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TiTAN in-Arm Slave Electronics
So Deep, No One Comes Remotely Close
www.
SChilliNg
.COm
M a n i p u l ato r S y S t e M S
M a n i p u l ato r S y S t e M S
TiTAN in-Arm Slave
Electronics
An Upgrade for Selected TITAN 3 Models
Slave arm electronics are entirely enclosed

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in the slave arm
reduced number of electrical connections

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enhances reliability
Visual diagnostic indicators facilitate troubleshooting

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easy installation takes less than 4 hours

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Decreased system weight

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reduced spare part requirements

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Water detection circuit

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Multiple configurations for mating connectors

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Camera-ready wiring for installation of a titan inte-

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grated wrist camera
With slave electronics located inside the slave arm,
your upgraded TITAN 3 manipulator system will
set new standards for reliability and performance.
Upgrade Eligibility
To be eligible for upgrade, your TITAN 3 must:
Have an upper arm in which the cover closest to the azimuth is secured with 16 cap screws.

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Have a compensation volume relief valve mounted on one of the upper arm cover plates.

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(If not, you can install relief valve kit 008-0166.)
Have Moog 30 servo valves installed for wrist and jaw functions. (Moog 31 servo valves

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can be used for all other arm functions.) TITAN IN-ArM SlAve elecTroNIcS

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Electrical and Telemetry Requirements
:
Input power:

Master controller .............................................. 90-260 vAc, 50-60 Hz, single phase

Slave arm ............................................................................................................... 24 vDc
Power consumption:

Master controller ............................................................................6 W start, 3 W run

Slave in-arm controller plus solenoid ..................................................................12 W
Telemetry ......................... User selectable, rS-232 or rS-422/485 half-duplex 2-wire
Environmental Specifications
:
Depth rating:

Standard ....................................................................................4000 msw (13,124 fsw)

extended ...................................................................................7000 msw (22,967 fsw)
operating temperature ........................-2 to +54 degrees c (+28 to +130 degrees F)
Storage temperature ........................... -15 to +71 degrees c (+5 to +160 degrees F)
Humidity ........................................................................................... 0% to 100% condensing
IN-ARM ELECTRONICS
SPECIFICATIONS
Reduced hardware
Requirements
With the upgrade to in-arm electronics, the
slave controller, slave cable, and 79-pin wir-
ing harness are replaced by the in-arm elec-
tronics and a small-diameter SeaNet cable,
reducing system weight, installation space,
and spares requirements.
Reliable in-Arm Slave
Electronics
locating all downside slave arm electronics
inside the manipulator forearm greatly re-
duces the number of electrical con nections,
increasing the systems ability to withstand
shock, and simplifying service operations.
Slave controller, slave cable, and 79-pin wiring harness are replaced by in-

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arm slave electronics and a small-diameter SeaNet cable.
Diagnostic LEDs in the slave SeaNet cable allow first-level diagnostics to be

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performed solely by visual inspection.
Standard depth rating of 4,000 msw (13,124 fsw), with optional extended

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depth rating to 7,000 msw (22,967 fsw).
Faster control loop execution increases slave arm response time and ac-

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curacy.
Total system weight is reduced by 18 kg (40 lb) in air and 9 kg (20 lb) in

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water.
The slave arm electronics board detects water intrusion.

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Slave arm electronics operate on 24 vDc power.

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Includes wiring for the TITAN integrated wrist camera.

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contact the factory (
gerriets@schilling.com
) for information on specific
retrofit kits for your systems.
UPGRADE FEATURES
The in-arm slave electronics module features diag-
nostic lights that indicate processor health.
Diagnostic lights in the connector head indicate the
status of electrical power delivery to the slave arm,
master controller transmission to the slave arm, and
slave arm responsiveness. www.
schilling
.com
SAlES
@ schilling.com
copyright © 2008 by Schilling robotics, Inc. All rights reserved. No part of this document may be reproduced or used in any form without the express written permission of Schil-
ling Robotics. Descriptions and specifications are subject to change without notice. Contact Schilling Robotics for the latest information. Document M-0562-rev2.
So Deep, No One Comes Remotely Close
TITAN IN-ArM SlAve elecTroNIcS

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SChilliNg
.COm
Headquarters
SChilliNg RObOTiCS, iNC.
201 Cousteau place
Davis, California
95618-5412 u.S.a.
ph
+1 530 753 6718
fax
+1 530 753 8092
Gulf of Mexico Regional Office
SChilliNg RObOTiCS, iNC.
7102 W. Sam Houston parkway n.
Suite 100
Houston, texas
77040-3164 u.S.a.
ph

+1 281 598 4100
fax
+1 281 598 4130
North Sea Regional Office
SChilliNg RObOTiCS lTD
51 york Street
aberdeen
aB11 5Dp u.K.
ph
+44 (0) 1224 560 900
fax
+44 (0) 1224 560 901
Robust Power/Signal
Connection
A Schilling robotics SeaNet cable con-
nects the slave arm to electrical power and
telemetry, providing a robust, reliable at-
tachment. The cable, which is only 8.9 mm
(3/8 inch) in diameter, is actively pressure
balanced and oil filled. The connector head
has spring-loaded contacts, and a positive
locking feature eliminates accidental cable
disconnection.
Quick, Easy Diagnostics
The SeaNet cable connector head contains
bright leD status indicator lights that al-
low first-level diagnostics to be performed
solely by visual inspection. The lights show
not only whether electrical power is be-
ing delivered to the slave arm, but whether
the master controller is transmitting to the
slave arm and the slave arm is responding.
This information lets the operator quickly
determine where to begin troubleshooting,
without removing connectors, applying a
voltmeter, or opening sealed enclosures.
The system also detects missing or re-
duced slave arm position sensor signals,
and diagnostic lights on the in-arm slave
electronics module indicate processor
health.
water Detection Circuits
The slave electronics board can detect
the presence of water in the low point
of the forearm manifold (where water is
most likely to accumulate). A warning on
the master controller screen alerts the
operator when water is detected.
Camera-Ready wiring
Wiring for the in-arm slave electronics
contains coaxial cable, allowing easy in-
stallation of the TITAN integrated wrist
camera.
The high-resolution camera and two
bright leD lights are contained in an in-
tegrated titanium housing for maximum
protection. Since signals and power are
routed though the manipulator arm, there
is no external cabling that can be snagged
or abraded.
Both NTSc and PAl formats are sup-
ported.
lights and the camera are controlled
from any TITAN master controller, with
no software upgrade required.
Exceptional Customer Service and Training
Schilling robotics offers:
A worldwide customer support network with factory-trained technicians

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Strategically located spares and factory service facilities

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24-hour telephone access to qualified technical staff

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on-site and offshore installation and mobilization support

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Instant access to technical manuals, service instructions, and assembly

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drawings from our web site
A web-based customer feedback system

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operation and maintenance training courses at our factory, at customer

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facilities, or at our service centers worldwide
Wiring for the in-arm slave electronics contains
coaxial cable, allowing easy installation of the TITAN
integrated wrist camera.