Nautronix DPS 6000 O Amp M Manual

Document No.
24006000TM-TBD NMS6000 DP System O & M Manual May 2006 Rev A
NMS6000
Dynamic Positioning System
Operations and Maintenance Manual
SHIPYARD
M/V VESSEL NAME

NAUTRONIX INC
MARINE TECHNOLOGY SOLUTIONS
www.nautronix.com
www.nautronix.com
COPYRIGHT AND CHANGES

NMS6000 is a trademark of Nautronix, Inc. and is protected under United States Copyright Law and International Treaty provisions. All other product names and designations, if trademarked, are the property of their respective owners. The software and hardware described in this document are furnished under a license agreement and may only be used in accordance with the terms of the agreement. The software and manuals may not be copied or distributed in any form or medium, disclosed to third parties, or used in any manner except as specified in the agreement. Any electronic files accompanying this document may not be copied or distributed in any form or medium, disclosed to third parties, or used in any manner except as specified in the agreement. The intent of Nautronix, Inc. in providing the manual and accompanying artwork and/or drawings files to the purchaser is strictly for in-house use by the purchaser. It is the purchasers responsibility to monitor the in-house distribution of all manuals and electronic files and keep a hard copy record of distribution for accountability purposes to Nautronix, Inc. for recall at any time Nautronix, Inc. deems necessary. Revision A Change Number Title and/or Brief Description Initial Release Effective Date 06 MAY 19
Document No. 24006000TM-TBD Printed in the United States of America. Nautronix, Inc. 12131 Community Road Poway, CA 92064 Telephone: (858) 679-5500 Fax: (858) 679-5501 2006 Nautronix, Inc. All Rights Reserved
NMS6000 Operations and Maintenance Manual
COPYRIGHT AND CHANGES
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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 .....................................................1-5 GLOSSARY OF ABBREVIATIONS AND ACRONYMS......................................................1-6 MANUAL CONVENTIONS ..........................................................................................1-8
DP SYSTEM START AND SHUTDOWN.....................................................................2-1 2.1 NMS6000 DP SYSTEM START ...............................................................................2-1 2.2 DP SHUTDOWN ......................................................................................................2-3 2.2.1 Software Shutdown........................................................................................2-3 2.3 HARDWARE SHUTDOWN .........................................................................................2-4
3.
DP OPERATOR INTERFACE BASICS.......................................................................3-1 3.1 OPERATOR CONTROL PANEL ..................................................................................3-1 3.2 OPTIONAL CONTROL PANEL ...................................................................................3-2 3.2.1 Main Section and Select Switch Group..........................................................3-3 3.2.1.1 Sensor Select - Optional...........................................................................3-3 3.2.1.2 Function Select - Optional ........................................................................3-4 3.2.1.3 Display Select - Optional ..........................................................................3-4 3.2.1.4 Mode Select - Optional .............................................................................3-5 3.2.1.5 Thruster Select - Optional........................................................................3-5 3.2.1.6 Data Entry Keypad - Optional ...................................................................3-5 3.2.1.7 Operator Control Panel Switch Testing - Optional...................................3-6 3.2.2 Right Section..................................................................................................3-8 3.2.2.1 Cursor Control ..........................................................................................3-8 3.2.2.2 Lamp Intensity Knob .................................................................................3-9 3.2.3 Left Section ...................................................................................................3-9 3.2.3.1 Auxiliary Switch Group ...........................................................................3-10 3.3 TRACKBALL AND CURSOR CONTROL SWITCHES ....................................................3-10 3.3.1 Selecting - Left-clicking ................................................................................3-10 3.4 TOUCH SCREEN MONITOR ....................................................................................3-11 3.4.1 Monitor Power Switch Panel ........................................................................3-12 3.4.1.1 Display Illumination Adjustment Control .................................................3-12 3.4.2 On-screen Display (OSD) Menu Control Panel............................................3-13 3.4.2.1 Hotkey Assignment.................................................................................3-13 3.5 TOUCH SCREEN CALIBRATION ..............................................................................3-14 3.6 TOUCH SCREEN INTERFACING ..............................................................................3-16 3.6.1 Data Entry Fields .........................................................................................3-16 3.6.2 Option Buttons ............................................................................................3-17 3.6.3 Command Buttons ......................................................................................3-17 3.6.4 Screen Buttons Available / Unavailable for Change ....................................3-18 3.7 DP AUDIBLE ALARMS ...........................................................................................3-18 3.8 SOFT PLC OPERATION .........................................................................................3-19
4.
DP SYSTEM OPERATIONS........................................................................................4-1 4.1 OPERATIONAL THEORY...........................................................................................4-1 4.1.1 DP System Terminology ................................................................................4-2 4.1.2 Kalman Filter..................................................................................................4-4
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TABLE OF CONTENTS
4.1.3 Measurement Update ....................................................................................4-4 4.1.4 Model Propagation.........................................................................................4-4 4.1.5 Station Keeping Control Law .........................................................................4-5 4.1.6 Setpoint Select...............................................................................................4-6 4.1.7 Dead Reckoning ............................................................................................4-6 4.1.8 Maneuver Process Overview .........................................................................4-6 4.1.9 Ship Axes Signing Conventions.....................................................................4-7 4.1.10 Earth Axes Signing Conventions ...................................................................4-8 4.1.11 Pitch, Roll, and Heave Signing Conventions .................................................4-9 4.1.12 Clockwise / Counterclockwise Signing Conventions......................................4-9 4.1.13 Position Reference Sensor Concepts ............................................................4-9 4.1.13.1 Sensor Noise ............................................................................................4-9 4.1.13.2 Noise Rejection Logic.............................................................................4-10 4.1.13.3 Median Testing .......................................................................................4-10 4.1.13.4 Origin Reference Sensor ........................................................................4-10 4.1.13.5 Sensor Weighting ...................................................................................4-12 4.1.13.6 Drift .........................................................................................................4-12 4.1.13.7 Sensor Jumping......................................................................................4-12 4.1.14 DP System Control Loop .............................................................................4-13 4.1.14.1 Comparator.............................................................................................4-14 4.1.14.2 Proportional, Integral, and Derivative (PID) Controller ...........................4-14 4.1.14.3 Actuator ..................................................................................................4-15 4.1.15 Position Sensor Blending.............................................................................4-15 4.1.16 Low-Pass Wave Filter ..................................................................................4-16 4.1.17 Notch Filter...................................................................................................4-16 4.1.18 Hold Heading ...............................................................................................4-16 4.1.19 Hold Position................................................................................................4-16 4.1.20 Low Speed Track Follow..............................................................................4-17 4.1.21 Manual Control.............................................................................................4-17 4.1.22 Hold Area Mode (HAM)................................................................................4-17 4.1.23 Remote Center of Rotation (COR)...............................................................4-17 4.1.24 Active Wind Compensation (AWC) ..............................................................4-17 4.1.25 Auto Heading for Minimum Thrust (AHMT)..................................................4-18 4.2 DP OPERATOR INTERFACE ...................................................................................4-19 4.2.1 DP Title Bar..................................................................................................4-20 4.2.2 Navigation Bar..............................................................................................4-20 4.2.3 Detailed Display Pages................................................................................4-21 4.2.4 Detailed Display Page Selection ..................................................................4-22 4.2.4.1 Display Page Selection - Backup ...........................................................4-22 4.2.5 Overview Page.............................................................................................4-24 4.2.5.1 Compass ................................................................................................4-25 4.2.5.2 Deviation Display Screen .......................................................................4-25 4.2.5.3 Additional Deviation Display Symbols ....................................................4-27 4.2.5.4 Position...................................................................................................4-28 4.3 MASTER / BACKUP OPERATOR PANELS .................................................................4-29 4.3.1 DPS 0 System Configuration ....................................................................4-29 4.3.2 DPS 1/2/3 DP System Configuration ........................................................4-29 4.3.3 Master/Backup(s) and Manual Independent Joystick ..................................4-31 4.3.4 Transfer Control Between Operator Control Panels ....................................4-32 4.3.5 DPS 1/2/3 Control Panel Synchronization ................................................4-32 4.3.6 Initializing Backup Control Panels DPS 2/3 ...........................................4-33 4.3.7 Manual Independent Backup Joystick Control Panel...................................4-34
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4.4 OPERATIONAL MODES AND AUTOMATIC MANEUVERS ............................................4-35 4.4.1 Manual Joystick (Transit) .............................................................................4-35 4.4.2 Hold Heading ...............................................................................................4-36 4.4.3 Hold Position................................................................................................4-37 4.4.4 Hold Position - Activation .............................................................................4-38 4.4.5 Low Speed Track Follow..............................................................................4-39 4.4.5.1 Low Speed Track Follow - Activation......................................................4-39 4.4.5.2 Track Display Selection and Monitoring .................................................4-40 4.4.5.3 Track and Waypoint Description.............................................................4-40 4.4.5.4 Passing Waypoints .................................................................................4-41 4.4.5.5 Stopping (LSTF Mode) ...........................................................................4-41 4.4.5.6 Track definition file format ......................................................................4-42 4.4.6 Active Wind Compensation (AWC) ..............................................................4-43 4.4.7 Active Wind Compensation Processing .......................................................4-43 4.4.8 Hold Area Mode (HAM)................................................................................4-44 4.4.9 Auto Heading Minimum Thrust (AHMT) .......................................................4-44 4.4.10 Remote Center of Rotation (COR) ...............................................................4-44 4.4.11 DP Simulation Mode ....................................................................................4-45 4.4.11.1 Simulation Control ..................................................................................4-46 4.5 DP SYSTEM DETAILED DISPLAY SCREEN PAGES ...................................................4-48 4.5.1 Setup Page 1 ...............................................................................................4-48 4.5.1.1 Deviation Display ....................................................................................4-49 4.5.1.2 Display....................................................................................................4-49 4.5.1.3 Vessel.....................................................................................................4-50 4.5.1.4 Transit Mode...........................................................................................4-50 4.5.1.5 DP Gains ................................................................................................4-51 4.5.2 Setup Page 2 ...............................................................................................4-52 4.5.2.1 GPS Reference Latitude / Longitude ......................................................4-53 4.5.2.2 Remote Center of Rotation .....................................................................4-53 4.5.3 Setup Page 3 ...............................................................................................4-54 4.5.3.1 Threshold................................................................................................4-55 4.5.3.2 Alert Radius ............................................................................................4-55 4.5.3.3 Compare .................................................................................................4-55 4.5.4 Sensor Page 1 .............................................................................................4-56 4.5.4.1 Heading ..................................................................................................4-57 4.5.4.2 Vertical Reference Section (VRS) ..........................................................4-57 4.5.4.3 Wind .......................................................................................................4-57 4.5.4.4 GPS ........................................................................................................4-58 4.5.5 Position Reference Page .............................................................................4-58 4.5.5.1 Position Reference Sensor Data Use .....................................................4-59 4.5.5.2 Position Reference Page Use ................................................................4-59 4.5.5.3 Charting Position Reference Sensor Data..............................................4-60 4.5.5.5 Position Reference Sensor Symbols......................................................4-61 4.5.6 Chart Page Screens.....................................................................................4-61 4.5.6.1 Pan and Zoom Control Buttons ..............................................................4-62 4.5.6.2 Configuration Buttons .............................................................................4-63 4.5.6.3 Chart Page Symbols...............................................................................4-65 4.5.7 Track Operation Page..................................................................................4-66 4.5.7.1 Track Control Summary..........................................................................4-67 4.5.7.2 Track Offsets ..........................................................................................4-67 4.5.7.3 Track Settings.........................................................................................4-68 4.5.8 Waypoint Page.............................................................................................4-70
TABLE OF CONTENTS
4.5.8.1 Display Window ......................................................................................4-71 4.5.8.2 Lat/Lon....................................................................................................4-72 4.5.8.3 N / E........................................................................................................4-72 4.5.8.4 Setup ......................................................................................................4-73 4.5.8.5 Route ......................................................................................................4-73 4.5.8.6 Waypoint ...................................................................................................4-75 4.5.8.7 Waypoint Edit Pop-up ...............................................................................4-77 4.5.9 Thruster Pages ............................................................................................4-78 4.5.9.1 Azimuthing Thruster Icon........................................................................4-79 4.5.9.2 Tunnel Thruster Icons.............................................................................4-80 4.5.9.3 Thrust Allocation Logic (TAL) Circle .......................................................4-80 4.5.9.4 Rudder Icons ..........................................................................................4-81 4.5.9.5 Text Box Thruster and Rudder ............................................................4-82 4.5.9.6 Requested and Total Forces % ..............................................................4-83 4.5.9.7 Total Forces % .......................................................................................4-83 4.5.9.8 DP System Thruster Modes ...................................................................4-84 4.5.9.9 Thruster Mode/Command Selection.......................................................4-84 4.5.9.10 Thrust Allocation Logic ...........................................................................4-85 4.5.10 Thruster Page 2 ...........................................................................................4-86 4.5.10.1 Status .....................................................................................................4-86 4.5.10.2 Mode.......................................................................................................4-86 4.5.10.3 RPM Cmnd .............................................................................................4-87 4.5.10.4 RPM Fdbk...............................................................................................4-87 4.5.10.5 Cmnd %..................................................................................................4-87 4.5.10.6 Fdbk % ...................................................................................................4-87 4.5.10.7 Rud Cmnd .............................................................................................4-87 4.5.10.8 Rud Fdbk...............................................................................................4-87 4.5.10.9 Thrust Alarm ...........................................................................................4-87 4.5.10.10 Rud Alarm...............................................................................................4-87 4.5.10.11 Requested Forces % ..............................................................................4-88 4.5.10.12 Total Forces % .......................................................................................4-88 4.5.11 Plot Page Screen .........................................................................................4-88 4.5.12 Holding Capability ........................................................................................4-91 4.5.12.1 Mode.......................................................................................................4-92 4.5.12.2 Thrusters / Rudders................................................................................4-92 4.5.12.3 Current....................................................................................................4-92 4.5.12.4 Wind .......................................................................................................4-92 4.5.13 Signal Input / Output Page Screens.............................................................4-93 4.5.13.1 Signal I/O Page: Serial Communications ...............................................4-93 4.5.14 Mode Function Page....................................................................................4-94 4.5.14.1 Mode Select............................................................................................4-95 4.5.14.2 Function Select.......................................................................................4-97 4.6 DP SYSTEM OPERATIONAL HINTS.......................................................................4-100 4.6.1 GPS Drift....................................................................................................4-100 4.6.2 Integral Windup..........................................................................................4-101 4.6.3 Integral Pre-Loading ..................................................................................4-101 4.6.4 Integral Transfers.......................................................................................4-102 4.7 DP SYSTEM ALARMS AND TROUBLESHOOTING ....................................................4-102 4.7.1 Alarm Conditions........................................................................................4-102 4.7.2 Alarm Notification.......................................................................................4-103 4.7.3 Color Coding of Alarms..............................................................................4-103 4.7.4 Acknowledging Alarms...............................................................................4-103
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4.8 5.
DP SYSTEM ALARMS AND MESSAGES ...............................................................4-104
VESSEL SPECIFIC DISPLAY SCREENS...................................................................5-1 5.1 SETUP MENU ........................................................................................................5-1 5.1.1 Setup Page 1 .................................................................................................5-2 5.1.2 Setup Page 2 .................................................................................................5-3 5.1.3 Setup Page 3 .................................................................................................5-4 5.1.4 Mode Function ...............................................................................................5-5 5.1.5 DP Simulation Page.......................................................................................5-6 5.2 SENSOR MENU.......................................................................................................5-7 Sensor Page 1 ...............................................................................................5-8 5.2.1 5.2.2 Sensor Page 2 ...............................................................................................5-9 5.2.3 Position Reference 1....................................................................................5-10 5.2.4 Position Reference 2....................................................................................5-11 5.3 PROPULSION MENU ..............................................................................................5-12 5.3.1. Thruster Page 1 ...........................................................................................5-13 5.3.2 Thrust Page 2 ..............................................................................................5-14 5.4 PLOT MENU .........................................................................................................5-15 5.4.1 Holding Capability ........................................................................................5-16 5.4.2 Chart ............................................................................................................5-17 5.4.3 Track Operation ...........................................................................................5-18 5.4.4 Waypoint ......................................................................................................5-19
6.
SYSTEM MAINTENANCE AND TEST PROCEDURES..............................................6-1 GENERAL TOOLS AND TEST EQUIPMENT ................................................................6-1 6.1 6.2 ELECTROSTATIC DISCHARGE PRECAUTIONS...........................................................6-1 6.2.1 ESD-Sensitive Devices ..................................................................................6-2 6.2.2 Protective Procedures....................................................................................6-2 6.2.3 ESD Guidelines for Replacing Circuit Card Assemblies .......................... (CCA) 6-2 6.3 MONTHLY MECHANICAL INSPECTION .......................................................................6-3 6.4 MONTHLY OPERATOR CONTROL PANEL AIR FILTER SERVICE ..................................6-3 6.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE.......................................6-4 6.6 POWER SUPPLY VOLTAGE CHECK ..........................................................................6-4 6.6.1 Operator Control Panel Test Point Values/Adjustments ................................6-5 6.6.2 Keyboard Test Point Values/Adjustments......................................................6-6 6.6.3 Signal Processor Unit Test Points/Values......................................................6-6 6.6.3.1 Signal Processor Unit (SPU) 1 .................................................................6-6 6.6.3.2 Signal Processor Unit (SPU) 2 (Optional)..............................................6-7 6.7 CMOS BATTERY REPLACEMENT - (2 YEARS) ..........................................................6-8 6.8 SIGNAL MAINTENANCE AND TROUBLESHOOTING......................................................6-8 6.8.1 RS232 ............................................................................................................6-8 6.8.2 RS422/RS485 ................................................................................................6-9 6.8.3 Programmable Logic Controller (PLC) ...........................................................6-9 6.8.4 System Reset and Corrective Action ...........................................................6-10 6.8.5 Flex I/O Modules ..........................................................................................6-10 6.8.6 Analog and Digital I/Os ................................................................................6-11 6.8.7 Switch Interface Controller ...........................................................................6-11 6.8.8 Circuit Card Jumper Configurations .............................................................6-12 6.8.8.1 Central Processor Unit (CPU).................................................................6-12 6.8.8.2 Gyrocompass .........................................................................................6-12 6.8.8.3 Switch Interface Controller .....................................................................6-12
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6.8.9 Joystick Calibration ......................................................................................6-12 6.9 MODULE AND COMPONENT REPLACEMENT ...........................................................6-14 NMS6000 DP System Control Panel Modules and ......................................Components 6-14 6.9.1 Keyboard Switch Blocks ..............................................................................6-14 6.9.2 Switch Interface Controller...........................................................................6-14 6.9.3 Voltage Regulator ........................................................................................6-15 6.9.4 Switch Interface Extender Board .................................................................6-15 6.9.5 Central Processor Unit (CPU)......................................................................6-15 6.9.6 SPU Modules and Components...................................................................6-16 6.9.6.1 Intelligent Communication Modules........................................................6-16 6.9.6.2 Flex I\O Modules ....................................................................................6-16 6.9.6.3 Flex I\O Terminal Bases .........................................................................6-17 6.9.6.4 Remote I/O Adapter................................................................................6-18 6.9.6.5 Optical Communications Modem (OCM)................................................6-18 6.9.6.6 Ethernet Hub ..........................................................................................6-18 6.9.6.7 NMS6000 DP System Uninterruptible Power Supply (UPS) ..................6-18 6.9.6.8 SPU Uninterruptible Power Supply (UPS)..............................................6-19 6.9.6.9 UPS Battery............................................................................................6-19 6.9.6.10 SPU Power Supply .................................................................................6-19 6.9.6.11 SPU Exhaust Fan ...................................................................................6-19 6.9.7 Sensors........................................................................................................6-20 6.9.7.1 Motion Reference Unit (MRU) ................................................................6-20 6.9.7.2 Global Positioning System (GPS)...........................................................6-20 6.9.7.3 Vertical Reference Unit (VRU)................................................................6-20 6.10 RECOMMENDED SPARE OR REPLACEMENT PARTS ................................................6-21 6.11 SERVICE LOCATIONS ............................................................................................6-21 6.12 FIELD SERVICE ORDER INFORMATION ...................................................................6-22 6.13 ORDERING NEW PARTS ........................................................................................6-22 6.14 RETURNING ITEMS ...............................................................................................6-23 7. 8. APPENDIX - DPS ALARM MESSAGES....................................................................7-1 7.1 DPS ALARM MESSAGES .........................................................................................7-1 INDEX ..........................................................................................................................8-1
9. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS..............................................9-1
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List of Figures and Tables

FIGURE 1-1. DPS0 SYSTEM OVERVIEW ...............................................................................................1-2 FIGURE 1-2. DPS-1 SYSTEM OVERVIEW ................................................................................................1-2 FIGURE 1-3. DPS-2 SYSTEM OVERVIEW ................................................................................................1-3 FIGURE 1-4. DPS-3 SYSTEM OVERVIEW ................................................................................................1-3 FIGURE 2-1. DP TYPICAL DISPLAY SCREEN............................................................................................2-2 FIGURE 3-1. NMS6000 DP SYSTEM OPERATOR CONTROL PANEL ..........................................................3-1 FIGURE 3-2. OPTIONAL CONTROL PANEL ................................................................................................3-2 FIGURE 3-3. TYPICAL SENSOR SELECT SWITCH GROUP ..........................................................................3-4 FIGURE 3-4. TYPICAL FUNCTION SELECT SWITCH GROUP ........................................................................3-4 FIGURE 3-5. TYPICAL DISPLAY SELECT SWITCH GROUP ..........................................................................3-5 FIGURE 3-6. TYPICAL MODE SELECT SWITCH GROUP ..............................................................................3-5 FIGURE 3-7. TYPICAL THRUSTER SELECT SWITCH GROUP .......................................................................3-5 FIGURE 3-8. CONTROL PANEL DATA ENTRY KEYPAD ...............................................................................3-6 FIGURE 3-9. SWITCH TEST .....................................................................................................................3-6 FIGURE 3-10. RIGHT SECTION - NMS6000 OPTIONAL CONTROL PANEL ...................................................3-8 FIGURE 3-11. LEFT SECTION - NMS6000 OPTIONAL CONTROL PANEL ....................................................3-9 FIGURE 3-12. TRACKBALL AND CURSOR CONTROL SWITCHES...............................................................3-10 FIGURE 3-13. WHITE ARROW SHAPED CURSOR ....................................................................................3-10 FIGURE 3-14. POWER SWITCH PANEL ...................................................................................................3-12 FIGURE 3-15. ON-SCREEN DISPLAY (OSD) MENU CONTROL PANEL.......................................................3-13 FIGURE 3-16. OSD MENU MODE POP-UP .............................................................................................3-14 FIGURE 3-17. DP SETUP AND VMS SYSTEM DROP-DOWN MENU BAR....................................................3-15 FIGURE 3-18. ENTER TOUCH SCREEN CALIBRATION PASSWORD KEYPAD...............................................3-15 FIGURE 3-19. TOUCH SCREEN CALIBRATION BULLS-EYE .......................................................................3-16 FIGURE 3-20. CALIBRATION COMPLETE POP-UP DIALOG BOX ................................................................3-16 FIGURE 3-21. TYPICAL DATA ENTRY FIELD ...........................................................................................3-16 FIGURE 3-22. TYPICAL POP-UP KEYPAD ..............................................................................................3-17 FIGURE 3-23. OPTION BUTTON ............................................................................................................3-17 FIGURE 3-24. TYPICAL COMMAND BUTTONS.........................................................................................3-18 FIGURE 3-25. TYPICAL AVAILABLE AND UNAVAILABLE FIELDS ................................................................3-18 FIGURE 4-1. DYNAMIC POSITIONING SYSTEM OPERATION .......................................................................4-1 FIGURE 4-2. CONTROL AXES .................................................................................................................4-5 FIGURE 4-3. POSITION MANEUVER PROFILE ILLUSTRATION .....................................................................4-7 FIGURE 4-4. SHIP AXES SIGNING CONVENTIONS .....................................................................................4-8 FIGURE 4-5. EARTH AXES SIGNING CONVENTIONS .................................................................................4-8 FIGURE 4-6. PITCH, ROLL, AND HEAVE SIGNING CONVENTIONS...............................................................4-9 FIGURE 4-7. NOISE REJECTION LOGIC ILLUSTRATION............................................................................4-10 FIGURE 4-8. POSITION REFERENCE SENSOR BIASING ...........................................................................4-11 FIGURE 4-9. SENSOR WEIGHTING ........................................................................................................4-12 FIGURE 4-10. SENSOR JUMPING ..........................................................................................................4-13 FIGURE 4-11. DP SYSTEM CONTROL LOOP ..........................................................................................4-13 FIGURE 4-12. TYPICAL DP SYSTEM DISPLAY SCREEN LAYOUT ..............................................................4-19 FIGURE 4-13. DP TITLE BAR ................................................................................................................4-20 FIGURE 4-14. NAVIGATION BAR ...........................................................................................................4-21 FIGURE 4-15. NAVIGATION TOOLBAR ...................................................................................................4-22 FIGURE 4-16. TYPICAL OVERVIEW PAGE ..............................................................................................4-24 FIGURE 4-17. COMPASS .......................................................................................................................4-25 FIGURE 4-18. DEVIATION DISPLAY SCREEN ..........................................................................................4-26 FIGURE 4-19. ADDITIONAL DEVIATION DISPLAY SYMBOLS ......................................................................4-27 FIGURE 4-20. TYPICAL TABULAR VESSEL POSITION SECTION ................................................................4-28 FIGURE 4-21. DPS-1 TRANSFER CONFIGURATION ................................................................................4-30 FIGURE 4-22. DPS-2 TRANSFER CONFIGURATION ................................................................................4-30 FIGURE 4-23. DPS-3TRANSFER CONFIGURATION ................................................................................4-31 FIGURE 4-24. AUXILIARY SWITCH GROUP ASK ONLINE SWITCH .........................................................4-32
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LIST OF FIGURES AND TABLES FIGURE 4-25. AUXILIARY SWITCH GROUP INIT BACK-UP SWITCH........................................................ 4-33 FIGURE 4-26. HOLD HEADING ILLUSTRATION ....................................................................................... 4-36 FIGURE 4-27. HOLD POSITION ILLUSTRATION ....................................................................................... 4-37 FIGURE 4-28. TRACK AND WAYPOINTS ................................................................................................. 4-40 FIGURE 4-28A. DP SIMULATION PAGE ................................................................................................. 4-45 FIGURE 4-29. SETUP PAGE 1 .............................................................................................................. 4-48 FIGURE 4-30. CONTROL AXES ............................................................................................................. 4-51 FIGURE 4-31. SETUP PAGE 2 .............................................................................................................. 4-52 FIGURE 4-32. SETUP PAGE 3 .............................................................................................................. 4-54 FIGURE 4-33 SENSOR PAGE 1 ............................................................................................................. 4-56 FIGURE 4-34. POSITION REFERENCE PAGE .......................................................................................... 4-59 FIGURE 4-35. CHART PAGE SENS DISP BUTTON ................................................................................ 4-61 FIGURE 4-36. CHART PAGE ................................................................................................................. 4-62 FIGURE 4-37. PAN AND ZOOM CONTROL BUTTONS ............................................................................... 4-62 FIGURE 4-38. CONFIGURATION BUTTONS ............................................................................................. 4-63 FIGURE 4-39. LOW SPEED TRACK FOLLOW TRACK AND WAY-POINTS.................................................. 4-64 FIGURE 4-40. TRACK OPERATION ........................................................................................................ 4-66 FIGURE 4-41. NORTH/EAST TRACK OFFSET ......................................................................................... 4-68 FIGURE 4-42. CROSS TRACK OFFSET .................................................................................................. 4-68 FIGURE 4-43. WAYPOINT PAGE ............................................................................................................ 4-71 FIGURE 4-44. SELECT TRACK TYPE POP-UP ......................................................................................... 4-73 FIGURE 4-45. OPEN DIALOG BOX ........................................................................................................ 4-74 FIGURE 4-46. SAVE AS - DIALOG BOX .................................................................................................. 4-75 FIGURE 4-47. WAYPOINT EDIT POP-UP ................................................................................................ 4-75 FIGURE 4-48. TYPICAL THRUSTER PAGE SCREEN ................................................................................ 4-79 FIGURE 4-49. AZIMUTHING THRUSTER ICONS ....................................................................................... 4-79 FIGURE 4-50. TYPICAL PORT TUNNEL THRUSTER ICON ......................................................................... 4-80 FIGURE 4-51. TYPICAL STARBOARD TUNNEL THRUSTER ICON ............................................................... 4-80 FIGURE 4-52. TAL CIRCLE .................................................................................................................. 4-81 FIGURE 4-53. RUDDER ICONS .............................................................................................................. 4-82 FIGURE 4-54. TEXT BOX- THRUSTER AND RUDDER ............................................................................... 4-82 FIGURE 4-55. TYPICAL THRUSTER POP-UP DIALOG BOX ...................................................................... 4-85 FIGURE 4-56. TYPICAL THRUST PAGE 2 .............................................................................................. 4-86 FIGURE 4-57. TYPICAL PLOT PAGE 1................................................................................................... 4-89 FIGURE 4-58. POINT CONFIGURATION POP-UP ..................................................................................... 4-90 FIGURE 4-59. HOLDING CAPABILITY..................................................................................................... 4-91 FIGURE 4-60. SIGNAL I/O PAGE: SERIAL COMMUNICATIONS ................................................................. 4-93 FIGURE 4-61. MODE FUNCTION PAGE ................................................................................................. 4-94 FIGURE 4-62. HEADING SETPOINT SELECTION: CURRENT HEADING POP-UP .......................................... 4-98 FIGURE 4-63. POSITION SETPOINT SELECTION : CURRENT POSITION POP-UP ....................................... 4-99 FIGURE 4-64. ALARM SUMMARY WINDOW.......................................................................................... 4-103 FIGURE 5-1. SETUP PAGE 1 .................................................................................................................. 5-2 FIGURE 5-2. SETUP PAGE 2 .................................................................................................................. 5-3 FIGURE 5-3. SETUP PAGE 3 .................................................................................................................. 5-4 FIGURE 5-4. MODE FUNCTION ............................................................................................................... 5-5 FIGURE 5-5. SIMULATION PAGE ............................................................................................................. 5-6 FIGURE 5-6. SENSOR PAGE 1 ............................................................................................................... 5-8 FIGURE 5-7. SENSOR PAGE 2............................................................................................................... 5-9 FIGURE 5-8. POSITION REFERENCE 1 ................................................................................................. 5-10 FIGURE 5-9. POSITION REFERENCE 2. ................................................................................................. 5-11 FIGURE 5-10. THRUSTER PAGE 1 ........................................................................................................ 5-13 FIGURE 5-11. THRUSTER PAGE 2 ........................................................................................................ 5-14 FIGURE 5-12. HOLDING CAPABILITY..................................................................................................... 5-16 FIGURE 5-13. CHART .......................................................................................................................... 5-17 FIGURE 5-14. TRACK OPERATION ........................................................................................................ 5-18 FIGURE 5-15. WAYPOINT ..................................................................................................................... 5-19 TABLE 6-1. GENERAL TOOLS AND TEST EQUIPMENT ............................................................................... 6-1
LIST OF FIGURES AND TABLES TABLE 6-2. POWER SUPPLY VOLTAGES (NOMINAL AND TOLERANCE).....................................................6-5 FIGURE 6-1. CORRECT WAVEFORM .......................................................................................................6-9 FIGURE 6-2. FLEX I/O MODULES AND TEST POINTS ..............................................................................6-11 FIGURE 6-3. SWITCH INTERFACE CONTROLLER ....................................................................................6-14
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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 Nautronix, Inc. Marine System Model 6000, (NMS6000), Dynamic Positioning (DP) System. The manual provides instructions for using the system and any associated sub-systems, such as sensors, computers, and signal processing equipment. Additionally, the manual provides information on system casualty troubleshooting, and corrective actions, and system test and maintenance procedures.

