Wrist Camera Installation & Operation

Transcription

1 Wrist Camera Installation & Operation In this manual: 1 Overview... page Preparing for Installation... page Installing the Wrist Camera... page Operating the Camera... page Wrist Camera Drawings & Part Lists... page Overview The Titan 4 manipulator may be fitted with an optional wrist camera. The manipulator comes prewired for the camera. To install the camera, the yaw wireway cover is removed and replaced with the integrated camera and light assembly. Image Sensor Camera Models T4 PAL Wrist Camera T4 NTSC Wrist Camera T4 PAL Wrist Camera T4 PAL 5KM Wrist Camera T4 NTSC 5KM Wrist Camera Cables T4 NTSC Wrist Cable T4 Wrist Coax Cable/SeaNet SME-M to SMA-M 36 Cable Page 157

2 Wrist Camera Installation & Operation 1.1 Specifications Image Sensor Effective Pixels 2 Preparing for Installation Before installing the wrist camera: 1/3 Hi. Resolutioin Color Super HAD Sharp CCD NTSC: 752(h) x 582(v) PAL: 768(h) x 494(v) H. Resolution 480 TV Lines Sync. System Internal NTSC 525 Lines PAL 625 Lines 2:1 Interlaced Video Output 1.0Vp-p Composite, 75Ohms S/N Ratio More than 50dB (AGC Off) Min. Illumination 0.3Lux at F2.0 BLC Automatic Gain Control 4dB~30dB Auto Gamma r=0.45 Smear Effect 0.005% Shutter Speed NTSC: 1/60~1/100,000 sec PAL: 1/30~1/100,000 sec MTFB 80,000 hrs DC12V(±10%) Power 90mA w/ regulated 12VDC in Lens 3.6mm - others available Operating Temp 14 F ~ 122 F (-10 C ~ +50 Deg C) Within 90% RH Disconnect hydraulic and electrical power to the manipulator system. Drain the compensation fluid from the slave arm. Page 158 Preparing for Installation

3 3 Installing the Wrist Camera Wrist Camera Installation & Operation To install the wrist camera, follow the steps below. 1. Remove the four wire cover screws securing the top yaw wire cover and save for step 8. See Figure Remove the four manifold plate screws securing the manifold plate. These screws will not be reused for camera installation. Remove yaw wire cover screws (reused) Remove manifold plate screws (replaced with new screws) Figure 1 Yaw wire cover plate and manifold plate screws Note: Retain the original yaw wire cover, o-ring, and manifold screws for re-installation of the yaw wire cover if the camera is removed. 3. Check that the two socket head screws are torqued to 7.3 Nm (65 lbf/in) before securing the camera to the yaw plate. Check the two socket head screws (lower socket head screw not visible in this image) Installing the Wrist Camera Page 159

4 Wrist Camera Installation & Operation 4. A coax cable accessable from the forearm manifold allows the slave arm wiring harness to be removed without removing the camera or its wiring. Coax cable, Figure 2 Cables connection 5. The camera and LED power is supplied by a cable ( ) connected to the in-arm controller board. Wrist camera cable Figure 3 Wrist cable to SCE connection Page 160 Installing the Wrist Camera

5 Wrist Camera Installation & Operation 6. Apply Aqua Shield lubricant to the O-ring ( ) to the channel in the mounting face of the camera housing as shown in Figure 4. T Sockethead cap screws, P Yaw actuator housing Coax cable connector, PCB camera board, O-ring, , installed in channel White harness connector, Figure 4 Camera to SCE Harness 7. Connect the white harness connector and coax cable connector to the connectors in the camera housing as shownin Figure Install the camera to the yaw actuator housing using the four wire cover screws (item A) removed in step 1. Lubricate the bolts with Aqua Shield and torque to 28.5 Nm (21 lbf/ft). 9. Using four new manifold plate screws ( P, item B), secure the manifold to the yaw actuator housing. Lubricate the bolts with Aqua Shield and torque to 28.5 Nm (21 lbf/ft). Note: Be sure all wires and coax are clear of mating faces before you tighten the bolts. 10.Re-install the remaing wire cover plates. Torque all upper arm cover plate bolts to 10.8 Nm (8 lbf/ft). Torque bolts for the wireway covers, forearm manifold cover, and camera to 28.5 Nm (21 lbf/ft). B A Installing the Wrist Camera Page 161

6 Wrist Camera Installation & Operation 4 Operating the Camera Use the master controller DRIVERS menu to operate the camera and LED camera lights. Access path: MAIN/OPERATE/DRIVERS Password level: 0 or higher 1. To turn the camera on and off, press key #5. 2. To turn the LED lights on and off at full intensity, press key #4. 3. To turn the LED lights on and off at half intensity, press key #3 (key #4 must be OFF). If both #3 and #4 are ON, the LED lights will operate at full intensity. Page 162 Operating the Camera

7 Wrist Camera Installation & Operation 5 Wrist Camera Drawings & Part Lists 5.1 Index Titan Wrist Camera, PAL, page 163 Titan Wrist Camera, NTSC, page 164 Titan Wrist Camera, PAL, page 167 Titan 5K Wrist Camera, PAL, page 170 Titan 5K Wrist Camera, NYSC, page Drawings & Part Lists Note: Refer to drawing Titan Wrist Camera, PAL, Rev. D Item P/N Description Qty CAMERA,WRIST,T4,PAL CABLE,WRIST CAMERA TO SCE CABLE,COAX,WRIST,SEANET/CAMERA CABLE,SMA-M TO SMA-M,36" MNL,T4 CAMERA/LED LIGHTS KIT Wrist Camera Drawings & Part Lists Page 163

