Professional Documents
Culture Documents
302363/A
July 2007
Document history
Document number: 302363
Rev. A
July 2007
The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct 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 for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com
Kongsberg Maritime AS
P.O.Box 483
N-3601 Kongsberg,
Norway
Telephone: +47 32 28 50 00
Telefax: +47 32 28 50 10
Service: +47 815 35 355
www.kongsberg.com
Operator Manual
Table of contents
Glossary..................................................................................................................13
1
1.1
1.2
1.3
1.4
2
2.1
2.2
2.3
2.4
Offshore Loading....................................................................................... 35
2.8
Operational modes..................................................................................................34
Special applications ................................................................................................35
2.4.1
2.5
2.6
2.7
302363/A
3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
OFFSHORE LOADING....................................................... 61
K-Pos DP Offshore Loading application................................................................61
Weather vaning .......................................................................................................62
Tandem loading (FSU/FPSO).................................................................................62
Single anchor loading (SAL)..................................................................................63
Single point mooring (SPM) ..................................................................................64
Floating loading platform (FLP) ............................................................................65
Submerged turret loading (STL) ............................................................................65
Operational modes..................................................................................................66
3.8.1
3.8.2
3.8.3
3.8.4
3.9
Display layout.........................................................................................................76
4.3.1
4.3.2
4.3
4
4.1
4.2
302363/A
Operator Manual
4.3.3
4.3.4
4.3.5
4.3.6
4.3.7
4.3.8
4.3.9
4.3.10
4.4
4.5
5.6
Menu bar.................................................................................................... 93
System menu .............................................................................................. 94
View menu ................................................................................................. 95
Sensors menu ............................................................................................. 95
Thruster menu ............................................................................................ 96
Joystick menu............................................................................................. 96
AutoPos menu ............................................................................................ 96
OffLoad menu ............................................................................................ 97
Help menu.................................................................................................. 97
5.5
5
5.1
5.2
5.3
5.4
Message line............................................................................................... 78
Performance area ........................................................................................ 79
Working areas............................................................................................. 79
Status line .................................................................................................. 79
Status bar ................................................................................................... 79
Dialog boxes .............................................................................................. 81
Entering numeric values .............................................................................. 83
Input validation of entered values................................................................. 86
302363/A
5.6.2
5.7
5.8
6
6.1
Calibration procedure.................................................................................115
6.2
7
7.1
7.2
7.3
7.4
7.5
7.6
7.8
7.9
Defining the time span for the Historic Event Page...................................... 122
7.7
Contents................................................................................................... 129
Search...................................................................................................... 130
Displayed explanation ............................................................................... 130
Menu bar.................................................................................................. 131
Printing message explanations ................................................................... 132
Warning and alarm messages for OLS, SAL, SPM and FLP buoys .............. 134
Warning and alarm messages for FSU buoys.............................................. 136
Warning and alarm messages for STL buoys.............................................. 141
Buoy depth monitoring............................................................................. 142
302363/A
Operator Manual
8.2
8.3
8.4
8.5
9
9.1
9.2
302363/A
10.2.5
10.2.6
302363/A
Operator Manual
13
13.1
13.2
13.3
Using the trackball to change the position setpoint in Loading mode ........... 225
Leaving the buoy ..................................................................................... 225
14
14.1
14.2
14.3
302363/A
10
302363/A
Operator Manual
19.2.3
19.2.4
IO system................................................................................................. 274
Monitoring functions................................................................................. 275
19.5 IO Manager...........................................................................................................288
19.5.1
21
21.1
21.2
21.3
21.4
302363/A
11
22.1.2
22.1.3
12
302363/A
Operator Manual
Glossary
Abbreviations
ARP
BIST
BITE
cPos
CCW
CG
COG
CW
DGPS
DP
DPC
DQI
EBL
FLP
FPSO
FSU
GPS
HDOP
HiPAP
HPR
ICS
I/O
IMO
KM
LTW
MOB
OS
OT
PMS
PS
RIO
rms
ROT
302363/A
13
ROV
RPM
SAL
UPS
UTC
UTM
VRS
WGS
WT
Wing Terminal
14
302363/A
Operator Manual
General terms
Apparent wind
Bearing
Blackout
prevention
Cartesian
coordinate
system
Command
group
A group of functions that reflect the way the system will operate
for a specific process area, for example, Propulsion and Propulsion
Simulation.
Controller
group
Course
Datum
Dead reckoning
Destination
Feedback
Gyrocompass
Heading
302363/A
15
Integrated
Control System
International
Hydrographics
Organisation
International
Maritime
Organisation
Kalman filter
Log
Median value
Navigation leg
Process Station
Reference origin
Relative bearing
Relative wind
The speed and relative direction from which the wind appears to
blow with reference to the moving vessel.
Route
SENC
Setpoint circle
The circle around the terminal buoy where the vessel is positioned
during offshore loading operations.
16
302363/A
Operator Manual
Safety Of Life
At Sea
Standard
Deviation
Surge
Sway
Thruster
Transponder
True bearing
Unavailable
Variance
Vessel Reference
Model
Yaw
302363/A
17
18
302363/A
302363/A
19
20
302363/A
Figure 2
(CD3292)
Pitch
(+ = bow up)
Roll
(+ = starboard down)
Heave
(+ = down)
The pitch and roll motions are not controlled by the K-Pos DP
system. However, in order to allow the position-reference system
to correct for these motions, the system must have information
about them. This information is received from vertical reference
sensors.
The K-Pos DP system does not control or require information
about the heave motion, but the motion can be measured and
displayed.
302363/A
21
Figure 3
22
302363/A
302363/A
23
24
302363/A
302363/A
25
26
302363/A
2 INTRODUCTION TO DYNAMIC
POSITIONING
This chapter contains the following sections:
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2.12
2.13
2.14
Introduction................................................................27
Main DP components.................................................27
Operational modes .....................................................34
Special applications ...................................................35
The K-Pos family of DP systems...............................36
K-Pos DP-11 and DP-12 ............................................37
K-Pos DP-21 and DP-22 ............................................38
Integrated Control System (ICS) ...............................40
Heading reference systems ........................................41
Vertical reference sensors (VRS) ...............................42
Position-reference systems.........................................42
Operational planning..................................................57
Resetting the DP system prior to operation ...............58
Thruster control command signals.............................59
2.1 Introduction
This section provides an introduction to dynamic positioning in
general and descriptions of some K-Pos DP systems.
302363/A
27
2.2.1.3 Position-keeping
28
302363/A
302363/A
29
Classification society
IMO
American Bureau of
Shipping
Bureau Veritas
RINA
30
302363/A
shall be determined for the vessel and used as the criterion for
the Consequence Analysis. The analysis shall verify that the
thrusters remaining in operation after the worst-case failure,
can generate the same resultant thruster force and moment as
required before the failure. The Consequence Analysis should
provide an alarm if the occurrence of a worst-case failure would
lead to loss of position due to insufficient thrust in the prevailing
environmental conditions.
302363/A
31
A DP Advanced/Simulator course
32
302363/A
Figure 5
302363/A
Dp Operator Certification
33
34
302363/A
302363/A
35
distances that the vessel may move from the terminal point are
defined by the operator. The distance from the terminal point is
monitored and an alarm is given if one of these limits is exceeded.
For further information about the principles of offshore loading,
see Offshore loading on page 61.
Systems
36
DP-11
DP-12
DP-21
302363/A
Table 2
DP-31
DP-32
IMO Equipment
Class
Remarks
DP-11/12
Class 1
DP-21/22
Class 2
DP-31/32
Class 2
DP-21/22 with
DP-11/12
Class 3
DP-11/12 as backup
DP-31/32 with
DP-11/12
Class 3
DP-11/12 as backup
302363/A
37
DP-11
38
302363/A
Figure 7
DP-21
302363/A
39
Failure detection
The system will detect a failure, allowing corrective actions
to be taken
Fault isolation
If one system component fails, the other components will not
be affected
Switchover to hot standby
If the online computer in a dual-redundant system fails, a
successful switchover to the hot-standby computer takes place
automatically
The system provides redundancy in accordance with Class 2
requirements. The two controller computers are separate and
operate independently of each other. The operator may choose
which computer is to be online, while the other computer acts
as the hot standby.
The two computers operate in parallel, each receiving the same
input from the operator, sensors, reference systems and thrusters,
and each performing the same calculations. However, only the
online computer can control the thruster system. A switchover is
activated either automatically, if a failure is detected in the online
computer, or manually by the operator. Automatic switching
is allowed only once. The operator must explicitly enable any
further automatic switching.
Both control computers are continuously checked for both
hardware and software failures. If a failure is detected, a warning
or alarm is given.
40
302363/A
302363/A
41
42
302363/A
Figure 8
Underwater acoustics
302363/A
43
Figure 9
44
302363/A
Figure 10
Transmission loss
302363/A
45
Deployment of transponders
46
302363/A
Figure 13
Transponder
The length of the rope between the transponder base and the
weight can be 2-5 m.
The recommended weight of the sinker is approximately 60 kg
for 1000 m transponders and 100 kg for 3000 m transponders.
Another way to deploy the transponder is to mount it on a tripod
and lower it to the seabed with a transponder winch. The winch
should preferably be of a constant tension type which will pay
out wire as the vessel moves. If the winch is not of a constant
tension type, there must be procedures to ensure that sufficient
extra wire is paid out to avoid dragging the transponder when the
vessel is moving.
2.11.1.3 Simultaneous use of transponders
302363/A
47
2.11.2 RADius
RADius is a short-range relative positioning system. It is based
on radar principles and has no moving parts.
RADius consists of an interrogator typically located on a moving
vessel, one or several transponders that are deployed on the
target (vessel or installation). All deployed transponders at the
target has unique identities, thus multiple transponders can be
utilised for integrity and high availability. The RADius system
measures distance and bearing between the moving vessel and
the transponders.
One transponder is sufficient for DP operations, RADius can
however use up to five transponders simultaneously, giving
increased reliability and integrity. A transponder can serve
several interrogators simultaneously providing multi user
functionality. The RADius systems 90 opening angle of the
interrogator combined with several transponders enables a wide
range of operations for example a supply vessel.
