NMS6000 O&M Manual - Generic 06-05-23

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
This page intentionally left blank.
ii
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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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TABLE OF CONTENTS
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
vi
TABLE OF CONTENTS
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
vii
TABLE OF CONTENTS
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.
APPENDIX - DPS ALARM MESSAGES....................................................................7-1

7.1
8.
DPS ALARM MESSAGES .........................................................................................7-1
INDEX ..........................................................................................................................8-1
9. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS..............................................9-1
viii
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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 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
ix
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 4-33 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 5-4. 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

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
xi
xii
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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.
Note -Nautronix suggests NMS6000 DP Operators read this

manual thoroughly prior to commencing operations.
1.1
NMS6000 DP SYSTEM BASIC OVERVIEW

The NMS6000 DP System controls vessel thrusters to maintain the
vessel at specific heading and/or position goal setpoints, despite
environmental forces that would tend to drive the vessel off-station. 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
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
Analog/Digital
MAN
Manual Command
ABS
Absolute
MUX
Multiplexer
ACK
Acknowledge
NFU
Non Follow-Up
AN
Analog
OCM
Optical Communications
Modem
ASK
Automatic Station Keeping
PC
Personal Computer
AWC
Active Wind Compensation
P/S
Port / Stbd
BU
Backup
PCB
Printed Circuit Board
CCW
Counter clockwise
PID
Proportional
CFE
Customer Furnished
Equipment
PLC
Programmable Logic
Controller
CMPR
Compare Alarm
PMS
Power Management System
COR
Center of Rotation
POS
Position
COS
Cosine
RAM
Random Access Memory
CPU
Central Processing Unit
REL
Relative
CW
Clockwise
RH
Relative Humidity
DCD
Data Carrier Detect
ROM
Read Only Memory
DCU
Display Control Unit
ROV
Remotely Operated Vehicle
Diff
Difference
RPM
Revolutions Per Minute
DIR
Direction
RTS
Request to Send
DMS
Dynamic Motion Sensor
RXD
Receive Data
DP
Dynamic Positioning
SIG-GND
Signal Ground
DPS
Dynamic Positioning System
SIN
Sine
ECR
Engine Control Room
SPD
Speed
ERR
Error
SPU
Signal Processor Unit
F/A
Forward / Aft
STBD
Starboard
Fore
Forward
STPT
Setpoint
GND
Ground
TAC
Three-Axis Controller
GUI
Graphical User Interface
TAL
Thrust Allocation Logic
HDS
Hydrophone Deployment
System
TBD
To Be Determined
HDG
Heading
TCS
Thruster Control System
I/F
Interface
TTL
Transistor, Transistor Logic
I/O
Input/Output
TXD
Transmit Data
KTS
Knots
UPS
Uninterruptible Power Supply
LED
Light Emitting Diode
USBL
Ultra Short Baseline
LEVL
Thruster Level Alarm
VRS
Vertical Reference Sensor
LSTF
Low Speed Track Follow
VRU
Vertical Reference Unit
Integral
Derivative
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
Definition
ALL CAPS
Name of display page, such as ALARM PAGE, or a popup dialog box, such as THRUSTER 6.
Bold
Identifies a specific section of the Control Panel

keyboard, such as the Sensor Select Switch Group, or
a specific element of the Graphic User Interface, such as
the Header Line.
BOLD ALL
CAPS
Name of an operational mode, such as HOLD HEADING

or ACTIVE WIND COMPENSATION.
Italics
Identifies a crucial concept, such as the Origin Reference

