COMANCHE ROV SYSTEM

Comanche ROV Serial No. SA-RCOM-002

OPERATION & MAINTENANCE MANUAL
Section 7 Auxiliary Equipment Operation & Maintenance Manuals
SUPPLIED TO

Oceanteam 2000

Comanche No.2.doc Revision 1

IR475LY.-4.. Isolationsberwachungsgert
Bestimmungsgeme Verwendung Das A-ISOMETER IR475LY.-4.. berwacht den Isolationswiderstand eines ungeerdeten Wechsel- oder Gleichspannungsnetzes (IT-System) von AC 0...828 V oder DC 0...480V. Montage, Anschlu und Inbetriebnahme Auf richtige Nennspannung bzw. Speisespannung achten.
Vorsicht In jedem IT-System darf nur ein Isolationsberwachungsgert angeschlossen sein.

Insulation Monitoring Device

Proper use The A-ISOMETER IR475LY.-4.. monitors the insulation resistance 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 and supply voltage.
Attention Only one insulation monitoring device may be used in each interconnected system.

Absicherung Speisespannung: Empfehlung, 6 A. Absicherung Netzankopplung: Kurzschlu- und erdschlusichere Verlegung. Elektrische Gerte sind nur von Elektrofachkrften zu installieren bzw. zu montieren. Dabei sind die bestehenden Sicherheitsvorschriften zu beachten. Das IR475LY.-4.. ist fr ein- und dreiphasige ACNetze gleichermaen geeignet. Der Anschlu kann dabei auf mehrere Arten erfolgen. Metechnisch spielt es keine Rolle, ob die Anschlsse L1 und L2 an einen oder an zwei verschiedene Auenleiter oder an den N-Leiter gelegt werden. L1 und L2 bzw. KE und mssen dabei getrennt gefhrt werden. Bestandteil der Gertedokumentation sind neben diesem Datenblatt die beiliegenden Wichtigen sicherheitstechnische Hinweise fr Bender-Produkte. Mabild/Hinweis Anzugsmoment fr Klemmschrauben: 0,5...0,6 Nm Befestigung auf Tragschiene DIN EN 50 022 oder Schraubbefestigung
70
44 31 5

Protection, supply voltage: 6 A fuse Protection, system coupling: cabling which is short-circuit and earth-fault proof. Electrical equipment shall only be installed by qualified personnel in consideration of the current safety regulations. The IR475LY.-4.. is suited for both single and three phase AC systems. As indicated in the wiring diagram, there are several ways of connection. From the metrological point of view, it is irrelevant whether the connections L1 and L2 are connected to one or two different line conductors or to the N-conductor. L1 and L2 resp. KE and have to be led separately. Additionally to this data sheet, you will find enclosed Important safety instructions for Bender products.

Dimension diagram/Note Tightning torque for terminal screws: 0.5...0.6 Nm

Befestigung auf Tragschiene DIN EN 50 022 99

Mounting onto support rail acc. to DIN EN 50 022 or screw fixing

106005 / 05.2002

45

91 4,3 fr Schraubbefestigung
Quality System Certified

k
MONITOR

ISO 9001

Dipl.-Ing. W. Bender GmbH & Co KG Postf. 1161 D 35301 Grnberg Tel.: 06401 / 807-0 Fax: 06401 / 807-259 1

53

65

73

Anschluschaltbild

Wiring diagram
externes k-Anzeigeinstrument/ external k meter

US siehe Typenschild/ see nameplate

+/~ -/~

externe Lschtaste oder Brcke zur Fehlerspeicherung/ external reset button or bridge for fault memory

k
externe Prftaste/ external test button
50 100 200 500
1000

30 10

-1,5

A1

A2

R1

R2

Einstellbarer Ansprechwert RALARM1/ adjustable response value RALARM1

21

k-LED-Zeile/ k-LED bar graph indicator Betriebs-LED/ Power-on-LED

24
A1
A-ISOMETER IR 475

Melderelais/alarm relay RALARM1

A2
60 40

L1 AK L2
20 10 8 6 4 2
ALARM K K2 K1 K2
AL / Sys AL 1 / 2 AL 2 / 1 - / Res

11

12 14
K1

k
MONITOR

Einstellbarer Ansprechwert RALARM2/ adjustable response value RALARM2

11

kombinierte Prf- und Lschtaste kurzzeitiges Drcken (<1s) = RESET lngeres Drcken (>2s) = TEST/ combined test and reset button short-time pressing (<1s) = RESET long-time pressing (>2s) = TEST

k
x1 x10

ALARM 1

ALARM 2

TEST RESET

ALARM ON

2 +~-

10 10
K2

50

KE M+ M- T

R1 R2

21

22 24

Melderelais/alarm relay RALARM2 Melde-LEDs gelb, leuchten bei Unterschreiten des eingestellten Ansprechwertes, zeigen AC-Fehler oder DC-Fehler und blinken bei Unterbrechung der Anschluleitungen /KE oder L1/L2/ ALARM-LEDs illuminate when the insulation resistance falls below the pre-set response value and flash in case of interruption of the connecting leads /KE or L1/L2 Arbeitsstromschaltung/ N/O operation (Grundeinstellung/pre-set by factory) Ruhestromschaltung/ N/C operation

K2 (21-22-24) in Ruhestromschaltung schaltet bei/ K2 (21-22-24) in NC-operation switches in case of Systemfehlermeldungen/ system fault indications K1 (11-12-14) schaltet bei/ switches in case of ALARM2 (Werkseinstellung/factory setting) K2 (21-22-24) schaltet bei/ switches in case of ALARM1 (Werkseinstellung/factory setting) mit Fehlerspeicherung/ with fault memory Arbeitsweise der Melderelais/ operating principle of the alarm relay Arbeitsstromschaltung/ N/O operation Bereichseinstellung RALARM und k-LED-Anzeige/ setting range RALARM and k LED indication x1 kOhm

Ruhestromschaltung/ N/C operation

x10 kOhm ohne Fehlerspeicherung/ without fault memory ALARM2 ALARM1 ALARM-Meldungen/ ALARM indications

Schmelzsicherung / fuse 6 A (Empfehlung/ recommendation)

M+

M-

22

14

12

Netzankopplung
Un
3 N AC Netz/system L1 L2 L3 N PE

Mains coupling
Un
3 AC Netz/system L1 L2 L3

Un

DC Netz/system

L+ LPE

PE L1 L2 KE

L1

L2

KE

L1

L2

KE

Un

AC Netz/system

L1 L2

ohne Stromrichter Un = 3 AC 0...1650 V without rectifier Un = 3 AC 0...1650 V AK L1 L2 KE L1 L2 KE

PE

L1
AGH204S-4

L2 AGH520S Un AC 0...7200 V
2
Achtung Hochspannung Danger High Voltage

Ankopplungsgert Typ AGH520S

Un
L1 L2 L3 N PE

L1

L2

AK

Das A-ISOMETER IR475LY.-4.. kann mit den Ankoppelgerten AGH204S-4 oder AGH520S betrieben werden. Der Betrieb ist jedoch nur mglich im Bereich 20...500 k. Bereichswahlschalter in diesem Fall unbedingt auf diesen Bereich stellen (x10)! In Verbindung mit Ankoppelgerten ist die Anschluberwachung nicht mglich! Die Anschlsse L1 und L2 mssen dabei gebrckt werden.

The A-ISOMETER can be used in combination with coupling devices AGH204S-4 or AGH520S only within the range of 20...500 k. For this purpose, the range selector has to be set to x10! Connection monitoring is not possible when using the device with coupling devices! Therefore the connections L1 and L2 have to be bridged.

Fehlermeldungen/fault indications (bei Werkseinstellung/factory setting) ALARM2 Isolationsfehler AC/insulation fault AC ALARM2 Isolationsfehler DC (L+)/insulation fault DC (L+) ALARM2 Isolationsfehler DC (L-)/insulation fault DC (L-) ALARM1 Isolationsfehler AC/insulation fault AC ALARM1 Isolationsfehler DC (L+)/insulation fault DC (L+) ALARM1 Isolationsfehler DC (L-)/insulation fault DC (L-) Unterbrechung L1-L2 oder KE- /interruption L1-L2 or KESystemfehler (DIP2 auf Sys)/Systemfault (DIP2 to Sys) o = blinkend/flashing

1 Alarm LED + ~ x x

2 x

Melderelais/ alarm relay 11-12-14 21-22-24 x x

x x x x o o x x x o x x x x x

x x x x x x 3

x = Dauermeldung/continuous indication

Technische Daten Isolationskoordination nach IEC 664-1 Bemessungsspannung Bemessungsstospannung/Verschmutzungsgrad Spannungsprfung nach IEC 60255 Arbeitsbereich der Nennspannung Un Speisespannung US Ansprechwert RALARM1 Ansprechwert RALARM2 Ansprechzeiten (0,5 x RALARM/CE = 1 F) Bereich 6...500 k Bereich 2...6 k Max. Netzableitkapazitt DC-Innenwiderstand Impedanz bei 50 Hz Max. zulssige Fremdgleichspannung Schaltglieder Kontaktbemessungsspannung Einschaltvermgen Ausschaltvermgen AC/DC Prfung der elektromagn. Vertrglichkeit (EMV) Strfestigkeit nach EN 50082-2 Straussendung nach EN 50081-2 (nur fr Indurtriebereich) Umgebungstemperatur, bei Betrieb Umgebungstemperatur, bei Lagerung Klimaklasse nach IEC 60721 Anschluart/Leitung: Reihen klemmen/Aluminium oder Kupfer Temperaturbereich Leitung Anschluquerschnitt eindrhtig/feindrhtig Schutzart nach EN 60529 Einbauten/Klemmen Gewicht max.

Technical data Insulation coordination acc. to IEC 664-1 Rated insulation voltage Rated impulse withstand voltage/contamination level Test voltage acc. to IEC 60255 Operating range of nominal voltage Un Supply voltage US Response value RALARM1 Response value RALARM2 Response time (0.5 x RALARM/CE = 1 F) range 6...500 k range 2...6 k Max. system leakage capacitance Internal resistance Impedance at 50 Hz Max. admissible stray DC voltage Switching components Rated contact voltage Limited making capacity Limited breaking capacity AC/DC Test of electromagnetic compatibility (EMC) Interferences acc. to EN 50082-2 Emissions acc. to EN 50081-2 (for use in industrial areas) Ambient temperature during operation -10C ... +55C Storage temperature range -40C ... +70C IR475LYT-4.. -25C...+70C/-40C...+70C Climatic class acc. to IEC 60721 3K5, jedoch ohne Betauung und Vereisung / 3K5, except condensation and formation of ice Type of connection/cable: screw terminals/Aluminium or Copper Temp. range cable 60C (18...16 AWG) / 75C (14...12 AWG) Wire cross section Single wire/fine braid 0,2...4 mm2/0,2...2,5 mm2(24...12 AWG) Protection class acc. to EN 60529 Internal components/terminals IP 30 / IP 20 Weight max. 430 g
AC 630 V 6 kV/3 3,75 kV AC 0...828 V DC 0...480 V siehe Typenschild / see nameplate 2...10 k / 20...100 k 10...50 k / 100...500 k 8...12 sec 8...35 sec 50 F 200 k 180 k DC 800 V 2 Wechsler / 2 change over contacts AC 250 V / DC 300 V AC/DC 5 A 2 / 0,2 A

nderungen vorbehalten 4

Right to modifications reserved

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 I II

Page

Introduction ................................................................................................................................ 2 SeaLite Pre and Post-Deployment Checklist....................................................................... 3 Lamp Changing Procedure........................................................................................................ 3 Lamp Interchangeability Chart ............................................................................................... 4 Electrical Requirements .......................................................................................................... Voltage Requirements ............................................................................................................... Current Requirements ............................................................................................................... Cold Filament Surge .................................................................................................................. Varying Operational Voltages .................................................................................................. 5 5 5 6 6

III

IV V VI VII

Electrical and Thermal Warnings.......................................................................................... 7 SeaLite Envelope Replacement (Emergency Field Repair Procedure) ......................... 8 SeaLite Quality Control Procedures...................................................................................... 9 Troubleshooting ........................................................................................................................ 10

VIII Flooded Light Repair ............................................................................................................... 11 IX General Notes ............................................................................................................................ 12

Appendix A: Max-SeaLite ................................................................................................................... 13

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. 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. 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 MaxSeaLite. 4) 5) Many different connector types are available; depending on the connector chosen, the standard depth rating of the SeaLite is 20,000 feet. A SeaLite Universal Mounting Bracket is supplied with each SeaLite, and provides secure mounting in a wide latitude of positions.

