7233.pdf

Service Bulletins, Volume 2For Manipulator Systems, Slave Arms, & Accessories

Bulletins 011-7151 (September 2005) through the present

DOCUMENT NO. 011–7233

•

Service Bulletin 011–7233 • Page ii

Copyright © 2009 by Schilling Robotics, LLC. All rights reserved.

Schilling Robotics, the Schilling Robotics logo, and their frameworks are trademarks and service trademark applications of Schilling Robotics. No part of this document may be reproduced or used in any form without the express written permission of Schilling Robotics. Descriptions and specifications are subject to change without notice.

We invite your comments about our products and technical manuals. Please contact:

Schilling Robotics, LLC260 Cousteau Place, Ste 200, Davis, CA 95618 • Ph: (530) 753-6718 • Fax: (530) 753-8092E-mail: [email protected] • [email protected] • [email protected]

Web Site: http://www.schilling.com

– PAGE BREAK –

TECHNICAL MANUAL REVISION LOG

PRODUCT: Manipulator Systems, Slave Arms, and Accessories

TECHNICAL MANUAL: Service Bulletins, Volume 2, 011-7233

Description Date Rev.

Manual release January 2009 Ø

Manual update (bulletins added December 2009 1

http://www.schilling.com

Service Bulletin 011–7151 • Page 1

*BULLETIN COMPLIANCE LEVELS

REQUIRED Field action is REQUIRED to ensure personnel safety, equipment functionality, and/or contin-uation of warranty coverage.

RECOMMENDED Field action is not required but is highly RECOMMENDED and will result in significantly increased levels of personnel safety and/or equipment functionality.

OPTIONAL Field action may be useful under certain circumstances. Compliance is OPTIONAL and left to the discretion of the owner/operator.

ADVISORY Bulletin contains advisory information to assist the owner/operator in more effective opera-tion or service of the product. Compliance is not rated.

If you have any questions about this service bulletin, contact the Schilling Customer Service Department at:Tel: +1 530 753 6718 (USA) or +44 (0) 1224 560 900 (UK)Fax: +1 530-753-1534 (USA) or +44 (0) 1224 560 901 (UK)e-mail: [email protected] • For bulletins & manuals online, go to: http://www.schilling.com

ISSUE DATESeptember 8, 2005

AFFECTED PRODUCTSTitan 2, 3, and 4 Manipulator Systems

AFFECTED COMPONENTSMaster controller and slave controller EPROMs

SERVICE INFORMATIONIf you operate any combination of standard Titan 2, Titan 3 and Titan 4 manipulator systems, upgrading the EPROMs in all Titan master controllers and Titan 2 and 3 slave controllers is recommended.

With the newest EPROMS installed, any Titan master controller can operate any standard Titan 2,3, and 4 manipulator systems without error messages or the need to overwrite existing software andsettings. The operator sees only the normal startup, operation, and configuration screens, and, exist-ing settings for joint travel limits, stow sequence, error checks, and servo valve offsets are retained.

Caution! Never connect a T3 slave arm to a T2 slave controller. The voltage difference (24VDC versus 120/240 VAC) will cause damage to slave arm components.

FIELD ACTION

1. Inspect all master controller EPROMs and Titan 2 and 3 slave controller EPROMS.

2. Install master controller EPROM 014-0695, Rev D if not present.

3. (Titan 2 and 3 only) Install slave controller EPROM 014-0594, Rev C (introduced mid-1999) if not present.

NOTE: No EPROM change is necessary for Titan 4 in-arm slave controllers.

Service Bulletin 011–7151Upgrading Titan Master & Slave

Controller EPROMs Compliance:

Recommended*



Service Bulletin 011–7151 •


Other Features of Master Controller EPROM 014-0695, Rev DThe new EPROM also provides clear options when it is installed in a master controller with incom-patible software (previously used with an incompatible system) or it is used to control an incompati-ble system.

If the master controller was previously used to operate a non-standard/custom Titan system, thenew software will detect an incompatibility with the software code on the master controller CPUboard EEPROM and display the alert screen below. You then have two options.

1. If you want to implement operation, press the 4> Yes key to overwrite the EEPROM with software appropriate for the Titan slave arm that is detected (“T4” in the sample screen at right) and proceed with normal startup and operation of the Titan slave arm. Overwriting installs factory default settings. Joint travel limits, stow sequence, error checks, and servo valve offsets must be reset as necessary.

2. If you don’t want to lose existing joint travel limits, stow sequences, error checks, and servo valve offsets, replace the original EPROM and install the new EPROM in a different master controller where it is OK to overwrite existing values.

When the master controller is connected to an incompatible Titan slave controller/slave arm, suchas a Titan 7F or a non-standard/custom Titan, you will see the alert screen below. You then have twooptions.

1. Recommended option: Do not use the master controller. Connect a compatible model instead.

2. Use the “4> Yes” option only if emergency operation is absolutely necessary as the slave arm may display uncontrolled or inconsistent operation.

Non-Titan SystemsA Titan master controller/EPROM cannot communicate with a NON-TITAN slave arm and, if con-nected, will display a “Fatal Telemetry Error” screen at startup.

SCHILLING ROBOTICS, LLCTITAN MANIPULATOR SYSTEM--------------------------------The ID Code indicates thatthis Master Controller mayhave been configured for anon-Titan manipulator.Select [Yes] only if you wouldlike to change ID Code to T4and to overwrite saved valuesfor joint limits and stow.