Sensor, as well as instructions and/or explanations of
extreme importance.
Bold Italics
Identifies a screen page button, icon color, or OCP

status.
Quotes
Identifies a sub-section of a complex display page.
SMALL CAPS
Name on a graphic screen button or a data entry field,

both found on the display pages.
<SMALL CAPS>
Name of a physical control on the Control Panel

keyboard, such as the <ASK ONLINE> switch.
Bold Underline
Bold Capitals
Underline
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.
1-8
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.
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.
2.1
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.
System Alarm Printers (If Configured)
j.
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
2-4
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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
3.2
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.
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
MODE SELECT
SENSOR SELECT
DGPS
1
AUXILIARY
ASK
ONLINE
INIT
BACKUPS
Right Section
Main Section
HOLD
HEADING
HOLD
POSITION
POWER
LIMIT
SUSTAIN
WIND
COMP
REMOTE
COR
PORTABLE
JOYSTICK
AHMT
STBD
MAIN
AHEAD
PORT
MAIN
AHEAD
JOYSTICK
DESENS
NASPOS
BCN 1
HYDRO 2
BCN 1
NASPOS
BCN 2
HYDRO 2
BCN 2
TAUT
WIRE
NASPOS
BCN 3
HYDRO 2
BCN 3
WIND
1
POS REF
CALIB
NASPOS
BCN 4
HYDRO 2
BCN 4
WIND
2
THR 1
THR 2
THR 3
ROV
SENSOR
SELECT
THR
AUTO
THR
MANUAL
THR
OFF
REF
SENSOR
SELECT
ROV
FOLLOW
LSFT
THRUSTER SELECT
FUNCTION SELECT
HEADING
SETPOINT
CONTROL
GAIN
POSITION
SETPOINT
CLEAR
JSBIAS
ROV
CONFIG
THR 4
STBD
MAIN
PORT
MAIN
STBD
RUDDER
PORT
RUDDER
DATA ENTRY
ALARM
PAGE
INHIBIT
ALARM
SILENCE
YES
SWITCH
TEST
ALARM
ACK
NO
CLEAR
ENTER
DISPLAY SELECT
HEADING
CONTROL
LAMP
INTENSITY
SUMMARY
POSITION
REF
THRUST
CHART
SIGNAL
I/O
SETUP
SENSOR
POWER
ALARM
SILENCE
ACK
PLOT
POSITION
CONTROL
CURSOR
CONTROL
Figure 3-2. Optional Control Panel
3-2
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.
Note The normally configured Operator Control Panel
Note Disregard Section 3.2.1, 3.2.2, and 3.2.3 if the
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.
vessels NMS6000 DP System is NOT CONFIGURED with the

Optional Control Panel or its various Sections and Select
Switch Groups.
3.2.1
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
NASPOS
BCN 1
HYDRO 2
BCN 1
FAN
BEAM
NASPOS
BCN 2
HYDRO 2
BCN 2
TAUT
WIRE
NASPOS
BCN 3
HYDRO 2
BCN 3
WIND
1
ARTEMIS
NASPOS
BCN 4
HYDRO 2
BCN 4
WIND
2
REF
SENSOR
SELECT
POS REF
CALIB
ROV
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
CONTROL
GAIN
CLEAR
JS BIAS
ROV
CONFIG
ALARM
PAGE
INHIBIT
ALARM
SILENCE
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
SETUP
SENSOR
THRUST
CHART
SIGNAL
I/O
POWER
ALARM
PLOT
PRINT
DISPLAY
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
ROV
FOLLOW
POWER
LIMIT
SUSTAIN
WIND
COMP
REMOTE
COR
PORTABLE
JOYSTICK
AHMT
STBD
MAIN
AHEAD
PORT
MAIN
AHEAD
JOYSTICK
DESENS
LSFT
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
AUTO
THR
MANUAL
THR 3
THR
OFF
THR 4
STBD
MAIN
PORT
MAIN
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
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
CONTROL
GAIN
CLEAR
JS BIAS
ALARM
PAGE
INHIBIT
ROV
CONFIG
SWITCH
TEST
ALARM
ACK
Figure 3-9. Switch Test

Perform the following to ensure proper illumination of all Control Panel
switch lamps:
3-6
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.
Right Trackball Switch
Left 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
Power Switch
Power Light
Indicator
Figure 3-14. Power Switch Panel
Brightness Knob
Perform the following to turn the displays on:

Display Power On
1.
Press the <POWER> switch.
2.
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.
3.4.1.1
Press and hold the <POWER> switch down for 3 seconds.
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
Nautronix suggests operators refer to the

manufacturers User Manual when assigning Hotkeys using the
On Screen Display (OSD) Menu Control Panel.
3.4.2
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.
2.
When the display screen picture appears, release the <DOWN>

button, and press the <MENU> button on the On-screen Display
(OSD) Menu Control Panel, Figure 3-15.
3.
One of four (4) advanced OSD Menu Mode pop-ups appears,

