ODIM HP Manual-Overside

DOCUMENT FRONT SHEET
ODIM AS
Post Box 193
N-6069 Hareid
Telephone: +47 70 01 33 00
Telefax: +47 70 01 33 01
http://www.odim.no
Enterprise No:
NO 988 357 359 VAT
Document Category: Document no: ODIM order no: Total pages:

User Manual 222682 111
00 21.01.09 Preliminary LL
Rev Date Reason for issue Prepared Checked Approved
LARS for ROV

Overside System
SWL 12 Te
USER MANUAL
This document is the property of ODIM AS and is not to be reproduced or disclosed to any party without the written consent of ODIM AS
Project no. 222682
LARS for ROV Overside System
User Manual – Revision 00
Table of contents
1 INTRODUCTION ...................................................................................................................................................... 6
1.1 SAFETY PRECAUTIONS ........................................................................................................................................ 7
2 SYSTEM AND TECHNICAL DESCRIPTION ..................................................................................................... 8

2.1 GENERAL ........................................................................................................................................................... 10
2.1.1 Drawing references for the system ..................................................................................................... 10
2.2 ROV WINCH....................................................................................................................................................... 11
2.2.1 Drawing references for ROV winch..................................................................................................... 15
2.3 ROUTING SHEAVE.............................................................................................................................................. 16
2.3.1 Drawing references for routing sheave .............................................................................................. 17
2.4 OUTHAULER SHEAVE......................................................................................................................................... 18
2.4.1 Drawing references for Outhauler sheave ......................................................................................... 20
2.5 A-FRAME AND DOCKING HEAD.......................................................................................................................... 21
2.5.1 Drawing references for A-frame with Docking head ........................................................................ 24
2.6 HYDRAULIC POWER UNIT .................................................................................................................................. 25
2.6.1 Drawing references for the Hydraulic power unit ............................................................................. 28
2.7 CONTROL SYSTEM ............................................................................................................................................ 29
2.7.1 Human Machine Interface ..................................................................................................................... 30
3 FUNCTIONALITY OVERVIEW ............................................................................................................................ 31

3.1 GENERAL ........................................................................................................................................................... 31
3.2 ROV WINCH....................................................................................................................................................... 31
3.2.1 Modes of operation ................................................................................................................................ 31
3.2.1.1 Standby mode ....................................................................................................................................................... 31
3.2.1.2 Normal mode ......................................................................................................................................................... 31
3.2.1.3 Latched mode........................................................................................................................................................ 31
3.2.1.4 Active Heave Compensation mode ................................................................................................................... 32
3.2.1.5 Auto Depth ............................................................................................................................................................. 32
3.2.2 Emergency and remote operation ....................................................................................................... 33
3.2.3 Spooling ................................................................................................................................................... 33
3.2.4 Use motor encoder ................................................................................................................................. 33
3.2.5 Gear cooling ............................................................................................................................................ 33
3.2.6 Motor controller ....................................................................................................................................... 34
3.3 OUTHAULER SHEAVE......................................................................................................................................... 34
3.3.1 Local and remote operation .................................................................................................................. 34
3.4 A-FRAME AND DOCKING HEAD.......................................................................................................................... 34
3.4.1 Local and remote operation .................................................................................................................. 34
3.4.2 A-frame tilt................................................................................................................................................ 34
3.4.3 A-frame telescope .................................................................................................................................. 34
3.4.4 A-frame work platform ........................................................................................................................... 34
3.4.5 A-frame Anti Collision System ............................................................................................................. 35
3.4.6 Docking head positioning and damping ............................................................................................. 35
3.4.7 Docking head rotation ............................................................................................................................ 35
3.4.8 Docking head lock .................................................................................................................................. 35
3.4.9 Docking head damping ring .................................................................................................................. 35
3.5.1 Emergency and remote operation ....................................................................................................... 36
Page 2
Project no. 222682
3.5.2 High system pressure ............................................................................................................................ 36

3.5.3 Override HPU run signal ....................................................................................................................... 36
3.5.4 Override.................................................................................................................................................... 36
3.5.5 Oil cooler .................................................................................................................................................. 37
3.5.6 Power management system ................................................................................................................. 37
3.6 EMERGENCY STOP BUTTONS............................................................................................................................ 37
4 THE RADIO REMOTE........................................................................................................................................... 38
4.1 GENERAL ........................................................................................................................................................... 39
4.2 CONTROL STATION AND LCD DISPLAY ............................................................................................................ 39
4.3 A-FRAME ............................................................................................................................................................ 40
4.4 DOCKING HEAD.................................................................................................................................................. 41
4.5 WINCH................................................................................................................................................................ 42
5 THE OPERATION PANEL ................................................................................................................................... 43
5.1 SYSTEM ............................................................................................................................................................. 44
5.3 EMERGENCY STOP ............................................................................................................................................ 46
5.4 DOCKING HEAD.................................................................................................................................................. 46
5.5 GRAPHICAL USER INTERFACE .......................................................................................................................... 47
5.6 WINCH................................................................................................................................................................ 47
6 THE GRAPHICAL USER INTERFACE ............................................................................................................. 49

6.1 GENERAL ........................................................................................................................................................... 49
6.1.1 Starting and stopping the application ................................................................................................. 50
6.1.2 Color coding of devices ......................................................................................................................... 50
6.1.3 Command buttons .................................................................................................................................. 50
6.1.4 Changing alarm limits ............................................................................................................................ 51
6.1.5 Overriding and inhibiting alarms .......................................................................................................... 52
6.1.6 Using the keypad .................................................................................................................................... 52
6.2 MAIN VIEW ......................................................................................................................................................... 53
6.2.1 HPU........................................................................................................................................................... 54
6.2.1.1 HPU dialogue box................................................................................................................................................. 55
6.2.1.2 Pump dialogue box............................................................................................................................................... 57
6.2.1.3 HPU oil cooler dialogue box ............................................................................................................................... 58
6.2.2 Winch ........................................................................................................................................................ 59
6.2.2.1 Winch dialogue box .............................................................................................................................................. 60
6.2.2.2 Winch encoder dialogue box .............................................................................................................................. 62
6.2.2.3 Winch gear oil cooler dialogue box ................................................................................................................... 63
6.2.2.4 Winch HNC dialogue box .................................................................................................................................... 65
6.2.2.5 Spooling device dialogue box............................................................................................................................. 67
6.2.2.6 Load cell dialogue box ......................................................................................................................................... 69
6.2.3 A-frame and Docking head ................................................................................................................... 70
6.2.3.1 A-frame dialogue box ........................................................................................................................................... 71
6.2.3.2 Docking head dialogue box ................................................................................................................................ 73
6.2.3.3 Docking head lock dialogue box ........................................................................................................................ 75
6.2.3.4 MRU coordinates dialogue box .......................................................................................................................... 76
6.2.4 Auto Depth ............................................................................................................................................... 78
6.2.5 Heave monitoring ................................................................................................................................... 78
Page 3
Project no. 222682
6.3 COMMUNICATION VIEW ..................................................................................................................................... 79

6.4 ALARM VIEW ...................................................................................................................................................... 80
6.4.1 List of alarms ........................................................................................................................................... 82
6.4.1.1 HPU Alarms ........................................................................................................................................................... 82
6.4.1.2 HPU Pump Alarms ............................................................................................................................................... 82
6.4.1.3 HPU Oil Cooler Alarms ........................................................................................................................................ 82
6.4.1.4 Winch Alarms ........................................................................................................................................................ 82
6.4.1.5 Encoder Alarms .................................................................................................................................................... 82
6.4.1.6 Gear Oil Cooler Alarms ....................................................................................................................................... 83
6.4.1.7 HNC Alarms ........................................................................................................................................................... 83
6.4.1.8 HNC Motor Alarms ............................................................................................................................................... 83
6.4.1.9 Spooling Device Alarms ...................................................................................................................................... 83
6.4.1.10 Load Cell Alarms .............................................................................................................................................. 83
6.4.1.11 A-Frame Alarms ............................................................................................................................................... 83
6.4.1.12 LARS Alarms .................................................................................................................................................... 84
6.4.1.13 Regulator Alarms ............................................................................................................................................. 84
6.4.1.14 MRU Alarms ...................................................................................................................................................... 84
6.4.1.15 Radio remote Alarms ....................................................................................................................................... 84
6.5 TREND VIEW ...................................................................................................................................................... 85
6.6 SETTINGS........................................................................................................................................................... 86
6.6.1 Hydraulic power unit settings ............................................................................................................... 86
6.6.1.1 Oil temperature – analogue 4-level alarm settings ......................................................................................... 86
6.6.1.2 Oil temperature – cooler settings ....................................................................................................................... 86
6.6.2 A-frame settings...................................................................................................................................... 86
6.6.2.1 Tilt position – analogue 4-level alarm settings ................................................................................................ 86
6.6.2.2 Telescope position – analogue 4-level alarm settings ................................................................................... 86
6.6.3 Winch settings ......................................................................................................................................... 87
6.6.3.1 Main line pressure – analogue 4-level alarm settings ................................................................................... 87
6.6.3.2 Boost line pressure – analogue 4-level alarm settings .................................................................................. 87
6.6.3.3 Load cell – analogue 4-level alarm settings .................................................................................................... 87
6.6.3.4 Gear oil temperature – analogue 4-level alarm settings ............................................................................... 87
6.6.3.5 Spooling device position – analogue 4-level alarm settings ......................................................................... 87
6.6.3.6 Gear oil temperature – cooler settings ............................................................................................................. 87
7 THE LOCAL CONTROL AND EMERGENCY OPERATION PANELS ....................................................... 88

7.1 LOCAL OPERATION OF THE WINCH SPOOLING DEVICE .................................................................................... 88
7.2 LOCAL OPERATION OF THE OUTHAULER SHEAVE............................................................................................ 88
7.3 EMERGENCY OPERATION OF THE HYDRAULIC POWER UNIT ........................................................................... 88
7.3.1 Boost pumps ........................................................................................................................................... 89
7.3.2 Main pumps ............................................................................................................................................. 90
7.4 EMERGENCY OPERATION OF THE WINCH ........................................................................................................ 91
7.5 LOCAL OPERATION OF THE A-FRAME AND DOCKING HEAD............................................................................. 92
8 OPERATION ........................................................................................................................................................... 93
8.1 PREPARATORY WORK ....................................................................................................................................... 93
8.2 NORMAL OPERATION ......................................................................................................................................... 93
8.2.1 Transfer of control .................................................................................................................................. 93
8.2.2 Start-up ..................................................................................................................................................... 94
8.2.3 Preparing to launch ................................................................................................................................ 94
Page 4
Project no. 222682
8.2.4 Launching over the side ........................................................................................................................ 95

8.2.5 Deployment to target depth .................................................................................................................. 96
8.2.6 Operation at target depth ...................................................................................................................... 97
8.2.7 Recovery to Safety Depth ..................................................................................................................... 98
8.2.8 Recovery to deck .................................................................................................................................... 99
8.2.9 Shut down .............................................................................................................................................. 100
8.3 LOCAL AND EMERGENCY OPERATION ........................................................................................................... 101
8.3.1 Start-up ................................................................................................................................................... 102
8.3.2 Preparing to launch .............................................................................................................................. 102
8.3.3 Launching over the side ...................................................................................................................... 103
8.3.4 Deployment to target depth ................................................................................................................ 104
8.3.5 Operation at target depth .................................................................................................................... 104
8.3.6 Recovery to surface ............................................................................................................................. 105
8.3.7 Recovery to deck .................................................................................................................................. 105
8.3.8 Shut down .............................................................................................................................................. 106
9 MAINTENANCE ................................................................................................................................................... 107
10 STORAGE AND PRESERVATION .............................................................................................................. 108

10.1 PREPARATIONS FOR STORAGE ....................................................................................................................... 108
10.2 STORAGE MAINTENANCE ................................................................................................................................ 108
APPENDIX A – OIL CHART ...................................................................................................................................... 109
APPENDIX B – BOLT PRETENSION TABLE ....................................................................................................... 111
Page 5
Project no. 222682
1 INTRODUCTION
This document provides the complete reference for the ODIM Launch and Recovery System
for ROV.
This reference contains the following main sections:

• Introduction and safety precautions.
• System and technical description.
• Functionality overview.
• Radio remote.
• Operation panel.
• Graphical User Interface.
• Local and Emergency control.
• Operation.
• Maintenance.
• Storage and preservation.
Errors and discrepancies within this manual should be reported to ODIM.
ODIM AS
N-6069 HAREID
NORWAY
Administrative
Telephone: +47 70 01 33 00
Telefax: +47 70 01 33 01
E-mail: [email protected]
Web: www.odim.no
Service
E-mail: [email protected]
Phone: +47 916 22 336
Page 6
Project no. 222682
1.1 Safety precautions

Before starting any operation or maintenance of the equipment, note the following safety
precautions:
• Before operating the equipment ensure that the equipment is safely attached to the
deck or a similar rigid base by the deck fastening brackets. Ensure that there are no
loose parts or extraneous matter in or around the area. Inform all personnel concerned
of the forthcoming operation.
• Please note that all equipment can be remotely controlled.
• Stay clear from all moving parts during operation.
• Do not under any circumstances go under lifted equipment.
• Use only authorized service personnel for maintenance.
• Work inside the winch drum shall only be performed when all hydraulic lines are
depressurized. Further, the mechanical locking pawl on the winch drum shall be used.
• The system carries high-voltage high and hydraulic pressure. Normal safety
precautions concerning the danger of electric shock and pressurized lines must be
followed when working on the equipment:
− Before connecting or disconnecting any electric cable, always ensure that the
cables to be connected or disconnected carry no voltage or current.
− Before connecting or disconnecting any hydraulic line, always ensure that lines to
be connected or disconnected are de-pressurized.
− No hydraulic connections, while still under pressure, may be adjusted or tightened.
Pressure must be vented prior to any service work.
− Before pressurizing the system, all personnel concerned must be informed that
previously de-pressurized lines will become pressurized.
Page 7
Project no. 222682
2 SYSTEM AND TECHNICAL DESCRIPTION