4> Yes--------------------------------

SCHILLING ROBOTICS, LLCTITAN MANIPULATOR SYSTEM--------------------------------The Master Controller softwareis not compatible with theslave arm. Further operationmay risk damage to equipment.Select [Yes] only if you wouldlike to proceed anyway.

4> Yes--------------------------------



REQUIRED Field action is REQUIRED to ensure personnel safety, equipment functionality, and/or con-tinuation of warranty coverage.



ADVISORY Bulletin contains advisory information to assist the owner/operator in more effective oper-ation or service of the product. Compliance is not rated.



AFFECTED PRODUCT(S)Titan 3, Titan 4, Conan P, and Orion P Manipulator Systems

AFFECTED COMPONENTNewer Master Controllers with a blue gray LCD. Older master controllers with a greenish yellow LCD are NOT affected by this bulletin.

SERVICE ISSUENewer Titan 3, Titan 4, Conan P and Orion P master controllers (with the blue-gray LCD) have automatic and manual adjustments for keeping the viewing angle consis-tent under varying temperature conditions. However, the range of temperature in some environments may be greater than the range of adjustability.

This condition can be corrected with a new adjustment potentiometer (005-0705) that extends theadjustment range to approximately 0° to 100°F (-18°c to +40°c). Field replacement of the potenti-ometer (Figure 1, arrow) requires PCB-level soldering and mechanical skills.

Figure 1 Display adjustment potentiometer on the display transition PCB

Potentiometer 005-0705 is available upon request at no charge for field installation and will beinstalled at no charge on master controllers returned to the factory for other service.

Service Bulletin 011–7153New Potentiometer Expands Master

Controller Display AdjustabilityCompliance:OPTIONAL*





FIELD ACTIONTo replace the adjustable potentiometer:

1. Confirm the master controller has a blue gray display, with raised black bars to the left and right sides of the LCD (see Figure 2). Do not continue if the display has no bars or is greenish yellow.

Figure 2 Blue/gray display with bars

2. Open the master controller and remove the display transition PCB from the master controller (see the master controller drawing in your manipulator technical manual for hardware details).

3. Remove the existing adjustable potentiometer.

4. Install the new adjustable potentiometer (005-0705).

5. If necessary, adjust the viewing angle of the display as directed in the “Maintenance and Service” chapter of your manipulator technical manual.

BARS








ISSUE DATEDecember 12, 2005

AFFECTED PRODUCTSTitan 4, Orion, Conan, and RigMaster manipulator systems and slave arms

AFFECTED COMPONENTSJaw bolts and T-bar plates

SERVICE INFORMATIONBecause a number of customers have found the failure-rate of the “fuse”-type jaw bolts unacceptable, all new manipulator systems and slave arms are configured with “non-fuse” bolts. In addition, the material of the t-bar plate has been changed from Titanium to Inconel to increase it's strength.

Customers purchasing replacement parts can select the “fuse” or “non-fuse” jaw bolt. Jaw bolt andT-bar plate part numbers for common models are listed in the table below.

Service Bulletin 011–7155New “Non-Fuse” Jaw Bolt for

Manipulator Systems & Slave ArmsCompliance:Advisory*

Manipulator or Slave Arm Models “Non-Fuse” Jaw Bolt

“Fuse” Jaw Bolt

“Inconel”T-Bar PLate

Std. Titan 3 and 4 Manipulator Systems 001-7519 001-5382 001-5381

Orion and custom Titan 3 models using Nose Block Kit 101-3834 (jaw kits 101-4105, 4106, 4107)

001-7519 001-5382 001-5381

Orion, Conan, and Rigmaster models using Nose Block Kit 101-3853 (jaw kits 101-4102, 4103, 4104

001-7520 001-5397 001-5396










ISSUE DATEAugust 22, 2006

AFFECTED PRODUCTSRigMaster slave arms

AFFECTED COMPONENTSAzimuth block 001-3043

SERVICE INFORMATIONThe cast titanium azimuth block supplied on RigMaster slave arms delivered between May 2005 and March 2006 may experience failure. A replacement part will be pro-vided at no charge.

RigMaster slave arms delivered before May 2005 and after March 2006 have azimuth blocks madeof 17-4 stainless steel and are not subject to failure.

ACTIONThe titanium azimuth block 001-3043 should be replaced. To determine if the azimuth block is tita-nium, look at the section that holds the azimuth pivot pin. The titanium part has a gap and has amore sculptured finish (figure below, left) . The stainless steel part has no gap (figure, right).

If you have a titanium part, contact the Customer Service Department and provide the serial numberof the slave arm, along with a contact name and shipping address. A replacement part will be sentimmediately.

Service Bulletin 011–7165Replacement of Titanium Azimuth

Block on RigMaster Slave ArmsCompliance:

Recommended*

REPLACE! OK




*BULLETIN STATUS LEVELS

Required Field action is REQUIRED to ensure personnel safety, equipment functionality, and/or contin-uation of warranty coverage.

Recommended Field action is not required but is highly RECOMMENDED and will result in significantly increased levels of personnel safety and/or equipment functionality.

Optional Field action may be useful under certain circumstances. Compliance is OPTIONAL and left to the discretion of the owner/operator.

Advisory Bulletin contains advisory information to assist the owner/operator in more effective opera-tion or service of the product. Compliance is not rated.