Figure 3-16.
3-13
Figure 3-16. OSD Menu Mode Pop-up
3.5
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.
5.
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.
6.
Press the plus (+) button on the On-screen Display (OSD) Menu
Control Panel to confirm the selection.
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.
Enter password - (789), and select OK.
2.
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.
4.
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.
Figure 3-20. Calibration Complete Pop-up Dialog Box
3.6
5.
Test the Calibration by performing a random test of touching the

screen in several locations ensuring the cursor follows your
finger.
6.
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.
TOUCH SCREEN INTERFACING

The following types of display screen fields, and/or buttons, allow
operators to enter data or change system settings:
3.6.1
Data Entry
Option
Command
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.
3-18
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.
3-19
3-20
www.nautronix.com
4.
DP SYSTEM OPERATIONS
Chapter 4 provides an in-depth overview of DP System Operations and
covers the following DP topics:
4.1
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
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
Reference
Position/Heading
Thruster
Allocation Logic
Wind
Compensation
DP Control System
Wind
Forces
Surface
Current
Force
Wave
Forces
Thruster
Hydrophone
Thruster
Beacon
Figure 4-1. Dynamic Positioning System Operation

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.
4-2
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.
4-6
New Position
Original Position
Ve
lo
c
ity
TIME
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.
4-7
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
Position Reference Sensor Concepts
4.1.13.1
Sensor Noise
Sensor Noise is a measure of the standard deviation of the position
reference sensor data, adjusted for steady motion of the vessel, over
the last several minutes. Noise readings are shown on POSITION
REFERENCE PAGE 1.
4-9
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

0 meters North, 3 meters East of
Reported Position = 0, +3
Stored biases = 0, -3.

4 meters South, 3 meters West of
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.
4-11
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.
4-12
POSITION
REFERENCE
SENSOR
DATA
NOISE REJECTION LOGIC

ADAPTIVE WINDOW
JUMP
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
Control
Signals
Heading
Deviations
Comparator
Controller
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.
4-14
Derivative - determines control force in relationship to the vessel

velocity by helping with smooth acceleration and deceleration.
Additionally, Derivative limits goal overshoot.
Example - Derivative slows the vessel down as the deviation

between the measured heading and/or position nears the goal
setpoint(s).
4.1.14.3
Actuator
Acts in response to Controller commands. The actuator consists of the
Thruster Allocation Logic (TAL) and the thrusters themselves. The TAL
converts the 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
2.
The sensor is turned off, alarm flags are zeroed along with all
intermediate parameters.
3.
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.
4.
A bias is calculated between each sensor and the Origin

Reference Sensor by differentiating outputs of low-pass filters
associated with each sensor axis.
5.
The blended measurement is a weighted average using the

inverse of standard deviation (noise) figure for each
measurement as its weight.
4-15
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.
4-16
4.1.20

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.
4-18
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 Alarm Summary Window
DP Navigation Bar
DP Forward Back Buttons
Detailed Display Page
DP Last
Window
Overview Page
DP Status
Window
DP Drop-down Menu
Message
Alarm
Message
DP Navigation Bar
Detailed
Display
Page
Drop -down
Menu
DP Last Alarm Message Window

DP Status Message Window
Figure 4-12. Typical DP System Display Screen Layout
4-19
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
Background Color
System Status
Heartbeat
Date/Time
4.2.2
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.
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.
4-20
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:
4-21
Note - The Overview Page is always displayed on the right

side of the Master display screen.
Setup Section 4.5.1
Sensor Section 4.5.4
Position ReferenceSection 4.5.5
Chart Section 4.5.7
Thrust Section 4.5.9
Plot Section 4.5.11
Holding Capability Section 4.5.12
Signal I/O Chapter 4.5.13
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
Note - Additionally, DP operators may call up additional

