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44

342741/B

Settings

and in

Trigger output to echo sounder

set

Signal active:

level to

Active high

and set the

Trigger condition

to

Rising edge

. Otherwise set the logic level to

Active

low

and

Trigger condition

to

Rising edge

.

7

Change

Pulse length

and

Is available

settings back to original value in the dialog.

If there is no response to trigger:

• Is the echo sounder set up correctly, e.g. is the external trigger configured on the echo

sounder workstation, and is all equipment powered up?

• Is pull-up or pull-down set correctly (if the signal is TTL)?

• Is the pulse length setting within the spec for the echo sounder?

• Is the signal either RS-232 or TTL compatible? Verify voltage for both voltage states

using an oscilloscope or a digital volt meter.

Determining signal properties of

Ready to transmit

1

Verify that the echo sounder is powered on and that the echo sounder software is
set up and is ready for external trigger.

2

Disable the echo sounder in the K-Sync application by unchecking the

Enabled

checkbox so that the system goes into

Standby

.

The echo sounder should now continuously be ready and waiting for a trigger pulse
from synchronizing module.

3

Observe the top-left of the four LEDs, the Ready to transmit

(in)

.

Is the LED on or off? If "on" the echo sounder should be configured as

Active high

,

otherwise

Active low

.

4

Confirm by setting the system up for transmitting once every second (set the echo
sounder up for

Fixed period

trigger every 1000 ms in

Runtime Settings

). Does the

LED change state at time of trigger? If so then the signal is behaving as expected.

Determining signal properties of

Transmitting

1

Verify that the echo sounder is powered on and that the echo sounder software is
set up and is ready for external trigger.

2

Make sure the echo sounder is enabled in the K-Sync Application window found in
the

Echo Sounder Status

area.

3

Configure

Runtime settings

to use

Trigger mode

:

Fixed period

and set the

Fixed

period

to 1000 ms.

4

Observe the bottom-right of the four LEDs, the Transmitting

(in)

.

Observe that the Transmitting LED blinks each time the echo sounder is being
triggered by the Synchronizing Unit. The pulse length might be too short to notice,
especially if pulse width is less than 10 ms or if the LED is normally on and instead
turns off during transmit. If so, connect an oscilloscope to observe the signal. If

KONGSBERG K-Sync Installation manual

Содержание K-Sync

Страница 1: ...342741 B April 2021 Kongsberg Maritime AS KONGSBERG K Sync Synchronization Unit Installation manual Image K Sync application view ...

Страница 2: ...igned Improper use or maintenance may cause damage to the equipment and or injury to personnel You must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation use or maintenance of the equipment Disclaimer Kongsberg Maritime AS endeavours to e...

Страница 3: ...ZATION UNIT 20 Installing the rack mounted version 20 Installing the cabinet version 22 CABLE CONNECTION PROCEDURES 23 Read this first 24 Cable plan 25 List of cables 26 Connecting the Synchronization Unit to AC mains ground and ethernet 27 Cable connection procedure 28 ECHO SOUNDER SIGNAL CHARACTERISTICS 30 Signal naming conventions 31 K Sync Signal Interface 31 Logic states and their correspondi...

Страница 4: ...C APPLICATION 63 TECHNICAL SPECIFICATIONS 64 DRAWING FILE 65 324131 K Sync Unit dimensions 19 rack version 66 344459 K Sync Unit dimensions Cabinet version 67 List of figures Figure 1 19 rack version 9 Figure 2 Cabinet version 9 Figure 3 System diagram 10 Figure 4 Cable plan overview 25 Figure 5 Rack mounted version connectors 27 Figure 6 Cabinet version connectors 28 Figure 7 Signal timing scheme...

Страница 5: ...342741 B 5 Table 8 K Sync interface to EA400 and EA600 interface 53 Table 9 K Sync interface to EA440 and EA640 interface 55 Installation manual ...

Страница 6: ...6 342741 B KONGSBERG K Sync ...

Страница 7: ...miliar with computer hardware interface technology and installation of electronic and mechanical products We assume that you are familiar with the basic acoustic principles of sound in water Online information For information about the K Sync and other products from Kongsberg Maritime see the KONGSBERG website https www kongsberg com maritime Registered trademarks Observe the registered trademarks...