If you have any questions about this service bulletin, contact the Schilling Customer Service Department at:Tel: +1 530 753 6718 (US) or +44 (0) 1224 560 900 (UK) Fax: +1 530-753-1534 (US) or +44 (0) 1224 560 901 (UK)e-mail: [email protected] • For bulletins & manuals online, go to: http://www.schilling.com

ISSUE DATEFebruary 12, 2007

AFFECTED PRODUCTSTitan 4 Manipulator Systems 199-0269, 199-0269PAL, 199-0276, 199-0278, & 199-0284

AFFECTED COMPONENTSSlave Arm and Upper Arm Assemblies

SERVICE INFORMATION To enhance reliability and improve access to the filter element in the upper arm, Titan 4 Manipulator Systems shipped after February 1, 2007 include stainless steel hydrau-lic pressure lines and a new isolation valve assembly (see Figure 1).

Figure 1 New hard lines (left) and isolation valve assembly (right) in the upper arm.

The changes have resulted in new part numbers for the upper arm assembly (now 101-5977), theslave arm (now 101-5976), and Titan 4 standard and enhanced spares kits. The top level model num-bers for Titan 4 manipulator systems (199-xxxx) have not changed.

The new spares kits include the hard lines, new isolation valve, solenoid, and associated parts. Theyapply only to Titan 4 models built after February 1, 2007 with upper arm part number “101-5977”stamped into the underside of the upper arm assembly near the elbow (see Figure 2).

Service Bulletin 011–7171Changes to the Titan 4 Upper Arm

Assembly & Spares KitsStatus:

Advisory*Remote Systems Products




011–7171 • Page 2

Figure 2 Part number of upper arm (arrow)

The new spares kit part numbers are shown in Table 1.

NOTE:The new spares kits are NOT interchangable with spares kits for Titan 4 models built before Febru-ary 1, 2007 and/or with upper arm part number 101-4841. Consult your existing service documen-tation for the correct spares kit part numbers.

Table 1

New Titan 4 Spares Kits

Model (with upper arm 101-5977)

Standard Spares Kit

Enhanced Spares Kit

199-0269 008-0321 008-0322

199-0269PAL 008-0321 008-0322

199-0276 008-0323 008-0324

199-0278 008-0325 008-0326

199-0284 008-0325 008-0326

ELBOW

UPPER ARM








ISSUE DATEMarch 19, 2007


AFFECTED COMPONENTSForearm Assembly 101-5723

SERVICE INFORMATION A relief valve has been added to prevent ambient pressure from locking the shoulder actuator if the manipulator hydraulics are turned off when operating at depth. The new parts are shown in Figure 1.

Figure 1 Titan 4 Forearm Assembly

Service Bulletin 011–7172Changes to the Titan 4 Forearm

AssemblyStatus:





011–7172 • Page 2

To minimize this risk, enable the hydraulic power when surfacing the slave arm or install relief valvekit 101-5555. The relief valve will be factory installed on Titan 4 models built after February 1, 2007.

Relief Valve Kit, 101-5555

Rev. 2Item P/N Description Qty

1 101-3965 RLF V,UNIV 1

2 002-0330P SHCS,10-32X1.25,316SST,NLK 4

3 004-0222 O-RING,2-010 BUNA 90 4








ISSUE DATEAugust 31, 2007


AFFECTED COMPONENTSForearm Assembly 101-5723

SERVICE INFORMATION The T4 Lock Valve has been modified for serviceability. The new Lock Valve is factory installed on Titan 4 models with serial number 68418 and higher built starting on Sep-tember 1, 2007. The new Lock Valve assembly, part number 101-6190, is shown as item 10 in Figure 1. The new, longer screws, part number 002-0341P, are shown as item 11 in Figure 1.

Figure 1 New Titan 4 Forearm Assembly

Service Bulletin 011–7188Changes to the Titan 4 Forearm

AssemblyStatus:





011–7188 • Page 2

The previous Lock Valve assembly, part number 101-0838, is shown as item 4 in Figure 2. The pre-viously used, shorter screws, part number 002-0330P, are shown as item 2 in Figure 2

Figure 2 Previous Titan 4 Forearm Assembly

To service a Titan 4 Lock Valve built after September 1, 2007, kit 008-0347 should be used.

To replace a Titan 4 Lock Valve built prior to September 1, 2007, kit 101-6459 should be used.