1.1
Note -Nautronix suggests NMS6000 DP Operators read this

manual thoroughly prior to commencing operations.
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. The following basic equipment is used: Operator Control Panels Provide operator interface and contain industrial computers, touch screen monitors, trackball/mouse switches, manual controls for vessel position and heading, and (optional) pushbutton select switches.

Note - Due to customer requirements, the NMS6000 DP System

may be configured as follows: DPS-0 One (1) NMS6000 DP Operator Control Panel, Figure 1-1. DPS-1 One (1) NMS6000 DP Operator Control Panel and One (1) Manual Independent Backup Joystick Panel, Figure 1-2. DPS-2 - Two (2) NMS6000 DP Operator Control Panels, and One (1) Manual Independent Backup Joystick Panel, Figure 1-3. DPS-3 Three (3) NMS6000 DP Operator Control Panels, and One (1) Manual Independent Joystick Panel, Figure 1-4.
1-1
CHAPTER 1: DP SYSTEM OVERVIEW
Figure 1-1. DPS0 System Overview
Figure 1-2. DPS-1 System Overview

1-2 NMS6000 Operations and Maintenance Manual
1-3
Touch Screen Monitors Generate customized color Display Screen Pages providing information on the vessel systems and sensors integrated with the vessels NMS6000 DP System. Both display pages and/or manual controls on the Operator Control Panels (switches, joysticks, knobs, etc.) command the NMS6000 DP System. Refer to Chapter 4 for additional information on Touch Screen Monitors. Auxiliary Sensors Include Wind Sensors, Gyrocompasses, Motion Reference Units, Current/drag Monitors, and Position Reference Sensors (DGPS, Acoustic Systems, Laser Radars, Taut Wire) feed data on the vessels position, heading, attitude, and environmental forces to the Operator Control Panel computers to maintain the vessels desired control axis. During operations, the NMS6000 compares the desired goal setpoints to the vessels measured position and/or heading, then generates appropriate thruster commands to minimize the deviation. Signal Processing Units (SPUs) - Handle field sensor signals, and convert the signals to data streams before it is passed to the PLC Controllers and on to the Operator Control Panels. The Signal Processing Units 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 PLC Controllers in the Operator Control Panels. PLC Controllers - PLC Controllers run inside the SPUs communicating to the I/O Modules through a dual redundant ControlNet. I/O Modules - Interface the PCs to field devices. Since a PC is a digital computer it 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 Server Station and underlying PLC controller. ControlNet and EtherNet - Passes redundant data between the various components of the NMS6000 DP System, as well as any vessel systems with which it is integrated. 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.
1-4
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. Dynamic Positioning Operators (DPOs), normally power up the NMS6000 DP System as the vessel approaches the work-site. A graphic ALARM PAGE, generated on the Operator Control Panels touch screen monitor, informs DPOs of any problems with the NMS6000 DP System. Given normal operating conditions and system configuration, DPOs select either/or DPS 1, DPS 2, or DPS 3 to serve as the Master Control Panel. Only commands issued at the Master Control Panel affect the command of the vessels thrusters and the sensors associated with the NMS6000 DP System. Special display pages (Setup Pages) allow DPOs to verify, and change if necessary, basic operating parameters. DPOs configure 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 (Auxiliary and Position Reference) to place appropriate auxiliary and position reference sensors online. These sensors provide the data used by the NMS6000 DP System to determine the vessels deviation from the desired heading and position goal set-points. The data displayed on Auxiliary and Position Reference pages, also allow DPOs to control the online status of the sensors themselves. Optional push-button switches on the Operator Control Panels (if configured) also control many of these sensors. 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.
1-5
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, with the NMS6000 DP System then generating thruster commands to minimize the deviation between the measured readings and the goals. During automatic operations, DPOs can select from a variety of display pages to view information on the vessels position and heading, performance of sensors and thrusters, status of the power generation and distribution system, 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 in the NMS6000. 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.
1.3
GLOSSARY OF ABBREVIATIONS AND ACRONYMS

The following abbreviations and acronyms may be used throughout this manual:
1-6
A/D ABS ACK AN ASK AWC BU CCW CFE CMPR COR COS CPU CW DCD DCU Diff DIR DMS DP DPS ECR ERR F/A Fore GND GUI HDS HDG I/F I/O KTS LED LEVL LSTF
Analog/Digital Absolute Acknowledge Analog 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 Difference Direction Dynamic Motion Sensor Dynamic Positioning Dynamic Positioning System Engine Control Room Error Forward / Aft Forward Ground Graphical User Interface Hydrophone Deployment System Heading Interface Input/Output Knots Light Emitting Diode Thruster Level Alarm Low Speed Track Follow
MAN MUX NFU OCM PC P/S PCB PID PLC PMS POS RAM REL RH ROM ROV RPM RTS RXD SIG-GND SIN SPD SPU STBD STPT TAC TAL TBD TCS TTL TXD UPS USBL VRS VRU
Manual Command Multiplexer Non Follow-Up Optical Communications Modem Personal Computer Port / Stbd 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 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 Uninterruptible Power Supply Ultra Short Baseline Vertical Reference Sensor Vertical Reference Unit
1-7
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 ALL CAPS Definition Name of display page, such as ALARM PAGE, or a popup dialog box, such as THRUSTER 6. 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. Name of an operational mode, such as HOLD HEADING or ACTIVE WIND COMPENSATION. Identifies a crucial concept, such as the Origin Reference Sensor, as well as instructions and/or explanations of extreme importance. Identifies a screen page button, icon color, or OCP status. Identifies a sub-section of a complex display page. Name on a graphic screen button or a data entry field, both found on the display pages. Name of a physical control on the Control Panel keyboard, such as the <ASK ONLINE> switch.
Bold
BOLD ALL CAPS Italics Bold Italics Quotes SMALL CAPS <SMALL CAPS> Bold Underline
Bold Capitals Underline
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,

Underline the first is identified as Position 1.
Example - The D
DISPLAY CENTER screen button allows operators to select the Origin, Goal, or Setpoint as the centerpoint of the Deviation Display.
EVIATION
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2.
DP SYSTEM START AND SHUTDOWN

This chapter describes the NMS6000 DP System Start and Shutdown procedures of the system equipment (hardware) and software.

2.1
Note Depending upon the vessels NMS6000 DP System

configuration some of the hardware components listed in the Start and Shutdown Sections may not be part of the Start and Shutdown process.
NMS6000 DP SYSTEM START

The DP System Start involves a two-step process in starting the system hardware first and then the system software, essentially a reverse of the Shutdown process. Perform the following to ensure the proper startup sequence for the DP system, from a cold start: 1. Verify the UPS fed Power Distribution Panel Circuit Breakers are closed. 2. Ensure SPUs are Powered Down. 3. Power Up Master Operator Panel/Console, and wait for User Interface to completely load
Note - This process can take up to four minutes to complete.
4. If configured, wait approximately 60 seconds, then Power Up Backup/Standby Operator Panels/Consoles. 5. Ensure PLC CONTROLLERS ARE ESTABLISHED, (DPS0/1 Systems have one (1) PLC, and DPS-2/3 Systems have two (2) PLCs) . 6. Apply power to the following DP System hardware components: a. Backup and Standby Operator Control Panel(s) (If Configured) b. DGPS equipment c. Gyro Compasses d. Signal Processor Units (Wind Sensors and Vertical Reference Units receive power from associated SPU) e. Acoustic Reference System Processors and Display Control Units f. Taut Wire Positioning System (If Configured) g. Fan Beam Positioning System (If Configured)
2-1
CHAPTER 2: DP SYSTEM START AND SHUTDOWN
h. Artemis Positioning System (If Configured) i. j. System Alarm Printers (If Configured) Remote Joystick (If Configured)
k. Uninterruptible Power Supplies Once powered up, the NMS6000 Operator Control Panels pre-installed software automatically begins to run, generating display screens, enabling monitoring and selection of programmable system configuration setpoints and parameters, and enabling selection of the Backup or Standby Operator Control Pane/Consoles, (if configured). Refer to Chapter 4 for guidelines on this selection.
NOTE Operators should allow sufficient time for the sensor measurements to stabilize before beginning automatic control of the vessel through the NMS6000.
Additionally, upon startup the DP DISPLAY Screen, Figure 2-1, appears on the display. The operator may navigate to the other DP display screens and access the systems alarm and monitoring capabilities from the Navigation Bar.
Navigation Bar
Figure 2-1. DP Typical Display Screen
2-2
2.2
DP SHUTDOWN

2.2.1
Note - DP Software shutdown on an NMS6000 Operator

Control Panel requires a password. Therefore, unauthorized personnel should not attempt to shut down the system.
Software Shutdown
The DP Shutdown involves a two-step process in shutting down the system software first and then the system hardware, essentially a reverse of the Start-up process. Unauthorized personnel should not shut down the DP software. Performing the DP Software Shutdown process at any DP Operator Control Panel affects only the DP Operator Control Panel where the command is initiated. The remaining DP Operator Control Panels continue to run the DP software, therefore, to perform a software shutdown of the entire DP System, operators must perform software shutdowns on each DP Operator Control Panels 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 SHUT DOWN screen button.
4. The following Enter System Password box appears:
2-3
5. Use the Data Entry Keypad to enter the password - (789) in the New window. 6. Click on <OK> on the Data Entry Keypad. 7. The following dialog box appears:
8. Select NMS6000 SHUTDOWN to close the DP software without powering off the Operator Control Panel computer. 9. Select CANCEL to abort the DP software shutdown process.
2.3
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: Perform the following to completely shut down the system by removing power from the following MCS hardware components: Operator Control Panels/Consoles 1. Select NMS6000 SHUTDOWN button. 2. Allow the HMI to shutdown. 3. Select the START button on the lower left corner of the desktop, and select SHUTDOWN on the Pop-up menu in the middle of the screen and click OK. The computer initiates a shutdown sequence and powers down. Uninterruptible Power Supplies Acoustic Position Reference System Processors and Display Control Units Signal Processor Units (Wind Sensors and Vertical Reference Units receive power from their associated SPU) System Alarm Printers (IF Configured) Taut Wire Positioning System -(IF Configured) Fan Beam Positioning System - (IF Configured) Artemis Positioning System - (IF Configured) Remote Joystick and Connection Boxes - (IF Configured) Gyro Compasses DGPS equipment
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3.
DP OPERATOR INTERFACE BASICS

The Operator Control Panel provides an Operator Interface allowing DP operators to command and monitor the NMS6000 DP System through Physical Controls and Touch Screen Monitors as follows: Physical Controls Includes Trackball and Cursor Control Switches, (optional) Three-axis Position and Header Control Joystick. Touch Screen Monitors Allow operator interface screen pages to be viewed and accessed through touch and/or cursor control. Operators are only permitted to enter data, change operational parameters, select thrusters, sensors, and operational modes, using the Master Operator Control Panel. However, certain non-critical functions, such as display options, can be initiated at the Backup Operator Control Panels.
3.1
OPERATOR CONTROL PANEL

The normally configured NMS6000 DP System Operator Control Panel, Figure 3-1, consists of the Flat Panel Touch Screen Monitor, Trackball and Cursor Control (<ENTER> <SELECT>) Switches, Threeaxis Position and Heading Control Joystick.
Figure 3-1. NMS6000 DP System Operator Control Panel
3-1
CHAPTER 3: DP OPERATOR INTERFACE BASICS
Note Depending on customer requirements the NMS6000

DP System may be configured with an Optional Control Panel consisting of three Operator Interface Sections that contain a Position Control Joystick, Heading Control Knob, Trackball and Cursor Control Switches, and (optional) Select Switch Groups, as outlined in Section 3.2.
3.2
OPTIONAL CONTROL PANEL
Note Disregard Section 3.2 if the vessels NMS6000 DP

System is NOT CONFIGURED with the Optional Control Panel or its various sections and Select Switch Groups.
The Optional Control Panel, Figure 3-2, features Select Switch Groups that allow operators physical command and monitoring of the NMS6000 DP System. The Optional Control Panel is divided into the following panel sections: Main; Right; and Left.
Left Section Main Section
SENSOR SELECT
DGPS 1 NASPOS BCN 1 HYDRO 2 BCN 1 HOLD HEADING HOLD POSITION
Right Section
MODE SELECT
POWER LIMIT SUSTAIN WIND COMP REMOTE COR PORTABLE JOYSTICK
LAMP INTENSITY
NASPOS BCN 2
HYDRO 2 BCN 2
ROV FOLLOW
LSFT
AHMT
STBD MAIN AHEAD
PORT MAIN AHEAD
JOYSTICK DESENS
TAUT WIRE
NASPOS BCN 3
HYDRO 2 BCN 3
WIND 1
THRUSTER SELECT
THR 1 THR 2 THR 3 THR 4 STBD MAIN PORT MAIN
AUXILIARY
ASK ONLINE INIT BACKUPS
POS REF CALIB
NASPOS BCN 4
HYDRO 2 BCN 4
WIND 2
REF SENSOR SELECT
ROV SENSOR SELECT
THR AUTO
THR MANUAL
THR OFF
STBD RUDDER
PORT RUDDER
FUNCTION SELECT
HEADING SETPOINT POSITION SETPOINT ALARM PAGE INHIBIT ALARM SILENCE
DATA ENTRY
7 4 1 0 8 5 2 9 6 3
YES
POSITION CONTROL
CONTROL GAIN
CLEAR JSBIAS
ROV CONFIG
SWITCH TEST
ALARM ACK
NO
DISPLAY SELECT
SUMMARY POSITION REF THRUST CHART SIGNAL I/O
CLEAR
ENTER
HEADING CONTROL
SETUP
SENSOR
POWER
ALARM SILENCE ACK
PLOT
CURSOR CONTROL
Figure 3-2. Optional Control Panel
Note The Optional Operator Control Panel or various

sections (Select Switch Groups) described in the following sections is an option that may be ordered by the customer, in addition to, or in lieu of the normally configured Operator Control Panel.
3-2
Note The normally configured Operator Control Panel

consists of the Flat Panel Touch Screen Monitor, Trackball and Cursor Control, Position Control Joystick (with Integral Heading Control Knob), and Heading Control Knob without the Switch Control Groups.

3.2.1
Note Disregard Section 3.2.1, 3.2.2, and 3.2.3 if the

vessels NMS6000 DP System is NOT CONFIGURED with the Optional Control Panel or its various Sections and Select Switch Groups.
Main Section and Select Switch Group

The Optional Main Section consists of seven Select Switch Groups, described in Sections 3.2.1.1 through 3.2.1.7.
Note Depending on the vessels NMS6000 DP System

configuration, the following OPTIONAL Control Panel Main Section Select Switch Groups covered in, Section 3.2.1, may list Select Switch Group configurations not applicable, and/or in addition to, Select Switch Group configurations associated with the vessels current NMS6000 DP System.
3.2.1.1
Sensor Select - Optional

The typical Sensor Select Switch Group, Figure 3-3, contains switches that place sensors on and offline. Every sensor may not have its own switch. The SENSOR PAGES typically control devices not having independent control switches.
3-3
SENSOR SELECT
DGPS 1 FAN BEAM NASPOS BCN 1 HYDRO 2 BCN 1
NASPOS BCN 2
HYDRO 2 BCN 2 WIND 1
TAUT WIRE
NASPOS BCN 3
HYDRO 2 BCN 3
ARTEMIS
NASPOS BCN 4 POS REF CALIB
HYDRO 2 BCN 4
WIND 2 ROV SENSOR SELECT
REF SENSOR SELECT
Figure 3-3. Typical Sensor Select Switch Group
3.2.1.2
Function Select - Optional

The typical Function Select Switch Group, Figure 3-4, contains switches to allow operators to enter a variety of data, acknowledge alarms, and perform certain other tasks.
FUNCTION SELECT
HEADING SETPOINT POSITION SETPOINT ALARM PAGE INHIBIT ROV CONFIG ALARM SILENCE
CONTROL GAIN
CLEAR JS BIAS
SWITCH TEST
ALARM ACK
Figure 3-4. Typical Function Select Switch Group
3.2.1.3
Display Select - Optional

The typical Display Select Switch Group, Figure 3-5, switches call up display pages. The <PRINT DISPLAY> switch, if configured with the system, captures the current display screen electronically and sends it to the network color printer, if available.
3-4

DISPLAY SELECT
SUMMARY POSITION REF THRUST CHART SIGNAL I/O PRINT DISPLAY
SETUP
SENSOR
POWER
ALARM
PLOT
Figure 3-5. Typical Display Select Switch Group
3.2.1.4
Mode Select - Optional

Switches in the typical Mode Select Switch Group, Figure 3-6, place the NMS6000 DP System in one or more of the available control modes.
MODE SELECT
HOLD HOLD HEADING POSITION POWER LIMIT SUSTAIN WIND COMP STBD MAIN AHEAD REMOTE COR PORT MAIN AHEAD
PORTABLE JOYSTICK
ROV FOLLOW
LSFT
AHMT
JOYSTICK DESENS
Figure 3-6. Typical Mode Select Switch Group
3.2.1.5
Thruster Select - Optional

The typical Thruster Select Switch Group switches, Figure 3-7, place the vessels thrusters under the automatic command of the NMS6000 DP System, under manual control, or take them offline in relation to the dynamic positioning system.
THRUSTER SELECT
THR 1 THR 2 THR 3 THR 4 STBD MAIN PORT MAIN
THR AUTO
THR MANUAL
THR OFF
STBD RUDDER
PORT RUDDER
Figure 3-7. Typical Thruster Select Switch Group
3.2.1.6
Data Entry Keypad - Optional

Operators may use the Data Entry Keypad, Figure 3-8, on the Control Panel to enter numerical data, make operational selections, and acknowledge messages.
3-5
When entering numeric data, operators must press the <ENTER> switch to complete the process. Operators do not need to press <ENTER> after pressing <YES>, <NO>, or <CLEAR>.
DATA ENTRY
7 8 9 YES
NO
CLEAR
ENTER
Figure 3-8. Control Panel Data Entry Keypad Refer to Section 3.6 for instructions on entering data through the Touch Screen Monitor Operator Interface.
3.2.1.7
Operator Control Panel Switch Testing - Optional

The <SWITCH TEST>, switch located in the Function Select Switch Group, Figure 3-9, simultaneously illuminates all Operator Control Panel switch lamps to ensure illumination.
FUNCTION SELECT
HEADING SETPOINT POSITION SETPOINT ALARM PAGE INHIBIT ROV CONFIG
CONTROL GAIN
CLEAR JS BIAS
SWITCH TEST
ALARM ACK
Figure 3-9. Switch Test Perform the following to ensure proper illumination of all Control Panel switch lamps:
Pressing the <SWITCH TEST> switch illuminates all switch lamps with the exception of the <SWITCH TEST> lamp itself, which flashes. The speaker emits a continuous low-pitched tone, signifying the system is in a special test mode. While in this mode, pressing a switch has no effect on the operation of the NMS6000 DP System, but simply cycles that switch lamp between on, flashing, and off. Pressing the <SWITCH TEST> switch again allows the NMS6000 DP System to return to normal operating mode.
3-7
3.2.2
Right Section
The Right Section, Figure 3-10, contains the Position Control Joystick for operator use when the NMS6000 DP System is in MANUAL CONTROL mode for vessel positioning control. Movement of the <POSITION CONTROL JOYSTICK> causes a corresponding movement of the vessel.
LAMP INTENSITY
POSITION CONTROL
CURSOR CONTROL
Figure 3-10. Right Section - NMS6000 Optional Control Panel
3.2.2.1
Cursor Control
Section 3.3, describes the use of the trackball and <CURSOR CONTROL> switches, Figure 3-10.
3-8
3.2.2.2
Lamp Intensity Knob

The Lamp Intensity knob determines the illumination intensity of the Control Panel lamps.
3.2.3
Left Section
The Left Section, Figure 3-11, contains the <HEADING CONTROL KNOB> for manually controlling the vessels heading. When the NMS6000 DP System is in MANUAL CONTROL mode for heading, rotating the Heading Control Knob causes a corresponding adjustment of the vessels bearing.
AUXILIARY
ASK ONLINE INIT BACK-UP
HEADING CONTROL
Figure 3-11. Left Section - NMS6000 Optional Control Panel
3-9
3.2.3.1
Auxiliary Switch Group

Refer to Chapter 4 for instructions on the use of the Auxiliary Switches.
3.3
TRACKBALL AND CURSOR CONTROL SWITCHES

The Trackball and Cursor Control Switches, Figure 3-12, 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 3-13, around the display screen to the various command, settings, and values fields. Optionally, operators may also move the cursor with the <ARROW> switches on the Data Entry Keypad.
Note DP Operators may opt to use the Trackball and