Figure 14
operation
Crane
Transponder
Transponder
Supply vessel
Interrogator
Interrogator
(CD070400)
2.11.3 Artemis
Artemis is a high-accuracy surveying system measuring range
and bearing between two points. Artemis uses a microwave-based
horizontal tracking system. The system consists of one fix station
(FIX) installed on a fixed point and accurately aligned to north,
and one mobile unit (MOB) installed on the vessel. During
48
302363/A
operation, the two antennas are locked to each other. The fixed
station measures the direction to the mobile antenna and sends it
to the mobile antenna. The mobile station measures the distance.
Figure 15
302363/A
49
Figure 16
Dip zones
50
302363/A
302363/A
51
52
302363/A
Figure 17
Multipath effects
Ionospheric scintillation
Ionospheric scintillation is the rapid fluctuation of the phase
and intensity of a radio signal that has passed through the
earths ionosphere, typically on a satellite-to-ground propagation
channel. (For the radio signals this phenomenon is similar to the
twinkling of the light from a star in the night sky). It is caused by
the radiation from the sun, which varies with the sun spot activity.
The affect on GPS is that the signals from satellites may be lost.
Scintillation problems are known around the equator during
sunrise and sunset and in high latitudes during the day. When
302363/A
53
DGPS
54
302363/A
302363/A
55
2.11.6 Fanbeam
Fanbeam is a laser position-reference system designed for
repetitive, high-accuracy positioning and tracking of marine
vessels, and static and semi-static anchored structures.
The system is primarily used to control or assist automatic
docking of a vessel next to a platform, jetty or other vessel. The
system is also widely used to position seismic vessels gun array
floats during seismic surveys.
The basic system consists of a laser-scanning unit mounted on a
motorised yoke that can rotate 360 at up to 50 per second. The
Fanbeam laser can measure to a range of 2000 m to within an
accuracy of 10 cm. It uses a vertical 20 fan of pulsed light
produced by a multiple array of semiconductor laser diodes in
combination with special optics.
Pulses reflected from a reflector mounted on a rig or a vessel, are
timed and multiplied by the speed of light to give distance. At
the time of the received return, the optical bearing encoder is
read to give the bearing.
An auto tilt mechanism incorporated into the yoke of the
Fanbeam allows the laser-scanning head to be adjusted by 15
giving a total beam range of -25 to +25. This valuable feature
makes it easy to adjust for the large variations in height between
a vessel and a rig or two vessels in different states of ballast.
The Fanbeam uses laser light and is dependent on line-of-sight.
Any obstructions between the Fanbeam and the reflector will
cause it not to work. The Fanbeam is affected by fog, rain and
snow. The target type and placing must be carefully selected to
avoid the Fanbeam from jumping to other nearby targets or to be
obstructed by any part of the operation, for example a crane lift.
56
302363/A
302363/A
57
58
302363/A
302363/A
59
60
302363/A
Offshore loading
3 OFFSHORE LOADING
This chapter contains the following sections:
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
302363/A
61
Weather vaning
The vessel is allowed to rotate with the wind and waves around
the offshore loading buoy. This positioning method reduces the
thruster/propeller force required to maintain the vessels position
relative to the buoy.
The vessel position is controlled in the surge axis to maintain
the required distance from the bow or mating cone to the buoy
without oscillations. The distance to the buoy is specified as a
setpoint circle, centred on the buoy or base position.
The vessel heading is controlled in the yaw axis to keep the
heading steady and directed towards the buoy.
The vessel position in the sway axis is allowed to change
on the setpoint circle so that the vessel is driven by the
environmental forces to the optimum heading (where the
effect of the environmental forces is at a minimum).
The vessel motion in the sway and yaw axes is damped to
prevent fishtailing.
62
302363/A
Offshore loading
302363/A
63
Figure 22
64
302363/A
Offshore loading
302363/A
65
Figure 25
66
302363/A
Offshore loading
302363/A
67
68
302363/A
Offshore loading
302363/A
69
4 USER INTERFACE
This chapter contains the following sections:
4.1
4.2
4.3
4.4
4.5
Operator station..........................................................70
Operator panel............................................................71
Display layout ............................................................76
Display views.............................................................87
Main menus................................................................92
70
302363/A
User interface
The power switch and adjustment controls for the display are
placed on the right hand side of the screen. The use of the power
switch and adjustment controls is described in the Hardware
Module Description for the screen.
302363/A
71
Note that the appearance of push buttons may vary from vessel
to vessel.
4.2.1.1 Modes
The MODES button group contains buttons for selecting the main
operational modes. Status lamps indicate the current mode.
Three additional buttons allow you to select individual axes for
automatic control. These are referred to as the SURGE, SWAY
and YAW buttons throughout this manual.
Figure 29 shows the button arrangement for an OS where the
operator looks in the alongships direction whilst looking at the
screen.
Figure 29 Surge, sway and yaw buttons on an OS that is
orientated in the alongships direction
72
302363/A
User interface
4.2.1.2 Controls
The VIEWS button group contains buttons for selecting the view
to be displayed in the main working area of the screen.
4.2.1.4 Thrusters
4.2.2 Input
The INPUT keypad provides keys that are used to enter values or
text into dialog boxes.
302363/A
73
This is the ENTER key. Pressing this key applies the value or text
you have written to the system (i.e. corresponds with clicking
the OK button on a dialog box)
PAGE UP
PAGE DOWN
HOME
ESC
4.2.3 Trackball
The TRACKBALL is used to position the cursor on the screen.
The left button is used to click on screen buttons, choose from
menus and select displayed symbols.
The right button is used to display a shortcut menu.
The middle button is not used.
74
302363/A
User interface
4.2.4 Joystick
In Joystick mode, the operator controls the positioning of the
vessel using the three-axis joystick (integrated joystick and rotate
controller).
To move the vessel in the surge and sway axes (alongships and
athwartships directions), tilt the joystick. The direction in which
the joystick is tilted determines the direction of applied thruster
force, and the angle of tilt determines the amount of applied
thruster force.
To turn the vessel (the yaw axis), rotate the joystick. The
direction in which the joystick is rotated determines the direction
of the rotational moment demand, and the angle through which
the joystick is rotated determines the amount of applied rotational
moment.
302363/A
75
DISTANCE TO TURN
76
302363/A
User interface
302363/A
77
Figure 31
78
302363/A
User interface
302363/A
79
Figure 33
MainMode
80
302363/A
User interface
These are graphic indications of the axes that are under automatic
control or damping control.
The descriptions of the surge and sway axes apply to a system
with the vessel diagram displayed bow up (see Orientation of
the OS and effect on display views on page 87).
The surge axis is under automatic or damping control.
The sway axis is under automatic or damping control
The yaw axis is under automatic or damping control
The axis control symbol is rotated according to the orientation
of the Operator Station (see Orientation of the OS and effect on
display views on page 87). Note that the mutual angle difference
between the surge and sway axes is preserved.
Gain
302363/A
81
82
302363/A
User interface
302363/A
83
Place the cursor in the Enter a numeric value text box and
click the left trackball button or, if you have a touch-sensitive
screen, tap the text box using your index finger.
The Enter a New Numeric Value dialog box is displayed.
84
302363/A
User interface
Note
This new numeric value will first be applied to the system when
you click the OK or Apply button on the dialog box where the
relevant text box is located.
302363/A
85
Click the OK button on this dialog box. The illegal value will
remain highlighted in the text box until it is corrected.
If the dialog box has more than one page, and you enter an illegal
value on one of the pages, the validation will be performed when
you click the OK or Apply button, even though another page is
displayed. The dialog box is automatically displayed with the
page containing the illegal value on top.
86
302363/A
User interface
If more than one validation error occurs, all errors are listed in
one message box. In the dialog box, however, only the first error
will be highlighted.
302363/A
87
88
302363/A
User interface
302363/A
89
Place the cursor anywhere in the view and click the right
trackball button.
The shortcut menu is displayed.
90
302363/A
User interface
4.4.6 Zooming
To zoom a view that is displayed in the working or monitoring
areas, click Zoom In on the shortcut menu. The view is enlarged
by approximately 60%, centered on the cursor position when the
shortcut menu was displayed.
A zoomed view can be panned or zoomed again. Place the cursor
in the required area and click the right trackball button. The
following shortcut menu is displayed:
302363/A
91
92
302363/A
User interface
302363/A
93
CyberSea...
See Interface to
CyberSea on page 270
Backup Control...
Connect...
See Connecting to a
controller PS group on
page 157
Equipment...
See Equipment on
page 276
Redundant Stations...
Set Date/Time...
Set Timezone...
Event Printer...
Print Status...
Remote Diagnostics...
Stop/Restart...
See System
start-up/shut-down
and OS stop/restart on
page 145
Report...
Change User...
94
302363/A
User interface
Note
Panel
Show ToolTip
Preselect...
Use Preselected
Display Units...
Position Presentation...
See Position
Presentation dialog
box on page 186
302363/A
Gyro...
See Gyrocompasses on
page 167
Gyro Deviation...
Wind...
VRS...
Draught...
Hawser...
95
Stl...
Alarm Limits...
Allocation Mode
Allocation Settings
Heading...
Calibrate...
Note
96
Position...
Speed...
Heading...
302363/A
User interface
Rate Of Turn...
Gain...
Alarm Limits...
DP Class...
Setpoint Radius...
Speed...
Heading...
Rate Of Turn...
Hawser Tension...
Axis Control...
Gain...
Alarm Limits...
DP Class...
302363/A
Messages...
About...
97
5 SYSTEM SETTINGS
This chapter contains the following sections:
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
Select the required user in the New user list box and click the
Change user button.
98
302363/A
System settings
You can use this dialog box to select the printer and to define
the printer set-up.
302363/A
99
Figure 35
100
302363/A
System settings
From the list boxes, select the required light intensity for the
indicator lamps and the background lamps for the available
Palettes. Available light intensities are Bright, Normal,
Dimmed, Very Dimmed and Off.
302363/A
101
3
4
5
6
102
302363/A
System settings
Note
Using the scroll bar to the right, find the display units type
you want to edit and select it. It is possible to sort the unit
list alphabetically by clicking the column heading. Click
once for ascending order, twice for descending order and
three times to have the default order (no alphabetical sorting)
displayed.
