stainless Gr A2-7023 2 Socket Set Screw-Cup Point M3 x 6 long F-SSS-CP-M3-6-A270 Stainless Gr A2-7024 3 O-RING 3.00 x 54.00 SOR-300-0540-N70 Nitrile 7025 3 O-RING 2.62 x 25.07 (BS-120) SOR-262-0251-N70 Nitrile 7026 4 3mm O-Ring Material SOR-300 Nitrile 7027 2 DC Gearmotor See Motor Options28 2 2nd Stage Pinion 0042-DET29 1 Pan Shaft 0049-DET30 1 Pan Adjuster 0053-DET31 1 Body (Plastic Version) 0452-DET32 1 Motor Mount 0455-DET33 1 Plastic 24 V DC Cover 0714-DET34 2 Dowel Pin 4 dia x 10 long F-DP-4-10-SS Stainless Steel35 5 Socket Head Cap Screw M4 x 12 long F-SHCS-M4-12-A270 Stainless Gr A2-7036 2 Pan Limit Switch Bracket 0057-DET37 4 Socket Head Cap Screw M4 x 8 long F-SHCS-M4-8-A270 Stainless Gr A2-7038 29 Plain Washer M4 F-PW-M4-SS Stainless Steel39 16 Socket Head Cap Screw M4 x 25 long F-SHCS-M4-25-A270 Stainless Gr A2-7040 1 Metal Shell Whip Size B See Note41 1 Cover O-Ring SOR-300-1895-N70 Nitrile 7042 1 Socket Set Screw-Cup Point M4 x 12 long F-SSS-CP-M4-12-A270 Stainless Gr A2-7043 8 Socket Head Cap Screw M3 x 8 long F-SHCS-M3-8-A270 Stainless Gr A2-7044 4 Pan Head Screw M2.5 x 20 long F-PHS-M2.5-20-A270 Stainless Gr A2-7045 4 Plain Washer M2.5 F-PW-M2.5-SS Stainless Steel46 4 Nylok Hex Nut M2.5 F-NL-M2.5-A270 Stainless Gr A2-7047 2 Camera Bracket Key 0088-DET48 2 Camera Bracket 0062-DET49 2 Socket Head Cap Screw M8 x 55 long F-SHCS-M8-55-A270 Stainless Gr A2-7050 2 6mm - 1-8 Check Valve HYD-0012 Nickel Plt. Brass51 1 O-RING 1.78 x 18.77 (BS-018) SOR-178-0188-N70 Nitrile 7052 1 Diaphragm - 35 x 40 x 40 DIA-0005 Nitrile53 1 Piston - 71cc Compensator 0960-DET54 1 Body - 71cc Compensator 0891-DET55 4 Socket Head Cap Screw M5 x 20 F-SHCS-M5-20-A270 Stainless Gr A2-7056 4 Plain Washer M5 F-PW-M5-SS Stainless Steel57 4 Spring Washer M5 F-SW-M5-SS Stainless Steel58 1 Spring - 71cc Compensator 0970-DET59 1 Compensator Housing - Rotator 0975-DET Black Acetal60 1 71cc Compensator- Tilt O-Ring SOR-178-0363-N7061 1 Valve - Check 3-50 PSI HYD-003062 3 Socket Set Screw-Cup Point M8 x 10 long F-SSS-CP-M8-10-A270 Stainless Gr A2-7063 16 Spring Washer M4 F-SW-M4-SS Stainless Steel64 1 Castrol Hyspin 5 Oil LUB-000165 4 C-Sunk Head Socket Screw M4 x 16 long F-CHSS-M4-16-A270 Stainless Gr A2-7066 16 M4 Round Nut 2020-DET

ASSEMBLY PROCEDURE (STAGE 1 - NOTES)1. This sheet shows Bill of Materials and the completed Pan & Tilt Unit.Sheets 2 through to 9 show a simple to follow step-by-step assemblyprocedure. Dis-assembly of the unit can be carried out by workingbackwards from Sheet 9 through to Sheet 2.

2. All parts on the drawing are identified by the upper number located in a split balloon which should be referred back to the first column on the Bill of Materials. The fourth column specifies the unique Sub-Atlantic part number which should be used for ordering spares, etc. The lower number represents the quantity of items repeated in the assembly. The quantity of each item in the assembly is also shown on the second column of the Bill of Materials.

3. The tools required to carry out the assembly are listed below on sheet 2.

4. All seals and O-Rings to be fitted with a light application of SILICONE GEL or AQUALUBE. Refer to notes in box next to Item No. Balloon.

5. When fully assembled and tested the unit is to be filled with thespecified oil, via one of the rear check valves, using 6mm plastictubing attached to a pressurised reservoir or pump. Trapped air should be allowed to escape by attaching a small, clear reservoir(e.g. plastic syringe), via 6mm tubing, to the other check valve. The unit should be tilted in various directions during the filling processto remove pockets of trapped air. The absence of bubbles in the expelled oil indicates that all air has been removed.Now remove the tube and clear reservoir from the second check valve and pressurise until the compensator piston is 6mm from theend of the Compensator Body.

6. Wiring diagram is shown on 0058-MAS Sheet 10. The Connector Item (40) is customer specified. The pin configuration is attached to the rear of this manual.

7. Refer to Sheet 8 for instructions for setting the LIMIT SWITCHES and theFEEDBACK POTENTIOMETERS

CONSUMABLES(A) PRESSURE COMPENSATION OIL (ITEM 64)(B) SILICONE GEL / AQUALUBE(C) THREADLOCK(D) LOCKTITE 601

SPARESThe following spares are recommended to be carried: -1. 1 off SEAL KIT, Sub-Atlantic Part Ref. 1128-MAS-SK (consisting 4 off Item 24, 4 off Item 25, 2 off Item 41, 1 off Item 52 & 2 off Item 60)2. 1 off ELECTICAL KIT, Sub-Atlantic Part Ref. 0058-MAS-EK (consisting 1 off Item 27, 4 off Item 12, 1 off Item 14)

RECORD OF REVISIONS

REV BY DATE DESCRIPTION APP

WT AIR WT WATER

kg (E) kg (E)DRAWN

DATE

CHECK

APPRV.

ENGR.

SCALE (USO) ORIG. SIZE DOC.No.

TITLE

PROJECT

REV 8

MATERIAL

FINISH

USO, TOLERANCES TO BE

THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUB-ATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT THE WRITTEN PERMISSION OF SUB-ATLANTIC IS PROHIBITED THIRD ANGLE PROJECTION

EBR

GDU

GDU

07/12/2005

CMI

--SEE BILL OF MATERIALS

-

8 EBR OPTIONAL MOTORS AVAILABLE ECN-0400-0627/03/2006

ELECTRIC PAN AND TILT UNIT

PAN AND TILT - 24V PLASTIC BODYMAIN ASSEMBLY DRAWINGSheet 1 of 10

1128-MASA3

- - - -Woodburn Road, Blackburn Business Park, Blackburn,Aberdeen. U.K. AB21 0PSTel: ++44 (0) 1224 798660Fax: ++44 (0) 1224 798661-

IF IN DOUBT - ASK! REMOVE SHARP EDGES

Sub-Atlantic Motor Torque and SpeedPart Number Part NumberSA-A-1128-MAS-HT 3219-IAS 21Nm continious @ 1.3rpmSA-A-1128-MAS 1816-IAS 11Nm intermittent @ 4.1rpm

114

92

192

114

102

218

264

311

PAN PINION SUB-ASSEMBLY

TILT PINION SUB-ASSEMBLY

218

264

SILICONE GEL/AQUALUBE


NOTE! Inner faceflange faces inward

THREADLOCK

THREADLOCK

ASSEMBLY PROCEDURE (STAGE 2)1. Press 2 off ANGULAR CONTACT BEARINGS (11) on PAN PINION (9), taking care to orientate correctly(Inner race flange facing inwards).

2. Press KEY (19) into shaft.

3. Install TILT PINION & BEARINGS in upper BODY (31) bore.

4. Fit and secure using SILICON GEL/AQUALUBE, the 3mm O-RING MATERIAL (26) inserts into theLOCKNUT (10). Screw the locknut into the BODY and tighten using special C-Spanner or Long Nose Pliersuntil all the bearing slack has been eliminated and the shaft can turn freely.

5. Secure the LOCKNUT in position by fitting 2 off M5 x 6 long SOCKET SET SCREWS (21) to compress O-Ring material.

6. Repeat for TILT PINION SUB-ASSEMBLY.

7. PROCEED TO STAGE 3 OF THE ASSEMBLY PROCEDURE (SHEET 3).

SEE SHEET 1 FOR BILL OF MATERIALS & SUB-ATLANTIC PART NUMBERS

(A) METRIC HEX KEYS(B) LONG NOSE PLIERS (OR SPECIAL C-SPANNERS)(C) SMALL ADJUSTABLE SPANNER(D) 24 vdc POWER SUPPLY UNIT(E) SOLDERING IRON + SOLDER(F) PRESSURE PUMP FOR OIL COMPENSATORS

TOOLS REQUIRED


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Woodburn Road,Blackburn Business Park, Blackburn,Aberdeen. U.K. AB21 0PSTel: ++44 (0) 1224 798660Fax: ++44 (0) 1224 798661

IF IN DOUBT - ASK!

1128-MAS



162

32

222

174

174

218

64

243

53

253

74

74

82

22

42

64

243

53

253

THREADLOCK

THREADLOCK

THREADLOCK

SILICON GEL/AQUALUBE




1. Press KEY (8) in TILT SHAFT (1).

2. Fit MAIN GEAR WHEEL (2) on TILT SHAFT and secure with 2 offM5 x 8 long SOCKET SET SCREWS (7) and THREADLOCK.

3. Fit O-RINGS (24 & 25) to MAIN SHAFT CAPS (5) with asmear of SILICON GEL or AQUALUBE.

4. Fit WHEEL SPACER (4), BEARING (6) and MAIN SHAFT CAP (5)over TILT SHAFT (1), butting up against MAIN GEAR WHEEL (2).

5. Insert TILT SHAFT SUB-ASSEMBLY into BODY (31) and screw MAINSHAFT CAP (using C-Spanner or long nose pliers) allowing gear tomesh with pinion and O-Ring to inset into body.

6. De-grease and bond using LOCKTITE 601 POTENTIOMETERPINION (16), then press onto GEAR SPACER (3) and allow to set.

7. Fit 2 off CAM RINGS (17) to GEAR SPACER (3) and secure with2 off M5 x 6 long SOCKET SET SCREWS (21). Fit sub-assembly to TILTSHAFT & secure GEAR SPACER with M4 x 6 long SOCKET SET SCREW (22). Fit BEARING (6) and MAIN SHAFT CAP/O-RINGS to TILT SHAFTand screw into BODY UNTIL TIGHT.

8. PROCEED TO STAGE 4 OF THE ASSEMBLY PROCEDURE(SHEET 4)

LOCKTITE 601

11

311

218

THREADLOCK


ASSEMBLY PROCEDURE (STAGE 3)

THREADLOCK


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81128-MAS



INSERT

301

174

174

218

218

64

291

74

74

82

253

53

243

64

42

22

162

32

222



THREADLOCK

THREADLOCK


1. Fit O-RINGS (24 & 25) to MAIN SHAFT CAP (5) with a smearof SILICON GEL or AQUALUBE.

2. Push MAIN SHAFT CAP (5) onto PAN SHAFT (29) taking carepushing inner O-RING (25) over key slot. Fit BEARING (6) & WHEEL SPACER (4) over TILT SHAFT.

3. Press KEY (8) in PAN SHAFT (29) Fit MAIN GEAR WHEEL (2) on PAN SHAFT (29) and secure with 2 off M5 x 8 long SOCKET SET SCREWS (7) secured with THREADLOCK.

4. De-grease and bond using LOCKTITE 601, POTENTIOMETER PINION (16), then press onto GEAR SPACER (3) and allow to set.Fit GEAR SPACER (3) to PAN SHAFT (29) and secure in position with M4 x 6 long SOCKET SET SCREW (22).

