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RD4000 Locating System User Manual

Page 11

RD4000T10

The RD4000T10 features:

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LCD display

•

Ten-watt power output

•

Web-enabling capability enabling the features
to be upgraded using the dedicated Web site

•

Multi-meter functions for checking integrity of
cables before and after fault finding

•

Up to 16 locate frequencies

•

One or two induction frequencies

•

FaultFind as standard

•

Compatibility with the Radiodetection
Pipeline Current Mapper (PCM)

•

Compatibility with Absolute Current Identification- Multi (ACID-M)

•

Auto backlight (activated when a key is pressed).

Layout of controls and connectors

(1) Sounder

(4) LCD display

(2)RS232 connector.

(5) External power supply and optional charging point

(3) Accessory connection socket

(6) Battery housing-release catch

Accessories

A wide range of RD4000 accessories is available and increases the usefulness and scope of the system.
Accessories and sondes are described later in the manual.

Auto backlight

The RD4000 receiver features an auto backlight, which automatically illuminates the display in poor lighting
conditions. The backlight cannot be manually switched on or off.

The T10 transmitter backlight automatically illuminates when a key is pressed, regardless of the ambient light
level. The light will stay illuminated for 30 seconds, unless further key presses are made, in which case it will
extinguish 30 seconds after the last key press.

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RD4000T10

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Содержание RD4000T10

Страница 1: ...RD4000 Locating System User Manual Rev 3 October 2002 ...

Страница 2: ...RD4000 Locating System User Manual ...

Страница 3: ...ries 19 Fitting and replacing alkaline batteries 19 Rechargeable battery pack 19 Fitting the rechargeable pack 19 Charging rechargeable batteries 20 Battery low level warning 21 RD4000T3 RD4000T3F AND RD4000T10 TRANSMITTERS 22 Power supply 22 Internal alkaline batteries 22 Rechargeable battery pack optional 22 External 12 volt battery supply 22 Mains operated battery charger eliminator 22 Battery ...

Страница 4: ...g EMS markers 43 Dual mode locating 43 Single mode locating 44 RD4000 RECEIVER INFORMATION CODES 45 RD4000T3 RD4000T3F AND RD4000T10 TRANSMITTER OPERATION 46 Applying the transmitter signal 46 Selecting the correct frequency 46 TRANSMITTER CONNECTION METHODS 46 Direct connection 46 Connecting the leads 47 Adjusting the signal current level 47 Confirming a good connection 47 Transmitter clamps 47 C...

Страница 5: ...ntenna 59 Miniature hi gain stethoscope 59 CD stethoscope 59 Submersible double depth antenna 60 Tips for using the submersible double depth antenna 60 TRANSMITTER ACCESSORIES 61 Clamps 61 Connecting the clamp 61 TYPES AND RANGE OF TRANSMITTER CLAMPS 62 Standard signal clamp 62 Small signal clamp 62 Current Direction CD and Current Measurement CM clamp 62 Plug connector 62 When to use a plug conne...

Страница 6: ...on declares that this receiver is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC Transmitter RD4000T3 RD4000T3F and RD4000T10 USA This device complies with Part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including...

Страница 7: ...roduct may be protected by the following granted patents and other pending applications US 5 260 659 US 5 576 973 US 5 920 194 US 6 127 827 US 6 268 731 EP 0 457 809 EP 0 758 457 EP 0 769 153 The Microsoft Windows operating system is a registered trademark of Microsoft Corporation in the United States and or other countries CONTACT INFORMATION When reporting any problem to your Radiodetection Deal...

Страница 8: ...parked cars Keep a two metre six feet distance from these objects when taking critical measurements such as depth and current Standing too close to the receiver if you are wearing steel toe capped boots may also affect the readings WARNING This equipment is NOT approved for use in areas where hazardous gases may be present WARNING When using the RD4000 receiver reduce audio level before using head...

Страница 9: ...x This has the same features as the standard receiver but with the addition of an Electronic Marker System EMS antenna for locating marker balls Both receivers feature web enabling capability Layout of controls and connectors 1 Display 2 Keypad 3 Gain paddle 4 Receiver blade 5 Accessories housing A Accessory connector B RS232 connector C Headphone socket 6 Battery housing 7 Sounder Notes 1 The acc...

