Document No. 24016000TM-000 NMS6000 DP O&M Manual May 2008 Rev C NMS6000 Dynamic Positioning System GENERIC NMS6000 DP Operations & Maintenance MANUAL See disclaimer on next page. Dynamic Positioning and Control Systems Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ COPYRIGHT AND CHANGES NMS6000 is a trademark of L-3 Communications, Inc. Dynamic Positioning and Control Systems (L-3 DP&CS) and is protected under United States Copyright Law and International Treaty provisions. All other product names and designations, if trademarked, are the property of their respective owners. The software and hardware described in this document are furnished under a license agreement and may only be used in accordance with the terms of the agreement. The software and manuals may not be copied or distributed in any form or medium, disclosed to third parties, or used in any manner except as specified in the agreement. Any electronic files accompanying this document may not be copied or distributed in any form or medium, disclosed to third parties, or used in any manner except as specified in the agreement. The intent of L-3 DP&CS in providing the manual and accompanying artwork and/or drawings files to the purchaser is strictly for in-house use by the purchaser. It is the purchaser’s responsibility to monitor the in-house distribution of all manuals and electronic files and keep a hard copy record of distribution for accountability purposes to L-3 DP&CS for recall at any time L-3 DP&CS deems necessary. Revision Change Number A - Initial Release 30 JAN 06 B - Updated with minor changes 30 JAN 07 C - Revised all chapters, TOC & Index May 2008 Title and/or Brief Description Effective Date Document No. 24016000TM-000 Printed in the United States of America L-3 Communications, Inc. Dynamic Positioning and Control Systems 12131 Community Road Poway, CA 92064-8893 Telephone: (858) 679-5500 Fax: (858) 679-5501 www.L-3com.com/dpcs/ © 2008 L-3 Communications, Inc. All Rights Reserved DISCLAIMER: The Options, Commands, Menus, and Display Pages shown in this Generic DP Manual are examples of typical NMS6000 DP systems. Actual Options, Commands, Menus, and Display Pages may vary depending on system customization. Please contact L-3 DP&CS if you have any questions regarding this manual. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 i COPYRIGHT AND CHANGES This page intentionally left blank. ii Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 How Are We Doing? Your comments on our technical publications will help us serve you better in the future. Thank you for taking the time to provide us feedback. Manual Title & Doc No: Generic NMS6000 DP O&M Manual, #24016000TM-000 Please complete the sections below. 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Vessel Name/Number: ___________________ ___ Yes, please contact me via: ___ Phone _________________ Please return this form to the address listed on the previous page, fax it to (858) 679-5501, or email it to support.dpcs@L-3com.com. Thank you. ___ Fax _________________ ___ Email _________________ COPYRIGHT AND CHANGES This page intentionally left blank. iv Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ TABLE OF CONTENTS 1. DP SYSTEM OVERVIEW ........................................................................................................1-1 1.1 1.2 1.3 1.4 2. NMS6000 DP SYSTEM BASIC OVERVIEW .......................................................................................... 1-1 DYNAMIC POSITIONING OPERATIONS OVERVIEW ................................................................................ 1-7 GLOSSARY OF ABBREVIATIONS AND ACRONYMS ................................................................................. 1-9 MANUAL CONVENTIONS ................................................................................................................... 1-10 DP SYSTEM STARTUP & SHUTDOWN .................................................................................2-1 2.1 NMS6000 DP SYSTEM STARTUP ...................................................................................................... 2-1 2.1.1 Hardware Startup..................................................................................................................... 2-1 2.1.2 Software Startup ...................................................................................................................... 2-2 2.2 NMS6000 DP SYSTEM SHUTDOWN................................................................................................... 2-3 2.2.1 Software Shutdown.................................................................................................................. 2-3 2.2.2 Hardware Shutdown ................................................................................................................ 2-4 3. DP OPERATOR INTERFACE BASICS ...................................................................................3-1 3.1 OPERATOR CONTROL PANEL/CONSOLE ............................................................................................. 3-1 3.2 REMOTE & PORTABLE JOYSTICKS ...................................................................................................... 3-2 3.2.1 ACCEPT CONTROL................................................................................................................ 3-3 3.2.2 HOLD HEADING ..................................................................................................................... 3-3 3.2.3 WIND COMP ........................................................................................................................... 3-3 3.2.4 ALARM .................................................................................................................................... 3-3 3.3 TRACKBALL AND CURSOR CONTROL SWITCHES .................................................................................. 3-3 3.3.1 Selecting - Left-Clicking ........................................................................................................... 3-4 3.4 THREE-AXIS JOYSTICK W/HEADING CONTROL KNOB ........................................................................... 3-5 3.5 TOUCH SCREEN DISPLAY MONITOR ................................................................................................... 3-7 3.5.1 Touch Screen Display Power Switch Panel ............................................................................ 3-8 3.5.1.1 3.5.1.2 3.5.2 On-Screen Display (OSD) Menu Control Panel ...................................................................... 3-9 3.5.2.1 3.5.3 3.5.4 Power Down the Monitor.................................................................................................................3-10 Cleaning the Touch Screen Display ................................................................................................3-11 Touch Screen Calibration ...................................................................................................... 3-12 3.5.4.1 3.5.4.2 3.5.4.3 3.5.5 Single Screen .................................................................................................................................3-12 Calibration Procedure .....................................................................................................................3-13 Dual Screens (if applicable) ............................................................................................................3-14 Touch Screen Interfacing ...................................................................................................... 3-16 3.5.5.1 3.5.5.2 3.5.5.3 3.5.5.4 4. Hotkey Assignment ...........................................................................................................................3-9 Touch Screen Cleaning ......................................................................................................... 3-10 3.5.3.1 3.5.3.2 3.6 Brightness Control Knob ...................................................................................................................3-8 Assignable Hotkeys ..........................................................................................................................3-8 Data Entry Fields ............................................................................................................................3-16 Option Buttons ................................................................................................................................3-17 Command Buttons ..........................................................................................................................3-17 Screen Buttons Available/Unavailable for Change .........................................................................3-18 AUDIBLE ALARMS ............................................................................................................................ 3-18 OPERATIONAL THEORY .......................................................................................................4-1 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 DP SYSTEM TERMINOLOGY ............................................................................................................... 4-2 ACTUATOR........................................................................................................................................ 4-2 AUXILIARY SENSORS ......................................................................................................................... 4-2 BIAS ................................................................................................................................................. 4-2 COMPARATOR ................................................................................................................................... 4-2 CONTROLLER .................................................................................................................................... 4-2 CYCLE (CONTROL) TIME .................................................................................................................... 4-2 DIFFERENTIAL GLOBAL POSITIONING SYSTEM .................................................................................... 4-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 v TABLE OF CONTENTS 4.9 DEVIATION (CONTROL ERROR) ........................................................................................................... 4-3 4.10 MASTER OPERATOR CONTROL PANEL/CONSOLE ................................................................................ 4-3 4.11 BACKUP OPERATOR CONTROL PANEL/CONSOLE AND MANUAL INDEPENDENT BACKUP JOYSTICK OPERATOR CONTROL PANEL/CONSOLE ........................................................................................................... 4-3 4.12 MOMENT ........................................................................................................................................... 4-3 4.13 ORIGIN .............................................................................................................................................. 4-3 4.14 PAGES/SCREENS............................................................................................................................... 4-3 4.15 POSITION REFERENCE SENSORS........................................................................................................ 4-3 4.16 SETPOINTS ........................................................................................................................................ 4-4 4.17 SURGE .............................................................................................................................................. 4-4 4.18 SWAY................................................................................................................................................ 4-4 4.19 VESSEL REFERENCE POINT ............................................................................................................... 4-4 4.20 YAW ................................................................................................................................................. 4-4 4.21 SIGNING CONVENTIONS ..................................................................................................................... 4-5 4.21.1 Ship Axes Signing Conventions ............................................................................................... 4-5 4.21.2 Earth Axes Signing Conventions.............................................................................................. 4-5 4.21.3 Pitch, Roll, and Heave Signing Conventions ........................................................................... 4-6 4.21.4 Clockwise/Counterclockwise Signing Conventions.................................................................. 4-6 4.22 DP SYSTEM CONTROL LOOP.............................................................................................................. 4-7 4.22.1 Comparator .............................................................................................................................. 4-7 4.22.2 Proportional, Integral, and Derivative (PID) Controller............................................................. 4-8 4.22.3 Actuator .................................................................................................................................... 4-8 4.23 POSITION SENSOR PROCESSING CONCEPTS ....................................................................................... 4-9 4.23.1 Sensor Noise ............................................................................................................................ 4-9 4.23.2 Noise Rejection Logic .............................................................................................................. 4-9 4.23.3 Sensor Jumping ..................................................................................................................... 4-10 4.23.4 Median Testing ....................................................................................................................... 4-10 4.23.5 Origin Reference Sensor........................................................................................................ 4-11 4.23.6 Sensor Weighting ................................................................................................................... 4-12 4.23.7 Sensor Drift ............................................................................................................................ 4-12 4.24 POSITION ESTIMATING ..................................................................................................................... 4-12 4.24.1 Position Sensor Blending ....................................................................................................... 4-12 4.24.2 Low-Pass Wave Filter ............................................................................................................ 4-13 4.24.3 Notch Filter ............................................................................................................................. 4-13 4.24.4 Kalman Filter .......................................................................................................................... 4-13 4.24.4.1 4.24.4.2 Measurement Update .................................................................................................................... 4-13 Model Propagation ......................................................................................................................... 4-14 4.25 STATION KEEPING CONTROL LAW .................................................................................................... 4-14 4.26 SETPOINT SELECT ........................................................................................................................... 4-15 4.27 DEAD RECKONING ........................................................................................................................... 4-15 4.28 MANEUVER PROCESS OVERVIEW ..................................................................................................... 4-16 4.29 PRIMARY CONTROL MODES & FUNCTIONS ........................................................................................ 4-17 4.29.1 Hold Heading.......................................................................................................................... 4-17 4.29.2 Hold Position .......................................................................................................................... 4-17 4.29.3 ROV Follow ............................................................................................................................ 4-17 4.29.4 Track Follow ........................................................................................................................... 4-17 4.29.4.1 4.29.4.2 4.29.5 4.29.6 4.29.7 4.29.8 4.29.9 5. Low Speed Track Follow (LSTF).................................................................................................... 4-17 High Speed Track Follow (HSTF or AutoTrack) ............................................................................. 4-17 Manual Control (JSTK) ........................................................................................................... 4-18 Hold Area Mode (HAM) .......................................................................................................... 4-18 Remote Center of Rotation (COR) ......................................................................................... 4-18 Active Wind Compensation (AWC) ........................................................................................ 4-18 Auto Heading for Minimum Thrust (AHMT) ............................................................................ 4-19 MASTER/BACKUP OPERATOR CONTROL ......................................................................... 5-1 5.1 MASTER/BACKUP MODES DEFINED .................................................................................................... 5-1 5.2 MASTER/BACKUP MODE STATUS ........................................................................................................ 5-2 5.2.1 DPS–0 Master/Backup Mode Status ....................................................................................... 5-2 5.2.2 DPS–1 Master/Backup Mode Status ....................................................................................... 5-2 5.2.3 DPS–2/3 Master/Backup Mode Status .................................................................................... 5-3 vi Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 TABLE OF CONTENTS 5.3 TAKING & TRANSFERRING CONTROL OF THE DP SYSTEM ................................................................... 5-7 5.3.1 Taking & Transferring Control of Master & Backup Stations ................................................... 5-7 5.3.2 Taking & Transferring Control of Remote & Portable Joysticks .............................................. 5-8 5.3.2.1 5.3.2.2 5.3.2.3 5.4 5.5 6. Transfer from Control Panel/Console to Remote/Portable Joystick ..................................................5-8 Transfer from Remote/Portable Joystick to Control Panel/Console ..................................................5-8 Take Control Away from a Remote/Portable Joystick .......................................................................5-9 DPS–1/2/3 CONTROL PANEL SYNCHRONIZATION ............................................................................... 5-9 INITIALIZING BACKUP CONTROL PANELS FOR DPS–2/3 ..................................................................... 5-10 DETAILED OPERATOR INTERFACE ....................................................................................6-1 6.1 TITLE BAR ........................................................................................................................................ 6-2 6.2 NAVIGATION BAR .............................................................................................................................. 6-3 6.3 DETAILED DISPLAY PAGES ................................................................................................................ 6-4 6.3.1 Display Page Selection ............................................................................................................ 6-4 6.3.2 Display Page Selection – Backup Panel/Console ................................................................... 6-5 6.4 OVERVIEW PAGE .............................................................................................................................. 6-6 6.4.1 Compass .................................................................................................................................. 6-7 6.4.2 Deviation Display Screen ........................................................................................................ 6-8 6.4.2.1 6.4.3 6.4.3.1 6.4.3.2 6.4.3.3 6.4.4 7. Additional Deviation Display Symbols ...............................................................................................6-9 Alarm and Status Windows ................................................................................................... 6-10 Alarm Summary Window ................................................................................................................6-10 Last Alarm Window .........................................................................................................................6-10 Status Message Window ................................................................................................................6-10 Vessel Position (Tabular) ...................................................................................................... 6-11 DROP-DOWN MENUS & DETAILED DISPLAY PAGES ....................................................... 7-1 7.1 SETUP DROP-DOWN MENU ............................................................................................................... 7-2 7.2 SETUP PAGE 1 .................................................................................................................................. 7-3 7.2.1 Deviation Display ..................................................................................................................... 7-4 7.2.1.1 7.2.1.2 7.2.1.3 7.2.2 7.2.3 7.2.3.1 7.2.3.2 7.2.4 7.2.4.1 7.2.4.2 7.2.4.3 7.2.4.4 7.2.4.5 7.2.4.6 7.2.4.7 7.2.5 7.2.5.1 7.2.5.2 Frame ...............................................................................................................................................7-4 Center ...............................................................................................................................................7-4 Minimum Scale .................................................................................................................................7-4 Display ..................................................................................................................................... 7-4 Vessel ...................................................................................................................................... 7-5 Draft ..................................................................................................................................................7-5 HAM Radius......................................................................................................................................7-5 Transit Mode ............................................................................................................................ 7-5 Rudder Gain .....................................................................................................................................7-5 Counter Rudder Gain ........................................................................................................................7-5 Heading Error Threshold...................................................................................................................7-5 Deadband .........................................................................................................................................7-5 Max Rudder Angle ............................................................................................................................7-6 Heading Change Incorporated ..........................................................................................................7-6 Rudder Jog Increment ......................................................................................................................7-6 DP Gains ................................................................................................................................. 7-7 DP Gains Compute ...........................................................................................................................7-7 Set/Modify DP Gains ........................................................................................................................7-7 7.3 SETUP PAGE 2 .................................................................................................................................. 7-8 7.3.1 GPS Reference Position .......................................................................................................... 7-9 7.3.1.1 7.3.2 7.3.2.1 7.3.2.2 7.3.3 7.3.3.1 7.3.3.2 7.3.3.3 Manually Entering a GPS Reference Position ..................................................................................7-9 Remote Center of Rotation (COR) ........................................................................................ 7-10 COR Offsets F/A & P/S ...................................................................................................................7-10 Active ..............................................................................................................................................7-10 Power ..................................................................................................................................... 7-10 Lower Limit Margin .........................................................................................................................7-10 Reserved kW ..................................................................................................................................7-10 Generator Alarm Level ....................................................................................................................7-10 7.4 SETUP PAGE 3 ................................................................................................................................ 7-11 7.4.1 Threshold ............................................................................................................................... 7-12 7.4.1.1 7.4.1.2 7.4.1.3 7.4.2 Heading Error .................................................................................................................................7-12 Position Error ..................................................................................................................................7-12 Median Alarm ..................................................................................................................................7-12 Alert Radius ........................................................................................................................... 7-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 vii TABLE OF CONTENTS 7.4.3 7.4.4 Consequence Analysis........................................................................................................... 7-13 Compare................................................................................................................................. 7-13 7.4.4.1 7.4.4.2 7.4.4.3 7.4.4.4 7.4.4.5 Thrust............................................................................................................................................. 7-13 Rudder ........................................................................................................................................... 7-13 Thrust Level ................................................................................................................................... 7-13 Wind Direction................................................................................................................................ 7-13 Wind Speed ................................................................................................................................... 7-13 7.4.5 Hold Relative .......................................................................................................................... 7-14 7.5 SETUP PAGE 4 ................................................................................................................................ 7-14 7.5.1 NMS/ROV Beacon Mapping .................................................................................................. 7-15 7.5.2 ROV Follow Configuration...................................................................................................... 7-15 7.5.2.1 7.5.2.2 7.5.2.3 7.5.2.4 ROV Deadzone Radius .................................................................................................................. 7-15 ROV Offsets ................................................................................................................................... 7-16 Follow Offset Type ......................................................................................................................... 7-16 ROV Filter Gain.............................................................................................................................. 7-16 7.6 MODE FUNCTION PAGE .................................................................................................................... 7-17 7.6.1 Mode Select ........................................................................................................................... 7-18 7.6.1.1 7.6.1.2 7.6.1.3 7.6.1.4 7.6.1.5 7.6.1.6 7.6.1.7 7.6.1.8 7.6.1.9 7.6.1.10 7.6.1.11 7.6.1.12 7.6.1.13 7.6.1.14 7.6.1.15 7.6.2 7.6.2.1 7.6.2.2 7.6.2.3 Hold Heading ................................................................................................................................. 7-18 Auto Heading for Minimum Thrust (AHMT) .................................................................................... 7-18 Transit Mode .................................................................................................................................. 7-18 Pilot Mode ...................................................................................................................................... 7-18 Hold Position/Surge/Sway ............................................................................................................. 7-19 Hold Area Mode (HAM) .................................................................................................................. 7-19 Wind Compensation ....................................................................................................................... 7-19 Joystick Desens (Desensitizing) .................................................................................................... 7-19 Track Follow................................................................................................................................... 7-19 ROV Follow .................................................................................................................................... 7-19 Vessel Center of Rotation (COR) ................................................................................................... 7-20 Power Limit Sustain ....................................................................................................................... 7-20 Portable Joystick ............................................................................................................................ 7-20 Hold Relative.................................................................................................................................. 7-20 Night Mode .................................................................................................................................... 7-20 Function Select....................................................................................................................... 7-21 Setpoint Maneuvers ....................................................................................................................... 7-21 Clear Joystick Bias......................................................................................................................... 7-32 Alarm Page Inhibit.......................................................................................................................... 7-32 7.7 SENSOR DROP-DOWN MENU ........................................................................................................... 7-33 7.8 SENSOR PAGES 1 & 2 ...................................................................................................................... 7-34 7.8.1 Gyrocompasses ..................................................................................................................... 7-35 7.8.1.1 7.8.1.2 7.8.2 7.8.2.1 7.8.3 7.8.3.1 7.8.3.2 7.8.3.3 Gyro Processing ............................................................................................................................ 7-35 Heading – True & Reciprocal ......................................................................................................... 7-36 Wind Sensors ......................................................................................................................... 7-36 Wind Sensor - Online Placement ................................................................................................... 7-36 Vertical Reference Sensors & Motion Reference Units ......................................................... 7-37 Vertical Reference Sensor Processing .......................................................................................... 7-37 Controlling Vertical Reference Sensors ......................................................................................... 7-37 Vertical Reference Data ................................................................................................................. 7-37 7.8.4 Current Sensor ....................................................................................................................... 7-37 7.8.5 GPS/DGPS............................................................................................................................. 7-38 7.9 POSITION REFERENCE PAGES 1 & 2 ................................................................................................. 7-39 7.9.1 Position Reference Sensor Data Use .................................................................................... 7-40 7.9.2 Position Reference Page Use ................................................................................................ 7-40 7.9.2.1 7.9.3 7.9.3.1 7.9.3.2 7.9.3.3 7.9.3.4 7.9.3.5 7.9.3.6 7.9.3.7 7.9.3.8 7.9.4 viii Sensor Select Buttons ................................................................................................................... 7-40 Position Reference Page 1 .................................................................................................... 7-40 Measured Column.......................................................................................................................... 7-40 Corrected Column .......................................................................................................................... 7-40 Noise .............................................................................................................................................. 7-40 New Data ....................................................................................................................................... 7-40 Blended .......................................................................................................................................... 7-40 Reference Calibration .................................................................................................................... 7-41 Sensor Select................................................................................................................................. 7-41 North/East Offset ........................................................................................................................... 7-41 Position Reference Page 2 .................................................................................................... 7-41 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 TABLE OF CONTENTS 7.9.4.1 7.9.4.2 7.9.4.3 7.9.5 Calibration Bias ...............................................................................................................................7-41 Calibration Drift ...............................................................................................................................7-41 % Weight ........................................................................................................................................7-41 Selecting the Origin Reference Sensor ................................................................................. 7-42 7.9.5.1 Relocating the Origin Reference Sensor’s Origin ...........................................................................7-43 7.9.6 Charting Position Reference Sensor Data............................................................................. 7-43 7.9.7 Position Reference Sensor Symbols ..................................................................................... 7-44 7.10 PROPULSION DROP-DOWN MENU .................................................................................................... 7-45 7.11 THRUSTER PAGE 1 .......................................................................................................................... 7-46 7.11.1 Azimuthing Thruster Icon ....................................................................................................... 7-47 7.11.2 Tunnel Thruster Icons ............................................................................................................ 7-47 7.11.3 Thrust Allocation Logic (TAL) Circle ...................................................................................... 7-48 7.11.4 Rudder Icons ......................................................................................................................... 7-49 7.11.5 Text Box – Thruster and Rudder ........................................................................................... 7-49 7.11.6 Forces % ................................................................................................................................ 7-50 7.11.6.1 7.11.6.2 7.11.7 Requested Forces % ......................................................................................................................7-50 Total Forces %................................................................................................................................7-51 DP System Thruster Modes .................................................................................................. 7-51 7.11.7.1 7.11.7.2 7.11.7.3 Manual ............................................................................................................................................7-51 Auto ................................................................................................................................................7-51 Off ...................................................................................................................................................7-51 7.11.8 Thruster Mode/Command Selection ...................................................................................... 7-51 7.11.9 Thrust Allocation Logic (TAL) ................................................................................................ 7-52 7.12 THRUSTER PAGE 2 .......................................................................................................................... 7-52 7.12.1 Status ..................................................................................................................................... 7-53 7.12.2 Mode ...................................................................................................................................... 7-53 7.12.3 Manual CMND % ................................................................................................................... 7-53 7.12.4 Pitch Cmndº ........................................................................................................................... 7-54 7.12.5 Pitch Fdbkº............................................................................................................................. 7-54 7.12.6 Cmnd % ................................................................................................................................. 7-54 7.12.7 Fdbk % ................................................................................................................................... 7-54 7.12.8 Rud (Rudder) Cmndº ............................................................................................................. 7-54 7.12.9 Rud (Rudder) Fdbkº............................................................................................................... 7-54 7.12.10 Thruster Alarm ....................................................................................................................... 7-54 7.12.11 Rud (Rudder) Alarm............................................................................................................... 7-54 7.13 POWER PAGE 1 .............................................................................................................................. 7-55 7.13.1 Generator Readings and Icons.............................................................................................. 7-56 7.13.2 Closed Circuit Breaker Icons ................................................................................................. 7-56 7.13.3 Open Circuit Breaker Icon ..................................................................................................... 7-56 7.13.4 Bus Lines ............................................................................................................................... 7-56 7.13.5 Thruster Icons ........................................................................................................................ 7-56 7.14 POWER PAGE 2: KW LOADING ......................................................................................................... 7-57 7.14.1 Bus ......................................................................................................................................... 7-57 7.14.2 Online Rated Capacity ........................................................................................................... 7-57 7.14.3 Total Load Feedback ............................................................................................................. 7-57 7.14.4 Power Limiting ....................................................................................................................... 7-58 7.14.4.1 7.14.4.2 7.14.4.3 7.14.4.4 Upper Power Limit (UPL) ................................................................................................................7-58 Lower Power Limit (LPL).................................................................................................................7-58 Operating Power Limit (OPL) ..........................................................................................................7-59 Power Limit Sustain ........................................................................................................................7-59 7.14.5 Propulsion Command ............................................................................................................ 7-59 7.14.6 Hotel Load ............................................................................................................................. 7-59 7.14.7 DP Power Cutback ................................................................................................................ 7-59 7.15 POWER PAGE 3 .............................................................................................................................. 7-61 7.16 PLOT IO DROP-DOWN MENU ........................................................................................................... 7-62 7.17 PLOT PAGE ..................................................................................................................................... 7-62 7.17.1 Plot Page: Parameter Plots ................................................................................................... 7-62 7.17.1.1 Freeze Display ................................................................................................................................7-65 7.18 SIGNAL INPUT/OUTPUT PAGES ........................................................................................................ 7-65 7.18.1 Signal I/O Page 1 – Analog Communications ....................................................................... 7-66 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 ix TABLE OF CONTENTS 7.18.2 Signal I/O Page 2 – Digital Communications ......................................................................... 7-67 7.18.3 Signal I/O Page 3 – Serial Communications .......................................................................... 7-68 7.19 CHART TRACK DROP-DOWN MENU .................................................................................................. 7-69 7.20 HOLDING CAPABILITY PLOT .............................................................................................................. 7-70 7.20.1 Mode ...................................................................................................................................... 7-72 7.20.2 Thrusters/Rudders ................................................................................................................. 7-72 7.20.3 Current & Wind ....................................................................................................................... 7-72 7.21 CHART PAGE ................................................................................................................................... 7-73 7.21.1 Pan and Zoom Control Buttons .............................................................................................. 7-74 7.21.2 Configuration Buttons ............................................................................................................. 7-74 7.21.2.1 7.21.2.2 7.21.2.3 7.21.2.4 7.21.2.5 7.21.2.6 7.21.2.7 7.21.2.8 7.21.2.9 7.21.3 Ship Focus ..................................................................................................................................... 7-74 Follow Ship .................................................................................................................................... 7-74 No Grid .......................................................................................................................................... 7-74 Lat/Lon ........................................................................................................................................... 7-74 North/East ...................................................................................................................................... 7-74 Sens Disp ...................................................................................................................................... 7-74 Vessel Trail .................................................................................................................................... 7-75 Clear Trail ...................................................................................................................................... 7-75 Track Disp ...................................................................................................................................... 7-75 Chart Page Symbols .............................................................................................................. 7-76 7.21.3.1 7.21.3.2 7.21.3.3 Force/Motion Vectors ..................................................................................................................... 7-76 Red and Yellow Alert Circles.......................................................................................................... 7-76 Position Reference Sensor Symbols.............................................................................................. 7-76 7.22 TRACK OPERATION PAGE................................................................................................................. 7-76 7.22.1 Track Control Summary ......................................................................................................... 7-78 7.22.1.1 7.22.1.2 7.22.1.3 7.22.1.4 7.22.1.5 7.22.1.6 7.22.1.7 7.22.1.8 7.22.2 Track Offsets .......................................................................................................................... 7-80 7.22.2.1 7.22.2.2 7.22.2.3 7.22.3 LSTF/HSTF .................................................................................................................................... 7-78 Leg ................................................................................................................................................. 7-78 Goal stpt (LSTF) ............................................................................................................................ 7-79 Vessel (LSTF) ................................................................................................................................ 7-79 Deviation (LSTF) ............................................................................................................................ 7-79 Bearing To (HSTF)......................................................................................................................... 7-79 Distance To (HSTF) ....................................................................................................................... 7-79 Time To (HSTF) ............................................................................................................................. 7-79 Heading ......................................................................................................................................... 7-80 North/East ...................................................................................................................................... 7-80 Cross ............................................................................................................................................. 7-80 Track Settings ........................................................................................................................ 7-81 7.22.3.1 7.22.3.2 7.22.3.3 7.22.3.4 Mode/Direction ............................................................................................................................... 7-81 Heading Mode................................................................................................................................ 7-81 Speed Mode .................................................................................................................................. 7-82 User Speed .................................................................................................................................... 7-82 7.23 WAYPOINT PAGE ............................................................................................................................. 7-83 7.23.1 Display Window ...................................................................................................................... 7-84 7.23.2 Lat/Lon ................................................................................................................................... 7-84 7.23.3 N/E ......................................................................................................................................... 7-84 7.23.4 Setup ...................................................................................................................................... 7-84 7.23.4.1 7.23.5 7.23.5.1 7.23.5.2 7.23.5.3 7.23.6 Insert .............................................................................................................................................. 7-87 Add ................................................................................................................................................ 7-87 Delete ............................................................................................................................................ 7-87 Up .................................................................................................................................................. 7-87 Down .............................................................................................................................................. 7-87 Edit................................................................................................................................................. 7-88 Waypoint Edit Pop-up ............................................................................................................ 7-88 7.23.7.1 7.23.7.2 7.23.7.3 x New................................................................................................................................................ 7-85 Select ............................................................................................................................................. 7-86 Save............................................................................................................................................... 7-86 Waypoint ................................................................................................................................ 7-87 7.23.6.1 7.23.6.2 7.23.6.3 7.23.6.4 7.23.6.5 7.23.6.6 7.23.7 Cross Track Threshold ................................................................................................................... 7-84 Route ...................................................................................................................................... 7-85 Identifier ......................................................................................................................................... 7-88 Position .......................................................................................................................................... 7-88 Properties ...................................................................................................................................... 7-89 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 TABLE OF CONTENTS 7.24 7.25 7.26 7.27 7.28 8. MODE FUNCTION DROP-DOWN MENU .............................................................................................. 7-90 HEADING DROP-DOWN MENU .......................................................................................................... 7-91 POSITION DROP-DOWN MENU ......................................................................................................... 7-91 INITIALIZE BACKUP BUTTON ............................................................................................................. 7-92 ALARM SILENCE BUTTON ................................................................................................................. 7-92 OPERATIONAL & AUTOMATIC MODES ...............................................................................8-1 8.1 MANUAL JOYSTICK (JSTK) ................................................................................................................ 8-1 8.2 BASIC OPERATIONAL MODES UTILIZING THE JOYSTICK........................................................................ 8-2 8.3 HOLD HEADING ................................................................................................................................. 8-4 8.4 HOLD POSITION ................................................................................................................................ 8-5 8.4.1 Hold Position - Activation ......................................................................................................... 8-6 8.4.1.1 Hold Surge/Sway ..............................................................................................................................8-6 8.5 ROV FOLLOW ................................................................................................................................... 8-7 8.5.1 ROV Follow - Set Up ............................................................................................................... 8-7 8.5.2 ROV Follow - Fixed Position Sensor Online ............................................................................ 8-8 8.5.3 ROV Follow Mode - NO Fixed Position Sensor Online ........................................................... 8-8 8.6 TRACK FOLLOW ................................................................................................................................ 8-9 8.6.1 Speed Control for Track Follow ............................................................................................... 8-9 8.6.2 Heading Control for Track Follow .......................................................................................... 8-10 8.6.3 Starting Track Follow ............................................................................................................. 8-10 8.6.3.1 8.6.3.2 8.6.4 8.6.5 8.6.6 8.6.7 8.6.8 8.6.9 Low Speed Track Follow (LSTF) ....................................................................................................8-10 High Speed Track Follow (HSTF or AutoTrack)..............................................................................8-11 Stopping Track Follow ........................................................................................................... 8-11 Track Display Selection and Monitoring ................................................................................ 8-12 Track and Waypoint Description............................................................................................ 8-12 Passing Waypoints ................................................................................................................ 8-12 Stopping (LSTF Mode) .......................................................................................................... 8-13 Track Definition File Format .................................................................................................. 8-13 8.6.9.1 8.6.9.2 Absolute Tracks ..............................................................................................................................8-14 Relative Tracks ...............................................................................................................................8-14 8.7 ACTIVE WIND COMPENSATION (AWC) ............................................................................................. 8-15 8.7.1 Active Wind Compensation Processing................................................................................. 8-15 8.8 HOLD AREA MODE (HAM) ............................................................................................................... 8-16 8.9 AUTO HEADING FOR MINIMUM THRUST (AHMT) ............................................................................... 8-16 8.10 REMOTE CENTER OF ROTATION (COR) ........................................................................................... 8-16 8.11 SIMULATION MODE .......................................................................................................................... 8-17 8.11.1 Simulation Control ................................................................................................................. 8-17 8.11.1.1 8.11.1.2 8.11.1.3 8.11.1.4 8.11.1.5 8.11.1.6 8.11.1.7 8.11.1.8 8.11.1.9 8.11.1.10 Wind Speed ....................................................................................................................................8-17 Wind Speed Variance .....................................................................................................................8-17 Wind Direction ................................................................................................................................8-18 Wind Direction Variance .................................................................................................................8-18 Current Velocity ..............................................................................................................................8-18 Current Direction.............................................................................................................................8-18 Position Noise .................................................................................................................................8-18 Simulation Rate ..............................................................................................................................8-18 Initial Condition ...............................................................................................................................8-18 Mode ..........................................................................................................................................8-18 8.12 TRANSIT MODE ............................................................................................................................... 