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378511/A

RS-422 serial line using five wires and RJ45 connector

An RS-422 serial line connection can transmit data at rates as high as 10 million bits per
second, and may be sent on cables as long as 1500 meters.

GROUND

TXD+

RXD+

RXD-

+5V

TXD-

RXD-

GROUND

(CD0801_004_002)

TXD+

(CD0801_001_002)

Pin 8

Pin 1

(CD0801_001_004)

Local connection

Connection on
peripheral device

Female 9–pin
D-connector

Male 9–pin
D-connector

RJ45 connector

Unless otherwise
specified, the serial line cable must be provided by the installation shipyard.

Minimum cable requirements

•

Conductors

: 2 x 4 x 0.5 mm²

•

Screen

: Overall braided

•

Voltage

: 60 V

•

Maximum outer diameter

: Defined by the plugs

If you need to install a very long serial line cable, increase the cross section.

Cable layout and interconnections

Содержание EM 2040C

Страница 1: ...Maintenance manual EM 2040C Multibeam echo sounder...

Страница 2: ......

Страница 3: ...378511 A August 2016 Kongsberg Maritime AS EM 2040C Multibeam echo sounder Maintenance manual...

Страница 4: ...l applies must only be used for the purpose for which it was designed Improper use or maintenance may cause damage to the equipment and or injury to personnel The user must be familiar with the conten...

Страница 5: ...CATALOGUE 25 Ordering spare parts 26 List of spare parts 27 Processing Unit spare part single version one CBMF board 27 Processing Unit spare part dual version two CBMF boards 27 CBMF board spare part...

Страница 6: ...RS 422 serial line using five wires and RJ45 connector 55 1PPS One pulse per second using a coax cable 56 Remote control 58 Remote Control using K Rem 59 Dummy plug for not using remote control 60 Ext...

Страница 7: ...99 Packing instructions for storage or shipping 101 Storage after use 103 Cleaning an electronic cabinet or unit 103 Cleaning a mechanical or electromechanical unit 104 Handling instructions for prin...

Страница 8: ...6 378511 A EM 2040C...

Страница 9: ...tional troubleshooting on electronic and mechanical products We assume that you are familiar with the basic acoustic principles of sound in water and that you have some experience with multibeam split...

Страница 10: ...8 378511 A EM 2040C Topics System description page 9 System diagram page 11 System units page 12 EM 2040C...

Страница 11: ...e IHO S44 special order and the more stringent LINZ specification The EM 2040C is available in a CX version where the subsea part has a depth rating of 1500 m for operation on ROV or AUV Yaw stabiliza...

Страница 12: ...up to 690 m with dual head The angular coverage for 200 to 300 kHz is up to 130 degrees with one sonar head allowing coverage of 4 3 times water depth With two sonar heads tilted 35 40 degrees to each...

Страница 13: ...er cables are not shown CD020105_101_001 E A Hydrographic Work Station B Hydrographic Work Station interfaces Sound speed sensor Tide Center depth output C Processing Unit D Processing Unit interfaces...

Страница 14: ...nit Processing Unit description The Processing Unit is the central controlling device in the EM multibeam system It is provided to process the signals to and from the sonar head s It is an industrial...

Страница 15: ...ding Cat 5e and Cat 6 https en wikipedia org wiki Gigabit_Ethernet January 2016 Remote Control Unit K Rem description A dedicated junction box has been designed to provide remote on off switches with...

Страница 16: ...14 378511 A Troubleshooting Topics BIST Built In Self Test dialog box page 15 EM 2040C...

Страница 17: ...box controls the test and diagnose program that checks the performance of the EM 2040C How to open This dialog box is opened from the BIST tab in the Installation parameters frame Description Details...

Страница 18: ...current and maximum temperatures for the CPU die and for the CPU board In addition some key voltages are reported and finally the network addresses for the board s interfaces 2 CBMF test This test pr...

Страница 19: ...transmitting at one by one TX channel and checking the received level through the water by the receiver unit s This test may require that the water depth is not to large A warning will be given if thi...

Страница 20: ...lecting Save The test results will be saved as a txt file and you can select file name and storage location in the dialog box that appears The results of the test will be shown in the PU BIST Result f...

Страница 21: ...378511 A 19 Preventive maintenance Topics Inspecting and cleaning the sonar head face page 20 Painting the sonar head face page 22 Approved anti fouling paints page 23 Preventive maintenance...

