Operator Reference Manual ECDIS Kongsberg Ref. 6.2

Operator Reference ManualKongsberg SDP (OS)Dynamic Positioning System(Rel. 6.2)

301463/AMay 2006

The reader

This operator manual is intended as a reference manual for the system operator. Thismanual is based on the assumption that the system operator is an experienced DPoperator with a good understanding of basic DP principles and general DP operation. Ifthis is not the case, then the operator should first attend the appropriate KongsbergMaritime training courses.

Note

The information contained in this document remains the sole property of KongsbergMaritime AS. No part of this document may be copied or reproduced in any form or byany means, and the information contained within it is not to be communicated to a thirdparty, without the prior written consent of Kongsberg Maritime AS.

Kongsberg Maritime AS endeavours to ensure that all information in this document iscorrect and fairly stated, but does not accept liability for any errors or omissions.

Warning

The equipment to which this manual applies must only be used for the purpose forwhich it was designed. Improper use or maintenance may cause damage to theequipment and/or injury to personnel. The user must be familiar with the contents ofthe appropriate manuals before attempting to operate or work on the equipment.

Kongsberg Maritime AS disclaims any responsibility for damage or injury caused byimproper installation, use or maintenance of the equipment.

Kongsberg Maritime A.SP. O. Box 483N-3601 KongsbergNorway

Telephone: (47) 32 28 50 00Telefax: (47) 32 28 50 10Service: (47) 815 35 355http://www.kongsberg.com

301463/A SDP (OS) Operator Reference Manual 3

Document revisions

Written by Checked by Approved by

Rev Date Sign Date Sign Date Sign

A 10.05.06 AKS 11.05.06 FH 11.05.06 ØL

B

C

D

E

F

The original signatures are recorded on the company’s logistic data system.

Document history

Rev. A This version describes operation of the SDP (OS) system at SDP basis softwarerelease 6.2.0.

To assist us in making improvements to the product and to this manual, we welcomecomments and constructive criticism. Please send all such, in writing, to:

Kongsberg Maritime AS

Att: Documentation DepartmentP.O. Box 483N-3601 KongsbergNorway

e-mail: [email protected]

4 Kongsberg Maritime 301463/A

Glossary

Abbreviations

ARP Alternative Rotation Point

CG Center of Gravity

CW Clockwise

CCW Counter-clockwise

DGPS Differential GPS

DP Dynamic Positioning

DPC DP Controller

DQI Differential Quality Indicator

EBL Electronic Bearing Line

ECR Engine Control Room

GPS Global Positioning System

HDOP Horizontal Dilution Of Precision

HPR Hydroacoustic Position Reference

IAS Integrated Automation System

IO Input - Output

LTW Light-weight Taut Wire

MOB Mobile transponder

OS Operator Station

OT Operator Terminal

PMS Power Management System

PS Process Station

RCA Redundancy and Criticality Assessment

RIO Remote Input - Output

RMS Riser Management System

rms root mean square

ROV Remotely Operated Vehicle

RPM Revolutions Per Minute

SBC Single Board Computer

SDP Kongsberg Dynamic Positioning


STC Kongsberg Thruster Control

SVC Kongsberg Vessel Control

UPS Uninterruptible Power Supply

UTC Universal Time Coordinated

UTM Universal Transverse Mercator

VRM Vessel Reference Model

VRS Vertical Reference Sensor

WGS World Geodetic System


General terms

Apparent windSee Relative wind.

BearingThe horizontal direction of one terrestrial point from another, expressed as theangular distance from a reference direction, clockwise through 360°.

Blackout preventionAmethod of preventing a power failure due to overloading of the supply generators.

Cartesian coordinate systemA coordinate system where the axes are mutually-perpendicular straight lines.Cartesian systems used are UTM, US State Plane and Local N/E.

CourseThe horizontal direction in which a vessel is steered or is intended to be steered,expressed as angular distance from north, usually from 000° at north, clockwisethrough 360°. Strictly, this term applies to direction through the water, not thedirection intended to be made good over the ground. Differs from heading.

DatumMathematical description of the shape of the earth (represented by flattening andsemi-major axis as well as the origin and orientation of the coordinate systems usedto map the earth).

Dead reckoningThe process of determining the position of a vessel at any instant by applying to thelast well-determined position the run that has since been made, based on the recenthistory of speed and heading measurements.

DestinationThe immediate geographic point of interest to which a vessel is navigating. It maybe the next waypoint along a route of waypoints or the final destination of a voyage.

ECDISElectronic Chart Display and Information System. A navigation information systemwhich can be accepted as complying with the up-to-date chart required by regulationV/20 of the 1974 SOLAS Convention, by displaying selected information from aSENC with positional information from navigation sensors to assist the mariner inroute planning and route minitoring, and if required display additionalnaviation-related information.

ENCElectronic Navigation Chart. A Cell for use in ECDIS systems.

FeedbackSignals returned from the process (vessel) and used as input signals to the VesselModel.


GyrocompassA compass having one or more gyroscopes as the directive element, and which isnorth-seeking. Its operation depends on four natural phenomena: gyroscopic inertia,gyroscopic precession, the earth’s rotation and gravity.

HeadingThe horizontal direction in which a vessel actually points or heads at any instant,expressed in angular units from a reference direction, normally true north, usuallyfrom 000° at the reference direction clockwise through 360°. Differs from course.

IAS

Integrated Automation System from Kongsberg Maritime. In an IntegratedAutomationSystem the SDPcommunicateswith other KongsbergMaritime systemssuch as SVC (Vessel Control) and STC (Thruster Control) via a dual ethernet LAN.

IHOInternational Hydrographics Organisation. Coordinates the activities of nationalhydrographic offices; promotes standards and provides advice to developingcountries in the fields of hydrographic surveying and production of nautical chartsand publications.

IMOInternational Maritime Organisation. Formerly called IMCO, the IMO is thespecialised agency of the United Nations responsible for maritime safety andefficiency of navigation.

Kalman FilterThe Kalman filter is a set of mathematical equations that provides an efficientcomputational (recursive) solution of the least-squares method. The filter is verypowerful in several aspects: it supports estimations of past, present and even futurestates, and it can also do so even when the precise nature of the modelled system isunknown.

LogAn instrument for measuring the speed or distance or both travelled by a vessel.

Process Station

One Central Processing Unit (PCU) plus IO interfaces, possibly shared with otherCPUs in redundant configurations. A physical PS may be single, part of adual-redundant-physical PS or part of a triple-redundant-physical PS. The PSutilisesRCU, SBC or PC hardware.

Reference originThe reference point of the first position-reference system that is selected andaccepted for use with the system. The origin in the internal coordinate system.

Relative bearingThe bearing of an object relative to the vessel’s heading.


Relative windThe speed and relative direction fromwhich the wind appears to blowwith referenceto the moving vessel.

SOLASInternational Convention for the Safety of Life at Sea developed by IMO.

SurgeVessel movement in the fore-and-aft direction.

SwayVessel movement in the transverse direction.

ThrusterIn this document, this is used as a general term for any element of the vessel’spropulsion system, such as an azimuth thruster, tunnel thruster, propeller or rudder.

TransponderIn this document, this is the physical reference of a position-reference system. Forexample: for an HPR system this means any deployed transponder; for an Artemissystem, the FixedAntenna unit/beacon; for a TautWire system, the depressorweight.

True bearingBearing relative to true north.

Vessel Reference Model

A mathematical model of the vessel which makes it possible to simulate vesselmovements and behaviour in the horizontal plane (surge, sway and yaw).

YawVessel rotation about the vertical axis; change of heading.


Windows terminology

ApplyTo commit a set of changes or pending transactions made in a dialog box, typicallywithout closing that dialog box.

CancelDiscards any pending transactions and closes the dialog box or window.

Check boxA small square box that appears in a dialog box and that can be turned on and off.A check box contains a tick mark when it is selected and is blank when it is notselected.

ChooseTo perform an action that carries out a command in a menu or dialog box. See alsoSelect.

ClickTo press and release a trackball button, without moving the cursor. If no trackballbutton is specified, the left button is assumed.

Combo boxA text boxwith an attached list box which contains a list of options. The list becomesvisible on clicking the text box, see Drop-down list box.

CommandA word or phrase, usually found in a menu, that you choose in order to carry out anaction.

Command buttonA rectangle with a label inside that describes an action, such as OK, Apply orCancel. When chosen, the command button carries out the action.

CursorThe pointer symbol that is displayed on the screen and that can be moved with thetrackball.

Dialog boxA box that appears when the system needs additional information before it can carryout a command or action. See also Check box, Combo box, Drop-down list box,Command button, Group box, List box, Option button, Option button group,Tab, Tabbed page and Text box.

DragTo press and hold down a trackball button while moving the trackball. For example,you can move a dialog box to another location on the screen by dragging its title bar.


Drop-down list boxAboxwhich has a set of predefined values that can be selected directly from the box.Clicking the down arrow at the end of the box displays a drop-down list of theavailable values. If the list is longer than the displayed drop-down box, the box willhave a vertical scroll bar that lets you scroll through the list.

FieldA field is a generic description for a text area within a dialog box that displays aspecific value, as opposed to the label which identifies what the value means.

Group boxA group box is a standard control used to group a set of options in a dialog box. Forexample, page ranges aregrouped in thePagerange groupbox in theWindowsPrintdialog box.

List boxList box is a generic term for any type of dialog box option containing a list of itemsthe user can select.

MenuA group listing of commands. Menu names appear in the menu bar beneath the titlebar. You use a command from a menu by selecting the menu and then choosing thecommand.

Menu barA horizontal bar at the top of a view, below the title bar, that contains menus.

Message boxA dialog box displaying a message. The operator must acknowledge the message byclicking OK.

OKCommit any pending transactions and close the dialog box or window.

Option buttonAsmall round button appearing in a dialog box (also known as a “radio” button). Youselect an option button to set the option, but within a group of related option buttons,you can only select one. An option button contains a black dot when it is selected andis blank when it is not selected.

Option button groupAgroup of related options in a dialog box. Only one button in a group can be selectedat any one time.

PointTo move the cursor on the screen so that it points to the item you want to select orchoose.

SaveSaves all interim edits, or checkpoints, to disk.


Save AsSaves the file (with all interim edits) to a new file name.

SelectTo indicate the item that the next command you choose will affect. See alsoChoose.

Shortcut menuThemenu that appearswhena user clicks the rightmousebutton in certain areas, suchas in a view.

Spin boxA control composed of a text box and increment and decrement button that allowsyou to adjust a value from a limited range of possible values.

Status barAn area that allows the display of state information for the information being viewed.Typically placed at the bottom of a window.

TabThe tab at the top of a page in a dialog box. When you click a tab, the related pageis displayed.

Tabbed pageLabelled group of options used for many similar kinds of settings.

Title barThe horizontal bar at the top of the window that shows the name of the document orprogram.

Text boxA box within a dialog box in which you type information needed to carry out acommand. The text boxmay be blankwhen the dialog box appears, or it may containtext if there is a default value or if you have selected something applicable to thatcommand. Some text boxes are attached to a list box, in which case you can eithertype in the information or select it from the list.

Tool barA row of icons that represent common functions, used to give quick access tocommonly used functions. Clicking on an icon will usually invoke the command orfunction that the icon represents. Tool bars are usually displayed at the top of a view.

UnavailableDescribes a command or option that is listed in a menu or dialog box but that cannotbe chosen or selected. The command or option appears dimmed.


Table of contents

1 USER INTERFACE 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.1 Operator station 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.2 Operator panel 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Push buttons 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Keypad 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Trackball 1-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Joystick 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Heading wheel 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Display layout 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Title bar 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Menu bar 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Message line 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Performance area 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Working area 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Monitoring area 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Status line 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Status bar 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Dialog boxes 1-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Entering numeric values 1-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Input validation of entered values 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Display views 1-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Orientation of the OS and effect on display views 1-19. . . . . . . . . . . . . . . .Tooltip / hotspot cursor and change of cursor image 1-19. . . . . . . . . . . . . .Available views 1-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Selecting a display view 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .View control dialog boxes 1-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Zooming 1-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Preselecting views 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Main menus 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Menu bar 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .System menu 1-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .View menu 1-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Sensors menu 1-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Thruster menu 1-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Joystick menu 1-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .AutoPos menu 1-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Help menu 1-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


2 SYSTEM SETTINGS 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.1 Changing user 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.2 Printing the display picture 2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3 Panel Light Configuration dialog box 2-4. . . . . . . . . . . . . . . . . . . .

Dimming level 2-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Lamp test 2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Display Units dialog box 2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Selecting the set of display units to use 2-6. . . . . . . . . . . . . . . . . . . . . . . .Editing Display Units 2-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Additional information 2-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Vessel and sea current speed 2-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Wind, waves and sea current direction 2-9. . . . . . . . . . . . . . . . . . . . . . . . .Resetting the display units 2-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 System date and time 2-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Date and time 2-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Time zone 2-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 Set palette (display colours) 2-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Changing the display palette on Operator Stations that are not set to have anindependent palette selection 2-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Changing the display palette on a single Operator Station 2-12. . . . . . . . .

2.7 Alarm Limits dialog box 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Position page 2-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .VRS page 2-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 Controller Mode and Gain Level selection 2-16. . . . . . . . . . . . . . . . .Gain Level for High Precision and Relaxed Controller Mode 2-19. . . . . . .Display presentation of Controller Mode 2-20. . . . . . . . . . . . . . . . . . . . . . .

2.9 Quick model update 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Quick Model dialog box 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 Rotation center for automatic control 2-24. . . . . . . . . . . . . . . . . . . .Additional information 2-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 JOYSTICK 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1 Calibrating the joystick 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calibration procedure 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2 Joystick settings 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.3 Rotation center for joystick manoeuvring 3-7. . . . . . . . . . . . . . . . .

Rotation Center dialog box 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 THE MESSAGE SYSTEM 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1 System diagnostics 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2 Operational checks 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Audible and visual indications 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


4.3 Message priority 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4 Presentation of messages 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Defining the time span for the Historic Event Page 4-8. . . . . . . . . . . . . . .4.5 Alarm states 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.6 Acknowledging messages 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Silence button 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.7 Alarm lamps 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.8 Messages on the printer 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Event Printer dialog 4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.9 Message explanations 4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents 4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Search 4-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displayed explanation 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Menu bar 4-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Printing message explanations 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 Operator advice messages 4-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 BUILT-IN TRAINER 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1 Trainer functions 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2 Using the trainer 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3 Setting the start position for the next session 5-4. . . . . . . . . . . . . . .5.4 Leaving the trainer 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 DP ONLINE CONSEQUENCE ANALYSIS 6-1. . . . . . . . . . . . . . .6.1 DP Online Consequence Analysis 6-2. . . . . . . . . . . . . . . . . . . . . . . .6.2 Selecting the DP class 6-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.3 Consequence analysis status messages 6-3. . . . . . . . . . . . . . . . . . . .6.4 Consequence analysis warning messages 6-4. . . . . . . . . . . . . . . . . .

7 STARTING OPERATIONS 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1 System start-up/shut-down and OS stop/restart 7-2. . . . . . . . . . . .

Stop/Restart dialog box 7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Restart the OS using the Windows Security dialog box 7-4. . . . . . . . . . .

7.2 Logon Configuration dialog box 7-5. . . . . . . . . . . . . . . . . . . . . . . . .7.3 Command transfer 7-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Taking command 7-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Giving command 7-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Command Control dialog box 7-8. . . . . . . . . . . . . . . . . . . . . . . . . . .Command groups 7-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .OS page 7-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Overview page 7-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Give page 7-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Command Groups 7-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Controls and indicators 7-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Taking or giving command of thruster propulsion 7-13. . . . . . . . . . . . . . . .

7.5 Connecting to a controller PS group 7-15. . . . . . . . . . . . . . . . . . . . . .

8 CONTROLLER PROCESS STATIONS 8-1. . . . . . . . . . . . . . . . . . .8.1 Resetting controller process stations 8-2. . . . . . . . . . . . . . . . . . . . . .

Resetting the controller PS in a single-computer system 8-2. . . . . . . . . . .Resetting one controller PS in a dual or triple redundant system 8-2. . . .Resetting all controller PSes in a dual or triple redundant system 8-3. . .

8.2 Redundant systems 8-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Error objects 8-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Dual redundant system 8-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Triple redundant system 8-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Redundant Stations dialog box 8-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 SENSORS 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9.1 Gyrocompasses 9-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sensors dialog box - Gyro page 9-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Gyro Deviation dialog box 9-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Gyro status lamp 9-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displayed heading information 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Rejection of heading measurements 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . .Faulty gyrocompasses 9-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Heading dropout 9-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Wind sensors 9-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Sensors dialog - Wind page 9-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Wind status lamp 9-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displayed wind information 9-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Faulty wind sensors 9-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Rejection of faulty wind data 9-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Operating without wind sensor input 9-12. . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Vertical reference sensors (VRS) 9-13. . . . . . . . . . . . . . . . . . . . . . . . .Sensors dialog - VRS page 9-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .VRS status lamp 9-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displayed VRS information 9-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Faulty VRS 9-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Speed sensors 9-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Sensors dialog box - Speed page 9-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displayed speed information 9-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


9.5 Draught sensors 9-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Sensors dialog box - Draught page 9-19. . . . . . . . . . . . . . . . . . . . . . . . . . .

9.6 Depth sensors 9-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Sensors dialog box - Depth page 9-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Displayed water-depth information 9-22. . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 Rate Of Turn sensors 9-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Sensors dialog box - Rate Of Turn page 9-23. . . . . . . . . . . . . . . . . . . . . . .

10 POSITION INFORMATION 10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . .10.1 Handling position information 10-2. . . . . . . . . . . . . . . . . . . . . . . . . .10.2 Position Presentation dialog box 10-4. . . . . . . . . . . . . . . . . . . . . . . . .

Additional information 10-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10.3 Datum Details dialog box 10-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10.4 Local N/E Properties dialog box 10-9. . . . . . . . . . . . . . . . . . . . . . . . .

Additional information 10-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10.5 UTM Properties dialog box 10-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . .10.6 State Plane Zone 10-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10.7 Methods for enabling position-reference systems 10-12. . . . . . . . . . .10.8 Panel buttons 10-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10.9 Reference System Settings dialog box 10-13. . . . . . . . . . . . . . . . . . . . .10.10Reference System dialog box 10-17. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enable page 10-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Weight page 10-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Validation page 10-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11Reference System Properties dialog box 10-22. . . . . . . . . . . . . . . . . . .UTM Properties 10-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Quality Filter Actions 10-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.12Coordinate systems 10-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Global and local position-reference systems 10-26. . . . . . . . . . . . . . . . . . . .System datum 10-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .The reference origin 10-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.13Tests on position measurements 10-28. . . . . . . . . . . . . . . . . . . . . . . . . .Standard deviation of position measurements 10-28. . . . . . . . . . . . . . . . . . .Freeze test 10-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Variance, weight and the Variance test 10-29. . . . . . . . . . . . . . . . . . . . . . . . .Prediction test 10-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Divergence test 10-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Median test 10-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.14Enabling the first position-reference system 10-34. . . . . . . . . . . . . . .


10.15Enabling other position-reference systems 10-35. . . . . . . . . . . . . . . . .10.16Changing the reference origin 10-36. . . . . . . . . . . . . . . . . . . . . . . . . . .10.17Position dropout 10-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 MAIN MODES AND OPERATING PROCEDURES 11-1. . . . . . .11.1 Standby mode 11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Returning to Standby mode/manual levers 11-2. . . . . . . . . . . . . . . . . . . . .11.2 Joystick mode 11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

From Standby mode to Joystick mode 11-4. . . . . . . . . . . . . . . . . . . . . . . . .Joystick control of position and heading 11-5. . . . . . . . . . . . . . . . . . . . . . .Position and heading information 11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . .Joystick electrical failure 11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Mixed joystick/auto modes 11-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Joystick mode with automatic heading control 11-6. . . . . . . . . . . . . . . . . .Joystick mode with automatic position control in both surge and sway 11-7Joystick mode with automatic stabilisation 11-8. . . . . . . . . . . . . . . . . . . . .

11.3 Auto Position mode 11-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .From Joystick mode to Auto Position mode 11-10. . . . . . . . . . . . . . . . . . . .

12 CHANGING THE POSITION SETPOINT 12-1. . . . . . . . . . . . . . .12.1 Stopping a change of position 12-2. . . . . . . . . . . . . . . . . . . . . . . . . . .12.2 Marking a new position setpoint on the Posplot view 12-3. . . . . . . .12.3 Position R/B dialog box (range/bearing) 12-4. . . . . . . . . . . . . . . . . . .12.4 Position Inc dialog box (incremental) 12-4. . . . . . . . . . . . . . . . . . . . .12.5 Position dialog box 12-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inc page 12-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .R/B page 12-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Abs page 12-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Speed page 12-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.6 Speed Setpoint dialog box 12-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Additional information 12-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.7 Acceleration/Retardation Settings dialog box 12-11. . . . . . . . . . . . . .

13 CHANGING THE HEADING SETPOINT 13-1. . . . . . . . . . . . . . . .13.1 Stopping a change of heading 13-2. . . . . . . . . . . . . . . . . . . . . . . . . . .13.2 Marking a new heading setpoint on the Posplot view 13-3. . . . . . . .13.3 Heading Wheel and its associated panel buttons 13-4. . . . . . . . . . . .13.4 Heading dialog box 13-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Heading page 13-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Rate Of Turn page 13-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5 Acceleration/retardation factors in the yaw axis 13-8. . . . . . . . . . . .


14 THRUSTERS 14-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14.1 Enabling thrusters 14-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster Enable dialog box 14-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14.2 Automatic thruster start (for IAS deliveries) 14-4. . . . . . . . . . . . . . .14.3 Automatic Thruster Start dialog box 14-5. . . . . . . . . . . . . . . . . . . . .14.4 Thruster Allocation dialog box 14-6. . . . . . . . . . . . . . . . . . . . . . . . . .

Additional information 14-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14.5 Allocation Settings dialog box 14-10. . . . . . . . . . . . . . . . . . . . . . . . . . .14.6 Rudder/Nozzle control 14-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14.7 Thruster biasing 14-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14.8 Thruster Biasing dialog box 14-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manual selection of thruster biasing 14-13. . . . . . . . . . . . . . . . . . . . . . . . . .Automatically changing bias available 14-14. . . . . . . . . . . . . . . . . . . . . . . .Turn factor 14-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Angle factor 14-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Inwards 14-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.9 Thruster Run-in dialog box 14-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15 POWER SYSTEM 15-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15.1 Power monitoring 15-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15.2 Power load monitoring and blackout prevention 15-3. . . . . . . . . . .

16 SYSTEM STATUS INFORMATION 16-1. . . . . . . . . . . . . . . . . . . . . .16.1 Panel driver logging 16-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Panel Driver Logging dialog box 16-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . .Copy Panel Logfiles to floppies dialog box 16-4. . . . . . . . . . . . . . . . . . . . .

16.2 Remote diagnostics 16-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .pcAnywhere Waiting... dialog box 16-8. . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.3 Printing system status data 16-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . .16.4 Displaying software information 16-11. . . . . . . . . . . . . . . . . . . . . . . . .16.5 RCA and Vessel Control modes 16-14. . . . . . . . . . . . . . . . . . . . . . . . . .

Vessel Control mode 16-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Redundancy and Criticality Assessment - RCA 16-14. . . . . . . . . . . . . . . . .Vessel Control Mode dialog box 16-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . .RCA messages 16-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .RCA view 16-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Relation between RCA view and Vessel Control Mode dialog box 16-20. .Relation between RCA view and status bar 16-21. . . . . . . . . . . . . . . . . . . . .

16.6 Interface to CyberSea 16-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


17 SYSTEM STATUS MONITORING 17-1. . . . . . . . . . . . . . . . . . . . . . .17.1 Introduction 17-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17.2 System architecture 17-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operator stations 17-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Process stations 17-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .The IO system 17-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Monitoring functions 17-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.3 Equipment 17-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PS 17-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PS Redundancy 17-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .OS/HS 17-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Event Printer 17-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Net Status 17-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Print Image 17-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.4 Station Explorer 17-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .PS tree structure 17-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Alarm status indicators 17-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Hotspots 17-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Acknowledging PS system alarms 17-18. . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.5 IO Manager 17-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .IO Configurator 17-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.6 PBUS IO Image 17-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Overview level 17-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Detailed level 17-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.7 IO Block 17-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Shortcut menu 17-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Signal Conditioning elements 17-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.8 IO Point Browser 17-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .IO Point Browser dialog box 17-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Shortcut menu 17-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.9 Driver Properties 17-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17.10Resetting a disabled serial line 17-34. . . . . . . . . . . . . . . . . . . . . . . . . . .

18 DISPLAY VIEWS 18-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.1 Deviation view 18-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position and heading 18-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Position and heading deviation 18-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .View controls 18-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.2 Diesels view 18-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


18.3 General view 18-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Position, heading and speed 18-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Position and heading deviation 18-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .View controls 18-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.4 Joystick view 18-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.5 LTW view 18-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 18-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.6 Numeric view 18-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 18-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.7 Posplot view 18-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 18-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .EBL function 18-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Panning function 18-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.8 Power view 18-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .View controls 18-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.9 Power consumption view 18-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.10Refsys view 18-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 18-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.11Refsys Status view 18-54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.12Rotation Centers view 18-55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.13Sensors view 18-56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls 18-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18.14Thruster views 18-61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster main view 18-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Tunnel thruster view 18-67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Azimuth thruster view 18-70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Propeller/rudder view 18-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Subview controls 18-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Setpoint/feedback view 18-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Forces view 18-79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.15Trends view 18-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .View controls 18-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19 SDP SYSTEM THEORY 19-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19.1 The SDP system 19-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19.2 Basic forces and motions 19-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19.3 SDP system principles 19-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The Extended Kalman Filter 19-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .The Controller 19-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Thruster allocation 19-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

301463/A SDP (OS) Operator Reference Manual 1-1

1 USER INTERFACEThis chapter contains the following sections:1.1 Operator station1.2 Operator panel1.3 Display layout1.4 Display views1.5 Main menus

User interface

1-2 Kongsberg Maritime 301463/A

1.1 Operator stationThe SDP operator station includes a high-resolution colour flatscreen for monitoring and operation of the system, and anoperator panel with pushbuttons, lamps and joystick controls.

The power switch and adjustment controls for the display areplaced below the screen. The use of the power switch andadjustment controls is described in the Hardware ModuleDescription for the screen.

Operator panel


1.2 Operator panelThe operator panel (see Figure 1) provides:• Dedicated buttons (most of these have status lamps)• Keypad• Trackball• 3-axis joystick• Heading wheel and buttons (optional)

Modes Controls Alarms

Keypad Trackball

Sensors Views

Command

Main modesSystem functions

and thrustersReference systems

and sensorsView

selection

Alarms

Commandresponsibility

Viewselection

3-axis joystickTrackballNumeric inputHeading wheel

(CD2877)

Figure 1 The SDP operator panel

Push buttonsSeveral push buttons with status lamps are provided on theoperator panel for activation of main modes, position-referencesystems, thrusters and functions. The accompanying statuslamps indicate activation of a particular function, mode orsystem.Other frequently-used functions, such as selection of displayviews and dialog boxes, may also have dedicated push buttonson the operator panel.The buttons are grouped according to their main function. Forsafety reasons, some of the buttons must be pressed twice withinfour seconds to invoke action. These buttons are indicated by aseparate colour.

User interface


Note that the appearance of push buttons may vary from vesselto vessel.

Modes

The Modes button group contains buttons for selecting the mainoperational modes. Status lamps indicate the current mode.Three additional buttons allow you to select individual axes forautomatic control. These are referred to as the SURGE, SWAY andYAW buttons throughout this manual.Figure 2 shows the button arrangement for an OS where theoperator looks in the alongships direction whilst looking at thescreen.

SwaySurge Yaw

Figure 2 Surge, Sway and Yaw buttons on a vessel with the OSorientated in the alongships direction

Figure 3 shows the button arrangement for an OS where theoperator looks in the athwartships direction whilst looking at thescreen.

SurgeSway Yaw

Figure 3 Sway, Surge and Yaw buttons on a vessel with the OSorientated in the athwartships direction

Controls

The Controls button group contains buttons for enabling thrustersand for accessing system functions and dialog boxes.

Sensors

The Sensors button group contains buttons for enablingposition-reference systems and for initiating dialog boxesrelated to other system sensors.

Operator panel


Views

Both the Views and Main Views button groups contain buttons forselecting the view to be displayed in the main working area ofthe screen. There is no functional difference between the twobutton groups.

Alarms

The Alarms button group contains indicators and buttons todisplay and acknowledge alarms and events. The SILENCEbutton, shown to the left, is used to silence the audible signalwithout acknowledging the alarm message that caused it.

For more information about messages and the Alarms buttongroup, see section The message system on page 4-1.

Command

The Command button group contains buttons for transferringcommand from one Operator Station or operator terminal toanother.

KeypadThe Keypad provides numeric, function and cursor buttons. Thenumeric keys are used to enter values into dialog boxes. Thefunction keys are used to select predefined view configurations(see Preselecting views on page 1-25).

Trackball

The Trackball is used to position the cursor on the screen.

The left button is used to click on screen buttons, choose frommenus and select displayed symbols.

The right button is used to display a shortcut menu.

The middle button is not used.

(Cd2901a)

User interface


JoystickIn the Joystick mode, the operator controls the positioning of thevessel using the three-axis joystick (integrated joystick and rotatecontroller).To move the vessel in the surge and sway axes (alongships andathwartships directions), tilt the joystick. The direction in whichthe joystick is tilted determines the direction of applied thrusterforce, and the angle of tilt determines the amount of appliedthruster force.To turn the vessel (the yaw axis), rotate the joystick. Thedirection in which the joystick is rotated determines thedirection of the rotational moment demand, and the anglethrough which the joystick is rotated determines the amount ofapplied rotational moment.

Heading wheel

The Heading wheel and its three associated buttons are used toincrease/decrease the heading setpoint (see page 13-4). Toactivate the heading wheel, one of its three associated buttonsmust be pressed. The heading setpoint can be changed byturning the heading wheel or by using the DECREASE orINCREASE buttons, see Figure 4.

ACTIVATEDECREASE INCREASE

Figure 4 Buttons associated with the heading wheel

CD2544.CDR

Display layout


1.3 Display layout

The display interface uses standard Microsoft Windowsoperating features such as menus and dialog boxes.

The display is divided into a number of predefined areas asshown below. In addition to these, dialog boxes are displayedwhenever operator interaction is required.

TITLE BARMENU BARMESSAGE LINE

MONITORING

PERFORMANCEAREA

AREA

WORKINGAREA

STATUS LINE STATUS BAR

It is also possible to configure the display with the working areaon the left hand side and the performance and monitoring areason the right hand side.

User interface


Title bar

The title bar identifies the SDP operator station and shows thecurrent date and time.

When this operator station has command, the Controller group /Command group field has yellow background colour. In ourexample the Controller group isMain (to which the operatorstation in question is connected) and the Command group isPropulsion (which the system controls).

When the Trainer is used, the text SIMULATING is displayedflashing.

OperatorStation

Simulationstatus

Deliveryname Date and time

Controller PSgroup

SDP OSApp. Name

Menu bar

The menu bar provides command menus allowing access to theavailable dialog boxes.

Figure 5 Example menu bar

Display layout


Active and unavailable commands

Because some commands are relevant to several modes, thesecommands appear on more than one menu. For example,Heading appears on both the Joystick and AutoPos menu.Some commands that are present on more than one menu areonly available in the present mode menu. Unavailablecommands have a dimmed appearance.

In this example Auto Positionis the present mode.

Available

Unavailable

In this example Auto Positionis the present mode.

Available

Unavailable

Figure 6 Example: Commands that are present on severalmenus

Message lineThe message line shows the most recent warning or alarmmessage that has not yet been acknowledged. Right-clicking themessage text opens the System Messages Help with the relevantmessage explanation displayed. See Presentation of messages onpage 4-5.

Performance areaThe performance area shows important performanceinformation to allow immediate assessment of the situation. Thecontent of the views change automatically according to theselected main mode.

Working areaThe working area shows operator selectable display views.

User interface


Monitoring areaThe monitoring area shows smaller versions of the operatorselectable display views that are available in the working area.

Status lineThe status line displays general help messages and advice forthe operator. For example, when moving the cursor over anopen menu, information about the menu commands is displayedin the status line.

Figure 7 Joystick Settings selected (top). Message displayed inthe Status line (below).

Status barThe status bar provides general system status information bymeans of indicators, some of which are click-sensitive. Whenthe cursor is moved over an indicator that is defined asclick-sensitive, it changes to a pointing hand. If you then clickthe left trackball button, a dialog box related to that indicator isopened.

Figure 8 Example status bar

Display layout


Overview of labels on the status bar

RCA The RCA warning status. The colour is according to the highestpriority warning from the Vessel Control Areas (see RCAmessages on page 16-17).

VesselMode The present Vessel Control mode. The background colour isaccording to the status of the Vessel Control mode (see VesselControl Mode dialog box on page 16-15).Background colour:• GreenWhen the selected Vessel Control Mode is In Service, andwhen no Vessel Control mode is selected.

• YellowWhen a Vessel Control mode is selected, but not fullyestablished.

• RedWhen the selected Vessel Control mode has become Invalid.

MainMode The present operational mode.

PosMode The automatic position control mode: PRESENT or NEW SETP(new setpoint).

HdgMode The automatic heading control mode: PRESENT, SYS SEL(system selected) or NEW SETP (new setpoint).

AllocMode The present thruster allocation mode, for example VARIABLE.(see Thruster Allocation dialog box on page 14-6).

Rotation Center Shows the present Rotation Center (See Rotation center forautomatic control on page 2-24, or Rotation center for joystickmanoeuvring on page 3-7).

Thr An indication of the status of the thrusters:• GreyNo thrusters are enabled.

• GreenAt least one thruster is enabled.

Refs An indication of the status of the position-reference systems:• GreyNo position–reference systems are enabled.

• YellowAt least one position–reference system is enabled, but there isno acceptable position information.

• GreenAt least one position–reference system is enabled and theposition information from at least one of them is accepted.

User interface


Sens This is one of the click-sensitive areas. If you press the lefttrackball button while the cursor has the shape of an open hand,the Sensors dialog box is opened.

Joystick Settings Symbols describing the present joystick settings are groupedabove this label.• Joystick Thrust levelFull or Reduced (see Joystick settings on page 3-4).

• Joystick Precision levelHigh Speed, General or Low Speed (see Joystick settings onpage 3-4).

AutoSettings Symbols concerning automatic control are grouped above thislabel.• Axis Control and Axis Damping ControlThese are graphic indications of the axes that are underautomatic control or damping control.The description of the surge and sway axes applies to asystem with the vessel diagram displayed “bow up” (seeOrientation of the OS and effect on display views on page1-19)The surge axis is under automatic control or damping control.

The sway axis is under automatic control or damping control.

The yaw axis is under automatic control or damping control.The axes control symbol is rotated according to theorientation of the Operator Station (see page 1-19). Note thatthe mutual angle difference between the surge and sway axesis preserved.

• GainShows the present controller gain level. Different symbolsaccording to controller mode is displayed in section Displaypresentation of Controller Mode (see page 2-20).

• Quick ModelShows whether the Quick Model Update Function is on(yellow) or off (grey) (see Quick model update, page 2-22).

• DP Consequence ClassShows the currently selected DP Class for the DP OnlineConsequence Analysis function:Grey Off2 Class 23 Class 3

Display layout


Dialog boxesYou can enter data into the system using dialog boxes. These aredisplayed using panel buttons, selecting menu commands or byclicking on graphical symbols in the views or icons on the statusbar.Dialog boxes appear in the display area but you can move themas required.To locate information about individual dialog boxes, use theIndex at the end of this manual.

When data has been modified on a dialog box, the message(Changed) is added to the title bar text.Data entered on a dialog box is not used by the system until youconfirm the input by clicking Apply or OK:• If you click OK, the changes that you have made are appliedand the dialog box is removed from the display. If any dataerrors are found, no changes are made and the dialog boxremains open.

• If you click Cancel, no changes are made and the dialog boxis removed from the display.

• If you click Apply, the changes that you have made areapplied and the dialog box remains displayed.

When you are not allowed to make changes to the data on adialog box, both OK and Apply will be unavailable (displayeddimmed). This can occur, for example, when the OperatorStation is not in command or the system is not in an appropriatemode.

User interface


Some dialog boxes have several pages which you access byclicking on the page tab. For this type of dialog box, both Applyand OK apply the changes that you have made on all pages ofthe dialog box.

The OK and Apply buttons are unavailable (appear dimmed)when all menu items that launch the dialog box are unavailable.This could be the case if a dialog box concerning one particularmode is open when you enter another mode. The Figure belowshows the system in a mode where the menu item Position Incis unavailable, and the OK and Apply buttons appear dimmed.

Click Cancel to close the dialog box without action. If a dialogbox can be accessed by pressing a panel button, pressing thispanel button while the dialog box is displayed closes the dialogbox without action.

Entering numeric values

Numeric values can be entered into text boxes in dialog boxes,you can achieve this in several different ways, depending on thetypes of numeric input field used and the functionality availableon the Operator Station.

There are two types of input fields used for entering numericvalues:

Text box - This is a rectangular box in which you can type anumerical value. If the box already contains a numerical value,you can select that default value to be used or delete it and typein a new value.

Spin box - This is a text box equipped with two additional upand down arrows (on the right-hand side) that can be clicked todecrease or increase the numerical value by a fixed increment. Anumerical value can also be typed directly in the box.

On an operator panel equipped with a numeric keypad, thiskeypad represents the easiest way to enter numeric values.

Display layout


However, the Enter a New Numeric Value dialog box may beused. This will be displayed on the screen when enabled, and isespecially suited to Operator Stations having:• No numeric keypad on the operator panel• Touch sensitive screens

Enabling the Enter a New Numeric Value dialogbox

The Enter a New Numeric Value dialog box must be enabledbefore use.To enable and test the Enter a New Numeric Value dialog box:1 Click Num Entry Dlg on the View menu.

- The Numeric Entry Keypad Dialog Use dialog box isdisplayed.

2 Select the Enable Numeric Entry Keypad Dialog checkbox.- The Enter a New Numeric Value dialog box isenabled.

3 You may test the Enter a New Numeric Value dialog boxby placing the cursor in the Enter a numeric value textbox and clicking the left trackball button. If you have atouch sensitive screen, the same test can be performed bytapping the text box using your index finger.- The Enter a New Numeric Value dialog box isdisplayed (see Figure 9).

User interface


Figure 9 Testing the Enter a New Numeric Value dialog box

- Enter a new numeric value in the Enter a numericvalue text box using the numeric keys. Click OK.

- The new numeric value you have entered using thenumeric keypad is then displayed in the Enter anumeric value text box.

4 Click OK on the Numeric Entry Keypad Dialog Usedialog box.- The Enter a New Numeric Value dialog box is nowenabled and ready for use.

Using the Enter a New Numeric Value dialog box

To use the Enter a New Numeric Value dialog box:1 Having opened a dialog box containing text boxes for

numeric entry, place the cursor in a text box and click theleft trackball button.- The Enter a New Numeric Value dialog box isdisplayed adjacent to the text box.

2 Use the keys on this dialog box (see page 1-17) to enter anew numeric value in the text box.

3 Click OK on the Enter a New Numeric Value dialog boxto use the new numeric value in the relevant text box.

Note This new numeric value will first be applied to the system whenyou click OK or Apply on the dialog box where the relevant textbox is located.

Display layout


Overview of the keys in theEnter a New Numeric Value dialog box

Deletes the digit to the left of the cursor.

Deletes the digit to the right of the cursor.

Deletes the entire number.

Moves the cursor to the far left of the text box.

Moves the cursor one digit to the left.

Moves the cursor one digit to the right.

Moves the cursor to the far right of the text box.

(numeric keys) The numeric keys 0 to 9, decimal point key and sign key.

User interface


Input validation of entered valuesWhen you enter a numerical value, it is validated by the system.The value must be within the selected display format limits forthis data type (for example Heading 0 to 360 degrees). If youenter an illegal value, and then click OK or Apply, an Illegalvalue dialog box (see Figure 10) is displayed. Click OK on thisdialog box. The illegal value will remain highlighted in the textbox until it is corrected.

Figure 10 Example: Message displayed when entering anillegal value

If the dialog box has more than one page, and you enter anillegal value on one of the pages, the validation will beperformed when you click OK or Apply, even though anotherpage is displayed. The dialog box is automatically displayedwith the page containing the illegal value on top.If more than one validation error occurs, all errors are listed inone message box. In the dialog box, however, only the first errorwill be highlighted.

Display views


1.4 Display viewsDisplay views presents the operator with information about (andrelated to) the operation.

Orientation of the OS and effect on displayviewsSeveral of the display views show information relative to adiagram of the vessel; for example, thrusters are shown on theThrusters view in their relative positions on the vessel diagram.The orientation of the vessel diagram is configured to suit theorientation of the Operator Station, so that it is easier tointerpret what is seen on the screen. There are four possibleorientations which are generally used in the followingsituations:• The operator is facing forward in the vessel when looking atthe display screen. The vessel diagram is displayed “bow up”on the display.

• The operator is facing to starboard in the vessel when lookingat the display screen. The vessel diagram is displayed “bowleft” on the display.

• The operator is facing aft in the vessel when looking at thedisplay screen. The vessel diagram is displayed “bow down”on the display.

• The operator is facing to port in the vessel when looking atthe display screen. The vessel diagram is displayed “bowright” on the display.

In this manual, the example display views show the vesseldiagram “bow up”. For other orientations, the displayedinformation in each view is the same, but it may be arrangeddifferently.

Tooltip / hotspot cursor and change ofcursor imageIn many of the display views, the ordinary cursor changes to apointing hand (the hotspot cursor) when it is moved over an areadefined as click-sensitive. Typical examples of suchclick-sensitive areas are:• Push buttons for zooming in and out.• Numerical fields showing other related numerical valueswhen clicked.

• Graphical fields showing a specific dialog box when clicked.

User interface


• Change of position setpoint.• Opening another view related to the specific component youclick.

• Opening the control dialog box for a specific plot, etc.

At the same time as the cursor image changes when it is movedover a click-sensitive object, a hotspot cursor text in a yellowframe (the tooltip) is displayed for a few seconds. This textexplains the use of the click-sensitive object. The tooltip andhotspot cursor are on by default, but can be toggled on/off byusing the Show ToolTip command and the Use HotSpotCursors commands on the View menu.

Available viewsThe following standard display views are available (inalphabetic order):• Deviation view (see page 18-2)Shows a combination of graphical and numericalperformance data, particularly related to position and headingdeviation.

• Diesels view (see page 18-7)Provides a simplified mimic display of the vessel’s dieselengines and fuel-rack system as seen from the SDP system.

• General view (see page 18-11)Shows a combination of graphical and numericalperformance data.

• Joystick view (see page 18-14)Shows the thrust setpoint and response during Joystick mode.

• LTW view (see page 18-19)Shows the performance of a Light-Weight Taut Wire (LTW)position–reference system.

• Numeric view (see page 18-24)Shows performance data in numerical form.

Display views


• Posplot view (see page 18-26)

Shows the vessel’s position and heading.

• Power view (see page 18-41)

Shows a mimic display of the vessel’s electrical powersystem.

• Power consumption view (see page 18-44)

Shows available power for each main bus in numerical form,and also consumed power for each main bus both innumerical and graphical form.

• RCA view (see page 16-18)

Shows information on the status of the requested VesselControl mode and the corresponding Vessel Control Areas.

• Refsys view (see page 18-46)

Shows the individual and consequent performance of theactive position-reference systems.

• Refsys Status view (see page 18-54)

Shows the status for each position-reference system ortransponder.

• Rotation Centers view (see page 18-55)

Shows the position of all the rotation centers available whenthe vessel is under automatic control.

• Sensors view (see page 18-56)

Shows the performance and state of some subset of thevessel’s sensors, such as gyrocompasses, wind sensors andVRS.

• Thruster views (see page 18-61)

A main view and sub views for each thruster show how thesystem is using the available thrusters to provide the requiredthrust setpoint. The Setp/feedb view shows setpoint andfeedback data for all the thrusters.

• Trends view (see page 18-82)

Shows dynamic displays (trend plots) and numerical valuesfor trended curves of the history over a specified period ofselected information.

User interface


Selecting a display viewYou can select a view to be displayed in three ways:1 To select a view to be displayed in the working area, press

the appropriate button in the Views or Main Views buttongroup on the operator panel.