Cursor Control Switches, Figure 3-12, 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, and transmitted to Backup NMS6000 Control Panels if applicable.
Left Trackball Switch
Right Trackball Switch
Trackball
CURSOR CONTROL
Figure 3-12. Trackball and Cursor Control Switches
Figure 3-13. 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.
3-10
Pressing the <LEFT TRACKBALL SWITCH > once while the cursor is located on top of a field is referred to as Selecting or Left-clicking.
Note Touching the applicable icon on the Touch Screen page

produces the same results as Selecting or Left-clicking.
3.4
TOUCH SCREEN MONITOR
Note NMS6000 DP System Touch Screen Monitors provide

operators with the option of using the trackball, cursor, and cursor control switches or touching the screen. Touching the screen works the same as <SELECTING LEFT-CLICKING> the trackball switch.
The Touch Screen Monitors feature an anti-glare screen for night time operation, are designed specifically for harsh marine environments, and are capable of operating at a maximum temperature range of 55C (131F) for long duration.
Note Although the test conditions for Touch Screen Monitor

provides for maximum continuous operating temperature of 55C (131F), continuous operating temperatures should, when possible take place at ambient temperatures of 18C (64F) to 26C (79F), to ensure long life of the display.
Touch Screen Monitors allow operators to issue commands, change display pages by touching the various information fields around the display screen, and monitor vessel movement. Touching the screen fields performs the same action as using the button on a standard personal computer mouse.
Note - Operators unfamiliar with touch screens may fine it

helpful to think of the Left Cursor Control Switch as an <ENTER> or <SELECT> switch.
Touching the screen fields once is the same selecting or leftclicking. Touching the screen fields twice in rapid succession causes the field to activate much like double left-clicking the left mouse button.
3-11

3.4.1
Note The display speaker is not used and has no effect on

the NMS6000 DP System.
Monitor Power Switch Panel

The touch screen Monitor Power Switch Panel located on the lower right side of the display features an Instant-ON / Delay-OFF switch, Figure 3-14, to ensure the display is not turned off accidentally by DP operators or maintenance personnel. Assignable Hotkeys
Brightness Knob
Power Switch Power Light Indicator Figure 3-14. Power Switch Panel
Perform the following to turn the displays on: Display Power On 1. 2. Press the <POWER> switch. Power Light Indicator illuminates Green.
Note If no VGA signal sync is present, a NO SYNC

message appears on the display screen.
Perform the following to turn the displays off: Display Power Off 1. Press and hold the <POWER> switch down for 3 seconds.
3.4.1.1
Display Illumination Adjustment Control

The Display Illumination Adjustment Control features a 100 percent dimmable image capable of displaying a completely black image when the Brightness Knob, Figure 3-14, is turned fully to the left. Adjust display illumination brightness by turning the Brightness Knob to the right or left until the desired brightness is in effect.
3-12
3.4.1.2
ASSIGNABLE HOTKEYS Operators may assign various display functions as Hotkeys to quickly adjust the display brightness, image size, contrast or other display image functions.
Note
3.4.2
Nautronix suggests operators refer to the manufacturers User Manual when assigning Hotkeys using the On Screen Display (OSD) Menu Control Panel.
On-screen Display (OSD) Menu Control Panel

The On-screen Display (OSD) Menu Control Panel, Figure 3-15, is on the lower left side of the display (under the metal cover plate). MENU UP / DOWN Buttons
Adjust Buttons (-/+) Figure 3-15. On-screen Display (OSD) Menu Control Panel

3.4.2.1
Note - Nautronix recommends that operators refer to the

manufacturers User Manual before attempting to manipulate the factory display settings, or assigning Hotkeys using the Onscreen Display (OSD) Menu Control Panel.
Hotkey Assignment
After removing the metal cover plate (if still in place) to expose the Onscreen Display (OSD) Menu Control Panel, with the display OFF, and referring to the manufacturers User Manual perform the following preliminary steps to access the advanced OSD Menu and begin assigning Hotkeys: 1. Press and hold the <DOWN> button, on the On-screen Display (OSD) Menu Control Panel, Figure 3-15, while then pressing the <POWER > switch on the Power Switch Panel, Figure 3-14. 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 3-15. One of four (4) advanced OSD Menu Mode pop-ups appears, Figure 3-16.
2.
3.
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Figure 3-16. OSD Menu Mode Pop-up 4. Press the <UP> or <DOWN> buttons on the On-screen Display (OSD) Menu Control Panel, Figure 3-15, to select options within the advanced OSD User Icon Menu pop-up. The selected option color becomes Yellow. Press the plus (+) or minus (-) buttons on the On-screen Display (OSD) Menu Control Panel to increase or decrease the option values, which then turn Green. Press the plus (+) button on the On-screen Display (OSD) Menu Control Panel to confirm the selection.
5.
6.
3.5
TOUCH SCREEN CALIBRATION
Note Due to the vessels DP System configuration the DP

System may or may not incorporate the Touch Screen Calibration feature. If the vessels DP System does not feature the Touch Screen Calibration, there is no Calibrate Touch Screen button on the Drop-down Menu Bars, Figure 3-17.
Touch Screen Calibration can be performed from the either the DP Operator Control Panel touch screen. At the DP Operator Control Panel touch screen, operators select the SETUP button of the Navigation Bar to access the Drop-down Menu Bar, Figure 3-17.
3-14
Figure 3-17. DP Setup and VMS System Drop-down Menu Bar Once the CALIBRATE TOUCH SCREEN button has been selected, the Enter Touch Screen Calibration Password pop-up keypad appears, Figure 3-18.
Figure 3-18. Enter Touch Screen Calibration Password Keypad Operators then perform the following to calibrate the Touch Screen: 1. 2. Enter password - (789), and select OK. On the all white appearing screen appears 2 crosshair bullseyes, (lower left corner and upper right corner), with a hand symbol next to the lower left corner bulls-eye, Figure 3-19.
3-15
Figure 3-19. Touch Screen Calibration Bulls-eye 3. Touch and hold the lower left bulls-eye until the TOUCH SCREEN ENABLED indication appears. The hand symbol then shifts to the upper right bulls-eye. On the upper right bulls-eye perform the same as in Step 3. Once the TOUCH SCREEN ENABLED indication appears, a CALIBRATION COMPLETE pop-up dialog box appears, Figure 3-20.
4.
Figure 3-20. Calibration Complete Pop-up Dialog Box 5. Test the Calibration by performing a random test of touching the screen in several locations ensuring the cursor follows your finger. If the screen responds to the random touching, select the DONE button on the CALIBRATION COMPLETE pop-up dialog box. The Touch Screen Calibration is now complete.
6.
3.6
TOUCH SCREEN INTERFACING

The following types of display screen fields, and/or buttons, allow operators to enter data or change system settings: Data Entry Option Command
3.6.1
Data Entry Fields

The Data Entry Fields, Figure 3-21, allow operators to enter numeric data.
Figure 3-21. Typical Data Entry Field
3-16
Note - When operators select one of these fields, a typical Pop-Up Keypad, Figure 3-22, appears. Operators may use either this pop-up or the Data Entry Keypad on the Optional Control Panel ( if configured) to enter a new setting.
A typical Pop-Up Keypad, Figure 3-22, 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 new value window, then use the cursor and left switch to select the numbers on the Pop-Up Keypad, then select the <OK> screen button.
Figure 3-22. Typical Pop-Up Keypad
3.6.2
Option Buttons
Option Buttons, Figure 3-23, permit operators to select from a limited number of choices, such as Metric, Imperial or Percentage of Water Depth. Selecting an option button changes the text on the button to the next available option.
Figure 3-23. Option Button
3.6.3
Command Buttons
Command Buttons, Figure 3-24, provide the following functions: Cycling the status of a given sensor, thruster, or function between online (Green) and offline (Gray). Orders the NMS6000 DP System software to Cancel or Accept a changed setting.
3-17
Figure 3-24. Typical Command Buttons
3.6.4
Screen Buttons Available / Unavailable for Change

Buttons currently unavailable to be changed, typically because operators are viewing the given display page on a Backup Control Panel, appear to be recessed.
Figure 3-25. Typical Available and Unavailable Fields The top view, Figure 3-25, displays a button generated on the Master Control Panel, available for change. The lower view displays a button generated on a Backup Control Panel, unavailable for change.
3.7
DP AUDIBLE ALARMS
The NMS6000 DP System generates the following distinct sounds through the internal speakers: A continuous high-low tone indicates unacknowledged alarms. Refer to Section 4.7 for more information on NMS6000 DP System Alarms. A single beep indicates an error message. The text of any error message is displayed on the Status/Prompt Window. Refer to Section 4.7.1 for details on this portion of the NMS6000 DP System Display Screen. A continuous low foghorn tone indicates the <SWITCH TEST> function has been selected. A repetitive blip tone indicates an unacknowledged Consequence Analysis alarm.
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3.8
SOFT PLC OPERATION
Note Due to the vessels DP System configuration the DP

System may or may not incorporate the Soft PLC feature. If the vessels DP System does not feature the Soft PLC, skip section 3.8.
The Soft PLC emulates a stand alone PLC with software instead of a hardware solution. The system emulates the actual hardware by using a virtual backplane that is configurable. Depending on the application the user can configure the backplane with virtual interface cards which talk to each other and the Soft PLC. Once the Soft PLC and associated virtual cards have been configured, the user can download the PLC control files. The Soft PLC can then control I/O functions through a physical interface card connection on the workstation. The control of this I/O is transparent to the user and appears as though the system is being controlled by a hard PLC. The Soft PLC offers virtually all of the same functionality as a hard PLC. With the Soft PLC contained in the PC it is an ideal solution for the independent backup system.
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www.nautronix.com
4.
DP SYSTEM OPERATIONS
Chapter 4 provides an in-depth overview of DP System Operations and covers the following DP topics:

Operational Theory Master/Backup Operators Panels Display Screen Pages DP Alarms & Troubleshooting

Operator Interface Operational Modes and Automatic Maneuvers DP Operational Hints DP Message Alarms & Trouble Messages
4.1
OPERATIONAL THEORY
Although Dynamic Positioning (DP) Operations can involve many maneuvers and vessel commands, the following DP theory definition may prove useful: A Dynamic Positioning System controls the output of a vessels thrusters, propellers, and rudders automatically maintaining position 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
Thruster Allocation Logic
Reference Position/Heading
Wind Compensation
DP Control System
Wind Forces Wave Forces Surface Current Force
Thruster
Hydrophone
Thruster
Beacon
Figure 4-1. Dynamic Positioning System Operation

NMS6000 Operations and Maintenance Manual 4-1
CHAPTER 4: DP SYSTEM OPERATION
4.1.1
DP System Terminology
DP System (DPS) Terminology is used frequently throughout this manual and defined as follows:
Actuator
Component of a control system that changes the systems output to meet a given goal. The DP System, uses thrusters as actuators. Refer to Comparator and Controller for additional information.
Auxiliary Sensors
Provide the following data: Wind Speed and Direction Vessel Heading Vessel Pitch, Roll, and Heave Ocean Current Depending on the vessels DP System configuration, each vessel has a unique set of auxiliary sensors.
Bias
Listed are the following distinct definitions of bias as it applies to the DP System: Thruster Biasing maintains some thrust level for some online thrusters, oriented so as not to move the vessel off-station, thus reducing variations in azimuthing commands in light environmental conditions. Thruster Biasing can also be employed to consume electrical power. Sensor Biasing is a means of forcing all position reference sensors to agree with the Origin Reference Sensor, by determining the differences between their position measurements and that of the Origin Reference Sensor, then compensating for these differences.
Comparator
Compares a measured value, such as heading, to the setpoint, thus calculating the deviation, error, or excursion.
Controller
Determines the amount of control to be exercised in order to compensate for the calculated deviation, determined by the Comparator. Also known as a PID Controller.
Cycle (Control) Time

Measures data, initiates control changes, and displays information at intervals of second.
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CHAPTER 4: DP SYSTEMS OPERATIONS
Deviation (Control Error)

Difference between the instantaneous setpoint and the measured reading, often abbreviated as Diff on DP System Display Pages.
Master Operator Control Panel

Provides for primary centralized control of DP System vessel navigation, propulsion, and electrical power generation..
Backup/Manual Independent Backup Joystick Operator Control Panel(s)

Provides secondary control, the Backup/Manual Independent Backup Joystick Operator Control Panel(s) may assume control when the Master Operator Control Panel has malfunctioned.
Moment
A force acting at a distance which has the effect of rotating the vessel around its center.
Origin
Central coordinate point, in Earth axes, of the position reference grid. It is the 0,0 point for the operational position reference system. An Absolute Setpoint is relative to this origin.
Pages/Screens
Presents information through the Touch Screen Monitors of the DP System Master, Backup, and Manual Independent Backup Joystick Operator Control Panels. This manual uses these terms interchangeably.
Position Reference Sensors

Provide data on the vessels location in relationship to a specified origin point. This origin point varies depending on the sensor selected as the Origin Reference Sensor.
Setpoints
The DP System uses Absolute, Goal and Instantaneous Setpoints as follows: Absolute Setpoint is relative to the Origin of the position reference grid in Earth (north/east) axes. Goal Setpoint represents the vessels ultimate position or heading goal. Instantaneous Setpoint is generated on a cycle-by-cycle basis, representing the point/heading the DP System is attempting to hold the vessel. When the DP System moves the vessel from point A to point B, the system gradually moves the Instantaneous Setpoint across a range of points between A and B.
Surge
Fore/Aft direction of movement of the vessel, Figure 4-2.
4-3
Sway
Port/Starboard direction of movement of the vessel, Figure 4-2.
Yaw
Rotation of the bow around the vessels center of rotation (COR), Figure 4-2.
4.1.2
Kalman Filter
The Kalman Filter consists of the following: Measurement Update Model Propagation
4.1.3
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. 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; 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.
4.1.4
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 vessels mass.
4-4
The acceleration is propagated and incorporated in the velocity estimate, which is 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, (DEAD RECKONING).
4.1.5
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 4-2, the Station Keeping Control Law zeros all PID components of the auto command equation. When both HOLD HEADING and HOLD POSITION MODES are selected, 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, steady-state force estimates and controller 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.
Surge
Sway
Yaw
Figure 4-2. Control Axes
4-5
4.1.6
Setpoint Select
Setpoint Select generates setpoints when automatic control of position is engaged. The following setpoint concepts are involved: Goal and Instantaneous. Goal - The ultimate position goal for the vessel and the value entered by operators when executing a setpoint prompt sequence. Instantaneous - The point the control system is attempting to hold the ship at any given time. Instantaneous Setpoint is generated on a cycle-by-cycle basis by the setpoint routine. When the vessel is relocated from point A to point B, calculations within the setpoint routine gradually move the instantaneous setpoint 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.
4.1.7
Dead Reckoning
The Dead Reckoning system is capable of continued operation during a temporary loss of all position sensor or gyro compass information. This dead reckoning function estimates the vessels present position and speed based on past positions, past rates, any available wind sensor input, and the Kalman vessel model.
4.1.8
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 4-3. 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.
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New Position
Original Position
TIME
Ve lo c
ity
TIME
Acceleration
TIME
Figure 4-3. Position Maneuver Profile Illustration
The setpoint or maximum rate may be changed while an automatic maneuver is already underway. An emergency halt, may be initiated by taking the DP System into full Manual Control mode and stabilizing the vessel. The operator can then return the vessel to full automatic DP System control.
4.1.9
Ship Axes Signing Conventions

The DP System recognizes Fore and Starboard as positive numbers, Aft and Port as negative numbers, as illustrated in Figure 4-4.
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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 4-4. Ship Axes Signing Conventions
4.1.10
Earth Axes Signing Conventions

The DP System recognizes North and East as positive numbers, South and West as negative numbers, as illustrated in Figure 4-5.
NORTH (+) POSITIVE NUMBER
WEST (-) NEGATIVE NUMBER
EAST (+) POSITIVE NUMBER
SOUTH (-) NEGATIVE NUMBER
Figure 4-5. Earth Axes Signing Conventions
4-8
4.1.11
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 4-6.
Waterline
FWD Bow Up = Positive Pitch
S TB D
Port Side Up = Positive Roll
Waterline Upward Movement = Positive Heave
Figure 4-6. Pitch, Roll, and Heave Signing Conventions
4.1.12
Clockwise / Counterclockwise Signing Conventions

The DP System labels Clockwise Data as positive (+) and CounterClockwise Data as negative (-).
4.1.13
4.1.13.1
Position Reference Sensor 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.
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4.1.13.2
Noise Rejection Logic

Noise Rejection Logic, as illustrated in Figure 4-7, functions to screen each individual measurement to detect and eliminate "outflyer" measurements. 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 4-7. Noise Rejection Logic Illustration Noise Rejection Logic, continually calculates an adaptive rejection 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 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.
4.1.13.3
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 vessels estimated position. Refer to Section 4.5.3 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.
4.1.13.4
Origin Reference Sensor

The Origin Reference Sensor is a crucial element in understanding and using the DP System.
4-10
Note - The first position reference sensor placed online is defined

as the Origin Reference Sensor. When operators place additional non-alarmed position reference sensors online, the system computes bias correction values (in the North and East coordinate frame) for each additional device relative to the Origin Reference Sensor. These stored bias correction values are equal to the difference between the Origin Reference Sensors lowpassed (averaged) data and the respective sensor's low-passed (averaged) data. As illustrated in Figure 4-8, the DP System adds bias correction values to the raw values reported by regular position reference sensors to calculate corrected values that are virtually identical to those 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 4.5.5 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. 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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4.1.13.5
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
4.1.13.6
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.
4.1.13.7
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 4-10, 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.
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POSITION REFERENCE SENSOR DATA JUMP
NOISE REJECTION LOGIC ADAPTIVE WINDOW
SENSOR DATA NOW STABLE BUT REJECTED
Figure 4-10. Sensor Jumping
4.1.14
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 4-11, is comprised of the following main elements: Comparator Controller Actuator
Heading Setpoints: Set by Operator
Measurement Errors
Heading Measurements via Sensors
Heading Deviations Comparator Controller
Control Signals Actuator
Vessel Movement
Thrust
Disturbing Forces: Wind Wave Current
Figure 4-11. DP System Control Loop
4-13
4.1.14.1
Comparator
Compares the vessels 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.
4.1.14.2
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. 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). 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.
Note - Large, rapid heading changes may negatively affect the

vessels station-keeping ability if the built-up Integral and/or the surface current estimate are incorrect.
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Derivative - determines control force in relationship to the vessel velocity by helping with smooth acceleration and deceleration. Additionally, Derivative limits goal overshoot.

4.1.14.3
Example - Derivative slows the vessel down as the deviation

between the measured heading and/or position nears the goal setpoint(s).
Actuator
Acts in response to Controller commands. The actuator consists of the Thruster Allocation Logic (TAL) and the thrusters themselves. The TAL converts the Controllers surge, sway, and yaw axes commands into individual commands for each thruster. When summed, these commands should satisfy the overall surge, sway, and yaw commands of the controller. In systems where the rudders are controlled by the DP System the Actuator outputs rudder commands.
4.1.15
Position Sensor Blending

The DP System 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 as a result of the following ifs: 1. This 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 through an additional low-pass filter. Standard deviation is the instantaneous square root of the running variance figure. This standard deviation represents the average sensor noise over the last couple of minutes The sensor is turned off, alarm flags are zeroed along with all intermediate parameters. 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 are initialized. A bias is calculated between each sensor and the Origin Reference Sensor by differentiating outputs of low-pass filters associated with each sensor axis. The blended measurement is a weighted average using the inverse of standard deviation (noise) figure for each measurement as its weight.
2. 3.
4.
5.
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4.1.16
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 effect 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.
4.1.17
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 Nautronix analyst, or may be set automatically to the estimated natural roll frequency of the vessel as determined by roll data from the vessels vertical reference sensors.

4.1.18
Note - The DP System permits several combinations of

automatic and manual vessel control accessed through the Touch Screen Monitors.
Hold Heading
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 4.4.2 for additional information.
4.1.19
Hold Position
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 vessels 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. When the operator selects this mode in conjunction with HOLD HEADING, the DP System assumes complete automatic control of position and heading. Refer to Section 4.4.3 for additional information.
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4.1.20
Low Speed Track Follow

Low Speed Track Follow, controls vessel position and heading along a predefined track, with a high degree of accuracy. When LSTF is active the track generator continuously moves the track-point, (or goal setpoint), along the track. Track-point speed and heading is either directly controlled by the operator or derived from a predefined track definition. Speed can range from a few centimeters to 2 meters per second, (m/s). Therefore, movement between way-points is always defined in position, speed and heading. Refer to Section 4.4.5 for additional information.
4.1.21
Manual Control
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 vessels heading even when in HOLD POSITION MODE. When an axis (surge, sway, or yaw) is in MANUAL CONTROL, the commands sent to the Actuator for the <Position Control Joystick> and the <Heading Control Knob> determines the axis on the Control Panels, not the PID Controller.
4.1.22
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 4.4.8 for additional information on HOLD AREA MODE (HAM).
4.1.23
Remote Center of Rotation (COR)

The Remote Center of Rotation (COR) mode allows for rotation about any arbitrary point on the vessel rather than the center reference point of the vessel (default). Refer to Section 4.4.10 for additional information.
4.1.24
Active Wind Compensation (AWC)

Utilizes wind speed and direction information from the wind sensors through an internal model of the vessels 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
4-17
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 4.4.6 for additional information.
4.1.25
Auto Heading for Minimum Thrust (AHMT)

Automatically maintains the vessel in a fixed heading setpoint through minimum use of the thrusters. Operators can use this mode to automatically maintain thrusters in a standby minimum thrust mode, (power saving), and bring the thrusters online as needed. As the vessel heading rotates to track this setpoint, the net result of the environmental forces are received at the bow or stern. Refer to Section 4.4.9 for additional information.
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4.2
DP OPERATOR INTERFACE
The Display Screen Layout, Figure 4-12, shows the various command and monitoring information sub-sections: DP Title Bar DP Navigation Bar Detailed Display Page Overview Page DP Status Window Message DP Alarm Summary Window DP Forward Back Buttons DP Last Window Alarm Message
DP Alarm Summary Window DP Drop-down Menu
DP Navigation Bar
Detailed Display Page
Drop -down Menu
DP Last Alarm Message Window DP Status Message Window DP Alarm Summary Window
Figure 4-12. Typical DP System Display Screen Layout
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4.2.1
DP Title Bar
The DP Title Bar, Figure 4-13, is positioned at the top of the DP Display Screen. The following information describes the various data fields on the Title Bar.
Figure 4-13. DP Title Bar

Blue: Control Panel is acting as the Master. 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 word NMS appears. Backup and Standby identifies Control Panels passively receiving sensor inputs. Flashes between black and green every cycle (approximately every .5 seconds) to indicate the program is active. When the DP System is in Simulation mode an S appears in the heartbeat window as shown in Figure 4-13. Electronic run date and time. Operators are not able to change these values.
Background Color
System Status
Heartbeat
Date/Time
4.2.2
Navigation Bar
The Navigation Bar, located underneath the Title Bar of the DP Display Screen, is divided up in Figure 4-14, to make it easier to view. The graphic buttons on the Toolbar perform a variety of functions (at the Operator Control Panel). Most bring up the Detailed Display Pages described in Section 4.5. Navigation Toolbar buttons are described as follows: The six blue back-grounded DP System buttons, (SIGNAL I/O, SETUP, SENSOR, THRUST, PLOT and MODE / FUNCTION) produce Drop-down Menus allowing operators to select, monitor, and configure the DP System.
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Note - The SETUP buttons Drop-down Menu additionally

provides a red SHUTDOWN button for use in shutting down the DP System, 4-12, and if configured a CALIBRATE TOUCH SCREEN button is used in calibrating the touch screen monitor. The two BACK / FORWARD buttons allow operators to toggle between previously called up and loaded pages. The MODE FUNCTION button calls up a Drop-down Menu of Control Modes. However if the vessels DP System is not configured with a certain Control Mode that particular Control Mode will not be available. The HEADING AUTO and POSITION AUTO buttons call up Dropdown Menus of Automatic Maneuvers and/or select and enable use to the TAL Controller (Joystick) for HEADING and POSITION maneuvering. However if the vessels DP System is not configured with a certain Automatic Maneuver that particular Automatic Maneuver will not be available. 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 irritation of the audible portion of the alarm.
Figure 4-14. Navigation Bar
4.2.3
Detailed Display Pages

On the Master Operator Control Panel, operators may select any of the following DP System Display Pages listed to be displayed as the Detailed Display Page on the left half of the screen. The Backup and Standby Operator Control Panels may have Detailed Display Pages on both halves of the screen. The following Detailed Display Pages are described in-depth in their referenced Sections:
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Note - The Overview Page is always displayed on the right

side of the Master display screen. Sensor Section 4.5.4 Chart Section 4.5.7 Plot Section 4.5.11 Signal I/O Chapter 4.5.13
Setup Section 4.5.1 Position ReferenceSection 4.5.5 Thrust Section 4.5.9 Holding Capability Section 4.5.12 Mode Function 4.5.14

4.2.4
Note - On the (Backups), operators may select any of these Detailed Display Page screens to be viewed as the Detailed Display Page, as well as a second Detailed Display Page on the right half of the screen in place of the Overview Page.
Detailed Display Page Selection

The Navigation Toolbar at the top of the DP System Display Screen, Figure 4-15, on the Master allows operators to open the available Detailed Display Pages.
Figure 4-15. Navigation Toolbar

4.2.4.1
Note - Additionally, DP operators may call up additional

Detailed Display Pages on the Backup(s).
Display Page Selection - Backup

When operators are working with DP2/3 Systems they may choose to bring up two Detailed Display Pages instead of one Detailed Display
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Page and the Overview Page on the Backup Operator Control Panel monitors.
Note - As previously noted in Section 4.2.3, operators cannot

display two Detailed Display Pages on the Master. The right side of the Master Operator Control Panel monitor always displays the Overview Page, Section 4.2.5.
Perform the following to view a second Detailed Display Page on a Backup Operator Control Panel monitor: 1. Select the desired DP Detailed Display Page button on the Navigation Toolbar.
2. A typical DROP-DOWN MENU appears.
3. Select the desired DETAILED DISPLAY PAGE button on the selected DROP-DOWN MENU.
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4.2.5
Overview Page
The Overview Page, Figure 4-16, is divided into the following subsections and described in the following sections. Compass Vessel Position (Tabular) Alarm Message Window Deviation Display Alarm Summary Window
Compass
Deviation Display
Vessel Position (Tabular) Alarm Summary Window Alarm Message Window Displays Latest Alarm Message
Figure 4-16. Typical Overview Page
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4.2.5.1
Compass
Displays the vessel heading in degrees relative to True North, Figure 4-17.
Instantaneous Heading Setpoint Goal Heading Setpoint Numeric Heading Display
Actual Vessel Heading
Figure 4-17. Compass The identification markers of the compass are as follows: Solid yellow triangular marker indicates the Actual Vessel Heading. Solid light blue triangular marker indicates the Goal Heading Setpoint, the ultimate heading target for the DP System. 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. Numeric display (right side), indicates the Goal Heading Setpoint (Goal), the measured heading of the vessel (Vessel, taken from the gyro compass average), and the difference between these two values (Error).
4.2.5.2
Deviation Display Screen