Страница 10: ...ltFind RD4000T10 Fully web configurable transmitter RD4000T3 The RD4000T3 features LED display Three watt power output Three locate frequencies One induction frequency Layout of controls and connectors 1 Sounder 5 External power supply and optional 2 RS232 connector charging point 3 Accessory connection socket 6 Battery housing release catch 4 LED function indicators RD4000T3F The RD4000T3F is ide...

Страница 11: ... LCD display 2 RS232 connector 5 External power supply and optional charging point 3 Accessory connection socket 6 Battery housing release catch Accessories A wide range of RD4000 accessories is available and increases the usefulness and scope of the system Accessories and sondes are described later in the manual Auto backlight The RD4000 receiver features an auto backlight which automatically ill...

Страница 12: ... or transmitter is due Link to the Radiodetection Frequently Asked Questions FAQ page Change the transmitter or receiver language Download updated firmware software The Web enabling features are available through the Radiodetection Website at http www radiodetection com PC requirements You will need a personal computer PC or laptop computer running Microsoft Windows 98 Windows 2000 Windows NT or X...

Страница 13: ... computer Switch on the computer and receiver or transmitter access the Internet and in the address bar type http engineering radiodetection com You will also find a link to this site at Radiodetection com Once you are connected to the website follow the on line instructions for using the site Data logging During a survey depth and current can be logged from the RD4000 receiver to an external data...

Страница 14: ... push the paddle clockwise A bar graph reading of approximately 50 is suitable for most uses The gain paddle has a secondary function of menu scrolling when the menu key is pressed 4 Depth and measurement key When pressed displays depth to target line and the current Also used for data logging when an external data logger is attached 5 Antenna select key Press and release the peak null single key ...

Страница 15: ...ion Displays selected frequency 15 Electronic Marker System EMS mode symbol RD4000 MRx option only The EMS symbol is displayed when EMS is selected 16 Radio mode symbol This symbol is displayed when radio mode is selected 17 Power mode symbol This symbol is displayed when power mode is selected 18 Volume level Shows volume level off low mid high 19 Accessory indication The symbol is displayed when...

Страница 16: ... illuminate or extinguish in turn to indicate the selected output power level If the demanded output level can be achieved the LED s up to and including the one representing the demanded output level will illuminate and will remain on If the demanded output level cannot be achieved the LED representing the achieved output will illuminate and remain on The LED s between the achieved level and the r...

Страница 17: ...ed output signal The segments of the bargraph up to and including the one representing the demanded output level will be black and remain on The actual current or power output is numerically displayed below the bargraph 8 Numeric display Displays measurement value and measurement units 9 Live cable warning indication Flashes on and off if there are more than 30 volts on the line 10 Measurement uni...

Страница 18: ...to left when the transmitter is generating more than 5 watts 16 Numeric indicator Displays output frequency 17 HI VOLTS warning indicator Indicates that the transmitter is capable of outputting more than 30 volts When switched on the transmitter has HI VOLTS set to OFF and the transmitter cannot output more than 30 volts Use the transmitter menu to select HI VOLTS ON 18 Volume level Indicates the ...

Страница 19: ... batteries is fitted Keep the battery tray dry whilst changing the batteries To remove the battery pack tray place your fingers under the battery pack release catch and pull the battery pack towards you from the RD4000 housing Remove the batteries and dispose of them in accordance with local regulations Fit new batteries in accordance with the polarity diagram in the battery housing Insert the bat...

Страница 20: ...e manufacturer s instructions for operating the charger When charging is finished ensure that you re fit the rubber protection cover Note It is normal for the battery pack to become warm during charging RD4000 Rx Battery Charging LED Indications Under normal charging conditions the battery charge status indicator LED illuminates and is coloured red Once the batteries have finished charging the LED...

Страница 21: ...battery indicator black segments will extinguish in turn When only the bottom segment is visible it will start flashing on and off and eventually only the battery outline will be visible The outline will start to flash on and off and BAT will be displayed Shortly after this the receiver will shut off ...

Страница 22: ...harged from either a 12 volt supply or mains power supply and the transmitter can be operated whilst charging The rechargeable batteries are not user replaceable If a fault occurs with the rechargeable pack it must be returned to Radiodetection for repair External 12 volt battery supply The transmitter can be powered by a 12 volt vehicle battery A socket is provided in the battery pack housing for...