A standard A-frame system consists of the following main parts:
• Hydraulic power unit.
• ROV winch.
• Routing sheave, winch room.
• Outhauler sheave.
• Routing sheave hangar top.
• A-frame with Docking head.
• Control system with Human Machine Interface:
− PC based Graphical User Interface.
− Operation panel.
− Radio remote.
− Emergency operation panel.
The Hydraulic power unit serves as a common source of hydraulic power for the ROV winch,
Outhauler and A-frame. It includes pumps for high and boost pressure, in addition to means
for cooling and filtration.
The ROV winch handles the ROV/TMS when deployed. The A-frame and Docking head
secure the ROV/TMS during deployment or recovery over the side or stern of the vessel. The
objective of the ROV winch during this operation is to maintain a straight umbilical routing
between the ROV winch and the routing sheave in the A-frame. The umbilical tension shall be
high enough to prevent the umbilical from being to slack, but low enough to prevent umbilical
damage.
During normal operation of the system, the commands from the operator are handled by the
control system. This will require that the control system is operative. This applies to all
commands given from the Graphical User Interface, Operation panel and Radio remote.
The control system and Graphical User Interface for the system is based upon ODIM IMMACS
(Integrated Machine Monitoring and Control System). This system assures dynamic control of
the individual components and interactions between these. It further handles monitoring and
alarm functions, and provides the user with a Graphical User Interface. This includes a
modular software package based upon standard objects from the ODIM library and machine
integrated hardware like control cabinets and sensors.
The Radio remote is equipped with all required functionality for operation of the A-frame and
winch when launching and recovering over the side or stern of the vessel. The Radio remote
cannot enable Active Heave Compensation, operate the winch in Auto Depth or operate the
HPU. The Radio remote is the only mean of remote operation of the A-frame.
The Operation panel is equipped with all the required functionality for operation of the winch,
including the enabling of Active Heave Compensation and operation of the HPU. However, the
A-frame cannot be operated from the Operation panel.
The Graphical User Interface is used for monitoring of system status, alarm handling and
trending of process variables. Further, the Docking head lock and the Auto Depth feature can
be handled from here.
Page 8
Project no. 222682
The Local and Emergency operation panels do not rely upon the control system being
operative. The HPU pumps can be started and stopped on the designated starter cabinets and
will only require that there is sufficient power available and that the Emergency stop circuit is
intact. The A-frame, Docking head, Outhauler and winch spooling device can be operated by
the designated valve levers. This will require that there is hydraulic power available, i.e. that
the HPU is running.
As the winch is powered by secondary controlled hydraulic motors, the motor controller must
be operative for the winch to be operative. This also applies for the Emergency operation
panel.
Warning
The Emergency operation panel should only be used if the control system is
not operative.
Several safety features are disabled when the control system is not operative.
When the Emergency Operation Panel is enabled, the winch controller

first performs a series of self-tests. Once they are complete, the
'Winch ready' lamp on the Emergency Operation Panel goes on.
Under no circumstances must the 'brake release' button be pressed

until the 'Winch ready' lamp is lit; the winch is not capable of
holding a load until the self-tests are complete.
Page 9
Project no. 222682
2.1 General
The system is designed for launch and recovery of a ROV with or without TMS over the side
or stern of a vessel. The system is capable of handling the static and dynamic loads created
by handling and lifting the ROV and TMS as well as the loads caused by the ship motion.
System Design criteria
Design basis: NS 3472.

NS 5820.
DNV Rules for Certification of
Lifting Appliances.
Design temperature range: –10°C to +45°C.
Safe working load (SWL): 12 Te.
Maximum dynamic load: 36 Te.
Maximum dry weight of package: 12 Te.
Maximum submerged weight: 19.5 Te.
2.1.1 Drawing references for the system
Drawing name Drawing number
System Arrangement 621156

621156_Parts
Hydraulic Block Diagram 621191
Cable diagram EAB027
Wiring diagram EAB028

Cable List EAB027_CABLE
Master Cabinet EAB029
Operation Panel EAB030
Emergency Operation Panel EAB031
Radio Remote UAP107
Page 10
Project no. 222682
2.2 ROV winch
The winch is equipped with an ODIM gearbox, two secondary controlled hydraulic motors and
intermediate gears. The ODIM gearbox and the intermediate gears are lubricated with oil, the
intermediate gears having an oil cooling system installed.
The winch is equipped with an automatic fail-safe band brake mounted on the drum, i.e. it
engages the brake when the hydraulic pressure drops or an emergency situation is detected
by the control system. Additionally, a manual operated locking pawl is arranged to
mechanically lock the drum.
To accommodate the required load on the drum termination, mechanical clamps are used to
lock the umbilical inside the drum.
The spooling device is of sheave type with 90o wrap angle and flagging to accommodate
variations in umbilical routing for operation between the inner and outer layer of the drum. The
spooling device is mounted on guide beams and moved by a hydraulic cylinder with position
feedback.
Brackets for the high voltage junction boxes are installed on the same side as the manhole.
Further, the ROV winch has compatible interfaces on the motor side for the Focal 176 Slip-
ring.
Page 11
Project no. 222682
ROV winch Element Number: 7600
Design criteria
Calculation basis: DNV Rules for Certification of Lifting

Appliances.
Dynamic amplification factor: 3.0.
Peak load: 36 Te.
Weather limitation for Active Heave Vessel Heave: Heave period:

Compensation: 6.0 m. 8 seconds.
7.5 m. 10 seconds.
11.5 m. 15 seconds.
Certification: None.
Overall dimensions and weight
Width: 3 100 mm.
Length: 6 860 mm (Including spooling device).

5 650 mm (Base frame).
Height: 4 140 mm.
Drum diameter: 1 450 mm.
Drum length between flanges: 3 000 mm.
Weight: Winch: 25.0 Te.

Cable: 25.0 Te.
Total: 50.0 Te.
Page 12
Project no. 222682
Design and construction details
Brake load outer layer / inner layer: Approximately 25 and 35 Te.
Lifting capacity outer layer / inner layer: 12 / 22 Te.
Speed: 2.4 m/s.
Winch acceleration: 1.9 m/s2.
Cable length: Approximately 4 500 m, operational depth

down to 4 000 m.
Cable diameter: 39.5 mm.
Cable type: Umbilical.
Drum grooving: Bolted Lebus sleeves on drum core:

- 73.5 coils per layer.
å
Cable termination: Through drum core with mechanical clamps
inside drum.
Internal drum access: Manhole in one end of the drum.
Slip ring type: Prepared for Focal type 176.
Internal junction boxes: Brackets for mounting.
Spooling Device: Sheave based design with fixed umbilical outlet

point.
Required pressure: Main line: 280 bar.

Boost line: 20 bar.
Required flow: Main line: 1 400 l/min.

Boost line: 1 200 l/min.
Page 13
Project no. 222682
Interface
Drip tray:
Tray below drum: 2” BSP, internal tread.
Tray below winch drive: 2” BSP, internal tread.
Water:
Gear cooling units: 2 x 17 l/min, fresh water.
Hydraulics:
Main pressure lines: 3 off 2” SAE 6000.
Return lines: 3 off 2” SAE 3000.
Boost pressure lines: 3 off 2” SAE 3000.
Drain: 1 off 2” BSP.
Electrical:
Winch node cabinet: Mounted on frame.
Mechanical:
Deck fastening: 4 off welding plates, material S355J2G3.
Page 14
Project no. 222682
2.2.1 Drawing references for ROV winch
617466
Dimensional Sketch
619216
Overall assembly
614431
ROV Umbilical winch, assembly
614719
Complete drive unit, assembly
613799
Drive unit, assembly
UAG351
Encoder assembly
1S91041
Brake band, Assembly drawing
609506
Wagon, assembly
619236
Hydraulic piping diagram
602264
Cooling Circuit for ROV Winch
EAB032
Node ROV Winch
Page 15
Project no. 222682
2.3 Routing sheave

This routing sheave is mounted on the superstructure by
means of a welding plate and may be equipped with tubular
Cable guides and a wire protection between the bearing
brackets.
Routing sheave Element Number: 2800
Design criteria

Appliances.
Peak load: 36 Te.
Page 16
Project no. 222682
Width: 500 mm.
Length: 2 000 mm.
Height: 1 760 mm.
Weight: 1.2 Te.
7
Wrap angle: 0 – 180o.
Sheave diameter: 1 500 mm.
Cable diameter: 39.5 – 40.5 mm.
Interface
Mechanical:
Deck fastening: 1 off welding plate, material S355J2G3.
2.3.1 Drawing references for routing sheave
614710
Dimensional Sketch
615986
Overall assembly
Page 17
Project no. 222682
2.4 Outhauler sheave

This flagging routing sheave is driven through a chain drive
powered by a hydraulic motor. Two rollers with adjustable
springs are installed to force the umbilical into the sheave
groove, thereby to enhance the traction.
Outhauler sheave Element Number: 2810
Design criteria

Appliances.
Peak load: 36 Te.
Width: 700 mm.
Length: 1 800 mm
Height: 2 020 mm.
Weight: 1.25 Te.
Page 18
Project no. 222682
Wrap angle: 80 – 110 degrees.
Flagging angle: ± 90 degrees.
Sheave diameter: 1 450 mm.
Cable diameter: 39.5 mm – 40.5 mm.
Speed: 2.8 m/s.
Pull: 0.15 Te @ 150 bar.
Required pressure: 180 bar.
Required flow: 40 l/min.
Interface
Hydraulics:
Main pressure lines: 1 off 16 mm pipe connection.
Return lines: 1 off 18 mm pipe connection.
Electrical:
Junction box: To be mounted close to valve.
Mechanical:
Deck fastening: 1 off welding plate, material S355J2G3.
Page 19
Project no. 222682
2.4.1 Drawing references for Outhauler sheave
614711
Dimensional Sketch
621140
Installation drawing
618507
Overall assembly
619843
Hydraulic piping diagram
Page 20
Project no. 222682
2.5 A-frame and Docking head
Throughout its range of articulated travel, high capacity hydraulic cylinders act on the A-frame
in order to ensure a positive load control. The A-frame is built with telescopic extension on the
legs operated during launch and recovery of equipment. This enables the ROV/TMS to be
safely handled in different positions on deck without unlatching. One tilt and one telescope
cylinder is equipped with analogue position sensors.
Note!
• The A-frame is capable of handling a package with the weight and dimensions of an
ROV with or without TMS within the A-frame base frame. The A-frame is not capable
of handling the maximum latched load in all positions inwards of the vertical point.
• Maximum latched load with telescope fully extended is 5 Te for tilt in inner position.
The Docking head is equipped with a flag sheave arranged

for optimal soft handling of the umbilical.
Page 21
Project no. 222682
A-frame with Docking head Element Number: 3400
Design criteria

Appliances.
Safe working load (SWL): 12 Te latched load.

22 Te deployed load.
Dynamic amplification factor: 3.0 for latched load.

1.6 for maximum deployed load.
Peak load: 36 Te.
Maximum package dimensions (H x W x L): 5110 x 2000 x 3050 mm.
Width: 4 430 mm (base frame).

4 630 mm (Including piping).
4 990 mm (Including fastening brackets).
Length: 5 770 mm (base frame).
Height: 9 900 mm (telescope fully out).

7 060 mm (telescope fully in).
Weight: 22 Te.
Distance between legs: 3 550 mm.
Tilt range: 33o (Inboard) to 144 o, 111 degrees travel.
Telescope range: 0 – 2 834 mm.
Working platform range: 0 – 1 485 mm.
Page 22
Project no. 222682
Outreach over side: 4 800 mm outwards from base frame.
Docking head rotation range: ± 90°.
Docking head left/right range: ± 45° at full outreach.
Docking head in/out range: ± 30°.
Pad eyes for load test: Load tests of umbilical termination (1 x 15 Te).
ROV Sea fastening: 10 off Sea fastening brackets (10 x 1 Te).
Umbilical flag sheave diameter: 1 500 mm.
Cable diameter: 39.5 – 40.5 mm.
Required pressure: 280 bar.
Required flow: 300 l/min.
Interface
Drip tray:
Tray below A-frame: 2” BSP, internal tread.
Hydraulics:
Pressure: 38 mm pipe connection
Return: 42 mm pipe connection
Electrical:
Node cabinet: Wiring to be led from junction box on A-frame to
the free-standing A-frame node cabinet.
Mechanical:
Deck fastening: 6 off fastening brackets bolted to welding plates on
A-frame structure, material S355J2G3.
Page 23
Project no. 222682
2.5.1 Drawing references for A-frame with Docking head
Dimensional Sketch 617473
Lifting and interface 620916
A-frame telescopic, assembly 619254
Bottom frame, assembly 616179
Extractable platform, assembly 615631
Leg, assembly 602130
Adjustment bolt, assembly 603706
Docking Head, assembly 610338
Docking Head with Damper, assembly 602135
Sheave housing, assembly 603708
Latch with damper, assembly 603698
Bullet, assembly 603701
Hydraulic Schematic 609237
Junction Box, Large EAB037
Junction Box, Small EAB038
Node A-Frame EAB033
Page 24
Project no. 222682
2.6 Hydraulic power unit

The HPU is built on a baseframe and consists of a high pressure unit, a boost pressure unit
and a return line oil cooler, all connected to a common tank.
Both the main and boost lines are equipped with full flow capacity pressure relief valves
leading the oil to the return line to prevent excessive pressure in the lines. Oil filters with
optical indicators are mounted in all lines (pressure, boost, return and leak).
Hydraulic power unit Element Number: 6000
Design criteria
Main pump flow capacity: 1 400 l/min.
Main pump pressure setting: Nominal: 280 bar.

High: 300 bar.
Boost pump flow capacity: 1 200 l/min.
Boost pump pressure setting: 20 bar.
Oil cooling capacity: Maximum cooling water temperature: 42oC.

Transferred heat: 370 kW.
Power consumption: 800 kW.
Electrical supply: 690 V, 60 Hz.
Page 25
Project no. 222682
Length: 5700 mm.
Width: 2 250 mm.
Height: 2 250 mm.
Estimated weight: HPU: 11 Te.