The Deviation Display Screen, Figure 4-18, displays the position of the vessel in the grid coordinate system. The size of the vessel image remains constant, although the display scale changes if needed.
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CHAPTER 4: DP SYSTEM OPERATION Distance and Direction to Goal Position Rates Of Change
Scale of Tick Marks and Center of Deviation
Figure 4-18. Deviation Display Screen
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4.2.5.3
Additional Deviation Display Symbols

The following symbols in, Figure 4-18, are either not displayed or, are to small to be easily identified on the Deviation Display screen, Figure 4-19.
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 4-19. Additional Deviation Display Symbols
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4.2.5.4
Position
The Position section, Figure 4-20, is laid out in tabular form, and indicates the current vessel position estimate, both in North/South/ East/West and Fore/Aft/Port/Starboard terms. The measurements are made in the current Display Units, and can be changed on SETUP PAGE 1. Refer to Section 4.5.1 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. Setpoint - Position the DP System wants the vessel to meet on a particular control cycle. Vessel - Estimated vessel position as determined by the DP System. Error - Difference between the Setpoint reading and the Vessel reading.
Figure 4-20. Typical Tabular Vessel Position Section 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.
4.3
MASTER / BACKUP OPERATOR PANELS

Section 4.3 describes the redundant architecture of the NMS6000 DP System covering the Master and Backup Main Operator Control Panels, and provides instructions on selecting the Master Control Panel, controlling the NMS6000 DP System, and transfer of the Master status from one Operator Control Panel to another.
Note - Depending on vessel and NMS6000 DP System
requirements, the NMS6000 DP System will have one, two, or three Main Operator Control Panels and be designated DPS-1, DPS-2, or DPS-3.
Note - Vessels having an DPS-0 DP System have only one

Main Operator Control Panel, (Master), and therefore have no provision for a Backup Control Panel.
4.3.1
DPS 0 System Configuration

DPS 0 Systems are comprised of one main DP Operator Control Panel with no Independent Backup Joystick.
4.3.2
DPS 1/2/3 DP System Configuration

DPS 1, 2, and 3 Systems are comprised of one, two, or three Main DP Operator Control Panels plus a Manual Independent Backup Joystick System. The software module executed on each Main Operator Control Panel is the same, with the Main Operator Control Panel identification of each station detected at power-up configured to the Backup mode. The DPS 1, 2, and 3 transfer configurations are illustrated as follows, Figures 4-21, 4-22, and 4-23:
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Figure 4-21. DPS-1 Transfer Configuration
Figure 4-22. DPS-2 Transfer Configuration
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Figure 4-23. DPS-3Transfer Configuration
4.3.3
Master/Backup(s) and Manual Independent Joystick

Each DPS 1/2/3 Main Operator Control Panel can either be a Master or a Backup. The Master is responsible for talking to the external devices such as Signal Processor Units. The Backups process all sensor and operator inputs, and continuously compute their own commands to external devices, (i.e. thrusters), however, only the Masters commands are actually sent out through the SPUs, (PLCs). In this way, the Backups are always ready to assume control. DP operators must manually determine which Operator Control Panel will act as the Master after the system is initially brought online. This selection is entered through the Touch Screen Monitor by touching the NMS ONLINE button or using the <NMS ONLINE> switch (if optionally configured). The DPS -1 Operator Control Panels have a (Manual) backup mode only. 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 operator must manually touch that NMS Online button (located on the associated touch screen monitor). The DPS 2/3 Operator Control Panels have an (Auto) Backup feature. When one of the Control Panels DP Stations (1 or 2) is the Master, the other DP Station is the (Auto) Backup and automatically
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assumes the Master status if it detects the Master Operator Control Panel is faulting or otherwise unstable. When there is a third DPS Operator Control Panel in the system (DP Station 3) it is always a (Manual) Backup (in Bypass), and will not automatically take control from either of the other DP stations. The operator must manually touch the DP ONLINE button (located on the Touch Screen Monitor) on the third Operator Control Panel to take control, or use the NMS ONLINE switch (if optionally configured). The Header Line, generated on each NMS6000 DPS 2/3 Control Panels display screen, indicates the current status of that Operator Control Panel. Refer to Section 3 for details on the Header Line with the DPS 2/3 Configuration, Control can be transferred to the independent back up via the DP selector switch the same as noted with the DPS-1.
4.3.4
Transfer Control Between Operator Control Panels

Operators may transfer the Master status, and therefore control of the DPS1/2/3, from one Operator Control Panel to another. Perform the following to transfer control between Operator Control Panels: 1. Verify the Operator Control Panel to become the Master is functional. 2. Touch the ASK ONLINE button (located on the Touch Screen Monitor), or press the <ASK ONLINE> switch of the Auxiliary Switch Group on the Optional Operator Control Panel (if optionally configured) to become the Master. Figure 4-24.
AUXILIARY
Figure 4-24. Auxiliary Switch Group ASK Online Switch
4.3.5
DPS 1/2/3 Control Panel Synchronization

The NMS6000 DP System provides for bumpless transfer of control from the Master to the Backup Control Panels. Commands initiated at the Master affecting system control are passed to the Backups. Commands initiated at all Control Panels not affecting system control (such as for data display options) are allowed to take effect at the local Control Panel but are not propagated to other systems.
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Commands initiated at Backup Control Panels affecting system control are disallowed, and error messages appear at the respective displays informing operators the Control Panel does not control the NMS6000 DP1/2/3 Systems. DPS1/2/3 Control Panels operate in parallel, processing the same data inputs and generating comparable data.

4.3.6
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 DPS 2/3

When the <INIT BACK-UP> switch, found in the Auxiliary Switch Group, Figure 4-25, (if optionally configured) is pressed on the Master Control Panel, several large data packets are sent to the Backup Control Panel(s). These packets ensure the Backup Control Panel(s) completely agrees with the Master on everything except for certain operator-selectable display options. Such options do not affect vessel control.
AUXILIARY
Figure 4-25. Auxiliary Switch Group Init Back-up Switch On every control cycle, the Master also sends certain vessel controlrelated data to update the Backup Control Panel(s). These transmissions allow a bumpless transfer of control, if necessary. Between <INIT BACK-UP> switch 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 <INIT BACKUP> frequently, but only when a new Operator Control Panel is first started, or when operators notice that commands, position estimates,
etc., on a Backup Control Panel have drifted from those on the Master. When <INIT BACK-UP> is pressed on the Master, the message, INIT BACKUP Command Sent is displayed on the Masters 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 Backups Status/Prompt Window. When the message, Not All INIT BACKUP Packets Received is displayed on the Backups 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.

4.3.7
Note - Selecting <INIT BACK-UP> on a Backup Operator

Control Panel(s), has no effect on the Master Control Panel.
Manual Independent Backup Joystick Control Panel
Note Disregard the following paragraphs when the vessel

does not have a Nautronix Manual Independent Back-up Joystick System.
When the <INIT JOYSTICK BACK-UP> switch, found in the Auxiliary Switch Group, Figure 4-25, (if optionally configured) is pressed on the Master Control Panel, or the INDEPENDENT BACKUP JOYSTICK button is touched on the touch screen monitor, several large data packets are sent to the Manual Independent Joystick Control Panel. These packets ensure the Manual Independent Joystick Control Panel completely agrees with the Master on everything except for certain operatorselectable display options. Such options do not affect vessel control.
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4.4
OPERATIONAL MODES AND AUTOMATIC MANEUVERS

The NMS6000 DP System offers the following Operational Modes and Automatic Maneuvers: Manual Joystick (Transit) Hold Position Active Wind Compensation Auto Heading for Minimum Thrust Hold Heading Low Speed Track Follow Hold Area Mode (HAM) Remote Center of Rotation
Control Modes and Automatic Maneuvers are selected by using the navigation bar MODE FUNCTION, HEADING AUTO, OR POSITION AUTO buttons Drop-down Menu.
Note - If the vessels DP System is not configured for a certain

Control Mode and/or Automatic Maneuver 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 available operators may then select the Control Mode or Automatic Maneuver of their choice, (if available), by touching and/or left clicking on the selected mode button, which then illuminates Green.
4.4.1
Manual Joystick (Transit)

Operators can manually control the vessel with the Operator Control Panels <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. 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. Perform the following to place the vessel under full MANUAL CONTROL: 1. 2. Clear all propulsion alarms. Verify both HOLD HEADING and HOLD POSITION modes are disengaged. When disengaged, these switches and screen buttons are not illuminated. Maneuver the vessel.
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3.
4.4.2
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> switch or 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.
Heading Goal Setpoint: 0 degrees Measured Heading: 10 degrees
Thrust Commands
Thrust Commands
Figure 4-26. Hold Heading Illustration In HOLD HEADING, as illustrated in Figure 4-26, the system reads the commanded heading setpoint. The thrusters then attempt to minimize any difference between the vessels actual heading and this setpoint. The <POSITION CONTROL JOYSTICK> still controls the vessels fore/aft and starboard/port movement.
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4.4.3
Hold Position
In HOLD POSITION, the illustration of Figure 4-27, displays how the DP System automatically maintains the vessels position while allowing operators to make heading changes with the <HEADING CONTROL KNOB>.
! 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. Nautronix recommends avoiding high velocity turns entirely. When high velocity turns become necessary, operators should carefully assess the consequences before beginning the maneuver.
ee l fr se
to move in the
s Ve
Ya w
ax
is
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 4-27. Hold Position Illustration
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4.4.4
Hold Position - Activation

Perform the following to activate HOLD POSITION: 1. 2. Establish MANUAL CONTROL of vessel per Section 4.4.1. Place at least two thrusters online in AUTO mode. Refer to Section 4.4 for instructions. More thrusters may be necessary depending on the situation. Verify the appropriate position reference sensor(s) are online. Clear all relevant alarms, especially those relating to position reference sensor(s). Move the <POSITION CONTROL JOYSTICK> until the vessel stabilizes at the desired position. Press the <HOLD POSITION> switch or select the HOLD POSITION screen button. 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:
3. 4. 5. 6. 7.
8.
Select the YES button to exit. To remain in HOLD POSITION, select the NO button.
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4.4.5
Low Speed Track Follow

LOW SPEED TRACK FOLLOW mode, controls vessel position and heading along a predefined track, with a high degree of accuracy using the TRACK DISP button on the Chart Page. When LOW SPEED TRACK FOLLOW is active the track generator continuously moves the trackpoint, (or goal set-point), along the track. Trackpoint speed and heading is either directly controlled by the operator or derived from a predefined track definition. Speed can range from a few centimeters to 2 meters per second, (m/s). Therefore, 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 later 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 way-points 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. The tracks can be created from any of the DP System Control Panels using the built-in track editor, or read in from an external Track File (.wpt) created on a stand-alone computer.
4.4.5.1
Low Speed Track Follow - Activation

Perform the following to activate the TRACK FOLLOW mode: 1. Prepare and load a track. 2. Establish HOLD POSITION in close proximity to the active track. 3. Configure the track processor on the CHART PAGE. 4. Select the TRACK FOLLOW button on the FUNCTION PAGE. When the track passes the validation tests, the position mode changes from AUTO to LSTF. Select the LSTF button on the Drop-down Menu. The trackpoint initially is set to the vessel position where TFLS was engaged. The trackpoint, as it is accelerating up to the commanded speed, gradually moves towards the track waypoints, and then moves along the track at commanded speed. Figure 4-28 provides an example of a typical Track and Waypoints.
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4.4.5.2
Track Display Selection and Monitoring

Selecting TRACK DISP on the CHART PAGE brings up a display of the vessels current commanded track and configured way-points, Figure 428, allowing operators to monitor the vessels progress along the waypoints of the commanded track.
Figure 4-28. Track and Waypoints
4.4.5.3
Track and Waypoint Description

The track, Figure 4-28, 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 off of the calculated turn radius on the track to the way-points. Track point movement, beginning, and end are marked with large magenta X symbols.
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4.4.5.4
Passing Waypoints
When the track point approaches a waypoint, the following two scenarios are possible depending on the turning radius for the waypoint: 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. The vessel holds this position until the operator resumes tracking by pressing the <LSTF MODE> switch. Turning Radius Exceeds Zero (0) - The trackpoint continues to move along the track, following the arc described by the two adjacent legs, and the waypoints turning radius. While the vessel is in the curve, the controller applies additional forces to account for the 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 Equals Zero (0).

4.4.5.5
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 the exit LSTF mode by selecting the LSTF button.
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 track point was moving when the stop was initiated,
the final position will not be the same as where the stop was initiated.
Note - When the track button is pressed subsequently before

the track point 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.
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4.4.5.6
Track definition file format The track definition file consists of a number of waypoints organized in consecutive rows. Each row contains 8 comma separated elements as described below. The files can be created and edited from either the DP(s) or from a simple text editor. The file extension is *.wps. Tracks are defined by a minimum of 9 waypoints and/or a maximum of 100 waypoints, and are classed as follows:
4.4.5.6.1
ABSOLUTE TRACKS Position 1 2 3 4 5 6 7 8 Variable WP Number Identifier Latitude Longitude Turning Radius Stop Flag (not used) Target Heading Target Speed Integer String dd:mm:ss.ss dd:mm:ss.ss M Degrees M/min Unit
Example:
0, Start, +03422.00000',+02345.45000', 345,0, 0, 234.0, 22.0 1, WP1, +03412.00000',+02445.45000', 345,0, 0, 234.0, 22.0 2, WP2, +03410.23000',+02442.45000', 345,0, 0, 234.0, 22.0 4.4.5.6.2
RELATIVE TRACKS Position 1 2 3 4 5 6 7 8 Variable WP Number Identifier Latitude Longitude Turning Radius Stop Flag (not used) Target Heading Target Speed Integer String dd:mm:ss.ss dd:mm:ss.ss M Degrees M/min Unit
Example:
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0, Start, 0.0,0.0, 10,0, 0, 234.0, 5.0 1, WP1, 100.0,0.0, 10,0, 0, 234.0, 5.0 2, WP2, 100.0,100.0, 10,0, 0, 234.0, 5.0
4.4.6
Active Wind Compensation (AWC)

ACTIVE WIND COMPENSATION (AWC) uses data from all online wind sensors. Using an internal model of the vessels 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 Dropdown Menu. To turn AWC off, select the <WIND COMP> button on the FUNCTION PAGE DP Mode Function Drop-down Menu again. When in HOLD POSITION and/or HOLD HEADING this action immediately transfers the current compensation commands to the controllers 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 controllers integral terms. This addition and subtraction prevents sudden vessel movements when the operator activates AWC.
Note - Nautronix recommends operators use AWC at all times,

except when the wind sensors measurements are known to be incorrect. Overhead helicopter traffic or the wind shadow caused by another vessel or platform may result in incorrect readings. In most other situations, the DP System performs better with AWC engaged.
4.4.7
Active Wind Compensation Processing

First, raw wind speed and direction signals are low-pass filtered with first-order difference equations. 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: Speed Comparison With Other Non-alarmed Sensors
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Angle Comparison With Other Non-alarmed Sensors Power Loss Reported At Sensor
4.4.8
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 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). 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 as well as uncorrected GPS. Transitioning from HAM to HOLD POSITION is similar to dead reckoning recovery. The vessel will, upon exit, be controlled to the present position, and in controlled fashion be relocated to the goal position.
4.4.9
Auto Heading Minimum Thrust (AHMT)

AHMT is used in conjunction with HOLD POSITION and HOLD HEADING modes. When active, it automatically adjusts the vessels goal heading setpoint to attempt to minimize the lateral (port/starboard) control requirements by pointing the bow or stern of the vessel into the prevailing weather.
4.4.10
Remote Center of Rotation (COR)

The DP System accepts a remote center of rotation, defined by the COR OFFSETS fields on SETUP PAGE 1. When the operator selects the REMOTE COR mode, the DP System rotates the vessel around the remote COR rather than the geometric center of rotation. Refer to Section 4.5.2.2 for more information on the COR OFFSETS fields.
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4.4.11
DP Simulation Mode
Operators may select the DP SIMULATION PAGE from the Setup pull down menu on the Navigation Bar. Refer to Figure 4-28a.
Figure 4-28a. DP Simulation Page
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The following section describes the fields and options available on the DP Simulation Page.
4.4.11.1
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.
4.4.11.1.1
WIND SPEED The Wind Speed for the Simulated Environment. The units of measure are meters/sec.
4.4.11.1.2
WIND SPEED VARIANCE The Wind Speed Variance for the Simulated Environment. The units of measure are meters/sec.
4.4.11.1.3
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.
4.4.11.1.4
WIND DIRECTION VARIANCE The Wind Direction Variance for the Simulated Environment. The units of measure are degrees.
4.4.11.1.5
CURRENT VELOCITY The current velocity for the Simulated Environment. measure are meters/sec The units of
4.4.11.1.6
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.
4.4.11.1.7
POSITION NOISE The Simulated position noise for the Simulated position reference sensor data. The units of measure are meters.
4.4.11.1.8
SIMULATION RATE The Simulation can be run at either Normal speed or in an Accelerated mode, by toggling the UI button.
4.4.11.1.9
INITIAL CONDITION The Operator has the option of selecting Initial mode or Normal mode by toggling the UI button.
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Initial Condition - Initial Initial, preset locations and settings are programmed into the Simulation software. When the Initial Condition UI 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. 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. 4.4.11.1.10 MODE The Operator has the option of selecting Simulation mode or Real mode by toggling the UI button. 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 the UI button. 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.
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4.5
DP SYSTEM DETAILED DISPLAY SCREEN PAGES

Operators may select a variety of screen pages for display as the DP System Detailed Display Screen Page on the left half of the screen.
4.5.1
Setup Page 1
The NMS6000 DP System utilizes the following Setup Pages to provide DP Operators the opportunity to configure and monitor performance of the DP System. SETUP PAGE 1, Figure 4-29, is divided into the following sections: Deviation Display Transit Mode
Display Vessel
DP Gains
Figure 4-29. Setup Page 1

The following sections describe the fields and options available on the DP System SETUP PAGE 1.
4.5.1.1
Deviation Display
The following Deviation Displays are available: Frame, Center, and Minimum Scale.
4.5.1.1.1
FRAME Frame, recognizes the top of the Deviation Display as always North, and the right side as East. The graphic ship icon rotates to display its measured heading relative to North. The background of the Deviation Display - Earth Frame is blue.
4.5.1.1.2
CENTER Operators may position the Deviation Display Center on any of the following points: Origin; Goal; or Setpoint.
4.5.1.1.3
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.
4.5.1.2
4.5.1.2.1
Display
UNITS 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.
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4.5.1.3
4.5.1.3.1
Vessel
DRAFT Vessel Draft affects the DP System calculations of vessel mass, and moment of inertia, used to scale the Controller 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.
4.5.1.3.2
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).
4.5.1.4
4.5.1.4.1
Transit Mode
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.
4.5.1.4.2
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.
4.5.1.4.3
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
4.5.1.4.4
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 reduced rudder and counter rudder gains should be used in conjunction with a non-zero deadband
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4.5.1.4.5
MAX RUDDER ANGLE The Max Rudder Angle is the maximum angle in degrees the auto heading and position will command the rudder.
4.5.1.4.6
HEADING CHANGE INCORPORATED Indicates in degrees the amount of Heading change incorporated while the vessel is in transit to maintain course.
4.5.1.4.7
RUDDER JOG INCREMENT Indicates in degrees the amount of rudder jog incorporated while the vessel is in transit to maintain course.
4.5.1.5
DP Gains
DP Gains settings determine the amount of control stiffness for the three control axes: Surge; Sway; and Yaw, as illustrated in Figure 430.
Figure 4-30. 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 but 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 4.5.1.5.1 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 4.1.14 for more information on the PID Controller. This Controller (Gains) Compute function also computes the required low-pass filter digital difference equation coefficients. Lastly, Kalman filter gains are computed each cycle as a function of measured position sensor noise. 4.5.1.5.2 SET / MODIFY DP GAINS After calling up SETUP PAGE 1, Figure 4-29, 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.
4.5.2
Setup Page 2
Setup Page 2 provides DP Operators additional opportunity to configure and monitor performance of the DP System. SETUP PAGE 2, Figure 4-31, is divided into the following sections: GPS Reference Remote Center of Rotation

Sections 4.5.2.1 through 4.5.2.2 describe the fields and options available on the DP System SETUP PAGE 2.
4.5.2.1
GPS Reference Latitude / Longitude

The Global Positioning System uses the intersection of the equator and the Prime Meridian as 0.0 point. The DP System typically reports vessel location in meters or feet. Since operators may operate thousands of kilometers away from the Equator and/or the Prime Meridian, a local GPS reference point keeps the GPS values manageable. The local DGPS reference point also centers the flat earth projection used to convert latitude and longitude to North and East positions in the area of operation. Nautronix, Inc. recommends placing the GPS reference point inside the operational area.
4.5.2.2
4.5.2.2.1
Remote Center of Rotation

COR OFFSET F/A COR Offsets define the Remote Center of Rotation in relation to the vessels normal Reference Point. Enter positive numbers to define the Remote Center of Rotation as being forward or to starboard of the normal Reference Point. Enter negative numbers to define it as being aft or to port of the Reference Point. The COR Offsets fields are disabled when the Remote Center of Rotation is the active COR.
4.5.2.2.2
COR OFFSET S/P COR Offsets define the Remote Center of Rotation in relation to the vessels normal Reference Point. Enter positive numbers to define the Remote Center of Rotation as being forward or to starboard of the normal Reference Point. Enter negative numbers to define it as being aft or to port of the Reference Point. The COR Offsets fields are disabled when the Remote Center of Rotation is the active.
4.5.2.2.3
ACTIVE Selecting COR Active changes the current Center of Rotation, used by the DP System when calculating control factors and thrust commands, between Vessel (normal geometric center of rotation) and Remote (the Remote Center of Rotation defined by the COR OFFSET fields).
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4.5.3 Setup Page 3

Setup Page 3 provides DP Operators additional opportunity to configure and monitor performance of the DP System. SETUP PAGE 3, Figure 4-32, is divided into the following sections: Threshold Alert Radius Compare
Figure 4-32. Setup Page 3 Sections 4.5.3.1 through 4.5.3.3 describe the fields and options available on the DP System SETUP PAGE 3.
4.5.3.1
4.5.3.1.1
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
4.5.3.1.2
POSITION ERROR Position Error Threshold setting is operator determined, and sets a radius around the Instantaneous Position 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%.
4.5.3.1.3
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 sensors 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.
4.5.3.2
4.5.3.2.1
Alert Radius
YELLOW Displayed when the DP System is in HOLD POSITION
4.5.3.2.2
RED Displayed when the DP System is in HOLD POSITION
4.5.3.3
4.5.3.3.1
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.
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4.5.3.3.2
RUDDER Rudder Compare is the differential in degree angle between actual and ordered.
4.5.3.3.3
THRUST LEVEL When the DP System detects a thruster operating at or above the Thrust Level setting, it generates an alarm.
4.5.4
Sensor Page 1
The DP System utilizes two (2) SENSOR PAGEs, to display data from auxiliary sensors and sensor systems configured with the vessels DP System. SENSOR PAGE 1, Figure 4-33, allows operators control and monitoring of the online status of the following Auxiliary Sensors: Heading Vertical Reference (VRS) Wind GPS
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 4-33 Sensor Page 1
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Sections 4.5.4.1 through 4.5.4.3 describe the fields and options available on the DP System SETUP PAGE 3.
4.5.4.1
Heading
The Heading Section consists of Gyros 1 and 2 and displays True column (heading data in degrees from True North) and Reciprocal degree data. NEW DATA Illuminates when new in-coming data is being received. BLENDED The Blended field displays the average of all online, un-faulted gyros in True and Reciprocal.
4.5.4.1.1 4.5.4.1.2
4.5.4.2
Vertical Reference Section (VRS)

The Vertical Reference Section consists of VRS 1 Pitch, Roll, and Heave data derived from the following values: 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. Trim/List displays the long-term average of the pitch (Trim) and roll (List).

4.5.4.3 Wind
Note - Blended readings are the average combination of the

RMS and Trim/List values.
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.

4.5.4.3.1
Note - The Blended field displays the average speed and

direction as determined by all online, unfaulted wind sensors
WIND SENSOR - ONLINE PLACEMENT Perform the following to place a gyrocompass online: 1. 2. Open SENSOR PAGE 1 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:
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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)
4.5.4.4
GPS
The GPS 1 and 2 Tabular Display section, located at the bottom of the SENSOR PAGE 1 screen page, displays the vessels reported latitude and longitude from the online GPS sensors.

4.5.5
Note - This data is provided for information only. Operators

can not control the GPS from SENSOR PAGEs.
Position Reference Page

The Global Positioning System consists of GPS receivers, differential signal receivers, and processing computers, and outputs data to the DP System. Refer to the OEM Information Manual for in-depth information on the GPS. The DP System Position Reference Sensors consists of two GPS Units monitored and commanded from the POSITION REFERENCE page screen, Figure 4-34.
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Figure 4-34. Position Reference Page
4.5.5.1
Position Reference Sensor Data Use

The DP System uses data from the online Position Reference Sensors to estimate the vessels North/East position. These calculations are required for proper operation in the HOLD POSITION modes.
4.5.5.2
Position Reference Page Use

The following sections provide an overview of the fields on the POSITION REFERENCE PAGE.
Note - When placing position reference sensors online,

select only alarm free units appearing to be yielding reasonable data. The following sections describe the areas of displayed information typically found on the POSITION REFERENCE PAGE 1 screen page.
4.5.5.2.1
SENSOR SELECT Select position reference Sensor Select Buttons by touching the screen or using the cursor control to place sensors on or offline.
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4.5.5.2.2
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.
4.5.5.2.3
CORRECTED COLUMN Corrected Column fields display each sensors final processed position data, created by adding stored biases to the raw measurements. Refer to Section 4.1. for more information on sensor biasing. The DP System uses corrected data for the Final Ship Position Estimate, described in Section 4.1.
4.5.5.2.4
NOISE /BLENDED Noise Provides a decimal reading of the amount of noise picked up by the DGPS units. Blended is the average of the measured and corrected values.
4.5.5.3
Charting Position Reference Sensor Data

The DP System plots position reference sensors on the CHART PAGE, as displayed on Figure 4-35. 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. 2. Open CHART PAGE, Figure 4-35. Select the SENS DISP (Sensor Display) button repeatedly until the sensors overlay on the page.
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Figure 4-35. Chart Page Sens Disp Button
4.5.5.5
Position Reference Sensor Symbols

The following symbols appear when plotting Position Reference Sensors on the CHART PAGE.
Symbol G1 G2 TF 4.5.6 Chart Page Screens
Position Reference Sensor GPS #1 2 Track Follow Pseudo-beacon
The DP System utilizes the Chart Page. The CHART PAGE, Figure 436, 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 screen page Drop-down Menu, calls up the CHART PAGE for display.
Note The top of the CHART PAGE screen, Figure 4-36,

always represents North.
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Figure 4-36. Chart Page The following sections describe the control and configuration buttons on CHART PAGE.
4.5.6.1
Pan and Zoom Control Buttons

Pan and Zoom Control Buttons, Figure 4-37, move the view-port of the CHART PAGE and change its scale.
Figure 4-37. Pan and Zoom Control Buttons Select the ARROW buttons to pan up, down, left, and right. The <ARROW> switches on the Data Entry Keypad may also be used.
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Select the Plus (+) button to zoom in on the display. Select the Negative (-) button to zoom out.