Titan 4 Lock Valve Kit, 008-0347

4

e 0Item P/N Description Qty

2 001-1923 PSTN,LOCK V 2

3 001-1924 VALVE,LOCK 2

4 002-0728 SPR,LC-029B-3 MW,LEE 2

7 004-0587 O-RING,2-003 BUNA 90 4

9 010-0627 TOOL,LOCKV TEST 0

10 004-0571 O-RING,2-007 BUNA 90 1

11 004-0087 O-RING,2-011 BUNA 90 4

13 002-3661 SHCS,6-32 X 1/4 ALLOY, ST 2

14 002-0795 ADH,#271 RED LOCTITE 50ML 0

20 101-6190-WI WORK INSTRUCTIONS 0


011–7188 • Page 3

Titan 4 Lock Valve Kit, 101-6459

New Titan 4 Lock Valve Assembly, 101-6190

Item P/N Description Qty1 101-6190 LOCK VALVE ASSY,3000 PSI,T4 1

2 002-3708P SHCS,10-32 X 1.125,SS,NLK 4

3 004-0222 O-RING,2-010 BUNA 90 2

4 004-0114 O-RING,2-013 BUNA 90 2

5 002-0341P SHCS,10-32 X 1.625,SS,NLK 4

Rev.CItem P/N Description Qty

1 001-9345 BLOCK,LOCK VALVE,3000 PSI,74 1

2 001-1923 PSTN,LOCK V 2

3 001-1924 VALVE,LOCK 2

4 002-0728 SPR,LC-029B-3 MW,LEE 2

5 001-9346 PLATE,COVER,LOCK VALVE,T4 2

6 001-9347 PLUG,LOCK VALVE,3000 PSI,T4 2

7 004-0587 O-RING,2-003 BUNA 90 4

9 010-0627 TOOL,LOCKV TEST 0

10 004-0571 O-RING,2-007 BUNA 90 1

11 004-0087 O-RING,2-011 BUNA 90 4

12 002-9043 WSHR,FLAT,M4,FENDER,316 SS 1

13 002-0114 SHCS,6-32X1/4,SS 9

14 002-0795 ADH,#271 RED LOCTITE 50ML 0



011–7188 • Page 4

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MANDATORY Field action is MANDATORY to ensure personnel safety, equipment functionality, and/or continuation of warranty coverage.





ISSUE DATEFebruary 20, 2008

AFFECTED PRODUCT(S)RigMaster Slave Arm 199-0184 and earlier models

SERVICE INFORMATIONRigMaster Technical manual 011-9137 incorrectly lists M12 hex-head cap screws as a mounting hardware option. M12 hardware will NOT secure the slave arm and it will come loose from the vehicle.

CORRECTIVE ACTIONIf M12 hardware is currently used to mount the slave arm, do not operate the slave arm. Replace theM12 hardware as soon as possible with 1/2-20 UNF-2B hardware ONLY. Refer to Figure 1, below.The mounting base should engage a minimum .5-in or 1.2 cm of the fastener threads.

Replacement pages for the RigMaster technical manual 011-9137 are provided on the following page.Print as many as needed to correct all existing manuals.

Figure 1 Correct Slave Arm Mounting Hardware (arrow)

Service Bulletin 011–7198Correct hardware essential to safely

mounting RigMaster Slave Arm Compliance:Mandatory*



4 Installing the Slave Arm

0584–1 Installation Page 5 of 10

2. Create a sturdy mounting platform that will provide a flat surface for the three mount-ing holes in the base as shown in Figure 2-5.

NOTE: A full-size 1:1 drilling template, drawing 050-0692, is located in a plastic sleeve at the back of this manual.

Figure 2-5 Slave Arm Mounting Dimensions

3. Move the slave arm to the mounting platform. Lower the base onto the platform and align the mounting holes in the base and mounting platform.

4. Three 1/2-20 UNF-2B hex-head cap screws and lockwashers are required to attach the base to the mounting platform.

CAUTION! Mounting fasteners must be long enough to engage a minimum of .5-in or 1.2 cm of the base

Lubricate the threads of the fasteners with AquaShield (Aqualube) and add the lock wash-ers. Install the fasteners through the mounting platform and into the RigMaster base. Torque the fasteners to 75 ft/lb (102 Nm).

4.2 Installing the Control and Drain Hoses

Ten hoses are supplied for connecting RigMaster functions to your control manifold or inter-mediate bulkhead fittings. The eleventh hose provides case drain from, and compensation to,

4 Installing the Slave Arm

Page 6 of 10 Installation 0584–1

the wrist assembly. This line must be connected to the return system. The wrist actuator also has a drain pressure relief valve.

NOTE: IMPORTANT INSTALLATION DIMENSIONS:1. Bulkhead hose fittings must be located no closer than 24 in (610 mm) from the slave arm as shown in Figure 2-4, Mini-mum Distance to Bulkhead Hose Fittings on page 4.

2. Minimum bend radius for slave arm hoses is 2 in (51 mm).

3. If control hose lengths exceed 20 feet, consult Schilling Robotics for information about increasing the hose diameter to maintain adequate pressure and flow.

A hydraulic schematic diagram of the RigMaster manipulator system can be found in the “Drawings & Part Lists” chapter.

Table 2-1 lists the control and drain hose connections at the slave arm, and identifies actuator functions, hose codes, and actuator movements. The slave arm hydraulic hoses are fitted with female -4 JIC fittings for connecting all user-supplied hydraulics.

*Forearm and wrist roll CW/CCW movements are referenced from behind the slave arm.

**The maximum wrist drain/return pressure is 350 psi or less. If the wrist drain/return line passes through a filter or is manifolded with other equipment returns, check the return pres-sure when all equipment is running to be sure it does not exceed the maximum.

Table 2-1 Slave Arm Hose Connections

Slave Arm Actuator/Function

Joint Travel

Hose Code

Actuator Movement

Azimuth yawRight 1A Extend

Left 1B Retract

Shoulder pitchUp 2A Extend

Down 2B Retract

BoomOut 3A Extend

In 3B Retract

Wrist rotate*N/A 4A Rotate CCW

N/A 4B Rotate CW

JawOpen 5A Extend

Close 5B Retract

Wrist Drain** N/A C N/A









AFFECTED PRODUCTSRigmaster Slave Arms

AFFECTED COMPONENTSPressure relief valves and cross-port check valves

SERVICE INFORMATIONEarlier revisions of the Rigmaster hydraulic schematic showed pressure relief valves on azimuth, boom, and shoulder functions only. This can result in failure of the wrist slip-ring manifold due to the actuator over-pressurizing the jaw circuit. All Rigmaster functions should have pressure relief valves as per the updated hydraulic schematic (Figure 1).

FIELD ACTIONInstall pressure relief valves on wrist and jaw functions in addition to the existing azimuth, shoulder,and boom function valves. It is also recommended to add cross-port check valves to the azimuth,shoulder, and boom functions only. A check valve can be installed to the wrist function but may notbe effective due to internal leakage of the wrist motor. Do not install a check valve to the jaw func-tion as a hydraulic failure will leave the jaw locked in place (if the jaw is clamped on structure it can-not be disengaged).