Страница 22: ...e sonar head face must be cleaned for shells and other marine growth It is important to check the sonar head for physical damage Any cracks fractures or holes in the red protective coating may result...

Страница 23: ...ts to clean the sonar head face Do not damage the outer protective skin on the sonar head face 3 Allow the sonar head surface to dry 4 Inspect the sonar head closely for any sign of dents cracks fract...

Страница 24: ...aints Context The sonar head has not been designed with any protection against biological fouling Anti fouling paint may therefore be applied to the sonar head face To minimize the negative acoustical...

Страница 25: ...you do not use a paintbrush and or a roller 7 Allow the paint to dry Further requirements The contractor or shipyard must keep a daily paint log recording all relevant information from the surface tr...

Страница 26: ...om http www jo tun com ww en b2b technical info tds index aspx International Marine Coatings Address Stoneygate Lane Felling Gateshead Tyne Wear NE10 0JY United Kingdom www international marine com In...

Страница 27: ...378511 A 25 Illustrated spare parts catalogue Topics Ordering spare parts page 26 List of spare parts page 27 Illustrated spare parts catalogue...

Страница 28: ...ails Part name and or description Our part number Number of units required Your shipment address Preferred shipment method Required date of delivery from us For certain spare parts typically complete...

Страница 29: ...The two versions hold one or two CBMF boards A single head single swath system uses one Processing Unit with one CBMF board Part name Processing Unit single version Part number 385402 Number in use 1...

Страница 30: ...to The CBMF board used by the EM 2040C may look slightly different due to minor design changes on the protective lid and or the front panel Part name CBMF board Part number 384585 Number in use 1 or 2...

Страница 31: ...VadaTech CP219 Ethernet switch in the Processing Unit This is a generic photo The Vadatech CP219 board used by the EM 2040C may look slightly different due to minor design changes on the protective l...

Страница 32: ...e 2 Recommended number in spare 1 True manufacturer Recab Schroff Power supply spare part One power supply unit is used in the EM 2040C Processing Unit for supply of 5 24 and 48 VDC Part name Power su...

Страница 33: ...g Unit familiarization page 32 Processing Unit front panel description page 33 Processing Unit rear panel description page 34 Processing Unit circuit boards and modules page 35 Concurrent PP833 CPU bo...

Страница 34: ...ing in a 19 inch rack It uses both COTS commercial off the shelf components and custom made components Ventilation is provided through slits located on the sides The front panel of the Processing Unit...

Страница 35: ...8511 A 33 Processing Unit front panel description The front panel of the Processing Unit holds a mains power switch and an information display A Information display B Mains power switch Processing Uni...

Страница 36: ...unit The Processing Unit has two fan units for cooling purposes B Remote Control connector C 48 Vdc output connector D Ground connector E AC power socket F Fuse for the main supply G Concurrent PP833...

Страница 37: ...essing Unit B CBMF board The Compact Beamformer CBMF board is used by the Processing Unit for beamforming and signal processing purposes There are one or two Compact Beamformer CBMF boards in the Proc...

Страница 38: ...overview The Concurrent PP833 is the Central Processing Unit CPU of the EM 2040C Processing Unit The Concurrent PP833 is a PC compatible high functionality Compact PCI cPCI board used by the EM 2040C...

Страница 39: ...of these connectors are used in the EM 2040C A PMC XMC1 Console for Kongsberg Maritime use only B COM1 to COM4 Four serial ports with RJ45 connectors The ports can be configured to be RS 232 or RS 42...

Страница 40: ...daTech CP219 is a compact PCI module that provides 10 Gigabit Ethernet ports on the front panel Ethernet switch connectors The VadaTech CP219 Ethernet switch holds 10 front mounted connectors as well...

Страница 41: ...ge 41 CBMF board overview The Compact Beamformer CBMF board is used by the Processing Unit for beamforming and signal processing purposes This is a generic photo The CBMF board used by the EM 2040C ma...

Страница 42: ...ies By means of the on board software the links and the switches it can be configured for specific use When a board is provided as a spare part it is readily configured This is a generic photo The CBM...

Страница 43: ...If you receive a spare CBMF board this is also set up correctly before it is shipped CBMF board connectors The CBMF board holds a large connector for the backplane as well as several front mounted co...