4.5.6.2
Note - When operators zoom out to where the ship icon

disappears if held to its true scale, the screen displays the message
Ship Not To Scale

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 4-38.
Figure 4-38. Configuration Buttons 4.5.6.2.1 4.5.6.2.2 SHIP FOCUS Select SHIP FOCUS to center the CHART PAGE on the vessel icon. FOLLOW SHIP FOLLOW SHIP allows the display to adjust continuously to keep the vessel icon inside the viewing area. 4.5.6.2.3 4.5.6.2.4 NO GRID NO GRID removes all grid lines. NORTH/EAST Selecting NORTH/EAST allows viewing of the North/South and East/West grid lines. 4.5.6.2.5 LAT/LON GRIDS Selecting LAT/LON allows viewing of the latitude and longitude grid lines. 4.5.6.2.6 SENS DISP SENS DISP enables and plots the position reference sensors. 4.5.6.2.7 VESSEL TRAIL VESSEL TRAIL generates a series of green dots representing the vessels movements. When operators replace the CHART PAGE with another display screen, Vessel Trail automatically clears.
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4.5.6.2.8
TRACK DISP TRACK DISP enables, displays, and plots the LOW SPEED TRACK FOLLOW mode active track and waypoints using Chart Page, Figure 4-39.
Figure 4-39. Low Speed Track Follow Track and Way-points
Note - The track is drawn as a solid magenta line, Figure 4-39, 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 off of the calculated turn radius on the track to the waypoints. Trackpoint movement, beginning, and end are marked with large magentaX symbols.
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4.5.6.3
Chart Page Symbols

CHART PAGE incorporates the following symbolic abbreviations described in the following sections:
4.5.6.3.1
FORCE / MOTION VECTORS Force / Motion Vectors arrow lengths are proportional to the respective thrust levels. 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.
4.5.6.3.2
RED AND YELLOW ALERT CIRCLES Red and Yellow alert circles are displayed when the DP System is in HOLD POSITION.
4.5.6.3.3
POSITION REFERENCE SENSOR SYMBOLS The following symbols appear when operators choose to plot the Position Reference Sensors on CHART PAGE.
Symbol D1 D2 TF
Position Reference Sensor GPS #1 - 2 Track Follow Pseudo-beacon
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4.5.7
Track Operation Page

TRACK OPERATION PAGE , Figure 4-40, presents an overview of important vessel position tracking control information. The top right corner of the page displays the currently Displayed Units of measurement. The rest of the screen page is broken into the following distinct sections: Track Control Summary Track Offsets Track Settings
Figure 4-40. Track Operation
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The sections that follow describe the control and configuration buttons on TRACK OPERATION.
4.5.7.1
Track Control Summary
4.5.7.1.1
LSTF Indicates when the Low Speed Track Follow (LSTF) is Active or Idle
4.5.7.1.2
LEG The numbers within the brackets correspond to the way-point numbers for the active leg.
4.5.7.1.3
GOAL STPT Goal Setpoint consists of the goal heading setpoint and the goal position setpoint. They are calculated based on current track geometry and operator settings.
4.5.7.1.4
VESSEL Displays the measured vessel position in earth-axes coordinates.
4.5.7.1.5
DEVIATION Displays the difference between the goal setpoint and the measured vessel position.
4.5.7.2
Track Offsets
4.5.7.2.1 HEADING The operator entered Heading track offset.
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4.5.7.2.2
NORTH / EAST The entered North/East track offset, (absolute offset). Each way-point is offset the same distance (North and South) as illustrated in Figure 441.
Offset track
Original track
Figure 4-41. North/East Track Offset

4.5.7.2.3 CROSS
Note - When the track offset is changed while LSTF mode is

active, it becomes rate limited to avoid bumps.
The operator entered Cross track offset, (relative offset). Each leg is offset the same distance as illustrated in Figure 4-42.
O ffs et tr ac k
O rig in a l tra c k
Figure 4-42. Cross Track Offset

4.5.7.3
Note - When the offset is changed while LSTF mode is active, it

becomes rate limited to avoid bumps.
Track Settings
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4.5.7.3.1
MODE DIRECTION MODE DIRECTION controls in the following ways: Low Spd (Low Speed) speed of the track follow as determined by Speed Mode. Hi Speed - speed fo the track follow as determined by Speed Mode. Track Direction - REV and FWD buttons control the Track Direction. REV track-point progresses towards decreasing way-point numbers for positive track speed. FWD track-point progresses towards increasing way-point numbers for positive track speed.
4.5.7.3.2
HEADING MODE HEADING mode, while in LSTF, can be controlled in the following ways: Table - heading setpoint taken from the current way-point table. The heading setpoint is in this case equal to the target heading for the way-point from which the track-point is currently moving. Previous WP - heading setpoint equal to the current leg bearing + 180. Next WP - heading setpoint equal to the current leg bearing. Auto / Man - used in combination with the Heading control switch. If the heading axis is in JSTK, then heading is controlled manually with the moment control knob. If heading axis is in AUTO, then the heading setpoint is controlled by means of heading setpoint maneuvers using the <HEADING SETPOINT> switch.
4.5.7.3.3
SPEED MODE The current track can be controlled in SPEED MODE the following ways: Table - target speed taken from the way-point table. The current track speed is in this case equal to the target speed for the waypoint where the track-point is currently moving. Joystick - track speed is controlled by the joysticks F/A axis where 100% corresponds to maximum track speed (2.0 m/s). The joysticks P/S axis has no effect. UI - track speed is entered in the User Speed field on the GUI.
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UI+Jstk - track speed is entered in the User Speed field on the GUI but can be modulated with the joystick. The track speed is equal to the User Speed only when the joysticks F/A axis is in its 0 position. 4.5.7.3.4 USER SPEED User Speed - the operator entered target speed.

4.5.8
Note - The speed mode setting must be either UI or UI+JSTK for this entry to have any effect.
Waypoint Page
WAYPOINT PAGE, Figure 4-43, presents an additional overview of important vessel waypoint tracking information. The top right corner of the page displays the current display units. The rest of the screen page can be broken into the following distinct sections: Display Window Lat / Lon N/E Setup Route Waypoint
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Figure 4-43. Waypoint Page
The following sections describe the distinct sections of control and configuration tracking buttons on WAYPOINT PAGE.
4.5.8.1
Display Window
The current waypoints defining the current track are viewed in the Display Window. The waypoints can be edited on either of the Master and Backup Operator Control Panels while LSTF mode is not active. However, when LSTF mode is active the edit function becomes disabled.
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4.5.8.2
Lat/Lon
The way-points are displayed in a Latitude and Longitude format if the Lat/Lon button is pressed.

4.5.8.3 N/E
Note - Relative tracks cant be displayed in Lat/Lon format, therefore, this button is disabled in Relative tracks.
When the N/E button is pressed way-points are displayed in a Northing/Easting format. If the track format is absolute, the Northing/Easting coordinate is given relative the GPS Reference Position which is entered on the SETUP PAGEs. This means if the Reference Position changes, the Northing/Easting position for each way-point changes accordingly.
Note - The Reference position changes but the absolute

waypoint position is unchanged. Changing the Origin Offset has the same effect.
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4.5.8.4
Setup
The sections that follows define the settings in the Setup section of the WAYPOINT PAGE.
4.5.8.4.1
CROSS TRACK THRESHOLD Allows DP operators to change the threshold for the cross track alarm.
4.5.8.5
Route
The Route section contains the following selection buttons: New Select Save
4.5.8.5.1 NEW Selecting New removes any current track from memory and creates a new track. The Select Track Type pop-up appears, Figure 4-44.
Figure 4-44. Select Track Type Pop-up DP operators then have to choose from the following possible track formats:
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Absolute - All coordinates are stored in Lat/Lon format. Waypoints can be edited in either Lat/Lon or Northing/Easting format. Northing/Easting coordinates are given relative to the DGPS Reference Position entered on SETUP PAGE (1). Relative All coordinates are stored in Northing/Easting format relative the Origin. This format is useful for creating search patterns, which may be repeated at different absolute sites. Waypoints in this format can not be displayed in Lat/Lon format.
4.5.8.5.2 SELECT Select allows existing tracks to be opened on any Master/Backup using the Open dialog box, Figure 4-45, provided LSTF mode is not active. Different tracks can be opened on different Backups. If LSTF mode is selected from the Master the entire track is transferred to the Backup Control Panel(s), overwriting any previously opened track.
Grampian
Figure 4-45. Open Dialog Box
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4.5.8.5.3 SAVE Save allows newly selected tracks to be saved to disk using the following Save As Windows dialog box, Figure 4-46:
Figure 4-46. Save As - Dialog Box
4.5.8.6 Waypoint
The Waypoint section contains the following selection buttons: Insert Add Delete Up Dn Edit
When DP operators choose to Insert, Add, or Edit a Waypoint, the Waypoint Edit pop-up appears, Figure 4-47.
Figure 4-47. Waypoint Edit Pop-up
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The following sections describe the Waypoint selection buttons functionality. 4.5.8.6.1 INSERT Perform the following to INSERT a new waypoint into an existing track: 1. 2. Touch the screen or place the cursor and select a waypoint in the waypoints list where a new waypoint is to be inserted. Touch the screen or place the cursor and select the INSERT button. A new waypoint will be inserted and the Waypoint Edit pop-up appears. Using the cursor and left-clicking, edit the newly inserted waypoint as desired.
3. 4.5.8.6.2 ADD
A new waypoint may be added to an existing track. Perform the following to ADD a new waypoint into an existing track: 1. 2. Touch the screen or place the cursor and select a waypoint in the waypoints list where a new waypoint is to be added. Touch the screen or place the cursor and select the ADD button. A new waypoint will be added and the Waypoint Edit pop-up appears. Using the cursor and left-clicking, edit the newly added waypoint as desired.
3. 4.5.8.6.3 DELETE
To delete a waypoint, touch the screen or place the cursor and select the waypoint in the waypoint list, then select the DELETE button. 4.5.8.6.4 UP To move a waypoint up in the track order, touch the screen or place the cursor and select the waypoint in the waypoint list, then select the UP button. 4.5.8.6.5 DOWN To move a waypoint down in the track order, touch the screen or place the cursor and select the waypoint in the waypoint list, then press the DN button.
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4.5.8.6.6 EDIT All waypoints along a track can be edited. Perform the following to edit a waypoint: 1. 2. 3. Select a waypoint in the list Press the Edit button (or double click the waypoint in the list). The Waypoint Edit pop-up appears. Using the cursor and left-clicking, edit the waypoint as desired.
4.5.8.7 Waypoint Edit Pop-up

The following sections describe the Waypoint Edit pop-up selection buttons functionality.
4.5.8.7.1 IDENTIFIER Each waypoint is automatically assigned a waypoint number IDENTIFIER, however the waypoint may also have an optional name for easy identification. 4.5.8.7.2 POSITION The waypoint POSITION is displayed in either Lat/Lon format or Northing/Easting format. Northing/Easting unit is either meters or feet depending on the selected Display Unit on SETUP PAGE 1. 4.5.8.7.3 PROPERTIES 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 is approaching a waypoint with zero turning radius. When the trackpoint has come to a complete stop, the track status changes from Tracking to At Waypoint. The operator may then reinitiate tracking by touching the LSTF BUTTON.

4.5.8.7.4 HEADING
Note - A waypoint radius too large invalidates the track

geometry. Therefore, a track validation test is performed for this and other error conditions, each time LSTF mode is initiated. DP operators are alerted if the current track failed the validation.
When HEADING mode is set to TABLE on Track Operation, the heading setpoint is set to the target heading of the waypoint where the trackpoint is currently moving. Waypoint heading is then ignored for all other heading modes. 4.5.8.7.5 SPEED When SPEED mode is set to either UI or UI + JSTK on TRACK OPERATION PAGE, the track speed is set to the target speed of the waypoint where the trackpoint is currently moving.
4.5.9
Thruster Pages
A typical THRUSTER PAGE 1, Figure 4-48, consists of the following Icons, Indicators, and Sections:

Thruster Icons (Azmuthing or Tunnel) Thrust Allocation Logic (TAL) Circle TAL Circle

Rudder Icons Text Boxes (Thruster & Rudder) Requested and Total Forces %
Note Due to varying thruster configurations the vessels DP

System may or may not feature all of the icons, indicators, and sections discussed in this section.
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Azmuthing Thruster Icon
TAL Circle
Text Boxes
Requested and Total Forces % Section
Figure 4-48. Typical Thruster Page Screen The following sections describe the areas of displayed information on a typical THRUSTER Page Screen.
4.5.9.1
Azimuthing Thruster Icon

Azimuthing Thruster Icon, Figure 4-49, displays the direction and level of thrust, and are divided into the following sections:
1 2
Figure 4-49. Azimuthing Thruster Icons

1.
2.
3.
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.
4.5.9.2
Tunnel Thruster Icons

Typical Tunnel Thruster Icons, Figure 4-50 and 4-51, 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 port thrust (as the Control Panel is aft facing).
Figure 4-50. Typical Port Tunnel Thruster Icon When a thrust indicator bar moves from the center of the icon to the left, it indicates starboard thrust (as the Control Panel is aft facing).
Figure 4-51. Typical Starboard Tunnel Thruster Icon
4.5.9.3
Thrust Allocation Logic (TAL) Circle

The TAL Circle, Figure 4-52, located in the center of the display page, indicates the net commanded and measured force / moment values for all online thrusters. Refer to Section 4.1 for more information on the TAL processing scheme.
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4 2
Figure 4-52. 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 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 of the way around the TAL circle if the net measured moment equals 100% of maximum
4.5.9.4
Rudder Icons
Rudder Icons, Figure 4-53, indicate the commanded and actual degrees of angle of the Port (left) and Starboard (right) rudders.
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Figure 4-53. Rudder Icons The yellow bar represents measured (feedback) rudder degree angle and direction. The light blue bar represents commanded rudder degree angle and direction. When the yellow and light blue bars indicate the same, the measured and commanded rudder degree and direction are the same
4.5.9.5
Text Box Thruster and Rudder

A Text Box, Figure 4-54, is generated for each icon. All text boxes display one or more of the following abbreviations: OFF offline from the DP System. MAN in MANUAL mode. AUTO in AUTOMATIC mode. NRDY Not Ready to respond. CMPR Measured thrust level or azimuth does not agree with commanded thrust level or azimuth. LEVL Measured thrust exceeds THRUST ALARM level, entered on SETUP PAGE 1.
Figure 4-54. Text Box- Thruster and Rudder
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4.5.9.6
Requested and Total Forces %

Requested and Total Forces % displays the components of the surge (F/A) and sway (S/P) 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 4.1.14 for more information on this process.
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 2.3 for more information on the transfer of integral terms. Wind - Displays commanded forces resulting from the ACTIVE WIND COMPENSATION (AWC) function. Refer to Section 4.4 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 4.1.14 for more information on the NMS6000 DP System Control Loop. Ctrl - The Derivative and Proportional terms of the commanded forces and moments resulting from the NMS6000 DP System Automatic Control Loop. Refer to Section 4.1.14 for more information on the NMS6000 DP System Control Loop. CutBk - When commanded forces in the Jstk, Wind, Envr, and Ctrl columns exceed the available thrust, the CutBk column indicates the unmet percentage.
4.5.9.7
Total Forces %
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.
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Achvd - Displays the sum of the measured thruster forces. These figures are derived from the TAL Inverse routine, described in Section 4.1.
4.5.9.8
DP System Thruster Modes

Operators can place the vessels thrusters and rudders in any of the following modes: Manual Auto Off
4.5.9.8.1
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.

4.5.9.8.2 AUTO
Note - Thrusters in MANUAL mode will not respond to the

<POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>.
The DP System controls thruster azimuth and force to meet the heading and position setpoints.

4.5.9.8.3 OFF
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.
The DP System does not issue any commands to thrusters in OFF mode.

4.5.9.9
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.
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:
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1. 2. 3.
Open the THRUSTER PAGE. Select the desired thruster icon. The following selected thruster dialog pop-up, Figure 4-55, appears:
Figure 4-55. Typical Thruster Pop-Up Dialog Box 4. 5. Select the AUTO, MAN, or OFF button. 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.
4.5.9.10
Thrust Allocation Logic

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.
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4.5.10
Thruster Page 2
A typical THRUSTER PAGE 2, Figure 4-56, 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.
Figure 4-56. Typical Thrust Page 2 The following sections describe the areas of tabular data on the THRUST PAGE 2 screen page.
4.5.10.1
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 vessels thruster interface.
4.5.10.2
Mode
Indicates the control mode of the thruster: OFF, AUTO, or MANUAL.
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4.5.10.3 4.5.10.4 4.5.10.5
RPM Cmnd
Indicates the current commanded RPM for each thruster.
RPM Fdbk
Indicates the current RPM feedback for each thruster.
Cmnd %
Indicates the current commanded force level for each thruster, as a percentage of maximum.
4.5.10.6
Fdbk %
Indicates the current measured, or feedback, force level for each thruster, as a percentage of maximum.
4.5.10.7
Rud Cmnd
Indicates the commanded degrees (0 35) of the manual rudders.
4.5.10.8
Rud Fdbk
Indicates the commanded feedback degrees, (0 35), of the manual rudders.
4.5.10.9
Thrust Alarm
The Thrust 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, entered on SETUP PAGEs. Additionally, tracks the port and stbd rudder command and feedback degrees preset alarm level. CMPR Measured thrust, level does not agree with commanded.
4.5.10.10
Rud Alarm
The Rud Alarms field displays appropriate text abbreviations to indicate the following alarm conditions: LEVEL Measured rudder degrees exceeds Rudder Angle ALARM level, entered on SETUP PAGEs. CMPR Measured rudder degree level does not agree with commanded.
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4.5.10.11
Requested Forces %
Requested Forces % displays the components of the surge (F/A) and sway (S/P) 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.

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. Wind - Displays commanded forces resulting from the ACTIVE WIND COMPENSATION (AWC) function. Envr - The Integral terms of the commanded forces and moments resulting from the DP System Control Loop, which compensate for environmental conditions (minus wind if AWC is active) and other unknowable errors. Ctrl - The Derivative and Proportional terms of the commanded forces and moments resulting from the DP System Automatic Control Loop. CutBk - When commanded forces in the Jstk, Wind, Envr, and Ctrl columns exceed the available thrust, the CutBk column indicates the unmet percentage.
4.5.10.12
Total Forces %
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. Achvd - Displays the sum of the measured thruster forces. These figures are derived from the TAL Inverse routine.
4.5.11
Plot Page Screen

The PLOT PAGE 1 : PARAMETER PLOTS Page Screen, Figure 4-57, provides strip chart-style plots of certain system parameters. Selecting the PLOT screen button on the Toolbar, brings up the Plot Page Screens for operator use.
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Figure 4-57. Typical Plot Page 1
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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 4-58 to appear.
Figure 4-58. Point Configuration Pop-up Once the Point Configuration pop-up appears, perform the following to select a parameter to plot: 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 button on Plot Page 1. The total elapsed time displayed on the plot is indicated at the upper right of the page.
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4.5.12
Holding Capability
The HOLDING CAPABILITY Page Screen, Figure 4-59, displays percentage of maximum thrust for the highest loaded thruster required to hold station at a given heading.
Figure 4-59. Holding Capability The graphic display consists of five circles. Each circle represents 20 percent of the available thrust. The fourth circle, corresponding to 80% of available thrust, is indicated in purple. The white tick marks around the outer circle indicate compass headings. The vessel outline is always pointing toward the top of the display. The holding plot appears as a yellow line. Its size and appearance change based on variations in wind, current, and online thrusters. This plot line indicates the amount of available thrust required to hold station at any given heading. Perform the following to determine the amount of thrust required to hold station:
1. Find the heading along the outer circle 2. Trace directly toward the center of the circle 3. Find the spot where the heading line intersects the yellow holding plot 4. Count the number of circles between this point and the center point. Each circle represents 20% of available power
Sections 4.5.12.1 through 4.5.12.4 describe the information displayed on HOLDING CAPABILITY Page Screen.
4.5.12.1
Mode
Mode - Actual or Hypothetical, changes the base-line holding plot data according to the following: In Actual mode, the display generates a holding plot based on the current thruster status, current speed/direction, and wind speed/direction. 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 systems ability to hold station.
4.5.12.2
Thrusters / Rudders
Thr 1 - displays the status of the Thruster1. Green indicates an online thruster. Gray represents an offline thruster. Red indicates a faulted thruster. SM - displays the status of the Starboard Main Thruster. Green indicates an online thruster. Gray represents an offline thruster. Red indicates a faulted thruster. PM - displays the status of the Port Main Thruster. Green indicates an online thruster. Gray represents an offline thruster. Red indicates a faulted thruster. P Rudder - displays the status of the Port Rudder. Green indicates an online thruster. Gray represents an offline thruster. Red indicates a faulted rudder. S Rudder - displays the status of the Starboard Rudder. Green indicates an online thruster. Gray represents an offline thruster. Red indicates a faulted rudder.
4.5.12.3
Current
Speed (kts) - displays the measured current speed and direction. The measured current is also shown by TC on the holding plot. Dir. (True) - operators can select Dir. True to enter a new current velocity (0 to 10 knots) and direction (0 to 360 degrees). The Dir. (True) current direction is also shown by DT on the holding plot.
4.5.12.4
Wind
Speed (kts) - displays the measured wind speed and direction. The measured wind is also shown by WS on the holding plot.
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Dir. (True) - Operators can select Dir. (True) to enter a new wind velocity (0 to 100 knots) and direction (0 to 360 degrees). The Dir. (True) wind velocity is also shown by WT on the holding plot.
4.5.13
4.5.13.1
Signal Input / Output Page Screens

Signal I/O Page: Serial Communications
The SIGNAL I/O PAGE 3 : SERIAL COMMUNICATIONS page screen, Figure 4-60, presents information on various serial communications links.
Figure 4-60. Signal I/O Page: 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.
4.5.14
Mode Function Page

Control Modes and Automatic Maneuvers are selected by using the MODE FUNCTION screen page, Figure 4-61. 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 available 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 4-61. Mode Function Page

4.5.14.1
Mode Select
The Mode Select section of the MODE FUNCTION page offers the following Modes: Hold Heading Wind Comp AHMT Vessel COR Transit Pilot Hold Position Joystick Desens Hold Area Portable Joystick Track Follow
4.5.14.1.1
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.
4.5.14.1.2
HOLD POSITION In HOLD POSITION, the DP System automatically maintains the vessels position while allowing operators to make heading changes with the <HEADING CONTROL KNOB>.
4.5.14.1.3
WIND COMP WIND COMP uses data from all online wind sensors. Using an internal model of the vessels 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 WC simultaneously with any of the other control modes.
4.5.14.1.4
JOYSTICK DESENS Joystick Desensitizing (Joystick Desens), decreases by 50 percent (%), the thrust command signals generated in response to movement of the <POSITION CONTROL JOYSTICK> and/or the <HEADING CONTROL KNOB>. JOYSTICK DESENS, accessed through the MODE FUNCTION screen page, 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.
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Example - Without Joystick Desensitizing active, pushing the <POSITION CONTROL JOYSTICK> to the limit in any direction results in a relatively large force on the DESENS, allows vessel. Selecting JOYSTICK operators to move the <POSITION CONTROL JOYSTICK> through the same range of motion but cause a smaller force to act on the vessel.
4.5.14.1.5
AUTO HEADING MINIMUM THRUST (AHMT) AHMT is used in conjunction with HOLD POSITION and HOLD HEADING modes. When active, it automatically adjusts the vessels goal heading setpoint to attempt to minimize the lateral (port/starboard) control requirements by pointing the bow or stern of the vessel into the prevailing weather.
4.5.14.1.6
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.
4.5.14.1.7
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.
4.5.14.1.8
PORTABLE JOYSTICK Operators can manually control the vessel with the Manual Independent Backup Joystick Control Panel <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. Operators normally use 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 Panels.
4.5.14.1.9
MANUAL JOYSTICK/HEADING CONTROL Operators can manually control the vessel with the DP Main Operator Control Panel <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. Operators normally use Joystick 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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4.5.14.1.10 TRACK FOLLOW TRACK FOLLOW (LSTF) mode, controls vessel position and heading along a predefined track, with a high degree of accuracy. Trackpoint speed and heading is either directly controlled by the operator or derived from a predefined track definition. Speed can range from a few centimeters to 2 meters per second (m/s). 4.5.14.1.11 PILOT Pilot allows operators to configure in a new set of course coordinates when the DPS is in Hold Heading effectively ordering the DPS to perform an automatic heading change. 4.5.14.1.12 TRANSIT MODE Reserved for future release. To be added in the appendix at a later date.
4.5.14.2
Function Select
The Function Select section of the MODE FUNCTION page offers the following Modes Heading Setpoint Clear JS Bias Position Setpoint Alarm Pg Inhibit
The following sections describe the listed DP Functions. 4.5.14.2.1 HEADING SETPOINT When initiating an automatic Heading Setpoint maneuver, the DP System must be in HOLD HEADING. Perform the following to perform a Heading Setpoint maneuver:
1. Select the HEADING SETPOINT button on the MODE FUNCTION page, or place the cursor and left click in the Compass Window. The following HEADING SETPOINT SELECTION: CURRENT HEADING pop-up dialog box appears, Figure 4-62:
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Figure 4-62. Heading Setpoint Selection: Current Heading Pop-up
2. Select one of the following available methods of defining the heading setpoint: Previous Setpoint (Heading); Current Heading; Absolute Setpoint in Earth Coordinates (True); or an Offset from the Current Heading in Ship Coordinates (Relative). 3. The descriptions to the left of the two data entry boxes changes depending on the method used to define the heading setpoint. 4. Select the first data entry box. 5. Use the Pop-Up Keypad to enter the new heading setpoint. 6. Select the second data entry box. 7. Use the Pop-Up Keypad to enter the rate of change. 8. Select the ACCEPT button. To exit the HEADING SETPOINT dialog box without initiating a new heading setpoint, select the CANCEL button.
4.5.14.2.2 POSITION SETPOINT The DP System must be in HOLD POSITION when performing an automatic Position Setpoint maneuver. 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. Perform the following to initiate a Position Setpoint maneuver:
1. Select the POSITION SETPOINT button on the MODE FUNCTION page, or place the cursor and left click on the Deviation Display window. The POSITION SETPOINT SELECTION : CURRENT POSITION pop-up dialog box appears, Figure 4-63.
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Figure 4-63. Position Setpoint Selection : Current Position Pop-up 2. Specify a Position Setpoint by performing selected options as follows: Previous Setpoint - Selecting this option, causes the data entry fields to display the coordinates of this setpoint. Current Position - Position of the vessel when the <ACCEPT> button is selected. Earth - Absolute position in axes from current origin. Rect (Rectangular) Offset - From vessels current position in earth axes. Rect (Rectangular) Offset - From vessels current position in ship axes. Polar Offset - Range and Bearing from vessels current position.
3. Select the appropriate button from the options listed in Item 2. to determine how to define the new position setpoint. 4. Double left-click in the top data entry field. The label of this field varies depending on ENTRY TYPE the operator selected in Step 3. 5. Using the Pop-up Keypad enter the first coordinate of the new position setpoint. 6. Repeat steps 4 and 5 for the remaining data entry fields.
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7. Select the <ACCEPT> button. To exit the POSITION SETPOINT dialog box without initiating a new heading setpoint, select the <CANCEL> button.
4.5.14.2.3 CLEAR JS BIAS When bias forces exist, the DP System automatically illuminates the CLEAR JS 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 (TRANSIT) CONTROL of vessel propulsion without any biases applied. 4.5.14.2.4 ALARM PG INHIBIT The ALARM PAGE INHIBIT button on the MODE FUNCTION screen page prevents the system from automatically displaying the ALARM PAGE when a new alarm occurs.
4.6
DP SYSTEM OPERATIONAL HINTS