Service Bulletin 011–7203Install Pressure Relief Valves on

Rigmaster Slave ArmsCompliance:

Recommended*



Page 2 • Service Bulletin 011–7203

Figure 1 Rigmaster Hydraulic Schematic








ISSUE DATEApril 23, 2008

AFFECTED PRODUCTSRate-controlled Slave Arms (RigMaster, Conan 7R, Orion 4R and 7R models) and Hydraulic Pan & Tilt Units

AFFECTED COMPONENTAll Wrist Motor Assemblies

SERVICE ISSUEOver pressurization of the Jaw Close 5B circuit/tilt circuit inside the wrist motor may cause the slip ring housing to fracture and allow hydraulic fluid to flow directly into the wrist case drain (hydraulic return). Properly installed over-pressure relief valves will prevent this from occurring.

Without relief valves, housing fractures may occur when the pres-sure in the cylinder exceeds 5000 psi. This typically occurs whenthe jaw or tilt assembly is involved in a collision and the piston isforced open. An typical fracture is shown at right (arrow).

Slip-ring housings manufactured after March 10, 2008 have beenstrengthened in the critical area, but relief valves are still recom-mended.

FIELD ACTIONTo prevent an over-pressure event, a relief valve must be installed on each hydraulic circuit includ-ing the jaw/tilt function (see sample RigMaster and Pan & Tilt schematics on following page). Verifythat all rate slave arms and pan & tilt units have properly positioned and adjusted over-pressurerelief valves installed for all functions.

If a circuit has an adjustable flow control valve (throttle valve), as shown in the RigMaster jaw andPan & Tilt tilt schematics, the relief valve must be located between the actuator and the flow controlvalve.

Service Bulletin 011–7210Relief valves prevent damage to

wrist motor slip ring housingCompliance:Mandatory*





Figure 1 Placement and adjustment of over-pressure relief valves

RigMaster

Pan & Tilt









AFFECTED PRODUCT(S)Titan 4 Manipulator Systems

AFFECTED COMPONENTPAL Wrist Camera, 101-6040 and NTSC Wrist Camera, 101-6039

SERVICE INFORMATIONTitan 4 Manipulators Systems with wrist cameras are equipped with a pitch/yaw wire cover and four additional screws (002-0038P). It is important to keep these items in a safe place; they will be required if the camera is removed due to damage or for service. In addition to the pitch/yaw wire cover, four shorter manifold screws (002-0052P) are required to install the wrist manifold when the camera is removed.

To remove a Titan 4 wrist camera, 101-6039 or 101-6040, follow the instructions below.

Service Bulletin 011–7224Removing the Titan 4 Wrist Camera Compliance:

Advisory*




011–7224 • Page 2

Figure 1

1. Remove the four wire cover screws (Figure 1, A) and save for step 6.

2. Remove the four manifold plate screws (Figure 1, A). These screw will not be reused.

3. Cut off the shrink tubing from the coax cable connector and disconnect from the PCB camera board. See Figure 2.

4. Disconnect the white harness cable connector from the PCB camera mount. See Figure 2.

NOTE:The coax cable and white harness cable can be tucked into the yaw actuator housing for future camera installation. If doing so, install a piece of heat shrink (005-1706) on-to the coax cable connector to insulate it against a ground fault.

Figure 2

Wire cover screws, 002-0038P (qty 4)

Manifold plate screws, 002-0333P (qty 4)

101-6040 (PAL camera)or101-6039 (NTSC camera)

Pitch/Yaw wire cover, 001-2676

Wire cover screws, 002-0038P (qty 4)

Manifold plate screws, 002-0052P (qty 4)

A - Camera Installed

B - Camera Removed

Coax cable connector, 005-4948

White harness connector, 101-5158

PCB camera board, 101-6005

Yaw actuator housing

Sockethead cap screws, 002-0679P


011–7224 • Page 3

5. Before installing the pitch/yaw wire cover (Figure 1, B):

— Inspect the O-ring (004-0139) and replace if necessary.

— Check the two sockethead cap screws (Figure 2) and confirm that they are torqued to 7.3 Nm (65 lbf/in).

6. Secure the pitch/yaw wire cover with the four wire cover screws removed in step 1. Lubricated the bolts with AquaShield and torque to 28.5 Nm (21 lbf/ft). See Figure 1, B.

7. Re-install four new manifold plate screws (002-0052P) to the yaw actuator (Figure 1, B). Lubricated the bolts with AquaShield and torque to 28.5 Nm (21 lbf/ft).

The Titan 4 wrist camera has been successfully removed and the slave arm is ready for normal oper-ation. Refer to the Titan 4 Technical Manual specific to your system for further information.








ISSUE DATEDecember 19, 2008

AFFECTED PRODUCT(S)All systems

SERVICE INFORMATIONYou are receiving this bulletin because you are a customer, partner, or associate of Schilling Robot-ics. If you would like to add additional recipients or unsubscribe from this bulletin, please reply to this e-mail.

Schilling Robotics Customer Service Department’s goal is to provide reliable information, technicalsupport and solutions to all Schilling Robotics Customers. To further assist our customers, Schillinghas developed this Service Bulletin Information System to broadcast service updates to customersand partners. All recipients of the Bulletin will be able to reply with questions, concerns, andchanges relating to Schilling Robotics’ products. The Bulletin Information System is in its finalstages of completion, and should be ready for use in the next few weeks.