5. Fit BEARING (6) into PAN ADJUSTER (30) and screw into BODY. Place 2 offCAM RINGS (17) each with 1 off M5 x 5 long SOCKET SET SCREW (21) into BODYand lower PAN SHAFT sub-assembly through top of BODY, over CAM RINGS andinto BEARING. Screw down MAIN SHAFT CAP until the gears fully engage (To dothis, insert the long nose pliers through the PAN SHAFT mounting holes, into theSHAFT CAP and then rotate INPUT PINION by hand).

6. Rotate PAN ADJUSTER upwards (with special tool or with hex key) until theslack is taken out of the bearings. Install M4 x 12 long SOCKET SET SCREW (42)in body but do not tighten.

7. PROCEED TO STAGE 5 OF THE ASSEMBLY PROCEDURE (SHEET 5)

LOCKTITE 601

THREADLOCK

THREADLOCK

INSERT

311


42


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1128-MAS



PAN LIMIT SWITCH SUB-ASSEMBLY

TILT LIMIT SWITCH SUB-ASSEMBLY

362

444

124

362

464

3829

3829

374

374

454

3829

1. Assemble PAN and TILT LIMIT SWITCH SUB-ASSEMBLY using LIMIT SWITCH BRACKET (36) andthe other components shown on the illustration. Do not overtighten locknut.

2. Fit each sub-assembly in position using the 2 off M4 x 8 long SOCKET HEAD CAP SCREWS (37)with WASHERS (38).



SEE SHEET 1 FOR BILL OF MATERIALS & SUB-ATLANTIC PART NUMBERSSCALE (USO) ORIG. SIZE DOC.

No.

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PAN POTENTIOMETER SUB-ASSEMBLY

TILT POTENTIOMETER SUB-ASSEMBLY

142

152

232

355

THREADLOCK

182

3829


1. Fit POTENTIOMETER GEARS (15) to POTENTIOMETERS (14) and secure withM3 x 6 long SOCKET SET SCREW (23) and THREADLOCK.

2. Secure POTENTIOMETERS in BODY using POTENTIOMETER CLIP (18), M4 x 12 long SOCKET HEAD CAP SCREWS (35) and WASHER (38).


ASSEMBLY PROCEDURE (STAGE 6) (AS REQUIRED)

23


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282

342


SEE SHEET 1 FOR BILL OF MATERIALS AND SUB-ATLANTIC PART NUMBERS

1. Press 2 off DOWEL PINS (34) into BODY.

2. Fit 2 off GEARMOTORS (27) to MOTOR MOUNT PLATE (32) using 8 offM3 x 8 long SOCKET HEAD CAP SCREWS (43) and THREADLOCK.

3. Fit 2nd STAGE PINION (28) to each GEARMOTOR and secure usingM5 x 10 long SOCKET SET SCREW (20) and THREADLOCK.

4. Locate and fit GEARMOTOR SUB-ASSEMBLY to BODY using 3 offM4 x 12 long SOCKET HEAD CAP SCREWS (35) and WASHER (38).


342

272

321

355

204

438

THREADLOCK

THREADLOCK

2 OFF M4 TAPPED HOLES FORJACKING MOTOR SUB-ASSEMBLYDURING REMOVAL

355

204

282

438

THREADLOCK

THREADLOCK

3829

3829


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623

204

132

132

204

511

401

623

C

A

B


PAN ADJUSTERACCESSTHREADLOCK

THREADLOCK

311

ASSEMBLY PROCEDURE (STAGE 8)1. Fit 2nd STAGE GEARS (13) to PINION SHAFTS (gear face flush with the 2nd STAGE PINION) using M5 x 10 long SOCKET SET SCREWS (20) and THREADLOCK.

2. Slacken (anti-clockwise) CAP 'B' slightly and then tighten CAP 'A' until MAIN GEAR WHEEL is tight against PINION (This can be confirmed by checking that the PINION SHAFT cannot turn by hand). Re-tighten CAP 'B' to remove slack.

3. Slacken CAP 'A' a minimal amount until PINION SHAFT can be turned freely by hand. Retighten CAP 'B'. Check PINION SHAFT turns freely by hand.

4. Connect 24 Vdc power supply unit (with current indication) supply to the TILT MOTOR PIGTAILS (not shown on drawing, refer to wiring diagram) and run motor whilst observing current reading through each full rotaion of the TILT SHAFT.

5. Adjust CAPS 'A' & 'B' to remove backlash whilst running the motor ('A' clockwise to decrease backlash). Observe the current which should remain around 100 mA during the full revolution. Current peaks during the revolution indicate high spots on the gear set which will require running-in.

6. Repeat steps 2 to 5 above for the PAN SHAFT but using CAP 'C' (instead of CAP 'A') and PAN ADJUSTER (instead of CAP 'B').

7. Insert 3 off M8 x 10 long SOCKET SET SCEWS (62) and tighten until flush with BODY (31) and SHAFT CAPS (5) are locked.RUNNING-IN NEW GEARS

8. New gear sets should be run-in to allow high spots on the gear faces to bed-in. Connect a 24 vdc power supply to both motors in-parallel and run. Note current draw at start and end of running-in period.

9. After runing-in, slacken 3 off M8 x 10 long SOCKET SET SCEWS (62) and repeat steps 2 through to 6 to remove any small backlash whilst maintaining current draw on each motor to around 100 mA. When all backlash has been removed re-tighten 3 off M8 x 10 long SOCKET SET SCEWS (62) untill SHAFT CAPS (5)are locked.WIRING-UP

10. Fit customer specified ELECTRICAL CONNECTOR (40) and O-Ring (51) and fully tighten.

11. Wiring and testing of the unit to be carried out in accordance with Drawing No. 0058-MAS-Sheet 10.


SETTING LIMIT SWITCHES

TILT SHAFT: Slacken off all CAM RING set screws to allow cam to freely rotate. With hex key in set screw,operate tilt motor using the power supply until the tilt shaft is in the desired stop position. Lock the cam ring and repeat for the second limit switch. Make fine adjustments as required, checking the stop positions by forward and reversing the motor. When satisfied, repeat process for the PAN SHAFT.

SETTING POTENTIOMETERS:The FEEDBACK POTENTIOMETERS are set by slackening the retaining screw (35) and rotating the body (or gear) until the desired output value is obtained at a particular output shaft position. Re-tighten screwafter setting.

SETTING MAIN SHAFT CAPS AND RUNNING CLEARANCES

62


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3916


1. Fit COMPENSATOR DIAPHRAGM (52), PISTON (53), COMPENSATOR SPRING (58) and COMPENSATOR BODY 71cc (54) to COMPENSATOR HOUSING (59), LUBRICATE the DIAPHRAGM, securing with 4 off M5 x 20 long SOCKET HEAD CAP SCREWS (55), SPRING WASHERS (57), WASHERS (56) and THREADLOCK.

2. Fit COMPENSATOR sub-assembly and O-RING(60), LUBRICATE, to PT COVER (33) using 4 off M4 x 16 COUNTERSUNK SOCKET SCREWS (65). Screw 2 off CHECK VALVES (50) and NUPRO CHECK VALVE (61) into PT COVER (33)

3. Fit COVER O-RING (41) to PT COVER (33) using SILICONE GEL/AQUALUBE. Fit COVER to the BODY using 16 off M4 x 20 SOCKET HEAD CAP SCREWS (39), WASHERS (38), SPRING WASHERS (63). USE AMPLE LUBRICANT. DO NOT USE POWER TOOLS.

4. Fit CAMERA BRACKET KEY (47) to CAMERA BRACKET (48) and secure in TILT SHAFT (1) with 1 off SOCKET HEAD CAP SCREW (49) and THREADLOCK.

5. REFER TO SHEET 1 FOR OIL FILLING PROCEDURE



492

482

472

411

3829

6316

601

531

581

521

654

331

502

611

591

554

574

564

502

3916


541

631638

29

THREADLOCK

6616

6616

6616

6616

311


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1128-MAS



Project

Title Filename

Date Drawn Check Rev Sheetof

Drawing No. Unit 12, Airways Industrial Est.

Aberdeen. U.K. AB21 ODTTel: ++44(0) 1224 723623Fax: ++44(0) 1224 723822

THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUB-ATLANTIC SUB-ATLANTIC IS PROHIBITED

RCW sub-Atlantic Pitmedden Road, Dyce,

LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT WRITTEN PERMISSION FROM

718/07/98

24V PAN & TILT

24V-PT.SCH

1

2

3

4

5

6

7

8

PAN & TILT UNIT

TILT MOTOR

LIMIT SWITCH

LIMIT SWITCH

LIMIT SWITCH

LIMIT SWITCH

TILTFEEDBACK

FEEDBACK

POTENTIOMETER

POTENTIOMETER

PAN

10kOHM

10kOHM

1

2

3

3

2

1

1N4005

1N4005

1N4005

1N4005

SUGGESTED CONTROL CIRCUIT

8 PIN MALE CONNECTOR

OV

OV

+5V

+5V

0058-MAS

WIRING DIAGRAM

10 10

+24V

0V

24 VDC POWERSUPPLY

OPTIONAL CURRENT/TORQUELIMITING BOARD (SEE ABOVE)

R1 (SEE TABLE)

R2 (SEE TABLE)

LM 338KIN OUT

ADJUST

+24 VDCINPUT

OUTPUT

1

2

3

4

CN1

R1/R2 SERIES VALUE CURRENT LIMIT

OPTIONAL CURRENT/TORQUE LIMITING BOARDSUB-ATLANTIC PART REF. 0058-MAS-CLE

1R

1R2

1R5

2R

2R2

1.2 AMPS

1.0 AMPS

0.8 AMPS

0.6 AMPS

0.56 AMPS

JOYSTICK OR INDIVIDUAL SWITCHES PAN MOTOR

REG 1

PURPLE

BLACK

RED

BLUE


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1128-MAS



Published by Shell UK Oil Products Ltd., Rowlandsway House, Rowlandsway, Wythenshawe, MANCHESTER M22 5SB

November 2001 UOCS/3

Shell Naturelle HF-E 46 Synthetic biodegradable hydraulic oil Shell Naturelle HF-E is an advanced biodegradable hydraulic fluid for use in power transmission and hydraulic systems working in environmentally sensitive areas. Synthetic esters blended with a specially tailored additive system provide Shell Naturelle HF-E with a superior balance of biodegradability, lubrication performance and compatibility with the environment

Applications • Heavy-duty hydraulic systems for

construction and earth moving equipment • Machine tool hydraulic systems • Hydrostatic drive gears • General industrial control equipment and

hydraulic systems • Moderately rated gearboxes where an

anti-wear hydraulic oil is specified Performance Features • Readily biodegradable

High potential to be broken down rapidly and extensively by micro-organisms in the environment to ultimately yield carbon dioxide and water as end products

• Excellent viscosity/temperature characteristics Minimum change of viscosity with variation in operating temperature, giving true ‘multigrade’ characteristics

• High shear-stability ‘Stay-in grade’ characteristics ensure effective lubrication and efficient system operation

• Excellent corrosion protection Long term protection for common construction materials, including most metals, non-metals and seal materials such as viton and high nitrile

• Good oxidation resistance Resists the formation of acidic products generated when working at high operating temperatures

• Optimum wear protection Effective under all operating conditions, including low and severe duty situations

• Insoluble in water

• Compatibility with mineral oils

Shell Naturelle HF-E is miscible with conventional mineral oil based hydraulic oils in all proportions. However, in order to ensure that biodegradability properties are maintained, the system should be drained and flushed prior to change over.

• Owing to the surface wetting properties of Shell Naturelle HF-E, deposits formed in the system during operation with petroleum mineral hydraulic oils may be loosened and deposited in system filters. The hydraulic filters should, therefore, be checked at regular intervals.

Caution Shell Naturelle HF-E is not suitable for use in engines. During maintenance, care must be taken to use separate, clean containers for filling engine oil and Shell Naturelle HF-E. Precautions should also be taken to exclude moisture from the fluid, both during storage and in service. Seal & Paint Compatibility Shell Naturelle HF-E is compatible with all seal materials and paints normally specified for use with petroleum mineral oils. Certain plastics and industrial adhesives may be adversely affected and advice should be sought from the respective manufacturers.