2)

3)

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) 2) Try to rinse the light with fresh water after use in salt water. 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. 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). 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. After each deployment, examine the power cable and rear connector for damage.

3)

4)

5)

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 Voltage Wattage 12 12 24 24 24 28 120 120 120 120 120 50 100 150 250 300 150 100 150 200 250 500 Socket Envelope Size Position 19mm 25mm 1 1 1 2 (1) 2 (1) 1 2 (1) 2 (1) 2 (1) 1 3 X X X X X X X X X NA NA (X) (X) (X) (X) (X) (X) (X) (X) (X) X 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 useradjustable. 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 18 16 14 12 10 6 4 2.5 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:
1 2 3

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

IV

Electrical and Thermal Warnings

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.

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

2)

c)

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

4)

5)

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. Make sure the inside of the envelope is clean before reassembling the bezel onto the body of the light.

7)

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

Insufficient voltage.

Light flooded.

Connector loose. Damaged O-ring. Envelope cracked or chipped.

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 Oring 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) 2) 3) 4) Remove the bezel from the body. Remove the lamp from the lamp socket. Carefully remove the snap ring located above the lamp socket with a jeweler's screwdriver or other small pry tool. Gently pull the socket free of the light body so it will turn when the connector is unscrewed. 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. 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. 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. Screw the connector all the way into the light body to make sure the sealing Oring will seat correctly. With the connector on the light body, look at the

5)

6)

7)

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. Push the socket down into the body onto the red silicone O-ring that sits on top of the lower snap ring. Replace the upper snap ring by carefully winding it into the appropriate groove. Replace the lamp and bezel/envelope assembly.

9) 10)

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

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.

Service Instructions MS-CRD-0047 April 1995

CA & CPA Series Check Valve Cracking Pressure Adjustment

Tools Needed "CA" & "4CPA" 5/32 in. hex key "8CPA" 5/16" hex key 2. Slide wrench down into adjusting screw.

CA Series
Adjusting Screw outlet

Inlet

Outlet

Locking Screw

CPA

CA

CPA Series

Adjusting Screw

3. Turn both screws to reach desired cracking pressure. (Turn clockwise to increase cracking pressure, counter clockwise to decrease cracking pressure)

Inlet

Outlet

Locking Screw

1. Insert wrench into locking screw. Loosen screw by turning counterclockwise.

4. Slide wrench back up into locking screw and turn clockwise to lock.
outlet

outlet

CPA

CA CPA

5. Verify cracking pressure and adjust screws if required.

CA
Swagelok TM Swagelok Company 1997 Swagelok Company Printed in U.S.A., CP 5-97, Rev. A MS-CRD-0047

www.swagelok.com
These instructions are also available in French, Italian, German and Spanish.

PNI Corporation
TCM2 Electronic Sensor Module Users Guide

 Copyright PNI Corporation 2004 All Rights Reserved. Reproduction, adaptation, or translation without prior written permission is prohibited, except as allowed under copyright laws. Part No. 10824 Document No. 1000281 Revision 3.0 February 2004 Printed in USA PNI Corporation 5464 Skylane Blvd., Suite A Santa Rosa, CA 95403, USA Tel: (707) 566-2260 Fax: (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, including 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*checksum<cr><lf>. Place markers for ASCII characters are indicated 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 summary data, for example, <cr> denotes the carriage return character, <lf> denotes a line feed, and <error code> denotes all the characters 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 workmanship and will operate in accordance with PNIs published specifications 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 PNIs Price List in effect at time of order acceptance; or (ii) on PNIs web site (www.pnicorp.com) at time of order acceptance. PNI will make no changes to the specifications 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 processes 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 unauthorized repair. THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY, 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, OEMs sole and exclusive remedy and PNIs sole and exclusive liability will be, at PNIs option, to repair, replace, or credit OEMs 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 PNIs service facility at OEMs 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, customs clearance, and other related charges. PNI will have a reasonable time to make repairs or to replace Product or to credit OEMs 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.

ii

Contents
1 Getting Started About the TCM2 1-2 Packing List 1-3 Products and Accessories 1-3 Installation 1-4 Electrical Connections 1-4 Communicating with the TCM2 1-6 Evaluation Software 1-6 Where to Install the TCM2 1-7 Mechanically Mounting the TCM2 1-8 2 Using the TCM2 RS232 Data Output Word 2-2 NMEA 0183 Format 2-2 TCM2 Standard Output 2-3 Command Syntax 2-4 Programming Conventions 2-4 Data Transmission 2-5 Error Codes 2-6 Description of Error Conditions 2-7 Compass Operating Modes 2-8 Standby Mode 2-8 Sampling in the Standby Mode 2-8 Continuous Sampling Mode 2-8 Analog Outputs 2-9 Digital Damping 2-10 Output Response Time 2-11 Latency 2-12 Magnetic Distortion Alarm 2-13 How to Use the Magnetic Distortion Alarm 2-13 How to Interpret the Magnetic Distortion Alarm 2-13 Pitch and Roll Output 2-14 User Calibration 2-15 Automatic Calibration 2-16 Soft Iron Effects 2-17 Other Limitations 2-17 Calibration Procedures 2-18 Multipoint Calibration (mpcal) 2-19 CAL3 Procedure 2-20 Temperature Sensor Calibration 2-22 3 Programming Commands Command List Quick Reference 3-2 Differences Between TCM2 Firmware Version 2.82 and 2.34A 3-4 Changes to the EEPROM 3-4 Command List 3-5 Request for Data Commands 3-6 Action Commands 3-11 User Configuration Parameter Commands 3-17 4 Troubleshooting Trouble-Shooting the TCM2 4-2 Limitations of the Inclinometer 4-6

Contents-1

5 Performance Specification Specifications 5-2 Assembly Views 5-3 3-Foot Cable 5-6 Optional 6-Foot Cable 5-8

Contents-2

1
About the TCM2 1-2 Installation 1-4 Packing List 1-3 Electrical Connections 1-4 Communicating with the TCM2 1-6 Evaluation Software 1-6 Where to Install the TCM2 1-7 Mechanically Mounting the TCM2 1-8

Getting Started

Getting Started About 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 magnetometer 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 1930s. Their solenoidal, 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 TCM2s magnetometers provide a very large dynamic range and hence can be calibrated for systems that have extremely strong fields, such as military vehicles. The TCM2s 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 flexibility 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 selecting the TCM2.

1-2

Getting Started About 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. CAUTION The TCM2 board is an ESD-sensitive device and must be handled accordingly.

Products and Accessories

Table 1-1. Products and Accessories

Product TCM2-20 TCM2-20 (with users guide, 3-ft. cable, and software) TCM2-50 TCM2-50 Includes users guide, 3-ft. cable, and software) TCM2 Inclinometer only TCM2 Inclinometer only (with users guide, 3-ft. cable, and software) TCM2 Magnetometer only TCM2 Magnetometer only (with users guide, 3-ft. cable, and software) Accessories 6-ft. cable Users Guide 10826 10824 Part Number 10639 90001 10651 90002 10657 90003 10660 90004

1-3

Getting Started Installation

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 procedures.

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 0850-0114). The cables wires are color coded as indicated below: PNI also has a 6-foot cable with a DB9 connector attached. Contact PNI Corporation for purchasing information.

Table 1-2. TCM2 Pin Descriptions

Pin 1 2 3 4 5 6 7 8 9 10 Wire Color Orange Red Black Blue Yellow White Green Brown Purple Gray Description Vsupply (5 V regulated (5%)) a Vsupply (6-18 V unregulated) a Power Ground RxD (RS-232) 5 to 5 V TxD (RS-232) 5 to 5 V or 12 to 12 V. These ranges are compatible with most RS-232 chips. RTS, Wake from Sleep Data ground, connected to the RS-232 ground Analog Output 2 Analog Output Data Ground

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

1-4

Getting Started Installation

Procedure
1 Attach a single 9V battery to the unregulated supply and power ground pins of the TCM2s 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 RS232 (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 1-3. RS-232 Serial Communication Interface

Parameters Transmit Voltages Baud Rate 8 data bits, 1 start bit, 1 stop bit, no parity

5V to 15V
300 to 38400

Table 1-4. DB25 COM Port Connector

COM Port Pin number 2 3 7 4 Signal TxD RxD Ground RTS TCM2 Connector Pin number 4 5 7 6 Signal RxD TxD Data ground Wake from sleep

Table 1-5. DP9 COM Port Connector

COM Port Pin number 2 3 5 7 Signal RxD TxD Ground RTS TCM2 Connector Pin number 4 5 7 6 Signal TxD TxD Data ground Wake from sleep

NOTE

Some COM ports have pins 2 as TxD and 3 as RxD.

1-5

Getting Started Installation

Communicating with the TCM2

Once the TCM2 is powered up and the RS232 connection is made with one of the PCs 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 TCM2s command syntax as you use the evaluation programs 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 keyboards Tab key to move sequentially through the menu items. Use the keyboards 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. NOTE 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. NOTE 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

Getting Started Installation

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 TCM2s 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 TCM2s magnetometers should not saturate

The TCM2 can be calibrated for large static magnetic fields. However, each axis of the TCM2s magnetometers has a maximum dynamic range of 80 T; 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 earths field may saturate the TCM2s sensors. For example, large masses of ferrous metals such as transformers and vehicle chassis, large electric currents, permanent magnets 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 Magnetometer 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
1-7

Getting Started Installation

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 sensors 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 TCM2s 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 distance 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 determined, 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 2-2 NMEA 0183 Format 2-2 TCM2 Standard Output 2-3 Command Syntax 2-4 Programming Conventions 2-4 Data Transmission 2-5 Error Codes 2-6 Compass Operating Modes 2-8 Standby Mode 2-8 Sampling in the Standby Mode 2-8 Continuous Sampling Mode 2-8 Analog Outputs 2-9 Digital Damping 2-10 Output Response Time 2-11 Latency 2-12 Magnetic Distortion Alarm 2-13 Pitch and Roll Output 2-14 User Calibration 2-15 Automatic Calibration 2-16 Soft Iron Effects 2-17 Other Limitations 2-17 Calibration Procedures 2-18 Multipoint Calibration (mpcal) 2-19 CAL3 Procedure 2-20 Temperature Sensor Calibration 2-22

Using the TCM2

Using the TCM2 RS232 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 output 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 Association) 0183 specification, which describes a standard RS232 bus format for exchange of a variety 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 XORing the ASCII bytes between the $ and * characters. 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> indicates that the output word has a decimal checksum value of 163.

2-2

Using the TCM2 RS232 Data Output Word

TCM2 Standard Output

The TCM2 standard output format may be configured to provide all of the sensor data parameters 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 = 55.11T (x-component of magnetic field) By = 12.33 T (y-component of magnetic field) Bz = -18.43 T (z-component of magnetic field) Temperature = 22.3 (F/C depending on configuration) E001 = Distortion flag is raisedmagnetic 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 TCM2 Command 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 userdefinable 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: Query TCM2 data (parameter or sensor values): Action command: <parameter>=<value><cr> <parameter>?<cr> <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 TCM2 Data 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:

Table 2-1. Command Responses

Input Command Valid parameter-setting commands Valid action command Valid parameter query commands Invalid, or unrecognized command Valid sensor query command TCM2 Response :<cr><lf> varies according to command :<parameter>=<value><cr><lf> :E<code><cr><lf> varies according to command

The : character signifies a successfully identified and executed command.