Страница 23: ...ng and replacing transmitter batteries Warning Do not mutilate puncture or dispose of batteries by placing them in a fire The batteries can burst or explode releasing hazardous chemicals Discard used batteries in accordance with the manufacturer s instructions and your local regulations Caution When replacing batteries always ensure that the correct type of batteries are fitted Keep the battery tr...

Страница 24: ...to flash for sometime In the case of a hot battery pack the LED will turn red once the battery pack has cooled down indicating that the batteries are charging normally The LED will turn green once charging is finished If the LED is flashing red green because the batteries are completely discharged the LED will continue to flash red green and trickle charge the batteries until they have reached a p...

Страница 25: ...and release it Once an option is displayed press the on off key to select it Menu options are Line Sonde L S Select menu Use the gain paddle to select L S When L S is displayed press and release the on off key Use the gain paddle to select either line or sonde Press and release the on off key to confirm the selection and return the display to locate mode The appropriate line or sonde symbol is dis...

Страница 26: ...est the test takes approximately 30 seconds At the end of the test pass or fail will be displayed on the LCD Press and release the on off key to return to locate mode Selecting a frequency Switch on the unit Press the frequency key to select the required frequency Note Ensure that the receiver frequency is the same as that set on the transmitter Bandwidth Some frequencies are available in Narrow b...

Страница 27: ...osition but not its orientation Locating the cable pipe There are three techniques for locating pipes and cables They are Trace Pinpoint Sweep and search Trace Line tracing can be speeded up by switching the receiver to null response Move the receiver left and right while walking along the path of the line to observe the null directly over the line and a peak response to each side of the line As y...

Страница 28: ...round repeat b e Repeat c f Mark the position and direction of the line Repeat the steps of the procedure to increase pinpoint accuracy a b c Switch to null response mode and move the receiver to find the null position If the position of the peak and the null pinpoints correspond it can be assumed that the pinpoint is precise The pinpoint is not precise if the marks do not correspond but both mark...

Страница 29: ...power signals and a grid search should be made in both power and radio modes Sweep and search inductive search An inductive search procedure is the most certain technique for locating unknown lines This type of search requires a transmitter and receiver and two people This type of search is referred to as a two person sweep Before starting the sweep define the area of search and the probable direc...

Страница 30: ... of the search area Taking depth readings Electronic depth measurement to a line is possible down to depths of 3m 10ft when the line has been energized with the transmitter signal Passive signals on lines are not suitable for measuring depth because accuracy is questionable due to the passive signal being present on more than one line Measurement is to the centre of the pipe or cable Depth of cove...

Страница 31: ... the receiver 0 5m 18 inches above the ground and repeating the measurement If the measured depth increases by the same amount it is a good indication that the depth measurement is correct Depth measurement should be accurate to 5 if conditions are suitable However you may not always know if the conditions are suitable so the following techniques should be used to check critical readings Check tha...

Страница 32: ...ceiver with the blade horizontal and pointing towards the front of the transmitter and approximately five metres 16 feet from the front of the transmitter Switch the receiver on Select the same induction frequency as is selected on the transmitter Select sonde mode on the receiver Refer to illustration 2 Move the receiver from left to right and when the maximum signal is obtained place the receive...

Страница 33: ...n or abrupt current change indicates that the line or its condition has changed In congested areas where there is more than one line the receiver may sometimes detect a stronger signal from an adjacent line to which the signal has coupled or shares common grounding because it is nearer the surface Although current measurement compensates for depth signal response will be less as the depth increase...

Страница 34: ...rement is a function of depth it is only available in the locating modes It is also available with Current Direction CD clamps Current direction CD Understanding CD Current direction recognition is a feature that helps to positively identify a line at points distant from the application of the signal It is highly desirable if not essential for positive identification of long distance lines These l...

Страница 35: ...me CD frequency To select the CD frequency proceed as follows RD4000T10 transmitter Connect the transmitter to the conductor to be located either by direct connection or by the use of a CD clamp Switch the transmitter on Select Locate mode Press the frequency key until the CD frequency is displayed CD plus frequency CD is a combination of two frequencies a CD frequency and a locate frequency The t...