302363/A
103
104
302363/A
System settings
Click the Yes button if you want to reset all the display units
settings to factory (original) settings, otherwise click the
No button.
Setting the system date and time can only be performed by the
Chief user. See Changing user on page 98.
The Set System Date/Time dialog box allows you to change the
date and time of the system clock.
To display this dialog box, select SystemSet Date/Time.
302363/A
105
Use this dialog box to set the correct date and time. You can
either enter the time and date values directly into the text boxes
or you can use the up/down arrow to select time and date values.
Use this dialog box to set the required time zone from the
selection in the drop-down list box. Select the check box if
you want the system to automatically adjust the clock for
daylight-saving changes.
106
302363/A
System settings
302363/A
107
Warning and alarm limits can be set for position deviation. When
the vessels actual position differs from the position setpoint by
more than the warning limit, a warning message is displayed.
When the vessels actual position differs from the position
setpoint by more than the alarm limit, an audible signal sounds
and an alarm message is displayed.
When active, the position limits are displayed as solid circles in
the Performance area (see Performance area on page 328), on
the General view (see General view on page 317), the Deviation
view (see Deviation view on page 311), and the Posplot view (see
Posplot view on page 334). When inactive, the position limits are
shown as dashed circles on the General and Deviation views.
Note
Warning and alarm limits can be set for heading deviation. When
the vessels actual heading differs from the heading setpoint by
108
302363/A
System settings
Enter the required Fore and Aft alarm limits using the numeric
keypad or the up/down arrows to increase/decrease the limits. To
activate the limits, select the Active check box.
When active, the weather vane limits are shown as solid lines
on the WVane view (see WVane view on page 391) and the
DevWVane view (see Dev WVane view on page 315). On the
Posplot view the limits are shown as dotted lines fore and aft
of the setpoint circle. The lines are displayed at right angles
to the vessel heading and tangent to the setpoint circle. When
inactive, the weather vane limits are shown as dashed lines on
the DevWVane and WVane views.
302363/A
109
Figure 36
The Alarm Limits dialog box can be selected from several menus;
the Sensors, Joystick, AutoPos and OffLoad menus. The alarm
limits entered will apply independent of the present mode and
from which menu the dialog box has been selected.
110
302363/A
System settings
Level
302363/A
111
Figure 37
Gain indicators
112
302363/A
System settings
Enable
The timer starts when you select Enable and then click the OK
or Apply button. The Time left field shows the time remaining
before the function will be automatically disabled.
Error gain modification factors
302363/A
113
6 JOYSTICK
This chapter contains the following sections:
6.1
6.2
114
302363/A
Joystick
Select JoystickCalibrate.
The Joystick Calibrate dialog box is displayed.
A figure indicating the joystick axes is displayed on the
dialog box.
302363/A
115
Thrust
The maximum applied thruster force for axes that are under
joystick control is limited to about 50% of the available force
from all thrusters.
The joystick thrust setting can also be changed by pressing the
JOY. FULL THRUST button. The status for the joystick thrust
setting will be dynamically updated on the Joystick Settings
dialog box to reflect this change.
116
302363/A
Message system
7 MESSAGE SYSTEM
This chapter contains the following sections:
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
7.12
System diagnostics...................................................117
Operational checks...................................................117
Message priority.......................................................118
Presentation of messages .........................................119
Alarm states .............................................................123
Acknowledging messages ........................................124
Alarm lamps.............................................................125
Drive-off detection...................................................127
Messages on the printer ...........................................127
Message explanations ..............................................128
Offshore loading related messages ..........................133
Operator advice messages........................................143
302363/A
117
118
302363/A
Message system
Information messages
Information messages inform you of conditions that are
noteworthy, but that have no serious effect on the performance
of the system.
Emergency and Alarm messages are accompanied by an audible
signal which continues until you acknowledge the message.
There are no audible signals associated with Warning or
Information messages.
Emergency, Alarm and Warning messages are accompanied by
the relevant lamp flashing in the ALARMS button group until
you acknowledge the message.
If the system tests do not report the same message within a
timeout period (usually 20 seconds), the message becomes
inactive. Inactive Warning and Alarm messages must be
acknowledged before they are removed from the Message Line
and the Dynamic Alarm Page. They will remain displayed with
the state Void in the Dynamic Event and Historic Event Pages.
Explanations can be obtained for any of the messages generated
by the controller process stations, see Message explanations on
page 128.
The Event List window contains a list of all the current system
messages. By pressing the ALARM VIEW button, you can
display the Event List window.
302363/A
119
Figure 39
(First column)
-B
---
Name
120
302363/A
Message system
Prior
Message text.
Additional information
The Historic Event Page provides a log of all messages that occur.
Within the limits of the event database, you can define the time
span to be covered by the Historic Event Page. While a message
can appear only once on the Dynamic Alarm page, it appears as
many times on the historic page as there are changes in its state.
Use the Historic Event Page whenever you need to analyse the
evolution of events. If the list extends beyond the window area
of the display, you can use the up/down arrows in the tool bar.
Dynamic Event Page
302363/A
121
Clicking this button sets the most recent time to the current time.
Calendar, Hour, Min:, Sec:
122
302363/A
Message system
You can specify a date and time by using the calendar, and
entering the required time in the Hour, Min: and Sec: text boxes.
And time span backwards
Alarm states
High process values
HighScale
HighScale Limit
HighHigh
Active
HighHigh Limit
Alarm limits
High
High Limit
Normal/Void
Inactive
Low Limit
Low
LowLow Limit
LowLow
Active
LowScale Limit
LowScale
CD3248
The alarm state is valid to, but not including this limit.
302363/A
123
The alarm becomes Active when the terminal value crosses the
High/Low limits.
Any change in the alarm state is indicated in the Status cell for
that message in the Event List window.
124
302363/A
Message system
302363/A
125
FAULT
This lamp is lit red when the contact between the operator
panel and the Operator Station computer is lost, else it is off.
Note
ALARM
This lamp flashes in response to a software-generated
Emergency, Alarm or Warning message from the Operator
Station computer; for example, heading or position deviation
beyond limits or sensor error. These messages are generated
by the controller process station and do not indicate
failures in the Operator Station. A flashing lamp indicates
unacknowledged messages. A continuously lit lamp indicates
that all messages are acknowledged. The lamp will extinguish
three seconds after the last Emergency, Alarm or Warning
status has been removed.
126
302363/A
Message system
302363/A
127
Printer name
Click this button to print all of the unprinted events on the event
printer.
Refresh
128
302363/A
Message system
It may occur that the Help selection is not available on the shortcut
menu which is displayed when you right-click the message in the
Alarm Line/Event List window. In this case the explanation can
still be obtained via the Contents list or the Search facility.
7.10.1 Contents
Select the required message from a list of Contents. To open/close
the list of messages in the Contents pane, click the +/- sign next
to the folder icons.
Figure 44
302363/A
129
7.10.2 Search
To search for a message, display the Search pane (by clicking the
Search page tab), type in words or phrases that are contained in
the message name or the message explanation and then click
the List Topics button. Topics that match the search criteria
are displayed in the Select topic: list box. Select the required
message and then click the Display button to display the message
explanation in the message explanation pane.
130
302363/A
Message system
Note
(CD3330)
Displays the Contents pane with the title of the message shown in
the message pane, highlighted.
Back
302363/A
131
Options
Displays the Contents pane with the title of the message shown in
the message pane, highlighted.
Back
Updates the screen with any new information (not relevant for
this system).
Internet Options
132
302363/A
Message system
This dialog box can be used to select the printer and to define
the printer set-up. This is a general-purpose printer connected
to an Operator Station or to the network (not the event printer
connected to the controller process station).
302363/A
133
Message text
Buoy types
Hose connected
OLS
OLS
OLS
OLS
OLS
FLP
Buoy distance
to base critically
long<ESD 2><Actual
distance><Limit
distance>
FLP
OLS
134
SAL
SAL
SAL
SAL
SPM
FLP
SAL
SPM
FLP
302363/A
Message system
Table 5 Fore and aft position alarm messages for OLS, SAL,
SPM and FLP buoys
Message text
Buoy types
OLS
SAL
SPM
FLP
302363/A
135
Buoy types
Hawser tension
diff measurement
estimate<Measured
tension><Estimated
tension><Limit tension>
SAL
SAL
SPM
FLP
Hawser tension
high<Measured
tension><Limit
tension><Range>
Hawser tension
critically high<Measured
tension><Limit
tension><Range>
SAL
SPM
FLP
SAL
SPM
FLP
Message text
Active in all
modes.
Hose connected
Approach
mode.
136
302363/A
Message system
Table 8
Message text
All modes
except
Standby
mode.
All modes
except
Standby
mode.
Weather
Vanemode.
Weather Vane
mode.
Table 9
buoys
302363/A
Message text
Active in
modes
All modes
except
Standby
mode.
FSU hawser
limits critically
high<ESD2><Actual
hawser angle><Angle
limit>
All modes
except
Standby
mode.
Hawser tension
high<Actual
tension><Tension
limit><Range>
Active in all
modes except
Standby mode
when tension
is enabled.
137
Table 9
Message text
Hawser tension
critically high<Actual
limit><Tension
limit><Range>
Active in all
modes except
Standby mode
when tension
is enabled.
Weather Vane
mode.
138
302363/A
Message system
Table 10
Message text
Active in
modes
Approach
and Weather
Vanemodes
when the
weather
vane fore/aft
position
alarms are
active.
302363/A
Message text
Approach and
Weather Vane
modes.
Approach and
Weather Vane
modes.
139
Table 11
FSU Position warning and alarm messages for FSU buoys (contd.)
Active in
modes
Message text
Approach and
Weather Vane
modes.
Approach and
Weather Vane
modes.
Message text
Approach and
Weather Vane
modes.
Approach and
Weather Vane
modes.
Bow base
heading deviation
high<ESD1><Actual
unfiltered bow/base
deviation><Alarm limit>
All modes
except
Standby
mode.
FSU gyro
difference<Actual
difference in
degrees><Limit in
degrees>
All modes
except
Standby
mode.