Oil: 4 Te.
Total: 15 Te.
Main pumps: 3 off variable displacement, pressure

compensated axial piston pumps.
Main pump drive: Motors: 3 off 690 V-60 Hz AC.

Power: 3 x 230 kW.
Duty cycle: S2 – 10 min, 260 kW.
Speed: 1765 rpm.
Protection: IP56.
Heating: 1 x 220 V.
Cooling: Integrated fan on motor.
Thermistor: Installed.
Main pump starter cabinet: Separate per pump.

Power switch: 400 A.
Star-Delta starters.
Start and Stop button.
Running lamp.
Emergency stop switch
Phase guard relay and indication of status.
Hour counter (Inside cabinet).
Boost pumps: 2 off fixed displacement screw pumps.
Boost pump drive: 2 off 690 V-60 Hz AC motors

Power: 2 x 34 kW.
Speed: 2750 rpm.
Protection: IP55.
Heating: 1 x 220V.
Cooling: Integrated fan on motor.
Thermistor: Installed.
Page 26
Project no. 222682
Boost pump starter cabinet: Common starter cabinet.

Separate power supply per pump.
Power switch: 100 A.
Start and stop buttons for each pump.
Running lamp.
Safety circuit lamp and reset for each circuit.
Emergency stop switch.
Emergency stop reset button.
Alarm override.
Phase guard relay and indication of status.
Hour counter (Inside cabinet).
Oil cooler: Stainless steel plate cooler.

Water flow: 500 l/min @ 32 oC.
1000 l/min @ 42 oC.
Oil flow: 1200 l/min.
Estimated pressure drop:

Water side @ 1000 l/min: 0.4 bar
Oil side @ 1100 l/min: 1.0 bar.
Oil filters: 3 off pressure filters.

3 off boost filters.
3 off return filters.
1 off leak filter.
Oil tank: Capacity: 4 000 l.

Shutdown temp: 65 oC.
Shutdown level: 650 mm from top.
Interface
Drip tray:
Tray below drum: Tray below drum:
Water:
Oil cooler: 2 off DN 100 flanges.
Page 27
Project no. 222682
Interface
Hydraulics:
Main pressure lines: 3 off 2” SAE 6000.
Return lines: 3 off 2” SAE 3000.
Boost pressure lines: 3 off 2” SAE 3000.
Drain: 1 off 2” BSP.
Electrical:
Starter Cabinet: All cabinets installed on HPU frame.
Node Cabinet: Installed on HPU frame.
Mechanical:
Deck fastening: HPU to be bolted on 8 off M20 nuts on deck.
Rubber plates between HPU frame and deck.
2.6.1 Drawing references for the Hydraulic power unit
617495
Dimensional Sketch
625562
Installation drawing
622016
HPU 3x230KW Assembly
616334
Hydraulic Tank, assembly
622800
Hydraulic Power Unit, assembly
622085
Hydraulic Piping Diagram
EAB034
Node HPU
EAB035
HPU Starter
EAB036
HPU Boost Pumps
Page 28
Project no. 222682
2.7 Control System

The integrated control system is the core of the system in order to achieve the functionality
required for safe and reliable handling of the ROV/TMS. The controller and vital functions shall
be connected to a UPS to assure safe output values in case of failure. The main tasks of the
control system are:
• To assure an ergonomic Human Machine Interface that allows for safe operation of the
system.
• To assure safety functions.
• To assure dynamic control of individual subsystems and interaction of sub systems.
• To implement all necessary operational modes and transition between these modes.
• To assure logging and trending functions.
The controller structure on the winch has two levels:

• Motor controller:
− A fast speed control loop handling torque setpoint adjustments.
• Main controller:
− A higher level, somewhat slower controller generating speed and torque setpoints
for the motor controller. This also includes load distribution and speed
synchronization.
The interfaces between operator controls, sensors and actuators are based upon a distributed
I/O system communicating via ProfiBus as illustrated below.
Most of the functionality is implemented as software functions. Exceptions are Emergency

stop and operations from Local and Emergency operation panels.
The Emergency stop buttons perform a shut down of the HPU. As this is a hardwired safety
function, it is totally independent of the controller and the distributed I/O system.
The equipment cannot be operated unless hydraulic pressure is available, i.e. the HPU is
running. Mode selections and activation of joysticks from the Radio remote or the Operation
panel will be rejected.
Page 29
Project no. 222682
2.7.1 Human Machine Interface

The user interface of the ODIM LARS consists of:
• Graphical User Interface, GUI.
• Radio remote.
• Emergency operation panels.
• Local Control.
Local control is defined as:

• Valve lever for Spooling device.
• Valve lever for Outhauler sheave.
• Valve levers for A-frame and Docking head.
Emergency operation is defined as:

• Emergency operation panel with joysticks and pushbuttons for operation of ROV
winch.
• Push buttons for operation of pumps, cooling and filtration on HPU starter cabinets.
The main purpose of Local Control and Emergency operation panel is to provide the user with
a possibility to operate the system with reduced functionality in case of failure in the main
control system.
For maximum flexibility and reliability, the design allows for control of all units from at least two
independent control stations:
• ROV winch:
− Radio remote.
− Emergency operation panel.
• ROV winch spooling device:
− GUI.
− Local control.
• Outhauler sheave:
− Automatic by control system.
− Local control.
• A-frame:
− Radio remote.
− Local operation panel.
• HPU:
− Emergency operation panels.
Page 30
Project no. 222682
3 FUNCTIONALITY OVERVIEW
3.1 General
This section gives a brief functionality overview of the individual subsystems comprising the
system. To obtain a more complete understanding of the system, all sections on Human
Machine Interface should be studied as well.
Warning
All systems should be operated from the Operation panel, Radio remote and
Graphical User Interface. Emergency and Local operation of subsystems should
only occur when the main controller or dedicated control station is out of
operation.
3.2 ROV winch
3.2.1 Modes of operation

The winch has the following modes of operation:
• Standby.
• Normal.
• Latched.
• Active Heave Compensation.
3.2.1.1 Standby mode

The winch will enter Standby mode once the HPU is started. In this mode, the winch brake is
applied and the winch will not respond to any input signal. The winch joystick cannot be
enabled in this mode, and will be disabled upon a mode transition from any active mode to
Standby mode.
From Standby mode, the operator may chose to enter Normal or Latched mode
3.2.1.2 Normal mode

In Normal mode, the brakes on the winch are disengaged. The joystick for control of the winch
must be enabled for the winch to respond to any input speed signal from the joystick.
From Normal mode, the user can enable Standby mode, Latched mode or Active Heave
Compensation mode.
3.2.1.3 Latched mode

Note!
This mode shall only be enabled when the ROV/TMS is locked in the Docking head.
In Latched mode, the winch will maintain tension in the umbilical, preventing de-railing of the
umbilical on the sheaves between the winch and the Docking Head.
Page 31
Project no. 222682
Latched mode can be initiated from either Standby or Normal mode. From Latched mode, the
user may enable Standby or Normal mode.
Depending on the actual tension, activating Latched mode will cause the winch to slowly pay
in or out to accommodate the tension setpoint in Latched mode. If the winch is unable to
obtain the tension setpoint within a reasonable time, the mode transition to Latched mode will
be aborted. This will occur if the umbilical between the winch and the Docking head is very
slack, or the ROV/TMS is not resting on the Docking head lock.
Latched mode will be aborted in these situations:

• Too large speed deviation between ROV winch and maximum A-frame speed.
− An alarm will need to be acknowledged, prior to continued operation of the A-frame.
• Error on load cell.
• Error on winch.
The winch can also be operated in Latched mode without an operative load cell, but then with
larger variations in tension. This must be set in the GUI.
3.2.1.4 Active Heave Compensation mode

Based on signals from a Motion Reference Unit (MRU), the control system operates the winch
to maintain the ROV/TMS in a fixed vertical distance with reference to the seabed,
independent of vessel motion. The winch can still be operated from the joystick. Given a
constant speed command from the joystick, the ROV/TMS will move with a constant speed
with reference to the seabed, independent of vessel motion.
Active Heave Compensation mode can only be activated when the winch is in Normal mode
and when below the Safety depth.
From AHC mode, the user may enable Normal or Standby mode.
3.2.1.5 Auto Depth

Auto Depth is not regarded as a mode, but a feature that can be enabled when the winch is in
Normal or AHC mode and the ROV/TMS is below the Safety depth.
When enabled, Auto Depth will automatically deploy the ROV/TMS to the operator set depth
at an operator set speed. Target depth and target speed may be altered during operation at
any time. Auto Depth can only be enabled from the Graphical User Interface, and will be
aborted in case of the following:
• Auto Depth is disabled from the Graphical User Interface.
• Control is transferred from the Operation panel to the Radio remote.
• The winch joystick is enabled.
• The Safety depth is reached.
• The Target Depth is reached.
Page 32
Project no. 222682
3.2.2 Emergency and remote operation

The winch can be operated from:
• Operation panel:
− For operation of the winch primarily when the ROV/TMS is not latched to the A-
frame.
− Full functionality available.
• Radio remote:
− For operation of the winch primarily when the ROV/TMS is latched to the A-frame.
− Auto Depth cannot be enabled when the system is controlled from the Radio
remote.
• Emergency operation panel:
− For emergency operation of the winch when the control system is no longer
operative. Spooling must be controlled from valve lever (Local control).
− Hoist and slack only.
Warning
Emergency operation will disable many safety features and shall not be used
when other control stations are operative.

Under no circumstances must the brake release button be pressed

3.2.3 Spooling
When the winch is operated from the Operation panel or the Radio remote, the spooling
device is controlled automatically by the control system. The automatic spooling can be
disabled from the Graphical User Interface. The Graphical User Interface is also used for set-
up of the spooling device.
3.2.4 Use motor encoder

Normally, the winch uses an encoder mounted on the slewing ring for winch control. In case of
encoder failure (and spare part is not available), the user may choose to use one of the motor
encoders instead. This can be done from the Graphical User Interface. The automatic
spooling will be disabled when using the motor encoder. The accuracy of length
measurements will be reduced.
3.2.5 Gear cooling

Oil coolers are installed on the intermediate gears on the winch. The oil cooler is normally
operated in automatic mode where the cooling is enabled and disabled at operator set
temperatures. The oil cooler can also be set in manual mode where the user needs to enable
and disable the cooling manually regardless of settings and current oil temperature. The oil
cooler settings are handled from the Graphical User Interface.
Page 33
Project no. 222682
3.2.6 Motor controller

The winch is equipped with a motor controller (HNC) that needs to be operative for the winch
to be. This also applies for emergency operation. Status and feedback from the motor
controller, and the two motors, can be viewed from the Graphical User Interface.
3.3 Outhauler sheave

The Outhauler drive is operated by the control system in all ordinary operations. During
special operations i.e. affiliated with rigging, the sheave drive can be operated manually from
the valve lever. The driven sheave provides tension in the umbilical between the ROV winch
and the Outhauler.
3.3.1 Local and remote operation

The Outhauler drive can be operated from:
• Remote operation / control system:
− For all normal operations.
• Local operation panel:
− For special operations, e.g. maintenance.
− Manual operation.
3.4 A-frame and Docking head
3.4.1 Local and remote operation

The A-frame can be operated from:
• Radio remote:
• Local operation panel:
− Operation of all manipulators.
− Mechanical enabling of Docking head damping is possible.
Warning
Emergency operation will disable soft stop at tilt and telescope end positions as
well as the Anti Collision System.
3.4.2 A-frame tilt

The A-frame tilt is can be maneuvered between the fully inboard and the fully outboard
position to launch the ROV/TMS.
3.4.3 A-frame telescope

The A-frame telescope can be maneuvered between the fully retracted and the fully extended
position to ease handling of the ROV/TMS on deck as well as providing additional outreach
over the side during launch and recovery.
3.4.4 A-frame work platform

The A-frame is equipped with a telescopic work platform enabling improved access around the
ROV/TMS when it is landed on the base frame.
Page 34
Project no. 222682
3.4.5 A-frame Anti Collision System

When operated from the Radio remote, the A-frame tilt and telescope are equipped with
software soft stops for smooth operation at end positions. Further, an Anti Collision System is
installed to prevent collision between the A-frame and the vessel superstructure (hangar door
opening, objects within the hangar).
Both the soft stops and Anti Collision System can be overridden from the Graphical User
Interface.
3.4.6 Docking head positioning and damping

When the ROV/TMS is at operational depth, the Docking head can be repositioned to
accommodate umbilical routing deviating from the vertical line due to strong ocean currents or
towing of the ROV/TMS. This also enables the user to keep the Docking head in a vertical
position during launch and recovery. In operation the operator may enable damping. The
Docking head will then try to maintain its vertical position during launch and recovery of the
ROV/TMS, depending on load characteristics. The mechanically adjustable damping can be
enabled both electrically and mechanically by an override knob.
3.4.7 Docking head rotation

The Docking head is equipped with hydraulic a operated rotating device for orientation of the
ROV/TMS prior to launch or recovery with the A-frame.
3.4.8 Docking head lock

The fail-safe lock is arranged in such a manner that it cannot be released when load is
applied, i.e. the ROV/TMS must be resting on deck or be held by the winch. The return of the
lock is by means of a mechanical spring aided by a closed hydraulic system with
accumulators. The lock consists of three dogs, each with visual and electronic sensors.
3.4.9 Docking head damping ring

The Docking head is equipped with shock damper for smooth docking of the ROV/TMS
Page 35
Project no. 222682
3.5.1 Emergency and remote operation

The winch can be operated from:
• Operation panel:
− For all normal operations.
• Emergency operation panel:
− For emergency operation of the HPU when the control system is no longer
operative.
− Monitoring by control system not active.
− High System Pressure cannot be enabled.
Note!
A pump in Emergency/Local mode cannot be started or stopped remotely/from the panel, and
vice versa.
Warning
Switching between local and remote mode on the starter cabinet for a pump
when the pump is running may cause the pump to stop, and in the worst case,
serious damage to equipment.
3.5.2 High system pressure