Страница 36: ...on by returning to C which is the last point at which a CD reading was achieved and performing a CD reset the response at C will be equivalent to that of A In most cases the phase angle shift does not occur until many miles kilometres from the transmitter and in some cases a CD rest may only be required every 20 kilometres 14 miles When to perform a CD reset After connecting the transmitter signal...

Страница 37: ...establish the current direction The arrow will point back toward the transmitter if the signal has coupled to it from the target line Because the cable shields are bonded and the outward CD signal travels over the bond CD is only effective on multiple cable installations as far as the following splice box Using a CD clamp or stethoscope When using either of these accessories it is important to RES...

Страница 38: ...ocket Clip the red connection lead to the cable or cable sheath ensuring that the area around the connection is clean Extend the black connection lead as far away as possible and at 900 to the probable route of the target cable and clip the connector to the ground stake Note Always connect the black connection lead to a ground stake and not a water pipe or buried cable as these may carry the signa...

Страница 39: ...ncy key repeatedly until the FF LED is illuminated Setting FF on the Transmitter RD4000T10 Switch the transmitter on by pressing the on off key Press the on off key again to select menu Press the up arrow or down arrow to select FAULTFIND mode Press the on off key again to confirm selection The FaultFind screen is displayed indicating that the FaultFind signal is being applied to the cable Press t...

Страница 40: ...cally recognise that an A frame has been connected and the FaultFind screen will be displayed see illustration Receiver FF display A frame connected to the RD4000 receiver 1 Bargraph disabled in FF 2 Fault direction indication arrow 3 Measurement units 4 Battery level indicator 5 FaultFind signal strength 6 FaultFind frequency 7 A frame connected indicator 8 Volume level 9 Locate signal gain level...

Страница 41: ... the dB reading and keep it for reference If there is a single fault on the cable it will be approximately the same dB value as the reference reading Tip To establish how often to take readings on the cable move away from the ground stake and take further readings until the arrow has difficulty in locking and the dB reading is low Measure the distance that the receiver is now away from the ground ...

Страница 42: ...of the A frame is now directly over the fault Mark the ground to show the position of the fault Find the maximum dB reading in front of the fault by pushing the A frame into the ground at small intervals Note the dB reading If the reading is approximately the same as the reference reading you can assume that there is only one fault If the reading is less than the reference reading keep surveying t...

Страница 43: ...0 kHz The RD4000M option is compatible with 3M and ScotchMark EMS markers Omni markers pegs or any other electronic marker tuned to the accepted frequency Selecting EMS mode Press the on off key to switch the receiver on Fold down the EMS antenna The receiver will enter display mode and display the last type of marker that was selected Changing EMS marker type Press the frequency key to select the...

Страница 44: ... of the conductor to ensure that all markers are located When a marker is located the volume on the receiver will increase and the bargraph reading will increase When you go past the marker the volume and bargraph reading will decrease 9 Use the gain paddle to set the receiver sensitivity to low and pinpoint the marker 10 Use the left and right arrows to locate the conductor Note If you cannot loc...

Страница 45: ...enna The receiver may be under overhead power cables Take a depth reading in another location 07 While computing the depth a signal has caused one or both antennas to clip thus invalidating the depth reading Repeat the measurement 010 An accessory that is not supported by the current receiver software has been connected to the receiver The receiver requires a software update before the accessory c...

Страница 46: ...nal to adjacent lines make it more difficult to identify the target line and will drain the batteries on the transmitter unnecessarily Do not connect the transmitter to cables carrying live voltages Always use a signal clamp or plug connector Selecting the correct frequency for the job has an element of trial and error attached to it There can be no hard and fast rules but a few guidelines are giv...

Страница 47: ... transmitter on only after direct connection and ground connection have been made Adjusting the signal current level Select the required frequency Press the up and down arrows to select the required output The optimum output power level for a particular set of circumstances is best found by experience and trial and error Confirming a good connection A tone change from the transmitter sounder indic...

Страница 48: ...without access to the line and is very simple and quick to apply The signal can induce onto nearby lines as well as the target A substantial part of the signal strength is lost in the surrounding soil The receiver should not be used within a minimum of 30 paces from the transmitter and often much further if high power is being used from the transmitter Induction should not be used to apply a signa...