Published by Shell UK Oil Products Ltd., Rowlandsway House, Rowlandsway, Wythenshawe, MANCHESTER M22 5SB

November 2001 UOCS/3

Performance Specifications Shell Naturelle HF-E can be used where DIN 51524 Part 2 or Part 3 (HLP/HVLP) anti-wear petroleum mineral hydraulic oil is specified. Bulk fluid operating temperatures should not be allowed to exceed 90°C and optimum fluid life will be realised if operating temperatures are maintained at approximately 55°C. Typical Physical Characteristics

Shell Naturelle HF-E 46

ISO Viscosity Grade (ISO 3348)

46

Colour Green

Kinematic Viscosity @ 40°C cSt 100°C cSt (IP 71)

46.1 9.1

Viscosity Index (IP 226)

182

Density @ 15°C kg/l (IP 365)

0.919

Pour Point °C (IP 15)

-51

Flash Point (Cleveland Open Cup) °C (IP 36)

219

FZG: Failure Load Stage >12

Biodegradability OECD 301 B

76%

Biodegradability CEC L-33-A-93

98%

Algae Toxicity EC50 OECD 201 (mg/l)

100mg/l

Daphnia Toxicity OECD 202 EC 50 (24 hrs) mg/l OECD 202 EC 50 (48 hrs)

>10 10

Acute Fish Toxicity LC 50 (96 hrs) mg/l

800

These characteristics are typical of current production. Whilst future production will conform to Shell’s specification variations in these characteristics may occur.

Health & Safety Shell Naturelle HF-E is unlikely to present any significant health or safety hazard when properly used in the recommended application, and good standards of industrial and personal hygiene are maintained. After skin contact, wash immediately with soap and water. For further guidance on Product Health & Safety refer to the appropriate Shell Product Safety Data Sheet. Protect the environment Take used oil to an authorised collection point. Do not discharge into drains, soil or water. Advice Advice on applications not covered in this leaflet may be obtained from your Shell Representative. For further guidance on Product Health & Safety refer to the appropriate Shell Product Safety Data Sheet. This can be obtained from your own internal Health & Safety focal point. In the event of any queries contact your local Shell Account Manager or: Normal Office Hours Shell UK Oil Products Ltd Rowlandsway House Rowlandsway Wythenshawe Manchester M22 5SB Tel: 0161 499 4000

Emergencies Shell UK Oil Products Ltd Shell Centre London SE1 7NA Tel: 020 7934 1234

HYSPIN VG 5 04/12/2002

Hydraulic OilDESCRIPTION

The Castrol Hyspin VG hydraulic oil range is based upon highly refined mineral oil.

APPLICATION

Castrol Hyspin VG has been specially formulated to provide outstanding protection against rust and oxidation while demonstrating excellent lubricity. Castrol Hyspin VG is sometimes referred to as a "R and O" hydraulic oil.

Castrol Hyspin VG is designed for use in hydraulic systems which do not need anti-wear performance but where a degree of rust and oxidation resistance is desirable. It is also suitable for pumps which contain silver-plated components.

FEATURES BENEFITSS Outstanding thermal and oxidative stability

S Overall reduction in lubricant costs and used oil disposal costs through longer oil operating life

S Good lubricity S Helps protect components and so prolongs equipment life

S Ensures a good coverage of oil on internal components

S Excellent water separation S Reduced down-time. Prolonged lubricant life

S Superior protection of yellow metal and ferrous components

S Cleaner system with longer component life

All reasonable care has been taken to ensure that the information contained in this publication is accurate as at the date of printing. It should be noted however that the information above may be affected by changes occurring subsequent to the date of printing in the blend formulation or methods of application of any of the products referred to or in the requirements of any specification approval relating to any such products.

1 of 2

HYSPIN VG 5

TYPICAL PHYSICAL CHARACTERISTICS

ISO Viscosity Grade 5 10 22 32 100 150

Kinematic Viscosity, cSt

@ 40ºC

@ 100ºC

5

1.9

10

2.6

22

4.3

32

5.3

100

11.1

150

14.5

Viscosity Index 250 74 95 95 95 95

Relative Density @ 20ºC 0.840 0.865 0.870 0.870 0.880 0.880

Pour Point, ºC -39 -39 -30 -30 -21 -21

Open Flash Point, ºC 114 177 177 232 249 255

Note: Other properties - applicable to all grades

ISO Oil Type Designation 'HL' Mineral Oils with improved anti-rust and anti-oxidation properties

Seal Compatibility Suitable for use with Nitrile, Buna-N, Viton, EPDM and Silicone seal materials

Health and Safety information sheets are available for all Castrol products from the address below:Castrol (U.K.) Limited, Pipers Way, Swindon, Wiltshire SN3 1RE, England, Telephone: Orders/Enquiries (08459)645111, Technical Enquiries (01793)452111, Fax (01793)486083All reasonable care has been taken to ensure that the information contained in this publication is accurate as at the date of printing. It should be noted however that the information above may be affected by changes occurring subsequent to the date of printing in the blend formulation or methods of application of any of the products referred to or in the requirements of any specification approval relating to any such products.

2 of 2

Castrol Hyspin VG 5Product name

451132SDS #

Identification of the substance/preparation and of the company/undertaking

Product Use Hydraulic fluidFor specific application advice see appropriate Technical Data Sheet or consult your Castrolrepresentative.

1.

Castrol (UK) Ltd.Witan Gate House500-600 Witan GateCentral Milton KeynesMK9 1ESUnited Kingdom

Supplier

EMERGENCY TELEPHONENUMBER

+44 (0) 1908 853000

SAFETY DATA SHEET

Composition/information on ingredients2.

Gas oil Proprietary performance additives.

Gas oil - unspecified 64742-80-9 50 - 100 265-183-3 Xn; R65R66R53

Gas oil - unspecified 64742-46-7 10 - 20 265-148-2 Xn; R65R66

Alkyl phenol Not available. 0.1 - 1 Xi; R36/37/38N; R51/53

CAS no. % EINECS / ELINCS. ClassificationChemical name

See Section 16 for the full text of the R Phrases declared above

* Occupational Exposure Limit(s), if available, are listed in Section 8

Hazards identification3.

Physical/chemical Hazards

Human health hazards

Environmental hazards May cause long-term adverse effects in the aquatic environment.

Harmful: may cause lung damage if swallowed.Repeated exposure may cause skin dryness or cracking.

Not classified as dangerous.

Effects and symptoms

Eyes No significant health hazards identified.

Skin No significant health hazards identified.

Note: High Pressure ApplicationsInjections through the skin resulting from contact with the product at high pressure constitute a majormedical emergency.See 'Medical Advice' under First-Aid Measures, Section 4 of this Safety Data Sheet.

Inhalation No significant health hazards identified.

Ingestion Aspiration hazard if swallowed -- harmful or fatal if liquid is aspirated into lungs.

This preparation is classified as dangerous according to Directive 1999/45/EC as amended and adapted.

Skin contact

In case of contact, immediately flush eyes with a copious amount of water for at least 15 minutes. Getmedical attention if irritation occurs.

Immediately wash exposed skin with soap and water. Remove contaminated clothing and shoes. Washclothing before reuse. Clean shoes thoroughly before reuse. Get medical attention if irritation develops.

4.

If inhaled, remove to fresh air. Get medical attention if symptoms appear.Inhalation

Eye Contact

First-aid measures

Ingestion If swallowed, do NOT induce vomiting. Never give anything by mouth to an unconscious person.Aspiration hazard if swallowed- can enter lungs and cause damage. Obtain medical attention.

Date of issue 3 July 2003

Page: 1/4Castrol Hyspin VG 5

( ENGLISH )

Product Name Product Code

Version 2 Format LanguageUnited Kingdom(UK)

451132-GB03

( BUILD 5.1.2 )

Notes to physician Treatment should in general be symptomatic and directed to relieving any effects.

Note: High Pressure ApplicationsInjections through the skin resulting from contact with the product at high pressure constitute a majormedical emergency. Injuries may not appear serious at first but within a few hours tissue becomesswollen, discoloured and extremely painful with extensive subcutaneous necrosis.Surgical exploration should be undertaken without delay. Thorough and extensive debridement of thewound and underlying tissue is necessary to minimise tissue loss and prevent or limit permanent damage.Note that high pressure may force the product considerable distances along tissue planes.

Not Suitable

Fire-fighting measures5.

Suitable

None identified.

Hazardous decompositionproducts

These products are carbon oxides (CO, CO2).

Special fire-fighting procedures

In case of fire, use water fog, foam, dry chemical or CO2 extinguisher or spray.

Extinguishing Media

Do not use water jet.

Unusual fire/explosion Hazards None identified.

Personal Precautions

Personal Protection in Case of aLarge Spill

Immediately contact emergency personnel. Keep unnecessary personnel away. Use suitable protectiveequipment (Section 8). Follow all fire fighting procedures (Section 5).

Splash goggles. Full suit. Boots. Gloves.

6. Accidental release measures

If emergency personnel are unavailable, contain spilled material. For small spills add absorbent (soil maybe used in the absence of other suitable materials) scoop up material and place in a sealed, liquid-proofcontainer for disposal. For large spills dike spilled material or otherwise contain material to ensure runoffdoes not reach a waterway. Place spilled material in an appropriate container for disposal. Minimizecontact of spilled material with soils to prevent runoff to surface waterways. See Section 13 for WasteDisposal Information.

Environmental precautions andcleanup methods

Handling

Handling and storage

Storage

7.

Aspiration hazard if swallowed- can enter lungs and cause damage. Do not ingest. If ingested do notinduce vomiting. Avoid prolonged or repeated contact with skin. Avoid contact of spilled material andrunoff with soil and surface waterways. Wash thoroughly after handling.Keep container tightly closed. Keep container in a cool, well-ventilated area.

Occupational Exposure Limits

8. Exposure controls/personal protection

None assigned.

Control Measures Provide exhaust ventilation or other engineering controls to keep the airborne concentrations of vapoursbelow their respective occupational exposure limits. Ensure that eyewash stations and safety showers areclose to the workstation location.

Hygiene measures Wash hands after handling compounds and before eating, smoking, using lavatory, and at the end of day.

Personal protective equipment

Respiratory system

Skin and body Avoid prolonged or repeated contact with skin. Wear protective clothing if prolonged or repeated contactis likely.

Hands Wear protective gloves if prolonged or repeated contact is likely.

Eyes Safety glasses with side shields.

None required; however, use of adequate ventilation is good industrial practice.

Physical and chemical properties

Autoignition temperature >200 °C

9.

Flash point >100 °C (CLOSED CUP)

Colour Amber.

Physical state Liquid.

Odour Slight.

Boiling point / range >200 °C

<1000 kg/m3 (<1 g/cm3) at 20°CDensity

Solubility insoluble in water.

Viscosity kinematic: 5 mm2/s (5 cSt) at 40°C

Odour threshold Not available.



( ENGLISH )



451132-GB03

( BUILD 5.1.2 )

Stability and reactivity10.

Reactive with oxidizing agents.Incompatibility with VariousSubstancesHazardous Polymerization Will not occur.

Toxicological information

Carcinogenic effects No component of this product at levels greater than 0.1% is identified as a carcinogen by ACGIH, theInternational Agency for Research on Cancer (IARC) or the European Commission (EC).

11.

Chronic toxicity

Unlikely to cause more than transient stinging or redness if accidental eye contact occurs.

Unlikely to cause harm to the skin on brief or occasional contact but prolonged or repeated exposure maylead to dermatitis.

Aspiration hazard if swallowed -- harmful or fatal if liquid is aspirated into lungs.

At normal ambient temperatures this product will be unlikely to present an inhalation hazard because of itslow volatility. May be harmful by inhalation if exposure to vapour, mists or fumes resulting from thermaldecomposition products occurs.

Acute toxicity

Ecological information

Mobility Spillages may penetrate the soil causing ground water contamination.

This product is not expected to bioaccumulate through food chains in the environment.

12.

Bioaccumulative potential

Other Ecological Information Spills may form a film on water surfaces causing physical damage to organisms. Oxygen transfer couldalso be impaired.