Страница 8: ... Topics System description page 9 System diagram page 10 Concept description page 11 Basic items provided with a standard delivery page 12 Network security page 12 Support information page 14 KONGSBERG K Sync Installation manual ...

Страница 9: ... allows you to monitor status and transmit trigger schedule and menu for Settings and Tools for Diagnostic display Figure 2 Cabinet version The computer running the K Sync application software needs to interface the Synchronization Unit for the system to initialize This interface is made using an Ethernet line Once the K Sync system is running the application software can be closed and the compute...

Страница 10: ...graphic Work Station Figure 3 System diagram A K Sync Unit B Hydrographic Work Station C Hydroacoustic systems sonars echo sounders controlled by the K Sync The K Sync Synchronization Unit can control up to maximum 16 hydroacoustic systems Unless otherwise specified in a contract the Hydrographic Work Station and the display are not included in the standard delivery from Kongsberg Maritime These a...

Страница 11: ...neously Once it is determined by reading feedback signals or estimated based on input depth and or your parameter settings that all the hydroacoustic systems in the current group have completed their transmission cycle the next group is triggered All groups are triggered in a circular order The duration allocated to each group is not fixed and depends on the maximum active period defined for the h...

Страница 12: ...ted to operation and installation can be downloaded from https www kongsberg com maritime Network security If a K Sync system is connected to a local area network data security is important Equipment manufactured by Kongsberg Maritime is frequently connected to the vessel s local area network LAN When you connect a computer to a local area network you will always expose the data on that computer A...

Страница 13: ...ement the same security mechanisms on the K Sync computer s as for the rest of the network This is a task for the network responsible person on board Some key elements here must be The same anti virus protection on all computers including routines for updating this protection The same settings for the firewall on all computers Controlled physical access to computers on the network Trusted and trai...

Страница 14: ...ur website You can also contact our main support office in Norway A 24 hour telephone support service may also be available depending on your Service Level Agreement Company name Kongsberg Maritime AS Address Strandpromenaden 50 3183 Horten Norway Website https www kongsberg com maritime Email address km hydrographic support kongsberg com KONGSBERG K Sync Installation manual ...

Страница 15: ...cal tasks This includes different screwdriver types pliers spanners a cable stripper a soldering iron etc Each tool must be provided in various sizes We recommend that all tools are demagnetized to protect your equipment Note If you need specific consumables or if special tools and or test instruments are required these are identified in the relevant procedure s Personnel qualifications The instal...

Страница 16: ...erpreted as trigger pulse by the echo sounders until signal levels have settled Tip Read through all the instructions before doing the installation Taking the time to do necessary preparation before you start installation will greatly aid in assuring a smooth setup of hardware and software Note The K Sync application may be run on a portable PC for configuration only or you may run the K Sync appl...

Страница 17: ...nts are Operating system Windows 10 Processor Intel Pentium 4 2 0 GHz An equivalent type from another manufacturer can also be used Memory Minimum 1 GB Ethernet adapter Minimum 1 x 100 Mbps Hard disk Minimum 500 MB free space Graphic adapter Minimum resolution pixels 1280 x 800 Recommended resolution pixels 1280 x 1024 Installing the K Sync application software Set up of Workstation includes confi...

Страница 18: ...stallation d Click Finish when the installation is completed Restart the computer to finalize the installation Configure the K Sync Unit network address Description on how to change the network address of the K sync Unit Prerequisites This procedure assumes that the subnet for the network interface is the same as the existing configuration of the synchronizing unit otherwise you will not be able t...

Страница 19: ... Unit after the reconfiguration is complete Note that it is possible to configure multiple subnets for a single network interface 6 Edit IP address and subnet 7 Click Apply 8 After a couple of minutes the operation should provide a confirmation that the reconfiguration succeeded 9 Exit Installation and Upgrade Utility 10 Reset the IP address and subnet on the application PC if needed 11 Open the K...

Страница 20: ...tized to protect your equipment Depending on the tasks at hand additional tools may be required Context The rack mounted K Sync unit is easily mounted inside a 19 rack It should be mounted with sufficient cable slack to allow for lifting the unit out of the rack without disconnecting the cables Make sure that adequate ventilation is available to avoid overheating Make sure that the installation me...