High System Pressure will increase the main pump pressure settings and provide additional
hydraulic power to the system. This feature can be enabled from the Graphical User Interface,
and shall be used with care and only for shorter periods (10 minutes per hour) if increased pull
capacity for some reason is required for the winch.
3.5.3 Override HPU run signal

Override HPU run signal can be enabled from the Graphical User Interface. This feature will
allow operation of the system without any communication or feedback from the HPU. In
principle, the system could then be operated from any HPU as long as sufficient pressure is
available in both lines.
3.5.4 Override
High oil temperature, about 65oC, will lead to an automatic shut down of the HPU. As the HPU
is equipped with two independent safety circuits, one of the circuits is likely to shut down prior
to the other. High temperature shutdown can be overridden both from the boost pump starter
cabinet and the Operation panel. Indication from and resetting of the safety circuits is done on
the boost pump starter cabinet.
Safety Circuit 1 is wired to:

• Boost pump 1.
• Main pump 1.
Safety Circuit 2 is wired to:
• Boost pump 2.
• Main pump 2.
• Main pump 3.
Page 36
Project no. 222682
3.5.5 Oil cooler

The oil cooler is normally operated in automatic mode where the cooling is enabled and
disabled at operator set temperatures. The oil cooler can also be set in manual mode where
the user need to enable and disable the cooling manually regardless of settings and current oil
temperature. The oil cooler settings are set from the Graphical User Interface.
As long as the control system is working, the cooling water flow through the oil cooler is
controlled and monitored by the control system. If the control system is not operative, cooling
water flows freely through the cooler. Oil will flow through the cooler as long as at least one
boost pump is running.
The vessel shall have a system for providing cooling water for the HPU. A start command is
available from the ODIM system whenever starting a boost pump in remote mode. This signal
may be used by an external system controlling the cooling water circuit on the vessel. As the
cooling water pumps are not a part of the ODIM delivery, no visual feedback is provided.
However, there is a flow indicator that will be triggered by the flow of cooling water. If flow is
not detected when cooling is supposed to occur, an alarm will be given.
3.5.6 Power management system

The vessel might have a power management system that will accept or reject start requests
from the main pumps when in remote mode. Starting the main pumps from the local control
panel on the HPU will bypass the power management system.
3.6 Emergency stop buttons

Emergency stop buttons are installed on the following locations:
• A-frame node cabinet.
• Winch frame.
• Emergency operation panel.
• Boost pump starter cabinet on Hydraulic power unit.
• HPU room.
Prior to restarting the system all Emergency stop buttons must be released, and the
Emergency stop relay must be reset by pressing the reset button on the Operation panel or on
the HPU boost pump starter cabinet. Additionally, the power supply to each starter cabinet
needs to be reset and enabled.
Warning
Start up after an Emergency stop shall not be initiated unless the reason for the
stop has been identified and clarified.
Page 37
Project no. 222682
4 THE RADIO REMOTE

The layout of the Radio remote is shown below. The following will outline the functionality as
included.
The Radio remote controls are divided into the following 5 sections:
• General:
− Status LED.
− On/Off switch.
− Alarm handling.
− Stop button.
• Control Station and LCD:
− Indication and confirmation of control location.
− LCD backlight.
− LCD displaying:
Length, speed and tension for the umbilical.
Current battery capacity.
• A-frame:
− Operation of A-frame tilt and telescope.
− Operation of the work platform.
• Docking head:
− Indication and selection of status for the Docking head.
− Operation of the Docking head.
• Winch:
− Indication and selection of status and mode for the winch.
− Operation of the winch.
Page 38
Project no. 222682
4.1 General
The following controls are available:
• Stop button:
− Pushbutton with release.
• Status:
− LED:
Flashing: Please consult separate Radio
remote manual.
• Radio On/Off:
− Toggle switch:
Up: Radio remote on.
Down: Radio remote off.
• Ack Alarm:
− Pushbutton with light feedback:
Lit: N/A.
Flash: Active alarm.
Dark: No active alarms.
Note!
• The stop button will stop the system, but can not be regarded as an Emergency stop
button.
• The stop button will only work when the Radio remote is in control of the system.
• Switching off the Radio remote while controlling the system will lead to a ramp down of
all joystick signals. Control will be offered to both control stations.
4.2 Control station and LCD display

• LCD backlight on/off:
− Toggle switch:
Up: Backlight in LCD display on.
Down: Backlight in LCD display off.
• Radio:
− LED:
Lit: Control of the system is done from the Radio remote.
Flash: Control of the system can be transferred to the Radio remote by pressing
Confirm on the Radio remote.
Dark: Control of the system is not done from the Radio remote.
• Panel:
− LED:
Lit: Control of the system is done from the Operation panel.
Flash: Control of the system can be transferred to the Operation panel by
pressing Confirm on the Operation panel.
Dark: Control of the system is not done from the Operation panel.
• Confirm:
Pushbutton.
• LCD display:
− Cable length paid out.
− Current umbilical speed.
− Current umbilical tension.
− Current battery level.
Page 39
Project no. 222682
Note!
• The Radio remote cannot take control of the system, but only accept (or confirm) a
transfer of control initiated from the Operation panel.
• If the panel in control (Radio remote or Operation panel) looses communication, both
the Radio remote, panel and confirm LED’s will be flashing on all operative panels. The
first panel where confirm is pressed will gain control of the system.
4.3 A-frame
• Work platform in:
− Pushbutton (push and hold).
• Work platform out:
− Pushbutton (push and hold).
• Joystick Enable:
Lit: Joystick is enabled.
Flash: N/A.
Dark: Joystick is disabled.
• Joystick gain:
− Potentiometer:
Clockwise: Increase joystick sensitivity.
Counter clockwise: Reduce joystick sensitivity.
• Tilt joystick:
− 2-axis joystick:
Up: Tilt out.
Down: Tilt in.
• Telescope joystick:
Up: Telescope out.
Down: Telescope in.
Note!
• Directions for A-frame are defined as when standing on the A-frame foundation facing
outboard.
• The joystick enable button and joystick gain potentiometer for the A-frame will affect
both joysticks.
• When the A-frame is operated from the Radio remote, the Anti Collision System may
ramp out joystick signals to prevent collision with the vessel superstructure.
Page 40
Project no. 222682
4.4 Docking head

• Open Lock:
Lit: Open Lock command is sent, and all sensors
send correct feedback.
Flash: Lock status is undefined.
Dark: Open Lock command is not sent, and all
sensors send correct feedback.
• Upper position:
− LED:
Lit: Upper position sensor is triggered.
Flash: N/A.
Dark: Upper position sensor is not triggered.
• In/Out Damping:
Lit: In/Out damping of Docking head is enabled.
Flash: N/A.
Dark: In/Out damping of Docking head is disabled.
• Left/Right Damping:
Lit: Left/Right damping of Docking head is enabled.
Flash: N/A.
Dark: Left/Right damping of Docking head is disabled.
• Rotation:
− Pushbuttons (push and hold):
CW: Clockwise rotation of Docking head.
CCW: Counter clockwise rotation of Docking head.
Flash: N/A.
• Joystick:
Up: Docking head out.
Down: Docking head in.
Left: Docking head left.
Right: Docking head right.
Note!
• Directions for Docking head are defined as when standing on the A-frame foundation
facing outboard.
• The Docking head cannot be permanently repositioned in any damped direction of
motion using the joystick. When damped, this will only lead to a temporary
repositioning of the Docking head and should be avoided.
• Undefined lock status indicates a mismatch between the sent command and the status
of the lock indicator sensors. Please consult the Docking head section in the Graphical
User Interface documentation.
Page 41
Project no. 222682
4.5 Winch
• Spooling:
− Pushbuttons (push and hold):
Left: Spooling device moves left.
Right: Spooling device moves right.
• Standby:
Lit: Winch is in Standby mode.
Flash: Winch mode transition to Standby mode.
Dark: Winch is not in Standby mode.
• Normal:
Lit: Winch is in Normal mode.
Flash: Winch mode transition to Normal mode.
Dark: Winch is not in Normal mode.
• Latched:
Lit: Winch is in Latched mode.
Flash: Winch mode transition to Latched mode.
Dark: Winch is not in Latched mode.
• AHC:
− LED:
Lit: Winch is in AHC mode.
Flash: Winch mode transition to AHC mode.
Dark: Winch is not in AHC mode.
Flash: N/A.
• Joystick gain:
− Potentiometer:
• Joystick:
Up: Winch pays out.
Down: Winch pays in.
Note!
• Left and right for the spooling device is defined as when looking at the winch from the
side of the spooling device.
Page 42
Project no. 222682
5 THE OPERATION PANEL

The layout of the Operation panel is shown below.
The Operation panel controls are divided into the following 6 sections:
• System:
− Indication and selection of control location.
− Alarm handling.
− Adjustment of panel lighting.
• Hydraulic power unit:
− Starting and stopping the hydraulic pumps.
− Override alarm.
• Emergency stop:
− Emergency stop button.
− Emergency stop reset button.
• Docking head:
− Indication of status for damping, lock and Upper position sensor.
• Graphical User Interface:
− Trackball and alphanumerical keypad for use with the Graphical User Interface.
• Winch:
− Indication and selection of winch modes.
− Joystick for winch operation and spooling device adjustment.
Page 43
Project no. 222682
5.1 System
• Activating the panel:
− Key switch:
On: Operation panel is enabled.
Off: Operation panel is disabled.
• Enable Panel:
Lit: Control of the system is done from the
Operation panel.
Flash: Control of the system can be
transferred to the Operation panel by
pressing Confirm.
Dark: Control of the system is not done from the Operation panel.
• Enable Radio:
Lit: Control of the system is done from the Radio remote.
Flash: Control of the system can be transferred to the Radio remote by pressing
Confirm on the Radio remote.
Dark: Control of the system is not done from the Radio remote.
• Confirm:
Lit: N/A.
Flash: Control of the system is offered to Radio remote or Operation panel.
Dark: N/A.
• Emergency Panel Enabled:
− Light feedback.
• Ack All Alarms:
Lit: N/A.
Flash: There are one or more active alarms.
Dark: There are no active alarms.
• Dimmers for Operation panel lighting:
− Background:
Light intensity for frames on panel.
− Lamp:
Light intensity for buttons when they are not active/selected.
− Indication:
Light intensity for buttons when active/selected.
Note!
• When in off mode, the Operation panel will go dark and will offer no indication of status
or possibility to change status.
• The buzzer will give a sound when an alarm is given. The sound will remain until the
alarm is acknowledged by pressing Ack All Alarms or Silence Alarm. Silence Alarm will
only have effect on the current alarms. New alarms will trigger the buzzer again.
Please also note that Silence alarm will not acknowledge the alarm.
• Dimmer Indication should be adjusted to a brighter light than Dimmer Lamp for the
panel to visually indicate correct status. If not the indication on the panel becomes
inverted.
Page 44
Project no. 222682

• Main 1-3 start:
Lit: Pump is running.
Flash: Pump is starting.
Dark: Pump is stopped.
• Boost 1-2 start:
Lit: Pump is running.
Flash: Pump is starting.
Dark: Pump is stopped.
• Main 1-3 stop:
Lit: Pump is stopped.
Flash: Pump is stopping.
Dark: Pump is running.
• Boost 1-2 stop:
Lit: Pump is stopped.
Flash: Pump is stopping.
Dark: Pump is running.
• Alarm override:
Lit: Alarm is overridden.
Flash: N/A.
Dark: Alarm is not overridden.
Note!
• At least one boost pump must be running prior to starting any of the main pumps.
• Alarm override will prevent automatic shutdown of the HPU due to high oil
temperature. This may lead to failure on the hydraulic oil or hydraulic components. The
alarm override from the Operation panel or GUI will only work if the control system is
operative. Shutdown due to high temperature can also be overridden from the
hardwired button on the Emergency operation panel on the HPU.
• Start request of main pumps may be denied by the vessels Power Management
System. In an emergency, pumps can be started from the Emergency operation panels
on the starter cabinets, independent the Power Management System.
The pumps are started and stopped by pressing the designated start and stop buttons. The
pumps are started in sequence, with a timer delay to reduce the total starting current.
Page 45
Project no. 222682
5.3 Emergency stop

• Emergency stop button:
− Pushbutton with push and twist release.
• Emergency stop Reset:
Lit: Emergency stop must be reset.
Flash: N/A.
Dark: Emergency stop reset not required.
Note!
• All Emergency stop buttons must be released prior to reset of the emergency stop
relay.
• The reset button is hardwired to the Emergency stop relay.
• Main pumps starter cabinets will require reset after an Emergency stop. Open cabinet,
and push down to reset, then push up to enable. Alternatively, use the power handle in
the cabinet door, if installed.
5.4 Docking head

• In/Out Damping:
− Light feedback:
Lit: In/Out damping of Docking head is enabled.
Flash: N/A.
Dark: In/Out damping of Docking head is
disabled.
• L/R Damping:
− Light feedback:
Lit: L/R damping of Docking head is enabled.
Flash: N/A.
Dark: L/R damping of Docking head is disabled.
• Open Lock:
− Light feedback:
Lit: Open Lock command is sent, and all sensors send correct feedback.
Flash: Lock status is undefined.
Dark: Open Lock command is not sent, and all sensors send correct feedback.
• Upper position:
− Light feedback:
Lit: Upper position sensor is triggered.
Flash: N/A.
Dark: Upper position sensor is not triggered.
Note!
• Undefined lock status indicates a mismatch between the sent command and the status
of the lock indicator sensors. Please consult the Docking head section in the Graphical
User Interface documentation.
Page 46
Project no. 222682
5.5 Graphical User Interface