DP Operational Hints, covers information addressing troublesome and concerning DP situations to operators. Although the following information is covered in previous chapters of this manual, Nautronix engineers believe these troublesome and concerning DP situations occur frequently enough to warrant this Section. Sections 4.6.1 through 4.6.4 describe helpful operational hints to DP operators experiencing the following troublesome and concerning DP situations: DGPS Drift Integral Pre-loading Integral Windup Integral Transfers
4.6.1
GPS Drift
DP operators should be aware, that even if the differential portion of the signal is correct, the GPS portion may not be due to various reasons. Different GPS receivers react differently to various combinations of factors, and 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.
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4.6.2
Integral Windup
When the vessel is rotating and operators select HOLD HEADING, or the vessel is moving slightly more than a knot in speed and operators select HOLD POSITION, integral windup occurs.
Note - Integral windup occurs when the momentum of the
vessel, not yet known by the automatic controller, causes overshoot of the goal setpoint. This action then causes the controller to respond to this unknown force by driving the vessel in the direction of the overshoot.
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 axes to be placed in automatic, HOLD HEADING or HOLD POSITION, prior to mode selection.
4.6.3
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 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 perfectly 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. When 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.
4.6.4
Integral Transfers
Whether the DP System is operated from the Portable Joystick or the Master Control Panel manual controls, yaw, surge, and/or sway commands existing when operators select HOLD HEADING and/or HOLD POSITION, are automatically moved into the integral forces of the controller. Therefore, when deselecting HOLD HEADING or HOLD POSITION, the integral forces are transferred to the manual controls. The CLEAR JOYSTICK BIAS screen button on the FUNCTION PAGE flash to indicate biases have been transferred. To clear these biases, select the CLEAR JOYSTICK BIAS screen button.
4.7
4.7.1
DP SYSTEM ALARMS AND TROUBLESHOOTING

Alarm Conditions
The DP Systems alarm system generates alarms for the following general conditions: Sensor input failure or comparison error between multiple sensor inputs (abbreviated as SENS on the DP Alarmed System Window, Figure 4-64). Control performance not satisfactory (abbreviated as CTRL on the DP Alarm Summary Window). Thruster commands exceeding alarm levels (abbreviated as THRS on the DP Alarm Summary Window). Power manager limits or generator alarm levels exceed (abbreviated as POWR on the DP Alarm Summary Window). Computer processor, SPU, or other hardware self-test failure (abbreviated as HDWR on the DP Alarm Summary Window). Comparison error between Master and Backup Control Panel position estimates (abbreviated as CMPR on the DP Alarm Summary Window).
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Figure 4-64. Alarm Summary Window
4.7.2
Alarm Notification
The ALARM PAGE automatically appears on any Control Panel monitor detecting a new unacknowledged alarm condition, unless the operator has inhibited it from doing so. Section 4.5.14 provides instructions on inhibiting the page from appearing whenever the DP System detects a new alarm. The Master Operator Control Panel and/or Backup Operator Control Panel generates a continuous highlow alarm tone when it indicates a new alarm condition.
4.7.3
Color Coding of Alarms

This color coding applies to the messages listed on the ALARM SUMMARY and the Mini Alarm Summary. The color of a given display box flashes red when an alarm condition exists for that variable. If the alarm condition is still present and the alarm is acknowledged the background color changes to solid red. The default background color is gray. Flashing Red - Unacknowledged Alarms Flashing red background with white text messages indicates an unacknowledged alarm condition currently in an alarm state. Solid Red Acknowledged Alarms Solid red background with white text indicates an acknowledged alarm currently in the alarm state. This pattern is present in the ALARM SUMMAY and the Mini Alarm Summary. Flashing Yellow Expired Alarms When Alarm conditions have occurred and cleared before being acknowledged by the operator. The expired alarm background flashes yellow to black, and the text flashes black to yellow.
4.7.4
Acknowledging Alarms
Alarm acknowledgement is performed as follows: Pushing the Acknowledge Alarms Button on the upper right hand of the screen. If the Alarm Acknowledge button is pushed on a server it silences all of the audible alarms on the vessel. If the
4-103
Acknowledge Alarm button is pushed at a client station it only silences the audible alarm for that location. After the operator acknowledges alarms, the system performs the following: Silences the continuous high-low alarm beacon and tone Converts flashing red alarms (unacknowledged) to solid red alarms (acknowledged).
4.8
DP SYSTEM ALARMS AND MESSAGES

For DPS Alarm Messages See Appendix.
4-104
www.nautronix.com
5.
5.1
VESSEL SPECIFIC DISPLAY SCREENS

SETUP MENU
The following Nautronix Marine System Display Screens are presented to familiarize operators with the specific system displays. They are found by using the pull-down menu on the DP Display Screen titled Setup and include: Setup Page 1. See Figure 5-1. Setup Page 2. See Figure 5-2. Setup Page 3. See Figure 5-3. Mode Function. See Figure 5-4. DP Simulation Page. See Figure 5-5.
Note Refer to Section 4.5 for further information pertaining to

the fields presented on these Vessel Specific Display Screens.
The Following Vessel Displays are typical and for reference only. Each ship has its specific vessel displays depending on the DP System.
5-1
CHAPTER 5: VESSEL SPECIFIC DISPLAY SCREENS
5.1.1
Setup Page 1
5-2
5.1.2
Setup Page 2
5-3
5.1.3
Setup Page 3
5-4
5.1.4
Mode Function
Figure 5-4. Mode Function
5-5
5.1.5
DP Simulation Page
Figure 5-5. Simulation Page
5-6
5.2
SENSOR MENU
The following Nautronix Marine System Display Screens are presented to familiarize operators with the specific system displays. They are found by using the pull-down menu on the DP Display Screen titled Sensor and include:
Sensor Page 1. See Figure 5-6. Sensor Page 2. See Figure 5-7. Position Reference Page 1. See Figure 5-8. Position Reference Page 2. See Figure 5-9.
5-7
5.2.1
Sensor Page 1
Figure 5-6. Sensor Page 1
5-8
5.2.2
Sensor Page 2
Figure 5-7. Sensor Page 2
5-9
5.2.3
Position Reference 1
Figure 5-8. Position Reference 1
5-10
5.2.4
Position Reference 2
Figure 5-9. Position Reference 2.
5-11
5.3
PROPULSION MENU
The following Nautronix Marine System Display Screens are presented to familiarize operators with the specific system displays. They are found by using the pull down menu on the DP Display Screen titled Propulsion and include: Thrust Page 1. See Figure 5-10. Thrust Page 2. See Figure 5-11.
5-12
5.3.1.
Thruster Page 1
Figure 5-10. Thruster Page 1
5-13
5.3.2
Thrust Page 2
Figure 5-11. Thruster Page 2
5-14
5.4
PLOT MENU
The following Nautronix Marine System Display Screens are presented to familiarize operators with the specific system displays. They are found by using the pull down menu on the DP Display Screen titled Plot and include: Plot Page 1. Not shown here. Same as Figure 4-57. Plot Page 2. Not shown here. See Figure 4-57. Plot Page 3. Not shown here. See Figure 4-57. Holding Capability. See Figure 5-12 Chart. See Figure 5-13. Track Operation. See Figure 5-14. Waypoint. See Figure 5-15. Signal I/O Page. Not shown here. Same as Figure 4-60.
5-15
5.4.1
Holding Capability
Figure 5-12. Holding Capability
5-16
5.4.2
Chart
Figure 5-13. Chart
5-17
5.4.3
Track Operation
Figure 5-14. Track Operation
5-18
5.4.4
Waypoint
Figure 5-15. Waypoint
5-19
5-20
www.nautronix.com
6.
SYSTEM MAINTENANCE AND TEST PROCEDURES

Maintenance and Test Procedures on the Nautronix 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 Section 6.1, 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 Nautronix engineers and/or technicians to visit the vessel.
6.1
GENERAL TOOLS AND TEST EQUIPMENT

Table 6-1, lists the minimum support/test equipment that should be carried onboard the vessel. Table 6-1. General Tools and Test Equipment DESCRIPTION Oscilloscope Hand Held Multimeter Lens Removal Tool Lens Removal Tool Lamp Removal Tool Anti-Static Wrist Strap PART NO. 1740A E2378A 51-938 98-968 51-996 Velostat 2064 MAKE Hewlett-Packard or equivalent Hewlett-Packard or equivalent EAO EAO EAO 3M
6.2
ELECTROSTATIC DISCHARGE PRECAUTIONS

Electrostatic Discharge Precautions Shipboard maintenance personnel should read Sections 6.2.1 and 6.2.2 on Electrostatic Discharge (ESD) before attempting any maintenance of the system.
6-1
CHAPTER 6: SYSTEM MAINTENANCE & TEST PROCEDURES
6.2.1
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.
6.2.2
Protective Procedures
The key to avoiding ESD damage is the establishment of a common ground between the sensitive device and its surroundings. Nautronix packages all ESD-sensitive components and assemblies in bags made of a special conductive plastic. This plastic, commonly called pink-poly 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, Nautronix 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.
6.2.3
1.
ESD Guidelines for Replacing Circuit Card Assemblies (CCA)

Turn off DC power to the faulty CCA and attach a personnelgrounding strap to the cabinet frame. This wrist strap (3M Velostat2064, 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.
6-2
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. Remove replacement CCA from its protective package and install. Follow any applicable installation and test procedures.
3.
6.3
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
NMS6000 DP Systems can be configured as a redundant system, with components attached to multiple power sources. Disconnect all applicable power inputs before proceeding.
2. Open each sub-assembly (operator Control Panel, 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 control panel for physical damage. 7. Close and secure all subassemblies and return system to an operational status.
6.4
MONTHLY OPERATOR CONTROL PANEL AIR FILTER SERVICE

The two filters can be cleaned with the operator Control Panels 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 and air filters.
6-3
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 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.
6.5
MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE

The two filters can be cleaned with the Signal Processor Units powered up. 1. Remove two front door 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 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.
6.6
POWER SUPPLY VOLTAGE CHECK

Shipboard maintenance personnel should periodically check the following Signal Processor(s) power supplies: Power supply voltage checks are to be taken at the various modules/units and at the power supplies. Table 6-2 lists the power supply nominal voltages, and tolerances.
6-4
NOMINAL VOLTAGE +5 VDC +12 VDC +24 VDC +6 VDC (Lamp Voltage) +15 VDC -15 VDC +10 VDC -10 VDC
OPERATOR CONTROL PANEL TOLERANCE 4.85 to 5.15 VDC 11.64 to 12.6 VDC 22.8 to 25.2 VDC --------------------
KEYBOARD TOLERANCE ---------------------------------------------6.2 to 6.4 VDC
SIGNAL PROCESSOR TOLERANCE ------------------------------22.5 to 28.0 VDC ----------------
-----------------------------------------------------------------------------
-------------------------------------------------------------
14.9 to 15.1 VDC -15.1 to -14.9 VDC 9.99 to 10.00 VDC -10.00 to -9.99 VDC
Table 6-2. Power Supply Voltages (Nominal and Tolerance)
6.6.1
Operator Control Panel Test Point Values/Adjustments

Values on the Control Panel power supply are to be checked at the following test points and terminals: +5 VDC Switch Interface Extender Board JP3 11 with respect to JP3 9 JP3 23 with respect to JP3 10 +12 VDC Voltage Regulator Board TB1 1 with respect to TB1 5
Note
- There are NO ADJUSTMENTS on the Control Panel Power Supply!
6-5
6.6.2
Keyboard Test Point Values/Adjustments

Measurement of primary lamp voltage is performed on the Voltage Regulator located on the Keyboard Interface. The voltage is measured on terminal strip TB 2: +6 VDC Pin 1 Common Pin 5 Voltage is measured with the Lamp Brightness knob turned fully clockwise. This voltage is adjustable by means of RV 1 on the Voltage Regulator. Adjust to 6.2 6.4 VDC.
6.6.3
Signal Processor Unit Test Points/Values
Note -
Depending on the vessels NMS6000 DP System configuration there may be 1 or 2 Signal Processor Units (SPUs). Therefore, two SPU Tables have been included in Chapter 5 for Power Supply data recording purposes.
6.6.3.1
Signal Processor Unit (SPU) 1

SPU 1 Test Points CB1 CB2 (optional) F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12 F13 F14 F15 F16 F17 F18 F19 F20 Expected Voltage Range 23.5 - 27 VDC 23.5 27VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 27VDC 23.5 27VDC 23.5 27VDC 23.5 27VDC 23.5 27VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 27VDC 23.5 27VDC 23.5 27VDC 23.5 27VDC 23.5 27VDC LED On / OFF
6-6
6.6.3.2
Signal Processor Unit (SPU) 2 (Optional)

SPU 2 Test Points CB1 CB2 (optional) F1 F2 F3 F4 F5 F6 F7 F8 F9 F10 F11 F12 F13 F14 F15 F16 F17 F18 F19 F20 Expected Voltage Range 23.5 - 27 VDC 23.5 - 27VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27 VDC 23.5 - 27 VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27VDC 23.5 - 27VDC LED On / OFF
6-7
6.7
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: 1. Remove all power from the operator Control Panel, 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.
6.8
SIGNAL MAINTENANCE AND TROUBLESHOOTING

Sections 6.8.1 through 6.8.8 cover 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.
6.8.1
RS232
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 6-1 illustrates a correct waveform.
6-8
+12v 0v -12v
Figure 6-1. 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, a convenient method for observing (and capturing) the actual data is to connect the sending device to a standard COMport on an IBM compatible computer. Communications software packages such as PROCOMM or TELIX can observe the actual data being transmitted.
6.8.2
RS422/RS485
These items require correct handshake line configuration and protocol as described in Section 6.8.1. 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.
6.8.3
Programmable Logic Controller (PLC)
Note - An NMS6001 DP System has only one PLC. In the

event of PLC failure immediately contact Nautronix for service.
6-9
Note NMS6002 and NMS6003 DP Systems, have two

redundant PLCs installed, allowing the NMS6000 DP System to continue working in case of a single PLC failure. However, in the event of PLC failure immediately contact Nautronix for service.
6.8.4
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: Open the Operator Control Panel cabinet, locate and cycle the switch on the front of the computer. The system <ON/OFF> then begins a reboot into the backup NMS6000 DP System Control Panel mode.
6.8.5
Flex I/O Modules

The Flex I/O modules in the Signal Processing Units (SPUs), Figure 6-2, 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: 24 VDC Power Supply A/C Adapter with one ACTIVE and two FAULT status LEDs Analog Output with PWR LED Isolated Analog Output with OK LED Flex I/O Module Test Points are displayed in Figure 6-2. 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.
6-10

ACTIVE & FAULT LEDs
PWR LED
B TEST POINTS
Figure 6-2. Flex I/O Modules and Test Points
6.8.6
Analog and Digital I/Os

Analog modules inputs and outputs of continuously variable voltage and current signal status are verified using a multi-meter. Digital modules feature LEDs 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.
6.8.7
Switch Interface Controller

The Switch Interface Controller in the Operator Control Panel has three (3) LEDs. These indicate the following when illuminated:
6-11
1. D3 = RUN Power applied to the Switch Interface 2. D4 = RECEIVE Switch Interface is receiving data 3. D5 = TRANSMIT Switch Interface is sending data to the serial line driver When an alarm message indicates the communications with the Control Panel have failed, locate the Switch Interface Controller in the Control Panel. Place a shunt on JMP5. With the system power still applied, remove the shunt to reset the Switch Interface.
6.8.8
6.8.8.1
Circuit Card Jumper Configurations

Central Processor 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 manufacturers computer manual.
6.8.8.2
Gyrocompass
Refer to the vessel specific Digital Gyrocompass Equipment Operation and Service Manual.
6.8.8.3

The Switch Interface Controller card has several jumpers required for proper operation. Before replacing the card, verify all jumpers are correctly placed. Refer to the circuit drawing.
6.8.9
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.
6-12
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 Position. 2. Plug the supplied PS2 keyboard into the PS/2 connector on the back of 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, lift off of the Alt key to maximize the Control Processor window screen. 5. Simultaneously press the SHIFT and J keys and observe the following Status / Prompt Message Window, to ensure the Joystick Calibration Completed message appears.

Note Pressing the SHIFT and J keys writes the zero point
values to the hard disk drive.
Note If the portable joystick is not plugged in when

commencing Step 5. of the calibration procedure, the Status / Prompt Message Window momentarily displays a JS Calibration Error: Portable message.
6-13
6.9
MODULE AND COMPONENT REPLACEMENT

The following sections pertain to various modules and components of the NMS6000 DP System.
NMS6000 DP System Control Panel Modules and Components 6.9.1 Keyboard Switch Blocks
To remove push-button switch-blocks, spread the legs of the metal protective cover. Place the cover against the blue body of the switchblock. Ensure the legs are fully extended after servicing the switch assemblies.
6.9.2

1. Remove all power to system. 2. Mark and remove connectors attached to the Switch Interface Controller. 3. Carefully remove Switch Interface Controller from Switch Interface Extender. 4. Match jumper configuration from old card to new card. 5. Install Switch Interface Controller on Switch Interface Extender. 6. Power-up the system. 7. Adjust Control Panel back-light intensity as follows: Locate Lamp Brightness Control on the Position Control Panel. Set this control to mid-range. Locate and adjust Trim Pot RV7, Figure 6-3, on the Switch Interface Controller until desired back-light intensity is reached.
RV7
Figure 6-3. Switch Interface Controller

6.9.3
Voltage Regulator
1. Remove all power to the system. 2. Mark and remove all wiring connected to Voltage Regulator. 3. Carefully remove voltage regulator from Switch Interface Assembly. 4. Install new unit and reconnect all wiring. 5. Power-up the system and verify proper operation.
6.9.4
Switch Interface Extender Board

1. Remove all power to the system. 2. Mark and remove all wiring connected to Switch I/F Extender. 3. Remove Switch I/F Controller per Section 6.9.1.2. 4. Carefully remove Switch I/F Extender from Switch Interface Assembly. 5. Install new unit and reconnect all wiring. 6. Reinstall Switch I/F Controller per Section 6.9.1.2. 7. Power-up the system and verify proper operation.
6.9.5
Central Processor 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. 1. Remove all power to the system. 2. Mark and remove any connectors attached to the unit being serviced. 3. Carefully remove circuit card or disk drive assembly from card cage. Circuit card removal requires a depression of the red retainer on the lower card ledge. 4. Install new unit, taking care not to disturb wiring on the back wall. 5. Reinstall all relevant connector(s). 6. Power-up the system and verify proper operation. To remove/replace the motherboard, refer to the manufacturers computer manual for more specific instructions. Observe the proper ESD safety precautions when working in the unit.
6-15
6.9.6
6.9.6.1
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 ACNR-15. 3. Disconnect ControlNet coaxial cables. 4. Remove first module following the ACNR-15 (Module 0). 5. Carefully unlock ACNR-15 from first terminal base. 6. Lift keeper tab that secures ACNR-15 to the DIN rail. 7. Remove ACNR-15 from DIN rail. 8. Place new ACNR-15 on din rail. 9. Carefully lock new ACNR-15 into terminal base and lower keeper tab securing ACNR-15 to the DIN rail.
Important ! - Ensure pins inside lock are not bent when

locking it into place! This may cause the ACNR-15 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.
6.9.6.2
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 ACNR-15 powered up) without damaging the module. 1. Lift keeper tab securing module to the terminal base. 2. Remove faulty module. 3. Carefully install new module of the same type and ensure locking tab is in place.
6-16
Important ! - The key on the side of the module must be

aligned properly with the key-way on the base. If the key is not aligned, damage to the base and module will occur. 4. Discard old part.
Note - For configuration and assembly/disassembly of modules,

refer to Flex I\O Documentation Flex I/O Catalog #1794-2.1.
6.9.6.3
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. Remove power from the ACNR-15 associated with the base 2. Remove Flex I\O modules on, above, and below defective base 3. Note and document correct placement of field I\O wiring 4. Remove field I\O wires 5. Carefully unlock base from the ones above and below 6. Lift keeper tab securing terminal base to DIN rail 7. Remove defective base from DIN rail 8. 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 ACNR-15 12. Discard old part.
Note - For configuration and assembly/disassembly of modules,

refer to Flex I\O Documentation Flex I/O Catalog #1794-2.1.
6.9.6.4
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.
6.9.6.5
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 and remove it from the Control Panel 4. Installation of new OCM proceeds in reverse order.
6.9.6.6
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 and remove Ethernet Hub from Control Panel. 4. Installation of new Ethernet Hub proceeds in reverse order.
6.9.6.7
NMS6000 DP System 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.
6-18
6.9.6.8
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.
6.9.6.9
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.
6.9.6.10
SPU Power Supply

1. Remove all power to the system. 2. Disconnect all leads from power supply. proper reinstallation. Mark leads to ensure
3. Remove four mounting screws while supporting power supply. 4. Remove power supply. 5. Installation of new power supply proceeds in reverse order.
6.9.6.11
SPU Exhaust Fan

1. Remove all power to the system. 2. Open rear door. 3. Remove four screws securing filter/fan housing. 4. Install replacement fan unit. 5. Reinstall filter/fan housing.
6-19
6. Power-up the system and verify proper operation.
6.9.7
6.9.7.1
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. 4. Installation of the MRU proceeds in reverse order.
6.9.7.2
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.
6.9.7.3
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. 4. Installation of new VRU proceeds in reverse order.
6-20
6.10
RECOMMENDED SPARE OR REPLACEMENT PARTS

Nautronix 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.
Note When ordering spare or replacement parts refer to the Bill of Materials (BOM) pages located in the Vessel Specific Documentation and Drawings (VSDD) Section of this manual, or contact Nautronix, Inc., 12131 Community Road, Poway, CA 92064, USA, Phone: (858) 679-5500, Facsimile: (858) 679-5501, (also listed in Section 6.11)
6.11
SERVICE LOCATIONS
North and South America
Nautronix, Inc. 6610 W Sam Houston Parkway N. Suite 300 Houston, TX 77041 USA Phone: (713) 880-2866 Facsimile: (713) 880-2734 Nautronix, Inc. 12131 Community Road Poway, CA 92064 USA Phone: (858) 679-5500 Facsimile: (858) 679-5501
Australia
Nautronix, Ltd. 108 Marine Terrace Fremantle, Western Australia 6160 Phone: 011-61(08)-9430-5900 Facsimile: 011-61(08)-9430-5901
6-21
Europe and Africa

Nautronix, Ltd. Howe Moss Avenue Kirkhill Industrial Estate Dyce, Aberdeen, Scotland AB21 0GP UK Phone: 011-44-1224- 775-700 Facsimile: 011-44-1224- 775-800 Trained Nautronix field service engineers and selected inventories of spare/replacement parts are available at the service locations listed on Page 5-21. Nautronix strongly encourages each vessel owner to order the recommended inventory of spares from Nautronix, Inc. 12131 Community Road, Poway, California, 92064, Ph# (858) 679-5500, Purchasing Fax, (858) 679-5529. Ordering the recommended inventory of spares allows vessel personnel the opportunity to repair most DP System problems. Refer to Section 6.1 for information on suggested maintenance tools.
6.12
FIELD SERVICE ORDER INFORMATION

Nautronix requires the following information for any field service request: Accurate Identification of the Equipment by Serial Number Vessel Name and Location Order Number and Billing Instructions Where, and to Whom, the Field Service Engineer should report Point of Contact On-board the Vessel Any Portal Entry Problems and/or Broker Involved Complete Description of the Problem Availability of Spares Onboard
6.13
ORDERING NEW PARTS

Nautronix requires the following information with any new parts order: Vessel Name and Location Order Number and Billing Instructions Shipping Instructions Identity of NMS6000 DP System by Serial Number Part Name and Part Number of New Items Ordered
6-22
6.14
RETURNING ITEMS
The following information is required for returned items: Name and Serial Number of Items Reason for Return and Disposition:
Example: Repair to Working Order, Refurbish to Near-new

Condition, Evaluate to Ascertain Whether Part is Repairable, etc. Cause and Symptoms of Problem Contact Name
6-23
6-24
www.nautronix.com
7.
7.1
APPENDIX - DPS ALARM MESSAGES

DPS ALARM MESSAGES
Note Depending on the vessels DP System configuration

some of the following alarms may not apply to this vessels DP System. Disregard all alarms that do not apply to this vessels DP System.
Note The letter X following the name of a hardware item, in

the alarm message table, represents the number of that item.
Example Thruster: X may be replaced by Thruster 1 in the

actual alarm message. ALARM MESSAGE
DP X: Not Responding Ch X: Faulted Unit Ch X: Incorrect Node Configuration Ch X: Internal Diagnostics Fail Ch X: Media Fault Ch X: PLC Address Above UMAX Ch X: HARDWARE Check connections. HARDWARE Check connections. HARDWARE Check connections. HARDWARE Check connections. HARDWARE Check connections. HARDWARE
CATEGORY
HARDWARE
DEFINITION AND CORRECTIVE ACTION