Persistence/degradability Inherently biodegradable

Environmental hazards May cause long-term adverse effects in the aquatic environment.

Disposal considerations13.

Where possible, arrange for product to be recycled. Dispose of via an authorised person/ licensed wastedisposal contractor in accordance with local regulations.

Disposal Consideration / Wasteinformation

The classification of the product may meet the criteria for a hazardous waste.Hazardous Waste

14. Transport information

Not classified as hazardous for transport (ADR, RID, UN , IMO, IATA/ICAO).

Regulatory information15.

Label Requirements

Hazard symbol(s)

Indication of Danger Harmful

Safety Phrases S24- Avoid contact with skin.S61- Avoid release to the environment. Refer to special instructions/Safety data sheets.S62- If swallowed, do not induce vomiting: seek medical advice immediately and show this container orlabel.

R65- Harmful: may cause lung damage if swallowed.R66- Repeated exposure may cause skin dryness or cracking.R53- May cause long-term adverse effects in the aquatic environment.

Risk Phrases

Contains Gas oil - unspecified 265-183-3

EU Regulations Classification and labelling have been performed according to EU directives 1999/45/EC and 67/548/EECas amended and adapted.

Other Regulations

AUSTRALIAN INVENTORY (AICS): Not listed.

CANADA INVENTORY (DSL): Not listed.

CHINA INVENTORY (IECS): Not listed.

EC INVENTORY (EINECS): In compliance.

Inventories



( ENGLISH )



451132-GB03

( BUILD 5.1.2 )

JAPAN INVENTORY (ENCS): Not listed.

KOREA INVENTORY (ECL): Not listed.

PHILIPPINE INVENTORY (PICCS): In compliance.

US INVENTORY (TSCA): In compliance.

Other information16.

Full text of R-phrases appearingin section 2

R65- Harmful: may cause lung damage if swallowed.R36/37/38- Irritating to eyes, respiratory system and skin.R66- Repeated exposure may cause skin dryness or cracking.R51/53- Toxic to aquatic organisms, may cause long-term adverse effects in the aquatic environment.R53- May cause long-term adverse effects in the aquatic environment.

HISTORY

Date of issue 03/07/2003.Date of previous issue 05/06/2003.Prepared by Product Stewardship GroupNotice to Reader

The data and advice given apply when the product is sold for the stated application or applications. The product is not sold as suitable for anyother application. Use of the product for applications other than as stated in this sheet may give rise to risks not mentioned in this sheet. Youshould not use the product other than for the stated application or applications without seeking advice from us.

If you have purchased the product for supply to a third party for use at work, it is your duty to take all necessary steps to secure that any personhandling or using the product is provided with the information in this sheet.

If you are an employer, it is your duty to tell your employees and others who may be affected of any hazards described in this sheet and of anyprecautions which should be taken.

Further copies of this Safety Data Sheet may be obtained from Castrol International.



( ENGLISH )



451132-GB03

( BUILD 5.1.2 )

Published by Shell UK Oil Products Ltd., Delta House, Wavell Road, Wythenshawe, MANCHESTER M22 5SB

September 2000 UOCS/3

Shell Transformer oil 148 Gas absorbing transformer oil Shell Transformer oil 148 is a light mineral oil specially refined for electrical applications. It is manufactured from carefully selected medium viscosity index naphthenic feedstocks renowned for their excellent gas-absorbing and dielectric properties.

Applications Shell Transformer oil 148 is primarily intended for use in transformers as:

• a coolant, to dissipate the heat generated when the transformer is on load

• a dielectric, to insulate the windings by replacing air, or other gases, between the conductors and in any voids present in solid insulating materials

• an arc extinguishing agent, to quench the spark between the opening contacts when tap changing on load

• an insulator and arc extinguishing agent in switchgear and circuit breakers

• an insulator in bushings

• an insulator in automotive ignition coils

• a dielectric in capacitors

Performance Features • Effective and efficient heat transfer

Low viscosity fluid circulates easily in systems providing effective cooling and heat transfer properties

• Highly resistant to oxidative degradation Resists the formation of harmful acids and sludge. Long oil service life.

• Outstanding low temperature properties Without the need for pour point depressants

Performance Specifications Shell Transformer oil 148 complies with the requirements of the following specifications: BS 148 1984 Type 1 IEC 296 1982 Class 1 SEV 3163 1972 Class 1

Typical Physical Characteristics Kinematic Viscosity @ -15°C cSt 800 max 40°C cSt 12.0 (IP 71) Density @ 15°C kg/l 0.885 (IP 365) Flash Point °C 146 (Pensky-Martens Closed Cup)

(IP 34) Pour Point °C -36 (IP 15) These characteristics are typical of current production. Whilst future production will conform to Shell’s specification variations in these characteristics may occur.

Health & Safety Shell Transformer oil 148 is unlikely to present any significant health or safety hazard when properly used in the recommended application, and good standards of industrial and personal hygiene are maintained. For further guidance on Product Health & Safety refer to the appropriate Shell Product Safety Data Sheet. This can be obtained froim your own internal Health & Safety focal point. In the event of any queries contact your local Shell Business Development Manager or: Normal Office Hours Shell UK Oil Products Ltd Delta House Wavell Road Wythenshawe Manchester M22 5SB Tel: 0161 499 4000

Emergencies Shell UK Oil Products Ltd Shell Centre London SE1 7NA Tel: 020 7934 1234

Advice Advice on applications not covered in this leaflet may be obtained from your Shell Business Development Manager

SHELL TRANSFORMER OIL 148

Data Sheet No. L60341 Revision : 27 11 2002 REPLACES L60341 : 09 12 99

This data sheet has been prepared in accordance with the requirements of the Data Sheet Directive 91/155/EEC.

RECOMMENDED USES

Shell Transformer Oil 148 is recommended for use as :

a transformer oil.

If Shell Transformer Oil 148 is used for a purpose not covered in this section, Shell UK Ltd would be grateful to receive informationon the application.

KNOWN MISUSES/ABUSES

Shell Transformer Oil 148 is not to be used as :

None known.

The disposal of Shell Transformer Oil 148 to soil, watercourses and drains is a legal offence.

1: IDENTIFICATION OF THE SUBSTANCE/PREPARATION AND OF THE COMPANY/UNDERTAKING

PRODUCT : SHELL TRANSFORMER OIL 148

COMPANY : SHELL UK OIL PRODUCTS LIMITED

TECHNICAL CONTACT: PRODUCT HSE DEPARTMENT

ADDRESS : STANLOW MANUFACTURING COMPLEX,PO BOX 3, ELLESMERE PORT, CH65 4HB

TELEPHONE : 0151-350-4000

EMERGENCY TELEPHONE NUMBER : 0151-350-4595

2: COMPOSITION/INFORMATION ON INGREDIENTS

Shell Transformer Oil 148 is a substance which appears in EINECS and is covered by the entry given below :

EINECS NUMBER 265-156-6 CAS NUMBER 64742-53-6Distillates (petroleum), hydrotreated light naphthenic.A complex combination of hydrocarbons obtained by treating a petroleum fraction with hydrogen in the presence of a catalyst.It consists of hydrocarbons having carbon numbers predominantly in the range of C15 through C30 and produces a finishedoil with a viscosity of less than 100 SUS at 100 Deg. F. (19 cSt at 40 Deg. C.). It contains relatively few normal paraffins.

Exposure limit values exist for the following constituents:

Mineral Oil.

3: HAZARD IDENTIFICATION

Shell Transformer Oil 148 has a low coefficient of friction presenting a slip hazard.

Shell Transformer Oil 148 is not classified as dangerous for supply or conveyance. The DMSO extract by IP 346 of the oil isless than 3%. Consequently it is not classified as a carcinogen.

Shell Transformer Oil 148 is a mineral oil, to which an exposure limit applies. Prolonged and repeated skin contact withmineral oil causes defatting of the skin and may give rise to skin conditions including dermatitis.

Shell Transformer Oil 148 will not biodegrade in anaerobic conditions and, hence, can be persistent. It contains componentswhich have a high potential to bioaccumulate. Owing to its physical properties spillages can lead to fouling of flora, fauna andthe environment.

L60341 27 : 11 : 02 Page 1 of 7

4: FIRST AID MEASURES

INHALATION

Remove to fresh air. If rapid recovery does not occur, obtain medical attention.

SKIN

Skin contact does not normally require first aid, but oil soaked clothing should be removed, and contaminated skin washedwith soap and water. If persistent irritation occurs, medical advice should be sought without delay.

Where a high pressure injection injury has occurred, medical attention should be obtained immediately. Show this Data Sheetto the physician drawing attention to "Notes for Doctors" in Section 11 below.

EYES

Flush the eye with copious quantities of water. If irritation persists refer for medical attention.

INGESTION

DO NOT INDUCE VOMITINGIf ingestion is suspected, wash out the mouth with water, and send to hospital immediately. Show this Data Sheet to thephysician drawing attention to "Notes for Doctors" in Section 11 below.

5: FIRE-FIGHTING MEASURES

Extinguishants - Large Fire :- Small Fire :

Foam/Water Fog - NEVER USE WATER JETFoam/Dry Powder/AFFF/CO2/Sand/Earth

6: ACCIDENTAL RELEASE MEASURES

LAND SPILLAGES

The first concern should be to prevent entry to drains or watercourses.

LARGE SPILLS should be bunded by a suitable medium such as sand or earth. The liquid should be reclaimed directly or inan adsorbent medium and then transferred to suitable, clearly marked containers and disposed of in accordance with localbyelaws and the requirements of the Environmental Protection Act 1990.

SMALL SPILLS should be soaked up with sand or earth and disposed of as for large spills.

MARITIME SPILLAGES

Any spillage of Shell Transformer Oil 148 which results in overside pollution must be treated in accordance with the guidelineslaid down in the respective Vessel Oil Spill Response Contingency Plan, as required by MARPOL 73/78 Annex 1, Regulation26. Where the vessel is not required to comply with such legislation, the Owner's and/or Charterer's instructions must befollowed. In the absence of any other guidelines, any spillage in territorial/coastal waters must be immediately reported to theappropriate maritime authority, e.g. coast guard, the vessel's local agent if applicable, and the vessel's Owner/Charterer. Ininternational waters, any spillage should be reported to the nearest coastal state, and additional guidance should soughtimmediately from the vessel's Owner/Charterer.

7: HANDLING AND STORAGE

HANDLING

Shell Transformer Oil 148 does not require any special handling techniques, but it should be handled in suitable containersand spillage avoided.

STORAGE

The storage of Shell Transformer Oil 148 is not subject to any special controls or restrictions. It should be stored in properlydesigned, closable, labelled containers, eg mild steel or high density polyethylene (HDPE).

L60341 27 : 11 : 02 Page 2 of 7

8: EXPOSURE CONTROLS/PERSONAL PROTECTION

EXPOSURE LIMIT VALUES

The following limits are taken from The Health and Safety Executive's Guidance Note EH40 Occupational Exposure Limits2002.

UK Occupational Exposure Standards :

Oil Mist, Mineral : 5 mg/cubic metre 8-hour TWA value15 mg/cubic metre 15-min TWA value

Note : Fume arising from high temperature product is essentially an oil mist.

RECOMMENDED PROTECTIVE CLOTHING

Impervious gloves and overalls where regular contact is likely, and goggles if there is a risk of splashing

9: PHYSICAL AND CHEMICAL PROPERTIES

Physical State :Appearance :Odour :Acidity/Alkalinity :Initial Boiling Point :Pour Point :Flashpoint :Flammability :Autoflammability :Flammability Limits - Upper :

- Lower :Explosive Properties :Oxidising Properties :Vapour Pressure @ 20 Deg. C. :Relative Density @ 15 Deg. C. :Solubility : Water Solubility :

Fat solubility/solvent :Partition Coefficient, n-octanol water :Vapour Density (Air =1) :Viscosity @ 40 Deg. C. :

Liquid at ambient temperature Pale Characteristic, mineral oil Not applicable>250 Deg. C.<-40 Deg. C.>140 Deg. C.Not applicable>250 Deg. C.10 % vol.1 % vol.Not applicableNot applicable<0.1 k.Pa 0.890Very LowNot availableExpected to be > 6> 114 cSt.