FIELD ACTIONIf there is a need for a recipient to be added or removed from this distribution list, please notify us byreplying to this e-mail at any time.

Service Bulletin 011–7229New Customer Service Bulletins Compliance:

Advisory*











AFFECTED PRODUCTSConan, Orion, and Rigmaster systems; Titan systems with 7.8-in. intermeshing jaw

AFFECTED COMPONENTNon-fused jaw bolt 001-7520

SERVICE ISSUESThe torque specification for jaw bolt 001-7520 has been changed from 300 ft-lb (407 Nm) to160 ft-lb (217 Nm). When jaw service is performed, jaw bolt 001-7520 must be used and torqued to 160 ft-lb. Replace older “fuse” type jaw bolts (001-5382 and 001-5397) with bolt 011-7520.

FIELD ACTIONSNo action is needed for currently installed bolts. The next time a bolt is removed orreplaced, follow the steps below to avoid damage to the manipulator while un-installing andre-installing the jaw bolts at the new torque setting. You should have the following toolsbefore beginning:

— A bench vice

— 11/16 12 pt. socket (1/2-in. drive) and breaker bar

— Conan Jaw Bolt tool 010-0991 or CLP Jaw Tool 010-0173

To Un-install Jaw Bolts Torqued to 300 ft-lb:Refer to the drawing and part list “Nose Block Kit, Conan/Rigmaster, 101-3853” on page 3 while per-forming the following steps:

Caution! Shut off and isolate all hydraulics before beginning this procedure.

NOTE: It is recommended that you have a bucket available to capture oil from the jaw.

Service Bulletin 011–7236New Torque Specification for Jaw

Bolt 001-7520Compliance:Advisory*





1. Remove the four HHCS 002-1135 (item 14) and remove the 101-3853 nose block assembly from the manipulator wrist.

2. Install the nose block assembly 101-3853 into tool 010-0991 or 010-0173 and clamp the tool in a bench vise.

3. Use an 11/16 twelve-point socket (1/2-in. drive) with breaker bar and remove the jaw bolt (001-7520 HHCS, item 13). If an older fused bolt 001-5382 or 001-5397 is removed, replace it with a non-fused bolt 001-7520.

4. Inspect piston 001-5395 (item 2) and T-bar plate 001-5396 (item 12) for damage, and replace if necessary.

5. Check for worn seals and replace as needed (spares are in “Kit, Soft Goods, Nose Block w/Adapter, 008-0232” on page 7).

To Install Jaw Bolts:Refer to the drawing and part list “Kit, Jaw Piston, Conan, 101-4205” on page 5 while performing thefollowing steps:

1. Apply anti-seize (item 6) under the jaw bolt head and on the threads.

2. Install the bolt 001-7520 (item 3) and torque to 160 ft-lb (217 Nm).

3. Remove tool 010-0991 or 010-0173 from the bench vise and remove the nose block assembly 101-3853 from the tool.

4. Apply Aqua lube 002-0805 to the threads of the four HHCS 002-1135 (item 14) and re-attach nose block 101-3853 to the manipulator wrist with HHCS 002-1135. Torque the HHCS to 73 ft-lb (99 Nm).


Nose Block Kit, Conan/Rigmaster, 101-3853Rev.U

Item P/N Description Qty2 001-5395 PISTON,1 PIECE,2.25 DIA,JAW 1

3 001-5399 BRG,PSTN,2.25DIA,ORKOT 1

4 004-0616 SEAL,PSTN,SHAMBAN,34G02250-A46 1

5 101-4108 BLK,NOSE,W/BRG,CON 1

6 004-0542 O-RING,2-034 BUNA 70 1

7 004-0541 RING,BACKUP,8-034 BUNA 90 1

8 001-5398 BRG,ROD,1.0DIA,ORKOT 2

9 004-0650 SEAL,ROD,LIN ACTR,GAMMA 2

12 001-5396 PLATE,T-BAR,LOCKING 1

13 001-7520 BOLT,12 POINT,NAS 1277-36,MOD 1

14 002-1135 NAS 6406U4 4

15 011-5011 SVCE INSTR,ITMSHG JAW NOSE BLK 0

16 002-1439 WSHR,3/8ID,5/8OD 4


18 010-0991 TOOL,CONAN JAW BOLT 0

23 002-1925 ANTI-SIEZE,1 OZ TUBE 0


Nose Block Kit, Conan/Rigmaster, 101-3853


Kit, Jaw Piston, Conan, 101-4205Rev.D

Item P/N Description Qty1 001-5395 PISTON,1 PIECE,2.25 DIA,JAW 1

2 001-5396 PLATE,T-BAR,LOCKING 2

3 001-7520 BOLT,12 POINT,NAS 1277-36,MOD 2

4 004-0616 SEAL,PSTN,SHAMBAN,34G02250-A46 1

5 001-5399 BRG,PSTN,2.25DIA,ORKOT 1

6 002-1925 ANTI-SIEZE,1 OZ TUBE 1

7 010-0991 TOOL,CONAN JAW BOLT 0

12 011-9534 DOC,JAW PSTN KIT S4205,CONAN 1


Jaw, Piston, Conan, 101-4205


Kit, Soft Goods, Nose Block w/Adapter, 008-0232Rev.A

Item P/N Description Qty2 001-0900 BRG,PSTN 1

4 004-0588 O-RING,2-129 BUNA 90 1

5 001-0903 BRG,ROD 1

6 004-0039 SEAL,ROD STEP RSW100750-Z48NA, 2

12 004-0646 SEAL,JAW PSTN,GAMMA 1

13 004-0046 O-RING,2-127 BUNA 70 1

102 004-0541 RING,BACKUP,8-034 BUNA 90 2

103 004-0840 O-RING,2-034,N90 2








ISSUE DATE: February 20, 2009

AFFECTED PRODUCT(S)Titan 4 Manipulator Systems

AFFECTED COMPONENTAzimuth actuator

SERVICE INFORMATIONThe azimuth actuator of the Titan 4 slave arm can be moved when hydraulic power is disabled and an external force is applied (including movement by the vehicle against the slave arm mass). This movement may cause unintended contact between the slave arm and the vehicle (or other equipment).