140
302363/A
Message system
Table 13
Message text
Active in all
modes.
Hose connected
Approach
mode.
Table 14
Message text
Joystick, Auto
Position,
Approach
and Connect
modes.
Connect
and Loading
modes.
Connect
and Loading
modes.
Table 15
Message text
302363/A
Active in
modes
Approach and
Weather Vane
modes when
the weather
vane fore/aft
position
alarms are
active.
141
Message text
Active in all
modes.
Hose connected
Approach
mode.
Message text
Message type/Description
Active in
modes
Approach
and Connect
modes.
Message text
Message type/Description
Active in
modes
Approach
and Connect
modes.
142
302363/A
Message system
Table 19
Other messages
Active in
modes
Message text
Active in all
modes.
Hose connected
Approach
mode.
Warning
Information
302363/A
143
144
302363/A
Starting operations
8 STARTING OPERATIONS
This chapter contains the following sections:
8.1
8.2
8.3
8.4
8.5
302363/A
145
Caution
Some of the options you can perform on this dialog box
are not part of the normal operating procedures for the
K-Pos DP system. They are implemented to facilitate
service and installation work performed by trained
personnel from Kongsberg Maritime.
OS Software
Stop
146
302363/A
Starting operations
Wait.
302363/A
147
User Logon
148
302363/A
Starting operations
All the Operator Stations have TAKE and GIVE buttons. On the
Operator Station that has command of the Main controller PS
group, the TAKE button is lit and Propulsion is displayed in the
title bar.
There are two methods for switching command between Operator
Stations that are connected to the same controller PS group:
Take Command
Give Command
The system command configuration determines whether or not
the Take Command method can be used. The Take and
Give actions apply only for the controller PS group to which
the Operator Station is connected.
In the following example procedures, both DP-OS1 and DP-OS2
are connected to the Main controller PS group, DP-OS1 currently
has command of this group, and command is to be transferred
to DP-OS2.
2
3
DP-OS1 is in command.
The TAKE button status lamp on DP-OS1 is lit.
No COMMAND button status lamps are lit on DP-OS2.
To take command at DP-OS2, press the TAKE button on
DP-OS2 twice within four seconds.
DP-OS2 is now in command.
The TAKE button status lamp on DP-OS2 is lit.
No COMMAND button status lamps are lit on DP-OS1.
302363/A
DP-OS1 is in command.
The TAKE button status lamp on DP-OS1 is lit.
No COMMAND button status lamps are lit on DP-OS2.
Press the GIVE button on DP-OS1.
The TAKE button status lamps on all Operator Stations
that are connected to this controller PS group flash.
An audible signal sounds at all Operator Stations where
the feature is configured.
If applicable, press the SILENCE button to stop the audible
signal from sounding.
149
This dialog box has three pages, one page with the name of the
Operator Station (in this example DP-OS1), Overview, and Give.
The DP-OS1 page is referred to as the DP-OS page and some
elements are present on all three pages.
The information available from the Command Control dialog
box is mainly intended for operation of systems with several
Operator Stations.
150
302363/A
Starting operations
302363/A
151
Command Group
152
302363/A
Starting operations
Command Group
Displays the time when the command control state was last
changed by any Operator Station. This may be different from the
time displayed for the same command group on the DP-OS page
as it shows the time the command control state was last changed
by the Operator Station that you are at.
Command Locations
302363/A
153
To OS Group:
154
302363/A
Starting operations
The text fields display the command transfer action that will be
performed when the related button is clicked.
TAKE button and text field
The TAKE button is unavailable when DP-OS1 is in command or
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 button displays
the DP-OS1 or Overview page, depending on which was last
used.
Take
Appears above the TAKE button on the DP-OS page when an
uncontrolled command group or a command group currently
under command of another Operator Station is selected.
Clicking the TAKE button transfers the command to DP-OS1.
Cancel Give...
Appears above the TAKE button when a Give request is
initiated. Clicking the TAKE button cancels the Give request.
Accept Give...
Appears above the TAKE button when a Give request is
received. Clicking the TAKE button accepts a Give request
and transfers command to DP-OS1.
GIVE button and text field
The messages that may appear in the text field are as follows:
Give...
Default on the DP-OS and Overview pages. Clicking the GIVE
button displays the Give page.
Give selected...
Appears above the GIVE button on the DP-OS and Overview
pages when Giveable command groups are selected.
Clicking the GIVE button the displays the Give page.
302363/A
155
156
302363/A
Starting operations
302363/A
157
158
302363/A
The best way to ensure that errors are deleted from the K-Pos DP
controller PSs is therefore to reset all of them. To retrieve the
default settings, all K-Pos DP controller PSs must be reset.
1
302363/A
159
160
302363/A
No single-point failure
The system is designed to avoid total system failure if single
failure occurs.
Failure detection
The system will detect a failure, allowing corrective actions to
be taken.
Fault isolation
If one system component fails, the other components will not
be affected.
9.2.2.1 Automatic switch-over to the Offline PS
302363/A
161
162
302363/A
PS Groups
302363/A
163
Redundancy Status
Master
164
302363/A
Redundancy Control
Redundancy type
This is the number of PSs that can fail without losing control
of the system. For a single system this number is 0, for a fully
operational dual system it is 1, and for a fully operational triple
system it is 2.
Update Offline
Error objects are used to report the presence of failures that may
lead to an auto-switch from one PS to another.
If you right-click in the Error Objects area, the following shortcut
menu is displayed:
In Error
302363/A
165
Overruled
Clicking this button updates the content of the dialog box with
the current operational status.
166
302363/A
Sensors
10 SENSORS
This chapter contains the following sections:
10.1
10.2
10.3
10.4
10.5
10.6
Gyrocompasses ........................................................167
Wind sensors ............................................................172
Vertical reference sensors (VRS) .............................177
Draught sensors........................................................179
Hawser tension sensors ............................................181
STL sensors..............................................................183
10.1 Gyrocompasses
At least one gyrocompass must be enabled at all times to provide
heading information to the system for automatic control of
heading.
Gyrocompasses are enabled and controlled using the Sensors
dialog box - Gyro page.
OK
302363/A
167
168
302363/A
Sensors
The Gyro Deviation Calculation uses the Used Heading values (see
Sensors dialog box - Gyro page) as input for the calculations.
Active
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 value displayed
as a trend plot in the Sensors view (see Sensors view on page 362)
and in the Trends view (see Trends view on page 387) using the
view control dialog boxes for these views.
Std.Dev
302363/A
169
Based on
This displays the GPSs the Gyro Deviation Calculation is based on.
10.1.2.1 Additional information
When sailing at high speed, the used heading may deviate from
the computed heading due to lack of speed/latitude compensation.
After the vessel has stopped, the Correction value may still be
incorrect for some minutes.
Note
Before correcting for error on the gyro, you should let the
Correction value stabilise.
170
302363/A
Sensors
When two gyrocompasses are enabled, the system will use the
preferred gyrocompass. If the difference between the value
read from a gyrocompass and the model value exceeds a
predefined limit, an alarm is displayed; for example:
Gyro 1 prediction error
302363/A
171
Do the following:
1
If this continues for more than two seconds, the system will
assume that the information from the gyrocompasses is unreliable
and will stop updating the Vessel Model with the measured
heading. In this situation the following alarm will be given:
Heading dropout
172
302363/A
Sensors
OK
302363/A
173
In Use
You can manually enter the values for wind speed and wind
direction which the system should use to calculate the wind force
acting on the vessel. To enter values, disable all sensors and click
the Apply button. The In Use check box for Manual input will be
selected, the True Speed and True Dir fields will appear white,
and you may enter values using the keyboard or the Numeric
Entry Keypad dialog box.
True Speed, True Dir
Display the true wind speed and direction. The present mode 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, the
True Speed and True Dir fields display the same values as
Relative Speed and Relative Dir.
In any mode other than Standby with one or more wind sensor
enabled, the True Speed and True Dir fields display the true
wind speed and direction values (filtered values).
In any mode with no wind sensors enabled, the True Speed and
True Dir fields contain the manually-entered values for the
true wind speed and direction.
174
302363/A
Sensors
Do the following:
1
302363/A
175
176
302363/A
Sensors
302363/A
177
OK
178
302363/A
Sensors
Do the following:
1 Check the values from the VRSs on the Sensors view
and use alternative VRS information to find which VRS
is faulty.
2 Disable the faulty VRS and rectify the fault.
When a faulty VRS is repaired, you should enable it again.
302363/A
179
180
302363/A
Sensors
302363/A
181
None
If you want to use sensor readings, click this option button. The
Force text box shows the value of the hawser tension used.
Manual
182
302363/A
Sensors
None
If you want to use sensor readings, click this option button. The
Force text box shows the value of the STL tension used. Measured
is by default selected for STL buoys, otherwise None is selected.
302363/A
183
11 POSITION INFORMATION
This chapter contains the following sections:
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
11.10
11.11
11.12
11.13
11.14
11.15
11.16
184
302363/A
Position information
Figure 48
302363/A
185
186
302363/A
Position information
Local N/E
302363/A
187
Geographic
The Length Unit part of the dialog box changes according to the
coordinate system selected. For Local N/E, UTM and US State
Plane presentations, the system allows you to select the length
unit to be used. For Geographic presentation, the system allows
you to select the display format for latitude and longitude.
188
302363/A
Position information
For Local-datum all fields are editable, and you must define
all the required transformation parameters (see also Reference
System Properties dialog box on page 197).
Translation
302363/A
189
Semimajor Axis
The semi major axis of the earth ellipsoid for the selected datum.
Flattening
box is selected.
Leave the check box cleared if you want to use an
operator-specified position of origin.
Datum
Select the required datum for position of origin (on this dialog
box only).
Position of Origin
190
302363/A
Position information
False Easting
The required system UTM zone (not available if the UTM zone
is calculated automatically).
302363/A
191
Zone offset
Utm zones
Greenwich
Meridian 0
24
25
26
27
28
29
30
31
32
33
34
CD2942
192
302363/A
Position information
302363/A
193
Position Properties
194
302363/A
Position information
GPS-2
HPR
Normal
0.33
0.33
0.33
Reduced GPS
0.10
0.10
0.80
The relative weights used are shown on the Refsys view (see
Refsys view on page 353).