• Trackball with left and right mouse buttons.
• Alphanumeric keypad.
The trackball and keypad are intended for navigating through and using the Graphical User
Interface.
Use of the keypad is explained in the separate section on the Graphical User Interface.
5.6 Winch
• Standby:
Lit: Winch is in Standby mode.
Flash: Winch mode transition to Standby mode.
Dark: Winch is not in Standby mode.
• Normal:
Lit: Winch is in Normal mode.
Flash: Winch mode transition to Normal mode.
Dark: Winch is not in Normal mode.
• Latched:
− Pushbutton with light feedback and protective cover:
Lit: Winch is in Latched mode.
Flash: Winch mode transition to Latched mode.
Dark: Winch is not in Latched mode.
Page 47
Project no. 222682
• AHC:
Lit: Winch is in AHC mode.
Flash: Winch mode transition to AHC mode.
Dark: Winch is not in AHC mode.
Flash: N/A.
• Joystick gain:
− Potentiometer:
• Spooling Enable:
− Pushbutton with light feedback and protective cover:
Flash: N/A.
• Joystick:
Up: Winch pays out.
Down: Winch pays in.
Left: Spooling device moves left.
Right: Spooling device moves right.
Note!
• Left and right for the spooling device is defined as when looking at the winch from the
side of the spooling device.
• The position of the spooling device may be adjusted by transverse motion of the
joystick after pressing the spooling enable button.
Page 48
Project no. 222682
6 THE GRAPHICAL USER INTERFACE
6.1 General
The Graphical User Interface is used for parameter settings, monitoring of status, alarm
handling and trending of process variables. Further, the Auto Depth feature and Docking head
lock can be handled from here.
The GUI has the following views:

• Main:
− The normal view for use during operation of the system.
• Comm:
− An overview of all nodes and communication status. Loss of communication with a
node will be indicated graphically.
• Alarms:
− Contains the alarm list and the alarm log. Alarms can be acknowledged here.
• Trend:
− Trending possibilities for a selection of parameters and variables throughout the
system.
Additionally, it is possible to access a password protected service page. This page is to be

used by ODIM personnel only.
For switching between views and changing parameters in the GUI, the trackball and numerical
keypad on the Operation panel are used. These can be replaced by an external PS2/USB
mouse and a keyboard if required.
All views are divided into three parts, where the upper and lower parts are identical. The upper
part of the view serves as a heading, while the lower part allows the user to switch between
the available views. The lower part also contains the two latest alarms, and indicates which
view requires the operator’s attention.
The GUI is developed in LabVIEW, and is installed through a run-time license on the
designated computer. It communicates with the main controller through Ethernet using an
ODIM server application.
Page 49
Project no. 222682
6.1.1 Starting and stopping the application

After powering up the computer and logging in, the application is started by
double-clicking on the shortcut, and then selecting the white RUN arrow in the
upper left corner of the screen ( ).
Stop the GUI by right-clicking on the LabVIEW icon ( ) in the bottom right corner and
selecting Exit. As this is normally hidden, the mouse pointer needs to be positioned on the
bottom of the screen for this to appear. Due to an error in the current (7.1) version of
LabVIEW, the user will need to open the Windows Task Manager (alt+ctrl+del), and also end
the LabVIEW task from the application list. Alternatively, the computer can be reset.
The GUI contains no persistent data, and may be restarted without any saving any parameters
of files.
6.1.2 Color coding of devices

The color of the devices gives information on the status or condition of the device according to
the table below:
COLOR STATUS OR CONDITION

White Ready
Green Running
Grey Interlocked
Red Error alarm
Yellow Warning alarm
Blue Notify alarm
6.1.3 Command buttons

Buttons are used for opening new windows and for sending commands to the controller. The
figure below indicates that Auto Depth is disabled and a close lock command has been sent,
and the lock is closed. Flashing buttons indicates an undefined status, e.g. that a close lock
command has been sent, but the locks are not yet closed.
Page 50
Project no. 222682
6.1.4 Changing alarm limits

All alarm limits associated with analogue sensors can be altered through the GUI.
Setting alarm limits with respect to oil temperature in the HPU tank (Low-Low, Low, High and
High-High limits) is initiated by double clicking on the frame around the displayed temperature
on the Add. info. folder to access the Limit Settings folder as show below.
The current values for all alarm limits on this object are shown alongside the bar (Black
background). New values are entered in the rightmost fields having grey background. Upon
entering the new values for the various limits, pressing the Set all Limits button in the
command square will send the new values to the control system. When the new values are
applied, they will appear in the fields with black background alongside the bar.
Page 51
Project no. 222682
6.1.5 Overriding and inhibiting alarms

All alarms can be both inhibited and overridden from the GUI. Right-
clicking on an alarm in the Status folder will cause a new dialogue box to
popup. Here the user may choose to Inhibit, Override or acknowledge this
alarm.
When an alarm is inhibited, the operator will not need to acknowledge the
alarm when triggered in the future.
In case one or more alarms are overridden or inhibited, an IO indicator

left of the object name will be displayed:
• Inhibited ( ).
• Overridden ( ).
• Overridden and inhibited ( ).
The example below shows that one or more alarms are inhibited for the HPU.
6.1.6 Using the keypad

• Numbers:
− Press the "Num" key.
− Verify that the "Num" key is lit.
− Numbers and comma can
now be written.
• Letters:
− Press and hold the
"Fn/Alpha" button.
− Press and hold the "Shift"-key
for capital letters.
• Fn-key:
− If the "Fn"-key is pressed and
the key lamp is lit, the second
white number on the key will
be used.
• Examples for the "*/n"-key:
− “Fn"-lamp OFF:
Symbol " * ".
− "Fn"-lamp ON:
Symbol " / ".
− Press and hold "Fn/Alpha":
− Symbol " n ".
− Press and hold "Fn/Alpha" and “Shift”:
Symbol " N ".
Page 52
Project no. 222682
6.2 Main view

The Main view gives an overview of the major devices comprising the system.
Each device name is colored according to the status of that device. Below each device name,
the most vital information is displayed. Additional and more detailed information on a device
can be obtained by left-clicking on the device name, and selecting the dialogue box for the
object in question.
Numerical displays with black background is used to show that the value is read from the
controller, while white background is used for displays where values can be sent to the
controller.
The status of the Emergency stop buttons in the system is shown when
pressing the EM Stop button on the lower right side on the screen.
Page 53
Project no. 222682
6.2.1 HPU
The following will be displayed in the GUI:
• Run status for each pump:
− LED:
Lit when the pump is running.
Dark when the pump is stopped.
• Status for each pump:
− Local: Pump controlled locally from HPU cabinet.
− Remote: Pump controlled by control system.
− Power Off: Power on pump is OFF.
• Status for Cooling:
− Manual: Cooling must be started from dialogue
box.
− Auto: Cooler start/stop automatically on
start/stop temperature.
• Run Cooling:
− LED:
Lit when cooling.
Dark when not cooling.
Flashing when status is undefined, e.g.
cooling is enabled but the flow switch has not
been triggered.
• Main:
− Current system pressure.
• Boost:
− Current boost pressure.
• Temp:
− Oil temperature.
By left clicking on the HPU device, the following dialogue

boxes can be viewed:
• HPU:
− Status and settings for the HPU.
• Main Pump 1:
− Status and settings for Main Pump 1.
• Main Pump 2:
• Main Pump 3:
• Boost Pump 1:
− Status and settings for Boost Pump 1.
• Boost Pump 2:
− Status and settings for Boost Pump 2.
• Cooler:
− Status and settings for the Oil Cooler
Page 54
Project no. 222682
6.2.1.1 HPU dialogue box

All components have a status folder consisting of four squares:
• Status:
− Status bits for this component.
Black or colored names indicate an
active status.
• Mode:
− Mode bits for this component are
displayed here. Black indicates an
active mode.
• Command:
− Commands for this component. Red
color indicates active command.
Ack Alarms, which acknowledge
all alarms for this component.
High System Pressure, which
increases the main pressure
from about 280 to 300 bar.
Please note that this function
can only be active for a short
period of time, about 10 minutes
per hour.
Override Run Signal, which
allows the user to operate the
system without communication
with the HPU. In principle, the
system can receive hydraulic
power from any HPU as long as
suitable a pressure is
established in the main and
boost lines.
Exit will close the dialog box.
• Alarms:
− Alarm bits for this component.
Colored names indicate active
Alarm, and gray not active. The color indicates the type of alarm (Red = Error,
Yellow = Warning, Blue = Notify).
Right-clicking an alarm will cause a new dialogue box to popup. Here the user may choose to
inhibit, override or acknowledge this alarm.
Page 55
Project no. 222682
From the Additional Information folder on the HPU the user may:
• Set alarm limits with respect to oil temperature in the HPU tank (Low-Low, Low, High
and High-High limits) by double clicking on the frame around the displayed
temperature.
Page 56
Project no. 222682
6.2.1.2 Pump dialogue box

Each of the pumps, both main and boost, have identical dialogue boxes enabling the user to:
• View information on Status, Mode, Commands and Alarms.
• Acknowledge alarms for this element.
Page 57
Project no. 222682
6.2.1.3 HPU oil cooler dialogue box

The HPU oil cooler dialogue boxes are shown below.
From the Status folder, the user may:

• Acknowledge all alarms for this element.
• Start and stop the cooling when the cooling is set to Manual mode.
• Choose between Automatic and Manual cooling.
From the HPU parameter folder, the user may:

• Set cooling On and Off temperatures, i.e. at which temperatures the cooling should be
started and stopped when in Auto mode.
• View current oil temperature.
• Verify whether or not the cooling water valve is open and the flow switch in the water
line is triggered.
Page 58
Project no. 222682
6.2.2 Winch
The following is displayed in the GUI:
• Tension:
− The load on the ROV winch as
measured by the load cell in the
spooling sheave
• Speed:
− The speed of the umbilical as
measured on the winch drum.
• Depth:
− Displays the umbilical length
deployed since last reset by
operator.
− The displayed depth can be altered
by setting a value in the New Depth
field, and then pressing the Reset
Depth button.
By left clicking on the Winch device, the following dialogue boxes can be viewed:
• Winch:
− Status and settings for the winch.
• Encoder:
− Status and settings for the rotational
encoder on the winch drum.
• Cooler:
− Status and settings for the gear oil
cooler.
• HNC:
− Status and settings for the motor
controller.
• Spooling:
− Status and settings for the spooling
device.
• Load cell:
− Status and settings for the load cell
in the spooling sheave.
Page 59
Project no. 222682
6.2.2.1 Winch dialogue box

From the Cable Parameter folder, the user may:

• Set Length Out, i.e. the length of umbilical currently spooled off the winch.
• Length In will be calculated on the basis of Length Out and Length Total.
• Set Length Total, i.e. the total length of the umbilical.
• Set Diameter, i.e. the nominal diameter of the umbilical.
Page 60
Project no. 222682
From the Override folder, the user may:

• Use Motor Encoder, i.e. the motor encoder will be used as a basis for calculation of
winch rotational speed. This feature can be used in the case of failure on the winch
encoder. Be aware that the Auto Spooling will be disabled when using the motor
encoder. The accuracy of length measurements will also be reduced.
• Disable Auto Spooling, i.e. this feature can be used in case of failure on the spooling
cylinder position indicator. The spooling device can then be operated either from the
Operation panel, GUI or valve lever.
From the Additional Information folder, the user may:

• View current winch Speed Set Point.
• View current winch Speed.
• View current winch Diameter, i.e. the diameter of the winch at the current cable layer.
• View current System and Boost pressure and setting alarm level limits for these.
Page 61
Project no. 222682
6.2.2.2 Winch encoder dialogue box

• Acknowledge alarms on this element.

• View various direct or calculated variables based on encoder input.
Page 62
Project no. 222682
6.2.2.3 Winch gear oil cooler dialogue box

• Start and stop the cooling when the cooling is set to Manual mode.
• Choose between Automatic and Manual cooling.
From the Additional information folder, the user may:

• View current idle gear temperature and change the alarm limits.
Page 63
Project no. 222682
From the Settings folder, the user may:

• Set cooling ON and OFF temperatures, i.e. at which temperatures the cooling should
be started and stopped when in Auto mode.
• View the gear oil temperature.
Page 64
Project no. 222682
6.2.2.4 Winch HNC dialogue box

The HNC dialogue boxes are shown below. The HNC is the motor controller located in the
winch node cabinet.

• View information on Status, Mode, Commands and Alarms for each motor by clicking
on the Motor 1 or Motor 2 buttons in the Commands field.
Page 65
Project no. 222682

• View each motor’s rotational Speed and Speed Set Point.
• View each motor’s Swivel Angle.
• View the current status of each motor’s servo valve filter.
• View the current status of each motor’s bypass valve.
• View the current status of each motor’s isolation valve.
• View the current status of the brake off request.
• View the current System Pressure.
• View the current Torque limits.
From the HNC Parameter folder, the user may:

• View and change torque limitations for the motors.
Page 66
Project no. 222682
6.2.2.5 Spooling device dialogue box

The Spooling Device dialogue boxes are shown below. From the Status folder, the user may:
• Acknowledge alarms on this element.
From the Spooling Device parameter folder, the user may:

• View actual position of the spooling device.
• View and set the Auto Position, i.e. the position where the spooling device starts
spooling the next time the operator pays in or out on the winch.
• View and set the Left and Right Turn Limits for the spooling device.
• View and set Number of Coils per layer.
• View Number of Steps each Layer, normally two per coil.
• View Auto spool step size.
Page 67
Project no. 222682
From the Position Sensor folder, the user may:

• View actual analogue position sensor value and set alarm limits.
Page 68
Project no. 222682
6.2.2.6 Load cell dialogue box

The Load Cell dialogue boxes are shown below. From the Status folder, the user may:
From the Load Cell Additional Information folder, the user may:
• View current tension and set alarm limits.
Page 69
Project no. 222682
6.2.3 A-frame and Docking head

The A-frame Anti Collision System can be disabled from the GUI. This override will also
disable soft stops at end positions for A-frame tilt and telescope when operated from the
Radio remote.
A-frame:
• Position of tilt and telescope cylinders are displayed
in text boxes.
− 0% indicates that Telescope is fully retracted and
that Tilt is in inner position.
− 100% indicates that Telescope is fully extended
and that Tilt is in outer position.
• The Open Lock button indicates the status of the
locks and the lock command. If the button is flashing
there is a mismatch between the lock command and
the actual lock status. The lock can be operated by
clicking on this button.
By left clicking on the A-frame device, the following dialogue boxes can be viewed:
• A-frame:
− Status and settings for the A-frame.
• DockHead:
− Status and settings for the Docking head.
• Lock:
− Status and settings for the Docking head lock.
• MRU Coor:
− Status and settings for the MRU.
Page 70
Project no. 222682
6.2.3.1 A-frame dialogue box

• Acknowledge alarms.
• Enable SW Override, i.e. disable the Anti Collision System and soft stops at end
positions for A-frame tilt and telescope when operated from the Radio remote.