10: STABILITY AND REACTIVITY

CONDITIONS TO AVOID

Oil covered surfaces owing to the potential for slips.Accumulation of oily rags owing to the potential for spontaneous ignition.Extremes of temperature. Store between 0 and 50 Deg. C.

MATERIALS TO AVOID

Strong oxidising agents, eg. chlorates which may be used in agriculture.

DECOMPOSITION PRODUCTS

The substances arising from the thermal decomposition of these products will largely depend upon the conditions bringingabout decomposition. The following substances may be expected from normal combustion :

Carbon DioxideCarbon MonoxideWaterParticulate Matter

Polycyclic Aromatic HydrocarbonsUnburnt HydrocarbonsUnidentified Organic and Inorganic CompoundsNitrogen Oxides

L60341 27 : 11 : 02 Page 3 of 7

11: TOXICOLOGICAL INFORMATION

ACUTE HEALTH HAZARDS AND ADVICE

Toxicity following single exposure to high levels (orally, dermally or by inhalation) is of a low order. The main hazards are: inthe unlikely event of ingestion, aspiration into the lungs with possible resultant chemically induced pneumonia ; and, if theproducts are handled under high pressures, of high pressure injection injuries.

INHALATION

Under normal conditions of use inhalation of vapours is not feasible or likely to present an acute hazard.

Precautions :

Care should be taken to keep exposures below applicable occupational exposure limits by the use of general or localventilation. If this cannot be achieved, use of a respirator fitted with an organic vapour cartridge combined with a particulateprefilter.

First Aid :


SKIN

Skin contact presents no acute health hazard except in the case of high pressure injection injuries. These can lead to the lossof the affected limbs if not treated immediately and properly.

Precautions :

Avoid contact with the skin by the use of suitable protective clothing. Where skin contact is unavoidable, a high standard ofpersonal hygiene must be practised. Extreme care must be exercised where the product is likely to be encountered at highpressures, when it is recommended that safe systems of work be employed.

First Aid :


Where a high pressure injection injury has occurred, medical attention should be obtained immediately. Show this Data Sheetto the physician drawing attention to "Notes for Doctors" below.

EYES

Eye contact may cause some discomfort.

Precautions :

If there is a risk of splashing while handling the liquid, suitable eye protection should be used.

First Aid :


INGESTION

The main hazard following ingestion is of aspiration into the lungs during subsequent vomiting.

Precautions :

Accidental ingestion is unlikely. Normal handling and hygiene precautions should be taken to avoid ingestion.

L60341 27 : 11 : 02 Page 4 of 7

First Aid :

DO NOT INDUCE VOMITING. If ingestion is suspected, wash out the mouth with water, and send to hospital immediately. Show this Data Sheet to thephysician drawing attention to "Notes for Doctors" below.

CHRONIC HEALTH HAZARD AND ADVICE

Prolonged and repeated contact with oil products can be detrimental to health. The main hazards arise from skin contact andin the inhalation of mists. Skin contact under conditions of poor hygiene and over prolonged periods can lead to defatting ofthe skin, dermatitis, erythema, oil acne and oil folliculitis. Excessive and prolonged inhalation of oil mists may cause a chronicinflammatory reaction of the lungs and a form of pulmonary fibrosis.

NOTES FOR DOCTORS

HIGH PRESSURE INJECTION INJURIES

High pressure injection injuries require surgical intervention and possibly steroid therapy to minimise tissue damage and lossof function. Because entry wounds are small and do not reflect the seriousness of the underlying damage, surgical explorationto determine the extent of involvement may be necessary. Local anaesthetics or hot soaks should be avoided because theycan contribute to swelling, vasospasm and ischaemia. PROMPT surgical decompression, debridement and evacuation offoreign material should be performed under general anaesthetic, and wide exploration is essential.

INGESTION AND ASPIRATION OF PETROLEUM PRODUCTS

There may be a risk to health where low viscosity products are aspirated into the lungs following vomiting, although this isuncommon in adults. Such aspiration would cause intense local irritation and chemical pneumonitis. Children, and those inwhom consciousness is impaired, will be more at risk. Emesis of lubricants is not usually necessary, unless a large amounthas been ingested, or some other compound has been dissolved in the product. If this is indicated - for example, when thereis rapid onset of CNS depression from a large ingested volume - gastric lavage under controlled hospital conditions, with fullprotection of the airway is required. Supportive care may include oxygen, arterial blood gas monitoring, respiratory supportand, if aspiration has occurred, treatment with corticosteroids and antibiotics. Seizures should be controlled with Diazepam,or appropriate equivalent drug.

12: ECOLOGICAL INFORMATION

The information given below refers to the mineral base oil component, which accounts for 100%, of Shell Transformer Oil 148.

AIR

Shell Transformer Oil 148 is a mixture of non-volatile components, which are not expected to be released to air in anysignificant quantities.

WATER

If released to water, Shell Transformer Oil 148 will form a floating layer on the surface and its components will not evaporateor dissolve to any great extent. Dissolved components will be absorbed in sediments. In aerobic water and sediments theywill biodegrade slowly, but in anaerobic conditions they will persist. Shell Transformer Oil 148 is practically non-toxic to aquaticorganisms but contains components which have a high potential to bioaccumulate, and has the potentially to physically foulaquatic organisms.

SOIL

Small volumes released on land will be absorbed in the upper soil layers and be biodegraded slowly. Larger volumes maypenetrate into anaerobic soil layers in which the product will persist and may reach the water table on which it will form afloating layer. The more soluble components may dissolve but their high soil absorption coefficient and the low solubility willprevent significant contamination of ground water.

13: DISPOSAL CONSIDERATIONS

Shell Transformer Oil 148 is a controlled waste and must be disposed of to a licensed waste contractor. If in doubt, seek advicefrom your Local Authority.

L60341 27 : 11 : 02 Page 5 of 7

The disposal of mineral oils to sewers, watercourses or land without consent of the Local Water Authority or the National RiversAuthority (NRA) is an offence under the Environmental Protection Act 1990 or the Water Resources Act 1991 or the WaterIndustry Act 1991.

14: TRANSPORT INFORMATION

Not Dangerous for Conveyance

15: REGULATORY INFORMATION

This material has been classified according to the requirements of the Dangerous Substances Directive 67/548/EEC as lastamended by the 8th Amendment 96/56/EC, the 22nd Adaptation to Technical Progress 96/54/EC, and the PreparationsDirective 88/379/EEC as last amended by the 4th Adaptation to Technical Progress 96/65/EC.

Not Dangerous for Supply

16: OTHER INFORMATION

The references set out below give further information on specific aspects.

LEGISLATION

Consumer Protection Act 1987 Control of Pollution Act 1974Environmental Protection Act 1990 Factories Act 1961Health and Safety at Work Act 1974

Carriage of Dangerous Goods by Road and Rail (Classification, Packaging and Labelling) Regulations Chemical (Hazards, Information, and Packaging for Supply) RegulationsControl of Substances Hazardous to Health RegulationsDangerous Substances in Harbour Areas RegulationsMerchant Shipping (Dangerous Goods and Marine Pollutants) RegulationsRoad Traffic (Carriage of Dangerous Substances in Packages etc.) RegulationsRoad Traffic (Carriage of Dangerous Substances in Road Tankers and Tank Containers) RegulationsRoad Traffic (Training of Drivers of Vehicles Carrying Dangerous Goods) RegulationsReporting of Injuries, Diseases and Dangerous Occurrences Regulations Special Waste Regulations

GUIDANCE NOTES

HS(G)71 The storage of packaged dangerous substancesEH/40 Occupational Exposure LimitsEH/58 The Carcinogenicity of Mineral OilsMS24 Health surveillance of occupational skin disease

OTHER LITERATURE

Concawe Report 86/69 Health Aspects of Worker Exposure to Oil MistsConcawe Report 01/97 Petroleum Products - First Aid Emergency and Medical Advice

Department of the Environment - Waste Management - The Duty of Care - A Code of Practice

ADDRESSES

Concawe, Boulevard du Souverain 165 B - 1160 Brussels, Belgium

| MISCELLANEOUS

| Shell Transformer Oil 148 is liable to excise duty at 51.82 ppl if supplied in bulk to persons not approved by H.M. Customs| and excise. "Bulk" means in containers of more than 210 litres capacity. If you wish to obtain this oil free of excise duty, you| should apply for approval from :

L60341 27 : 11 : 02 Page 6 of 7

| H.M.Customs & Excise, Mineral Oils Relief Centre, Dobson house, Regent Centre, Gosforth, Newcastle-on-Tyne NE3 3PF.

| Hydrocarbon Oil Duties Act 1979 & Hydrocarbon Oil Regulations 1973.

L60341 27 : 11 : 02 Page 7 of 7

Safety Data Sheet

Shell Tellus Oil T 32 1. IDENTIFICATION OF THE SUBSTANCE/PREPARATION AND COMPANY/UNDERTAKING Product Code 001A0636 Infosafe No. ACJWA GB/eng/C Issued Date 08/10/2003 Product Type/Use Hydraulic oil Other Names Name Code Shell Tellus Oil T 32 140001012445 Supplier Telephone Numbers SHELL UK PRODUCTS LTD Stanlow Manufacturing Complex PO Box 3 Ellesmere Port CH65 4HB Technical Contact: Product HSE Department UNITED KINGDOM Emergency Tel. 0151-350-4595 Telephone/Fax Number Tel: 0151-350-4000 2. COMPOSITION/INFORMATION ON INGREDIENTS Preparation Description Highly refined mineral oils and additives. The highly refined mineral oil contains <3% (w/w) DMSO-extract, according to IP346. Dangerous Components / Constituents Exposure limits apply to the following components: Highly refined mineral oil. 3. HAZARDS IDENTIFICATION EC Classification Not classified as Dangerous under EC criteria. Human Health Hazards No specific hazards under normal use conditions. Prolonged or repeated exposure may give rise to dermatitis. Used oil may contain harmful impurities. Safety Hazards Not classified as flammable, but will burn. Environmental Hazards Not classified as dangerous for the environment. 4. FIRST AID MEASURES Symptoms and Effects Not expected to give rise to an acute hazard under normal conditions of use. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 1 of 8

Inhalation In the unlikely event of dizziness or nausea, remove casualty to fresh air. If symptoms persist, obtain medical attention. Skin Remove contaminated clothing and wash affected skin with soap and water. If persistent irritation occurs, obtain medical attention. When using high pressure equipment, injection of product under the skin can occur. If high pressure injuries occur, the casualty should be sent immediately to a hospital. Do not wait for symptoms to develop. Eye Flush eye with copious quantities of water. If persistent irritation occurs, obtain medical attention. Ingestion Do not induce vomiting. Wash out mouth with water and obtain medical attention. Advice to Doctor Treat symptomatically. Aspiration into the lungs may result in chemical pneumonitis. Dermatitis may result from prolonged or repeated exposure. High pressure injection injuries require prompt surgical intervention and possibly steroid therapy, to minimise tissue damage and loss of function. Because entry wounds are small and do not reflect the seriousness of the underlying damage, surgical exploration to determine the extent of involvement may be necessary. Local anaesthetics or hot soaks should be avoided because they can contribute to swelling, vasospasm and ischaemia. Prompt surgical decompression, debridement and evacuation of foreign material should be performed under general anaesthetics, and wide exploration is essential. There may be a risk to health where low viscosity products are aspirated into the lungs following vomiting, although this is uncommon in adults. Such aspiration would cause intense local irritation and chemical pneumonitis. Children, and those in whom consciousness is impaired, will be more at risk. Emesis of lubricants is not usually necessary, unless a large amount has been ingested, or some other compound has been dissolved in the product. If this is indicated, for example, when there is rapid onset of central nervous system depression from large ingested volume - gastric lavage under controlled hospital conditions, with full protection of the airway is required. Supportive care may include oxygen, arterial blood gas monitoring, respiratory support, and, if aspiration has occurred, treatment with corticosteriods and antibiotics. Seizures should be controlled with Diazepam, or appropriate equivalent drug. 5. FIRE FIGHTING MEASURES Specific Hazards Combustion is likely to give rise to a complex mixture of airborne solid and liquid particulates and gases, including carbon monoxide and unidentified organic and inorganic compounds. Extinguishing Media Foam and dry chemical powder. Carbon dioxide, sand or earth may be used for small fires only. Unsuitable Extinguishing Media Water in jet. Use of halon extinguishers should be avoided for environmental reasons. Protective Equipment Proper protective equipment including breathing apparatus must be worn when approaching a fire in a confined space. 6. ACCIDENTAL RELEASE MEASURES Personal Precautions Avoid contact with skin and eyes. Wear PVC, Neoprene or nitrile rubber gloves. Wear rubber knee length safety boots and PVC Jacket and Trousers. Wear safety glasses or full face shield if splashes are likely to occur. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 2 of 8