Acceptance Limits
The acceptance limit for the Prediction Test (see Prediction test
on page 204) and indirectly also the Median Test can be changed.
Narrow
302363/A
195
Median Test
The settings of the Median Test (see Median test on page 206)
can be changed.
Off
Turns off the median testing. This is indicated with the text OFF
in the Median Test field on the Refsys view, and by removal of
the median test limit circle from the plot on the Refsys view.
Warning
Click this button to reset the System Origin and to deselect all
position sources of the corresponding position-reference system.
ID
196
302363/A
Position information
System Origin
Reference system
Select the name of the reference system from the list box. If you
have changed the properties of a reference system, and then
selected another system from the list, a dialog box is displayed
asking if you want to save the changes.
Datum
302363/A
197
Allows you to specify the offset (Ahead, Stbd and Down) from
the antenna or sensor head on the vessel to the vessels center of
gravity (Midships). The received position information is then
adjusted for this offset.
Note
198
302363/A
Position information
For all reference systems, you can specify the offset from the
antenna or sensor head on the vessel to the vessels Midships
position, so that the position information can be adjusted for
this offset.
UTM Properties
Zone
302363/A
199
No differential correction
Allows you to select a filter action for the UTC (Universal Time
Coordinated, i.e. common standard time) freeze detect function.
This quality filter function only applies when receiving telegrams
containing clock data.
200
302363/A
Position information
Click the option button of the required UHF Link for each of
the GPS REL 1 and GPS REL 2. GPS REL 1 normally uses
configuration 1 and GPS REL 2 normally uses configuration 2.
Note
302363/A
201
202
302363/A
Position information
302363/A
203
204
302363/A
Position information
drift away from the Vessel Models predictions. The limit for the
Prediction test is a function of the actual measurement accuracy
(calculated variance).
Figure 50
Prediction test
POSITION N/E
Rejected measurement
Rejection limit
Model prediction
Measurement
Rejection limit
TIME
(CD3293)
302363/A
205
Median test
POSITION
NORTH
Measurement
from system A
Reject limit
around total
median line
North
Median
line
Measurement
from system B
Measurement
from system C
(CD2971)
POSITION
EAST
When the Median test is active, a blue circle with radius equal to
the Median Test Limit and with center at the median value of all
positions given by the position-reference systems, is displayed
on the Refsys view. The Median Test Limit is taken as 80 % of
the Minimum Prediction Error Limit.
The operator may choose to reject an inaccurate position-reference
system, or to only have a warning displayed.
The following Warning Message is displayed in the Event List
window when a position-reference system is rejected:
Reference median rejected
206
302363/A
Position information
302363/A
207
208
302363/A
Position information
302363/A
209
210
302363/A
Position information
2
3
4
5
Wait until the status message Offline (in red) is shown in the
Refsys view for all disabled position-reference systems.
Enable the position-reference system that is to provide the
reference origin.
Allow the Vessel Model to stabilise.
Enable additional position-reference systems if required.
This means that the system is currently using only the estimated
position from the Vessel Model, and that this position has not
been updated with measured positions for at least 20 seconds
(dead reckoning mode).
When this message is generated, the setpoint is set automatically
to the current estimated vessel position.
The status lamps of all previously enabled position-reference
systems will be flashing as the system tries to recalibrate.
You can remain in Position dropout, but the following points
must be noted:
The displayed vessel position is the estimated position from
the Vessel Model. After a few minutes, the vessel may begin
to pick up speed in one direction, without this being reflected
on the display.
A calibration of the lost position-reference systems may occur
at any time. This will normally have no immediate effect
on the vessels movement, but if the calibrated system is
unreliable or drifting, the vessel may begin to move. In this
event, you must examine the Posplot view for any jumps in
the displayed vessel position.
The recommended action in Position dropout (if operational
circumstances allow) is:
1 Return the system to joystick control in all axes and use the
joystick to manoeuvre the vessel. When at least one reliable
position-reference system is successfully calibrated, return
to the required operational mode.
302363/A
211
212
302363/A
Standby mode...........................................................213
Joystick mode...........................................................214
Auto Position mode..................................................220
Approach mode ........................................................221
Weather Vane mode .................................................222
Connect mode ..........................................................223
Loading mode ..........................................................224
302363/A
213
Note
214
302363/A
302363/A
215
216
302363/A
302363/A
217
Check that none of the status lamps for the SURGE, SWAY
or YAW buttons are lit.
218
302363/A
The yaw and sway axes are under automatic control while the
surge axis remains under joystick control.
Refer also to the following sections:
Gain level selection on page 110
Changing the heading setpoint on page 232
Alarm Limits dialog box on page 107
Speed Setpoint dialog box on page 230
Rate Of Turn page on page 235
12.2.8.1 Selecting automatic stabilisation
Check that none of the status lamps for the SURGE, SWAY
or YAW buttons are lit.
302363/A
219
220
302363/A
Note
The Posplot view on page 334 and the WVane view on page 391
can be used to monitor the movement of the vessel.
Refer also to the following sections:
Setpoint radius on page 241
Speed Setpoint dialog box on page 230
Gain level selection on page 110
Note
302363/A
221
222
302363/A
302363/A
223
224
302363/A
You can use the STL Mean Offset function to keep the vessel
at a specified mean distance from the base position using
only surge thrust towards the base position (see STL mean
offset on page 251).
When operating in Loading mode:
The predefined position alarm limits are active.
You can define additional fore and aft position alarm
limits. See 4.10 Alarm Limits dialog box - Weather Vane
page on page 109.
302363/A
225
226
302363/A
302363/A
in the Posplot
227
228
302363/A
New Setpoint
302363/A
229
New Setpoint
Either enter the required value in the New Setpoint spin box, or
use the up and down arrows to adjust the setpoint by the selected
increment or decrement defined in the Increase/Decrease speed
step spin box.
Note
If the speed setpoint is set to 0.0, the vessel will not change
position.
If the speed setpoint has been set to 0.0 and the vessels rotation
center has been set to another position than Midships, it will
not be possible to perform a change of heading. This is because
a heading change with a rotation center other than Midships
implies a change of position which requires a speed setpoint that
is not zero.
13.3.2.1 Additional information
The speed setpoint applies only when the surge and sway axes
are under automatic control.
As the vessel approaches the position setpoint, the speed setpoint
is reduced to zero.
230
302363/A
Either enter the required value in the Speed Setpoint spin box, or
use the up and down arrows of the to adjust the setpoint by the
selected increment or decrement defined in the Increase/Decrease
speed step spin box.
Note
If the speed setpoint is set to 0.0, the vessel will not change
position.
If the speed setpoint has been set to 0.0 and the vessels rotation
center has been set to another position than Midships, it will
not be possible to perform a change of heading. This is because
a heading change with a rotation center other than Midships
implies a change of position which requires a speed setpoint that
is not zero.
302363/A
231
14.3
Note
232
in the Posplot
302363/A
302363/A
233
Note
Shows the heading that will be used as the new heading setpoint
when you click the OK or Apply button. When Operator Selected
is chosen under Strategy, you can enter the Heading Setpoint by
typing in the required heading or by increasing or decreasing the
value by clicking the arrows next to the New Setpoint spin box.
A temporary heading setpoint symbol is displayed on the Posplot
view showing the proposed heading setpoint.
Previous Setpoint
234
302363/A
While entering data on the Heading page, before you click the
OK or Apply button, a temporary heading setpoint symbol is
displayed on the Posplot view showing the proposed heading
setpoint.
When System Selected is chosen as Strategy, the heading chosen
by the system depends on the current operational mode. For
example, in Auto Position mode the system will select the
heading that requires the minimum power to be maintained in
the current environmental conditions. This heading will change
continuously according to the prevailing environmental forces
on the vessel.
New Setpoint
Either enter the required value in the New Setpoint box, or use
the up and down arrows to adjust the setpoint by the selected
increment or decrement (Increase/Decrease step).
14.3.2.1 Additional information
This Rate Of Turn applies only when the yaw axis is under
automatic control.
As the vessel approaches the heading setpoint, the Rate Of Turn
is reduced to zero.
302363/A
235
236
302363/A
The list box in the dialog box contains a list of all the buoys
defined for your vessel.
For each buoy there is a set of predefined information, comprising
both field data and vessel-specific data. The information required
depends on the type of loading operation.
type of buoy
UTM and geodetic (WGS84) coordinates of the buoy/base
point
base position earth-fixed or moving with buoy
position-reference system information
distance warning and alarm limits
maximum and minimum distances from base for selecting
various modes
maximum and minimum values for input of the setpoint radius
in the various modes
with or without hawser
302363/A
237
15.2 DP Practice
This is a training mode which allows the operator to perform
practical DP exercises on the actual field, but in safe distance
to the buoy.
It is not possible to enable Practice Mode when the vessel is
closer than a predefined distance to the buoy. Also, if the vessel,
during a DP Practice exercise moves closer than a predefined
limit to the buoy, Practice Mode will be disabled.
The limit depends on the buoy type:
600 m for SPM and FLT
1000 m for Tandem, OLS and SAL
To practice buoy loading using the DP Practice function; first
select a buoy, then, on the Buoy Select dialog box, select Practice
Mode.
238
302363/A
Enter the Range and True Bearing to the required artificial base
position.
For more information, see DP Practice on page 238.
302363/A
239
Prior to the connection you must obtain the most recent value for
the position of the hose head, i.e. Hose Length and Hose Direction
(Relative North) from the buoy operator. It is important that these
values are as accurate as possible.
Hose Length
Enter the horizontal distance from the base position of the buoy
to the hose head, as obtained from the buoy operator, in this text
box.
Hose Direction (Relative North)
Based on entered values for the hose head position, the alarm
sector is shown on the Posplot view (seeFigure 53) together
with the four alarm limit circles when running in Joystick, Auto
Position or Approach mode. When entering Weather Vane mode,
the display of the alarm sector is removed from the Posplot view.
240
302363/A
302363/A
241
In the text throughout this operator manual, the term FSU is used
to cover both FSU and FPSO to enhance the readability and to
avoid unnecessary repetition.