2-5

Using the TCM2 Error 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 corresponding bit locations are listed in Table 2-2. Refer to Table 2-3 for a list of the most common error codes.

Table 2-2. Error Codes

1st ASCII Character Bit 3 (MSB) Bit 2 Bit 1 Bit 0(LSB) 2nd ASCII Character Bit 3 (MSB) Bit 2 Bit 1 Bit 0(LSB) 3rd ASCII Character Bit 3 (MSB) Bit 2 Bit 1 Bit 0 (LSB) Reserved for future use (always 0) Magnetometer out of range Inclinometer out of range Magnetic distortion alarm Reserved for future use (always 0) Command parameter invalid Reserved for future use (always 0) Command invalid or not available on current model of TCM2 EEPROM1 error EEPROM2 error Reserved for future use (always 0) Reserved for future use (always 0)

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

2-6

Using the TCM2 Error Codes

Table 2-3. Common Error Codes

Error Code E001 E002 E003 E004 E005 E006 E007 E010 E040 E050 E400 E800 EC00 Description Magnetic distortion alarm a Inclinometer out of range Magnetic distortion alarm and inclinometer out of range Magnetometer out of range Magnetometer out of range and magnetic distortion alarm Magnetometer out of range and Inclinometer out of range Magnetometer out of range, Inclinometer out of range, and magnetic distortion alarm Command invalid or not available Command parameter invalid Command invalid or not available, and command parameter invalid EEPROM2 error b EEPROM1 error b EEPROM2 error and EEPROM1 error b

a. Indicates that the unit has detected magnetic filed anomalies that can compromise compass and magnetometer accuracy based upon the stored values of the last calibration. Refer to Magnetic Distortion Alarm on page 2-13 for more information. b. Indicates that the TCM2 EEPROM has been corrupted. Contact PNI Corporation for assistance.

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.

2-7

Using the TCM2 Compass 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 TCM2s 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 TCM2s sensors are not sampling continuously 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 Sampling, 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. NOTE 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 Divisor), 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 TCM2 Compass 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 formats. The continuous output mode should be utilized if you wish to have the TCM2 automatically provide 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 TCM2s 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 output 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 discontinuities. 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). NOTE 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 TCM2 Digital 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 computes 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 TCM2 Output 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 TCM2 Latency

Latency

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

Table 2-4. Maximum Latency

Normal Measurement time Computation time Output word length 30 at 9600 baud rate Output word length 39 at 38400 baud rate Total time at 9600 baud rate Total time at 38400 baud rate 50 mS 20 mS 30 mS 8.5 mS 100 mS 78.5 mS Fast 30 mS 20 mS 30 mS 8.5 mS 80 mS 58.5 mS

2-12

Using the TCM2 Magnetic Distortion Alarm

Magnetic Distortion Alarm

The TCM2s magnetic distortion alarm indicates magnetic anomalies that can compromise compass 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 magnetic environment by utilizing an algorithm that compares the instantaneous magnetic field information against the stored reference. If significant deviations are detected, the magnetic distortion 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 Magnetic Distortion Alarm) command. From this point on, TCM2 output of compass or magnetometer 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 TCM2 Pitch 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 coordinate 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 compass 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:
Z = ( SQRT ( 1 + tan ( P ) 2 + tan ( R ) 2 ) ) 1 X = Z tan(P) Y = Z tan(R)

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, , can be easily calculated as:
= arctangent ( ( X 2 + Y 2 ) Z 2 ) ,

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.

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 earths field. In most practical applications, however, an electronic compass 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 permanent 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 earths 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 earths 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 earths field vector. One major benefit from the TCM2s triaxial magnetometer/biaxial inclinometer system configuration 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 TCM2s magnetometer is strapped-down, or fixed with respect to its host system, this local field vector does not change as the host systems attitude changes, allowing the TCM2 to accurately compensate in all pitch and roll orientations. Gimbaled fluxgates, for instance, are unable to provide 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

Using the TCM2 User Calibration

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 calibration, 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 anomalies 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 calibration 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. CAUTION 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 go h
!Enable automatic calibration !Run in this mode, take data points !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. NOTE 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

Using the TCM2 User Calibration

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 systems. 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 compensate 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 earths 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 disturbances occur. See Magnetic Distortion Alarm on page 2-13. Consider, therefore, the TCM2s 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 electrical 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 TCM2 Calibration 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 TCM2s calibration. There are two internal calibration routines available for calculating the effects of hard iron magnetism on the compass. Multipoint Calibration CAL3 Multipoint is convenient for most users as it does not require any precision positioning. Depending 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 procedures 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

Using the TCM2 Calibration Procedures

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 sampling 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 determine 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 following 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 systems local magnetic field. Higher numbers reflect higher quality. The highest possible score is a 9. The factors 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 TCM2s 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

Using the TCM2 Calibration Procedures

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 magnitude 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 equipment with the least magnetic field. Refer to Where to Install the TCM2 on page 1-7 for locating 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 generally 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. NOTE 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 keyboards Enter key. The TCM2 will take a measurement and prompt you to turn the system 180 . It is very important 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 keyboards 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 keyboards Space bar to continue. See Figure 2-3. The TCM2 will take the third measurement and calculate the hard iron correction.

2-20

Using the TCM2 Calibration Procedures

Figure 2-1. Measurement 1

Figure 2-2. Measurement 2

Figure 2-3. Measurement 3

2-21

Using the TCM2 Calibration Procedures

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 following 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. NOTE 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:
T1 = KT1 TR1 + KT0 T2 = KT1 TR2 + KT0

Then:
T1 T2 = KT1 TR1 KT1 TR2 + KT0 KT0 T1 T2 = KT1 ( TR1 TR2 ) ( T1 T2 ) KT1 = ------------------------------( TR1 TR2 ) KT0 = T1 KT1 TR1 or KT0 = T2 KT1 TR2

7 The coefficients must be scaled for use in the TCM2. %KT0 = 10 * KT0 %KT1 = 40960 * KT1

2-22

Using the TCM2 Calibration Procedures

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

CAUTION

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:
%KT0? %KT1?

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

2-23

Using the TCM2 Calibration Procedures

2-24

3
Command List Quick Reference 3-2 Differences Between TCM2 Firmware Version 2.82 and 2.34A Changes to the EEPROM 3-4 Command List 3-5 Request for Data Commands 3-6 Action Commands 3-11 User Configuration Parameter Commands 3-17

3-4

Programming Commands

Programming Commands Command List Quick Reference

Command List Quick Reference

Table 3-1. Command List

Command Description Page

Request for Data Commands c? i? lc? m? s? t? Action Commands autocal ax cc factory go h halt= mpcal sleep wake Automatic Calibration Warm Reboot Clear Calibration Data Factory Settings Enter Continuous Mode Halt Continuous Sampling, Enter Standby Enable single character halt Multipoint Calibration Sleep Mode Wake Mode page 3-11 page 3-12 page 3-12 page 3-13 page 3-13 page 3-14 page 3-14 page 3-15 page 3-16 page 3-16 Compass Update Inclinometer Update Query Last Calibration Score Magnetometer Update Single Update Output Word Temperature Update page 3-6 page 3-7 page 3-8 page 3-8 page 3-9 page 3-9

User Configuration Parameter Commands %skip= b= cclip= clock= damping= ec= Skip Measurements Set Baud Rate Set Clip Value Set Clock Rate Set Digital Damping Enable Compass Data for Output Word page 3-17 page 3-17 page 3-18 page 3-19 page 3-19 page 3-20

3-2

Programming Commands Command List Quick Reference

Table 3-1. Command List

Command ed= em= ep= er= et= fast= ma= mag_dec= sao= sdo= seriallp= sn= sp= timeconst= uc= ui= ut= Description Enable Magnetic Distortion Alarm Enable Magnetometer Data for Output Word Enable Pitch Data for Output Word Enable Roll Data for Output Word Enable Temperature Data for Output Word Enable Fast Sampling Select Magnetometer Output Option Set Declination Angle Select Analog Output Mode Set RS232 Output Word Format Low Power Serial Consumption Select Magnetic or True North Set Sampling Period Divisor Set Time Constant for Digital Damping Set Compass Units Set Inclinometer Units Set Temperature Units Page page 3-20 page 3-21 page 3-21 page 3-22 page 3-22 page 3-23 page 3-23 page 3-24 page 3-25 page 3-25 page 3-26 page 3-27 page 3-28 page 3-28 page 3-29 page 3-29 page 3-30

3-3

Programming Commands Differences 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 updated 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 parameters would be lost. Table 6-2. Updating Commands
go h ax factory cc save mpcal=d cal3

Changes to the EEPROM

The changes to the EEPROM are not visible to the user. Version 2.82 duplicates the factory calibration 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 EEPROM. 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.

3-4

Programming Commands Command List

Command List

All of the TCM2 commands are summarized in a list in Appendix B, along with the default values 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 Commands Request 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

Programming Commands Request for Data Commands

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
Degree 0 to 20.0 0 to +55 0 to +80 Mils 0 to 355.5 mils 0 to +973.5 mils 0 to +1421.6 mils

Example i?<cr> $P-30.0R-20.1[Ennn]*checksum<cr><lf>:<cr><lf> Related Commands ep= (Enable Pitch) er= (Enable Roll)

3-7

Programming Commands Request for Data Commands

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 description 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 T Valid Values 0 to 79.9 T Example m?<cr> $X25.00Y10.50Z-03.00[Ennn]*checksum<cr><lf>:<cr><lf>

Related Commands em= (Enable Magnetometer)

3-8

Programming Commands Request for Data Commands

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.

NOTE

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 formats. Example s?<cr> $C328.3P28.4R-12.4X55.1Y12.3Z-18.4T22.3[Ennn]*checksum<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

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Programming Commands Request for Data Commands

Valid Values
Celsius 25.0 to 100.0 C Fahrenheit -13 to 212 F

Example t?<cr> $T25.5[Ennn]*checksum<cr><lf>:<cr><lf> Related Commands et= (Enable Temperature) ut= (Set Temperature Units)

3-10

Programming Commands Action 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> ....... ....... h<cr> (or h) autocal=d :<cr><lf> take data in continuos mode

Valid Values
Input d m Description

e, enable automatic calibration d, disable automatic calibration (default setting)

Example autocal<cr> go<cr> ........ ........ h<cr> :<cr><lf> autocal=d<cr> :<cr><lf> Query Response autocal? :autocal= data in continuos mode

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Programming Commands Action Commands

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 Calibration 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

Programming Commands Action Commands

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:

autocal=d b=9600 cc clock=16 damping=d ec=e ed=e em=d ep=e

er=e et=d fast=d halt=d ma=u mag_dec=10 mpcal=d sao=d sdo=t

seriallp=d %skip=1 sn=m sp=1 timeconst=8 uc=d ui=d ut=c

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 information. Syntax go<cr> Output Selected data output word. Example go<cr>

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

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Programming Commands Action Commands

(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), sometimes the halt command was not accepted. This is because interrupts are disabled during inclinometer 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> Output :[Ennn]<cr><lf> Valid Values
Input Description halt=e h, cr command for halting the output (default setting)

e d Query Response halt?

:halt=

Related Commands go (Enter Continuous Sampling Mode)

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Programming Commands Action Commands

mpcal

(Multipoint Calibration)
Description Initiates a multipoint calibration. This command is only valid during Enter Continuous Sampling Mode (go). The TCM2 samples its sensors and adds the data point to the current set of calibration 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> ....... ...... h<cr> (or h) :<cr><lf> mpcal=d<cr> Valid Values
Input e d Description

take data in continuos mode

e, enable multipoint calibration d, disable multipoint calibration (default setting)

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> ........ ....... h<cr> :<cr><lf> mpcal=d<cr> H4V3M5.00:<cr><lf> Query Response mpcal? Related Commands lc? (Query Last Calibration Score) autocal= (Automatic Calibration) (This is an example of a poor score) :mpcal= take data in continuos mode

3-15

Programming Commands Action Commands

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 Commands User Configuration Parameter Commands

User Configuration Parameter Commands

The following commands allow you to set and query the values of the TCM2s user configuration 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 parameter 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 measurement. This command is used with the Set Digital Damping (damping=) command. Syntax %skip=n<cr> Output :[Ennn]<cr><lf> Valid Values
Input Integer value between 1 - 255 Description Skip n number of measurements. (Default is set to 1)

Example %skip=integer<cr> :<cr><lf> Query Response %skip?