Not able to detect DP. Check affected computer for possible reboot. Check connections at SPU and DP.
7-1
CHAPTER 7: APPENDIX DPS ALARM MESSAGES
ALARM MESSAGE
Self Test Fail Ch X: Temporary Errors Control Net Ch X: Cable Disconnect or Cable Fault
CATEGORY
HARDWARE
Check connections.
HARDWARE
Control Net communication failure on Ch X. Check for cable break, compartment loss, connector failure on all Control Panels, SPUs and NIUs (if installed).
Control Net Ch X: Faulted Unit
HARDWARE
Control Net node fault on Ch X. Check for faulty Control Net nodes (Control Panels, SPUs PLCs, etc.) Check for status indication, refer documentation for specific hardware details. to for
Control Net Ch X: Incorrect Node Configuration Control Net Ch X: Internal Diagnostics Fail
HARDWARE
Control Net configuration corrupt. Contact Nautronix for repair.
HARDWARE
Control Net node failure on Ch X. Check for faulty Control Net nodes (Control Panels, SPUs PLCs, etc.) Check for status indication, refer documentation for specific hardware details. to for
Control Net Ch X: PLC Address above UMAX Control Net Ch X: Random/Intermittent Comm Fault
HARDWARE
Control Net configuration corrupt. Contact Nautronix for repair.
HARDWARE
Control Net communication intermittent failure or noise on Ch X. Check for cable wear, loose connectors, coaxial shield to hull earthed at all Control Panels, SPUs and NIUs (if installed).
Control Net Ch X: Self Test Fail
HARDWARE
Control Net node failure on Ch X. Check for faulty Control Net nodes (Control
7-2
ALARM MESSAGE
CATEGORY

Panels, SPUs PLCs, etc.) Check for status indication, refer documentation for specific hardware details. to for
Control Panel Joystick: Invalid F/A Data
HARDWARE
Data received from Control Panel joystick in control of system is outside the allowed limit. Run the Control Panel test program TESTCONS to check joystick function.
Control Panel Joystick: Invalid P/S Data
HARDWARE
Control Panel Joystick: Invalid Yaw Data
HARDWARE
Control Panel: Communication Error
HARDWARE
Communication unsuccessful.
with
control
panel
was
If alarm persists, select another Control Panel to act as the Master and troubleshoot former Master.
7-3
ALARM MESSAGE
Cruise/DP Mode Input Fault
CATEGORY
THRUSTER

Redundant signals disagree. Check signals.
Cruise Mode: Thrusters not in DP Control

Cruise Mode Prohibited:
THRUSTER
System is in Cruise Mode. Change Mode.
THRUSTER
Thrusters must be turned off from DP before engaging Cruise Mode. Check signal.
Thrusters in DP Control Current Sensors: Data Timed Out from Deck Unit Current Sensors: Invalid Data Input from Deck Unit Current Sensors: Serial Port Timeout Current Sensors: Serial Receive Buffer Overflow Inspect SIGNAL I/O PAGES for correct NMEA string. Current Sensors: Serial Port Error Current Sensor 1: Invalid Angle Input Current Sensor 1: Speed Input is out of Valid Range SENSOR Check Signal. SENSOR Check signal. SENSOR Check signal. SENSOR The NMEA message rate is set too high (two per second is adequate) or the data is invalid. SENSOR Check signal. SENSOR Check signal. SENSOR
DGPS X: Correction Latency
SENSOR
The time allowed for the differential correction signal to be received has elapsed.
7-4
ALARM MESSAGE
CATEGORY

If alarm persists take sensor offline and wait for the satellite configuration to improve, or until the differential signal is received.
DGPS X: Data Rejection
SENSOR
Data falls outside the adaptive alarm threshold, 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. DGPS X: Diff Fix Low Quality Wait for satellite configuration to improve and/or a better differential signal is received. DGPS X: Diff Correction Age Exceeded If alarm persists take sensor offline until the differential signal is received. SENSOR The time allowed for the differential correction signal to be received has elapsed. SENSOR The differential correction signal reception has degraded.
DGPS X: Diff Fix Low Quality
SENSOR
The differential correction signal reception has degraded. If alarm persists take sensor offline until the differential signal is received.
DGPS X: Fix Update Period Exceeded
SENSOR
The time allowed for the differential correction signal to be received has elapsed.
7-5
ALARM MESSAGE
CATEGORY

Wait for the next correction signal.
DGPS X: High Horiz Dilution of Precision
SENSOR
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.

DGPS X: High Noise Alarm If alarm clears automatically, no corrective action is required. If alarm persists, take sensor offline. DGPS X: Invalid/Unchanging Position SENSOR Sensor data received is unchanging. Check sensor and take appropriate action. SENSOR Calculated noise level for sensor exceeds upper threshold.
7-6
ALARM MESSAGE
DGPS X: Invalid Data Received
CATEGORY
SENSOR

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.
DGPS X: Loss of Differential Corr
SENSOR
The differential correction signal received separately from the DGPS data is not currently valid, rendering the position estimate unreliable. If this alarm clears automatically, no corrective action is required. If alarm persists, the data will be permanently rejected. Inspect the data and take sensor offline if it appears invalid.
DGPS X: Median Test Alarm
SENSOR
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.
DGPS X: No Data
SENSOR
Valid data has not been received within the sensors timeout period. If alarm persists check DGPS operation or interface connection.
DGPS X: Position Quality Fault
SENSOR
The position estimate quality is low enough to be unreliable. If this alarm clears automatically, no corrective action is required. If alarm persists, the data will be permanently rejected. Inspect the data and take sensor offline if it appears invalid.
7-7
ALARM MESSAGE
DGPS X: Serial Port Error
CATEGORY
SENSOR

Error reading the serial port. Troubleshoot serial link between sensor and DP.
DGPS X: Serial Port Timeout
SENSOR
No data being received on serial port. Ensure sensor is powered up and properly configured.
DGPS X: Serial Receive Buffer Overflow
SENSOR
DGPS is sending excessive data in one DP cycle. Ensure the DGPS is sending only one sentence per second.
DGPS X: Unexpected NMEA message
SENSOR
The sensor message cannot be understood or does not conform to anticipated standard. Check that correct NMEA device is connected to sensor port.
DP Online Comparison Error
HARDWARE
Redundant discrete inputs from DP Online switch do not agree. DP assumes the switch is in the Online position.
DP Alarm X: Red Alarm
HARDWARE
Vessels DP Alert system has been activated. Input to the DP system from external alarm system. Refer to vessels operational procedures.
DP Alarm X: Yellow Alarm
HARDWARE
Vessels DP Alert system has been activated. Input to the DP system from external alarm system. Refer to vessels operational procedures.
East Axis: Dead Reckoning
CONTROL
No valid position measurements are available. Place additional position sensors online and/or troubleshoot current online sensors.
7-8
ALARM MESSAGE
Gen X: PLC/Profibus Breaker Compare Alarm Gyro X: Data Median Alarm
CATEGORY
POWER

Check on Digital I/O page.
SENSOR
Data from sensors not in agreement with two other sensors. Inspect sensor data and take faulty sensor offline.
Gyro X: Invalid Data Block
SENSOR
The NMEA message is invalid. Inspect SIGNAL I/O PAGES for correct NMEA string.
Gyro X: Power Fault
SENSOR
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.
Gyro X: Serial Port Error
SENSOR
Error reading the serial port. Troubleshoot the serial link between the sensor and the DP.
Gyro X: Serial Port Timeout
SENSOR
Sensor is not transmitting or there is a loss of signal between sensor and DP. Check sensor and wiring for proper operation.
Gyro X: Serial Receive Buffer Overflow
SENSOR
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.
Gyro X: Time out
SENSOR
Data from sensor has not been received at expected interval. Take sensor offline until data stream is
7-9
ALARM MESSAGE
CATEGORY
restored.
Gyro X: Divergence Alarm
SENSOR
Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline.
HAM: Using Nominal Bandwidth HAM: Outside Radius -Using Nominal Bandwidth Heading Excursion
CONTROL
Vessel has moved outside HAM Radius.
CONTROL
Vessel just crossed HAM radius.
CONTROL
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.
Heading Axis: Dead Reckoning
CONTROL
No valid heading measurements are available from any online gyro. Place additional gyros online troubleshoot current online gyros. and/or
Inappropriate Thruster Configuration
CONTROL
Combined surge, sway, and yaw commands may not be realized with available thrusters. Place additional thrusters in AUTO mode.
Insufficient F/A Thrust
CONTROL
Insufficient thrust available to meet surge commands. Reorient vessel to reduce thruster loading or place additional thrusters online.
7-10
ALARM MESSAGE
Insufficient Heading Thrust
CATEGORY
CONTROL

Insufficient thrust commands. available to meet yaw
Reorient vessel to reduce thruster loading or place additional thrusters online. Insufficient P/S Thrust CONTROL Insufficient thrust available to meet sway commands. Reorient vessel to reduce thruster loading or place additional thrusters online. Joystick: Calibration Error HARDWARE The joystick value is not close enough to the expected center value to allow center calibration creating an error. Set the manual controls to their center positions and perform the calibration again. Joystick: Calibration Rejected HARDWARE 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.
Joystick: Invalid F/A Data
HARDWARE
Data received from portable joystick is outside the allowed limit. Run TESTCONS to check joystick function.
Joystick: Invalid P/S Data
HARDWARE
Data received from portable joystick is outside the allowed limit. Run the Control Panel test program TESTCONS to check joystick function.
Joystick: Invalid Yaw Data
HARDWARE
Data received from portable joystick in control of system is outside the allowed limit. Run the Control Panel test program TESTCONS to check joystick function.
7-11
ALARM MESSAGE
LSTF: Cross Track Error
CATEGORY
CONTROL

Cross track error exceeds operator entered cross track error threshold. Reconfigure track or enter new error threshold.
Nav Input Expired Data
SENSOR
Data stream from navigation computer lost while in Track Follow mode. 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.
North Axis: Dead Reckoning
CONTROL
OCM Signal Droop Channel X
HARDWARE
Fiber-optic signal is degrading. Inspect fiber-optic cables and connectors.
OCM Signal Loss Channel X
HARDWARE
Fiber-optic signal has been lost. Inspect fiber-optic cables and connectors.
OPL Released to UPL: Bus X
CONTROL
Operating Power Limit has reached the Upper Power Limit due to propulsion demands. Reorient vessel to reduce propulsion demand or bring additional generators online.
PLC X: Communication Error
HARDWARE
Check for CH A, B, or I/O errors. Check for broken cables, loose connections, missing terminals, etc.
PLC X: Battery is Low PLC X: Forces Are Enabled PLC X:
HARDWARE
Replace battery while maintaining power to the PLC. Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary).
HARDWARE
HARDWARE
Place PLC switch to RUN.
7-12
ALARM MESSAGE
In Program Mode PLC X: In Test Mode PLC X: Not in Run Mode PLC X: Hot-Backup Invalid Configuration PLC X: Hot-Backup Summary Alarm PLC X: No Hot-Backup PLC Present PLC X: No Hot-Backup PLC in Control PLC/Profibus X: Compare Alarm PLC/Profibus X: PMS Auto Compare PMS X: Auto/Manual Input Fault PMS X: Disabled Manual Bias
CATEGORY

Cycle power to PLC to restart (if necessary).
HARDWARE
Ensure PLC switch is positioned to RUN. Cycle power to PLC to restart (if necessary).
HARDWARE
HARDWARE
HARDWARE
HARDWARE
HARDWARE
HARDWARE
Hardware signals dont agree. Check Digital I/O.
HARDWARE
HARDWARE
HARDWARE
PMS has disabled Operator External Power Bias.
7-13
ALARM MESSAGE
PMS X: Not in Auto - PMS Bias Disabled PMS X: Totalizing Power Compare Alarm PMS X Tot. Wattmeter Input Compare Alarm Power: Gen X Breaker Fault Power: Gen X High Level Power: Gen kW on Main Bus is Low Using Tot. Watt Meter Power: Gen X Breaker Fault Power: Gen X High Level
CATEGORY
HARDWARE

PMS has disabled Operator External Power Bias.
HARDWARE
Input signals dont agree. Check Analog I/O.
HARDWARE
Input signals dont agree. Check Analog I/O.
POWER
Hardwired and Proibus signals disagree. Check I/O.
HARDWARE
Above threshold. Check Setup Page.
HARDWARE
Check generator low signal on Analog I/O, using Tot Watt Meter
POWER
Breaker has tripped. Inspect hardware or examine PMS data.
POWER
Specified generators output exceeds alarm limit. Place additional generator(s) online to reduce load.
Power: Generator Added
CONTROL
An additional generator has been brought online. Determine if there are any resulting control issues.
7-14
ALARM MESSAGE
Power: Generator Removed
CATEGORY
CONTROL

A generator has been taken offline. Determine if there are any resulting control issues.
Power: Surge Axis Propulsion Cutback
CONTROL
Power Limiting has reduced thruster power for this axis. Reorient vessel or place additional generators online.
Power: Sway Axis Propulsion Cutback
CONTROL
Power: Yaw Axis Propulsion Cutback
CONTROL
Port Main: High Level Alert
THRUSTER
Port main thruster command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place azimuthing thruster online
Port Main: Not Ready/Not DP Control
THRUSTER
Port Main is not ready for DP control and is unable to comply with thrust commands. Troubleshoot thruster interface.
Port Main: Thrust Compare Error
THRUSTER
The difference between the commanded thrust level and the measured thrust level exceeds the Thrust Compare Alarm Limit. If the error is large, take Port Main thruster offline.
Port Main: Pitch Reduction Alarm
THRUSTER
Port Main thruster control unit has automatically reduced pitch due to overload. Reset pitch requirement.
7-15
ALARM MESSAGE
Position Excursion
CATEGORY
CONTROL

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.
Position Sensor Divergence
SENSOR
Position Sensor Divergence
SENSOR
Position Excursion
CONTROL
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.
Power: Gen X Breaker Fault
POWER
Breaker signal indicates open with significant power measured. Inspect hardware or examine PMS data.
Power: Thr X Breaker Fault
POWER
Breaker signal indicates open with significant power measured. Inspect hardware or examine PMS data.
Power:
POWER
Specified generators output exceeds alarm
7-16
ALARM MESSAGE
Gen X High Level
CATEGORY
limit.

Place additional generator(s) online to reduce load.
Power: Generator Added
CONTROL
An additional generator has been brought online. Determine if there are any resulting control issues.
Power: Generator Removed
CONTROL
A generator has been taken offline. Determine if there are any resulting control issues.
Power: Surge Axis Propulsion Cutback
CONTROL
Power: Yaw Axis Propulsion Cutback
CONTROL
Power: Sway Axis Propulsion Cutback
CONTROL
7-17
ALARM MESSAGE
Redundancy: Heading Compare Alarm
CATEGORY
CONTROL

The Master and Backup Heading estimates differ by more than the threshold set in the database. Initialize the Backup 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 DP Control Panels.
Redundancy: Database Packet Not Received
CONTROL
Database 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.
Redundancy: Init Backup Packet Not Received
CONTROL
Init Backup 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.
Redundancy: Joystick Calibration Packet Not Received
CONTROL
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.
Redundancy: LSTF Packet Not Received
CONTROL
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.
Reduced Power Alarm
THRUSTER
Thrust Allocation Logic cannot meet requested forces.
7-18
ALARM MESSAGE
CATEGORY

Reorient vessel to reduce thruster loading or place additional thrusters on-line.
Redundancy: No Master Control Panel Redundancy: Online Status Packet Not Received
CONTROL
Initiate forcing Master Control Panel back by reselecting DP online. Online Status 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.
CONTROL
Redundancy: Position Compare Alarm - East
Compare
The Master and Backup East position estimates differ by more than the threshold set in the database. Initialize the Backups to ensure that all longterm 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.
Redundancy: Position Compare Alarm North
Compare
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 longterm 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.
Redundancy: Position Sensor Packet Not Received Redundancy: User Change Packet Not Received Req Thrust Exceeds OPL: Bus X
CONTROL
Initiated position sensor packet not received. Reinitiate position sensor packet.
CONTROL
Initiated user change packet not received. Reinitiate user change packet.
CONTROL
The Operating Power Limit has been exceeded due to propulsion demands and thrust is being limited.
7-19
ALARM MESSAGE
CATEGORY

The OPL may automatically increase over time, but you may need to bring more generators online.
RS925 Beacon X: Data Rejection
SENSOR
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.
SPU X: ACNR1 Connection Status Alarm SPU X: ACNR1 Connection Status Alarm SPU X: ACNR2 Connection Status Alarm SPU X: ACNR Loss / Insuff F/A Thrust
HARDWARE
Verify current module type and connections. Replace module and cycle power to SPU.
HARDWARE
HARDWARE
CONSEQ
The Consequence Analysis function has determined that the loss of the specific SPU would result in unmet F/A thrust commands.
SPU X: ACNR Loss / Insuff P/S Thrust
CONSEQ
The Consequence Analysis function has determined that the loss of the specific SPU would result in unmet P/S thrust commands.
SPU X: ACNR Loss / Insuff Hdg Thrust
CONSEQ
The Consequence Analysis function has determined that the loss of the specific SPU would result in unmet Hdg thrust commands.
SPU X/MODX: 24VDC Power Failure
HARDWARE
Failure or degradation of 24vdc power supply to I/O Module X in SPU X.
7-20
ALARM MESSAGE
CATEGORY

Check power supply at fuse or physical connection.
SPU X/MODX: Module Bad; Missing; or Wrong Type
HARDWARE
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.
SPU X/MOD X/Chn X: Over Ranged
HARDWARE
Analog signal is over range by approx. 10% of maximum value (11 vdc or 22 mA) Check incoming signal and correct from the source.
SPU X/MOD X/Chn X: Under Ranged
HARDWARE
Analog signal is under range by approx. 10% of maximum value (-11 vdc or 3.6 mA) Check incoming signal and correct from the source.
SPU / PS X: +24Vdc Power Fault
HARDWARE
Power supply within SPU is not out-putting adequate voltage. Check input/output of Power Supply. Replace if necessary.
SPU / PS X: +24Vdc Power Fault
HARDWARE
SPU is not receiving adequate power. Take SPU offline until this condition clears. Troubleshoot UPS.
SPU / PS X +24Vdc Power Fault
HARDWARE
SPU is not receiving adequate power. Take SPU offline until this condition clears. Troubleshoot UPS.
SPU/Mod/ChnlY: Over Ranged
HARDWARE
Compare measured field value with signal I/O page.
7-21
ALARM MESSAGE
CATEGORY
SPU/Mod/ChnlY: Under Ranged SPU/ModX: 24VDC Power Failure SPU/ModX: Analog Data Invalid SPU/ModX Module bad; missing; or wrong type
HARDWARE
HARDWARE
Check fuses and power to module.
HARDWARE
HARDWARE
SPU X / ACNRX: Connection Status Alarm Stbd Main: High Level Alert
HARDWARE
THRUSTER
Stbd main thruster command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place azimuthing thruster online.
Stbd Main: Not Ready / Not DP Control
THRUSTER
Stbd Main is unable to comply with thrust commands. Troubleshoot thruster interface.
Stbd Main: Thrust Compare Error
THRUSTER
The difference between the commanded thrust level and the measured thrust level exceeds the Thrust Compare Alarm Limit. If the error is large, take Stbd Main thruster offline.
7-22
ALARM MESSAGE
Stbd Main: Pitch Reduction Alarm
CATEGORY
THRUSTER

Stbd Main thruster control unit has automatically reduced pitch due to overload. Reset pitch requirement.
TAC Input: Invalid F/A Data TAC Input: Invalid P/S Data TAC Input: Invalid Yaw Data
HARDWARE
Check Analog I/O.
HARDWARE
Check Analog I/O.
HARDWARE
Check Analog I/O.
Thruster X AZM: +10Vdc Power Fault
THRUSTER
DC/DC converter in corresponding SPU is faulted. Trouble-shoot Power supply, I/O module or physical connections within SPU cabinet.
Thruster X AZM: -10Vdc Power Fault
THRUSTER
DC/DC converter in corresponding SPU is faulted. Trouble-shoot Power supply, I/O module or physical connections within SPU cabinet.
Thruster X: Power/RPM Compare Alarm
THRUSTER
KW input and kW calculated (based on RPM) are not in agreement and exceeding alarm threshold. Check RPM and power inputs.
Thruster X AZM: Azimuth Sin/Cos Feedback Error Thruster X: Direction Input Fault
THRUSTER
Sin/Cos feedback is not aligned. Check both Sin and Cos inputs at I/O module for correct voltages.
THRUSTER
Port and starboard direction feedbacks from thrusters are either both high or both low.
7-23
ALARM MESSAGE
CATEGORY

Troubleshoot the thruster interface.
Thruster X AZM: Drive Inhibit
THRUSTER
Vessel Management system has intervened with thruster motor operations to cut back power. System should return to normal after power plant has stabilized.
Thruster X: Azimuth Compare Error
THRUSTER
The difference between the commanded azimuth and the measured azimuth exceeds the Azimuth Compare Alarm Limit. If the error is large, take thruster offline.
Thruster X: High Level Alert
THRUSTER
Thrust command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place additional thrusters online.
Thruster X: Not Rdy / Not DP Ctrl
THRUSTER
Thruster is not ready for DP control and is unable to comply with thrust commands. Take thruster offline and troubleshoot thruster interface.
Thruster X: Thrust Compare
THRUSTER
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 Fault
CONTROL
Check Analog I/O.
Thruster X: High Level Alert
THRUSTER
Thrust command exceeds Thrust Alarm Limit. Reorient vessel to reduce thruster loading or place additional thrusters online.
Thruster X: Fixed Thrust Direction Cancelled
THRUSTER
Refer to Port Prop condition.
7-24
ALARM MESSAGE
Thruster X: Logic Error Auto Without Ready Thruster X: Fixed Thrust Direction Cancelled Thruster X: Power Compare Alarm Thrust Limit Alarm
CATEGORY
THRUSTER

THRUSTER
THRUSTER
THRUSTER
Thrust Allocation Logic cannot meet requested forces. Reorient vessel to reduce thruster loading or place additional thrusters on-line.
Thruster Config Error
THRUSTER
Combined surge, sway, and yaw commands not realized with available thrusters. Place additional thrusters in AUTO mode.
Thruster Reduced Power
THRUSTER
DP is unable to determine the power setting of the thruster motor. Troubleshoot thruster interface.
Track Follow Sensor: Data Rejection
SENSOR
Data falls outside the adaptive alarm threshold, 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. Track Follow Sensor: High Noise Alarm SENSOR Calculated noise level for sensor exceeds upper threshold. If alarm clears automatically, no corrective
7-25
ALARM MESSAGE
CATEGORY

action is required. If alarm persists, take sensor offline.
Track Follow Sensor: Median Test Alarm
SENSOR
Drift has exceeded Drift Alarm Threshold. If this alarm clears automatically, no corrective action is required. If alarm persists, the data will be permanently rejected. Inspect the data and take sensor offline or perform Position Reference Calibration.
Track Input Bcn X: No Message
SENSOR
Data for the indicated beacon has not been included in the serial message from the hydroacoustic system. Take sensor offline until data stream is restored.
Track Input Bcn X: NRL Error
SENSOR
Navigation computer reports it has rejected its solution for the pseudo-beacons position due to high noise. Refer to Acoustic Position System manual for further information.
Track Input Bcn X: Solve Error
SENSOR
Navigation computer reports it is unable to solve solution for pseudo-beacons position. Refer to Acoustic Position System manual for further information.
Track Input Bcn X: Tilt Telemetry Fault
SENSOR
Navigation computer reports it is unable to solve solution for pseudo-beacons position. Refer to Acoustic Position System manual for further information.
Track Input Bcn X: Timeout
SENSOR
Pseduo-Beacon serial port has not received full data page in the casualty time. Check pseudo-beacon serial data page.
Track Input:
SENSOR
Heading data sent to Acoustic Position Reference System does not agree with DP
7-26
ALARM MESSAGE
Heading Compare Error
CATEGORY
heading.

