Manipulator Diagnostics

Manipulator problems include loss of power or control signal failure. Control signal failure can result from an intrinsic problem with the ROV, hand controller, manipulator or connecting it to the wrong port on the communications module.

Manipulator problems usually do not affect the system. Sonar problems may prevent the operator from being able to place, manipulate or retrieve objects.

Manipulator diagnostic tools include the Greensea Diagnostics Panel (Vehicle Configuration), Greensea Advanced Diagnostics Panel (Process View tab) and using the native manipulator application to connect to the manipulator, flighthack tools and a multimeter.

Diagnostic Table

If unable to resolve a problem, contact VideoRay Support and report efforts and results.

Issue	Items to Check	Status / Resolution
Lack of power	Check Manipulator cable.	Reconnect or replace cable.
	Check power from communications module port.	See communications port connector pinout.
No Manipulator response	Check that the Manipulator is connected to the correct port on the communications module.	Connect the manipulator to the correct port or change the port configuration on the communications module.
	Check the manipulator response in Greensea Diagnostics Panel (Vehicle Configuration tab).	Ensure the button and know response to input is as expected.
	Check Greensea Advanced Diagnostics panel Process View, manip.	Click on checkbox for manip and check data stream.
	Check the native manipulator application (~/flighthack/vr_engage_manip_rotating.py.	If the native application works the problem may be the Greensea software. If it does not work, the problem may be the manipulator.
Reduced manipulator response	Check if the jaws are fully opened or closed.	A fully open or closed manipulator puts axial stress and may reduce rotation rate or stop rotation. If this is the case, slightly open or close the manipulator jaws to avoid fully open or closed position The manipulator orientation should be set while the jaws are empty and not fully open or closed.