2 To select a view to be displayed in the performance,working or monitoring areas, place the cursor in therequired area and click the right trackball button. Ashortcut menu is displayed listing the views that areavailable for that area. Select the required view. Theexample shown here is the shortcut view menu for theworking area.On the shortcut menu the small arrow to the right of amenu entry indicates that a submenu of related views isavailable.- The Utility sub menu contains the Trends and RotationCenters views.

- The Analysis sub menu contains the Capability andMotion Prediction views.

- The Performance sub menu contains the General,Numeric and Deviation views.

3 To display a preselected set of views in the performance,working and monitoring areas, press the appropriatefunction key on the keypad (see Preselecting views onpage 1-25).

Display views


View control dialog boxesMany of the views have control dialog boxes for selecting thedisplayed information and controlling features of the view.These dialog boxes are accessed via the shortcut menu for theview.To display the control dialog box for a view:1 Place the cursor anywhere in the view and click the right

trackball button.- The shortcut menu is displayed.

2 Click View Control on this menu.- The control dialog box for the view is displayed.- If the view does not have an associated control dialogbox, then View Control is not available on the shortcutmenu.

User interface


ZoomingTo zoom a view that is displayed in the working or monitoringareas, click Zoom In on the view shortcut menu. The view isenlarged by approximately 60%, centred on the cursor positionwhen the shortcut menu was displayed.A zoomed view can be panned or zoomed again. Place thecursor in the required area and click the right trackball button.The following shortcut menu is displayed:

Clicking Zoom Reset returns the view to its original scale.Clicking Zoom In zooms the view again, centred on the cursorposition when this menu was displayed.Clicking Center Here pans the view so that it is centred on thecursor position when this menu was displayed.If available, clicking View Control displays the control dialogbox for the view.

Display views


Preselecting viewsYou can preselect sets of views to be displayed in theperformance, working and monitoring areas and link them tofunction keys on the keypad. When you then press one of thesefunction keys, the preselected set of views is displayed.Alternatively, on the View menu, click Use Preselected andthen the required function number.To inspect recorded view-selections or to record newview-selections, click Preselect on the View menu. ThePreselect dialog box is displayed.

Inspect recorded You can inspect the set of display views currently linked toview-selections: a function key by clicking the associated button. The display

view titles are then shown in the layout on the dialog box.

To display the set on the screen, click Set Display Area, orpress the required function key on the keypad.

User interface


Record NEW While the Preselect dialog box is displayed, select the requiredview-selection: views in the display areas, and the required level of zooming for

each view, and then click the appropriate function key button onthe dialog box. When you click Close, these views are linked tothe selected function key.The function keys that can be used are preconfigured for yoursystem by Kongsberg personnel.These function keys can also be preconfigured to be eitheroperator programmable or not. All function keys which are notoperator programmable appear dimmed on the Preselect dialogbox. The views displayed when a corresponding function key ispressed, are all preconfigured.

Main menus


1.5 Main menusThe menus of the SDP system are described in the sections thatfollow.The content of the menus is configurable, and may vary fromvessel to vessel. For details on each menu/dialog box, see pagereferences given.

Menu barFigure 11 displays an example menu bar. To view the commandsavailable on a menu, click the menu.

Figure 11 Example menu bar

User interface


System menuClick System on the menu bar. The System menu is displayed.

Trainer... page 5-2CyberSea... page 16-22Backup Control...See SDP Backup System Operator ManualConnect... page 7-15Equipment... page 17-6Redundant Stations... page 8-5Vessel Control Mode... page 16-14Set Date/Time page 2-11Set Timezone... page 2-11Event Printer... page 4-13Print Status... page 16-9ScreenCapture Printer... page 2-3Remote Diagnostics... page 16-6Reset Controller PS... page 8-2Stop/Restart... page 7-2Change User page 2-2

OS Configuration Mode, PSConfiguration Mode, OS Configurationand OS Test/Status are not part of thenormal operating procedures for the SDPsystem and are therefore not described inthis operator manual. They areimplemented to facilitate installation andservice work performed by trainedpersonnel from Kongsberg Maritime.

Panel Log page 16-2

Note The Set Date/Time and Panel Log functions are only availableto the “Chief” user. See “Changing user” on page 2-2.

Main menus


View menuClick View on the menu bar. The View menu is displayed.

Set Palette page 2-12Panel page 2-4Show ToolTip page 1-19Use HotSpot Cursors page 1-19Num Entry Dlg... page 1-14Preselect... page 1-25Use Preselected page 1-25Display Units... page 2-6Position Presentation... page 10-4Reset Display Units... page 2-10

Sensors menuClick Sensors on the menu bar. The Sensors menu is displayed.

Gyro... page 9-2Gyro Deviation... page 9-4Wind... page 9-8VRS... page 9-14Speed... page 9-16Draught... page 9-19Depth... page 9-21Rate Of Turn... page 9-23Alarm Limits... page 2-13Reference System Settings.. page 10-13Reference System... page 10-17Reference System Properties...page 10-22(The system installed has either theReference System Settings dialog box orthe Reference System dialog box,depending on configuration.)

User interface


Thruster menuClick Thruster on the menu bar. The Thruster menu isdisplayed.

Enable... page 14-2Automatic Start... page 14-4Allocation Mode page 14-6Allocation Settings page 14-10Biasing... page 14-12Run-in... page 14-22

Joystick menuClick Joystick on the menu bar. The Joystick menu isdisplayed.

Settings... page 3-4Rotation Center... page 3-7Heading... page 13-5Rate Of Turn... page 13-7Acceleration... page 12-11Calibrate... page 3-2Gain... page 2-16Alarm Limits... page 2-14

Note The Calibrate function is only available to the “Chief” user. See“Changing user” on page 2-2.

Main menus


AutoPos menuClick AutoPos on the menu bar. The AutoPos menu isdisplayed.

Position... page 12-1Position Inc... page 12-4Position R/B... page 12-4Speed... page 12-9Acceleration... page 12-11Heading... page 13-5Rate Of Turn... page 13-7Gain... page 2-16Alarm Limits... page 2-13Quick Model... page 2-22Dp Class... page 6-3Rotation Center... page 2-24DpCap Settings...See DP Capability and Motion PredictionOperator Manual

Help menuClick Help on the menu bar. The Help menu is displayed.

Messages... page 4-1About... page 16-11


2 SYSTEM SETTINGSThis chapter contains the following sections:2.1 Changing user2.2 Printing the display picture2.3 Panel Light Configuration dialog box2.4 Display Units dialog box2.5 System date and time2.6 Day and night palette2.7 Alarm Limits dialog box2.8 Controller Mode and Gain Level selection2.9 Quick model update2.10 Rotation center for automatic control

System settings


2.1 Changing userThere are three types of user defined for the SDP system:• OperatorWhen the SDP system is started, the user is set to Operator.This is the normal user of the SDP system.

• ChiefThe “Chief” can operate the system in the same way as the“Operator” but in addition can perform the followingfunctions:- Set the system date and time (see page 2-11)- Calibrate the joystick (see page 3-2)- Enable or disable the logging of messages between theoperator panel and the SDP system (see page 16-2).

• SystemThis user is reserved for installation and service workperformed by trained personnel from Kongsberg Maritime.

To change user, click Change User on the System menu. TheChange User dialog box is displayed.

Select the required user in the New user list box and clickChange user.The “Chief” user is also required to enter a correct Password(supplied by Kongsberg Maritime).

Printing the display picture


2.2 Printing the display pictureTo print a hard copy of the current display picture, press theHARDCOPY button. The whole screen picture is printed on ageneral-purpose printer connected to an Operator Station.You can define which printer is to be used. On the Systemmenu, click Screen Capture Printer. A standard MicrosoftWindows Print Setup dialog box is displayed.

You can use this dialog box to select the printer and to definethe printer set-up.

System settings


2.3 Panel Light Configuration dialog box

Dimming levelYou can set the required light intensity for the indicator (status)lamps on the operator panel, and for the background lamps inthe buttons themselves.1 On the View menu, point to Panel and then click Light

Configuration.- The Panel Light Configuration dialog box isdisplayed.

2 From the list boxes, select the required light intensity forthe indicator lamps and the background lamps for theavailable Palettes. Available light intensities are Bright,Normal, Dimmed, Very Dimmed and Off.

3 Click OK.The * symbol shows which display palette is currently in use.You can perform a lamp test by clicking the Lamp Test button.The Panel Lamp Test dialog box described on page 2-5 isdisplayed.

Panel Light Configuration dialog box


Lamp testYou can test the panel status lamps, alarm lamps and the audiblesignal at any time.1 On the View menu, point to Panel and then click Lamp

Test, or click the Lamp Test button on the Panel LampConfiguration dialog box.- The Panel Lamp Test dialog box is displayed.

2 Click Start Lamp Test.- The following message is displayed in the Panel LampTest dialog box:

The Lamp Test has started- All the panel status lamps should be lit.- All the alarm lamps in the Alarms button group shouldbe lit.

- The audible signal should sound.- The text on the dialog box button changes from StartLamp Test to End Lamp Test.

3 Press SILENCE in the Alarms button group to stop theaudible signal.

4 Press each button which has a status lamp.- The status lamp should be extinguished.

5 To stop the test, click End Lamp Test.6 Click Close to remove the Panel Lamp Test dialog box.

System settings


2.4 Display Units dialog boxYou can specify the display units to be used for the display andentry of values. You can also select which set of display units touse.Procedures for setting the display format and the required datumfor position information are described in sectionPosition Presentation dialog on page 10-4.

Selecting the set of display units to use1 On the View menu, click Display Units.

- The Display Units dialog box is displayed.

2 Select the required set of display units. You can choosebetweenMetric Units, Imperial Units or, depending onthe specific configuration, one or more User Definablesets.

3 Click OK (or Apply if you have selected a UserDefinable set, and want to edit some of the values in thisselected display unit set).

You can now proceed to select the required types of displayunits you want to edit. Note that only User Definable displayunits sets can be edited.

Display Units dialog box


Editing Display Units

1 Click the Details button on the Display Units dialog box.

- The extended version of the Display Units dialog boxis displayed.

2 Using the scroll bar to the right, find the display units typeyou want to edit and select it. It is possible to sort the unitlist alphabetically by clicking the column heading. Clickonce for ascending order, twice for descending order andthree times to have the default order (no alphabeticalsorting) displayed.

3 Click in the Display Format column for the selecteddisplay units type. A list box containing all the displayformats for this value is then displayed (see Figure 12).Note that the presently selected display format is indicatedwith white text on blue background.

Figure 12 Display Units dialog box - Selecting display format

4 Select the wanted display format from the options shownin the list box by clicking it. The list box is then closed.

5 Repeat steps 2 to 4 if you need to edit the display formatsfor several types of display units.

6 Click OK.

System settings


Additional informationWhether the Display Units dialog box is shown as a compactversion or as an extended version, depends on the version inwhich it was shown the last time the dialog box was closed (i.e.it always opens in the same version as it was in when lastclosed).The extended version of the Display Units dialog box isresizable. To adjust the height, place the cursor directly on topof the upper (or lower) edge of the dialog box. The cursor thenchanges appearance to a two-headed arrow symbol. You cannow drag the edge of the dialog box (downwards or upwards)until it displays the desired number of display units types in theset.Similarly you can resize the width of the dialog box. In additionyou can adjust the width of the Type, Display Format and Unitcolumns by placing the cursor on top of one of the columndelimiters. The cursor then changes appearance to a two-headedarrow symbol. You can now drag to change the width of thecolumns.

Display Units dialog box


Vessel and sea current speedFor vessel and sea current speed there are two display formatsfor knots, either knots (1 decimal point accuracy) or knots(accurate) (2 decimal points accuracy).There are also two display formats for meter/second:• For vessel speed, either meter/sec (2 decimal pointsaccuracy) or meter/sec (accurate) (3 decimal pointsaccuracy).

• For sea current speed, either meter/sec (1 decimal pointaccuracy) or meter/sec (accurate) (2 decimal pointsaccuracy).

Wind, waves and sea current directionFor wind, waves and sea current, it is possible to specifywhether the displayed directions are to be interpreted as “comesfrom” or “goes to”.When Goes To is selected, the displayed directions in dialogboxes and views are shown with “s.” in front of the unit. The “s”means “setting” (goes to).On display views such as the Posplot view, the arrows indicatingwind and current directions point towards the plot when ComesFrom is selected, and outwards when Goes To is selected.

System settings


Resetting the display unitsThe display units settings can be reset to the factory (original)display units settings.1 On the View menu, click Reset Display Units.

- The Reset Display Units dialog box is displayed. Thedialog box states which display units set will be used ifyou reset.

2 Click Yes if you want to reset all the display units settingsto factory (original) settings.

System date and time


2.5 System date and timeYou can change the date and time of the system clock, and thetime zone. The time that you set at any Operator Station isapplied to all the available Operator Stations and controllerprocess stations.

Date and time

Note Setting the system date and time can only be performed by the“Chief” user. See “Changing user” on page 2-2.

On the System menu, click Set Date/Time. TheSet System Date/Time dialog box is displayed.

Use this dialog box to set the correct date and time. You caneither enter the time and date values directly into the text boxesor you can use the up/down arrow to select time and date values.

Time zoneOn the System menu, click Set Timezone. The Set Timezonedialog box is displayed.

Use this dialog box to set the required time zone from theselection on the drop-down list box. Select the check box if youwant the system to automatically adjust the clock fordaylight-saving changes.

System settings


2.6 Set palette (display colours)Two sets of display colours (palettes) are available for day ornight use. The palette selection from the Operator Station incommand can be applied at all Operator Stations in the system,or the palette selection can be set individually at each OperatorStation.

Changing the display palette on OperatorStations that are not set to have anindependent palette selectionYou can change the display palette simultaneously at OperatorStations that are not set to have an independent palette selection.Perform the following procedure at the Operator Station that isin command:1 Ensure that independent palette selection is not selected at

the Operator Station that is in command.On the View menu, point to Set Palette. A sub menu isdisplayed. If Independent is selected on this sub menu,click Independent to deselect it.

2 On the View menu, point to Set Palette and select therequired palette; Bright Day or Night.- The palette selection is applied to the Operator Stationsthat are not set to have an independent palette selection.

Changing the display palette on a singleOperator StationYou can change the display palette at a single Operator Station.Perform the following procedure at the Operator Station that isto have an independent display palette:1 Ensure that independent palette selection is selected at the

Operator Station.On the View menu, point to Set Palette. A sub menu isdisplayed. If Independent is not selected on this submenu, click Independent to select it.

2 On the View menu, point to Set Palette, and select therequired palette; Bright Day or Night.- The palette selection is applied to the Operator Station.

Alarm Limits dialog box


2.7 Alarm Limits dialog boxIn the Alarm Limits dialog box, alarm and warning limits canbe set for position deviation, heading deviation and roll, pitchand heave motion.The Alarm Limits dialog box can be selected from the Sensors,Joystick and AutoPos menus. The alarm limits entered willapply independent of the present mode and from which menuthe dialog box has been selected.

Position pageAlarm and warning limits can be set for position deviation andheading deviation. Click Alarm Limits on the Joystick orAutoPos menu. The Position page of the Alarm Limitsdialog box is displayed.

To change the limits, either enter new values directly in the textboxes, or use the up and down arrow buttons to increase ordecrease the current values.To activate the limits, select the Position (Heading) - Activecheck box. You can activate either the alarm limit only, or boththe warning and alarm limits. You cannot activate only awarning limit. If you click theWarning - Active check box, thecorresponding alarm limit is also activated.

Note Warning limits can never be set larger than the correspondingAlarm limits.

Position Warning and alarm limits can be set for position deviation.When the vessel’s actual position differs from the positionsetpoint by more than the warning limit, a warning message isdisplayed. When the vessel’s actual position differs from theposition setpoint by more than the alarm limit, an audible signalsounds and an alarm message is displayed.

System settings


When active, the position limits are displayed as solid circles onthe General view (see page 18-11), the Deviation view(page 18-2), and the Posplot view (see page 18-26). Wheninactive, the position limits are shown as dashed circles on theGeneral and Deviation views.

Note In all modes, the position limits are inhibited until a requestedchange in position is completed.

Heading Warning and alarm limits can be set for heading deviation.When the vessel’s actual heading differs from the headingsetpoint by more than the warning limit, a warning message isdisplayed. When the vessel’s actual heading differs from theheading setpoint by more than the alarm limit, an audible signalsounds and an alarm message is displayed.The limits are active only when the yaw axis is under automaticcontrol.When active, the heading limits are shown as solid lines on theGeneral view (see page 18-11), the Deviation view(see page 18-2), and the Posplot view (see page 18-26). Wheninactive, the heading limits are shown as dashed lines on theGeneral view and the Deviation view.

Note In all modes, the heading limits are inhibited until a requestedchange in heading is completed.

Alarm Limits dialog box


VRS pageAlarm limits can be set for pitch, roll and heave motion. ClickAlarm Limits on the Sensors menu. The VRS page of theAlarm Limits dialog box is displayed.

Pitch/Roll/Heave The system monitors the pitch and roll motions of the vessel asmeasured by the Vertical Reference Sensors (VRS). If heavemeasurements are also available from the VRS, the system alsomonitors this motion. You can specify maximum alarm limitsfor each motion. If an alarm limit is exceeded, an audible signalsounds and an alarm message is displayed.To change the limits, either enter new values directly in the textboxes, or use the up and down arrow buttons to increase ordecrease the current values.To activate the limits, select the Active check boxes.

System settings


2.8 Controller Mode and Gain Level selectionTo select the Gain dialog box, either click Gain on the Joystickor AutoPos menu, or press the CONTROL SETUP button. TheGain dialog box is displayed.

Controller Mode The radio buttons allow you to select from High Precision,Relaxed and Green controller modes.

The In Use boxes indicate which controller mode is currently inuse by the system.

High PrecisionThis is the default controller mode. It is also the controller modesetting if controller mode selection is not available in the SDPsystem installed on your vessel. Gain level and customised gainsettings (if available) apply for this controller mode.

RelaxedThis controller mode is available in Auto Position and MixedJoystick system modes.

Select the radius by clicking the arrows or typing in a value inthe Outer Radius text box. Gain level and customised gainsettings (if available) apply for this controller mode.

If it is not possible to use Relaxed controller mode when it isselected, the High Precision controller mode will be used.

Controller Mode and Gain Level selection


With Relaxed controller mode, the position gains are modifiedto vary within the Relaxed control circle. This means that theforce setpoint used to bring the vessel back to position setpointis very low when close to the center of the control circle. It thenincreases up to the normal values when close to the border ofthe area defined by the radius (the gain varies exponentiallywithin the area - see Figure 80 on page 19-9).

Note The radius for Relaxed controller mode is not a position limit, itis only the area within which the controller gains are very low. Ifthe vessel drifts outside this area, the gains will increase. Howfar outside the vessel drifts depends on the Gain Level settings(the high-medium-low predefined controller gain or customisedcontroller gain in surge, sway and yaw axes).When leaving Auto Position or Mixed Joystick system modewith Relaxed control active, Relaxed control is temporarilydisabled.This is indicated by:• The Relaxed In Use check box being cleared.• The Gain indicator on the status bar becoming solid black(see Figure 13).

• The shaded circle on the Posplot view disappearing(see Figure 15).

GreenThis controller mode is available in Auto Position system mode.Select the Outer Radius and Inner Radius by clicking thearrows or typing in a value in the text box.If it is not possible to use Green when it is selected, the HighPrecision controller mode will be used.The Inner Radius and Outer Radius defines the working areaand the operational area, respectively (see Figure 80 in sectionThe Controller on page 19-8 ). When the inner radius ispredicted to be exceeded, additional thrust is added in asmoother way than if the outer radius is predicted to beexceeded.

Note When changing position and/or heading in Green controllermode, the controller mode used is automatically temporarilyswitched to High Precision controller mode. During a headingchange the position carrot is set to the present vessel position.This prevents unnecessary vessel movement. The controllermode will switch back to Green controller mode once position(PosMode) and heading mode (HdgMode) has the state“Present”. These modes are indicated on the status bar, seepage 1-10.

System settings


Note If system selected heading is chosen (see page 13-6), the Greencontroller mode will not be in use.

Gain Level Gain Level (see also page 2-19) is applicable for HighPrecision and Relaxed controller modes.High/Medium/LowSelect the required controller gain level using theHigh/Medium/Low radio buttons. If available, the gain factorsin use for each of the three gain levels are shown in parentheses.The values in parentheses may vary depending on vesselconfiguration.CustomisedThis setting is optional. Select this option button when you wantto perform customised settings of the gain level. SelectingCustomised will make the High/Medium/Low option buttonsunavailable (they will appear dimmed).After you have selected Customised you can input theCustomisation setting for gain factors in the Surge, Sway andYaw axes by clicking the arrows or typing in a new gain factorin the corresponding text box. The currently selected gainfactors in the Surge, Sway and Yaw axes are shown graphicallyabove the numerical values.

Speed Constraints Speed constraints are used in Green controller mode to limitthe vessel speed. You can select Speed Constraints for theSurge, Sway or both axes. Speed constraints should be usedwhile operating within a large area.

Additional information

The content of this dialog box will vary according to systemconfiguration. The dialog box in the system installed on yourvessel may display only some of the items shown in thisexample.



Gain Level for High Precision and RelaxedController ModeThere are three predefined controller gain levels available; high,medium and low. The selected gain level applies to any of thesurge, sway and yaw axes when they are under automaticcontrol and High Precision or Relaxed controller mode is used(see page 2-16).If configured, customised setting of the controller gain level canbe performed, with individual gain factor settings for the surge,sway and yaw axes.Different gain factors for each of the three standard gain levelsare defined to suit the characteristics of the vessel. Thedeviations in position, speed, heading and rotation rate aremultiplied by the selected gain factor to obtain the requiredforce setpoint.The most suitable gain level depends on the vesselcharacteristics, the weather conditions and the requiredpositioning accuracy. Operational experience plays a large partin determining the optimum gain level, but the followinggeneral points should also be noted:• High gain provides the quickest vessel response, the mostaccurate manoeuvering, and the smallest positioning window.

• Medium gain provides a slower vessel response than highgain.

• Low gain provides the slowest vessel response and the largestpositioning window.

For all three predefined controller gain levels, and also for thecustomised gain levels, the gain factors are reduced when theposition deviation is close to zero. Under ideal conditions(optimum Vessel Model and constant environmental forces),there will be little difference between the effect of the variousgain levels since the position deviation will be minimal.Under less than ideal conditions there can be some variation inthe vessel position, and you should set the gain level to controlthe speed and extent of the variation according to the generalcomments given above.

System settings


Display presentation of Controller Mode

For a detailed description of the Posplot view see page 18-26.

High Precision

When the controller mode is High Precision, the Gain indicatoron the status bar is according to Figure 13.

Low Medium High Customised

Figure 13 Gain indicators for High Precision mode

Relaxed

When the controller mode is Relaxed, the Gain indicator on thestatus bar is according to Figure 14.

Low Medium High Customised

Figure 14 Gain indicators for Relaxed mode

The Relaxed control radius is indicated by a shaded circle on thePosplot view, with the position setpoint as center, see Figure 15.

Figure 15 Posplot of Relaxed controller mode



Green

When the controller mode is Green, the background ofAUTO POS (MainMode) and the Gain indicator on the statusbar are both shaded green (see Figure 16). The height of theGain bar graph on the status bar depends on the Inner Radius(the radius of the working area).

Figure 16 MainMode and Gain indicator for Green controllermode

The predicted trajectory for the vessel is displayed as a linepointing from the rotation center. This is the “Green Prediction”.To show/hide the “Green Prediction” in the Posplot view, seethe description of View Controls/Show on page 18-34.The Green outer and inner control radii are indicated on thePosplot view, with the position setpoint as center, see Figure 17.The inner radius is indicated by a green, shaded circle.

Figure 17 Green control limits displayed in Posplot view

System settings


2.9 Quick model updateAll the forces acting on the vessel that are not measured directly,such as waves and sea current, together with any errors in themeasured forces, are calculated over a period of time by theVessel Model, and the appropriate thrust is applied to counteractthem (see SDP system principles on page 19-5 for a descriptionof the Vessel Model.) These unknown forces are presented forthe operator as being entirely due to sea current as this is usuallythe main component.Under normal sea conditions, the major components of the“current” force change only slowly, and the best positioningperformance is achieved by calculating them over a long periodof time.During some operations, significant and rapid changes in“current” forces can occur.For example:• When manoeuvering in channels, rivers, harbours or aroundbreakwaters, or in areas with loop current, there may besudden changes in the current.

• When relatively large forces are not measured accurately,such as the pipe tension in a pipe-laying operation, there maybe sudden errors in the measured forces.

Such sudden changes in the “current” forces would normallyresult in a position offset which would then be slowly corrected.When selected by the operator, the Quick Model Updatefunction prepares the system for sudden changes in the “current”by adjusting the mathematical model accordingly and in thisway ensures more accurate positioning.The reaction rate can be specified separately for each axis.A timer is included so that the Quick Model Update function isautomatically switched off after a specified period.

Quick model update


Quick Model dialog boxTo display the Quick Model dialog box, either click QuickModel on the AutoPos menu or press the QUICK MODEL button.

Enable Enable or disable the Quick Model Update function.

Duration The duration of the function, after which it will be automaticallyswitched off.

Time left The timer starts when you select Enable and then click OK orApply. The Time left field shows the time remaining before thefunction will be automatically disabled.

Error gain A gain modification factor can be specified for each axis. Themodification factors factor is specified as a percentage of the normal reaction to

deviation in that axis caused by “current” forces. A larger factorresults in a larger reaction and thereby a shorter integration timefor the “current” forces.

System settings


2.10 Rotation center for automatic controlThe rotation center is used when both the vessel heading andposition are under automatic control. Up to 20 rotation centerscan be predefined for the vessel in fixed positions relative to thecenter of gravity. The coordinates of the required rotation centercan also be entered manually. The rotation center can be locatedanywhere, even outside the vessel itself.To define the rotation center to be used when the vessel headingand position are under automatic control, click Rotation Centeron the AutoPos menu. The Rotation Center dialog box isdisplayed.

Note When the vessel’s rotation center is set to a location other thanCG and the speed setpoint is zero, it will not be possible toperform a change of heading.

This is because a heading change with a rotation center otherthan CG implies a change of position which requires a speedsetpoint that is not zero.

Select Rotation Select a rotation center by clicking the appropriate optionCenter button. When a predefined rotation center is selected, its

coordinates are displayed in the Ahead and Stbd boxes.

If Other is selected, a drop-down list box becomes available,from which you can select among predefined rotation centers. APreview display is shown.

Rotation center for automatic control


When a rotation center is selected in the drop-down list box, itscoordinates are displayed in the Ahead/Astern and Stbd/Portboxes and in the Preview display. All coordinates are measuredfrom the center of gravity of the vessel.If User Defined is selected in the drop-down list box, thecoordinates of the required rotation center can be entereddirectly in the Ahead/Astern and Stbd/Port boxes.

In Use The In Use boxes show the coordinates of the currently-activerotation center in the Ahead/Astern and Stbd/Port axes.

Preview A red circle on the Preview display shows the position of thecurrently-active rotation center (In Use). A green circle showsthe position of the proposed rotation center (Select RotationCenter).

Additional informationThe available rotation centers are displayed on the RotationCenters view (see page 18-55). The intersection of thehorizontal and vertical lines on the Preview on the RotationCenter dialog box marks the center of gravity of the vessel.When automatic position control is active, the rotation centercan only be changed when the position and heading modes(shown in the status bar) are PRESENT.

On the Posplot view, the position of the currently-active rotationcenter is shown as a small circle. Also, the title and coordinatesof the rotation center relative to CG are displayed in the top leftcorner of the Posplot view as shown below.

System settings


If you click on the RotCnt information, the selected (butpresently not used) rotation center is displayed in another colourfor a few seconds.


3 JOYSTICKThis chapter contains the following sections:3.1 Calibrating the joystick3.2 Joystick settings3.3 Rotation center for joystick manoeuvring

Joystick


3.1 Calibrating the joystick

Note Calibrating the joystick can only be performed by the “Chief”user (see “Changing user” on page 2-2), and only when thesystem is in Standby mode.

Calibration of the joystick ensures that a certain deflection ofthe joystick corresponds to a specific thrust, depending onJoystick Settings.

It is necessary to calibrate the joystick when:

• New hardware has been installed or parts of the hardware(for example the joystick) have been changed.

• New software has been installed or software has beenreinstalled from a CD.

To display the Joystick Calibrate dialog box, select Calibrateon the Joystick menu.

The dialog box contains a description of how to calibrate thejoystick.

Note The steps that appear dimmed are intended for service personnelfrom Kongsberg Maritime and shall not be performed by theoperator.

Calibrating the joystick


Calibration procedureTo calibrate the joystick:1 Ensure that the system is in Standby mode.2 Select Calibrate on the Joystick menu.

- The Joystick Calibrate dialog box will be displayed.- A figure indicating the joystick axes is displayed on thedialog box.

3 Set the joystick in ZERO position and click the In ZeroPosition button.- A red mark appears on the zero position on the figure.

4 Move the joystick for MIN/MAX in the three axes toregister joystick swing.- Black lines will appear on the figure indicating joystickswing in all three axes.

5 You may change the joystick deadband. Click theDeadband button.- The Deadband dialog box is displayed.

6 Enter the required deadband in all three axes by typing invalues or by clicking the up/down arrows. Click OK.

7 Click OK on the Joystick Calibration dialog box tofinish the calibration.- A dialog box is displayed stating that the newcalibrating values will be saved.

8 Click OK.- The joystick is calibrated.

Joystick


3.2 Joystick settingsUsing the Joystick Settings dialog box, you can adjust thefollowing settings:• Joystick thrust• Joystick precision• Environmental compensation• Current updateTo display the Joystick Settings dialog, either click Settings onthe Joystick menu, or press the JOYSTICK SETUP button.

Thrust These option buttons allow you to select either Full or Reducedthrust.FullThe maximum force available from all thrusters can be used.This increases the vessel’s response to movement of the joystickcompared to the Reduced option.ReducedThe maximum applied thruster force for axes that are underjoystick control is limited to about 50% of the available forcefrom all thrusters.The joystick thrust setting can also be changed by pressing theJOYSTICK FULL THRUST button. The status for the joystick thrustsetting will be dynamically updated on the Joystick Settingsdialog box to reflect this change.

Joystick settings


Precision The applied thruster force for axes that are under joystickcontrol can be scaled in various ways. This scaling gives adifferent response to movement of the joystick, depending onthe configuration and operational requirements of the vessel.Figure 18 displays thrust as a function of joystick deflection inthe cases of Full and Reduced thrust, with High speed,General or Low speed precision.

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

1

High Speed

Low Speed

Thrust / Max

Deflection / Max

Full

Reduced

Figure 18 Joystick response characteristics

The option buttons allow you to select from High speed,General or Low speed precision.High speedFor precise high-speed manoeuvring. At small movements ofthe joystick the change in thruster force is large, but decreaseswith increasing movements.GeneralLinear relationship between movement of the joystick and forceexerted by the thrusters. The Precision is automatically changedfrom High speed to General when changing from high speed tolow speed manoeuvring (for example from Autopilot mode toJoystick mode).Low speedFor precise low-speed manoeuvring. Progressive relationshipbetween movement of the joystick and force exerted by thethrusters. At small movements of the joystick the change inthruster force is low, but increases with increasing movements.ExponentThis shows the exponent used in the calculation of thrust for thecurrently selected Precision option. This is for information only.

Joystick


Envir. Comp. The check boxes allow you to combine joystick control withenvironmental compensation separately for each of the Surge,Sway and Yaw axes.The system then automatically compensatesfor the wind forces acting on the vessel by providing thethrusters with the necessary extra thrust in the appropriatedirection.When position-reference system measurements are available, thesystem will calculate the unknown forces, including sea currentand wave forces, which are acting on the vessel (collectivelyreferred to as ”current”) and perform automatic compensationfor these forces.Environmental compensation is always performed whenselected, but the compensation due to “current” forces is zero ifno position-reference system has been accepted or if CurrentUpd. is not selected.In Joystick mode, when position-reference system measurementsare available, the system will calculate the unknown forces,including sea current and wave forces, which are acting on thevessel (collectively referred to as ”current”) and performautomatic compensation for these forces.

Current Upd. Current Update is by default enabled. You must clear therequired Surge/Sway/Yaw check boxes if you do not want thesystem to compensate for the calculated “current” forces foraxes under joystick control.Compensating for “current” forces when under joystick controlnormally increases the system performance when enteringautomatic control. However, there can be situations where thecalculated “current” is no longer valid for the new operationalcondition. A typical example would be when entering automaticcontrol after a period using thrusters to hold the vessel against aquay.

Rotation center for joystick manoeuvring


3.3 Rotation center for joystick manoeuvringWhen the vessel is in Joystick or mixed joystick/auto mode, it ispossible to specify that the vessel should rotate about the fore oraft part of the vessel instead of CG which is the default. Thisfeature can be useful when leaving or approaching anothervessel or a fixed structure such as a quay.

Note In Joystick mode the vessel will not rotate accurately around theselected rotation center. This is because position control is notused in Joystick mode.

For example, when manoeuvring alongside a quay which lies tostarboard, you may want to move the stern of the vessel intowards the quay without the bow moving out, while at the sametime applying a small thrust to starboard. This would be difficultwhen using CG as the rotation center. By selecting the fore partof the vessel as the rotation center, you can easily use thejoystick both to rotate the vessel counter-clockwise about thebow and to move the vessel to starboard (see Figure 19).

Figure 19 Vessel movement with Fore rotation center selected

Only rotation centers that are intended for use during joystickmanoeuvring can be activated in Joystick mode.A suitable configuration of thrusters must be enabled. Forexample, if you want the vessel to rotate about the aft part of thevessel, there must be at least one thruster enabled forward of thevessel center.In Joystick mode you can specify a rotation center for use inautomatic mode, but the selection will not be effective until anautomatic mode is selected.The rotation center in use is automatically changed if theselected rotation center no longer can be applied.

Joystick


In mixed Joystick mode the system will, if possible, use theFore, CG or Aft rotation center, but the position setpoint will beat the operator-specified rotation center. The position controllermay then force the vessel to rotate around the operator-specifiedrotation center. We will clarify this with an example.Assume that the vessel is in Auto Position mode with anoperator-specified rotation center different from Fore, CG orAft. The operator then disables automatic yaw control anduses the joystick to command the vessel to rotatecounter-clockwise. The joystick control in yaw will try torotate the vessel around CG, but the position control willwork in such a way as to keep the vessel at its positionsetpoint. The vessel may then be forced to rotate around theposition setpoint as shown in Figure 20.

Figure 20 A vessel rotating around its position setpoint

Rotation center for joystick manoeuvring


Rotation Center dialog box

To define the required manual rotation center, click RotationCenter on the Joystick menu. The Rotation Center dialog boxis displayed.

Select Rotation ForeCenter Rotate about the fore part of the vessel.

CGRotate about the CG part of the vessel.

AftRotate about the aft part of the vessel.

In Use The In Use boxes show the coordinates of the currently-activerotation center in the Ahead/Astern and Stbd/Port axes.


On the Posplot view, the position of the currently-active rotationcenter is shown as a small circle. Also, the title and coordinatesof the rotation center relative to CG are displayed in the top leftcorner of the Posplot view as shown below.

If you click on the RotCnt information, the selected (butpresently not used) rotation center is shown for a few seconds.


4 THE MESSAGE SYSTEMThis chapter contains the following sections:4.1 System diagnostics4.2 Operational checks4.3 Message priority4.4 Presentation of messages4.5 Alarm states4.6 Acknowledging messages4.7 Alarm lamps4.8 Messages on the printer4.9 Message explanations4.10 Operator advice messages

The message system


4.1 System diagnosticsThe following methods are used for fault detection:• Built-In System Test (BIST) that performs a comprehensivesystem test at power-on.

• Built-In Test Equipment (BITE) that continually checks forinternal system faults when the system is running.

• Additional self-checking facilities for system componentssuch as I/O cards, hardware voters, etc.

• Supervision of the controller process station fan andtemperature.

• Comparison of data with preset maximum and minimumlimits.

• Consistency checking of input (e.g. input from triangularpotentiometer).

• Supervision of the serial lines (e.g. Timeout, baud rate,framing error, checksum and format).

Any faults are reported.

Operational checks


4.2 Operational checksThe following checks are continuously carried out duringsystem operation:• Detection of possible degraded performance of the SDPsystem (e.g. thruster not ready, insufficient thrust, demandreduced by blackout prevention, position out of limits, etc.).

• Logical checking of information (e.g. taut wire; differencebetween measured and expected wire length exceeds limit).

• Comparison of data with preset maximum and minimumlimits.

• Comparison of received data with expected values calculatedby the mathematical model.

• Comparison of thruster setpoint and feedback signals.Discrepancies exceeding preset limits are handled as a fault.

• Consistency checking between similar sensors, both withrespect to interface and sensor failures.

In dual and triple-redundant systems, comparison checks arealso done for the position/heading setpoints and estimates,reference-system origin, used position-reference systems, targettransponders and other sensors.Detected faults, discrepancies and advice are reported to theoperator, enabling the appropriate operational actions to betaken and, if necessary, initiation of relevant repair procedures.

Audible and visual indicationsAll messages are presented as text in dedicated display areas.Audible signals and flashing panel lights are used for alarmmessages. The operator can select a view showing all currentmessages in the system at any time. Audible signals may besilenced without acknowledgement of the message.

The message system


4.3 Message priorityThere are four categories of messages, depending on theirseverity:

• Emergency messages

Emergency messages are generated in response to criticalsystem faults such as over-temperature or power supplyfailure.

All Emergency messages must be critically examined todetermine their cause and effect.

• Alarm messages

Alarm messages are generated when conditions are detectedthat critically affect the capability or performance of thesystem (such as a system fault or a defined alarm limitexceeded).

All Alarm messages must be critically examined to determinetheir cause and effect.

• Warning messages

Warning messages inform you of the occurrence ofconditions in the system that, if ignored, could result inunwanted system response or eventual failure (such asincorrect operator actions, intermittent position-referencedata or a defined warning limit exceeded).

• Information messages

Information messages inform you of conditions that arenoteworthy, but that have no serious effect on theperformance of the system.

Emergency and Alarm messages are accompanied by an audiblesignal which continues until you acknowledge the message.There are no audible signals associated with Warning orInformation messages.

Emergency, Alarm and Warning messages are accompanied bythe relevant lamp flashing in the Alarms button group until youacknowledge the message.

If the system tests do not report the same message within atimeout period (usually 20 seconds), the message becomesinactive. Inactive Warning and Alarm messages must beacknowledged before they are removed from the Message Lineand the Dynamic Alarm Page (see page 4-7). They will remaindisplayed with the state Void in the Dynamic Event and HistoricEvent Pages.

Presentation of messages


4.4 Presentation of messagesSystem messages are colour coded in the following ways:

• Emergency messages are displayed on magenta background.

• Alarm messages are displayed on red background.

• Warning messages are displayed on yellow background.

• Information messages are displayed on grey background.

The messages are presented in two different displays: theMessage Line and the Event List window. The presentation ofevents is subjected to filtering. Only those events that match allattributes specified in the filter are included in the presentation.System-defined filters are provided which cannot be changed bythe operator.

• The Message Line always shows the most recent Emergency,Alarm or Warning message that has not yet beenacknowledged.

Figure 21 Example Message Line

• The Event List window contains a list of all the currentsystem messages. By pressing the ALARM VIEW button in theAlarms button group, you can display the Event List window.

Figure 22 Example - Event List window

(First column) If you have not yet acknowledged a message, an asterisk (*) isdisplayed and the background colour is displayed flashing (seeAcknowledging messages on page 4-10 for more information).

A vertical bar (|) is displayed in place an asterisk for anunacknowledged message that is in a command group overwhich the operator station does not have control.

The message system


Orig Identifies the originator (source) of the message:• SDP-OS# Operator station• DpMain Controller PS group• Equipment Equipment monitoring system

Member Members of the originator of the message (not relevant whenthe originator is an Operator Station or a controller PS groupwith only one member).If the message is from a controller PS group with more than oneprocess station, this column identifies the members of the group.It may contain up to three characters, depending on theredundancy level. For example, for a triple-redundant system:A B C The message was reported by all three

process stations and is still active.C The message was reported only by process station

C and is still active.- B The message was reported by process stations A

and B. The message from process station A isnow inactive.

- - - The message was reported by all threeprocess stations and is now inactive (but is notyet acknowledged).

Name Identifies the source of process events and system events.

Time Time and date when the message was first reported.

Prior Message priority: Emergency, Alarm, Warning or Info(Information).

State The state of the Event: High, HighHigh, HighScale, Low,LowLow, LowScale (here all these are commonly referred to asActive), Normal or Void (see also page 4-9).• ActiveIndicates that the alarm condition is present.

• NormalIndicates that the alarm condition is no longer present.

• VoidUsed in the Dynamic Event Page and the Historic EventPage. Indicates that the message is removed from theDynamic Alarm Page. See page 4-7.

Text Message text.

Presentation of messages


Additional Up to three blocks of additional data may be included in theinformation message. The meaning of this additional data varies for each

message. See section Message explanations on page 4-14.

(Event pages) You can choose among the following Event pages:

Dynamic Alarm PageThe Dynamic Alarm Page shows a list of the most recentmessages. The Dynamic Alarm Page has a limited length; as thelist is filled up, the oldest messages are pushed out while themost recent ones are added to the top of the list. Messageswhere the underlying condition is no longer present aredisplayed with the state Normal.

Messages can be acknowledged on the Dynamic Alarm Page.Acknowledged messages where the underlying condition is nolonger present are removed from the Dynamic Alarm Page.

Use the Dynamic Alarm Page to get a survey of the currentalarm situation.

Historic Event PageThe Historic Event Page provides a log of all messages thatoccur. Within the limits of the event database, you can definethe time span to be covered by the Historic Event Page. While amessage can appear only once on the Dynamic Alarm page, itappears as many times on the historic page as there are changesin its state.

Use the Historic Event Page whenever you need to analyze theevolution of events. If the list extends beyond the window areaof the display, you can use the up/down arrows in the tool bar.

Dynamic Event PageThe Dynamic Event Page shows a list of the most recentmessages. The Dynamic Event Page has a limited length; as thelist is filled up, the oldest messages are pushed out while themost recent ones are added to the top of the list. While amessage can appear only once on the Dynamic Alarm page, itappears as many times on the Dynamic Event Page as there arechanges in its state. Acknowledged messages where theunderlying condition is no longer present remain displayed withthe state Void.

Use the Dynamic Event Page to get a survey of the current eventsituation.

Note Messages cannot be acknowledged on the Historic Event Pageand on the Dynamic Event Page.

The message system


Defining the time span for the HistoricEvent PageThe Date And Time dialog box allows you to define the timespan for the events displayed on the Historic Event Page.

To display the dialog box, click the button in the tool bar ofthe Event List window.

Most recent time The time span is defined relative to a specified date and time.The “most recent time” is the reference. This group boxcontains controls for setting the most recent time.NowClicking this button sets the most recent time to the currenttime.Calendar, Hour,Min:, Sec:You can specify a date and time by using the calendar, andentering the required time in the Hour,Min: and Sec: textboxes.

And time span The time span is defined in days, hours, minutes and secondsbackwards backwards in time. Type in the required values in the Days:,

Hours:,Min: and Sec: text boxes.

Alarm states


4.5 Alarm statesDigital alarms are either “Active” (the underlying condition ispresent) or “Inactive” (the underlying condition is no longerpresent).Inactive digital alarms are presented with the status “Normal”on all three pages of the Event List window. Inactive,acknowledged digital alarms are presented with the status“Void” on the Dynamic Event Page and the Historic Event Page.Active digital alarms are presented with the status High on allthree pages of the Event List window.For alarms on analog terminals, however, the Active state isfurther refined by means of alarm limits. Figure 23 shows therelation between the alarm limits and the validity of alarmsstates.

Figure 23 Alarm states

An analog alarm is in the Normal/Void state when the terminalvalue is within the High and Low alarm limits. This means thatthe alarm is Inactive.The alarm becomes Active when the terminal value crosses theHigh/Low limits.Any change in the alarm state is indicated in the Status cell forthat message in the Event List window.

The message system


4.6 Acknowledging messagesYou can acknowledge either all visible messages or individualmessages selected on the Event List window (see Figure 22).When a message has been acknowledged, and the message isreported as inactive by all the controller process stations, it isremoved from the message list. If this results in “gaps” in thelist displayed in the Event List window, you can remove these“gaps” by selecting Refresh on the Event List shortcut menu(see Figure 24), by clicking the refresh button on the toolbar, orby closing and reopening the Event List window.You can acknowledge messages in the following ways:• Press the ACK button in the Alarms button group.

• Click the button in the tool bar of the Event List window.• Place the cursor in the Event List window or theMessageLine, click the right trackball button to display the followingshortcut menu, and select Ack.