Страница 44: ...42 378511 A Cable layout and interconnections Topics Read this first page 43 Cable plans page 44 List of EM 2040C cables page 51 Cable drawings and specifications page 53 EM 2040C...

Страница 45: ...e to system or personnel caused by improper wiring A detailed drawing for each specific cable is provided Each drawing provides additional information and may when applicable include minimum specifica...

Страница 46: ...swath cable plan Processing Unit page 45 Single head dual swath cable plan Processing Unit page 46 Dual head single swath cable plan Processing Unit page 47 Dual head dual swath cable plan Processing...

Страница 47: ...100_001 C28 C34 C29 C32 C10 C33 C25 C26 C37 C37 C36 1 A B Console SERIAL 1 2 ETH1 ETH1 ETH2 ETH2 REMOTE CONTROL PMC XMC1 PMC XMC2 48VDC OUT 1 2 100 250V AC USB USB0 SYNC GbE Switch CPU CBMF 1 1PPS GbE...

Страница 48: ...28 C34 C29 C32 C10 C33 C25 C26 C37 C37 C36 1 C36 2 C27 A B Console SERIAL 1 2 ETH1 ETH1 ETH1 ETH2 ETH2 ETH2 REMOTE CONTROL PMC XMC1 PMC XMC2 48VDC OUT 1 2 100 250V AC USB USB0 SYNC SYNC CBMF 2 GbE Swi...

Страница 49: ...37 2 C37 1 C37 2 C37 1 C36 1 C36 2 C27 Console SERIAL 1 2 ETH1 ETH1 ETH1 ETH2 ETH2 ETH2 REMOTE CONTROL PMC XMC1 PMC XMC2 48VDC OUT 1 2 100 250V AC USB USB0 SYNC SYNC CBMF 2 GbE Switch CPU CBMF 1 1PPS...

Страница 50: ...C25 3 C26 2 C26 1 C37 2 C37 1 C36 1 C36 4 C36 5 C36 3 C D A B E Console SERIAL 1 2 ETH1 ETH1 ETH1 ETH2 ETH2 ETH2 REMOTE CONTROL PMC XMC1 PMC XMC2 48VDC OUT 1 2 100 250V AC USB USB0 SYNC SYNC CBMF 2 Gb...

Страница 51: ...ng Unit C Sonar Head D Sonar Head E Ethernet switch Cables identified with an asterisk are system cables These are provided with the standard EM 2040C delivery Related topics List of EM 2040C cables p...

Страница 52: ...other to AC mains power and to external devices C1 C18 C14 C19 C7 C8 C3 C4 C5 C10 CD020199_001_001 A B C D A Hydrographic Work Station B Display C Computer keyboard D Computer mouse or trackball Cable...

Страница 53: ...ion External device C18 Serial Hydrographic Work Station External device C19 Serial Hydrographic Work Station External device C25 AC power Processing Unit Vessel mains supply C26 Ground Processing Uni...

Страница 54: ...t high quality Ethernet cables are used You must use CAT 5E STP Shielded Twisted Pair quality or better Using cables with lower bandwidth capacity will reduce the EM 2040C performance Identifying EM 2...

Страница 55: ...ial line using three 3 wires and RJ45 connector page 54 RS 422 serial line using five wires and RJ45 connector page 55 1PPS One pulse per second using a coax cable page 56 Remote control page 58 Remot...

Страница 56: ...RX GROUND 2 3 5 TX TX GROUND RX CD0801_001_003 9 6 1 5 5 1 6 9 CD0801_001_002 Pin 8 Pin 1 CD0801_001_004 A Local connection B Connection on peripheral device C Female 9 pin D connector D Male 9 pin D...

Страница 57: ...CD0801_001_002 Pin 8 Pin 1 CD0801_001_004 A Local connection B Connection on peripheral device C Female 9 pin D connector D Male 9 pin D connector E RJ45 connector Unless otherwise specified the seria...

Страница 58: ...or on the CBMF board The CBMF board is equipped with an optocoupler at this input The input series resistor is tuned for a TTL signal Low level 0 6 V High level 3 2V It can be selected in SIS wether t...

Страница 59: ...itional resistance required Example R 1080 330 750 E W R TOT 1080 W 10mA 12V 1 2V U F 0 010 10 8 An added resistor of 750 and minimum 0 1 Watt must be used Note The input signals must not be negative...