• View speed set point for tilt, telescope and platform.
• View tilt and telescope position, and set alarm limits.
The displayed speed set points are according to current joystick position, not including any
influence from the control system caused by the Anti Collision System, soft stop or gains.
Page 71
Project no. 222682
From the Valve Set point folder, the user may:

• View speed set points to valves controlling A-frame tilt, telescope and work platform.
The displayed speed set points are what is actually sent to the proportional control valves,
including the influence from the control system caused by the Anti Collision System, soft
stops, gains etc.
Page 72
Project no. 222682
6.2.3.2 Docking head dialogue box


• View the speed set points for Docking head In/Out, Left/Right and CW/CCW rotation.
The displayed speed set points are according to current joystick position, not including any
influence from the control system caused by gains.
Page 73
Project no. 222682
From the Valve Set point folder, the user may:

• View valve set points for Docking head In/Out, Left/Right and CW/CCW rotation.
The displayed speed set points are what are actually sent to the proportional control valves,
including any influence from the control system caused by gains etc.
Page 74
Project no. 222682
6.2.3.3 Docking head lock dialogue box


• View feedback from lock and Upper position sensors, as well as the open lock
command.
Page 75
Project no. 222682
6.2.3.4 MRU coordinates dialogue box

From the MRU Coordinates folder, the user may:
• View and change the Active MRU Coordinate set.
The analogue position sensors in the tilt and

telescope cylinders of the A-frame are used to
calculate the exact position of the umbilical
overboard point. Hence, by using the default
coordinate set (3), the Active Heave
Compensation will be very accurate both
during and after repositioning of the A-frame.
Set 1 and 2 can be used in case of failure of

one or both of the analogue position sensors in
the A-frame. Accurate Active Heave
Compensation can then be obtained by
selecting one of the two sets of coordinates,
and repositioning the A-frame tilt and
telescope accordingly.
Page 76
Project no. 222682
From the MRU Config folder, the user may:

• Set MRU coordinates from MRU to A-
frame center.
X-Val:
• The longitudinal distance from
the MRU to the A-frame
center point.
• Positive direction is forward.
Hence a negative number
shall be entered if the MRU is
located forward of the A-frame
center point.
Y-Val:
• The transverse distance from
the MRU to the A-frame
center point.
• Positive direction is towards
starboard. Hence a negative
number shall be entered if the
MRU is located on the
starboard side of the A-frame
center point.
Z-Val:
• The vertical distance from the
MRU to the A-frame center
point.
• Positive direction is
downward. Hence a negative
number shall be entered if the
MRU is located below the A-
frame center point.
• Set the position of the A-frame onboard
the vessel.
• View, reset and change the Average
Heave buffer.
The figure shows the A-frame center point

used as a reference for measuring the
distance between the MRU and the A-frame.
This point is found in the crossing point
between the two following lines:
• The longitudinal centerline of the A-
frame.
• A line drawn between the centers of
the two shafts serving as the center of
rotation for the A-frame legs.
Page 77
Project no. 222682
6.2.4 Auto Depth

Auto Depth is a feature that can be enabled
only from the GUI.
From the GUI, the user may:

• View and set target speed and target
depth.
• Enable and disable Auto Depth by
clicking on the Enable Auto Depth
button.
Target speed and target depth values can be

altered by using the numpad on the Operation
panel or the designated arrows on the GUI (up
and down). The target speed and target depth can be changed any time, also when Auto
Depth is active. New settings are not implemented until the user clicks on a Set button.
6.2.5 Heave monitoring

The following values are displayed in the GUI:
• Previous heave:
− Peak-to-peak value of previous
vessel heave.
• Maximum heave:
− Largest peak-to-peak value of
the vessel heave since last
reset.
Additionally, two plots are available:

• Average heave history:
− Average heave over the last 5
hours.
• AHC capacity:
− Displaying the 50 last heave
cycles in a diagram also
showing the system limitation
curve.
For cyclic vessel motions with periods less than 8 seconds, the systems acceleration is the
limiting factor. For vessel motions with period higher than 8 seconds, the systems maximum
speed is the limiting factor. This plot applies to the ROV winch.
Both plots can be started, stopped, cleared and dumped to text files using the designated Log
to File button. It is also possible to double click on the axis to change the scale, as well as
scrolling back in time to view historical data since last clear command was given.
Page 78
Project no. 222682
6.3 Communication view

This view shows the status for ProfiBus communication. A red cross indicates no ProfiBus
communication to a node or component. This view is for information only, and has no
functionality.
Page 79
Project no. 222682
6.4 Alarm view

In this view, active alarms or the complete alarm log can be shown. The user can
acknowledge and filter alarms or view alarm properties. The most recent alarms are found at
the top of the list.
Page 80
Project no. 222682
The Alarm Log will show all alarms, the most recent alarms are found at the top of the list.
Page 81
Project no. 222682
6.4.1 List of alarms

An overview of all alarms displayed in dialog boxes, divided into chapters for each device.
Alarms only displayed in the Alarm View are not listed, due to long alarm texts.
6.4.1.1 HPU Alarms

Name Description Priority
Override Alarms Alarm override active Notify
HPU failed to start Failed to start Warning
Running signal lost Running signal(s) lost Error
Oil Temp Oil Temperature, 4 level alarm Level
6.4.1.2 HPU Pump Alarms

Overload Overload fault Error
Thermistor Thermistor fault Error
Shutdown, H.temp Shutdown due to high temperature Error
Shutdown, Low level Shutdown due to low level Error
Lack of feedback Lack of feedback Error
Running signal lost Running signal lost Error
PhaseDir. Busbar Phase direction relay, busbar1 active Error
Power Off Power off Error
6.4.1.3 HPU Oil Cooler Alarms

No water flow Valve open, but no water flow detected Warning
Lack of Feedback Lack of feedback Warning
6.4.1.4 Winch Alarms

Brake didn’t engage Brake On command given, no feedback after timeout Error
Brake didn’t diseng. Brake Off command given, no feedback after timeout Error
Brake sensor defect Brake sensor defect Warning
Lack of feedback Failed to start or no brake off request received Warning
Stopped Too few motors running or error on SD or Encoder Error
Low length on drum Low cable length on winch Warning
Reduced Force Reduced pull force, since not all motors running Warning
Brake released Brake release selected Notify
System Pressure System pressure, 4 level alarm Level
Boost Pressure Boost pressure, 4 level alarm Level
6.4.1.5 Encoder Alarms

Profibus Comm. Error Lost communication with ProfiBus Error
Encoder Frozen Encoder value was frozen for a period of time Warning
Illegal Angle Angle outside limits Level
Abnormal Step Abnormal step in encoder pulses Warning
Page 82
Project no. 222682
6.4.1.6 Gear Oil Cooler Alarms

Temp Idle Gear Oil temperature in Idle Gear, 4 level alarm Level
Lack of Feedback Lack of feedback Error
6.4.1.7 HNC Alarms

Lack of feedback Lack of feedback Warning
Motor has stopped HNC has stopped – Error on HNC controller and/or Error
motor(s)
Profibus Comm. Err. Lost communication with ProfiBus Error
6.4.1.8 HNC Motor Alarms

CableBreak incr. Cable break in incremental sensor Error
CableBreak in LVDT Cable break in LVDT Error
Max Speed Error Maximum speed exceeded Error
Accele. Too High Maximum acceleration exceeded Error
Swivel ang. diff. Swivel angle differential Error
Swivel ang. adj. err. Swivel angle adjustment error Error
Speed deviation Speed deviation command / actual Error
CAN comm. fault CAN communication failure Error
Start no pressure Start without pressure error Error
Swivel ang. adj. fault Swivel angle adjustment fault Warning
Valve offset fault Valve offset fault Warning
Brake fault Brake fault Warning
No enable No enable Warning
Emergency stop Emergency stop fault Warning
Freewheeling Lost control of motor – motor is freewheeling Error
6.4.1.9 Spooling Device Alarms

Auto Not In Position Auto Spooling not in position Warning
Position Sensor Spooling position, 4 level alarm Level
6.4.1.10 Load Cell Alarms

LC Out of Range Load cell tension, 4 level alarm Level
6.4.1.11 A-Frame Alarms

Tilt out of range Tilt position, 4 level alarm Level
Telesc. out of range Telescope position, 4 level alarm Level
Page 83
Project no. 222682
6.4.1.12 LARS Alarms

Anti Collision On A-Frame anti-collision system activated Notify
System didn’t start System did not start within timeout Warning
Above Safety depth Depth above safety limit when trying to enter AHC Notify
Mode trans. Failed System failed to enter mode - error on critical Warning
subcomponent
Unable to tighten Timeout when trying to tighten cable between winch Warning
and A-frame
EM Operation on Emergency operation activated Warning
EM Stop active An Emergency stop has been activated Error
6.4.1.13 Regulator Alarms

Speed above limit Winch speed above limit in Latched mode Error
Outside speed limit Vessel heave motion outside system speed limit Notify
Can’t run in AHC Unable to run in AHC, MRU error Error
Above Safety depth Above Safety depth level for AHC – hoist disabled Warning
6.4.1.14 MRU Alarms

Unstable Data Data is unstable Error
Header Invalid Invalid header Error
Length Invalid Invalid length Error
Token Invalid Invalid token Error
Checksum Invalid Invalid checksum Error
Lost Communication Lost communication Error
6.4.1.15 Radio remote Alarms

No Communication No communication Notify
Stop Button Pressed Stop switch activated Warning
Profibus Comm Err. Lost communication with ProfiBus Error
DP Interf. (E011) Failure in DP interface module (E011) Error
DP Comm. (E010) Profibus communication failure (E010) Error
Uplink Timeout No new data from MCLink within timeout Error
Page 84
Project no. 222682
6.5 Trend view

From this view, the operator can select available parameters for real time plotting in two
graphs, each with scalable axis. Trend curves can be started, stopped (frozen), cleared and
logged to file using the designated buttons. The plot should be frozen prior to logging to file.
Use the ctrl key for selecting more than one parameter for plotting.
Page 85
Project no. 222682
6.6 Settings
The following sections outline the recommended settings for the various sensors and
actuators in the system where adjustments from the GUI are allowed. Further information
about how to apply new settings are found in the GUI section.
Warning
When high or low values are triggered, the control system will provide the user
with a warning in the GUI. Triggering high high or low low values will cause the
system to shut down.
6.6.1 Hydraulic power unit settings

The following settings are available for the Hydraulic power unit:
• 4-level alarms:
− Oil temperature.
• Other:
− Oil Cooler ON/OFF.
6.6.1.1 Oil temperature – analogue 4-level alarm settings

High High Limit: 65.0 oC.
High Limit: 60.0 oC.
Low Limit: 20.0 oC.
Low Low Limit: 10.0 oC.
6.6.1.2 Oil temperature – cooler settings

Cooler ON 55.0 oC.
Cooler OFF 45.0 oC.
6.6.2 A-frame settings

The following settings are available for the Hydraulic power unit:
• 4-level alarms:
− Tilt position.
− Telescope position.
6.6.2.1 Tilt position – analogue 4-level alarm settings

High High Limit: 105.0 %.
High Limit: 102.0 %.
Low Limit: -2.0 %.
Low Low Limit: -5.0 %.
6.6.2.2 Telescope position – analogue 4-level alarm settings

Low Limit: -2.0 %.
Page 86
Project no. 222682
6.6.3 Winch settings

The following settings are available for the winch:
• 4-level alarms:
− Main line pressure.
− Boost line pressure.
− Load cell tension.
− Gear Oil temperature.
− Spooling device position.
• Other:
− Gear oil cooler ON/OFF
6.6.3.1 Main line pressure – analogue 4-level alarm settings

High High Limit: 350.0 bar.
High Limit: 340.0 bar.
Low Limit: 200.0 bar.
Low Low Limit: 150.0 bar.
6.6.3.2 Boost line pressure – analogue 4-level alarm settings

High High Limit: 35.0 bar.
High Limit: 33.0 bar.
Low Limit: 10.0 bar.
Low Low Limit: 5.0 bar.
6.6.3.3 Load cell – analogue 4-level alarm settings

High High Limit: 36.0 Te.
High Limit: 20.0 Te.
Low Limit: -1.0 Te.
Low Low Limit: -5.0 Te.
6.6.3.4 Gear oil temperature – analogue 4-level alarm settings

High High Limit: 65.0 oC.
High Limit: 60.0 oC.
Low Limit: 5.0 oC.
Low Low Limit: 0.0 oC.
6.6.3.5 Spooling device position – analogue 4-level alarm settings

Low Limit: -2.0 %.
6.6.3.6 Gear oil temperature – cooler settings

Cooler ON 60.0 oC.
Cooler OFF 40.0 oC.
Page 87
Project no. 222682
7 THE LOCAL CONTROL AND EMERGENCY OPERATION PANELS

The main purpose of Local Control and Emergency operation panel is to provide the user with
a possibility to operate the system with reduced functionality in case of failure in the control
system.
Local control is defined as:

• Valve lever for Spooling device.
• Valve lever for Outhauler sheave.
Emergency operation is defined as:

• Emergency operation panel with hardwired joysticks and pushbuttons for operation of
the ROV winch.
• Push buttons for operation of pumps, cooling and filtration on HPU starter cabinets.
Warning
Emergency operation will disable many safety features and shall not be used
when other control stations are operative.