Figure 24 Event List shortcut menu

To acknowledge the message displayed in the Message Line:Press the ACK panel button or select Ack as described above.

To acknowledge all visible current messages:• Press the ALARM VIEW panel button.- The Dynamic alarm Page of the Event List window isdisplayed.

• Click the right trackball button to display the shortcut menuin Figure 24, and click Select All.- The text font of the messages change to bold.

• Press the ACK panel button or select Ack as described above.- All visible messages are acknowledged.

To acknowledge a selection of messages:• Press the ALARM VIEW panel button.- The Event List window is displayed.

Acknowledging messages


• To select a group of consecutive messages, drag the cursorover the asterisks in the left column.- The text font of the messages change to bold.

• Press the ACK panel button or select Ack as described above.- The messages are acknowledged.

Silence button

You can press the SILENCE button in the Alarms button group atany time to silence the audible signal (without acknowledgingthe Emergency or Alarm message that caused it). The audiblesignal will sound again if another Emergency or Alarm messageis reported.An audible signal can normally be silenced from any of theOperator Stations in question. However, system alarms can onlybe silenced from the originating Operator Station. E.g. when anOperator Station becomes “not communicational” several otherOperator Stations may detect the situation and notify it bymeans of an audible signal. The audible signal must be silencedon every OS that notifies the situation.

(Cd2901)

The message system


4.7 Alarm lampsThere are three alarm lamps in the Alarms button group:• Computer

This lamp flashes in response to a hardware-generated alarmindicating that the Operator Station computer has stoppedcommunicating with the operator panel controller via theserial line. This may indicate that the Operator Stationcomputer is “dead”, or that the serial-line software hasstopped executing.

Note This lamp does not indicate failures in the controller processstation(s). If the Operator Station loses contact with thecontroller process station, a message is displayed on a messagedialog box (see Figure 25).

Figure 25 PUIF Network message monitoring message dialog box

• Power

This lamp flashes in response to a hardware-generated alarmindicating a power supply or UPS failure to the operatorpanel controller. Two power supplies are normally supplyingthe Power lamp and the audible signal, and if one of thesefails, the alarm is activated.

• Alarm

This lamp flashes in response to a software-generatedEmergency, Alarm or Warning message from the OperatorStation computer; for example, heading or position deviationbeyond limits or sensor error. These messages are generatedby the controller process station and do not indicate failuresin the Operator Station. A flashing lamp indicatesunacknowledged messages. A continuously lit lamp indicatesthat all messages are acknowledged. The lamp willextinguish three seconds after the last Emergency, Alarm orWarning status has been removed.

Messages on the printer


4.8 Messages on the printerWhen an Emergency, Alarm or Warning message is firstreported by the system, becomes inactive or is acknowledged, itis printed out on the event printer connected to the OperatorStation. The print-out frequency depends on the installed printersolution (for example: immediately, one message at a time,when a batch of messages fills out a whole page, or on request).The format of the printed messages is the same as for theMessage Line and the Event List window (see page 4-5), exceptthat each message is preceded by a sequence number. Each newmessage is given a new sequence number. Whenever a messagechanges state, it is printed again with the same sequencenumber.

Event Printer dialogWhen the Event Printer is configured as a page printer, theEmergency, Alarm and Warning messages are not printeddirectly but are saved in a buffer. The Event Printer dialog boxallows you to print out all the unprinted events in the buffer.To display the Event Printer dialog box, click Event Printeron the System menu.

Printer name The name of the event printer.

Printer type The type of the event printer.

Unprinted events The number of unprinted messages in the event printer buffer.

Flush Click this button to print all of the unprinted events on the eventprinter.

Refresh Click this button to update the information shown in the dialogbox.

The message system


4.9 Message explanationsUsing the Help system, explanations can be obtained for any ofthe messages generated by the controller computers.Explanations of Command, Equipment and Internal messagesare not available.The Help system can be opened in the following ways:• Whenever a message is displayed in the Alarm Line or EventList window, point to the message and click the righttrackball button. A shortcut menu is displayed. Click Help onthis menu. The System Messages Help is opened with therelevant message explanation displayed.

• On the Help menu, clickMessages. The System messagesHelp is displayed. This Help system allows you to select therequired message from a list of Contents. You can alsoSearch for the required message by searching for words orphrases that are contained in the message or the messageexplanation.

It may occur that the Help selection is not available on theshortcut menu which is displayed when you right-click themessage in the Alarm Line/Event List window. In this case theexplanation can still be obtained via the Contents list or theSearch facility.

ContentsSelect the required message from a list of Contents. Toopen/close the list of messages in the Contents pane, click the+/- sign next to the folder icons.

Message explanations


Figure 26 System alarms Online Help with Contents displayed

There are three subcategories of message explanations:

• DP/PM System

- messages directly connected to DP/PM operation• IO Driver

- messages regarding IO drivers and the communicationwith sensors and position-reference systems.

• Process Control System

- messages regarding the Process Control Kernel (PCK)To display the explanation for a particular message, click therequired message. See Displayed explanation on page 4-16. Toprint the explanation of a particular message, select the name ofthe message and click Print. To print explanations of all themessages that begin with a particular character, select therequired book icon and click Print.

Search

To search for a message, display the Search pane (by clickingSearch) and type in words or phrases that are contained in themessage name or the message explanation. Then click ListTopics. Topics that match the search criteria are listed underSearch topics to display. Select the required message and clickDisplay. The message explanation is displayed in the messageexplanation pane.

The message system


Displayed explanation

The explanation of the selected message is displayed in the formshown below.

Note The Corrective actions in the message explanations providesonly general advice. You must evaluate the required actionaccording to the actual operational situation.



Back link

The Back link takes you to one of three lists of messageexplanations (from any DP/PM message to DP/PM alarmmessages, from any IO driver message to IO driver alarmmessages and from any process control system message to PCKalarm messages).

Menu barThe following menu bar functions may be of interest:

Show(Hide) Shows (hides) the navigation pane.

Back Displays the previous message explanation in the history list.

Print Prints the currently-displayed message explanation. See alsoPrinting message explanations. on page 4-18.

Options Displays the Options menu:Hide (Show) TabsHides (shows) the navigation pane.LocateThe message that is shown in the message pane when Locate isclicked is highlighted in the Contents pane.BackDisplays the previous message explanation in the history list.ForwardDisplays the next message explanation in the history list (onlyavailable if you have clicked Back before).HomeDisplays the Help start page.

The message system


StopStops an ongoing search.RefreshUpdates the screen with any new information (not relevant forthis system).Internet OptionsDisplays the standard Microsoft Internet Options dialog box.PrintPrints the currently-displayed message explanation. See alsoPrinting message explanations. on page 4-18.Search Highlights Off(On)When Off is selected, the terms that was searched for ishighlighted in the message explanation. When On is selected,the terms are not highlighted.

Printing message explanationsIn the Contents pane, select the required message or book icon.Click Print. The Print Topics dialog box is displayed. Selectwhether you want to print the selected topic or print the topicand all subtopics.

The standard MS Windows Print Setup dialog box is displayed.



This dialog box can be used to select the printer and to definethe printer set-up. This is a general-purpose printer connected toan Operator Station or to the network (not the event printerconnected to the controller process station).

The message system


4.10 Operator advice messagesAs and when applicable, operator advice messages aresuperimposed across the center of the colour display in a pop-upwindow.These messages are displayed if a button is pressed when theoperator station is not in command of the system or an attemptis made to select a function that is not allowed in the currentsystem mode or with the currently displayed dialog box.There are three categories of operator advice messages:

• Alarm (Stop), indicated by the following icon:

• Warning, indicated by the following icon:

• Information, indicated by the following icon:

A typical example of each type of operator advice message isshown below:

Figure 27 Operator advice message examples


5 BUILT-IN TRAINERThis Chapter contains the following sections:5.1 Trainer functions5.2 Using the trainer5.3 Setting the start position for the next session5.4 Leaving the trainer

Built-in trainer


5.1 Trainer functionsThe built-in trainer provides functions for operator trainingbased on a simulated system. Simulations are performed at thesystem console with no additional equipment required.In order to use an Operator Station for training, it must beconnected to the MainSimulator controller process station (PS)group (see Connecting to a controller PS group on page 7-15).When this condition is met, the text SIMULATING (or otherconfiguration-specific text) is displayed flashing on the title bar.If an Operator Station is not in command of a controller PSgroup, you can connect it to any available group (such asMainSimulator) at any time. However, if the Operator Stationhas command of a controller PS group, this system must be inStandby mode before you can connect the Operator Station to adifferent group.In SDP systems with more than one Operator Station, thebuilt-in trainer can be used at one OS at the same time as theother OSs are used for normal DP operation, without affectingthe actual operation of the vessel. In this case the OSs areconnected to different controller PS groups. Before leaving anOperator Station after a training session, we stronglyrecommend that you prepare the OS for DP operation byconnecting it to the Main controller PS or another relevantcontroller PS group.

Trainer functions


5.2 Using the trainerTo use the trainer:

1 Ensure that the vessel is controlled from the bridge orfrom another SDP OS. For systems with only oneSDP-OS, the DP system must be in Standby mode.

2 SelectMainSimulator on the Connect dialog box (seepage 7-15).

3 Click OK or Apply.- The Operator Station is connected to theMainSimulator controller PS group.

- All other Operator Stations are still connected to theMain (or another relevant) controller PS group(s).

- While the Operator Station is connected to theMainSimulator controller PS group, the textSIMULATING (or other configuration-specific text) isdisplayed flashing in the title bar.

4 Take command of MainSimulator at the Operator Station(see page 7-6).- The TAKE status lamp on the operator panel is lit.

5 On the System menu, click Trainer.- The Trainer Settings dialog box is displayed.- The values for Start Position,Wind Speed, etc. shownon the Trainer Settings dialog box are the valueswhich were in use when the previous training sessionwas stopped (providing no stop or restart of the OS hastaken place in the meantime).

Built-in trainer


6 If required, enter the Start position of the vessel fromwhere you want to start the simulation. You can select tomove to this position whenever the system returns toStandby mode by selecting the corresponding check box.

7 Enter the requiredWind and Sea Current values to beused during the simulation.

8 Enter the vessel Draught to be used during thesimulation.

9 Click OK or Apply.- The system is now ready for simulation.

10 Use the system as you would during normal operation.

5.3 Setting the start position for the next sessionWhen the chart background display has been configured, youmay use the planning function in the Posplot view to find thestart position you want to use for the next trainer session. Whenthe correct start position has been found, change to Standbymode, launch the Trainer Settings dialog box and click the Uselast chart center button. The last chart center will then be usedas the start position in your next session.

5.4 Leaving the trainerBefore leaving an Operator Station after a training session, westrongly recommend that you prepare the OS for DP operationby connecting it to the Main or another relevant controller PSgroup.

1 Go to Standby mode.2 On the System menu, click Connect.

- The Connect dialog box is displayed.3 SelectMain (or another relevant controller PS group).4 Click OK or Apply.

- The Operator Station is connected to the Main (oranother relevant) controller PS group.

- The values for Start Position,Wind Speed, etc.entered in the Trainer Settings dialog box are savedfor use as start-up values in a future training session.


6 DP ONLINE CONSEQUENCE ANALYSISThis chapter contains the following sections:6.1 DP Online Consequence Analysis6.2 Selecting the DP class6.3 Consequence analysis status messages6.4 Consequence analysis warning messages

DP Online Consequence Analysis


6.1 DP Online Consequence AnalysisThe DP Online Consequence Analysis function performsanalyses to determine the vessel’s ability to maintain its positionand heading after predefined worst-case single equipmentfailures. The analyses are called “online” because they considerthe present environmental conditions, thruster status and powerconsumption.This function satisfies the requirements of IMO EquipmentClass 2 and Equipment Class 3.The analyses checks whether the thrusters remaining inoperation after a worst-case single failure are able to generatethe same resultant thruster force and moment as required beforethe failure, and whether the remaining generators are able toproduce a sufficient amount of power. A warning message isissued if a failure would result in lack of thrust or power, andsubsequently drift-off.The worst-case single failures that are simulated are predefinedaccording to the power and thruster configuration of the vessel.Typically, these failures will be the loss of one completeswitchboard, one engine room, or a group of thrusters that canbe affected by a single equipment failure.Consequence analyses are performed cyclically, every minute,whenever the following criteria are satisfied:• The vessel is in Auto Position mode (consequence analysiscan also be performed in other modes, if configured).

• The position setpoint status is PRESENT POSITION (forAuto Position mode).

• The heading setpoint status is PRESENT HEADING (forAuto Position mode).

• DP Class 2 or 3 is selected.

Note By default, the DP Online Consequence Analysis function isswitched off. Prior to engaging Class 2 or Class 3 operations,the corresponding class of operation must be selected using theDP Class dialog box on page 6-3.

Selecting the DP class


6.2 Selecting the DP classTo activate the DP Consequence Analysis, DP Class 2 or 3 mustbe selected. Click Dp Class on the AutoPos menu. The DPClass dialog box is displayed.

If configured, the currently selected DP Class is indicated in theClass field of the status bar (see page 1-10).

6.3 Consequence analysis status messagesWhen the DP Online Consequence Analysis function isactivated, an information message is displayed:

Consequence analysis running class 2or

Consequence analysis running class 3When the system mode is changed from automatic control, or ifyou explicitly turn off the function using the DP Class dialogbox, the following information message is displayed:

Consequence analysis stoppedDuring a change of position or heading, the failure simulationsare temporarily halted. When the vessel reaches PRESENTPOSITION and PRESENT HEADING, the failure simulationsare started again. No information messages are issued for thistype of temporary halt.

DP Online Consequence Analysis


6.4 Consequence analysis warning messagesIf an analysis detects that a given worst-case single equipmentfailure will result in insufficient thrust or power to maintain thevessel’s position and heading, a warning message is displayed:

Consequence analysis drift off warningThis message is followed by additional information whosecontent depends on the type of failure simulated and whetherinsufficient thrust or insufficient power was detected. Forexample:

power critical if bus 1 lostthrust critical if thrusters 1-4 lostthrust critical if port diesel lost

If the message indicates that thrust is critical, you should enablemore thrusters. If the message indicates that power is critical,you should make more power available. Alternatively, change toa more favourable heading.When the critical situation is no longer valid, the warning iscancelled.


7 STARTING OPERATIONSThis chapter contains the following sections:7.1 System start-up/shut-down and OS stop/restart7.2 Logon Configuration dialog box7.3 Command transfer7.4 Command Control dialog box7.5 Connecting to a controller PS group

Starting operations


7.1 System start-up/shut-down and OSstop/restart

The SDP controller cabinet and Operator Stations are usuallyleft with the power on and with the system in Standby mode.

Placement and naming of switches used in system start-up andshut-down procedures will vary depending on the hardwareinstalled.

If the system has been shut down, use the procedure in theMaintenance Information document for your vessel to restart thesystem.

Stop/Restart dialog box

With the Stop/Restart dialog box, you can perform thefollowing tasks on your Operator Station:

• Stop the OS software and leave the Windows sessionrunning.

• Restart the OS software with the Windows session running.

• Shutdown the Windows session (and thus also stop the OSsoftware).

• Reboot the Windows session (and thus also stop and restartthe OS software).

Reboot the Operator Station if the system is not performing asrequired, for example

• Display views are not updated (i.e. numerical values, headingand position does not change).

• The Operator Station does not respond to operator input.

If it is impossible to move the cursor, or the System menu forsome other reason is unavailable, use the procedure onpage 7-4 to restart the Operator Station.

Any of these options should be performed on one OperatorStation at a time to facilitate operation and monitoring of theSDP system from other Operator Stations.

Caution Some of the options you can perform on this dialog boxare not part of the normal operating procedures for theSDP system. They are implemented to facilitate serviceand installation work performed by trained personnelfrom Kongsberg Maritime.

System start-up/shut-down and OS stop/restart


To display the Stop/Restart dialog box, click Stop/Restart onthe System menu.

OS Software StopStop the OS software and leave the Windows session running.RestartRestart the OS software with the Windows session running.

Windows ShutdownStop the OS software, shut down the Windows session andprepare the computer to be turned off.

Reboot (with OS Restart)Stop the OS software, reboot the Windows session and restartthe OS software.

Note Avoid restarting the Operator Station by switching the power offand on. It may be damaging to the Windows file system.

Starting operations


Restart the OS using the WindowsSecurity dialog box1 Press Ctrl+Alt+Del (simultaneously) on the alphanumeric

keyboard.- TheWindows Security dialog box is displayed.

2 Select Shut Down.- The Shutdown Windows dialog box is displayed.

3 Select Shutdown.For details about how to turn the power on/off, refer to theMaintenance Information document for your vessel.4 Turn the power off.5 Wait.6 Turn the power on.

Logon Configuration dialog box


7.2 Logon Configuration dialog boxThe Logon Configuration dialog box enables you to performthe following tasks on your Operator Station:• Select between user logon and auto logon• Select/change the shell to be used when logging on (typicallyeither Microsoft Windows or the OS software).

Caution Use of this dialog box is not part of the normaloperating procedures for the SDP system. It isimplemented to facilitate service and installation workperformed by trained personnel from KongsbergMaritime.

Depending on the shell used on your Operator Station, you candisplay the Logon Configuration dialog box either by selectingAutoStart under the SDP command on the Start menu (onlywhen using Microsoft Windows as shell), or when performingautostart of the SDP system. During autostart, a countdowndialog box is launched. Clicking the button on this countdowndialog box within the countdown limit, displays the LogonConfiguration dialog box.

User Logon Select this option button if the user is required to log onmanually each time the system is started.

Logon Profile Auto LogonSelect this option button if automatic logon is to be configuredand performed each time the system is started. This is thenormal logon configuration.

Shell Drop-down list box where you can select which shellconfiguration to use when logging on, either MicrosoftWindows or the OS software. The OS software is the normalshell configuration.

Apply and Logoff Clicking this button after having selected a new shellconfiguration will quickly restart the system with the new shellconfiguration.

Starting operations


7.3 Command transferDepending on the system configuration, more than one OperatorStation can be connected simultaneously to one controllerprocess station (PS) group as described in Connecting to acontrollerPS group on page 7-15. For example, the Maincontroller PS group (which in turn controls the vessel’spropulsion system), can be controlled from an SDP OperatorStation, an STC Operator Station (in integrated systems), or aremote operator terminal. All the available information aboutthe propulsion system is available at all the connected OperatorStations, but only one Operator Station can be in command atany time.All the Operator Stations have TAKE and GIVE buttons. On theOperator Station that has command of the Main controller PSgroup, the TAKE button is lit and Propulsion is displayed in thetitle bar.There are two methods for switching command betweenOperator Stations that are connected to the same controller PSgroup:• Take Command• Give CommandThe system command configuration determines whether or notthe “Take Command” method can be used. The “Take” and“Give” actions apply only for the controller PS group to whichthe Operator Station is connected.In the following example procedures, both OS1 and OS2 areconnected to the Main controller PS group, OS1 currently hascommand of this group, and command is to be transferred toOS2.

Command transfer


Taking command

Note This procedure can be used only if allowed by the systemcommand configuration.

1 OS1 is in command.- TAKE on OS1 is lit.- No Command lamps are lit on OS2.

2 To take command at OS2, press the TAKE button at OS2twice within four seconds.

3 OS2 is now in command.- TAKE on OS2 is lit.- No Command lamps are lit on OS1.

Giving command1 OS1 is in command.

- TAKE on OS1 is lit.- No Command lamps are lit on OS2.

2 Press the GIVE button at OS1.- The TAKE lamps on all Operator Stations that areconnected to this controller PS group begin flashing.

- An audible signal sounds at all Operator Stations wherethis feature is configured. At each Operator Station,pressing the SILENCE button in the Alarms button groupsilences the alarm.

3 To accept command at OS2, press the TAKE button at OS2twice within four seconds.

4 OS2 is now in command.- TAKE on OS2 is lit.- No Command lamps are lit on OS1.- The audible signal is silenced.

If the offered command transfer is not accepted within oneminute, then OS1 remains in command.If command has not already been taken by another OperatorStation, the offered command transfer can be cancelled duringthe timeout period by pressing TAKE at OS1.

Starting operations


7.4 Command Control dialog boxPressing the STATUS button displays the Command Controldialog box showing the current command status. You may alsotake or give control of the SDP system from this dialog box.

Note As a main rule we recommend using the operator panel buttonsto take and give command.

The dialog box has three pages, one page with the name of theOperator Station (in this example SDP-OS1), Overview, andGive. The SDP-OS1 page is referred to as “the OS page”. Someelements are present on all three pages.

The information available from the Command Control dialogbox is mainly intended for operation of systems with severalOperator Stations.

The Command Control dialog box provides someopportunities not available from panel buttons.

The Command Control dialog box is designed to correspond tothe equivalent dialog box in the SVC (Vessel Control) systemwhere it is more frequently used. This has been done to improvethe user interface, especially on vessels with IntegratedAutomation Systems (IAS) on board.

Command groups

In IAS systems, the functionality is divided into Commandgroups that reflect the way in which the system will be operated.Each of these Command groups will usually represent a specificprocess area, for example, Ballast, Power, Propulsion,Propulsion Simulation etc.

Command Control dialog box


All the available information about the command groups isavailable at all the connected Operator Stations, but, for eachCommand group, only one Operator Station can be in commandat any time.For SDP purposes, Thr_Propulsion and Thr_Propulsion(Sim)are the relevant Command groups, and “Take Command” and“Give Command” are the two relevant command transferactions.

Thr_Propulsion

The Operator Station that controls this Command group,controls the vessel’s propulsion system. All Operator Stationscan take command of Thr_Propulsion.

Thr_Propulsion(Sim)

A training or simulation session can be performed on theOperator Station that controls this Command group (providedthat the requirements stated in section Trainer functions, page5-2, is met).

OS pagePress the STATUS button. Click the OS tab. The OS page isdisplayed.

Figure 28 OS page - Thr_Propulsion is in command bySDP-OS1.

Figure 28 displays the OS page with Thr_Propulsion incommand by SDP-OS1.

Command Group All command groups are listed in this column. OnlyThr_Propulsion and Thr_Propulsion(Sim) are of interest forthe SDP system.

Status Using the text In Command, this column displays thecommand groups over which this OS has control.

Starting operations


Modified Displays the time the command control state of the commandgroups was last changed by this OS.

Privileges Displays the Operator Station’s privileges for each commandgroup. Takeable is the only one of interest for the SDP system.“Takeable” means that an Operator Station can take command ofthe command group in question without acceptance from theOperator Station that was originally in command.

Overview pageClick the Overview tab on the Command Control dialog box.The Overview page is displayed.

Command Group All Command groups are listed in this column.

In Command Displays the Operator Station that is in command.

Modified Displays the time when the command control state was lastchanged by any Operator Station. This may be different fromthe time displayed for the same command group on the OSpage. (The Modified column on the OS page contains the timethe control state was last changed by the OS which you are at.)

Command Locations Displays the Operator Stations that can take command of eachcommand group. The asterisks (*) mean that the OS can takecommand without acceptance. This is usually the case forOperator Stations in SDP systems.



Give page

Click the Give tab on the Command Control dialog box. TheGive page is displayed.

To OS Group Displays the Operator Station(s) to which command can betransferred.

Give Command of: Clicking an OS in the To OS Group list, causes a list of all thecommand groups over which the OS you are at (here SDP-OS1)currently has command to be displayed in this field.

Command Groups

For SDP operations only the Thr_Propulsion andThr_Propulsion(Sim) command groups are of interest. Youselect a command group by clicking its identifier in theCommand Group list.

There is a folder icon for each command group. The foldericons are colour coded and have their presentation changed toindicate the current status of each command group.

• Red, closed folderUncontrolled, critical command group.

• White, closed folderUncontrolled command group.

• Grey, closed folderAnother OS is in control of the command group.

• Green, open folderThis OS (here SDP-OS1) is in control of the commandgroup.

Starting operations


Controls and indicatorsThe command transfer controls are divided in three groups,TAKE, GIVE and STATUS. Each group contains a lamp, a textfield and a button.

Buttons

Lamps

Text field

For SDP systems, when the dialog box is open, pressing STATUS

on the operator panel closes the dialog box.The following descriptions of controls and indicators uses OS1as an example.

Lamps TAKE• Lit on OS1 when OS1 is in command.• Not lit on OS1 when another OS is in command.• Flashes until OS1 accepts when OS1 is offered command, orduring the timeout period of one minute.

• Flashes while OS1 is giving command to another OS, untilthe other OS accepts, or during the timeout period of oneminute.

GIVE• Flashes while OS1 is giving command to another OS, untilthe other OS accepts, or during the timeout period of oneminute.

Text fields The text fields display the command transfer action that will beand buttons performed when the related button is clicked.

TAKE button and text fieldThe TAKE button is unavailable when SDP-OS1 is in commandor when no command group is selected for command transfer.The messages that may appear in the text field are as follows:

• Take...Default on the Give page. Clicking the TAKE buttondisplays the OS1 or Overview page, depending on whichwas last used.

• TakeAppears above the TAKE button on the OS page when anuncontrolled command group or a command group currentlyunder command of another OS is selected. Clicking theTAKE button transfers the command to OS1.



• Cancel Give...Appears above the TAKE button when a Give request isinitiated. Clicking the TAKE button cancels the Giverequest.

• Accept Give...Appears above the TAKE button when a Give request isreceived. Clicking the TAKE button accepts a Give requestand transfer command to OS1.

GIVE button and text fieldThe messages that may appear in the text field are as follows:• Give...Default on the OS and Overview pages. Clicking the GIVEbutton displays the Give page.

• Give selected...Appears above the GIVE button on the OS and Overviewpages when ”Giveable” command groups are selected.Clicking the GIVE button the displays the Give page.

• Start Give TransferAppears above the GIVE button on the Give page when”Giveable” command groups are selected. By clicking theGIVE button you start a Give transfer of the selectedcommand groups.

• Reject GiveAppears above the GIVE button when a Give request isreceived. Clicking the GIVE button rejects the Give request.

STATUS button and text fieldFor SDP systems, the message that may appear in the text fieldis:• CloseDefault above the STATUS button on all three pages.Clicking the STATUS button closes the dialog box.

Taking or giving command of thrusterpropulsionThis procedure is used to transfer control of propulsion betweenSDP/STC Operator Stations.To “Take” command of propulsion control at the SDP/STCOperator Station where it is required:1 Press the STATUS button.

- The Command Control dialog box is displayed.

Starting operations


2 Make sure that you are on the OS page of the dialog box(if you are not on this page, then click on the OS tab).

3 Highlight Thr_Propulsion, and click on TAKE totransfer thruster propulsion to the station you are at.

To “Give” command of propulsion control to another SDP/STCOperator Station:1 Press the STATUS button.

- The Command Control dialog box appears.2 Click on the Give tab to go to the Give page.3 Highlight which OS group you want to give command to

(by clicking on the group), then highlightThr_Propulsion, and click on GIVE to start transfer ofpropulsion.- The TAKE button will start to flash at the station towhich command is to be transferred.

4 To accept transfer of Thr_Propulsion, press the STATUSbutton to call up the Command Control dialog box (if itis not already open). Click on TAKE to complete thetransfer of Thr_Propulsion.

Connecting to a controller PS group


7.5 Connecting to a controller PS groupA “controller PS group” is a group of one or more SDPcontroller process stations. The controller PS groups availabledepend on your system configuration:• Main - the main controller PS group• MainSimulator - the controller PS group for training andsimulating sessions (optional)

An operator station can be connected to only one controller PSgroup at a time. Your system configuration determines thecontroller PS groups to which each operator station can connect.Several operator stations can be connected simultaneously to acontroller PS group, but only one of these operator stations canbe in command. See Taking command on page 7-6.If an operator station is not in command of a controller PSgroup, you can connect that operator station to any availablegroup at any time. However, if the operator station hascommand of a controller PS group, the system on thesecontrollers must be in Standby mode before you can connect theoperator station to a different group.To connect to a controller PS group, click Connect on theSystem menu. The Connect dialog box is displayed.

Select the required controller PS group.For operating procedures related to the built-in simulator, referto the separate SDP/SPM Built-in Simulator Operator Manual.


8 CONTROLLER PROCESS STATIONSThis chapter contains the following sections:8.1 Resetting controller process stations8.2 Redundant systems

Controller process stations


8.1 Resetting controller process stationsYou can reset a selected controller process stations (PS) forexample in the event of a software problem. To retrieve thedefault settings, all controller PSes must be reset.

Resetting the controller PS in asingle-computer systemBefore resetting the controller PS in a single-computer system,you must ensure that the SDP system does not have control ofthe vessel propulsion system.To reset the controller PS, follow the procedure described insection Resetting all controller PSes in a dual or tripleredundant system.

Resetting one controller PS in a dual ortriple redundant systemBefore resetting a controller PS in a dual or triple-redundantsystem, you should ensure that another controller PS isoperational and is selected as the master computer (seeRedundant systems on page 8-5).On the System menu, click Reset Controller PS. The ResetController PS dialog box is displayed.

Select the controller PS to be reset and click OK or Apply.

The controller PS is reset.

Resetting controller process stations


Resetting all controller PSes in a dual ortriple redundant systemIf the vessel is not under control by the SDP system, you canreset all SDP controller PSes simultaneously. During DPoperation the SDP controller PSes receive the same input fromsensors, position-reference systems and thrusters, and performthe same calculations.The best way to ensure that errors are deleted from the SDPcontroller PSes is therefore to reset all of them. To retrieve thedefault settings, all SDP controller PSes must be reset.1 Ensure that the SDP system does not have control of the

vessel propulsion system.2 Ensure that the SDP system is in Standby mode.3 Ensure that no thrusters are enabled.4 Reset all SDP controller PSes simultaneously using the

Reset Controller PS dialog box described above.- The Reset Controller PS message box is displayedinforming you that the vessel will be without controlfrom this system during the restart period.

5 Select OK to confirm.- Until at least one SDP controller PS is running, adialog box containing the following message isdisplayed on all Operator Stations:

No network response from the Controller PS



6 When at least one SDP controller PS is running, amessage box is displayed on all Operator Stations:

The Controller PS is now responding

The SDP system is in Standby mode with default settings.The following message is displayed in theEvent List window for each controller PS:

Equip <yy/mm/dd hh:mm:ss >Alarm <DpPUx>:Station is operational

(x refers to controller PS A, B or C).

7 Select master controller PS (see page 8-5).

Redundant systems


8.2 Redundant systemsIn dual redundant systems, the controller cabinet contains twocontroller process stations (PSes) that operate with amaster/slave relationship.In triple redundant systems, the controller cabinet contains threecontroller PSes. Fault detection and isolation are achieved by aprocess of majority voting, whereby all three PSes compare andvote on their critical input and results.

Error objectsA system surveillance function keeps track of the extent towhich the controller PS and its associated IO equipment istechnically capable of fulfilling its intended purpose. The IOdrivers and different system health monitoring functionsautomatically register error objects. Each error object isidentified with a unique name and is used to report the presenceor absence of errors. By communicating with other members ofthe redundancy group, the system keeps track of which errorsare shared between all controller PSes in the group (commonerrors), which ones are exclusive to one controller PS and whichones that make the PS incapable of controlling the process.No weights are assigned to errors. Neither is the number oferrors significant. What makes a PS ”more capable” thananother is defined by the following list in the order of fallingcapability:• OK A PS without errors.• Common error A PS with only common errors.• Degraded A PS with separate errors.• Incapable An incapable, but running PS.

Dual redundant systemThe PSes in a dual redundant system operate in parallel, eachreceiving the same input from the operator, sensors, referencesystems and thrusters, and each performing the samecalculations. However, only the Online (Master) PS can controlthe propulsion system. You can select which PS is to be theMaster, however, a switch is only possible to a PS which is ofequal or better capability than the current Master.In the event of a deviation between the two PSes, you canupdate the Offline PS with data from the Master PS. SeeRedundant Stations dialog box - Redundancy Control onpage 8-9.



Automatic switch-over to the Offline PS

If a failure is detected in the Master PS, a switch-over to theOffline PS is activated automatically and an alarm message isissued:

Redundancy group “DpMain”: B Master

This automatic switching is allowed only once. Before anyfurther auto-switching can take place, the operator must havethe fault rectified and then reset the error object to the normalstate (unlock).

Resetting after an automatic switch-over

1 On the System menu, click Redundant Stations.- The Redundant Stations dialog box is displayed (fordetails about this dialog box, see page 8-8).

In this dialog box Error Objects are used to report thepresence of failures that may lead to an auto-switch fromone PS to another. Yes is displayed in the Locked columnfor locked error objects (errors that have lead to anauto-switch).

2 Use Error Objects in the Redundant Stations dialog boxto find out which errors are present.

3 Have the errors rectified.

4 In the Redundant Stations dialog box, right-click in theError Objects area.- The following shortcut menu is displayed:

5 Click Unlock All.- The locked error objects are reset to the normal state(unlocked).

Redundant systems


Triple redundant systemIn triple redundant systems, each PS uses the same data from thesensors and position-reference systems to calculate commandsignals to the propulsion system (they are all Online). Faultdetection and isolation are achieved by a process of majorityvoting, whereby all three PSes compare and vote on theircritical input and results (an external HW voter running amedian algorithm is applied on the outputs). If one PS shouldfail, the two functioning PSes will operate with a master/slaverelationship as described in Dual redundant system.In triple redundant systems, all three PSes vote on their inputand output, but only one of the PSes, the Master PS,communicates with the operator stations, and outputs serial lineinformation. You can select the PS that is to be the Master,however, a switch is only possible to a PS which is of equal orbetter capability than the current Master.

Hardware voting

The hardware voting comprises two processing stages. The firststage checks validity of the signal sources. If any of the sourcesA, B or C are not valid, the stage logic duplicates signals fromone PS to replace the not valid ones. This is done to ensure thebest inputs for the second processing stage.The second stage selects the median value from three inputs A,B and C. The median value is the one having momentary valuebetween the two others on the voltage scale.



Redundant Stations dialog boxOn the System menu, click Redundant Stations. TheRedundant Stations dialog box is displayed.

PS Groups Select the target controller PS group for all commands andoperational statuses of the dialog box from this list.

Redundancy Status MasterThe current master PS is indicated in the appropriate check box.The master PS is designated for specific tasks only done by asingle PS on behalf of the redundancy group.You can click the Set button to set the corresponding PS as themaster.OnlineThe current online PS is indicated in the appropriate check box.The online PS controls the field output.CapabilityDisplays the Capability status (i.e. to which extent the PS istechnically capable of fulfilling its intended purpose).• OKNo errors.

• Common ErrorErrors that are common to all PSes in the controller PSgroup.

Redundant systems


• DegradedErrors that are restricted to one of the PSes in the group.

• IncapableThe PS is in a state where it should not be used as the masteror online PS.

ModeRunning modes are defined to structure the start-up phase,before a PS is ready to take control.• InactiveThe PS is not communicating. It may be in the process ofinitiating or loading, or not executing at all.

• StartingThe PS is communicating, but more preparation is needed. Inparticular, it may be necessary to initiate IO devices anddetect their state.

• LearningThe PS is communicating and has been initiated, but is in theprocess of retrieving information from other PSes, which arein Running mode. This mode can also be entered fromRunning mode in cases where normal operation has beeninterrupted for a while.

• RunningThe PS is communicating, and has finished all start-uppreparations.

Redundancy Redundancy typeControl Displays the Redundancy type for the selected controller PS

group. Single, DP Dual and DP Triple are the ones that arerelevant for SDP purposes.PS fault toleranceThis is the number of PSes that can fail without losing controlof the system. For a single system this number is 0, for a fullyoperational dual system it is 1, and for a fully operational triplesystem it is 2.Update OfflineIn the event of deviation between the two PSes in a dual (ordegraded triple) system, click Update Offline to update theoffline PS.Update Offline is unavailable for a fully operational tripleredundant system. If a failure is detected in PS A, B or C, thesystem continues operating as a dual redundant system and theUpdate Offline functionality becomes available.



If a failure is detected in PS A or B in a dual system (or in twoof the three PSes in a triple system), the Update Offline buttonon the dialog box becomes unavailable. The system continuesoperating as a single system.A message about the status of the last “Update Offline” isdisplayed below the Update all button, for example “Lastupdate offline OK”.

Error Objects Error objects are used to report the presence of failures that maylead to an auto-switch from one PS to another.If you right-click in the Error Objects area, the followingshortcut menu is displayed:

In ErrorThe PS(es) on which the failure is detected.LockedYes is displayed for locked error objects (failures that presentlyexist in the system and that may lead to an auto-switch). To resetall error objects to the normal state, select Unlock all on theshortcut menu.OverruledIt can be useful to be able to overrule the automatic detection offailures, especially in cases of instability. This is done byright-clicking the relevant error and selecting Permanent On(the error is regarded as being permanently present) orPermanent Off (the error is regarded as being permanentlyabsent) on the shortcut menu.DescriptionA list of the possible failures.The list is always shown in the dialog box, but only thosefailures that are marked with Yes in the Locked column arepresent in the system.

(Status field in the The status field displays the current status of the selectedlower left corner) controller PS group (Ready, Requesting information..., Request

for configuration failed, Request for capability failed, Requestfor state failed, Switching of Master failed, Error whenchanging permanent settings).

PS Operation... Not relevant during normal operation.

Refresh Clicking this button updates the content of the dialog box withthe current operational status.


9 SENSORSThis chapter contains the following sections:9.1 Gyrocompasses9.2 Wind sensors9.3 Vertical reference sensors (VRS)9.4 Speed sensors9.5 Draught sensors9.6 Depth sensors9.7 Rate of turn sensors

Sensors


9.1 GyrocompassesAt least one gyrocompass must be enabled at all times toprovide heading information to the system for automatic controlof heading.Gyrocompasses are enabled using the Sensors dialog box -Gyro page.

Sensors dialog box - Gyro pageTo control the gyrocompasses, either:• On the the Sensors menu click Gyro,or• Press the GYRO button on the operator panel.The Sensors dialog box is displayed. If necessary, click theGyro tab to display the Gyro page.

OK The OK status for each gyrocompass is shown in the matchingOK check box. The status for all channels from thegyrocompass must be OK for the check box to be selected. Thischeck box is for information only.

Enable Each gyrocompass has an associated Enable check box.Selecting this check box enables the signals from thegyrocompass. The system will automatically disable agyrocompass if it is not OK, i.e. clear the Enable check box,and also make the check box unavailable.

Gyrocompasses


Preference These option buttons allows you to specify which gyrocompassis preferred for use by the system.

In Use The gyrocompass that is currently used by the system tocalculate the vessel’s heading is indicated in the In Use checkbox. If the gyrocompass is not OK or a failure is detected, thecheck mark is cleared from the In Use check box, and thesystem will automatically switch to another gyrocompassenabled for use.

Gyro Heading The measured heading from the gyrocompass.

Added Correction This text box allows you to specify a gyrocompass correction tocompensate for a possible offset of the ships gyrocompass forexample compared with a surveyor’s gyrocompass. The text boxis unavailable and appears dimmed when the correspondinggyrocompass is enabled.

Note To ensure consistent data for all users of a gyrocompass, it isrecommended to adjust the gyrocompass itself.

Used Heading The measured heading from the gyrocompass with addedcorrection.The Gyro Deviation Calculation (see page 9-4) uses the UsedHeading values as input for the calculations.

Sensors


Gyro Deviation dialog boxThe data from each gyro can be monitored and evaluated usingGyro Deviation Calculation. This function is based on the factthat the vessel heading can be derived from the relativepositions between two GPS antennas. The error for each gyro isestimated from the filtered difference between the GPS derivedheading and the gyro data. Recommended minimum antennaseparation is 10 m, and the accuracy of the computed headingincreases with distance between the antennas.

Note The Gyro Deviation Calculation uses the Used Heading values(see page 9-3) as input for the calculations.

To display the Gyro Deviation dialog box, on the Sensorsmenu, click Gyro Deviation.

Gyro Deviation ActiveCalculation Select this check box to enable Gyro Deviation Calculation.

Filter TimeThe default value is the recommended minimum value for yourvessel. The shorter the distance between the GPS antennas, thelonger the time required for data filtering.

Gyrocompasses


Calculated CorrectionCorrection For each gyro the difference between the computed heading and

the used heading from the gyro is displayed.You can select to have the Calculated Correction valuedisplayed as a trend plot in the Sensors view (see page 18-56)and in the Trends view (see page 18-82) using the view controldialog boxes for these views.Std.DevThe Standard Deviation for each estimate is displayed.If the Correction is one degree or more, and the StandardDeviation is significantly smaller, you should correct the erroron the gyro.

Based on This displays the GPSs the Gyro Deviation Calculation is basedon.


When sailing at high speed, the used heading may deviate fromthe computed heading due to lack of speed/latitudecompensation. After the vessel has stopped, the Correctionvalue may still be incorrect for some minutes.

Note Before correcting for error on the gyro, you should let theCorrection value stabilise.

Gyro status lampThe GYRO button has a status lamp which shows the status of thegyrocompasses:• OnAt least one gyrocompass is enabled and accepted by thesystem.

• FlashingThe measurements from one of the enabled gyrocompassesare not accepted by the system.

• OffNo gyrocompasses are enabled.

Sensors


Displayed heading information

You can examine the measured values from the gyrocompassesin more detail on the Sensors view (see page 18-56).

Rejection of heading measurements

Normally, all the available gyrocompasses will be running andenabled for use. The system then receives and compares thesignals from all the gyrocompasses, but uses only one of them tocalculate the vessel’s heading. You can specify whichgyrocompass is preferred for use by the system:

• When two gyrocompasses are enabled, the system will usethe preferred gyrocompass. If the difference between thevalue read from a gyrocompass and the model value exceedsa predefined limit, an alarm is displayed; for example:

Gyro 1 prediction error

If this error is for the gyrocompass that is in use, the systemwill change automatically to the other gyrocompass.

Note In the event of a “Gyro prediction error”, you should alwayscheck the values from the gyrocompasses on the Sensors viewand compare with an alternative source of heading informationto confirm which gyrocompass is faulty.

• When three gyrocompasses are enabled, the system willnormally use the preferred gyrocompass. If the differencebetween the measurement from one of the gyrocompassesand the median value exceeds a predefined limit, themeasurements from this gyrocompass are rejected and analarm will be given. If necessary, the system will change toanother gyrocompass.

Faulty gyrocompasses

If measurements from a gyrocompass are not accepted by thesystem, a message is given with information about the failure.The message may define the faulty gyro directly; for example:“Gyro 1 not ready”. Alternatively, it may indicate only thatthere is a difference between the measurements from theavailable gyrocompasses. In the latter case, you must try to findthe faulty compass by comparing the received measurementswith an alternative source of heading information.

Gyrocompasses


In the following examples it is assumed that two gyrocompassesare available, that both gyrocompasses are enabled and thatGyro 1 is in use:• If there is a failure on Gyro 2 (the gyrocompass that is not inuse), disable the signals from Gyro 2 and rectify the fault.

• If a fault is detected on Gyro 1 (the gyrocompass that is inuse), the system will switch to Gyro 2 automatically if Gyro2 is enabled. Disable the signals from Gyro 1 and rectify thefault.

• If there is a failure on a gyrocompass and the system cannotdetect which compass is faulty; for example:

Compass differenceperform the following:

1 Check the values from the gyrocompasses on the Sensorsview and use an alternative compass or the GyroDeviation Calculation (see page 9-4) to find whichgyrocompass is faulty.

2 Disable the faulty gyrocompass and rectify the fault.When a faulty gyrocompass is repaired, you should enable itagain.

Heading dropoutIf the vessel heading that is estimated by the Vessel Modeldiffers significantly from the measured vessel heading, thefollowing message is given:

Heading prediction errorIf this continues for more than two seconds, the system willassume that the information from the gyrocompasses isunreliable and will stop updating the Vessel Model with themeasured heading. In this situation the following alarm will begiven:

Heading dropoutThe same alarm will occur if no gyrocompasses are enabled, orif there is a total gyrocompass malfunction.It is not possible to operate with automatic heading or positioncontrol in a Heading dropout situation.Go to Standby mode to reset the estimated heading from theVessel Model to the measured gyrocompass heading.Check that the gyrocompasses are ready, whether the readingsare drifting or if other error messages indicate interface errors.

Sensors


9.2 Wind sensorsAt least one wind sensor should be enabled at all times toprovide the system with wind speed and direction information.Wind sensors are enabled using the Sensors dialog box -Windpage (see page 9-9).Normally, input from all the available wind sensors will beenabled. The system then receives and compares the signalsfrom all the sensors, but uses only one of them to calculate thewind force acting on the vessel.You can specify which wind sensor is preferred for use by thesystem. If no errors are detected in the wind sensormeasurements, the system will always use the operator-preferredsensor (for which Preference is selected in the Sensors dialogboxWind page).The raw measurements of wind speed and direction are filteredinternally (using a Kalman filter with both low and highfrequency parts), to estimate the most reasonable speed anddirection values to be used by the SDP system.