This is a normal condition of the azimuth actuator and does not indicate that the seals or other com-ponents require replacement. The movement is caused by hydraulic fluid that is allowed to passthrough the azimuth servo valve spool. The flow rate varies, depending on the location of the spoolwhen hydraulic power was turned off (with some azimuth movement possible even when the spool iscentered). Action options to prevent azimuth movement are described below.

FIELD ACTIONThere are two corrective options if azimuth movement (while hydraulics are disabled) is a problem.

Option 1To prevent movement of the azimuth when the arm is stowed (or in any other position), leavehydraulics to the slave arm enabled. To prevent accidental movement of the slave arm, EXIT fromany one of seven screens (OPERATE, OPTIONS, SLAVE DIAGNOSE, SET LIMITS, SET STOW, SETOFFSET AND SHUT DOWN) to enter a menu where the slave arm is in the LOCK mode (“LOCK”text in upper right-hand corner of screen). A typical screen (MAIN menu) in LOCK mode is shown inFigure 1.

Service Bulletin 011–7240Preventing Titan 4 Azimuth Move-

ment When Hydraulics Are DisabledCompliance:Optional*



• Service Bulletin 011–7240

Caution! Failure to enter a LOCK mode after stowing or immobilizing the slave arm while hydraulics enabled can result in unintended slave arm movements and damage to equipment.

Figure 1 MAIN menu

Option2Install Lock/Relief Valve Kit 101-6460 under the Azimuth servo valve in the forearm (see part list,below). After installation, the azimuth joint locks when hydraulics are disabled, and cannot berotated accidentally or “by hand” for service purposes. To order this kit, contact the Customer Ser-vice Department at: [email protected].

NOTE:This kit can be used to lock any joint on the slave arm with unwanted movement ex-cept the wrist (due to an internal bypass) and the jaw, where a hydraulic failure could cause it to remain clamped to anything in its grasp.

Kit, Lock Valve, Relief Valve, T4, 101-6460

MAIN MENU LOCK--------------------------------

1> ROBOTICS SET UP <5

2> OPTIONS DIAGNOSE <6

3> OPERATE SHUT DOWN <7

-------------------------------- UP key turns hydraulics OFF

Rev. 1Item P/N Description Qty

1 101-6190 LOCK VALVE ASSY,3000 PSI,T4 1

2 101-3965 RLF V,UNIV 1

3 004-0222 O-RING,2-010 BUNA 90 6

4 004-0114 O-RING,2-013 BUNA 90 2

5 002-0341P SHCS,10-32 X 1.625,SS,NLK 4

6 011-9663 MNL,KIT,T4,AZ LOCK/REL VALVE 2


MANDATORY Field action is MANDATORY to ensure personnel safety, equipment functionali-ty, and/or continuation of warranty coverage.

RECOMMEND-ED

Field action is not required but is highly RECOMMENDED and will result in sig-nificantly increased levels of personnel safety and/or equipment functionality.

ADVISORY Bulletin contains advisory information to assist the owner/operator in more effective operation or service of the product. Compliance is not rated.

If you have any questions about this service bulletin, contact the Schilling Customer Service Department at: Tel: +1 530 753 6718 (USA) or +44 (0) 1224 560 900 (UK) Fax: +1 530-753-1534 (USA) or +44 (0) 1224 560 901 (UK) e-mail: [email protected] • Web site: http://www.schilling.com

SERVICE BULLETIN 7253.docx Page 1

Service Bulletin 011 – 7253

Con/Rig Tool Kit 010-0689 Status: Advisory*

ISSUE DATE June 9, 2009

AFFECTED PRODUCTS Conan & Rigmaster Tool Kit 010-0689, Revision D or older

AFFECTED COMPONENT Wrist Clamp Tool 010-1117

SERVICE INFORMATION The Conan/Rigmaster Tool Kit 010-0689, revision D or older, contains only one Wrist Clamp Tool 010-1117 (see figure 1). The correct quantity is 2. The additional part will be supplied at no cost.

Figure 1 – 010-1117 Wrist Clamp Tool, 1 of 2

FIELD ACTION • Part A – Inspect 010-0689 Tool Kit for revision.

• Part B – Contact Schilling Robotics.

• Part C – Update affected part list.

Service Bulletin 011-7253 Page 2

Part A – Determine Revision of Con/Rig Tool Kit 010-0689

Inspect each Tool Kit 010-0689 and determine its revision. If the Tool Kit is Revision D or old-er, one additional Wrist Clamp Tool 010-1117 will be needed. Continue to Part B.

NOTE: Revision E or newer kits are supplied with both clamp halves, and no upgrade is neces-sary.

Part B – Contact Schilling Robotics

Please contact Schilling Robotics at [email protected] to request an addi-tional 010-1117 Wrist Clamp Tool. Continue to Part C.