8 Titan Wrist Camera, NTSC, HOUSING,CAMERA,WIRST,T BEZEL,WRIST CAMERA,T P NAS 6403PU1,NLK O-RING,2-026,BUNA O-RING,2-033 BUNA WINDOW,36mmX8mm,SAPHIRE CAMERA,COLOR BULLET NTSC,TESTE PCA,WRIST CAM LED BOARD EPOXY,OPT CLEAR HIGH IMPACT PCA,CAMERA BOARD TBG,SHRINK,3/64,BLK,BRIM # SH SHCS,4-48 X 1/4, ALLOY O-RING,2-021,BUNA WIRE,26AWG,STRD,TEFZEL,600,RED WIRE,26AWG,19/38 TEFZEL 600V FOAM STRIP,3/8 THICK DIFFUSER,CAMERA LIGHT WIRE,26AWG,STRD,TEFZEL,600,YEL DESICCANT,MOIST ABSORB BOARD SHIPPING PLATE, WRIST CAMERA P NAS 6404PU14,NLK P NAS 6404PU1,NLK O-RING,2-040 BUNA TBG,SHRINK,3/8 WHT WI WORK INSTRUCTIONS Wrist Camera Drawings & Part Lists Page 164

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11 Titan Wrist Camera, PAL, HOUSING,CAMERA,WIRST,T BEZEL,WRIST CAMERA,T P NAS 6403PU1,NLK O-RING,2-026,BUNA O-RING,2-033 BUNA WINDOW,36mmX8mm,SAPHIRE CAMERA,COLOR BULLET,PAL,TESTED PCA,WRIST CAM LED BOARD EPOXY,OPT CLEAR HIGH IMPACT PCA,CAMERA BOARD TBG,SHRINK,3/64,BLK,BRIM # SH SHCS,4-48 X 1/4, ALLOY O-RING,2-021,BUNA WIRE,26AWG,STRD,TEFZEL,600,RED WIRE,26AWG,19/38 TEFZEL 600V FOAM STRIP,3/8 THICK DIFFUSER,CAMERA LIGHT WIRE,26AWG,STRD,TEFZEL,600,BLU WIRE,26AWG,STRD,TEFZEL,600,GRN DESICCANT,MOIST ABSORB BOARD SHIPPING PLATE, WRIST CAMERA P NAS 6404PU14,NLK P NAS 6404PU1,NLK O-RING,2-040 BUNA TBG,SHRINK,3/8 WHT WI WORK INSTRUCTIONS Wrist Camera Drawings & Part Lists Page 167

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14 Note: For both and refer to drawing Titan 5K Wrist Camera, PAL, Rev. D Item P/N Description Qty HOUSING,CAMERA,WIRST,T BEZEL,WRIST CAMERA,T P NAS 6403PU1,NLK O-RING,2-026,BUNA O-RING,2-033 BUNA WINDOW,36mmX8mm,SAPHIRE CAMERA,COLOR BULLET,PAL,TESTED PCA,WRIST CAM LED BOARD EPOXY,OPT CLEAR HIGH IMPACT PCA,CAMERA BOARD TBG,SHRINK,3/64,BLK,BRIM # SH SHCS,4-48 X 1/4, ALLOY O-RING,2-021,BUNA WIRE,26AWG,STRD,TEFZEL,600,RED WIRE,26AWG,19/38 TEFZEL 600V FOAM STRIP,3/8 THICK DIFFUSER,CAMERA LIGHT WIRE,26AWG,STRD,TEFZEL,600,YEL DESICCANT,MOIST ABSORB BOARD SHIPPING PLATE, WRIST CAMERA P NAS 6404PU14,NLK P NAS 6404PU1,NLK O-RING,2-040 BUNA Wrist Camera Drawings & Part Lists Page 170

15 Note: For both and refer to drawing Titan 5K Wrist Camera, NYSC, Rev. D Item P/N Description Qty HOUSING,CAMERA,WIRST,T BEZEL,WRIST CAMERA,T P NAS 6403PU1,NLK O-RING,2-026,BUNA O-RING,2-033 BUNA WINDOW,36mmX8mm,SAPHIRE CAMERA,COLOR BULLET NTSC,TESTE PCA,WRIST CAM LED BOARD EPOXY,OPT CLEAR HIGH IMPACT PCA,CAMERA BOARD TBG,SHRINK,3/64,BLK,BRIM # SH SHCS,4-48 X 1/4, ALLOY O-RING,2-021,BUNA WIRE,26AWG,STRD,TEFZEL,600,RED WIRE,26AWG,19/38 TEFZEL 600V FOAM STRIP,3/8 THICK DIFFUSER,CAMERA LIGHT WIRE,26AWG,STRD,TEFZEL,600,YEL DESICCANT,MOIST ABSORB BOARD SHIPPING PLATE, WRIST CAMERA P NAS 6404PU14,NLK P NAS 6404PU1,NLK O-RING,2-040 BUNA Wrist Camera Drawings & Part Lists Page 171

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