!set number of measurements to 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.

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Programming Commands User Configuration Parameter Commands

NOTE

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
Input 1 2 3 4 5 6 7 Baud Rate 300 1200 2400 4800 9600 (default setting) 19200 38400

Example b=5<cr> :<cr><lf> Query Response b?

!set baud rate to 9600 baud

: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-ofrange flag. Syntax cclip=nn.n<cr> Output :<cr><lf>

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Programming Commands User Configuration Parameter Commands

Valid Values
Input Positive floating point minus the range of the inclinometer. Description Clip the reading of the inclinometer at this value. (Default is 1 degree)

Example cclip=nn.n<cr> :<cr><lf> Query Response cclip?

!set the value for the clip angle

: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 character 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> Output :[Ennn]<cr><lf>

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> :<cr><lf> Query Response clock? Related Commands fast= (Enable Fast Sampling) sp= (Set Sampling Period Divisor) :clock= !set clock rate to 30 Hz

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> Output :[Ennn]<cr><lf>

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Programming Commands User Configuration Parameter Commands

Valid Values
Input e d Description enable damping disable damping (default setting)

Example damping=e<cr> :<cr><lf> Query Response damping? Related Commands %skip= (Skip Measurements)

!enable damping

:damping=

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> Output :[Ennn]<cr><lf> Valid Values
Input e d Description Compass data enabled. It will be included in the output word. (Default setting) Compass data disabled. It will be excluded in the output word.

Example ec=e<cr> :<cr><lf> Query Response ec?

!include compass data in output word

: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>
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Programming Commands User Configuration Parameter Commands

Output :[Ennn]<cr><lf> Valid Values

Input e d Description Magnetic distortion alarm enabled. (Default setting) Magnetic distortion alarm disabled.

Example ed=e<cr> :<cr><lf> Query Response ed?

!enable magnetic distortion alarm

: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> Output :[Ennn]<cr><lf> Valid Values
Input e d Description Magnetometer data enabled. It will be excluded from the output word. Magnetometer data disabled. It will be excluded in the output word. (Default setting)

Example em=e<cr> :<cr><lf> Query Response em?

!enable magnetometer data

:em=

ep=

(Enable Pitch Data for Output Word)

Description Enables or disables pitch 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 ep=n<cr>

3-21

Programming Commands User Configuration Parameter Commands

Output :[Ennn]<cr><lf> Valid Value

s

Input e d

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

Example ep=e<cr> :<cr><lf> Query Response ep?

!include pitch data in output word

: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> Output :[Ennn]<cr><lf> Valid Values
s

Input e d

Description Roll data enabled. It will be excluded from output word. (Default setting) Roll data disabled. It will be excluded in output word.

Example er=e<cr> :<cr><lf> Query Response er?

!include roll data in output word

: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>
3-22

Programming Commands User Configuration Parameter Commands

Output :[Ennn]<cr><lf> Valid Values

Input e d Description Temperature data enabled. It will be excluded from the output word. Temperature data disabled. It will be excluded in the output word. (Default setting)

Example et=e<cr> :<cr><lf> Query Response et?

!include temperature data in output word

: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> Output :[Ennn]<cr><lf> Valid Values
Input e d Description enable fast sampling disable fast sampling (Default setting)

Example fast=e<cr> :<cr><lf> Query Response fast?

!enable fast sampling mode

: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 ambient field, including local fields. Note that compass readings always are based upon corrected magnetometer readings.

3-23

Programming Commands User Configuration Parameter Commands

Syntax ma=n<cr> Output :[Ennn]<cr><lf> Valid Values

Input c u Description Choose corrected magnetometer readings. Choose non corrected magnetometer readings. (Default setting)

Example ma=c<cr> :<cr><lf> Query Response ma?

!corrected magnetometer readings

:ma=

mag_dec=

(Set Declination Angle)

For version 2.34 and higher

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> Output :[Ennn]<cr><lf> Valid Values
Input nn.n Description declination angle in degrees (The default value is set to 10)

Example mag_dec=17.2 :<cr><lf> Query Response mag_dec?

3-24

!sets the declination angle to 17.2 degrees

:mag_dec=

Programming Commands User Configuration Parameter Commands

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> Output :[Ennn]<cr><lf> Valid Values
Input d l Q Description Analog output disabled. (Default setting) Linear analog output enabled. Quadrature analog output enabled.

Example sao=l<cr> :<cr><lf> Query Response sao?

!set analog output mode to linear

: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> Output :[Ennn]<cr><lf> Valid Values
Input t r Description standard TCM2 output word (Default setting) raw data

Example sdo=t<cr> :<cr><lf>

!output word format to TCM2 standard

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Programming Commands User Configuration Parameter Commands

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 following measurements were made on serial number 7536.

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

Modes Standby Mode Continuous sample at 16 Hz Continuous sample at 8 Hz Continuous sample at 1 Hz Sleep mode Power Consumption 11.7 mA 16.74 mA 15.65 mA 14.6 mA 2.87 mA

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

Modes Standby Mode Continuous sample at 16 Hz Continuous sample at 8 Hz Continuous sample at 1 Hz Sleep mode Power Consumption 4.0 mA 13.6 mA 10.23 mA 7.5 mA 2.87 mA

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

Modes Standby Mode Continuous sample at 16 Hz Continuous sample at 8 Hz Continuous sample at 1 Hz Sleep mode Power Consumption 11.3 mA 16.0 mA 15.0 mA 14.0 mA 2.7 mA

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Programming Commands User Configuration Parameter Commands

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

Modes Standby Mode Continuous sample at 16 Hz Continuous sample at 8 Hz Continuous sample at 1 Hz Sleep mode Power Consumption 3.88 mA 12.45 mA 9.55 mA 7.0 mA 2.87 mA

Syntax seriallp=n<cr> Output :[Ennn]<cr><lf> Valid Values

Input e d Description enable disable (Default setting)

Example seriallp=e<cr> :<cr><lf> Query Response seriallp? :seriallp=

sn=

(Select Magnetic or True North)

For version 2.34 and higher
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 heading. Syntax sn=n<cr> Output :[Ennn]<cr><lf>

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Programming Commands User Configuration Parameter Commands

Valid Values
Input t m Description true north (Default setting) magnetic north

Example sn=t<cr> :<cr><lf> Query Response sn? Related Commands mag_dec= (Set Declination Angle)

!the declination angle set with mag_dec is added to the !computed heading

:sn=

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> Output :[Ennn]<cr><lf> Valid Values
Input 1 to 5 Description Sample every second sample of the clock rate. (Default setting is 1)

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 samples for the digital damping. Refer to damping= on page 3-19. Syntax timeconst=n<cr>

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Programming Commands User Configuration Parameter Commands

Output :[Ennn]<cr><lf> Valid Values

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

Example timeconst=16<cr> :<cr><lf> Query Response timeconst? Related Commands damping= (Set Digital Damping) %skip= (Skip Measurements)

!Filter over 16 measurements

:timeconst=

uc=

(Set Compass Units)

Description Sets the units to be used for the input and output of the heading data. Syntax uc=n<cr> Output :[Ennn]<cr><lf> Valid Values
Input d m Description degrees, 360 in a full circle (Default setting) mils, 6400 mils in a full circle

Example uc=d<cr> :<cr><lf> Query Response uc?

!set units to degrees

: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> Output :[Ennn]<cr><lf>

3-29

Programming Commands User Configuration Parameter Commands

Valid Values
Input d m Description degrees, 360 in a full circle (Default setting) mils, 6400 mils in a full circle

Example ui=d<cr> :<cr><lf> Query Response ui?

!set units to degrees

:ui=

ut=

(Set Temperature Units)

Description Sets the units to be used for input and output of temperature data. Syntax ut=n<cr> Output :[Ennn]<cr><lf> Valid Values
Input f c Description Fahrenheit Celsius (Default setting)

Example ut=f<cr> :<cr><lf> Query Response ut?

!set units to Fahrenheit

:ut=

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

Troubleshooting

Troubleshooting Trouble-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 display. 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. 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 communicate 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. NOTE 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 combinations work, try using COM2 and each baud rate.

The calibration score looks good, but when I move the TCM2, the output of heading only changes a few degrees when I turn the TCM2 through 360
good score is H9V9Mnn.n where nn.n < 30.0 T. 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

Troubleshooting Trouble-Shooting the TCM2

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 descriptions. The heading of the TCM2 is calculated using the 3 magnetometer outputs and 2 axis inclinometer. It is important to identify the sensor that is noisy. Send the following commands to enable all the sensor outputs: em=e ep=e er=e ec=e go !magnetometer data enabled !enable pitch data for output word !enable roll data for output word !enable compass data for output word !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 commands: sdo=r s? !set data output to raw !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 sensor 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

Troubleshooting Trouble-Shooting the TCM2

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

Troubleshooting Trouble-Shooting the TCM2

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 properties, then your customers should be warned to keep the product away from sources of magnetic 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 magnetized if exposed to a strong magnetic field. We recommend conformal coat if the board will be exposed to moisture or sources of contamination.

4-5

Troubleshooting Limitations of the Inclinometer

Limitations of the Inclinometer

While the TCM2 electronic compass can handle many rugged environments and dynamic situations, 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 tolerate 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 provided 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 frequencies in this range, contact PNI Corp. to discuss using a different fluid in the inclinometer.

4-6

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

5-2

Performance Specification

Performance Specification Specifications

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 Heading Specifications Accuracy when Level Accuracy when tilted Resolution Repeatability Tilt Specifications Accuracy Resolution Repeatability Range TCM2-50 Inclinometer Only

0.5 1.0 0.1 0.1

1.0 1.5 0.1 0.3

N/A N/A N/A N/A

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

1 T up to 70 T (typical) 5 T from 70 T to 80 T
0.01 T 0.2 T 80 T

Resolution Repeatability Range

5-2

Performance Specification Specifications

Table 5-3. General Specifications

Power Requirements Supply Voltage +5 VDC regulated or 6 to 18 VDC unregulated 15 to 20 mA, depending on user configuration 7 to 13 mA, depending on user configuration 2.5 mA

Currenta Operating Standard Mode Operating Low Power Mode Sleep Mode Physical Measurements Dimensions Weight Interfaces Digital Analog Temperature Informationb Accuracy after Calibration Resolution Range Environmental Characteristics Operating Temperature Storage Temperature
a. For version 2.82K only. b. Sensor is uncalibrated.

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

RS232C or NMEA0183 0.5 V linear, 19.53 mV resolution (256 discrete levels) 0.5 V quadrature (sine and cosine)

1 C, 2 F 1 C, 2 F 20 C to 70 C
20 C to 70 C 30 C to 90 C

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.

5-3

Performance Specification Specifications

Figure 5-1. Front View

5-4

Performance Specification Specifications

Figure 5-2. Top View

Figure 5-3. Side Views

5-5

Performance Specification Specifications

3-Foot Cable

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

5-6

Performance Specification Specifications

Table 5-4. Molex Connector Pin Description

Pin 1 2 3 4 5 6 7 8 9 10 Wire Orange Red Black Blue Yellow White Green Brown Purple Gray Description Vsupply (5VDC 5%) Vsupply (6 - 18 VDC) GND (power) RXD (RS-232) TXD (RS-232) Mouse Input (not used) GND (data) Analog Output 2 Analog Output GND (data)

5-7

Performance Specification Specifications

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

Table 5-5. DB9 Connector Pin Description

Pin 1 2 3 4 5 6 7 8 9 Wire not connected Yellow Blue not connected Green not connected White not connected not connected Mouse Input (unused) GND (data) TXD (RS-232) RXD (RS-232) Description

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

5-8

Performance Specification Specifications

Table 5-6. Molex Connector Pin Description

Pin 1 2 3 4 5 6 7 8 9 10 Wire Orange Red Black Blue Yellow White Green Brown Purple Gray Description Vsupply (5VDC 5%) Vsupply (6 - 18 VDC) GND (power) RXD (RS-232) TXD (RS-232) Mouse Input (not used) GND (data) Analog Output 2 Analog Output GND (data)

5-9

Performance Specification Specifications

5-10

Thin-film sensor technology for OEM applications.