Wind sensors


Sensors dialog - Wind pageTo control the wind sensors, either:• On the the Sensors menu clickWind,or• Press the WIND button on the operator panel.The Sensors dialog box is displayed. If necessary, click theWind tab to display theWind page.

OK The OK status for each wind sensor is shown in thecorresponding OK check box. The status for all channels fromthe wind sensor must be OK for the check box to be selected.This check box is for information only.

Enable Each wind sensor has an associated Enable check box.Selecting this check box enables the signals from the windsensor.

Preference Use these option buttons to select the operator-preferred windsensor to be used by the system.

In Use Indicates the wind sensor currently used to calculate the windforce acting on the vessel. If no errors are detected in the Windsensor measurements, the system will always use theoperator-preferred sensor (see Preference above).

Relative Speed The displayed wind speed is the measured wind speed relative tothe vessel, not corrected for vessel motion.

Relative Dir. The displayed wind direction is the measured direction relativeto the vessel heading, not corrected for vessel motion.

Sensors


Manual You can manually enter the values for wind speed and winddirection which the system should use to calculate the windforce acting on the vessel. To enter values, disable all sensorsand click Apply. The In Use check box forManual input willbe selected, the True Speed and True Dir fields will appearwhite, and you may enter values using the keyboard or theNumeric Entry Keypad dialog box.

True Speed Display the true wind speed and direction. The present modeTrue Dir. and whether or not one or more sensor is enabled, determine

which values are displayed in these fields:• In Standby mode with one or more wind sensor enabled, theTrue Speed/Dir fields display the same values as RelativeSpeed/Dir.

• In any mode other than Standby with one or more windsensor enabled, the True Speed/Dir fields display the truewind speed and direction values (filtered values).

• In any mode with no wind sensors enabled, the TrueSpeed/Dir fields contain the manually-entered values for thetrue wind speed and direction.

Wind status lampThe WIND button has a status lamp which shows the status of thewind sensors:• OnAt least one wind sensor is enabled and accepted by thesystem.

• FlashingThe measurements from one of the enabled wind sensors arenot accepted by the system or an error situation exists in atleast one of the wind sensor channels if only a single windsensor has been enabled.

• OffNo wind sensors are enabled.

Displayed wind informationYou can examine the measured values from the wind sensors inmore detail on the Sensors view (see page 18-56).

Faulty wind sensorsIf measurements from a wind sensor are not accepted by thesystem, a message is given with information about the failure.The message may define the faulty sensor directly; for example:

Wind 1 not ready

Wind sensors


Alternatively, it may indicate only that there is a differencebetween the measurements from the available sensors. Thedifference may be due to a faulty wind sensor. In the lattersituation, you must try to find the faulty sensor by comparingthe received measurements with an alternative source of windinformation.

In any case you should use an alternative source of windinformation to determine which wind sensor that provides thewind measurements that is most representative for the windforces acting on the vessel.In the following examples it is assumed that two wind sensorsare available, both sensors are enabled and Wind 1 is in use:• If there is a failure on Wind 2 (the sensor that is not in use),disable the signals from Wind 2 and rectify the fault.

• If a fault is detected on Wind 1 (the sensor that is in use), thesystem will switch to Wind 2 automatically. Disable thesignals from Wind 1 and rectify the fault.

• If there is a failure on a wind sensor and the system cannotdetect which sensor is faulty; for example:

Wind speed difference,

perform the following:1 Check the values from the wind sensors on the Sensors

view and use an alternative source of wind information tofind which sensor is faulty.

2 Disable the faulty sensor and rectify the fault.When a faulty wind sensor is repaired, you should enable itagain.

Note A wind measurement will be influenced by the location of thesensor. Differences in measurements can arise naturally. It isimportant to use the sensor that is most representative for thewind forces acting on the vessel.

Rejection of faulty wind dataFaulty jumps in readings from a wind sensor would lead to anunwanted increase in thrust setpoint. To avoid this, the systemperforms the following test:• A wind speed measurement is rejected by the system if thewind speed is above a predefined limit (for example 15 m/s)and increases by more than a predefined value (for example10 m/s).

Sensors


• A wind direction measurement is rejected by the system ifthe wind speed is above a predefined limit (for example 10m/s) and the wind direction changes by more than apredefined value (for example 60 degrees).

The wind sensor is rejected if more than a predefined number(for example 15) of consecutive readings are rejected accordingto the limits described in the previous paragraphs. The followingalarm is given:

Wind sensor rejected <current speed/direction>In order to adapt quickly to dynamic change in wind, the inputdata to the test is the difference between new measurements, andlow pass filtered speed data with a small time constant(5 seconds).The filter is reset on three different conditions:• Continuously reset in Standby mode (to avoid problemsentering/leaving the trainer).

• When sensor Enabled changes from OFF to ON.• If there is a long time (5 minutes) since ready/OK from theIO system.

Note The wind sensor(s) will be rejected if speed is increasing withmore than 10m/s in Trainer mode (and not in Standby mode).The situation is resolved by disabling/enabling the rejectedsensor.

Operating without wind sensor inputThere can be situations where you want to temporarily stopusing the input from the wind sensors, such as during helicopteroperations or when operating close to another large structurewhere there may be sudden disturbances of the measured wind.If you disable all the wind sensors, the system continues to usethe wind speed and direction values that were measured justbefore the most recent wind sensor was disabled.

Vertical reference sensors (VRS)


9.3 Vertical reference sensors (VRS)At least one vertical reference sensor must be available toprovide the system with roll and pitch information. Thisinformation is used to adjust the measurements received fromthe position-reference systems for the vessel’s roll and pitchmotions. If the VRS is equipped with a heave sensor, the heaveinformation is used for monitoring purposes only.Vertical reference sensors are enabled using the Sensors dialogbox - VRS page (see page 9-14).If VRS information is lost, the system will be unable tocompensate the received position measurements for vesselmotion. The positioning capability of the system can then beseverely degraded.Normally, all the available VRSs will be enabled for use. Thesystem then receives and compares the signals from all theVRSs, but uses only one of them. You can specify which VRS ispreferred for use by the system. If no errors are detected in theVRS measurements, the system will always use theoperator-preferred sensor (for which Preference is selected onthe Sensors dialog box VRS page).

Sensors


Sensors dialog - VRS pageTo control the VRS, either:• On the the Sensors menu click VRS,or• Press the VRS, GYRO or WIND button on the operator paneldepending on which is available in the system installed.

The Sensors dialog box is displayed. If necessary, click theVRS tab to display the VRS page.

OK The OK status for each VRS is shown in the corresponding OKcheck box. The status for all channels from the VRS must beOK for the check box to be selected. This check box is forinformation only.

Enable Each VRS has an associated Enable check box. Selecting thischeck box enables the signals from the VRS.

Preference These option buttons allow you to specify which VRS ispreferred for use by the system.

In Use The VRS that is currently used by the system is indicated in theIn Use check box.

Pitch The measured pitch from the VRS.

Roll The measured roll from the VRS.

Heave The measured heave from the VRS.

Vertical reference sensors (VRS)


VRS status lampThe VRS button in the Sensors button group has a status lampwhich shows the status of the VRS:• On:At least one VRS is enabled and accepted by the system.

• Flashing:The measurements from one of the enabled VRSs are notaccepted by the system or an error situation exists in at leastone of the VRS channels if only a single VRS has beenenabled.

• Off:No VRSs are enabled.

Displayed VRS informationYou can examine the measured values from the VRS in moredetail on the Sensors view (see page 18-56).

Faulty VRSIf measurements from a VRS are not accepted by the system, orif at least one of the channels for a VRS is faulty, a message isgiven with information about the failure. The message maydefine the faulty VRS directly; for example, “VRS not ready”.Alternatively, it may indicate only that there is a differencebetween the measurements from the available VRSs. In thelatter situation, you must try to find the faulty sensor bycomparing the received measurements with an alternative sourceof VRS information.In the following examples it is assumed that two VRSs areavailable, that both are enabled, and that VRS 1 is in use:• If there is a failure on VRS 2 (the VRS that is not in use),disable the signals from VRS 2 and rectify the fault.

• If a fault is detected on VRS 1 (the VRS that is in use), thesystem will switch to VRS 2 automatically. Disable thesignals from VRS 1 and rectify the fault.

• If there is a failure on a VRS and the system cannot detectwhich VRS is faulty; for example,

VRS pitch difference,perform the following:

1 Check the values from the VRSs on the Sensors view anduse alternative VRS information to find which VRS isfaulty.

2 Disable the faulty VRS and rectify the fault.When a faulty VRS is repaired, you should enable it again.

Sensors


9.4 Speed sensorsSpeed measurements can be used as an addition to positionmeasurements to improve the vessel speed control.The speed information is received from two sources, theDoppler Log sensors and the GPS speed sensors. You can selectavailable speed sensors or enter a manual alongships vesselspeed value.In high speed operations all enabled sensors will normally,unless a sensor has failed, be used by the system. It isrecommended to also enable Manual speed input since theManual value then will be updated based on the In Use sensors.Should all sensors be lost, you then have an initial Manual valuethat reflects the real situation.

Sensors dialog box - Speed pageTo control the speed sensors, either:• On the the Sensors menu click Speed,

or

• Press one of the the GYRO, WIND or VRS buttons on theoperator panel depending on which is available in the systeminstalled.

The Sensors dialog box is displayed. If necessary, click theSpeed tab to display the Speed page.

Speed sensors


Doppler Log EnableSelect this check box to enable the Doppler Log speed sensor.You will not be able to select this check box if the Doppler Logis not OK (the check box is shown dimmed).In UseThe sensors that are currently used by the system is indicated inthe In Use check box. If a sensor fails, it will no longer be inuse, and this check box is cleared.AlongShows the measured alongships vessel speed.AthwartShows the measured athwartships vessel speed.The Doppler Log speed is marked with G or W depending onthe type of speed output:• G Speed over ground• W Speed through water

GPS Speed EnableSelect this check box to enable the GPS speed sensor. You willnot be able to select this check box if the measured GPS speed isnot OK (the check box is shown dimmed).In UseThe sensor that is currently used by the system is indicated inthe In Use check box. If a sensor fails, it will no longer be inuse, and this check box is cleared.SpeedShows the measured vessel speed.

CourseShows the measured vessel course.

Note When a failure occurs in the GPS speed and/orcourse signals, the Speed and Course text boxes areshown empty.

Sensors


Manual Select this check box to enable Manual speed. In high speedoperations it is recommended to enableManual when usingspeed sensors to have an initial Manual value that reflects thereal situation.In UseIf the manual value is currently used by the system, it isindicated in the In Use check box. This check box is forinformation only.AlongWhen no speed sensors are enabled, you can enter a value in thisfield. This field is not available when one or more sensors areenabled.If you try to enter a value that is too high, a message informingyou about the legal range is displayed. You will have to changethe input value to continue.

Used Speed Shows the vessel speed used by the system. This is an average,filtered value of the combined measurements from the In Usespeed sensors or manual input.AlongShows the used alongships vessel speed.AthwartShows the used athwartships vessel speed. This will be zerowhen no speed sensors are enabled.

Displayed speed informationYou can examine the measured values from the speed sensors inmore detail on the Sensors view (see page 18-56).

Draught sensors


9.5 Draught sensors

For optimum positioning performance, the system must haveaccurate information regarding the vessel’s draught at all times.The vessel draught can either be specified by the operator ormeasured by a draught sensor.

If the information from the draught sensors is correct andreliable, then this should be used in preference tomanually-entered or fixed values.

Sensors dialog box - Draught page

To select the source of draught information, either:

• On the the Sensors menu click Draught,

or

• Press one of the the GYRO, WIND or VRS buttons on theoperator panel depending on which is available in the systeminstalled.

The Sensors dialog box is displayed. If necessary, click theDraught tab to display the Draught page.

Sensors


Sensor When Sensor is selected, you can specify the draught sensorthat is to be used. Each draught sensor has an associated Enablecheck box. Selecting this check box enables the signals fromthis draught sensor for use by the system. If more than onesensor is enabled, the system uses the average of all the enabledsensors. If Sensor is selected but no sensors are enabled, theManual value is used by the system.

Manual WhenManual is selected, the draught value entered underFixed Draught is used by the system. If you try to enter a valuethat is too high or too low, the value is rejected by the systemand a message informing you about the legal range for draughtis displayed.

Operation When Operation is selected, the predefined operational draughtvalue is used by the system.

Transit When Transit is selected, the predefined transit draught value isused by the system.

Used Draught Shows the draught value that is currently used by the system.This field is for information only.


The content of this dialog box will vary according to systemconfiguration. The dialog box in the system installed on yourvessel may display only some of the items shown in thisexample.

Depth sensors


9.6 Depth sensorsThe system uses water-depth measurements for display purposesonly. Water-depth information can be read from the water-depthsensors or entered manually.If the information from the water-depth sensors is correct andreliable, then this should be used in preference tomanually-entered values.

Sensors dialog box - Depth pageTo select the source of water-depth information, either:• On the Sensors menu click Depth,or• Press one of the GYRO, WIND, or VRS buttons on the operatorpanel depending on which is available in the system installed.

The Sensors dialog box is displayed. If necessary, click theDepth tab to display the Depth page.

Sensors


Sensor Shows the measured water depth.

Sensor Offset Shows the sensor offset. This field is for information only. Thesensor offset is the distance from the sensor to the keel, and isapplied to the sensor measurement to provide water depthrelative to the keel.

Manual Input You can enter a value for the water depth. This value will beused if you select Use Manual Input. If you try to enter a valuethat is too large or too small, the value will be rejected by thesystem, and a message informing you about the legal range fordepth will be displayed.

Do Not Use When Do Not Use is selected, the sensor is not used forwater-depth measurements.

Use Sensor When Use Sensor is selected, the measurement from the sensoris used by the system for display purposes.

Use Manual Input When Use Manual Input is selected, the water-depth valueentered underManual Input is used by the system for displaypurposes.

In Use When In Use is shown selected, this indicates that the system iscurrently using the signal from this particular sensor or thecorresponding manually entered value. Only one sensor value isin use at a time.

Used Depth Shows the water-depth value used by the system. When UseSensor is selected, the value shown is the sensor measurementminus the Sensor Offset value (i.e. the water depth relative tothe keel).

Displayed water-depth informationYou can examine the measured values from the depth sensors inmore detail on the Sensors view (see page 18-56).

Rate Of Turn sensors


9.7 Rate Of Turn sensorsRate Of Turn (ROT) measurements can be used to improve theheading control of the vessel. This is useful when a veryaccurate heading control is required during high-speed sailing,or when a vessel has a hull shape that makes it difficult tocontrol the heading. Measurements of the vessel’s Rate Of Turnare received from the gyrocompasses, or a dedicated ROTsensor. The ROT sensors should be enabled to allow thisinformation to be used by the SDP system.

Sensors dialog box - Rate Of Turn pageTo control the ROT sensors, either:• On the the Sensors menu click Rate Of Turn,or• Press one of the GYRO, WIND, or VRS buttons on the operatorpanel depending on which is available in the system installed.

The Sensors dialog box is displayed. If necessary, click theRate Of Turn tab to display the Rate Of Turn page.

OK The OK status for each sensor is shown in the matching OKcheck box. This check box is for information only.

Enable Each sensor has an associated Enable check box. You enablethe sensor by selecting this box. The system will automaticallydisable a sensor that is not OK. The Enable check box will becleared and will appear dimmed.

Sensors


In Use The sensor that is currently used by the system is indicated inthe In Use check box. If no errors are detected in the ROTsensor measurements, the system will use all the OK andenabled sensors.

Rate Of Turn Shows the measured Rate Of Turn.


10 POSITION INFORMATIONThis chapter contains the following sections:10.1 Handling position information10.2 Position Presentation dialog box10.3 Datum Details dialog box10.4 Local N/E Properties dialog box10.5 UTM Properties dialog box10.6 State Plane Zone10.7 Methods for enabling position-reference systems10.8 Panel buttons10.9 Reference System Settings dialog box10.10 Reference System dialog box10.11 Reference System Properties dialog box10.12 Coordinate systems10.13 Tests on position measurements10.14 Enabling the first position-reference system10.15 Enabling other position-reference systems10.16 Changing the reference origin10.17 Position dropout

Position information


10.1 Handling position informationTwo dialog boxes are used to set up the required conditions forhandling and conversion of position information from theposition-reference systems and to and from the display (seeFigure 29):• The Position Presentation dialog box can be used to selectthe datum and coordinate system for display of positioninformation. See Position Presentation dialog box on page10-4.

• The Reference System Properties dialog box can be used toprovide information about the input position data from eachreference system. See Reference System Properties dialogbox on page 10-22. The following characteristics can bespecified:- Input datum.- Offset of antenna or sensor head from the vessel’s centerof gravity.

- Update period and accuracy.Certain position-reference systems provide a UTM positionwithout the required format information which must then beentered by the operator. See UTM Properties on page 10-24.

Handling position information


REFERENCE SYSTEM PROPERTIES DIALOG BOXOn the menu, select Sensors Reference System Properties.

Datum and format for display

Display and dialog boxes

Datum and format conversion for display

Operator communication

Format and datum conversion for each position reference system

Reference system input

CONTROLLERInternal geographic coordinate system in system datum

Input format anddatum

Cd2991

Figure 29 Dialog boxes for handling position information



10.2 Position Presentation dialog boxTo select the display format for positions, clickPosition Presentation on the View menu. ThePosition Presentation dialog box is displayed.

This dialog box changes appearance according to the selectedCo-ordinate system.

Datum The available datums can be selected from the drop-down list.If Local-datum is selected, the Details button must be clicked todefine all the required transformation parameters.DetailsClick this button to call up a dialog box which deals withdefinition of datum transformation parameters. See DatumDetails dialog box on page 10-8.

Co-ordinate system Select the coordinate system to be used for displaying positioninformation.

Position Presentation dialog box


Local N/E

Displays positions in a local north/east coordinate system. Thepositions are presented as North/East coordinates relative to thelocal origin point. If you select this option you can (ifconfigured) select between a system selected oroperator-specified position of origin (see Local N/E Propertiesdialog box on page 10-9).The length unit to be used is specified by the Length Unitoption.UTM

Displays positions in the Universal Transverse Mercatorprojection. Positions are represented by north and east distanceand UTM Zone (with compensation for false northing and falseeasting if appropriate; see UTM Properties dialog box on page10-10). If you select this option, you must also select the datumthat is to be used for the conversion from the internal coordinatesystem to these coordinates.The length unit to be used is specified by the Length Unitoption.



Geographic

Displays positions in a global geographic coordinate system.Positions are presented as latitude and longitude in the formatspecified by the Format option. If you select this option, youmust also select the datum that is to be used for the conversionfrom the internal coordinate representation to these coordinates.

US State Plane

Displays positions in the US State Plane coordinate system.Positions are represented by north and east distance to the originof the State Plane Zone (see State Plane Zone on page 10-11). Ifyou select this option you must also select the datum that is tobe used for the conversion from the internal coordinate systemto these coordinates, typically NAD-27 or NAD-83.

The length unit to be used is specified by the Length Unitoption.

Length Unit The Length Unit part of the dialog box changes according tothe coordinate system selected. For Local N/E, UTM and USState Plane presentations, the system allows you to select thelength unit to be used. For Geographic presentation, the systemallows you to select the display format for latitude andlongitude.

Position Presentation dialog box


Additional informationThe most appropriate display presentation for positioninformation depends on the operational situation. For example,if you are using only a local position-reference system such asHPR, then you will normally use a Local N/E presentation.If UTM, Geographic or US State Plane presentation is selectedfor position coordinates, a presentation datum for the displayedpositions must be selected because a global position must berelated to a specific datum if it is to be unambiguous.Position-presentation in global coordinates may be inaccuratewhen a local position-reference system is providing thereference origin.



10.3 Datum Details dialog boxIn the Position Presentation dialog box, click Details todisplay the Datum Details dialog box.A datum describes the earth as an ellipsoid using twoparameters: Semimajor Axis and Flattening. The DatumDetails dialog box contains the Semimajor Axis and Flatteningvalues and datum transformation parameters for conversionfrom WGS84 to the selected datum.

For Local-datum all fields are editable, and you must define allthe required transformation parameters (see also ReferenceSystem Properties dialog box on page 10-22).

Translation The required translation from WGS84 to the selected datum.

Rotation The required rotation from WGS84 to the selected datum.

Scale The required scaling from WGS84 to the selected datum.

Semimajor Axis The semimajor axis of the earth ellipsoid for the selected datum.

Flattening The inverse flattening of the earth ellipsoid for the selecteddatum.

Local N/E Properties dialog box


10.4 Local N/E Properties dialog boxIn the Position Presentation dialog box, click the Local N/EProperties button. You can select between a system selected oroperator-specified position of origin.

Use Reference When selected, the position data of the reference originSystem Origin (see page 10-26) is subtracted from the position information

received by the system.Datum and Position of Origin are unavailable when the UseReference System Origin check box is selected.Leave the check box cleared if you want to use anoperator-specified position of origin.

Datum Select the required datum for position of origin (on this dialogbox only).

Position of Origin Enter coordinates of the position of origin.Select the format of the position of origin (in this dialog boxonly), Geographic, UTM or US State Plane.

Additional informationAn operator-specified position of origin cannot differ from theactual position by more than 20 km. If you try to enter a positionof origin that is too far from the actual position, a message boxis displayed informing you about the error.



10.5 UTM Properties dialog boxIn the Position Presentation dialog box click theUTM Properties button.

False Easting When UTM presentation is selected, to avoid the presentation ofnegative coordinates, you can specify that a fixed offset of500 000 m is to be added to the east/west component of a UTMposition before it is displayed.

False Northing When UTM presentation is selected, you can specify that afixed offset of 10 000 000 m is to be added to the north/southcomponent of a UTM position before it is displayed (10 000 000m is the approximate distance from the Equator to the NorthPole in a UTM grid). This avoids the display of negativecoordinates for positions in the southern hemisphere. FalseNorthing is normally only applicable on the southernhemisphere.

Zone options Automatic zone calculationSelect this box to have the UTM zone calculated automaticallyfrom the geodetic position measurements.ZoneThe required system UTM zone (not available if the UTM zoneis calculated automatically).Zone offsetAllows you to apply a fixed offset to the received longitudedegrees when calculating the UTM zone of a position. You canoffset the system UTM zone up to¦ 3¥.

State Plane Zone


10.6 State Plane ZoneIf US State Plane is selected as the Co-ordinate system in thePosition Presentation dialog box, the State Plane Zone dropdown list allows you to select the relevant state plane zone to beused.

SPCS27 and SPCS83 are defined for NAD27 and NAD83respectively. The proper datum should therefore also be set, i.e.select NAD27 as datum when using SPCS27 and select NAD83when using SPCS83.



10.7 Methods for enabling position-referencesystems

The SDP system provides the following methods for enablingand disabling position-reference systems:• Panel buttons• One of the following, depending on system configuration:- Reference System Settings dialog box- Reference System dialog boxFor information about all the options available from thesedialog boxes, see section 10.9 and 10.10, respectively.

10.8 Panel buttonsThe Sensors button group contains buttons which enable ordisable each of the available position–reference systems. Eachbutton has a status lamp which shows the status of the referencesystem:• OffDisabled

• FlashingEnabled and calibrating, enabled and calibrated but rejectedby the DP, or not providing data.

• OnEnabled and accepted (acceptable position measurements arebeing received)

Reference System Settings dialog box


10.9 Reference System Settings dialog boxOn the Sensors menu, click Reference System Settings.

Position Properties Select the required Datum for position presentation to be usedon this dialog box.Select the format of the position of origin, either Geographic,UTM or US State Plane.

Weight You can change the position-reference systems relative weight.NormalProvides standard relative weight between the enabledposition-reference systems, i.e. all systems with equal estimatedvariance have equal weights.Reduced GPSReduces the influence from the measured GPS positions relativeto measurements from other position-reference systems.Reduced GPS weight is especially important if you have anoscillating GPS system, as often will be the case in equatorialwaters due to ionospheric degradation of GPS. In this way aposition-reference system with slow update rate, such as an LBLsystem, will have greater influence on the model than a GPSsystem with faster update rate.



Example showing typical relative weights when using 2 GPSsand 1 LBL with similar accuracy levels:

GPS-1 GPS-2 HPRNormal 0.33 0.33 0.33Reduced GPS 0.10 0.10 0.80

The relative weights used are shown on the Refsys view (seeFigure 64 on page 18-46).

Acceptance Limits The acceptance limit for the Prediction Test (see page 10-30)and indirectly also the Median Test can be changed.

NarrowNarrow limit. Corresponds to a Minimum Prediction Errorcircle with a small radius. The radius may still increase due toincreased noise in the position-reference system. Narrow isrecommended when operating in calm weather and withrequirements for accurate station-keeping. For exampledrive-off due to thruster errors will be detected at an early stage,resulting in rejection of all position-reference systems and a”Position dropout” alarm. If all available (or the dominating)position reference exhibit an erroneous drift in position, thesystem(s) will also be rejected at an early stage before the vesselis significantly affected by the wrong measurements.

NormalMedium limit. The same Minimum Prediction Error limit as forNarrow is used. There is an additional feedback mechanismwhere the actual deviation from the model is used to increasethe Prediction Error limit up to a maximum of 2 to 3 times thesmallest radius. Normal should be applied in situations wherethere is a chance that the DP model does not follow the actualmovement of the vessel. This is especially relevant whenoperating in rough sea. It is also applicable for a vesseloperating with another vessel alongside. A negative side-effectof this setting is that the DP system will, to a larger extent thanwith the Narrow setting, tend to follow driftingposition-reference systems.

WideWide limit. A Minimum Prediction Error circle with anincreased radius compared to the other two settings is used. Thesame feedback mechanism as for Normal is used, and themaximum value of the Prediction Error is also increased.Wideis suitable, for example, for sailing in Mixed/Joystick mode athigh speed.

Reference System Settings dialog box


Median Test The settings of the Median Test (see page 10-31) can bechanged.

OffTurns off the median testing. This is indicated with the textOFF in theMedian Test field on the Refsys view, and byremoval of the median test limit circle from the plot on theRefsys view.

WarningTurns on the median testing. When selected, a deviationwarning is given if the difference between the position datafrom a specific position-reference system and the median of allonline reference systems exceeds a preset warning limit.

Warning can be preferable compared toWarning and Reject(below) in some instances. For example, when operating withtwo GPSs and one or two HPR systems, and the GPSs havesimilar failures,Warning and Reject could lead to rejection ofthe HPR by the median test.

Warning and RejectTurns on the median testing. When selected, a reject warning isgiven if the difference between the position data from a specificposition-reference system and the median of all online referencesystems exceeds a preset combined warning and reject limit.The position-reference system is rejected.

The median test limit circle is shown on the plot on the Refsysview, together with the limit value in the Median Test field.

Set System Mode Resetand Origin Click this button to reset the System Origin and to deselect all

position sources of the corresponding position-reference system.

IDSelect the position sources to use for the requiredposition-reference systems from the drop-down lists.

System ModeThe Accepted check boxes show which position–referencesystems and/or individual position sources are currently enabledand accepted. TheMonitor/Enable/Disable option buttons areused for selecting position-reference systems and individualposition sources to monitor, enable and disable, respectively.

A reference system enabled for monitoring will not influencethe DP model (zero weight), and it will not be included as anactive reference system for the median test. Apart from this allother reference system checking is active.



System OriginThe operator may choose to fix the reference origin of one ormore reference systems. A reference system with a fixedreference origin will not be calibrated towards the model. Fixedreference origins can be specified by typing in the coordinatesand selecting Fix. This is useful when the reference origin isknown, for example the position of an HPR or LBL transponderrelative to a BOP or an Artemis Fix antenna.MobilePosition sources can be specified to be mobile by selecting thecorresponding check boxes.

Reference System dialog box


10.10 Reference System dialog boxThis dialog box contains the following three tabbed pages:• Enable pageused for selecting position-reference systems to enable andmonitor

• Weight pageused for changing the position-reference systems relativeweight

• Validation pageused for selecting the acceptance limits for the Prediction testand switching the Median Test on/off



Enable pageOn the Sensors menu, click Reference System. The Enablepage of the Reference System dialog box is displayed.

Accepted The check boxes show which position–reference systems arecurrently accepted.

Monitor Check boxes for selecting position-reference systems to monitor.

Enable Check boxes to enable (checked) or disable (unchecked) each ofthe available position–reference systems.


The Monitor and Enable check boxes for eachposition-reference system are mutually exclusive. If theMonitor check box of an enabled position-reference system isselected, this position-reference system is disabled. If theEnable check box of a monitored position-reference system isselected,Monitor is deselected for this position-referencesystem.A reference system enabled for monitoring will not influencethe DP model (zero weight), and it will not be included as anactive reference system for the median test. Apart from this allother reference system checking is active.



Weight page

On the Sensors menu, click Reference System. The ReferenceSystem dialog box is displayed. Click theWeight tab.

Normal Provides standard relative weight between the enabledposition-reference systems, i.e. all systems with equal estimatedvariance have equal weights.

Reduced GPS WeightReduces the influence from the measured GPS positions relativeto measurements from other position-reference systems.Reduced GPS weight is especially important if you have anoscillating GPS system, as often will be the case in equatorialwaters due to ionospheric degradation of GPS. In this way aposition-reference system with slow update rate, such as an LBLsystem, will have greater influence on the model than a GPSsystem with faster update rate.Example showing typical relative weights when using 2 GPSsand 1 LBL with similar accuracy levels:

GPS-1 GPS-2 HPRNormal 0.33 0.33 0.33Reduced GPS Weight 0.10 0.10 0.80The relative weights used are shown on the Refsys view (seeFigure 64 on page 18-46).



Validation pageOn the Sensors menu, click Reference System. The ReferenceSystem dialog box is displayed. Click the Validation tab.

Acceptance Limits The acceptance limit for the Prediction Test (see page 10-30)and indirectly also the Median Test can be changed.NarrowNarrow limit. Corresponds to a Minimum Prediction Errorcircle with a small radius. The radius may still increase due toincreased noise in the position-reference system. Narrow isrecommended when operating in calm weather and withrequirements for accurate station-keeping. For exampledrive-off due to thruster errors will be detected at an early stage,resulting in rejection of all position-reference systems and a”Position dropout” alarm. If all available (or the dominating)position reference exhibit an erroneous drift in position, thesystem(s) will also be rejected at an early stage before the vesselis significantly affected by the wrong measurements.NormalMedium limit. The same Minimum Prediction Error limit as forNarrow is used. There is an additional feedback mechanismwhere the actual deviation from the model is used to increasethe Prediction Error limit up to a maximum of 2 to 3 times thesmallest radius. Normal should be applied in situations wherethere is a chance that the DP model does not follow the actualmovement of the vessel. This is especially relevant whenoperating in rough sea. It is also applicable for a vesseloperating with another vessel alongside. A negative side-effectof this setting is that the DP system will, to a larger extent thanwith the Narrow setting, tend to follow driftingposition-reference systems.



WideWide limit. A Minimum Prediction Error circle with anincreased radius compared to the other two settings is used. Thesame feedback mechanism as for Normal is used, and themaximum value of the Prediction Error is also increased.Wideis suitable, for example, for sailing in Mixed/Joystick mode athigh speed.

Median Test The settings of the Median Test (see page 10-31) can bechanged.OffTurns off the median testing. This is indicated with the text OFFin theMedian Test field on the Refsys view, and by removal ofthe median test limit circle from the plot on the Refsys view.WarningTurns on the median testing. When selected, a deviationwarning is given if the difference between the position datafrom a specific position-reference system and the median of allonline reference systems exceeds a preset warning limit.Warning can be preferable compared toWarning and Reject(below) in some instances. For example, when operating withtwo GPSs and one or two HPR systems, and the GPSs havesimilar failures,Warning and Reject could lead to rejection ofthe HPR by the median test.Warning and RejectTurns on the median testing. When selected, a reject warning isgiven if the difference between the position data from a specificposition-reference system and the median of all online referencesystems exceeds a preset combined warning and reject limit.The position-reference system is rejected.

The median test limit circle is shown on the plot on the Refsysview, together with the limit value in the Median Test field.



10.11 Reference System Properties dialog box

The characteristics of a reference system can only be definedwhen that system is not enabled for use or monitoring. Updateperiod and accuracy can be specified when in operation.

On the Sensors menu, click Reference System Properties. TheReference System Properties dialog box is displayed.

Reference system Select the name of the reference system from the list box. If youhave changed the properties of a reference system, and thenselected another system from the list, a dialog box is displayedasking if you want to save the changes.

Datum For a global reference system, the datum in which the positionmeasurements are received. If this datum is different from theselected system datum (WGS84), conversion to the systemdatum will be performed.

If position information from a global reference system is basedon a predefined datum other than those present in the Datumdrop down list, you can select Local-datum from thisdrop-down list. You must then use the Position Presentationdialog box and Datum Details dialog box (see page 10-4 and10-8, respectively) to define the required transformationparameters.

CG Offset Allows you to specify the offset (Ahead, Stbd and Down) fromthe antenna or sensor head on the vessel to the vessel’s center ofgravity. The received position information is then adjusted forthis offset.

Note Some position reference systems have internal adjustments toCG. For these systems, the received position information shouldnot be adjusted by the SDP system.

Reference System Properties dialog box


Expected values Allows you to specify an Update Period and an Accuracy forthe selected position-reference system. The Update Period ismostly used for HPR systems. To avoid unnecessary time-outwarnings, you can extend the Update Period and thus the timebefore a warning is issued. The Accuracy value is used forcalibration purposes and when testing the accuracy of theposition-reference system. If calibration fails, increase the valueto ease calibration of a position-reference system. Note that thehigher the value entered in the Accuracy text box, the wider thelimits for the tests on position-reference systems.

Details Clicking this button opens up an extension of the ReferenceSystem Properties dialog box (see Quality Filter Actions fieldon page 10-25). This expansion allows you to set up a qualityfilter, defined as a general satellite navigation system filter forboth GPS, GLONASS and GNSS reference systems.The Details button is only present in the Reference SystemProperties dialog box when one of the above satellitenavigation reference systems has been selected in the list box.


The Reference System Properties dialog box can be used todefine the input conversion that is required for eachposition-reference system:• For global reference systems, you must specify the datumthat is used by that system so that the position informationcan be converted to the selected system datum.

• For global reference systems on UTM format (for exampleKonmap and Syledis), you must specify whether the positioninformation is received with false northing and/or falseeasting so that these can be removed. The UTM zone mustalso be specified.

• For all reference systems, you can specify the offset from theantenna or sensor head on the vessel to the vessel’s center ofgravity, so that the position information can be adjusted forthis offset.



UTM PropertiesCertain position-reference systems provide a UTM positionwithout the required format information which must then beentered by the operator.All UTM positions are assumed to be in the format (zone, falseeasting and false northing) specified by the operator.If a global position-reference system on UTM format (forexample KonMap) is selected in the Reference systemdrop-down list, the Details button is replaced with the UTMProperties group box.

UTM Properties ZoneType in a number, or click the up- or down arrow to enter thecorrect UTM zone.False EastingSelect this check box if the position-reference system providesposition measurements which include false easting.False NorthingSelect this check box if the position-reference system providesposition measurements which include false northing.

Reference System Properties dialog box


Quality Filter ActionsWith a satellite navigation system selected, and the Detailsbutton clicked to show the quality filter, a number of filterparameters can be specified specifically for the selected system.For each filter parameter, a Filter Action, which can be eitherNone,Warning (data used, warning given) or Alarm (datarejected, alarm given), can be specified.

No differential Allows you to select a filter action if no differential data iscorrection available/received. This is considered to be an important

parameter, and a warning or an alarm must always be given. It istherefore not possible to select None as an action.

Min number of Allows you to type in the minimum number of satellites in thesatellites (≥3) corresponding text box and to select filter action. The number of

satellites you enter must be larger than or equal to thepreconfigured number displayed on the dialog box (3 in theexample shown).

Max. HDOP Allows you to type in a maximum value for the HDOP(1.0-10.0) (Horizontal Dilution Of Precision) in the text box and to select

filter action. The HDOP is a figure of merit for the quality ofthe derived position and clock bias estimates. This figure isbased on the geometry of the satellite constellation. The morespread out the satellite positions are, the lower the HDOPbecomes. Low figures result in low position and clock biaserrors.

Time freeze detection Allows you to select a filter action for the UTC (Universal TimeCoordinated, i.e. common standard time) freeze detect function.This quality filter function only applies when receivingtelegrams containing clock data.



10.12Coordinate systems

Global and local position-referencesystemsPosition information from position-reference systems may bereceived by the SDP system in many different forms:• Global position-reference systems such as GPS provideposition information as Latitude and Longitude in a geodeticcoordinate system. The applicable datum must be known (forexample: WGS84, ED87).

• Some global position-reference systems provide positions inthe UTM projection (a flat surface projection, defined by aUTM zone and north and east distances from the 0-point ofthis zone - see page 10-10). The applicable datum must beknown (for example: WGS84, ED87).

• Local position-reference systems such as HPR providepositions in local Cartesian coordinates (defined bytwo-dimensional measurement of the north/south (X) andeast/west (Y) distances from a locally defined referenceorigin, such as the position of a transponder).

Whatever types of position-reference systems are enabled, allposition input is converted into a geographic system usingWGS84 as a “system datum”.

System datumThe controller always uses an internal geographic coordinatesystem, with a specified system datum, WGS84.• All position information from global reference systems whichuse a different datum are converted internally to WGS 84.(To select the datum to be used for display of positioninformation, see Position presentation dialog on page 10-4.)

• Position information in UTM format is converted togeographic coordinates.

The reference originEach position–reference system provides position measurementsrelative to a known reference point specific for that referencesystem.The reference point of the first position–reference systemselected and accepted for use with the system, becomes thereference origin (the origin in the internal coordinate system).Position information from any other reference systems is thencalibrated according to this coordinate system.

Coordinate systems


This coordinate system remains as the reference origin until allposition–reference systems are de-selected and a newposition–reference system is selected as the reference origin.Selecting a particular position–reference system as the referenceorigin does not mean that the SDP system treats it as beingbetter or more reliable than any other position–reference system.It concerns only the location of the reference origin.The reference origin selected should be the one most appropriateto your operational requirements.The position of the reference origin is indicated on the Posplotview (if within the range of the view). The reference systemdefining the reference origin is marked with an asterisk on theRefsys view.

Note Recalibrating the origin reference system will give newcoordinates for the reference origin system (can vary from zero)unless the reference system/transponder is set to be fixed (seepage 10-16).



10.13Tests on position measurements

The SDP system performs a series of tests on eachposition–reference system to check that their positionmeasurements are accurate enough for use. The following onlinetests are performed:

• A freeze test rejects repeated measurements. If the variationin the measured position is less than a system set limit over agiven period of time, the position-reference system isrejected.

• A prediction test detects sudden jumps or large systematicaldeviations in the measured position. The limit for theprediction test is a function of the estimated position in theVessel Model and the actual measurement accuracy.

• A variance test monitors the measurement variance andcompares the variance value with a calculated limit.

• A divergence test gives a warning of systematical deviationsand/or slow-drift (before the system is rejected by theprediction test).

• A median test detects position measurements that differ fromthe median position value with more than a predefined limit.The test is mainly designed to detect slowly driftingposition-reference systems.

If the results of the prediction, median and variance tests suggestthat the position measurements from a particular referencesystem are not accurate, then that system’s measurements arenot used.

The characteristics of the active position–reference systems areshown on the Refsys view (see page 18-46).

Standard deviation of positionmeasurements

For all position-reference systems, circles are placed around arepresentative sample of position measurements. The size of thecircles relates to the spread, in metres, of the samples of positionmeasurements. The radii of the circles correspond to thestandard deviation of the measurements of eachposition-reference system. The standard deviations are alsotrended on the Refsys view (see page 18-46).

Tests on position measurements


Freeze testIf a position-reference system has an internal error causing thesame measurements to be continuously sent to the Vessel Model,the SDP system could, if no precautions were taken, mistake thedata for good and stable measurements.The freeze test rejects repeated measurements. The SDP systemtreats repeated reports of the same position from oneposition-reference system with caution. The position-referencesystem is monitored and its input rejected if the variation in itsposition measurements is less than a predefined limit over agiven time period. The following alarm message is displayed inthe Event List window:

Reference position frozenYou should disable the frozen position-reference system.

Note By configuration, the freeze test is disabled for someposition-reference systems (usually GPS and/or Artemis) due tothe resolution in the data from these position-reference systems.

Variance, weight and the Variance testThe SDP system calculates a variance for each of theposition-reference systems in use.The system assigns different weightings to eachposition-reference system, based on its calculated variance. Inthis way, the system is able to place more emphasis on theposition-reference systems that are providing the bestmeasurements. The higher the system’s variance, the lower itsweighting factor.The following Warning Message is displayed in the Event Listwindow if the variance of a position-reference system exceeds asystem-set limit:

Reference high noiseThe position-reference system is not rejected in this event, butthe SDP system places little emphasis on the position-referencesystem in question.The variance test detects if the variance in the measured valuesexceeds the reject limit. The variance reject limit is based on theexpected variance of the position-reference system. Thefollowing Warning Message is displayed in the Event Listwindow when a position-reference system is rejected due to toohigh variance:

Reference high variance



You should disable the position-reference system if the event ofhigh variance is recurring. No corrective actions are necessary ifthe problem is intermittent only.

Prediction testThe prediction test detects sudden jumps in the measuredposition, and immediately rejects those that lie outside thelimits, see Figure 30. The test will also reject data that driftaway from the Vessel Model’s predictions. The limit for thePrediction test is a function of the actual measurement accuracy(calculated variance).POSITION N/E

TIME

Rejected measurement

Rejection limit

Model prediction

Measurement

Rejection limit

Figure 30 Prediction test

If the Prediction test limits are exceeded, the following WarningMessage is displayed in the Event List window:

Reference Prediction ErrorWhen this Warning Message is displayed, you should verify thatthe correct position-reference system is rejected. You can thendisable the position-reference system that causes the predictionerror.The prediction error limit of the most accurateposition-reference system at any time, called the MinimumPrediction Error Limit, is displayed on the Refsys view.Irrespective of the accuracy of a position-reference system, theprediction error limit is usually not set to less than 4 m. This isdone to avoid rejecting accurate position-reference systems.

Divergence testWhen two or more position-reference systems are in use, thisslow drift test detects when measurements from oneposition-reference system differ from the other(s). The limit istaken as 70 % of the prediction error limit.



The purpose of the test is to give an early indication ofsystematic errors before the position-reference system isrejected by the prediction test. This test only warns the operator,and does not automatically reject data. The following WarningMessage is displayed in the Event List window:

Reference high offsetWhen this Warning Message is displayed, you should examinewhich position-reference system is drifting using the Refsysview (see page 18-46). Recalibrate or disable theposition-reference system that causes the high offset warning.

Median testThe median test can be performed when three or moreposition-reference systems are in use. The median position iscomputed from the filtered measurements that are independentof the Vessel Model.The Median test is primarily intended to reject slowly driftingposition-reference systems. Unlike the prediction test, themedian test is independent of the SDP model. This implies that aposition-reference system can be rejected even though itsmeasurements do not deviate from the Vessel Model, as can bethe case with slowly drifting position-reference systems.

POSITIONNORTH

NorthMedianline

Measurementfrom system B

Measurementfrom system C

Measurementfrom system A

Reject limitaround totalmedian line

East Median line

POSITIONEAST

Figure 31 Median test

When the Median test is active, a blue circle with radius equal tothe Median Test Limit and with center at the median value of allpositions given by the position-reference systems, is displayedon the Refsys view. The Median Test Limit is taken as 80 % ofthe Minimum Prediction Error Limit.



The operator may choose to reject an inaccurateposition-reference system, or to only have a warning displayed.The following Warning Message is displayed in the Event Listwindow when a position-reference system is rejected:

Reference median rejectedWhen this Warning Message is displayed, you should verify thatthe correct position-reference system is rejected. Theposition-reference system that is verified to be in error must bedisabled. If the reference system is not disabled, this may lead torejection of a potentially more accurate reference system by thePrediction test.If measurements from more than one position-reference systemare outside the Median Test Limit, only the system with thelongest distance to the Median position is rejected. This systemwill take part in the Median testing in the next sample (unless itis disabled by the operator).In a situation with several drifting position-reference systems,disabling of a reference system may lead to a sudden change inthe Median position, as illustrated in Figure 32.



Position-reference systems A and D are both outside theMedian test limit. A is rejected.