8-19 8.12.1 ROT ....................................................................................................................................... 8-20 8.12.2 Thrust Level & Azimuth Angle Text Boxes ............................................................................ 8-20 8.12.3 Heading Setpoint & Jog ......................................................................................................... 8-20 8.12.4 ROT (Rate of Turning) Setpoint............................................................................................. 8-21 8.12.5 Speed and Heading Data ...................................................................................................... 8-21 8.12.6 Corrected Position ................................................................................................................. 8-21 8.12.7 Wind ....................................................................................................................................... 8-21 8.12.8 Course Jog Arrows ................................................................................................................ 8-21 8.12.9 Speed Setpoint & Hold Speed ............................................................................................... 8-21 8.13 PILOT MODE ................................................................................................................................... 8-22 8.14 HOLD RELATIVE .............................................................................................................................. 8-22 9. DP SYSTEM OPERATIONAL HINTS ..................................................................................... 9-1 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 xi TABLE OF CONTENTS 9.1 9.2 9.3 9.4 9.5 9.6 GPS DRIFT ....................................................................................................................................... 9-1 INTEGRAL WINDUP ............................................................................................................................. 9-1 INTEGRAL PRE-LOADING .................................................................................................................... 9-1 INTEGRAL TRANSFERS ....................................................................................................................... 9-2 HALTING THE VESSEL ........................................................................................................................ 9-2 MOVING THE VESSEL TO A PRECISE LOCATION ................................................................................... 9-2 10. VESSEL SPECIFIC DISPLAY SCREENS ............................................................................ 10-1 10.1 SETUP DROP-DOWN MENU .............................................................................................................. 10-1 10.1.1 Setup Page 1.......................................................................................................................... 10-2 10.1.2 Setup Page 2.......................................................................................................................... 10-3 10.1.3 Setup Page 3.......................................................................................................................... 10-4 10.1.4 Setup Page 4.......................................................................................................................... 10-5 10.1.5 Mode Function........................................................................................................................ 10-6 10.1.6 Simulation Page ..................................................................................................................... 10-7 10.2 SENSOR DROP-DOWN MENU ........................................................................................................... 10-8 10.2.1 Sensor Page 1........................................................................................................................ 10-9 10.2.2 Sensor Page 2 – Hold Relative Sensor ............................................................................... 10-10 10.2.3 Position Reference 1 ............................................................................................................ 10-11 10.2.4 Position Reference 2 ............................................................................................................ 10-12 10.3 THRUST DROP-DOWN MENU .......................................................................................................... 10-13 10.3.1 Thruster Page 1.................................................................................................................... 10-14 10.3.2 Thruster Page 2.................................................................................................................... 10-15 10.4 PLOT IO DROP-DOWN MENU ......................................................................................................... 10-16 10.5 CHART TRACK DROP-DOWN MENU ................................................................................................ 10-17 10.5.1 Holding Capability Plot ......................................................................................................... 10-18 10.5.2 Chart..................................................................................................................................... 10-19 10.5.1 Track Operation.................................................................................................................... 10-20 10.5.1 Waypoint .............................................................................................................................. 10-21 10.5.2 Transit .................................................................................................................................. 10-22 10.5.3 Overview .............................................................................................................................. 10-23 10.6 MODE FUNCTION DROP-DOWN MENU ............................................................................................ 10-24 10.7 HEADING & POSITION DROP-DOWN MENUS .................................................................................... 10-24 11. MAINTENANCE, TEST PROCEDURES & SPECS .............................................................. 11-1 11.1 GENERAL TOOLS AND TEST EQUIPMENT ........................................................................................... 11-1 11.2 ELECTROSTATIC DISCHARGE (ESD) PRECAUTIONS ........................................................................... 11-1 11.2.1 ESD-Sensitive Devices .......................................................................................................... 11-2 11.2.2 Protective Procedures ............................................................................................................ 11-2 11.2.3 ESD Guidelines for Replacing Circuit Card Assemblies ........................................................ 11-2 11.3 MONTHLY MECHANICAL INSPECTION ................................................................................................. 11-3 11.4 MONTHLY OPERATOR CONTROL PANEL/CONSOLE AIR FILTER SERVICE ............................................. 11-3 11.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE................................................................. 11-3 11.6 POWER SUPPLY VOLTAGE CHECK .................................................................................................... 11-4 11.6.1 Signal Processor Unit Test Points & Values .......................................................................... 11-4 11.6.1.1 11.6.1.2 11.6.1.3 11.6.1.4 Signal Processor Unit (SPU) 1 ....................................................................................................... 11-5 Signal Processor Unit (SPU) 2 – (Optional) ................................................................................... 11-6 Signal Processor Unit (SPU) 3 – (Optional) ................................................................................... 11-7 Signal Processor Unit (SPU) 4 – (Optional) ................................................................................... 11-8 11.7 CMOS BATTERY REPLACEMENT - (2 YEARS).................................................................................... 11-9 11.8 SIGNAL MAINTENANCE AND TROUBLESHOOTING ................................................................................ 11-9 11.8.1 Point I/O RS232 ASCII ........................................................................................................... 11-9 11.8.2 RS422/RS485 ...................................................................................................................... 11-10 11.8.3 Programmable Logic Controller (PLC) ................................................................................. 11-11 11.8.4 System Reset and Corrective Action ................................................................................... 11-11 11.8.5 Flex I/O Modules .................................................................................................................. 11-11 11.8.6 Analog and Digital I/O .......................................................................................................... 11-12 11.8.7 Circuit Card Jumper Configurations ..................................................................................... 11-12 11.8.7.1 11.8.7.2 xii Central Processing Unit (CPU) .................................................................................................... 11-12 Gyrocompass ............................................................................................................................... 11-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 TABLE OF CONTENTS 11.8.8 Joystick Calibration .............................................................................................................. 11-13 11.9 MODULE AND COMPONENT REPLACEMENT ..................................................................................... 11-14 11.9.1 Central Processing Unit (CPU) ............................................................................................ 11-14 11.9.1.1 11.9.1.2 11.9.1.3 11.9.1.4 11.9.2 SPU Modules and Components .......................................................................................... 11-17 11.9.2.1 11.9.2.2 11.9.2.3 11.9.2.4 11.9.2.5 11.9.2.6 11.9.2.7 11.9.2.8 11.9.2.9 11.9.2.10 11.9.2.11 11.9.3 Installation of Additional Equipment ..............................................................................................11-14 Removing the top cover ................................................................................................................11-15 Installing a PCI expansion card ....................................................................................................11-15 Installing 31⁄2” and 51⁄4” equipment .............................................................................................11-16 Intelligent Communication Modules ..............................................................................................11-17 Flex I/O Modules ...........................................................................................................................11-17 Flex I/O Terminal Bases ...............................................................................................................11-18 Remote I/O Adapter ......................................................................................................................11-18 Optical Communications Modem (OCM) ......................................................................................11-19 EtherNet Hub ................................................................................................................................11-19 NMS6000 Uninterruptible Power Supply (UPS) ............................................................................11-19 SPU Uninterruptible Power Supply (UPS) ....................................................................................11-19 UPS Battery ..................................................................................................................................11-19 SPU Power Supply ..................................................................................................................11-20 SPU Exhaust Fan ....................................................................................................................11-20 Sensors ................................................................................................................................ 11-20 11.9.3.1 11.9.3.2 11.9.3.3 Motion Reference Unit (MRU).......................................................................................................11-20 Global Positioning System (GPS) .................................................................................................11-20 Vertical Reference Unit (VRU) ......................................................................................................11-21 11.10 COMPONENT SPECS ................................................................................................................. 11-21 11.10.1 Industrial Computer ............................................................................................................. 11-21 11.10.1.1 Industrial Computer Specifications ...........................................................................................11-22 11.11 SERVICE & PARTS .................................................................................................................... 11-24 11.11.1 Recommended Spare or Replacement Parts ...................................................................... 11-24 11.11.2 Service Locations ................................................................................................................ 11-24 11.11.3 Field Service Order Information........................................................................................... 11-25 11.11.4 Ordering New Parts ............................................................................................................. 11-25 11.11.5 Returning Items ................................................................................................................... 11-25 12. DP SYSTEM ALARMS & TROUBLESHOOTING .................................................................12-1 12.1 ALARM CONDITIONS ........................................................................................................................ 12-1 12.2 ALARM NOTIFICATION ...................................................................................................................... 12-2 12.3 ALARM PAGE .................................................................................................................................. 12-2 12.3.1 Inhibiting the Alarm Page ...................................................................................................... 12-4 12.4 COLOR-CODING OF ALARMS ............................................................................................................ 12-5 12.4.1 Flashing Red – Unacknowledged Alarms.............................................................................. 12-5 12.4.2 Solid Red – Acknowledged Alarms ....................................................................................... 12-5 12.4.3 Flashing Yellow – Expired Alarms ......................................................................................... 12-5 12.4.4 Green – Consequence Analysis Alarms ................................................................................ 12-5 12.5 SILENCING ALARMS ......................................................................................................................... 12-5 12.6 ACKNOWLEDGING ALARMS .............................................................................................................. 12-6 12.7 SORTING ALARMS ........................................................................................................................... 12-6 12.8 DISABLING ALARMS ......................................................................................................................... 12-7 12.8.1 Disabling an Alarm listed on the Alarm Page ........................................................................ 12-8 12.8.2 Disabling Any Alarm .............................................................................................................. 12-8 12.9 CONSEQUENCE ANALYSIS ROUTINE ................................................................................................. 12-9 12.9.1 Specific Consequence Analysis Routines ........................................................................... 12-10 12.9.1.1 12.9.1.2 12.9.1.3 12.9.1.4 12.10 Single Generator Loss ..................................................................................................................12-10 Single Bus Loss ............................................................................................................................12-11 Single Signal Processor Loss .......................................................................................................12-11 Thruster Loss ................................................................................................................................12-11 DP SYSTEM ALARMS AND MESSAGES ........................................................................................ 12-12 13. INDEX .................................................................................................................................... 13-1 14. APPENDIX A – HOLD RELATIVE MODE ............................................................................14-1 14.1 HOLD RELATIVE MODE – TWO CONFIGURATIONS .............................................................................. 14-1 14.1.1 Hold Relative Without a Position Sensor ............................................................................... 14-1 14.1.2 Hold Relative With a Position Sensor .................................................................................... 14-1 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 xiii TABLE OF CONTENTS 14.2 SYSTEM SETUP – HOLD RELATIVE .................................................................................................... 14-2 14.2.1 CyScan Sensor Target Reflector Placement ......................................................................... 14-2 14.2.2 CyScan Sensor ...................................................................................................................... 14-2 14.2.3 CyScan Sensor System Operation ........................................................................................ 14-3 14.2.4 CyScan Sensor Setup (Hold Relative) ................................................................................... 14-4 14.2.4.1 14.2.4.2 14.2.4.3 14.2.4.4 Target Length................................................................................................................................. 14-4 Target Breadth ............................................................................................................................... 14-4 CyScan Primary Target Offset FA.................................................................................................. 14-4 CyScan Primary Target Offset PS ................................................................................................. 14-4 14.3 HOLD RELATIVE CONFIGURATION ..................................................................................................... 14-5 14.3.1 Relative Offsets ...................................................................................................................... 14-6 14.3.2 Offset Type ............................................................................................................................. 14-6 14.3.3 Relative Offset Heading ......................................................................................................... 14-6 14.4 HOLD RELATIVE – PLACING SENSOR ONLINE .................................................................................... 14-6 14.5 HOLD RELATIVE – MODE SELECTION ................................................................................................ 14-7 15. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS ...................................................... 15-1 xiv Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ LIST OF FIGURES AND TABLES FIGURE 1-1. DPS–0 SYSTEM OVERVIEW ............................................................................................1-2 FIGURE 1-2. DPS-1 SYSTEM OVERVIEW.............................................................................................1-3 FIGURE 1-3. DPS-2 SYSTEM OVERVIEW.............................................................................................1-4 FIGURE 1-4. DPS-3 SYSTEM OVERVIEW.............................................................................................1-5 FIGURE 3-1. OPERATOR CONTROL PANEL ..........................................................................................3-1 FIGURE 3-2. OPERATOR CONTROL CONSOLE WITH SECOND DISPLAY .................................................3-2 FIGURE 3-3. REMOTE & PORTABLE JOYSTICKS ...................................................................................3-2 FIGURE 3-4. TRACKBALL AND CURSOR CONTROL SWITCHES...............................................................3-4 FIGURE 3-5. TRACKBALL AND CURSOR CONTROL SWITCHES (OPTIONAL MODEL) ................................3-4 FIGURE 3-6. WHITE ARROW SHAPED CURSOR ....................................................................................3-4 FIGURE 3-7. THREE-AXES JOYSTICK W/HEADING CONTROL KNOB.......................................................3-6 FIGURE 3-8. TOUCH SCREEN DISPLAY MONITOR ................................................................................3-7 FIGURE 3-9. TOUCH SCREEN DISPLAY POWER SWITCH PANEL ...........................................................3-8 FIGURE 3-10. ON-SCREEN DISPLAY (OSD) MENU CONTROL PANEL....................................................3-9 FIGURE 3-11. OSD MENU MODE POP-UP ........................................................................................3-10 FIGURE 3-12. TOUCHWARE ICON .....................................................................................................3-12 FIGURE 3-13. TOUCHWARE PROPERTIES DIALOG BOX .....................................................................3-12 FIGURE 3-14. TOUCH SCREEN CALIBRATION BULLS-EYE ..................................................................3-13 FIGURE 3-15. CALIBRATION COMPLETE POP-UP DIALOG BOX ...........................................................3-13 FIGURE 3-16. TOUCHWARE ICON .....................................................................................................3-14 FIGURE 3-17. TOUCHWARE PROPERTIES (1) DIALOG BOX (MULTIPLE MONITORS) .............................3-14 FIGURE 3-18. MULTIPLE MONITORS TAB...........................................................................................3-15 FIGURE 3-19. TYPICAL DATA ENTRY FIELD .......................................................................................3-16 FIGURE 3-20. TYPICAL POP-UP KEYPAD...........................................................................................3-17 FIGURE 3-21. TYPICAL OPTION BUTTON ...........................................................................................3-17 FIGURE 3-22. TYPICAL COMMAND BUTTONS .....................................................................................3-17 FIGURE 3-23. SCREEN BUTTON AVAILABLE/UNAVAILABLE FOR CHANGE ............................................3-18 FIGURE 4-1. DYNAMIC POSITIONING SYSTEM OPERATION ...................................................................4-1 FIGURE 4-2. SHIP AXES SIGNING CONVENTIONS .................................................................................4-5 FIGURE 4-3. EARTH AXES SIGNING CONVENTIONS..............................................................................4-5 FIGURE 4-4. PITCH, ROLL, AND HEAVE SIGNING CONVENTIONS...........................................................4-6 FIGURE 4-5. DP SYSTEM CONTROL LOOP ..........................................................................................4-7 FIGURE 4-6. NOISE REJECTION LOGIC ILLUSTRATION ..........................................................................4-9 FIGURE 4-7. SENSOR JUMPING ........................................................................................................4-10 FIGURE 4-8. POSITION REFERENCE SENSOR BIASING .......................................................................4-11 FIGURE 4-9. SENSOR WEIGHTING ....................................................................................................4-12 FIGURE 4-10. CONTROL AXES ..........................................................................................................4-15 FIGURE 4-11. POSITION MANEUVER PROFILE ILLUSTRATION .............................................................4-16 FIGURE 5-1. DPS-1 TRANSFER CONFIGURATION ................................................................................5-4 FIGURE 5-2. DPS-2 TRANSFER CONFIGURATION ................................................................................5-5 FIGURE 5-3. DPS-3 TRANSFER CONFIGURATION ................................................................................5-6 FIGURE 5-4. NMS ONLINE BUTTON ....................................................................................................5-7 FIGURE 5-5. CONFIRM TAKE CONTROL DIALOG BOX ...........................................................................5-7 FIGURE 5-6. INITIALIZE BACKUP BUTTON ..........................................................................................5-10 FIGURE 6-1. TYPICAL DP SYSTEM DISPLAY SCREEN LAYOUT ..............................................................6-1 FIGURE 6-2. DP TITLE BAR ................................................................................................................6-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 xv LIST OF FIGURES AND TABLES FIGURE 6-3. NAVIGATION BAR ............................................................................................................6-3 FIGURE 6-4. NAVIGATION BAR DETAIL ................................................................................................6-4 FIGURE 6-5. TYPICAL OVERVIEW PAGE ..............................................................................................6-6 FIGURE 6-6. COMPASS ......................................................................................................................6-7 FIGURE 6-7. DEVIATION DISPLAY SCREEN ..........................................................................................6-8 FIGURE 6-8. ADDITIONAL DEVIATION DISPLAY SYMBOLS .....................................................................6-9 FIGURE 6-9. ALARM AND STATUS WINDOWS ....................................................................................6-10 FIGURE 6-10. TYPICAL TABULAR VESSEL POSITION SECTION ............................................................6-11 FIGURE 7-1. NAVIGATION BAR DETAIL ...............................................................................................7-1 FIGURE 7-2. SETUP PAGE 1 ...............................................................................................................7-3 FIGURE 7-3. CONTROL AXES..............................................................................................................7-7 FIGURE 7-4. SETUP PAGE 2 ...............................................................................................................7-8 FIGURE 7-5. SETUP PAGE 3 .............................................................................................................7-11 FIGURE 7-6. SETUP PAGE 4 .............................................................................................................7-14 FIGURE 7-7. MODE FUNCTION PAGE ................................................................................................7-17 FIGURE 7-8. FOUR OPTIONS FOR SETTING THE HEADING SETPOINT .................................................7-24 FIGURE 7-9. EIGHT OPTIONS FOR SETTING THE POSITION SETPOINT ................................................7-28 FIGURE 7-10. POSITION SETPOINT PROFILE ....................................................................................7-29 FIGURE 7-11. PROPOSED POSITION MANEUVER AS SEEN ON DEVIATION DISPLAY .............................7-31 FIGURE 7-12. SENSOR PAGE 1 ........................................................................................................7-34 FIGURE 7-13. SENSOR PAGE 2 ........................................................................................................7-35 FIGURE 7-14. POSITION REFERENCE PAGE 1 ...................................................................................7-39 FIGURE 7-15. POSITION REFERENCE PAGE 2 ...................................................................................7-39 FIGURE 7-16. CHART PAGE – SENS DISP BUTTON ............................................................................7-44 FIGURE 7-17. TYPICAL THRUSTER PAGE ..........................................................................................7-46 FIGURE 7-18. AZIMUTHING THRUSTER ICONS ...................................................................................7-47 FIGURE 7-19. TYPICAL TUNNEL THRUSTER ICON ..............................................................................7-47 FIGURE 7-20. TAL CIRCLE ...............................................................................................................7-48 FIGURE 7-21. RUDDER ICONS ..........................................................................................................7-49 FIGURE 7-22. TEXT BOX - THRUSTER AND RUDDER ..........................................................................7-50 FIGURE 7-23. TYPICAL THRUSTER POP-UP DIALOG BOX...................................................................7-52 FIGURE 7-24. TYPICAL THRUST PAGE 2 ...........................................................................................7-53 FIGURE 7-25. POWER PAGE 1- GENERATORS AND BREAKERS ..........................................................7-55 FIGURE 7-26. POWER PAGE 2: KW LOADING ....................................................................................7-57 TABLE 7-1. POWER LIMITING TERM CALCULATIONS ..........................................................................7-59 FIGURE 7-27. POWER LIMIT SUSTAIN ...............................................................................................7-60 FIGURE 7-28. POWER PAGE 3. .........................................................................................................7-61 FIGURE 7-29. TYPICAL PLOT PAGE ..................................................................................................7-63 FIGURE 7-30. POINT CONFIGURATION POP-UP .................................................................................7-64 FIGURE 7-31. SIGNAL I/O PAGE 1 – ANALOG COMMUNICATIONS .......................................................7-66 FIGURE 7-32. SIGNAL I/O PAGE 2 – DIGITAL COMMUNICATIONS ........................................................7-67 FIGURE 7-33. SIGNAL I/O PAGE 3: SERIAL COMMUNICATIONS ...........................................................7-68 FIGURE 7-34. HOLDING CAPABILITY PLOT ........................................................................................7-71 FIGURE 7-35. CHART PAGE .............................................................................................................7-73 FIGURE 7-36. PAN AND ZOOM CONTROL BUTTONS ...........................................................................7-74 FIGURE 7-37. CONFIGURATION BUTTONS .........................................................................................7-74 FIGURE 7-38. LOW SPEED TRACK FOLLOW – TRACK AND WAYPOINTS (TWO EXAMPLES)....................7-75 FIGURE 7-39. TRACK OPERATION ....................................................................................................7-77 FIGURE 7-40. NORTH/EAST TRACK OFFSET .....................................................................................7-80 FIGURE 7-41. CROSS TRACK OFFSET ..............................................................................................7-80 FIGURE 7-42. WAYPOINT PAGE ........................................................................................................7-83 FIGURE 7-43. SELECT TRACK TYPE POP-UP .....................................................................................7-85 FIGURE 7-44. OPEN FILE DIALOG BOX .............................................................................................7-86 xvi Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 LIST OF FIGURES AND TABLES FIGURE 7-45. SAVE AS DIALOG BOX ................................................................................................7-86 FIGURE 7-46. WAYPOINT EDIT POP-UP ............................................................................................7-88 FIGURE 8-1. HOLD HEADING ILLUSTRATION ........................................................................................8-4 FIGURE 8-2. HOLD POSITION ILLUSTRATION........................................................................................8-5 FIGURE 8-3. ROV FOLLOW CONFIGURATION DIALOG BOX ..................................................................8-7 FIGURE 8-4. TRACK AND WAYPOINTS ...............................................................................................8-12 FIGURE 8-5. DP SIMULATION PAGE ..................................................................................................8-17 FIGURE 8-6. TRANSIT DISPLAY PAGE ...............................................................................................8-20 FIGURE 8-7. PILOT DISPLAY PAGE ...................................................................................................8-22 FIGURE 10-1. SETUP PAGE 1 ...........................................................................................................10-2 FIGURE 10-2. SETUP PAGE 2 ...........................................................................................................10-3 FIGURE 10-3. SETUP PAGE 3 ...........................................................................................................10-4 FIGURE 10-4. SETUP PAGE 4 ...........................................................................................................10-5 FIGURE 10-5. MODE FUNCTION ........................................................................................................10-6 FIGURE 10-6. SIMULATION PAGE ......................................................................................................10-7 FIGURE 10-7. SENSOR PAGE 1.........................................................................................................10-9 FIGURE 10-8. SENSOR PAGE 2 – HOLD RELATIVE SENSOR .............................................................10-10 FIGURE 10-9. POSITION REFERENCE 1 ...........................................................................................10-11 FIGURE 10-10. POSITION REFERENCE 2 .........................................................................................10-12 FIGURE 10-11. THRUSTER PAGE 1 .................................................................................................10-14 FIGURE 10-12. THRUSTER PAGE 2 .................................................................................................10-15 FIGURE 10-13. HOLDING CAPABILITY PLOT.....................................................................................10-18 FIGURE 10-14. CHART ...................................................................................................................10-19 FIGURE 10-15. TRACK OPERATION.................................................................................................10-20 FIGURE 10-16. WAYPOINT .............................................................................................................10-21 FIGURE 10-17. TRANSIT .................................................................................................................10-22 FIGURE 10-18. OVERVIEW (AFT FACING CONSOLE) ........................................................................10-23 TABLE 11-1. GENERAL TOOLS AND TEST EQUIPMENT .......................................................................11-1 TABLE 11-2. POWER SUPPLY VOLTAGES – (NOMINAL AND TOLERANCE) ............................................11-4 FIGURE 11-1. CORRECT WAVEFORM ..............................................................................................11-10 FIGURE 11-2. FLEX I/O MODULES AND TEST POINTS ......................................................................11-12 FIGURE 11-3. INDUSTRIAL COMPUTER ............................................................................................11-22 TABLE 11-3. INDUSTRIAL COMPUTER SPECIFICATIONS ....................................................................11-23 FIGURE 12-1. ALARM SUMMARY WINDOW ........................................................................................12-1 FIGURE 12-2. LAST ALARM WINDOW ................................................................................................12-2 FIGURE 12-3. TYPICAL ALARM PAGE ................................................................................................12-3 FIGURE 12-4. INHIBITING THE ALARM PAGE ......................................................................................12-4 FIGURE 12-5. ACKNOWLEDGING ALARMS .........................................................................................12-6 FIGURE 12-6. SORTING ALARMS ......................................................................................................12-6 FIGURE 12-7. ALARM PAGE WITH A DISABLED ALARM MESSAGE .......................................................12-7 FIGURE 14-1. CHART PAGE IN HOLD RELATIVE MODE (TWO CONFIGURATIONS) ................................14-2 FIGURE 14-2. SETUP PAGE 2 – CYSCAN SETUP ..............................................................................14-4 FIGURE 14-3. SETUP PAGE 4 – HOLD RELATIVE CONFIGURATION .....................................................14-5 FIGURE 14-4. HOLD RELATIVE SENSOR PAGE ..................................................................................14-7 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 xvii LIST OF FIGURES AND TABLES This page intentionally left blank. xviii Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 1. DP SYSTEM OVERVIEW This operations and maintenance manual describes the hardware, software, and operational capabilities of the L-3 DP&CS Marine System Model 6000 (NMS6000) Dynamic Positioning (DP) System, and provides instructions for using the DP system and associated sub-systems. Additionally, the manual contains information on system casualty troubleshooting, corrective actions, and test & maintenance procedures. ) Note -L-3 DP&CS suggests NMS6000 DP Operators read this manual thoroughly prior to commencing operations. 1.1 NMS6000 DP SYSTEM BASIC OVERVIEW The NMS6000 DP System controls vessel thrusters to maintain the vessel at specific heading and/or position goal setpoints despite environmental forces that would tend to drive the vessel off-station. Typical NMS6000 systems may be configured as follows: ¾ DPS-0 – One (1) NMS6000 DP Operator Control Panel/Console (no backup panel), Figure 1-1. ¾ DPS-1 – One (1) NMS6000 DP Operator Control Panel/Console and One (1) Manual Independent Backup Joystick Panel, Figure 1-2. ¾ DPS-2 – Two (2) NMS6000 DP Operator Control Panel/Consoles, and One (1) Manual Independent Backup Joystick Panel, Figure 1-3. ¾ DPS-3 – Three (3) NMS6000 DP Operator Control Panel/Consoles, and One (1) Manual Independent Joystick Panel, Figure 1-4. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 1-1 CHAPTER 1: DP SYSTEM OVERVIEW Figure 1-1. DPS–0 System Overview 1-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 1: DP SYSTEM OVERVIEW Figure 1-2. DPS-1 System Overview Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 1-3 CHAPTER 1: DP SYSTEM OVERVIEW Figure 1-3. DPS-2 System Overview 1-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 1: DP SYSTEM OVERVIEW Figure 1-4. DPS-3 System Overview Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 1-5 CHAPTER 1: DP SYSTEM OVERVIEW A typical NMS6000 system consists of the following basic equipment: Operator Control Panel/Consoles – Provide operator interface and contain industrial computers, touch screen monitors, trackball & cursor control switches, and manual controls for vessel position and heading. Touch Screen Monitors – Generate customized color Display Screen Pages providing information on the vessel systems and sensors integrated with the vessel’s NMS6000 DP System. This manual uses the terms “pages” and “screens” interchangeably. Refer to Chapter 3 for additional information on Touch Screen Monitors. Selector Switch – The DP Selector Switch is used to switch between the primary operator Control Panel/Console(s) and the Independent Backup Joystick. See examples in Figure 1-2, Figure 1-3 & Figure 1-4. Auxiliary Sensors – Wind Sensors, Gyrocompasses, Motion Reference Units, Current/Drag Monitors, and Position Reference Sensors (DGPS, Acoustic Systems, Laser Radar, Taut Wire) feed data on the vessel’s position, heading, attitude, and environmental forces to the Operator Control Panel/Console workstation computer. The DP software uses this data to maintain the vessel’s desired control axis. During operations, the NMS6000 compares the desired goal setpoints to the vessel’s measured position and/or heading, then generates appropriate thruster commands to minimize the deviation. Signal Processing Units (SPUs) - SPUs handle field sensor signals and convert the signals to data streams. The data stream are then passed to the Programmable Logic Controllers (PLC) and on to the Operator Control Panel/Consoles. The SPUs also accept crucial data, such as the status of thrusters, generators, circuit breakers, and power supplies. Each SPU is responsible for converting a given set of input signals to a protocol that can be read by the PLCs in the Operator Control Panel/Consoles. PLC - Programmable Logic Controllers (PLC), mounted inside the SPUs, communicate to the I/O Modules through a dual redundant ControlNet. Soft PLC – Software acting as a PLC. I/O Modules - I/O Modules interface the workstation PC’s to field devices. This industrial computer can only understand digital signals. Therefore, the job of the I/O Module is to convert all input signals to a digital format understood by the workstation and the underlying PLC. Serial Interface, ControlNet and EtherNet - These redundant networks pass data between the various components of the NMS6000 DP System, as well as any other vessel systems, with which they are integrated. The DP consoles have a serial-to-ControlNet interface to sensors, thrusters, and switchboards; and a serial-to-EtherNet interface that handles redundant master/backup data, printers, and data loggers. Uninterruptible Power Supplies (UPS) - Ensures the NMS6000 DP System maintains control of the vessel during a power plant failure. Printers - Dedicated printers (if optionally configured) generate lists of system alarms and, if desired, copies of graphic display pages. 1-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 1: DP SYSTEM OVERVIEW 1.2 DYNAMIC POSITIONING OPERATIONS OVERVIEW ) Note - The following overview is not intended to serve as guidelines for operating a vessel equipped with an NMS6000 Dynamic Positioning (DP) System, but only as a means of becoming more familiar with many important Dynamic Positioning Concepts. When Dynamic Positioning Operators (DPOs) power up the NMS6000 DP System, a graphic ALARM PAGE, generated on the Operator Control Panel/Console’s touch screen monitor, informs DPOs of the NMS6000 DP System status. Given normal operating conditions and system configuration, DPOs select either DP Console #1, #2, or #3 (if configured) to serve as the Master Controller. Only commands issued at the Master Control Panel/Console affect the operation of the vessel’s thrusters and the sensors associated with the NMS6000 DP System. Special display pages allow DPOs to verify and, if necessary, change basic operating parameters. DPOs use these SETUP PAGES to configure certain alarm limits, set power limiting constraints, enter basic facts about the vessel (such as draft), and create the position and heading alarm limits that take effect when the vessel is under the automatic control of the NMS6000 DP System. DPOs use customized graphic display pages to place appropriate auxiliary and position reference sensors online. These sensors provide the data used by the NMS6000 DP System to determine the vessel’s deviation from the desired heading and position goal setpoints. The data displayed on Auxiliary and Position Reference pages also allows DPOs to control the online status of the sensors themselves. DPOs then place a sufficient number of thrusters online and under the control of the NMS6000 DP System. The definition of sufficient varies depending on climatic conditions such as sea state, wind, current, etc. Again, customized graphic display pages (Thruster) allow DPOs to view the status, output, and azimuth (if any) of the thrusters interfaced with the NMS6000 DP System. Once the appropriate sensors and thrusters are online, DPOs may manually maneuver the vessel using controls on the Master NMS6000 Operator Control Panel/Console. Having stabilized the vessel at the appropriate position and heading, DPOs can then select from several automatic control modes. These modes vary in purpose, but all rely on sensor data being compared to goal setpoints. The NMS6000 DP System then generates the necessary thruster commands to minimize the deviation between the measured readings and the goal setpoints. During automatic operations, DPOs can select from a variety of display pages to view information on the vessel’s position and heading, performance of sensors and thrusters, status of the power generation and distribution system, Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 1-7 CHAPTER 1: DP SYSTEM OVERVIEW any detected alarms, communication signals, and other important elements of the NMS6000 DP System. Should the function of the Master Control Panel degrade, the NMS6000 automatically transfers control to its Backup Control Panel (if installed). The DPO can also manually transfer control of the NMS6000 from the current Master to the Backup or, in some configurations the Manual Independent Backup Joystick NMS6000 Control Panel at any time. Upon transfer of control, the station that was the Backup becomes the Master, and vice versa. 1-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 1: DP SYSTEM OVERVIEW 1.3 GLOSSARY OF ABBREVIATIONS AND ACRONYMS A/D ABS ACK AN ARA ASK AWC BU CCW CFE CMPR COR COS CPU CW DCD DCU DGPS Diff DIR DMS DP DPO DPS ECR ERA ERR ESA F/A Fore GND GPS GUI HCBA HDG HDS I/F I/O KTS LBL LED LEVL Analog/Digital Absolute Acknowledge Analog Acoustic Riser Angle Automatic Station Keeping Active Wind Compensation Backup Counter clockwise Customer Furnished Equipment Compare Alarm Center of Rotation Cosine Central Processing Unit Clockwise Data Carrier Detect Display Control Unit Differential Global Positioning Sys. Difference Direction Dynamic Motion Sensor Dynamic Positioning Dynamic Positioning Operator Dynamic Positioning System Engine Control Room Electric Riser Angle Error Electric Stack Angle Forward/Aft Forward Ground See DGPS above Graphical User Interface Hold Commanded Ball-Joint Angle Heading Hydrophone Deployment System Interface Input/Output Knots Long Baseline Light Emitting Diode Thruster Level Alarm LSTF MAN MCS MRU MUX NFU OCM OCP OSD P/S PC PCB PID PLC PMS POS RAM REL RH ROM ROV RPM RTS RXD SBL SIG-GND SIN SPD SPU STBD STPT TAC TAL TBD TCS TTL TXD UI UPS USBL VRS VRU Low Speed Track Follow Manual Command Manual Control System/Station Motion Reference Unit Multiplexer Non Follow-Up Optical Communications Modem Operator Control Panel On-Screen Display Port/Stbd Personal Computer Printed Circuit Board Proportional Integral Derivative Programmable Logic Controller Power Management System Position Random Access Memory Relative Relative Humidity Read Only Memory Remotely Operated Vehicle Revolutions Per Minute Request to Send Receive Data Short Baseline Signal Ground Sine Speed Signal Processor Unit Starboard Setpoint Three-Axis Controller Thrust Allocation Logic To Be Determined Thruster Control System Transistor, Transistor Logic Transmit Data User Interface Uninterruptible Power Supply Ultra Short Baseline Vertical Reference Sensor Vertical Reference Unit Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 1-9 CHAPTER 1: DP SYSTEM OVERVIEW 1.4 MANUAL CONVENTIONS The Manual Conventions listed in the following table define the meanings of various text styles used throughout this manual. Text Style Definition ALL CAPS Name of display page, such as ALARM PAGE, or a popup dialog box, such as THRUSTER 6. Bold Identifies a specific section of the Control Panel keyboard, such as the Sensor Select Switch Group, or a specific element of the Graphic User Interface, such as the Header Line. BOLD ALL CAPS Name of an operational mode, such as HOLD HEADING or ACTIVE WIND COMPENSATION. Italics Identifies a crucial concept, such as the Origin Reference Sensor, as well as instructions and/or explanations of extreme importance. Bold Italics Identifies a screen page button, icon color, or OCP status. “Quotes” SMALL CAPS Name on a graphic screen button or a data entry field, both found on the display pages. <SMALL CAPS> Name of a physical control on the Control Panel keyboard, such as the <ASK ONLINE> switch. Bold Underline Bold Capitals Underline Underline 1-10 Identifies a sub-section of a complex display page. Emphasizes a crucial concept or reader attention, such as: The screen page is not numbered. Over - Emphasizes a crucial concept or reader attention, such as: The NMS6000 DP System must be in HOLD POSITION, and NOT IN HOLD FLEXJOINT ANGLE, when performing an automatic Position Setpoint Maneuver. Underlining identifies choices made from a predefined list of options. Example -When a given switch has three positions, the first is identified as Position 1. Example - The DEVIATION DISPLAY CENTER screen button allows operators to select the Origin, Goal, or Setpoint as the center-point of the Deviation Display. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 2. DP SYSTEM STARTUP & SHUTDOWN This chapter describes the NMS6000 DP System Startup and Shutdown procedures for the system hardware and software. ) Note - Depending upon the vessel’s NMS6000 DP System configuration, some of the hardware components listed in this section might not be applicable. 2.1 NMS6000 DP SYSTEM STARTUP Starting the DP system is a two-step process; start the system hardware first and then the system software. The shutdown is essentially a reverse of this process. For a list of DP hardware components, review the System Specification document in Chapter 3. 2.1.1 Hardware Startup Perform the following to ensure the proper startup sequence for the DP system, from a cold start: 1. Verify the Uninterruptible Power Supplies (UPS) are on and the Power Distribution Panel Circuit Breakers are closed. 2. Power up the Signal Processor Unit(s) (SPU). Programmable Logic Controllers (PLC) are located in the SPU(s). DPS-0/1 Systems have one PLC, DPS-2/3 Systems typically have two PLCs, and larger distributed control systems may have one PLC per thruster. The I/O light on front of the PLC will be solid green when the PLCs (Programmable Logic Controllers) are established. Ensure that PLC(s) Are Established! a. If the DP system has FlexLogix PLCs, then there should be no red or flashing green lights on the face of the module and the two lights on the side of the module should be solid green. b. If the DP system has Control Logic PLCs with Hot Backup modules, then the Master PLC Redundancy Module will show PRIM (primary), and the Backup PLC will show SYNC, confirming synchronization with the Master. c. If the DP system has Hot Backup cards, then the lights on those cards will be on and green (primary), yellow (secondary), and orange (qualified) (this applies to older DP systems). If PLC’s do not established, contact L-3 DP&CS (see Section 11.11.2). Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 2-1 CHAPTER 2: DP SYSTEM START AND SHUTDOWN 3. Ensure that the following DP System hardware components are powered up: a. b. c. d. e. f. g. DGPS equipment Gyrocompasses Wind Sensors Vertical Reference Units & Motion Reference Units Acoustic Reference System Processors & Display Control Units Taut Wire Positioning System (if configured) Laser Range & Bearing Positioning System (FanBeam or CyScan) (if configured) h. Artemis Positioning System (if configured) i. System Alarm Printers (if configured) j. Remote or Portable Joysticks (if configured) 4. Power up Master Operator Control Panel/Console and wait for User Interface (DP software) to load completely. ) Note - This process is automatic and can take up to four minutes to complete. 5. If the vessel is equipped with Backup/Standby Operator Panels/Consoles, then wait approximately 60 seconds and power up those DP systems. 2.1.2 Software Startup Once powered up, the NMS6000 Operator Control Panel/Console’s preinstalled DP software automatically begins to run. ) Note – DP Operators should allow sufficient time for sensor measurements to stabilize before taking control of the vessel through the NMS6000 (i.e., Gyros may take up to 30 minutes to stabilize). Take control of the vessel by selecting the NMS ONLINE button at the upper right corner of the display screen. 2-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 2: DP SYSTEM START AND SHUTDOWN 2.2 NMS6000 DP SYSTEM SHUTDOWN ) 2.2.1 Note - DP Software shutdown requires a password and, therefore, only authorized personnel may do so. Software Shutdown Shutting down the DP system is a two-step process; shut down the system software first and then the system hardware. Performing the DP Software Shutdown process at any DP Operator Control Panel/Console affects only the DP Operator Control Panel/Console where the command is initiated. The remaining DP Operator Control Panel/Consoles continue to run the DP software, therefore, to perform a software shutdown of the entire DP System, operators must perform software shutdowns on each of the DP Operator Control Panel/Consoles individually. Perform the following to carry out the Software Shutdown process: 1. Select SETUP on the DP Drop-Down Menu Bar. 2. A “Drop-Down Menu” appears. 3. Select the SHUTDOWN screen button. 4. The following Enter System Password dialog box appears: 5. Use the Pop-Up Keypad to enter the password 789 in the New window. 6. Click <OK> on the Pop-Up Keypad. 7. The following dialog box appears: Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 2-3 CHAPTER 2: DP SYSTEM START AND SHUTDOWN 8. Select NMS6000 SHUTDOWN to close the DP software, or select CANCEL to abort the DP software shutdown process. 2.2.2 Hardware Shutdown To completely shutdown the NMS6000 DP System, operators must perform a Hardware Shutdown. To perform a NMS6000 DP System Hardware Shutdown, power down the following components: a. Operator Control Panel/Consoles i. Follow Software Shutdown procedure 2.2.1 above. ii. Allow the NMS6000 Software to shutdown. iii. Select the Start button on the lower left corner of the display monitor “desktop”, select the Shut Down button icon, and select Shut Down again on the Pop-up menu, and click OK. The computer initiates a shutdown sequence and powers down. b. Acoustic Position Reference System Processors & Display Control Units c. Signal Processor Units (Wind Sensors and Vertical Reference Units receive power from their associated SPU) d. System Alarm Printers (if configured) e. Taut Wire Positioning System (if configured) f. Laser Range & Bearing Positioning System (FanBeam or CyScan) (if configured) g. Artemis Positioning System (if configured) h. Remote Joystick and Connection Boxes (if configured) i. Gyrocompasses j. DGPS equipment k. Uninterruptible Power Supplies (UPS) 2-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 3. DP OPERATOR INTERFACE BASICS The Operator Control Panel/Console provides an Operator Interface allowing DP operators to command and monitor the NMS6000 DP System through Physical Controls and Touch Screen Monitors as follows: ¾ Physical Controls – Include Trackball and Cursor Control Switches, and Three-Axis Position and Heading Control Joystick. ¾ Touch Screen Monitors – Allow operator interface screen pages to be viewed and accessed through touch and/or cursor control. Operators can enter data, change operational parameters, select thrusters, sensors, and set operational modes only by using the Master Operator Control Panel/Console. However, certain non-critical functions, such as display options can be initiated at the Backup Operator Control Panel/Consoles. 3.1 OPERATOR CONTROL PANEL/CONSOLE The normally configured NMS6000 DP System Operator Control Panel, Figure 3-1, consists of the Touch Screen Display Monitor, Trackball and Cursor Control Switches, and the Three-Axis Position and Heading Control Joystick (see Figure 4-10 for an example of the three control axes). Touch Screen Display Monitor Cursor Control Switches Heading Control Knob Trackball Three-Axis Joystick Figure 3-1. Operator Control Panel Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-1 CHAPTER 3: DP OPERATOR INTERFACE BASICS Three-Axis Joystick with Heading Control Knob Touch Screen Display Monitor (standard) Cursor Control and Trackball Operator Control Console Lower Touch Screen Display Monitor (optional) Figure 3-2. Operator Control Console with Second Display 3.2 REMOTE & PORTABLE JOYSTICKS LAMP INTENSITY MODE SELECT HEADING/POSITION CONTROL Figure 3-3. Remote & Portable Joysticks 3-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS The difference between Remote and Portable Joysticks is that a Remote Joystick is installed in a fixed location and does not move. The Portable Joystick, on the other hand, is a self-contained unit that can be carried around by the operator. It has a long cable that plugs in to a connection box (cables are available in 11’ & 30’ lengths). There may be multiple connection boxes installed in strategic places around the vessel (i.e., bridge wings, work deck, near the moon pool). The three key switch buttons and an alarm indicator light on the Remote/Portable Joystick, shown in Figure 3-3 and explained below, are typical, but can vary from vessel to vessel. See Section 11.8.8 for Joystick Calibration. 3.2.1 ACCEPT CONTROL Press the key switch button to accept/relinquish control of the DP system. See Section 5.3.2, Taking & Transferring Control of Remote & Portable Joysticks, for a full explanation of the <ACCEPT CONTROL> key switch button. 3.2.2 HOLD HEADING Press the key switch button to initiate/cancel Hold Heading Mode. See Section 8.3, Hold Heading, for a full explanation of this mode. This key switch button is illuminated when the Hold Heading mode is activated. 3.2.3 WIND COMP Press the key switch button to initiate/cancel Wind Compensation. See Section 8.7, Active Wind Compensation (AWC), for a full explanation of this mode. This key switch button is illuminated when the AWC mode is activated. 3.2.4 ALARM This is an indicator light, not a key switch button. See Section 12.2, Alarm Notification, item number 5, for a full explanation of the <ALARM> indicator light. 3.3 TRACKBALL AND CURSOR CONTROL SWITCHES The Trackball and Cursor Control Switches, Figure 3-4, allow operators to issue commands to the NMS6000, and change settings and values in the software by using the trackball to move a White arrow-shaped cursor, Figure 3-6, around the display screen to the various command, settings, and values fields. ) Note – DP Operators may opt to use the Trackball and Cursor Control Switches, Figure 3-4, instead of touching the Flat Panel Touch Screen Display Monitor. The NMS6000 DP System does not wait until the operator exits a display page before accepting the data. Therefore, commanded changes take effect immediately and are stored in the Database File on the system hard disk. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-3 CHAPTER 3: DP OPERATOR INTERFACE BASICS Changes are immediately transmitted to Backup NMS6000 Control Panels, if applicable. Left Cursor Control Switch Right Cursor Control Switch Trackball CURSOR CONTROL Figure 3-4. Trackball and Cursor Control Switches Trackball Light Dimmer Trackball Left Button Right Button Middle Button Figure 3-5. Trackball and Cursor Control Switches (Optional Model) Figure 3-6. White Arrow Shaped Cursor 3.3.1 Selecting - Left-Clicking The <LEFT TRACKBALL SWITCH> acts like the left button on a standard personal computer mouse. Operators unfamiliar with such devices, may find it helpful to think of the <LEFT TRACKBALL SWITCH> as an <ENTER> and/or <SELECT> switch. Pressing the <LEFT TRACKBALL SWITCH > once while the cursor is located on top of a field is referred to as “Selecting” or “Left-Clicking.” ) Note – Touching the applicable icon on the Touch Screen page produces the same results as “Selecting” or “Left-Clicking.” 3-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.4 THREE-AXIS JOYSTICK W/HEADING CONTROL KNOB The joystick, Figure 3-7, is located on the right side of the Control Panel/Console. This is a three-axis, stay-put control with output signals proportional to angular deflection of the joystick and rotation torque of the control knob. The three control axes are Surge (Fore/Aft), Sway (Port/Stbd), and Yaw (180º of Heading control). The term “stay-put” means that the joystick and knob will stay where the operator puts them and not automatically spring back to the neutral (or zero) position. Control Panel/Consoles may be configured facing in any direction (fore/aft/port/stbd) depending on the requirements of the vessel. The thrusters will respond to move the vessel in the same direction of the deflection of the joystick. In other words, and regardless of which way the Control Panel/Console is facing, the joystick must be deflected toward the bow to move the vessel forward. # Example – If the Control Panel/Console is “port-facing” (meaning that the operator is facing to port when standing at the controls), then the operator must deflect the joystick to his right in order to move the vessel forward. The basic Operational Modes in which the Joystick is utilized are: ¾ JSTK – In JSTK MODE (MANUAL MODE), the operator has full manual control of all three control axis, see Figure 4-10. JSTK MODE is used for maneuvering about a worksite or when docking the vessel, both at slow speeds. All thrusters and rudders are utilized for position and heading control. Both the <HEADING> & <POSITION> buttons, Sections 7.25 & 7.26, show “JSTK” while in this mode. Alternatively, the operator may set either the <HEADING> or <POSITION> buttons to “AUTO”, while leaving the other axis in “JSTK”. When the <HEADING> button is set to “AUTO” and the <POSITION> button is set to “JSTK”, the DP System is in HOLD HEADING MODE, see Section 8.2. In this mode, HEADING is controlled by using Setpoint Maneuvers and POSITION is controlled by the Joystick. When the <POSITION> button is set to “AUTO” and the <HEADING> button is set to “JSTK”, the DP System is in HOLD POSITION MODE, see Section 8.4. In this mode, POSITION is controlled by using Setpoint Maneuvers and HEADING is controlled by the Control Knob. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-5 CHAPTER 3: DP OPERATOR INTERFACE BASICS Lastly, when both the <HEADING> and <POSITION> buttons are set to “AUTO”, the DP System is in HOLD HEADING HOLD POSITION. In this mode, all axes are controlled by using Setpoint Maneuvers, and the joystick is not utilized. See Section 7.6.2.1 for Setpoint Maneuvers. ¾ PILOT – In PILOT MODE, the operator has control over two of the controls axis: Surge & Yaw. Moving the joystick from side to side has no affect. PILOT MODE is used for driving the vessel when manual control over Yaw (heading) is desired. In this mode, only the rudders & main props are used for heading control. The <HEADING> button, Section 7.25, shows “PILOT” while in this mode. See Section 8.13. ¾ TRANSIT – In TRANSIT MODE, the operator has control over only the Surge control axis. TRANSIT MODE is used for driving the vessel when automatic Yaw (heading) control is desired. The operator may change the heading using Setpoint Maneuvers, see Section 7.6.2.1. The <HEADING> button, Section 7.25, shows “TRANSIT” while in this mode. See Section 8.12. ) Note – Reverse propulsion should only be used in case of an emergency while in TRANSIT. TRANSIT Mode is not designed to keep course under this circumstance. Position Control Joystick Heading Control Knob Figure 3-7. Three-Axes Joystick w/Heading Control Knob 3-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5 TOUCH SCREEN DISPLAY MONITOR Display Power Switch Panel On-Screen Display Menu Control Panel Figure 3-8. Touch Screen Display Monitor The Touch Screen Display Monitor, Figure 3-8, features an anti-glare screen for nighttime operation. It is designed specifically for harsh marine environments, and capable of operating at a maximum temperature range of 55°C (131°F) for long durations. ) Note – Test conditions for the Touch Screen Display Monitor provide for maximum continuous operating temperature of 55°C (131°F). However, continuous operating temperatures should take place, when possible, at ambient temperatures from 18°C (64°F) to 26°C (79°F) to ensure long life of the display. Touch Screen Display Monitors allow operators to issue commands, change display pages by touching the various information fields around the display screen, and monitor vessel movement. Operators have the option of using the trackball and cursor control switches or touching the screen. Touching the screen works the same as <Selecting – Left-Clicking> the trackball cursor control switch or using the left button on a standard personal computer mouse. Touching the screen fields once is the same as “selecting” or “left-clicking.” Touching the screen fields twice in rapid succession causes the field to activate much like “double-clicking” the left mouse button. ) Note – The display speaker is not used by the NMS6000 DP System. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-7 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.1 Touch Screen Display Power Switch Panel The Touch Screen Display Power Switch Panel located on the lower right side of the monitor features an Instant-ON/Delay-OFF switch, Figure 3-9, to ensure the display is not turned off accidentally. Figure 3-9. Touch Screen Display Power Switch Panel Perform the following to turn the display on: ¾ Display Power On ) 1. Press the <POWER> switch. 2. Power Light Indicator illuminates Green. 3. Turn the Brightness Knob to the desired level of operation. Note – If no VGA signal sync is present, a “NO SYNC” message appears on the display screen. If this occurs then check that the monitor cable is connected securely at both ends. Perform the following to turn the display off: ¾ Display Power Off Press and hold the <POWER> switch down for 3 seconds. 3.5.1.1 Brightness Control Knob Adjust display illumination brightness by turning the Brightness Knob, Figure 3-9, to the right or left until the desired brightness is achieved. 3.5.1.2 Assignable Hotkeys Operators may assign various display functions as Hotkeys in order to quickly adjust the display brightness, image size, contrast or other display image functions. ) Note – L-3 DP&CS suggests operators refer to the manufacturers User Manual when assigning Hotkeys using the On Screen Display (OSD) Menu Control Panel. 3-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.2 On-Screen Display (OSD) Menu Control Panel The On-Screen Display (OSD) Menu Control Panel, Figure 3-10, is on the lower left side of the display monitor (under the metal cover plate). Figure 3-10. On-Screen Display (OSD) Menu Control Panel ) Note – L-3 DP&CS recommends that operators refer to the manufacturers User Manual before attempting to manipulate the factory display settings, or assigning Hotkeys using the On-Screen Display (OSD) Menu Control Panel. 3.5.2.1 Hotkey Assignment Turn the display off and remove the metal cover plate (if still in place) to expose the OSD Menu Control Panel. Referring to the manufacturer’s User Manual (see note above), perform the following preliminary steps to access the advanced OSD Menu and begin assigning Hotkeys: 1. Press and hold the <Down> button on the OSD Menu Control Panel, Figure 3-10, while then pressing the <Power > switch on the Power Switch Panel, Figure 3-9. 2. When the display screen picture appears, release the <Down> button, and press the <Menu> button on the On-screen Display (OSD) Menu Control Panel, Figure 3-10. 3. One of four (4) advanced OSD Menu Mode pop-ups appears, Figure 3-11. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-9 CHAPTER 3: DP OPERATOR INTERFACE BASICS Figure 3-11. OSD Menu Mode Pop-Up 3.5.3 3.5.3.1 4. Press the <Up> or <Down> buttons on the OSD Menu Control Panel, Figure 3-10, to select options within the advanced OSD User Icon Menu pop-up. The color of the selected option becomes Yellow. 5. Press the plus (+) or minus (-) buttons on the OSD Menu Control Panel to increase or decrease the option values, which then become Green. 6. Press the plus (+) button on the OSD Menu Control Panel to confirm the selection. Touch Screen Cleaning Power Down the Monitor ) Note – Do not power down the monitor while operating the associated DP display, since the display screens will not be available for use while the monitor is off. Shut down DP system software, or transfer control to another Control Panel/Console, before cleaning the touch screen. Prior to cleaning the touch screen display you must first power down the monitor (see note above). The touch screen Monitor Power Switch Panel is located on the lower right side of the display and features an InstantON/Delayed-OFF switch, Figure 3-9. To power down the monitor, press and hold the <POWER> switch down for 3 seconds. 3-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.3.2 Cleaning the Touch Screen Display After powering down the monitor, and depending on the type of contaminant, please clean the touch screen display as follows: • Dust - Wipe off with a soft cloth (do not rub). • Dirt, Fingerprints, Grease, etc. - Apply clear water to a soft cloth, wring out the excess water so the cloth is just damp, then lightly wipe off (do not rub) the display. If that does not remove the contaminant, then use a small amount of isopropyl alcohol or ethanol. After wiping with a solvent, be sure to wipe down with a water-only damp cloth to remove any excess solvent. Be careful not to splash water or solvents on the edge of polarizer or in the LCD unit. The polarizer may possibly exfoliate due to solvents or water • Water or Other Liquid Spills - If a liquid spill occurs on the monitor during DP operation, the monitor should be immediately powered down, wiped off with a soft cloth, and powered back up again to continue operation. If the system is a DPS-2 or higher, then transfer master control to the backup DP station while cleaning the contaminated monitor. Otherwise, power down the monitor immediately, wipe it down with a soft cloth, and power it back up to continue DP operation. Do a more thorough cleaning as soon as possible. ) Note – Water droplets may affect the touch screen much like a finger touch causing the cursor to follow the water drops. Powering down the monitor (and cleaning off the water) should reset the touch screen back to normal user control. However, any more water moving over the screen will affect cursor control. In any case, the monitor should be powered down and cleaned immediately per instructions above. Caution! • Do not use unspecified solvent (ketone, acetone, etc.) or aromatics (xylene, toluene, etc). • Be careful not to allow the water or solvent to enter the module. • If solvent or water drops are left on the monitor for a long period of time, the part may become deformed or discolored. • Do not allow oil to adhere to the monitor since excessive oil is hard to clean. After properly cleaning the touch screen press the <POWER> switch to turn the display on. The Power Light Indicator illuminates Green. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-11 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.4 Touch Screen Calibration ) Note – Perform touch screen calibration once every six months or as needed. Do not perform calibration while operating the associated DP display, since the screens will not be available for use during calibration. Shut down DP system software, or transfer control to another Control Panel/Console, before calibrating the touch screen. 3.5.4.1 Single Screen Double-click the TOUCHWARE icon on the PC Desktop to start the calibration process, Figure 3-12. Figure 3-12. TouchWare Icon Click the CALIBRATE button from the TOUCHWARE PROPERTIES dialog box, Figure 3-13. Figure 3-13. TouchWare Properties Dialog Box 3-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.4.2 Calibration Procedure 1. Two crosshair bull’s-eyes appear on an all white screen, (lower left and upper right corners), with a hand symbol next to the lower left corner bull’s-eye, Figure 3-14. Figure 3-14. Touch Screen Calibration Bulls-Eye 2. Touch and hold the lower left bull’s-eye until the TOUCH SCREEN ENABLED indication appears. The hand symbol then shifts to the upper right bull’seye. 3. Perform the same procedure on the upper right bull’s-eye. 4. After a brief warning not to touch the screen, a CALIBRATION COMPLETE pop-up dialog box appears, Figure 3-15. Figure 3-15. Calibration Complete Pop-Up Dialog Box 5. Test the new calibration by randomly touching the screen in several locations ensuring the cursor follows your finger. 6. If the screen responds correctly to the random touching, select the DONE button on the CALIBRATION COMPLETE pop-up dialog box, Figure 3-15. 7. Select the CLOSE button on the TOUCHWARE PROPERTIES dialog box, Figure 3-13. Single touch screen calibration is now complete. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-13 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.4.3 Dual Screens (if applicable) In this case, “Dual Screens” are two screens either side-by-side or one up/one down and controlled by only one set of cursor controls. 1. Double-click the TOUCHWARE icon on the PC Desktop to start the calibration process, Figure 3-16. Figure 3-16. TouchWare Icon 2. Click the CALIBRATE button from the TOUCHWARE PROPERTIES (1) dialog box, Figure 3-17. The “(1)” in the dialog box title indicates that monitor #1 is the current monitor and will change to “(2)” when monitor #2 is current. Figure 3-17. TouchWare Properties (1) Dialog Box (Multiple Monitors) 3-14 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3. Perform the Calibration Procedure as shown above (Section 3.5.4.2) for monitor #1. Once it has been calibrated then select the MULTIPLE MONITORS tab from the TOUCHWARE PROPERTIES dialog box, Figure 3-18. Monitors may be installed side-by-side or one up/one down depending on vessel configuration. Figure 3-18. Multiple Monitors Tab A. Select monitor #2 from the MULTIPLE MONITORS tab, Figure 3-18. Notice that the monitor #2 icon highlights and the “(1)” changes to a “(2)” in the title of the dialog box. B. Once monitor #2 is the current monitor, then select the CALIBRATE tab. C. Perform the Calibration Procedure as shown above (Section 3.5.4.2) for monitor #2. D. Select the MULTIPLE MONITORS tab. E. Select monitor #1 so it is current. F. Select the CLOSE button on the TOUCHWARE PROPERTIES dialog box, Figure 3-17. Dual touch screen calibration is now complete. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-15 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.5 Touch Screen Interfacing The following types of display screen fields and buttons allow operators to enter data or change system settings: 3.5.5.1 ¾ Data Entry Fields ¾ Option Buttons ¾ Command Buttons ¾ Screen Buttons Available/Unavailable for Change Data Entry Fields Data Entry Fields, Figure 3-19, allow operators to enter numeric data. Figure 3-19. Typical Data Entry Field ) Note - When operators select one of these fields, a typical Pop-Up Keypad, Figure 3-20, appears. Operators may use this pop-up keypad to enter a new setting. A typical Pop-Up Keypad, Figure 3-20, displays the current value for the selected parameter, a minimum value, and a maximum value. To change the current setting, use the cursor control to highlight the numbers in the new value window (highlighted numbers have a blue background), then use the cursor control and select the numbers on the Pop-Up Keypad, then select the <OK> screen button. 3-16 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 3: DP OPERATOR INTERFACE BASICS Figure 3-20. Typical Pop-Up Keypad 3.5.5.2 Option Buttons Option Buttons, Figure 3-21, permit operators to select from a limited number of choices, such as Metric, Imperial or Percentage of Water Depth for Display Units used in this example. The button shows the current setting. Selecting the button changes the text on the button, and the current setting, to the next available option. Figure 3-21. Typical Option Button 3.5.5.3 Command Buttons Command Buttons, Figure 3-22, provide the following functions: ¾ Cycling the status of a given sensor, thruster, or function between online (Green) and offline (Gray). ¾ Orders the NMS6000 DP System software to Cancel or Accept a changed setting. Figure 3-22. Typical Command Buttons Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 3-17 CHAPTER 3: DP OPERATOR INTERFACE BASICS 3.5.5.4 Screen Buttons Available/Unavailable for Change Screen buttons that are available for change by the operator appear to stand out from the screen. Screen buttons that are unavailable for change by the operator appear to be recessed. In this example, Figure 3-23, the Chart button is available and the Overview button is unavailable for change. Figure 3-23. Screen Button Available/Unavailable for Change 3.6 AUDIBLE ALARMS The NMS6000 DP System generates the following distinct sounds through the internal computer speakers: ¾ A continuous “high-low” tone indicates unacknowledged alarms. Refer to Chapter 12 for more information on NMS6000 DP System Alarms. ¾ A single “beep” indicates an error message. The text of any error message is displayed on the Status/Prompt Window. Refer to Section 12.1 for details on this portion of the NMS6000 DP System Display Screen. ¾ A continuous low “foghorn” tone indicates the <SWITCH TEST> function has been selected. ¾ A repetitive “blip” tone indicates an unacknowledged Consequence Analysis alarm. 3-18 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 4. OPERATIONAL THEORY Although Dynamic Positioning Operations can involve many maneuvers and vessel commands that are too numerous to mention in this chapter, the following DP theory definition may prove useful: ¾ A Dynamic Positioning (DP) System controls the output of a vessel’s thrusters, propellers, and rudders automatically maintaining position (fixed or relative) and heading goals without the need to anchor or moor, while simultaneously compensating for wind, current, and other factors that would drive the vessel off-station if left unchecked. Figure 4-1, provides a general illustration of this process. Commanded Position/Heading Position/Heading Control Algorithm Reference Position/Heading Thruster Allocation Logic Wind Compensation DP Control System Wind Forces Surface Current Force Wave Forces Thruster Hydrophone Thruster Beacon Figure 4-1. Dynamic Positioning System Operation Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-1 CHAPTER 4: OPERATIONAL THEORY 4.1 DP SYSTEM TERMINOLOGY 4.2 ACTUATOR A component of a control system that changes the system’s output to meet a given goal. The DP System uses thrusters as actuators. Refer to Comparator and Controller for additional information. 4.3 AUXILIARY SENSORS Provide the following data: ¾ Wind Speed and Direction ¾ Vessel Heading ¾ Vessel Pitch, Roll, and Heave Depending on the vessel’s DP System configuration, each vessel has a unique set of auxiliary sensors. 4.4 BIAS Listed are the following distinct definitions of bias as it applies to the DP System: ¾ Thruster Biasing maintains some thrust level for selected online thrusters, oriented so as not to move the vessel off-station (usually pointing toward each other or at the center of the vessel), thus reducing variations in azimuthing commands in light environmental conditions. Thruster Biasing is also used to increase load on the diesel engines, allowing them to run more efficiently. ¾ Sensor Biasing is a means of programming all position reference sensors to agree with the Origin Reference Sensor, by determining the differences between their position (in X & Y coordinates) and that of the Origin Reference Sensor, then compensating for these differences. 4.5 COMPARATOR A Comparator compares a measured value, such as heading, to the setpoint, and calculates the deviation, error, and/or excursion. 4.6 CONTROLLER A Controller determines the amount of control necessary to compensate for the calculated deviation determined by the Comparator. A Controller is also known as a Proportional Integral Derivative (PID) Controller. 4.7 CYCLE (CONTROL) TIME Measures data, initiates control changes, and displays information at ½-second intervals. 4.8 DIFFERENTIAL GLOBAL POSITIONING SYSTEM DGPS is an enhancement to Global Positioning System (GPS) that uses a network of fixed ground based reference stations to broadcast the difference 4-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY between the positions indicated by the satellite systems and the known fixed positions. 4.9 DEVIATION (CONTROL ERROR) When measuring a command change in the vessel’s heading, the deviation is the difference between the Instantaneous Setpoint (see Setpoints below) and the measured reading of the vessel’s current position. Deviation is often abbreviated as “Diff” on DP System Display Pages. 4.10 MASTER OPERATOR CONTROL PANEL/CONSOLE Provides for primary centralized control of DP System vessel navigation, propulsion, and electrical power generation. 4.11 BACKUP OPERATOR CONTROL PANEL/CONSOLE AND MANUAL INDEPENDENT BACKUP JOYSTICK OPERATOR CONTROL PANEL/CONSOLE Backup Control Panels provide secondary control of the DP system. The Backup/Manual Independent Backup Joystick Operator Control Panel/Console(s) may assume control when the Master Operator Control Panel/Console has malfunctioned. 4.12 MOMENT A force acting at a distance which has the effect of rotating the vessel around its center (see Yaw). 4.13 ORIGIN Central coordinate point, in Earth axes, of the Coordinate Reference Grid centered on the Deviation Display (see Section 6.4.2). It is the 0,0 center point for all position reference systems. An Absolute Setpoint is relative to this origin. This coordinate may be changed as desired on one of the SETUP PAGEs, Figure 7-4. 4.14 PAGES/SCREENS Presents information through the Touch Screen Monitors of the DP System Master, Backup, and Manual Independent Backup Joystick Operator Control Panel/Consoles. This manual uses the terms “pages” and “screens” interchangeably. 4.15 POSITION REFERENCE SENSORS Provide data on the vessel’s location in relationship to the sensor selected as the Origin Reference Sensor (see Section 4.23.5). Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-3 CHAPTER 4: OPERATIONAL THEORY 4.16 SETPOINTS The DP System uses Absolute, Goal and Instantaneous Setpoints as follows: ¾ Absolute Setpoint is relative to the Origin of the Coordinate Reference Grid in Earth (north/east) axes (i.e., 90º = East). ¾ Goal Setpoint represents the vessel’s ultimate position or heading goal and the value entered by operators when executing a setpoint prompt sequence. ¾ Instantaneous Setpoint is generated on a cycle-by-cycle basis by the setpoint routine. It represents the position and heading the DP System is attempting to hold or move the vessel to at any given time. When the DP System moves the vessel from point A (vessel’s current position) to point B (Goal Setpoint), the system gradually moves the Instantaneous Setpoint across a range of points, step-by-step, from A to B. See Figure 4-11. In Track Follow Mode, the instantaneous setpoint is known as the trackpoint. 4.17 SURGE Fore/Aft direction of movement of the vessel, Figure 4-10. 4.18 SWAY Port/Starboard direction of movement of the vessel, Figure 4-10. 4.19 VESSEL REFERENCE POINT Basically, this is the center of the vessel used for reference on the deviation display. 4.20 YAW Rotation of the bow around the vessel’s center of rotation (COR), Figure 4-10. 4-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4.21 4.21.1 SIGNING CONVENTIONS Ship Axes Signing Conventions The DP System recognizes Fore and Starboard as positive numbers, Aft and Port as negative numbers, as illustrated in Figure 4-2. A F T ( -) N E GAT I V E NUMB E R P O R T ( -) NE GAT I V E NUMB E R S T A RB OA RD (+) P OS I T I V E NUMB E R F ORWA RD (+) P OS I T I V E NUMB E R Figure 4-2. Ship Axes Signing Conventions 4.21.2 Earth Axes Signing Conventions The DP System recognizes North and East as positive numbers, South and West as negative numbers, as illustrated in Figure 4-3. NORTH (+) POSITIVE NUMBER WEST (-) NEGATIVE NUMBER EAST (+) POSITIVE NUMBER SOUTH (-) NEGATIVE NUMBER Figure 4-3. Earth Axes Signing Conventions Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-5 CHAPTER 4: OPERATIONAL THEORY 4.21.3 Pitch, Roll, and Heave Signing Conventions The DP System recognizes Port Side Up and Bow Up conditions as positive numbers, Starboard Side Up and Stern Up as negative numbers, as illustrated in Figure 4-4. Waterline FWD Bow Up = Positive Pitch S TB D Port Side Up = Positive Roll Waterline Upward Movement = Positive Heave Figure 4-4. Pitch, Roll, and Heave Signing Conventions 4.21.4 Clockwise/Counterclockwise Signing Conventions The DP System labels Clockwise Data as positive (+) and CounterClockwise Data as negative (-). 4-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4.22 DP SYSTEM CONTROL LOOP Automatic DP System Control Loops operate in heading, surge (fore/aft), and sway (port/starboard) degrees of freedom. The DP System Control Loop, Figure 4-5, is comprised of the following main elements: ¾ Comparator ¾ Controller ¾ Actuator Heading Setpoints: Set by Operator Measurement Errors Heading Measurements via Sensors Control Signals Heading Deviations Comparator Controller Actuator Vessel Movement Thrust Disturbing Forces: Wind Wave Current Figure 4-5. DP System Control Loop 4.22.1 Comparator Compares the vessel’s estimated position or heading to the instantaneous setpoint, thus calculating the deviation, error, or excursion. The Comparator must constantly re-establish the deviation during automatic DP System operation, as the control process actively minimizes the difference between the estimated values and the instantaneous setpoints. The estimated position, determined by a Kalman filter, uses position measurements from sensors, controller commands, and a simple vessel model. The estimated heading is determined by blending and wave filtering inputs from the online gyrocompasses. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-7 CHAPTER 4: OPERATIONAL THEORY 4.22.2 Proportional, Integral, and Derivative (PID) Controller The PID Controller determines the amount of control to be exercised in order to compensate for the calculated deviation, determined by the Comparator. The output of the Controller equals the sum of the following three elements: Proportional, Integral, and Derivative. ¾ Proportional - calculates control force in proportion to the measured deviation. The amount of control force for a given deviation, also known as gain, is determined by the bandwidth, stored in the DP System database and set during sea trials. No other mitigating factors are allowed to influence the calculation of the needed Proportional control force. The Proportional term simply attempts to minimize the deviation between the measured heading and/or position and the goal setpoint(s). ¾ Integral - calculates control force in terms of the measured deviation and elapsed time. The Integral thus builds slowly over time and is designed to compensate for steady-state environmental forces such as current and waves. Over time, the Integral builds to a level sufficient to hold heading and/or position without cyclical increases and decreases in thruster force, assuming the steady-state environment forces are not augmented by other factors. However, Integral also degrades slowly. When a new heading and/or position goal setpoint is selected, and the environmental forces strike the vessel from a different direction, the built-up Integral may, in fact, move the vessel further off-station. The Controller attempts to mitigate this effect by “rotating” integrals during heading maneuvers. See Chapter 9xxx, for more information. ) Note - Large, rapid heading changes may negatively affect the vessel’s station-keeping ability if the built-up Integral and/or the surface current estimate are incorrect. ¾ Derivative - determines control force in relationship to the vessel velocity by helping with smooth acceleration and deceleration. Additionally, Derivative limits goal overshoot. # Example - Derivative slows the vessel down as the deviation between the measured heading and/or position nears the goal setpoint(s). 4.22.3 Actuator Acts in response to Controller commands. The actuator consists of the Thruster Allocation Logic (TAL) and the thrusters themselves. The TAL converts the Controller’s surge, sway, and yaw axes commands into individual commands for each thruster. When summed, these commands should satisfy the overall surge, sway, and yaw commands of the controller. In systems where the rudders are controlled by the DP System the Actuator outputs rudder commands. 4-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4.23 4.23.1 POSITION SENSOR PROCESSING CONCEPTS Sensor Noise Sensor Noise is a measure of the standard deviation of the position reference sensor data, adjusted for steady motion of the vessel, over the last several minutes. Noise readings are shown on POSITION REFERENCE PAGE 1. 4.23.2 Noise Rejection Logic Noise Rejection Logic (NRL), as illustrated in Figure 4-6, functions to screen each individual measurement to detect and eliminate "outlier" measurements (“Rejected Data” in Figure 4-6). The rejection function is executed on all position reference sensors supplying data to the DP System. Adaptive Rejection Threshold Rejected Data Data Average Data Stream Figure 4-6. Noise Rejection Logic Illustration Noise Rejection Logic (NRL) continually calculates an adaptive rejection threshold window. This window acts as a "peak detector" comparing the difference between each new measurement and past values. It rejects spikes that lie significantly beyond the expected deviation about the mean. When the measurements are widely spaced, the adaptive rejection threshold window grows wider in order to accommodate more of the data stream. As the data tightens around the mean, the adaptive window shrinks. On subsea position sensors, the NRL Window is scaled to allow more noise for beacons submerged at lower depths. However, it should be noted that beacons cannot be configured above the DP System minimum depth setting (Setup Menu 1, if configured). Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-9 CHAPTER 4: OPERATIONAL THEORY 4.23.3 Sensor Jumping Sensor Jumping is caused by the average filtered position moving to a point outside the Noise Rejection Logic adaptive window and then remaining stable. As illustrated in Figure 4-7, the DP System rejects this data and generates appropriate alarms. Operators must then determine if cycling the sensor off and online to take advantage of the new stable position is appropriate. POSITION REFERENCE SENSOR DATA NOISE REJECTION LOGIC ADAPTIVE WINDOW JUMP SENSOR DATA NOW STABLE BUT REJECTED Figure 4-7. Sensor Jumping 4.23.4 Median Testing Median Testing rejects any individual values significantly different from the collective data values from all position reference sensors. The median value is determined from online, initialized sensors. Then values from every online sensor are compared to the median value. When the difference is greater than the MEDIAN ALARM THRESHOLD, entered on the SETUP PAGE(s), the DP System generates a “Median Test Alarm.” The sensor providing the faulty data is eliminated from the pool of readings used to compute the vessel’s estimated position. Refer to Section 7.4.1.3 for additional information on setting the MEDIAN ALARM THRESHOLD. When the distance from the measurement median to the nearest data point is greater than the MEDIAN ALARM THRESHOLD, the DP System generates a “Divergence Alarm”, indicating that readings from all sensors are drifting apart. ) Note – There must be at least three sensors online for the system to detect divergence. 4-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4.23.5 Origin Reference Sensor The Origin Reference Sensor is a crucial element in understanding and using the DP System. ) Note - The first position reference sensor placed online is set as the Origin Reference Sensor. When operators place multiple, non-alarmed position reference sensors online, the system computes bias correction values (in the North and East coordinate frame) for each additional sensor relative to the Origin Reference Sensor. These stored bias correction values are equal to the difference between the Origin Reference Sensor’s and the respective sensor's lowpassed (averaged) data. As illustrated in Figure 4-8, the DP System adds bias correction values to the raw values reported by the respective position reference sensors. These “corrected” positions are virtually identical to position reported by the Origin Reference Sensor. When more than one unalarmed position reference sensor is online, operators can select a different Origin Reference Sensor. Refer to Section 7.9 for details. Position Reference Sensor: 2 meters North, 2 meters East of Origin Reference Sensor. Reported position = +2, +2 Stored biases = -2, -2. Origin Reference Sensor Position Reference Sensor: 0 meters North, 3 meters East of Origin Reference Sensor. Reported Position = 0, +3 Stored biases = 0, -3. Position Reference Sensor: 4 meters South, 3 meters West of Origin Reference Sensor. Reported Position = -4, -3 Stored biases = +4, +3. Figure 4-8. Position Reference Sensor Biasing The stored bias correction values are continually added to the measured values from the sensor. Once established, they are fixed in magnitude until a Position Reference Calibration is performed by selecting the <CALIBRATE> button on POSITION REFERENCE PAGE 1. This fixing prevents deterioration in the reference sensor data from affecting other sensors or contaminating the overall position estimate. In addition to acting as a reference source for all other position reference systems, the coordinate system origin used by the Origin Reference Sensor becomes the base coordinate origin for the DP System. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-11 CHAPTER 4: OPERATIONAL THEORY 4.23.6 Sensor Weighting Sensor Weighting is assigned to each sensor based on the inverse of the noise. The POSITION REFERENCE PAGE displays the weight assigned to the sensors. After passing through noise rejection logic and biasing, the position reference sensor measurements are combined, as illustrated in Figure 4-9, using the inverse noise-weighted average forming a single “measurement.” Low Noise High Noise Low Weight High Weight Figure 4-9. Sensor Weighting 4.23.7 Sensor Drift Drift is the tendency of a given sensor to report different positions over a span of time when the vessel has not moved. The DP System calculates the instantaneous bias between every regular position sensor and the Origin Reference Sensor, to determine if a sensor is drifting. The difference between the instantaneous bias and the stored bias, equals the Sensor Drift, displayed on the POSITION REFERENCE PAGE. 4.24 4.24.1 POSITION ESTIMATING Position Sensor Blending The NMS6000 computes a single vessel position measurement based on the position data from all non-alarmed position reference sensors. It incorporates instantaneous noise levels and offset biases. This process cycles continuously at approximately 250 milliseconds per cycle. 1. If a cycle's datum passes the Noise Rejection Logic, the variance and standard deviation figure is updated. Variance is calculated as the result of a low-pass filter operating on the square of the difference between the datum and its average value as computed via an additional low-pass filter. Standard deviation is the instantaneous square root of the running variance figure. 2. If the sensor is turned off, alarm flags are zeroed along with all intermediate parameters. 3. If the sensor has just been turned on and all other sensors are inactive, it becomes the Origin Reference Sensor. The data rejection window, position state estimates, and all intermediate values, such as filter past values, will be initialized. 4-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4. A bias is calculated between each sensor and the Origin Reference Sensor by differencing outputs of low-pass filters associated with each sensor axis. 5. The blended measurement is a weighted average using the inverse of standard deviation (noise) figure for each measurement as its weight. The result of each process cycle is the “New Position Estimate” used by the Kalman Filter (see below). 4.24.2 Low-Pass Wave Filter This filter removes high frequency position variations caused by wave motion and executes third-order filters on both the blended position and the heading estimates, yielding filtered results. Digital difference equations are employed to affect the low-pass filter. Low-pass wave filter characteristics are established by the gain compute module, which establishes the frequency as a linear function of selected control axis bandwidth. 4.24.3 Notch Filter In selected applications, a notch filter may be applied to the Proportional and Derivative terms of the Controller to prevent the DP System from driving the vessel at its natural roll frequency. The frequency of the filter is set during sea trials by a L-3 DP&CS analyst, or may be set automatically to the estimated natural roll frequency of the vessel as determined by roll data from the vessel’s vertical reference sensors. 4.24.4 Kalman Filter The Kalman Filter is an efficient recursive filter that estimates the state of a dynamic system from a series of incomplete and/or noisy measurements. The Kalman Filter consists of the following: ¾ Measurement Update ¾ Model Propagation 4.24.4.1 Measurement Update This function of the Kalman filter incorporates new position measurements into the estimated vessel position. A simple position and rate gain are required for each axis. For each axis the measurement update step is exercised if the axis of interest is under automatic control and if a blended measurement is available. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-13 CHAPTER 4: OPERATIONAL THEORY The actual estimate update progression is: Residual = filtered data - past position estimate New Position Estimate = past position estimate + (pos Kalman gain * residual) New Rate Estimate = old rate estimate + (rate Kalman gain * residual) For the Position States of Surge and Sway, the New Rate Estimate calculation requires a coordinate transformation to body axes for the residual. Position estimates (New Position Estimate) are in North/East axes. 4.24.4.2 Model Propagation The vessel Model Propagation incorporated with the Kalman filter accounts for expected vessel acceleration from the commanded thrust. Acceleration is determined by the Proportional and Derivative terms of the Controller divided by the vessel’s mass (see Section 4.22.2 for PID Controller). The acceleration is propagated and incorporated in the velocity estimate, which in turn is propagated and incorporated in the vessel position estimate. This imbedded model greatly improves position determination in the presence of data and provides a reliable estimate during data loss (i.e., DEAD RECKONING). 4.25 STATION KEEPING CONTROL LAW The Station Keeping Control Law function computes the thruster control commands that go to the Thrust Allocation Logic (TAL). It accommodates both manual and automatic position control modes. When manual mode is active for a given Control Axis, (Surge, Sway, and Yaw), illustrated in Figure 4-10, the Station Keeping Control Law zeros all PID components of the auto command equation. When both HOLD HEADING and HOLD POSITION MODES are selected (HOLD HEADING HOLD POSITION), the Station Keeping Control Law first computes position errors in body axes and then checks them for excessive error. When errors are excessive, alarms are set. Control forces are computed utilizing the position errors, rate setpoints and estimates, steadystate force estimates and DP Control Gains utilizing the following relationships: Integral = integral + (int gain * offset * cycle time) Prop-Rate = (prop gain * offset) + (accel cmnd * mass * accel switch) + (rate gain * rate error signal) + integral Lastly, the per-cycle change in the controller forces is limited. 4-14 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY Surge Sway Yaw Figure 4-10. Control Axes 4.26 SETPOINT SELECT Setpoint Select is a routine that generates setpoints when automatic control of position is engaged. The following setpoint concepts are involved: Goal and Instantaneous. ¾ Goal Setpoint represents the vessel’s ultimate position or heading goal and the value entered by operators when executing a setpoint prompt sequence. ¾ Instantaneous Setpoint is generated on a cycle-by-cycle basis by the setpoint routine. It represents the position/heading the DP System is attempting to hold/move the vessel to at any given time. When the DP System moves the vessel from point A (vessel’s current position) to point B (Goal Setpoint), the system gradually moves the Instantaneous Setpoint across a range of points, step-by-step, from A to B. The routine actually yields three control setpoints for each control axis: one each for position, velocity, and acceleration. The algorithm ramps the velocity of the instantaneous setpoint change from zero up to the desired velocity. It is then held constant as long as deceleration is not required. Look-ahead logic determines when the setpoint velocity needs to be ramped back down to zero so the vessel decelerates appropriately to stop at point B. See Figure 4-11. 4.27 DEAD RECKONING The Dead Reckoning system is capable of continued operation during a temporary loss of all position sensor or gyrocompass information. This dead reckoning function estimates the vessel’s present position and speed based on past positions, past rates, any available wind sensor input, and the Kalman vessel model. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-15 CHAPTER 4: OPERATIONAL THEORY 4.28 MANEUVER PROCESS OVERVIEW The speed the DP System executes a maneuver grows linearly from zero to the maximum position or heading rate of change, as illustrated in Figure 4-11. The system maintains maximum velocity, whether the maneuver involves a change in heading or position, until deceleration becomes necessary. The velocity then decreases to zero, also linearly, to conclude the maneuver. Position maneuvers over short distances may not reach the specified maximum rate before it is necessary to decelerate to a stop at the new position. Figure 4-11 shows the profile of instantaneous setpoints as the vessel relocates from A to B. In the lower part of the illustration, the position, velocity and accelerator setpoints are shown graphically. The setpoint or maximum rate may be changed while an automatic maneuver is already underway. Goal Setpoint Position Setpoint Actual Vessel Movement Instantaneous Setpoint at t2 Instantaneous Setpoint at t1 Goal Setpoint Velocity Setpoint 0 Acceleration Setpoint 0 0 t1 Time t2 Figure 4-11. Position Maneuver Profile Illustration If the DP operator wishes to halt the vessel at its current position or heading, then selecting the <CURRENT HEADING> or <CURRENT POSITION> buttons (on the Heading Setpoint Selection or Position Setpoint Selection dialog boxes, shown below) will change the setpoint to the current heading/position. Alternately, the DP Operator may take the DP System out of automatic mode (i.e. out of Hold Heading and/or Hold Position), thus placing it into full Manual Control, and halt the vessel manually. 4-16 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4.29 PRIMARY CONTROL MODES & FUNCTIONS The NMS6000 permits several combinations of automatic and manual vessel control modes. Chapter 8 describes these Operational and Automatic Modes in detail, but the major control methods are described below. 4.29.1 Hold Heading HOLD HEADING mode automatically maintains the vessel at a fixed heading. The DP System compares the aggregate gyro readings to the instantaneous heading setpoint, then generates thruster signals to minimize the deviation between them. The operator can also use this mode to automatically drive the vessel to a new heading, by entering a new heading setpoint. Refer to Section 8.2 for additional information. 4.29.2 Hold Position HOLD POSITION mode automatically maintains the vessel at a fixed location. The Master Control Panel reads data from the DGPS, acoustic, and other position reference systems, uses a Kalman filter to estimate the vessel’s actual position, compares this data to the desired position setpoint, and generates thruster control signals to minimize the deviation between them. The operator can also use this mode to automatically drive the vessel to a new location, by entering a new position setpoint. HOLD SURGE & HOLD SWAY modes are also available. Refer to Section 8.4 for additional information. When the operator selects HOLD POSITION in conjunction with HOLD HEADING, the DP System assumes complete automatic control of position and heading. 4.29.3 ROV Follow Tracks an ROV through an acoustic beacon. ROV Follow then generates thruster commands driving the vessel to pursue the ROV, and maintain any offsets set by the operator. Operators can also set a reaction radius around the reported position of the ROV beacon enabling the NMS6000 DP to move the vessel only when the ROV moves outside of this radius. 4.29.4 4.29.4.1 Track Follow Low Speed Track Follow (LSTF) See next. 4.29.4.2 High Speed Track Follow (HSTF or AutoTrack) TRACK FOLLOW mode, controls vessel position and heading along a predefined track with a high degree of accuracy. When TRACK FOLLOW is active the track generator continuously moves the trackpoint, or instantaneous setpoint, along the track. Trackpoint speed and heading is either directly controlled by the operator or derived from a predefined track definition. Movement between waypoints is always defined in position, speed and heading. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-17 CHAPTER 4: OPERATIONAL THEORY Waypoints have several attributes such as target speed, target heading and turning radius. The latter allows for smooth transition between track legs. Tracks can be created in either Absolute or Relative format. Absolute tracks are defined by waypoints in Lat/Lon format whereas relative tracks are defined by waypoints stored in Northing/Easting format. The relative format enables one and the same track to be used at different locations, which may be useful for search operations. Refer also to Section,. 4.29.5 Manual Control (JSTK) Uses the <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB> on the Control Panels to control the vessel through the DP System. The <POSITION CONTROL JOYSTICK> can also function as a manual control device when the vessel operates in HOLD HEADING. Similarly, the <HEADING CONTROL KNOB> can provide manual control of the vessel’s heading even when in HOLD POSITION MODE. When any axis is in MANUAL MODE, the command going to the actuator for that axis is from the <POSITION CONTROL JOYSTICK>. For instance, when in HOLD HEADING and MANUAL POSITION, the Yaw axis is controlled by the PID, whereas the Surge (F/A) and Sway (P/S) axes are controlled by the <POSITION CONTROL JOYSTICK>. (See Section 4.22.2 for Proportional, Integral, and Derivative (PID) Controller.) 4.29.6 Hold Area Mode (HAM) HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is provided to allow reduced control activity while maintaining the vessel in the general area of the goal position. Refer to Section 8.9 for additional information on HOLD AREA MODE (HAM). 4.29.7 Remote Center of Rotation (COR) The Remote Center of Rotation (COR) mode allows for rotation about any arbitrary point on the vessel as measured offset from the vessel’s nominal Center of Rotation. Refer to Section 7.3.2 for additional information. 4.29.8 Active Wind Compensation (AWC) Utilizes wind speed and direction information from the wind sensors, and a virtual model of the vessel’s aerodynamics, to compute the wind forces on the vessel. These forces are used to command the thrusters in reaction to the wind force to provide a fast acting response particularly in gusty conditions. AWC can be enabled or disabled by the operator in any operational mode directly by switch or indirectly by deselecting sensors. Refer to Section 8.7 for additional information. 4-18 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 4: OPERATIONAL THEORY 4.29.9 Auto Heading for Minimum Thrust (AHMT) AHMT is used in conjunction with HOLD POSITION and HOLD HEADING modes. When active, it automatically adjusts the vessel’s goal heading setpoint to attempt to minimize the lateral (port/starboard) thruster requirements by pointing the bow or stern of the vessel into the strongest environmental forces. This is usually in the direction of the prevailing weather. Operators can also use this mode to automatically maintain thrusters in a standby minimum thrust mode (for power saving) and bring the thrusters online as needed. Refer to Section 8.9 for operation. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 4-19 CHAPTER 4: OPERATIONAL THEORY This page intentionally left blank. 4-20 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 5. MASTER/BACKUP OPERATOR CONTROL All NMS6000 DP Systems, with the exception of DPS-0, have a redundant architecture with Master and Backup Operator Control Panel/Console. This chapter addresses the relationship between Master, Backup, and Independent Backup Operator Control Panel/Console. 5.1 MASTER/BACKUP MODES DEFINED Each DPS–1/2/3 Operator Control Panel/Console can be configured as either a Master or a Backup. The Master Panel/Console is responsible for control of the DP system. It receives all sensor and operator inputs and communicates commands to external devices (e.g. thrusters, rudder). Backup Panel/Consoles process all sensor and operator inputs, just like the Master, and continuously compute commands for the external devices. However, only the Master Panel/Console commands go through the Signal Processing Units (SPU) and are executed by the external devices. Since the Backup Panel/Consoles process the same inputs as the Master Panel/Console, they are ready to assume immediate control if and when necessary. There are three different Backup modes. 1. Automatic (Auto) – Auto Backup mode is only available on DPS-2 or DPS-3 systems and is always configured between DP Stations #1 & #2. In this scenario, DP #1 & #2 are known as the Hot Backup Pair. When one of the DP Stations (#1 or #2) is the Master, then the other DP Station is the Auto Backup. The Auto Backup will automatically take control and assume Master status if it detects the current Master Operator Control Panel/Console is faulting or otherwise unstable. 2. Manual – DPS-3 systems have a third Operator Control Panel/Console, DP Station #3, which is configured as a Manual Backup console. The DP operator must manually take control from the Master by using the NMS ONLINE display screen button or <ASK ONLINE> Auxiliary switch. 3. Independent – Included with DPS-1/2/3 systems, Independent Backup consoles are “stand alone” stations that do not communicate with the other DP Operator Control Panel/Console(s) and are usually a Joystick System. A DP Selector Switch separates Independent Backup consoles from the other DP consoles (see Figures 5-1/2/3). The DP operator must rotate the DP Selector Switch to the Independent Backup position in order to take control at that station. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 5-1 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL ) Note – The Master DP and Independent Backup DP station, separated by the DP Selector Switch, both “think” of themselves as the Master regardless of which way the switch is set. The Operator Control Panel/Console title bar will remain blue on both stations, but only the true Master, as designated by the DP Selector Switch, will have a solid blue title bar. The other station’s title bar will be flashing blue. A station with a flashing blue title bar does NOT have control. When the NMS6000 DP system is initially brought online, the DP operator must determine which Operator Control Panel/Console will act as the Master. See Section 5.3, Taking & Transferring Control of the DP System. 5.2 MASTER/BACKUP MODE STATUS The Title Bar, generated at the top of each display screen, indicates the status of the Operator Control Panel/Console. ) Note – The Title Bars shown below are examples of typical NMS6000 DP systems. Actual Title Bars may vary depending on system options and customization. 5.2.1 DPS–0 Master/Backup Mode Status DPS-0 systems are comprised of one (1) DP Operator Control Panel/Console and do not have a backup console. 5.2.2 DPS–1 Master/Backup Mode Status DPS-1 Systems are comprised of one (1) DP Operator Control Panel/Console plus one (1) Manual Independent Backup Joystick System. When the Primary DP Control Station is the Master, control can be transferred to the independent backup via the DP Selector Switch. This switch is normally located at the primary DP console for easy operator access. Once control is transferred via the Selector Switch, the Manual Independent Backup Joystick System operator must touch the <YES> button on the Confirm Take Control on-screen dialog box. The display screen Title Bars on a DPS-1 system simply show whether that particular DP Operator Control Panel/Console is the Master and is in control of the DP system. Below are examples of Title Bars of the Master (NMS) and the Backup (UNKN) DP consoles. The Backup does not communicate with the Master, so as far as it is concerned, control status of the DP system is unknown (UNKN). 5-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL 5.2.3 DPS–2/3 Master/Backup Mode Status DPS-2/3 Systems are comprised of two (2) or three (3) DP Operator Control Panel/Consoles plus one (1) Manual Independent Backup Joystick System. The software module configured on each DP Operator Control Panel/Console is the same, except for the Control Panel Identification Number shown in the Title Bar at the top of the screen. The following three Title Bars are from a DPS-2 system. The Title Bar below shows the status before the operator has taken control of the DP System. ID Number and Master/Backup Status Control Status Date & Time Status of Other DP’s As the DP Operator takes control and DP #1 (NMS1) becomes the Master, the Title Bar changes from yellow to blue, M/B status changes to Master, Control Status shows that NMS1 is in control, and that NMS2 is online and operating OK. DP #2 (NMS2) defaults to Automatic Backup (AUT BKUP) status. DPS-3 system Title Bars are similar to the above, but also include the status of the third DP station. The following Title Bars are examples from a DPS-3 system. Notice that NMS1 is the Master and in Control, NMS2 is the Automatic Backup, NMS3 is the Manual Backup, and all stations are online and operating OK. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 5-3 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL DPS–1/2/3 System Transfer Configuration Schematics, Figures 5-1, 5-2, and 5-3: Figure 5-1. DPS-1 Transfer Configuration 5-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL Figure 5-2. DPS-2 Transfer Configuration Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 5-5 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL Figure 5-3. DPS-3 Transfer Configuration 5-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL 5.3 TAKING & TRANSFERRING CONTROL OF THE DP SYSTEM 5.3.1 Taking & Transferring Control of Master & Backup Stations Taking control and transferring control of the Master DP console are done in the same way. However, taking control is performed at the DP station that is to serves as the Master once the system is brought online, and transferring control is performed from a Backup station after initial startup. To perform either function, take these steps: 1. Verify the Operator Control Panel/Console to become the Master is functional. 2. Touch the NMS ONLINE button on the Navigation Bar, see Figure 5-4. Figure 5-4. NMS Online Button 3. Select <YES> on the Confirm Take Control dialog box, Figure 5-5. Figure 5-5. Confirm Take Control Dialog Box Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 5-7 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL 5.3.2 Taking & Transferring Control of Remote & Portable Joysticks Control can be transferred to, or taken from, the Control Panel/Console and any one of the Remote/Portable Joysticks. ) Note – The Control Panel/Console’s <R EMOTE/PORTABLE JOYSTICKS> button on the MODE FUNCTION drop-down menu performs the same function as the Remote/Portable Joystick’s <ACCEPT CONTROL> key switch button mentioned below. ) Note – The NMS6000 Title Bar, Section 6.1, indicates which station has control of the DPS – either the Master Control Console or one of the joysticks. ) Note – Clear Joystick Bias, see Section 7.6.2.2, prior to transferring control to a Remote/Portable Joystick. 5.3.2.1 Transfer from Control Panel/Console to Remote/Portable Joystick Perform the following to transfer control from the Control Panel/Console to one of the Remote/Portable Joysticks: 1. Select the MODE FUNCTION drop-down menu on the NMS6000 Navigation Bar, see Section 6.2. 2. Select the <REMOTE/PORTABLE JOYSTICKS> button from the MODE FUNCTION drop-down menu. ¾ That button begins to flash green. ¾ The <ACCEPT CONTROL> key switch buttons start flashing on all of the Remote/Portable Joysticks. ¾ The message “Joystick control in arbitration” appears in the Status Message Window (see Section 6.4.3.3) on the Control Panel/Console display screen. 3. Press the <ACCEPT CONTROL> key switch button on the Remote/Portable Joystick to be in control. This action causes all <ACCEPT CONTROL> lights to extinguish except on the unit now in control, where it remains steadily illuminated. Or press the <REMOTE/PORTABLE JOYSTICKS> button again to cancel the transfer. 5.3.2.2 Transfer from Remote/Portable Joystick to Control Panel/Console Perform the following to transfer control from one of the Remote/Portable Joysticks to the Control Panel/Console: 1. Press the <ACCEPT CONTROL> key switch button on the Remote/Portable Joystick that is in control. 5-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL ¾ The <ACCEPT CONTROL> key switch buttons start flashing on all of the Remote/Portable Joysticks. ¾ The <REMOTE/PORTABLE JOYSTICKS> button on the MODE FUNCTION menu begins to flash green. ¾ The message “Joystick control in arbitration” appears in the Status Message Window (see Section 6.4.3.3) on the Control Panel/Console display screen. 2. Select the MODE FUNCTION drop-down menu on the DPS Navigation Bar, see Section 6.2. 3. Select the <REMOTE/PORTABLE JOYSTICKS> button from the menu. 5.3.2.3 Take Control Away from a Remote/Portable Joystick Perform the following at the Control Panel/Console to take control away from a Remote/Portable Joystick. 1. Select the MODE FUNCTION drop-down menu on the NMS6000 Navigation Bar, see Section 6.2. 2. Select the <REMOTE/PORTABLE JOYSTICKS> button from the MODE FUNCTION drop-down menu. ¾ That button begins to flash green. ¾ The <ACCEPT CONTROL> key switch buttons start flashing on all of the Remote/Portable Joysticks. ¾ The message “Joystick control in arbitration” appears in the Status Message Window (see Section 6.4.3.3) on the Control Panel/Console display screen. 3. Select the <REMOTE/PORTABLE JOYSTICKS> button again. 5.4 DPS–1/2/3 CONTROL PANEL SYNCHRONIZATION The NMS6000 DP System provides for bumpless transfer of control from the Master to the Backup Operator Control Panel/Consoles ensuring there is no change in control outputs when the transfer is made. During normal operation (when the Backup(s) are in agreement with the Master), all commands initiated at the Master that affect system control are passed to the Backup(s). Commands initiated at all Operator Control Panel/Consoles that do not affect system control (such as for data display options) are allowed to take effect at the local Operator Control Panel/Console but are not propagated to other controllers. Commands initiated at Backup Control Panel/Consoles affecting system control are disallowed, and error messages appear at the respective displays informing operators the Control Panel/Console is not the Master and does not control the NMS6000 DP System. DPS-1/2/3 Operator Control Panel/Consoles operate in parallel, processing the same data inputs and generating comparable data. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 5-9 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL ) 5.5 Note – There is one exception to this condition, the Backup tracks the online controller integral variables and TAL assignments to allow agreement between the systems. INITIALIZING BACKUP CONTROL PANELS FOR DPS–2/3 When the Initialize Backup button on the Navigation Bar is pressed (see Figure 5-6), several large data packets are sent from the Master to the Backup(s). These packets ensure that the Backup(s) completely agree with the Master on everything except for certain operator-selectable display options. Such display options do not affect vessel control. Figure 5-6. Initialize Backup Button On every control cycle, the Master also sends certain vessel control-related data to update the Backup(s). These transmissions allow a bumpless transfer of control. Between Initialize Backup button presses, the Backups independently calculate various control factors to ensure a corrupted Master does not cause the Backup to become corrupted. The Backup independently performs the same control calculations as the Master, therefore it should not be necessary to press Initialize Backup frequently, but only when a new Operator Control Panel/Console is first started, or when operators notice that commands, position estimates, etc., on a Backup Control Panel have drifted from those on the Master. However, since the solution from the Master should be in agreement with the Backup (and vice versa), an Initialize Backup command, in general, should not be required. ) Note - If frequent Initialize Backup commands are required to keep the systems synchronized, then one or more of the controllers may have a problem. In this case, inspect all Operator Control Panel/Consoles to ensure they are operating properly. When Initialize Backup is pressed on the Master, the message, “INIT BACKUP Command Sent” is displayed on the Master’s Status/Prompt Window. The necessary information is split into packets and sent over several cycles to the Backups. When all the packets are received at a Backup, the message, “INIT BACKUP Command Received” is displayed on the Backup’s Status/Prompt Window. 5-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL When the message, “Not All INIT BACKUP Packets Received” is displayed on the Backup’s Status/Prompt Window, then the data was corrupted in transmission and the Backup initialization should be attempted again. Because there is a delay in the transmission of the data, the Backups are initialized with data slightly out of date. Therefore, it is best, when possible, to select <INIT BACK-UP> when the NMS6000 and the vessel thruster commands are not changing rapidly, the vessel is moving slowly, etc. ) Note - Selecting <INIT BACK-UP> on an Auxiliary Backup Operator Control Panel/Console does not initialize the Backup. Backup Initialization must be performed from a Master console. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 5-11 CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL This page intentionally left blank. 5-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 6. DETAILED OPERATOR INTERFACE The Display Screen Layout, Figure 6-1, shows the various command and monitoring information sub-sections: ¾ Title Bar ¾ Alarm Summary Window ¾ Navigation Bar ¾ Status Message Window ¾ Detailed Display Page ¾ Last Alarm Window ¾ Overview Page ¾ Drop-Down Menu DP Title Bar and Navigation Bar Detailed Display Page Drop-Down Menu Overview PAGE Status Message Window Last Alarm Window Alarm Summary Window Figure 6-1. Typical DP System Display Screen Layout Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 6-1 CHAPTER 6: DETAILED OPERATOR INTERFACE Note - The Menus and Displays shown in this chapter are examples of typical NMS6000 DP systems. Actual Menus and Displays may vary depending on system options and customization. See Chapter 10 for Vessel Specific Display Screens. 6.1 TITLE BAR The DP Title Bar, Figure 6-2, is positioned at the top of the DP Display Screen. The following information describes the various data fields on the Title Bar. See also Section 5.2, MASTER/BACKUP MODE STATUS, for different examples of Title Bar configurations. Figure 6-2. DP Title Bar Background Color System Status Heartbeat Date/Time 6-2 Blue: Control Panel is acting as the Master. Flashing Blue: Station does NOT have control. Yellow: Control Panel is acting as a Backup. Red: DP System is not in control or the Control Processor is not communicating with the Graphic User Interface. When the Control Panel is actively in control of the system, the text “NMS” or “NMS#” appears (with # being the DP station number). Backup and Standby identifies Control Panels passively receiving sensor inputs. See Chapter 5 for more examples. Flashes between green and gray every cycle (approximately every .5 seconds) to indicate the program is active. “Sim” appears in the heartbeat window when the DP System is in “Simulation” mode. Electronic run date and time. Operators are not able to change these values. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.2 NAVIGATION BAR The Navigation Bar, Figure 6-3, is located underneath the Title Bar of the DP Display Screen. The graphic buttons on the Navigation Bar perform a variety of functions. Most buttons initiate a “Drop-Down Menu” for access to the Detailed Display Pages described in Chapter 7. The Navigation Bar buttons are described as follows: ¾ The two BACK/FORWARD arrow buttons (left end of Navigation Bar) allow operators to toggle between previously displayed pages. ¾ The four blue back-grounded DP System buttons, (SETUP, SENSOR, PROPULSION, and PLOT) produce “Drop-Down Menus” allowing operators to select, monitor, and configure the DP System. ) Note - The SETUP button’s “Drop-Down Menu” additionally provides a red SHUTDOWN button for use in shutting down the DP System, refer to Figure 6-1. ¾ The MODE FUNCTION button calls up a “Drop-Down Menu” of the available Control Modes. ¾ The HEADING AUTO/JSTK and POSITION AUTO/JSTK buttons call up “Drop-Down Menus” for Automatic Maneuvers and/or enable use of the TAL Controller (Joystick) for HEADING and POSITION maneuvering. ¾ The INITIALIZING BACKUP button is discussed in detail in Section 5.5. ¾ The ALARM SILENCE button silences the audible portion of the most current flashing alarm and causes the alarm to become solidly illuminated. This action allows the operator to observe and perform corrective action on the most current alarm without enduring the noise of the audible portion of the alarm. See chapter 12 for more information on alarms. Figure 6-3. Navigation Bar Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 6-3 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.3 DETAILED DISPLAY PAGES Operators may select any of the DP System Display Pages listed below for display as the Detailed Display Page on the left side of the Master (and Independent Backup) Operator Control Panel/Console screen. The Overview Page is always displayed on the right side of the Master (and Independent Backup) display screen. Backup Operator Control Panel/Consoles may have Detailed Display Pages on both sides of the screen, see Section 6.3.2. The following DP System Display Pages are described in-depth in their referenced Sections: 6.3.1 ¾ Setup – Section 7.1 ¾ Sensor – Section 7.8 ¾ Position Reference – Section 7.9 ¾ Chart – Section 7.19 ¾ Thruster – Section 7.11 ¾ Plot – Section 7.17 ¾ Holding Capability – Section 7.20 ¾ Signal I/O – Section 7.18 ¾ Mode Function – 7.6 ¾ Track Operation – Section 7.22 ¾ Waypoint – Section 7.23 ¾ Power Page – Section 7.13 Display Page Selection The buttons shown here on the Navigation Bar Detail, Figure 6-4, are used to access the available Detailed Display Pages. See Chapter 7 for DropDown Menus & Detailed Display Pages and see Chapter 10 for Vessel Specific Display Screens. Figure 6-4. Navigation Bar Detail 6-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.3.2 Display Page Selection – Backup Panel/Console When operators are working on a Backup Operator Control Panel/Console, they may choose to bring up a second Detailed Display Page, instead of the Overview Page, on the right side of the display screen. ) Note - Operators cannot display two Detailed Display Pages on the Master Operator Control Panel/Console. The right side of the Master screen always displays the Overview Page, Section 6.4. Perform the following to view a second Detailed Display Page on a Backup Operator Control Panel/Console screen: 1. Notice the “L” or “R” button in the upper left corner of the Backup display Title Bar. The “L” & “R” buttons indicate which half of the screen, left or right, will display the next selected Detailed Display Page. 2. Pick the “L/R” button to change from one side of the display screen to the other. 3. Pick the desired Detailed Display Page. See Chapter 7 for instructions and examples. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 6-5 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.4 OVERVIEW PAGE The Overview Page, Figure 6-5, is divided into sub-sections and is described as follows: ¾ Compass ¾ Deviation Display ¾ Vessel Position (Tabular) ¾ Alarm Summary Window ¾ Last Alarm Window ¾ Status Message Window Compass Deviation Display Alarm Summary Window Last Alarm Window Status Message Window Vessel Position (Tabular) Figure 6-5. Typical Overview Page 6-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.4.1 Compass The compass displays the vessel heading in degrees relative to True North, Figure 6-6. Instantaneous Heading Setpoint Goal Heading Setpoint Actual Vessel Heading Numeric Heading Display Figure 6-6. Compass The identification markers of the compass are as follows: ¾ Solid yellow triangular markers and vertical line indicate the Actual Vessel Heading. ¾ Solid light blue triangular marker indicates the Goal Heading Setpoint, the ultimate heading “target” for the DP System. ¾ Open light blue triangle indicates the Instantaneous Heading Setpoint, where the DP System wants the vessel to be at any given moment while trying to reach the Goal Heading Setpoint. ¾ Text on the left and numeric displays on the right indicate the Goal Heading Setpoint (Goal), the measured heading of the vessel (Vessel, taken from the gyrocompass average), and the difference between these two values (Error). See Section 4.26, Setpoint Select, for further explanation of goal and instantaneous setpoints. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 6-7 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.4.2 Deviation Display Screen The Deviation Display Screen, Figure 6-7, displays the position of the vessel on the Coordinate Reference Grid. The size of the vessel image remains constant, although the display scale (minimum scale) changes if needed. Distance and Direction to Goal Position Rates of Change Scale of Tick Marks and Center of Deviation Figure 6-7. Deviation Display Screen 6-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.4.2.1 Additional Deviation Display Symbols The following symbols, Figure 6-8, are also used on the Deviation Display screen. W 25kts Represents the measured wind, speed, and direction. The length of the arrow becomes proportional to the wind speed Represents the Goal Position Setpoint Represents the origin point for the Coordinate Reference Grid. It will not appear as a distinct symbol when centering the Deviation Display on the origin, since it is supplanted by the intersection of the grid. Indicates the vessel reference point. Figure 6-8. Additional Deviation Display Symbols Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 6-9 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.4.3 Alarm and Status Windows Alarm Summary Window Last Alarm Window Status Message Window Figure 6-9. Alarm and Status Windows 6.4.3.1 Alarm Summary Window The Alarm Summary Window displays the DP System’s alarms generated for general conditions. Refer to Chapter 12 for more details on alarm conditions. 6.4.3.2 Last Alarm Window The Last Alarm Window displays the latest alarm message. 6.4.3.3 Status Message Window The types of messages displayed in the Status Message Window are: ERROR When operators have entered data improperly or attempted to issue a command the DP System cannot comply with, an Error message appears. When applicable, the DP System speakers generate a single high “beep” to notify operators of the Error message. If more information is still required, an Operator Prompt message is generated requesting the correct data. OPERATOR PROMPT When operators select a function requiring more input, an Operator Prompt message is displayed. SYSTEM STATUS When no operator response is required, and System Status is available from a previously executed operation, a System Status message is displayed. HELP When none of the above messages are applicable, a Help message may appear. 6-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 6: DETAILED OPERATOR INTERFACE 6.4.4 Vessel Position (Tabular) The Vessel Position, Figure 6-10, is configured in tabular form and indicates the current estimated vessel position in North/South-East/West and Fore/AftPort/Starboard terms. The measurements are made in the current Display Units, which can be changed on SETUP PAGE 1. Refer to Section 7.2.2 for instructions on setting the Display Units. When the DP System is not in HOLD POSITION mode, some of these fields are blank, as there can be no Goal, Setpoint, or Error readings unless the DP System is in automatic control of position. Goal - Ultimate “target” for the vessel. See “Goal Setpoint” in Section 4.26. Setpoint - Position the DP System wants the vessel to meet on a particular control cycle. See “Instantaneous Setpoint” in Section 4.26. Vessel - Estimated vessel position as determined by the DP System. Error - Difference between the “Setpoint” and “Vessel” readings. Figure 6-10. Typical Tabular Vessel Position Section Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 6-11 CHAPTER 6: DETAILED OPERATOR INTERFACE This page intentionally left blank. 6-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 7. DROP-DOWN MENUS & DETAILED DISPLAY PAGES Note - The Menus & Display Pages shown in this chapter are examples of typical NMS6000 DP systems. Actual Menus & Display Pages may vary depending on system options and customization. See Chapter 10 for Vessel Specific Display Screens. The buttons shown here on the Navigation Bar Detail are used to access the drop-down menus for NMS6000 Detailed Display Pages and Operational and Automatic Modes. Figure 7-1. Navigation Bar Detail See the following sections for the associated drop-down menus: ¾ Setup – see Section 7.1, pg 7-2 ¾ Sensor – see Section 7.7, pg 7-33 ¾ Propulsion – see Section 7.10, pg 7-45 ¾ Plot IO – see Section 7.16, pg 7-62 ¾ Chart Track – see Section 7.19, pg 7-69 ¾ Mode Function – see Section 7.6, pg 7-17 ¾ Heading – see Section 7.25, pg 7-91 ¾ Position – see Section 7.26, pg 7-91 ¾ Initialize Backup Button (no menu) – see Section 5.5, pg 5-10 ¾ Alarm Silence Button (no menu) – see Section 12.5, pg 12-5 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-1 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.1 SETUP DROP-DOWN MENU Perform the following to access the SETUP Menu Screens: 1. Select SETUP on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following Displays Pages are accessed through this drop-down menu: ¾ Setup Page 1 – See Section 7.2 ¾ Setup Page 2 – See Section 7.3 ¾ Setup Page 3 – See Section 7.4 ¾ Setup Page 4 – See Section 7.5 ¾ Mode Function Page – See Section 7.6 ¾ DP Simulation Page – See Section 8.11 ¾ ShutDown – See Section 2.2.1 7-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.2 SETUP PAGE 1 The NMS6000 DP System utilizes the following Setup Pages to provide DP Operators the opportunity to configure and monitor the DP System. SETUP PAGE 1, Figure 7-2, is divided into the following sections: ¾ Deviation Display ¾ Transit Mode ¾ Display ¾ DP Gains (Control Gains) ¾ Vessel Figure 7-2. Setup Page 1 The following sections describe the fields and options available on the DP System SETUP PAGE 1. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-3 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.2.1 7.2.1.1 Deviation Display Frame There are two Deviation Display frames available: Earth and Ship. 7.2.1.1.1 EARTH FRAME In Earth Frame, the top of the display is always North, and the right side is East. The ship's heading will be correctly shown relative to North. The background of the display will be blue. 7.2.1.1.2 SHIP FRAME In Ship Frame, the top of the display is always vessel forward, and the right side is starboard. Thus, the vessel always appears pointed toward the top of the screen, regardless of the actual vessel heading. An open blue triangle, labeled with a white letter “N,” indicates toward true North. The background of the Deviation Display is black. 7.2.1.2 Center Operators may position the Deviation Display Center on any of the following points: ¾ Origin ¾ Goal ¾ SetPt (Instantaneous Setpoint). See Sections 4.13 & 4.16 for definitions of these terms. 7.2.1.3 Minimum Scale Minimum Scale sets the smallest allowable scale for the Deviation Display. During operations, the system automatically lowers the scale for better resolution, but does not go below the Minimum Scale setting. 7.2.2 Display Display Units changes the units of all displayed and entered values. Choices include Metric, Imperial, Metric Percent of Water Depth, and Imperial Percent of Water Depth. The underlying processing of the DP System is not affected by changing the Display Units. When the Display Units are Percent of Water Depth, either metric or imperial, and operators change the WATER DEPTH setting (Section), the DP System maintains the same absolute length/distance settings and automatically adjusts to maintain the percent (%) Water Depth readings. Example: The RED ALERT RADIUS equals 5% of water depth. The WATER DEPTH field is set to 1000 meters, so the RED ALERT RADIUS equals 50 meters. When the operator changes the WATER DEPTH field to 2000 meters, the RED ALERT RADIUS still equals 50 meters, but the % Water Depth readings changes from 5% to 2.5%. 7-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.2.3 7.2.3.1 Vessel Draft Vessel Draft affects the DP System calculations of vessel mass, and moment of inertia, used to scale the DP Control Gains. The DP System also uses the VESSEL DRAFT entry when estimating the effect of hydrodynamic and aerodynamic forces. Since changes in the draft setting may cause large changes in thrust commands when in AUTOMATIC mode, a confirmation is required before the value is changed. 7.2.3.2 HAM Radius HAM Radius allows operators to define the hold area by providing, on the setup page, the radius of the area defined as a circle. When engaged, the control bandwidth in position and yaw axes is reduced with a schedule based on the entered radius. The larger the radius the more relaxed the control. (Yaw axis reduction will be less than position axes reduction). See Section 8.8. 7.2.4 Transit Mode TRANSIT MODE is for use when the vessel is under way (i.e. in transit). In this mode, the <POSITION CONTROL JOYSTICK> controls the vessel’s surge (fwd/aft) movements only; it does not control sway (port/stbd) movements. The NMS6000 automatically holds the heading measured at the moment the Transit mode is engaged. Heading may be changed using Heading Setpoint Maneuvers, see Section 7.6.2.1.2. The <HEADING CONTROL KNOB> has no effect on the vessel while in Transit mode. Heading is achieved by main props & rudders only; tunnel thrusters are not utilized in this mode. Below are the various Transit Mode settings accessible from the Setup Page. See also Section 8.12 for information on operating in Transit Mode. 7.2.4.1 Rudder Gain Sets the Proportional component of the Proportional-Integral-Derivative control term for the auto controller. Operators set the gain between 1 and 9. 7.2.4.2 Counter Rudder Gain Sets the Derivative component of the Proportional-Integral-Derivative control term for the auto controller. Operators set the gain between 1 and 9. 7.2.4.3 Heading Error Threshold The Heading Error Threshold setting is operator determined, and is the difference between the commanded and the measured headings. When the DP System is in HOLD HEADING mode, and exceeds this predetermined Heading Error Threshold setting, the system issues an alarm 7.2.4.4 Deadband DP Systems in an Auto Maneuver Mode (Heading/Position) using a reduced rudder gain setting (5) do not respond to deviations between commanded and measured heading unless the deviation exceeds this setting. Nominal (5) or Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-5 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES reduced rudder and counter rudder gains should be used in conjunction with a non-zero deadband*. * A Deadband (sometimes called a neutral zone) is an area of a signal range or band where no action occurs (the system is dead). The purpose is common: to prevent oscillation or repeated activation-deactivation cycles (called 'hunting' in proportional control systems). 7.2.4.5 Max Rudder Angle The Max Rudder Angle is the maximum angle in degrees the auto heading and position will command the rudder. 7.2.4.6 Heading Change Incorporated Indicates in degrees the amount of Heading change incorporated while the vessel is in transit to maintain course. 7.2.4.7 Rudder Jog Increment Indicates in degrees the amount of rudder jog incorporated while the vessel is in transit to maintain course. 7-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.2.5 DP Gains DP Control Gains settings determine the amount of control “stiffness” for the three control axes: Surge, Sway, and Yaw, as illustrated in Figure 7-3. Figure 7-3. Control Axes The range of acceptable gain values is minus (-) 10 to plus (+) 10. Zero (0) represents the nominal midpoint gain. High (positive) gain values yield a higher than nominal bandwidth. These settings result in better position holding accuracy, but increased propulsion activity, since the vessel must try harder to eliminate deviations from the goal setpoints. Higher thruster activity can also create increased water aeration, which may degrade the performance of the acoustic positioning systems. Low (negative) gain values yield a lower than nominal bandwidth, causing reduced position holding accuracy and decreased propulsion activity. Smaller values may be appropriate in heavy weather to minimize thruster modulations. Generally, when sub-surface sensors are used as position reference sensors, the system sets the bandwidth lower as water depth increases and higher as water depth decreases. 7.2.5.1 DP Gains Compute The DP Gains Compute function in the DP System software yields the appropriate PID control gains for each of the control axes. The calculated gains are based on the CONTROLLER GAIN settings entered by the operator and tuning parameters set during sea trials. Each axis has its own independent bandwidth and set of gains. Refer to Section 4.22.2 for more information on the PID Controller. This Controller (Gains) Compute function also computes the required lowpass filter digital difference equation coefficients. Lastly, Kalman filter gains are computed each cycle as a function of measured position sensor noise. 7.2.5.2 Set/Modify DP Gains After calling up SETUP PAGE 1, Figure 7-2, use the cursor control or the touch screen method to select the SURGE, SWAY, or YAW screen button, and enter a new setting using the Pop-Up Keypad. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-7 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.3 SETUP PAGE 2 SETUP PAGE 2 provides DP Operators additional opportunity to configure and monitor performance of the DP System. SETUP PAGE 2, Figure 7-4, is divided into the following sections: ¾ GPS Reference ¾ Remote Center of Rotation ¾ Power Figure 7-4. Setup Page 2 The following sections describe the fields and options available on the DP System SETUP PAGE 2. 7-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.3.1 GPS Reference Position The Global Positioning System (GPS) uses the intersection of the Equator and the Prime Meridian as the 0,0 point. The DP System typically reports vessel location in meters or feet. Since the vessel may operate thousands of kilometers away from the Equator and/or the Prime Meridian, a local GPS reference point is used to keep the GPS values manageable. The local GPS reference point also centers the flat earth projection used to convert latitude and longitude to North and East positions in the area of operation. L-3 DP&CS recommends placing the GPS reference point, known as the GPS Reference Position or Origin, inside the operational area. The GPS Reference section of SETUP PAGE 2 has three areas of interest: ¾ Corrected Position ¾ Reference Position ¾ GPS Reference Reset Corrected Position: This section shows the vessel’s current Lat/Lon position. Reference Position: The DP operator may enter new Lat/Lon coordinates to set any desired Reference Position. For drilling operations, the wellhead would be the most practical point. See instructions below. This coordinate is also referred to as the Origin. GPS Reference Reset: Selecting this button resets the Reference Position (mentioned above) to the vessel’s current Lat/Lon position. In other words, the coordinates that are displayed in the Corrected Position field become the new Reference Position at the moment the GPS Reference Reset button is selected. All position reference sensors must be switched offline before attempting a GPS Reference Reset. 7.3.1.1 Manually Entering a GPS Reference Position 1. Ensure all DGPS sensors are offline. 2. Select the first REFERENCE POSITION LATITUDE field to toggle it between N (North) and S (South). 3. Select the second REFERENCE POSITION LATITUDE field. The Pop-Up Keypad appears. 4. Enter the “degrees” portion of the reference latitude. 5. Select the OK button. The pop-up disappears. 6. Select the third REFERENCE POSITION LATITUDE field. The Pop-Up Keypad appears. 7. Enter the “minutes” portion (including decimal) of the reference latitude. 8. Select the OK button. The pop-up disappears. 9. Repeat steps 2-8 for the REFERENCE POSITION LONGITUDE fields. Notice that the first field toggles between E (East) and W (West). 10. Bring a DGPS sensor online. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-9 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.3.2 7.3.2.1 Remote Center of Rotation (COR) COR Offsets F/A & P/S COR Offsets (F/A & P/S) define the Remote Center of Rotation in relation to the vessel’s nominal Center of Rotation (or Vessel Reference Point). Enter positive numbers to define the Remote Center of Rotation as being forward or to starboard of the nominal Center of Rotation. Enter negative numbers to define it as being aft or to port of the nominal Center of Rotation. The COR Offsets are disabled when the Active button is set to Vessel. 7.3.2.2 Active Selecting the Active button changes the current Center of Rotation, used by the DP System when calculating control factors and thrust commands, between Vessel and Remote. 7.3.2.2.1 VESSEL This is the nominal Center of Rotation (COR) or Vessel Reference Point. It is the vessel’s natural turning center as determined by L-3 DP&CS technicians during NMS6000 DPS installation. 7.3.2.2.2 REMOTE This is the Remote Center of Rotation defined by the COR Offset fields mentioned above. 7.3.3 Power See Section 7.14.4, Power Limiting. 7.3.3.1 Lower Limit Margin Lower Limit Margin adds a percentage margin to the Lower Power Limit. The LPL represents the average power requirements over approximately one minute. In effect, the LOWER LIMIT MARGIN adds a buffer to the LPL, so a relatively small increase in thruster commands does not exceed the LPL. 7.3.3.2 Reserved kW Reserved kW sets aside a certain number of kilowatts. This allows the DP Operator to reduce the Upper Power Limit. When the Reserve kW is higher than the average Hotel Load, that difference is the buffer. 7.3.3.3 Generator Alarm Level The NMS6000 generates a Generator Alarm Level alarm when the measured power consumption exceeds this percentage setting. 7-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.4 SETUP PAGE 3 Setup Page 3 provides DP Operators additional opportunity to configure and monitor performance of the DP System. SETUP PAGE 3, Figure 7-5, is divided into the following sections: ¾ Threshold ¾ Compare ¾ Alert Radius ¾ Hold Relative ¾ Consequence Analysis Figure 7-5. Setup Page 3 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-11 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES The following sections describe the fields and options available on the DP System SETUP PAGE 3. 7.4.1 7.4.1.1 Threshold Heading Error The Heading Error setting is operator determined, and is the difference between the commanded and the measured headings. When the DP System is in HOLD HEADING mode, and exceeds this predetermined Heading Error Threshold setting, the system issues an alarm. 7.4.1.2 Position Error Position Error Threshold setting is operator determined, and sets a radius around the Instantaneous Setpoint. When the DP System is in HOLD POSITION mode, and the Vessel Reference Point moves outside the Position Error Threshold circle, the system issues an alarm. # Example - The POSITION ERROR THRESHOLD equals 5% of water depth. The WATER DEPTH field is set to 1000 meters, so the POSITION ERROR THRESHOLD equals 50 meters. If the operator changes the WATER DEPTH field to 2000 meters, the POSITION ERROR THRESHOLD still equals 50 meters, but the % Water Depth readings changes from 5% to 2.5%. 7.4.1.3 Median Alarm The DP System uses the Median Alarm operator determined setting to ensure the quality of position reference sensor data. When any online position reference sensor’s measurement differs from the median of all online position reference sensor measurements by more than the Median Alarm setting, the DP System generates an alarm. 7.4.2 Alert Radius Yellow and Red Alert Radii settings create two circles centered on the Reference Position. When the NMS6000 is in HOLD POSITION or HOLD FLEXJOINT ANGLE mode, and the Vessel Reference Point moves outside the yellow circle, the system initiates the Yellow warning condition. When the Vessel Reference Point moves outside the red circle, the NMS6000 clears the Yellow warning condition and initiates the Red warning condition. To disable these alerts, enter “0” as the values. For these alerts to be the most useful during drilling operations, operators must reset the Reference Position to the wellhead. Refer to Section 7.3.1 for instructions on setting the GPS Reference Position. 7-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.4.3 Consequence Analysis Consequence Analysis - the operator can turn Consequence Analysis alarms on or off with the ON or OFF keys respectively. If Off is selected, all consequence analysis alarms will be cleared immediately. When the Consequence Analysis button reads ON, the system automatically performs Consequence Analysis and generates appropriate Consequence Analysis alarms. When Consequence Analysis is active, the letter “C” is displayed in the heartbeat indication box of the DP Title Bar. Refer to Section 12.9 for additional information on this function. 7.4.4 7.4.4.1 Compare Thrust Thrust Compare is the differential setting between the commanded and feedback thrust levels. When the difference between the commanded and feedback thrust levels exceeds this setting, the system generates a “Thrust Compare” alarm. 7.4.4.2 Rudder Rudder Compare is the differential in degree angle between actual and ordered. 7.4.4.3 Thrust Level When the DP System detects a thruster operating at or above this Thrust Level setting, it generates an alarm. 7.4.4.4 Wind Direction The wind direction is defined as the direction the wind is coming from. The units of measure are degrees. The Wind Direction Compare limit sets the maximum difference between the wind direction from each individual wind sensor and the blended average wind direction. An alarm condition is generated when an individual sensor’s input differs from the median of all online wind sensors by more than the indicated setting. This alarm is filtered so that temporary differences are not flagged as an actual hardware problem. A value of zero (0) suppresses the alarm condition. 7.4.4.5 Wind Speed Wind speed is defined as its velocity at a given moment. The units of measure are meters per second. Similar to Wind Direction, the Wind Speed Compare limit sets the maximum difference between the wind speed from each wind sensor and the blended average wind speed before an alarm condition is generated. This alarm is filtered so that temporary differences are not flagged as an actual hardware problem. A value of zero (0) suppresses the alarm condition. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-13 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.4.5 Hold Relative HOLD RELATIVE Mode is an optional software module that operates in conjunction with the standard NMS6000 DP System software. This laser radar system provides positional information to allow automated approach and/or station keeping relative to a structure/vessel. The target structure/vessel requires reflective targets to be attached to its sides. The HOLD RELATIVE mode requires one laser radar sensor to be installed on the primary vessel and three reflective targets to be installed on the target structure/vessel. When HOLD RELATIVE is engaged, the DP generates thruster commands driving the vessel to acquire and maintain relative heading and position of the target. Further information is included in the appendices for vessels that feature this option. 7.5 SETUP PAGE 4 SETUP PAGE 4 provides DP Operators additional opportunity to configure and monitor performance of the DP System. SETUP PAGE 4, Figure 7-6, is divided into the following sections: ¾ NMS/ROV Beacon Mapping ¾ ROV Follow Configuration Figure 7-6. Setup Page 4 7-14 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.5.1 NMS/ROV Beacon Mapping The ROV (Remotely Operated Vehicle) options allow operators to select the beacon number and acoustic channel used to track the ROV. To choose a beacon as the ROV Follow beacon, select the appropriate check box with the cursor. The operator can select only one beacon as the active ROV sensor at any one time, but may mount redundant beacons to the ROV. Such duplication allows a quick switchover in case the original ROV beacon data becomes unusable. To choose no beacons as the ROV Follow beacon, reselect the ROV beacon check box with the cursor. Because hydroacoustics can track up to eight beacons, it is necessary to assign beacons (channels) to each of the four DP beacon inputs available. To enable a different acoustic channel for a DP beacon, select the drop-down box and choose the desired channel number ) Note - When a hydroacoustic beacon is selected as the ROV Follow sensor on SETUP PAGE 4, the hydroacoustic beacon is not allowed to be placed online as a position reference sensor. 7.5.2 ROV Follow Configuration In ROV FOLLOW, the DP generates thruster commands driving the vessel to follow the reported position of the ROV (Remotely Operated Vehicle). ROV tracking is possible when a hydroacoustic beacon is mounted on the ROV, and the beacon data is used to report the position of the ROV in relation to the vessel. Since hydrodynamic effects of the hull vary with vessel speed and ocean current direction, the most successful tracking occurs at lower ROV speeds (approximately 2 knots). Operators may need to adjust the control gains for optimal ROV tracking under various environmental and operational conditions. Refer to Chapter 7.1.5 for more details on DP Control Gains. For further details on ROV Follow Configuration, see Section 8.5. 7.5.2.1 ROV Deadzone Radius ROV Deadzone Radius is a circle centered on the reported position of the ROV beacon at the time when operators enter ROV FOLLOW. The ROV DEADZONE RADIUS field allows operators to set the radius of this circle. Operators may edit this field while ROV FOLLOW is active or inactive. A fixed position sensor (DGPS or fixed beacon) must be online and free from alarms when entering ROV FOLLOW in order for the DP to determine the appropriate center-point of the ROV Deadzone Radius. When operating in ROV FOLLOW, the DP does not reposition the vessel in response to ROV movement unless the ROV moves outside the ROV Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-15 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Deadzone Radius. This feature allows the ROV to move somewhat freely without causing the DP to generate thrust commands in pursuit of the ROV. 7.5.2.2 ROV Offsets ROV Offsets create a “buffer zone” between the vessel reference position and the center of the ROV Deadzone Radius. In ROV FOLLOW, the DP attempts to maintain these offsets, so the vessel does not pursue the ROV more closely than desired. The DP automatically determines these offsets when entering ROV FOLLOW, by calculating the initial reported position of the ROV relative to the Vessel Reference Point. Once operators enter ROV FOLLOW, they can edit these fields to change the offsets. The labels on the offset fields and the values themselves change between Earth and Ship Axes depending on their selection in the FOLLOW OFFSET TYPE. The DP recognizes Fore, Starboard, North, and East as positive numbers. Aft, Port, South, and West as negative numbers. 7.5.2.3 Follow Offset Type Follow Offset Type changes the frame of reference for ROV FOLLOW from Earth (North, South, East, and West) to Ship (Fore, Aft, Port, and Starboard). 7.5.2.4 ROV Filter Gain ROV Filter Gain defines the level of filtering the system applies to position data generated by the acoustic beacon mounted on the ROV. If the acoustic channel is relatively noisy or for a more relaxed following of actual ROV motion, set the filtering higher. If the acoustic channel is relatively clean, operators can lower the filtering to improve the positioning accuracy. The available range of filtering runs from 1 to 10, with 10 being the highest level. 7-16 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6 MODE FUNCTION PAGE Control Modes and Automatic Maneuvers are selected by using the MODE FUNCTION screen page, Figure 7-7. The MODE FUNCTION screen page is accessed by touching and/or left clicking on the DP MODE FUNCTION Navigation Bar button. Once the MODE FUNCTION screen page is visible operators may then select the Control Mode or Automatic Maneuver of their choice by touching and/or left clicking on the selected mode button, which then illuminates Green. Figure 7-7. Mode Function Page Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-17 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.1 Mode Select The Mode Select section of the MODE FUNCTION page offers the following Modes: ¾ ¾ ¾ ¾ ¾ ¾ ¾ 7.6.1.1 Hold Heading AHMT Transit Pilot Hold Position/Surge/Sway Hold Area Wind Comp ¾ ¾ ¾ ¾ ¾ ¾ ¾ Joystick Desens Track Follow ROV Follow Vessel COR Power Limit Sustain Portable Joystick Hold Relative Hold Heading Operators normally transfer from TRANSIT to HOLD HEADING mode after arriving at the worksite and placing the vessel on the desired heading. When selecting HOLD HEADING screen button, the DP System reads and maintains the current heading, until a new heading setpoint is entered or HOLD HEADING is deactivated. See Section 8.3, Hold Heading. 7.6.1.2 Auto Heading for Minimum Thrust (AHMT) AHMT is used in conjunction with HOLD POSITION and HOLD HEADING modes. When active, it automatically adjusts the vessel’s goal heading setpoint to attempt to minimize the lateral (port/starboard) control requirements by pointing the bow or stern of the vessel into the strongest environment. This is usually in the direction of the prevailing weather. See Section 8.9, Auto Heading for Minimum Thrust (AHMT). 7.6.1.3 Transit Mode TRANSIT MODE is for use when the vessel is under way (i.e. in transit). In this mode, the <POSITION CONTROL JOYSTICK> controls the vessel’s surge (fwd/aft) movements only; it does not control sway (port/stbd) movements. The NMS6000 automatically holds the heading measured at the moment the Transit mode is engaged. Heading may be changed using Heading Setpoint Maneuvers, see Section 7.6.2.1.2. The <HEADING CONTROL KNOB> has no effect on the vessel while in Transit mode. Heading is achieved by main props & rudders only; tunnel thrusters are not utilized in this mode. See also Section 8.12 for information on operating in Transit Mode. 7.6.1.4 Pilot Mode PILOT MODE is identical to TRANSIT MODE (above) with one exception; heading is manually controlled by <HEADING CONTROL KNOB>. See Section 8.13. 7-18 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.1.5 Hold Position/Surge/Sway In HOLD POSITION, the DP System automatically maintains the vessel’s position while allowing operators to make heading changes with the <HEADING CONTROL KNOB>. See Section 8.4, Hold Position. 7.6.1.6 Hold Area Mode (HAM) HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is provided to allow reduced control activity while maintaining the vessel in the general area of the goal position. See Section 8.8. 7.6.1.7 Wind Compensation ACTIVE WIND COMPENSATION (AWC) uses data from all online wind sensors. Using an internal model of the vessel’s aerodynamics, the DP System calculates wind effects and counteracts them through the vessel thrusters, reducing station-keeping errors when wind speed and direction change. Operators may use AWC simultaneously with any of the other control modes. See Section 8.7, Active Wind Compensation Processing. 7.6.1.8 Joystick Desens (Desensitizing) Joystick Desensitizing (Joystick Desens) decreases the thrust command signals generated in response to movement of the <POSITION CONTROL JOYSTICK> and/or the <HEADING CONTROL KNOB> by fifty percent (50%). JOYSTICK DESENS may be particularly useful when manually controlling the vessel requiring very small, fine adjustments in position and heading. When operators do not enable JOYSTICK DESENS, it may become very difficult to move the <POSITION CONTROL JOYSTICK> and/or <HEADING CONTROL KNOB> in small enough increments to meet the needs of the maneuvering situation. # 7.6.1.9 Example: Without Joystick Desensitizing active, pushing the <POSITION CONTROL JOYSTICK> to the limit in any direction results in a relatively large force on the vessel. Selecting JOYSTICK DESENS, allows operators to move the <POSITION CONTROL JOYSTICK> through the same range of motion but cause a smaller force to act on the vessel. Track Follow TRACK FOLLOW MODE controls vessel position and heading, with a high degree of accuracy, along a predefined track. See Section 8.6. 7.6.1.10 ROV Follow In ROV FOLLOW, the DP generates thruster commands driving the vessel to follow the reported position of a Remotely Operated Vehicle (ROV). See Section 8.5. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-19 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.1.11 Vessel Center of Rotation (COR) The DP System accepts a vessel center of rotation, defined by the COR OFFSETS fields on the SETUP PAGEs. When the operator selects the VESSEL COR MODE, the DP System rotates the vessel around the remote vessel COR rather than the geometric center of rotation. See Section 7.3.2, Remote Center of Rotation (COR). 7.6.1.12 Power Limit Sustain Enabling POWER LIMIT SUSTAIN sets the Operating Power Limit to the Lower Power Limit. See Section 7.14.4.4 7.6.1.13 Portable Joystick Operators can manually control the vessel with the Portable Joystick’s <POSITION CONTROL JOYSTICK> and <HEADING CONTROL KNOB>. The thrusters respond to the manual commands, attempting to move the vessel in the position and heading directions commanded. Operators normally use a Portable Joystick to position the vessel at the worksite, maneuver at dockside, or in other situations where human command (control) of the vessel is desired from a remote operating station, or in case of malfunctioning Operator Control Panel/Consoles. See Sections 3.2 for operation of Remote & Portable Joysticks and 5.3.2 for Taking & Transferring Control of Remote & Portable Joysticks. 7.6.1.14 Hold Relative This optional laser radar system provides positional information to allow automated approach and/or station keeping relative to a structure/vessel. See Section 7.4.5 for more information. 7.6.1.15 Night Mode This optional button makes the screen either dark red, dark blue, dark green or normal (day mode) .Pushing the button repeatedly cycles through these choices. 7-20 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.2 Function Select The Function Select section of the MODE FUNCTION page offers the following: 7.6.2.1 ¾ Heading Setpoint ¾ Position Setpoint ¾ Clear JS Bias ¾ Alarm Pg Inhibit Setpoint Maneuvers The NMS6000 provides the capability of executing setpoint maneuvers both in vessel heading and position. Setpoints may be small adjustments in positioning or large track maneuvers at an operator-selected maximum speed. Operator entry is similar in all cases. The operator supplies setpoint values and a maximum velocity for execution of the maneuver. When a large maneuver (heading or position) is executed, the velocity setpoint increases linearly from zero until it reaches the maximum maneuver velocity. The velocity setpoint then remains at the maximum maneuver velocity until the system detects that deceleration must begin. As shown in Figure 4-11, Position Maneuver Profile Illustration, the setpoint velocity then decreases linearly to zero at the conclusion of the maneuver. 7.6.2.1.1 HALTING THE VESSEL If the DP operator wishes to halt the vessel at its current position or heading, then selecting the <CURRENT HEADING> or <CURRENT POSITION> buttons (on the Heading Setpoint Selection or Position Setpoint Selection dialog boxes, shown below) will change the setpoint to the current heading/position. Alternately, the DP Operator may take the DP System out of automatic mode (i.e. out of Hold Heading and/or Hold Position), thus placing it into full Manual Control, and halt the vessel manually. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-21 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.2.1.2 HEADING SETPOINT To initiate HEADING SETPOINT MANEUVERS, the NMS6000 must be in HOLD HEADING mode. The Heading Setpoint is the same as the Goal Heading shown on the NMS6000 Compass (see Section 6.4.1). Select the <HEADING SETPOINT> button on the MODE FUNCTION PAGE, or pick on the Compass. The following “Advanced” or “Basic” dialog box appears: Advanced Dialog Box Instructions: Text will change depending on which method is used to define the setpoint. Data Entry Buttons 1. Select one of the four available options for defining the heading setpoint: ¾ Previous Setpoint – Sets the vessel’s previous heading setpoint as the setpoint. ¾ Current Heading – Sets the vessel’s current heading as the setpoint. ¾ True – absolute setpoint relative to True North ¾ Relative – relative offset from current heading 2. For the True or Relative option, select the Heading data entry button. 3. Use the Pop-Up Keypad to enter the new heading setpoint and pick <OK>. 4. For any of the four options, select the Rate data entry button. 5. Use the Pop-Up Keypad to enter the Rate of Turn in degrees per minute (º/min) and pick <OK>. 6. Select the <ACCEPT> button to initiate the new setpoint. Or select the <CANCEL> button to exit the dialog box without changing the setpoint. ) Note – Select the <ADVANCED> button to switch to the Basic dialog box (below). 7-22 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Basic Dialog Box Instructions: Number indicates desired change in Heading Setpoint (relative to current heading) as CW/CCW buttons are pressed. 1. Select one of the three available options for defining the heading setpoint: ¾ Previous Setpoint – Sets vessel’s previous heading setpoint as the setpoint. ¾ Current Heading – Sets vessel’s current heading as the setpoint. ¾ CW/CCW – Allows operator to manually adjust heading setpoint, step-by-step, relative to current heading (in ship coordinates). 2. Select the Step data entry box. 3. Use the Pop-Up Keypad to enter the Step Size. The Step Size is the angle in degrees the heading setpoint will increase or decrease each time the CW or CCW button is pressed. 4. Select the Rate data entry box. 5. Use the Pop-Up Keypad to enter the Rate of Turn in degrees per minute (º/min) and pick <OK>. 6. Select the <CW> or <CCW> button to increase or decrease the change in heading setpoint relative to the current heading. 7. Select the <ACCEPT> button to initiate the new setpoint. Or select the <CANCEL> button to exit the dialog box without changing the setpoint. In the example above, the Step was set to 3.0º and the <CW> button was pressed 4 times. This increased the desired change in heading setpoint to positive 12º which will be added to the current heading once the <ACCEPT> button is pressed. ) Note – Select the <BASIC> button to switch to the Advanced dialog box (above). Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-23 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES The four Heading Setpoint dialog boxes outlined in the “Advanced Instructions” above: Figure 7-8. Four Options for Setting the Heading Setpoint The button with the dark blue background indicates the option selected. Notice that the descriptive text to the left of the Heading data entry button changes depending on which option is used to define the heading setpoint. 7-24 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.2.1.3 POSITION SETPOINT To begin an automatic POSITION SETPOINT MANEUVER, the NMS6000 must be in HOLD POSITION mode. It cannot be in HOLD FLEXJOINT ANGLE mode (if applicable). The Position Setpoint is the same as the Goal Position mentioned in other parts of this manual. All linear measurements are made in the current display units. North, East, Fore, and Starboard are positive numbers. South, West, Aft, and Port are negative numbers. Enter angular quantities in degrees (positive clockwise). The position change rate is configured by selecting the “Enter Rate” button on the Position Setpoint dialog box shown below. It is set to meters per minute (m/min) or feet per minute (ft/min) depending on the DP Display Units setting. Select the POSITION SETPOINT button on the MODE FUNCTION PAGE, or pick on the Deviation Display, see Section 6.4.2. The following “Advanced” or “Basic” dialog box appears: Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-25 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Advanced Dialog Box Instructions: Select the Frame button to switch from Earth to Ship axis. Text will change depending on which method is used to define the setpoint. Data Entry Buttons 1. There are eight options for specifying a position setpoint, see Figure 7-9: ¾ Previous Setpoint – Sets vessel’s previous position setpoint as the setpoint. ¾ Current Position – Sets vessel’s current position as the setpoint. ¾ Rectangular Absolute from origin in Earth axes ¾ Rectangular Offset from current position in Earth axes ¾ Polar Offset from current position in Earth axes ¾ Rectangular Absolute from origin in Ship axes ¾ Rectangular Offset from current position in Ship axes ¾ Polar Offset from current position in Ship axes 2. Select one of the options listed above to create the new position setpoint. 3. Select the desired Data Entry Button to change its value. 4. Use the Pop-Up Keypad to enter the new value and pick <OK>. 5. Repeat steps 3 and 4 for the remaining Data Entry Buttons. 6. Select the <ACCEPT> button to initiate the new setpoint. Or select the <CANCEL> button to exit the dialog box without changing the setpoint. ) Note – Select the <ADVANCED> button to switch to the Basic dialog box (below). 7-26 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Basic Dialog Box Instructions: Numbers indicate desired change in Position Setpoint (relative to current position) as N/E/S/W or F/S/A/P buttons are Pressed. Select the Frame button to switch from Earth to Ship axis. 1. Select one of the three available options for defining the position setpoint: ¾ Previous Setpoint – Sets vessel’s previous position setpoint as the setpoint. ¾ Current Position – Sets vessel’s current position as the setpoint. ¾ N/E/S/W or F/S/A/P – Allows operator to manually adjust position setpoint, step-by-step, relative to current position in earth or ship axes. 2. Select the Step data entry box. 3. Use the Pop-Up Keypad to enter the Step Size. The Step Size is the distance that the position setpoint will increase or decrease each time the CW or CCW button is pressed. 4. Select the Rate data entry box. 5. Use the Pop-Up Keypad to enter the Rate of Change in feet per minute (ft/min) and pick <OK>. 6. Select the N/E/S/W or F/S/A/P buttons to increase or decrease the change in position setpoint relative to the current position. 7. Select the <ACCEPT> button to initiate the new setpoint. Or select the <CANCEL> button to exit the dialog box without changing the setpoint. ) Note – Select the <BASIC> button to switch to the Advanced dialog box (above). Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-27 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES The eight Position Setpoint dialog boxes outlined in the “Advanced Instructions” above: Figure 7-9. Eight Options for Setting the Position Setpoint The button with the dark blue background indicates the option selected. 7-28 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Earth: Rectangular Absolute N Earth: Rectangular Offset N Proposed Setpoint (60,50) 30 Proposed Setpoint (60,50) 60 40 50 Existing Setpoint (20,20) Existing Setpoint (20,20) E 0,0 E 0,0 Operator Entry: 60 N/S, 50 E/W Operator Entry: 40 N/S, 30 E/W Earth: Polar Offset Ship: Rectangular Offset N N N -30 Proposed Setpoint (60,50) Proposed Setpoint (60,50) 50 -40 030 deg Existing Setpoint (20,20) 0,0 Existing Setpoint (20,20) E Operator Entry: 50 Dist, 030 Bearing E 0,0 Operator Entry: -40 F/A, -30 S/P Figure 7-10. Position Setpoint Profile The above illustration outlines four different ways of moving the ship, to a single desired location, using Position Setpoint Maneuvers. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-29 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.2.1.4 MOVING THE VESSEL TO A PRECISE LOCATION The Reference Position setting on SETUP PAGE 2, Figure 7-4, may be used to move the vessel to a precise location (i.e. a specific Lat/Lon coordinate). With the system offline or in joystick position mode and the vessel near the desired point: 1. Turn all position sensors offline. 2. On the SETUP PAGE 2, enter the desired position (degrees and minutes) as the Reference Position, see Section 7.3.1.1, Manually Entering a GPS Reference Position. 3. Bring the desired position sensors online. The Measured data on the POSITION REFERENCE page (Section 7.9.3.1) is now relative to this location. 4. To move to this location, enter HOLD POSITION and bring up the position setpoint dialog box (see 7.6.2.1.3 above). 5. In Advanced Mode, change the Frame to Earth and select Rect Absolute. The setpoint coordinates are now in feet from the Reference Position 6. Changing both Absolute Setpoints to zero (0) will move the vessel to the Reference Position. ) Note - The vessel should be near the desired point before starting this procedure. 7-30 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.2.1.5 PROPOSED SETPOINT OUTLINE When operators begin either a heading or a position maneuver, the Deviation Display generates a flashing vessel outline based on the proposed setpoint. This outline becomes solid if operators confirm they want to conduct the maneuver. It remains visible until the completion of the maneuver. The maneuver is complete when the instantaneous setpoint reaches the goal setpoint. Figure 7-11. Proposed Position Maneuver as seen on Deviation Display Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-31 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.6.2.2 Clear Joystick Bias When bias forces exist, the DP System automatically illuminates the CLEAR JS BIAS (JOYSTICK BIAS) screen button on the MODE FUNCTION screen page. Selecting the CLEAR JS BIAS screen button causes existing bias forces to be zeroed immediately. This action may be useful in situations where the bias forces are deemed inappropriate, or where operators wish to assume full Manual Control of vessel propulsion without any biases applied. 7.6.2.3 Alarm Page Inhibit Normally, whenever a new alarm occurs, the Alarm Page, Figure 12-3, is automatically displayed. The ALARM PAGE INHIBIT button on the MODE FUNCTION screen page (and MODE FUNCTION drop-down menu) prevents the system from automatically displaying the ALARM PAGE when a new alarm occurs. When the operator has inhibited the ALARM PAGE, the INHB button in the Alarm Summary Window, Figure 12-1, is illuminated. 7-32 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.7 SENSOR DROP-DOWN MENU Perform the following to access the SETUP Menu Screens: 1. Select SENSOR on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following Displays Pages are accessed through this drop-down menu: ¾ Sensor Page 1 – See Section 7.8 ¾ Sensor Page 2 – See Section 7.8 ¾ Position Reference Page 1 – See Section 7.9 ¾ Position Reference Page 2 – See Section 7.9 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-33 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.8 SENSOR PAGES 1 & 2 The DP System utilizes two SENSOR PAGEs to display data from auxiliary sensors and sensor systems configured with the vessel’s DP System. SENSOR PAGE 1 & 2, Figure 7-12 & Figure 7-13, allow operators to control and monitor the online status of the following Auxiliary Sensors and associated data: ) ¾ Gyrocompass ¾ Current Speed & Direction ¾ Wind ¾ GPS Lat/Lon Data ¾ Vertical Reference (VRS) Note - An offline sensor is not necessarily “off,” in the sense of being without power. However, the DP System does not use data from offline sensors in its calculations. Figure 7-12. Sensor Page 1 7-34 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Figure 7-13. Sensor Page 2 The following sections describe the fields and options available on the DP System SENSOR PAGES 1 & 2. 7.8.1 Gyrocompasses The gyrocompasses associated with the Dynamic Positioning System are capable of giving the vessel’s True North heading with an accuracy of <0.1o. The NMS6000 uses the serial line outputs to obtain necessary heading data. In order for the NMS6000 to dynamically position the vessel, at least one gyro must be online. The system uses gyro data to update the estimated heading and the heading rate of change. It also uses gyro input to transform position reference sensor data, which may employ various coordinate frames, into earth axes. 7.8.1.1 Gyro Processing The gyro processing routine in the NMS6000 software handles multiple gyrocompass inputs. First, the power status line is checked to make sure that the unit is powered. When a power alarm condition is not detected, the routine processes the serial data stream or analog voltage from that gyrocompass. The data from each gyrocompass is extracted and converted to system units, and then compared against each of the other non-alarmed sensors. Individual sensors not agreeing with other sensors are flagged with an alarm message. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-35 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Finally, all active non-faulted sensors form an average that becomes the internal vessel heading estimate. 7.8.1.2 Heading – True & Reciprocal The Heading Sensors consist of Gyrocompasses and display “True” (heading data in degrees from True North) and “Reciprocal” degree data. The Reciprocal (opposite) degree data is simply 180º from the True heading and is listed for the convenience of the operator. 7.8.1.2.1 NEW DATA Illuminates when new in-coming data is being received. 7.8.1.2.2 BLENDED The “Blended” field displays the average of all online, un-faulted gyros in True and Reciprocal degrees. 7.8.2 Wind Sensors The Wind Sensor provides wind sensing data, consisting of speed and direction, to allow the DP System to compensate for aerodynamic forces (Environment) acting on the vessel. The “Wind Speed” column displays the measured wind speed corrected for sensor height to a standard 10 meters. The “Relative Wind Direction” column displays the wind direction relative to the ship’s bow. The “True Wind Direction” column displays the wind direction true to the ship’s bow. The “Blended” field displays the average velocity and direction as determined by all online, un-faulted wind sensors. 7.8.2.1 Wind Sensor - Online Placement Perform the following to place a wind sensor online: 1. Open SENSOR PAGE 1 2. Select the WIND 1 screen button. ) Note - The color of the screen buttons and data on SENSOR PAGE 1 indicates the status of the wind sensor: ¾ ¾ ¾ ¾ ¾ 7-36 Red - NOT READY/FAULTED (Data) Dark Gray - OFFLINE Green - ONLINE (Screen Button) Black - ONLINE (Data) Green/Gray Alternate Blinking - ONLINE and FAULTED (Screen Button) Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.8.3 Vertical Reference Sensors & Motion Reference Units One Vertical Reference Unit (VRU) provides accurate pitch and roll data regarding the vessel. The VRU has an accuracy of ± 0.3o. Two Motion Reference Units (MRU) provide highly accurate pitch and roll data, outputting NMEA 0183 RS232 serial data. Each MRU has a pitch and roll accuracy of ± 0.04o. They also monitor and output heave data. Both the NMS6000 and the acoustic position reference systems (if configured) use data from these sensors to correct errors induced by pitch and roll. Such errors may particularly affect information gathered by antennae and hydrophones. Acoustic systems perform pitch and roll compensation before passing their position data to the NMS6000. 