PS-30 Series OEM Pressure/Temp. Transmitter

Ranges 0-101200 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 0,3C (optional 0,15C) ASCII protocol interface Hastelloy C22 material in all wetted parts

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

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.

Datasheet PS-30 ver. 1.0-2004 page 1

www.scansense.no

Specifications
Pressure range Over pressure safety Burst pressure Pressure medium Pressure inlet connection Permissible temperatures Medium Ambient Storage Accuracy Pressure Temperature Temperature step response Temperature sensor resolution Sampling rate (default) Long term drift Input voltage Electrical connection Power on, initializing time Power consumption ASCII protocol Materials Wetted parts Housing Ingress protection, submersible IP 68 Secondary containment pressure Weight (nominal) bar bar bar

PS-30 OEM Pressure/Temp. Transmitter

0-101200 , Gauge, sealed gauge or absolute 1,5 x FS 3 x FS Medium compatible with Hastelloy C22 BSP male, others on request -40+100 Custom specified compensation points. .t=30C -40+80 -40+80 < 0,1 (optional 0,05) max.t=30C < 0,3 (optional 0,15) max. t=30C 90% at 140 sec. 0,1 14 Hz, adjustable up to 0,5 Hz 0,1 per year, zero function command in software protocol 3,3 to 8 5,7 to 16 4 pin (+, -, Rx, Tx) < 2,2 < 2,0 SC00008, available on request Hastelloy C22 Stainless Steel S-165M 3000m H2O 1034 0,135

C C C % of span % of span C % of FS V V s mA

bar kg

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: post@scansense.no
Datasheet PS-30 ver. 1.0-2004 page 2

www.scansense.no

Dimensions and Connection

PS-30 OEM Pressure/Temp. Transmitter

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

27mm

Glass/ metal penetrator, secondary containment 15000 PSI, flying leads: - Red (+) - Blue (-) - Yellow (Rx) - Green (Tx) Custom specified cable/connector on request.

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

Ordering Information Model Code:

300 (range 0-1020 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 0-6001200 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)

PS-2000 series Pressure Transmitter

5PS30H XXX - 003 - XV

Manufactured by: Scan-Sense AS, Bekkeveien 163, 3173 Vear, NORWAY Phone: +47 33 36 30 00, Fax: +47 33 36 31 80, e-mail: post@scansense.no
Datasheet PS-30 ver. 1.0-2004 page 3

www.scansense.no

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

IF IN DOUBT - ASK!

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 assembly procedure. Dis-assembly of the unit can be carried out by working backwards 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 the specified oil, via one of the rear check valves, using 6mm plastic tubing 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 process to 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 the end 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 the FEEDBACK POTENTIOMETERS

AIR BLEED

PRESSURE COMPENSATION OIL (ITEM 64) USE CASTROL HYSPIN 5, SHELL MORLINA 5 OR SHELL TELLUS C5 LIGHT OIL. SUB-ATLANTIC WARRANTY WILL BE VOID IF NON-SPECIFIED OILS ARE NOT USED

CONSUMABLES
(A) (B) (C) (D)

PRESSURE COMPENSATION OIL (ITEM 64) BODY IS TAPPED 5/8" 18 UNF TO TAKE A METAL SILICONE GEL / AQUALUBE SHELL WHIP SIZE B, BUT OTHER CONNECTORS THREADLOCK INCLUDING OIL FILLED CABLES ARE AVAILABLE. SEE LOCKTITE 601

NOTE.

SPARES

APPROPRIATE WIRING DIAGRAM FOR CABLE.

The 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)

MOTORS
Sub-Atlantic Part Number SA-A-1128-MAS-HT SA-A-1128-MAS Motor Part Number 3219-IAS 1816-IAS

There are two motors available

Torque and Speed 21Nm continious @ 1.3rpm 11Nm intermittent @ 4.1rpm
WT AIR

8
WT WATER

Item No.Qty Description 1 1 Tilt Shaft 2 2 Main Gear Wheel 3 2 Gear Spacer 4 2 Wheel Spacer 5 3 Main Shaft Cap 6 4 Deep Groove Bearing 6005 7 4 Socket Set Screw-Cup Point M5 x 8 long 8 2 Main Shaft Key 9 2 Pinion 10 2 Locknut 11 4 Angular Contact Bearing 7201B-TVP 12 4 Limit Switch & Diode Sub-Assembly 13 2 2nd Stage Gear 14 2 Potentiometer 15 2 Potentiometer Gear 16 2 Potentiometer Pinion 17 4 Cam Ring 18 2 Pan & Tilt Potentiometer Clip 19 2 Pinion Key 3 x 3 20 4 Socket Set Screw-Cup Point M5 x 10 long 21 8 Socket Set Screw-Cup Point M5 x 6 long 22 2 Socket Set Screw-Cup Point M4 x 6 long 23 2 Socket Set Screw-Cup Point M3 x 6 long 24 3 O-RING 3.00 x 54.00 25 3 O-RING 2.62 x 25.07 (BS-120) 26 4 3mm O-Ring Material 27 2 DC Gearmotor 28 2 2nd Stage Pinion 29 1 Pan Shaft 30 1 Pan Adjuster 31 1 Body (Plastic Version) 32 1 Motor Mount 33 1 Plastic 24 V DC Cover 34 2 Dowel Pin 4 dia x 10 long 35 5 Socket Head Cap Screw M4 x 12 long 36 2 Pan Limit Switch Bracket 37 4 Socket Head Cap Screw M4 x 8 long 38 29 Plain Washer M4 39 16 Socket Head Cap Screw M4 x 25 long 40 1 Metal Shell Whip Size B 41 1 Cover O-Ring 42 1 Socket Set Screw-Cup Point M4 x 12 long 43 8 Socket Head Cap Screw M3 x 8 long 44 4 Pan Head Screw M2.5 x 20 long 45 4 Plain Washer M2.5 46 4 Nylok Hex Nut M2.5 47 2 Camera Bracket Key 48 2 Camera Bracket 49 2 Socket Head Cap Screw M8 x 55 long 50 2 6mm - 1-8 Check Valve 51 1 O-RING 1.78 x 18.77 (BS-018) 52 1 Diaphragm - 35 x 40 x 40 53 1 Piston - 71cc Compensator 54 1 Body - 71cc Compensator 55 4 Socket Head Cap Screw M5 x 20 56 4 Plain Washer M5 57 4 Spring Washer M5 58 1 Spring - 71cc Compensator 59 1 Compensator Housing - Rotator 60 1 71cc Compensator- Tilt O-Ring 61 1 Valve - Check 3-50 PSI 62 3 Socket Set Screw-Cup Point M8 x 10 long 63 16 Spring Washer M4 64 1 Castrol Hyspin 5 Oil 65 4 C-Sunk Head Socket Screw M4 x 16 long 66 16 M4 Round Nut

REMOVE SHARP EDGES

Sub-Atlantic Part Ref. 0050-DET GEA-0001G 0054-DET 0034-DET 0454-DET BRG-6005 F-SSS-CP-M5-8-A270 0035-DET GEA-0001P 0036-DET BRG-7201B 0232-IAS 0043-DET POT-0001 0045-DET 0044-DET 0040-DET 1140-DET 0055-DET F-SSS-CP-M5-10-A270 F-SSS-CP-M5-6-A270 F-SSS-CP-M4-6-A270 F-SSS-CP-M3-6-A270 SOR-300-0540-N70 SOR-262-0251-N70 SOR-300 See Motor Options 0042-DET 0049-DET 0053-DET 0452-DET 0455-DET 0714-DET F-DP-4-10-SS F-SHCS-M4-12-A270 0057-DET F-SHCS-M4-8-A270 F-PW-M4-SS F-SHCS-M4-25-A270 See Note SOR-300-1895-N70 F-SSS-CP-M4-12-A270 F-SHCS-M3-8-A270 F-PHS-M2.5-20-A270 F-PW-M2.5-SS F-NL-M2.5-A270 0088-DET 0062-DET F-SHCS-M8-55-A270 HYD-0012 SOR-178-0188-N70 DIA-0005 0960-DET 0891-DET F-SHCS-M5-20-A270 F-PW-M5-SS F-SW-M5-SS 0970-DET 0975-DET SOR-178-0363-N70 HYD-0030 F-SSS-CP-M8-10-A270 F-SW-M4-SS LUB-0001 F-CHSS-M4-16-A270 2020-DET Material -

Plastic Stainless Gr A2-70

Aluminium Alloy Stainless Gr A2-70 Stainless Gr A2-70 Stainless Gr A2-70 Stainless Gr A2-70 Nitrile 70 Nitrile 70 Nitrile 70

Stainless Steel Stainless Gr A2-70 Stainless Gr A2-70 Stainless Steel Stainless Gr A2-70 Nitrile 70 Stainless Gr A2-70 Stainless Gr A2-70 Stainless Gr A2-70 Stainless Steel Stainless Gr A2-70

Stainless Gr A2-70 Nickel Plt. Brass Nitrile 70 Nitrile

Stainless Gr A2-70 Stainless Steel Stainless Steel Black Acetal

Stainless Gr A2-70 Stainless Steel Stainless Gr A2-70

MATERIAL

PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

SEE BILL OF MATERIALS

FINISH

DRAWN DATE CHECK APPRV. ENGR.

ELECTRIC PAN AND TILT UNIT

kg (E)

8 REV EBR BY 27/03/2006 DATE OPTIONAL MOTORS AVAILABLE ECN-0400-06 DESCRIPTION APP USO, TOLERANCES TO BE

EBR 07/12/2005 GDU GDU CMI

kg (E)

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 1 of 10

RECORD OF REVISIONS

A3

1128-MAS

REV

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

IF IN DOUBT - ASK!

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

31 1

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. 3. Press KEY (19) into shaft. 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 the LOCKNUT (10). Screw the locknut into the BODY and tighten using special C-Spanner or Long Nose Pliers until all the bearing slack has been eliminated and the shaft can turn freely. 5. 6. Secure the LOCKNUT in position by fitting 2 off M5 x 6 long SOCKET SET SCREWS (21) to compress O-Ring material. Repeat for TILT PINION SUB-ASSEMBLY.

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

9 2

19 2 11 4

26 4

SILICONE GEL/ AQUALUBE 10 2 21 8 THREADLOCK

11 4

PAN PINION SUB-ASSEMBLY

21 8

THREADLOCK

NOTE! Inner face flange faces inward

26 4 SILICONE GEL/ AQUALUBE

PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

ELECTRIC PAN AND TILT UNIT

TILT PINION SUB-ASSEMBLY

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 2 of 10

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

1:?

A3

1128-MAS

REV

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

IF IN DOUBT - ASK!
31 1 21 8 21 8 6 4
SILICON GEL/ AQUALUBE

24 3

5 3

25 3

SILICON GEL/ AQUALUBE

THREADLOCK

17 4 3 2 16 2
LOCKTITE 601

17 4

ASSEMBLY PROCEDURE (STAGE 3)

1. Press KEY (8) in TILT SHAFT (1). 2. Fit MAIN GEAR WHEEL (2) on TILT SHAFT and secure with 2 off M5 x 8 long SOCKET SET SCREWS (7) and THREADLOCK. 3. Fit O-RINGS (24 & 25) to MAIN SHAFT CAPS (5) with a smear of SILICON GEL or AQUALUBE.

22 2
THREADLOCK

7 4 1 1

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 MAIN SHAFT CAP (using C-Spanner or long nose pliers) allowing gear to mesh with pinion and O-Ring to inset into body. 6. De-grease and bond using LOCKTITE 601 POTENTIOMETER PINION (16), then press onto GEAR SPACER (3) and allow to set.