Страница 60: ...V ON CD0806_701_010 A B 9 6 1 5 5 1 6 9 CD0801_001_002 A Local connection male 9 pin D connector B Connection to remote lamp and on off switch C Female 9 pin D connector D Male 9 pin D connector Minim...

Страница 61: ...TANDBY GND STANDBY12 V ON CD0806_701_01 1 A B 33 32 34 STANDBYGND STANDBY12 V ON 9 6 1 5 5 1 6 9 CD0801_001_002 A Local connection male 9 pin D connector B Connection at the terminal strip in Remote C...

Страница 62: ...not used the enclosed remote control dummy plug has to be inserted in the Remote Control connector in the Processing Unit Note If remote control is not used the enclosed remote control dummy plug has...

Страница 63: ...transmit The signal is inactive when the echo sounder is transmitting receiving or processing samples Trig out The EM 2040C issues a trig out signal The trig out signal starts before the first transmi...

Страница 64: ...depends on ping mode frequency sector mode and swath mode single dual External Synchronisation cable This connection is used for interface to an external synchronisation system for example K Sync use...

Страница 65: ...e I F 10mA 330 W 4 5V 1 2V U F Using 4 5V input signal the input current will be as required 10mA No additional resistance required Example R 1080 330 750 E W R TOT 1080 W 10mA 12V 1 2V U F 0 010 10 8...

Страница 66: ...g out RTS out Trig out Customer input Power Resistor value Minimum effect 5 V 0 38 k 0 1 W 12 V 1 08 k 0 15 W 24 V 2 28 k 0 25 W Note To avoid ground loops and damage of the EM 2040 electronics caused...

Страница 67: ...connector page 66 Sonar head dimensions round connector page 67 Processing Unit dimensions page 68 Hydrographic Work Station outline dimensions page 69 Remote Control Unit K REM outline dimensions pag...

Страница 68: ...The drawing is not in scale 387570 Rev B CD12_387570_001_001 332 119 27 High pressure version EM 2040CX Max 11 mm 122 FORWARD Recommended cut out in customer mounting plate EM 3002 and all versions o...

Страница 69: ...Sonar head dimensions round connector Drawing 377446 All measurements in mm The drawing is not in scale 377446 Rev A CD12_377446_001_001 300 R130 10x M8 36 18 332 FORWARD 14 234 119 Max 11 mm R 1 3 0...

Страница 70: ...1 A Processing Unit dimensions Drawing 385422 All measurements in mm The drawing is not in scale 385422 Rev Pro01 CD12_385422_001_001 Rear V iew Weight 10 5 kg 482 5 88 6 Side V iew 424 Front View R E...

Страница 71: ...378511 A 69 Hydrographic Work Station outline dimensions Drawing 378828 2 pages Drawing file...

Страница 72: ...70 378511 A Page 2 EM 2040C...

Страница 73: ...0275 2 pages All measurements in mm The drawing is not in scale 370275 Rev A CD12_370275_001_001 Unit Label 200 240 395 430 4 x M5 Top view 0 4x M4 both sides Side view 38 5 101 163 6 216 1 482 6 31 8...

Страница 74: ...ge 2 All measurements in mm The drawing is not in scale 370275 Rev A CD12_ _001_002 370275 14 Ground connection 259 5 Bottom view 4 x PG9 cable diameter 6 5 9 mm 4 x PG13 5 cable diameter 12 15 mm Top...

Страница 75: ...378511 A 73 Remote Control Unit K REM wiring diagram Drawing 373962 373962 Rev C CD12_373962_001_001 Drawing file...

Страница 76: ...Technical specifications Topics Performance specifications page 75 Interface specifications page 77 Weights and outline dimensions page 81 Power requirements page 83 Environmental requirements page 8...

Страница 77: ...s per ping Single head Up to 800 400 per swath Dual head Up to 1600 400 per swath Beamwidth TX x RX 200 kHz 2 x 2 degrees 300 kHz 1 3 x 1 3 degrees 400 kHz 1 x 1 degree TX source level at 300 kHz 204...

Страница 78: ...e Up to 61 kHz 15 mm Table 1 Max depth and coverage EM 2040C cold ocean water Max coverage across Operating frequency Max depth Single head Dual head 200 kHz 520 m 570 m 690 m 300 kHz 450 m 525 m 625...