A has been disabled by the operator and therefore not takepart in testing. This causes the Median position to change.Position-reference system B is now outside the Median test limit.B is rejected.

does

(Cd2999)

Figure 32 Disabling of a drifting position-reference systemcauses the Median position to change.



10.14 Enabling the first position-reference systemBefore enabling the first position-reference system, ensure thatthe vessel speed is as low as possible.If the system has been in Joystick mode for more than a fewminutes without an enabled position-reference system, first goto Standby mode and then back to Joystick mode to reset theVessel Model.1 Ensure that the required gyrocompasses are enabled.2 Ensure that the required position-reference system is

active and available.3 Enable the position–reference system.

- An initial calibration of the position–reference systemis performed.

- The button status lamp for the selectedposition-reference system will flash during thecalibration process.

4 Check that the status lamp of the selectedposition-reference system button becomes steadily lit toindicate that acceptable position measurements are beingreceived.

5 Check that the following information message is displayedin the Event List window:

Reference origin <system><vessel pos. north><vessel pos. east>

- The origin of this position-reference system is nowused as the reference origin.

6 Allow the Vessel Model to stabilise before enabling anyadditional position-reference systems.

Enabling other position-reference systems


10.15 Enabling other position-reference systemsThe other position-reference systems that are enabled can be ina monitoring state. This is indicated on the Refsys view, hereyou will see the status for these systems asMon Online in theRefsys view. To change the status from monitoring to enabledfor other reference systems:1 Enable the other position-reference systems by clicking on

the Enable check-box for the system you want to use.- The position measurements from the selectedposition–reference systems are calibrated against thereference origin.

- The button status lamps for the selectedposition-reference systems will flash during thecalibration process (up to 20 seconds).

2 Check that the status lamps of the selectedposition-reference systems become steadily lit, or that thestatus shows Online in the Refsys view, indicating thatacceptable position measurements are being received andthat the calibration process was successful. The followinginformation message should be displayed in the Event Listwindow for each system:Calibration OK <system> <TP coord N> <TP coord E>

3 If the variation in the position measurements from aselected position-reference system is too high during thecalibration process, the status lamp will continue flashingand the following Warning Message will be displayed inthe Event List window:

Calibration error <system> <limit> <variance>- This may be due to an error in the position-referencesystem or higher noise than the value specified asexpected Accuracy on the Reference System Settingsdialog box. See page 10-22 for how to change thevalue. The system will continue trying to calibrate thesystem until it is disabled.

Continuous measurements of the vessel’s position are essentialfor dynamic positioning. Several different position-referencesystems are normally used.



10.16 Changing the reference originEach position-reference system provides position measurementsrelative to a known reference point specific for that referencesystem.The reference point of the first position-reference systemselected and accepted for use with the system, becomes thereference origin (the origin in the internal coordinate system).Position information from any other reference systems is thencalibrated according to this coordinate system.The reference origin selected should be the one most appropriateto your operational requirements.

To change the reference origin:1 Disable all position-reference systems.

2 Wait until the status message Offline (in red) is shown inthe Refsys view for all disabled position-referencesystems.

3 Enable the position-reference system that is to provide thereference origin.

4 Allow the Vessel Model to stabilise.

5 Enable additional position-reference systems if required.

10.17 Position dropoutIf the vessel position is under automatic control and allposition-reference input is lost or rejected, the following alarmmessage is displayed:

No reference system acceptedAfter 20 seconds without reference input, the following alarm isgiven:

Position dropoutThis means that the system is currently using only the estimatedposition from the Vessel Model, and that this position has not beenupdated with measured positions for at least 20 seconds (“deadreckoning” mode).When this message is generated, the setpoint is set automaticallyto the current estimated vessel position.

The status lamps of all previously enabled position-referencesystems, or the common REF. SYST. panel button will be flashing asthe system tries to recalibrate.

Position dropout


You can remain in Position dropout, but the following points mustbe noted:• The displayed vessel position is the estimated position from theVesselModel. After a fewminutes, the vessel may begin to pickup speed in one direction, without this being reflected on thedisplay.

• A calibration of the lost position-reference systems may occurat any time. This will have no immediate effect, but if thecalibrated system is unreliable or drifting, the vessel may beginto move. In this event, you must examine the Posplot view forany jumps in the displayed vessel position.

The recommended action in Position dropout (if operationalcircumstances allow) is:1 Return the system to joystick control in all axes and use

the joystick to manoeuvre the vessel.2 When at least one reliable position-reference system is

successfully calibrated, return to the required operationalmode.


11MAIN MODES AND OPERATINGPROCEDURES

This Chapter describes the main DP operational modes andoperating procedures.11.1 Standby mode11.2 Joystick mode

Joystick mode with automatic heading controlJoystick mode with automatic position controlJoystick mode with automatic stabilisation

11.3 Auto Position mode

Main modes and operating procedures


11.1 Standby modeThe Standby mode is a waiting and reset mode in which thesystem is in a high state of readiness, but in which no vesselcontrol commands can be made.The Standby mode is the default mode when the system is firstswitched on. In this mode you can prepare the system foroperation.From this mode, you can take the system to Joystick mode(page 11-3) or start the built-in trainer (page 5-2) or simulator(refer to separate Simulator operator manual).

Note When in Standby mode, ignore any displayed positioninformation.

In this mode you may also:• Calibrate the joystick (see page 3-2).• Enable the required gyrocompasses (see page 9-2).• Enable the required wind sensors (see page 9-8).• Enable the required VRSs (see page 9-14).• Enable the required speed sensors (see page 9-16).• Enable the required draught sensors (see page 9-19).• Enable the required thrusters, propellers and rudders (seepage 14-2).

Returning to Standby mode/manual leversTo return to Standby mode from any other mode:1 Press the STANDBY button twice.

- The status lamp becomes lit.2 Disable all position-reference systems.3 Disable all thrusters, propellers and rudders.4 If you are to use manual levers, switch from SDP thruster

control to manual thruster control (usually a switch or abutton located on the main thruster control panel).- The SDP system provides “Thruster not ready” alarms.

Note When switching to manual thruster control, thrusters, propellersand rudders are no longer READY for SDP control (i.e. theylose their READY status).

Joystick mode


11.2 Joystick modeIn Joystick mode, the operator controls the movement of thevessel using the three-axis joystick.The following applies if the operator is facing forwards or aftwhen looking at the display screen:

- Moving the joystick forward/back controls the vessel inthe surge axis.

- Moving the joystick left/right controls the vessel in thesway axis.

- Rotating the joystick rotates the vessel (the yaw axis).The following applies if the operator is facing to port orstarboard when looking at the display screen:

- Moving the joystick forward/back controls the vessel inthe sway axis.

- Moving the joystick left/right controls the vessel in thesurge axis.

- Rotating the joystick commands the vessel to rotate the(the yaw axis).

Refer also to the following sections:• Joystick settings (see page 3-4)• Thruster Allocation dialog (see page 14-6)• Rotation center for joystick manoeuvring (see page 3-7)



From Standby mode to Joystick mode

Note Before using the joystick, it must be correctly calibrated. Seepage 3-2.

To take the system from Standby mode to Joystick mode:1 Ensure that the joystick is in the zero position in all three

axes, and that it is functioning correctly (see page 18-18).2 Ensure that the required gyrocompasses are enabled (see

page 9-2). See also Position and heading information onpage 11-5.

3 Ensure that the required wind sensors are enabled (seepage 9-8).

4 Ensure that the required VRSs are enabled (seepage 9-14).

5 Ensure that the required draught sensors are enabled (seepage 9-19).

6 Ensure that the required thrusters, propellers and ruddersare enabled (see page 14-2).

7 If the vessel has a switch or button to select betweenmanual and SDP thruster control (usually located on themain thruster control panel), set this switch/button to SDP.

8 Press the JOYSTICK button twice.- The status lamp becomes lit.

9 Enable the required position-reference systems (seepage 10-12). See also Position and heading informationon page 11-5.

Joystick mode


Joystick control of position and headingTo move the vessel along the surge and sway axes (alongshipsand athwartships directions), tilt the joystick. The direction inwhich the joystick is tilted determines the direction of appliedthruster force, and the angle of tilt determines the amount ofapplied thruster force.To turn the vessel (the yaw axis), rotate the joystick. Thedirection in which the joystick is rotated determines thedirection of the turning force demand, and the angle throughwhich the joystick is rotated determines the amount of appliedturning moment.The Joystick view (see page 18-14) provides useful informationin the Joystick mode.

Position and heading informationIt is not essential to enable either position-reference systems orgyrocompasses when operating in Joystick mode. However, theestimated position, heading and speed provided by the VesselModel are meaningless if they have not been adjusted accordingto measured information.

Note If you do not enable any position-reference systems orgyrocompasses, you must ignore any displayed position, headingor speed information.

Joystick electrical failureElectrical failures affecting the joystick, such as an open loop ora short circuit, are detected by the system. If the voltage read bythe panel controller is outside predefined limits, the joystickvalue for the actual axis is set to zero (it is no longer possible tocontrol the vessel in this axis using the joystick), and an alarmmessage is reported:Joystick electrical failure <surge/sway/yaw>



Mixed joystick/auto modesWhile remaining in Joystick mode, and provided the requiredgyrocompasses and/or position-reference systems are enabled,you can select either one or two of the surge, sway and yaw axesfor automatic control:• Select YAW for automatic heading control with joystickcontrol of the surge and sway axes (see page 11-6).

• Select SURGE and SWAY for automatic position control withjoystick heading control (see page 11-7).

• Select YAW and SURGE for automatic heading control,automatic stabilisation in the surge axis, and joystick controlof the sway axis (see page 11-8).

• Select YAW and SWAY for automatic heading control,automatic stabilisation in the sway axis, and joystick controlof the surge axis (see page 11-8).

If you select all three axes for automatic control, the systemautomatically enters the Auto Position mode (see page 11-10).

Joystick mode with automatic headingcontrolIn Joystick mode, and with an active gyrocompass, you canselect automatic heading control.The current vessel heading becomes the heading setpoint.Thruster control to maintain this heading is providedautomatically by the SDP system.Refer also to the following sections:

• Controller Mode and Gain Level selection (see page 2-16)• Changing the heading setpoint (see page 13-1)

• Alarm Limits dialog box - Position page (heading limit) (seepage 2-14)

• Heading dialog box - Rate Of Turn page (see page 13-7)

Joystick mode


Selecting automatic heading control

To select automatic heading control while in Joystick mode:

1 Check that none of the status lamps for the SURGE, SWAYor YAW buttons are lit.

2 Ensure that the required gyrocompasses are enabled (seepage 9-2).

3 Press the YAW button twice.- The YAW status lamp becomes lit.- The current vessel heading becomes the headingsetpoint, and the system automatically maintains thisheading.

- The deviation between the estimated heading and theheading setpoint is shown on the Deviation view (seepage 18-2) and the General view (see page 18-11).

Returning to joystick heading control

To return to joystick heading control:

1 Press the YAW button twice.- The YAW status lamp becomes unlit.

2 Control the vessel’s heading manually using the joystick.

Joystick mode with automatic positioncontrol in both surge and sway

In Joystick mode, with an active gyrocompass and with anactive position–reference system, you can select automaticposition control in both the surge and sway axes. (Selection ofonly one of the surge and sway axes for automatic control isnormally combined with automatic heading (yaw) control, andis described under Joystick mode with automatic stabilisation.)

Unless there is a specific operational requirement for joystickyaw control, it is better to use the full Auto Position mode whenchanging position in order to allow the system to maintain aconstant heading during the manoeuvre.

Refer also to the following sections:

• Controller Mode and Gain Level Selection (see page 2-16)

• Changing the position setpoint (see page 12-1)

• Alarm Limits dialog box - Position page (position limit) (seepage 2-13)



Selecting automatic position control

To select automatic position control while in Joystick mode:

1 Check that none of the status lamps for the SURGE, SWAYor YAW buttons are lit.

2 Ensure that the required gyrocompasses are enabled (seepage 9-2).

3 Ensure that at least one position–reference system is activeand enabled (see page 10-12).

4 Press the SURGE and SWAY buttons twice.- The SURGE and SWAY status lamps become lit.- The current vessel position becomes the positionsetpoint, and the system automatically keeps the vesselat this position.

- The deviation between the estimated position and theposition setpoint is shown on the Deviation view (seepage 18-2) and the General view (see page 18-11).

Returning to joystick position control

To return to joystick position control:

1 Press the SURGE and SWAY buttons twice.- The SURGE and SWAY status lamps become unlit.

2 Control the vessel’s position manually using the joystick.

Joystick mode with automatic stabilisation

In Joystick mode, with an active gyrocompass and with anactive position–reference system, you can select automaticstabilisation. This means:

• either that the yaw and surge axes are under automaticcontrol while the sway axis remains under joystick control

• or that the yaw and sway axes are under automatic controlwhile the surge axis remains under joystick control.

Refer also to the following sections:

• Controller Mode and Gain Level Selection (see page 2-16)

• Changing the heading setpoint (see page 13-1)

• Alarm Limits dialog box - Position page (heading andposition limits) (see page 2-13)

• Speed Setpoint dialog box (see page 12-10)

• Heading dialog box - Rate Of Turn page (see page 13-7)

Joystick mode


Selecting automatic stabilisation

To select automatic stabilisation while in Joystick mode:1 Check that none of the status lamps for the SURGE, SWAY

or YAW buttons are lit.2 Ensure that the required gyrocompasses are enabled (see

page 9-2).3 Ensure that at least one position–reference system is active

and enabled (page 10-12).4 Press the YAW button twice.

- The YAW status lamp becomes lit.- The current vessel heading becomes the headingsetpoint and the system automatically keeps the vesselon this heading.

5 Press either SURGE or SWAY twice.- The appropriate status lamp becomes lit.- The current vessel position in the selected axis becomesthe position setpoint in that axis and the systemautomatically keeps the vessel at this position.

6 Control the vessel movement in the unselected axismanually using the joystick.

Returning to joystick control

To return to joystick control in all axes:1 Press the YAW button twice.

- The YAW status lamp becomes unlit.2 Press either SURGE or SWAY twice (whichever is lit).

- The status lamp becomes unlit.3 Control the vessel’s heading and position manually using

the joystick.



11.3 Auto Position modeIn Auto Position mode, the system automatically maintains theheading and position of the vessel. This mode requires at leastone active gyrocompass and at least one active position-referencesystem. The actual number of active sensors required depends onthe DP Class requirements for the operation to be performed.Refer also to the following sections:• Controller Mode and Gain Level Selection (see page 2-16)• Thruster Allocation dialog box (see page 14-6)• Changing the position setpoint (see page 12-1)• Changing the heading setpoint (see page 13-1)• Alarm Limits dialog box (position and heading) (seepage 2-13)

• Rotation center for automatic control (see page 2-24)• Quick model update (see page 2-22)• DP online consequence analysis (see page 6-1)

From Joystick mode to Auto Position modeTo take the system from Joystick mode to Auto Position mode:1 Ensure that at least one gyrocompass is active and enabled

(see page 9-2).2 Ensure that at least one position-reference system is active

and enabled (see page 10-12).3 Ensure that either High Precision or Relaxed (if

configured) is set as the selected Controller Mode in theGain dialog box.

4 Hold the vessel as stationary as possible using the joystick.5 Press the AUTO POSITION button twice.

- The status lamps for the AUTO POSITION, SURGE, SWAYand YAW buttons become lit.

- The setpoints for heading and position are set to thepresent estimated vessel heading and position.

- The deviation between the estimated heading andposition and the corresponding setpoint are shown onthe Deviation view (see page 18-2) and the Generalview (see page 18-11).

Alternatively, the system can be taken from Joystick mode viaJoystick mode with automatic heading control (see page 11-6)before entering Auto Position mode.

Auto Position mode


If Green controller mode is desired, continue as follows:6 Allow the vessel to stabilise in Auto Position mode for

about 15 minutes to attain optimal performance in theGreen controller mode.

7 Select Green controller mode with the required area set inthe Gain dialog box (see page 2-16) and apply.- The defined area is displayed on the Posplot view. Theinner and outer areas are indicated with dashed circleswith green shading on the inner area.

- The background of Auto Position in the status bar isshaded green.

- The Gain symbol in the status bar is changed to a greenshaded box indicating that Green controller mode isactive.

Note No change in position or heading should be attempted duringthe first five minutes after entering the Auto Position mode inorder to allow the Vessel Model to stabilise. For critical DPoperations or during difficult weather/current conditions, thisinitial time period should be extended to at least 15 minutes.


12 CHANGING THE POSITION SETPOINTThis chapter contains the following sections:12.1 Stopping a change of position12.2 Marking a new position setpoint on the Posplot view12.3 Position R/B dialog box (range/bearing)12.4 Position Inc dialog box (incremental)12.5 Position dialog box12.6 Speed Setpoint dialog box12.7 Acceleration/Retardation Settings dialog box

Changing the position setpoint


12.1 Stopping a change of positionTo set the vessel’s present position as the position setpoint, pressthe PRESENT POSITION button twice. This will interrupt arequested change of position.

Marking a new position setpoint on the Posplot view


12.2 Marking a new position setpoint on thePosplot view

With the Posplot view displayed, you can change the positionsetpoint using the trackball.1 Click on the position setpoint symbol in the Posplot view:

- The Position dialog box is displayed.

Figure 33 Changing the position setpoint

2 Move the setpoint symbol with the trackball.- The setpoint symbol moves on the display and theposition coordinates are updated dynamically on thePosition dialog box.

3 Click again to fix the setpoint symbol at the requiredposition.- A temporary position setpoint symbol is displayed atthe new position and the coordinates, distance and bothtrue and relative direction from the present positionsetpoint are displayed on the Position dialog box.

4 Either click OK to accept the new position setpoint, orclick Cancel to continue with the existing setpoint.



12.3 Position R/B dialog box (range/bearing)This dialog box is useful in operations that require frequentchanges of position setpoint.On the AutoPos menu, select Position R/B. The Position R/Bdialog box is displayed.

Range Enter the range from the Present Setpoint to the New Setpoint inthis text box.

True Bearing Enter the true bearing from the Present Setpoint to theNew Setpoint in this text box.A temporary setpoint symbol is displayed on the Posplot viewshowing the position of the New Setpoint relative to the PresentSetpoint.

12.4 Position Inc dialog box (incremental)This dialog box is useful in operations that require frequentchanges of position setpoint.On the AutoPos menu, select Position Inc. The Position Incdialog box is displayed.

You can enter an increment by typing a value into the incrementspin box. You can adjust the size of the increment by clicking onthe up or down arrows next to the increment spin box.To add the selected increment in a particular direction to theNew Setpoint coordinates, click Forw/Aft/Port/Stbd asappropriate. Each time you click one of these, the New Setpointcoordinates are adjusted and the temporary setpoint symbol onthe Posplot view is moved accordingly.

Range Shows the range from the Present Setpoint position to the NewSetpoint position.

True Bearing Shows the true bearing from the Present Setpoint position to theNew Setpoint position.

Position dialog box


12.5 Position dialog boxThe Position dialog box provides three ways of specifying therequired position setpoint:• Inc (Incremental) for defining the setpoint relative to theexisting setpoint

• R/B for defining the setpoint using range and bearing• Absolute for defining the setpoint using absolute coordinatesEither click Position on the AutoPos menu, or press theCHANGE POSITION button. The Position dialog box is displayed.You can also specify the Speed at which the vessel should try tomove during a change of position.



Inc page

To define the position setpoint relative to the existing setpoint,click the Inc tab of the Position dialog box.

New Setpoint Shows the coordinates that will be used for the new positionsetpoint when you click OK or Apply.

A temporary setpoint symbol is displayed on the Posplot viewshowing the position of the New Setpoint relative to thePresent Setpoint.

RelativeThis applies increments Ahead/Astern/Port/Starboard.

TrueThis applies increments North/South/East/West.

From Shows the Range and True Bearing from the Present SetpointPresent Setpoint position to the New Setpoint position.to New Setpoint


You can select either Relative or True increments. Anincrement can be entered by typing a value into the incrementspin box. The size of the increment can be adjusted by clickingon the up or down arrows next to the increment spin box.

To add the selected increment in a particular direction to theNew Setpoint coordinates, click Ahead/Astern/Port/Stbd orNorth/South/West/East as appropriate. Each time you clickone of these, the New Setpoint coordinates are adjusted and thetemporary setpoint symbol on the Posplot view is movedaccordingly.

Position dialog box


R/B pageTo define the position setpoint using range/bearing, click theR/B tab on the Position dialog box. The R/B page is displayed.

New Setpoint Shows the coordinates that will be used for the new positionsetpoint when you click OK or Apply.A temporary setpoint symbol is displayed on the Posplot viewshowing the position of the New Setpoint relative to thePresent Setpoint.To define a new position setpoint, enter the range and bearing inthe Range and Bearing text boxes.

Start position Choose whether the new position setpoint is to be calculatedrelative to the Present Setpoint or the Present Position byclicking the matching radio buttons.

Bearing Select either True or Relative bearing by clicking the matchingradio button.




Abs pageTo define the position setpoint using absolute coordinates, clickthe Abs tab of the Position dialog box.

New Setpoint Shows the coordinates that will be used for the new positionsetpoint when you click OK or Apply. You can enter NewSetpoint coordinates by typing the required coordinates directlyinto the New Setpoint boxes.A temporary setpoint symbol is displayed on the Posplot viewshowing the position of the New Setpoint relative to thePresent Setpoint.

Previous Setpoint Shows the coordinates of the previous position setpoint.Clicking the Use button writes these coordinates into the NewSetpoint boxes. This feature can be used to return the vessel toa previous position.


Position dialog box


Speed pageYou can specify the speed at which the vessel should try tomove during a change of position.Click the Speed tab in the Position dialog box.

New Setpoint Either enter the required value in the New Setpoint box, or usethe up and down arrows to adjust the setpoint by the selectedincrement or decrement (Increase/Decrease speed step).

Note If the vessel speed setpoint is set to 0.0, the vessel will notchange position.

If the vessel speed setpoint is set to 0.0 and the vessel’s rotationcenter has been set to a position other than CG, it will not bepossible to perform a change of heading. This is because aheading change with a rotation center other than CG implies achange of position which requires a speed setpoint that is notzero.


The speed setpoint applies only when the surge and sway axesare under automatic control.As the vessel approaches the position setpoint, the speedsetpoint is reduced to zero.



12.6 Speed Setpoint dialog boxThis dialog box is useful in operations that require frequentchanges of speed setpoint.To specify the speed at which the vessel should try to moveduring a change of position, click Speed on the AutoPos menu.The Speed Setpoint dialog box is displayed.

Either enter the required value in the Speed Setpoint box, oruse the up and down arrows to adjust the setpoint by theselected increment or decrement (Increase/Decrease speedstep).

Note If the vessel speed setpoint is set to 0.0, the vessel will notchange position.

Note If the vessel speed setpoint is set to 0.0 and the vessel’s rotationcenter has been set to a position other than CG, it will not bepossible to perform a change of heading.

This is because a heading change with a rotation center otherthan CG implies a change of position which requires a speedsetpoint that is not zero.

Additional informationThis speed applies only when the surge and sway axes are underautomatic control.As the vessel approaches the position setpoint, the speedsetpoint is reduced to zero.

Acceleration/Retardation Settings dialog box


12.7 Acceleration/Retardation Settings dialog box

Acceleration and retardation factors in the surge, sway and yawaxes can be specified for Low Speed operation, and foroperation in Relaxed Controller Mode. (In Auto Position modewith High Precision Controller Mode selected, the Low SpeedAcceleration/Retardation factors apply.) Acceleration andretardation factors in the yaw axis can be specified for HighSpeed operation.

Using the Acceleration/Retardation Settings dialog box youcan:

• Specify the acceleration and retardation factors for the vesselspeed in surge and sway axes at start and finish of acommanded change of position

• Specify the acceleration and retardation factors for thevessel’s Rate Of Turn at start and finish of a commandedrotation

On the Joystick or AutoPos menu, click Acceleration. Clickthe required tab; Low Speed, Relaxed Control or High Speed.

Controller Reference The acceleration and retardation factors (Surge, Sway and Yaw)can be set in the range 0.0 to 100%, and represent percentage ofmaximum available acceleration/retardation. The selections onthe Low Speed and Relaxed Control pages are identical. Onthe High Speed page only acceleration/retardation factors in theYaw axis can be specified.

Acceleration FactorAs the vessel starts a change of position, the vessel speed isincreased to the speed setpoint using the selected accelerationfactors in the surge and sway axes.

As the vessel starts a change of heading, the Rate Of Turn isincreased to the Rate Of Turn setpoint using the selectedacceleration factor in the yaw axis.



Retardation FactorAs the vessel approaches the new position setpoint, the vesselspeed is decreased to zero using the selected retardation factor inthe surge and sway axes.As the vessel approaches the new heading setpoint, the Rate OfTurn is decreased to zero using the selected retardation factor inthe yaw axis.The selections available on the Low Speed and RelaxedControl tabbed pages are identical.

Low Speed These are the acceleration/retardation factors that are used whenneither Relaxed Control nor High Speed apply.

Relaxed Control These are the acceleration/retardation factors that are used whenRelaxed Controller mode (see page 2-16) is selected.

High Speed These are the acceleration/retardation factors that are used inAuto Track (high speed) and Autopilot modes (refer to separateoperator manuals).


13 CHANGING THE HEADING SETPOINTThis chapter contains the following sections:13.1 Stopping a change of heading13.2 Marking a new heading setpoint on the Posplot view13.3 Heading Wheel and its associated panel buttons13.4 Heading dialog13.5 Acceleration/retardation factors in the yaw axis

Note It is not possible to perform a change of heading, even thoughyou have entered a new heading setpoint, when the Rate Of Turnsetpoint is zero. Nor is it possible to perform a change ofheading when the vessel’s rotation center is set to a positionother than CG and the position speed setpoint is zero.

Note The different methods for changing the heading setpoint cannotbe used at the same time. When the Heading dialog box is open,you cannot mark a new setpoint on the Posplot view.

Changing the heading setpoint


13.1 Stopping a change of headingTo set the vessel’s present heading as the heading setpoint, pressthe PRESENT HEADING button twice. This will interrupt arequested change of heading, and if the heading Strategy isSystem Selected, it will be changed to Operator Selected.

Marking a new heading setpoint on the Posplot view


13.2 Marking a new heading setpoint on thePosplot view

With the Posplot view displayed in the working area, you canchange the heading setpoint using the trackball.1 Click on the heading setpoint symbol (the blue triangle at

the edge of the Posplot view).- The Heading dialog box is displayed (see Figure 34).

Figure 34 Changing the heading setpoint

2 Move the setpoint symbol with the trackball.- The setpoint symbol moves along the edge of thePosplot view and the corresponding heading is updateddynamically on the Heading dialog box.

3 Click again to fix the setpoint symbol at the requiredheading.- A temporary heading setpoint symbol is displayed.- The New Setpoint and the difference from the PresentSetpoint are displayed on the Heading dialog box.

4 Either click OK to accept the new heading setpoint, orclick Cancel to continue with the existing setpoint.



13.3 Heading Wheel and its associated panelbuttons

You can change the heading setpoint using the Heading Wheeland its three associated buttons (from left to right), DECREASE,ACTIVATE and INCREASE (see page 1-6). To activate the HeadingWheel, one of its three associated buttons must be pressed.To change heading setpoint:1 Press the DECREASE, ACTIVATE or INCREASE button once.

- The Heading Setpoint dialog box is displayed.

2 With the Heading Setpoint dialog box displayed, rotatethe Heading Wheel clockwise or counter-clockwise toincrease (to starboard) or decrease (to port) the headingsetpoint, or use the INCREASE and DECREASE buttons(typically 0.1 degree for each press).

Note The Heading Setpoint dialog box must be displayed if rotationof the Heading Wheel is to have an effect. When not used, thedialog box is automatically closed.

CD2544.CDR

Heading dialog box


13.4 Heading dialog boxThe Heading dialog box contains two tabbed pages which allowyou to change the heading setpoint and specify the Rate OfTurn.

Heading pageEither click Heading on the Joystick or AutoPos menu, orpress the CHANGE HEADING button. The Heading page of theHeading dialog box is displayed.

Note When changing the heading setpoint, the turn direction willdepend on the new heading setpoint. The shortest turn is alwaysused.

New Setpoint Shows the heading that will be used as the new heading setpointwhen you click OK or Apply. When Operator Selected ischosen under Strategy, you can enter the Heading Setpoint bytyping in the required heading or by increasing or decreasing thevalue by clicking the arrows next to the New Setpoint spin box.A temporary heading setpoint symbol is displayed on thePosplot view showing the proposed heading setpoint.Previous SetpointShows the previous heading setpoint. Clicking the Use buttonwrites this heading into the New Setpoint box. You cantherefore use this feature to return the vessel to a previousheading.Offset From Present SetpointShows the difference in heading between the New Setpoint andthe Present Setpoint. This value is updated dynamically whenyou enter the new heading setpoint.



Strategy System SelectedIf you choose System Selected, the displayed system–selectedheading is written into the New Setpoint box. When you clickOK or Apply, the system will continue to determine what theheading setpoint should be.Operator SelectedIf you choose Operator Selected, you can enter the HeadingSetpoint using any of the other methods described here.


While entering data on the Heading page, before you click OKor Apply, a temporary heading setpoint symbol is displayed onthe Posplot view showing the proposed heading setpoint.When System Selected is chosen as Strategy, the headingchosen by the system depends on the current operational mode.For example, in Auto Position mode the system will select theheading that requires the minimum power to be maintained inthe current environmental conditions. This heading will changecontinuously according to the prevailing environmental forceson the vessel.


Rate Of Turn pageTo specify the speed at which the vessel should try to rotateduring a change of heading (the vessel’s Rate Of Turn), clickRate Of Turn on the Joystick or AutoPos menu. The Rate OfTurn page of the Heading dialog box is displayed.

New Setpoint Either enter the required value in the New Setpoint box, or usethe up and down arrows to adjust the setpoint by the selectedincrement or decrement (Increase/Decrease step).


This Rate Of Turn applies only when the yaw axis is underautomatic control.

As the vessel approaches the heading setpoint, the Rate Of Turnis reduced to zero.When the vessel rotation center is at a position other than thecenter of gravity of the vessel, the actual Rate Of Turn may beless than the speed specified. This is because the speed ofmovement of the center of gravity is limited in proportion to therequired vessel speed (see pages 12-9 and 12-10) and thedistance of the rotation center from the center of gravity.

Note It is not possible to perform a change of heading, even thoughyou have entered a new heading setpoint when the Rate Of Turnsetpoint is zero.



13.5 Acceleration/retardation factors in the yawaxis

Acceleration and retardation factors in the yaw axis can bespecified for Low Speed and High Speed operations, and foroperation in Relaxed Controller Mode. (In Auto Position modewith High Precision Controller Mode selected, the Low SpeedAcceleration/Retardation factors apply.)On the Joystick or AutoPos menu, click Acceleration. Clickthe required tab; Low Speed, Relaxed Control or High Speed.

See Acceleration/Retardation Settings dialog on page 12-11 formore information about this dialog box.


14 THRUSTERSThe term “thruster” is used throughout this manual to mean anyelement of the vessel’s propulsion system; including propellers,rudders, tunnel thrusters and azimuth thrusters. (The specificterms for the elements of the propulsion system are usedwhenever this enhances the readability of the manual).This chapter describes the control functions that are related tothe vessel’s thruster systems.14.1 Enabling thrusters14.2 Automatic thruster start (for IAS deliveries)14.3 Automatic Thruster Start dialog box14.4 Thruster Allocation dialog box14.5 Allocation Settings dialog box14.6 Rudder/nozzle control14.7 Thruster biasing14.8 Thruster Biasing dialog box14.9 Thruster Run-in dialog box

Thrusters


14.1 Enabling thrustersWhen a thruster can be enabled for SDP control, the thruster isshown as READY on the Thruster main view (see page 18-62)and on the Thruster Enable dialog box (see page 14-2).There are generally two criteria for a thruster READY status:• the individual thruster must be running• the individual thruster must be available for SDP controlThe SDP system uses only those thrusters that are enabled foruse by the system. The thrusters can be enabled and disabledusing the Thruster Enable dialog box. You can also monitor ifthe thrusters are running and ready.The Controls button group contains buttons used to enable ordisable each of the available thruster units for SDP control.Each thruster button has a status lamp which is lit when thethruster is enabled.Before a thruster can be enabled, it must be READY. If athruster is enabled and it subsequently loses its READY status,it is automatically disabled.

Thruster Enable dialog boxTo display the Thruster Enable dialog box, on the Thrustermenu, click Enable.

Enabling thrusters


Thrusters and Enable/disable AllRudders Selecting or clearing this check box allows you to enable or

disable all thrusters and rudders for SDP control simultaneously.RunningThese check boxes show whether the thrusters are running ornot. When a thruster status is set as running, the SDP systemreads the feedback signal from the thruster and calculates theresulting thruster force.Under certain conditions, the operator can switch the thrusterRunning signals on/off. The running status can be changed inthis way only if all of the following conditions are satisfied:• The running status is not interfaced directly from the thrusterto the SDP system.

• The thruster is not READY.• The system configuration allows manual setting of thrusterrunning status.

RdyThese check boxes show whether the thrusters are READY forSDP control.EnableThese check boxes allow you to enable or disable each of thethrusters for SDP control. The system will automatically disablea thruster if it is not READY, i.e. clear the Enable check box,and also make the check box unavailable, thus indicating thatbefore a thruster can be enabled, it must be READY.

Thrusters


14.2 Automatic thruster start (for IAS deliveries)The Automatic Thruster Start function allows the system toenable and start thrusters (and propellers) automatically whennecessary. A thruster which starts up automatically, can also beautomatically enabled. Automatic thruster start and enabling canbe switched on and off using the Automatic Thruster Startdialog box. This functionality requires IAS from KongsbergMaritime.The thrusters are divided into preconfigured groups, and eachgroup is handled separately related to the start request limit anddelay specified by the operator.To perform an automatic thruster start, the following conditionsmust be satisfied:• The system must be in Auto Position mode or another modewith automatic control (not in Standby or Joystick mode).

• No other automatic thruster start requests must be in progressin the group.

• No thrusters in the group must have been enabled for the past100 seconds.

An additional thruster in a group will be started automatically ifone of the following conditions are satisfied:• There are no enabled thrusters in the group.• The force setpoint is greater than (Start request limit) for aperiod of time, and this period of time is greater than the timelimit set for (Start request delay).

If a thruster fails to start, check if any other thruster in the samegroup was started up manually without being enabled. If so,enable it.

Automatic Thruster Start dialog box


14.3 Automatic Thruster Start dialog boxOn the Thruster menu, click Automatic Start to display theAutomatic Thruster Start dialog box.

Thruster Start Turns on and off automatic start of thrusters in all groups.

Thruster Enable Turns on and off automatic enabling of thrusters in all groups.

(Thruster groups) Start request limitAllows you to set the force setpoint limit (in %) for automaticstart of a thruster. The force setpoint limit is set individually foreach thruster group.Start request delayAllows you to set the delay (in seconds) following a violation ofthe start request limit, before performing an automatic start of athruster. The Start request delay is set individually for eachthruster group.

Thrusters


14.4 Thruster Allocation dialog boxThruster allocation can be performed in many different ways.The functions that are available for the vessel are listed on theThruster Allocation dialog box.

Either click Allocation Mode on the Thruster menu, or pressthe ALLOC SETUP button, or click the AllocMode indicator on thestatus bar. The Thruster Allocation dialog box is displayed.

Mode For the azimuth thrusters, you can choose between variousthruster allocation modes. The currently-selected thrusterallocation mode is shown both on the Thruster Allocationdialog box and on the Thruster main view (see page 18-62).

Depending on the operational mode, illegal thruster allocationmodes are unavailable on the Thruster Allocation dialog box.

Some azimuth thruster allocation modes can be configured tocomprise thruster biasing. Thruster biasing (see page 14-12) canalso be available as a dedicated thruster allocation mode with itsown name. The following are some typical examples of azimuththruster allocation modes:

VARIABLEThe system automatically changes the angle of the azimuththrusters so that the thrust is always angled in the optimumdirection. In order to reduce wear and tear on the azimuththrusters due to continuous changes in the azimuth thrusterangles, a dead-band function is incorporated.

Use this mode when the environmental forces acting on thevessel are large and are not constantly changing direction.

Thruster Allocation dialog box


A set of prohibited zones for each thruster can be predefined toprevent a particular thruster from interfering with otherthrusters, the hull or other equipment. What happens to thethrust when a thruster passes a prohibited zone can bepredefined for each zone (for example, the thrust can bereduced).FIXThe system automatically selects a fixed angle for each azimuththruster. When the environmental force is small and constantlychanging direction, this mode can be used in order to avoidcontinuous changes in the azimuth thruster angle.If disabling and then re-enabling a thruster with a negative pitchor RPM, the system will automatically turn the thruster180 degrees.ENVIRON FIXA set of alternative, fixed angles are predefined for eachazimuth thruster. The system will choose the best predefinedangle in the set, based on the direction of the environmentalforces when the mode is enabled.If disabling and then re-enabling a thruster with a negative pitchor RPM, the system will automatically turn the thruster180 degrees.DIVINGThis is identical to VARIABLE azimuth mode except that thetwo modes have separate configuration of prohibited zones. It isused to activate dedicated zones during diving operations toprevent the sending of thruster wash towards the umbilical ordiving bell.

This mode can also be used to protect other kinds of equipment,such as HPR and LTW, and will then be named accordingly.What happens to the thrust when a thruster passes a prohibitedzone can be predefined for each zone (for example, the thrustcan be reduced).

STEERINGAzimuth thrusters not used for steering will have predefinedfixed angles for use in Autopilot mode. This allocation mode isautomatically selected when the system is in Autopilot mode orin Auto Track (high Speed) mode (when the speed is high-high).

Thrusters


HEAVE REDWhen using heave reduction, excessive thrust is applied toincrease the hydrodynamic damping of the vessel. This reducesthe motion of the vessel induced by wave forces. The effect canbe used to reduce the motions when particularly criticaloperations are to be carried out, for example crane operations,transfer of personnel, etc.The azimuth thrusters configured to participate in the motionreduction will be at predefined azimuth angles, and they will asa minimum be run at a predefined force limit, for example 50%force. The thruster angles are selected so that the resulting thrustis zero when there is no thrust demand.MANUAL FIXIn this mode the operator can freely set fixed azimuth angles ofazimuth thrusters and rudders/nozzles using the AllocationSettings dialog box (see page 14-10).

Control The configuration and operational requirements of the vesseldetermines the controls that are implemented in the SDP system.Details of the available controls are provided with theconfiguration information for the vessel.The following are examples of thruster allocation controls:Increased PowerAllows the thrusters to be used at more than their nominal ratingfor a limited period of time (if the thrusters are designed tohandle this) in order to survive an emergency situation. TheIncreased Power is predefined for each thruster, typically 10 to20%. Normally, this mode needs a ready signal to be selected.When the time period has expired, the thruster utilisation isautomatically returned to nominal values.

Position PriorityIf both the rotational moment and directional force setpointcannot both be met due to insufficient available thrust, priorityis normally set to obtain the rotational moment setpoint(heading priority). Selecting Position Priority changes thethrust allocation priority from heading to position.

Free Run Allows a greater maximum pitch/rpm to enable the vessel toreach full speed when running in Autopilot or Auto Track (highspeed) mode. You can select between Off, On and Automatic.When set to Automatic, free run is automatically selected whenAutopilot or Auto Track (high speed) mode is entered. Theon/off state for free run is also shown on the Thruster main view(see page 18-62). The contents of the Free Run frame may varydepending on vessel configuration.

Thruster Allocation dialog box


Additional informationThe configuration and operational requirements of the vesseldetermines the thruster allocation modes that are implementedin the SDP system, as well as the criteria for the automatic modeswitch. Details of the available thruster allocation modes areprovided with the configuration information for each vessel.For some of the modes (FIX, HEAVE RED,MANUAL FIX,and, when available, ENVIRON FIX), a sufficient number ofthrusters must be enabled to select the mode. The system willautomatically switch back to the default thruster allocationmode (normally VARIABLE mode), if you deselect thrusters orthrusters lose their READY status.

Thrusters


14.5 Allocation Settings dialog box

Manual Fix angles The operator can set fixed direction of azimuth thrusters/ruddersby entering the required direction (degrees) in the Value textboxes and selecting the In Use check boxes. An azimuthing unitwhich is not selected to have fixed angle, will be rotatedindividually as required. The Thruster Main view (see page18-66) shows which thrusters and/or rudders are using fixedangle.Manual Fix angles is only effective when theMANUALFIX allocation mode is selected (see page 14-8).Ignore Forbidden Azimuth ZonesWhen this is selected, the operator may set fixed azimuth anglesthat otherwise would be within forbidden azimuth zones. IgnoreForbidden Azimuth Zones affects only zones defined in theMANUAL FIX allocation mode.

Rudder Limit The operator can specify angle limits within which the ruddersare allowed to operate. When the In Use check box is selected,the system will not turn the rudders beyond the specified limit.

Rudder/Nozzle control


14.6 Rudder/Nozzle controlThe Rudder/Nozzle Control function uses the rudder/nozzle togenerate sideways thrust, either as an addition to stern thrustersor alone if no lateral stern thrusters are available.This function is designed for operation with two main propellersand individually-controlled rudders/nozzles. The rudders may beof traditional or high performance type.For example, during station-keeping modes, one main propellerand rudder/nozzle are used to generate forward directional thrustwithin the rudder/nozzle angle limits. The second rudder/nozzleis set in the neutral position, and the second propeller is used toreverse and counteract any excess thrust generated alongshipsby the first.The operator can limit the Max Rudder Angle (see page 14-10),and can use the MANUAL FIX Thruster Allocation mode (seepage 14-8) when this is included in the delivery.

Thrusters


14.7 Thruster biasingThruster Biasing allows azimuth thrusters to counteract eachother in groups so that the resulting effect of the biasing is zero.Each group can contain either two or three thrusters. Thrusterbiasing does not limit the use of the thrusters since thecounteraction will be reduced when the total demand increases.The operator can specify the level of biasing.Up to six thruster groups can be pre-configured.This function is useful in the following situations:• When an azimuth thruster cannot give zero thrust. Otherazimuth thrusters or main propellers can be used tocompensate for this minimum force.

• When a higher power consumption is required (than what isactually needed for positioning).

• When the weather is calm.• When heave reduction is required combined with variableazimuth mode.

Depending on the vessel configuration, the Thruster Biasingfunction can also:• Reduce the turning of azimuth thrusters when the forcesetpoint is changing, thereby improving the effective thrusterresponse and the positioning accuracy.

• Improve the damping of vessel motion.The Thruster Biasing dialog box can be configured to suit theindividual needs of each vessel, and the contents (number andconfiguration of thruster groups and columns) will tend to varyfrom vessel to vessel.Two examples of the Thruster Biasing dialog box are describedin the following sections.

Thruster Biasing dialog box


14.8 Thruster Biasing dialog boxOn the Thruster menu, click Biasing. The Thruster Biasingdialog box is displayed.The content of this dialog box will vary according to systemconfiguration. The dialog box in the system installed on yourvessel may display only some of the items shown in thefollowing examples, Manual selection of thruster biasing andAutomatically changing biasing available.

Manual selection of thruster biasing

Group Name The predefined name of the thruster group. The thruster groupsare shown colour-coded on the small thruster force model in theupper right corner of the Thruster main view (see page 18-62).

In use Select this box to turn on the Thruster Biasing function for thisthruster group.

Thrusters Shows the thruster numbers to counteract each other in eachgroup. A special situation is when there is only one thruster in agroup. The text boxes for this group then appear dimmed, withthe thruster number shown only in the first text box. With twoor more thrusters in a group, you can define the thrusters tointeract.An error checking routine informs if• The same thruster number is specified twice in the samegroup

• The same thruster number is specified in two different groups• An illegal thruster number is entered• An illegal thruster type is enteredThese checks only apply for thruster groups that have the In usecheck box selected.

Bias The minimum force to be used for each thruster when runningthe thrusters to counteract each other.

Thrusters


Turn factor The thrusters will work towards each other (when the Inwardscheck box selected, see page 14-21) until this force level isreached. When this level is reached, one thruster will turn, andthey will both work in the same direction (see Turn factor onpage 14-19).

Angle factor Determines the relative priority of angle against force to satisfythe force demand (see Angle Factor on page 14-20).

Spin If one thruster in this group is disabled and the other is not, andthe demand to the enabled thruster is less than the Bias force,you can choose to spin the enabled thruster.

Inwards When two thrusters are counteracting each other, you canchoose between running them towards each other (Inwardscheck box selected), or away from each other (Inwards checkbox not selected) (see Inwards on page 14-21).