Environmental Precautions Prevent from spreading or entering into drains, ditches or rivers by using sand, earth, or other appropriate barriers. Inform local authorities if this cannot be prevented. Clean-up Methods - Small Spillages Absorb liquid with sand or earth. Sweep up and remove to a suitable, clearly marked container for disposal in accordance with local regulations. Clean-up Methods - Large Spillages Prevent from spreading by making a barrier with sand, earth or other containment material. Reclaim liquid directly or in an absorbent. Dispose of as for small spills. 7. HANDLING AND STORAGE Handling Use local exhaust ventilation if there is risk of inhalation of vapours, mists or aerosols. Avoid prolonged or repeated contact with skin. When handling product in drums, safety footwear should be worn and proper handling equipment should be used. Prevent spillages. Cloth, paper and other materials that are used to absorb spills present a fire hazard. Avoid their accumulation by disposing of them safely and immediately. In addition to any specific recommendations given for controls of risks to health, safety and the environment, an assessment of risks must be made to help determine controls appropriate to local circumstances. Exposure to this product should be reduced as low as reasonably practicable. Reference should be made to the Health and Safety Executive's publication 'COSHH Essentials'. Storage Keep in a cool, dry, well-ventilated place. Use properly labelled and closeable containers. Avoid direct sunlight, heat sources, and strong oxidizing agents. The storage of this product maybe subject to the Control of Pollution (Oil Storage) (England) Regulations. Further guidance maybe obtained from the local environmental agency office. Storage Temperatures 0ºC Minimum. 50ºC Maximum. Recommended Materials For containers or container linings, use mild steel or high density polyethylene. Unsuitable Materials For containers or container linings, avoid PVC. Other Information Polyethylene containers should not be exposed to high temperatures because of possible risk of distortion. 8. EXPOSURE CONTROLS, PERSONAL PROTECTION Exposure Limits Substance Regulations Exposure Duration Exposure Limit Units Notes Oil mist, mineral EH 40 2005 TWA 5 mg/m3 EH 40 2005 STEL 10 mg/m3 EH 40 2005 Health and Safety Executive. EH40; Occupational Exposure Limits. Exposure Controls The use of personal protective equipment is only one aspect of an integrated approach to the Control Of Substances Hazardous to Health. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 3 of 8

The management of Health and Safety at Work Regulations 1992 require employers to identify and evaluate the risks to health and to implement appropriate measures to eliminate or minimise those risks. The choice of personal protective equipment is highly dependent upon local conditions, e.g. exposure to other chemical substances and micro-organisms, thermal hazards (protection from extremes of cold and heat), electrical hazards, mechanical hazards and appropriate degree of manual dexterity required to undertake an activity. Whilst the content of this section may inform the choice of personal protective equipment used, the limitations of any information which can be provided must be fully understood, e.g. personal protective equipment chosen to protect employees from occasional splashes maybe entirely inadequate for activities involving partial or complete immersion.If the levels of oil mist or vapour in air are likely to exceed the occupational exposure standards then consideration should be given to the use of local exhaust ventilation to reduce personal exposure. The choice of personal protective equipment should only be undertaken in the light of a full risk assessment by a suitably qualified competent person ( e.g. a professionally qualified occupational hygienist). Effective protection is only achieved by correctly fitting and well maintained equipment and employers should ensure that appropriate training is given. All personal protective equipment should be regularly inspected and replaced if defective. Reference should be made to HSE's publication Methods for the Determination of Hazardous Substances (MDHS) 84 - Measurement of oil mist from mineral oil-based metalworking fluids. Measurement of an employee's exposure to oil vapour maybe supplemented through the use of stain tubes. In the first instance, further guidance maybe obtained through HSE's publication 'COSHH - a brief guide to the regulations' (INDG 136(rev1)). Respiratory Protection At standard temperature and pressure, the Occupational Exposure Standard for oil vapour is unlikely to be exceeded. Care should be taken to keep exposures below applicable occupational exposure limits. If this cannot be achieved, use of a respirator fitted with an organic vapour cartridge combined with a particulate pre-filter should be considered. Half masks (EN 149) or valved half masks (EN 405) in combination with type A2 (EN 141) and P2/3 (EN 143) pre-filters maybe considered. Hand Protection Chemical protective gloves are made from a wide range of materials, but there is no single glove material ( or combination of materials) which gives unlimited resistance to any individual or combination of substances or preparations. The extent of the breakthrough time will be affected by a combination of factors which include permeation, penetration, degradation, use pattern ( full immersion, occasional contacts) and how the glove is stored when not in use. Theoretical maximum levels of protection are seldom achieved in practice and the actual level of protection can be difficult to assess. Effective breakthrough time should be used with care and a margin of safety should be applied. HSE guidance on protective gloves recommends a 75% safety factor to be applied to any figures obtained in a laboratory test. Nitrile gloves may offer relatively long breakthrough times and slow permeation rates. Test data, e.g breakthrough data obtained through test standard EN374-3:1994 are available from reputable equipment suppliers. Personal hygiene is a key element of effective hand care. Gloves must only be worn on clean hands. After using gloves, hands should be washed and dried thoroughly. A non perfumed moisturiser should be applied. Eye Protection Goggles conforming to a minimum standard of EN 166 345B should be considered if there is a possibility of eye contact with the product through splashing. Higher rated eye protection must be considered for highly hazardous operations or work areas. For example, employees involved in metalworking operations such as chipping, grinding or cutting may require additional protection to avert injury from fast moving particles or broken tools. Body Protection Minimise all forms of skin contact. Overalls and shoes with oil resistant soles should be worn. Launder overalls and undergarments regularly. Environmental Exposure Controls Minimise release to the environment. An environmental assessment must be made to ensure compliance with local environmental legislation. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 4 of 8

9. PHYSICAL AND CHEMICAL PROPERTIES Colour Amber. Physical State Liquid at ambient temperature. Odour Characteristic mineral oil. pH Value Data not available. Vapour Pressure <0.5 Pa at 20ºC. Initial Boiling Point >280ºC. Solubility in Water Negligible. Density 868 kg/m3 at 15ºC. Flash Point 160ºC (PMCC). Flammable Limits - Upper 10%(V/V) (typical). Flammable Limits - Lower 1%(V/V) (typical). Auto-Ignition Temperature >320º (typical). Kinematic Viscosity 32 mm2/s at 40ºC. 6.4 mm2/s at 100ºC. Evaporation Rate Data not available. Vapour Density (Air=1) Greater than 1. Partition co-efficient, n-octanol/water Log Pow >6 (typical). Pour Point -45ºC. 10. STABILITY AND REACTIVITY Stability Stable. Conditions to Avoid Extremes of temperature and direct sunlight. Materials to Avoid Strong oxidizing agents. Hazardous Decomposition Products Hazardous decomposition products are not expected to form during normal storage. 11. TOXICOLOGICAL INFORMATION Basis for Assessment Toxicological data have not been determined specifically for this product. Information given is based on a knowledge of the components and the toxicology of similar products. Acute Toxicity - Oral LD50 expected to be > 2000 mg/kg. Acute Toxicity - Dermal LD50 expected to be > 2000 mg/kg. Acute Toxicity - Inhalation Not considered to be an inhalation hazard under normal conditions of use. Eye Irritation Expected to be slightly irritating. Skin Irritation Expected to be slightly irritating. Respiratory Irritation If mists are inhaled, slight irritation of the respiratory tract may occur. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 5 of 8

Skin Sensitisation Not expected to be a skin sensitizer. Carcinogenicity Product is based on mineral oils of types shown to be non-carcinogenic in animal skin-painting studies. Other components are not known to be associated with carcinogenic effects. Mutagenicity Not considered to be a mutagenic hazard. Reproductive Toxicity Not considered to be toxic to reproduction. Other Information Prolonged and/or repeated contact with this product can result in defatting of the skin, particularly at elevated temperatures. This can lead to irritation and possibly dermatitis, especially under conditions of poor personal hygiene. Skin contact should be minimised. High pressure injection of product into the skin may lead to local necrosis if the product is not surgically removed. Used oils may contain harmful impurities that have accumulated during use. The concentration of such impurities will depend on use and they may present risks to health and the environment on disposal. ALL used oil should be handled with caution and skin contact avoided as far as possible. 12. ECOLOGICAL INFORMATION Basis for Assessment Ecotoxicological data have not been determined specifically for this product. Information given is based on a knowledge of the components and the ecotoxicology of similar products. Mobility Liquid under most environmental conditions. Floats on water. If it enters soil, it will adsorb to soil particles and will not be mobile. Persistence / Degradability Not expected to be readily biodegradable. Major constituents are expected to be inherently biodegradable, but the product contains components that may persist in the environment. Bioaccumulation Contains components with the potential to bioaccumulate. Ecotoxicity Poorly soluble mixture. May cause physical fouling of aquatic organisms. Product is expected to be practically non-toxic to aquatic organisms, LL/EL50 >100 mg/l. (LL/EL50 expressed as the nominal amount of product required to prepare aqueous test extract). Mineral oil is not expected to cause any chronic effects to aquatic organisms at concentrations less than 1 mg/l. Other Adverse Effects Not expected to have ozone depletion potential, photochemical ozone creation potential or global warming potential. Product is a mixture of non-volatile components, which are not expected to be released to air in any significant quantities. 13. DISPOSAL CONSIDERATIONS Waste Disposal Recycle or dispose of in accordance with prevailing regulations, with a recognised collector or contractor. The competence of the contractor to deal satisfactorily with this type of product should be established beforehand. Do not pollute the soil, water or environment with the waste product. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 6 of 8

Product Disposal As for waste disposal. Container Disposal Recycle or dispose of in accordance with the legislation in force with a recognised collector or contractor. 14. TRANSPORT INFORMATION Transport Information Not dangerous for transport under ADR/RID, IMO and IATA/ICAO regulations. 15. REGULATORY INFORMATION EC Symbols None. EC Risk Phrase Not classified. EC Safety Phrase Not classified. EINECS All components listed or polymer exempt. TSCA (USA) All components listed. National Legislation Environmental Protection Act 1990 (as amended). Health and Safety at Work Act 1974 Consumers Protection Act 1987 Control of Pollution Act 1974 Environmental Act 1995 Factories Act 1961 Carriage of Dangerous Goods by Road and Rail (Classification, Packaging and Labelling) Regulations Chemicals (Hazard Information and Packaging for Supply) Regulations 2002. Control of Substances Hazardous to Health Regulations 1994 (as amended). Road Traffic (Carriage of Dangerous Substances in Packages) Regulations Merchant Shipping (Dangerous Goods and Marine Pollutants) Regulations Road Traffic (Carriage of Dangerous Substances in Road Tankers in Tank Containers) Regulations Road Traffic (Training of Drivers of Vehicles Carrying Dangerous Goods) Regulations Reporting of Injuries, Diseases and Dangerous Occurences Regulations Health and Safety (First Aid) Regulations 1981 Personal Protective Equipment (EC Directive) Regulations 1992 Personal Protective Equipment at Work Regulations 1992 Packaging & Labelling Safety data sheet available for professional user on request. 16. OTHER INFORMATION Revisions Highlighted To assist harmonisation of sds authoring practices, a version number has been introduced. References GUIDANCE NOTES UK Chemicals Regulatory Atlas, An Overview of how to guide your chemical through to regulatory compliance (DTI). HSG71 The storage of packaged dangerous substances. EH/40 Occupational Exposure Limits. EH/58 The Carcinogenicity of Mineral Oils. MS24 Health surveillance of occupational skin disease. HSG 53 The selection, use and maintenance of respiratory protective equipment: A practical guide. Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 7 of 8