Страница 79: ...ition sensors Supported datagram formats for external clock The EM 2040C supports the following datagram format from an external clock These datagram formats are received using a serial communication...

Страница 80: ...supports the following datagram formats from a motion sensor These datagram formats are received using a serial communication line Kongsberg EM Attitude 3000 Kongsberg EM Attitude 3000 is a proprieta...

Страница 81: ...of multibeam echo sounders from Kongsberg Maritime have an extended range performance by use of a frequency modulated transmitter pulse FM also called chirp pulse In the FM mode the Doppler shift made...

Страница 82: ...ucer Printer plotter Interface for input of sound speed profile Ethernet or serial line Tide input Ethernet or serial line Single beam echo sounder depths Ethernet Output of all data normally logged t...

Страница 83: ...mensions Diameter 332 mm Height 119 mm Volume 10 3 litres Weight In air 18 8 kg In water 8 4 kg Sonar head EM 2040CX Outline dimensions Diameter 332 mm Height 122 mm Volume 10 6 litres Weight In air 2...

Страница 84: ...operational requirements of the EM 2040C Outline dimensions Depth 384 mm Width 337 mm Height 102 5 mm Weight approximately 8 kg Display Manufacturer ISIC A S http www isic systems com Model DuraMON W...

Страница 85: ...CBMF board without sonar head 115 W PU with two CBMF boards without sonar head 125 W PU with one sonar head pinging 160 W PU with one sonar head pinging with long FM pulse 175 W Hydrographic Work Sta...

Страница 86: ...umidity 5 to 95 relative non condensing IP grade IP22 Certificates IEC 60945 2002 and CORRIGENDUM 1 2008 IACS E10 2006 Hydrographic Work Station Manufacturer Hewlett Packard http www hp com Model HP83...

Страница 87: ...www isic systems com Model DuraMON WS 24 Operational temperature 15 to 55 C Storage temperature 25 to 70 C Relative humidity 8 to 90 relative non condensing IP rating Front IP65 Rear IP20 Certificate...

Страница 88: ...Transporting Kongsberg Maritime equipment page 87 Lifting units and transportation boxes page 89 Inspection of units and transportation boxes after arrival page 91 Specifications for storage prior to...

Страница 89: ...ations must be investigated by the packer shipper before the unit is dispatched Procedure 1 Ensure that all local transportation is done according to the same specifications as for the initial deliver...

Страница 90: ...88 378511 A Related topics Packing instructions for storage or shipping page 101 Circuit board unpacking and handling page 106 Lifting units and transportation boxes page 89 EM 2040C...

Страница 91: ...box or unit before you attempt to lift it 2 Make sure that you have the relevant lifting apparatus required and that this equipment is approved and certified for the load 3 If you need to use a crane...

Страница 92: ...products and the extensive use of delicate electronic parts all units and boxes must be regarded and handled as fragile equipment Related topics Transporting Kongsberg Maritime equipment page 87 Pack...

Страница 93: ...n water or other mishandling 2 If external damage is detected open the box to check its contents Request that a representative of the carrier to be present while the box is opened so any transportatio...

Страница 94: ...ities a If a unit is damaged prepare an inspection report stating the condition of the unit and the actions taken Describe the damage and collect photographic evidence if possible Re preserve the equi...

Страница 95: ...on The box used to transport and store such units are clearly marked for example Must not be transported or stored in temperatures below 5 Celsius Other temperature limits may be used if applicable If...

Страница 96: ...to the equipment Context This procedure provides the basic tasks of unpacking units main unit spare parts etc from boxes shipped from Kongsberg Maritime Note If the unit in question is not unpacked f...

Страница 97: ...of scratch injury to yourself and damage to the contents 5 If a wooden box has been closed using screws always remove them using a screwdriver Do not attempt to force the lid open with a crowbar or si...

Страница 98: ...l units will normally be wrapped in a clear antistatic plastic bag Do not break the seal to open a circuit board package before the board is to be used If the board package is returned to the manufact...

Страница 99: ...s and hydrophones are normally packed and shipped in separate boxes Boxes are identified by the order number and the serial number of the unit inside Note Once a transducer sonar head or hydrophone is...

Страница 100: ...one out of the transportation box 3 Place it in a stable position on the floor work bench 4 Inspect the unit for visual damage 5 Make sure that the relevant protection is kept in place until the final...