Automatically changing bias available

Thrusters Shows the thruster numbers to counteract each other in eachgroup. With two or more thrusters in a group, you can define thethrusters to interact when By Operator is selected (seeThruster Select below). See also the description on page 14-13.

Bias The minimum force to be used for each thruster when runningthe thrusters to counteract each other. You can enter a requiredBias value when By Operator is selected (see Thruster Selectbelow).

Thruster Select Allows you to set the system to change bias pairs automaticallyas a function of demand direction. In the Thruster Selectframe, you can choose between Automatic, By Operator or NoBias.



UsedA check mark in this column indicates the option (Automatic,By Operator or No Bias) used by the system.

AutomaticWhen selected, the Thrusters and Bias columns becomedimmed, i.e. unavailable for editing by the operator. The systemselects thruster bias groups automatically based on a predefinedsetting. The demand direction decides which group setup isselected.

If a thruster becomes the only enabled thruster in a group, thisthruster can (based on certain criteria) join another group. Thethrusters will then counteract each other so that the resultingthrust is zero for this “new” group. When a thruster joins agroup, the thruster number is shown below the text Joined onthe Thruster Biasing dialog box, adjacent to the numbers of theother thrusters in the group. See Figure 35.

Figure 35 Thruster Biasing - Thruster 5 has joined the group containing thrusters 7and 8 because thruster 4 is disabled.

By OperatorWith Thruster Select set to By Operator, the operator canselect the thrusters in each group by typing in the requiredthruster numbers, and enter Bias values or select Total Bias.

No BiasWith Thruster Select set to No Bias, the system is still inthruster bias main thruster allocation mode, but no bias isapplied.

Total Bias UseWhen Use is selected, a total common bias can be entered. Youcan also monitor the total applied bias on the dialog box.

Thrusters


RequestWhen the total bias is entered in this spin box, this bias value isdistributed to all of the bias groups. If the bias was initiallyequal for each group, the total bias is distributed equally. Ifhowever the bias was initially unequal for each group, the totalwill be distributed in the same proportion as the initialproportions.AppliedThis text box shows the difference of the thrust before and aftertotal bias was applied.

Bias Type The Bias Type frame only becomes available when running inFIX thruster allocation mode. The frame appears dimmed in allother thruster allocation modes. You can select between Port,Stbd or Both in this frame. By default the Bias Type is set toBoth.When running in FIX thruster allocation mode the SDP systemautomatically selects a fixed angle for each azimuth thruster, i.e.the azimuth thrusters cannot turn.You can use the Bias Type settings in the Thruster Biasingfunction to work around this restriction. Depending on thedirection of applied thruster setpoint, removal of the thrusterbiasing on specific thrusters in a group can be allowed. In thissituation, the thruster will run below its bias value, includingnegative values (e.g. pitch/rpm). The thruster will not turn, butthe thruster force will be in the opposite direction.In the following examples we have set (by operator) thrusters 7and 8 to be in the AFT group (and thus to counteract eachother). The vessel is run in Joystick mode using the joystick tocontrol the thruster setpoint.The effects of the configured Bias Types Both, Port and Stbdon thruster behaviour are described.When Bias Type is set to Both and thruster setpoint toStarboard, a bias is applied on both thruster 7 and 8. Thruster 7cannot turn because it is in FIX thruster allocation mode (seeFigure 36). The same will happen when you set the thrustersetpoint to Port. Thruster 8 will not turn. None of the thrusterswill go below the Bias value you have set for the AFT group.



Figure 36 Thruster allocation FIX combined with Bias Type Both

Bias Type set to Port.Thruster setpoint to Starboard (illustratedby the joystick symbol). Starboard thruster(7) is allowed to go negative (i.e. no bias onthis thruster). It will only go negative if theforce setpoint is not fulfilled by the portthruster (8).

Bias Type set to Port.Thruster setpoint to Port (illustrated by thejoystick symbol).

Port thruster (8) stops at its bias value andis not allowed to go negative.

Thrusters


Bias Type set to Stbd.Thruster setpoint to Starboard (illustratedby the joystick symbol).

Starboard thruster (7) stops at its bias valueand is not allowed to go negative.

Bias Type set to Stbd.Thruster setpoint to Port (illustrated by thejoystick symbol).

Port thruster (8) is allowed to go negative(i.e. no bias on this thruster). It will only gonegative if the force setpoint is not fulfilledby the starboard thruster (7).



Turn factorThe Turn factor determines when to turn a thruster within agroup, instead of continuing to counteract the other thruster. Inthe examples below, the maximum force for each thruster is 10tonnes and the idle or bias force is 2 tonnes.

Figure 37 Turn factor - examples

Thrusters


Angle factorThe Angle factor determines the relative priority of angleagainst force to satisfy the force setpoint. In the examplesbelow, the same 10 tonnes demand ahead is achieved, but morethrust is used in example 1 (with a higher angle factor), than inexample 3 (with a lower angle factor).

Figure 38 Angle factor - examples



InwardsWhen two thrusters are counteracting each other, the Inwardscheck box determines whether they should be run towards eachother or away from each other. The examples below showvarious situations with Inwards both selected and not selected.The specified setpoint is the force setpoint for this group.

Figure 39 Inwards - examples

Thrusters


14.9 Thruster Run-in dialog boxThe Thruster Run-in function allows the operator to limit themaximum thruster setpoint of each individual thrusterconfigured with this functionality.On the Thruster menu, click Run-in. The Thruster Run-indialog box is displayed.

Configuration EnableSelect a check box to turn on the Thruster Run-in function forthe corresponding thruster.Max. setpoint (%)The maximum setpoint for the corresponding thruster inpercent. The specified value must be more than any requiredminimum setpoint for the thruster (such as for minimum thrustor idle rpm) and must always be at least 20%. This value isvalid for both the positive and negative directions.For thrusters with combined pitch/rpm control, the specifiedmaximum setpoint refers to either the pitch or the rpm setpoint,depending on the configuration.


15 POWER SYSTEMThis chapter describes the relationship between the SDP systemand the vessel’s power system.15.1 Power monitoring15.2 Power load monitoring and blackout prevention

Power system


15.1 Power monitoringThe SDP system has no control over the vessel’s electricalpower system. This is administered by a separate PowerManagement System (PMS).Normally the SDP system receives information about:• The power produced by each main generator.• Which power bus each generator is connected to.• How the power buses are connected.• How the thrusters are connected to the power buses.This information is used by the SDP system for power overloadcontrol and is also displayed on the Power view (seepage 18-41).

Power load monitoring and blackout prevention


15.2 Power load monitoring and blackoutprevention

The Power load monitoring and blackout prevention functionperforms a dynamic setpoint reduction of thethrusters/propellers to prevent blackout on a power bus orisolated bus section as a consequence of applying too muchpower to the thrusters as a secondary barrier. The primarybarrier is the thruster allocation system itself limiting thethruster output within the power system overall capacity. This isachieved by monitoring the load on the main bus or isolated bussections and reducing power on the connectedthrusters/propellers by reducing setpoint demand if theestimated load exceeds the nominal limit. The reduction isshared between the connected thrusters/propellers in such a waythat the effect on the position and heading control is minimised.The function will only limit thruster commands to avoid a stablepower plant becoming overloaded. The function cannot preventa potential blackout caused by generator tripping.The Power Load Monitoring and Blackout Prevention functioncovers the following standard power plant configurations:• Diesel generators supplying thruster/propeller drives• Shaft generators supplying thruster drives• A combination of diesel generators and shaft generators.This function supplements to the vessel’s Power ManagementSystem (PMS). The thruster/propeller setpoint reduction criteriaduring SDP control, are set at lower overload levels than theload reduction initiated by the vessel’s own PMS. The PowerLoad Monitoring and Blackout Prevention function is active inall operational modes and is illustrated in Figure 40.

Power system


kW

TIME

Reduced powerconsumption byDP/PM/TC to avoid blackout/overload

Nominal power

Cd3041

Actual DP/PM/TCpowerconsumption

Pitch/rpmreduction

Pitch/rpmreduction

DP/PM/TCpowersetpoint

Figure 40 Power overload control

The SDP system requires the following information in order toperform blackout prevention:

• Generator power and breaker status

• Bus-tie breaker status

• Thruster breaker status (if more than one for each thruster)

The following functions are also available:

• Generator Load Limitation

Performs load limitation of the most loaded generator if askew-load situation occurs on the power bus. The overloadprotection is achieved by automatically reducing thepitch/rpm/force/load on the thrusters/propellers connected tothe power bus until the most loaded generator operates withinits nominal capacity.

• Diesel Engine Load Limitation

Monitors the load on each diesel engine (fuel-rackmonitoring) which drives both a generator and acontrollable-pitch propeller on the same shaft. Power load isreduced by reducing the pitch setpoint on the connectedpropeller when the nominal engine load is exceeded. Notethat this function requires an interface to the diesel enginefuel-rack reading.

Power load monitoring and blackout prevention


• Diesel Engine MonitoringMonitors the load on each diesel engine (fuel-rackmonitoring) which drives a controllable-pitch propeller. Thisfunction requires an interface to the diesel engine fuel-rackreading. This function is for presentation purposes only, anddoes not perform any load limitation.

• Thruster Load Monitoring (Current/Power)Monitors the current/power load on each individualthruster/propeller motor. Note that this function requires aninterface for the motor current/power reading.Thruster load monitoring will improve thruster failuredetection, making it possible to distinguish between feedbackfailures and internal drive or servo failures.


16 SYSTEM STATUS INFORMATIONThis chapter contains the following sections:16.1 Panel driver logging16.2 Remote diagnostics16.3 Printing system status data16.4 Displaying software information16.5 RCA and Vessel Control modes16.6 Interface to CyberSea

System status information


16.1 Panel driver loggingWhen the SDP system is operated, messages are sent from theoperator panel to a panel driver that distributes them to the rightparts of the SDP system. The panel driver also receivesmessages from the SDP system and sends them to the operatorpanel.It is possible to log messages sent from the operator panel to theSDP system, and from the SDP system to the operator panel.Examples of messages that can be logged:• Buttons pressed• Changes in lamp status• Use of the joystick• Use of the Heading WheelThe Kongsberg Maritime service personnel use this informationin the case of problems with the SDP system.To limit the quantity of information stored, limitations on thetypes of messages to be logged are set by service personnel.These limitations vary according to system configuration.Possible limitations :• Limitations to types of messages logged• Limitations to file size• Limitations to the number of messages logged before theoldest ones are overwritten.

The system configuration determine whether logging is doneautomatically or by request.Logged information can be copied to a diskette using the PanelDriver Logging dialog box.

Panel driver logging


Panel Driver Logging dialog box

Note The functions provided by the Panel Driver Logging dialog boxare only available to the “Chief” user. See “Changing user” onpage 2-2.

On the System menu, point to OS Configuration and thenPanel Log and then click Copy Files. The Panel DriverLogging dialog box is displayed.

Enable logging To enable panel driver logging, select this check box and clickOK.

Note Log files are copied to diskettes to be sent to KongsbergMaritime as an aid to solving problems that may have occurredwith the SDP system. Before starting to copy log files, youshould deselect the Enable logging check box to stop thelogging and avoid overwriting any parts of the log that maycontain information relevant to the investigation.

Copy Log Files Click this button to copy the logged messages to a diskette.



Copy Panel Logfiles to floppies dialog boxWhen you click the Copy Log Files button, the Copy PanelLogfiles to floppies dialog box is displayed. The dialog boxcontains a list of the logged files.

File The names of the logged files.

Status The status of the log file operation, such as:• Found• Selected• Copying• Finished copying

Time The date and time when the file was logged.

Size File size in bytes.

(drop-down list box) From the drop-down list, select files to be displayed in the filelist.

Copy Click this button to copy a selection of files to a diskette.

Cancel Click this button to cancel the copying. The copy process endswhen the current file is copied.

Refresh Displays an updated file list. Click the Refresh button to listfiles that were not yet logged when the dialog box was opened.

Close Closes the dialog box and the Copy Logfile application.Selecting Close while no files are being copied:Before the application is closed, a dialog box is displayed askingyou to verify that the application is to be closed.Selecting Close while a file copy process is in progress:A dialog box is displayed asking you to cancel the copyingbefore you close the application.

Panel driver logging


Selecting panel logfiles from the file list

To select one file to be copied,click the required file name.

To select a range of files,select the files to be copied by holding down the Shift key whileclicking the first and last of the files.

To copy several files that are not in range,select the files by holding down the Ctrl key while clickingeach of the files.

Copying panel logfiles

1 Insert a diskette in the diskette drive of your computer.2 Open the Panel Driver Logging dialog box and click the

Copy Log Files button.- The Copy Panel Logfiles to floppies dialog box isdisplayed.

3 Select the files you wish to copy from the file list andclick Copy.- The files are copied to the diskette.

4 If the diskette becomes full, a dialog box is displayedasking you to insert a new diskette. Insert an emptydiskette.- The copying continues automatically.



16.2 Remote diagnosticsOnline support from Kongsberg Maritime is available throughthe Remote Diagnostic Service using secure communicationfacilities. The service engineer at the Support Centre can viewthe same Operator Station information as the operator on site.Log files and databases can be transferred to the Support Centrefor further analysis, and updates may take place on the systemon site with the restrictions imposed by the operationalguidelines and the classification authorities.The SDP system is prepared for this Remote Diagnostic Serviceby means of a communication software package installed ineach Operator Station.When a remote user is connected on the Remote Access Serviceconnection, the text Remote Diagnostics (on red background) isdisplayed in the SDP title bar.

To display the Remote Diagnostics dialog box, click RemoteDiagnostics on the System menu.

Remote Access A remote user is connected on the Remote Access ServiceServices connection when information about Port, User and Duration is

displayed in the corresponding text fields.PortThe port to which the modem is connected, usually COM1.

Remote diagnostics


UserThe user name of the remote user.DurationDuration of time since the remote user was connected to theRemote Access Service connection.DisconnectClick this button to disconnect from the Remote Access Serviceconnection.

PcAnywhere StartClick this button to start PcAnywhere when a remote user isconnected on the Remote Access Service port. The remote useris connected when information about Port, User and Durationis displayed in the corresponding text fields.ShowWhen PcAnywhere is started, the text on the Start buttonchanges to Show. Click the Show button to open thepcAnywhere waiting... dialog box (see page 16-8) to monitorthe TCP/IP Host Service and TCP/IP addresses.

Close Click this button to close the Remote Diagnostics dialog box.



pcAnywhere Waiting... dialog boxThe service engineer at the Kongsberg Maritime Support Centremay ask you to present information about the TCP/IP HostService (remote user) to verify that the required connections areestablished. This information can be found on the pcAnywherewaiting... dialog box.On the System menu, click Remote Diagnostics to display theRemote Diagnostics dialog box. Click the Start button forPcAnywhere (see dialog box on page 16-6).When PcAnywhere is started, click Show on the RemoteDiagnostics dialog box. The pcAnywhere Waiting... dialogbox is displayed.

Note To minimise the pcAnywhere Waiting... dialog box, do not clickCancel, as this will abort pcAnywhere. Instead, click theWindows minimize button ( ) in the upper right corner of thedialog box.

Printing system status data


16.3 Printing system status dataYou can print a predefined set of system status data on the eventprinter connected to the Operator Station. You can either requestan immediate print-out or request repeated print-outs with agiven time interval. An example of a printed status page isshown in Figure 41 on page 16-10.To print the status page or to request repeated print-outs, clickPrint Status on the System menu. The Print Status dialog boxis displayed.

Print Status Click this button to request an immediate print-out of the statuspage.

Cyclic Print Control Select the Cyclic Print check box if you want a cyclic print-outto be made automatically after a specified Interval. This canonly be selected from the Operator Station in command.IntervalThe time interval for cyclic print-outs of the status page.



Figure 41 Example status page

Displaying software information


16.4 Displaying software informationThe About dialog box enables you to view vital SDP systemand file information. This information can be useful for you tohave available when contacting Kongsberg Maritime for help incase of problems with the SDP system.On the Help menu, click About. The About dialog box isdisplayed, containing an overview of basic software informationfor your SDP system (see Figure 42).

Figure 42 About dialog box - overview of system information

Clicking the EXE/DLLs button on the About dialog box,shown in Figure 42, creates a list of EXE and DLL files in useand their corresponding version numbers (see Figure 43).



Figure 43 About dialog box - DLL and EXE files in use

Clicking Overview displays the contents shown in Figure 42.Clicking Details>> creates a complete and detailed list of whichEXE file uses which DLL files (see Figure 44).

Displaying software information


Figure 44 About dialog box - which programs (EXE files) areusing which DLL files

The structure of the information presented in Figure 44 are asfollows:• Program (EXE) column: Lists all the EXE files.• Using DLL column: Lists a batch of all the DLL files usedby each specific EXE file.

• Version column: Lists the version of the program (EXE file).• Modified column: Lists the date when each DLL and EXEfile was last modified.

• Size column: Lists the file size for each DLL and EXE file.

Clicking Overview displays the contents shown in Figure 42.Clicking Details<< displays the contents shown in Figure 43.



16.5 RCA and Vessel Control modesAn SVC (Vessel Control) system controls the various processeson board a vessel. On a vessel that is set up with both an SDPand an SVC system, you may monitor the active Vessel Controlmode and the status of the Vessel Control Areas on the RCA(Redundancy and Criticality Assessment) view, and selectVessel Control mode from the SDP OS.For details on vessel control and RCA, refer to the current SVCOperator Manual.

Vessel Control modeA Vessel Control mode is a predefined set-up of the vessel. Foreach Vessel Control mode, a specific selection of thrusters,generators and engines are running to make it possible toperform the intended processes. An example of a Vessel Controlmode is Transit. The available Vessel Control modes will varyfrom vessel to vessel.

Redundancy and Criticality Assessment -RCAThe RCA system is an integrated online fault monitoring andassessment tool. It monitors and confirms that the resources fora specific operational control mode are available.The RCA system first verifies that all involved equipment iscorrectly set up for the intended Vessel Control mode.When the equipment is running, the RCA system continuouslychecks that it is functioning correctly. The RCA system alsomonitors and reports the status of all standby equipment toprovide an overall redundancy status. If an error is detected, theRCA system reports the situation according to the criticality ofthe event.

RCA and Vessel Control modes


Vessel Control Mode dialog boxVessel Control mode can be selected from the SDP OperatorStation. Either select Vessel Control Mode on the Systemmenu, or click VesselMode on the status bar. The VesselControl Mode dialog box is displayed. You can select any oneof the available Vessel Control modes by clicking its optionbutton. Click Apply or OK.

Caution Select a Vessel Control mode according to the vessel’sintended operation. An incorrect selection of VesselControl mode may lead to a critical situation. Ensurethat the necessary equipment for the Vessel Controlmode in question is not intended for maintenance or isunavailable for other reasons.

Status The status of the Vessel Control modes:AvailableAll equipment status requirements are met (the equipment isalready running) and the Vessel Control mode may be selected.Any equipment not required for the mode will automatically bestopped.BlockedThe Vessel Control mode cannot be selected due to the currentsystem set-up, or because another mode has been selected.In ServiceThe equipment status requirements have been met and theselected Vessel Control mode is running.Invalid/AbortedThe Vessel Control mode has changed to Invalid. Either one ormore of the equipment status requirements were not met whenIn Service was activated, or the equipment start/stop sequenceprogram has aborted. Information about the fault is displayed onthe dialog box as a message/warning.



Not ReadyEquipment status requirements are not met and the VesselControl Mode cannot be selected. The reason for unavailabilityis explained by a message/warning.ReadyThe equipment status requirements that must be met to allow theVessel Control mode to be selected, have been met.SelectedThe Vessel Control mode has been selected but not fullyestablished. The equipment start/stop sequence program is stillbeing performed.TerminatingAn exit is being made from the Vessel Control mode (anequipment start/stop sequence for entering another control modeis in progress).

Message/Warning Displays information on the status of equipment that is requiredfor the Vessel Control mode in question.



RCA messagesA set of messages is used to notify the operator when an alarmor warning condition is detected by the RCA system. Themessages are displayed in the Event List window. Using theHelp Topics: Messages dialog box on page 4-14, you canobtain explanations for any of the messages.• RCA trip warning <Vessel Control Area>A malfunction is detected for one of the Vessel ControlAreas. The message shown is an example of one of fourwarning types, trip, major, minor and standby. Theadditional information is the Vessel Control Area.

• RCA invalid active vessel mode <Vessel Control mode>The Vessel Control mode has changed to Invalid due to oneor more of the equipment status requirements not beingfulfilled when In Service was activated. The additionalinformation is the selected Vessel Control mode.

• RCA new active vessel mode <Vessel Control mode>Information message displayed when a new Vessel Controlmode becomes active. The additional information is theselected Vessel Control mode.

• RCA sequence aborted <Vessel Control mode>The equipment start/stop sequence program has abortedbecause the requirements for the selected Vessel ControlMode failed. The additional information is the selectedVessel Control mode.

• RCA timeout <Timeout limit>The RCA communication between the SDP controllerprocess station and the SVC PCU is interrupted. Theadditional information is the timeout limit in seconds.



RCA viewThe RCA view gives information on the status of the requestedVessel Control mode and the corresponding Vessel ControlAreas.On the status bar, click RCA. The RCA view is displayed in themonitoring area on the screen. See also page 1-22 for adescription of how to select display views.

Figure 45 Example RCA view



This shows the present Vessel Controlmode and status/text. The same text is alsodisplayed on the Vessel Control Modedialog box (see page 16-15 for descriptionsof each status).

The status is indicated by a colour:

Green:In Service

Yellow:Selected

Red:The displayed text is associated with theInvalid/Aborted status of the Vessel Controlmode (i.e. the first reason forInvalid/Aborted).

These are the Vessel Control Areas for theactive Vessel Control mode. These areaswill vary from vessel to vessel. Their statusis indicated by a colour code: each status(except green/no warning) corresponds to awarning type, RCA trip warning, RCAmajor warning, RCA minor warning orRCA standby warning (see RCA messageson page 16-17):

Green:No RCA warning.

Magenta:RCA trip warning.Process Unit or Subsystem tripped, orconditions exist that will quickly implementa trip.

Red:RCA major warning.Major fault in the Process Unit or one ormore Subsystems.



Yellow:RCA minor warning.Minor fault in the Process Unit or one ormore of the Subsystems.

Cyan (turquoise):RCA standby warning.The required Subsystem standby equipmentis “not ready”.

Mode Sequence Information is displayed ata change of Vessel Control mode or when achange of Vessel Control mode is Aborted.First line: Current step in the sequence.Second line: Error in the sequence.

Relation between RCA view and VesselControl Mode dialog boxNote that information is displayed both on the RCA view and onthe Vessel Control Mode dialog box. In the example inFigure 46, Generator 4 is not in service, the status of Transit isInvalid so the colour code on the RCA view is red.

Figure 46 Information displayed on the RCA view and on the Vessel Control Modedialog box



Relation between RCA view and status barInformation displayed on the status bar (RCA, VesselMode) isdescribed in Status bar on page 1-10.Figure 47 illustrates the relation between information given onthe RCA view and information displayed on the status bar. Theselected Vessel Control mode is Transit. Yellow, the colourcode for Selected, is used both on the RCA view and asbackground colour of Transit on the status bar (this backgroundcolour is according to the present Vessel Control mode’s status,as described on page 16-19).There are no warnings given for any of the Vessel ControlAreas, illustrated by a green colour code both on the RCA view(for all Vessel Control Areas) and above the label RCA on thestatus bar.

Figure 47 Example: RCA status of the Vessel Control Areasand status of the Vessel Control mode Transit displayed on the

RCA view and on the status bar.



16.6 Interface to CyberSeaMarine Cybernetics AS (http://www.marinecybernetics.com/)has developed the CyberSea Simulator forHardware-In-the-Loop (HIL) safety and performance testing offeedback control systems such as dynamic positioning systems.The SDP system supports interface to CyberSea, which givesthe possibility for testing by an independent company.

The following interfaces are available:

• CyberSea FMEA Simulator

The SDP system controls the vessel as in normal operation,but the I/O is manipulated by the CyberSea FMEASimulator. This FMEA Simulator testing is intended to beused in sea-trials and periodical trials.

• CyberSea DP-HIL Simulator (VSim)

Hardware-in-the Loop (HIL) testing may be performedduring Factory Acceptance Tests (FAT), commissioning,sea-trials, as well as for ships in operation. The SDP systemwill act against a simulated vessel in the DP-HIL simulator.

1 Ensure that the SDP is in Standby mode.

2 On the System menu, click CyberSea.- The CyberSea Mode dialog box is displayed.

3 Select the required mode and click OK or Apply.- The text “In FMEA mode” or “In VSim mode” (orother configuration-dependable text) is displayedflashing in the title bar.

4 Run testing/simulation as required.

If contact with CyberSea is lost during testing in FMEA mode,this mode is aborted and a message is issued.


17 SYSTEM STATUS MONITORINGThis chapter contains the following sections:17.1 Introduction17.2 System architecture17.3 Equipment17.4 Station explorer17.5 IO manager17.6 PBUS IO image17.7 IO block17.8 IO point browser17.9 Driver properties17.10 Resetting a disabled serial line

System status monitoring


17.1 IntroductionFunctions are available for monitoring the status of the SDPoperator stations, process stations and IO system.During normal operation you can:• view the operational status of the Operator Stations, HistoryStations and Process Stations

• view information and status indications for every IO driver,IO block and IO point configured in the system.

17.2 System architectureAn SDP system consists of one or more operator stations (OS)and one or more process stations (PS). A history station (HS)may also be included.Communication between operator stations, history stations andprocess stations is via a single or dual communication net (NetA and Net B).The SDP control software is implemented in one, two or threeSDP process stations (DpPSes) depending on the redundancylevel of the system. The process stations are implemented incomputers located in the SDP Controller Cabinet.Communication with thrusters and sensors is performed by theIO system, which is an integrated part of the DpPS. If additionalIO is required for sensors or thrusters, additional dedicated IOprocess stations can be implemented.The process stations themselves provide no permanent storageof programs and data. When a process station starts up, all itsprograms and data are loaded from its PS servers, which arelocated either on one or more operator stations or in the flashmemory of the PS itself.

Operator stationsThe following standard names are used to identify the operatorstations and history stations in SDP systems:

OS name OS descriptionSDP-OS1 Main SDP Operator StationSDP-OS2 Main SDP Operator StationSDP-OS3 Main SDP Operator StationSDP-OS4 Fire Backup SDP Operator StationSDP-OS6 Stand-alone Simulator SDP Operator StationSDP-HS1 Main SDP History Station

System architecture


cPos-OS1 cPos Operator StationcPos-OS2 cPos Operator StationcJoy-OT1 cJoy Operator TerminalcJoy-OT2 cJoy Operator TerminalWT1 cWing Wing TerminalWT2 cWing Wing TerminalWT3 cWing Wing TerminalWT4 cWing Wing TerminalOT1 Operator Terminal (serial line interface)OT2 Operator Terminal (serial line interface)

Process stationsThe process stations are implemented either in Remote ControlUnits (RCU) or Single Board Computers (SBC).The RCU unit used in RCU-based systems contains a real-timesingle board computer and IO interfaces in the same unit.SBC-based systems have a separate card rack for each processstation. Each card rack contains a backplane which providesslots for the SBC, power supplies, analog and digital IO cardsand serial lines.

Redundancy

In single systems, the SDP Controller Cabinet contains a singleDpPS.In dual systems, the SDP Controller Cabinet contains twoDpPSes which operate with a master/slave relationship.Switching between master and slave can be performedmanually, or the switching can be performed automatically bythe system.In triple systems, the SDP Cabinet contains three DpPSes. Faultdetection and isolation are achieved by a process of majorityvoting, whereby all three computers compare and vote on theircritical input and results.For more information, See Redundant Systems on page 8-5.

WinPS

A WinPS is a Process station that runs on an OS computer, asopposed to a standard PS. A WinPS provides full PSfunctionality, except that it cannot communicate with the IOsystem.WinPSes are used for development purposes and in simulators.



PS names and numbers

The following standard names and numbers are used to identifyprocess stations and redundancy groups in SDP systems.

Redundancygroup

Redundancy type PS description

DpMain Single, DpDual or DpTriple Main SDP Controller PS AMain SDP Controller PS BMain SDP Controller PS C

DpM_IO1 Single, DpDual or DpTriple Main Input/Output 1DpM_IO2 Single, DpDual or DpTriple Main Input/Output 2DpM_Sim Single Main - Simulator (WinPS)DpM_Vrm Single Main - Built-in Trainer - Vessel Reference Model (WinPS)DpFS_Vrm Single Field Simulator -Vessel Reference Model (WinPS)DpBackup Single Backup SDP Controller PS ADpB_IO1 Single Backup Input/Output 1DpB_IO2 Single Backup Input/Output 2DpB_Sim Single Backup - Simulator (WinPS)DpB_Vrm Single Backup - Vessel Reference Model (WinPS)

The Vessel Reference Models run in WinPS and providesimulator and built-in trainer functions.

The IO system

The IO system provides the communication interface forexchange of IO signals between the field devices (thrusters andsensors) and the process station.

The main elements of the IO system are:

• IO drivers

IO drivers are responsible for the communication with thefield device. The IO driver provides conversion between fieldvalues and IO raw values.

The following driver types are supported:

- PBUS for discrete analog and digital IO

- NetIO for communication between PSes

- Dedicated sensor and interface drivers for serial linedevices such as Artemis, GPS, Fanbeam and HPR

- ComAs for generic serial line IO

System architecture


• IO blocksAn IO block represents a group of identifiable IO signalsfrom an IO device in the field. For example:- For IO cards belonging to the PBUS driver, an IO blockrepresents an IO card in the IO rack.

- For NetIO communication between process stations, an IOblock may represent all the signals related to a particularsensor or thruster.

• IO pointsIO points are the connection points for IO signals. An IOpoint may provide signal conditioning elements forconversion between the IO raw value on the driver side andthe engineering value on the SDP system side.

Monitoring functionsThe following monitoring functions are available:• Viewing of status information for the Operator Stations,History Stations and Process Stations in your system, usingthe Equipment - System Status dialog box. See page 17-6.

• Viewing of status information for all PSes in the system,using the Station Explorer dialog box. See page 17-15.

• Viewing of overview information for all IO drivers, IOblocks and IO points, using the IO Manager dialog box. Seepage 17-19.

• Viewing of information for selected IO Points using the IOPoint Browser dialog box. See page 17-29.

• Viewing of information displayed for each IO Block, relatedto each IO Point and its contents, using the IO Block dialogbox. See page 17-24.

Note Many of the features provided by these dialog boxes are relatedto configuring the system. These features require OSConfiguration Mode and/or PS Configuration Mode andtherefore are not described in this manual. This manual onlydescribes features that are available in normal operation mode.



17.3 EquipmentThe Equipment - System Status dialog box shows operationalstatus information about the Operator Stations, History Stationsand Process Stations in your system.To display the Equipment - System Status dialog, clickEquipment on the System menu.

This dialog box has five pages:• PS

• PS Redundancy

• OS/HS

• Event Printer

• Net Status

In each line of each page, the background colour of certainfields are changed to indicate alarm conditions.When a system or process alarm condition occurs, thebackground of the field changes colour and starts to flash. It willcontinue to flash until the applicable alarm is acknowledged.

Equipment


PS

The PS page shows the current status of all process stationsdefined in the system.

Station Identification of the PS.

Group name Displays the name of the redundancy group to which this stationbelongs.

(No column title) Identification of the PS within the redundancy group.For example: Controller PS A, B or C within the DpMain group.

Status Shows the current status of the PS:Operational PS is operational.Booting PS is booting (loading configuration).Rebooting PS is rebooting due to an error.Not Communicational PS has reported a status, but no

communication with the PS ispossible

Not Reported PS has not reported any status.Halt PS has stopped due to an error

condition.Spare Time (%) The available CPU capacity, expressed as a percentage of total

CPU capacity.

Net State Indicates the state of the A and B network interfaces:OK Both network interfaces are OK.A-ERROR Error on network interface A.B-ERROR Error on network interface B.AB-ERROR Error on both network interfaces.

I/O Status Shows the status of the IO system for this PS:OK No errors reported.ERROR Errors reported.



Serial Status Not relevant for SDP systems.

Other Status: Shows the status of other sub-systems reported by this station(typically system self-test and monitoring):OK No errors reported.ERROR Errors reported.

Free Memory Available memory (or largest continuous block) in kB. (Notapplicable for WinPSs.)

Uptime The accumulated uptime of the station. Shown as a numberfollowed by a character indicating the period. For example:3.06 d indicates 3.06 days (m=minutes, h=hours, d=days,y=years).

Started Time stamp when the PS was started.Format: day/month/year hour:min:sec

Last reported Time stamp of last communication.Format: hour:min:sec

The PS page has a shortcut menu. Right-click anywhere on thepage to display the following menu:

Print Image... see page 17-14

Station Explorer... see page 17-15

PS Info... not relevant for SDP systemsduring normal operation.

System Events... see Presentation ofmessages on page 4-5.

IO Manager... see page 17-19

IO Point Browser... see page 17-29

Equipment


PS Redundancy

The PS Redundancy page shows redundancy information forall process stations.

Station Identification of the PS.

Group name Displays the name of the redundancy group to which this stationbelongs.

(No column title) Identification of the PS within the redundancy group.For example: Controller PS A, B or C within the DpMain group.

Status Shows the current status of the PS:Operational PS is operational.Booting PS is booting (loading configuration).Rebooting PS is rebooting due to an error.Not Communicational PS has reported a status, but no

communication with the PS ispossible

Not Reported PS has not reported any status.Halt PS has stopped due to an error

condition.

Online Displays whether the PS is online or not. See RedundantSystems on page 8-5.

Master Displays whether the PS is master or not. See RedundantSystems on page 8-5.

Capability Displays the Capability status, indicating to what extent the PSis technically capable of fulfilling its intended purpose:OK No errors.Common Error Errors that are common to all PSs in the

redundancy group.Degraded Errors that related to only this PS in the

redundancy group.Incapable The PS is in a state where it should not be

used as the master or online computer.



Running mode Displays the Running mode:Running The PS is communicating and has finished

all start-up preparations.Starting The PS is communicating, but more startup

preparation is needed.Inactive The PS is not communicating. It may be

initializing or loading, or not executing at all.

Type Displays the redundancy type for the redundancy group.For the DpMain and DpM_IO groups, the following types arerelevant: Single, DPDual and DPTriple.

The PS Redundancy page has a shortcut menu. Right-clickanywhere on the page to display the following menu:

Print Image... see page 17-14

Station Explorer... see page 17-15

PS Info... not relevant for SDP systemsduring normal operation.

System Events... see Presentationof messages on page 4-5.

IO Manager... see page 17-19

IO Point Browser... see page 17-29

Equipment


OS/HS

The OS/HS page shows the status of the operator stations andhistory stations that are defined in the system.

Station Identification of the OS or HS.

Status Shows the current status of the OS or HS:

Operational OS or HS is operational.Not Communicational OS or HS has reported a status,

but at the moment no communicationwith the OS or HS is possible.

Not Reported OS or HS has not reported any status.Stopped OS or HS is not switched on.

Last Reported Time stamp of last communication.Format: day-month-year hour:min:sec

Net State Indicates the state of the A and B network interfaces:

OK Both network interfaces are OK.A-ERROR Error on network interface A.B-ERROR Error on network interface B.AB-ERROR Error on both network interfaces.

The OS/HS page has a shortcut menu. Right-click anywhere onthe page to display the following menu:

See Print Image on page 17-14.



Event Printer

The Event Printer page shows the status of the event printersthat are configured in the system.The operator stations in the SDP system are grouped into PrintGroups - usually eitherMain or Backup - where each grouphas one event printer. Only one of the operator stations (theMaster) within a print group will print alarm messages to theevent printer. If theMaster operator station becomes inactivefor any reason, the role of event printerMaster passesautomatically to another activeMember of the Print Group.

Station The address of the event printer.

Print Group The name of the group of operator stations that can print to thisprinter.

Master The current master operator station in this print group.

Members The operator stations that are members of this print group. If anoperator station is not active, its name is shown in parentheses.

Printer Info Information on the printer status such as Idle or Printing. Thisinformation is provided by the printer interface.

The Event Printer page has a shortcut menu. Right-clickanywhere on the page to display the following menu:

See Print Image on page 17-14.

Equipment


Net Status

The Net Status page shows the status of the communicationnetwork for all OSs, HSs and PSs in the system.This page contains a window that is divided into two panes. Theleft-hand pane lists all stations in the communication network bymeans of icons and names. Clicking any icon or name displaysin the right-hand pane the status of the communication networkas seen from the receiving station in the left-hand pane.If a red A, B or AB is displayed superimposed on an icon, thisindicates that the station has a network communication error onnet A, B or both.

Sending Station Identification of the OS, HS or PS sending messages to thereceiving station.

Msg pr. 100 sec The total number of messages being received every 100 secondson both networks.

Lost Msg Net A The number of lost messages on network A.

Lost Msg Net B The number of lost messages on network B.

IpAddress The Internet Protocol (IP) address of the sending station.

The right-hand pane is static and once information has beendisplayed it is not updated. You can update the informationeither by reselecting the Net Status page or by right-clickinganywhere on the page to display the following shortcut menu:



Select Print Image to print the content of the current page.Select the Update Statistics command to update the statisticalinformation for the selected station in the right-hand pane.Select the Show only errors command to filter the informationdisplayed in the right-hand pane so that only the stations withlost messages are displayed.

Print ImageBy selecting the Print Image command from the shortcut menufor the PS, PS Redundancy, OS/HS or Net Status page, youcan print the content of the current page on your printer.The Print dialog box is displayed:

Select the appropriate printer from the Name drop-down listbox.Use the Properties button to select the printout format.

Comment The text that you type in the Comment text box is printed in aseparate box on the top right corner of the printout.

Color print Select this check box if a printout in colour is required.

Station Explorer


17.4 Station ExplorerThe Station Explorer provides system status information for allsystem components in a selected process station, such as:• For the basis system: applicable PS system information,self-tests and environment checks (such as temperaturecheck, fan alarm).

• For the IO Manager: information on all nodes and subnodesof all configured IO parts.

• For the Network: information on the redundant networks -Net A and Net B.

All nodes in the process station are represented by graphicalsymbols showing their current alarm status.To display the Station Explorer dialog box:1 On the System menu, click Equipment.

- The Equipment - System Status dialog box isdisplayed.

2 Right-click on a PS line anywhere on the PS Status or PSRedundancy page of the Equipment - System Statusdialog box.- The following shortcut menu is displayed:

3 Click Station Explorer.- The Station Explorer dialog box is displayed, showingthe PS that you right-clicked in step 2.

4 You can use the drop-down list box to select any other PSto be displayed.



PS tree structure

The dialog provides a tree structure showing all the nodes andsubnodes in the PS. The tree structure can be expanded andcollapsed, to display or hide information details. Graphicalsymbols are displayed to indicate the alarm status. Hotspotsymbols provide links to dialog boxes for displaying furtherinformation about the IO system.

Station Explorer


Alarm status indicators

The following alarm status indicators may be displayed on thePS status view pane.

There is an error condition in this equipment node, and thealarm is not acknowledged. When acknowledged, a red circle isdisplayed (see below).

The error condition in this equipment node is no longer present,but the alarm is not acknowledged. When acknowledged, agreen circle is displayed (see below).

There is an error condition in this equipment node and the alarmis acknowledged.

The red arrow indicates that there is either an error or anunacknowledged alarm in one or more equipment subnodes.

Node and all sub equipment nodes are OK.

Hotspots

Hotspot symbols provide links to dialog boxes for displayingfurther information about the IO system:

Displays the Properties dialog box, which shows an overviewof the software and hardware status of the selected PS. Thisfeature is intended only for Kongsberg Maritime personnel.

Displays the IO Manager dialog box, which shows the status ofthe IO drivers and IO blocks for the selected PS. Seepage 17-19.

Displays the Driver Properties dialog box, which shows theconfiguration of the selected IO driver. See page 17-32.

Displays a submenu:

• For an IO driver:

- The Show PBUS IO Image command displays agraphical view of the IO cards. See page 17-21.

- The Show IO Driver command displays the DriverProperties dialog box, which shows the configuration ofthe selected IO driver. See page 17-32.



• For an IO block (IO card):

- The Show IO Block command displays the IO Blockdialog box, which shows information about the selectedIO block and its IO points. See page 17-24.

- The Properties command displays the Properties dialogbox for the selected IO card. This feature is intended onlyfor Kongsberg Maritime personnel.

Displays the IO Block dialog box, which shows informationabout the selected IO block and its IO points. See page 17-24.

Acknowledging PS system alarmsTo acknowledge a PS system alarm:1 Right-click on the appropriate node in the tree structure of

the Station Explorer dialog box.- The following shortcut menu is displayed:

2 Select the appropriate command from the shortcut menu.The Event List window is displayed, containing therelevant alarms:- System Events for Node displays alarms for theselected IO node.

- System Events for Node and Subnodes displaysalarms for the selected IO node and all subnodes.

- System Events for PS displays all alarms for theselected PS.

3 Acknowledge the alarm. For more information, seeAcknowledging messages on page 4-10.

IO Manager


17.5 IO Manager

The IO Manager dialog box displays an overview of the IOsystem, showing the IO drivers and IO blocks for a selectedstation.

To display the IO Manager dialog box, either:

1 On the System menu, click Equipment.- The Equipment - System Status dialog box isdisplayed.


3 Click IO Manager.- The IO Manager dialog box is displayed.

or:

1 Start the Station Explorer (see page 17-15).

2 Select the required PS from the drop-down list.

3 Click on the IO Manager icon ( ).

The IO Manager dialog box has three pages, which give anoverview of the IO Interface system:

• The IO Configurator page, in expandable tree view,presents the IO drivers, IO objects and IO blocks for theselected PS

• The IO Statistics page gives an overview of the connectedterminals and modules. This feature is intended only forKongsberg Maritime personnel.

• The IO Library page presents the contents of the IO typicallibrary. This feature is intended only for Kongsberg Maritimepersonnel.



IO Configurator

Use the drop-down box to select the PS for which you willdisplay the IO drivers and IO blocks.

In the expandable tree view, the symbols are as follows:

1st level, lists the IO driver types ( )

2nd level, lists the IO drivers ( )

3rd level, lists the IO blocks in alphabetic order ( )

If you click on a IO driver name, the corresponding DriverProperties dialog box is displayed. See page 17-32.If you click on an IO block name, the corresponding IO Blockdialog box is displayed. See page 17-24.

PBUS IO Image


17.6 PBUS IO ImageThe PBUS IO Image provides a graphical view of the status ofthe PBUS IO cards. This is intended as an aid to faultfinding inthe IO system.To display the PBUS IO Image:1 Start the Station Explorer (see page 17-15).2 Select the required PS from the drop-down list.3 Expand the IO Manager to locate the PBUSDriver.4 Click on the sub-menu symbol ( ) and select the Show

PBUS IO Image command from the sub-menu.The PBUS IO Image can be displayed either in Overview levelor Detail level:• When Overview level is selected, the display corresponds tothe physical layout of the IO cards as you see them in the IOcabinet.

• When Detailed level is selected, more detailed card and rackinformation is displayed. The Detailed level is intendedprimarily for Kongsberg Maritime personnel.

Overview levelExample PBUS IO Images at Overview level for anSBC-based PS (left) and an RCU-based PS (right) are shownbelow.

Card type

Alarm statusindicator

Slot number

Rack positions containing PSs and power supply units areindicated on the Overview level by the text (PS) and (Pwr)respectively.



The alarm status indicators are the same as for the StationExplorer. See page 17-17.If you click on an IO card, the IO Block dialog box is displayedshowing information about the selected IO card and its IOchannels. See page 17-24.If you right-click on an IO card, a shortcut menu is displayed:

• The Show IO Block command displays the IO Block dialogbox, showing information about the selected IO card and itsIO channels. See page 17-24.

• If the IO card has an error condition, you can select theSystem Events for Node or System Events for Node andSubnodes command to display the Event List windowcontaining the relevant alarms.

The tool bar of the PBUS IO Image window provides thefollowing functions:Displays the Overview level of the PBUS IO Image.

Displays the Detailed level of the PBUS IO Image.

Shows “out-of-rack” cards. Not relevant during normaloperation.

Use this drop-down list box to select any other PS to bedisplayed.

PBUS IO Image


Detailed levelExample PBUS IO Images at Detailed level for an SBC-basedPS (left) and an RCU-based PS (right) are shown below.

Rack positions containing PSs and power supply units are notshown on the Detailed level.The information provided on the Detailed level is intendedprimarily for Kongsberg Maritime personnel.