With the FSU Position function active, the movement of the
vessel is controlled by a rectangle of operation, the Surge/Sway
Rectangle, within which the stern position of the FSU can
move without causing the vessel to move. Any FSU surge
and fishtailing movements within the Surge/Sway Rectangle
242
302363/A
will not cause any change in the vessel setpoint. This leads to
significantly reduced thruster utilisation on the vessel, and thus
reduced energy consumption.
When the FSU moves outside the border of this rectangle, the
rectangle is moved to the actual position of the FSU base point
(the hawser terminal point at the stern), and the vessel setpoint
is updated accordingly. As in the standard Weather Vane mode,
the heading of the vessel is always kept pointing towards the
basepoint. FSU Position function and Surge/Sway Rectangle on
page 243 illustrates the principle of the FSU Position function.
Figure 54
302363/A
243
244
302363/A
Tandem Functions
FSU Position (Surge/Heading)
302363/A
245
is given, the reference system has a high offset from the estimated
FSU stern position. If this occurs simultaneously for all relative
reference systems, you should disable all relative reference
systems, wait a few seconds and then enable only one relative
system (the one that seems to be the most correct). This situation
is very similar to Position Dropout for position-reference systems
used actively for positioning, but you do not need to wait 20 to
30 seconds for the dropout alarm to achieve the reset.
246
302363/A
302363/A
247
Figure 57
248
302363/A
Note
You cannot use the FSU Heading function for sideways movement
of the FSU to align the vessel with a hose connection on the side
of the FSU.
Tandem Functions
FSU Heading (Sway/Heading)
This is the speed setpoint used when the FSU Heading function
is Active. You can enter the required speed setpoint in the text
box, either by typing in a value or by clicking the up or down
arrow buttons.
If rapid and/or major heading changes of the FSU is expected, it
may be necessary to enter a large value (for example 1 kts) for
the FSU Heading Speed.
While the FSU Heading function is On, the speed setpoint used is
the usual setpoint (entered in the Speed Setpoint dialog box).
302363/A
249
When the FSU Heading is Active, the speed entered in the FSU
Heading Speed text box is used as setpoint. The speed setpoint is
displayed in the upper left corner of the Posplot view.
15.6.1.1 Additional information
When the FSU Heading function is turned OFF, the FSU will be
displayed with the same heading as the vessel.
You must then enable the FSU Heading function after valid FSU
heading information (DARPS) becomes available again.
250
302363/A
Setpoint Radius
Select this check box to enable the STL Mean Offset function.
302363/A
251
252
302363/A
Position
302363/A
253
16 THRUSTERS
This chapter contains the following sections:
16.1
16.2
16.3
254
302363/A
Thrusters
Thrusters
Rudders
Enable/disable All
These check boxes show whether the thrusters are running or not.
When a thruster status is set as running, the K-Pos DP system
reads the feedback signal from the thruster and calculates the
resulting thruster force.
Under certain conditions, the operator can switch the thruster
Running signals on/off. The running status can be changed in
this way only if all of the following conditions are satisfied:
The running status is not interfaced directly from the thruster
to the K-Pos DP system.
The thruster is not Ready.
The system configuration allows manual setting of thruster
running status.
Rdy
These check boxes show whether the thrusters are Ready for
K-Pos DP control.
Enable
302363/A
255
Mode
256
302363/A
Thrusters
302363/A
257
MANUAL FIX
In this mode the operator can freely set fixed azimuth angles
of azimuth thrusters and rudders/nozzles using the Allocation
Settings dialog box (see Allocation Settings dialog box on
page 259).
Control
258
302363/A
Thrusters
The operator can specify angle limits within which the rudders
are allowed to operate. When the In Use check box is selected,
the system will not turn the rudders beyond the specified limit.
302363/A
259
17 POWER SYSTEM
This chapter contains the following sections:
17.1
17.2
Power monitoring.....................................................260
Power load monitoring and blackout
prevention ................................................................260
260
302363/A
Power system
302363/A
261
262
302363/A
302363/A
263
264
302363/A
Note
302363/A
265
Print Status
Select the Cyclic Print check box if you want a cyclic print-out to
be made automatically after a specified Interval. This can only be
selected from the Operator Station in command.
266
302363/A
Figure 61
302363/A
267
268
302363/A
302363/A
269
The Version column lists the version of the program (EXE file).
The Modified column lists the date when each DLL and EXE
file was last modified.
The Size column lists the file size for each DLL and EXE file.
Clicking the Overview button returns to the overview of software
information.
Clicking the Details<< button returns to the list of EXE and DLL
files in use.
270
302363/A
302363/A
271
Introduction..............................................................272
System architecture ..................................................272
Equipment ................................................................276
Station Explorer .......................................................284
IO Manager ..............................................................288
RBUS IO Image .......................................................289
IO Terminal Block ...................................................291
IO Point Browser .....................................................296
Properties DpPs Serial port.................................299
Resetting a disabled serial line.................................303
19.1 Introduction
Functions are available for monitoring the status of the K-Pos DP
operator stations, process stations and IO system.
During normal operation you can:
View the operational status of the Operator Stations, History
Stations and Process Stations
View information and status indications for every IO driver,
IO block and IO point configured in the system.
272
302363/A
OS description
DP-OS1
DP-OS2
DP-OS3
DP-OS4
DP-OS6
DP-HS1
cPos-OS1
cPos-OS2
cJoy-OT1
cJoy-OT2
WT1
WT2
WT3
WT4
302363/A
273
PS description
DpMain
Main Input/Output 1
DpM_IO2
Main Input/Output 2
DpM_Sim
Single
DpM_Vrm
Single
DpFS_Vrm
Single
DpBackup
Single
DpB_IO1
Single
Backup Input/Output 1
DpB_IO2
Single
Backup Input/Output 2
DpB_Sim
Single
DpB_Vrm
Single
19.2.3 IO system
The IO system provides the communication interface for
exchange of IO signals between the field devices (thrusters and
sensors) and the process station.
The main elements of the IO system are:
274
302363/A
IO drivers
IO drivers are responsible for the communication with the
field device. The IO driver provides conversion between field
values and IO raw values.
The following driver types are supported:
RBUS for discrete analog and digital IO
NetIO for communication between PSs
Dedicated sensor and interface drivers for serial line
devices such as Artemis, GPS, Fanbeam and HPR
ComAs for generic serial line IO
IO blocks
An IO block represents a group of identifiable IO signals from
an IO device in the field. For example:
For IO cards belonging to the RBUS driver, an IO block
represents an IO card in the IO rack.
For NetIO communication between process stations, an IO
block may represent all the signals related to a particular
sensor or thruster.
IO points
IO points are the connection points for IO signals. An
IO point may provide signal conditioning elements for
conversion between the IO raw value on the driver side and
the engineering value on the K-Pos DP system side.
302363/A
275
19.3 Equipment
The Equipment - System Status dialog box shows operational
status information about the Operator Stations, History Stations
and Process Stations in your system.
19.3.1 PS page
The PS page shows the current status of all process stations
defined in the system.
To display this page, select SystemEquipment.
276
302363/A
Station
302363/A
277
Other Status:
operation.
System Events... see Presentation of messages on page 119.
IO Manager... see IO Manager on page 288.
IO Point Browser... see IO Point Browser on page 296.
278
302363/A
Station
302363/A
279
Running mode
operation.
System Events... see Presentation of messages on page 119.
IO Manager... see IO Manager on page 288.
IO Point Browser... see IO Point Browser on page 296.
Station
280
302363/A
Operational OS or HS is operational.
Not Communicational OS or HS has reported a status, but
no communication with 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
302363/A
281
The name of the group of operator stations that can print to this
printer.
Master
This page contains a window that is divided into two panes. The
left-hand pane lists all stations in the communication network by
means of icons and names. Clicking any icon or name displays in
the right-hand pane the status of the communication network as
seen from the receiving station in the left-hand pane.
282
302363/A
302363/A
283
Select the appropriate printer from the Name drop-down list box.
Use the Properties button to select the printout format.
Comment
The text that you type in the Comment text box is printed in a
separate box on the top right corner of the printout.
Color print
284
302363/A
302363/A
You can use the drop-down list box to select any other PS
to be displayed.
285
19.4.3 Hotspots
Hotspot symbols provide links to dialog boxes for displaying
further information about the IO system:
Displays the Properties dialog box, which shows an overview of
the software and hardware status of the selected PS. This feature
is intended only for Kongsberg Maritime personnel.
Displays the IO Manager dialog box, which shows the status of
the IO drivers and IO blocks for the selected PS. See IO Manager
on page 288.
Displays the Driver Properties dialog box for the selected IO
driver. This feature is intended only for Kongsberg Maritime
personnel.
Displays a submenu:
286
302363/A
For an IO driver:
302363/A
287
19.5 IO Manager
The IO Manager dialog box displays an overview of the IO
system, showing the IO drivers and IO blocks for a selected
station.
To display the IO Manager dialog box, either:
1
Select SystemEquipment.
The Equipment - System Status dialog box is displayed.
Select IO Manager.
The IO Manager dialog box is displayed.
or:
1
).
288
302363/A
19.5.1 IO Configurator
Use the drop-down box to select the PS for which you will
display 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 (
302363/A
289
The alarm status indicators are the same as for the Station
Explorer. See Station Explorer on page 284.
If you click on an IO card, the IO Terminal Block dialog box is
displayed showing information about the selected IO card and its
IO channels. See IO Terminal Block on page 291.
If you right-click on an IO card, a shortcut menu is displayed:
290
302363/A
Rack positions containing PSs and power supply units are not
shown on the Detailed level.
The information provided on the Detailed level is intended
primarily for Kongsberg Maritime personnel.
302363/A
291
or:
1 Start the IO Manager (see IO Manager on page 288).
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
Station Explorer
292
302363/A
the driver, alarm status and the block tag of the selected IO block.
For more details, see Station Explorer on page 284.