Inspect sensor data to determine which reading is valid.
Track Input: Serial Port Error
SENSOR
Error reading the serial port. Troubleshoot the serial link between the sensor and the DP.
Track Input: Serial Port Timeout
SENSOR
Pseudo-Beacon serial port has not received full data page in the casualty time. Check beacon serial data page.
Track Input: Serial Receive Buffer Overflow
SENSOR
The navigation computer is sending to much data in one DP cycle. Ensure the navigation computer is sending only one sentence per second.
UPS X: Summary Alarm
HARDWARE
This is a UPS Summary Alarm. Refer to manufacturers UPS Manual.
UPS X: Bypass Alarm
HARDWARE
The input voltage is being sent straight through as output. Refer to manufacturers UPS Manual.
UPS X: Line Failure
HARDWARE
The input line voltage is outside of nominal values and the UPS is switching to battery power. Investigate loss of line power.
UPS X: Low Battery Warning
HARDWARE
The UPS has detected an impending loss of power from the battery backup during an input power failure. Prepare to shut down the DP.
VRU X: Maximum Pitch Angle
SENSOR
Measured pitch data exceeds allowed value as defined in (nominally 30 degrees).
maximum database
Unless vessel pitch angle is actually excessive, the sensor has failed and must be taken offline.
7-27
ALARM MESSAGE
VRU X: +15Vdc Power Error
CATEGORY
SENSOR

Sensor is not receiving adequate power. Take sensor offline until this condition clears.
VRU X: -15Vdc Power Error VRU X: Receive Buffer Overflow
SENSOR
Sensor is not receiving adequate power. Take sensor offline until this condition clears.
SENSOR
The NMEA message rate is set too high (2 per second is adequate) or the data is invalid. Inspect SIGNAL PAGES for correct string.
VRU X: Maximum Roll Angle
SENSOR
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.
VRU X: Pitch Data Divergence Alarm
SENSOR
VRU X: Roll Data Divergence Alarm
SENSOR
Warning: Selected Current Source Not Valid Wind X: Angle Data Median Alarm
CONTROL
Operator has selected calculated current on SENSOR PAGES while not in HOLD POSITION mode with AWC active. Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor offline.
SENSOR
Wind X: Speed Compare Warning
SENSOR
Data from two or more sensors not in agreement. Inspect sensor data and take faulty sensor
7-28
ALARM MESSAGE
CATEGORY
offline.
Wind X: Speed Data Divergence Alarm
SENSOR
Wind X: +15Vdc Power Error Wind X: Angle Compare Warning
SENSOR
Input is out of range. Inspect for open circuit from sensor.
SENSOR
Wind X: Invalid Analog Data Wind X: Invalid Speed Wind X: Invalid / Unchanging Angle
SENSOR
Measurement is out of range.
SENSOR
Measurement is out of range. Inspect for open circuit from sensor.
SENSOR
Angle Measurement is not changing. Inspect for open circuit mechanically stuck sensor. from sensor or
Yellow Alert Excursion
CONTROL
Measured Excursion has exceeded the Yellow Alert Radius. If condition persists, review sensor and propulsion status for contributing alarm conditions.
7-29
7-30
nautronix.com
8.
INDEX
8-1
INDEX
A Absolute or Relative format....................... 4-39 Absolute Setpoint ........................................ 4-3 ACNR-15 Intelligent Communication Modules .............................................................. 6-16 Active Wind Compensation (AWC) ........... 4-17 ACTIVE WIND COMPENSATION (AWC) MODE ..........................................4-43, 4-95 Active Wind Compensation Processing .... 4-43 Actual Mode Mode Actual - Plot Page 3 ... 4-92 Actuator ..............................................4-2, 4-15 Adapter - Remote I/O ................................ 6-18 Air Filter Service Monthly .................. 6-3, 6-4 Alarm Messages................................................ 7-1 Alarm Conditions..................................... 4-102 Alarm Notification .................................... 4-103 Alarms Color Coding ....................................... 4-103 Alarms & troubleshooting ........................ 4-102 Alert Radius............................................... 4-55 Analog & Digital I/Os ................................. 6-11 Anti-Static Wrist Strap ................................. 6-1 Appendix - DPS Alarm Messages....... 7-1, 8-1 Assignable Hotkeys................................... 3-13 Auto Backup Panel.................................... 4-31 Auto Heading for Minimum Thrust (AHMT) ................................................. 4-18 Auto Thruster Select Key .......................... 4-84 Automatic Control Loop............................. 4-13 Auxiliary Sensors ........................1-4, 4-2, 4-56 Auxiliary Switch Group .....................4-31, 4-32 Auxiliary Switch Group - Optional ............. 3-10 B Backup Console Display Page Selection.. 4-22 Backup Panels .......................................... 4-31 Back-up/Standby Operator Control Panel... 4-3 Bases - Flex I/O Terminal ......................... 6-17 Battery - UPS ............................................ 6-19 Bias ............................................................. 4-2 Blocks - Keyboard Switch ......................... 6-14 Bumpless Control Transfer ....................... 4-32 C Calibration Joystick ................................... 6-12 Central Processor Unit .....................6-12, 6-15 Chart.......................................................... 5-17 Chart Page - Follow Ship .......................... 4-63 Chart Page - Force / Motion Vectors Vectors Force / Motion Chart Page................. 4-65 Chart Page - Lat/Lon Grids ....................... 4-63 Chart Page - No Grid ................................ 4-63 Chart Page - North/East............................ 4-63 Chart Page - Sensor Disp ......................... 4-63
Chart Page - Ship Focus........................... 4-63 Chart Page - Symbols ............................... 4-65 Chart Page - Track Disp............................ 4-64 Chart Page - Vessel Trail .......................... 4-63 Chart PAGE Screen .................................. 4-61 4-70 CHART PAGE SCREENS .......................... 8-1 Charting Position Reference Sensor Data 4-60 Circle TAL ................................................. 4-80 Circuit Card Jumper Configurations.......... 6-12 Clockwise / Counterclockwise Signing Conventions ............................................ 4-9 Color Coding Alarms................................................. 4-103 Wind Sensor Data................................. 4-57 Command Buttons .................................... 3-17 Comparator ........................................ 4-2, 4-14 Compass ................................................... 4-25 Conditions - Alarms................................. 4-102 Configuration Buttons Chart Page ............ 4-63 Configuration Point - Example .................. 4-90 Consoles, Functions.................................. 4-29 Control Modes & Automatic Maneuvers - Goal Setpoints Position ................................................. 4-98 Control Modes & Automatic Maneuvers Heading Setpoint Maneuvers ............... 4-97 Control Transfer Between Consoles ......... 4-32 Controller............................................ 4-2, 4-14 Controller - Programmable Logic ................ 6-9 Controller - Switch Interface....6-11, 6-12, 6-14 Controller Gains ........................................ 4-51 ControlNet & EtherNet ................................ 1-4 COR Active ............................................... 4-53 COR Offsets F/A ....................................... 4-53 COR Offsets S/P ....................................... 4-53 Corrected Position Data ............................ 4-60 Corrective Action & System Reset............ 6-10 Current - Plot Page 3 ................................ 4-92 Current Direction DP Simulation Mode ... 4-46 Current Velocity DP Simulation Mode..... 4-46 Cursor Control............................................. 3-8 Cursor Control Switches .................. 3-10, 3-11 Cycle ........................................................... 4-2 D Data Entry Fields....................................... 3-16 Data Entry Keypad .................................... 3-17 Data Entry Keypad ...................................... 3-5 Data Position Reference Sensor Charting ................................................ 4-60 Dead Reckoning.......................................... 4-6 Definition Drift,........................................... 4-12 Definition Median Testing ......................... 4-10 Definition Sensors Jumping ................................................ 4-12
8-2
INDEX Definition Weighting Sensor ......................4-12 Definition, Origin Reference Sensor ..........4-10 Derivative Term .........................................4-14 Desensitizing Manual Controls ..................4-95 Detail Display Page Selection ...................4-22 Detailed Display Pages .............................4-21 Deviation......................................................4-3 Deviation Display Center of................................................4-47 Frames ..................................................4-49 Scale .....................................................4-49 Deviation Display Screen ..........................4-25 DGPS Tabular Display ..............................4-58 Differential Global Positioning System ......4-58 Display Adjustment Controls .....................3-12 Display Pages Choosing Left/Right...............................4-23 Display Pages - Detailed ...........................4-21 Display Screen Interfacing.........................3-16 Display Screen Layout...............................4-19 Display Select - Optional .............................3-4 Display Units..............................................4-49 Display Window .........................................4-71 DP Control Gains.......................................4-51 DP Gains Compute....................................4-51 dp operator interface basics ........................3-1 DP Simulation Mode.......................... 4-45, 5-6 DP System Control Loop ...........................4-13 DP System Operational Hints..................4-100 DP System Operational Hints DGPS Drift...........................................4-100 DP System Operational Hints - Integral PreLoading................................................4-101 DP System Operational Hints - Integral Transfers .............................................4-102 DP System Operational Hints - Integral Windup ................................................4-101 DP System Operations ................................4-1 DP System Overview...................................1-1 DP SYSTEM overview.................................7-1 DP System start & shutdown.......................2-1 DP System Terminology..............................4-2 4-84 DP System Thruster Modes ......................4-84 DP Title Bar ...............................................4-20 DPS 1/2/3 Console Panel Synchronization ...............................................................4-32 Drift Definition ............................................4-12 Dynamic Positioning Operations Overview .1-5 E EARTH AXES SIGNING CONVENTIONS .............4-8 Electrostatic Discharge Precautions............6-1 Error...........................................................4-28 Error - Messages .......................................4-28 ESD (Electrostatic Discharge) .....................6-2 ESD Guidelines ...........................................6-2 Ethernet Hub..............................................6-18 Extender Board - Switch Interface.............6-15 F Field Service Order Information.................6-22 Flex I/O Modules .......................................6-10 Flex I\O Modules .......................................6-16 Flex I\O Terminal Bases ............................6-17 Forces.............................................. 4-83, 4-88 Forces % - Actual ............................ 4-84, 4-88 Forces % - CutBk ............................ 4-83, 4-88 Forces % - Envr ............................... 4-83, 4-88 Forces % - Jstk ................................ 4-83, 4-88 Forces % - Total .............................. 4-83, 4-88 Forces % - Wind .............................. 4-83, 4-88 Format Absolute or Relative ......................4-39 Function Select - Optional ...........................3-4 G Gains,Control DP.......................................4-51 Global Positioning System.........................6-20 GLOSSARY OF ABBREVIATIONS & ACRONYMS..1-6 Goal Heading Setpoint ..............................4-25 Goal Setpoint...............................................4-6 Viewing..................................................4-28 Goal Setpoints .............................................4-3 Goal Setpoints - Heading ..........................4-97 Gyrocompass.............................................6-12 H Ham Radius ...............................................4-50 Hardware Shutdown ....................................2-4 Heading Control Knob .................................3-9 Heading Error Threshold ................. 4-50, 4-55 Heading Setpoint Function ........................4-97 Help Messages..........................................4-28 High Velocity Turns ...................................4-37 Hold Area Mode.........................................4-44 Hold Heading .............................................4-16 Hold Position..............................................4-16 Hold Position - Activation...........................4-38 Holding Capability......................................5-16 Hotkey Assignment....................................3-13 Hub - Ethernet ...........................................6-18 Hypothetical Mode.....................................4-92 I I/O Modules .................................................1-4 I/Os - Analog & Digital ...............................6-11 Illumination Adjustment Controls Display ..3-12 Init Backup Switch ........................... 4-33, 4-34 Initial Condition DP Simulation Mode ......4-46 Initializing Backup Panels................ 4-33, 4-34 Instantaneous Heading Setpoint ...............4-25 Instantaneous Setpoint........................ 4-3, 4-6 Integral Preloading ..................................4-101 Integral Term .............................................4-14 8-3
INDEX Integral Transfers .................................... 4-102 Integral Windup ....................................... 4-101 Items - Returning....................................... 6-23 J Joystick Calibration ................................... 6-12 Joystick Desensitize Function ................... 4-95 Jumper Configurations - Circuit Card........ 6-12 Jumping Sensors Definition ors ................ 4-12 K Kalman Filter ............................................... 4-4 Keyboard Switch Blocks............................ 6-14 Keyboard Test Point Values/Adjustments... 6-6 Keypad ........................................................ 3-5 L Lamp Intensity Knob ................................... 3-9 Lamp Removal Tool .................................... 6-1 Left Section - Heading Control Knob .......... 3-9 Left/Right Display Page Selection............. 4-23 Left-clicking ............................................... 3-11 Left-clicking ............................................... 3-11 Lens Removal Tool ..................................... 6-1 List of Detailed Display Pages .................. 4-21 Low Pass Wave Filter ............................... 4-16 Low Speed Track Follow........................... 4-17 Low Speed Track Follow - Activation........ 4-39 LSTF.......................................................... 4-67 LSTF Maneuver - Stopping ....................... 4-41 LSTF Mode Activation............................... 4-39 M Main Section Switch Control Groups .......... 3-3 Maintenance Procedures Monthly ........... 6-3 Maneuver Process Overview ...................... 4-6 Manual Control.......................................... 4-17 Manual Conventions ................................... 1-8 Manual Heading-Automatic Position Control..................................... 4-37 Manual Thruster Select Key...................... 4-84 Master ......................................................... 4-3 Master Operator Control Panel ................... 4-3 Master Panel ............................................. 4-31 Measured Position Data............................ 4-60 Measurement Update.................................. 4-4 Median Alarm ............................................ 4-55 Median Testing Definition.......................... 4-10 Messages - Alarm ....................................... 7-1 Minimum Deviation Scale.......................... 4-49 MODE - LOW SPEED TRACK FOLLOW . 4-39 Mode DP Simulation Mode ..................... 4-47 Mode Function ............................................ 5-5 Mode Function Page ................................. 4-94 MODE LOW SPEED TRACK FOLLOW ... 4-97 Mode Select .............................................. 4-95 Mode Select Optional.................................. 3-5 Model Propagation ...................................... 4-4 Modem - Optical Communications............ 6-18 Modules - Flex I/O............................ 6-10, 6-16 Modules - Intelligent Communication........ 6-16 Moment ....................................................... 4-3 Monitor Power Switch Panel ..................... 3-12 Motion Reference Unit .............................. 6-20 Multimeter ................................................... 6-1 N Navigation Bar Bar - Navigation................ 4-20 New Parts Ordering................................... 6-22 NMS Online Key........................................ 4-32 NMS6000 DP System Configuration......... 4-29 NMS6000 DP System Start ........................ 2-1 NMS6000 Overview .................................... 1-1 Noise Rejection Logic ............................... 4-10 Noise Sensor............................................... 4-9 Notch Filter................................................ 4-16 Numeric Keypad.......................................... 3-5 O On Screen Display (OSD) Menu Control Panel .............................................................. 3-13 OPERATIONAL .................................... 4-42, 4-43 Operational Modes Manual Mode - Position & Heading ..... 4-96 Operational Modes.................................... 4-35 Operational Modes - Hold Heading......... 4-95 Operational Modes - Auto Heading Minimum Thrust........................................... 4-44, 4-96 Operational Modes - Hold Position .......... 4-95 Operational Modes - Active Wind Compensation (AWC).................. 4-43, 4-95 Operational Modes - Hold Heading........... 4-36 Operational Modes - Hold Position ........... 4-37 Operational Modes -LOW SPEED TRACK FOLLOW............................................... 4-39 Operational Modes Manual Mode (Transit).......................... 4-35 Operational Modes - Remote Center of Rotation Selecting........................ 4-44, 4-96 Operational Modes - Track definition file format.................................................... 4-42 Operational Modes Hold Area Mode (HAM)........................................... 4-44, 4-96 Operational Modes LOW SPEED TRACK FOLLOW............................................... 4-97 Operational Theory ..................................... 4-1 Operator Consoles, Functions .................. 4-29 Operator Control Panels ............................. 1-1 Operator Panel Switch Testing ................... 3-6 Operator Prompts...................................... 4-28 Optical Communications Modem .............. 6-18 Option Buttons .......................................... 3-17 Optional Control Panel ................................ 3-2 Order Information - Field Service.............. 6-22
8-4
INDEX Ordering New Parts ...................................6-22 Origin ...........................................................4-3 Oscilloscope ................................................6-1 Overview Dynamic Positioning Operations .1-5 Overview Page ..........................................4-24 P Pages/Screens ............................................4-3 Pan & Zoom Control Buttons Chart Page ............................................4-62 Panel Data Entry Keypad ............................3-5 Parts - Recommended Spares ..................6-21 Passing Waypoints ....................................4-41 Passing Way-points (LSTF).......................4-41 PID Controller .................................... 4-2, 4-14 PITCH, ROLL, & HEAVE SIGNING CONVENTIONS 49 Plot Menu Vessel Specific Display Screens ...............................................................5-15 Plot Page 1 ................................................4-88 Plot Page 2 ................................................4-88 Plot Page 3 ................................................4-91 Plot Page 3 - Wind Wind Plot Page 3.....4-92 Point Configuration Pop-up .......................4-90 Pop-Up Keypad .........................................3-17 Position Control Joystick .............................3-8 Position Data - Corrected ..........................4-60 Position Data - Measured ..........................4-60 Position Error Threshold............................4-55 Position Goal Setpoints .............................4-98 Position Noise DP Simulation Mode........4-46 Position Reference 2 .................................5-11 Position Reference Page...........................4-58 Position Reference Page 1........................5-10 Position Reference Sensor Data Use........4-59 Position Reference Sensor Symbols Chart Page ......................................................4-65 Position Reference Sensors ........................4-3 Position Sensor Blending ..........................4-15 Position Setpoint Function.........................4-98 Position Setpoint Selection : Current Position Pop-up ...................................................4-98 Position Tabular Tabular Position) ...........4-28 Power Supply - SPU ..................................6-19 Power Supply - Uninterruptible (SPU).......6-19 Power Supply - Uniterruptible (ASK) .........6-18 Power Supply Voltage- Inspecting...............6-4 Precautions Electrostatic Discharge.........6-1 Primary Control Modes..............................4-36 Printers ........................................................1-4 Programmable Logic Controller...................6-9 Prompt Messages......................................4-28 Proportional Term ......................................4-14 Proportional-Integral-Derivative Controller ..4-2 Propulsion Menu - Vessel Specific Display Screens .................................................5-12 Protective Procedures .................................6-2 R Recommended Spare Parts ......................6-21 Red Alert Radius .......................................4-65 Red & Yellow Alert Circles Circles Red & Yellow Alert ...........................................4-65 RELATIVE TRACKS CONTROL MODES & AUTOMATIC MANEUVERS .........................4-42 Remote Center of Rotation........................4-53 Remote Center of Rotation (COR) ............4-17 Remote I/O Adapter...................................6-18 Returning Items .........................................6-23 Right Section - Position Control Joystick.....3-8 RS232..........................................................6-8 RS422/RS485..............................................6-9 S Scale, Deviation Display............................4-49 Screen Buttons Available / Unavailable for Change..................................................3-18 Select Display - Optional .............................3-4 Select Function - Optional ...........................3-4 Select Mode.................................................3-5 Select Sensor - Optional..............................3-3 Select Thruster ............................................3-5 Selecting ....................................................3-11 Selecting: Left-clicking..............................3-10 Selection Backup Console Display Page ..4-22 Selection Detail Display Page ...................4-22 Sensor Noise .......................................................4-9 Sensor Biasing ............................................4-2 Sensor Menu Vessel Specific Display Screens ...................................................5-7 Sensor Page 1 ................................... 4-56, 5-8 SENSOR PAGE 1 .....................................4-56 Sensor Page 2 ................................... 4-56, 5-9 Sensor Screen Buttons..............................4-59 Sensor Select - Optional..............................3-3 Sensors Weight Definition ...................................4-12 Service Locations ......................................6-21 Set / Modify Controller Gains Setup Page 2.........................................4-52 Setpoint......................................................4-28 Setpoint Select ............................................4-6 Setpoints Definition .................................................4-3 Setup Menu .................................................5-1 Setup Page 1 .............................................4-48 Setup Page 1 ...............................................5-2 Setup Page 2 ...............................................5-3 Setup Page 2 Screen ................................4-52 Setup Page 3 ...............................................5-4 Setup Page 3 Screen ................................4-54 Setup Page Screens..................................4-48 Ship Axes Signing Conventions ..................4-7
8-5
INDEX Signal I/O Page 3:Serial Communications 4-93 Signal Maintenance & Troubleshooting ...... 6-8 Signal Processing Units (SPUs) ................. 1-4 Simulation Rate DP Simulation Mode..... 4-46 SoftPLC Controllers .................................... 1-4 Software Startup .................................................... 2-2 Software Shutdown ..................................... 2-3 Sounds ...................................................... 3-18 SPU Modules & Components ................... 6-16 SPU Power Supply.................................... 6-19 Station Keeping Control Law....................... 4-5 Status/Prompt Window.............................. 4-34 Stop Sequence (LSTF) ............................. 4-41 Surge........................................................... 4-3 Sway............................................................ 4-4 Switch - Cursor Control ............................. 3-10 Switch Interface Controller ......6-11, 6-12, 6-14 Switch Interface Extender Board .............. 6-15 Symbols Chart Page............................................ 4-61 Deviation Display .................................. 4-27 Symbols - Chart Page ............................... 4-65 System - Global Positioning ...................... 6-20 7-1 System Maintenance & Test Procedures.... 6-1 System Reset & Corrective Action............ 6-10 System Status Messages.......................... 4-28 T TAL Circle.................................................. 4-80 Terms (Proportional-Integral-Derivative)... 4-14 Test Point Values/Adjustments Operator Control Panel .......................................... 6-5 Test Points/Values/Adjustments SPU...... 6-6 Thrust Allocation Logic - Processing........ 4-85 Thrust Compare ........................................ 4-55 Thrust Level .............................................. 4-56 Thrust Page 1...................................4-35, 4-78 Thrust Page 1 - Azimuthing Thruster Icons ....................................... 4-79 Thrust Page 1 - Thrust Allocation Logic (TAL) Display .................................................. 4-80 Thrust Page 2............................................ 5-14 Thrust Page 2 - Alarms Alarms - Thrust Page 2 ............................................................ 4-87 Thrust Page 2 - Cmnd %........................... 4-87 Thrust Page 2 - Cmnd ............................. 4-87 Thrust Page 2 - Fdbk % ............................ 4-87 Thrust Page 2 - Fdbk ............................... 4-87 Thrust Page 2 - Forces % ................4-83, 4-88 Thrust Page 2 - Mode ............................... 4-86 Thrust Page 2 - Pitch Cmnd .................... 4-87 Thrust Page 2 - Pitch Fdbk ....................... 4-87 Thrust Page 2 Thruster Selection .......... 4-84 Thrust Page Screens ................................ 4-78 Thruster ..................................................... 5-13 Thruster Biasing .......................................... 4-2 Thruster Modes - Auto .............................. 4-84 Thruster Modes - Manual.......................... 4-84 Thruster Modes - Off ................................. 4-84 Thruster Select............................................ 3-5 Touch Screen Monitor............................... 3-11 Touch Screen Monitors ............................... 1-4 Track & Waypoint Description................... 4-40 Track Control Summary ............................ 4-67 Track Definition File (LSTF) ...................... 4-42 Track Definition File format ....................... 4-42 Track Display Selection & Monitoring ....... 4-40 Track Operation ........................................ 5-18 Track Operation Page ............................... 4-66 Track Operation - Cross............................ 4-68 Track Operation - Deviation ...................... 4-67 Track Operation - Goal stpt....................... 4-67 Track Operation - Heading........................ 4-67 Track Operation - Heading Mode.............. 4-69 Track Operation - Leg ............................... 4-67 Track Operation North / East ................. 4-68 Track Operation - Speed Mode................. 4-69 Track Operation - User Speed .................. 4-70 Track Operation - Vessel .......................... 4-67 Track Settings ........................................... 4-68 Trackball........................................... 3-10, 3-11 Transfers Integral .................................... 4-102 U Uninterruptible Power Supplies (UPS)........ 1-4 Uninterruptible Power Supply .......... 6-18, 6-19 Unit - Central Processor................... 6-12, 6-15 Unit - Motion Reference ............................ 6-20 Unit - Vertical Reference ........................... 6-20 UPS Battery .............................................. 6-19 V Vertical Reference Section ....................... 4-57 Vertical Reference Unit ............................. 6-20 Vessel........................................................ 4-28 Vessel Draft............................................... 4-50 6-1 Vessel Specific Display Screens................. 5-1 Voltage Regulator ..................................... 6-15 W Waypoint ................................................... 5-19 Waypoint Waypoint Edit Pop-up ............... 4-77 Waypoint - Absolute .................................. 4-74 Waypoint - Add.......................................... 4-76 Waypoint - Cross Track Threshold .......... 4-73 Waypoint - Edit.......................................... 4-77 Waypoint - Identifier .................................. 4-77 Waypoint - Insert ....................................... 4-76 Waypoint - Lat/Lon .................................... 4-72 Waypoint - N / E ........................................ 4-72 Waypoint - New......................................... 4-73
8-6
INDEX Waypoint - Position....................................4-77 Waypoint - Properties ................................4-77 Waypoint - Relative ...................................4-74 Waypoint - Route .......................................4-73 Waypoint - Speed ......................................4-78 Waypoint - Up ............................................4-76 Waypoint - Waypoint .................................4-75 Waypoint Page ..........................................4-70 Waypoint - Delete ......................................4-76 Waypoint - Down .......................................4-76 Waypoint - Heading ...................................4-78 Waypoint - Save ........................................4-75 Waypoint - Select.......................................4-74 Waypoints - Passing..................................4-41 Wind Compensation (Wind Comp) ............4-43 Wind Direction DP Simulation Mode .......4-46 Wind Direction Variance DP Simulation Mode ...............................................................4-46 Wind Sensor - Online ................................4-57 Wind Sensors ............................................4-57 Wind Speed DP Simulation Mode ..........4-46 Wind Speed Variance DP Simulation Mode..............................4-46 Y Yaw:.............................................................4-4 Yellow Alert Radius ...................................4-65
8-7
INDEX
8-8
www.nautronix.com
9. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS

Vessel Specific Documentation & Drawings are issued for the Vessels Name as follows:
Drawing / Document Number 24000000WI-TBD 24004005WI-TBD
Drawing / Document File Number 24000000WI-TBD-A.DWG 24004005WI-TBD-A.DWG
Drawing / Document Title System Interconnect Diagram, NMS6000-DP, Vessels Name Cable Specification, NMS6000DP Vessels Name CPU Assy, A4200, Vessels Name System Test Plan, NMS6000-DP, Vessels Name Wiring Diagram, Console Comp, Vessels Name Wiring Diagram, SPU, Vessels Name System Specification, NMS6000 DP (Class TBD) System, Vessels Name Points List, NMS6000, Vessels Name
24004426PL-TBDAV1 24004426PL-TBDAV1-A.DOC 24004805TP-TBD 24004928WD-TBD 24004996WD-TBD 24005000PS-TBD 24004805TP-TBD-A.DOC 24004928WD-TBD-A.DWG 24004996WD-TBD-A.DWG 24005000PS-TBD-A.DOC
24005290PS-TBD
24005290PS-TBD-A.DOC

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24006000TM-TBD NMS6000 DP System O & M Manual May 2006 Rev A

M/V VESSEL NAME

COPYRIGHT AND CHANGES

NMS6000 Operations and Maintenance Manual

COPYRIGHT AND CHANGES

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NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

DP SYSTEM ALARMS AND MESSAGES ...............................................................4-104

NMS6000 Operations and Maintenance Manual

9. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS..............................................9-1

NMS6000 Operations and Maintenance Manual

List of Figures and Tables

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

LIST OF FIGURES AND TABLES

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NMS6000 Operations and Maintenance Manual

Note -Nautronix suggests NMS6000 DP Operators read this

NMS6000 DP SYSTEM BASIC OVERVIEW

Note - Due to customer requirements, the NMS6000 DP System

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

Figure 1-1. DPS0 System Overview

Figure 1-2. DPS-1 System Overview

CHAPTER 1: DP SYSTEM OVERVIEW

Figure 1-3. DPS-2 System Overview

Figure 1-4. DPS-3 System Overview

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

DYNAMIC POSITIONING OPERATIONS OVERVIEW

Note - The following overview is not intended to serve as guidelines

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

GLOSSARY OF ABBREVIATIONS AND ACRONYMS

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

Bold Capitals Underline

Example -When a given switch has three positions,

NMS6000 Operations and Maintenance Manual

DP SYSTEM START AND SHUTDOWN

Note Depending upon the vessels NMS6000 DP System

NMS6000 DP SYSTEM START

Note - This process can take up to four minutes to complete.

NMS6000 Operations and Maintenance Manual

CHAPTER 2: DP SYSTEM START AND SHUTDOWN

Figure 2-1. DP Typical Display Screen

NMS6000 Operations and Maintenance Manual

CHAPTER 2: DP SYSTEM START AND SHUTDOWN

Note - DP Software shutdown on an NMS6000 Operator

2. A Drop-down Menu appears. 3. Select the SHUT DOWN screen button.

4. The following Enter System Password box appears:

NMS6000 Operations and Maintenance Manual

CHAPTER 2: DP SYSTEM START AND SHUTDOWN

NMS6000 Operations and Maintenance Manual