17.7 IO BlockThe IO Block dialog box displays information about a selectedIO block and its IO points. This is intended as an aid tofaultfinding in the IO system.To display the IO Block dialog box, either:1 Start the Station Explorer (see page 17-15).2 Select the required PS from the drop-down list.3 Expand the appropriate driver to locate the required IO

block.

4 Either click on the block icon ( ), or click on thesub-menu symbol ( ) and select the Show IO Blockcommand from the sub-menu.

or:1 Start the IO Manager (see page 17-19).2 On the IO Configurator page, select the required PS

from the drop-down list.3 Expand the appropriate driver to locate the required IO

block.4 Click on the IO block name.The content of this dialog varies according to the IO driver.

Note For IO cards belonging to the PBUS driver, a block is the sameas an IO card, and a point is the same as an IO channel.

IO Block


Station Explorer The upper-left area displays the selected IO block, filtered fromthe expandable tree structure of the Station Explorer, anddisplays the driver, alarm status and the block tag of the selectedIO block. For more details, see Station Explorer on page 17-15.

Tag Displays the name of the selected IO block.

Description Displays descriptive text for the selected IO block.

Task Shows the scan rate for the selected IO block:

Task 1 NormalTask 2 QuickTask 3 Rapid

Auto Not relevant for SDP systems.

Upper-right list box The upper-right list box displays the IO block propertiesrepresented by Parameters and Values. When you point at aparameter, a tool-tip is displayed, providing more explanatorytext.



IO Points This area displays information about the IO points for theselected IO block.

DirectionThe direction of the data flow:

Output data flow

Input data flow

IO tagThe name of the IO signal.

The IO point parameter symbol. Clicking this symbol displaysthe IO Point Parameters section in the lower part of the dialogbox.

StatusThe status of the sensor value:

OKErrorSIM

Sensor valueThe sensor value and its units.

Symbols representing the signal conditioning elements used, inorder of execution. See Signal Conditioning on page 17-27 fordetails.

Note When the cursor is positioned over one of the bitmapsrepresenting an IO signal conditioning element, the name andparameters of the element are displayed in a tool-tip window.

Eng. valueThe engineering value and its units.

Eng. StatusThe status of the engineering value:

OKErrorSIM

ConnectionFor signals that are to be transferred between process stations,this field displays the name of the NetIO tag that corresponds tothis IO point.

IO Block


Note If you click a cell in the Connection column, theConnect/Disconnect Terminal dialog box is displayed for theselected IO point. This dialog box has no function duringnormal operation.

Details Clicking the Details button displays or removes the IO PointParameters and Engineering Signal Conditioning sections inthe lower part of the dialog box.

Shortcut menuIf you right-click on any displayed IO point tag, the followingshortcut menu is displayed:

Resize Columns Resizes the columns displayed in the IO Point Browser dialogbox to fit the content of the columns.

Signal Conditioning elementsSignal conditioning elements are used in the IO points of an IOblock to parameterize the input/output process signals and toscale the signals.All signal conditioning elements are bidirectional, and may beused both on input and output signals, but some elements aremeaningful on input signals only.The symbols are displayed between the Sensor value and Eng.value columns in the IO Point Browser dialog box.The signal conditioning includes elements for:• Scaling• Inversion• Filtering• Fail-safe value• Compensation for wire resistance.



The available signal conditioning elements are as follows:

Icon Element name Analogue Digital Input Output DescriptionScale X X X Sensor scale max.

Sensor scale min.Sensor unitEngineering scale max.Engineering scale min.Engineering unit

Multi Scale X X X Number of points(For each point) Sensor point(For each point) Engineering pointSensor unitEngineering unit

PT 100 X X Wire resistanceSensor unitEngineering unit

Engineering unit X X X Engineering scale maxEngineering scale minEngineering unit

Fail-safe X X Fail-safe valueFreeze (checkbox):Checked: Last usable valueNot checked: Fail-safe value

Filter X X Filter time (seconds)

Limit check X X X GainBiasUse negative input value

Invert X X X None

Fail-safe X X Fail-safe valueFreeze (checkbox):Checked: Last usable valueNot checked: Fail-safe value

Filter X X On delay (seconds)Off delay (seconds)

IO Point Browser


17.8 IO Point BrowserThe IO Point Browser allows you to search for IO points for aselected PS, and to display information about them. This isintended as an aid to faultfinding in the IO system.

IO Point Browser dialog boxTo display the IO Point Browser dialog box:1 On the System menu, click Equipment.

- The Equipment - System Status dialog box isdisplayed.


3 Click IO Point Browser.- The IO Point Browser dialog box is displayed.



Station

Use this drop-down list box to select either all PSs, or the PSwithin which you want to browse.

Tag Browse CriteriaUse this text box to enter the browse criteria. Wildcardcharacters can be used.Match caseUse this check box to make the Browse Criteria case sensitive.Match whole tagUse this check box if the Browse Criteria text is the entirename of the required IO point.Match initial tag segmentUse this check box if the Browse Criteria text is the beginningof the name of the required IO points.

IO Point Browser


IO Status Use these check boxes to restrict the search to IO points whichhave the specified status:IO OKIO ManualIO PassiveIO ErrorIO FailSafeIO Error Override

Browse by IO Tag Use this command button to search for IO points whose namesatisfies the specified Browse Criteria.

Browse by Not relevant for SDP systems.Module TagDetails Clicking the Details button displays or removes the IO Point

Parameters and Engineering Signal Conditioning sections inthe lower part of the dialog box.

Browse results The upper-left area displays information about the IO points thatsatisfy the search criteria. This is the same information asdisplayed on the IO Block dialog (see page 17-24), with oneadditional column:PCU: The name of the PS that contains the IO point.

Shortcut menuIf you right-click on any IO point tag displayed in the browserwindow, the following shortcut menu is displayed:

Resize Columns Resizes the columns displayed in the IO Point Browser dialogbox to fit the content of the columns.

Show IO Block Allows you to view configuration information for the selectedIO Block by displaying the corresponding IO Block dialog box.See page 17-24.



17.9 Driver PropertiesThe Driver Properties dialog box shows the properties andconfiguration of a selected IO driver.To display the Driver Properties dialog box, either:1 Start the Station Explorer (see page 17-15).2 Select the required PS from the drop-down list.3 Expand the appropriate driver to locate the required IO

driver.

4 Click on the IO driver icon ( ).

or:1 Start the IO Manager (see page 17-19).2 On the IO Configurator page, select the required PS

from the drop-down list.3 Expand the appropriate driver to locate the required IO

driver4 Click on the IO driver name.The content of the Driver Properties dialog box variesaccording to the type of IO driver.The information provided on the Driver Properties dialog boxis intended primarily for Kongsberg Maritime personnel.The only action that can be performed during normal operationis to reset a disabled serial line using the Int. Status page of theDriver Properties dialog for the ComAs driver.

The Int. status page of the Driver Properties dialog for theComAs driver displays the interrupt status of a selected serialport.

Driver Properties


Serial portEnter the number of the serial port to be displayed or reset.1 - 14 for SBC5001 - 7 for RCU510

Reset disabled serial portTo reset a disabled serial port, select this check box and clickOK or Apply.Reset max. interrupt rateTo reset the displayed values forMax. receive interrupt rateandMax. exception interrupt rate, select this check box andclick OK or Apply.Disabled due to high receive rateIndicates whether the selected port is disabled due to highreceive rate (0=enabled, 1=disabled).Disabled due to high exception rateIndicates whether the selected port is disabled due to highexception rate (0=enabled, 1=disabled).Receive interrupt rateShows the current receive interrupt rate for this serial port.Exception interrupt rateShows the current exception interrupt rate for this serial port.Max. receive interrupt rateShows the highest recorded receive interrupt rate for this serialport (since startup or reset).Max. exception interrupt rateShows the highest recorded exception interrupt rate for thisserial port (since startup or reset).



17.10 Resetting a disabled serial lineA serial port may be automatically disabled by the system toprevent the SDP controller PS system from stopping in theevent of high traffic caused by an excessively high number ofinterrupts.If an automatic disable of interrupt has been performed whenreading serial line data from, for example, a position-referencesystem, an “Interrupt disabled” alarm message is issued. Themessage includes the relevant driver tag.This section describes how to manually reset a disabled serialline so that the process station can continue reading input on thatserial line. This procedure can be performed without restartingthe controller process station.1 In the Dynamic Alarm Page, right-click the relevant

message.- A shortcut menu is displayed.

2 Click Station Explorer on this shortcut menu.- The Driver Properties dialog box for the serial linethat has an error is displayed.

3 Click the Driver Properties hotspot (the indicator to theright of FanbeamDrv_2 in this example).- The Driver Properties dialog box is displayed.

Resetting a disabled serial line


4 Click the Driver operation tab.- The Driver operation tabbed page is displayed.

5 Select the Reset disabled serial port check box.6 Click OK.

- The serial line is reset.


18 DISPLAY VIEWSThis chapter contains descriptions of the following displayviews (in alphabetical order):18.1 Deviation view18.2 Diesels view18.3 General view18.4 Joystick view18.5 LTW view18.6 Numeric view18.7 Posplot view18.8 Power view18.9 Power consumption view18.10 Refsys view18.11 Refsys Status view18.12 Rotation points view18.13 Sensors view18.14 Thruster views18.15 Trends view

Display views


18.1 Deviation viewThe Deviation view shows a combination of graphical andnumerical performance data. The information is displayed usinglarge, clear text and graphical symbols.

The information displayed depends on the current operatingmode.

See page 1-22 for a description of how to select display views.

Position and heading

The information shown in Figure 48 is always displayed on theDeviation view.

Figure 48 Example Deviation view in Joystick mode

This is the present vessel position. If youclick this value, the position setpointtogether with the text Setpoint aredisplayed in another colour for a fewseconds.

Deviation view


This is the present vessel heading. If youclick this value, the heading setpointtogether with the text Setpoint aredisplayed in another colour for a fewseconds.

Position and heading deviationIn most of the DP operating modes:• The deviation between the present position and the positionsetpoint is displayed whenever both the surge and sway axesare under automatic position control.

• The deviation between the present heading and the headingsetpoint is displayed whenever the yaw axis is underautomatic heading control.

Figure 49 Example Deviation view in Auto Position mode

Display views


The position deviation is shown bothgraphically and numerically.

The position deviation is indicateddynamically by a filled circle whose radiusrepresents the deviation from the positionsetpoint. The colour of the circle changes inrelation to the warning and alarm limits forposition deviation (if active). If the positiondeviation exceeds the available displayrange, a plus (+) sign is displayed in thecircle.

An arrow symbol shows whether theestimated position is moving towards(decreasing deviation) or away from(increasing deviation) the position setpoint.This arrow also changes colour dependingon increasing or decreasing positiondeviation. The position of the arrow symbolindicates the bearing from the positionsetpoint to the present position.

When the position warning and alarm limitsare active, they are shown as solid-drawncircles. When inactive, they are shown asdashed circles.

When placing the cursor above the positiondeviation area, the cursor changesappearance from an arrow to a pointinghand. Clicking the left trackball button withthe hand displayed opens the Alarm Limitsdialog box, displaying the Position page.The warning and alarm limits for vesselposition can be activated and changed onthis page.

Using the view control dialog box, you canselect either a true or a relative display.

Deviation view


The heading deviation is shown bothgraphically and numerically.

The heading deviation is indicateddynamically by a two-directional bar whichrepresents the deviation from the headingsetpoint. The colour of the bar changes inrelation to the warning and alarm limits forheading deviation (if active). If thedeviation exceeds the available displayrange, a plus (+) sign is displayed in thebar.

The heading deviation is defined positive inthe starboard direction relative to theheading setpoint.

An arrow symbol shows whether theestimated heading is moving towards(decreasing deviation) or away from(increasing deviation) the heading setpoint.This arrow also changes colour dependingon increasing or decreasing headingdeviation.

When the heading warning and alarm limitsare active, they are shown as solid-drawnlines. When inactive, they are shown asdashed lines.

When placing the cursor above the headingdeviation area, the cursor changesappearance from an arrow to a pointinghand. Clicking the left trackball button withthe hand displayed opens up the AlarmLimits dialog box, displaying the Positionpage. The warning and alarm limits forvessel heading can be activated andchanged on this page.

Display views


View controlsTo display the view control dialog box:1 Place the cursor anywhere in the Deviation view and click

the right trackball button.- A shortcut menu is displayed.

2 Click Control on this menu.- The Performance view control dialog box isdisplayed.

True True display of position deviation. The graphical display ofposition deviation is displayed in a fixed orientation (north up).

Relative Relative display of position deviation. The graphical display ofposition deviation is displayed relative to the vessel heading(head up).

Diesels view


18.2 Diesels viewThe Diesels view provides a simplified mimic display of thevessel’s diesel engines and fuel rack system as seen from theSDP system.See page 1-22 for a description of how to select display views.The information presented in this view is based on the followingsignals received by the SDP system:• The power produced by each main diesel generator• The fuel rack reading• Diesel clutched in or outThe configuration shown in this example view consists ofstarboard and port propellers, each driven by two diesel engineswith fuel rack regulation system. Each diesel engine also drivesa generator. Each diesel engine is connected to the propeller viaa clutch and gearbox.

Display views


Figure 50 Example Diesels view

Main models for fuel-rack regulation in common use are:• Propeller with two diesels and two shaft generators (as shownin Figure 50).

• Propeller with one diesel, no shaft generator.• Propeller with two diesels, no shaft generator.

• Propeller with one diesel, one shaft generator.

Diesels view


Numerical and graphical displays(bargraphs) of the power produced by maindiesel generators are shown.

Numerical and graphical displays(bargraph) of the fuel rack load on thediesel engines are shown.

Symbols with text indicating main dieselgenerator (MDG 2) and diesel engine(out_stbd) are displayed.

In the bottom right corner of the figure adiesel engine clutch is displayed.

Colour codes for the generator, engine andclutch symbols:

GreenConnected/running

GreyDisconnected/not running

These symbols indicate gear and propeller.The text indicate the name of the propeller.

Colour codes for the gear and propellersymbols:

GreenConnected

GreyDisconnected

Display views


These are numerical and graphical displaysof the mean fuel rack load on this propellershaft, based on averaging all fuel racks forall diesels connected to this propeller.

The small red dot on the left side of the bargraph is associated with the fuel racklimitation.

If no reduction is performed, the position ofthe red dot equals the limit at whichreduction will start (the fuel-rack limit).The fuel-rack reduction starts when theload on one or both of the diesel enginesexceeds the fuel-rack limit. The red dot willthen move downwards to indicate the actualamount of fuel-rack reduction to beperformed, i.e. equal to the propellerdemand reduction (of pitch and RPM).

General view


18.3 General viewThe General view shows a combination of graphical andnumerical performance data.The information displayed depends on the current operationalmode.See page 1-22 for a description of how to select display views.

Position, heading and speedThe information shown in Figure 51 is always displayed on theGeneral view.

Figure 51 Example General view in Joystick mode

This is the present position. If you click thisvalue, the position setpoint together withthe text Setpoint are displayed in anothercolour for a few seconds.

This is the present heading. If you click thisvalue, the heading setpoint together withthe text Setpoint are displayed in anothercolour for a few seconds.

Display views


This is the present Rate Of Turn.

This is the present true speed (relative tothe ground) both forward/aft (surge axis)and port/starboard (sway axis).

Position and heading deviation

In most of the DP operating modes:

• The deviation between the present position and the positionsetpoint is displayed whenever both the surge and sway axesare under automatic position control.

• The deviation between the present heading and the headingsetpoint is displayed whenever the yaw axis is underautomatic heading control.

Figure 52 Example General view in Auto mode

General view


The position deviation is shown bothgraphically and numerically.

Using the view control dialog box, you canselect either a true or a relative display.

See the Deviation view (see page 18-2) fora detailed description of this display.

The heading deviation is shown bothgraphically and numerically.

See the Deviation view (see page 18-2) fora detailed description of this display.

View controlsTo display the view control dialog box:1 Place the cursor anywhere in the General view and click


2 Click View Control on this menu.- The Performance view control dialog box isdisplayed.

True True display of position deviation. The graphical display ofposition deviation is displayed in a fixed orientation (north up).

Relative Relative display of position deviation. The graphical display ofposition deviation is displayed relative to the vessel heading(head up).

Display views


18.4 Joystick viewThe Joystick view shows the thrust setpoint and response, andthe vessel speed in the various axes, to assist during positioningwith the joystick alone.See page 1-22 for a description of how to select display views.

Figure 53 Example Joystick view

Shows the axes that are under joystickcontrol.In the example view displayed, all threeaxes Yaw, Surge and Sway are controlledby the joystick.

Joystick view


This is a graphical display of the rotationalmoment setpoint (upper) and the obtainedrotational moment (lower).

The numerical value of the obtainedrotational moment is displayed.

The values represent the demand from thecontroller and the obtained momentcalculated from the thruster feedback.

This is a graphical display of the surgeforce setpoint (left) and the obtained surgeforce (right).

The numerical value of the obtained surgeforce is displayed.

The values represent the demand from thecontroller and the obtained surge forcecalculated from the thruster feedback.

This is a graphical display of the swayforce setpoint (upper) and the obtainedsway force (lower).The numerical value of the obtained swayforce is displayed.

The values represent the demand from thecontroller and the obtained sway forcecalculated from the thruster feedback.

This is the estimated surge and sway speedat the center of gravity of the vessel.

Display views


The resulting force and speed vectors areshown graphically.

The numeric values show the range of thedisplay for both force and speed.

This is the estimated sway speed at the bowof the vessel. This value is calculated fromthe vessel dimensions and the estimatedRate Of Turn.

This is the estimated sway speed at thestern of the vessel. This value is calculatedfrom the vessel dimensions and theestimated Rate Of Turn.

This is the estimated Rate Of Turn.

Joystick view


This shows the status of the speedestimates.

OKThe system is receiving acceptable positionand heading information, and at least onespeed sensor is In Use.

ManualManual speed is In Use.

ModelNo speed sensor or Manual speed enabled,but at least one position-reference system isaccepted.

DropoutNo speed sensors or position-referencesystems enabled.

This shows the present joystick thrustsetting as selected on the Joystick Settingsdialog box (see page 3-4) which can beeither Full Thrust or Reduced Thrust.

The present joystick precision setting asselected on the Joystick Settings dialogbox is shown (see page 3-4). The joystickprecision setting can be either High SpeedPrecision, General Precision or LowSpeed Precision.

This shows the axes that are currentlyselected for environmental compensation(see page 3-4).

This shows the joystick demand as apercentage of the maximum availabledemand in surge, sway and yaw axes.

Display views


A graphic display of the joystick setpoint isshown. If this Operator Station is not incommand, the graphic display shows boththe setpoint from this Operator Station(Local) and the setpoint from the operatorStation that is in command.

This information can be used to ensure abumpless transfer when you move thecommand from one OS to another.

This information can also be used forchecking that the joystick is functioning.Consider whether the joystick isfunctioning by comparing the displayedjoystick setpoint to the actual joystickdeflection (surge and sway) and the degreeof rotation (yaw).

LTW view


18.5 LTW viewThe Light-weight Taut Wire (LTW) is based on measurementsand calculations of the vessel’s position relative to a fixed pointon the seabed.A gimbal head on a boom over the side of the vessel isconnected by a wire to a depressor weight on the seabed.The vertical component of the wire length is measured when thedepressor is lowered onto the seabed. The angles between thewire and the vertical, both in the alongships and theathwarthships axes (see Figure 54), are measured as the vesselmoves away from the point where the depressor weight wasdeployed.The position is calculated based on this data. The actual lengthof the wire is also calculated and presented in the LTW view(see Figure 55) Corrections are applied to allow for the offsetdistance between the sensor on the gimbal head and the vessel’srotation center.

Wire length,vertical

component

Wirelength

Gimbal head

Seabed

Draught

Depressorweight

Waterdepth

Wireangleathwarthships

Seabed

Wirelength

Wirelength,verticalcomponent

Wire anglealongships

Depressor weight

CD2824

Figure 54 The LTW position-reference system

The draught is measured, and the vertical component of the wirelength is recalculated whenever the draught changes. Changes ofwater depth due to turning of the tide are not taken into account.In these circumstances the depressor weight must be lifted offthe seabed and relowered to have the system record the changeof wire length.The LTW view allows you to monitor the performance of aLight–weight Taut Wire (LTW) position–reference system.

Display views


The position of the depressor weight is shown relative to theposition of the gimbal head (the center of the graphic display).The maximum operational area is also shown.


Figure 55 Example LTW view

These are the gimbal head alongship andathwartship axes. The intersection of theaxes represents the gimbal head positionand is always at the center of the display.

LTW view


The symbol represents the position of thedepressor weight relative to the gimbalhead.

This shows the maximum operational area.

These are the display range value,decrease/increase buttons and grid spacingvalue. The range is the distance from centerto edge of plot. The button decreasesthe display range. The buttonincreases the display range.You can adjust the grid spacing using theview control dialog box (see page 18-23).The grid spacing is automatically adjustedwhen decreasing/increasing the displayrange.

Display views


This shows the status of the “Mooring On”signal from the LTW system. This signalindicates when the depressor weight is onthe sea bed.

This shows the angle of the taut wire in thealongship and athwartships directions asmeasured at the gimbal head.

The Along angle is positive when thegimbal head is forward of the depressorweight.

The Athw angle is positive when thegimbal head is to starboard of the depressorweight.

This shows the position of the depressorweight relative to the gimbal head.

The Along position is positive when thedepressor weight is forward of the gimbalhead.

The Athw position is positive when thedepressor weight is to starboard of thegimbal head.

This shows the wire length.Total is the wire length measured by thegimbal head.Vertical is the depth of the depressorweight relative to the gimbal head,measured by the wire length when thedepressor weight was lowered onto theseabed.

LTW view


View controlsTo display the view control dialog box:1 Place the cursor anywhere in the LTW view and click the

right trackball button.- A shortcut menu is displayed.

2 Click View Control on this menu.- The Light Taut Wire Plot view control dialog box isdisplayed.

Grid ShowTo show or hide the grid.SquareSquare grid.CircularCircular grid.SpacingThe spacing (distance) between grid lines or circles. You canchange the grid spacing by clicking the down arrow andselecting a new value from the drop-down list.The grid spacing is automatically adjusted when decreasing/increasing the display range.

Light Taut Wire LTW 1/2/3/4Graphics Allows you to select the LTW system whose position

information is to be displayed in the main graphic area of theview.

Range Allows you to specify the display range explicitly by typing in avalue in the text box.Incr.Range/Decr.RangeAllows you to increase or decrease the display range accordingto fixed steps.

Display views


18.6 Numeric viewThe Numeric view shows performance data in numerical form.See page 1-22 for a description of how to select display views.

Figure 56 Example Numeric view

The position setpoint, present position andposition deviation in north (N) and east (E)direction are shown.

These are the position deviation as rangeand both true and relative bearings from thepresent position to the position setpoint.

Heading setpoint, present heading andheading deviation are shown.

These are the Rate Of Turn setpoint andpresent Rate Of Turn.

This displays the vessel speed setpoint,present speed and true or relative directionof vessel movement (as selected using thePerformance view control dialog box).

Numeric view


This displays the warning and alarm limitsfor position and heading deviation. Thecheck boxes show whether the limits arecurrently active.

Current force displayed as relative values(selected using the Performance viewcontrol dialog box). This is the relative seacurrent force exerted on the vessel in Surgeand Sway directions.

Moment:This is the rotation moment exerted on thevessel by the sea current.

Current force displayed as true values(selected using the Performance viewcontrol dialog box). This is the sea currentforce exerted on the vessel in north (N) andeast (E) directions.

Moment:This is the rotation moment exerted on thevessel by the sea current.

View controlsTo display the view control dialog box:1 Place the cursor anywhere in the Numeric view and click


2 Click View Control on this menu.- The Performance view control dialog box isdisplayed.

True True display of direction of vessel movement and current force(relative to the North direction).

Relative Relative display of direction of vessel movement and currentforce (relative to the vessel heading).

Display views


18.7 Posplot viewThe Posplot view displays the vessel’s position relative to theposition and heading setpoints and to other displayed objects,such as the position of transponders. The prevailing wind andcurrent are also displayed.See page 1-22 for a description of how to select display views.Using the Posplot view control dialog box, you can:• Select either a true or a relative display, with either theposition setpoint or the present vessel position at the center ofthe display (seeMode on page 18-33).

• Display or remove various features on the view (see Show onpage 18-34).

• Show or hide a chart on the Posplot view, and also show orhide the compass rose. In addition, you can select betweenshowing the classical circular view or using the entire viewfor chart display (see Chart on page 18-34).

• Show or hide the grid, and select grid type and grid spacing(see Grid on page 18-35).

Note Grid display is only possible when the range is 10 000 m or less.When the range is larger than 10 000 m, the grid disappearsautomatically. Maximum range is 3 000 km.

• Specify the display range, i.e. distance from center to edge ofplot (see Range on page 18-35).

• Display or hide a trace line and trend symbols, and alsospecify the sample rate and the extent of the trace line/trendsymbols (see Trace on page 18-36).

The EBL (Electronic Bearing Line) button can be used formeasuring positions, distances and bearings on the display.The Posplot view example shown in Figure 57 on page 18-27shows some of the available display features. The key whichfollows the example describes all the standard features of thePosplot view. Additional features which relate to specificoperational modes are described together with the appropriateoperating procedure.

Posplot view


Figure 57 Example Posplot view

The compass rose is marked with degrees.The north/south and east/west geographicalaxes are displayed. The red portion of thenorth/south axis indicates the direction ofnorth.

Display views


This is the vessel symbol that indicates theposition of the vessel, relative to knownreference points and directions. The centerof gravity of the vessel is marked with asmall cross. The currently–selected rotationcenter is marked with a small circle. Thesize of the vessel symbol is dynamicallyscaled according to the selected displayrange. This vessel symbol is exchanged byan unscaled symbol at small and large rangevalues.

Note When changing the Posplot view to close range or long range,the vessel symbol changes from showing the correct form anddimensions of the vessel into a simplified shape with a constantsize.

This is the position setpoint symbol. Byselecting and moving this symbol you canchange the position setpoint (seepage 12-3).

When relaxed controller mode is in use(selected from the Gain dialog box), theradius for relaxed control is shown as ashaded area with the position setpoint ascenter. The area around this circle isclick-sensitive. You can easily adjust therelaxed control radius by clicking in thisarea to open the Gain dialog box to set anew value. If you select to hide the setpointfrom the Show page on the Posplot viewcontrol dialog box (see page 18-33), theshaded area indicating the relaxed controlradius will also be hidden.

Posplot view


When Green controller mode is in use(selected from the Gain dialog box), theouter and inner control radii are indicatedon the Posplot view, with the positionsetpoint as center. The inner radius isindicated by a green, shaded circle.

The predicted trajectory for the vessel isdisplayed as a line pointing from therotation center.

For more information about displaypresentation of controller modes, seepage 2-20.

The position carrot that regulates smoothvessel movement is displayed as a smallasterisk. When the position setpoint ischanged, the position carrot moves towardsthe new setpoint. The speed of the carrot’smovement depends on the speed setpoint.

This is the heading setpoint symbol. Byselecting and moving this symbol you canchange the heading setpoint (seepage 13-3).

This is the present heading symbol.

Display views


The heading carrot that regulates smoothvessel movement is displayed as a smallpointer. When the heading setpoint ischanged, the heading carrot moves towardsthe new setpoint. The speed of the carrot’smovement depends on the Rate Of Turnsetpoint.

This shows the rotation center. When arotation center other than CG is used, thecoordinates of the rotation center relative toCG is displayed. This area isclick-sensitive. If you click this text, theselected (but not necesarily active) rotationcenter is displayed in another colour for afew seconds.

This displays range value anddecrease/increase buttons. The Range valueis the distance from center to edge of plot.The button decreases the displayedrange. The button increases thedisplayed range.

The Grid value is the spacing between gridlines or circles.The grid spacing is automatically adjustedwhen decreasing/increasing the displayrange.

This shows the wind arrow. The arrowrotates around the compass rose to show thetrue wind direction (filtered measurementfrom the wind sensor). An arrow pointingtoward the plot indicates “comes from”direction, and an arrow pointing outwardsfrom the plot indicates “goes to” direction.The direction of the arrow depends on theunits setting for wind direction as selectedusing the Units dialog box (see page 2-9).

Posplot view


This is the true wind speed and direction(filtered measurements from the windsensor). An “s” in front of the “degrees”symbol in the unit for wind direction means“setting” (goes to). This is selected usingthe Display Units dialog box (see page2-9).

This shows the true sea-current arrow. Thearrow rotates around the compass rose toshow the true sea-current direction. Anarrow pointing toward the plot indicates“comes from” direction, and an arrowpointing outwards from the plot indicates“goes to” direction. The direction of thearrow depends on the units setting for seacurrent direction as selected using the Unitsdialog box (see page 2-9).

This is the sea-current speed and truedirection. An “s.” in front of “deg” in unitfor current direction means “setting” (goesto) if selected using the Units dialog box(see page 2-9).

This shows a transponder symbol for aposition reference system.

A circle around a transponder symbolindicates that this transponder is theReference Origin. An empty circle indicatesthat the Reference Origin transponder hasbeen deselected.

Display views


These are position warning and alarm limitcircles (centred on the position setpoint).With automatic surge and sway control, andwith position limits enabled, these circlesindicate the warning and alarm limits forposition deviation. When the vesselreference point crosses the warning limitcircle, a warning is given. When the vesselreference point crosses the alarm limitcircle, an alarm is given. The positionwarning and alarm limit circles are hiddenwhen the position setpoint is hidden (seeView Controls, Show on page 18-34).

These are heading warning and alarm limitmarkers (centred on the heading setpoint).With automatic yaw control, and withheading limits enabled, these markersindicate the warning and alarm limits forheading deviation. When the vessel headingcrosses the warning limit, a warning isgiven. When the vessel heading crosses thealarm limit, an alarm is given. The headingwarning and alarm limit markers are hiddenwhen the position setpoint is hidden (seeView Controls, Show on page 18-34).

This shows the EBL (Electronic BearingLine) button. This feature allows you toview the coordinates of positions on thedisplay (see page 18-38).

Posplot view


View controlsTo display the view control dialog box:1 Place the cursor anywhere in the Posplot view and click


2 Click View Control on this menu.- The Posplot view control dialog box is displayed.

3 Click the required tab.

Mode page

Plot Orientation Relative, Vesseland Centerpoint Relative display centred on the vessel. The compass rose is

displayed relative to the vessel heading, while the heading of thevessel symbol is fixed. The vessel symbol is placed with thecurrently-selected rotation center at the center of the display.Relative, Position SetpointRelative display centred on the position setpoint. The compassrose is displayed relative to the vessel heading, while theheading of the vessel symbol is fixed. The position setpoint(required position) is placed at the center of the display.True, VesselTrue display centred on the vessel. The compass rose isdisplayed in a fixed orientation (north-up), while the heading ofthe vessel symbol is shown relative to the compass rose. Thevessel symbol is placed with the currently–selected rotationcenter at the center of the display.True, Position SetpointTrue display centred on the position setpoint. The compass roseis displayed in a fixed orientation (north-up), while the headingof the vessel symbol is shown relative to the compass rose. Theposition setpoint (required position) is placed at the center of thedisplay.

Display views


Note If the SDP system is equipped with Chart, note that it is possibleto toggle off the display of the compass rose on the Posplot view(see description of the Chart page on page 18-34). This makes itmore difficult to see whether a relative or true plot orientation isused.

Show page

Show/Hide Display or remove various features of the Posplot view.

The Setpoint, Carrot, Refsys andWind/Current features aredescribed previously in this section.

Green PredictionSelecting Green Prediction displays the predicted trajectory forthe vessel as a line pointing from the rotation center.

Chart page

If the Chart Server Application is installed, a chart server can bedisplayed as background in the Posplot view. See the SDP ChartServer Application Operator Manual.

Posplot view


Grid page

Show Show or hide the grid.

Spacing The spacing (distance) between grid lines or circles. The gridspacing can be changed by clicking the down arrow andselecting a new value from the drop-down list.The grid spacing is automatically adjusted when decreasing/increasing the display range.

Type The type of grid.Use UTMUTM grid can be selected. The grid on the Posplot view isrotated with an angle that corresponds with the Meridianconvergence displayed.

Range page

Distance from Center Allows you to specify the display range explicitly by typing in ato Edge of Plot value in the text box.

Increase Range / Allows you to increase or decrease the display range inDecrease Range fixed steps using these two buttons.

Display views


Trace page

Vessel Position/ Trace lineHeading History It is possible to select to show or hide a trace line of the vessel

movements (Show) and specify the sample rate (Sampling) andthe extent of the trace (Memory) to be stored. The trace lineshows the path followed by the currently–selected vesselrotation center.

Figure 58 Example Posplot trace line

Trend symbolsIt is possible to select to show or hide a series of vessel symbolsindicating vessel movement and position (Show) and specify thesample rate (Sampling) and extent of the trend symbols(Memory) to be stored.

Posplot view


Figure 59 Example Posplot trend symbols

Note With the Posplot view at close range when the simplified symbolis displayed, the “trended” symbols are not shown.

Clear AllUsing this button, permanently clears all the trend symbols andthe trace line both in memory and on the Posplot view.

Display views


EBL functionThe EBL (Electronic Bearing Line) function allows you to viewthe geographic coordinates of any position on the Posplot view,the distance of this position from the present position of thevessel, and both the true and relative bearings to the positionfrom the present position of the vessel.To display the EBL:1 Click the EBL button.

- The EBL dialog box is displayed (see Figure 60).2 Move the trackball.

- A dotted line is displayed from the present vesselposition to the position indicated with the trackball.

- The coordinates, range, and true and relative bearingsof the indicated position are displayed on the EBLdialog box.

3 Click again to fix the indicated position.- The EBL dialog box is continuously updated with therelative range and bearing from the vessel to theindicated position.

Figure 60 The EBL function

Posplot view


Panning function

You can easily change the coordinates for the center of thePosplot view using the panning function. The position of thecursor in the Posplot view when activating the function will thenbe moved to the center of the view. This can be especiallyuseful, for example, when plotting waypoints for a new trackusing theWaypoint dialog box.

The panning function is available from the top of the shortcutmenu. The panning related commands on the shortcut menu willchange depending on whether or not panning has been selected(see Figure 61).

Figure 61 Example Posplot shortcut menu - Before (left) andafter (right) having selected the panning function

To use the panning function:

1 Place the cursor on the Posplot view at the new positionaround which the view is to be centred.

2 Click the right trackball button. The Posplot shortcutmenu is displayed (see the menu on the left side inFigure 61).

3 Select the Center Here command. The selected positionnow becomes the new center of the Posplot view and thetext Panning ON is shown in red in the upper right cornerof the view .

Display views


When the panning function is on, the following commandsrelated to panning are available on the shortcut menu (seeFigure 61):Center ResetResets the center of the view to the original position (i.e. thevessel position or position setpoint, depending on thecenterpoint selected on theMode page of the View Controldialog box).Center HereSelects a new position for the center of the Posplot view.The panning function is automatically switched off if therotation center is changed or another centerpoint is selected ontheMode page of the View Control dialog box.The panning function may be automatically switched on inMixed Joystick mode, dependent on the configuration of yourvessel. If required it can be switched off again as described inthe previous section.

Power view


18.8 Power viewThe Power view is a simplified mimic display of the vessel’selectrical power system as seen from the SDP system.


Normally the SDP system is supplied with information about:

• The power produced by each main generator.

• Which power bus each generator is connected to.

• How the power buses are connected.

• How the thrusters are connected to the power buses.

The thruster power consumption is either measured directly orcalculated from the thruster feedback.

Figure 62 Example Power view

Display views


This is a generator symbol showing theproduced power both as a numerical valueand graphically as a percentage of thenominal power.

The position of the generator breakersymbol shows whether the generator isconnected to the power bus or not. Inaddition, the generator breaker symbol iscolour-coded. Red indicates disconnected,green indicates connected.

This is a thruster symbol showing theconsumed power both as a numerical valueand graphically as a percentage of nominalpower consumption.

The position of the thruster switch symbolshows whether or not the thruster isconnected to the power bus. In addition thethruster switch symbol is colour coded. Redindicates disconnected, green indicatesconnected.

The internal names (I/O tags) of thegenerator breaker, bus and thruster switchescan be displayed using the view controldialog box (see below).

The total nominal and consumed powerfrom the generators connected to each mainbus or sub-bus can be displayed using theview control dialog box (see below).

A trend plot is displayed. You can select theinformation to be displayed using the viewcontrol dialog box (see below).

Power view


View controlsTo display the view control dialog box, either click the trenddisplay of the Power view, or:1 Place the cursor anywhere in the Power view and click the

right trackball button to display a shortcut menu.2 Click View Control on this menu to display the. Power

Plot view control dialog box.

Present Selects whether to display the total nominal and produced powerfrom the generators connected to eachMain Bus or each SubBus.

Show/Hide If configured, selects whether or not to display the internalnames (IO Tags) of the generator breaker, bus and thrusterswitches.

Plot The trend plot to be displayed.

Time span The time span for the trend plot.

Y axis - Range... Allows you to set the upper and lower limits for the y-axis plotscale.

Auto Selecting this option will set the Y-axis range automatically.

Manual Allows you to set the Upper and Lower scale limits manually.

Note See the description of the Trends view for detailed descriptionsof the available trend plots (see page 18-82).

Display views


18.9 Power consumption viewThe Power Consumption view shows:• The consumed power for each main bus in numerical andgraphical form as a percentage of available power.

• Which sub-buses are grouped under each main bus.• The available power for each main bus in numerical form.The view is dynamically updated to always show the current bustopology.See page 1-22 for a description of how to select display views.

Figure 63 Example Power Consumption view

Power consumption view


The consumed power for each main bus innumerical form is displayed.

The consumed power for each main bus isshown in graphical form as a percentage ofavailable power for each main bus.

The sub-buses that are grouped under eachmain bus are designated Bus A, Bus B andBus C.

This is the available power for each mainbus displayed in numerical form.

Display views


18.10 Refsys viewThe Refsys view shows the individual and resultingperformance of the position–reference systems that are currentlyenabled.See page 1-22 for a description of how to select display views.The general characteristics of position–reference systems aredescribed in Chapter 10.

Figure 64 Example Refsys view

Refsys view


These are the display range value, decrease/increase buttons and grid spacing value.The range is the distance from centre toedge of plot. The button decreasesthe display range. The buttonincreases the display range.You can adjust the grid spacing using theRefsys view control dialog box (see page18-52). The grid spacing is automaticallyadjusted when decreasing/ increasing thedisplay range.

The centre of the plot is the present vesselposition. Using the Refsys view controldialog box (see page 18-51), you can selecteither a true or a relative display.

A colour-coded circle is displayed with aradius equal to the minimum predictionerror limit and centred on the present vesselposition.

A colour-coded circle is displayed with aradius equal to the median test acceptancelimit and centred on the median value.

When the Median test is inactive, theMedian Test Limit field will show OFFand the circle will not be displayed. Seesubsection Changing the settings of theMedian Test for detailed information aboutwhen the median test is active.

This shows a zoomed-in view of the centreof the plot.

For each position-reference system, thecapital letter with no circle around itrepresents the last raw positionmeasurement for this system.

For each position-reference system, thesmall inner circle with a capital letter insiderepresents the filtered positionmeasurement for this system.

Display views


For each position-reference system, theouter circle (dashed) represents the standarddeviation for this system.

The small crosses represent a one minutetrace of the raw data measurements from aselected position-reference system.

An error ellipse is displayed. There is acertain statistical confidence (95 %) that thevessel’s position is within the region that isencircled by this ellipse.

This indicates the legends used for plotting.Colour coding and capital letters help todifferentiate the various position-referencesystems.

These are numerical values for theminimum prediction error limit and themedian test limit. The two circles to the leftindicate the colour coding used on the plot.

TheMedian Test field will show the textOFF when theMedian Test is set to Offon the Validation page of the ReferenceSystem dialog box (see page 10-20). Thetext OFF will also be displayed when lessthan three position-reference systems areoperational.

By clicking on one of the reference systemnames in the lower-left corner of the view,you can plot a one minute trace of theraw-data position measurements for theselected system. Each position sample isindicated with a “+” on the plot. The nameof the selected system is shown. ClickClear to stop plotting and to remove theraw-data position samples from the plot.

Refsys view


This shows the status for each referencesystem or transponder: either Calibrating,Online, Relative, Offline or Lost. Forreference systems in monitoring state, thestatus text is shown withMon as prefix. Ifthe measurements are acceptable,Calibrating and Online are displayed ingreen (if the last sample was received) or inorange (if the last sample was notreceived). If a position-reference systemhas a transponder that is defined andenabled as mobile, then Relative isdisplayed instead of Online, provided thatthe optional Follow Target mode has beenpreviously selected (i.e. at least once).

If the measurements are lost, Offline isdisplayed in red, however, if themeasurements are lost during calibration,Lost is displayed in red. When a referencesystem is turned off, the weight of thatsystem is set to zero, and Offline isdisplayed in red before the system isremoved from the Refsys view.

The position-reference system that isproviding the Reference Origin is markedwith an asterisk.

A unique capital letter and colour code isassigned to each reference system to makeit easier to differentiate the various systemson the plot.

Numerical values and horizontal bars showthe weighting applied to the measurementsfrom each reference system during the lastsecond. The sum of weights of referencesystems with Online status is always one(1.0). If no new update is received from aspecific reference system during theprevious second, the weight for this systemis set to zero (and Online shown inorange). The colour-coded horizontal bar isnot displayed for position-referencesystems that have an enabled mobile

Display views


transponder, i.e. ones with a Relativestatus.

In the lower right corner of the Refsys view, numerical data or a trend plot is displayed.Using the Refsys view control dialog box (see page 18-51) you can select betweenvarious types of numerical data and trend plots:

PositionThese are numerical values for thecalibrated position (for each referencesystem) as used by the DP system. The dataare presented according to current displayunits /position selection. Note that colourcoding is used.

Transponder CoordinatesThese are numerical values for the origin ofthe particular reference system, for examplethe position of an HPR or LBL transponderor an Artemis Fix antenna. Note that colourcoding is used.

Raw PositionThese are numerical values of raw(uncompensated and untransformed)position measurements (for each referencesystem) as received by the DP system. Thetype of reference system determines howthe position is displayed: either asAlong/Stbd, North/East, Latitude/Longitude or as Range/Bearing positionformat. Note that colour coding is used.

Trend plotThese are trend plots. The type of trend plotis selected from the Refsys view controldialog box. Note that colour coding is used.

You can also select the Y-axis scale range(either auto or manual scaling) and the timespan.

Refsys view


View controlsTo display the view control dialog box, either click theposition/trend display of the Refsys view (lower right), or:1 Place the cursor anywhere in the Refsys view and click the

right trackball button.- A shortcut menu is displayed.

2 Click View Control on this menu.- The Refsys view control dialog box is displayed.

3 Click the required tab.

Mode page

Plot Orientation Displays the Refsys plot relative to the North direction (True)or the vessel heading (Relative).

(Numerical Data Select the required set of numerical data (Position,and Transponder Coordinates or Raw Position) or a Trend PlotTrend Plot) to be displayed in the lower right corner of the Refsys view.

These items are described in detail on page 18-50.

Plot The type of trend plot to be displayed. You can select betweenthe following options: RefSys Bias E, RefSys Bias N, RefSysStdDev, RefSysWeight or none.


Range... Allows you to set the upper and lower limits for the y–axis plotscale. You can select between auto and manual scaling of they-axis scale.

Display views


Auto Selecting this option will set the Y-axis range automatically

Manual Allows you to set the Upper and Lower scale limits manually.

Grid page

Show To show or hide the grid.

Spacing The spacing (distance) between grid lines or circles. You canchange the grid spacing by clicking the down arrow andselecting a new value from the drop-down list.

The grid spacing is automatically adjusted when decreasing/increasing the display range.

Type The type of grid.

Refsys view


Range page

Distance from Center Allows you to specify the display range by typing in ato Edge of Plot value in the text box.

Increase Range / Allows you to increase or decrease the display range accordingDecrease Range to fixed steps.

Display views


18.11 Refsys Status viewThe Refsys Status view shows the status for each referencesystem or transponder. The information displayed is similar tothe reference system status information in the Refsys view (seepage 18-49). In addition, the position Offset during the lastsecond is displayed as a bar graph (portion of 10 m) for eachreference system.

Figure 65 Example Refsys Status view

Rotation Centers view


18.12 Rotation Centers viewThe Rotation Centers view shows the position of all the rotationcenters that are available when the vessel is under automaticcontrol. The coordinates are relative to the center of gravity.When clicking the right trackball button in the Performance orWorking area on your Operator Station, a shortcut menucontaining the display views is displayed. The Rotation Centersview can be found on the Utility submenu on this shortcutmenu.See page 1-22 for a more detailed description of how to selectdisplay views.

