Tassie Devil Tracker 4000

Operator manual v1.3

Tassie Devil Tracker 4000

Contents

Introduction ........................................................................................................................................3
Release History ...................................................................................................................................3
Contact................................................................................................................................................3
Overview.............................................................................................................................................4
Specifications ..................................................................................................................................4
Operations ..........................................................................................................................................5
Pre-start inspections.......................................................................................................................5
Start-up ...........................................................................................................................................6
Shut down.......................................................................................................................................6
Description..........................................................................................................................................7
Remote controller...........................................................................................................................7
Power unit.......................................................................................................................................8
Cleaning rig ...................................................................................................................................10
Sensor Unit....................................................................................................................................11
Main Menu....................................................................................................................................11
Display...........................................................................................................................................12
Limits.............................................................................................................................................12
Offsets...........................................................................................................................................13
Calibrate........................................................................................................................................14
Troubleshooting............................................................................................................................14
Fault finding ......................................................................................................................................15
Engine will not start ......................................................................................................................15
Spare parts........................................................................................................................................15
Idler System ..................................................................................................................................15
Track and Roller System................................................................................................................17
Propeller Drive System..................................................................................................................18
Track Drive System........................................................................................................................19
Cleaning Head System...................................................................................................................20
Cabinet Power Pack ......................................................................................................................20

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 Tassie Devil Tracker 2000/4000
Introduction
Aqua Clean Tasmania is an industry leading designer and developer of net cleaning solutions in the
Tasmanian Huon Valley. The Tassie Devil Tracker 2000/4000 uses propeller driven scrubber blades
rather than high pressure water to clean netting. This slow action process results in a highly efficient
cleaning process which protects against unwanted abrasion typically experienced during high
pressure water cleaning.

Release History
Version number Date Comment
1.0 30/03/2020 Initial issue
1.1 23/06/2020 Minor updates
1.2 01/07/2020 Minor updates
1.3 13/08/2020 Sensor unit instructions and updated photographs
1.4 28/08/2023 Updates for TDT 2000, revisions

Contact

69 Victoria Road
Ranelagh, TAS 7109
Australia

Australia 1800 717 443

International +61 428 570 648

[email protected]

www.aquacleantas.com.au

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Overview
Specifications
The system consists of three main components:

Cleaning rig
1. Cleaning width – 2100mm
2. Weight – 220kg
3. Drive system – hydraulic track
4. Propulsion system – 4 x Hydraulic propellers
5. Cleaning system – 4 x Propellers / 32 x Scrubbing
blades
6. Cleaning speed – Variable between 0.0m/s and 1.2m
7. Diving depth – 40m
8. Camera system – 2 x Forward facing cameras
9. Lights – 2 x LED (700 Lumen)
10. Cables:
a. Hose package – 80m
b. Visual – 100m Light and camera cable
11. Frame – 316 Grade stainless steel
12. Fixtures – Marine grade anodised aluminum

Power unit
1. Wet weight – 1,250kg
2. Power – Yanmar 4-cylinder 4LHA-H
diesel
3. Operation noise – 85dB
4. Average fuel consumption – 10 litr
5. Cleaning system – hydraulic
6. Drive/Track system – hydraulic

Hand controller
1. Control system – Remotely operated
2. Controller – PS4 hand controller
3. Communications – Wireless
4. Visuals:
a. Option 1 – 2 x LED Monitors
b. Option 2 – Positioning Sensor

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Operations
Pre-start inspections
Prior to using the equipment, you must check:

Cleaning head
1. Propeller fastenings – tight
2. Head fastening – tight
3. Cowlings – attached, screws tight
4. Track guards – attached, screws tight
5. Flotation – correct
6. Roller bolts – tight

Power unit
1. Fluid levels – between min/max
2. Engine sea water cooling suction hose is in sea water
3. Sea water strainer is filled with water
4. All hydraulic and control cables are connected
5. Battery isolation switch is turned on
6. Engine oil – between min/max
7. Emergency stop switch is not activated (twist to release)

Controller
1. Hand controller is fully charged

Do not proceed to start-up unless all pre-start inspection steps have been successfully
completed!

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Start-up
1. Turn the isolation switch to the on position
2. Deploy cleaning rig and fasten it to the cage
3. Start the engine
4. Ensure raw water is flowing

Shut down
1. Push stop button on DSE controller
2. Remove suction hose from water
3. Turn off isolation switch

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Description
Remote controller
The remote controller is a Sony Dual Shock 4 type controller with a battery life of four to eight hours.

L1 – Decrease the blower value by 1. Hold to rapidly decrease blower value.