Страница 21: ...he chosen location meets the installation requirements 4 Attach the rack unit to the sliding rail or sliding drawer 5 Slide the Unit on the sliding rails or sliding drawer to its outer position 6 Open the rack unit Unscrew four screws A on each side of the rack unit Unscrew four thumb screws B in front Unscrew three screws C on the back side of the rack unit Lift the top cover off the rack unit 7 ...

Страница 22: ...nal tools may be required Context Make sure that the installation method allows for the physical vibration movements and forces normally experienced on a vessel Make sure that adequate ventilation is available to avoid overheating Note The cabinet must be mounted on a bulkhead or on mounting brackets welded to the bulkhead Ensure that sufficient space is provided around the unit to allow the unit ...

Страница 23: ...ion procedures Topics Read this first page 24 Cable plan page 25 List of cables page 26 Connecting the Synchronization Unit to AC mains ground and ethernet page 27 Cable connection procedure page 28 Cable connection procedures ...

Страница 24: ...time as a part of the delivery The cables may also be included with third party items that are used with the K Sync system All electronic installations and corresponding wiring must be in accordance with the vessel s national registry and corresponding maritime authority and or classification society Note It is very important that all cables are properly installed and correctly terminated Observe ...

Страница 25: ... D K Sync Unit The Ethernet cable between the Synchronization Unit and the Hydrographic Work Station can either be connected directly between the two units or via an Ethernet switch The Ethernet switch is used if you wish to import depth data to the K Sync Note The Hydrographic Work Station is not a standard part of the K Sync delivery The display is not a standard part of the K Sync delivery Cabl...

Страница 26: ...net cable From Hydrographic Work Station to K Sync Unit CAT5 E STP Shielded Twisted Pair C8 The Ethernet cable between the Synchronization Unit and the Hydrographic Work Station can either be connected directly between the two units or via an Ethernet switch The Ethernet switch is used if you wish to import depth data to the K Sync C9 Ethernet cable From the Ethernet switch to the local area netwo...

Страница 27: ...ext The mains voltage for the unit is 110 to 240 VAC It is connected to the vessel mains or to an uninterruptible power supply UPS The unit is also connected to vessel ground Two cables are used AC mains cable This cable is supplied with the K Sync delivery Ground cable The ground connection is made using a thick stranded or yellow green cable making a solid connection between the cabinet and the ...

Страница 28: ...edure Context Cables to connect are AC mains cable The mains voltage for the unit is 110 to 240 VAC This cable is supplied with the K Sync delivery Ground cable The ground connection is made using a thick stranded or yellow green cable making a solid connection between the cabinet and the bulkhead This cable is supplied with the K Sync delivery Ethernet cable The Ethernet cable must be provided by...

Страница 29: ...er Supply 3 Locate the connection for the grounding For the cabinet version connect the support bracket 4 Connect the Synchronization Unit to vessel ground 5 Locate the Ethernet connector 6 Connect the Ethernet cable from the Synchronization Unit to the Ethernet socket on the computer If the optional Ethernet switch is used make the Ethernet connection between the Synchronization Unit and the comp...

Страница 30: ...teristics of the signals that are used in the K Sync system Topics Signal naming conventions page 31 K Sync Signal Interface page 31 Logic states and their corresponding voltage levels page 32 Signals timing specification page 35 I O module configuration page 36 KONGSBERG K Sync Installation manual ...

Страница 31: ... Sync Transmitting Trig out To K sync Signal is active by default for the duration of the transmit pulse Trigger Sync in or CTS From K sync Signal causes sonar to ping RTT Ready to transmit RTS Ready to send CTS Clear to send K Sync Signal Interface K Sync controls pinging and receives status from the echo sounders via the signal interface and provides one output and two inputs for each echo sound...

Страница 32: ...n echo sounder fails to transmit three times in a row upon being triggered the echo sounder will assume that the echo sounder is no longer available The echo sounder is assumed to not be responding if it has not transmitted within 512 ms of trigger In this case it will be put into standby and the system will not be triggered by the Synchronizing Unit until the operator disables and re enables the ...

Страница 33: ...hen from the table above the signal active should be configured as active high Likewise an RS 232 signal that is specified to be active when voltage is 3V should be configured as active low as RS 232 signals are inverted internally RS 232 and TTL signal active Ready to transmit RS 232 if negative voltage 12V to 3V denotes active then the signal is active high TTL if 5V denotes active then the sign...