Figure 66 Example Rotation Centers view

Display views


18.13Sensors viewThe Sensors view shows the performance and state of each ofthe vessel’s gyrocompasses, wind sensors, VRS, water-depthsensors and speed sensors.See page 1-22 for a description of how to select display views.A trend graph for one of the sensor readings is displayed,selected from the Sensor Plot dialog box.

Figure 67 Example Sensors view

Sensors view


This shows the heading as measured byeach of the gyrocompasses. Themeasurement from the gyrocompass that iscurrently being used by the system ishighlighted.

The deviation between the readings fromthe gyrocompasses are shown graphically.The deviations are shown relative to themeasurement from the gyrocompass that iscurrently being used by the system. Thecolours used for the markers correspond tothe colours used for the gyrocompassnumbers.

“---------” is displayed if a sensor is not OK.

This shows the raw measurements of therelative wind speed and direction asmeasured by each of the wind sensors. Foreach sensor the height above sea level isdisplayed. The measurements from thewind sensor that is currently being used bythe system are highlighted.


The deviations between the measurementsfrom the wind sensors are showngraphically. The deviations are shownrelative to the measurements from the windsensor that is currently being used by thesystem. The colours used for the markerscorrespond to the colours used for the windsensor numbers.

The estimated true wind speed and bothtrue and relative (to the vessel) winddirection are shown. The raw measurementsof wind speed and direction are filteredinternally (using a Kalman filter with bothlow and high frequency parts), to estimatethe most reasonable speed and directionvalues to be used by the SDP system.

Display views


The text “Manual” is displayed in red ifManual wind speed and direction is used.

The vessel pitch, roll and, if available,heave as measured by each of the VRSsensors are shown.

The following sign convention applies forpitch and roll:Pitch + is bow up.Roll + is port up.Heave + is down.

The root mean square (r.m.s) values of thesensors for Pitch, Roll and Heave areshown.

The measurements from the VRS that iscurrently being used by the system arehighlighted.


This is the water depth as measured by eachof the water-depth sensors.

The measurements from the sensors that arecurrently being used by the system arehighlighted.


A trend graph is displayed. You can selectthe information to be displayed using theSensor Plot dialog box for view control(see page 18-59).

Sensors view


Speed, Log:The vessel alongships and athwartshipsspeed as measured by each of the DopplerLog speed sensors are shown. The DopplerLog speed is marked with G or Wdepending on the type of speed output:G Speed over the seabed (ground speed)W Speed through the water

Speed, GPS:The vessel speed and course as measuredby each of the GPS speed sensors areshown.

The measurements from the speed sensorsthat are currently used by the system arehighlighted.


View controlsTo display the Sensor Plot view control dialog box, either clickthe trend graph of the Sensor view, or:

1 Place the cursor anywhere in the Sensors view and clickthe right trackball button.- A shortcut menu is displayed.

2 Click View Control on this menu.- The Sensor Plot view control dialog box is displayed.

Range, To select the required range for the deviation displays for thedeviation models measured Gyro heading,Wind Speed and

Wind Dir (direction). An example of this is shown in Figure 68,which reflects the setting shown on the dialog box above.

Display views


Figure 68 Example - Individual setting of range forgyrocompass heading, wind speed and wind direction deviation

displays

Trend Plot Selection of trend plot and settings for the trend plot.PlotThe trend plot to be displayed.Time spanThe time span for the trend plot.Y axis - Range...Allows you to set the upper and lower limits for the y-axis scaleon the trend plot. You can select between auto and manualscaling of the y-axis scale.


Manual Allows you to set the Upper and Lower scale limits.

Thruster views


18.14Thruster viewsThe thruster views show how the SDP system is using theavailable thrusters to provide the required thrust setpoint.The following thruster views are available:• A main view (Thr Main) which provides an overview of allthe thrusters (see page 18-62).

• A subview for each thruster, showing more information thanthe main thruster view (see page 18-67 for Tunnel thrusterview, page 18-70 for Azimuth thruster view and page 18-73for Propeller/rudder view).

• A view showing setpoint and feedback data for all thethrusters (see page 18-77).

• A view showing the resultant thruster forces and the “real”location of the thrusters (see page 18-79).

Display views


Thruster main view

The thruster main view (Thr Main) shows the performance andstatus of all the thrusters. To display the Thr Main view, pressthe THRUSTERS button in the Main Views button group (seepage 1-22 for a description of how to select display views). Bargraphs show the thruster force for each thruster unit. Thethruster force for each thruster unit and their resultant thrusterforce are also represented by vectors.

Clicking on a thruster symbol in the thruster main view displaysthe subview for that thruster.

Figure 69 Example - Thruster main view

Thruster views


Alloc Mode:This is the currently-selected thrusterallocation mode (see page 14-6).

Alloc Control:This is the currently-selected thrusterallocation control and free run status.

Priority shows either Hdg (heading) or Pos(position). See Position Priority onpage 14-8.

FreeRun shows either ON or OFF.

Incr.Pow (increased power) shows eitherRDY in green when increased power is notselected, or ON in red when selected, ornothing when not ready.

The Alloc Mode area is click-sensitive. Theordinary cursor changes to a pointing handwhen positioned over this area. Clicking theleft trackball button opens up the ThrusterAllocation dialog box.

Display views


Force:A numerical display of the resulting forceand direction, and a force vector (displayedfrom the vessel’s center of gravity), areshown.

Moment:This is a numerical display of the resultingturning moment and direction. A curved bargraph represents these values.

Individual thrust vectors for each thrusterare shown. The thrust vectors changecolour when thrusters pass limit values forpercentage of available thrust (typicalvalues):

green 0%- 60%orange 60%- 80%red 80%-100%

All values are based on feedback signalsfrom the thrusters.

When using the thruster force bias function,the thrusters are colour-coded (colouredcircles around the thruster numbers) toidentify the thruster bias groups.

Thruster views


Status:The Status check boxes show the Running,Ready and Enabled status of each thrusterunit.

Forces:These are numerical values and bar graphsshowing the thruster force for each thrusterunit. The bar graphs show the percentage ofthe maximum available thrust and arescaled individually. Each bar graph is splitin two horizontally. The upper part showsthe setpoint thruster force (Setp) and thelower part shows the feedback thrusterforce (Feedb). The numerical values are allbased on feedback signals from thethrusters.

The bar graphs change colour whenthrusters pass limit values for percentage ofavailable thrust (typical values):

green 0%- 60%orange 60%- 80%red 80%-100%

These are numerical and graphical displaysof pitch/rpm and power feedback for thetunnel thruster.

These are numerical and graphical displaysof thruster azimuth and pitch/rpm feedbackfor each azimuth thruster.

The force direction relative to the thruster isindicated by the highlighted arrow.The arrows are colour-coded. A greenarrow indicates positive pitch/rpm, while apink arrow indicates negative pitch/rpm.The same colours are shown both in the dayand night palettes.

Display views


The text FIX is displayed in orange forthrusters that use fixed angles.

These are numerical and graphical displaysof propeller pitch/rpm feedback.

The force direction relative to the propelleris indicated by the highlighted arrow.The arrows are colour-coded. A greenarrow indicates positive pitch/rpm, while apink arrow indicates negative pitch/rpm.The same colours are shown both in the dayand night palettes.

A rudder symbol with numerical andgraphical indication of rudder angle isshown. Depending on the present mode, thesector is defined by the maximum rudderangle or maximum turn-angle for steeringrudder/azimuth thruster.

Thruster views


Tunnel thruster view

Figure 70 Example Tunnel thruster view

This shows the thruster status:

Running The thruster is running.

Ready The thruster is available forcontrol by the SDPsystem.

Enabled The thruster is enabled forcontrol by the SDPsystem(see page 14-2).

Display views


These are numerical and graphical displaysof thruster pitch/rpm and power feedback.

This is the numerical value and a bar graphshowing the thruster force. The numericalvalue is based on feedback signal from thethruster. The bar graph shows thepercentage of the maximum availablethrust. The bar graph is split in twohorizontally. The upper part shows thesetpoint force and the lower part shows thefeedback force. The bar graph changecolour when the thruster pass limit valuesfor percentage of available thrust (typicalvalues):

green 0%- 60%orange 60%- 80%red 80%-100%

This is a numerical display of the pitch,rpm and power setpoint and feedback, andthe difference between them, shown as apercentage of the maximum.

The graphical display indicates thedifference between the setpoint andfeedback (with zero at the center of thescale).

Note that only power is configured in thisexample.

Thruster views


A trend plot is displayed. You can select theinformation to be displayed using the viewcontrol dialog box (see page 18-76).

By clicking on the left or right arrow (ifpresent) you can display the subview forthe previous or next thruster unit. Byclicking on the up arrow, you can displaythe thruster main view.

Display views


Azimuth thruster view

Figure 71 Example - Azimuth thruster view

This shows the thruster status:

Running The thruster is running.

Ready The thruster is available forcontrol by the SDPsystem.

Enabled The thruster is enabled forcontrol by the SDP system(see page 14-2).

Thruster views


These are numerical and graphical displaysof thruster azimuth and pitch/rpm feedback.

The force direction relative to the thruster isindicated by the highlighted arrow.The arrows are colour-coded. A greenarrow indicates positive pitch/rpm, while apink arrow indicates negative pitch/rpm.The same colours are shown both in the dayand night palettes.

These are the numerical value and bargraph showing the thruster force. Thenumerical value is based on a feedbacksignal from the thruster. The bar graphshows the percentage of the maximumavailable thrust. The bar graph is split intwo horizontally. The upper part shows thesetpoint force and the lower part shows thefeedback force. The bar graph changecolour when the thruster pass limit valuesfor percentage of available thrust (typicalvalues):

green 0%- 60%orange 60%- 80%red 80%-100%

This is a numerical display of the pitch,rpm and azimuth setpoint and feedback,and the difference between them, shown asa percentage of the maximum.


Display views


A trend plot is displayed. You can select theinformation to be displayed using the viewcontrol dialog box (see page 18-76).

By clicking on the left or right arrow (ifpresent), you can display the subview forthe previous or next thruster unit. Byclicking on the up arrow, you can displaythe thruster main view.

Thruster views


Propeller/rudder view

Figure 72 Example - Propeller/rudder view

This shows the propeller and rudder status:

Running The propeller is running.

Ready The propeller/rudder isavailable for control by theSDP system.

Enabled The propeller/rudder isenabled for control by theSDP system (see page 14-2).

Display views


Numerical and graphical displays ofpropeller pitch/rpm feedback are shown.

Numerical and graphical displays of rudderazimuth feedback are shown.

The force direction relative to the propelleris indicated by the highlighted arrow.The arrows are colour coded. A greenarrow indicates positive pitch/rpm, while apink arrow indicates negative pitch/rpm.The same colours are shown both in the dayand night palette.

A rudder symbol with numerical andgraphical indication of rudder angle isshown. Depending on the present mode, thesector is defined by the maximum rudderangle or maximum turn-angle for steeringrudder/azimuth thruster.

These are the numerical value and a bargraph showing the thruster force. Thenumerical value is based on feedback signalfrom the thruster. The bar graph shows thepercentage of the maximum availablethrust. The bar graph is split in twohorizontally. The upper part shows thesetpoint force and the lower part shows thefeedback force. The bar graph changecolour when the thruster pass limit valuesfor percentage of available thrust (typicalvalues):

green 0%- 60%orange 60%- 80%red 80%-100%

Thruster views


This is a numerical display of the pitch,rpm and azimuth setpoint and feedback,and the difference between them, shown asa percentage of the maximum.


Note that only rpm and azimuth areconfigured in this example.

A trend plot is shown. You can select theinformation to be displayed using the viewcontrol dialog box (see page 18-76).

By clicking on the left or right arrow (ifpresent) you can display the subview forthe previous or next thruster unit. Byclicking on the up arrow, you can displaythe thruster main view.

Display views


Subview controlsTo display the subview control dialog box, either click thedisplayed trend plot on the thruster subview, or:1 Place the cursor anywhere in the thruster subview and click


2 Click View Control on this menu.- The Thruster Sub Plot view control dialog box isdisplayed.

Plot The trend plot to be displayed. The following trend plots areavailable:Thr PitchPitch setpoint and feedback for this thruster.Thr RPMRPM setpoint and feedback for this thruster.Thr AzimAzimuth setpoint and feedback for this thruster.Thr LoadLoad setpoint and feedback for this thruster.


Y axis Range...Allows you to set the upper and lower limits for the y-axis plotscale manually or to select automatic scaling.


Manual Allows you to set the Upper and Lower scale limits.

Thruster views


Setpoint/feedback viewThe Setp/feedb view shows setpoint and feedback data for allthe thrusters.

Figure 73 Example Setp/feedb view

Indicates the colour coding used on bargraphs and numerical values for Setpoint,Feedback and the difference (Diff)between them.

Display views


This shows the thruster/propeller/rudderstatus:

Running This is displayed only if therunning status is availableto the SDP system.

Ready Available for control by theSDP system.

Enable Enabled for control by theSDP system(see page 14-2).

These are numerical displays and bargraphs of the thruster force setpoint andfeedback, and the difference between them,shown as a percentage of maximum.

These are numerical displays and bargraphs of the pitch setpoint and feedback,and the difference between them, shown asa percentage of maximum.

These are numerical displays and bargraphs of the rpm setpoint and feedback,and the difference between them, shown asa percentage of maximum.

These are numerical and graphical displaysof the thruster azimuth or rudder anglesetpoint and feedback, and the differencebetween them (in degrees).

Thruster views


Forces viewThe Forces view shows the resultant thruster forces and the“real” location of the thrusters.

Figure 74 Example Forces view

Display views


These are the resultant thruster force anddirection, and the resultant turning momentand direction.

Forces:These are numerical values and bar graphsshowing the thruster force for each thrusterunit. The bar graphs show the percentage ofthe maximum available thrust and arescaled individually. Each bar graph is splitin two horizontally. The upper part showsthe setpoint thruster force (Setp) and thelower part shows the feedback thrusterforce (Feedb). The numerical values are allbased on feedback signals from thethrusters.

The bar graphs change colour whenthrusters pass limit values for percentage ofavailable thrust (typical values):

green 0%- 60%orange 60%- 80%red 80%-100%

Status:The Status check boxes show the Running,Ready and Enabled status of each thrusterunit.

Thruster views


Individual thrust vectors (thruster forcefeedback) for each thruster are shown. Thevectors change colour according to thechange of colour on the corresponding bargraphs (when passing limit values forpercentage of available thrust).

The resultant thruster force vector(displayed from the vessel’s center ofgravity) is displayed. A graphical indicationof turning moment is also shown. Theturning moment has a maximum sectorrange of¦180 degrees.

Display views


18.15 Trends viewThe Trends view provides dynamic displays (trend plots) andnumerical values for trended curves showing the history over aspecified period for selected information, such as wind, seacurrent, position and heading deviation, thruster forces andpower consumption.When clicking the right trackball button in the Performance orWorking area on your Operator Station, a shortcut menucontaining the display views is displayed. The Trends view canbe found on the Utility sub menu on this shortcut menu.See page 1-22 for a more detailed description of how to selectdisplay views.Using the Trend Plot view control dialog box (see descriptionof View controls on page 18-85) you can select the trend plotsto be displayed. Up to three different trend plots can bedisplayed simultaneously.

Trends view


Figure 75 Example Trends view

The header indicates the name of thevariable type for which you have selectedto display the trend plot (see View controlson page 18-85 for selection of variable).

Depending on the type of variable you haveselected, one or several different trendcurves will be displayed on the same trendplot. Each curve will have its own specificname shown together with a unique colourcode.

Display views


This is a trend plot for the selected variableusing colour coding to identify anddifferentiate the various variable curvesbeing plotted. The plot has Time spanalong the x-axis and measured values alongthe y-axis. You should note that the mostrecent values are plotted to the far right, i.e.that the curves move from right to left onthe trend plot.

Each trend plot has its own Numericbutton. Pressing this button displays aTrend Numeric: dialog box.

The Trend Numeric: dialog box presents a range of numericalproperties for all curves on the trend plot. Values for thefollowing numerical properties can be calculated and displayed:Average,Minimum,Maximum and StdDev. The values forthe numerical properties are calculated over the Time Span overwhich you have selected to display the specific trend plot (seedescription of View controls on page 18-85).In addition to displaying the numerical properties for eachcurve, the Trend Numeric: dialog box contains a lead textcolumn (Item) and a Unit column.The width of the columns and the dialog box itself can beresized in several different ways as follows:1 By placing the cursor on the delimiters of the column

headers and clicking the left trackball button. The cursorwill then change shape to a two-headed arrow. You cannow drag the cursor to change the column width.

Note This will not resize the total width of the dialog box itself.

2 By placing the cursor on top of a column or columnheader and then click the the right trackball button. Ashortcut menu is then displayed.

Trends view


Using the commands available on this menu, you can select to:

• Hide the column you are pointing at (Hide Columncommand), with the exception of the Item column. Usingthis command you will be able to hide one or severalcolumns, thus obtaining a more compact dialog box showingonly the numerical properties you are interested in.

• Show all the columns on the dialog box (Show All Columnscommand) using the default values for column widths.

• Adjust the width of each column according to the width ofeach single column header (Width by Header command).

• Adjust the width of each column according to the width ofthe contents of each single column (Width by Contentscommand).

• Save the column definition (i.e. the resized dialog box) forlater use (Save command). Next time you open the dialogbox, it will be displayed using the last-saved columndefinition.

Note The Trend Numeric dialog box will resize according to thechanged column widths.

View controls

To display the view control dialog box, either click using the lefttrackball button on a trend display of the Trends view, or:

1 Place the cursor anywhere in the Trends view and clickthe right trackball button.- A shortcut menu is displayed.

2 Click View Control on this menu.- The Trend Plot view control dialog box is displayed.

Display views


Plot The trend plots to be displayed. Clicking the down arrow on thefar right of the Plot list box opens up a list from which you canselect the variable type to be displayed.

Time span The time span for the trend plots.

Y axis Range...Allows you to set the upper and lower limits for the y–axis plotrange. You can select between auto and manual scaling of they-axis range.


Manual Allows you to set the upper and lower range limits manually.


19 SDP SYSTEM THEORYThis chapter contains theory information about the SDP system:19.1 The SDP system19.2 Basic forces and motions19.3 SDP system principles

SDP system theory


19.1 The SDP systemThe GreenDPR (SDP) system is a computerised DP controlsystem for automatic position and heading control of a vessel.To control the vessel’s heading, the DP control system uses datafrom one or more gyrocompasses, while at least oneposition-reference system (for example, DGPS orhydroacoustics) enables the DP control system to position thevessel.Setpoints for heading and position are specified by the operatorand are then processed by the DP control system to providecontrol signals to the vessel’s thruster and main propellersystems. The DP control system always allocates optimumthrust to whichever propulsion units are in use.Deviations from the desired heading or position areautomatically detected and appropriate adjustments are made bythe system.The DP control system also provides a manual joystick controlwhich may be used for joystick control alone or for combinedmanual/auto control.Without a position-reference system, the DP control system canprovide automatic stabilization and control of the vessel headingusing the gyrocompass as the heading reference.The DP control system includes control strategies that willreduce fuel consumption and greenhouse gases.

Basic forces and motions


19.2 Basic forces and motionsA seagoing vessel is subjected to forces from wind, waves andcurrent, as well as from forces and moments generated by thevessel’s propulsion system.The term “forces” in the following sections includes both forcesand yawing moments, unless otherwise stated. The vessel’sresponses to these forces, i.e. its changes in position, headingand speed, are measured by position-reference systems,gyrocompasses and vertical reference sensors. Referencesystems readings are corrected for roll and pitch using readingsfrom the vertical reference sensors. Wind speed and directionare measured by the wind sensors.The SDP control system calculates the forces that the thrustersmust produce in order to control the vessel’s motion in threedegrees of freedom - surge, sway and yaw - in the horizontalplane.

Figure 76 Forces and motions

SDP system theory


The vessel also moves in three vertical degrees of freedom:pitch, roll and heave.

Pitch(+ = bow up)

Roll(+ = stbd down)

Heave(+ = down)

Figure 77 Pitch, roll and heave

The pitch and roll motions are not controlled by the SDPsystem. However, in order to allow the position-referencesystem to correct for these motions, the system must haveinformation about them. This information is received fromvertical reference sensors.The SDP system does not control or require information aboutthe heave motion, but the motion can be measured anddisplayed.

SDP system principles


19.3 SDP system principlesA simplified block diagram of the SDP system is shown inFigure 78, and described in the sections that follow.

Figure 78 SDP system block diagram

The SDP system relies on a mathematical vessel model whichincludes hydrodynamic characteristics such as current dragcoefficients and virtual mass data. This model, called theMathematical Vessel Model, describes how the vessel respondsto an applied force, e.g. from wind or thrusters.

The Extended Kalman Filter

The Extended Kalman Filter estimates the vessel’s heading,position and velocity in each of the three degrees of freedom -surge, sway and yaw. It also incorporates algorithms forestimating the effect of sea current and waves.

SDP system theory


The Extended Kalman Filter uses a mathematical model of thevessel. A mathematical model itself is never a 100% accuraterepresentation of the real vessel. However, by using theExtended Kalman filtering technique, the model is continuouslycorrected.

The vessel’s heading and position are measured using thegyrocompasses and position-reference systems, and are used asinput data to the SDP system. These measurements arecompared with the predicted or estimated data produced by themathematical model, and the differences are then used to updatethe model.

Figure 79 Simlified block diagram showing the extended Kalman filter

The Extended Kalman Filter provides the following advantages:

• Optimum self-adaptive noise filtering of heading andposition measurements according to noise level andmeasurement- update rate.



• Optimum combination of data from the differentposition-reference systems. The system calculates a variancefor each position-reference system in use, and placesdifferent weighting on their measurements according to eachsystem’s individual quality.

• In the absence of position measurements, the model providesa “dead-reckoning” mode. This means that the system is ableto perform positioning for some time without positionmeasurement updates from any position-reference systems.

In the Extended Kalman Filter, the Mathematical VesselModel’s reliability and the noise level of the positionmeasurement are the basis for deciding how much to trust eachmeasurement. As time elapses the model uncertainty willdecrease by learning from measured vessel response.

The process is adaptive. If, for example, only oneposition-reference system is active and it has a low update rate,the model uncertainty will increase in the periods betweenmeasurements, and the vessel model will therefore be heavilyupdated with each measurement.

Offshore trials have verified that the SDP system principlesgive:

• Improved suppression of noise in position measurement witha better station-keeping performance.

• Reduced power consumption and wear and tear on thethrusters due to the improved suppression.

• A robust handling of combined high and low update rateposition sensors, such as DGPS and traditional LongBase-Line hydroacoustic positioning.

An Extended Kalman Filter is also used for the headinginformation based on measurement from the actual gyrocompassin use.

Additional advantages can be obtained by use of:

• Speed measurements: can be used as an addition to positionmeasurements to improve the vessel speed control, and tomake calibration of position measurements faster whensailing at high speed.

A combination of speed measurement and aposition-reference system will be better able to handle dropout of position measurements during sailing.

The speed measurement interface can be DGPS or DopplerLog.

SDP system theory


• ROT measurements: ROT (Rate Of Turn) measurementsfrom ROT sensors can be used to improve the headingcontrol of the vessel. This is useful when very accurateheading control is required during high-speed sailing, orwhen the vessel has a hull shape that makes it difficult tocontrol the heading.

The ControllerThe controller calculates the resulting force to be produced bythe thrusters/propellers in order for the vessel to remain onstation.In station-keeping operations, the SDP Controller can beworking in several of the following modes, all with specialcharacteristics:• High Precision control• Relaxed control• Green controlThe High Precision control provides high accuracystation-keeping in any weather condition at the expense ofpower consumption and exposure to wear and tear of machineryand thrusters.The Relaxed control uses the thrusters more smoothly, at theexpense of station-keeping accuracy. However, this type ofcontrol cannot guarantee that the vessel will stay within itsoperational area, and is only applicable for calm weatherconditions.The Green control uses a different control technology callednon-linear Model Predictive Control, which is optimised forprecise area keeping with minimum power consumption. TheGreen control is applicable in all weather conditions.The transition between SDP controller modes is bumpless.

High Precision and Relaxed Control

The controller consists of the following parts:• Excursion FeedbackThe deviation between the operator-specifiedposition/heading setpoints and the actual position/headingdata, and similar deviations with respect to the vessel’svelocity/heading rate, drive the excursion feedback. Thedifferences are multiplied by gain factors giving a forcesetpoint (restoring setpoint and damping setpoint) required tobring the vessel back to its setpoint values while also slowingdown its movements.



The main difference between High Precision and Relaxedcontrol is the restoring characteristics of the two controllertypes as indicated in Figure 80.

Position deviation

Thrust

Relaxed

High precision

Figure 80 High precision and Relaxed control

• Wind Feed-ForwardIn order to counteract the wind forces as quickly as possible,the feed-forward concept is used. This means that the SDP(OS) system will not allow the vessel to drift away from therequired position, but counteracts the wind-induced forces assoon as they are detected.

• Current FeedbackThe excursion feedback and wind feed-forward are notsufficient to bring the vessel back to the desired setpoints dueto unmeasured external forces (such as waves and current).The system estimates these forces over time, and calculatesthe force setpoint required to counteract them.

Green control

In the Green control mode, the system maintains the vesselwithin an allowed area with minimum use of power.The controller design consists of two main parts, each giving itscontribution to the control:• The Environment Compensator is designed to compensate forthe averaged environmental forces, which will maintain therequired position under averaged conditions.

• The Model Predictive Controller (MPC) uses a prediction(Position Predictor) of the vessel movement as input for thecontrol. When the operational boundaries are predicted to beexceeded, the controller reacts to ensure that the vessel stayswithin the operational area (see Figure 81).

SDP system theory


Figure 81 Vessel under Green control in the operational area

The very smooth control actions reduce wear and tear onmechanical parts of the power and thruster system and reducefuel consumption and greenhouse gases.A simplified block diagram of the MPC Green control is shownin Figure 82.Due to its nature, the MPC will not instantaneously react tosudden changes in external forces, such as wind gusts, unless thePosition Predictor detects that actions must be takenimmediately. Unnecessary sudden use of thrust is thereforeavoided.The Position Predictor includes the mathematical model of thevessel used in the Extended Kalman Filter of the DP. Theposition and heading of the vessel are predicted over a period of1-2 minutes.The non-linear Model Predictive Controller is an onlineoptimisation function, finding the best compromise betweenusing thrust and predicted crossing of operational boundaries.



Figure 82 Green control structure

Thruster allocationThe SDP (OS) system’s controller continuously calculates theactual force requirements in the alongships and athwartshipsdirections (the force setpoint), and the required rotationalmoment (the turning moment setpoint).The Thruster Allocation distributes these setpoints aspitch/rpm/force/load and azimuth control signals to eachthruster/propeller, thus obtaining the force and moment requiredfor the position and heading control.The setpoint is distributed in such a way as to obtain the forceand turning moment required for position and heading control,while also ensuring optimum thruster/propeller use withminimum power consumption and minimum wear and tear onthe propulsion equipment.If it is not possible to maintain both the turning moment and theforce setpoint due to insufficient available thrust, priority isnormally set to obtain the turning moment setpoint (heading).

SDP system theory


If a thruster/propeller is out of service or deselected, the “lost”thrust is automatically redistributed to the remainingthrusters/propellers.The magnitude of thrust allocated is reduced if the availablepower is too low to meet the thrust demand. The allocated thrustwill however still be correct with respect to the direction ofthrust. Heading (or position) priority is also kept in such asituation.Power optimal thruster allocation is the primary barrier forpreventing blackouts and requires the same information as thatrequired for Power Load Monitoring and Blackout Prevention(page 15-3).

301463/A SDP (OS) Operator Reference Manual Index-1

Index

Titles of the dialog boxes, menu items and operator panel buttons are among theentries in this index. Entries of these types are marked as (dialog), (menu) and (but-ton), respectively.

AAbout (dialog)Details, 16-13EXE/DLL, 16-12Overview, 16-11Acceleration/Retardation Settings(dialog), 12-11, 13-8Ack (button), 4-10active and unavailable commands, 1-9alarmacknowledging, 4-10lamps, 4-12limitsheading, 2-14position, 2-13VRS, 2-15silence, 4-11Alarm Limits (dialog)Position, 2-13VRS, 2-15alarm message, 4-4alarm states, 4-9alarm system, 4-2Alarm View (button), 4-5Alarms (button)Alarm lamp, 4-12Computer lamp, 4-12Power lamp, 4-12Alloc Setup (button), 14-6analog alarms, 4-9analysis, consequence, DP, 6-2Auto Position (button), 11-10

Auto Position mode, 11-10from Joystick mode to, 11-10Green control, 19-9Automatic Thruster Start (dialog), 14-5AutoPos (menu)Acceleration, 12-11, 13-8Alarm Limits, 2-13Dp Class, 6-3Gain, 2-16Heading, 13-5Position, 12-5Position Inc, 12-4Position R/B, 12-4Quick Model, 2-23Rate Of Turn, 13-7Rotation Center, 2-24Speed, 12-10axis control, 1-12

Bbasic forces and motions, 19-3blackout prevention, 15-3

Ccalibrate, joystick, 3-2Change Heading (button), 13-5Change Position (button), 12-5Change User (dialog), 2-2changing cursor image, 1-19changing user, 2-2chart, view control, 18-34commandgroups, 7-8

Index

Index-2 Kongsberg Maritime 301463/A

status, 7-8transfer, 7-6Command Control (dialog)Give, 7-11OS, 7-9Overview, 7-8, 7-10Command Status (button), 7-8Connect (dialog), 7-15connecting to a controller group, 7-15consequence analysisDP, 6-2running state messages, 6-3selecting DP class, 6-3warning messages, 6-4Control Setup (button), 2-16controller, gain, 2-16controller groups, 7-15Controller ModeGreen, 2-16High Precision, 2-16Relaxed, 2-16controller PSresetting, 8-2selecting master, 8-8updating offline, 8-8coordinate systems, 10-2, 10-26position presentation, 10-4system datum, 10-26current, direction display, 2-9current update, 3-4CyberSea Mode (dialog), 16-22

Ddamping of vessel motion, 1-12Date And Time (dialog), 4-8Datum Details (dialog), 10-8Decrease (button), 1-6depth, displayed on Sensors view, 18-58depth sensors, 9-21

Deviation view, 18-2position and heading deviation in AutoPosition mode, 18-3position and heading in Joystick mode,18-2

dialog boxes, 1-13spin box, 1-14text box, 1-14Diesels view, 18-7displaycolours, 2-12layout, 1-7menu bar, 1-8message line, 1-9monitoring area, 1-10performance area, 1-9printing a hardcopy, 2-3selection of display palette, 2-12status bar, 1-10status line, 1-10title bar, 1-8units, 2-6working area, 1-9display accuracysea current speed, 2-9vessel speed, 2-9display units, 2-6editing, 2-7resetting the display units settings, 2-10selecting the display units set to use, 2-6wind, waves and sea-current direction,2-9

Display Units (dialog)compact version, 2-6extended version, 2-7display views, 1-19available views, 1-20control dialog boxes, 1-23Deviation view, 18-2Diesels view, 18-7General view, 18-11Joystick view, 18-14LTW view, 18-19Numeric view, 18-24


orientation of the operator station, 1-19Posplot view, 18-26Power Consumption view, 18-44Power view, 18-41preselecting, 1-25RCA view, 16-18Refsys Status view, 18-54Refsys view, 18-46Rotation Centers, 18-55selecting, 1-22Sensor view, 18-56Thruster views, 18-61Azimuth thruster view, 18-70Forces view, 18-79Propeller/rudder view, 18-73Setpoint/feedback view, 18-77Thruster main view, 18-62Tunnel thruster view, 18-67tooltip, hotspot cursor and change ofcursor image, 1-19Trends view, 18-82zooming, 1-24divergence test, 10-30DP Class (dialog), 6-3DpPS, 17-2draught, sensors, 9-19Driver Properties (dialog), 17-32dropoutheading, 9-7position, 10-36

EEBL (dialog), 18-38EBL function, 18-38electrical failure, joystick, 11-5Electronic Bearing Line, 18-38emergency message, 4-4entering numeric values (dialog), 1-14environmental compensation, 3-4Equipment - System Status (dialog), 17-6Event Printer, 17-12

Net Status, 17-13OS/HS, 17-11PS, 17-7PS Redundancy, 17-9equipment status, 17-6Event List (dialog), 4-5Event printer, 17-12Event Printer (dialog), 4-13

FFMEA mode, 16-22free run, in Auto Track (high speed) andAutopilot modes, 14-8freeze test, 10-29function keys, 1-5, 1-25

Ggain, 2-16controller, 1-12customised, 2-18high/medium/low, 2-18Gain (dialog), 2-16General, view, 18-11view control, 18-13Give (button), 7-6giving command, 7-7Green control, 19-9Green Controller Mode, 2-16Gyro (button), 9-2, 9-5Gyro Deviation (dialog), 9-4gyrocompasses, 9-2deviation calculation, 9-4displayed on Sensors view, 18-57faulty, 9-6status lamp, 9-5

Hhardcopy, 2-3Hardcopy (button), 2-3

Index


hardware information, 16-11headingchanging using the Heading Wheel,13-4changing using the Posplot view, 13-3limits, 2-14operator selected, 13-5stopping a change of heading, 13-2system selected, 13-5Heading (dialog), 13-3Heading, 13-5Rate Of Turn, 13-7Heading Setpoint (dialog), 13-4Heading Wheel, 1-6, 13-4Activate (button), 13-4Decrease (button), 13-4Increase (button), 13-4heave, 19-3limits, 2-15Help (menu)About, 16-11Messages, 4-14High Precision Controller Mode, 2-16hotspot cursor, 1-19

IIncrease (button), 1-6information message, 4-4input validation of entered values (dialog),1-18IO Block (dialog), 17-21, 17-24IO Manager (dialog), 17-19IO Point Browser (dialog), 17-29IO system, 17-4

JJoystick, view, 18-14joystick, 1-6calibrating, 3-2current update, 3-4

electrical failure, 11-5environmental compensation, 3-4precision, 3-4thrust, 3-4Joystick (button), 11-4Joystick (menu)Acceleration, 12-11, 13-8Alarm Limits, 2-13Calibrate, 3-2Gain, 2-16Heading, 13-5Rate Of Turn, 13-7Rotation Center, 3-9Settings, 3-4Joystick Calibrate (dialog), 3-2joystick controlposition and heading, 11-5rotation center, 3-7Joystick Full Thrust (button), 3-4Joystick mode, 11-3with auto heading control, 11-6with auto position control, 11-7with auto stabilisation, 11-8Joystick Settings (dialog), 3-4Joystick Setup (button), 3-4

Kkeypad, 1-5

Llampsdimming level, 2-4test, 2-5Light Taut Wire Plot (dialog), 18-23limitsheading, 2-14position, 2-13VRS, 2-15Local N/E Properties (dialog), 10-9logging, 16-2logon configuration, 7-5


Logon Configuration (dialog), 7-5LTW, view, 18-19view control, 18-23

MMain Views, button group, 1-5master controller PS, selecting, 8-8median test, 10-31menu bar, 1-8active and unavailable commands, 1-9menus listed, 1-28message line, 4-5message system, 4-2messagesacknowledging, 4-10displayed explanation , 4-16explanations, 4-14printing, 4-18message line on display, 1-9presentation, 4-5printed, 4-13searching for, 4-15minimum power heading, 13-6mixed joystick/auto modes, 11-6modes, 1-4Auto Position, 11-10button group, 1-4Joystick, 11-3Standby, 11-2monitoring area, 1-10

NNumeric, view, 18-24view controls, 18-25Numeric Entry Keypad (dialog), 1-16Numeric Entry Keypad Dialog Use(dialog), 1-15

Ooffline controller PS, updating, 8-8

online system support, 16-6operator panel, 1-3operator station, 1-2, 17-2softwarerestart, 7-2, 7-4stop, 7-2

Ppanel, 1-3panel driver logging, 16-2Panel Driver Logging (dialog), 16-3Panel Light Configuration (dialog), 2-4panel logfilescopying, 16-5selecting from list, 16-5panning function (center here), 18-39PcAnywhere Waiting... (dialog), 16-8Performance (dialog), 18-6, 18-13, 18-25performance area, 1-9pitch, 19-3limits, 2-15positionchanging using absolute coordinates,12-8changing using increments, 12-6changing using Position Inc dialog box,12-4changing using Position R/B dialog box,12-4changing using Range/Bearing, 12-7changing using the Position dialog box,12-5changing using the Posplot view, 12-3dropout, 10-36limits, 2-13stopping a change of position, 12-2Position (dialog), 12-3Absolute, 12-8Incremental, 12-6R/B, 12-7Speed, 12-9

Index


Position Inc (dialog), 12-4position presentation, 10-4Position Presentation (dialog), 10-4Position R/B (dialog), 12-4position-reference systemschanging relative weight, 10-19changing test limits, 10-20changing the reference origin, 10-36controlling, 10-12divergence test, 10-30enabling, 10-18, 10-34enabling other, 10-35enabling the first, 10-34freeze test, 10-29median test, 10-31monitoring, 10-18prediction test, 10-30properties, 10-22reference origin, 10-26, 10-34relative weighting of, 10-29standard deviation, 10-28status, 1-11tests on, 10-28variance test, 10-29Posplot, view, 18-26changing heading, 13-3changing position, 12-3EBL function, 18-38view control, 18-33Posplot (dialog)Chart, 18-34Grid, 18-35Mode, 18-33Range, 18-35Show, 18-34Trace, 18-36Power, 15-1view, 18-41view control, 18-43

power, monitoring, 15-2, 15-3Power Consumption, view, 18-44Power Plot (dialog), 18-43

prediction test, 10-30Present Heading (button), 13-2Present Position (button), 12-2Print (dialog), 17-14Print Setup (dialog), 4-18Print Status (dialog), 16-9printing, display picture, 2-3process stations, 17-3resetting, 8-2PUIF Network message monitoring(dialog), 4-12

QQuick Model (button), 2-23Quick Model (dialog), 2-23Quick model update, 2-22

Rrange/bearing, 12-7rate of turnsensors, 9-23setpoint, 13-7RCAview, 16-18warning status, 1-11redundancy, 17-3dual-redundant systems, 8-5triple-redundant systems, 8-7Redundancy and Criticality Assessment,16-14Redundant Stations (dialog), 8-8reference origin, 10-26changing, 10-36Reference System (dialog)Enable, 10-18Validation, 10-20Weight, 10-19


Reference System Properties (dialog),10-22Quality Filter Actions, 10-25UTM Properties, 10-24Reference System Settings (dialog), 10-13Refsys, view, 18-46view control, 18-51Refsys (dialog)Grid, 18-52Mode, 18-51Range, 18-53Refsys Status, view, 18-54Relaxed Controller Mode, 2-16remote diagnostics, 16-6Remote Diagnostics (dialog), 16-6Reset Controller PS (dialog), 8-2resetting display units, 2-10roll, 19-3limits, 2-15roll, pitch, heave, displayed on Sensorsview, 18-58rotation centerautomatic heading control, 2-24joystick heading control, 3-7Rotation Center (dialog)automatic control, 2-24joystick control, 3-9Rotation Centers view, 18-55rotation speed, 13-7

Ssea current speed, display accuracy, 2-9Sensor Plot (dialog), 18-59sensors, 9-1depth, 9-21display view, 18-56view control, 18-59draught, 9-19gyro deviation, 9-4gyrocompass, 9-2

Rate Of Turn, 9-23speed, 9-16VRS (roll, pitch, heave), 9-13water depth, 9-21wind, 9-8Sensors (menu)Alarm Limits, 2-15Depth, 9-21Draught, 9-19Gyro, 9-2Gyro Deviation, 9-4Rate Of Turn, 9-23Reference System, 10-18, 10-19, 10-20Reference System Properties, 10-22Reference System Settings, 10-13Speed, 9-16VRS, 9-14Wind, 9-9serial lines, resetting, 17-34Set System Date/Time (dialog), 2-11Set Timezone (dialog), 2-11shell configuration, 7-5showing the tooltip, 1-20signal conditioning, 17-27Silence (button), 1-5, 4-11slow-drift test, 10-30software information, 16-11speedacceleration/retardation factor, 12-11changing using the Position - Speeddialog box, 12-9changing using the Speed Setpointdialog box, 12-10display accuracy, 2-9sensors, 9-16doppler log, 9-17enabling, 9-16GPS, 9-17setpoint, 12-10Speed Setpoint (dialog), 12-10standard deviation, 10-28

Index


Standby (button), 11-2Standby mode, 11-2startup procedure, 7-2Station Explorer (dialog), 17-15status bar, 1-10status line, 1-10status page, printing, 16-9Stop/Restart (dialog), 7-3stopping a change of heading, 13-2stopping a change of position, 12-2surge, 19-3Surge (button), 1-4, 11-6, 11-8, 11-9sway, 19-3Sway (button), 1-4, 11-6, 11-8, 11-9System (menu)Change User, 2-2Connect, 7-15CyberSea, 16-22Equipment, 17-6Event Printer, 4-13Panel Log, 16-3Print Status, 16-9Redundant Stations, 8-8Remote Diagnostics, 16-6Reset Controller PS, 8-2Screen Capture Printer, 2-3Set Date/Time, 2-11Set Timezone, 2-11Stop/Restart, 7-3Trainer, 5-3Vessel Control Mode, 16-15system architecture, 17-2system messagesacknowledging, 4-10messages on the printer, 4-13presentation, 4-5System Messages (dialog)Contents, 4-14message pane, 4-16Search, 4-15

system start-up, 7-2system status, 16-9, 17-1

TTake (button), 7-6taking command, 7-7thrust, joystick, 3-4Thruster (menu)Allocation Mode, 14-6Automatic Start, 14-5Biasing, 14-13Enable, 14-2Run-in, 14-22Thruster Allocation (dialog), 14-6Thruster Biasing (dialog)automatic bias, 14-14enter bias manually, 14-13Thruster Enable (dialog), 14-2Thruster Run-in (dialog), 14-22Thruster Sub Plot (dialog), 18-76Thruster views, 18-61Azimuth thruster view, 18-70Forces view, 18-79Propeller/rudder view, 18-73Setpoint/feedback view, 18-77Subview control, 18-76Thruster main view, 18-62Tunnel thruster view, 18-67thrustersallocation, 19-11allocation modes, 14-6diving, 14-7environ fix, 14-7fix, 14-7heave red, 14-8steering, 14-7variable, 14-6automatic start, 14-4biasing, 14-12turn factor, 14-19control modes, 14-6enabling, 14-2


force bias, 14-12angle factor, 14-20inwards, 14-21lever control, 14-2manual fix angles, 14-10rudder limits, 14-10run-in, 14-22status, 1-11Thrusters (button), views, 18-62time, changing the system time, 2-11title bar, 1-8tooltip, 1-19trackball, 1-5trainer, 5-2Trainer Settings (dialog), 5-3Trend Numeric (dialog), 18-84Trend Plot (dialog), 18-85Trends, view, 18-82view control, 18-85

Uunits, 2-6userchanging, 2-2Chief, 2-2Operator, 2-2using hotspot cursors, 1-20UTM Properties (dialog), 10-10

Vvariance test, 10-29vertical reference sensors, 9-13vertical vessel motions, displayed onSensors view, 18-58Vessel Control Mode, 16-14Vessel Control Mode (dialog), 16-15,16-20

vessel speed, displayed on Sensors view,18-59View (menu)Display Units, 2-6Num Entry Dlg, 1-15PanelLamp Test, 2-5Light Configuration, 2-4Position Presentation, 10-4Preselect, 1-25Reset Display Units, 2-10Set Palette, 2-12Show Tooltip, 1-20Use HotSpot Cursors, 1-20Use Preselected, 1-25Views, button group, 1-5views, 1-19VRSfaulty, 9-15status lamp, 9-15VRS (button), 9-14, 9-15VSim mode, 16-22

Wwarning limitsheading, 2-14position, 2-13warning message, 4-4explanations, 4-14water depth sensors, 9-21wave, direction display, 2-9winddirection display, 2-9displayed on Sensors view, 18-57operating without sensor input, 9-12sensors, 9-8manually enter values, 9-10status lamp, 9-10

Wind (button), 9-9, 9-10WinPS, 17-3

Index


working area, 1-9

YY-Axis Range (dialog)Power Plot, 18-43Refsys, 18-51Sensor Plot, 18-60Thruster Sub Plot, 18-76Trend Plot, 18-86yaw, 19-3Yaw (button), 1-4, 11-6, 11-7, 11-9

Zzoom, 1-24

Documents

Operator Reference Manual ECDIS Kongsberg Ref. 6.2