Страница 49: ...f the values of the frequencies require changing when the unit is in service the unit must be returned to Radiodetection for re configuration To select a frequency ensure that an accessory is plugged into the transmitter The induction mode LED will extinguish Press the frequency key to select the next available frequency The selected frequency LED will illuminate Further key presses cycle through ...

Страница 50: ...To switch the unit off press the on off button until the LCD display clears Checking battery level The battery level indicator is situated at the top right hand side of the display and is made up of four segments As the remaining battery life reduces the segments change colour from black to clear to indicate the amount of battery life left When there is one black segment left the Almost Discharged...

Страница 51: ...ged into the transmitter Switch the transmitter on Induction mode is automatically selected and the induction mode symbol is displayed There can be two induction frequencies available in the RD4000T10 Use the frequency key to select the induction frequency required Using the VΩ function In locate mode the line output voltage can be measured by pressing and holding down the VΩ key In measure mode D...

Страница 52: ...ation lead into the RS232 socket Plug the female end of the cable into the computer serial port normally COM 1 Switch on the computer and transmitter access the Internet and in the address bar type http engineering radiodetection com You will also find a link to this site at Radiodetection com Once you are connected to the website follow the on line instructions for using the site Transmitter erro...

Страница 53: ...appens TRIPPED will be displayed on the screen and all transmitter functions will be disabled To reset the transmitter proceed as follows 1 Switch off the transmitter 2 Remove the power source from the cable 3 Disconnect the transmitter from the cable 4 Remove the battery housing 5 Using a pen press the reset switch ensuring that it clicks when pressed The reset switch is located in the transmitte...

Страница 54: ...g each cable in turn Signal strength response shown on the receiver display should be noted for each cable When to use clamps Clamps can be used where Several cables or pipes run in close proximity to each other A cable or pipe is accessible at an inspection hole or manhole Note The standard clamp cannot be used with CM or CD A special CM CD clamp is available Connecting the clamp Put the clamp co...

Страница 55: ... A sonde transmitter is a small self contained signal transmitter designed for insertion into non metallic ducts drains or sewers so that it may be located and traced with a receiver A wide range of transmitting sondes is available to suit different applications In addition to tracing non metallic pipes and ducts sondes can be used to pinpoint joints in iron gas pipes locate leaks in plastic water...

Страница 56: ...ance Hold the receiver vertical directly over the sonde with the antenna in line with the sonde Adjust the receiver sensitivity so the bargraph reads between 60 and 80 The sonde radiates a peak field from the centre of its axis with a ghost signal at each end of the peak Move the receiver a little way behind and then in front of the axis of the sonde to detect the ghost signals Finding the two gho...

Страница 57: ... method Pinpoint the sonde Move the receiver in front of the sonde and still with the antenna in line with it increase sensitivity to find the peak of the ghost signal Move the receiver to behind the sonde ensuring that the receiver blade is always in line with the sonde Find the null positions A and B Measure the distance between them and multiply by 0 7 to give an approximate depth measurement T...

Страница 58: ...ife for daily use in all conditions Super sonde A particularly rugged sonde for use in deep sewers FlexiTrace The FlexiTrace is a traceable plastic covered fibreglass rod incorporating wire conductors and is used for locating small diameter non metallic pipes to a depth of to 3 metres 10 feet The FlexiTrace can be inserted into a pipe or duct as small as 12 mm 0 5 inch internal diameter with a min...

Страница 59: ...osed It is particularly useful for identifying heavy cables lying in a tray where it is not possible to fit a clamp The concave detector head on the end of the insulated flexible gooseneck is placed firmly against the cable to be identified If there are a number of cables the stethoscope antenna will give the strongest response from the cable to which the transmitter signal has been applied Small ...

Страница 60: ...ctive communication between the operator with the receiver and the diver with the antenna Alternatively the antenna can be fastened to the end of a non metallic boom from a barge and lowered to the riverbed or seabed How to use a submersible double depth antenna Apply the transmitter signal to the target line at an access point on the shore The submersible antenna line for tracing the line underwa...

Страница 61: ...AMPING AROUND A POWER CABLE ENSURE THAT THE CLAMP IS CONNECTED TO THE TRANSMITTER AT ALL TIMES The clamp may buzz or vibrate if it is placed around a power cable that has significant net current flow This is normal and does not harm the equipment The target line will carry the strongest signal The other lines will carry the weaker return signal If the system comprises only two conductors they may ...