L2 – Decrease the blower value to zero and store the previous value.
R1 – Increase the blower value by 1. Hold to rapidly increase blower value.
R2 – Restore blower value to previous value.
× – Select menu item. Toggle lights on/off.
□ – Back to previous menu.
→ – Increase value.
← – Decrease value.
R Stick – Movement.
Options – Start.
Share – Menu.

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Power unit
The power unit consists of a Yanmar 4-cylinder 4LHA-HTP diesel engine, hydraulic pump, hydraulic
reservoir and associated piping / cabling housed in a deck mounted stainless steel enclosure.

Diesel engine
Further information can be obtained from the supplied manufacturer’s manual or website
www.yanmar.com

1. Never remove the filler cap from the freshwater cooler while the engine is
still hot.
2. Beware of exhaust gases.
3. Parts of the engine will be hot during operation – burn hazard.
4. Beware of moving parts – stop the engine before you service it.

Top side controller

The top side controller contains the following I/O boards (each of which has a red LED to indicate an
error:

1. MAIN – Main control board.

Red LED indicates one of the required boards is not detected.
2. PSX – PlayStation controller board
Red LED indicates that the Brook Super Convertor is not detected.
3. OSD – On screen display board
Red LED is not currently being used.
4. OUT – Output board
Red LED indicates that the board has been disabled by the main control board or that no
messages have been received and the device has timed out.
5. IN – Input board (Eight inputs)
Red LED indicates that no messages have been received and the device has timed out.
6. PWM – Output board (Four pulse width modulated outputs)
Red LED indicates that the board has been disabled by the main control board or that no
messages have been received and the device has timed out.
7. SENS – Input board (communicates with the sensor array on the net cleaner)
Red LED indicates that no messages have been received and the device has timed out.

Green LEDs indicate power is available to the board and orange LEDs indicate that the board is
operating.

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Fully synthetic, Biodraulic 46, hydraulic oil is always to be

used.

DSEE100 Control panel

The DSEE100 Control panel can be used to start and stop the engine and also to give an indication of
any fault conditions.

The DSE100 control panel is located on the rear of the Power Supply enclosure. The control panel
turns the engine on and off and shows its operational status, including fault conditions. Auto mode
button is not used on this model.

Manual Start Button

Pushing the green START button starts the engine – the engine becomes available
once the configured engine speed has been reached. The engine will continue to run
until the STOP / RESET button is pushed or the engine speed is below the configured
speed.

The red LED will flash until the engine has reached its configured speed.

Stop / Reset Button

Pushing the red STOP button stops the engine and clears any alarm conditions.

The red LED will flash to indicate an electrical trip and shutdown.

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Data Display

The UP and DOWN arrows are used to

navigate the menus. The icon on the top right
will indicate warning and shutdown alarms.
Multiple alarms (where present) will cycle
through the display.

E.g., low hydraulic oil would be indicated by: Overspeed would be indicated by:

Cleaning rig
The cleaning rig consists of four cleaning propellers (two on the left and two on the right), four
hydraulic drive motors, two cameras, two lights, a head sensor and a flow divider / manifold block.
The rig has hydraulically powered tracks for mobility.

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Sensor unit instructions

Sensor Unit
Description: The sensor unit includes a 3-axis accelerometer, gyroscope, and magnetometer,
as well as a temperature and pressure sensor.
These sensors provide orientation feedback and can be zeroed to allow for
flexible sensor mounting. The on-screen menu provides access to the zeroing
offsets.

Screen Elements:

Figure 1 - Depth and temperature.

Figure 2 - Pitch, roll, and compass heading. Pitch shown is positive.

Main Menu
Description: The on-screen menu provides a way to access and change the configuration
parameters.
The menu is broken up in to 4 sections, display, limits, offsets, and calibrate.

Navigation: × select
□ back
→ increase value
← decrease value

Figure 3 - Main menu.

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Display
Description: The display menu allows individual screen elements to be turned on or off.
If some component of the sensor is unwanted, the individual elements can be
disabled.

Figure 4 - Display menu showing all screen elements enabled.

Limits
Description: The speed limit allows a maximum track speed to be set for better fine
movement control.
The limit is a percentage of the maximum output range and affects both the
forwards and reverse directions.

Figure 5 - Limit menu showing a speed limit of 100%.

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Offsets
Description: The pitch, roll, and yaw offsets allow for more accurate orientation
feedback.
The compass offset corrects differences between magnetic north and true
north according to local geography.
The X and Y offsets shift the overlay so that it can be centred on the display.

Zeroing Instructions: 1. Move the machine to a flat horizontal surface.