7.8.3.1 Vertical Reference Sensor Processing VRS processing operates on raw data available through analog and serial inputs. These values are checked for compliance with a maximum value stored in a database. An alarm flag is issued if this maximum is exceeded on any cycle. The NMS6000 then averages the values of all online, unalarmed sensors. Next, a first-order filter calculates the long term averages, which are displayed as “Trim” and “List.” The NMS6000 processing function uses the blended, instantaneous data to compensate for the incoming position data from antennae. The acoustic systems use the blended data to compensate for position data from hydrophones before passing it to the NMS6000. Filtered peak to peak heave data is also displayed when MRUs are installed. 7.8.3.2 Controlling Vertical Reference Sensors To bring the Vertical Reference Sensors online or take them offline, open SENSOR PAGE 1 and select the appropriate buttons with the cursor control. 7.8.3.3 Vertical Reference Data The Vertical Reference Sensors consists of Pitch, Roll, and Heave data derived from the following values: ¾ “RMS” values are the Root-Mean-Square variations from the “Trim” and “List” values. These readings generally equal .707 of the typical peak pitch and roll amplitudes from the trim/list values. ¾ “Trim/List” displays the long-term average of the pitch (Trim) and roll (List). ) Note - Blended readings are the average combination of the RMS and Trim/List values. 7.8.4 Current Sensor The Current Sensor provides data consisting of calculated and estimated current speed and direction. This allows the DP System to compensate for aerodynamic environmental forces acting on the vessel. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-37 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.8.5 GPS/DGPS The DGPS Tabular Display section, located at the bottom of the SENSOR PAGE 1 screen page, displays the vessel’s reported latitude and longitude from the online GPS sensors. ) 7-38 Note - This data is provided for information only. Operators cannot control the GPS from SENSOR PAGEs. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.9 POSITION REFERENCE PAGES 1 & 2 The Differential Global Positioning System (DGPS) consists of GPS receivers, differential signal receivers, and processing computers, and outputs data to the DP System. Refer to the OEM Information Manual for indepth information on the GPS. The DP System Position Reference Sensors consists of two GPS Units monitored and commanded from the POSITION REFERENCE page, Figure 7-15. Figure 7-14. Position Reference Page 1 Figure 7-15. Position Reference Page 2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-39 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.9.1 Position Reference Sensor Data Use The DP System uses data from the online Position Reference Sensors to estimate the vessel’s North/East position. These calculations are required for proper operation in the HOLD POSITION modes. 7.9.2 Position Reference Page Use The following sections provide an overview of the fields on the POSITION REFERENCE PAGE. ) 7.9.2.1 Note - When placing position reference sensors online, select only alarm-free units that appear to be yielding reasonable data. The following sections describe the areas of displayed information typically found on the POSITION REFERENCE PAGE. Sensor Select Buttons Select position reference Sensor Select Buttons by touching the screen or using the cursor control to place sensors on or offline. The DGPS sensors are the primary position reference sensors. FanBeam and CyScan are optional Hold Relative Mode sensors; information on these sensors is included in the appendices for vessels that feature this option. See also Section 7.9.5, Selecting the Origin Reference Sensor. 7.9.3 7.9.3.1 Position Reference Page 1 Measured Column Measured Column values are raw measurements of the Vessel Reference Point relative to the origin as calculated from the data returned by the position reference sensors, adjusted for antenna/hydrophone locations, and vessel pitch/roll. 7.9.3.2 Corrected Column Corrected Column fields display each sensor’s final processed position data, created by adding stored biases to the raw measurements. Refer to Section 4.4 for more information on sensor biasing. The DP System uses corrected data for the New Position Estimate, described in Section 4.24. 7.9.3.3 Noise Noise provides a decimal reading of the amount of noise picked up by the DGPS units. 7.9.3.4 New Data The circles in the New Data column flash green as new sensor data is being received. 7.9.3.5 Blended Blended is the average of the Corrected values. 7-40 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.9.3.6 Reference Calibration Selecting the <CALIBRATE> button performs a Position Reference Calibration. Refer to Section 4.23.5, Origin Reference Sensor, in the paragraph below Figure 4-8. 7.9.3.7 Sensor Select Refer to Section 7.9.5, Selecting the Origin Reference Sensor. 7.9.3.8 North/East Offset Refer to Section 7.9.5.1, Relocating the Origin Reference Sensor’s Origin. 7.9.4 7.9.4.1 Position Reference Page 2 Calibration Bias This column displays the stored bias required to bring each sensor into agreement with the Origin Reference Sensor (this is not to be confused with the instantaneous bias used to calculate drift). The NMS6000 automatically sets the bias whenever the operator performs a Position Reference Calibration by pressing the <CALIBRATE> button on POSITION REFERENCE PAGE 1. It is also set when the operator places a new position reference sensor online. Refer to Sections 4.1 and 4.23.5 for more information on sensor biasing. 7.9.4.2 Calibration Drift This column indicates the long-term drift of each sensor’s data to its established calibration bias. Higher drift values indicate an undesirable shifting of the sensor’s frame of reference. Refer to Section 4.23.7, for more information on sensor drift. 7.9.4.3 % Weight This column displays the relative weighting of position estimates from the sensors. In general, the higher the noise, the lower the sensor’s weighting into the New Position Estimate (refer to Section 4.24). Only online sensors contributing to the solution are weighted. Faulted sensors receive no weighting. ) Note: Weight values are rounded to one decimal point for display and may therefore appear not to sum 1.0. Refer to Section 4.23.6, Sensor Weighting. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-41 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.9.5 Selecting the Origin Reference Sensor Unless overridden, the NMS6000 automatically identifies the first position reference sensor placed online as the Origin Reference Sensor. Operators may change this selection via the SENSOR SELECT field on POSITION REFERENCE PAGE 1 or through the <REF SENSOR SELECT> key in the Sensor Select Switch Group. The Origin Reference Sensor’s button has blue text, and the sensor name is designated on the SENSOR SELECT button. The sensor with the best long-term stability should be selected as the Origin Reference Sensor. A noisy sensor with long-term stability may be a better choice than a noise-free sensor that drifts over a long period of time. When the Origin Reference Sensor is changed to a different position reference sensor, then every sensor bias is adjusted appropriately, refer to Figure 4-8. In addition, the Origin Reference Sensor offsets are automatically modified to maintain the same absolute origin. These offsets are displayed on POSITION REFERENCE PAGE 1 as the “Measured” data. Perform the following steps to select a new Origin Reference Sensor: 1. Open the POSITION REFERENCE PAGE that shows the Bias & Drift tabular data. 2. Look in the “Drift” column for the sensor with the best long-term stability. A noisy but stable unit is a better choice than a noise-free sensor that drifts. 3. Open the POSITION REFERENCE PAGE that shows the desired sensor button. 4. If no sensors are online, then select the desired sensor. The first sensor to be brought online defaults to the Origin Reference Sensor. 5. If more than one sensor is online and a different Origin Reference Sensor is desired, then select the <SENSOR SELECT> screen button at the bottom of the page – that button starts flashing. 6. Select the sensor screen button for the new Origin Reference Sensor. 7. To cancel the Origin Reference Sensor selection process, select the <SENSOR SELECT> screen button again. Refer to Section 4.23.5 for a detailed explanation of the Origin Reference Sensor. 7-42 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.9.5.1 Relocating the Origin Reference Sensor’s Origin Operators may relocate the Origin Reference Sensor’s coordinate origin by entering offsets. # Example 1 – Operators can move the 0,0 point for the grid shown on the Deviation Display and the CHART PAGE. # Example 2 – If a beacon is selected as the Origin Reference Sensor, and it is mounted 2 meters North and 3 meters West of the wellhead, but the wellhead is the desired origin, simply enter a North Offset of -2 and an East Offset of 3. Perform the following steps to move this origin: 1. Select the <North Offset> button. 2. The Pop-Up Keypad appears. 3. Enter the desired offset. A positive number moves the origin to the north. A negative number moves it south. 4. Select the <OK> button. 5. Repeat steps 1-4 for the EAST OFFSET button. A positive number moves the origin to the east. A negative number moves it west. 7.9.6 Charting Position Reference Sensor Data The DP System plots position reference sensors on the CHART PAGE, as displayed on Figure 7-16. When the online position reference sensors are not experiencing drift, the symbols for these sensors are superimposed upon one another, as they are all biased to the Origin Reference Sensor. If any sensor does begin to drift, its symbol moves away from the others. Perform the following to plot the biased position reference sensors: 1. Open CHART PAGE, Figure 7-16. 2. Select the SENS DISP (Sensor Display) button so the sensors show on the page. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-43 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Figure 7-16. Chart Page – Sens Disp Button 7.9.7 Position Reference Sensor Symbols The following symbols appear when plotting Position Reference Sensors on the CHART PAGE. The subtext “1” may be replaced by any number of sensors. Symbol Position Reference Sensor C1 CyScan D1 DGPS FB FanBeam 10 Hydroacoustic Baseline 11 Hydroacoustic Beacon T 1 7-44 Taut Wire Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.10 PROPULSION DROP-DOWN MENU Perform the following to access the PROPULSION Menu Screens: 1. Select PROPULSION on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following Displays Pages are accessed through this drop-down menu: ¾ Thruster Page 1 – See Figure 7-17 ¾ Thruster Page 2 – See Figure 7-24 ¾ Power Page 1 – See Figure 7-25 ¾ Power Page 2 – See Figure 7-26 ¾ Power Page 3 – See Figure 7-28 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-45 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.11 THRUSTER PAGE 1 A typical THRUSTER PAGE 1, Figure 7-17, consists of the following Icons, Indicators, and Sections: ¾ Thruster Icons (Azimuthing or Tunnel) ¾ Rudder Icons ¾ Thrust Allocation Logic (TAL) Circle ¾ Text Boxes (Thruster & Rudder) ¾ TAL Circle ¾ Requested and Total Forces % ) Note – Due to varying thruster configurations the vessel’s DP System may or may not feature all of the icons, indicators, and sections discussed in this section. Azimuthing Thruster Icon Text Boxes TAL Circle Requested and Total Forces % Section Figure 7-17. Typical Thruster Page The following sections describe the areas of displayed information on a typical THRUSTER Page. 7-46 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.11.1 Azimuthing Thruster Icon Azimuthing Thruster Icon, Figure 7-18, displays the direction and level of thrust, and are divided into the following sections: 3 1 2 Figure 7-18. Azimuthing Thruster Icons 1. 2. 3. 7.11.2 Indicates the measured level and direction of thrust. The triangular head represents the thrust direction that thruster is pushing the vessel. The rectangular section fills with yellow color as the feedback thrust increases. Indicates the instantaneous commanded thrust level and direction. The triangular head represents the commanded thrust direction the DP System is commanding the thruster to push the vessel. The rectangular section fills with light blue color as the commanded thrust increases. Represents anti-spoil zones used to protect hydrophones, and other thrusters. The DP System automatically attempts to keep the azimuthing thrusters from directing thrust in these brown areas. Tunnel Thruster Icons Tunnel Thruster Icons, Figure 7-19, indicate the direction and level of thrust. The split yellow bar represents the measured (feedback) thrust level. Its length is proportional to the measured thrust level. The centered light blue bar represents the commanded thrust level. Its length is proportional to the commanded thrust level. When a thrust indicator bar moves from the center of the icon to the right, it indicates starboard thrust. This will be reverse on an aft-facing console. When a thrust indicator bar moves from the center of the icon to the left, it indicates port thrust. This will be reverse on an aft-facing console. Figure 7-19. Typical Tunnel Thruster Icon Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-47 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.11.3 Thrust Allocation Logic (TAL) Circle The TAL Circle, Figure 7-20, located in the center of the display page, indicates the net commanded and measured force/moment values for all online thrusters. Refer to Section 4.25 for more information on the TAL processing scheme. 3 4 2 1 Figure 7-20. TAL Circle 1. Arrow-topped rectangle indicates the Net Commanded Direction for positional thrust, the direction the TAL has ordered the combined thrusters to push the vessel in order to satisfy surge and sway commands. The rectangular section fills with blue color as the commanded level of thrust increases, becoming solid blue if the Net Thruster Command reaches 100% of maximum. 2. Arrow-topped rectangle indicates the net measured (achieved, feedback) direction for positional thrust (surge and sway). The rectangular section fills with yellow color as the measured level of thrust increases. 3. Light blue band along the inside of the circle represents the net commanded moment designed to satisfy the yaw requirements. The band grows in size as the net commanded moment increases. It reaches ¼ of the way around the TAL circle if the commanded moment equals 100% of maximum. 4. Yellow band along the inside of the circle represents the net measured (achieved, feedback) moment. The band grows in size as the net measured moment increases. It reaches ¼ of the way around the TAL circle if the net measured moment equals 100% of maximum 7-48 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.11.4 Rudder Icons Rudder Icons, Figure 7-21, indicate the commanded and actual degrees of angle of the Port (left) and Starboard (right) rudders. Figure 7-21. Rudder Icons The yellow teardrop represents measured (feedback) rudder degree angle and direction. The light blue triangle represents commanded rudder degree angle and direction. When the yellow and light blue icons are aligned, the measured and commanded rudder degree and direction are the same. The red arc is port and the green arc is starboard. The icon forward of the rudder is the main prop. That icon works the same as a tunnel thruster icon, which is described above. 7.11.5 Text Box – Thruster and Rudder A Text Box, Figure 7-22, is generated for each icon. All text boxes display one or more of the following abbreviations: ¾ OFF – offline from the DP System. ¾ MAN – in MANUAL mode. ¾ AUTO – in AUTOMATIC mode. ¾ NRDY – Not Ready to respond. ¾ CMPR – Measured thrust level or azimuth does not agree with commanded thrust level or azimuth. ¾ LEVL – Measured thrust exceeds THRUST ALARM level, entered on SETUP PAGE 3. The yellow numbers represent the measured (feedback) thrust level. The light blue numbers represent the commanded thrust level. When the yellow and light blue numbers are the same, the measured and commanded thrust levels are equal. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-49 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Figure 7-22. Text Box - Thruster and Rudder 7.11.6 Forces % Requested and Total Forces % displays the components of the surge (F/A) and sway (P/S) control forces, as well as the yaw control moment, which are allocated to the online thrusters. The figures represent percentages of maximum thrust. Many of these readings are derived from the automatic control loop. Refer to Section 4.22, DP System Control Loop, for more information on this process. 7.11.6.1 Requested Forces % ¾ ¾ ¾ 7-50 Jstk - Sum of all forces commanded by the <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>, plus any integral (bias) terms acquired when switching from Automatic to Manual mode. Refer to Section 9.4 for more information on the transfer of integral terms. Wind - Displays commanded forces resulting from the ACTIVE WIND COMPENSATION (AWC) function. Refer to Section 4.29.8 for more information on AWC. Envr - The Integral terms of the commanded forces and moments resulting from the NMS6000 DP System Control Loop, which compensate for environmental conditions (minus wind if AWC is active) and other unknowable errors. Refer to Section 4.22 for more information on the NMS6000 DP System Control Loop. ¾ Ctrl - The “Derivative” and “Proportional” terms of the commanded forces and moments resulting from the NMS6000 DP System Automatic Control Loop. Refer to Section 4.22 for more information on the NMS6000 DP System Control Loop. ¾ CutBk - When commanded forces in the “Jstk,” “Wind,” “Envr,” and “Ctrl” columns exceed the available thrust, the “CutBk” column indicates the unmet percentage. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.11.6.2 7.11.7 Total Forces % ¾ Reqst - Sum of all other columns in the Force Summary section, except the “CutBk” forces. Therefore, this column indicates the sum of the commanded thruster forces before any cutbacks occur. ¾ Achvd - Displays the sum of the measured thruster forces. These figures are derived from the TAL Inverse routine. DP System Thruster Modes Operators can place the vessel’s thrusters and rudders in any of the following modes: Manual Auto Off ¾ ¾ ¾ 7.11.7.1 Manual The DP System permits operators to enter manual commands for each thruster on the THRUSTER PAGE. When operators place any thruster in MANUAL mode, the DP System sends these commands to that thruster. ) Note - Thrusters in MANUAL mode will not respond to the <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>. 7.11.7.2 Auto The DP System controls thruster azimuth and force to meet the heading and position setpoints. ) Note - Thrusters in AUTO mode respond to the <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>, unless the vessel is placed in one of the control modes. 7.11.7.3 Off The DP System does not issue any commands to thrusters in OFF mode. ) Note - When operators are in an automatic control mode, the DP System will not allow them to reduce the number of thrusters in AUTO mode below two. 7.11.8 Thruster Mode/Command Selection Operators may place a thruster in the appropriate mode and set the manual command and azimuth levels from the THRUSTER PAGE by performing the following: 1. Open the THRUSTER PAGE. 2. Select the desired thruster icon. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-51 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 3. The following selected thruster dialog pop-up, Figure 7-23, appears: Figure 7-23. Typical Thruster Pop-Up Dialog Box 4. Select the AUTO, MAN, or OFF button. 5. When AUTO or OFF is selected, the operator may select either <BOTH>, NEG ONLY OR POS ONLY, then select ACCEPT button to place thruster in the desired mode. Selecting NEG ONLY OR POS ONLY allows the selected thruster to act in the Negative or Positive force only. Selecting BOTH allows the selected thruster to act in both forces. When MAN is selected, the MANUAL COMMAND data entry field changes from gray to white. Select this field and use the Data Entry Keypad to enter the desired settings. Select the ACCEPT button to place the thruster in MANUAL mode. Select the CANCEL button to exit the THRUSTER dialog box without changing any thruster settings or modes. 6. 7. 7.11.9 Thrust Allocation Logic (TAL) Thrust Allocation Logic (TAL) starts with the desired surge, sway, and yaw commands for the vessel, and then calculates individual thrust commands for each thruster. The TAL determines how many thrusters are actually ready, and makes its allocations based on these inputs. Based on thruster capacities and mounting locations, the “pinwheel moment” TAL computes commands for each thruster which simultaneously minimizes total power, and when taken together, provide the surge/sway force and yaw moment requirements. In addition to the allocation of thrust commands, the routine calculates alarm and status conditions if inadequate propulsion is available in either surge, sway or yaw. 7.12 THRUSTER PAGE 2 A typical THRUSTER PAGE 2, Figure 7-24, displays numeric and textual data on the status of each thruster. THRUST PAGE 2 also allows operators to set thrust levels and rudders, which the DP System uses when the selected thruster is placed in MANUAL mode. 7-52 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Figure 7-24. Typical Thrust Page 2 The following sections describe the areas of tabular data on the THRUSTER PAGE 2 screen page. 7.12.1 Status Displays the current status of the thruster: Rdy if ready or NRdy if not ready. These readings are based on the status of the thruster interface. Additional status information such as Rqst or On, may also be indicated, depending on the particulars of the vessel’s thruster interface. 7.12.2 Mode Indicates the control mode of the thruster: OFF, AUTO, or MANUAL. 7.12.3 Manual CMND % Indicates the current commanded RPM for each thruster. The Manual Command selection button permits the operator to set the thrust level for each propulsor operating in Manual mode only. The operator activates the pop-up keypad for data entry by pressing on the associated Touch Screen button in this section. The desired commanded value is then entered on the pop-up keypad and entered by touching the ENTER button on the keypad. The manual thrust level can also be set by touching the appropriate propulsor icon on Thrust Page 1. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-53 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.12.4 Pitch Cmndº Indicates the commanded degrees of the thruster pitch. 7.12.5 Pitch Fdbkº Indicates the actual measured, or feedback, degrees of the thruster pitch. 7.12.6 Cmnd % Indicates the current commanded force level for each thruster, as a percentage of maximum. 7.12.7 Fdbk % Indicates the current measured, or feedback, force level for each thruster, as a percentage of maximum. 7.12.8 Rud (Rudder) Cmndº Indicates the commanded degrees (0-35) of the manual rudders. 7.12.9 Rud (Rudder) Fdbkº Indicates the actual measured, or feedback, degrees (0-35), of the manual rudders. 7.12.10 Thruster Alarm The Thruster Alarm field displays appropriate text abbreviations to indicate the following alarm conditions: NRDY – Thruster is not ready to respond. LEVEL – Measured thrust exceeds THRUST ALARM level, as entered on SETUP PAGE 3. See Section 7.4.4.3. This feature additionally tracks the port and stbd rudder command and feedback degrees preset alarm level. CMPR (Compare) – Measured thrust level does not agree with commanded. This alarm is triggered when the difference between the measured and commanded levels exceeds the Thrust Compare percentage, as entered on SETUP PAGE 3. See Section 7.4.4.1. 7.12.11 Rud (Rudder) Alarm The Rud Alarms field displays appropriate text abbreviations to indicate the following alarm conditions: CMPR – Measured rudder degree level does not agree with commanded. This alarm is triggered when the difference between the measured and commanded levels exceeds the Rudder Compare degrees, as entered on SETUP PAGE 3. See Section 7.4.4.2. 7-54 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.13 POWER PAGE 1 The following sections describe the screen symbols usually found on the typical Power Page 1: Generators/Breakers display page, Figure 7-25. Figure 7-25. Power Page 1- Generators and Breakers Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-55 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.13.1 Generator Readings and Icons The numeric readings display the output of the generator in kilowatts (kW). The individual generator icons fill with yellow color as they approach 100% of their capacity. The horizontal red line represents the generator alarm level, configured on SETUP PAGE 2. 7.13.2 Closed Circuit Breaker Icons These yellow or red symbols represent closed circuit breakers. 7.13.3 Open Circuit Breaker Icon This green symbol represents an open circuit breaker. The graphic picture on the right shows an example of an open circuit breaker (to 6A) and a closed circuit breaker (to 6B). 7.13.4 Bus Lines A recessed yellow line indicates a hot bus. 7.13.5 Thruster Icons These symbols indicate thrusters. 7-56 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.14 POWER PAGE 2: KW LOADING Depending on the status of the breakers, operators may view a different number of bar graphs (one bar graph per bus). Figure 7-26 displays an example of POWER PAGE 2: kW Loading when the buses are split. All numbers, other than the bus number, are in kW (kilowatts). Figure 7-26. Power Page 2: kW Loading 7.14.1 Bus This is the bus number that coincides with bar graphs and columns on this page. 7.14.2 Online Rated Capacity Total Online Rated Capacity (ORC) of the electrical generator(s) tied to that particular bus. 7.14.3 Total Load Feedback The Total Load Feedback (TLF) is the total measured power load on the bus, including DP thrust commands, thruster biasing, drilling, and Hotel Load. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-57 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.14.4 Power Limiting When the buses are split, the system performs POWER LIMITING calculations for each bus individually. When the buses are tied, it performs the calculations for the single bus. See Table 7-1 below. The following four sections are the basic concepts that apply to POWER LIMITING: 7.14.4.1 Upper Power Limit (UPL) The UPL represents the maximum power that can be used by the DP System for propulsion. This is the kilowatt “ceiling” used by the DP System when calculating thrust commands. When a power limit signal from a Power Management System (PMS) is available, then that is used as the UPL. Otherwise, the UPL is equal to the Online Rated Capacity minus the higher of the Drilling/Hotel Load or Reserve kW. See Section 7.3.3.2 for Reserve kW. The system calculates the Hotel Load by subtracting the estimated thruster feedback power from the Total Load Feedback. 7.14.4.2 Lower Power Limit (LPL) The purpose of the Lower Power Limit is to prevent sudden increases in DP propulsion when in HOLD HEADING and HOLD POSITION modes. The DP Operator is notified by an alarm in the event of a sudden increase in propulsion command. The Operating Power Limit (see below) is either held to the LPL or released to the UPL depending on whether Power Limit Sustain (PLS) is enabled or not (respectively). The following two scenarios, and Figure 7-27, illustrate power limiting. ¾ When PLS is enabled, and the propulsion command request suddenly increases, the propulsion command is held to the LPL and an alarm is generated. DP Power Cutback engages until the LPL ramps up slowly to match the propulsion command request. The LPL continues to ramp up until the Lower Limit Margin is satisfied. See Section 7.3.3.1 for Lower Limit Margin. ¾ When PLS is NOT enabled, and the propulsion command request suddenly increases, the propulsion command is held to the LPL and an alarm is generated. DP Power Cutback engages for ten seconds, then the Operating Power Limit (OPL, see below) is released to the UPL. The ten seconds of power cutback is meant to give the DP Operator time to react to the situation, and enable PLS if desired, before the OPL is released to the UPL. The OPL stays at the UPL until the propulsion command request falls below the LPL. The OPL then reverts back to the LPL. The LPL is calculated by averaging the thruster power requirements (i.e. feedback) over a period of approximately one minute, then multiplying that by the LOWER LIMIT MARGIN, entered on SETUP PAGE 2, see Section 7.3.3.1. Since the system constantly recalculates the LPL, it most closely follows the vessel’s actual power requirements. 7-58 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.14.4.3 Operating Power Limit (OPL) The Operating Power Limit is the power available for propulsion and is always equal to either the LPL or the UPL. The OPL is set to the LPL when the DP System is in HOLD HEADING and HOLD POSITION, and POWER LIMIT SUSTAIN is enabled. The OPL is released to the UPL when: ¾ The DP System is switched to manual JSTK mode for any control axis – surge, sway or yaw. (This allows the DP to react immediately to manual commands in the event of an emergency.) ¾ After ten seconds of sustained DP Power Cutback (see below), if Power Limit Sustain is not enabled, and if the vessel is in full automatic DP mode 7.14.4.4 Power Limit Sustain Enabling Power Limit Sustain sets the Operating Power Limit to the Lower Power Limit. This sustained limiting does not mean the thrusters are held to one power setting. The LPL can in fact “ramp up” slowly until it equals the UPL. The Power Limit Sustain button is on Mode Function Page, Figure 7-7. 7.14.5 Propulsion Command Commanded propulsion kW 7.14.6 Hotel Load This is all power consumption associated with non-DP vessel operations. The system calculates the Hotel Load by subtracting the total propulsion thruster feedback from the Total Load Feedback mentioned above. 7.14.7 DP Power Cutback This is the difference between the requested propulsion command and the actual limited propulsion command. Online Rated Capacity (ORC) Total capacity of all online generators on a bus Total Load Feedback (TLF) Total kW load on a bus Upper Power Limit (UPL) ORC minus higher of Drilling/Hotel Load or Reserve kW. See Section 7.3.3.2 for Reserve kW. Lower Power Limit (LPL) Propulsion Command (filtered) multiplied by (one plus LLM/100). See Section 7.3.3.1 for LLM (Lower Limit Margin). Hotel Load TLF minus total thruster feedback Table 7-1. Power Limiting Term Calculations Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-59 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Power Power Limit Sustain is NOT Enabled Upper Power Limit (UPL) Event + 10 Seconds: "OPL Released to UPL" Event Alarm: "Req Thrust Exceeds OPL" When Prop Cmd crosses below LPL, then OPL = LPL Lower Power Limit (LPL) Lower Limit Margin DP Power Cutback until OPL is released to UPL Propulsion Cmd Avg Propulsion Command Operating Power Limit = LPL Time OPL = UPL OPL = LPL Power Limit Sustain is Enabled Power Upper Power Limit (UPL) Event Alarm: "Req Thrust Exceeds OPL" Propulsion Cmd crosses below LPL Lower Power Limit (LPL) Lower Limit Margin DP Power Cutback until Prop Cmd crosses below LPL Propulsion Cmd Avg Propulsion Command Operating Power Limit = LPL Time Figure 7-27. Power Limit Sustain 7-60 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.15 POWER PAGE 3 The POWER PAGE 3: kW TRENDING page generates trend graphs for the Online Rated Capacity (Total Capacity), Operating Power Limit, and Propulsion Command (see previous section). Figure 7-28 displays POWER PAGE 3 when the buses are split. If the buses are tied, then there is a single graph. The units of measure are as follows: ¾ Vertical Axis = kilowatts ¾ Horizontal Axis = minutes. Figure 7-28. Power Page 3. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-61 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.16 PLOT IO DROP-DOWN MENU Perform the following to access the PLOT IO Menu Screens: 1. Select PLOT IO on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following Displays Pages are accessed through this drop-down menu: ¾ Plot Page 1, 2 & 3 – Not Shown Here, See Figure 7-29 ¾ Signal I/O Page 1: Analog – Not Shown Here, See Figure 7-31 ¾ Signal I/O Page 2: Digital – Not Shown Here, See Figure 7-32 ¾ Signal I/O Page 3: Serial – Not Shown Here, See Figure 7-33 7.17 PLOT PAGE There are three Plot pages available. Parameters are shown in the Display Units selected on Setup Page 1 despite their native metric units within the DP program. 7.17.1 Plot Page: Parameter Plots PLOT PAGE 1/2/3: PARAMETER PLOTS Page, Figure 7-29, provides strip chart-style plots of certain system parameters. There are multiple parameter pages available, each with four plot fields, allowing four program parameters to be plotted concurrently on each User Interface or Extended User Interface monitor. The time scale per division (small tick mark) for all plot fields on a given system monitor is displayed at 7-62 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES the top of the plot page in the right hand corner (upper case M represents large tick marks, lower case m represents small tick marks). The DP program will automatically calculate the total amount of time represented as the Full Scale Time shown in the upper right corner of the page. If the time scale is changed, all plots will be redrawn and the page will attempt to show as much of the already-collected data as is appropriate for the new time scale. The operator-selectable program parameters available for plotting are accessed via a pop-up dialog box, which is invoked by left-clicking in the black area of that parameter. The operator will be allowed to scroll through the list pages forward and backward, until a parameter is selected through a button press or the entry is canceled. Figure 7-29. Typical Plot Page The scale and bias of the plot are determined by the Min and Max value settings. The maximum value to be plotted must always be set higher than the minimum value. If the operator tries to set a new minimum value that is higher than the existing maximum value, the existing maximum value will be automatically adjusted higher to allow the new entry to be valid. Similarly, the minimum value will be automatically adjusted if a new maximum value is lower than the minimum. The vertical scale will be broken into between three and five sections, depending on the scale of the plot selected by the operator. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-63 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES If Mark is selected, a red line will be inserted at that time into all plot fields for that monitor’s plot fields. This allows the operator to see the effects of changes without having to remember the exact time frames of the changes. Selecting the PLOT screen button on the Toolbar, brings up the Plot Pages for operator use. Operators may select the parameter to plot, perform Y-axis scaling and automatic units conversion, by double touching or placing the cursor in the black plot area and left clicking. This action prompts the Point Configuration pop-up, Figure 7-30, to appear. Figure 7-30. Point Configuration Pop-up Once the Point Configuration pop-up appears, perform the following to select a parameter to plot: 7-64 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 1. Place cursor and left click to select and highlight a configuration point # Example – 2. Enter a MAX and MIN numeric value and left-click on OK 3. Select a new X-axis scaling, (update rate), by left-clicking on the 1 SEC (number may vary) button on Plot Page 1. The total elapsed time displayed on the plot is indicated at the upper right of the page. 7.17.1.1 Freeze Display Pressing the FREEZE DISPLAY switch causes the data on the screen display to remain fixed, allowing the operator to inspect pertinent data at a fixed point in time. The system will continue to update and adjust vessel position as normal even with the display frozen. A second press of the FREEZE DISPLAY switch cancels the Freeze Display mode. When activated, a red FREEZE DISPLAY message flashes in the menu bar of the display, the FREEZE DISPLAY switch lamp flashes, and a low-pitched audible tone is activated as a reminder that this selection prevents the operator from viewing the present control performance. This mode should be utilized only for short periods of time. To cancel the screen freeze, press the FREEZE DISPLAY switch a second time. The data display will return to normal. 7.18 SIGNAL INPUT/OUTPUT PAGES There are three Signal I/O Pages, under the Plot menu, two of which have multiple pages that can be scrolled through. Signal I/O Page 1 shows Analog input and output values to and from the PLCs. Signal I/O Page 2 shows Digital input and output values to and from the PLCs. Signal I/O Page 3 shows Serial Communications messages. When the given data is meant to be interpreted as a string of printable characters, it is displayed as ASCII text. Carriage return and line feed characters appear as left-pointing and down-pointing blue arrows, respectively. Other unprintable characters appear as red blocks. If the data being transmitted or received is “binary,” it is displayed in hexadecimal format. Two “numbers,” 0 through F, represent a base-16 value for each byte, with a space between consecutive bytes. These screens display data from a program cycle only for the duration of the cycle, then clear it allowing presentation of the next group of information. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-65 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.18.1 Signal I/O Page 1 – Analog Communications Figure 7-31 shows the various input and output values for PLC analog elements, along with a description of the function of the I/O point. Commanded output values are shown in light blue and input feedback values are shown in yellow. Outputs from Backup systems are shown in dark blue, but are not used by the DP system. Only the signals from the Master are used. The “Address” column on the left contain internal PLC addresses and are not relevant to the DPO. These values are used by the analyst during commissioning and seatrials tuning. Analyst-relevant information and are of no concern to the DP operator. The Description column defines the relevant equipment and function of each I/O signal. Figure 7-31. Signal I/O Page 1 – Analog Communications The Values field shows the scaled engineering units being read in or sent out by the PLC. The Counts field shows the digital equivalent representation of this signal in counts in the PLC. The operator can scroll up and down through the entire list using the arrow keys or the scroll bar located immediately to the right of the I/O list. 7-66 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.18.2 Signal I/O Page 2 – Digital Communications Figure 7-32 shows the various input and output values for PLC digital elements, along with a description of the function of the I/O points. Output values are shown in light blue and input values are shown in yellow, consistent with the DP command/feedback color scheme. Outputs from Backup systems are shown in dark blue, but are not used by the DP system. Only the signals from the Master are used. The “Address” column on the left contain internal PLC addresses and are not relevant to the DPO. These values are used by the analyst during commissioning and seatrials tuning. Analyst-relevant information and are of no concern to the DP operator. The Description column defines the relevant equipment and function of each I/O signal. The Value field shows the actual digital states read in or sent out by the PLC. Digital points show either “True” (on, closed) or “False” (off, open). The operator can scroll up and down through the entire list using the arrow keys or the scroll bar located immediately to the right of the I/O list. Figure 7-32. Signal I/O Page 2 – Digital Communications Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-67 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.18.3 Signal I/O Page 3 – Serial Communications The SIGNAL I/O PAGE 3: SERIAL COMMUNICATIONS Page presents information from various serial communication connections. Refer to Figure 7-33. Figure 7-33. Signal I/O Page 3: Serial Communications When the given data is meant to be interpreted as a string of printable characters, it is displayed as ASCII text. Carriage return and line feed characters appear as left-pointing and down-pointing blue arrows, respectively. Other unprintable characters appear as red blocks. If the data being transmitted or received is “binary,” it is displayed in hexadecimal format. Two “numbers,” 0 through F, represent a base-16 value for each byte, with a space between consecutive bytes. These screens display data from a program cycle only for the duration of the cycle, then clear it allowing presentation of the next group of information. 7-68 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.19 CHART TRACK DROP-DOWN MENU Perform the following to access the CHART TRACK Menu Screens: 1. Select CHART TRACK on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following Displays Pages are accessed through this drop-down menu: ¾ Holding Plot Page – See Figure 7-34 ¾ Chart – See Figure 7-35 ¾ Track Operation – See Figure 7-39 ¾ Waypoint – See Figure 7-42 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-69 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.20 HOLDING CAPABILITY PLOT The Holding Capability (Holding Plot) page, Figure 7-34, displays a graphical representation of the percentage of available thrust required to hold station at any given heading. By viewing this page, the DP operator can tell what the optimum heading would be in order to use the least amount of thrust. Environmental forces of current speed and direction, and wind speed and direction, and the amount and power of available online thrusters are all factored into the Holding Capability plot. The vessel outline is shown at the center of the plot and is always facing toward the top of the display. The concentric rings, starting at the center and moving out from the vessel, represent the percentage (i.e. 20% to 100%) of available thrust. The tick marks and degree callouts around the outer circle represent compass headings. DP operators use the Mode button to switch from Actual to Hypothetical modes. In Hypothetical mode, the operator may enter the environmental factors of Current and Wind. The letters HC and HW appear outside the circle and indicate the direction from which the Hypothetical Current and Wind are coming. In Actual mode, the relevant sensors report those environmental factors. The letters TC and TW appear outside the circle and indicate the direction from which the True Current and Wind are coming. The holding plot appears as a yellow line. This yellow line indicates the percentage of thrust required, from the highest-loaded online thruster, to hold station at any given heading. The holding plot size and shape changes based on variations in wind, current, and online thruster availability. The DP operator may increase the amount of available thrust by bringing more thrusters online. The yellow plot line is drawn in towards the vessel at two points. These points represent the headings from which the environmental forces have the most impact on the vessel. The least amount of thrust will be required to hold station when the vessel’s heading is aligned with these points. In the example below the DP operator must set the heading to either 45º or 225º to use the least amount of thrust to hold station. If the heading was set to 30º, for example, then 20% of thruster power would be required. This is shown where the yellow plot line intersects the 30º heading line at the 20% ring. Or if the heading was set to 0º, thrust power would be closer to 60%. The Holding Capability plot is sometimes referred to as a “Butterfly Plot”. As seen in the example below, when the vessel is set to the optimum heading the holding plot lines appear to be butterfly wings on the body of the vessel. 7-70 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Figure 7-34. Holding Capability Plot Perform the following to determine the amount of thrust required to hold station: Find the heading along the outer circle Trace directly toward the center of the circle Find the spot where the heading line intersects the yellow holding plot Count the number of circles between this point and the center point. Each circle represents 20% of available power The following sections describe the information displayed on HOLDING CAPABILITY Page. 1. 2. 3. 4. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-71 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.20.1 Mode Mode - Actual or Hypothetical, changes the base-line holding plot data according to the following: ¾ In Actual mode, the display generates a holding plot based on the current thruster status, current speed/direction, and wind speed/direction. ¾ In Hypothetical mode, operators can observe how new thruster conditions, a different current speed/direction, and/or a different wind speed/direction would affect the system’s ability to hold station. 7.20.2 Thrusters/Rudders o Green indicates an online thruster/rudder. o Gray represents an offline thruster/rudder. o Red indicates a faulted thruster/rudder. 7.20.3 Current & Wind ¾ Speed (kts) - displays the measured current/wind speed in Actual mode or the user-defined data in Hypothetical mode. ¾ Dir. (True) – displays the measured current/wind direction in Actual mode or the user-defined data in Hypothetical mode. HC – Hypothetical Current is coming from this direction. HW – Hypothetical Wind is coming from this direction. TC – True Current is coming from this direction. TW – True Wind is coming from this direction. 7-72 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.21 CHART PAGE The CHART PAGE presents an overview of important vessel control and tracking information. The top right corner of the page displays the current display units. Touching/left-clicking the CHART Button on the CHART/SUMMARY drop-down menu calls up the CHART PAGE. ) Note – The top of the CHART PAGE always represents north. Figure 7-35. Chart Page The following sections describe the control and configuration buttons on CHART PAGE. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-73 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.21.1 Pan and Zoom Control Buttons Pan and Zoom Control Buttons, Figure 7-36, move the view-port of the CHART PAGE and change its scale. Figure 7-36. Pan and Zoom Control Buttons ¾ Select the ARROW buttons to pan up, down, left, and right. ¾ Select the Plus (+) button to zoom in on the display. ¾ Select the Negative (-) button to zoom out. ) Note - When operators zoom out to where the ship icon would disappear if held to its true scale, the screen displays the message – Ship Not To Scale 7.21.2 Configuration Buttons The Configuration Buttons affect the appearance and behavior of CHART PAGE. A button has been selected when it appears to be recessed, like the FOLLOW SHIP, NORTH/EAST, and SENS DISP buttons in Figure 7-37. Figure 7-37. Configuration Buttons 7.21.2.1 Ship Focus Select SHIP FOCUS to center the CHART PAGE on the vessel icon. 7.21.2.2 Follow Ship FOLLOW SHIP allows the display to adjust continuously to keep the vessel icon inside the viewing area. 7.21.2.3 No Grid NO GRID removes all grid lines. 7.21.2.4 Lat/Lon Selecting LAT/LON allows viewing of the latitude and longitude grid lines. 7.21.2.5 North/East Selecting NORTH/EAST allows viewing of the North/South and East/West grid lines. 7.21.2.6 Sens Disp SENS DISP enables and plots the position reference sensors. 7-74 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.21.2.7 Vessel Trail VESSEL TRAIL generates a series of green dots representing the vessel’s movements. When operators replace the CHART PAGE with another display screen, Vessel Trail automatically clears. 7.21.2.8 Clear Trail Clear Trail erases the green dot trail generated by the Vessel Trail command mentioned above. 7.21.2.9 Track Disp The TRACK DISP button displays and plots the active track and waypoints on the Chart Page, Figure 7-38. The three waypoints shown in the figure to the left represent the starting point (the large magenta X labeled “0”), the trackpoint (the large magenta X near the vessel), and the goal waypoint (the small magenta X labeled “1”). The trackpoint (see “instantaneous setpoint”) moves along the track from the previous waypoint to the next waypoint; the vessel follows the trackpoint. See Section 4.1, DP System Terminology, and Section 4.26, Setpoint Select, for an explanation of “instantaneous setpoint”. ... Figure 7-38. Low Speed Track Follow – Track and Waypoints (two examples) ) Note - The track, Figure 7-38, is drawn as a solid magenta line with the active or current leg indicated by a thicker line. The waypoints are marked with small magenta “x” symbols and waypoint numbers. Dotted magenta lines are drawn from the tangential points of the turn radius to the waypoints. The each end of the track and the trackpoint are marked with large magenta “X” symbol. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-75 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.21.3 Chart Page Symbols CHART PAGE incorporates the following symbolic abbreviations: 7.21.3.1 Force/Motion Vectors Force/Motion Vectors arrow lengths are proportional to the respective thrust levels; see Figure 7-38. A light blue arrow, originating from the center of the vessel icon, indicates commanded surge and/or sway thrust. A yellow arrow, originating from the center of the vessel icon, indicates measured surge and/or sway thrust. A curved light blue arrow, originating near the bow of the vessel icon, indicates commanded yaw thrust. A curved yellow arrow, originating near the bow of the vessel icon, indicates measured yaw thrust. 7.21.3.2 Red and Yellow Alert Circles Red and Yellow alert circles are displayed when the DP System is in HOLD POSITION. 7.21.3.3 Position Reference Sensor Symbols See Section 7.9.7, Position Reference Sensor Symbols. 7.22 TRACK OPERATION PAGE The TRACK OPERATION Page, Figure 7-39, presents an overview of vessel position tracking information. The top right corner of the page shows the current Display Units. The rest of the page is organized into the following distinct sections: 7-76 ¾ Track Control Summary ¾ Track Offsets ¾ Track Settings Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES Figure 7-39. Track Operation The sections that follow describe the control and configuration buttons on the TRACK OPERATION Page. See Section 8.6, Track Follow, for instructions on operating the Track Follow mode. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-77 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.22.1 7.22.1.1 Track Control Summary LSTF/HSTF Indicates current status of the Track Follow mode, LSTF or HSTF and: ¾ Tracking ¾ At Waypoint ¾ Idle Target Speed indicates the goal speed setpoint. This may be programmed into each Waypoint or set by the <USER SPEED> button on the TRACK OPERATION Page. See 7.22.3.3, Speed Mode, for operation. Distance To Go displays the total distance the vessel must travel along the track before arriving at the end of the track. 7.22.1.2 Leg The Leg numbers within the brackets [WP0 - WP1] correspond to the beginning and ending waypoint numbers for the active leg. Bearing displays the orientation of the active leg. Next is the bearing of the next leg. 7-78 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.22.1.3 Goal stpt (LSTF) Goal Setpoint consists of the goal heading setpoint (Heading) and the actual position setpoints, where North & East are measured from origin, and Along & Cross are measured from track. 7.22.1.4 • North – North/South distance from Goal stpt to origin • East – East/West distance from Goal stpt to origin • Along – distance along the track between the trackpoint and a point on the track that is perpendicular to the vessel’s actual location (displays deviation only). • Cross – shortest distance measured from the track to the vessel’s actual location (displays deviation only). Vessel (LSTF) Displays the vessel’s actual position relative to the origin. 7.22.1.5 Deviation (LSTF) Displays the difference between the goal setpoint (trackpoint location) and the actual vessel position. 7.22.1.6 Bearing To (HSTF) Displays the bearing to the next waypoint. 7.22.1.7 Distance To (HSTF) Displays the distance to: ¾ Waypoint – the next waypoint ¾ WOP (Wheel Over Point) – the point on the track where the vessel deviates from the current leg and starts into a turn (following the turning radius). This point occurs prior to the tangent point of the turning radius. ¾ WCP (Wheel Center Point) – the point on the turning radius where the vessel comes out of the turn and then attaches to the next leg. This point occurs prior to the tangent point on the next leg. See Section 7.23.7.3.1 for an explanation of the turning radius. 7.22.1.8 Time To (HSTF) Displays the time that will elapse until the WOP or WCP. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-79 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.22.2 Track Offsets The Track Offset is a user-defined distance, added to or subtracted from, the actual goal setpoints defined in the track. Track Offsets are available in LSTF only, not in HSTF. 7.22.2.1 Heading The operator-entered Heading track offset is a specific number of degrees, added to or subtracted from, the track heading (a positive number measures clockwise, a negative number measures counterclockwise). 7.22.2.2 North/East The operator-entered North/East waypoint offset. Each waypoint is offset the same distance, as illustrated in Figure 7-40 (positive numbers measure North & East; negative numbers measure South & West). Offset Track Offset track Original track Original Track Figure 7-40. North/East Track Offset 7.22.2.3 Cross The operator-entered Cross track offset. Each leg is offset the same distance, as illustrated in Figure 7-41 (a positive number measures stbd, a negative number measures port). Offset Track O ffs et tr ac k O rig in a l tra c k Original Track Figure 7-41. Cross Track Offset 7-80 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.22.3 Track Settings Track Settings allow the DP operator to edit parameters for direction, heading and speed. When Track Follow mode is active, these buttons are disabled. 7.22.3.1 Mode/Direction 7.22.3.1.1 MODE ¾ Low Spd = Low Speed Track Follow (LSTF) ¾ Hi Spd = High Speed Track Follow (HSTF) See Section 8.6.1, Speed Control for Track Follow, for an explanation of the difference between these two modes. 7.22.3.1.2 DIRECTION ¾ REV & FWD (Reverse and Forward) buttons control the vessel’s direction along the track. • REV – trackpoint progresses towards decreasing waypoint numbers. Note: when in reverse, the Target Speed on the Track Operation Page is shown as a negative number. • FWD – trackpoint progresses towards increasing waypoint numbers. 7.22.3.2 Heading Mode Heading Mode parameters (available for LSTF only) can be changed only while in Hold Heading Mode. Hold Heading mode must be engaged for the Table, Previous WP & Next WP options to be available for use. ¾ Table – heading setpoint taken from the current waypoint table (file). The heading setpoint is, in this case, equal to the target heading of the waypoint that the vessel is moving away from (i.e. heading setpoint of previous waypoint). In other words, if the vessel is on the leg between WP1 & WP2, in forward the heading setpoint will be that of WP1, but in reverse the heading setpoint will be that of WP2. ¾ Previous WP – heading setpoint is equal to reciprocal of the current leg bearing (i.e. pointing towards the waypoint with the lower number). ¾ Next WP – heading setpoint equal to the current leg bearing (i.e. pointing towards the waypoint with the higher number). ¾ Auto/Man – when this button is depressed, the vessel heading is controlled by standard DP functionality. If the heading axis is in JSTK, Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-81 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES then heading is controlled manually with the heading control knob. If heading axis is in AUTO, then the heading setpoint is controlled by means of setpoint maneuvers, see Section 7.6.2.1. Auto/Man is the default button when Hold Heading mode is disengaged. 7.22.3.3 Speed Mode There are four Speed Mode parameters (available for LSTF only). ¾ Table – target speed taken from the waypoint table (file). The current track speed is equal to the target speed of the waypoint with the lower WP number. In other words, if the vessel is on the leg between WP1 & WP2, and regardless of being in forward or reverse, the target speed will be that of WP1. ¾ Joystick – speed is controlled by the joystick’s F/A axis. Maximum speed for LSTF is 120 meters per minute (120 m/min). When the joystick is placed in the full forward position, the target speed will be 120 m/min. The joystick’s P/S axis has no effect while in LSTF. ¾ UI – track speed is entered by the User Speed button on the Track Settings screen (UI = User Interface). ¾ UI + Jstk – track speed is entered by the User Speed button on the Track Settings screen as above, but can be modulated with the joystick. The track speed is equal to the User Speed only when the joystick’s F/A axis is in its ‘0’ position. Any F/A movement of the joystick will override the UI. 7.22.3.4 User Speed User Speed is the operator-entered target speed. Speed Mode must be set to either “UI” or “UI + Jstk” for User Speed to be in effect. 7-82 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23 WAYPOINT PAGE WAYPOINT Page, Figure 7-42, presents an additional overview of important vessel waypoint tracking information. The top right corner of the page shows the current display units. The rest of the screen page is organized into the following distinct sections: ¾ Display Window ¾ Setup ¾ Lat/Lon ¾ Route ¾ N/E ¾ Waypoint Figure 7-42. Waypoint Page The sections that follow describe the control and configuration buttons on the WAYPOINT Page. See Section 8.6, Track Follow, for instructions on operating the Track Follow mode. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-83 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23.1 Display Window The waypoints defining the current track are viewed in the Display Window. The waypoints can be edited on either the Master or Backup Operator Control Panel/Console while Track Follow mode is not active. When Track Follow mode is active, the edit function is disabled. 7.23.2 Lat/Lon When the Lat/Lon button is pressed, waypoints are displayed in a Latitude/Longitude format. Lat/Lon format is available for Absolute track types only, not for Relative tracks. 7.23.3 N/E When the N/E button is pressed, waypoints are displayed in a Northing/Easting format for either Absolute or Relative tracks. The Northing/Easting coordinates are displayed relative to the Origin (usually the GPS Reference Position). If the origin is changed, then the Northing/Easting data for each waypoint is equally changed, keeping the Waypoints in their absolute (real world) location. The GPS Reference Position button is found on one of the SETUP PAGEs, Figure 7-4. 7.23.4 Setup The Setup section of the Waypoint page allows the DP operator to manually adjust the Cross Track Threshold. 7.23.4.1 Cross Track Threshold This button allows DP operators to change the threshold for the cross track alarm. The number displayed is in feet or meters, depending on the Display Units. If the vessel position drifts/drives away from the track more than this distance (the Cross Track Threshold) then an alarm is triggered. 7-84 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23.5 Route The Route section of the Waypoint Page allows the DP operator to create a new, select or save a Waypoint Track file. 7.23.5.1 New Selecting New removes any current track from memory and creates a new track (save the current track before creating a new one). The Select Track Type pop-up appears, Figure 7-43. Figure 7-43. Select Track Type Pop-up DP operators then have to choose from the following possible track formats: ¾ Absolute – All coordinates are stored in Lat/Lon format. Waypoints are edited and displayed in either Lat/Lon or Northing/Easting formats. Northing/Easting coordinates are displayed relative to the GPS Reference Position (aka the Origin). ¾ Relative – All coordinates are stored in Northing/Easting format. Waypoints are edited and displayed in Northing/Easting format only. Northing/Easting coordinates are calculated relative to the GPS Reference Position (aka the Origin). This format is useful for creating search patterns, which may be repeated at different absolute sites. Waypoints in Relative format cannot be displayed in Lat/Lon coordinates. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-85 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23.5.2 Select Picking the Select button opens the Open file dialog box, Figure 7-44, allowing operators to select a predefined Waypoint file (or track). This function is disabled when Track Follow mode is active. When Track Follow mode is not active, different tracks can be opened on the Backup Control Panel/Console(s). When Track Follow mode is activated from the Master Panel/Console, then that master track is transferred to the Backup Panel/Console(s), overwriting any previously opened Waypoint file track. Note: Do not delete or move the file OpenRoute.wpt from the C:\ drive. Figure 7-44. Open File Dialog Box 7.23.5.3 Save Picking the Save button opens the Save As dialog box, Figure 7-45, allowing operators to save or rename a Waypoint file. Figure 7-45. Save As Dialog Box 7-86 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23.6 Waypoint The Waypoint section contains the following buttons: • • • Insert Add Delete • • • Up Down Edit When any of the Insert, Add, or Edit buttons are selected, the Waypoint Edit pop-up appears. See Figure 7-46 below. The following sections describe the functionality of the Waypoint buttons. 7.23.6.1 Insert Perform the following to insert a new waypoint into an existing track: 1. Select an existing waypoint, in the waypoints list, where the new waypoint is to be inserted. The new waypoint will be inserted above it. 2. Select the INSERT button. The Waypoint Edit pop-up appears. 3. Edit the newly inserted waypoint as desired. 7.23.6.2 Add Perform the following to add a new waypoint into an existing track: 7.23.6.3 1. Select the ADD button. A new waypoint will be added to the bottom of the existing list. The Waypoint Edit pop-up appears. 2. Edit the new waypoint as desired. Delete To delete a waypoint, select a waypoint in the waypoint list, then select the DELETE button. 7.23.6.4 Up To move a waypoint up in the track order, select the waypoint in the waypoint list, then select the UP button. 7.23.6.5 Down To move a waypoint down in the track order, select the waypoint in the waypoint list, then press the DN button. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-87 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23.6.6 Edit Perform the following to edit any waypoint: 7.23.7 1. Select a waypoint in the list 2. Press the Edit button (or double click the waypoint in the list). The Waypoint Edit pop-up appears. 3. Edit the waypoint as desired. Waypoint Edit Pop-up The following sections describe the functionality of the buttons on the Waypoint Edit pop-up. Figure 7-46. Waypoint Edit Pop-Up 7.23.7.1 Identifier Each waypoint is automatically assigned a waypoint number starting at zero (WP 0). However, the waypoint may also have a user-created IDENTIFIER name or number. 7.23.7.2 Position The waypoint POSITION is displayed in either Lat/Lon or Northing/Easting format. Northing/Easting units are displayed in either meters or feet, depending on the Display Units setting. Pick either button to change its value. 7-88 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.23.7.3 Properties 7.23.7.3.1 TURNING RADIUS Each waypoint has an associated Turning Radius to allow smooth transitions between legs. If the turning radius is set to zero the waypoint is considered as a “stop point”. The trackpoint decelerates to a full stop when it approaches a waypoint with a turning radius of zero. When the trackpoint, and thus the vessel, has come to a complete stop, the track status changes from “Tracking” to “At Waypoint.” The operator may then reinitiate tracking by picking the flashing Track Follow button. ) 7.23.7.3.2 Note - A waypoint radius that is too large invalidates the track geometry. Therefore, a track validation test is performed, for this and other error conditions, each time Track Follow mode is initiated. DP operators are alerted if the current track failed the validation test. HEADING The DP operator may enter a desired heading for the current track. However, this heading will be initiated only if the Heading Mode in the Track Settings section of the Track Operations page is set to TABLE, see Section 7.22.3.2. 7.23.7.3.3 SPEED The DP operator may enter a desired speed for the current track. However, this speed will be initiated only if the Speed Mode in the Track Settings section of the Track Operations page is set to TABLE, see Section 7.22.3.3. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-89 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.24 MODE FUNCTION DROP-DOWN MENU Perform the following to access the MODE FUNCTION Menu Screens: 1. Select MODE FUNCTION on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following Mode Functions are accessed through this drop-down menu: ¾ Alarm Page (displays Alarm Page) – See Section 12.3 ¾ Alarm Page Inhibit (on/off) – See Sections 7.6.2.3 & 12.3.1 ¾ Wind Comp (on/off) – See Sections 4.29.8 for Theory and 8.7 for Operation ¾ Joystick Desens – See Section 7.6.1.8 ¾ Clear Joystick Bias – See Section 7.6.2.2 ¾ Portable Joystick (on/off) – See Sections 3.2 for Operation of Remote & Portable Joysticks and 5.3.2 for Taking & Transferring Control of Remote & Portable Joysticks ¾ Power Limit Sustain (on/off) – See Section 7.14.4.4 7-90 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES 7.25 HEADING DROP-DOWN MENU Perform the following to access the HEADING Menu Screens: 1. Select HEADING on the DP Navigation Bar. or 2. A “Drop-Down Menu” appears: The following Operational & Automatic Modes are accessed through this drop-down menu: ¾ Hold Heading – See Sections 4.29.1 for Theory and 8.2 for Operation ¾ AHMT (Auto Heading for Minimum Thrust) – See Sections 4.29.9 for Theory and 8.9 for Operation ¾ Transit – See Sections 3.4 for Overview, 7.2.4 for Setup Page Settings, and 8.12 for Operation ¾ Pilot – See Sections 3.4 & 7.6.1.4 for Overview, and 8.13 for Operation 7.26 POSITION DROP-DOWN MENU Perform the following to access the POSITION Menu Screens: 1. Select POSITION on the DP Navigation Bar. or 2. A “Drop-Down Menu” appears: Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 7-91 CHAPTER 7: DROP-DOWN MENUS & DETAILED DISPLAY PAGES The following Operational & Automatic Modes are accessed through this drop-down menu: ¾ Hold Position, Hold Surge, Hold Sway – See Sections 4.29.2 for Theory and 8.4 for Operation ¾ Hold Area – See Sections 4.29.2 for Theory and 8.8 for Operation ¾ Track Follow – See Sections 4.29.4 for Theory and 8.6 for Operation ¾ ROV Follow – See Sections 4.29.3 for Theory and 8.5 for Operation 7.27 INITIALIZE BACKUP BUTTON ¾ Initialize Backup – See Section 5.5 7.28 ALARM SILENCE BUTTON ¾ Alarm Silence – See Section 12.5 7-92 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 8. OPERATIONAL & AUTOMATIC MODES The NMS6000 DP System offers the following Operational Modes and Automatic Maneuvers: ¾ Manual Joystick (JSTK) – pg 8-1 ¾ Hold Heading – pg 8-4 ¾ Hold Position/Surge/Sway – pg 8-5 ¾ ROV Follow – pg 8-7 ¾ Track Follow – pg 8-9 ¾ Active Wind Compensation – pg 8-15 ¾ Hold Area Mode (HAM) – pg 8-16 ¾ Auto Heading for Minimum Thrust – pg 8-16 ¾ Remote Center of Rotation – pg 8-16 ¾ Simulation Mode – pg 8-17 ¾ Transit Mode – pg 8-19 ¾ Pilot Mode – pg 8-22 Control Modes and Automatic Maneuvers are selected by using the navigation bar MODE FUNCTION, HEADING, OR POSITION buttons’ “Drop-Down Menus”. ) Note - If the vessels DP System is not configured for a certain Control Mode and/or Automatic Maneuver, then that Control Mode and/or Automatic Maneuver will not be available on the MODE FUNCTION, HEADING AUTO, OR POSITION AUTO “Drop-Down Menus”. Once the “Drop-Down Menu” is visible operators may then select the Control Mode or Automatic Maneuver of their choice. Select desired command by touching or left clicking the button, which then illuminates Green. 8.1 MANUAL JOYSTICK (JSTK) Operators can manually control the vessel with the Operator Control Panel/Console’s <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>. The thrusters respond to the manual commands, attempting to move the vessel in the position and heading directions commanded from the joystick. Operators normally use this mode to position the vessel at the worksite, maneuver at dockside, or in other situations where human command (control) of the vessel is desired. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-1 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES Perform the following to place the vessel under full MANUAL CONTROL: 1. Clear all propulsion alarms. 2. Verify both HOLD HEADING and HOLD POSITION are disengaged. 3. Maneuver the vessel. 8.2 BASIC OPERATIONAL MODES UTILIZING THE JOYSTICK An overview of these modes are: ¾ JSTK – In JSTK MODE (MANUAL MODE), the operator has full manual control of all three control axis, see Figure 4-10. JSTK MODE is used for maneuvering about a worksite or when docking the vessel, both at slow speeds. All thrusters and rudders are utilized for position and heading control. Both the <HEADING> & <POSITION> buttons, Sections 7.25 & 7.26, show “JSTK” while in this mode. Alternatively, the operator may set either the <HEADING> or <POSITION> buttons to “AUTO”, while leaving the other axis in “JSTK”. When the <HEADING> button is set to “AUTO” and the <POSITION> button is set to “JSTK”, the DP System is in HOLD HEADING MODE, see Section 8.2. In this mode, HEADING is controlled by using Setpoint Maneuvers and POSITION is controlled by the Joystick. When the <POSITION> button is set to “AUTO” and the <HEADING> button is set to “JSTK”, the DP System is in HOLD POSITION MODE, see Section 8.4. In this mode, POSITION is controlled by using Setpoint Maneuvers and HEADING is controlled by the Control Knob. Lastly, when both the <HEADING> and <POSITION> buttons are set to “AUTO”, the DP System is in HOLD HEADING HOLD POSITION. In this mode, all axes are controlled by using Setpoint Maneuvers, and the joystick is not utilized. See Section 7.6.2.1 for Setpoint Maneuvers. 8-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES ¾ PILOT – In PILOT MODE, the operator has control over two of the controls axis: Surge & Yaw. Moving the joystick from side to side has no affect. PILOT MODE is used for driving the vessel when manual control over Yaw (heading) is desired. In this mode, only the rudders & main props are used for heading control. The <HEADING> button, Section 7.25, shows “PILOT” while in this mode. See Section 8.13. ¾ TRANSIT – In TRANSIT MODE, the operator has control over only the Surge control axis. TRANSIT MODE is used for driving the vessel when automatic Yaw (heading) control is desired. The operator may change the heading using Setpoint Maneuvers, see Section 7.6.2.1. The <HEADING> button, Section 7.25, shows “TRANSIT” while in this mode. See Section 8.12. ) Note – Reverse propulsion should only be used in case of an emergency while in TRANSIT. TRANSIT Mode is not designed to keep course under this circumstance. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-3 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.3 HOLD HEADING Operators would normally transfer from full MANUAL CONTROL to HOLD HEADING mode after arriving at the worksite and placing the vessel on the desired heading. When selecting the <HOLD HEADING> button (on the Mode Function page or Position Drop-Down Menu), the DP System reads and maintains the current heading, until a new heading setpoint is entered or HOLD HEADING is deactivated. Clear any Joystick Bias prior to entering HOLD HEADING. See Section 7.6.2.2, Clear Joystick Bias. Heading Goal Setpoint: 0 degrees Measured Heading: 10 degrees Thrust Commands Thrust Commands Figure 8-1. Hold Heading Illustration In HOLD HEADING, as illustrated in Figure 8-1, the system reads the commanded heading setpoint. The thrusters then attempt to minimize any difference between the vessel’s actual heading and this setpoint. The <POSITION CONTROL JOYSTICK> still controls the vessel’s fore/aft and port/starboard movement. 8-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.4 HOLD POSITION In HOLD POSITION, the illustration of Figure 8-2, displays how the DP System automatically maintains the vessel’s position while allowing operators to make heading changes with the <HEADING CONTROL KNOB>. Clear any Joystick Bias prior to entering HOLD POSITION. See Section 7.6.2.2, Clear Joystick Bias. ! CAUTION HIGH VELOCITY TURNS CAN CAUSE SERIOUS PROBLEMS: ! Cross-coupling of the fore/aft, port/starboard integral terms: Under high current (environmental) conditions, will cause the vessel to slowly drift off location until the integral terms stabilize to the new high current (environmental) conditions. ! High-thrust levels can also interfere with beacon signal reception by increasing water aeration and thruster noise levels. L-3 DP&CS recommends avoiding high velocity turns entirely. When high velocity turns become necessary, operators should carefully assess the consequences before beginning the maneuver. to move in the Ya w ax is s Ve ee l fr se Thruster Forces Current and Wind Forces Vessel Reference Point P o s it io n G o a l S e t p o in t Figure 8-2. Hold Position Illustration Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-5 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.4.1 Hold Position - Activation Perform the following to activate HOLD POSITION: 1. Establish MANUAL CONTROL of vessel per Section 8.1. 2. Place at least two thrusters online in AUTO mode. Refer to Section 7.10.9 for instructions. More thrusters may be necessary depending on the situation. 3. Verify the appropriate position reference sensor(s) are online. 4. Clear all relevant alarms, especially those relating to position reference sensor(s). 5. Move the <POSITION CONTROL JOYSTICK> until the vessel stabilizes at the desired position. 6. Press the <HOLD POSITION> switch or select the HOLD POSITION screen button on the Mode Function page or Position Drop-Down Menu. 7. To exit HOLD POSITION, press the <HOLD POSITION> switch or select the HOLD POSITION screen button again. The Confirm Exit of HOLD POSITION Mode? dialog box appears: 8. 8.4.1.1 Select the YES button to exit. To remain in HOLD POSITION, select the NO button. Hold Surge/Sway The HOLD POSITION mode controls both surge and sway. For operational flexibility, HOLD SURGE (Fore & Aft) and HOLD SWAY (Port & Stbd) modes are also available. When in HOLD SURGE, the surge axis is in automatic DP control and the sway axis is manual joystick control. The opposite is true for HOLD SWAY. Both modes are selected from the Position Drop-Down Menu, see Section 7.26. 8-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.5 ROV FOLLOW In ROV FOLLOW, the DP generates thruster commands driving the vessel to follow the reported position of a Remotely Operated Vehicle (ROV). ROV tracking is possible when a hydroacoustic beacon is mounted on the ROV, and the beacon data is used to report the position of the ROV in relation to the vessel. Since hydrodynamic effects of the hull vary with vessel speed and ocean current direction, the most successful tracking occurs at lower ROV speeds (approximately 2 knots). Operators may need to adjust the control gains for optimal ROV tracking under various environmental and operational conditions. 8.5.1 ROV Follow - Set Up Perform the following to set up ROV FOLLOW: • Select SETUP PAGE 4 from the drop-down SETUP Menu on the Navigation Bar. See Figure 8-3. • The ROV FOLLOW CONFIGURATION dialog box appears allowing operators to enter several important parameters related to the ROV FOLLOW mode. See Chapter 7.4 for details. Figure 8-3. ROV Follow Configuration Dialog Box Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-7 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.5.2 ROV Follow - Fixed Position Sensor Online 1. Place stable and accurate position sensors online. 2. Select the SETUP PAGE 4 from the drop-down SETUP Menu. Enter the identification number of the ROV beacon. 3. Select ROV FOLLOW from the ROV POSITION drop-down menu. If the DP is not currently in HOLD POSITION, the DP illuminates both the ROV FOLLOW and the HOLD POSITION screen buttons. ) Note - The distance between the Vessel Reference Point and the ROV is immediately recorded. On the CHART PAGE the ROV Deadzone Radius is plotted as a circle around this point. 4. The DP initiates automatic position control. When the ROV moves outside the ROV Deadzone Radius, the DP generates thruster commands to drive the vessel to a new goal at the given offset from the ROV position. The goal continues to move until the ROV is back inside the ROV Deadzone Radius. ) Note - The vessel is free to rotate unless operators also select HOLD HEADING mode. 5. When the ROV sensor’s reported position appears too noisy and is affecting control of the vessel, open the ROV FOLLOW CONFIGURATION dialog box and increase the ROV FILTER GAIN. Conversely, if the ROV position data is extremely clean and better positional accuracy is desired, set the filtering to a lower value. 6. Operators cannot initiate Position maneuvers while in ROV FOLLOW mode. 7. To exit ROV FOLLOW mode, simply select the ROV FOLLOW screen. The system remains in HOLD POSITION mode until this function is deselected. ) Note - When the operator selects the H POSITION screen button while operating in ROV FOLLOW mode, the DP cancels both modes and reverts to Manual Position Control. OLD 8.5.3 ROV Follow Mode - NO Fixed Position Sensor Online Without an online fixed position sensor, the DP cannot define an ROV Deadzone Radius. For this reason, changing the Deadzone radius has no effect and the DP attempts to follow any motion of the ROV while also maintaining the given offsets. 8-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.6 TRACK FOLLOW TRACK FOLLOW mode controls vessel position and heading, with a high degree of accuracy, along a predefined track. A track is comprised of two or more waypoints, which are specific coordinates along the track. The space between any two waypoints is called a “leg” of the track. In Track Follow mode, the instantaneous setpoint (see Section 4.16) is called the trackpoint. The track program logic continuously moves the trackpoint along the track. Trackpoint speed and heading data is derived from a predefined track or may be controlled directly by the DP operator. Movement between waypoints is always defined in position, speed and heading. Waypoints have several attributes such as target speed, target heading, and turning radius. The latter allows for smooth transitions between track legs. Tracks can be created in either Absolute or Relative format. Absolute tracks are defined by waypoints in Lat/Lon format. Relative tracks are defined by waypoints in Northing/Easting format. The relative format enables the same track to be used at different locations, such as for search operations. The tracks can be created from any of the DP System Control Panel/Consoles using the Waypoint Page, or can be read in from an external Track File (.wpt) created on a stand-alone computer. See Section 7.22, Track Operation Page, and Section 7.23, Waypoint Page, for more information. Some vessels are equipped with an optional Electronic Chart Display and Information System (ECDIS) interface which is utilized for High Speed Track Follow (HSTF). The ECDIS system allows the operator to enter a track on the map display. When HSTF is initiated, the DP System receives steering information from the ECDIS, which is responsible for the primary navigation. Track Follow has two modes, Low Speed and High Speed. The two modes are similar, but have some important differences: ¾ Speed Control ¾ Heading Control ¾ Starting & Stopping 8.6.1 Speed Control for Track Follow In Low Speed Track Follow (LSTF), there are different ways to control speed. See Section 7.22.3, Track Settings, for instructions on the various methods of speed control. • • • • Deflecting the joystick in the F/A direction Setting the speed in the Waypoint Editor The Speed Mode options on the Track Operation Page Setting the User Speed on the Track Operation Page In LSTF, vessel speed is limited to 120 meters per minute (m/min) or approx 3.9 kts. In High Speed Track Follow (HSTF), vessel speed is controlled directly by the joystick and is not limited. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-9 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.6.2 Heading Control for Track Follow In LSTF, vessel heading is controlled by three different methods or a combination of them. • • • as the Heading setting in the Waypoint Editor for each waypoint selecting one of the four Heading Mode options on the Track Operation Page (Hold Heading Mode must be established first) setting the Heading in the Track Offsets section of the Track Operation Page In HSTF, vessel heading is controlled by the DP system, which attempts to keep the vessel on track while adjusting for any cross track deviation. The DP operator may use the <JOG> buttons on the TRANSIT PAGE to adjust course. See Section 8.12.8 for use of the <JOG> buttons. See Section 7.22.3, Track Settings, for instructions on the various methods of heading control. 8.6.3 8.6.3.1 Starting Track Follow Low Speed Track Follow (LSTF) Perform the following to activate the LOW SPEED TRACK FOLLOW mode: 1. Prepare and load a track. See Section 7.23, Waypoint Page. 2. Establish HOLD POSITION in close proximity to the track. 3. Select <LOW SPEED> on the TRACK OPERATION Page, Figure 7-39. 4. Select the <TRACK FOLLOW> button on the MODE FUNCTION PAGE or POSITION DROP-DOWN MENU. 5. Pick YES on the Confirm Low Speed Track Follow Mode dialog box. The Position Mode changes from AUTO to LSTF. 6. Two scenarios are possible at this point: ¾ If the vessel is positioned at a waypoint, then the message “Waiting at Waypoint” appears in the Status Message Window and the <TRACK FOLLOW> button starts to flash. Pick the <TRACK FOLLOW> button again to initiate LSTF, or pick the HOLD POSITION button to cancel it. ¾ If the vessel is close to (but not on) the track, then the message “Starting LSTF Attaching to Leg” appears in the Status Message Window and LSTF is automatically initiated. Pick the <HOLD POSITION> button to cancel Track Follow. Maximum speed for LSTF is 120 meters per minute (m/min) or approx 3.9 kts. 8-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.6.3.2 High Speed Track Follow (HSTF or AutoTrack) 1. Prepare and load a track. See Section 7.23, Waypoint Page. 2. Establish speed and heading in TRANSIT or PILOT MODE, steering the vessel near and parallel to the track, heading toward the next waypoint. 3. Select HI SPEED on the TRACK OPERATION Page, Figure 7-39. 4. Select the TRACK FOLLOW button on the MODE FUNCTION PAGE or POSITION DROP-DOWN MENU. 5. Pick YES on the Confirm High Speed Track Follow Mode dialog box. The Heading & Position Modes change to HSTF and the TRANSIT PAGE is displayed. 6. The message “Starting HSTF” appears in the Status Message Window. 7. Use the joystick to adjust the forward speed of the vessel as desired. The DPS operator can manually change the speed of the vessel using the <POSITION CONTROL JOYSTICK>. However, sway commands to the <POSITION CONTROL JOYSTICK> and yaw commands to the <HEADING CONTROL KNOB> are ignored while in HSTF mode. 8.6.4 Stopping Track Follow While in LSTF, picking the <TRACK FOLLOW> button will initiate a stop. The vessel will slow to a halt and the DP system will go into HOLD POSITION MODE. While in HSTF, picking the <TRACK FOLLOW> button will exit HSTF and enter TRANSIT MODE. IMPORTANT! It is worth noting here that the vessel will stop at the end of the tack in LSTF, but will not do that in HSTF. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-11 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.6.5 Track Display Selection and Monitoring Selecting TRACK DISP on the CHART PAGE brings up a display of the vessel’s current commanded track and configured waypoints, Figure 8-4. This allows operators to monitor the vessel’s progress along the track. Figure 8-4. Track and Waypoints 8.6.6 Track and Waypoint Description The track, Figure 8-4, is drawn as a solid magenta line with the active or current leg indicated by a thicker line. The waypoints are marked with small magenta “x” symbols and waypoint numbers. Each end of the track and the trackpoint are marked with large magenta “X” symbol. Dotted magenta lines are drawn from the tangential points of the turn radius to the waypoints. 8.6.7 Passing Waypoints When the track point approaches a waypoint, the following two scenarios are possible depending on the turning radius for the waypoint: 8-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES ¾ Turning Radius Equals Zero (0) - The trackpoint decelerates as it is approaching the waypoint and comes to a complete stop at the waypoint. The track status changes from “Tracking” to “At waypoint”, and the message “Waiting At Waypoint” appears. The vessel holds this position until the operator resumes tracking by pressing the <LSTF> button. ¾ Turning Radius Not Equal to Zero (0) - The trackpoint continues to move along the track following the arc described by the two adjacent legs and the waypoint’s turning radius. While the vessel is in the curve, the controller applies additional thrust to compensate for centripetal forces. ) Note - This may cause large thruster response if the trackpoint speed is high in combination with a small turning radius. The end point of the track is treated similar to a waypoint with Turning Radius Zero (0). # Example - The vessel comes to a stop and hold position at the end of the track. The track status changes to “End of Track” when the track point has come to a complete stop. The operator can exit LSTF mode by selecting the <LSTF> button. 8.6.8 Stopping (LSTF Mode) A stop sequence is initiated when the LSTF MODE button is selected while in LSTF mode. The trackpoint decelerates and comes to a stop followed by the control mode changing to HOLD POSITION. ) Note - If the trackpoint was moving when the stop was initiated, the final position will not be the same as where the stop was initiated. ) 8.6.9 Note - When the Track Follow button is pressed before the trackpoint has decelerated to a stop, the mode is forced to HOLD POSITION. This action may cause large thruster response and should be avoided if possible. Track Definition File Format The track definition file consists of a number of waypoints organized in consecutive rows. Each row contains eight comma-separated elements as described below. The files can be created and edited using the Waypoint Page of the DP UI or with a simple text editor. The file extension is “.wpt. Note: Do not delete or move the file OpenRoute.wpt from the C:\ drive. Tracks are defined by a minimum of two waypoints and/or a maximum of 100 waypoints. The examples below are of the same track with the exception that one is Absolute and the other is Relative. Notice that the Absolute track is stored in Lat/Lon while the Relative track is stored in Northing/Easting format. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-13 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.6.9.1 Absolute Tracks Parameter Variable Unit 1 WP Number Integer 2 Identifier String 3 Latitude Degrees & Minutes 4 Longitude Degrees & Minutes 5 Turning Radius Meters 6 Stop Flag (not used) - 7 Target Heading Degrees 8 Target Speed M/sec # Example: 0,start,+000°00.00000',+000°00.00000',0.000000,0,0.000000,0.333333 1,WP1,+000°00.05396',+000°00.00000',0.000000,0,0.000000,0.333333 2,WP2,+000°00.10792',+000°00.05396',50.000000,0,45.000000,0.333333 3,WP3,+000°00.10792',+000°00.10792',50.000000,0,45.000000,0.333333 4,WP4,+000°00.16188',+000°00.10792',50.000000,0,45.000000,0.333333 5,end,+000°00.16188',+000°00.16188',50.000000,0,0.000000,0.333333 8.6.9.2 Relative Tracks Position Variable Unit 1 WP Number Integer 2 Identifier String 3 Northing Meters 4 Easting Meters 5 Turning Radius Meters 6 Stop Flag (not used) - 7 Target Heading Degrees 8 Target Speed M/sec # Example: 0,start,0.000000,0.000000,0.000000,0,0.000000,0.333333 1,WP1,100.000000,0.000000,0.000000,0,0.000000,0.333333 2,WP2,200.000000,100.000000,50.000000,0,45.000000,0.333333 3,WP3,200.000000,200.000000,50.000000,0,45.000000,0.333333 4,WP4,300.000000,200.000000,50.000000,0,45.000000,0.333333 5,end,300.000000,300.000000,50.000000,0,0.000000,0.333333 8-14 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.7 ACTIVE WIND COMPENSATION (AWC) ACTIVE WIND COMPENSATION (AWC) uses data from all online wind sensors. Using a virtual model of the vessel’s aerodynamics, the DP System calculates wind effects and counteracts them through the vessel thrusters, reducing station-keeping errors when wind speed and direction change. Operators may use AWC simultaneously with any of the other control modes. Perform the following to activate AWC: 1. Open SENSOR PAGE 1. Verify at least one valid wind sensor is online. ) Note - The system automatically excludes faulted wind sensors from AWC calculations. 2. Select the WIND COMP button on the DP Mode Function Drop-Down Menu. To turn AWC off, select the <WIND COMP> button on the FUNCTION PAGE or the Mode Function Drop-Down Menu. When in HOLD POSITION and/or HOLD HEADING this action immediately transfers the current compensation commands to the controller’s integral terms. The DP System maintains these compensation settings but no longer actively responds to changes in wind speed and direction. Similarly, when the operator activates AWC, the system subtracts the new compensation forces from the controller’s integral terms. This addition and subtraction prevents sudden vessel movements when the operator activates or deactivates AWC. ) Note - L-3 DP&CS recommends operators use AWC at all times, except when the wind sensor’s measurements are known to be incorrect. Overhead helicopter traffic or the wind shadow caused by another vessel or platform may result in incorrect readings. However, in most other situations, the DP System performs better with AWC engaged. 8.7.1 Active Wind Compensation Processing Raw wind speed and direction signals are low-pass filtered. Wind compensation forces and moment are then computed using a table look-up and a scale factor for each axis, which are multiplied by wind speed (squared) to determine final aerodynamic forces and moment. The following alarm conditions are generated: ¾ Speed Comparison With Other Non-alarmed Sensors ¾ Angle Comparison With Other Non-alarmed Sensors ¾ Power Loss Reported At Sensor Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-15 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.8 HOLD AREA MODE (HAM) HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is provided to allow reduced control activity while maintaining the vessel in the general area of the goal position. Operators define the HAM Radius on Setup Page 1. When engaged, the control bandwidth in position and yaw axes is reduced with a schedule based on the entered radius. The larger the radius the more relaxed the control. (Yaw axis reduction will be less than position axes reduction). As long as the vessel is within the selected watch circle the control bandwidth remains low and thruster reactions are minimal. If the vessel moves outside of the watch circle the control bandwidth increases to the operator selected nominal value (transitions are low-pass filtered to avoid sudden jumps). The control bandwidth remains at nominal until the vessel has moved back to within 75% of the defined radius. At this point it again is reduced. This hysteresis* is provided to eliminate any control jitters in the transition from high to low control bandwidth and vice versa. The HAM mode allows positioning with differentially corrected or uncorrected GPS. Transitioning from HAM to HOLD POSITION is similar to dead reckoning recovery. Upon exiting this mode the vessel will be controlled to the present position. This sequence will happen in controlled fashion as the vessel is relocated to the goal position. * Hysteresis is the lagging of a physical effect on a body behind its cause (as behind changed forces and conditions); the influence of the previous history or treatment of a body on its subsequent response to a given force. 8.9 AUTO HEADING FOR MINIMUM THRUST (AHMT) AHMT is used in conjunction with HOLD POSITION and HOLD HEADING modes. When active, it automatically adjusts the vessel’s goal heading setpoint to attempt to minimize the lateral (port/starboard) thruster requirements by pointing the bow or stern of the vessel into the strongest environmental forces. This is usually in the direction of the prevailing weather. Operators can also use this mode to automatically maintain thrusters in a standby minimum thrust mode (for power saving) and bring the thrusters online as needed. 8.10 REMOTE CENTER OF ROTATION (COR) The Remote Center of Rotation (COR) mode allows for rotation about any arbitrary point on the vessel as measured offset from the vessel’s nominal Center of Rotation. When the operator selects the REMOTE COR mode, the DP System rotates the vessel around the Remote COR rather than the vessel’s nominal Center of Rotation. Refer to Section 7.3.2 for more information. 8-16 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.11 SIMULATION MODE Operators may select the DP SIMULATION PAGE from the Setup drop-down menu on the Navigation Bar. Refer to Figure 8-5. Figure 8-5. DP Simulation Page The following section describes the fields and options available on the DP Simulation Page. 8.11.1 Simulation Control The following Simulation Control options are available: Wind Speed, Wind Speed Variance, Wind Direction, Wind Direction Variance, Current Velocity, Current Direction, Position Noise, Simulation Rate, Initial Condition, and Mode. 8.11.1.1 Wind Speed The Wind Speed for the Simulated Environment. The units of measure are meters/sec. 8.11.1.2 Wind Speed Variance The Wind Speed Variance for the Simulated Environment. The units of measure are meters/sec. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-17 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.11.1.3 Wind Direction The wind direction for the Simulated Environment. The wind direction is defined as the direction the wind will be coming from. The units of measure are degrees. 8.11.1.4 Wind Direction Variance The Wind Direction Variance for the Simulated Environment. The units of measure are degrees. 8.11.1.5 Current Velocity The current velocity for the Simulated Environment. The units of measure are meters/sec 8.11.1.6 Current Direction The current direction for the Simulated Environment. The current direction is defined as the direction the current will be coming from. The units of measure are degrees. 8.11.1.7 Position Noise The Simulated position noise for the Simulated position reference sensor data. The units of measure are meters. 8.11.1.8 Simulation Rate The Simulation can be run at either Normal speed or in an Accelerated mode by toggling that button. 8.11.1.9 Initial Condition The Operator has the option of selecting Initial mode or Normal mode by toggling that button. 8.11.1.9.1 INITIAL CONDITION - INITIAL Initial, preset locations and settings are programmed into the Simulation software. When the Initial Condition button is selected to Initial, these initial conditions are invoked and the vessel position is “locked”. This option is only used if the Operator wants to reset the initial, conditions at the start of or between Simulation runs, or wants to run the Simulation with the vessel position “locked”. 8.11.1.9.2 INITIAL CONDITION – NORMAL Normal mode is the option that should be selected during normal Simulation runs. This mode allows the vessel to move on the screen in response to manual commands from the Joystick or automatic commands from the DP controller. 8.11.1.10 Mode The Operator has the option of selecting Simulation mode or Real mode by toggling that button 8-18 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.11.1.10.1 MODE – REAL When the DP computer is started, the system will come up in Real mode. Real mode is the default mode setting where the DP System communicates to the actual thrusters, sensors and vessel IO. If the DP System is in Simulation mode, the Operator can select Real mode by toggling that button. 8.11.1.10.2 MODE – SIMULATION Select Simulation when it is desired to enter the Simulation mode. You will be required to acknowledge this action with a confirmation dialog box. WARNING! Entering Simulation mode disengages the Real Mode. Simulation mode should only be entered when the vessel is at the dock or the DP System is not being used for critical operations. 8.12 TRANSIT MODE TRANSIT MODE is for use when the vessel is under way (i.e. in transit). In this mode, the <POSITION CONTROL JOYSTICK> controls the vessel’s surge (fwd/aft) movements only; it does not control sway (port/stbd) movements. The NMS6000 automatically holds the heading measured at the moment the Transit mode is engaged. Heading may be changed using Heading Setpoint Maneuvers, see Section 7.6.2.1.2. The <HEADING CONTROL KNOB> has no effect on the vessel while in Transit mode. Heading is achieved by main props & rudders only; tunnel thrusters are not utilized in this mode. Perform the following steps to enter TRANSIT mode: 1. Maneuver the vessel in the surge axis with the <POSITION CONTROL JOYSTICK>. 2. Maneuver the vessel to the desired heading with the <HEADING CONTROL KNOB>. 3. Press the TRANSIT button on the HEADING drop-down menu, Section 7.25. 4. Operators may set a new heading in one of these ways: ¾ Pressing the HEADING SETPOINT button on the TRANSIT page, Figure 8-6, or the HEADING SETPOINT button on the MODE FUNCTION PAGE, Figure 7-7. The HEADING SETPOINT dialog box will appear; refer to Section 7.6.2.1, Setpoint Maneuvers. ¾ Selecting the compass and following the instructions in Section 7.6.2.1, Setpoint Maneuvers. ¾ Using the red and green “jog” arrows on the TRANSIT page (see below). Refer also to Section 7.2.4, Transit Mode, for access to TRANSIT MODE settings. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-19 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES Actual ROT Speed and Heading Data Thruster Icons Corrected Position Thrust Level Azimuth Angle Wind Heading Setpoint & Jog Course Jog ROT Setpoint Speed Setpoint & Hold Speed Mode Buttons Figure 8-6. Transit Display Page 8.12.1 ROT Displays actual, real time, ROT. See Section 8.12.4 below. 8.12.2 Thrust Level & Azimuth Angle Text Boxes The yellow numbers represent the measured (feedback) azimuth angles and thrust levels. The light blue numbers represent the commanded azimuth angles and thrust levels. When the yellow and light blue numbers are the same, the measured and commanded azimuth angles and thrust levels are equal. 8.12.3 Heading Setpoint & Jog The middle Heading Setpoint button calls up a numeric keypad for manual change in the heading setpoint. Use the left & right Heading Setpoint arrows to alter heading by half-degree increments. 8-20 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.12.4 ROT (Rate of Turning) Setpoint The ROT button sets the Rate of Turning in degrees per minute. The actual ROT is shown in the upper left-hand corner of the display page. 8.12.5 Speed and Heading Data SOG – Speed Over Ground Source – Sensor reporting SOG data STW – Speed Through the Water COG – Course Over Ground 8.12.6 Corrected Position See Section 7.9.3.2 8.12.7 Wind See Section 7.8.2 8.12.8 Course Jog Arrows The COURSE JOG arrow buttons (bottom right side of display page) allow the operator to alter course, by a set number of degrees, while holding down one of the buttons. When the button is released, the course reverts back to the Heading Setpoint. Refer to Section 7.2.4.7, Rudder Jog Increment. 8.12.9 Speed Setpoint & Hold Speed When Hold Speed is engaged, that button turns green and the Speed Setpoint may be entered by selecting the “kts” button to the left of the Hold Speed button. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 8-21 CHAPTER 8: OPERATIONAL & AUTOMATIC MODES 8.13 PILOT MODE PILOT MODE is identical to TRANSIT MODE (above) with one exception; heading is manually controlled by <HEADING CONTROL KNOB>. Figure 8-7. Pilot Display Page 8.14 HOLD RELATIVE See Section 7.4.5 for an overview of the Hold Relative mode. Further information is included in the appendices for vessels that feature this option. 8-22 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 9. DP SYSTEM OPERATIONAL HINTS DP Operational Hints covers information concerning potentially troublesome DP situations and other important points. Although the following information is covered in previous chapters, L-3 DP&CS engineers believe these may situations occur frequently enough to warrant these “operational hints”. 9.1 GPS DRIFT DP operators should be aware that even if the differential portion of the sensor signal is correct the GPS portion may not be. Different GPS receivers react differently to various combinations of factors. Antenna and cabling problems can make matters worse. Acquiring a new satellite low on the horizon can cause appreciable sensor drift. What may first appear as a situation where the vessel is moving off location can often be a case where the GPS itself is drifting and the vessel is not. The DP System may not be able to tell the difference, especially if only one or two position sensors are online. Whenever possible, L-3 DP&CS recommends having at least three position sensors online so the system can detect these sensor drifts. 9.2 INTEGRAL WINDUP When the vessel is rotating and the operator selects HOLD HEADING, or the vessel is moving as the operator selects HOLD POSITION, integral windup occurs. ) Note - Integral windup occurs when the momentum of the vessel, not yet known by the automatic controller, causes the vessel to overshoot the goal setpoint. This action then causes the controller to respond to this unknown force by driving the vessel back in the direction of the overshoot (or goal setpoint). Therefore, an integral force is created that gradually slows and reverses the direction of the vessel. However, this integral force also causes the vessel to pass the goal setpoint in the other direction until the integral force is slowly negated. To avoid this integral force situation, operators should ensure the vessel is not moving in the control axes prior to being placed in automatic mode. This applies for both HOLD HEADING and HOLD POSITION mode selection. In other words, in order to avoid a large Integral Windup the vessel should be at or close to a steady state prior to transferring control from manual to automatic. 9.3 INTEGRAL PRE-LOADING In lieu of waiting for the integral forces to build up to counteract ocean current forces in HOLD HEADING or HOLD POSITION, operators can use the Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 9-1 CHAPTER 9: DP SYSTEM OPERATIONAL HINTS automatic transfer of manual commands into the integral forces to accomplish this effect immediately. Whatever forces are in effect when operators move the DP System from MANUAL to AUTOMATIC mode are immediately moved into the integral force terms. # Example - If the vessel approaches the goal position or heading in MANUAL mode, with the manual controls positioned so they balance the environmental forces, the manual thrust forces immediately move into the integral force terms when HOLD HEADING and/or HOLD POSITION are selected. As a result of this transfer, the vessel stays in place without having to build up forces against the current over a lengthy period. It is important to note the amount of manual control deflection in effect when operators select HOLD HEADING and/or HOLD POSITION. If these controls are deflected more than necessary when an automatic mode is selected, an improper integral force takes effect, driving the vessel off location until the integral forces adjust to the proper levels. 9.4 INTEGRAL TRANSFERS When the DP System is operated from manual controls, yaw, surge, and sway commands existing when the operator selects HOLD HEADING and/or HOLD POSITION are automatically moved into the integral forces of the automatic controller. Therefore, when deselecting HOLD HEADING or HOLD POSITION, the integral forces are transferred back to the manual controls. The CLEAR JOYSTICK BIAS screen button on the FUNCTION PAGE flashes to indicate biases have been transferred. To clear these biases, select the CLEAR JOYSTICK BIAS button located on the Mode Function page or drop-down menu. 9.5 HALTING THE VESSEL See Section 7.6.2.1.1 9.6 MOVING THE VESSEL TO A PRECISE LOCATION See Section 7.6.2.1.4 9-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 10. ) VESSEL SPECIFIC DISPLAY SCREENS Note – Refer to Chapter 7 for further information pertaining to the fields presented on these Vessel Specific Display Screens. 10.1 SETUP DROP-DOWN MENU The following L-3 DP&CS NMS6000 DP Display Screens are shown here to familiarize operators with the specific system displays. Perform the following to access the SETUP Menu Screens: 1. Select SETUP on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following SETUP DP Display Screens include: Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-1 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS ¾ Setup Page 1. See Figure 10-1. ¾ Setup Page 2. See Figure 10-2. ¾ Setup Page 3. See Figure 10-3. ¾ Setup Page 4. See Figure 10-4. ¾ Mode Function. See Figure 10-5. ¾ DP Simulation Page. See Figure 10-6. ¾ ShutDown. See Section 2.2.1. 10.1.1 Setup Page 1 Figure 10-1. Setup Page 1 10-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.1.2 Setup Page 2 Figure 10-2. Setup Page 2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-3 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.1.3 Setup Page 3 Figure 10-3. Setup Page 3 10-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.1.4 Setup Page 4 Figure 10-4. Setup Page 4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-5 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.1.5 Mode Function Figure 10-5. Mode Function 10-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.1.6 Simulation Page Figure 10-6. Simulation Page Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-7 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.2 SENSOR DROP-DOWN MENU Perform the following to access the SENSOR Menu Screens: 1. Select SENSOR on the DP Navigation Bar. 2. A “DROP-DOWN MENU” APPEARS: The following SENSOR DP Display Screens include: ¾ Sensor Page 1. See Figure 10-7. ¾ Relative Sensor Page. See Figure 10-8. ¾ Position Reference Page 1. See Figure 10-9. ¾ Position Reference Page 2. See Figure 10-10. 10-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.2.1 Sensor Page 1 Figure 10-7. Sensor Page 1 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-9 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.2.2 Sensor Page 2 – Hold Relative Sensor Figure 10-8. Sensor Page 2 – Hold Relative Sensor 10-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.2.3 Position Reference 1 Figure 10-9. Position Reference 1 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-11 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.2.4 Position Reference 2 Figure 10-10. Position Reference 2 10-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.3 THRUST DROP-DOWN MENU Perform the following to access the Thrust Menu Screens: 1. Select THRUST on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following PROPULSION DP Display Screens include: ¾ Thruster Page 1. See Figure 10-11. ¾ Thruster Page 2. See Figure 10-12. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-13 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.3.1 Thruster Page 1 Figure 10-11. Thruster Page 1 10-14 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.3.2 Thruster Page 2 Figure 10-12. Thruster Page 2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-15 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.4 PLOT IO DROP-DOWN MENU Perform the following to access the PLOT IO Menu Screens: 1. Select PLOT IO on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: The following PLOT IO DP Display Screens include: ¾ Plot Page 1, 2, & 3. Not Shown here. See Figure 7-29. ¾ Analog IO Page 1. Not shown here. Similar to Figure 7-31. ¾ Digital IO Page 2. Not shown here. Similar to Figure 7-32. ¾ Serial IO Page 3. Not shown here. Similar to Figure 7-33. 10-16 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5 CHART TRACK DROP-DOWN MENU Perform the following to access the CHART TRACK Menu Screens: 3. Select CHART TRACK on the DP Navigation Bar. 4. A “Drop-Down Menu” appears: The following CHART TRACK DP Display Screens include: ¾ Holding Capability Plot. See Figure 10-13. ¾ Chart. See Figure 10-14. ¾ Track Operation. See Figure 10-15. ¾ Waypoint. See Figure 10-16. ¾ Transit. See Figure 10-17. ¾ Overview. See Figure 10-18. Note that the Transit & Overview buttons are available only on a Backup Control Panel/Console when the Right side of the display is selected. See Section 6.3.2, Display Page Selection – Backup Panel/Console. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-17 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5.1 Holding Capability Plot Figure 10-13. Holding Capability Plot 10-18 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5.2 Chart Figure 10-14. Chart Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-19 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5.1 Track Operation Figure 10-15. Track Operation 10-20 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5.1 Waypoint Figure 10-16. Waypoint Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-21 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5.2 Transit Figure 10-17. Transit 10-22 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.5.3 Overview Figure 10-18. Overview (Aft Facing Console) Note that the Independent Joystick is a Fore Facing Console. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 10-23 CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS 10.6 MODE FUNCTION DROP-DOWN MENU Perform the following to access the MODE FUNCTION Menu: 1. Select MODE FUNCTION on the DP Navigation Bar. 2. A “Drop-Down Menu” appears: 10.7 HEADING & POSITION DROP-DOWN MENUS Perform the following to access the HEADING or POSITION Menus: 1. Select the HEADING or POSITION button on the DP Navigation Bar. 2. The HEADING or POSITION “Drop-Down Menus” appear: 10-24 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 11. MAINTENANCE, TEST PROCEDURES & SPECS Maintenance and Test Procedures on the L-3 DP&CS NMS6000 DP System requires only simple hand tools and common test equipment for routine service and casualty repair. The general tools and test equipment required are listed in Table 11-1, and are normally carried onboard vessels having electronic equipment. Shipboard personnel can perform many simple maintenance and troubleshooting operations on the NMS6000 DP System with these items, eliminating the need for L-3 DP&CS engineers and/or technicians to visit the vessel. )Note – Before any maintenance and/or troubleshooting is performed, ensure the vessel is in a safe operating mode that can accommodate potential loss of DP equipment. 11.1 GENERAL TOOLS AND TEST EQUIPMENT Table 11-1, lists the minimum support/test equipment that should be carried onboard the vessel. DESCRIPTION PART NO. Oscilloscope 1740A Hand Held Multimeter E2378A Anti-Static Wrist Strap Velostat – 2064 MAKE Hewlett-Packard or equivalent Hewlett-Packard or equivalent 3M Table 11-1. General Tools and Test Equipment 11.2 ELECTROSTATIC DISCHARGE (ESD) PRECAUTIONS Shipboard maintenance personnel should read Sections 11.2.1 and 11.2.2 on Electrostatic Discharge (ESD) before attempting any maintenance of the system. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-1 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.2.1 ESD-Sensitive Devices An electronic component is considered to be ESD-sensitive if its electrical and/or physical characteristics can be permanently damaged by an electrostatic discharge. The most sensitive of these devices can be damaged by the discharge of as little as 170 volts. Since static potential must exceed 2,500 volts before a human being can feel it, ship personnel may never know that they have caused an ESD event. )Note –Consider all circuit cards and modules in the NMS6000 DP System to be ESD-sensitive. Handle them in accordance with the procedures listed below. 11.2.2 Protective Procedures The key to avoiding ESD damage is the establishment of a common ground between the sensitive device and its surroundings. L-3 DP&CS packages all ESD-sensitive components and assemblies in bags made of a special conductive plastic. This plastic, commonly called “pinkpoly” due to its light pink color, does not generate electrostatic charges. Store all ESD-sensitive spare parts in their original packing. Do not transfer them to regular plastic bags, which can generate up to 10,000 volts of static potential. When inspecting, counting, or using a part for troubleshooting, observe proper ESD handling procedures and return the component to its original packaging as soon as possible. When feasible, L-3 DP&CS recommends personnel inspect or inventory the part without removing it from the protective packaging. Do not install or remove ESD-sensitive assemblies when DC power or signals are flowing. 11.2.3 ESD Guidelines for Replacing Circuit Card Assemblies 1. Turn off DC power to the faulty Circuit Card Assembly (CCA) and attach a personnel-grounding strap to the cabinet frame. This wrist strap (3M Velostat-2064, Richmond-30104, or equivalent) should provide personnel connection to ground by not less than 250 ohms or more than 1 megohm. Note - NMS6000 DP Systems can be configured as a redundant system, with components attached to multiple power sources. Disconnect all applicable power inputs before proceeding. 11-2 2. Connect all exposed metallic surfaces of any test equipment to the test power ground. Connect test equipment ground to vessel ground by less than 200 ohms. 3. Remove replacement CCA from its protective package and install. Follow any applicable installation and test procedures. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.3 MONTHLY MECHANICAL INSPECTION 1. Perform visual inspection with the system powered up. If a problem is found, power down the system prior to performing necessary repairs. When powering down the system follow necessary precautions. ) Note – Many NMS6000 DP Systems are configured with different components attached to multiple power sources. Disconnect all applicable power inputs before proceeding. 2. Open each sub-assembly (Operator Control Panel/Console, signal processor, etc.) and inspect for physical damage, dust, dirt, or other contaminants. 3. Check that mounting hardware has not become loose. 4. Verify each plug-in assembly is correctly seated in the proper connector and no contaminants are present. 5. Verify interconnect cables and connectors are secure. 6. Inspect control panel for physical damage. 7. Close and secure all subassemblies and return system to an operational status. 11.4 MONTHLY OPERATOR CONTROL PANEL/CONSOLE AIR FILTER SERVICE The air filters can be cleaned with the Operator Control Panel/Consoles powered up. 1. Remove rear door grille covers and filters by un-snapping grille covers. 2. Pull off filter media. 3. Use an air hose and nozzle from a low-pressure filtered air supply (20 psi maximum) to back blow and flush debris from blower motors (fans) and air filters. 4. Visually inspect air filters for damage and any remaining contaminants. 5. Inspect blower motors (fans) and blades for damage and contaminants. Blades must rotate freely. 6. If low-pressure air does not adequately clean motor and/or filter, clean them with a non-conductive solvent and a stiff brush. If filter still does not appear clean, discard it. 7. Install new or cleaned filters, and replace grille covers. 11.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE The air filters can be cleaned with the Signal Processor Units powered up. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-3 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 1. Remove the grilles and filters by removing the eight Nyloc nuts, (four on each grille, located on the inside of the door). 2. Remove grilles and pull out filters. 3. Use an air hose and nozzle from a low-pressure filtered air supply (20 psi maximum) to back blow and flush debris from blower motors (fans) and air filters. 4. Visually inspect air filters for damage and any remaining contaminants. 5. Inspect blower motors and blades for damage and contaminants. Blades must rotate freely. 6. If low-pressure air does not adequately clean motors and/or filters, clean them with a non-conductive solvent and a stiff brush. If filters still do not appear clean, discard them. 7. Install new or cleaned filters, and re-install grilles. 11.6 POWER SUPPLY VOLTAGE CHECK Shipboard maintenance personnel should periodically check the Signal Processor(s) power supplies: Power supply voltage checks are to be taken at the various modules/units and at the power supplies. Table 11-2 lists the power supply nominal voltages, and tolerances. NOMINAL VOLTAGE SIGNAL PROCESSOR TOLERANCE +10 VDC 9.99 to 10.00 VDC -10 VDC -10.00 to -9.99 VDC Table 11-2. Power Supply Voltages – (Nominal and Tolerance) 11.6.1 ) 11-4 Signal Processor Unit Test Points & Values Note - Depending on the vessel’s NMS6000 DP System configuration, there may be 1 or more Signal Processor Units (SPUs). Therefore, two SPU Tables have been included for Power Supply data recording purposes. Copies of the following tables can be used for additional SPUs. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.6.1.1 Signal Processor Unit (SPU) 1 SPU 1 Test Points Expected Voltage Range CB1 23.5 - 27 VDC CB2 (optional) 23.5 – 27VDC F1 23.5 - 27 VDC F2 23.5 - 27 VDC F3 23.5 - 27 VDC F4 23.5 - 27 VDC F5 23.5 - 27 VDC F6 23.5 - 27 VDC F7 23.5 - 27 VDC F8 23.5 - 27 VDC F9 23.5 – 27VDC F10 23.5 – 27VDC F11 23.5 – 27VDC F12 23.5 – 27VDC F13 23.5 – 27VDC F14 23.5 - 27 VDC F15 23.5 - 27 VDC F16 23.5 – 27VDC F17 23.5 – 27VDC F18 23.5 – 27VDC F19 23.5 – 27VDC F20 23.5 – 27VDC LED On/OFF Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-5 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.6.1.2 Signal Processor Unit (SPU) 2 – (Optional) SPU 2 Test Points Expected Voltage Range CB1 23.5 - 27 VDC CB2 (optional) 23.5 – 27VDC F1 23.5 - 27 VDC F2 23.5 - 27 VDC F3 23.5 - 27 VDC F4 23.5 - 27 VDC F5 23.5 - 27 VDC F6 23.5 - 27 VDC F7 23.5 - 27 VDC F8 23.5 - 27 VDC F9 23.5 – 27VDC F10 23.5 – 27VDC F11 23.5 – 27VDC F12 23.5 – 27VDC F13 23.5 – 27VDC F14 23.5 - 27 VDC F15 23.5 - 27 VDC F16 23.5 – 27VDC F17 23.5 – 27VDC F18 23.5 – 27VDC F19 23.5 – 27VDC F20 23.5 – 27VDC 11-6 LED On/OFF Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.6.1.3 Signal Processor Unit (SPU) 3 – (Optional) SPU 1 Test Points Expected Voltage Range CB1 23.5 - 27 VDC CB2 (optional) 23.5 – 27VDC F1 23.5 - 27 VDC F2 23.5 - 27 VDC F3 23.5 - 27 VDC F4 23.5 - 27 VDC F5 23.5 - 27 VDC F6 23.5 - 27 VDC F7 23.5 - 27 VDC F8 23.5 - 27 VDC F9 23.5 – 27VDC F10 23.5 – 27VDC F11 23.5 – 27VDC F12 23.5 – 27VDC F13 23.5 – 27VDC F14 23.5 - 27 VDC F15 23.5 - 27 VDC F16 23.5 – 27VDC F17 23.5 – 27VDC F18 23.5 – 27VDC F19 23.5 – 27VDC F20 23.5 – 27VDC LED On/OFF Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-7 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.6.1.4 Signal Processor Unit (SPU) 4 – (Optional) SPU 2 Test Points Expected Voltage Range CB1 23.5 - 27 VDC CB2 (optional) 23.5 – 27VDC F1 23.5 - 27 VDC F2 23.5 - 27 VDC F3 23.5 - 27 VDC F4 23.5 - 27 VDC F5 23.5 - 27 VDC F6 23.5 - 27 VDC F7 23.5 - 27 VDC F8 23.5 - 27 VDC F9 23.5 – 27VDC F10 23.5 – 27VDC F11 23.5 – 27VDC F12 23.5 – 27VDC F13 23.5 – 27VDC F14 23.5 - 27 VDC F15 23.5 - 27 VDC F16 23.5 – 27VDC F17 23.5 – 27VDC F18 23.5 – 27VDC F19 23.5 – 27VDC F20 23.5 – 27VDC 11-8 LED On/OFF Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.7 CMOS BATTERY REPLACEMENT - (2 YEARS) The CMOS battery should be changed every two years as part of routine scheduled maintenance to maintain proper CPU, CMOS, and BIOS functions. Perform the following to replace the CMOS battery: ) Note – Before removing/replacing CPU components, refer to the manufacturer’s computer manual for more specific instructions. Observe the proper ESD safety precautions, Section 11.2, when working in the unit. 1. Remove all power from the Operator Control Panel/Console, rack out the Control Panel computer drawer, and remove computer case to gain access to the CMOS Battery (CR 2032). 2. Remove old battery and replace with new CMOS battery (CR 2032). 3. Dispose of old battery in accordance with procedures outlined in the AMOS User Manual A-310M. 11.8 SIGNAL MAINTENANCE AND TROUBLESHOOTING This section covers RS232 and RS422/RS485 Signal Communications, Programmable Logic Controllers (PLC), Flex I/O Modules, Analog and Digital I/Os, and Switch Interface Controller System Maintenance, Troubleshooting, and Corrective Actions, Circuit Card Jumper Configurations, and Joystick Calibration. 11.8.1 Point I/O RS232 ASCII For error-free RS232 communications, consider the following factors: 1. Transmit and Receive Signal Cabling Terminations - The transmit pin of one device must be wired to the receive pin of the other device. Occasionally there is uncertainty about whether the unit to be interfaced acts as DTE (Data Terminal Equipment) or DCE (Data Communications Equipment). These choices determine which pins are used for transmit, receive, RTS, CTS, etc. To find the transmit pin of an operational device, look for the presence of approximately -12 VDC with a multimeter. 2. Hardware Handshake Lines - RTS, CTS, DTR, and DSR enable and disable communications flow. Consult documentation for both devices to determine how to wire these items. 