Tag
IO tag
302363/A
293
294
302363/A
Resize Columns
Analogue
X
Digital
Input
X
Ouput Description
X
Multi Scale
302363/A
Number of points
295
Analogue
Digital
Input
Ouput Description
(For each point) Sensor point
(For each point) Engineering point
Sensor unit
Engineering unit
PT 100
Wire resistance
Sensor unit
Engineering unit
Engineering unit
Fail-safe
Fail-safe value
Freeze (check box):
Checked: Last usable value
Not checked: Fail-safe value
Filter
Limit check
Gain
Bias
Use negative input value
Invert
Fail-safe
None
Fail-safe value
Freeze (check box):
Checked: Last usable value
Not checked: Fail-safe value
Filter
On delay (seconds)
Off delay (seconds)
296
302363/A
Select SystemEquipment.
The Equipment - System Status dialog box is displayed.
Station
Use this drop-down list box to select either all PSs, or the PS
within which you want to browse.
Tag
Browse Criteria
Use this text box to enter the browse criteria. Wildcard characters
can be used.
Match case
Use this check box to make the Browse Criteria case sensitive.
302363/A
297
Use this check box if the Browse Criteria text is the entire name
of the required IO point.
Match initial tag segment
Use this check box if the Browse Criteria text is the beginning of
the name of the required IO points.
IO Status
298
302363/A
Resize Columns
302363/A
299
300
302363/A
Enable configuration
Shows the baud rate (110, 300, 600, 1200, 2400, 4800, 9600,
19200, 38400 baud).
Parity
302363/A
301
HW selection
Shows the highest recorded receive interrupt rate for this serial
port (since startup or reset).
Max. interrupt rate exception
Shows the highest recorded exception interrupt rate for this serial
port (since startup or reset).
The Int. status page of the Properties DpPs Serial port dialog
for the ComAs driver displays the interrupt status of a selected
serial port.
Reset disabled serial port
To reset a disabled serial port, select this check box and click
the OK or Apply button.
Reset max. interrupt rate
To reset the displayed values for Max. receive interrupt rate and
Max. exception interrupt rate, select this check box and click
the OK or Apply button.
Disabled due to high receive rate
302
302363/A
Shows the current receive interrupt rate for this serial port.
Exception interrupt rate
Shows the current exception interrupt rate for this serial port.
Max. receive interrupt rate
Shows the highest recorded receive interrupt rate for this serial
port (since startup or reset).
Max. exception interrupt rate
Shows the highest recorded exception interrupt rate for this serial
port (since startup or reset).
302363/A
303
304
302363/A
Built-in trainer
20 BUILT-IN TRAINER
This chapter contains the following sections:
20.1
20.2
20.3
302363/A
305
5
6
7
8
306
302363/A
Built-in trainer
Note
Go to Standby mode.
Select SystemConnect.
The Connect dialog box is displayed.
302363/A
307
308
302363/A
Note
or
Consequence analysis running class 3
302363/A
309
310
302363/A
Display views
22 DISPLAY VIEWS
This chapter contains the following sections:
22.1
22.2
22.3
22.4
22.5
22.6
22.7
22.8
22.9
22.10
22.11
22.12
22.13
22.14
22.15
22.16
22.17
302363/A
311
Figure 62
312
302363/A
Display views
Figure 63
302363/A
313
314
302363/A
Display views
True
302363/A
315
Figure 64
316
302363/A
Display views
Base distance
Heading
302363/A
317
318
302363/A
Display views
302363/A
319
Place the cursor anywhere in the General view and click the
right trackball button.
A shortcut menu is displayed.
True
320
302363/A
Display views
Figure 67
302363/A
321
322
302363/A
Display views
302363/A
323
324
302363/A
Display views
Figure 68
302363/A
325
Place the cursor anywhere in the Numeric view and click the
right trackball button.
A shortcut menu is displayed.
True
326
302363/A
Display views
Figure 69
Setpoint
302363/A
327
328
302363/A
Display views
302363/A
329
330
302363/A
Display views
302363/A
331
In Joystick mode:
The joystick setpoint in surge/sway is shown graphically
and numerically (by a set of four pairs of bars arranged
in a cross formation).
The joystick setpoint is indicated by the purple left or upper
bar and shown as two percentage values (ahead or astern
for surge and port or starboard for sway). The response to
the joystick setpoint (feedback) is indicated by the green
right or lower bar.
The tilt of the joystick is indicated by the filled purple circle
and dashed purple coordinate lines that are positioned
relative to the center of the cross formation (zero tilt).
Note
332
302363/A
Display views
302363/A
333
334
302363/A
Display views
302363/A
335
336
302363/A
Display views
302363/A
337
338
302363/A
Display views
302363/A
339
340
302363/A
Display views
Show/Hide
302363/A
341
Show
342
302363/A
Display views
Use UTM
UTM grid can be selected. The grid on the Posplot view is rotated
with an angle that corresponds with the Meridian convergence
displayed.
22.8.1.5 Range page
302363/A
343
Trend symbols
344
302363/A
Display views
Figure 73
Note
With the Posplot view at close range when the simplified symbol
is displayed, the trended symbols are not shown.
Clear All
Clicking this button permanently clears all the trend symbols and
the trace line both in memory and on the Posplot view.
302363/A
345
Figure 74
346
302363/A
Display views
Resets the center of the view to the original position, i.e. the
vessel position or position setpoint, depending on the center point
selected on the Mode page of the Posplot view control dialog box.
It also switches the panning function off.
Center Here
302363/A
347
348
302363/A
Display views
Figure 76
302363/A
349
Either:
a
350
302363/A
Display views
Present
Clicking this button displays the Y-axis Range dialog box which
allows you to select automatic scaling or to manually set the
upper and lower limits for the y-axis plot scale.
Auto
Allows you to set the Upper and Lower scale limits manually.
For a detailed description of the available trend plots (see Trends
view on page 387).
302363/A
351
352
302363/A
Display views
302363/A
353
Figure 78
354
302363/A
Display views
302363/A
355
356
302363/A
Display views
302363/A
357
Position
Either:
a
358
302363/A
Display views
Plot Orientation
Clicking this button displays the Y-axis Range dialog box which
allows you to select automatic scaling or to manually set the
upper and lower limits for the y-axis plot scale.
302363/A
359
Auto
Allows you to set the Upper and Lower scale limits manually.
22.11.1.2 Grid page
Show
360
302363/A
Display views
302363/A
361
Figure 79
362
302363/A
Display views
Figure 80
302363/A
363
364
302363/A
Display views
Speed Log
Either:
a
302363/A
365
Allows you to select the required range for the deviation displays
for the measured Gyro heading, Wind Speed: and Wind Dir:
(direction). An example of this is shown in Figure 81, which
reflects the setting shown on the dialog box above.
Figure 81 Example - Individual setting of range for
gyrocompass heading, wind speed and wind direction deviation
displays
Trend Plot
366
302363/A
Display views
Time span
Clicking this button displays the Y-axis Range dialog box which
allows you to select automatic scaling or to manually set the
upper and lower limits for the y-axis plot scale.
Auto
302363/A
367
Figure 82
368
302363/A
Display views
Figure 83
Figure 84
Connecting
302363/A
369
Figure 85
Connected
370
302363/A
Display views
Alloc Mode:
302363/A
371
Alloc Control:
372
302363/A
Display views
302363/A
373
374
302363/A
Display views
Figure 87
302363/A
375
376
302363/A
Display views
302363/A
377
378
302363/A
Display views
302363/A
379
380
302363/A
Display views
Either:
a
302363/A
381
Plot
Clicking this button displays the Y axis Range dialog box which
allows you to set the upper and lower limits for the y-axis plot
scale manually or to select automatic scaling.
Auto
382
302363/A
Display views
302363/A
383
Ready
384
302363/A
Display views
Figure 91
302363/A
385
Forces
386
302363/A
Display views
302363/A
387
Figure 92
388
302363/A
Display views
This will not re-size the total width of the dialog box itself.
302363/A
389
Either:
a
390
302363/A
Display views
Plot
Clicking this button displays the Y axis Range dialog box which
allows you to set the upper and lower limits for the y-axis plot
scale manually or to select automatic scaling.
Auto
Allows you to set the Upper and Lower range limits manually.
For a detailed description of the available trend plots (see Trends
view on page 387).