HSG 206 Cost and effectiveness of chemical protective gloves for the workplace: Guidance for employers and health and safety specialists. L74 First Aid at work: Approved Code of Practice and Guidance. HSG 136 Workplace transport safety : guidance for employers. INDG234 (rev) Are you Involved in the Carriage of Dangerous Goods by Road or Rail OTHER LITERATURE Concawe Report 3/82 Precautionary Advice on the Handling of Used Engine Oils Concawe Report 86/69 Health Aspects of Worker Exposure to Oil Mists Concawe Report 01/97 Petroleum Products - First Aid Emergency and Medical Advice Concawe Report 01/53 Classification and labelling of petroleum substances according to the EU dangerous substances directive ( Concawe recommendations August 2001) Concawe Report 01/54 environmental classification of petroleum substances summary data and rationale Concawe Report 5/02 amended safety data sheet directive ( 2001/58/EC) Department of the Environment - Waste Management - The Duty of Care - A Code of Practice Concawe, Boulevard du souverain 165 B - 1160 Brussels, Belgium www.concawe.be Restrictions This product must not be used in applications other than recommended without first seeking the advice of the SHELL technical department. Technical Contact Numbers 0151-350-4000. Further Information This information is based on our current knowledge and is intended to describe the product for the purposes of health, safety and environmental requirements only. It does not constitute a guarantee for any specific property of the product. ... End Of SDS ... Shell Tellus Oil T 32 Version No. 1.1 08/10/2003 Page 8 of 8

4: FIRST AID MEASURES

INHALATION


SKIN


Where a high pressure injection injury has occurred, medical attention should be obtained immediately. Show this Data Sheetto the physician drawing attention to "Notes for Doctors" in Section 11 below.

EYES


INGESTION

DO NOT INDUCE VOMITINGIf ingestion is suspected, wash out the mouth with water, and send to hospital immediately. Show this Data Sheet to thephysician drawing attention to "Notes for Doctors" in Section 11 below.

5: FIRE-FIGHTING MEASURES

Extinguishants - Large Fire :- Small Fire :

Foam/Water Fog - NEVER USE WATER JETFoam/Dry Powder/AFFF/CO2/Sand/Earth

6: ACCIDENTAL RELEASE MEASURES

LAND SPILLAGES

The first concern should be to prevent entry to drains or watercourses.

LARGE SPILLS should be bunded by a suitable medium such as sand or earth. The liquid should be reclaimed directly or inan adsorbent medium and then transferred to suitable, clearly marked containers and disposed of in accordance with localbyelaws and the requirements of the Environmental Protection Act 1990.

SMALL SPILLS should be soaked up with sand or earth and disposed of as for large spills.

MARITIME SPILLAGES

Any spillage of Shell Transformer Oil 148 which results in overside pollution must be treated in accordance with the guidelineslaid down in the respective Vessel Oil Spill Response Contingency Plan, as required by MARPOL 73/78 Annex 1, Regulation26. Where the vessel is not required to comply with such legislation, the Owner's and/or Charterer's instructions must befollowed. In the absence of any other guidelines, any spillage in territorial/coastal waters must be immediately reported to theappropriate maritime authority, e.g. coast guard, the vessel's local agent if applicable, and the vessel's Owner/Charterer. Ininternational waters, any spillage should be reported to the nearest coastal state, and additional guidance should soughtimmediately from the vessel's Owner/Charterer.

7: HANDLING AND STORAGE

HANDLING

Shell Transformer Oil 148 does not require any special handling techniques, but it should be handled in suitable containersand spillage avoided.

STORAGE

The storage of Shell Transformer Oil 148 is not subject to any special controls or restrictions. It should be stored in properlydesigned, closable, labelled containers, eg mild steel or high density polyethylene (HDPE).

L60341 27 : 11 : 02 Page 2 of 7

8: EXPOSURE CONTROLS/PERSONAL PROTECTION

EXPOSURE LIMIT VALUES

The following limits are taken from The Health and Safety Executive's Guidance Note EH40 Occupational Exposure Limits2002.

UK Occupational Exposure Standards :

Oil Mist, Mineral : 5 mg/cubic metre 8-hour TWA value15 mg/cubic metre 15-min TWA value

Note : Fume arising from high temperature product is essentially an oil mist.

RECOMMENDED PROTECTIVE CLOTHING

Impervious gloves and overalls where regular contact is likely, and goggles if there is a risk of splashing

9: PHYSICAL AND CHEMICAL PROPERTIES

Physical State :Appearance :Odour :Acidity/Alkalinity :Initial Boiling Point :Pour Point :Flashpoint :Flammability :Autoflammability :Flammability Limits - Upper :

- Lower :Explosive Properties :Oxidising Properties :Vapour Pressure @ 20 Deg. C. :Relative Density @ 15 Deg. C. :Solubility : Water Solubility :

Fat solubility/solvent :Partition Coefficient, n-octanol water :Vapour Density (Air =1) :Viscosity @ 40 Deg. C. :

Liquid at ambient temperature Pale Characteristic, mineral oil Not applicable>250 Deg. C.<-40 Deg. C.>140 Deg. C.Not applicable>250 Deg. C.10 % vol.1 % vol.Not applicableNot applicable<0.1 k.Pa 0.890Very LowNot availableExpected to be > 6> 114 cSt.

10: STABILITY AND REACTIVITY

CONDITIONS TO AVOID

Oil covered surfaces owing to the potential for slips.Accumulation of oily rags owing to the potential for spontaneous ignition.Extremes of temperature. Store between 0 and 50 Deg. C.

MATERIALS TO AVOID

Strong oxidising agents, eg. chlorates which may be used in agriculture.

DECOMPOSITION PRODUCTS

The substances arising from the thermal decomposition of these products will largely depend upon the conditions bringingabout decomposition. The following substances may be expected from normal combustion :

Carbon DioxideCarbon MonoxideWaterParticulate Matter

Polycyclic Aromatic HydrocarbonsUnburnt HydrocarbonsUnidentified Organic and Inorganic CompoundsNitrogen Oxides

L60341 27 : 11 : 02 Page 3 of 7

11: TOXICOLOGICAL INFORMATION

ACUTE HEALTH HAZARDS AND ADVICE

Toxicity following single exposure to high levels (orally, dermally or by inhalation) is of a low order. The main hazards are: inthe unlikely event of ingestion, aspiration into the lungs with possible resultant chemically induced pneumonia ; and, if theproducts are handled under high pressures, of high pressure injection injuries.

INHALATION

Under normal conditions of use inhalation of vapours is not feasible or likely to present an acute hazard.

Precautions :

Care should be taken to keep exposures below applicable occupational exposure limits by the use of general or localventilation. If this cannot be achieved, use of a respirator fitted with an organic vapour cartridge combined with a particulateprefilter.

First Aid :


SKIN

Skin contact presents no acute health hazard except in the case of high pressure injection injuries. These can lead to the lossof the affected limbs if not treated immediately and properly.

Precautions :

Avoid contact with the skin by the use of suitable protective clothing. Where skin contact is unavoidable, a high standard ofpersonal hygiene must be practised. Extreme care must be exercised where the product is likely to be encountered at highpressures, when it is recommended that safe systems of work be employed.

First Aid :


Where a high pressure injection injury has occurred, medical attention should be obtained immediately. Show this Data Sheetto the physician drawing attention to "Notes for Doctors" below.

EYES

Eye contact may cause some discomfort.

Precautions :

If there is a risk of splashing while handling the liquid, suitable eye protection should be used.

First Aid :


INGESTION

The main hazard following ingestion is of aspiration into the lungs during subsequent vomiting.

Precautions :

Accidental ingestion is unlikely. Normal handling and hygiene precautions should be taken to avoid ingestion.

L60341 27 : 11 : 02 Page 4 of 7

First Aid :

DO NOT INDUCE VOMITING. If ingestion is suspected, wash out the mouth with water, and send to hospital immediately. Show this Data Sheet to thephysician drawing attention to "Notes for Doctors" below.

CHRONIC HEALTH HAZARD AND ADVICE

Prolonged and repeated contact with oil products can be detrimental to health. The main hazards arise from skin contact andin the inhalation of mists. Skin contact under conditions of poor hygiene and over prolonged periods can lead to defatting ofthe skin, dermatitis, erythema, oil acne and oil folliculitis. Excessive and prolonged inhalation of oil mists may cause a chronicinflammatory reaction of the lungs and a form of pulmonary fibrosis.

NOTES FOR DOCTORS

HIGH PRESSURE INJECTION INJURIES

High pressure injection injuries require surgical intervention and possibly steroid therapy to minimise tissue damage and lossof function. Because entry wounds are small and do not reflect the seriousness of the underlying damage, surgical explorationto determine the extent of involvement may be necessary. Local anaesthetics or hot soaks should be avoided because theycan contribute to swelling, vasospasm and ischaemia. PROMPT surgical decompression, debridement and evacuation offoreign material should be performed under general anaesthetic, and wide exploration is essential.

INGESTION AND ASPIRATION OF PETROLEUM PRODUCTS

There may be a risk to health where low viscosity products are aspirated into the lungs following vomiting, although this isuncommon in adults. Such aspiration would cause intense local irritation and chemical pneumonitis. Children, and those inwhom consciousness is impaired, will be more at risk. Emesis of lubricants is not usually necessary, unless a large amounthas been ingested, or some other compound has been dissolved in the product. If this is indicated - for example, when thereis rapid onset of CNS depression from a large ingested volume - gastric lavage under controlled hospital conditions, with fullprotection of the airway is required. Supportive care may include oxygen, arterial blood gas monitoring, respiratory supportand, if aspiration has occurred, treatment with corticosteroids and antibiotics. Seizures should be controlled with Diazepam,or appropriate equivalent drug.

12: ECOLOGICAL INFORMATION

The information given below refers to the mineral base oil component, which accounts for 100%, of Shell Transformer Oil 148.

AIR

Shell Transformer Oil 148 is a mixture of non-volatile components, which are not expected to be released to air in anysignificant quantities.

WATER

If released to water, Shell Transformer Oil 148 will form a floating layer on the surface and its components will not evaporateor dissolve to any great extent. Dissolved components will be absorbed in sediments. In aerobic water and sediments theywill biodegrade slowly, but in anaerobic conditions they will persist. Shell Transformer Oil 148 is practically non-toxic to aquaticorganisms but contains components which have a high potential to bioaccumulate, and has the potentially to physically foulaquatic organisms.

SOIL

Small volumes released on land will be absorbed in the upper soil layers and be biodegraded slowly. Larger volumes maypenetrate into anaerobic soil layers in which the product will persist and may reach the water table on which it will form afloating layer. The more soluble components may dissolve but their high soil absorption coefficient and the low solubility willprevent significant contamination of ground water.

13: DISPOSAL CONSIDERATIONS

Shell Transformer Oil 148 is a controlled waste and must be disposed of to a licensed waste contractor. If in doubt, seek advicefrom your Local Authority.

L60341 27 : 11 : 02 Page 5 of 7

The disposal of mineral oils to sewers, watercourses or land without consent of the Local Water Authority or the National RiversAuthority (NRA) is an offence under the Environmental Protection Act 1990 or the Water Resources Act 1991 or the WaterIndustry Act 1991.

14: TRANSPORT INFORMATION

Not Dangerous for Conveyance

15: REGULATORY INFORMATION

This material has been classified according to the requirements of the Dangerous Substances Directive 67/548/EEC as lastamended by the 8th Amendment 96/56/EC, the 22nd Adaptation to Technical Progress 96/54/EC, and the PreparationsDirective 88/379/EEC as last amended by the 4th Adaptation to Technical Progress 96/65/EC.

Not Dangerous for Supply

16: OTHER INFORMATION

The references set out below give further information on specific aspects.