Страница 101: ...ed These must then be reconnected during the installation procedure Units containing batteries are marked Caution Units containing lithium or alkaline batteries must be handled separately and with car...

Страница 102: ...100 378511 A Note Unless otherwise specified transducers and hydrophones must not be stored in temperatures below 10 C and above 50 C EM 2040C...

Страница 103: ...cable If a unit needs temperature protection the box to be used for storage and transportation must be lined on all walls base and lid using minimum 5 cm thick polyurethane or polystyrene foam Most sy...

Страница 104: ...ime equipment page 87 Lifting units and transportation boxes page 89 Circuit board unpacking and handling page 106 Returning a printed circuit board or an electronic module to Kongsberg Maritime page...

Страница 105: ...evant tools and detergents You will also need some amount of desiccant material Procedure 1 Wipe off the external surfaces of the unit using a damp lint free cloth and a mild detergent Note Do not use...

Страница 106: ...or dispose of them by incineration Refer to the applicable product data sheets or battery handling procedures for further details 9 Place a suitably sized bag of desiccant material silica gel or simi...

Страница 107: ...ean all exposed cables and check for damage If a cable shows signs of wear or ageing contact Kongsberg Maritime for advice 6 Secure and protect loose parts shock absorbers plug and sockets protruding...

Страница 108: ...d electronic modules you will need a suitable workbench with an approved conductive service mat This service mat must be connected directly to a reliable earth point via its earthing cord You must wea...

Страница 109: ...unit for damage before you open the plastic bag 6 Do not break the seal to open a printed circuit board or electronics module package before the item shall to be used Important If the package is retu...

Страница 110: ...ose to strong electrostatic electromagnetic or radioactive fields Context Beware of electrostatic discharge ESD When you handle electronic circuit boards and modules you must beware of the dangers of...

Страница 111: ...kin and the wristband must be connected to the service mat What is Electrostatic Discharge ESD Electrostatic Discharge ESD is the transfer of an electrostatic charge between two bodies at different el...

Страница 112: ...The working area must be covered by an approved conductive service mat that has a resistance of between 50 k and 2 M and is connected directly to a reliable earth point via its earthing cord 2 You and...

Страница 113: ...mechanical electromechanical electronic and chemical waste including all types of batteries must take place according to national and international rules and regulations Observe the relevant Waste El...

Страница 114: ...nding to minimum 1 10 of socket depth should be applied to the female connector c The inner edge of all sockets should be completely covered and a thin transparent layer of grease left visible on the...

Страница 115: ...instructions for electrical shock General safety rules The following safety precautions must be followed at all times during installation and maintenance work WARNING The EM 2040C operates on 230 VAC...

Страница 116: ...The various parts of the system may be heavy Make sure that the appropriate tools and certified lifting equipment are available The personnel must be trained in relevant installation and maintenance...

Страница 117: ...e control Processing Unit 58 remote control using K Rem 59 RS 232 serial line 54 RS 422 serial line 55 cable plan Hydrographic Work Station 50 processing unit 45 48 topside 50 cables interface 44 list...

Страница 118: ...69 remote control Processing Unit 58 remote control using K Rem 59 RS 232 serial line cable 54 RS 422 serial line cable 55 sonar head outline dimensions 66 67 system diagram 11 transducer outline dim...

Страница 119: ...nd handle printed circuit boards 106 unpack standard parts and units 94 visual inspection of units and transportation boxes after arrival 91 humidity requirements 84 specifications 84 HWS cable plan 5...

Страница 120: ...witch 13 Hydrographic Work Station 12 Processing Unit 32 VadaTech CP219 Ethernet switch 38 P packing instructions 101 part number CBMF board 28 Concurrent PP833 CPU board 28 Excelsys power supply 30 f...

Страница 121: ...anel description 34 publication purpose 7 target audience 7 purpose CBMF board 39 computer 12 Concurrent PP833 CPU board 36 Ethernet switch 13 Hydrographic Work Station 12 Processing Unit 32 this manu...

Страница 122: ...CBMF board 40 system description 9 diagram 11 system cables description 43 list 51 T target audience this manual 7 temperature requirements 84 specifications 84 this manual purpose 7 target audience 7...

Страница 123: ...378511 A 121 Hydrographic Work Station 50 processing unit 45 48 Remote Control Unit K Rem 73 topside 50 Index...

Страница 124: ...2016 Kongsberg Maritime...

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