Страница 62: ...nd 33kHz signal to a target cable in a pedestal or other place with limited space The clamp is suitable for cables up to 5cm 2 inch diameter Current Direction CD and Current Measurement CM clamp The CD CM clamp plugged into the accessory socket of the transmitter enables CD and CM signals to be applied to individual cables WARNING The transmitter must only be connected to live services using the a...

Страница 63: ...are trained in the safety precautions related to working on live cables When to use a live cable connector The live cable connector applies an 8kHz 33kHz tracing signal safely to live low voltage cables The live cable connector is used to trace and identify cables and locate simple cable faults by connecting directly to a live conductor at a domestic cut out street lamp junction box or substation ...

Страница 64: ... located separately Proceed as follows Perform a sweep of the area to find the position and number of conductors in the area Map the direction in which the conductors are going To trace the lines Select induction mode on the transmitter Select the same frequency as on the receiver Place the transmitter on its side and in line with a conductor Ensure the conductor is directly below the transmitter ...

Страница 65: ...far from the target line as possible and away from other buried lines Avoid using existing structures for ground connections other buried lines may be bonded to them A bad ground connection or just laying the ground lead on the surface at right angles to the line may result in less coupling than a good ground provided long distance tracing is not required Manhole cover as ground Sometimes when loc...

Страница 66: ...ines The problem sometimes occurs when return signals appear stronger than on the target line usually because the target line is deeper than the line carrying the return signal or the return path may be a better electrical conductor than the target line Applying a double ended transmitter connection is a useful technique for positively tracing and identifying a target line in a situation such as a...

Страница 67: ...ating System User Manual Page 67 TECHNICAL SPECIFICATIONS The following pages contain the technical specifications for the RD4000 T3 and T3F transmitter RD4000 T10 transmitter and the RD4000 Rx and MRx receivers ...

Страница 68: ...RD4000 Locating System User Manual Page 68 ...

Страница 69: ...ncies from RD standard range 440Hz 200kHz factory configurable FaultFind Output RD4000T3F Only FaultFind frequency 8 192kHz 8Hz composite signal compatible with existing Radiodetection fault finding equipment FaultFind Voltage 120V at 8mA maximum Audio Indication Transmitter On 1 second tone at switch on Connection Quality Sliding Tone from 40 400Hz lower tone equals more current on line i e bette...

Страница 70: ...ed to 1W to comply with current legislation Induction Performance Output adjustable in four steps 25 50 75 and 100 At 45kHz and above the output power is limited to 1W to comply with current legislation Batteries 12 off LR20 D Alkaline 1 5V cells 8 hours continuous life at maximum output power 3W at 20ºC External 12V input socket for external power supply Optional rechargeable pack External Connec...

Страница 71: ...they are factory configured Note Not all frequencies are available for all modes and accessories some accessories will place restrictions upon the band of frequency available for use e g signal clamps FaultFind Output FaultFind Frequency 8 192kHz 8Hz composite signal compatible with existing Radiodetection fault finding equipment other FaultFind locate frequencies may be available at a later date ...

Страница 72: ... current legislation Induction Performance Output adjustable in four steps 25 50 75 and 100 At 45kHz and above the output power is limited to 1W to comply with current legislation Batteries 12 off LR20 D Alkaline 1 5V cells Optional High Capacity Rechargeable battery pack Battery Life Power output Battery life alkaline cells at 200C and continuous use 10W 4 hours 5W 15 hours 1W 24 hours External C...

Страница 73: ...g Signal Strength Line Depth Sonde Depth Line signal current Gain Level Operating Mode Line sonde mode Peak Null Single mode Left Right direction arrows Battery Status Speaker Volume CD direction arrows Accessory connected Audio Indication Audio signal output through water resistant speaker or optional headphones Search Antennas 2 x dual wound horizontal and 1 vertical Antenna Configurations Singl...

Страница 74: ...n of any 1 of 6 marker types buried to a depth of 1 4m Detection of large deep markers to a depth of 3m Bar graph and variable pitch tone to indicate signal strength Manual EMS Gain Control High Low Dedicated Marker Detection Dual Mode Operation Narrow Band Cable Location Null Mode only combined with Marker Ball Detection Marker Types Application Colour Frequency Power Red 169 8 kHz Water Blue 145...

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