2. Set yaw offset to 0.
3. Set pitch and roll offsets so that the on-screen display shows horizontal.
4. Move the machine so that it is either pitching or rolling, but not both.
5. Adjust the yaw offset so that the on-screen display matches the machine
orientation – only pitching or rolling.
6. Move the machine back to a flat horizontal surface and point the machine
north.
7. Adjust the compass offset so that north is centred.

Figure 6 - Offset menu showing offsets being applied.

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Calibrate
Description: The various sensors can be calibrated to help remove any offsets that may be
affecting the operation.
Press × to begin the calibration. The calibration status is shown on the screen
and updated when calibration is complete.
The sensors come already calibrated but can be recalibrated using these menu
options. The sensor unit may need to be removed to complete the calibration.

Accelerometer: The accelerometer calibration helps to account for any drift in the
accelerometer sensor.
The sensor must be placed on a flat and level surface with the lid facing the sky.

Gyroscope: The gyroscope calibration helps to account for any drift in the gyroscope sensor.
The sensor must be placed on a flat and level surface with the lid facing the sky.

Magnetometer: The magnetometer calibration records the local magnetic limits to help provide
more accurate position indication.
The sensor must be moved in figure 8 motions during calibration to measure the
limits in every orientation.

Figure 7 - Calibrate menu.

Troubleshooting
Problem: Roll orientation is reversed after zeroing.

Solution: Adjust yaw offset 180 degrees.

During steps 4-5 in the zeroing process, if the pitch angle is reversed the roll
orientation will be reversed. A positive pitch angle is shown on the on-screen
display as a clockwise rotation.

Sensor instructions provided courtesy of Scielex Pty Ltd – www.scielex.com.au

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Fault finding
Engine will not start
1. Check fuel
2. Check battery isolation switch is off
3. Check that emergency stop button is not activated

See engine manual for further information.

www.yanmar.com

Spare parts
Idler System

Total per
# Description ACT Part No.
unit
1 Idler Hub 010 2
2 Idler Bearing SS6203-2RS 4
3 Idler Seal 070 4
4 Idler Mounting Bolt 062 2
5 Idler Seal Ring 012 2
6 Idler Wheel / Hub Mounting Bolt 067 12
7 Idler Wheel 014 4
8 Track Guard 073 2
9 Track Guard Spacers 017 6
10 Track Guard Spacer Mounting Bolt 068 12
11 Track Mounting Plate 075 2
12 Idler Mount 011 2
13 Idler Slide Nut 013 2
14 Idler Wheel / Hub Dome Locker 063 2
15 Idler Bearing Spacer 009 2

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Track and Roller System

Total per
# Description ACT Part No.
unit
1 Track Roller 018 8
2 Track Roller Axle Tube 015 8
3 Track Roller Spacer 016 8
4 Track Roller Mounting Bolt 060 8
5 Drive Track 071 2

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Propeller Drive System

Total per
# Description ACT Part No.
unit
1 Propeller Spindle 004 4
2a Cleaning Propeller L 001 L 2
2b Cleaning Propeller R 001 R 2
3 “C” Bracket 072 4
4 Propeller Seal 069 8
5 Propeller Drive Motor Mounting Bolt 064 8
6 Propeller Drive Motor 080 4
7 Propeller Seal Housing 002 4
8 Propeller Seal Spacer 003 4
9 Propeller Mounting Bolt 063 12
10 Propeller Spindle Mounting Bolt 065 4

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Track Drive System

Total per
# Description ACT Part No.
unit
1 Drive Hub 006 2
2 Drive Motor 080 2
3 Drive Motor Mounting Bolt 061 4
4 Drive Seal Housing 007 2
5 Drive Seal 069 4
6 Drive Hub Washer 005 2
7 Drive Hub Mounting Bolt 067 2
8 Drive Wheel Mounting Bolt 066 12
9 Drive Wheel 008 4
10 Drive Washer “O” Ring 074 2

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Cleaning Head System

Total per
Description ACT Part No.
unit
Camera 079 2
Light 085 2
Camera / Light Cable 083 1
Head Harness 082 1
Head Sensor 081 1
Manifold Block 078 1
Flow Divider 076 1
Return Tube 080 1
Hydraulic Umbilical Cable 084 1

Cabinet Power Pack

Total per
Description ACT Part No.
unit
Piston pump 086 1
Gear pump 089 1
Flow control 090 1
Pressure filter element 087 1
Return filter element 092 1
Return filter element 091 1
Cleaning propeller valve 088 1
Track valve 091 1
Cabinet hydraulic controller 094 1
Top side controller 095 1
Hand controller 096 1

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