Part C – Update affected part

Replace 010-0689 Part List as needed.




RECOMMENDED Field action is not required but is highly RECOMMENDED and will result in significantly in-creased levels of personnel safety and/or equipment functionality.

ADVISORY Bulletin contains advisory information to assist the owner/operator in more effective opera-tion or service of the product. Compliance status is not rated.



SERVICE BULLETIN 011–7261

Titan 4 Camera Video Quality Status: *Advisory*

ISSUE DATE August 26, 2009

AFFECTED PRODUCTS Titan 4 Manipulator Systems 199-0308-3 (NTSC), 199-0308-4 (PAL)

AFFECTED COMPONENT NTSC Camera 101-5074, PAL Camera, 101-5074-1

SERVICE ISSUE We have received customer complaints of unacceptable video quality on Titan 4 sys-tems using customer specified connectors in place of the standard Seanet.

FIELD ACTION We have identified modifications to the Titan 4 system that will improve video quality when using customer-specified connectors. The initial testing has been completed and production parts are expected to arrive the week of August 24. Approximately one week will be required for implementation and testing to qualify the final design. In early September, we will be contacting customers that are experiencing this problem and will define individual corrective action plans.






If you have any questions about this service bulletin, contact the Schilling Customer Service Department at:Tel: +1 530 753 6718 (USA) or +44 (0) 1224 560 900 (UK)Fax: +1 530-753-1534 (USA) or +44 (0) 1224 560 901 (UK)e-mail: [email protected] • Web site: http://www.schilling.com

ISSUE DATE: August 31, 2009

SERVICE ANNOUNCEMENTOur 24hr Technical Support Line has been upgraded to provide a new level of techni-cal assistance to our customers.

Within the U.S.A. +1 800 770-1275

Outside the U.S.A +44(0) 1224 560 909

Please refer to the information sheet on page 2 for details on using the new hot line.

– PAGE BREAK –

Service Bulletin 011–7264Customer Service 24 hr Support Line Status:

Advisory*



MANIPULATOR SYSTEMS

So Deep, No One Comes Remotely Close WWW.SCHILLING.COM

In line with Schilling’s expanding global business, we understand that customer access to the best technical support is essential. Schilling’s 24-hour call center operators will log your request, give you a reference number, and directly transfer you to a Schilling technical support representative.

Schilling is proud to launch an upgraded Technical Support System to ensure that we provide prompt attention to all of our customers worldwide.

Technical Support 24-hours per Day, � 7 Days per Week

Prompt, Accurate, � Personal Support

One � Centralized Point of Contact

Comprehensive � Engineering and Technical Support

Availability and Support When You Need It.Within the U.S.A.: +1 800 770 1275Outside of the U.S.A.: +44 (0) 1224 560 909

24-hr Technical Support

Information that Will be Requested When Calling:

Your Name and Company �

Telephone Number that You are Calling From �

Your Email Address �

Brief Description of the Problem �


SAFETY CRITICAL Field action is CRITICAL to ensure the SAFETY of personnel and must be performed IMMEDIATELY


Page 1

1

SAFETY BULLETIN 012–0016

Fused Jaw Bolt May Shear at High Velocity

Status: SAFETY CRITICAL*

ISSUE DATE August 26, 2009

AFFECTED PRODUCTS All Rigmaster, Conan, and Orion slave arms and manipulator systems, Titan Manipula-tor Systems

AFFECTED COMPONENTS Fuse-type jaw bolts 001-5382 and 001-5397 (based on jaw type). They have a machined hole in the bolt head and are located as shown in Figure 1 on the following page.

BACKGROUND A fuse-type jaw bolt was designed to shear when overloaded in order to prevent damage to other jaw components. As noted in Service Bulletin 011-7155, the use of fuse-type bolts was discontinued beginning in November of 2005 because field users found the shear rate unacceptable. Because fuse-type jaw bolts are in many older spares kits and could have been used as replacements, they may be on slave arms of any age, old or new.

SERVICE ISSUE We have been informed that a fused jaw bolt sheared as the jaw function was being tested on-deck. Part of the bolt was ejected from the jaw at a high velocity, narrowly missing a crew member. This incident highlights the importance of always using PPE and staying clear of the slave arm’s range of motion at all times to avoid risk of injury.

FIELD ACTION Inspect each slave arm jaw to determine if a fuse-type bolt is used in the jaw. Fused jaw bolts have a machined hole in the bolt head as shown in Figure 1 on the following page. 1. Slave arms that use fused jaw bolts can continued to be operated under the following conditions:

! WARNING Use extreme caution when testing a slave arm on deck: • Move all personnel outside the slave arm’s range of motion when hydraulic pressure is applied and functions are tested. • Direct the slave arm to point away from personnel and critical or sensitive areas while testing jaw functions. • Do not stand in front of the jaw assembly while testing jaw functions.

Page 2

2. If you decide to replace a fuse bolt, use the slave arm or manipulator system technical manual to determine the part number for the existing fused jaw bolt. Then determine if a non-fused, replace-ment jaw bolt is available in spares:

• Fused jaw bolt 001-5397 (shaft length 3.123-in.): Replace with jaw bolt 001-7520.

• Fused jaw bolt 001-5382 (shaft length 2.116-in.): Replace with jaw bolt 001-7519.

Jaw bolts 001-7519 and 001-7520 can be found in many slave arm, manipulator system, and Schilling ROV system spares kits issued since 2005.

Figure 1 Fuse-type jaw bolt: location (left), machined hole in head (center, right)

Documents

7233.pdf