7.1 Local operation of the winch spooling device

The winch spooling device can be operated by the valve lever.
7.2 Local operation of the Outhauler sheave

The Outhauler sheave can be operated by the valve lever
7.3 Emergency operation of the Hydraulic power unit

The HPU pumps can be started locally on the designated starter cabinets mounted on the
HPU.
Page 88
Project no. 222682
7.3.1 Boost pumps

The boost pump starter cabinet contains the following:
• For each of the two pumps
− Ammeter:
For measuring motor current.
− Low Level Stop reset:
For resetting after shutdown due to low oil level on the safety circuit.
− High Temp Stop reset:
For resetting after shutdown due to high oil temperature on the safety circuit.
− Start:
For starting the pump.
− Stop:
For stopping the pump.
− Mode selector:
For switching between local or remote operation of the pump.
− Power on indication:
Indicating that power is available for the starter.
− Heating selector:
Switch for motor heater.
• Emergency Stop button.
• Emergency Stop Reset button:
− Used for resetting after an Emergency stop.
• Alarm Override:
− Used to override high temperature stop.
• Hour counters:
− Inside of cabinet.
Page 89
Project no. 222682
7.3.2 Main pumps

The main pump starter cabinet contains the following:
• Ammeter:
− For measuring motor current.
• System Power:
Indicating that power is available for the starter.
• Mode selector:
− For switching between local or remote operation of the pump.
• Heating selector:
− Switch for motor heater.
• Start:
− For starting the pump.
• Stop:
− For stopping the pump.
• Hour counter:
− Inside of cabinet.
Page 90
Project no. 222682
7.4 Emergency operation of the Winch

Warning


The Emergency operation panel for the winch contains the following:
• Emergency stop button.
• On/Off key switch:
− Used for enabling and disabling the Emergency operation panel.
• Speed selector:
− Used for switching between high and low speed.
• Winch ready:
− Lamp indicating that winch is ready, and the brakes can be released.
• Brake release:
− The winch brake is only released while the 'brake release' button is pressed and no
emergency stop condition exists.
− Once the button is released or an emergency stop occurs, the brake is re-engaged.
• Joystick:
− Used for operation of the winch in emergency operation.
Warning
Never turn off the Emergency operation panel without releasing the brake
release button first.
Page 91
Project no. 222682
7.5 Local operation of the A-frame and Docking head

The A-frame and Docking head can be manually operated from the levers on the valve rack.
All valves are of the proportional type, meaning that the speed of the movement is proportional
to the deflection of the lever and that speed is independent of load. The valves for A-frame tilt
and telescope are of the larger PVG120 type, the others of the PVG32 type.
When mounted all A and B lines from the valves pointing upwards as shown below, the valve
levers have the following functionality (From left to right):
• Valve 1, A-frame tilt:
− Lever up: Outwards.
− Lever down: Inwards.
• Valve 2, A-frame telescope:
− Lever up: Out.
− Lever down: In.
• Valve 3, Work platform:
− Lever up: Out.
− Lever down: In.
• Valve 4, Docking head lock:
− Lever up: Open lock.
− Lever down: N/A.
• Valve 5, Docking head Left/Right:
− Lever up: Right.
− Lever down: Left.
• Valve 6, Docking head In/Out:
− Lever up: Out.
− Lever down: In.
• Valve 7, Docking head Rotation:
− Lever up: Clockwise.
− Lever down: Counter clockwise.
Note!
• If the valve stack is mounted up side down, the above will change correspondingly.
• The lever directions may vary on some systems.
Page 92
Project no. 222682
8 OPERATION
The maximum speed of the system will depend upon the available and required hydraulic
power, i.e. number of running pumps and the weight of the payload. Hence, operation at
shallow depth at speeds below the maximum design speed might only require that one main
pump and one boost pump is running. Operating at maximum depth, and hence load, will
require that all three main pumps and both boost pumps are running for the system to reach
its maximum design speed.
Whilst in operation, it is recommended that both boost pumps are running. This for issues
related redundancy. For the same reasons, two main pumps should be used, either pumps 1
and 2, or 1 and 3. This will ensure that at least one boost and one main pump will keep
running in case of an error in one of the safety circuits.
Note!
• At least one boost pump and one main pump must be running to operate the system.
• Insufficient pump capacity will not lead to reduced lifting capacity, but may lead to
reduced maximum speed.
• When starting a main pump, the vessel’s Power Management System will accept or
deny a start request.
• It is recommended that the Docking head lock is held open whenever the ROV/TMS is
not resting on the locks. This is to avoid damage to the umbilical.
• It is possible to latch in the ROV/TMS when the Docking head lock is closed. The bullet
will force the lock to open when entering the Docking head, while accumulators and
springs will apply the lock when the bullet approaches Upper position in the Docking
head.
8.1 Preparatory work

At this stage it is assumed that the equipment has been installed and maintained as outlined,
and thus is ready for ordinary operation. The operator shall also be familiar with the equipment
and its technical description in addition to safety precautions as described herein and
established on site. Start-up and the upcoming operations shall be authorized by relevant
personnel or authorities.
8.2 Normal operation
8.2.1 Transfer of control

From the Operation panel, the user may transfer control of the system to the Operation panel
at any time by pressing the enable panel and confirm buttons. Further, control can be offered
to the Radio remote upon pressing the enable radio button. Once the Radio remote operator
presses the confirm button on the Radio remote, the control of the system is transferred from
the panel to the Radio remote.
The panel in control will be indicated with a steady light. Starting a transfer of control from the
panel to the Radio remote by pressing Enable Radio, will cause flashing lights in the enable
Radio and confirm buttons. When pressing Confirm on the Radio remote, the enable Radio
button will have steady light, while the light is off in the enable panel button.
Page 93
Project no. 222682
8.2.2 Start-up
The normal start up procedure is initiated by starting the HPU from the Operation panel.
# Description
1. Perform the following operations:

− Turn the key switch on the Operation panel ON.
− Start Boost 1.
− Start Boost 2.
− Start Main 1.
− Start Main 2.
− Start Main 3.
Verify:
− Pressure builds up in main and boost lines.
− No active alarms.
− Winch mode is Standby.
8.2.3 Preparing to launch

# Description

− Switch on the Radio remote using the toggle switch.
− Transfer control from Operation panel to Radio remote.
Verify:
− Control station Radio is indicated on Operation panel and Radio remote.
2. If the ROV/TMS is resting on the Docking head lock, proceed to the next step.
Otherwise, perform the following operations from the Radio remote:
− Set winch mode to Normal.
− Enable A-frame joysticks and use A-frame Tilt In/Out and A-frame Telescope
In/Out to position the Docking head over the ROV/TMS.
− Pay in or out on the winch as appropriate for securing satisfactory routing of
the umbilical.
− Align the Docking head with the ROV/TMS using Docking head In/Out and
Docking head Left/Right.
− Enable winch joystick and pull in until ROV/TMS is in Upper position as
indicated on the Radio remote.
− Pay out on winch until the ROV/TMS rests on the Docking head lock.
− Set winch mode to Latched.
Verify:
− Winch in Latched mode.
− Indicator flags on the Docking head indicate that the lock is closed.
Page 94
Project no. 222682
8.2.4 Launching over the side
# Description

− Use A-frame Tilt In/Out and A-frame Telescope In/Out to lift the ROV/TMS off
deck.
− Enable the Docking head joystick and keep the Docking head leveled using
Docking head In/Out.
− Use A-frame Tilt out and A-frame Telescope In/Out to launch the ROV/TMS
over the side of the vessel to the designated position.
− Keep the Docking head leveled using Docking head In/Out.
− Disable the A-frame joystick.
− Disable the Docking head joystick.
OR
deck.
− Keep the Docking head leveled by enabling Damping In/Out.
− Use A-frame Tilt out and A-frame Telescope In/Out to launch the ROV/TMS
− Disable A-frame joystick.
− Disable Docking head damping.
Verify:
Note!
− Always assure that the winch is in Latched mode during A-frame operation to
avoid high tension in the umbilical.

− Set the winch to Normal mode.
− Enable the winch joystick and pull in until the ROV/TMS is in Upper position
as indicated on the Radio remote.
− Open the lock.
− Deploy the ROV/TMS to below Safety depth.
− Disable winch joystick.
− Transfer control from the Radio remote to the Operation panel.
− Switch off the Radio remote.
Verify:
Note!
− The lock should be kept open during the whole operation to avoid damage to
the umbilical.
Page 95
Project no. 222682
8.2.5 Deployment to target depth

Deployment to target depth may be performed automatically through the use of the Auto
Depth feature or manually by operation of the winch joystick. In both cases, Active Heave
Compensation may be enabled.
# Description
1. Prior to enabling Active Heave Compensation, verify:

− Actual overboard position corresponds with the settings for Active Heave
Compensation. This can be verified in the MRU Coordinate dialogue box for
the A-frame in the Graphical User Interface.
− The winch is in Normal mode.
− The ROV/TMS is below Safety depth.
Perform the following operations to enable Active Heave Compensation:

− Set the winch to AHC mode.
Verify:
Note!
− AHC will require that the ROV/TMS is below the Safety depth.
− Recovery beyond the Safety depth will require that AHC is disabled.
− Reduced accuracy in AHC may be caused by deviations between actual
overboard position and AHC settings.
− Deployment speed is applied with reference to the seabed if AHC is activated.
Correspondingly, winch speed may vary within the operational limits.
2. Perform the following operations for automatic deployment to target depth:

− Set target speed and target depth in the Graphical User Interface.
− Enable Auto Depth from the Graphical User Interface.
Verify:
Note!
− Target speed and target depth can be changed at any time.
− Auto Depth is ramped out when:
o Target depth is reached.
o The winch joystick is enabled during deployment.
o Transfer of control from the Operation panel to the Radio remote is
performed.
Page 96
Project no. 222682
# Description
3. Perform the following operations for manual deployment to target depth:

− Enable the winch joystick and operate the winch until target depth is reached.
− Disable winch joystick.
Verify:
8.2.6 Operation at target depth

Operation at the target depth may be performed with or without Active Heave Compensation.
Adjustment of depth may be done through the winch joystick or the Auto Depth feature. The
joystick should be disabled when not in use for safety reasons.
Docking head In/Out and Left/Right position can be adjusted from the Radio remote to
accommodate the current umbilical routing.
Page 97
Project no. 222682
8.2.7 Recovery to Safety Depth

Prior to commencing recovery to the surface, the ROV should be secured in the TMS.
Recovery to Safety Depth may be performed automatically through the use of Auto Depth or
manually by operation of the winch joystick. In both cases, Active Heave Compensation may
be enabled. It is recommended that the ROV/TMS is recovered no longer than to the Safety
Depth from the Operation panel. The remainder of the recovery should be done from the
Radio remote.
# Description
1. Prior to enabling Active Heave Compensation, verify:

− Actual overboard position corresponds with the settings for Active Heave
Compensation. This can be verified in the MRU Coordinate dialogue box for
the A-frame in the Graphical User Interface.
− The winch is in Normal mode.
− The ROV/TMS is below Safety depth.
Perform the following operations to enable Active Heave Compensation:

− Set the winch to AHC mode.
Verify:
Note!
− AHC will require that the ROV/TMS is below the Safety depth.
− Pulling in beyond the Safety depth will require that AHC is disabled.
− Reduced accuracy in AHC may be caused by deviations between actual
overboard position and AHC settings.
− Deployment speed is given with reference to the seabed if AHC is activated.
Correspondingly, winch speed may vary within the operational limits.
2. Perform the following operations for automatic recovery to Safety Depth:

− Set target speed and target depth in the Graphical User Interface.
− Enable Auto Depth from the Graphical User Interface.
Verify:
Note!
− Auto Depth is ramped out when:
o Target depth is reached.
o Safety depth is reached.
o The winch joystick is moved out of neutral position during deployment.
o Transfer of control from the Operation panel to the Radio remote is
performed.
Page 98
Project no. 222682
# Description
3. Perform the following operations for manual recovery to Safety Depth:

− Enable the winch joystick and operate winch until Safety Depth is reached.
− Disable the winch joystick.
Verify:
8.2.8 Recovery to deck
# Description

− Switch on the Radio remote.
− Transfer control from the Operation panel to the Radio remote.
Verify:

− Disable Docking head damping in all directions.
− Use the Docking head joystick to level the Docking head.
− Close the Docking head lock.
Verify:
− Docking head leveled and lock closed.

− Enable Winch joystick and recover the ROV/TMS.
− Set the winch to Normal mode, i.e. Active Heave Compensation must be
disabled.
− Pull in until the ROV/TMS is in Upper position in the Docking head as
indicated on the Radio remote.
− Set winch mode to Latched.
Verify:
− Winch in Latched mode.
− Payload resting on the Docking head lock.
− Visual flags on the Docking head indicate that the lock is closed.
Note!
− The Docking head lock may be kept open to the bullet reaches the Upper
position in the Docking head.
Page 99
Project no. 222682
# Description

− Enable the Docking head joystick and keep the Docking head leveled using
Docking head In/Out.
− Use A-frame Tilt In/Out and A-frame Telescope In/Out to lift the ROV/TMS to
the designated position on deck.
− Disable the Docking head joystick.
OR
− Enable Docking head damping In/Out.

− Use A-frame Tilt In/Out and A-frame Telescope In/Out to lift the ROV/TMS to
the designated position on deck.
− Disable Docking head damping In/Out.
Verify:
Note!
− Use care and attention when landing the ROV/TMS on deck. Overtravel
beyond triggering the Upper position indicator will potentially lead to
squeezing of the ROV/TMS between the deck and Docking head.

− Transfer control from the Radio remote to the Operation panel.
− Switch off the Radio remote using the toggle switch.
Verify:
8.2.9 Shut down
# Description
1. Perform the following operations from the Operation Panel:

− Stop main pumps.
− Stop boost pumps.
− Turn key switch on the Operation Panel OFF.
Verify:
− Pressure is vented in main and boost lines.
Page 100
Project no. 222682
8.3 Local and Emergency Operation

As a general rule, all systems should be operated from the Operation panel, Radio remote and
Graphical User Interface.
Warning
Emergency operation panels should be used ONLY when the main controller is
out of operation, and ONLY as a last resort.