Страница 34: ...Transmitting goes high Transmit is indicated in the trigger plot by the grey spike 4 Ping delay i e time from trigger to actual transmit 5 Pulse width of trigger pulse generated by K Sync 6 Ready to transmit RTT goes high again i e the ping cycle is complete The state plot turns dark again 7 The ping cycle For echo sounders that do not have a transmitting signal the Synchronizing Unit will not be ...

Страница 35: ...Trigger display resolution horizontal 50 ms Trigger display width 10 30 or 60 seconds Max trigger groups 16 Signal latency feedback signal to trigger output 40 μs Timing resolution of synchronization calculated or fixed trigger mode 4 ms Available signal inputs 12 24 36 or 48 Max systems trigger outputs 4 8 12 or 16 Supported signal levels inputs and outputs TTL and RS 232 Supported depth datagram...

Страница 36: ...e assigned to one or more echo sounders in the software thus it is possible to use one feedback signal for several systems in special applications Tip It is important to be methodical during installation as there are several steps that needs to be performed and each step needs to be done right for the system to function as a whole The approach that should be followed is to configure one system at ...

Страница 37: ...ermine signal properties page 42 Interface from echo sounder to K Sync I O module page 45 I O module adjusting page 47 K Sync interface to EM 122 EM 302 and EM 710 page 50 K Sync interface to EM Processor Unit page 51 K Sync interface to EA400 and EA600 interface page 52 K Sync interface to EA440 and EA640 interface page 54 Cable drawings and specifications page 56 Cable layout and interconnection...

Страница 38: ...tive This column specifies the input signal to the sensor that will start the transmit sequence of the sensor The signal can either be defined as RS 232 or TTL and as an active high or low signal Pulse properties These settings define the output pulse from K Sync The trigger condition selects between rising and falling edge the pulse length sets the duration of the output pulse RS 232 logical leve...

Страница 39: ... Active High TTL Active Low RS 232 Active High Falling Edge 50 ms EA400 600 No RTT available TTL Active Low TTL Active High Rising Edge 50 ms SBP 120 300 300 MKII RS 232 Active Low TTL Active Low TTL Active Low Rising Edge 50 ms EM 3002 RS 232 Active Low TTL Active Low RS 232 Active High Falling Edge 10 ms 1 Supports all models of EM 2040 EM 712 EM 304 and EM 124 2 Supports all models of EA 640 EA...

Страница 40: ...and their characteristics Context Note The echo sounders must be powerless during cable connection Multiple hydroacoustic systems operating simultaneously on the same vessel may cause interference In order to minimize this interference the K Sync Unit system can be used All echo sounders that will be synchronized are required to have at least a trigger input signals in order to be controlled by K ...

Страница 41: ... File and Backup config files Table 5 Signal interface table Inputs from echo sounder Trigger output to echo sounder Pulse properties I O Mo dule no Make and model Ready to transmit Signal Active Trans mitting Signal Active Signal setting Signal active Trigger condition Pulse length 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Cable layout and interconnections ...

Страница 42: ...ther echo sounders If the echo sounder you want to configure is not available see document 342435 K Sync Operator Manual for echo sounder setup instructions 2 Verify that the signals to be configured have been set up with the correct terminal ID in the K Sync Application Installation Settings dialog 3 Enable the echo sounder being configured in the K Sync application That is the Enabled checkboxes...

Страница 43: ...n 3 Go to Settings Installation Installation Settings and set Pulse length to 500 ms in the Trigger output to echo sounder dialogue box 4 In Inputs from echo sounder feedback signals check off the Signals is available for Ready to transmit and Transmitting 5 Configure Settings Runtime Settings to use Trigger mode Fixed period And set Fixed period to 1000 ms 6 Observe the top right of the four LEDs...

Страница 44: ...be ready and waiting for a trigger pulse from synchronizing module 3 Observe the top left of the four LEDs the Ready to transmit in Is the LED on or off If on the echo sounder should be configured as Active high otherwise Active low 4 Confirm by setting the system up for transmitting once every second set the echo sounder up for Fixed period trigger every 1000 ms in Runtime Settings Does the LED c...