Detailed Display Pages on the Backup(s).
4.2.4.1
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
4-22
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.
4-23
4.2.5
Overview Page
The Overview Page, Figure 4-16, is divided into the following subsections and described in the following sections.
Compass
Deviation Display
Vessel Position (Tabular)
Alarm Summary Window
Alarm Message Window
Compass
Deviation
Display
Vessel
Position
(Tabular)
Alarm
Summary
Window
Alarm
Message
Window
Displays
Latest Alarm
Message
4-24
Figure 4-16. Typical Overview Page
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:
4.2.5.2
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).
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.
4-25

Distance and Direction
to Goal Position
Rates
Of
Change
Scale of Tick Marks

and
Center of Deviation
Figure 4-18. Deviation Display Screen
4-26
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
4-27
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.
4-28
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:
4-29
Figure 4-21. DPS-1 Transfer Configuration
Figure 4-22. DPS-2 Transfer Configuration
4-30
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
4-31
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
ASK
ONLINE
INIT
BACK-UP
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.
4-32
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
ASK
ONLINE
INIT
BACK-UP
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,
4-33
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.
4-34
4.4
OPERATIONAL MODES AND AUTOMATIC MANEUVERS

The NMS6000 DP System offers the following Operational Modes and
Automatic Maneuvers:
Manual Joystick (Transit)
Hold Heading
Hold Position
Active Wind Compensation
Auto Heading for Minimum Thrust
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.
Clear all propulsion alarms.
2.
Verify both HOLD HEADING and HOLD POSITION modes are

disengaged. When disengaged, these switches and screen
buttons are not illuminated.
3.
Maneuver the vessel.
4-35
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.
4-36
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.
to move in the
Ya
w
ax
is
s
Ve
ee
l fr
se
Thruster Forces
Current and Wind Forces
Vessel
Reference
Point
P o s it io n G o a l S e t p o in t
Figure 4-27. Hold Position Illustration
4-37
4.4.4
Hold Position - Activation

Perform the following to activate HOLD POSITION:
4-38
1.
Establish MANUAL CONTROL of vessel per Section 4.4.1.
2.
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.
3.
Verify the appropriate position reference sensor(s) are online.
4.
Clear all relevant alarms, especially those relating to position

reference sensor(s).
5.
Move the <POSITION CONTROL JOYSTICK> until the vessel

stabilizes at the desired position.
6.
Press the <HOLD POSITION> switch or select the HOLD POSITION

screen button.
7.
To exit HOLD POSITION, press the <HOLD POSITION> switch or

select the HOLD POSITION screen button again. The Confirm
Exit of HOLD POSITION Mode? dialog box appears:
8.
Select the YES button to exit. To remain in HOLD POSITION,

select the NO button.
4.4.5

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.
4-39
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.
4-40
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).
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.
4.4.5.5
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.
4-41
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
Variable
Unit
WP Number
Integer
Identifier
String
Latitude
dd:mm:ss.ss
Longitude
dd:mm:ss.ss
Turning Radius
Stop Flag (not used)
Target Heading
Degrees
Target Speed
M/min
# Example:
4.4.5.6.2
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
RELATIVE TRACKS
Position
Variable
Unit
WP Number
Integer
Identifier
String
Latitude
dd:mm:ss.ss
Longitude
dd:mm:ss.ss
Turning Radius
Stop Flag (not used)
Target Heading
Degrees
Target Speed
M/min
# Example:
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
4-42
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
4-43
4.4.8
Angle Comparison With Other Non-alarmed Sensors
Power Loss Reported At Sensor

HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is
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.
4-44
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
4-45
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
4.4.11.1.6
The units of
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.
4-46
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.
4-47
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
Display
Transit Mode
DP Gains
Vessel
Figure 4-29. Setup Page 1

4-48
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
Display
4.5.1.2.1
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.
4-49
4.5.1.3
Vessel
4.5.1.3.1
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
Transit Mode
4.5.1.4.1
RUDDER GAIN
Sets the Proportional component of the Proportional-Integral-Derivative
control term for the auto controller. Operators set the gain between 1
and 9.
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
4-50
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
4-51
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

4-52
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
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).
4-53
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