3. Protocol - Baud rate, stop bits, data bits and parity must be identical for the linked units. For a clear picture of the communications process, an oscilloscope must be used. Connect the probe to the transmit pin. Connect the common line to signal return. The waveform should show a low voltage “spiking” higher periodically. Figure 11-1 illustrates a correct waveform. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-9 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS +12v 0v -12v Figure 11-1. Correct Waveform A single burst corresponds to an individual character. Baud rate determines the overall bit spacing and duration. If hardware checks indicate that communications are underway, then observing (and capturing) the actual data is relatively easy. Connect the sending device to a standard COMport on an IBM compatible computer. Communications software packages such as PROCOMM or TELIX can observe the data being transmitted. 11.8.2 RS422/RS485 These items require correct handshake line configuration and protocol as described in Section 11.8.1. However, the reading displayed by an oscilloscope looks somewhat different. Correct an ungrounded scope between the pins of the differential pair. The probe should go to positive (+) and the common should go to negative (-). Signal traces should look like the previous figure except that levels should be approximately plus (+) and minus (-) 3 VDC. When NO DATA is being transmitted, the measured differential should be positive. When NO DATA is being transmitted and the measured differential is not positive, the wiring may be reversed or a component may have failed. When testing an RS485, shipboard personnel will detect data packets transmitted from both the host and the slave if the line is observed long enough. Signal amplitudes may be somewhat different depending on whether the host or the slave generated the data. 11-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.8.3 11.8.4 Programmable Logic Controller (PLC) ) Note - A DPS-0 System has only one PLC. In the event of PLC failure ) Note – DPS-1/2/3 Systems, have two separate PLC’s installed, immediately contact L-3 DP&CS for service. allowing the NMS6000 DP System to continue working in case of a single PLC failure. However, in the event of PLC failure immediately contact L-3 DP&CS for service. System Reset and Corrective Action During operation in any of the modes, when it is noticed there is no movement on the NMS6000 DP System display, and the time clock is not updating, the system has stopped. Corrective Action is as follows: ¾ 11.8.5 Open the Operator Control Panel/Console cabinet, locate and cycle the switch on the front of the computer. The system then <ON/OFF> begins a reboot into the backup NMS6000 DP System Control Panel mode. Flex I/O Modules The Flex I/O modules in the Signal Processing Units (SPUs), Figure 11-2, vary depending on system components and application needs. Some modules have PWR, COMM, ACTIVE, FAULT, STATUS, and/or OK LEDs, and some have no LEDs. Most SPUs may contain the following Flex I/O modules: ¾ 24 VDC Power Supply A/C Adapter with one ACTIVE and two FAULT status LEDs ¾ Analog Output with PWR LED ¾ Isolated Analog Output with OK LED Flex I/O Module Test Points are displayed in Figure 11-2. On the Analog Current/Voltage I/O Modules and 24VDC Sink I/O Modules, the common side of the circuit is the middle row of terminals (B - 16 through 33) and the signal side is the top row of terminals (A - 0 through 15). For example, for module 0 with a voltage input, test point A-1 is the signal and test point B-18 is the common. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-11 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS PWR LED B A TEST POINTS Figure 11-2. Flex I/O Modules and Test Points 11.8.6 Analog and Digital I/O Analog modules inputs and outputs of continuously variable voltage and current signal status are verified using a multi-meter. Digital modules feature LED’s to indicate input/output signal status. A lighted number indication reflects the presence of a voltage (for an input module), or a low impedance path (for an output module). Only qualified personnel should complete troubleshooting of any electrical component. 11.8.7 11.8.7.1 Circuit Card Jumper Configurations Central Processing Unit (CPU) The CPU has several jumpers on the circuit cards required for proper operation. Before replacing a card, verify the jumpers are correctly placed. Refer to the manufacturer’s computer manual. 11.8.7.2 Gyrocompass Refer to the vessel specific Digital Gyrocompass Equipment Operation and Service Manual. 11-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.8.8 Joystick Calibration ) Note – The Joystick Calibration can only be performed on the Master Control Panel. ) Note – If performing the Joystick Calibration on a remote joystick in addition to the Control Panel joystick, ensure the remote joystick is plugged in prior to performing the calibration. Perform the following to accomplish a Joystick Calibration: 1. Ensure all heading and position control actuator knobs and joysticks are set to their Center De-tent (zero) Position. 2. Plug the supplied keyboard into the USB connector on the CPU of the NMS6000 DP System Control Panel. 3. On the keyboard Press and Hold the ALT key while alternatively pressing the TAB key to scroll to the Control Processor window. 4. When the Control Processor window is highlighted, release the Alt key to maximize the Control Processor window screen. 5. Simultaneously press the SHIFT and J keys until the Joystick Calibration Completed message appears in the Status/Prompt Message Window. ) Note – Pressing the SHIFT and J keys writes the zero point values to the hard disk drive. ) Note – If the optional portable joystick is not plugged in when commencing Step 5 of the calibration procedure, the Status/Prompt Message Window momentarily displays the message JS Calibration Error: Portable. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-13 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9 MODULE AND COMPONENT REPLACEMENT The following sections pertain to various modules and components of the NMS6000 DP System. 11.9.1 Central Processing Unit (CPU) Replaceable parts in the CPU are the motherboard, circuit cards, and disk drive assembly. Perform the following steps to replace circuit cards or disk drive assembly. ) Note – Before removing/replacing CPU components, refer to the manufacturer’s computer manual (A4200M Maritime Computer) for more specific instructions. Observe the proper ESD safety precautions when working in the unit. * Important ! - Before attempting any of the below procedures, follow these instructions: 1. Remove all power to the system. 2. Mark and remove any connectors attached to the unit being serviced. 3. Perform procedure as instructed below. 4. Reinstall all relevant connector(s). 5. Power-up the system and verify proper operation. 11.9.1.1 Installation of Additional Equipment WARNING! The cabinet case must never be removed while the AC power cord is connected, and the computer must not be used without the external case attached. WARNING! A computer contains parts which are sensitive to static electricity. Anyone performing replacements, upgrades, or other work which involves touching components in the computer must ensure that the components are not exposed to static electricity. This involves the use of safety equipment such as earth straps and anti-static mats. If the computer is damaged as a result of static electricity, faulty installation or modifications of components in the machine, the CPU warranties will no longer be valid. 11-14 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9.1.2 Removing the top cover 1. Turn the computer off 2. Disconnect the power cord 3. Unscrew all the 17 screws around the top cover (the screws are torx 20) 4. Lift the top cover straight up 11.9.1.3 Installing a PCI expansion card 1. Unscrew the 6 screws holding the expansion slot cage (the screws are torx 20) 2. Remove the cage gently 3. Unscrew the screw that holding the AC inlet filter and the grounding cables 4. Remove the AC inlet filter (Gently pull the filter of in the direction of the arrow) 5. Install the PCI card The two screws that hold the frame must be accessed from the bottom side. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-15 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9.1.4 Installing 31⁄2” and 51⁄4” equipment 1. Remove all cables that are attached to the device on the frame 2. Unscrew the four screws which device main frame 3. Slide tie frame a little backwards and lift it off 4. Put the frame upside down besides the computer 5. Each device frame is fixed with 4 screws to the main frame on the bottom side 6. Each device is fixed with 4 screws into the device bay 7. If you need external access to the unit, you must also remove the cover in the front 11-16 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9.2 11.9.2.1 SPU Modules and Components Intelligent Communication Modules Perform the following steps to remove and replace intelligent communication modules: 1. Remove all power to the system. 2. Disconnect power leads on the FlexLogix PLC. 3. Disconnect ControlNet coaxial cables. 4. Remove first module following the FLEXLOGIC PLC. 5. Carefully unlock FLEXLOGIC PLC from first terminal base. 6. Lift keeper tab that secures FLEXLOGIC PLC to the DIN rail. 7. Remove FLEXLOGIC PLC from DIN rail. 8. Place new FLEXLOGIC PLC on din rail. 9. Carefully lock new FLEXLOGIC PLC into terminal base and lower keeper tab securing FLEXLOGIC PLC to the DIN rail. * Important ! - Ensure pins inside lock are not bent when locking it into place! This may cause the FLEXLOGIC PLC to malfunction. 10. Replace power leads and coax cables. ) Note - For configuration and assembly/disassembly of modules, refer to Flex I/O Documentation Flex I/O Catalog #1794-2.1 11.9.2.2 Flex I/O Modules Flex I/O modules are disposable and should be replaced from the spares stock. The Flex I/O analog and digital modules can be HOT SWAPPED (removed and replaced with the cabinet and FLEXLOGIC powered up) without damaging the module. 1. Lift keeper tab securing module to the terminal base. 2. Remove faulty module. * Important ! - The key on the side of the module must be aligned properly with the key-way on the base. If key is not aligned, damage to the base and module will occur. 3. Carefully install new module of the same type and ensure locking tab is in place. 4. Discard old part. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-17 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS ) Note - For configuration and assembly/disassembly of modules, refer to Flex I/O Documentation Flex I/O Catalog #1794-2.1. 11.9.2.3 Flex I/O Terminal Bases Terminal Bases P/N 1794-TB3S are disposable and should be replaced from the spares stock. Perform the following to remove and replace the terminal base: 1. 2. 3. 4. 5. 6. 7. 8. Remove power from the FLEXLOGIC PLC associated with the base Remove Flex I/O modules on, above, and below defective base Note and document correct placement of field I/O wiring Remove field I/O wires Carefully unlock base from the ones above and below Lift keeper tab securing terminal base to DIN rail Remove defective base from DIN rail Install a new base on the DIN rail and ensure keeper tab is locked into place 9. Carefully lock new base into the bases above and below * Important ! - Ensure pins inside the lock are not bent when locking it into place! This will ruin both of the TB3S bases and could cause a malfunction! 10. Replace field I/O wires 11. Restore power to the FlexLogix PLC. 12. Discard old part. ) Note - For configuration and assembly/disassembly of modules, refer to 11.9.2.4 Flex I/O Documentation Flex I/O Catalog #1794-2.1. Remote I/O Adapter The Remote I/O Adapters in the Equipment Racks should only be removed and replaced with the cabinet POWERED-DOWN. Refer to the Allen-Bradley Flex I/O Analog Modules User Manual for details. 11-18 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9.2.5 Optical Communications Modem (OCM) If the NMS6000 DP System has an OCM that needs replacing, perform the following: 1. Remove all power to the system 2. Disconnect all cables from the OCM. Mark cables to ensure proper reinstallation 3. Unbolt unit from the tray or release it from the DIN rail and remove it from the Control Panel 4. Installation of new OCM proceeds in reverse order. 11.9.2.6 EtherNet Hub 1. Remove all power to the system. 2. Disconnect all cables from Ethernet Hub. Mark cables to ensure proper reinstallation. 3. Unbolt retaining bracket or release it from the DIN rail and remove Ethernet Hub from Control Panel. 4. Installation of new Ethernet Hub proceeds in reverse order. 11.9.2.7 NMS6000 Uninterruptible Power Supply (UPS) 1. Remove all power to the system. 2. Disconnect all cables from UPS. Mark cables to ensure proper reinstallation. 3. Pull UPS out the front of the equipment rack. 4. Installation of new UPS proceeds in reverse order. 11.9.2.8 SPU Uninterruptible Power Supply (UPS) 1. Remove all power to the system. 2. Disconnect all cables from UPS. Mark cables to ensure proper reinstallation. 3. Pull the UPS out the front of the equipment rack. 4. Installation of new UPS proceeds in reverse order. 11.9.2.9 UPS Battery 1. Remove all power to the system. 2. Disconnect all cables from battery. Mark cables to ensure proper reinstallation. 3. Pull battery out the front of the equipment rack. 4. Installation of new battery proceeds in reverse order. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-19 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9.2.10 SPU Power Supply 1. Remove all power to the system. 2. Disconnect all leads from power supply. Mark leads to ensure proper reinstallation. 3. Remove four mounting screws while supporting power supply. 4. Remove power supply. 5. Installation of new power supply proceeds in reverse order. 11.9.2.11 SPU Exhaust Fan 1. 2. 3. 4. 5. 11.9.3 11.9.3.1 Remove all power to the system. Open door and remove four screws securing filter/fan housing. Install replacement fan unit. Reinstall filter/fan housing. Power-up the system and verify proper operation. Sensors Motion Reference Unit (MRU) 1. Remove all power to the system. 2. Disconnect all cables from MRU. Mark cables to ensure proper reinstallation. 3. Unscrew mounting screws and remove MRU. ) Note – Whenever possible, align Motion Referenced Unit with the vessel’s current attitude to ensure the offsets are correct. 4. Installation of the MRU proceeds in reverse order. 11.9.3.2 Global Positioning System (GPS) 1. Remove all power to the system. 2. Disconnect all cables from GPS. Mark cables to ensure proper reinstallation. 3. Unscrew mounting screws and remove GPS. 4. Installation of new GPS proceeds in the reverse order. 11-20 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.9.3.3 Vertical Reference Unit (VRU) 1. Remove all power to the system. 2. Disconnect all cables from VRU. Mark cables to ensure proper reinstallation. 3. Unscrew mounting screws and remove VRU. ) Note – Whenever possible, align Vertical Referenced Unit with the vessel’s current attitude to ensure the offsets are correct. 4. Installation of new VRU proceeds in reverse order. 11.10 11.10.1 COMPONENT SPECS Industrial Computer A rack-mounted industrial computer is installed in the base of each Operator Console. It provides high-performance digital control processing, generates graphics, and permits high-speed data highway communications and serial interfaces with position reference sensors. A hard disk drive stores the NMS6000 application program, database, and the Microsoft Windows XP® operating system. The case can be removed to provide access to the card rack from the top. All connectors are available at the back of the computer. Additionally, this computer assembly contains serial interfaces to the Signal Processor, remote and portable joysticks (if configured), Control Console, and auxiliary USB ports. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-21 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS DVD/CD Disk Drive Floppy Drive Power Switch Reset Switch USB Dual Video Dual Serial Ethernet LPT 1 Power Inlet MOXA Serial Card Mouse Keyboard USB Opt. PCIC USB Com 1 Onboard Video Audio PCI Expansion Slot Optional Dual Ethernet Card Not Shown Figure 11-3. Industrial Computer 11.10.1.1 11-22 Industrial Computer Specifications System ATX form factor MB based on the Intel 845e chip set PCI and AGP bus technology Memory 256MB -3GB (DDR 266) /64bit or 72bit RAM Processor Intel Pentium 4; 533Mhz FSB Processor socket 478 pin PGA socket Slots 3*Full height, half length PCI slots 1*Low profile, half length PCI slot 1*Audio Modem Riser slot Peripheral bays 2*external 3.5“ bays 2*external slim 5.25“ (CD, CD-RW or DVD) Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS Disk interface PCI enhanced IDE interface handling up to four ATAPI devices (such as CDROM drives). Supports ultra ATA 33/66/100 IO interface 2*RS-232, 1*LPT, 6*USB, 2*PS/2 audio (line in, line out and mic in) Hard drives 20GB – 80GB removable 40GB to 120GB fixed drives Graphics Matrox G550 dual head digital and analog graphic interface Network On board Intel PRO/100, 10/100Mbit RJ-45 Sound On board AC’97 sound system Power supply 300W power supply USA: 100-120V 60Hz, European: 200 – 240V 50Hz auto switch. Power Features Advanced Power Management (APM) Advanced Config. & Power Interface (ACPI) Size (width * height * depth) 42.5 cm*14 cm 37.5 cm (16.7 “*5.5“*14.8”) Weight 12 kg (26.5 lb.) Certifications IEC 945, Maritime certification from ABS, BV, DNV, GL, and NKK Table 11-3. Industrial Computer Specifications The A4200M has also achieved IEC-945 certification. IEC-945 certification requires very stringent adherence to EMC, radiation and immunity standards. No computer without IEC-945 approval may be used in conjunction with navigation equipment or in any location near such equipment. The A4200M Maritime computer was designed with focus on the safety and reliability required in critical applications on ships and offshore installations. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-23 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.11 11.11.1 SERVICE & PARTS Recommended Spare or Replacement Parts L-3 DP&CS strongly encourages each vessel owner to order the recommended inventory of spares/replacements, to allow vessel personnel the opportunity to repair most DP System problems. The recommended spare or replacement parts lists are compiled from our supply listings and may differ or change as future parts or vessel systems are updated and/or interchanged. ) 11.11.2 Note – When ordering spare or replacement parts refer to the Bill of Materials (Console Comp & SPU Assemblies) located in the Vessel Specific Documentation and Drawings Section in the back of this manual. Or contact L-3 DP&CS in California, listed below. Service Locations L-3 Communications, Inc. Dynamic Positioning and Control Systems 6610 W Sam Houston Parkway N. Suite 300 Houston, TX 77041 USA Phone: (713) 880-2866 Facsimile: (713) 880-2734 L-3 Communications, Inc. Dynamic Positioning and Control Systems 12131 Community Road Poway, CA 92064 USA Phone: (858) 679-5500 Facsimile: (858) 679-5501 Trained L-3 DP&CS field service engineers and selected inventories of spare/replacement parts are available at the service locations listed. L-3 DP&CS strongly encourages each vessel owner to order the recommended inventory of spares from L-3 DP&CS in California, listed above. Ordering the recommended inventory of spares allows vessel personnel the opportunity to repair most DP System problems. Refer to Section 11.1 for information on suggested maintenance tools. 11-24 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS 11.11.3 Field Service Order Information L-3 DP&CS requires the following information for any field service request: ¾ Accurate Identification of the Equipment by Serial Number ¾ Vessel Name and Location ¾ Order Number and Billing Instructions ¾ Where, and to Whom, the Field Service Engineer should report ¾ Point of Contact On-board the Vessel ¾ Any Portal Entry Problems and/or Broker Involved ¾ Complete Description of the Problem ¾ Availability of Spares Onboard 11.11.4 Ordering New Parts L-3 DP&CS requires the following information with any new parts order: ¾ Vessel Name and Location ¾ Order Number and Billing Instructions ¾ Shipping Instructions ¾ Identity of NMS6000 DP System by Serial Number ¾ Part Name and Part Number of New Items Ordered 11.11.5 Returning Items The following information is required for returned items: ¾ Name and Serial Number of Items ¾ Reason for Return and Disposition: Examples: Repair to Working Order, Refurbish to Near-new Condition, Evaluate to Ascertain Whether Part is Repairable, etc. ¾ Cause and Symptoms of Problem ¾ Contact Name Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 11-25 CHAPTER 11: MAINTENANCE, TEST PROCEDURES & SPECS This page intentionally left blank. 11-26 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 12. DP SYSTEM ALARMS & TROUBLESHOOTING 12.1 ALARM CONDITIONS The DP system generates alarms for the following general conditions: ¾ SENS – Sensor input failure or comparison error between multiple sensor inputs. ¾ CTRL – Control performance not satisfactory. ¾ THRS – Thruster commands exceeding alarm levels. ¾ POWR – Power manager limits or generator alarm levels exceeded. ¾ HDWR – Computer processor, SPU, or other hardware self-test failure. ¾ CMPR – Comparison error between Master and Backup Control Panel position estimates. ¾ CONS – See Section 12.9, Consequence Analysis Routine. ¾ JSBS – See Section 7.6.2.2, Clear Joystick Bias. ¾ WIND – See Section 7.6.1.7, Wind Compensation. ¾ DISA – One or more alarms have been manually disabled. ¾ INHB – See Section 7.6.2.3, Alarm Page Inhibit. The abbreviated alarm names appear in the Alarm Summary Window, Figure 12-1, which is located under the Deviation Display, Figure 6-5. Figure 12-1. Alarm Summary Window Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-1 CHAPTER 12: DP SYSTEM ALARMS 12.2 ALARM NOTIFICATION Here are five (5) indicators for new unacknowledged alarms. 1. Display boxes in the Alarm Summary Window, Figure 12-1, flash red. 2. The new alarm message appears in the Last Alarm Window, Figure 12-2. 3. The Master console generates a continuous high-low alarm tone. 4. The ALARM PAGE, Figure 12-3, automatically appears unless it is inhibited from doing so. Refer to Section 12.3.1 for instructions on inhibiting the ALARM PAGE. 5. The <ALARM> indicator light flashes on the Remote/Portable Joystick (if configured) to tell the operator that there is an unacknowledged alarm. Operators cannot acknowledge alarms from a Remote/Portable Joystick; alarms can be acknowledged only from a Control Panel/Console. L-3 DP&CS recommends that when a Remote/Portable Joystick is being used, another operator is also at a Control Panel/Console. When all active alarms are acknowledged, the alarm light on the remote joystick will stop flashing. The light will go out when the alarms are cleared. Note that when the Remote/Portable Joystick lamp intensity is turned up, it can appear that the alarm light is on. Adjust lamp intensity to suit the installation. 12.3 ALARM PAGE The NMS6000 calls up the ALARM PAGE, Figure 12-3, when it detects a new alarm condition, unless the ALARM PAGE has been inhibited (see next section). To view the ALARM PAGE on demand, pick on (inside) the Last Alarm Window, Figure 12-2. Last Alarm Window Figure 12-2. Last Alarm Window 12-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Figure 12-3. Typical Alarm Page Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-3 CHAPTER 12: DP SYSTEM ALARMS 12.3.1 Inhibiting the Alarm Page To inhibit (prevent) the system from automatically displaying the ALARM PAGE when a new alarm occurs, do one of the following. ¾ Pick the Alarm Page Inhibit screen button on the Master console MODE FUNCTION PAGE, Figure 12-4. ¾ Pick the Alarm Page Inhibit screen button on the MODE FUNCTION drop-down menu; Figure 12-4. When the operator has inhibited the ALARM PAGE, the INHB button in the Alarm Summary Window, Figure 12-1, is illuminated. Figure 12-4. Inhibiting the Alarm Page 12-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS 12.4 COLOR-CODING OF ALARMS The following subsections explain the color-coding scheme for alarm messages. This color-coding applies to the messages listed on the ALARM PAGE, Figure 12-3, and in the Alarm Summary Window below, Figure 12-1. In the Alarm Summary Window, the color of a given display box is tied to the most severe of the detected alarms for a given category. Thus, if the NMS6000 detects an unacknowledged sensor alarm, as well as an acknowledged sensor alarm, the SENS display box in the Alarm Summary Window flashes red to indicate the unacknowledged (e.g., most severe) alarm. 12.4.1 Flashing Red – Unacknowledged Alarms Flashing red messages indicate an unacknowledged active alarm condition. 12.4.2 Solid Red – Acknowledged Alarms Solid red indicates an acknowledged active alarm. 12.4.3 Flashing Yellow – Expired Alarms Alarm conditions that have occurred, but have cleared before being acknowledged, are presented in yellow. 12.4.4 Green – Consequence Analysis Alarms Consequence Analysis (CA) alarms always appear in green. The system clears these alarms automatically if the operator selects the Alarm Acknowledge function (refer to Section 12.5) or if the condition that gave rise to the CA alarm no longer pertains. Refer to Section 12.9 for more information on the CA function. 12.5 SILENCING ALARMS Pushing the ALARM SILENCE Button in the upper right hand corner of the display screen will silence the audible portion of an alarm. If the ALARM SILENCE button is pushed on a Master Control Panel, it silences all of the audible alarms on the vessel. If it is pushed at a Backup station, it only silences the audible alarm for that location. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-5 CHAPTER 12: DP SYSTEM ALARMS 12.6 ACKNOWLEDGING ALARMS Pick the <ACK> button at the top of the ALARM PAGE to acknowledge every unacknowledged alarm. Figure 12-5. Acknowledging Alarms After the operator acknowledges alarms, the system: 12.7 • Silences all audible alarm tones • Converts flashing red alarms (unacknowledged) to solid red (acknowledged). • Eliminates yellow alarms. SORTING ALARMS Select the <TIME> button at the top of the ALARM PAGE to change the sorting of alarms (and the text on the button) from Time to Group. Select the screen button again to sort the alarm list by Time. See Figure 12-6. Figure 12-6. Sorting Alarms 12-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS 12.8 DISABLING ALARMS Disabling an alarm removes the specific alarm detection code from the active list. It does not merely clear a specific alarm occurrence, but prevents the NMS6000 from detecting that alarm condition as long as the code is disabled. Disabling should be used with caution during normal operations. This function may be useful for eliminating automatic ALARM PAGE switching and alarm notification caused by “nuisance” alarms which constantly clear and recur. Taking the corresponding hardware offline rather than disabling the alarm code itself may clear most sensor and thruster alarms. Disabled alarm messages that are based on a still-active alarm condition appear as red text on a white bar toward the bottom of the ALARM PAGE. In the following figure, the “Gyro 1: Time out” alarm is disabled. Figure 12-7. Alarm Page with a Disabled Alarm Message Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-7 CHAPTER 12: DP SYSTEM ALARMS 12.8.1 Disabling an Alarm listed on the Alarm Page 1. Using the cursor control, select the appropriate ALARM PAGE message. 2. The system highlights this line. 3. Select the <DISABLE > screen button. When any alarm has been disabled, the DISA box in the Alarm Summary Window, Figure 12-1, will be illuminated. To return a disabled alarm message to the active list: 1. Select the disabled message. 2. The system highlights this line. 3. Select the <ENABLE> button at the top of the ALARM PAGE. 12.8.2 Disabling Any Alarm The NMS6000 permits operators to disable any alarm in the database, even if the alarm is not currently displayed on the ALARM PAGE. 1. Select the <ID ENABLE> screen button at the top of the ALARM PAGES. 2. The ALARM ID pop-up window appears. Light blue messages represent alarms not currently present on the ALARM PAGE. Red messages indicate active alarms, both acknowledged and unacknowledged. Yellow messages indicate expired alarms. Green messages indicate Consequence Analysis alarms. 12-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS 3. Scroll through the list of messages until the desired alarm appears. 4. Use the cursor control to highlight this line. 5. Select the <OK> button on the ALARM ID pop-up. To return a disabled alarm message to the active list, pick on it and then select the <OK> button. 12.9 CONSEQUENCE ANALYSIS ROUTINE The Consequence Analysis (CA) Routine determines if the failure of a certain hardware component might affect the station-keeping ability of the vessel at that moment, given existing environmental conditions. When activated, the software runs transparently in the background, continuously testing different failure simulations. It treats redundant hardware components separately. (e.g. If a vessel has four thrusters, CA runs four different routines, examining the effect of losing each one of them.) This section describes the specific simulations tested by the CA routine. Operators may activate or deactivate Consequence Analysis from SETUP PAGE 3 using the Consequence Analysis ON/OFF button. An internal Loss Matrix defines the parameters of the various routines. CA also runs the Thrust Allocation Logic (TAL) and Power Management (PM) module routines, tying the loss routine to the existing environmental conditions and simulated thrust and power limitations. The system tracks the following types of compromised station-keeping: ¾ Insufficient Port/Starboard Thrust ¾ Insufficient Fore/Aft Thrust ¾ Insufficient Heading Thrust The comprised station-keeping list is arranged by the importance of the failure, from low to high. The system displays only the most critical of all Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-9 CHAPTER 12: DP SYSTEM ALARMS current failures. Therefore, if a given routine would cause both Insufficient Port/Starboard Thrust and Insufficient Heading Thrust conditions, the display reports only “Insufficient Heading Thrust.” When CA determines that failure of a given hardware unit would compromise the vessel’s station-keeping ability, it generates an advisory CONS CA alarm. The NMS6000 DP System monitors certain alarms generated during a CA simulation and allows them to occur for a set number of "grace period" seconds before raising such advisories. The ALARM PAGE displays CA alarms along with normal alarms. The NMS6000 DP System treats these advisories like regular alarms, with the following exceptions: ¾ The ALARM PAGE does not automatically appear. ¾ The speaker generates a repetitive “blip” tone, not a continuous high-low tone. ¾ The display presents CA alarms in green. ) 12.9.1 Note – When operators disable CA, the system clears all alarms for the different loss routines. Operators can temporarily disable single CA alarms by following the same process used for normal alarms, see Section 12.8. Specific Consequence Analysis Routines The following Specific CA Routines are tested by the NMS6000 DP System: ¾ ¾ ¾ ¾ 12.9.1.1 Single Generator Loss Single Bus Loss Single Signal Processor Loss Thruster Loss Single Generator Loss Loss of a single online generator reduces the power available for dynamic positioning (upper power limit) on the bus fed by that generator. During this test routine, one generator’s power capability is assumed to drop to zero. The power limits are then checked and any necessary and feasible adjustments in the thruster allocation are made to accommodate the reduced upper power limit on the affected bus. When the resulting allocation will not meet the required forces and moments, the system generates a Consequence Analysis alarm. 12-10 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS 12.9.1.2 Single Bus Loss Loss of a single bus prevents the NMS6000 DP System from using any thruster on that bus. During this test routine, the thruster allocation logic must make feasible adjustments to accommodate the lost bus. When the resulting allocation will not meet the required forces and moments, the system generates a Consequence Analysis alarm. Each bus loss is tested. 12.9.1.3 Single Signal Processor Loss Loss of a single SPU prevents the NMS6000 DP System from using any thruster controlled through that SPU. During this test routine, the thruster allocation logic must make feasible adjustments to accommodate the lost SPU. When the resulting allocation will not meet the required forces and moments, the system generates a Consequence Analysis alarm. Each SPU loss is tested. 12.9.1.4 Thruster Loss The Thruster Loss test routine selects each online thruster sequentially and assumes it to be disabled. The thruster allocation logic is run with only the usable thrusters. Power limits on other buses are checked and any necessary and feasible adjustments are made to accommodate the lost thrusters. When the resulting allocation resulting allocation will not meet the required forces and moments or if the allocation still exceeds the operating power limit, the system generates a Consequence Analysis alarm. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-11 CHAPTER 12: DP SYSTEM ALARMS 12.10 DP SYSTEM ALARMS AND MESSAGES ) Note – Depending on the vessel’s DP System configuration, some of the following alarms may not be applicable. ) Note – The letter “X” following the name of a hardware item represents the number of that item. # Example – “Thruster X” may be replaced by “Thruster 1” in the actual alarm message. Alarm Message Bow Thr X: Control Transfer Alarm Bow Thr X: Direction Input Fault Type THRST Definition and Corrective Action Take thruster offline. Inspect/Troubleshoot at thruster. THRST Port and starboard direction feedbacks from thrusters are either both high or both low. Take thruster offline. Inspect/Troubleshoot the thruster interface. Bow Thr X: High Level Alert THRST Bow Thr X: Not Ready/Not DP Control Bow Thr X: RPM Compare Alarm THRST Bow Thr X: Thrust Compare THRST Thrust command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place additional thrusters online. Thruster is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface. RPM cmnd/fdbk Compare Alarm Limit has been exceeded. Verify thruster operation against Compare alarm on Setup Page. The difference between the commanded thrust level and the measured thrust level exceeds the Thrust Compare Alarm Limit. If the error is large, take thruster offline. Cons: One ACNR Loss Insuff Hdg Thrust Cons: One ACNR Loss Insuff Pos Thrust Cons: One Bus Loss Insuff Hdg Thrust Cons: One Bus Loss Insuff Pos Thrust Cons: One Gen Loss Insuff Hdg Thrust Cons: One Gen Loss Insuff Pos Thrust Cons: One Rudder Loss Insuff Hdg Thrust Cons: One Rudder Loss Insuff Pos Thrust Cons: One Thr Loss - Insuff Hdg Thrust CONS 12-12 THRST CONS CONS CONS CONS CONS CONS CONS CONS Loss of any one online ACNR switchboard would result in unmet yaw thrust commands. Loss of any one online ACNR switchboard would result in unmet surge/sway thrust commands. Loss of any one online bus switchboard would result in unmet yaw thrust commands. Loss of any one online bus switchboard would result in unmet surge/sway thrust commands. Loss of any one online generator would result in unmet yaw thrust commands. Loss of any one online generator would result in unmet surge/sway thrust commands. Loss of any one online bus would result in unmet yaw thrust commands. Loss of any one online bus would result in unmet surge or sway thrust commands. Loss of any one online thruster would result in unmet yaw thrust commands. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Alarm Message Cons: One Thr Loss - Insuff Pos Thrust Cons: Port Main Loss Insuff Hdg Thrust Cons: Port Main Loss Insuff Pos Thrust Cons: Port Rudder Loss Insuff Hdg Thrust Cons: Port Rudder Loss Insuff Pos Thrust Cons: SPUX Loss - Insuff Hdg Thrust Cons: SPUX Loss - Insuff Pos Thrust Cons: Stbd Main Loss Insuff Hdg Thrust Cons: Stbd Main Loss Insuff Pos Thrust Cons: Stbd Rudder Loss Insuff Hdg Thrust Cons: Stbd Rudder Loss Insuff Pos Thrust Cons: TX Loss - Insuff Hdg Thrust Cons: TX Loss - Insuff Pos Thrust Console Joystick: Communication Error Type CONS CONS CONS CONS CONS CONS CONS CONS CONS CONS CONS CONS CONS HDWR Definition and Corrective Action Loss of any one online thruster would result in unmet surge/sway thrust commands. Loss of the specific thruster would result in unmet yaw thrust commands. Loss of the specific thruster would result in unmet surge/sway thrust commands. Loss of the specific rudder would result in unmet yaw thrust commands. Loss of the specific rudder would result in unmet surge/sway thrust commands. Loss of the specific SPU would result in unmet yaw thrust commands. Loss of the specific SPU would result in unmet surge/sway thrust commands. Loss of the specific thruster would result in unmet yaw thrust commands. Loss of the specific thruster would result in unmet surge/sway thrust commands. Loss of the specific rudder would result in unmet yaw thrust commands. Loss of the specific rudder would result in unmet surge/sway thrust commands. Loss of the specific thruster would result in unmet yaw thrust commands. Loss of the specific thruster would result in unmet surge/sway thrust commands. Communication with control panel was unsuccessful. If alarm persists, select another Control Panel to act as the Master and troubleshoot former Master. Console Joystick: Serial Communication Error HDWR Communication with control panel joystick was unsuccessful. If alarm persists, select another Control Panel to act as the Master and troubleshoot former Master. ControlNet ChX - Faulted Unit HDWR ControlNet ChX - Incorrect Node Configuration ControlNet ChX - Internal Diagnostics Fail HDWR ControlNet ChX - PLC Address Above UMAX ControlNet ChX - Self Test Fail HDWR ControlNet ChX Temporary Errors HDWR Control Net node fault on Ch X. Check for faulty Control Net nodes (Consoles, SPU’s PLC’s, etc.) Check for status indication, refer to documentation for specific hardware for details. Control Net configuration corrupt. Contact L-3 DP&CS for repair. Control Net node failure on Ch X. Check for faulty Control Net nodes (Consoles, SPU’s PLC’s, etc.) Check for status indication, refer to documentation for specific hardware for details. Control Net configuration corrupt. Contact L-3 DP&CS for repair. Control Net node failure on Ch X. Check for faulty Control Net nodes (Consoles, SPU’s PLC’s, etc.) Check for status indication, refer to documentation for specific hardware for details. Control Net communication intermittent failure or noise on Ch X. Check for cable wear, loose connectors, coaxial shield to hull earthed at all consoles, SPU’s and SNIU’s (if installed). HDWR HDWR Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-13 CHAPTER 12: DP SYSTEM ALARMS Alarm Message CyScan X: Bearing Input Invalid CyScan X: Bearing Input Invalid CyScan X: Data Rejection Type SENS SENS SENS Definition and Corrective Action No relative bearing data available. Ensure that at least two reflectors are being targeted. No relative bearing data available. Ensure that at least two reflectors are being targeted. Data falls outside the adaptive alarm threshold as determined by the data history of the sensor. If alarm clears automatically, no corrective action is required. If the alarm persists, examine the data. If the data appears valid, take the sensor offline and then place it online again to clear the alarm condition. If the data appears invalid, take the sensor offline and troubleshoot. Note - Do not place the sensor online until the fault has been corrected. CyScan X: Filtered Target Estimate CyScan X: High Noise Alarm SENS SENS Calculated noise level for sensor exceeds upper threshold. If alarm clears automatically, no corrective action is required. If alarm persists, take sensor offline. CyScan X: Invalid Data Received CyScan X: Median Test Alarm SENS CyScan X: No Data SENS CyScan X: NRL Data Rejected CyScan X: Position Input Invalid CyScan X: Position Input Invalid CyScan X: Serial Port Error SENS SENS CyScan X: Serial Port Error SENS CyScan X: Serial Port Timeout SENS Serial data received is not in a valid format. If alarm persists, check Serial I/O Page and inspect serial string. Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold or perform Position Reference Calibration. Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. Inspect/Troubleshoot at the sensor. Noise Rejection Logic data rejected due to excessive sensor noise. ON/OFF etc No relative position data available. Ensure that at least two reflectors are being targeted. No relative position data available. Ensure that at least two reflectors are being targeted. Alarm other than Timeout or Buffer Overflow generated within serial processing software. If alarm persists, reset serial device, check serial page for input message validity or check physical interface connections. Alarm other than Timeout or Buffer Overflow generated within serial processing software. If alarm persists, reset serial device, check serial page for input message validity or check physical interface connections. Valid data has not been received within the sensors timeout period. Ensure sensor is powered up and properly configured. If alarm persists check physical connections of interface and Serial I/O Page and Sensor Page. CyScan X: Serial Port Timeout SENS Valid data has not been received within the sensors timeout period. Ensure sensor is powered up and properly configured. If alarm persists check physical connections of interface and Serial I/O Page and Sensor Page. CyScan X: Serial Receive Buffer Overflow CyScan X: Serial Receive Buffer Overflow SENS Sensor is sending excessive data in one DP cycle. Ensure that serial output of sensor is set up properly. Sensor is sending excessive data in one DP cycle. Ensure that serial output of sensor is set up properly. 12-14 SENS SENS SENS SENS Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Alarm Message CyScan X: Single Target Mode CyScan X: Single Target Mode CyScan X: Timed Out Type SENS Definition and Corrective Action Ensure that at least two reflectors are being targeted. SENS Ensure that at least two reflectors are being targeted. SENS DGPS X: Correction Latency SENS DGPS X: Data Rejection SENS DGPS X: Diff Correction Age Exceeded SENS Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. The time allowed for the differential correction signal to be received has elapsed. If alarm persists take sensor offline and wait for the satellite configuration to improve, or until the differential signal is received. Data falls outside the adaptive alarm threshold as determined by the data history of this sensor. If alarm persists check sensor data. If data is valid cycle the online status of the sensor. If data is invalid take sensor offline until the fault is corrected. The time allowed for the differential correction signal to be received has elapsed. If alarm persists take sensor offline until the differential signal is received. DGPS X: Diff Fix Low Quality SENS DGPS X: Fix Update Period Exceeded SENS DGPS X: High Horiz Dilution of Precision SENS DGPS X: High Noise Alarm SENS DGPS X: Invalid Data Received SENS DGPS X: Median Test Alarm SENS DGPS X: No Data SENS DGPS X: Position Quality Fault DGPS X: Serial Port Error SENS DGPS X: Serial Port Timeout SENS DGPS X: Serial Receive Buffer Overflow SENS SENS The differential correction signal reception has degraded. If alarm persists take sensor offline until the differential signal is received. The time allowed for the differential correction signal to be received has elapsed. If alarm persists take sensor offline until the differential signal is received. The Horizontal Dilution of Precision is too high. Check DGPS equipment for fault. If no fault is found wait for reading to lower. Note - This alarm may result from poor satellite geometry. Calculated noise level exceeds upper threshold. If alarm persists take sensor offline. Serial parser cannot understand serial string received. Inspect data received on Signal I/O Page 3 and verify a valid GPGGA string received. If not, consult DGPS manual for proper DGPS setup. Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold or perform Position Reference Calibration. Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. Inspect/Troubleshoot at the sensor. The position estimate quality is low enough to be unreliable. Inspect the data and if it appears invalid take sensor offline. Alarm other than Timeout or Buffer Overflow generated within serial processing software. If alarm persists, reset serial device, check serial page for input message validity or check physical interface connections. Valid data has not been received within the sensors timeout period. If alarm persists check DGPS operation or interface connection. DGPS is sending excessive data in one DP cycle. Ensure the DGPS is sending only one sentence per second. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-15 CHAPTER 12: DP SYSTEM ALARMS Alarm Message DGPS X: Unchanging Position Fault DP Online and JS Online Signal Mismatch Type SENS HDWR DP Online Comparison Error East Axis: Dead Reckoning HDWR FLX0X_DP ControlNet ChX - Media Fault HDWR Gyro X: Data Median Alarm SENS Gyro X: Invalid Data Block SENS Gyro X: Power Fault SENS Gyro X: Serial Port Error SENS Gyro X: Serial Port Timeout SENS Gyro X: Serial Receive Buffer Overflow SENS Gyro X: Timeout SENS Gyro X: Unchanging Angle Fault Gyro: Divergence Alarm SENS CTRL SENS HAM: Outside Radius Using Nominal Bandwidth HAM: Using Nominal Bandwidth Heading Axis: Dead Reckoning CTRL Heading Excursion CTRL 12-16 CTRL CTRL Definition and Corrective Action Sensor data received is unchanging. Check sensor and take appropriate action. The Control Processor (CP) is reading true on both signals when only one "true" is feasible. This is because the two consoles are connected to the Selector Switch which allows only one connection at a time. Verify that the corresponding discrete I/O modules are receiving the same signals that are being reported on the Digital I/O page. Redundant discrete inputs from DP Online switch do not agree. DP assumes the switch is in the Online position. No valid position measurements are available. Place additional position sensors online and/or troubleshoot current online sensors. Control Net communication failure on Ch X. Check for cable break, compartment loss, connector failure on all consoles, SPU’s and SNIU’s (if installed). Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold. Data received is not in a valid format. If alarm persists check status of NMEA string on I/O page. Check operation of gyrocompass. Sensor is not receiving adequate power. Take sensor offline until this condition clears. If another unalarmed sensor is not available, revert to manual control of heading and position. Alarm other than Timeout or Buffer Overflow generated within serial processing software. If alarm persists, reset serial device, check serial page for input message validity or check physical interface connections. Valid data has not been received within the sensors timeout period. If alarm persists check operation of Gyrocompass and interface connection. The NMEA message rate is set too high (two per second is adequate) or the data is invalid. Inspect SIGNAL I/O PAGEs for correct NMEA string. Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. Sensor data received is unchanging. Check sensor and take appropriate action. Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline. Vessel is outside HAM radius and DP Controller has reverted back to Nominal Bandwidth. Vessel just crossed HAM radius and DP Controller is using Nominal Bandwidth. No valid heading measurements are available. Place additional heading sensors online and/or troubleshoot current online sensors. Measured heading differs from heading setpoint by more than the defined Heading Error Threshold. Increase control gain for Yaw axis. If condition persists, review sensor and propulsion status for contributing alarm conditions. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Alarm Message HX Bcn X: Attitude Sensor Fault (ATT) HX Bcn X: Data Rejection Type SENS Definition and Corrective Action Refer to the Acoustic System user manual. SENS HX Bcn X: Filtered Data Rejected HX Bcn X: Fusion Rejection (Rej) HX Bcn X: Gyro Fault (GYR) HX Bcn X: High Noise Alarm HX Bcn X: Invalid Coordinate/Orientation Combination SENS Data falls outside the adaptive alarm threshold as determined by the data history of this sensor. If alarm persists check sensor data. If data is valid cycle the online status of the sensor. If data is invalid take sensor offline until the fault is corrected. Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Calculated noise level exceeds upper threshold. If alarm persists take sensor offline. Refer to the Acoustic System user manual. HX Bcn X: Median Test Alarm SENS HX Bcn X: Missing External Depth (ExM) HX Bcn X: No Message SENS HX Bcn X: No Reply (NRy) HX Bcn X: Predicted Position (Pre) HX Bcn X: Unknown Fault (???) HX Bcn X: VRU Fault (VRU) HX Bcn X: X Solve Ambiguity (AmX) HX Bcn X: Y Solve Ambiguity (AmY) HX LBL: Computational Error (CER) HX LBL: Data Rejection SENS SENS Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. Refer to the Acoustic System user manual. Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS HX LBL: High Noise Alarm SENS HX LBL: Invalid Coordinate/Orientation Combination SENS Data falls outside the adaptive alarm threshold as determined by the data history of this sensor. If alarm persists check sensor data. If data is valid cycle the online status of the sensor. If data is invalid take sensor offline until the fault is corrected. Calculated noise level exceeds upper threshold. If alarm persists take sensor offline. Refer to the Acoustic System user manual. HX LBL: Measurement Residuals Too Large (RES) SENS Refer to the Acoustic System user manual. SENS SENS Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold or perform Position Reference Calibration. Refer to the Acoustic System user manual. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-17 CHAPTER 12: DP SYSTEM ALARMS Alarm Message HX LBL: Median Test Alarm Type SENS HX LBL: No Geographic Position (NGI) HX LBL: No Message SENS HX LBL: Position Does Not Converge (NOC) HX LBL: Position Does Not Converge (NVC) HX LBL: Too Few Replies (FER) HX LBL: Unknown Fault HX: Heading Compare Error SENS Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS Refer to the Acoustic System user manual. SENS SENS Refer to the Acoustic System user manual. Heading data sent to Acoustic Position Reference System does not agree with NMS heading. Inspect sensor data to determine which reading is valid. HX: Serial Port Error SENS HX: Serial Port Timeout SENS Alarm other than Timeout or Buffer Overflow generated within serial processing software. If alarm persists, reset serial device, check serial page for input message validity or check physical interface connections. Valid data has not been received within the sensors timeout period. If alarm persists check operation of RS925 system at DCU. Check physical interface connections to/from DCU. HX: Serial Receive Buffer Overflow SENS Inappropriate Thruster Configuration CTRL Insufficient F/A Thrust CTRL Insufficient Heading Thrust CTRL Insufficient P/S Thrust CTRL Joystick: Calibration Error HDWR NMS Offline HDWR NMSX Not In Control HDWR No Valid Hold Relative Sensor Is Available CTRL 12-18 SENS Definition and Corrective Action Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold or perform Position Reference Calibration. Refer to the Acoustic System user manual. The NMEA message rate is set too high (two per second is adequate) or the data is invalid. Inspect SIGNAL I/O PAGEs for correct NMEA string. The thrusters online are not in a configuration that allows calculation of a valid DP solution. Place additional thrusters online. Insufficient thrust available to meet surge commands. Reorient vessel to reduce thruster loading or place additional thrusters online. Insufficient thrust available to meet yaw commands. Reorient vessel to reduce thruster loading or place additional thrusters online. Insufficient thrust available to meet sway commands. Reorient vessel to reduce thruster loading or place additional thrusters online. A joystick value is not close enough to the expected center value to allow center calibration. Set the manual controls to their center positions and perform the calibration again. The NMS X system is offline. DP Selector Switch is not set to DP. Not able to detect NMS. Check NMS X for major unexpected system anomaly. Place Hold Relative sensor online. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Alarm Message North Axis: Dead Reckoning Type CTRL PLC Battery is Low HDWR PLC Forces are Enabled HDWR PLC is in Program Mode HDWR PLC is in Test Mode HDWR PLC X - Loss of Heartbeat HDWR PLC: Hot-Backup Invalid Configuration HDWR PLC: Hot-Backup Summary Alarm PLC: No Hot-Backup PLC in Control HDWR PLC: No Hot-Backup PLC Present HDWR Port Main: Control Transfer Alarm Port Main: Feedback Direction Alarm Port Main: High Level Alert THRST Loss of Flex PLC Heartbeat. Inspect/troubleshoot Flex PLC hardware. Possible bad Hot backup module or corrupt PLC file. Check Hot backup module for status and indication, replace if possible. Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary). Otherwise contact L-3 DP&CS for corrective action. Summary of Hot-Backup alarms. See specific alarm for action. Possible bad Hot backup module or corrupt PLC file. Check Hot backup module for status and indication, replace if possible. Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary). Otherwise contact L-3 DP&CS for corrective action. Possible bad Hot backup module, corrupt PLC file or faulted PLC. Check Hot backup module for status and indication, replace if possible. Check PLC’s for operation and status. Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary). Otherwise contact L-3 DP&CS for corrective action. Take thruster offline. Inspect/Troubleshoot at thruster. THRST Take thruster offline. Inspect/Troubleshoot at thruster. THRST Port Main: Not Ready/Not DP Control Port Main: RPM Compare Alarm THRST Port Main: Thrust Compare THRST Thrust command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place additional thrusters online. Thruster X is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface. RPM cmnd/fdbk Compare Alarm Limit has been exceeded. Verify thruster operation against Compare alarm on Setup Page. The difference between the commanded thrust level and the measured thrust level exceeds the Thrust Compare Alarm Limit. If the error is large, take thruster offline. Port Rudder: Ready signals not in agreement Port Rudder: Rudder Compare Error HDWR HDWR THRST THRST Definition and Corrective Action No valid position measurements in the North direction are available from any online position sensor. Place additional position sensors online and/or troubleshoot current online sensors. Change the PLC battery. WARNING! Do not power down the PLC while the battery is removed. Program rung forces are present in PLC program. Contact L3 DP&CS for corrective action. Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary). Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary). If problem persists, contact L-3 DP&CS for corrective action. Both steering pumps are not online. Place both pumps online if desired. The difference between the commanded azimuth and the measured azimuth exceeds the Azimuth Compare Alarm Limit. If the error is large, take thruster offline. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-19 CHAPTER 12: DP SYSTEM ALARMS Alarm Message Port Rudder: Rudder Not Ready Alarm Portable Joystick: Communication Error Type THRST Portable Joystick: Invalid F/A Data Portable Joystick: Invalid P/S Data Portable Joystick: Invalid Yaw Data Portable Joystick: Missing Data HDWR Portable Joystick: Serial Communication Error HDWR Communication with control panel joystick was unsuccessful. If alarm persists, select another Control Panel to act as the Master and troubleshoot former Master. Position Excursion CTRL Position Sensor Divergence SENS Red Alert Radius Excursion CTRL Measured position differs from position setpoint by more than the defined Position Error Threshold. Increase control gain for Surge and/or Sway axes. If condition persists, review sensor and propulsion status for contributing alarm conditions. Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline. Vessel’s operational position limits have been exceeded. Refer to Setup page for operator alarm setpoints. Make provisions to bring vessel back within acceptable position. HDWR HDWR HDWR HDWR Reduced Power Alarm THRST Redundancy: Database Packet Not Received Redundancy: Heading Compare Alarm CTRL CMPR Redundancy: Hold Relative Packet Not Received Redundancy: Init Backup Packet Not Received Redundancy: Joystick Calibration Packet Not Received CTRL Redundancy: LSTF Packet Not Received CTRL Redundancy: No Master Console CTRL 12-20 CTRL CTRL Definition and Corrective Action Thruster X is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface. Communication with portable joystick was unsuccessful. Transfer back to Master console and check portable joystick serial data. Data received from console joystick is outside the allowed limit. Check joystick’s surge data. Data received from console joystick is outside the allowed limit. Check joystick’s sway data. Data received from console joystick is outside the allowed limit. Check joystick’s yaw data. Error with communications to the control panel. If alarm persists, select another Control Panel to act as the Master and troubleshoot former Master. Thrust Allocation Logic (TAL) cannot meet requested forces. Reorient vessel to reduce thruster loading or place additional thrusters online. One or more packets were not received from the master console. Initialize backups. The Master and Backup Heading estimates differ by more than the threshold set in the database. Initialize the Backups to ensure that all long-term filter values are those used by the Master and that all DP systems use the same sensor data. If this alarm is active it is impossible to “bumplessly” transfer control between the NMS6000 consoles. One or more packets were not received from the master console. Initialize backups. One or more packets were not received from the master console. Initialize backups. Joystick Calibration Packet transmission error occurred from Master Control Panel to Backup Control Panel. Press INIT Backup on the Master Control Panel, to attempt transmission of all data again. LSTF Packet transmission error occurred from Master Control Panel to Backup Control Panel. Press INIT Backup on the Master Control Panel, to attempt transmission of all data again. No console is in control at this time. Select the NMS Online option on the console you want to take control. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Alarm Message Redundancy: Online Status Packet Not Received Redundancy: Position Compare Alarm - East Type CTRL CMPR Redundancy: Position Compare Alarm - North CMPR Redundancy: Position Sensor Packet Not Received Redundancy: ROV Database Packet Not Received Redundancy: User Change Packet Not Received ROV Input: Expired Data CTRL Definition and Corrective Action One or more packets were not received from the master console. Initialize backups. The East position estimate between Master and Backup differs by more than the threshold set in the database. Initialize the Backups to ensure that all long-term filter values are those used by the Master and that all DP systems are using the same sensor data. If this alarm is active, it is impossible to “bumplessly” transfer control. The North position estimate between Master and Backup differs by more than the threshold set in the database. Initialize the Backups to ensure that all long-term filter values are those used by the Master and that all DP systems are using the same sensor data. If this alarm is active, it is impossible to “bumplessly” transfer control. One or more packets were not received from the master console. Initialize backups. CTRL One or more packets were not received from the master console. Initialize backups. CTRL SPUX - ACNRX Connection Status Alarm HDWR SPUX/ModXX: Data Status Alarm HDWR SPUX/ModXX: Module Bad; Missing; or Wrong Type SPUX: +10Vdc Power Fault HDWR SPUX: -10Vdc Power Fault HDWR Stbd Main: Control Transfer Alarm Stbd Main: Feedback Direction Alarm Stbd Main: High Level Alert THRST One or more packets were not received from the master console. Initialize backups. ROV relative position sensor data has exceeded timeout threshold. Check sensor for errors. Malfunction or error in ACNR communications or corrupt Control Net configuration. Check operation and status of ACNR, replace if necessary. Contact L-3 DP&CS if problem persists. Failed or corrupt I/O module X in SPU X. Check seating of Module, re-seat if necessary (can be done “hot”). Replace module if necessary. Failed or corrupt I/O module X in SPU X. Check seating of Module, re-seat if necessary (can be done “hot”). Replace module if necessary. DC/DC converter in corresponding SPU is faulted. Troubleshoot Power supply, I/O module or physical connections within SPU cabinet. DC/DC converter in corresponding SPU is faulted. Troubleshoot Power supply, I/O module or physical connections within SPU cabinet. Take thruster offline. Inspect/Troubleshoot at thruster. THRST Take thruster offline. Inspect/Troubleshoot at thruster. THRST Stbd Main: Not Ready/Not DP Control Stbd Main: RPM Compare Alarm THRST Thrust command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place additional thrusters online. Thruster is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface. RPM cmnd/fdbk Compare Alarm Limit has been exceeded. Verify thruster operation against Compare alarm on Setup Page. SENS HDWR THRST Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-21 CHAPTER 12: DP SYSTEM ALARMS Alarm Message Stbd Main: Thrust Compare Type THRST Definition and Corrective Action The difference between the commanded thrust level and the measured thrust level exceeds the Thrust Compare Alarm Limit. If the error is large, take thruster offline. Stbd Rudder: Ready signals not in agreement Stbd Rudder: Rudder Compare Error HDWR Both steering pumps are not online. Place both pumps online if desired. The difference between the commanded azimuth and the measured azimuth exceeds the Azimuth Compare Alarm Limit. If the error is large, take thruster offline. THRST Stbd Rudder: Rudder Not Ready Alarm Stern Thr: Control Transfer Alarm Stern Thr: Direction Input Fault THRST THRST Port and starboard direction feedbacks from thrusters are either both high or both low. Take thruster offline. Inspect/Troubleshoot the thruster interface. Stern Thr: High Level Alert THRST Stern Thr: Not Ready/Not DP Control Stern Thr: RPM Compare Alarm THRST Stern Thr: Thrust Compare THRST Thrust command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place additional thrusters online. Thruster is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface. RPM cmnd/fdbk Compare Alarm Limit has been exceeded. Verify thruster operation against Compare alarm on Setup Page. The difference between the commanded thrust level and the measured thrust level exceeds the Thrust Compare Alarm Limit. If the error is large, take thruster offline. Thruster Configuration Error THRST THRST THRST Track Follow: Can't Follow Track CTRL Track Follow: Cross Track Error Alarm Track Follow: Destination Waypoint Unknown Track Follow: Invalid Waypoint Data Track Follow: Origin Waypoint Unknown Track Follow: Track Deviation Alarm Transit: Heading Excursion CTRL Transit: No Steering Available UPS X: +24Vdc Power Fault 12-22 CTRL CTRL CTRL CTRL CTRL CTRL HDWR Thruster X is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface. Take thruster offline. Inspect/Troubleshoot at thruster. Combined surge, sway, and yaw commands not realized with available thrusters. Place additional thrusters in AUTO mode. Vessel is too far off track or not at appropriate heading. Enter appropriate track waypoints or reposition vessel as needed before reinitiating HSTF. Cross track error exceeds operator entered cross track error threshold. Reconfigure track or enter new error threshold. No destination waypoint available. Enter destination waypoint. Did not receive the full set of waypoints from ECDIS (From, To, and Next). Check communications between the two. No origin waypoint available. Enter origin waypoint. Vessel has deviated from the supplied track. Take action to steer back to course. Measured heading differs from heading setpoint by more than the defined Heading Error Threshold. Increase control gain for Yaw axis. If condition persists, review sensor and propulsion status for contributing alarm conditions. Port and Stbd Main are unable to comply with thrust commands. Troubleshoot thruster interface. Power supply within UPS is not out-putting adequate voltage. Inspect/troubleshoot at UPS. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 12: DP SYSTEM ALARMS Alarm Message UPS X: AC Line Failure Type HDWR UPS X: Common Alarm HDWR VRS X: Maximum Pitch Angle SENS VRS X: Maximum Roll Angle SENS VRS X: Pitch Data Median Alarm SENS VRS X: Roll Data Median Alarm SENS VRU: Pitch Data Divergence Alarm VRU: Roll Data Divergence Alarm Warning: Alarm Printer Buffer Filling; Check Alarm Printer Warning: Selected Surface Current Source Not Valid SENS SENS HDWR CTRL Wind X: +15Vdc Power Error SENS Wind X: Angle Data Median Alarm SENS Wind X: Invalid Analog Data SENS Wind X: Invalid Speed SENS Wind X: Invalid/Unchanging Angle Wind X: Serial Port Error SENS SENS Definition and Corrective Action The input line voltage is outside of nominal values and the UPS is switching to battery power. Investigate loss of line power. UPS X common/summary alarm. Inspect/troubleshoot at UPS. Measured pitch data exceeds maximum allowed value as defined in database (nominally 30 degrees). Unless vessel pitch angle is actually excessive, the sensor has failed and must be taken offline. Measured roll data exceeds maximum allowed value as defined in database (nominally 30 degrees). Unless vessel roll angle is actually excessive, the sensor has failed and must be taken offline. Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold. Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold. Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline. Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline. Check Alarm Printer. Displayed if the Current source input on Sensor page X is invalid. For instance, in the case where operators have selected a "sensor" which happens to be failed or in the case where operators have selected "Calculated" and Wind comp (AWC) has not been enabled (which disables current estimation calculation). Normally operators have the choice of Sensor, Estimated or Calculated, where Estimated is operator entered. Input is out of range. Inspect for open circuit from sensor. OR - Sensor is not receiving adequate power. Take sensor offline until this condition clears. Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold. The sensor message cannot be understood or does not conform to anticipated standard. Inspect SIGNAL I/O PAGEs for correct data string. Measurement is out of range. Inspect for open circuit from sensor. Measurement is out of range. Inspect for open circuit from sensor. Alarm other than Timeout or Buffer Overflow generated within serial processing software. If alarm persists, reset serial device, check serial page for input message validity or check physical interface connections. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 12-23 CHAPTER 12: DP SYSTEM ALARMS Alarm Message Wind X: Serial Port Timeout Type SENS Wind X: Serial Receive Buffer Overflow SENS Wind X: Speed Data Median Alarm SENS Wind X: Timeout SENS Wind: Angle Data Divergence Alarm Wind: Speed Data Divergence Alarm Yellow Alert Radius Excursion SENS 12-24 SENS CTRL Definition and Corrective Action Valid data has not been received within the sensors timeout period. If alarm persists check Wind X operation or interface connection. The NMEA message rate is set too high (two per second is adequate) or the data is invalid. Inspect SIGNAL I/O PAGEs for correct NMEA string. Data from this sensor is not within the specified limits when compared with other sensors. If alarm persists check sensor data and take faulty sensor offline. If data is valid increase median alarm threshold. Data from sensor has not been received at expected interval. Take sensor offline until data stream is restored. Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline. Data from two or more sensors is not in agreement. Inspect sensor data and take faulty sensor offline. Vessel’s operational position limits have been exceeded. Refer to Setup page for operator alarm setpoints. Make provisions to bring vessel back within acceptable position. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 13. INDEX % % Forces .......................................................... 7-50 % Weight .......................................................... 7-41 A Absolute Setpoint ............................................... 4-4 Absolute Tracks ............................................... 8-14 Accept Control on Remote/Portable Joysticks ... 3-3 Acknowledging Alarms ..................................... 12-6 ACNR-15 Intelligent Com. Modules ............... 11-17 Active Wind Compensation ........... 4-18, 7-19, 8-15 Actuator ...................................................... 4-2, 4-8 Adapter, Remote I/O ...................................... 11-18 AHMT ......... see Auto Heading for Minimum Thrust Air Filter Service – Monthly .............................. 11-3 Alarm Summary Window ........................................ 6-10 Alarm Conditions .............................................. 12-1 Alarm Indicator Light, Remote/Portable Joysticks33 Alarm on Remote/Portable Joysticks ................. 3-3 Alarm Page Inhibiting....................................................... 12-4 Alarm Page Inhibit ............................................ 7-32 Alarm Silence Button........................................ 7-92 Alarms Acknowledged.............................................. 12-5 Acknowledging ............................................. 12-6 Alarm Page .................................................. 12-2 Audible ......................................................... 3-18 Color-Coding ................................................ 12-5 Consequence Analysis ................................ 12-5 Disabling ...................................................... 12-7 Expired ......................................................... 12-5 Median ......................................................... 7-12 Messages................................................... 12-12 Notification ................................................... 12-2 Sorting.......................................................... 12-6 Unacknowledged ......................................... 12-5 Alert Radius ...................................................... 7-12 Analog I/O ...................................................... 11-12 Audible Alarms ................................................. 3-18 Auto Backup ....................................................... 5-1 Auto Heading for Minimum Thrust 4-19, 7-18, 8-16 Auto Thruster Select Key ................................. 7-51 Automatic Maneuvers Heading Setpoint ......................................... 7-22 Position Setpoint .......................................... 7-25 Automatic Modes ............................................... 8-1 AutoTrack ....... 8-11, see High Speed Track Follow Auxiliary Sensors ............................... 1-6, 4-2, 7-34 Auxiliary Switch Group ...................................... 5-7 AWC ..................... see Active Wind Compensation Azimuthing Thruster Icon................................. 7-47 B Backup Operator Control Panel......................... 4-3 Battery, UPS .................................................. 11-19 Beacon Mapping .............................................. 7-15 Bearing To (HSTF) .......................................... 7-79 Bias .................................................................... 4-2 Blended, Position Reference Sensor .............. 7-40 Bumpless Control Transfer ................................ 5-9 Bus................................................................... 7-57 Bus Lines ......................................................... 7-56 Butterfly Plot .................................................... 7-70 Buttons Available/Unavailable .................................. 3-16 Command .................................................... 3-16 Data Entry ................................................... 3-16 Option .......................................................... 3-16 Sensor Select .............................................. 7-40 C Calibration Bias, Position Reference Sensors. 7-41 Calibration Drift, Position Reference Sensors . 7-41 Center of Rotation ....................................see COR Center of Rotation (COR) ................................ 7-20 Central Processing Unit ...................... 11-12, 11-14 Chart .............................................................. 10-19 Chart Page.............................................. 7-44, 7-73 Symbols....................................................... 7-76 Chart Track Drop-Down Menu.............. 7-69, 10-17 Charting Position Reference Sensor Data ...... 7-43 Circuit Breaker Icons ....................................... 7-56 Circuit Card Jumper Configurations .............. 11-12 Clear JS Bias (Joystick Bias)........................... 7-32 Clear Trail, Chart Page .................................... 7-75 Cmnd % ........................................................... 7-54 CMOS Battery Replacement ........................... 11-9 Color-Coding Alarms ......................................................... 12-5 Wind Sensor Data ....................................... 7-36 Comparator ................................................. 4-2, 4-7 Compare .......................................................... 7-13 Compass............................................................ 6-7 Component Specs ......................................... 11-21 Conditions - Alarms ......................................... 12-1 Configuration Buttons, Chart Page .................. 7-74 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 13-1 CHAPTER 13: INDEX Configuration Point - Example ......................... 7-65 Consequence Analysis .................................... 12-9 On/Off .......................................................... 7-13 Specific Routines....................................... 12-10 Control Axes ...................................................... 7-7 Surge, Sway, Yaw ....................................... 4-15 Control Gains ..................................................... 7-7 Control Loop ...................................................... 4-7 Control Modes & Functions ............................. 4-17 Control Transferring Between Panels................ 5-7 Controller .................................................... 4-2, 4-8 Programmable Logic ................................. 11-11 Switch Interface ......................................... 11-12 ControlNet.......................................................... 1-6 Coordinate Reference Grid .................. 4-3, 4-4, 6-8 COR ...................... see Remote Center of Rotation Active ........................................................... 7-10 Offsets F/A .................................................. 7-10 Offsets S/P .................................................. 7-10 Corrected Position ............................................. 7-9 Corrected Position Data .................................. 7-40 Corrective Action & System Reset ................ 11-11 Counter Rudder Gain......................................... 7-5 CPU ............................see Central Processing Unit Cross Track Threshold .................................................... 7-84 Cross Track Offsets ......................................... 7-80 Current Direction DP Simulation Mode.................................... 8-18 Current Heading ............................ 7-22, 7-23, 7-27 Current Position ............................................... 7-26 Current Sensor ................................................ 7-37 Current Velocity DP Simulation Mode.................................... 8-18 Current, Holding Capability .............................. 7-72 Cursor Control Switches .................................... 3-3 Cycle (Control) Time .......................................... 4-2 CyScan Sensor ....................................... 7-14, 14-2 Primary Target Offsets ................................ 14-4 Setup (Hold Relative) .................................. 14-4 System Operation........................................ 14-3 Target Breadth ............................................ 14-4 Target Length .............................................. 14-4 Target Reflector Placement......................... 14-2 D Dead Reckoning .............................................. 4-15 Deadband .......................................................... 7-5 Derivative Term ................................................. 4-8 Detailed Operator Interface ............................... 6-1 Deviation (Control Error) .................................... 4-3 Deviation (LSTF).............................................. 7-79 Deviation Display Center ............................................................ 7-4 Frame ............................................................ 7-4 Scale.............................................................. 7-4 Screen ........................................................... 6-8 DGPS ................................................................. 4-2 13-2 Tabular Display ............................................ 7-38 Differential Global Positioning System ..... 4-2, 7-39 Digital I/O ....................................................... 11-12 Disabling Alarms .............................................. 12-7 Display........................................see Touch Screen Display Cleaning .............................................. 3-11 Display Page Selection ...................................... 6-4 Backup Panel/Console .................................. 6-5 Display Pages .................................................... 6-4 Display Screen Layout ....................................... 6-1 Display Units ...................................................... 7-4 Distance To (HSTF) ......................................... 7-79 DP Alarm Messages ........................................ 12-1 DP Control Gains ............................................... 7-7 DP Gains ............................................................ 7-7 DP Operator Interface Basics ............................ 3-1 DP Power Cutback ........................................... 7-59 DP Selector Switch .....................................1-6, 5-1 DP System Control Loop .................................................. 4-7 Operational Hints ........................................... 9-1 Overview ........................................................ 1-1 Terminology ................................................... 4-2 Thruster Modes ............................................ 7-51 Transfer Configuration Schematics ............... 5-4 DP System Operational Hints DGPS Drift ..................................................... 9-1 Halting the Vessel .......................................... 9-2 Integral Pre-Loading ...................................... 9-1 Integral Transfers ........................................... 9-2 Integral Windup .............................................. 9-1 Moving the Vessel to a Precise Location....... 9-2 DP System Startup & Shutdown ........................ 2-1 DPS–0 Master/Backup Mode Status ................. 5-2 DPS–1 Master/Backup Mode Status ................. 5-2 DPS–1/2/3 Control Panel Synchronization ........ 5-9 DPS–2/3 Master/Backup Mode Status .............. 5-3 Draft.................................................................... 7-5 Drift ................................................................... 4-12 Drop-Down Menu Chart Track .................................................. 7-69 Heading........................................................ 7-91 Mode Function ............................................. 7-90 Plot IO .......................................................... 7-62 Position ........................................................ 7-91 Propulsion .................................................... 7-45 Sensor.......................................................... 7-33 Setup.............................................................. 7-2 Dual Screens .................................................... 3-14 Dynamic Positioning Operations Overview ........ 1-7 E Earth Axes .......................................................... 4-5 Earth Frame, Deviation Display ......................... 7-4 Electrostatic Discharge (ESD) Guidelines .................................................... 11-2 Precautions .................................................. 11-1 ESD ............................. see Electrostatic Discharge Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 13: INDEX EtherNet ............................................................. 1-6 EtherNet Hub ................................................. 11-19 F Fdbk % ............................................................. 7-54 Field Service Order Information ..................... 11-25 Filter Kalman ......................................................... 4-13 Low-Pass Wave ........................................... 4-13 Notch............................................................ 4-13 Flex I/O Modules ......................................... 11-11, 11-17 Terminal Bases .......................................... 11-18 Follow Offset Type (ROV) ................................ 7-16 Follow Ship, Chart Page .................................. 7-74 Force/Motion Vectors ....................................... 7-76 Forces % .......................................................... 7-50 Frame ................................................................. 7-4 Freeze Display ................................................. 7-65 Function Select Buttons ................................... 7-21 G Gains .................................................................. 7-7 Generator Alarm Level ..................................... 7-10 Generator Readings and Icons ........................ 7-56 Global Positioning System ............................. 11-20 Glossary of Abbreviations & Acronyms.............. 1-9 Goal .................................................................... 7-4 Heading........................................................ 7-22 Position ........................................................ 7-25 Goal Heading Setpoint ....................................... 6-7 Goal Setpoint ........................................... 4-4, 4-15 Heading........................................................ 7-22 Position ........................................................ 7-25 Goal stpt (LSTF) ............................................... 7-79 GPS ........................ see Global Positioning System Tabular Display ............................................ 7-38 GPS Drift ............................................................ 9-1 GPS Reference Position .................................... 7-9 GPS Reference Reset........................................ 7-9 Gyro Processing ............................................... 7-35 Gyrocompass ....................................... 7-35, 11-12 H Halting the Vessel ............................................ 7-21 HAM ....................................... see Hold Area Mode HAM Radius ....................................................... 7-5 Hardware Shutdown................................... 2-1, 2-4 Heading Change Incorporated ..................................... 7-6 Drop-Down Menu ....................................... 10-24 Setpoint Maneuvers ..................................... 7-22 Heading – True & Reciprocal ........................... 7-36 Heading Control for Track Follow .................... 8-10 Heading Drop-Down Menu............................... 7-91 Heading Error Threshold .......................... 7-5, 7-12 Heading Mode Track Settings .......................... 7-81 Heading Track Offsets ..................................... 7-80 Heave Signing Convention ................................ 4-6 High Speed Track Follow ................................ 4-17 Activation ..................................................... 8-11 High Velocity Turns ........................................... 8-5 Hold Area Mode ............................. 4-18, 7-19, 8-16 Hold Heading ................................... 4-17, 7-18, 8-4 Hold Heading on Remote/Portable Joysticks .... 3-3 Hold Position............................................. 4-17, 8-5 Hold Position/Surge/Sway ............................... 7-19 Hold Relative ................................. 7-14, 7-20, 8-22 Configuration ............................................... 14-5 Mode ........................................................... 14-1 Mode Selection............................................ 14-7 Offset Type .................................................. 14-6 Placing Sensor Online ................................. 14-6 Relative Offset Heading .............................. 14-6 Relative Offsets ........................................... 14-6 System Setup .............................................. 14-2 With a Position Sensor ................................ 14-1 Without a Position Sensor ........................... 14-1 Hold Relative Mode – Appendix A ................... 14-1 Hold Surge ......................................................... 8-6 Hold Sway.......................................................... 8-6 Holding Capability Plot ......................... 7-70, 10-18 Hot Backup Pair ................................................. 5-1 Hotel Load ....................................................... 7-59 HSTF .............. 7-78, see High Speed Track Follow Hysteresis ........................................................ 8-16 I I/O Analog & Digital ......................................... 11-12 Modules ......................................................... 1-6 Independent Backup.......................................... 5-1 Industrial Computer ....................................... 11-21 Specifications ............................................ 11-22 Inhibiting the Alarm Page ................................ 12-4 Init Backup Switch ........................................... 5-10 Initial Condition DP Simulation Mode ................................... 8-18 Initialize Backup Button ................................... 7-92 Initializing Backup Panels ................................ 5-10 Instantaneous Heading Setpoint ....................... 6-7 Instantaneous Setpoint ............................. 4-4, 4-15 in Track Follow ............................................ 7-75 Integral Pre-Loading ................................................... 9-1 Term .............................................................. 4-8 Transfers ....................................................... 9-2 Windup .......................................................... 9-1 J Joystick .............................................................. 3-1 Bias ............................................................. 7-32 Calibration ................................................. 11-13 Desensitizing ............................................... 7-19 Portable ....................................................... 7-20 Remote & Portable ........................................ 3-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 13-3 CHAPTER 13: INDEX Joystick Calibration ........................................ 11-13 Joysticks Taking & Transferring Control ....................... 5-8 JSTK Mode .......................................... 3-5, 8-1, 8-2 Jumper Configurations, Circuit Card ............. 11-12 Jumping, Sensor .............................................. 4-10 K Kalman Filter.................................................... 4-13 Keypad, Pop-Up .............................................. 3-16 L Last Alarm Window .......................................... 6-10 Lat/Lon Waypoints ........................................... 7-84 Lat/Lon, Chart Page......................................... 7-74 Left-Clicking ....................................................... 3-4 Leg (of a Track) ............................................... 7-78 Low Speed Track Follow ................................. 4-17 Activation ..................................................... 8-10 Stopping ...................................................... 8-13 Lower Limit Margin .......................................... 7-10 Lower Power Limit ........................................... 7-58 Low-Pass Wave Filter ...................................... 4-13 LSTF ................7-78, see Low Speed Track Follow M Maintenance Procedures – Monthly ................ 11-3 Maintenance, Test Procedures & Specs ......... 11-1 Maneuver Process Overview ........................... 4-16 Manual Backup........................................................... 5-1 CMND %...................................................... 7-53 Control (JSTK) ............................................. 4-18 Independent Backup Joystick ....................... 4-3 Manual JSTK Mode ............................. 3-5, 8-1, 8-2 Master Operator Control Panel/Console ........... 4-3 Master/Backup Mode Status ............................. 5-2 Master/Backup Modes Defined ......................... 5-1 Max Rudder Angle ............................................. 7-6 Measured Position Data .................................. 7-40 Measurement Update ...................................... 4-13 Median Alarm................................................... 7-12 Median Testing ................................................ 4-10 Messages - Alarm .......................................... 12-12 Minimum Deviation Scale .................................. 7-4 Mode ................................................................ 7-53 Actual or Hypothetical ................................. 7-72 Select........................................................... 7-18 Mode Function Drop-Down Menu......... 7-90, 10-24 Mode Function Page............................... 7-17, 10-6 Mode/Direction Track Settings ........................ 7-81 Model Propagation........................................... 4-14 Modem - Optical Communications ................ 11-19 Modules - Intelligent Communication ............ 11-17 Modules, Flex I/O................................ 11-11, 11-17 Moment .............................................................. 4-3 Monitor ....................................... see Touch Screen Motion Reference Unit .......................... 7-37, 11-20 13-4 MRU ............................. see Motion Reference Unit N N/E Waypoints ................................................. 7-84 Navigation Bar.................................................... 6-3 Detail .............................................................. 7-1 New Parts Ordering........................................ 11-25 New Position Estimate ........................... 4-13, 7-40 Night Mode ....................................................... 7-20 NMS Online Switch ............................................ 5-7 NMS/ROV Beacon Mapping ............................ 7-15 NMS6000 DP System Shutdown ....................... 2-3 NMS6000 DP System Startup ........................... 2-1 NMS6000 Overview ........................................... 1-1 No Grid, Chart Page......................................... 7-74 Noise Rejection Logic ........................................ 4-9 Noise, Position Reference Sensor ................... 7-40 Noise, Sensor ..................................................... 4-9 North/East Track Offsets .................................. 7-80 North/East, Chart Page .................................... 7-74 Notch Filter ....................................................... 4-13 O Online Rated Capacity ..................................... 7-57 On-Screen Display Menu Control Panel ............ 3-9 Operating Power Limit...................................... 7-59 Operational Modes ............................................. 8-1 Active Wind Compensation.......................... 8-15 Auto Heading for Minimum Thrust ............... 8-16 Hold Area Mode (HAM) ............................... 8-16 Hold Heading ................................................. 8-4 Hold Position .................................................. 8-5 Joystick, Using the ..................................3-5, 8-2 JSTK .............................................................. 8-1 Manual JSTK ................................................. 8-1 Pilot .............................................................. 8-22 Remote Center of Rotation (COR) .............. 8-16 ROV Follow .................................................... 8-7 Simulation Mode .......................................... 8-17 Track Follow .................................................. 8-9 Transit .......................................................... 8-19 Operational Theory ............................................ 4-1 Operator Control Panel ...................................... 3-1 Operator Control Panel/Consoles ...................... 1-6 Optical Communications Modem ................... 11-19 Order Information - Field Service ................... 11-25 Ordering New Parts........................................ 11-25 Origin ................................................... 4-3, 7-4, 7-9 Origin Reference Sensor.................................. 4-11 Relocating the Origin ................................... 7-43 Selecting ...................................................... 7-42 Overview Page ....................................... 6-6, 10-23 P Pan and Zoom.................................................. 7-74 Parameter Plots ............................................... 7-62 Parts - Recommended Spares ....................... 11-24 Passing Waypoints........................................... 8-12 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 13: INDEX PID Controller ............................................. 4-2, 4-8 Pilot Mode ....................................... 7-18, 8-3, 8-22 PILOT Mode ....................................................... 3-6 Pitch Cmndº ..................................................... 7-54 Pitch Fdbkº ....................................................... 7-54 Pitch Signing Convention ................................... 4-6 PLC ................ see Programmable Logic Controller Plot IO Drop-Down Menu ..................... 7-62, 10-16 Plot Pages ........................................................ 7-62 Point Configuration Pop-up .............................. 7-64 Polar Offset ...................................................... 7-26 Pop-Up Keypad ................................................ 3-16 Portable Joystick ...................................... 3-2, 7-20 Position Drop-Down Menu ....................................... 10-24 Setpoint Maneuvers ..................................... 7-25 Position Data Corrected ..................................................... 7-40 Measured ..................................................... 7-40 Position Drop-Down Menu ............................... 7-91 Position Error Threshold .................................. 7-12 Position Noise DP Simulation Mode .................................... 8-18 Position Reference 1 ...................................... 10-11 Position Reference 2 ...................................... 10-12 Position Reference Calibration .............. 4-11, 7-41 Position Reference Pages 1 & 2 ...................... 7-39 Position Reference Sensor Charting Data ............................................... 7-43 Position Reference Sensor Calibration Bias ............................................ 7-41 Calibration Drift ............................................ 7-41 Data ............................................................. 7-40 Defined........................................................... 4-3 Position Sensor Blending ....................................................... 4-12 Processing ..................................................... 4-9 Position Setpoint Maneuvers ................................................... 7-29 Moving the Vessel to a Precise Location..... 7-30 Power Cutback ................................................. 7-59 Power Limit Sustain ............................... 7-20, 7-59 Power Limiting .................................................. 7-58 Power Page 1 7-55 2 7-57 3 7-61 Power Supply Voltage - Inspecting .................. 11-4 Power Supply, SPU........................................ 11-20 Previous Heading Setpoint............................... 7-22 Previous Setpoint .......................... 7-23, 7-26, 7-27 Printers ............................................................... 1-6 Programmable Logic Controller ............. 1-6, 11-11 Proportional Term .............................................. 4-8 Proportional-Integral-Derivative Controller......... 4-2 Proposed Setpoint Outline ............................... 7-31 Propulsion Command....................................... 7-59 Propulsion Drop-Down Menu ........................... 7-45 Protective Procedures ..................................... 11-2 R Real Mode ....................................................... 8-18 Recommended Spare Parts .......................... 11-24 Rectangular Absolute ...................................... 7-26 Rectangular Offset ........................................... 7-26 Red Alert Circles .............................................. 7-76 Reference Position ............................................ 7-9 Reference Sensor Select key .......................... 7-42 Relative Heading Setpoint ............................... 7-22 Relative Tracks ................................................ 8-14 Remote Center of Rotation ............. 8-16, see COR Remote Center of Rotation (COR) 4-18, 7-10, 7-20 Remote I/O Adapter....................................... 11-18 Remote Joystick ................................................ 3-2 Requested Forces % ....................................... 7-50 Reserved kW ................................................... 7-10 Reset, System ............................................... 11-11 Returning Items ............................................. 11-25 Roll Signing Convention .................................... 4-6 Route, Waypoint Page..................................... 7-85 ROV Filter Gain ............................................... 7-16 ROV Follow...................................... 4-17, 7-19, 8-7 Configuration ............................................... 7-15 Deadzone Radius ........................................ 7-15 Filter Gain .................................................... 7-16 Offsets ......................................................... 7-16 RS232 .............................................................. 11-9 RS422/RS485 ................................................ 11-10 Rud (Rudder) Alarm ........................................................... 7-54 Cmndº.......................................................... 7-54 Fdbkº ........................................................... 7-54 Rudder Angle, Max .................................................... 7-6 Compare...................................................... 7-13 Gain ............................................................... 7-5 Icons ............................................................ 7-49 Jog Increment................................................ 7-6 S Scale, Deviation Display .................................... 7-4 Selecting, Left-Clicking ...................................... 3-4 Selector Switch ........................................... 1-6, 5-1 Sens Disp, Chart Page .................................... 7-74 Sensor Biasing........................................................... 4-2 Drift .............................................................. 4-12 Drop-Down Menu ............................... 7-33, 10-8 Jumping ....................................................... 4-10 Noise ............................................................. 4-9 Origin Reference ......................................... 4-11 Page 1 ......................................................... 10-9 Page 2 – Hold Relative Sensor ................. 10-10 Pages 1 & 2 ................................................. 7-34 Position, Blending........................................ 4-12 Processing..................................................... 4-9 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 13-5 CHAPTER 13: INDEX Select Buttons ............................................. 7-40 Weighting .................................................... 4-12 Serial Interface................................................... 1-6 Service & Parts .............................................. 11-24 Service Locations .......................................... 11-24 Setpoint Absolute ........................................................ 4-4 Definition ....................................................... 4-4 Goal ...................................................... 4-4, 4-15 Instantaneous .............................................. 4-15 Instantaneous ................................................ 4-4 Maneuvers ................................................... 7-21 Select........................................................... 4-15 SetPt ...........................see Setpoint, Instantaneous Setup Drop-Down Menu ................................. 7-2, 10-1 Page 1 .................................................. 7-3, 10-2 Page 2 .................................................. 7-8, 10-3 Page 3 ................................................ 7-11, 10-4 Page 4 ................................................ 7-14, 10-5 Setup Waypoint Page ...................................... 7-84 Ship Axes ........................................................... 4-5 Ship Focus, Chart Page .................................. 7-74 Ship Frame, Deviation Display .......................... 7-4 Signal I/O Page 1 – Analog Communications .............. 7-66 Page 2 – Digital Communications ............... 7-67 Page 3 – Serial Communications ................ 7-68 Signal Input/Output Pages ............................... 7-65 Signal Maintenance and Troubleshooting ....... 11-9 Signal Processing Units ..................... 1-6, see SPU Signing Conventions .......................................... 4-5 Clockwise/Counterclockwise ......................... 4-6 Earth Axes ..................................................... 4-5 Pitch, Roll, and Heave ................................... 4-6 Ship Axes ...................................................... 4-5 Silencing Alarms .............................................. 12-5 Simulation Mode ............................ 8-17, 8-18, 10-7 Simulation Rate DP Simulation Mode.................................... 8-18 Soft PLC ............................................................ 1-6 Software Shutdown ...................................................... 2-3 Startup ........................................................... 2-2 Sorting Alarms ................................................. 12-6 Specifications Industrial Computer ................................... 11-22 Speed Control for Track Follow ......................... 8-9 Speed Mode Track Settings ............................ 7-82 SPU ................................................................... 1-6 Exhaust Fan .............................................. 11-20 Modules & Components ............................ 11-17 Power Supply ............................................ 11-20 SPU Test Points & Values ............................... 11-4 Station Keeping Control Law ........................... 4-14 Status ............................................................... 7-53 Status Message Window ................................. 6-10 Status/Prompt Window .................................... 5-10 13-6 Surge .................................................................. 4-4 Sway................................................................... 4-4 Symbols Chart Page ......................................... 7-44, 7-76 Deviation Display ........................................... 6-9 Position Reference Sensor .......................... 7-44 Synchronization of Control Panels ..................... 5-9 System Reset & Corrective Action ................. 11-11 T Tabular Vessel Position ................................... 6-11 Taking Control of the DP System....................... 5-7 TAL .............................. see Thrust Allocation Logic Terminal Bases .............................................. 11-18 Test Equipment ................................................ 11-1 Text Box – Thruster and Rudder...................... 7-49 Threshold ......................................................... 7-12 Thrust Compare ...................................................... 7-13 Level ............................................................ 7-13 Thrust Allocation Logic (TAL) ........................... 7-48 Processing ................................................... 7-52 Thrust Drop-Down Menu ................................ 10-13 Thruster Alarm............................................................ 7-54 Biasing ........................................................... 4-2 Icons .................................................. 7-47, 7-56 Modes .......................................................... 7-51 Page 1.......................................................... 7-46 Page 2.......................................................... 7-52 Selection ...................................................... 7-51 Thruster Page 1 ............................................. 10-14 Thruster Page 2 ............................................. 10-15 Time To (HSTF) ............................................... 7-79 Title Bar .............................................................. 6-2 Tools and Test Equipment ............................... 11-1 Total Forces % ................................................. 7-51 Total Load Feedback ....................................... 7-57 Touch Screen Calibration .................................................... 3-12 Display Cleaning .......................................... 3-11 Display Monitor .............................................. 3-7 Display Power Switch Panel .......................... 3-8 Interfacing .................................................... 3-16 Monitors ......................................................... 1-6 TOUCHWARE, TOUCH SCREEN SOFTWARE .......... 3-12 Track Absolute ....................................................... 8-14 Control Summary ......................................... 7-78 Definition File Format................................... 8-13 Description ................................................... 8-12 Display Selection & Monitoring .................... 8-12 Display, Chart Page ..................................... 7-75 Offsets.......................................................... 7-80 Operation Page ............................................ 7-76 Relative ........................................................ 8-14 Settings ........................................................ 7-81 Track Follow .................................... 4-17, 7-19, 8-9 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 13: INDEX Absolute or Relative Format ........................ 4-18 Heading Control ........................................... 8-10 Speed Control ................................................ 8-9 Starting......................................................... 8-10 Stopping ....................................................... 8-11 Track Offsets .................................................... 7-80 Track Operation ............................................. 10-20 Track Settings .................................................. 7-81 Trackball ............................................................. 3-3 Trackpoint................................................. 4-17, 8-9 Transfer Configuration Schematics .................... 5-4 Transferring Control Between Panels ................ 5-7 Transit Mode ............................ 3-6, 7-18, 8-3, 8-19 Transit Page ................................................... 10-22 True Heading Setpoint ..................................... 7-22 Tunnel Thruster Icons ...................................... 7-47 U Uninterruptible Power Supply................. 1-6, 11-19 for SPU ...................................................... 11-19 UNKN ................................................................. 5-2 Upper Power Limit............................................ 7-58 UPS ................... see Uninterruptible Power Supply UPS Battery ................................................... 11-19 User Speed Track Settings .............................. 7-82 V Vertical Reference Sensor ............................... 7-37 Vertical Reference Unit .................................. 11-21 Vessel (LSTF) .................................................. 7-79 Vessel Draft ........................................................ 7-5 Vessel Position (Tabular) ................................. 6-11 Vessel Reference Point... 4-4, 7-12, 7-16, 7-40, 8-8 Vessel Specific Documentation & Drawings .... 15-1 Vessel Trail, Chart Page .................................. 7-75 VRU ............................. see Vertical Reference Unit W Waypoint ........................................................ 10-21 Absolute ....................................................... 7-85 Absolute or Relative format ........................... 8-9 Creating ....................................................... 7-87 Description .................................................. 8-12 Edit Pop-up.................................................. 7-88 Files on PC .................................................. 7-86 Heading ....................................................... 7-89 Identifier....................................................... 7-88 Lat/Lon ........................................................ 7-84 N/E .............................................................. 7-84 New ............................................................. 7-85 Page ............................................................ 7-83 Passing........................................................ 8-12 Position........................................................ 7-88 Properties .................................................... 7-89 Relative ....................................................... 7-85 Route ........................................................... 7-85 Setup ........................................................... 7-84 Speed .......................................................... 7-89 Turning Radius ............................................ 7-89 Waypoints Display Window ........................................... 7-84 WCP ................................................................ 7-79 Weight.............................................................. 7-41 Wheel Center Point ......................................... 7-79 Wheel Over Point ............................................ 7-79 Wind Comp ...................................................... 7-19 Wind Comp on Remote/Portable Joysticks ....... 3-3 Wind Compensation ........................................ 7-19 Wind Direction ................................................. 7-13 DP Simulation Mode ................................... 8-18 Wind Sensors .................................................. 7-36 Online Placement ........................................ 7-36 Wind Speed ..................................................... 7-13 DP Simulation Mode ................................... 8-17 Wind, Holding Capability ................................. 7-72 Wokstation PC ............................................... 11-21 WOP ................................................................ 7-79 Y Yaw .................................................................... 4-4 Yellow Alert Circles .......................................... 7-76 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 13-7 CHAPTER 13: INDEX This page left blank intentionally. 13-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 14. APPENDIX A – HOLD RELATIVE MODE HOLD RELATIVE Mode is a software module that operates in conjunction with the standard NMS6000 DP System software. The HOLD RELATIVE mode requires one CyScan Sensor to be installed on the primary vessel and three targets (reflectors) to be installed on the target vessel or rig. When HOLD RELATIVE is engaged, the DP generates thruster commands driving the primary vessel to acquire and maintain relative heading and position to the target vessel. 14.1 HOLD RELATIVE MODE – TWO CONFIGURATIONS The HOLD RELATIVE MODE operates in one of two configurations - with or without a position reference sensor online. In either case, the Relative Offsets, Figure 14-3, are measured from the center of the primary vessel to the center of the target vessel. 14.1.1 Hold Relative Without a Position Sensor If no position reference sensors have been placed online prior to entering HOLD RELATIVE MODE, then the origin is placed at the center of the target vessel. See Chart Page on left in Figure 14-1. 14.1.2 Hold Relative With a Position Sensor If a position reference sensor has been placed online prior to entering HOLD RELATIVE MODE, then the origin is placed at the position of the CyScan Primary Target on the target vessel. See Chart Page on right in Figure 14-1. These CyScan parameters are configured on SETUP PAGE 2, Figure 14-2. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 14-1 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE Figure 14-1. Chart Page in Hold Relative Mode (Two Configurations) In the figure on the left, the origin is shown at the center of the target vessel. On the right, the CyScan Primary Target is the origin. It is located on the port side of the target vessel (10 meters port of center) and 15 meters aft of center. Therefore, measuring from the Primary Target to the center of the target vessel, the Target Offsets entered are both positive numbers: 15m Fore & 10m Stbd as seen in Figure 14-2. 14.2 SYSTEM SETUP – HOLD RELATIVE 14.2.1 CyScan Sensor Target Reflector Placement Three targets (reflectors) are required on the target vessel for optimal system operation. These reflectors should be placed as recommended in the CyScan Sensor Operation Manual - see Appendices. 14.2.2 CyScan Sensor The CyScan Sensor outputs serial position data to the NMS6000 DP Control Panel/Console(s). Raw CyScan Sensor data can be viewed on the SERIAL IO PAGE. Corrected target-relative CyScan Sensor data can be viewed on the HOLD RELATIVE SENSOR PAGE, Figure 14-4. Before attempting to enter HOLD RELATIVE, it is important to resolve and correct any CyScan Sensor alarms that may be reported. The CyScan Sensor must be operational and selected Online to enter HOLD RELATIVE mode. CyScan Sensors are place online from HOLD RELATIVE SENSOR PAGE, Figure 14-4, which is accessed from the SENSOR Drop-down Menu. 14-2 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE ) Note – The CyScan button(s) on the POSITION REFERENCE PAGE is not used for HOLD RELATIVE mode. The CyScan may be used as a position reference sensor if the CyScan targets are stationary. It may also be used as a relative position sensor without relative heading (similar to a FanBeam). Also note that the CyScan Sensor must be operating in multi-target mode (per CyScan Operator’s Guide) for use by DP HOLD RELATIVE mode. 14.2.3 CyScan Sensor System Operation Prior to getting underway, start and configure the CyScan Sensor per the procedures in the CyScan Sensor Operation Manual – see Appendices. Verify that the CyScan Sensor is rotating normally and there are no abnormal alarm conditions. Experience has shown that the power to the CyScan unit(s) may need to be temporarily secured and the CyScan software restarted if the units have been in Suspended Mode for a significant period of time. It is best to ensure that the unit(s) is operating properly prior to attempting activation of the HOLD RELATIVE mode. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 14-3 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE 14.2.4 CyScan Sensor Setup (Hold Relative) CyScan Setup configuration buttons are on SETUP PAGE 2, Figure 14-2. Figure 14-2. Setup Page 2 – CyScan Setup 14.2.4.1 Target Length Enter the length of the target vessel. 14.2.4.2 Target Breadth Enter the breadth of the target vessel. 14.2.4.3 CyScan Primary Target Offset FA Enter the Fore/Aft distance as measured from the primary target to the center of the target vessel. Fore = a positive number and Aft = a negative number. 14.2.4.4 CyScan Primary Target Offset PS Enter the Port/Stbd distance as measured from the primary target to the center of the target vessel. Starboard = a positive number and Port = a negative number. ) Note – The size of the target vessel, the location of its primary target, and the Hold Relative Configuration Offsets, shown on the Chart Pages in Figure 14-1, match those same settings shown on the DP pages in Figure 14-2 and Figure 14-3. Review and compare these Figures for a better understanding of the relationship of these settings. 14-4 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE 14.3 HOLD RELATIVE CONFIGURATION The HOLD RELATIVE CONFIGURATION dialog box appears on SETUP PAGE 4, Figure 14-3. It allows operators to enter several important parameters related to the HOLD RELATIVE mode. Prior to entering HOLD RELATIVE mode, only the OFFSET TYPE button is available to the operator. The relative position and heading offset buttons are disabled. When HOLD RELATIVE mode is entered, the offsets can be modified at the Master DP Control Panel/Console. Figure 14-3. Setup Page 4 – Hold Relative Configuration Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 14-5 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE 14.3.1 Relative Offsets REL OFFSETS F/A and P/S create a “buffer zone” between the primary vessel reference point and the center of the target vessel. The NMS6000 software automatically determines these offsets when entering HOLD RELATIVE by calculating the position of the two vessels relative to each other. Once the DP Operator enters HOLD RELATIVE, these offsets can be edited. The NMS6000 recognizes Fore, Starboard, North, and East as positive numbers; Aft, Port, South, and West as negative numbers. 14.3.2 Offset Type OFFSET TYPE changes the frame of reference for Hold Relative from Earth (North, South, East, and West) to Ship (Fore, Aft, Port, and Starboard). 14.3.3 Relative Offset Heading RELATIVE OFFSET HEADING is the offset between the primary vessel heading and the target vessel heading. 14.4 HOLD RELATIVE – PLACING SENSOR ONLINE Perform the following to set up HOLD RELATIVE Mode: 1. Select SENSOR on the DP Navigation Bar. 2. A “Drop-down Menu” appears. Select the RELATIVE SENSOR screen button. 3. Place sensor(s) online by touching CYSCAN 1 and/or CYSCAN 2. 14-6 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE Figure 14-4. Hold Relative Sensor Page 14.5 HOLD RELATIVE – MODE SELECTION Perform the following to select HOLD RELATIVE Mode: 1. Select POSITION on the DP Navigation Bar. 2. Select the HOLD RELATIVE screen button. 3. Alternatively, the HOLD RELATIVE button may be selected from the Mode Function Page. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 14-7 CHAPTER 14: APPENDIX A – HOLD RELATIVE MODE This page intentionally left blank. 14-8 Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ 15. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS Below is a sample list of Documentation & Drawings for a Generic DP Manual: Document No. Document Title Rev* 24005000PS-000 System Specification A 24003061PL-000 System Top Level A 24004005WI-000 Cable Specification A 24000000WI-000 System Interconnect Diagram A 24004928TL-000A Console Components Assembly #1 A 24004928TL-000B Console Components Assembly #2 A 24004928TL-000C Console Components Assembly #3 Ind Jstk A 24004928WD-000A Wiring Diagram, Console Components #1 A 24004928WD-000B Wiring Diagram, Console Components #2 A 24004928WD-000C Wiring Diagram, Console Components #3 Ind Jstk A 24004996TL-000A SPU Assembly #1 A 24004996TL-000B SPU Assembly #2 A 24004996TL-000C SPU Assembly #3 Ind Jstk A 24004996WD-000A Wiring Diagram, SPU #1 A 24004996WD-000B Wiring Diagram, SPU #2 A 24004996WD-000C Wiring Diagram, SPU #3 Ind Jstk A *Rev A = Initial Release Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000 15-1 Dynamic Positioning and Control Systems www.L-3com.com/dpcs/ Document No. 24016000TM-000 Printed in the United States of America L-3 Communications, Inc. Dynamic Positioning and Control Systems 12131 Community Road Poway, CA 92064-8893 Telephone: (858) 679-5500 Fax: (858) 679-5501 www.L-3com.com/dpcs/ © 2008 L-3 Communications, Inc. All Rights Reserved DISCLAIMER: The Options, Commands, Menus, and Display Pages shown in this Generic DP Manual are examples of typical NMS6000 DP systems. Actual Options, Commands, Menus, and Display Pages may vary depending on system customization. Please contact L-3 DP&CS if you have any questions regarding this manual. Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000