Страница 45: ...binet version A 6 large and 11 small PG nipples for sealed cable gland B 16 Digital I O modules numbered from bottom to top The K Sync cabinet holds up to 16 digital I O modules and 16 cable gland PG nipples thus 16 systems can be synchronized using K Sync Each I O module holds two 3 pin connectors with two termination blocks attached The termination blocks can be disconnected for easy access to t...

Страница 46: ... 6 Pin no Signal Description 1 Trigger Mandatory output from K Sync to the echo sounder telling the echo sounder when to transmit 2 Ground Mandatory 3 RTT CTS If available input to K Sync from the echo sounder when the echo sounder is ready for next trigger 4 Transmitting If available input to K Sync from the echo sounder when it is transmitting 5 Ground Mandatory 6 On Off Not used RTT Ready to tr...

Страница 47: ...ipple 4 Terminate the signal cable using the termination blocks attached to the I O module 5 Plug the termination block into the I O module I O module adjusting Caution Potentiometer are delicate components apply gentle pressure when turning Each pin of the I O module must be configure for each signal connection The I O module holds a number of dip switches potentiometers and LED lights that appli...

Страница 48: ...RS 232 or TTL dip switches 5 I O module signal connection pins A detailed description of the I O modules and the different values that can be applied is found in the following figure A colour print will be provided with the K Sync delivery attached on the inside of the top cover of the K Sync rack or cabinet Default values are TTL dip switch in left position Pull down small pot rotated fully clock...

Страница 49: ...342741 B 49 Cable layout and interconnections ...

Страница 50: ...elivery and must be provided by the installation shipyard A K Sync connectors B Looking into Male 9 pin D Subminiature connector C Looking into Female 9 pin D Subminiature connector Table 6 K Sync interface to EM 122 EM 302 and EM 710 K Sync EM x Pin no Signal Type Pin no 1 Trig out RS232 8 2 Ground 6 3 CTS Clear to send RS232 7 4 Trig in TTL 1 5 Ground 6 6 Not used KONGSBERG K Sync Installation m...

Страница 51: ...EM Processor Unit This connection allows synchronisation of the following Kongsberg Maritime echo sounders EM 124 EM 304 EM 712 EM 2040 The cable is not included with the delivery and must be provided by the installation shipyard A Connections on the K Sync IO Module B Connections on the EM Processor Unit interface RJ45 connector Note Pin 3 and 6 is used by Kongsberg Maritime only Cable layout and...

Страница 52: ...specifications Cable requirements may vary depending on the specific sonar you interface Please consult the installation manual of the equipment for specific cable requirements K Sync interface to EA400 and EA600 interface This connection allows synchronisation of the following Kongsberg Maritime echo sounders EA 400 EA 600 The cable is not included with the delivery and must be provided by the in...

Страница 53: ... Table 8 K Sync interface to EA400 and EA600 interface K Sync GBT I O card AUXILIARY Pin no Signal Type Pin no 1 Trig out RS232 13 2 Gnd 20 3 4 Trig in TTL 12 5 Gnd 20 6 Not used Cable layout and interconnections ...

Страница 54: ...ync interface to EA440 and EA640 interface This connection allows synchronisation of the following Kongsberg Maritime echo sounders EA 440 EA 640 The cable is not included with the delivery and must be provided by the installation shipyard A K Sync connectors B Looking into Male 9 pin D Subminiature connector C Looking into Female 9 pin D Subminiature connector KONGSBERG K Sync Installation manual...

Страница 55: ...e Pin no 1 Trig out RS232 8 2 Gnd 6 3 CTS Clear to send RS232 7 4 Trig in TTL 1 5 Gnd 6 6 Not used Cable specifications Cable requirements may vary depending on the specific sonar you interface Please consult the installation manual of the equipment for specific cable requirements Cable layout and interconnections ...

Страница 56: ... cable is used to connect any unit or device to AC mains supply The power cable is commercial It is normally used for 115 and 230 VAC The inline socket and the plug both comply to the IEC60320 standard A IEC13 line socket may be fitted with a locking device B CEE 7 7 male power plug C Live normally identified with Blue insulation D Neutral normally identified with Brown insulation E Ground normall...