4-54
4.5.3.1
Threshold
4.5.3.1.1
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
Alert Radius
4.5.3.2.1
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
Compare
4.5.3.3.1
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.
4-55
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
Wind
Vertical Reference (VRS)
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
4-56

4.5.4.1
Heading
4.5.4.1.1
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.
4.5.4.1.2
BLENDED
The Blended field displays the average of all online, un-faulted gyros
in True and Reciprocal.
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).
Note - Blended readings are the average combination of the

RMS and Trim/List values.
4.5.4.3
Wind
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.
Note - The Blended field displays the average speed and

direction as determined by all online, unfaulted wind sensors
4.5.4.3.1
WIND SENSOR - ONLINE PLACEMENT

Perform the following to place a gyrocompass online:
1.
Open SENSOR PAGE 1
2.
Select the WIND 1 screen button.
Note - The color of the screen buttons and data on SENSOR

PAGE 1 indicates the status of the wind sensor:
4-57
4.5.4.4
Red - NOT READY/FAULTED (Data)

Dark Gray - OFFLINE
Green - ONLINE (Screen Button)
Black - ONLINE (Data)
Green/Gray Alternate Blinking - ONLINE and FAULTED
(Screen Button)
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.
Note - This data is provided for information only. Operators

can not control the GPS from SENSOR PAGEs.
4.5.5
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.
4-58
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.
4.5.5.2.1
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.
SENSOR SELECT
Select position reference Sensor Select Buttons by touching the
screen or using the cursor control to place sensors on or offline.
4-59
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:
4-60
1.
Open CHART PAGE, Figure 4-35.
2.
Select the SENS DISP (Sensor Display) button repeatedly until

the sensors overlay on the page.
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.
4.5.6
Symbol
Position Reference Sensor
G1 G2
GPS #1 2
TF
Track Follow Pseudo-beacon
Chart Page Screens

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.
4-61
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
4-62
Select the ARROW buttons to pan up, down, left, and right. The
<ARROW> switches on the Data Entry Keypad may also be
used.
Select the Plus (+) button to zoom in on the display.
Select the Negative (-) button to zoom out.
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

4.5.6.2
Configuration Buttons
The Configuration Buttons affect the appearance and behavior of
CHART PAGE. A button has been selected when it appears to be
recessed, like the FOLLOW SHIP, NORTH / EAST, and SENS DISP buttons
in Figure 4-38.
Figure 4-38. Configuration Buttons

4.5.6.2.1
SHIP FOCUS
Select SHIP FOCUS to center the CHART PAGE on the vessel icon.
4.5.6.2.2
FOLLOW SHIP
FOLLOW SHIP allows the display to adjust continuously to keep the
vessel icon inside the viewing area.
4.5.6.2.3
NO GRID
NO GRID removes all grid lines.
4.5.6.2.4
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.
4-63
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
4-64
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.
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
Position Reference Sensor
D1 D2
GPS #1 - 2
TF
Track Follow Pseudo-beacon
4-65
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
4-66
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.
4-67
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
Note - When the track offset is changed while LSTF mode is

active, it becomes rate limited to avoid bumps.
CROSS
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
Note - When the offset is changed while LSTF mode is active, it

becomes rate limited to avoid bumps.
4.5.7.3
4-68
Track Settings
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.
4-69
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:
4-70
Display Window
Setup
Lat / Lon
Route
N/E
Waypoint
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.
4-71
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
Note - Relative tracks cant be displayed in Lat/Lon format,

therefore, this button is disabled in Relative tracks.
N/E
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.
4-72
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:
4-73
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
4-74
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
4-75
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.
Touch the screen or place the cursor and select a waypoint in

the waypoints list where a new waypoint is to be inserted.
2.
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.
3.
Using the cursor and left-clicking, edit the newly inserted

waypoint as desired.
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.
Touch the screen or place the cursor and select a waypoint in

the waypoints list where a new waypoint is to be added.
2.
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.
3.
Using the cursor and left-clicking, edit the newly added waypoint
as desired.
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.
4-76
4.5.8.6.6 EDIT
All waypoints along a track can be edited. Perform the following to edit
a waypoint:
1.
Select a waypoint in the list
2.
Press the Edit button (or double click the waypoint in the list).
The Waypoint Edit pop-up appears.
3.
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
4-77
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.
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.
4.5.8.7.4 HEADING
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)
Rudder Icons
Thrust Allocation Logic (TAL)