THREADLOCK

SILICON GEL/ AQUALUBE

SILICON GEL/ AQUALUBE

25 3

7. Fit 2 off CAM RINGS (17) to GEAR SPACER (3) and secure with 2 off M5 x 6 long SOCKET SET SCREWS (21). Fit sub-assembly to TILT THREADLOCK SHAFT & secure GEAR SPACER with M4 x 6 long SOCKET SET SCREW (22). Fit BEARING (6) and MAIN SHAFT CAP/O-RINGS to TILT SHAFT and screw into BODY UNTIL TIGHT. 8

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

PROJECT TITLE

THREADLOCK

ELECTRIC PAN AND TILT UNIT

5 3

24 3

6 4

4 2

2 2 7 4

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

Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 3 of 10

1:?

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1128-MAS

REV

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

IF IN DOUBT - ASK!
29 1
THREADLOCK

ASSEMBLY PROCEDURE (STAGE 4)

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

7 4

2. Push MAIN SHAFT CAP (5) onto PAN SHAFT (29) taking care pushing 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.

8 2
THREADLOCK

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

7 4

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).

SILICON GEL/ AQUALUBE

25 3

31 1
THREADLOCK

21 8 5 3 24 3
SILICON GEL/ AQUALUBE

17 4 21 8
THREADLOCK

INSERT 4 2 17 4 INSERT 6 4 30 1

6 4

2 2 16 2
LOCKTITE 601

22 2

42

PROJECT

ELECTRIC PAN AND TILT UNIT

3 2

TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 4 of 10

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

1:?

A3

1128-MAS

REV

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

IF IN DOUBT - ASK!

ASSEMBLY PROCEDURE (STAGE 5)

1. Assemble PAN and TILT LIMIT SWITCH SUB-ASSEMBLY using LIMIT SWITCH BRACKET (36) and the 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). 3. PROCEED TO STAGE 6 OF THE ASSEMBLY PROCEDURE (SHEET 6).

PAN LIMIT SWITCH SUB-ASSEMBLY

36 2

38 29

37 4

44 4

TILT LIMIT SWITCH SUB-ASSEMBLY

37 4 36 2 46 4 45 4 12 4 38 29
PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

38 29
ELECTRIC PAN AND TILT UNIT

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

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 5 of 10

1:?

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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

IF IN DOUBT - ASK!

ASSEMBLY PROCEDURE (STAGE 6) (AS REQUIRED)

1. Fit POTENTIOMETER GEARS (15) to POTENTIOMETERS (14) and secure with M3 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). 3. PROCEED TO STAGE 7 OF THE ASSEMBLY PROCEDURE (SHEET 7)

14 2 PAN POTENTIOMETER SUB-ASSEMBLY

18 2 35 5 23 2
THREADLOCK

38 29

15 2

23

TILT POTENTIOMETER SUB-ASSEMBLY

PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

ELECTRIC PAN AND TILT UNIT

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

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 6 of 10

1:?

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1128-MAS

REV

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

IF IN DOUBT - ASK!

ASSEMBLY PROCEDURE (STAGE 7)

1. Press 2 off DOWEL PINS (34) into BODY. 2. Fit 2 off GEARMOTORS (27) to MOTOR MOUNT PLATE (32) using 8 off M3 x 8 long SOCKET HEAD CAP SCREWS (43) and THREADLOCK. 3. Fit 2nd STAGE PINION (28) to each GEARMOTOR and secure using M5 x 10 long SOCKET SET SCREW (20) and THREADLOCK.

34 2

4. Locate and fit GEARMOTOR SUB-ASSEMBLY to BODY using 3 off M4 x 12 long SOCKET HEAD CAP SCREWS (35) and WASHER (38). 5. PROCEED TO STAGE 8 OF THE ASSEMBLY PROCEDURE (SHEET 8).

27 2

32 1

43 8

THREADLOCK

38 29 35 5

28 2

20 4

THREADLOCK

34 2

38 29 35 5

2 OFF M4 TAPPED HOLES FOR JACKING MOTOR SUB-ASSEMBLY DURING REMOVAL

THREADLOCK

43 8

28 2

20 4

THREADLOCK

PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

ELECTRIC PAN AND TILT UNIT

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

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 7 of 10

1:?

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1128-MAS

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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

IF IN DOUBT - ASK!
62 3 31 1 C 20 4

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. SETTING MAIN SHAFT CAPS AND RUNNING CLEARANCES 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). THREADLOCK 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

13 2

B 62 A 13 2

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. 12. PROCEED TO STAGE 9 OF THE ASSEMBLY PROCEDURE (SHEET 9) SETTING LIMIT SWITCHES

62 3 51 1 SILICONE GEL/ AQUALUBE 40 1 THREADLOCK 20 4

PAN ADJUSTER ACCESS

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 screw after setting.
PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

ELECTRIC PAN AND TILT UNIT

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 8 of 10

1:?

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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

IF IN DOUBT - ASK!
66 16 66 16 66 16 SILICON GEL/ AQUALUBE 41 1 33 1 38 29 63 16 39 16

50 2 61 1 59 1 58 1

THREADLOCK 49 2 48 2 47 2 65 4 60 1 SILICON GEL/ AQUALUBE 31 1 52 1

54 1

53 1 66 16 50 2 38 29 63 16 39 16 56 4 57 4 55 4

ASSEMBLY PROCEDURE (STAGE 9)

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

PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

ELECTRIC PAN AND TILT UNIT

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 9 of 10

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

1:?

A3

1128-MAS

REV

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

SUB-ATLANTIC IS PROHIBITED

IF IN DOUBT - ASK!
THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF SUB-ATLANTIC LTD. ANY REPRODUCTION IN PART OR WHOLE WITHOUT WRITTEN PERMISSION FROM

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

+24 VDC INPUT CN1 1
IN

REG 1 LM 338K
ADJUST OUT

PAN & TILT UNIT

1N4005

R1 (SEE TABLE) 2 PURPLE LIMIT SWITCH 1 3 R2 (SEE TABLE) TILT MOTOR 2

TILT FEEDBACK POTENTIOMETER 10kOHM

OV

OUTPUT

3 R1/R2 SERIES VALUE 1R 1R2 1R5 2R 2R2 CURRENT LIMIT 1.2 AMPS 1.0 AMPS 0.8 AMPS 0.6 AMPS 0.56 AMPS LIMIT SWITCH RED OV 1 2 PAN MOTOR
PAN FEEDBACK POTENTIOMETER 10kOHM

LIMIT SWITCH BLACK

+5V

1N4005 1N4005

OPTIONAL CURRENT/TORQUE LIMITING BOARD (SEE ABOVE) JOYSTICK OR INDIVIDUAL SWITCHES

+24V

3 LIMIT SWITCH BLUE 24 VDC POWER SUPPLY

1 2 3 4 5 6 7 8

+5V

1N4005

0V

8 PIN MALE CONNECTOR

SUGGESTED CONTROL CIRCUIT

Date

18/07/98

Drawn

RCW

Check

Rev

10

Sheet of

10

sub-Atlantic
Unit 12, Airways Industrial Est. Pitmedden Road, Dyce, Aberdeen. U.K. AB21 ODT Tel: ++44(0) 1224 723623 Fax: ++44(0) 1224 723822

Project

Drawing No.

24V PAN & TILT

Title

0058-MAS 24V-PT.SCH

WIRING DIAGRAM

Filename

PROJECT TITLE Woodburn Road, Blackburn Business Park, Blackburn, Aberdeen. U.K. AB21 0PS Tel: ++44 (0) 1224 798660 Fax: ++44 (0) 1224 798661 SCALE (USO) ORIG. SIZE DOC. No.

ELECTRIC PAN AND TILT UNIT

PAN AND TILT - 24V PLASTIC BODY MAIN ASSEMBLY DRAWING Sheet 10 of 10

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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 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.

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
November 2001 UOCS/3

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

Performance Specifications
Shell Naturelle HF-E can be used where DIN 51524 Part 2 or Part 3 (HLP/HVLP) antiwear petroleum mineral hydraulic oil is specified. Bulk fluid operating temperatures should not be allowed to exceed 90C and optimum fluid life will be realised if operating temperatures are maintained at approximately 55C. Typical Physical Characteristics
Shell Naturelle ISO Viscosity Grade (ISO 3348) Colour Kinematic Viscosity @ 40C cSt 100C cSt (IP 71) Viscosity Index (IP 226) Density @ 15C kg/l (IP 365) Pour Point (IP 15) C -51 219 >12 76% 98% 100mg/l >10 10 800 HF-E 46 46 Green 46.1 9.1

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

182 0.919

Flash Point (Cleveland Open Cup) C (IP 36) FZG: Failure Load Stage Biodegradability OECD 301 B Biodegradability CEC L-33-A-93 Algae Toxicity EC50 OECD 201 (mg/l) Daphnia Toxicity OECD 202 EC 50 (24 hrs) mg/l OECD 202 EC 50 (48 hrs) Acute Fish Toxicity LC 50 (96 hrs) mg/l

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

November 2001 UOCS/3

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

HYSPIN VG 5
Hydraulic Oil DESCRIPTION The Castrol Hyspin VG hydraulic oil range is based upon highly refined mineral oil. APPLICATION

04/12/2002

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 S Outstanding thermal and oxidative stability BENEFITS S Overall reduction in lubricant costs and used oil disposal costs through longer oil operating life
S Helps protect components and so

S Good lubricity

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 S Cleaner system with longer component life

and ferrous components

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 Kinematic Viscosity, cSt @ 40C @ 100C Viscosity Index Relative Density @ 20C Pour Point, C Open Flash Point, C 5 1.9 250 0.840 -39 114 10 2.6 74 0.865 -39 177 22 4.3 95 0.870 -30 177 32 5.3 95 0.870 -30 232 100 11.1 95 0.880 -21 249 150 14.5 95 0.880 -21 255 5 10 22 32 100 150

Note: Other properties - applicable to all grades ISO Oil Type Designation 'HL' Seal Compatibility Mineral Oils with improved anti-rust and anti-oxidation properties 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)486083
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.

2 of 2

SAFETY DATA SHEET

1.
SDS #

Identification of the substance/preparation and of the company/undertaking Castrol Hyspin VG 5

451132 Hydraulic fluid For specific application advice see appropriate Technical Data Sheet or consult your Castrol representative. Castrol (UK) Ltd. Witan Gate House 500-600 Witan Gate Central Milton Keynes MK9 1ES United Kingdom +44 (0) 1908 853000

Product name Product Use

Supplier

EMERGENCY TELEPHONE NUMBER

2.

Composition/information on ingredients
CAS no.
64742-80-9

Gas oil Proprietary performance additives.

Chemical name
Gas oil - unspecified

%
50 - 100

EINECS / ELINCS. Classification

265-183-3 Xn; R65 R66 R53 Xn; R65 R66 Xi; R36/37/38 N; R51/53

Gas oil - unspecified Alkyl phenol

64742-46-7 Not available.

10 - 20 0.1 - 1

265-148-2

See Section 16 for the full text of the R Phrases declared above
* Occupational Exposure Limit(s), if available, are listed in Section 8

3.

Hazards identification
Not classified as dangerous. Harmful: may cause lung damage if swallowed. Repeated exposure may cause skin dryness or cracking. May cause long-term adverse effects in the aquatic environment. No significant health hazards identified. No significant health hazards identified. Note: High Pressure Applications Injections through the skin resulting from contact with the product at high pressure constitute a major medical emergency. See 'Medical Advice' under First-Aid Measures, Section 4 of this Safety Data Sheet. No significant health hazards identified. 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.

Physical/chemical Hazards Human health hazards Environmental hazards Effects and symptoms Eyes Skin

Inhalation Ingestion

4.

First-aid measures
In case of contact, immediately flush eyes with a copious amount of water for at least 15 minutes. Get medical attention if irritation occurs. Immediately wash exposed skin with soap and water. Remove contaminated clothing and shoes. Wash clothing before reuse. Clean shoes thoroughly before reuse. Get medical attention if irritation develops. If inhaled, remove to fresh air. Get medical attention if symptoms appear. 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.