LEGISLATION

Consumer Protection Act 1987 Control of Pollution Act 1974Environmental Protection Act 1990 Factories Act 1961Health and Safety at Work Act 1974

Carriage of Dangerous Goods by Road and Rail (Classification, Packaging and Labelling) Regulations Chemical (Hazards, Information, and Packaging for Supply) RegulationsControl of Substances Hazardous to Health RegulationsDangerous Substances in Harbour Areas RegulationsMerchant Shipping (Dangerous Goods and Marine Pollutants) RegulationsRoad Traffic (Carriage of Dangerous Substances in Packages etc.) RegulationsRoad Traffic (Carriage of Dangerous Substances in Road Tankers and Tank Containers) RegulationsRoad Traffic (Training of Drivers of Vehicles Carrying Dangerous Goods) RegulationsReporting of Injuries, Diseases and Dangerous Occurrences Regulations Special Waste Regulations

GUIDANCE NOTES

HS(G)71 The storage of packaged dangerous substancesEH/40 Occupational Exposure LimitsEH/58 The Carcinogenicity of Mineral OilsMS24 Health surveillance of occupational skin disease

OTHER LITERATURE

Concawe Report 86/69 Health Aspects of Worker Exposure to Oil MistsConcawe Report 01/97 Petroleum Products - First Aid Emergency and Medical Advice

Department of the Environment - Waste Management - The Duty of Care - A Code of Practice

ADDRESSES

Concawe, Boulevard du Souverain 165 B - 1160 Brussels, Belgium

| MISCELLANEOUS

| Shell Transformer Oil 148 is liable to excise duty at 51.82 ppl if supplied in bulk to persons not approved by H.M. Customs| and excise. "Bulk" means in containers of more than 210 litres capacity. If you wish to obtain this oil free of excise duty, you| should apply for approval from :

L60341 27 : 11 : 02 Page 6 of 7

| H.M.Customs & Excise, Mineral Oils Relief Centre, Dobson house, Regent Centre, Gosforth, Newcastle-on-Tyne NE3 3PF.

| Hydrocarbon Oil Duties Act 1979 & Hydrocarbon Oil Regulations 1973.

L60341 27 : 11 : 02 Page 7 of 7

SN07M001.DOC Page 1 of 6

Marine Safety Data SheetIssued: August 31, 2000

SDS No. SN07M001 SHELL TELLUS OIL

1. IDENTIFICATION OF THE SUBSTANCE/PREPARATION AND COMPANY Product name: SHELL TELLUS OIL

Product type: Hydraulic oil

Supplier: Shell Marine Products

Address: Shell Centre London SE1 7NA

Contact numbers: Telephone: Telex: Fax:

+44 (0)207 934 4649 +44 (0)207 934 6433

Emergency telephone number:

24 Hour Number +44 (0)207 934 4545

2. COMPOSITION/INFORMATION ON INGREDIENTS Preparation description: Blend of highly-refined mineral oils and additives.

Dangerous components/constituents:

On the basis of available information, the components of this preparation are not expected to impart hazardous properties to this product.

3. HAZARDS IDENTIFICATION Human health hazards: No specific hazards under normal use conditions. Contains

mineral oil for which an exposure limit for oil mist applies. Prolonged or repeated exposure may give rise to dermatitis. Used oil may contain harmful impurities.

Safety hazards: Not classified as flammable, but will burn.

Environmental hazards: Not classified as dangerous to the environment.

Other information: Not classified as dangerous for supply or conveyance.

SHELL TELLUS OIL

SN07M001.DOC Issued: August 31, 2000 Page 2 of 6

4. FIRST AID MEASURES Symptoms and effects: Not expected to give rise to an acute hazard under normal

conditions of use. First Aid - Inhalation: In the unlikely event of dizziness or nausea, remove casualty to

fresh air. If symptoms persist, obtain medical attention. First Aid - Skin: Remove contaminated clothing and wash affected skin with

soap and water. If persistent irritation occurs, obtain medical attention. If high pressure injection injuries occur, obtain medical attention immediately.

First Aid - Eye: Flush eye with copious quantities of water. If persistent irritation occurs, obtain medical attention.

First Aid - Ingestion: Wash out mouth with water and obtain medical attention. DO NOT INDUCE VOMITING.

Advice to physicians: Treat symptomatically. Aspiration into the lungs may result in chemical pneumonitis. Dermatitis may result from prolonged or repeated exposure.

5. FIRE FIGHTING MEASURES Specific hazards: Combustion is likely to give rise to a complex mixture of airborne

solid and liquid particulates and gases, including carbon monoxide, oxides of sulphur, and unidentified organic and inorganic compounds.

Extinguishing media: Foam and dry chemical powder. Carbon dioxide, sand or earth may be used for small fires only.

Unsuitable extinguishing media:

Water in a jet. Use of Halon extinguishers should be avoided for environmental reasons.

Protective equipment: Proper protective equipment including breathing apparatus must be worn when approaching a fire in a confined space.

6. ACCIDENTAL RELEASE MEASURES Personal precautions: Avoid contact with: skin and eyes.

Personal protection: Wear impermeable gloves and boots.

Environmental precautions:

Prevent from spreading or entering into drains, ditches or rivers by using sand, earth, or other appropriate barriers. Inform local authorities if this cannot be prevented.

Clean-up methods - small spillage:

Absorb liquid with sand or earth. Sweep up and remove to a suitable, clearly marked container for disposal in accordance with local regulations.

Clean-up methods - large spillage:

Prevent from spreading by making a barrier with sand, earth or other containment material. Reclaim liquid directly or in an absorbent. Dispose of as for small spills.

SHELL TELLUS OIL


7. HANDLING AND STORAGE Handling: When handling product in drums, safety footwear should be

worn and proper handling equipment should be used. Prevent spillages.

Storage: Keep in a cool, dry, well-ventilated place. Use properly labelled and closable containers. Avoid direct sunlight, heat sources, and strong oxidizing agents.

Storage temperature: 0°C minimum to 50°C maximum.

Recommended materials: For containers or container linings, use: mild steel or high density polyethylene.

Unsuitable materials: For containers or container linings, avoid: PVC.

Other information: Polyethylene containers should not be exposed to high temperatures because of possible risk of distortion.

8. EXPOSURE CONTROLS/PERSONAL PROTECTION Engineering control measures:

Use local exhaust ventilation if there is a risk of inhalation of vapours, mists or aerosols.

Occupational exposure standards:

Threshold limit values are given below. Lower exposure limits may apply locally:

Component name Limit type Value Unit Other information

Oil mist, mineral 8-hour TWA 5 mg/m3 ACGIH

15-min STEL 10 mg/m3 ACGIH

Hygiene measures: Wash hands before eating, drinking, smoking and using the toilet.

Respiratory protection: Not normally required. If oil mist cannot be controlled, a respirator fitted with an organic vapour cartridge combined with a particulate pre-filter should be used.

Hand protection: PVC or nitrile rubber gloves.

Eye protection: Wear safety glasses or full face shield if splashes are likely to occur.

Body protection: Minimise all forms of skin contact. Wear overalls to minimise contamination of personal clothing. Launder overalls and undergarments regularly.

9. PHYSICAL AND CHEMICAL PROPERTIES Physical state: Liquid at ambient temperature. Colour: Light brown Odour: Characteristic mineral oil Initial boiling point: Expected to be above 280°C Vapour pressure: Expected to be less than 0.5 Pa at 20°C Density: See Table 1 Kinematic viscosity: See Table 1 Vapour density (air=1): Greater than 1

SHELL TELLUS OIL


Pour point: See Table 1 Flash point: See Table 1 Flammability limit - lower: 1% v/v Flammability limit - upper: 10% v/v Auto-ignition temperature: Expected to be above 320°C Solubility in water: Negligible n-octanol/water partition coefficient:

Log Pow expected to be greater than 6

10. STABILITY/REACTIVITY Stability: Stable

Conditions to avoid: Extremes of temperature and direct sunlight.

Materials to avoid: Strong oxidizing agents

Hazardous decomposition products:

Hazardous decomposition products are not expected to form during normal storage.

11. TOXICOLOGICAL INFORMATION Basis for assessment: Toxicological data have not been determined specifically for this

product. Information given is based on a knowledge of the components and the toxicology of similar products.

Acute toxicity - oral: LD50 expected to be above 2000 mg/kg

Acute toxicity - dermal: LD50 expected to be above 2000 mg/kg

Acute toxicity - inhalation: Data not available.

Eye irritation: Expected to be slightly irritant.

Skin irritation: Expected to be slightly irritant.

Respiratory irritation: If mists are inhaled, slight irritation of the respiratory tract may occur.

Skin sensitization: Not expected to be a skin sensitizer

Carcinogenicity: Product is based on mineral oils of types shown to be non-carcinogenic in animal skin-painting studies. Other components are not known to be associated with carcinogenic effects.

Mutagenicity: Not considered to be a mutagenic hazard.

Other information: Prolonged and/or repeated contact with this product can result in defatting of the skin, particularly at elevated temperatures. This can lead to irritation and possibly dermatitis, especially under conditions of poor personal hygiene. Skin contact should be minimised. Used oils may contain harmful impurities that have accumulated during use. The concentration of such impurities will depend on use and they may present risks to health and the environment on disposal. ALL used oil should be handled with caution and skin contact avoided as far as possible.

SHELL TELLUS OIL


12. ECOLOGICAL INFORMATION Basis for assessment: Ecotoxicological data have not been determined specifically for

this product. Information given is based on a knowledge of the components and the ecotoxicology of similar products.

Mobility: Liquid under most environmental conditions. Floats on water. If it enters soil, it will adsorb to soil particles and will not be mobile.

Persistence/degradability: Not expected to be readily biodegradable.

Bioaccumulation: Contains components with the potential to bioaccumulate

Ecotoxicity: Poorly soluble mixture. Product is expected to be practically non-toxic to aquatic organisms, LL/EL50 >100 mg/l. May cause physical fouling of aquatic organisms. (LL/EL50 expressed as the nominal amount of product required to prepare aqueous test extract).

Sewage treatment:

13. DISPOSAL CONSIDERATIONS Waste disposal: Recycle or dispose of in accordance with prevailing regulations,

preferably to a recognised collector or contractor. The competence of the contractor to deal satisfactorily with this type of product should be established beforehand.

Product disposal: As for waste disposal.

Container disposal: 200 litre drums should be emptied and returned to the supplier or sent to a drum reconditioner without removing or defacing markings or labels. Non-reusable small metal and plastic containers should be recycled where possible, or disposed of as domestic refuse.

Local legislation:

14. TRANSPORT INFORMATION Not dangerous for conveyance under UN, IMO, ADR/RID and IATA/ICAO codes.

15. REGULATORY INFORMATION EC Classification: Not classified as Dangerous under EC criteria

EINECS (EC): All components listed or polymer exempt.

TSCA (USA): All components in compliance.

Other information: For listing on other inventories, eg MITI (Japan), AICS (Australia) and DSL (Canada), please consult suppliers.

16. OTHER INFORMATION Uses and restrictions: For hydraulic applications requiring a mild anti-wear oil.

SHELL TELLUS OIL


Technical contact point: +44 (0)207934 4649

Technical contact number: Telephone: Telex: Fax:

+44 (0)207934 4649 +44 (0)207934 6433

SDS history: Edition No.: 5 First Issue: 17-02-89 Revised: August 31, 2000

Revisions highlighted: Minor formatting changes and amendments to text in Sections 3, 9, 12, 13, 15 and Table 1

This information is based on our current knowledge and is intended to describe the product for the purposes of health, safety and environmental requirements only. It should not be construed as guaranteeing any specific property of the product.

TABLE 1: SHELL TELLUS OIL - Typical properties

SHELL TELLUS OIL 22 32 37 46 68 100

K. Viscosity mm2/s, at 20°C 55 90 102 135 220 330

K. Viscosity mm2/s, at 40°C 22 32 37 46 68 100

Density, kg/m3 at 15°C 871 872 872 876 883 890

Pour point, °C -30 -30 -30 -30 -30 -24

Flash point, °C (COC) 179 198 232 243 252 260

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Comanche 02 Aux Equipment Manual Rev 1

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