Circle
Text Boxes (Thruster &

Rudder)
TAL Circle
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.
4-78
Azmuthing
Thruster
Icon
Text
Boxes
TAL Circle
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

4-79
1.
2.
3.
4.5.9.2
Indicates the measured level and direction of thrust. The

triangular head represents the thrust direction that thruster is
pushing the vessel. The rectangular section fills with yellow
color as the feedback thrust increases.
Indicates the instantaneous commanded thrust level and
direction. The triangular head represents the commanded thrust
direction the DP System is commanding the thruster to push the
vessel. The rectangular section fills with light blue color as the
commanded thrust increases.
Represents anti-spoil zones used to protect hydrophones, and
other thrusters. The DP System automatically attempts to keep
the azimuthing thrusters from directing thrust in these brown
areas.
Tunnel Thruster Icons

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.
4-80
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.
4-81
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
4-82
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.
4.5.9.7
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.
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.
4-83
4.5.9.8
Achvd - Displays the sum of the measured thruster forces.

These figures are derived from the TAL Inverse routine,
described in Section 4.1.
DP System Thruster Modes

Operators can place the vessels thrusters and rudders in any of the
following modes:
4.5.9.8.1
Manual
Auto
Off
MANUAL
The DP System permits operators to enter manual commands for each
thruster on the THRUSTER PAGE. When operators place any thruster
in MANUAL mode, the DP System sends these commands to that
thruster.
Note - Thrusters in MANUAL mode will not respond to the

<POSITION CONTROL JOYSTICK> and the <HEADING CONTROL
KNOB>.
4.5.9.8.2
AUTO
The DP System controls thruster azimuth and force to meet the
heading and position setpoints.
Note - Thrusters in AUTO mode respond to the <POSITION

CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>, unless
the vessel is placed in one of the control modes.
4.5.9.8.3
OFF
The DP System does not issue any commands to thrusters in OFF
mode.
Note - When operators are in an automatic control mode, the

DP System will not allow them to reduce the number of thrusters
in AUTO mode below two.
4.5.9.9
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:
4-84
1.
Open the THRUSTER PAGE.
2.
Select the desired thruster icon.
3.
The following selected thruster dialog pop-up, Figure 4-55,

appears:
Figure 4-55. Typical Thruster Pop-Up Dialog Box

4.
Select the AUTO, MAN, or OFF button.
5.
When AUTO or OFF is selected, the operator may select either

<BOTH>, NEG ONLY OR POS ONLY, then select ACCEPT button to
place thruster in the desired mode. Selecting NEG ONLY OR POS
ONLY allows the selected thruster to act in the Negative or
Positive force only. Selecting BOTH allows the selected thruster
to act in both forces.
When MAN is selected, the MANUAL COMMAND data entry field
changes from gray to white. Select this field and use the Data
Entry Keypad to enter the desired settings. Select the ACCEPT
button to place the thruster in MANUAL mode.
Select the CANCEL button to exit the THRUSTER dialog box
without changing any thruster settings or modes.
6.
7.
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.
4-85
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.
4-86
4.5.10.3
RPM Cmnd
Indicates the current commanded RPM for each thruster.
4.5.10.4
RPM Fdbk
Indicates the current RPM feedback for each thruster.
4.5.10.5
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.
4-87
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.
4.5.10.12
4.5.11
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.
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.
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.
4-88
Figure 4-57. Typical Plot Page 1
4-89
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.
4-90
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
4-91
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.
4-92
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
Signal Input / Output Page Screens
4.5.13.1
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.
4-93
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