302363/A
391
392
Wvane view
302363/A
Display views
Base distance
Speed
ROT
Ref. point/Base
302363/A
393
394
302363/A
Display views
302363/A
395
Index
A
calibrating
joystick, 114
Change Heading (button), 233
Change Position (button),
228229, 241, 252
Change User (dialog box), 98
ChangePosition (button), 251
changing cursor image, 87
changing user, 98
chart
view control, 342
command
groups, 150
status, 150
transfer, 148
Command Control (dialog
box)
DP-OS, 151
Give, 153
Overview, 151152
Connect (dialog box), 157
Connect mode, 223
connecting to a controller
group, 157
consequence analysis
DP, 308
running state messages, 309
selecting DP class, 309
warning messages, 310
Control Setup (button), 111
controller groups, 157
controller modes, 25
controller PS
resetting, 58, 158
selecting master, 163
updating offline, 163
Controls (button), 73
coordinate systems, 201
position presentation, 186
system datum, 202
current
direction display, 105
current update, 116
CyberSea Mode (dialog
box), 270
damping, 81
Date And Time (dialog
box), 122
Datum Details (dialog
box), 189
Decrease (button), 75
396
depth
displayed on Sensors
view, 365
Dev WVane view, 315
Deviation view, 311
position and heading
deviation in Auto
Position mode, 312
position and heading in
Joystick mode, 311
view controls, 315
dialog boxes, 81
display
colours, 106
layout, 76
menu bar, 77
message line, 78
performance area, 79
printing a hardcopy, 99
selection of display
palette, 106
status bar, 79
status line, 79
title bar, 77
units, 102
working area, 79
display accuracy
sea current speed, 104
vessel speed, 104
display units
editing, 103
resetting, 105
selecting the set of
display units to use, 102
wind, waves and sea
current direction, 105
Display Units (dialog box), 102
display view
STL Monitor view, 367
display views, 87
available views, 88
control dialog boxes, 90
Dev WVane view, 315
Deviation view, 311
General view, 317
Joystick view, 320
Num WVane view, 326
Numeric view, 324
orientation of the
operator station, 87
Posplot view, 334
Power Consumption
view, 352
Power view, 348
preselecting, 91
302363/A
Index
E
EBL (dialog box), 345
EBL function, 345
electrical failure
joystick, 216
Electronic Bearing Line, 345
emergency message, 118
Enter a New Numeric
Value (dialog box), 84
entering numeric values, 83
environmental
compensation, 116
Equipment - System Status
(dialog box )
Event Printer, 281
Net Status, 282
302363/A
OS/HS, 280
PS, 276
PS Redundancy, 278
equipment status, 276
Event List (dialog box), 119
Event printer, 281
Event Printer (dialog box), 128
extended Kalman filter, 22
F
Floating Loading Platform, 65
FMEA mode, 270
free run
in Auto Track (high
speed) and Autopilot
modes, 258
freeze test of position
measurements, 203
FSU Heading (button), 248
FSU Position (button), 244
function keys, 73
G
gain
controller, 81
Gain (dialog box), 111
General view, 317
position and heading
deviation in Auto
Position mode, 319
view controls, 320
Give (button), 149
giving command, 149
GPS
quality filter, 199
Gyro (button), 167, 170
Gyro Deviation (dialog
box), 169
gyrocompasses, 167
deviation calculation, 168
displayed on Sensors
view, 363
faulty, 171
status lamp, 170
H
hardcopy, 99
Hardcopy (button), 99
hardware information, 268
heading
changing using the
Heading dialog box, 233
changing using the
Posplot view, 232
limits, 108
operator selected, 234
rate of turn, 235
stopping a change of
heading, 232
system selected, 234
Heading (dialog box)
Heading, 233
Rate Of Turn, 235
heading reference, 41
Heading Wheel, 75
heave, 20
Help (menu)
About, 268
Messages, 128
hotspot, 87
hotspot cursor, 88
I
IMO
DP components defined, 27
Inccrease (button), 75
information message, 119
input validation of entered
values, 86
IO Manager (dialog box), 288
IO Point Browser (dialog
box), 297
IO system, 274
IO Terminal Block (dialog
box), 291
J
joystick, 75
calibrating, 114
current update, 116
electrical failure, 216
environmental
compensation, 116
precision, 116
thrust, 116
Joystick (button), 215
Joystick (menu)
Alarm Limits, 107, 109
Calibrate, 114
Heading, 233
Rate Of Turn, 235
Settings, 116
Joystick Calibrate (dialog
box), 114
joystick control
position and heading, 215
Joystick Full Thrust
(button), 116
Joystick mode, 214
397
K
Kalman filter, 22
keypad, 73
L
lamps
dimming, 100
test, 101
limits
heading, 108
position, 108
Loading (button), 224
Loading mode, 224
Local N/E Properties
(dialog box), 190
logon configuration, 147
Logon Configuration
(dialog box), 147
M
master controller PS
selecting, 163
mathematical vessel
model, 22
median test of position
measurements, 206
menu bar, 77
active and unavailable
commands, 78
menus listed, 94
message line, 78, 119
messages
acknowledging, 124
displayed explanation, 130
explanations, 128
printing, 132
offshore loading related, 133
presentation, 119
printed, 127
searching for, 130
minimum power heading, 235
mixed joystick/auto modes, 216
modes
Approach, 221
Auto Position, 220
398
button group, 72
Connect, 223
Joystick, 214
Loading, 224
mixed joystick/auto, 216
Standby, 213
Weather Vane, 222
N
Num WVane view, 326
numbers
entering, 83
input validation, 86
Numeric Entry Keypad
Dialog Use (dialog box), 84
Numeric view, 324
view controls, 326
O
offline controller PS
updating, 163
OffLoad
GPS Relative Settings, 200
SAL Buoy Settings, 239
OffLoad (menu)
Axis Control, 253
Gain, 111
Select Buoy, 237
Setpoint Radius, 241,
244, 248, 251
SetpointRadius, 252
online system support, 263
operational planning, 57
operator panel, 71
operator station, 70
restart, 59
software
restart, 145
stop, 145
operator stations, 273
P
panel, 71
Panel Lamp Test (dialog
box), 101
Panel Light Configuration
(dialog box), 101
panning function (center
here), 346
PcAnywhere Waiting...
(dialog box), 265
Performance (dialog box),
315, 320, 326
pitch, 20
planning, 57
position
changing using
increments, 228
changing using the
Posplot view, 227
dropout, 211
limits, 108
speed setpoint, 229
stopping a change of
position, 227
Position (dialog box)
Inc, 228
Position, 241
Speed, 229
Position Presentation
(dialog box), 186
position-reference systems
changing the reference
origin, 210
controlling, 193
coordinate systems, 201
divergence test, 205
enabling, 196
enabling other, 209
enabling the first, 209
freeze test, 203
median test, 206
monitoring, 196
prediction test, 204
properties, 197
reference origin, 202, 209
relative weighting of, 204
standard deviation, 203
status, 80
tests on, 203
types, 42
variance test, 204
Posplot (dialog box)
Chart, 342
Grid, 342
Mode, 340
Range, 343
Show, 341
Trace, 343
Posplot view, 334
changing heading, 232
changing position, 227
EBL function, 345
view controls, 340
power
monitoring, 260
Power Consumption view, 352
Power Plot (dialog box), 351
Power view, 348
view controls, 350
Practice Mode R/B (dialog
box), 239
prediction test of position
measurements, 204
302363/A
Index
Q
Quick Model (dialog box), 112
quick model update, 112
R
rate of turn
setpoint, 235
RBUS IO Image, 289
redundancy, 273
dual-redundant systems, 160
triple-redundant
systems, 162
Redundant Stations (dialog
box), 163
reference origin, 202
changing, 210
Reference System
Properties (dialog box), 197
Quality Filter Actions, 199
UTM Properties, 199
Reference System Settings
(dialog box), 194
Refsys (dialog box)
Grid, 360
Mode, 359
Range, 361
Refsys Status view, 361
Refsys view, 353
view controls, 358
remote diagnostics, 263
Remote Diagnostics
(dialog box), 263
Reset Controller PS (dialog
box), 158
Reset Display Units (dialog
box), 105
resetting display units, 105
roll, 20
roll, pitch, heave
displayed on Sensors
view, 364
rotation speed, 235
302363/A
S
SAL Buoy Settings (dialog
box), 239
satellite navigation
quality filter, 199
sea current speed
display accuracy, 104
Sensor Plot (dialog box), 366
sensors
draught, 179
gyro deviation, 168
gyrocompass, 167
VRS, 177
wind, 172
manually enter values, 174
Sensors (button), 73
Sensors (dialog box)
Draught, 180
Gyro, 167
Hawser, 181
STL, 183
VRS, 177
Wind, 173
Sensors (menu)
Draught, 180
Gyro, 167
Gyro Deviation, 169
Hawser, 181
Reference System
Properties, 197
Reference System
Settings, 194
VRS, 177
Wind, 173
Sensors view, 362
view controls, 365
serial lines
resetting, 303
Set System Date/Time
(dialog box), 105
Set Timezone (dialog box), 106
shell configuration, 147
showing the tooltip, 88
signal conditioning, 295
Silence (button), 73, 102, 125
Single Anchor Loading, 63
single DP systems, 37
Single Point Mooring, 64
slow-drift test, 205
software information, 268
speed
display accuracy, 104
setpoint
changing, 229230
Speed Setpoint (dialog
box), 230
spin box, 83
standard deviation of
position measurements, 203
Standby (button), 214
Standby mode, 213
startup procedure, 145
software
restart, 147
state plane zone, 193
Station Explorer (dialog
box), 285
Status (button), 150
status bar, 79
status line, 79
status page, printing, 265
STL Monitor view, 367
Stop/Restart (dialog box), 146
stopping a change of
heading, 232
stopping a change of
position, 227
Submerged Turret
Loading, 65
surge, 20
Surge (button), 72, 216
sway, 20
Sway (button), 72, 216
System (menu)
Change User, 98
Connect, 157
CyberSea, 270
Equipment, 276, 278, 280282
Event Printer, 128
Print Status, 266
Redundant Stations, 163
Remote Diagnostics, 263
Report, 99
Reset Controller PS, 158
Screen Capture Printer, 99
Set Date/Time, 105
Set Timezone, 106
Stop/Restart, 146
Trainer, 306
system architecture, 272
system messages
acknowledging, 124
messages on the printer, 127
presentation, 119
System Messages (dialog
box)
Contents, 129
message pane, 130
Search, 130
System report, 99
system start-up, 145
system status, 265
399
units, 102
user
chief, 98
operator, 98
system, 98
using hotspot cursors, 88
UTM properties, 199
UTM Properties (dialog
box), 191
UTM zones, 192
400
V
variance test of position
measurements, 204
vertical reference sensor, 177
vertical vessel motions
displayed on Sensors
view, 364
vessel model, 22
vessel speed
display accuracy, 104
displayed on Sensors
view, 365
View (menu)
Display Units, 102
Num Entry Dlg, 83
Panel
Lamp Test, 101
Light Configuration, 100
Position Presentation, 186
Preselect, 92
Reset Display Units, 105
Set Palette, 107
Show ToolTip, 88
Use HotSpot Cursors, 88
Use Preselected, 91
views, 87
Views (button), 73
VRS, 177
faulty, 179
status lamp, 178
VRS (button), 177178
VSim mode, 270
weather vaning, 62
wind
direction display, 105
displayed on Sensors
view, 364
sensors, 172
faulty, 175
manually enter values, 174
status lamp, 174
Wind (button), 173174
wind sensors
operating without, 176
WinPS, 274
working area, 79
WVane view, 391
Y
Y-Axis Range (dialog box)
Power Plot, 351
Refsys, 360
Sensor Plot, 367
Thruster Sub Plot, 382
Trend Plot, 391
yaw, 20
Yaw (button), 72, 216
W
warning
limits
heading, 108
position, 108
warning message, 118
explanations, 128
offshore loading related, 133
wave
direction display, 105
Weather Vane mode, 222
302363/A
Index
302363/A
401
2007
Kongsberg Maritime
Kongsberg Maritime AS
P.O.Box 483
N-3601 Kongsberg,
Norway
Telephone: +47 32 28 50 00
Telefax: +47 32 28 50 10
Service: +47 815 35 355
www.kongsberg.com