Страница 57: ...ote There are substantial differences between countries nomenclature related to power plugs and sockets Observe local standards and regulations Minimum cable requirements Conductors 2 x 1 5 mm2 1 5 mm2 Ground Screen None Voltage 750 V Maximum outer diameter Defined by the plugs and or the cable gland Ground cable Correct grounding is essential for safe operation and maximum performance A Ground ta...

Страница 58: ... cables are available commercially in different lengths colours and categories Normally CAT 5E and CAT 6 cables are used in local area networks with bandwidths exceeding 100 Mbit Minimum cable requirements It is very important that high quality Ethernet cables are used You must use CAT 5E quality or better If you use cables with lower bandwidth capacity you will reduce the performance of the K Syn...

Страница 59: ... Out This signal is transmitted to the system that needs to be synchronized Trigger Out allows the system to transmit ping 2 Ground Mandatory This ground is connected to pin 5 inside the IO Module 3 RTT Ready to Transmit Ready to Transmit RTT is a return signal from the hydroacoustic system that is synchronized The Ready to Transmit RTT signal means that the hydroacoustic system is ready for the n...

Страница 60: ...e for easy access B Configuration board Unless otherwise specified this cable must be provided by the installation shipyard Cable specifications Cable requirements may vary depending on the specific sonar you interface Please consult the installation manual of the equipment for specific cable requirements KONGSBERG K Sync Installation manual ...

Страница 61: ...les This is to allow for vibration damping maintenance and measurement errors Always double check your measurements before taking any irreversible actions With a steel conduit the installation will satisfy the European Union regulations for electromagnetic compatibility EMC interference Without a steel conduit there is a risk of reduced performance Context Note The screen in cables must never be c...

Страница 62: ...5 Carefully remove the outer insulation from the required cable length Do not damage the screening Leave 12 mm of the screen exposed from the insulation cut off the remainder 6 Make sure that an ample length of the cable is available for maintenance and replacement 7 Cut the cable 8 Remove the insulattion on the shield in the cable 9 Cut the shield to just cover the seal 10 Remove the insulation o...

Страница 63: ...342741 B 63 Configuration of the K Sync application Configuration of K Sync is described in K Sync Operator Manual reg nr 342435 Configuration of the K Sync application ...

Страница 64: ...ly recommended Environmental requirements Storage temperature 0 to 40 C Operating temperature 0 to 40 C K Sync Unit Cabinet version Make and model K Sync Outline dimensions Height 521 mm incl connectors Width 400 mm Depth 210 mm Weight approx 15 kg Power requirements 110 to 240 Vac Power interrupts The use of uninterruptedly power supply UPS is highly recommended Environmental requirements Storage...

Страница 65: ...342741 B 65 Drawing file Topics 324131 K Sync Unit dimensions 19 rack version page 66 344459 K Sync Unit dimensions Cabinet version page 67 Drawing file ...

Страница 66: ...66 342741 B 324131 K Sync Unit dimensions 19 rack version Contact our support organization to obtain the source file s KONGSBERG K Sync Installation manual ...

Страница 67: ...342741 B 67 344459 K Sync Unit dimensions Cabinet version Contact our support organization to obtain the source file s Drawing file ...

Страница 68: ...25 Ethernet cable 58 connections ac power cable 56 vessel ground cable 57 CTS Clear To Send synchronization 59 D description K Sync 9 determine signal properties techniques for 42 Determine signals for interface 40 diagram connections 25 wiring 25 dimensions Synchronization Unit drawing cabinet version 67 Synchronization Unit drawing rack version 66 documents download from website 7 drawing ac pow...

Страница 69: ...tem interconnection cables 26 logic states voltage levels 32 M mains power cable 56 manual purpose 7 minimum requirements computer 17 N nettwork setup install SW 17 network configuration 18 network security 12 O offices support 14 outline dimensions drawing Synchronization Unit cabinet version 67 Synchronization Unit rack version 66 P plan cable 25 procedure installing the Synchronization Unit cab...

Страница 70: ...tem cables description 24 list 26 system description K Sync 9 T technical requirements computer 17 technical support offices 14 techniques for determine signal properties 42 timing signal specification 35 tools installation of system units 15 transmitting signal interface 31 trigger signal interface 31 trigger interface echo sounder 38 V vessel ground cable 57 voltage levels logic states 32 W wiri...

Страница 71: ......

Страница 72: ... 2021 Kongsberg Maritime ...

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