4-94
4.5.14.1
Mode Select
The Mode Select section of the MODE FUNCTION page offers the
following Modes:
4.5.14.1.1
Hold Heading
Wind Comp
AHMT
Vessel COR
Transit
Pilot
Hold Position
Joystick Desens
Hold Area
Portable Joystick
Track Follow
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.
4-95
4.5.14.1.5
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.
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
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.
4-96
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
Position Setpoint
Clear JS Bias
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:
4-97
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.
4-98
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.
4-99
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:
4.6.1
DGPS Drift
Integral Windup
Integral Pre-loading
Integral Transfers
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.
4-100
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,
4-101
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
DP SYSTEM ALARMS AND TROUBLESHOOTING
4.7.1
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).
4-102
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.
VESSEL SPECIFIC DISPLAY SCREENS
5.1
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.
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
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
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
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
6.2
DESCRIPTION
PART NO.
MAKE
Oscilloscope
1740A
Hand Held Multimeter
E2378A
Lens Removal Tool
51-938
EAO
Lens Removal Tool
98-968
EAO
Lamp Removal Tool
51-996
EAO
Anti-Static Wrist Strap
Velostat 2064
3M
Hewlett-Packard or
equivalent
Hewlett-Packard or
equivalent
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
ESD Guidelines for Replacing Circuit Card Assemblies

(CCA)
1.
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.
6-2
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.
6.3
2.
Connect all exposed metallic surfaces of any test equipment to the

test power ground. Connect test equipment ground to vessel
ground by less than 200 ohms.
3.
Remove replacement CCA from its protective package and install.

Follow any applicable installation and test procedures.
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
VOLTAGE
OPERATOR
CONTROL PANEL
TOLERANCE
+5 VDC
4.85 to 5.15 VDC
----------------
----------------
+12 VDC
11.64 to 12.6 VDC
----------------
----------------
+24 VDC
22.8 to 25.2 VDC
----------------
NOMINAL
+6 VDC
KEYBOARD
TOLERANCE
--------------------
SIGNAL PROCESSOR
TOLERANCE
22.5 to 28.0 VDC

----------------
6.2 to 6.4 VDC
(Lamp
Voltage)
+15 VDC
--------------------
----------------
14.9 to 15.1 VDC
-15 VDC
--------------------
----------------
-15.1 to -14.9 VDC
+10 VDC
--------------------
----------------
9.99 to 10.00 VDC
-10 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
6.6.3.1
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.
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
6-6
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
6.6.3.2
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
6.8.4
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.
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:
6.8.5
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.
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
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
Circuit Card Jumper Configurations
6.8.8.1
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.
6-12
Note If performing the Joystick Calibration on a remote

joystick in addition to the Control Panel joystick,
ensure the remote joystick is plugged in prior to
performing the calibration.
Perform the following to accomplish a Joystick Calibration:

1. Ensure all heading and position control actuator knobs and
joysticks are set to their Center De-tent 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

6-14
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

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.
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.
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).
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
SPU Modules and Components
6.9.6.1
Intelligent Communication Modules

Perform the following steps to remove and replace intelligent
communication modules:
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.
6-17
) 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
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)

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)

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
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

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

2. Open rear door.
3. Remove four screws securing filter/fan housing.
4. Install replacement fan unit.
5. Reinstall filter/fan housing.
6-19
6.9.7
Sensors
6.9.7.1
Motion Reference Unit (MRU)

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)

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)

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.
6.11
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)
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.
APPENDIX - DPS ALARM MESSAGES
7.1
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:
CATEGORY
HARDWARE
Not Responding
Ch X:
DEFINITION AND
CORRECTIVE ACTION
Not able to detect DP.
Check affected computer for possible reboot.
HARDWARE
Check connections at SPU and DP.
HARDWARE
Check connections.
HARDWARE
Check connections.
HARDWARE
Check connections.
HARDWARE
Check connections.
HARDWARE
Check connections.
Faulted Unit
Ch X:
Incorrect Node Configuration
Ch X:
Internal Diagnostics Fail
Ch X:
Media Fault
Ch X:
PLC Address Above UMAX
Ch X:
7-1
CHAPTER 7: APPENDIX DPS ALARM MESSAGES
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
Self Test Fail

Ch X:
HARDWARE
Check connections.
HARDWARE
Control Net communication failure on Ch X.
Temporary Errors
Control Net Ch X:
Cable Disconnect or Cable
Fault
Control Net Ch X:
Check for cable break, compartment loss,

connector failure on all Control Panels, SPUs
and NIUs (if installed).
HARDWARE
Faulted Unit
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.
Control Net Ch X:
HARDWARE
Incorrect Node Configuration

Control Net Ch X:
Control Net configuration corrupt.

