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
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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.
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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
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COPYRIGHT AND CHANGES
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Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000
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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
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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
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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
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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
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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
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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
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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
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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
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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
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LIST OF FIGURES AND TABLES
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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.
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CHAPTER 1: DP SYSTEM OVERVIEW
Figure 1-1. DPS–0 System Overview
1-2
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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
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Figure 1-4. DPS-3 System Overview
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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
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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,
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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
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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
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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
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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
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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
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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:
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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
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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
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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
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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.
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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.”
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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.
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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
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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.
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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.
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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.
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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.
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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.
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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
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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.
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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)
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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.
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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.
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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
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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.
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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
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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
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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).
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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.
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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
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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 (-).
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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.
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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.
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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).
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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).
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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.
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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
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Figure 5-2. DPS-2 Transfer Configuration
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CHAPTER 5: MASTER/BACKUP OPERATOR CONTROL
Figure 5-3. DPS-3 Transfer Configuration
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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
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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.
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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.
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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.
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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.
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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
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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.
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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
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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
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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.
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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
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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.
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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
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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
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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.
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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
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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
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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
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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.
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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%.
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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
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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.
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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
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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
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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.
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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
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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.
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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.
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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.
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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.
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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).
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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).
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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.
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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:
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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).
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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).
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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.
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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.
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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.
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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
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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.
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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
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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
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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.
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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
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Red - NOT READY/FAULTED (Data)
Dark Gray - OFFLINE
Green - ONLINE (Screen Button)
Black - ONLINE (Data)
Green/Gray Alternate Blinking - ONLINE and FAULTED
(Screen Button)
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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.
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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.
)
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Note - This data is provided for information only. Operators cannot
control the GPS from SENSOR PAGEs.
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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
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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.
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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.
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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.
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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.
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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
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Taut Wire
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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
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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.
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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
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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
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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.
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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.
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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
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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
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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.
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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
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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.
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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:
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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.
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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.
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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
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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.
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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
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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.
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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.
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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.
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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.
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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.
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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.
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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:
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¾
Track Control Summary
¾
Track Offsets
¾
Track Settings
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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.
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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.
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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.
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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
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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,
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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.
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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.
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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.
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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.
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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
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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.
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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.
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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.
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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
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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:
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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
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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.
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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
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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.
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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.
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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
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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
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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
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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
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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.
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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
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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.
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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:
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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.
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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
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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
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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
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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.
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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
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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.
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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
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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.
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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
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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
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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:
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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
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.1.2
Setup Page 2
Figure 10-2. Setup Page 2
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.1.3
Setup Page 3
Figure 10-3. Setup Page 3
10-4
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.1.4
Setup Page 4
Figure 10-4. Setup Page 4
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.1.5
Mode Function
Figure 10-5. Mode Function
10-6
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.1.6
Simulation Page
Figure 10-6. Simulation Page
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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
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.2.1
Sensor Page 1
Figure 10-7. Sensor Page 1
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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
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.2.3
Position Reference 1
Figure 10-9. Position Reference 1
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.2.4
Position Reference 2
Figure 10-10. Position Reference 2
10-12
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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
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.3.1
Thruster Page 1
Figure 10-11. Thruster Page 1
10-14
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.3.2
Thruster Page 2
Figure 10-12. Thruster Page 2
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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
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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
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.5.1
Holding Capability Plot
Figure 10-13. Holding Capability Plot
10-18
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.5.2
Chart
Figure 10-14. Chart
Generic NMS6000 DP Operations & Maintenance Manual # 24016000TM-000
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.5.1
Track Operation
Figure 10-15. Track Operation
10-20
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.5.1
Waypoint
Figure 10-16. Waypoint
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CHAPTER 10: VESSEL SPECIFIC DISPLAY SCREENS
10.5.2
Transit
Figure 10-17. Transit
10-22
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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.
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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
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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.
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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.
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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.
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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
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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
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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
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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
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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.
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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
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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.
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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
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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.
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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
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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.
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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
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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.
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) 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
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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.
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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
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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.
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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)
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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.
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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.
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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
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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
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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
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Figure 12-3. Typical Alarm Page
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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
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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.
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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
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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
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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.
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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
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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.
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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.
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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.
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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
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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
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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.
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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.
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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