Eye Contact Skin contact Inhalation Ingestion

Product Name Castrol Hyspin VG 5 Version 2 Date of issue 3 July 2003

Product Code Format United Kingdom (UK) ( BUILD 5.1.2 )

451132-GB03 Language

Page: 1/4

( ENGLISH )

Notes to physician

Treatment should in general be symptomatic and directed to relieving any effects. Note: High Pressure Applications Injections through the skin resulting from contact with the product at high pressure constitute a major medical emergency. Injuries may not appear serious at first but within a few hours tissue becomes swollen, discoloured and extremely painful with extensive subcutaneous necrosis. Surgical exploration should be undertaken without delay. Thorough and extensive debridement of the wound 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.

5.

Fire-fighting measures
Suitable Not Suitable
In case of fire, use water fog, foam, dry chemical or CO2 extinguisher or spray. Do not use water jet. These products are carbon oxides (CO, CO2). None identified. None identified.

Extinguishing Media

Hazardous decomposition products Unusual fire/explosion Hazards Special fire-fighting procedures

6.

Accidental release measures

Immediately contact emergency personnel. Keep unnecessary personnel away. Use suitable protective equipment (Section 8). Follow all fire fighting procedures (Section 5). If emergency personnel are unavailable, contain spilled material. For small spills add absorbent (soil may be used in the absence of other suitable materials) scoop up material and place in a sealed, liquid-proof container for disposal. For large spills dike spilled material or otherwise contain material to ensure runoff does not reach a waterway. Place spilled material in an appropriate container for disposal. Minimize contact of spilled material with soils to prevent runoff to surface waterways. See Section 13 for Waste Disposal Information. Splash goggles. Full suit. Boots. Gloves.

Personal Precautions Environmental precautions and cleanup methods

Personal Protection in Case of a Large Spill

7.

Handling and storage

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

Handling

Storage

8.

Exposure controls/personal protection

None assigned. Provide exhaust ventilation or other engineering controls to keep the airborne concentrations of vapours below their respective occupational exposure limits. Ensure that eyewash stations and safety showers are close to the workstation location. Wash hands after handling compounds and before eating, smoking, using lavatory, and at the end of day. None required; however, use of adequate ventilation is good industrial practice. Avoid prolonged or repeated contact with skin. Wear protective clothing if prolonged or repeated contact is likely. Wear protective gloves if prolonged or repeated contact is likely. Safety glasses with side shields.

Occupational Exposure Limits Control Measures

Hygiene measures Personal protective equipment Respiratory system Skin and body Hands Eyes

9.

Physical and chemical properties

>200 C >100 C (CLOSED CUP) Amber. Slight. Not available. Liquid. >200 C <1000 kg/m3 (<1 g/cm3) at 20C insoluble in water. kinematic: 5 mm2/s (5 cSt) at 40C

Autoignition temperature Flash point Colour Odour Odour threshold Physical state Boiling point / range Density Solubility Viscosity

Product Name Castrol Hyspin VG 5 Version 2 Date of issue 3 July 2003

Product Code Format United Kingdom (UK) ( BUILD 5.1.2 )

451132-GB03 Language

Page: 2/4

( ENGLISH )

10. Stability and reactivity

Incompatibility with Various Substances Hazardous Polymerization
Reactive with oxidizing agents. Will not occur.

11. Toxicological information

Acute 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 may lead 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 its low volatility. May be harmful by inhalation if exposure to vapour, mists or fumes resulting from thermal decomposition products occurs.

Chronic toxicity Carcinogenic effects

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

12. Ecological information

Persistence/degradability Mobility Bioaccumulative potential Environmental hazards Other Ecological Information
Inherently biodegradable Spillages may penetrate the soil causing ground water contamination. This product is not expected to bioaccumulate through food chains in the environment. May cause long-term adverse effects in the aquatic environment. Spills may form a film on water surfaces causing physical damage to organisms. Oxygen transfer could also be impaired.

13. Disposal considerations

Disposal Consideration / Waste information
Hazardous Waste

Where possible, arrange for product to be recycled. Dispose of via an authorised person/ licensed waste disposal contractor in accordance with local regulations. The classification of the product may meet the criteria for a hazardous waste.

14. Transport information

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

15. Regulatory information

Label Requirements Hazard symbol(s)

Indication of Danger Risk Phrases

Harmful 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. 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 or label.
Gas oil - unspecified 265-183-3

Safety Phrases

Contains EU Regulations Other Regulations Inventories

Classification and labelling have been performed according to EU directives 1999/45/EC and 67/548/EEC as amended and adapted. AUSTRALIAN INVENTORY (AICS): Not listed. CANADA INVENTORY (DSL): Not listed. CHINA INVENTORY (IECS): Not listed. EC INVENTORY (EINECS): In compliance.

Product Name Castrol Hyspin VG 5 Version 2 Date of issue 3 July 2003

Product Code Format United Kingdom (UK) ( BUILD 5.1.2 )

451132-GB03 Language

Page: 3/4

( ENGLISH )

JAPAN INVENTORY (ENCS): Not listed. KOREA INVENTORY (ECL): Not listed. PHILIPPINE INVENTORY (PICCS): In compliance. US INVENTORY (TSCA): In compliance.

16. Other information

Full text of R-phrases appearing in 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. 03/07/2003. 05/06/2003. Product Stewardship Group

HISTORY Date of issue Date of previous issue Prepared by Notice 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 any other application. Use of the product for applications other than as stated in this sheet may give rise to risks not mentioned in this sheet. You should 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 person handling 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 any precautions which should be taken. Further copies of this Safety Data Sheet may be obtained from Castrol International.

Product Name Castrol Hyspin VG 5 Version 2 Date of issue 3 July 2003

Product Code Format United Kingdom (UK) ( BUILD 5.1.2 )

451132-GB03 Language

Page: 4/4

( ENGLISH )

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:

Typical Physical Characteristics

Kinematic Viscosity @ -15C cSt 40C cSt (IP 71) Density @ 15C kg/l (IP 365) Flash Point C (Pensky-Martens Closed Cup) (IP 34) Pour Point C (IP 15) 800 max 12.0 0.885 146

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

-36

These characteristics are typical of current production. Whilst future production will conform to Shells 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

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
September 2000 UOCS/3

Advice
Advice on applications not covered in this leaflet may be obtained from your Shell Business Development Manager

Published by Shell UK Oil Products Ltd., Delta House, Wavell Road, Wythenshawe, MANCHESTER M22 5SB

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 information on 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 : COMPANY : TECHNICAL CONTACT: ADDRESS : TELEPHONE : EMERGENCY TELEPHONE NUMBER : SHELL TRANSFORMER OIL 148 SHELL UK OIL PRODUCTS LIMITED PRODUCT HSE DEPARTMENT STANLOW MANUFACTURING COMPLEX, PO BOX 3, ELLESMERE PORT, CH65 4HB 0151-350-4000 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 64742-53-6 Distillates (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 finished oil 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 is less 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 with mineral 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 components which have a high potential to bioaccumulate. Owing to its physical properties spillages can lead to fouling of flora, fauna and the environment.

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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 washed with 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 Sheet to 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 VOMITING If ingestion is suspected, wash out the mouth with water, and send to hospital immediately. Show this Data Sheet to the physician 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 JET Foam/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 in an adsorbent medium and then transferred to suitable, clearly marked containers and disposed of in accordance with local byelaws 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 guidelines laid down in the respective Vessel Oil Spill Response Contingency Plan, as required by MARPOL 73/78 Annex 1, Regulation 26. Where the vessel is not required to comply with such legislation, the Owner's and/or Charterer's instructions must be followed. In the absence of any other guidelines, any spillage in territorial/coastal waters must be immediately reported to the appropriate maritime authority, e.g. coast guard, the vessel's local agent if applicable, and the vessel's Owner/Charterer. In international waters, any spillage should be reported to the nearest coastal state, and additional guidance should sought immediately 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 containers and spillage avoided.

STORAGE The storage of Shell Transformer Oil 148 is not subject to any special controls or restrictions. It should be stored in properly designed, closable, labelled containers, eg mild steel or high density polyethylene (HDPE).

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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 Limits 2002. UK Occupational Exposure Standards : Oil Mist, Mineral : 5 mg/cubic metre 8-hour TWA value 15 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 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 applicable Not applicable <0.1 k.Pa 0.890 Very Low Not available Expected to be > 6 >1 14 cSt.

- 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. : 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 bringing about decomposition. The following substances may be expected from normal combustion : Carbon Dioxide Carbon Monoxide Water Particulate Matter Polycyclic Aromatic Hydrocarbons Unburnt Hydrocarbons Unidentified Organic and Inorganic Compounds Nitrogen Oxides

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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: in the unlikely event of ingestion, aspiration into the lungs with possible resultant chemically induced pneumonia ; and, if the products 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 local ventilation. If this cannot be achieved, use of a respirator fitted with an organic vapour cartridge combined with a particulate prefilter. First Aid : Remove to fresh air. If rapid recovery does not occur, obtain medical attention. SKIN Skin contact presents no acute health hazard except in the case of high pressure injection injuries. These can lead to the loss of 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 of personal hygiene must be practised. Extreme care must be exercised where the product is likely to be encountered at high pressures, when it is recommended that safe systems of work be employed. First Aid : Skin contact does not normally require first aid, but oil soaked clothing should be removed, and contaminated skin washed with 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 Sheet to 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 : Flush the eye with copious quantities of water. If irritation persists refer for medical attention. 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.

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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 the physician 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 and in the inhalation of mists. Skin contact under conditions of poor hygiene and over prolonged periods can lead to defatting of the skin, dermatitis, erythema, oil acne and oil folliculitis. Excessive and prolonged inhalation of oil mists may cause a chronic inflammatory 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 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 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 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 CNS depression from a 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 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 any significant quantities.

WATER If released to water, Shell Transformer Oil 148 will form a floating layer on the surface and its components will not evaporate or dissolve to any great extent. Dissolved components will be absorbed in sediments. In aerobic water and sediments they will biodegrade slowly, but in anaerobic conditions they will persist. Shell Transformer Oil 148 is practically non-toxic to aquatic organisms but contains components which have a high potential to bioaccumulate, and has the potentially to physically foul aquatic organisms.

SOIL Small volumes released on land will be absorbed in the upper soil layers and be biodegraded slowly. Larger volumes may penetrate into anaerobic soil layers in which the product will persist and may reach the water table on which it will form a floating layer. The more soluble components may dissolve but their high soil absorption coefficient and the low solubility will prevent 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 advice from your Local Authority.

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The disposal of mineral oils to sewers, watercourses or land without consent of the Local Water Authority or the National Rivers Authority (NRA) is an offence under the Environmental Protection Act 1990 or the Water Resources Act 1991 or the Water Industry 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 last amended by the 8th Amendment 96/56/EC, the 22nd Adaptation to Technical Progress 96/54/EC, and the Preparations Directive 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 1974 Environmental Protection Act 1990 Factories Act 1961 Health 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) Regulations Control of Substances Hazardous to Health Regulations Dangerous Substances in Harbour Areas Regulations Merchant Shipping (Dangerous Goods and Marine Pollutants) Regulations Road Traffic (Carriage of Dangerous Substances in Packages etc.) Regulations Road Traffic (Carriage of Dangerous Substances in Road Tankers and Tank Containers) Regulations Road Traffic (Training of Drivers of Vehicles Carrying Dangerous Goods) Regulations Reporting of Injuries, Diseases and Dangerous Occurrences Regulations Special Waste Regulations GUIDANCE NOTES HS(G)71 EH/40 EH/58 MS24 The storage of packaged dangerous substances Occupational Exposure Limits The Carcinogenicity of Mineral Oils Health surveillance of occupational skin disease

OTHER LITERATURE Concawe Report 86/69 Concawe Report 01/97 Health Aspects of Worker Exposure to Oil Mists 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 :

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| |

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.

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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 0C Minimum. 50C 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.
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.

8. EXPOSURE CONTROLS, PERSONAL PROTECTION

Exposure Controls The use of personal protective equipment is only one aspect of an integrated approach to the Control Of Substances Hazardous to Health.