All of the equipment may be operated independently of the control system (main controller):
• HPU:
− Pushbuttons locally on the starter cabinets.
• ROV winch:
− Hardwired to Emergency operation panel.
− Valve lever for spooling.
• Outhauler:
− Valve lever.
• A-frame and Docking head:
− Valve levers.
• Apart from the valve levers, all emergency operation is based on hardwired input from
the operator, and does not include any checks of operator input or handling of alarms.
• To avoid accidental use, neither the brake release button or joystick on the hardwired
Emergency operation panels can be activated unless the key switch is in ON position.
• The “Winch Ready” lamp will indicate whether the motor controller is ready for
releasing the brake or not. Unless this lamp is ON, the operator shall as a general rule
not release the brake.
• The brake is released by pressing and holding the brake release button.
− The brake will now stay disengaged until:
The brake release button is released.
The key switch is turned off.
Power is cut to its directional control valve.
An emergency stop is activated.
The hydraulic system lifting the brake is depressurized.
Warning
Never press the brake release button for a winch if the associated “Winch
Ready” lamp is OFF.
Page 101
Project no. 222682
8.3.1 Start-up
# Description
1. Perform the following operations on the HPU Emergency operation panel:

− Turn switch on all pump starter cabinets to “Local”.
− Press start on Boost 1.
− Press start on Boost 2.
− Press start on Main 1.
Verify:
− Pressure builds up in main and boost lines.
8.3.2 Preparing to launch
Warning


# Description
1. If the ROV/TMS is locked in the Docking head lock, proceed to the next step.
Otherwise, perform the following operations from the A-frame valve levers and the
winch Emergency operation panel:
− Enable the Emergency operation panel for the winch by turning the key switch
to ON.
− Set winch speed to Low.
− Verify that the “Winch Ready“ lamp is ON.
− Press and hold the brake release button.
− Operate valve levers, and use A-frame Tilt In/Out and A-frame Telescope
In/Out to position the Docking head over the ROV/TMS.
− Pay in or out on the winch as appropriate for securing satisfactory routing of
the umbilical.
− Align the Docking head with the ROV/TMS using Docking head In/Out and
Docking head Left/Right.
− Pull in with the winch until the bullet is in Upper position in the Docking head
lock.
Page 102
Project no. 222682
# Description
Verify:
− All mechanical flags on the Docking head indicate that the lock is closed.
Note!
− Winch spooling must be controlled from the valve lever.
− Outhauler must be operated from its valve lever if required.
8.3.3 Launching over the side
# Description
1. Perform the following operations from the A-frame valve levers:

deck.
− Keep the Docking head leveled using Docking head In/Out.
− Use A-frame Tilt Out and A-frame Telescope In/Out to launch the ROV/TMS
− While operating the A-frame, pay out on the winch from the emergency
operation panel to avoid high umbilical tension. The brake release button
must be pushed and held to lift of the winch brake.
OR
− Activate Docking head damping In/Out using the mechanical override on the
valve actuator.
deck and over the side of the vessel to the designated position.
− While operating the A-frame, pay out on the winch from the emergency
operation panel to avoid high umbilical tension. The brake release button
must be pushed and held to lift of the winch brake.
− Deactivate Docking head damping In/Out using the mechanical override on
the valve actuator.
−
Note!
2. Perform the following operations from the Emergency operation panel:

− Pull in with the winch until the bullet is lifted off the Docking head lock.
− Pull and hold the valve lever for opening the Docking head lock.
− Deploy the ROV/TMS to below the surface.
Note!
− To avoid damage to the umbilical, the Docking head lock should be kept open
whenever the winch is operated.
Page 103
Project no. 222682
8.3.4 Deployment to target depth
# Description
1. Perform the following operations from the winch Emergency operation panel:
− Set the speed selector to High.
− Deploy the ROV/TMS to target depth.
− Release the brake release button.
− Disable the Emergency operation panel for the winch by turning the key switch
to OFF.
Note!
8.3.5 Operation at target depth
Warning


Adjustment of depth may be done through the joystick on the winch Emergency operation
panel. The panel should be disabled when not in use. Docking head In/Out and Left/Right
position can be adjusted from the A-frame valve levers to accommodate the umbilical routing.
Note!
− Winch spooling must be controlled from the valve lever at all times when using the
Emergency operation panel.
− To avoid damage to the umbilical, the Docking head lock shall be kept open whenever
the winch is operated.
Page 104
Project no. 222682
8.3.6 Recovery to surface

Prior to commencing recovery to the surface, the ROV should be secured in the TMS.
Warning


# Description
1. Perform the following operations from the A-frame valve levers and the Emergency
operation panel:
− Enable the Emergency operation panel for the winch by turning the key switch
to ON.
− Set the speed selector to High.
− Verify that the “Winch Ready“ lamp is ON.
− Press and hold the brake release.
− Pull and hold the valve lever for opening the Docking head lock.
− Recover the ROV/TMS to the surface.
Note!
8.3.7 Recovery to deck

Prior to commencing recovery to deck, the telescopic work platform on the A-frame may be
extended to provide improved visibility of the splash zone and docking of the ROV/TMS.
# Description
1. Perform the following operations from the A-frame valve levers and the Emergency
operation panel:
− Level the Docking head.
− Close the Docking head lock by releasing the valve lever for opening the
Docking head lock.
− Pull in with the winch until the bullet is in Upper position in the Docking head
lock.
− Set the winch speed selector to Low.
Page 105
Project no. 222682
# Description
Verify:
− All mechanical flags on the Docking head indicate that the lock is closed.
Note!
2. Perform the following operations from the A-frame valve levers and the winch
Emergency operation panel:
− Use the winch joystick to secure the desired umbilical routing.
− Use A-frame Tilt In and A-frame Telescope In/Out to recover the ROV/TMS
over the side of the vessel to the designated position on deck.
− Keep Docking head leveled using Docking head In/Out.
OR
− Use the winch joystick to secure the desired umbilical routing.

− Activate Docking head damping In/Out using the mechanical override on the
valve actuator.
− Use A-frame Tilt In and A-frame Telescope In/Out to recover the ROV/TMS
over the side of the vessel to the designated position on deck.
− Deactivate Docking head Damping In/Out using the mechanical override on
the valve actuator.
Note!
− Use care and attention when landing the ROV/TMS on deck. Overtravel
beyond triggering the Upper position indicator will potentially lead to
squeezing of the ROV/TMS between the deck and Docking head.
3. Perform the following operations from the winch Emergency operation panel:
− Release the brake release button.
− Disable the Emergency operation panel by turning the key switch to OFF.
8.3.8 Shut down
# Description
1. Perform the following operations from the HPU Local control:

− Press stop on running main pumps.
− Press stop on running boost pumps.
Page 106
Project no. 222682
9 MAINTENANCE
For information regarding maintenance; please see maintenance guidelines (external
document).
Page 107
Project no. 222682
10 STORAGE AND PRESERVATION
10.1 Preparations for storage

The following instructions shall apply for storage of the equipment.
• Store the equipment in a dry and moisture free environment:
− Storage temperature: -20°C to + 40°C.
− Maximum air Humidity: Up to 95% RH non-condensing.
• Wash the equipment with fresh water.
• Drain all water.
• Perform general inspections of hydraulic, mechanic and electrical systems as
described in the maintenance section of this manual.
• Plug or seal all open connections.
• Cover the equipment with a tarpaulin.
• Verify that heating of oil reservoir and electric motors are enabled.
10.2 Storage maintenance
PRIOR TO EVERY EVERY 3 EVERY 6

MAINTENANCE INSTRUCTIONS
STORAGE MONTH MONTHS MONTHS
Perform preparations for storage as described
in this section of the manual. X
Inspect and repair any packing material

covering the system. X
Perform a general inspection of the overall

system as described in the maintenance
X
section of this manual.
Use an anti-corrosion additive on exposed

cylinder piston rods. X
Perform general inspections of hydraulic,

mechanic and electrical systems as described
X
in the maintenance section within this manual
Start all HPU pumps and operate for 15

minutes. X
Operate winch/rotate drum to circulate the

lubricants in the transmission. Preferably lock
the drum in another position than before X
running to vary the static load point on the
bearing.
Page 108
Project no. 222682
APPENDIX A – OIL CHART

The oil chart includes recommended oils and lubricants for ODIM AS products. Never mix
different types of oil, not even from the same manufacturer.
Oil for hydraulic Oil for Oil for Grease for Grease for
Company
system slewing ring intermediate gear bearing cog rail
Shell Tellus T 32 Omala 320 Omala 220HD Alvania EP2 Kuggfedt
Glygoyle 22
Mobil gear
Mobil DTE13 (32cst) Glygoyle 30 Mobillux EP2
632
SHC630
Crater special
Texaco Rando HDZ32 Meropa 320 Multifak EP2
2X
Hydraway Loadway Greaseway

Statoil Uniway LIG2
HVXA32 EP320 OG
Fina Hydran TXS32 Giran 320 Ceran WR2
Spartan
Esso Univis N32 Excolub SLG Bacon EP2 Surett NX-5K
EP320
NL Gearcomp
Chevron EP Hyd.oil 32 Polyurea EP2
320
Castrol Hyspin AWH32 Alpa ZN 320 Alphasyn PG150 APS 2 BNS Grease
Energol Energrease
BP Energol SHF32 Enersyn HTX220
GR-XP 320 LS-EP 2
Nynaas Hytol 32 GL320 Alexol L62
Page 109
Project no. 222682
Alternative oils and lubricants for ODIM AS products.
Oil for
Oil for Oil for Grease for Grease for
Company hydraulic
gearbox planet gear bearing cog rail
system
Shell Tellus T 46
Shell Tellus TX 32
Shell Tellus TX 46
Shell Tellus Arctic
DTE15
Mobil
(46cst)
Hydran TXS
Fina
46
Esso Univis N 46 Fibax EP370
Hydraway Greaseway
Statoil
HVXA 46 LiCaX90
Energol SHF
BP
46
Hyspin AWH
Castrol
46
Nynaas Hytol 46
Omega Omega 601
Sunoco Sunvis 46
Page 110
Project no. 222682
APPENDIX B – BOLT PRETENSION TABLE

Where not otherwise specified, bolts should be pretensioned according to the table below.
Thread D P As (d+P)xAs Pretension in Nm for Solidity Class

M mm mm Mm² mm³ 4.6 5.8 8.8 10.9 12.9
6 6 1 20.1 140.4 3.7 6.1 9.8 14 17
8 8 1.25 36.6 338.5 8.9 15 24 33 40
10 10 1.5 58 667 17 29 47 65 79
12 12 1.75 84.3 1159 30 51 81 114 136
14 14 2 115 1840 48 80 128 181 217
16 16 2 157 2826 74 123 197 277 333
18 18 2.5 192 3936 103 172 275 386 463
20 20 2.5 245 5512 144 240 385 541 649
22 22 2.5 303 7423 194 324 518 278 874
24 24 3 353 9531 249 416 665 935 1120
27 27 3 459 13770 360 600 961 1350 1620
30 30 3.5 561 18793 492 819 1310 1840 2210
33 33 3.5 694 25331 663 1100 1770 2480 2980
36 36 4 817 26680 855 1420 2280 3210 3850
Rel or Rpo.2 N/mm² 240 400 640 900 1080
k .σs . N
SF 2 117.7
mm 26.16 43.6 69.76 98.1
K 1 2
FFm
Page 111

ODIM HP Manual-Overside

Uploaded by

Copyright:

Available Formats

ODIM HP Manual-Overside

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

ODIM HP Manual-Overside

Uploaded by

Copyright:

Available Formats

DOCUMENT FRONT SHEET

Document Category: Document no: ODIM order no: Total pages:

LARS for ROV

2 SYSTEM AND TECHNICAL DESCRIPTION ..................................................................................................... 8

3 FUNCTIONALITY OVERVIEW ............................................................................................................................ 31

3.5.2 High system pressure ............................................................................................................................ 36

6 THE GRAPHICAL USER INTERFACE ............................................................................................................. 49

6.3 COMMUNICATION VIEW ..................................................................................................................................... 79

7 THE LOCAL CONTROL AND EMERGENCY OPERATION PANELS ....................................................... 88

8.2.4 Launching over the side ........................................................................................................................ 95

9 MAINTENANCE ................................................................................................................................................... 107

10 STORAGE AND PRESERVATION .............................................................................................................. 108

APPENDIX A – OIL CHART ...................................................................................................................................... 109

APPENDIX B – BOLT PRETENSION TABLE ....................................................................................................... 111

This reference contains the following main sections:

Errors and discrepancies within this manual should be reported to ODIM.

1.1 Safety precautions

2 SYSTEM AND TECHNICAL DESCRIPTION

When the Emergency Operation Panel is enabled, the winch controller

Under no circumstances must the 'brake release' button be pressed

System Design criteria

Design basis: NS 3472.

Design temperature range: –10°C to +45°C.

Safe working load (SWL): 12 Te.

Maximum dynamic load: 36 Te.

Maximum dry weight of package: 12 Te.

Maximum submerged weight: 19.5 Te.

2.1.1 Drawing references for the system

Drawing name Drawing number

System Arrangement 621156

Cable diagram EAB027

Wiring diagram EAB028

Master Cabinet EAB029

Operation Panel EAB030

Emergency Operation Panel EAB031

Radio Remote UAP107

2.2 ROV winch

ROV winch Element Number: 7600

Calculation basis: DNV Rules for Certification of Lifting

Safe working load (SWL): 12 Te.

Dynamic amplification factor: 3.0.

Peak load: 36 Te.

Weather limitation for Active Heave Vessel Heave: Heave period:

Overall dimensions and weight

Width: 3 100 mm.

Length: 6 860 mm (Including spooling device).

Height: 4 140 mm.

Drum diameter: 1 450 mm.

Drum length between flanges: 3 000 mm.

Weight: Winch: 25.0 Te.

Design and construction details

Brake load outer layer / inner layer: Approximately 25 and 35 Te.

Lifting capacity outer layer / inner layer: 12 / 22 Te.

Speed: 2.4 m/s.

Winch acceleration: 1.9 m/s2.

Cable length: Approximately 4 500 m, operational depth

Cable diameter: 39.5 mm.

Cable type: Umbilical.

Drum grooving: Bolted Lebus sleeves on drum core:

Internal drum access: Manhole in one end of the drum.