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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.
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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 20C. Initial Boiling Point >280C. Solubility in Water Negligible. Density 868 kg/m3 at 15C. Flash Point 160C (PMCC). Flammable Limits - Upper 10%(V/V) (typical). Flammable Limits - Lower 1%(V/V) (typical). Auto-Ignition Temperature >320 (typical). Kinematic Viscosity 32 mm2/s at 40C. 6.4 mm2/s at 100C. Evaporation Rate Data not available. Vapour Density (Air=1) Greater than 1. Partition co-efficient, n-octanol/water Log Pow >6 (typical). Pour Point -45C.

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.

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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.

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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.

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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 ...

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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 washed with 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 Sheet to 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 VOMITING If ingestion is suspected, wash out the mouth with water, and send to hospital immediately. Show this Data Sheet to the physician 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 JET Foam/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 in an adsorbent medium and then transferred to suitable, clearly marked containers and disposed of in accordance with local byelaws 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 guidelines laid down in the respective Vessel Oil Spill Response Contingency Plan, as required by MARPOL 73/78 Annex 1, Regulation 26. Where the vessel is not required to comply with such legislation, the Owner's and/or Charterer's instructions must be followed. In the absence of any other guidelines, any spillage in territorial/coastal waters must be immediately reported to the appropriate maritime authority, e.g. coast guard, the vessel's local agent if applicable, and the vessel's Owner/Charterer. In international waters, any spillage should be reported to the nearest coastal state, and additional guidance should sought immediately 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 containers and spillage avoided.

STORAGE The storage of Shell Transformer Oil 148 is not subject to any special controls or restrictions. It should be stored in properly designed, closable, labelled containers, eg mild steel or high density polyethylene (HDPE).

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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 Limits 2002. UK Occupational Exposure Standards : Oil Mist, Mineral : 5 mg/cubic metre 8-hour TWA value 15 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 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 applicable Not applicable <0.1 k.Pa 0.890 Very Low Not available Expected to be > 6 >1 14 cSt.

- 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. : 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 bringing about decomposition. The following substances may be expected from normal combustion : Carbon Dioxide Carbon Monoxide Water Particulate Matter Polycyclic Aromatic Hydrocarbons Unburnt Hydrocarbons Unidentified Organic and Inorganic Compounds Nitrogen Oxides

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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: in the unlikely event of ingestion, aspiration into the lungs with possible resultant chemically induced pneumonia ; and, if the products 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 local ventilation. If this cannot be achieved, use of a respirator fitted with an organic vapour cartridge combined with a particulate prefilter. First Aid : Remove to fresh air. If rapid recovery does not occur, obtain medical attention. SKIN Skin contact presents no acute health hazard except in the case of high pressure injection injuries. These can lead to the loss of 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 of personal hygiene must be practised. Extreme care must be exercised where the product is likely to be encountered at high pressures, when it is recommended that safe systems of work be employed. First Aid : Skin contact does not normally require first aid, but oil soaked clothing should be removed, and contaminated skin washed with 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 Sheet to 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 : Flush the eye with copious quantities of water. If irritation persists refer for medical attention. 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.

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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 the physician 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 and in the inhalation of mists. Skin contact under conditions of poor hygiene and over prolonged periods can lead to defatting of the skin, dermatitis, erythema, oil acne and oil folliculitis. Excessive and prolonged inhalation of oil mists may cause a chronic inflammatory 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 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 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 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 CNS depression from a 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 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 any significant quantities.

WATER If released to water, Shell Transformer Oil 148 will form a floating layer on the surface and its components will not evaporate or dissolve to any great extent. Dissolved components will be absorbed in sediments. In aerobic water and sediments they will biodegrade slowly, but in anaerobic conditions they will persist. Shell Transformer Oil 148 is practically non-toxic to aquatic organisms but contains components which have a high potential to bioaccumulate, and has the potentially to physically foul aquatic organisms.

SOIL Small volumes released on land will be absorbed in the upper soil layers and be biodegraded slowly. Larger volumes may penetrate into anaerobic soil layers in which the product will persist and may reach the water table on which it will form a floating layer. The more soluble components may dissolve but their high soil absorption coefficient and the low solubility will prevent 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 advice from your Local Authority.

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The disposal of mineral oils to sewers, watercourses or land without consent of the Local Water Authority or the National Rivers Authority (NRA) is an offence under the Environmental Protection Act 1990 or the Water Resources Act 1991 or the Water Industry 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 last amended by the 8th Amendment 96/56/EC, the 22nd Adaptation to Technical Progress 96/54/EC, and the Preparations Directive 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 1974 Environmental Protection Act 1990 Factories Act 1961 Health 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) Regulations Control of Substances Hazardous to Health Regulations Dangerous Substances in Harbour Areas Regulations Merchant Shipping (Dangerous Goods and Marine Pollutants) Regulations Road Traffic (Carriage of Dangerous Substances in Packages etc.) Regulations Road Traffic (Carriage of Dangerous Substances in Road Tankers and Tank Containers) Regulations Road Traffic (Training of Drivers of Vehicles Carrying Dangerous Goods) Regulations Reporting of Injuries, Diseases and Dangerous Occurrences Regulations Special Waste Regulations GUIDANCE NOTES HS(G)71 EH/40 EH/58 MS24 The storage of packaged dangerous substances Occupational Exposure Limits The Carcinogenicity of Mineral Oils Health surveillance of occupational skin disease

OTHER LITERATURE Concawe Report 86/69 Concawe Report 01/97 Health Aspects of Worker Exposure to Oil Mists 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 :

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| |

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.

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Marine

Safety Data Sheet

Issued: August 31, 2000

SDS No. SN07M001

SHELL TELLUS OIL

1. IDENTIFICATION OF THE SUBSTANCE/PREPARATION AND COMPANY Product name: Product type: Supplier: Address: Contact numbers:
Telephone: Telex: Fax: +44 (0)207 934 4649 +44 (0)207 934 6433 SHELL TELLUS OIL Hydraulic oil Shell Marine Products Shell Centre London SE1 7NA

Emergency telephone number: 24 Hour Number

+44 (0)207 934 4545

2. COMPOSITION/INFORMATION ON INGREDIENTS Preparation description: Dangerous components/constituents:

Blend of highly-refined mineral oils and additives. 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. Not classified as flammable, but will burn. Not classified as dangerous to the environment. Not classified as dangerous for supply or conveyance.

Safety hazards: Environmental hazards: Other information:

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SHELL TELLUS OIL

4. FIRST AID MEASURES Symptoms and effects: First Aid - Inhalation: First Aid - Skin:
Not expected to give rise to an acute hazard under normal conditions of use. In the unlikely event of dizziness or nausea, remove casualty to fresh air. If symptoms persist, obtain medical attention. 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: First Aid - Ingestion: Advice to physicians:

Flush eye with copious quantities of water. If persistent irritation occurs, obtain medical attention. Wash out mouth with water and obtain medical attention. DO NOT INDUCE VOMITING. 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. Foam and dry chemical powder. Carbon dioxide, sand or earth may be used for small fires only. Water in a jet. Use of Halon extinguishers should be avoided for environmental reasons. Proper protective equipment including breathing apparatus must be worn when approaching a fire in a confined space.

Extinguishing media: Unsuitable extinguishing media: Protective equipment:

6. ACCIDENTAL RELEASE MEASURES Personal precautions: Personal protection: Environmental precautions: Clean-up methods - small spillage: Clean-up methods - large spillage:
Avoid contact with: skin and eyes. Wear impermeable gloves and boots. 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. Absorb liquid with sand or earth. Sweep up and remove to a suitable, clearly marked container for disposal in accordance with local regulations. 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.

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SHELL TELLUS OIL

7. HANDLING AND STORAGE Handling: Storage: Storage temperature: Recommended materials: Unsuitable materials: Other information:
When handling product in drums, safety footwear should be worn and proper handling equipment should be used. Prevent spillages. Keep in a cool, dry, well-ventilated place. Use properly labelled and closable containers. Avoid direct sunlight, heat sources, and strong oxidizing agents. 0C minimum to 50C maximum. For containers or container linings, use: mild steel or high density polyethylene. For containers or container linings, avoid: PVC. Polyethylene containers should not be exposed to high temperatures because of possible risk of distortion.

8. EXPOSURE CONTROLS/PERSONAL PROTECTION Engineering control measures: Occupational exposure standards:

Component name Oil mist, mineral Use local exhaust ventilation if there is a risk of inhalation of vapours, mists or aerosols. Threshold limit values are given below. Lower exposure limits may apply locally: Limit type 8-hour TWA 15-min STEL Value 5 10 Unit mg/m3 mg/m3 Other information ACGIH ACGIH

Hygiene measures: Respiratory protection: Hand protection: Eye protection: Body protection:

Wash hands before eating, drinking, smoking and using the toilet. 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. PVC or nitrile rubber gloves. Wear safety glasses or full face shield if splashes are likely to occur. 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: Colour: Odour: Initial boiling point: Vapour pressure: Density: Kinematic viscosity: Vapour density (air=1):
SN07M001.DOC Issued: August 31, 2000

Liquid at ambient temperature. Light brown Characteristic mineral oil Expected to be above 280C Expected to be less than 0.5 Pa at 20C See Table 1 See Table 1 Greater than 1

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SHELL TELLUS OIL Pour point: Flash point: Flammability limit - lower: Flammability limit - upper: Auto-ignition temperature: Solubility in water: n-octanol/water partition coefficient:
See Table 1 See Table 1 1% v/v 10% v/v Expected to be above 320C Negligible Log Pow expected to be greater than 6

10. STABILITY/REACTIVITY Stability: Conditions to avoid: Materials to avoid: Hazardous decomposition products:
Stable Extremes of temperature and direct sunlight. Strong oxidizing agents Hazardous decomposition products are not expected to form during normal storage.

11. TOXICOLOGICAL INFORMATION Basis for assessment: Acute toxicity - oral: Acute toxicity - dermal: Acute toxicity - inhalation: Eye irritation: Skin irritation: Respiratory irritation: Skin sensitization: Carcinogenicity: Mutagenicity: Other information:
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. LD50 expected to be above 2000 mg/kg LD50 expected to be above 2000 mg/kg Data not available. Expected to be slightly irritant. Expected to be slightly irritant. If mists are inhaled, slight irritation of the respiratory tract may occur. Not expected to be a skin sensitizer Product is based on mineral oils of types shown to be noncarcinogenic in animal skin-painting studies. Other components are not known to be associated with carcinogenic effects. Not considered to be a mutagenic hazard. 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.

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SHELL TELLUS OIL

12. ECOLOGICAL INFORMATION Basis for assessment: Mobility: Persistence/degradability: Bioaccumulation: Ecotoxicity:
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. Liquid under most environmental conditions. Floats on water. If it enters soil, it will adsorb to soil particles and will not be mobile. Not expected to be readily biodegradable. Contains components with the potential to bioaccumulate 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. As for waste 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.

Product disposal: Container disposal:

Local legislation:

14. TRANSPORT INFORMATION

Not dangerous for conveyance under UN, IMO, ADR/RID and IATA/ICAO codes.

15. REGULATORY INFORMATION EC Classification: EINECS (EC): TSCA (USA): Other information:
Not classified as Dangerous under EC criteria All components listed or polymer exempt. All components in compliance. 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.

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SHELL TELLUS OIL Technical contact point: Technical contact number:

Telephone: Telex: Fax: +44 (0)207934 4649 +44 (0)207934 6433 Edition No.: 5 First Issue: 17-02-89 Revised: August 31, 2000 +44 (0)207934 4649

SDS history:

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 K. Viscosity mm2/s, at 20C K. Viscosity mm2/s, at 40C Density, kg/m3 at 15C Pour point, C Flash point, C (COC)

22 55 22 871 -30 179

32 90 32 872 -30 198

37 102 37 872 -30 232

46 135 46 876 -30 243

68 220 68 883 -30 252

100 330 100 890 -24 260

SN07M001.DOC Issued: August 31, 2000

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