Contact Nautronix for repair.
HARDWARE
Internal Diagnostics Fail
Control Net node failure on Ch X.

details.
Control Net Ch X:
HARDWARE
PLC Address above UMAX

Control Net Ch X:
Self Test Fail
7-2
to
for
Control Net configuration corrupt.

Contact Nautronix for repair.
HARDWARE
Random/Intermittent Comm
Fault
Control Net Ch X:
to
for
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).
HARDWARE
Control Net node failure on Ch X.

ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
details.
Control Panel Joystick:
HARDWARE
to
for
Data received from Control Panel joystick in

control of system is outside the allowed limit.
Invalid F/A Data

Run the Control Panel test program
TESTCONS to check joystick function.
HARDWARE

Invalid P/S Data

HARDWARE
Invalid Yaw Data
Control Panel:

HARDWARE
Communication
unsuccessful.
with
control
panel
was
Communication Error
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
DEFINITION AND
CORRECTIVE ACTION
Redundant signals disagree.
Check signals.
Cruise Mode:
THRUSTER
Thrusters not in DP Control

Cruise Mode Prohibited:
System is in Cruise Mode.

Change Mode.
THRUSTER
Thrusters must be turned off from DP before

engaging Cruise Mode.
Thrusters in DP Control
Current Sensors:
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.
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:
SENSOR
Check signal.
SENSOR
Check signal.
SENSOR
Check Signal.
SENSOR
The time allowed for the differential correction

signal to be received has elapsed.
Serial Port Error

Current Sensor 1:
Invalid Angle Input
Current Sensor 1:
Speed Input is out of Valid
Range
DGPS X:
Correction Latency
7-4
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
If alarm persists take sensor offline and wait
for the satellite configuration to improve, or
until the differential signal is received.
DGPS X:
SENSOR
Data Rejection
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:
SENSOR
The differential correction signal reception has

degraded.
Diff Fix Low Quality

Wait for satellite configuration to improve
and/or a better differential signal is received.
DGPS X:
SENSOR

Diff Correction Age Exceeded

If alarm persists take sensor offline until the
differential signal is received.
DGPS X:
SENSOR
The differential correction signal reception has

degraded.
Diff Fix Low Quality

If alarm persists take sensor offline until the
differential signal is received.
DGPS X:
SENSOR

Fix Update Period Exceeded
7-5
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
Wait for the next correction signal.
DGPS X:
SENSOR
High Horiz Dilution of Precision
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:
SENSOR
Calculated noise level for sensor exceeds

upper threshold.
High Noise Alarm

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.
7-6
ALARM MESSAGE
DGPS X:
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
SENSOR
Serial parser cannot understand serial string

received.
Invalid Data 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:
SENSOR
Loss of Differential Corr
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:
SENSOR
Median Test Alarm
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:
SENSOR
No Data
DGPS X:
Valid data has not been received within the

sensors timeout period.
If alarm persists check DGPS operation or
interface connection.
SENSOR
Position Quality Fault
The position estimate quality is low enough to be

unreliable.
action is required.
rejected.
Inspect the data and take sensor offline if it
appears invalid.
7-7
ALARM MESSAGE
DGPS X:
CATEGORY
SENSOR
Serial Port Error
DGPS X:
Error reading the serial port.

Troubleshoot serial link between sensor and
DP.
SENSOR
Serial Port Timeout
DGPS X:
DEFINITION AND
CORRECTIVE ACTION
No data being received on serial port.

Ensure sensor is powered up and properly
configured.
SENSOR
DGPS is sending excessive data in one DP

cycle.

Ensure the DGPS is sending only one
sentence per second.
DGPS X:
SENSOR
The sensor message cannot be understood or

does not conform to anticipated standard.
Unexpected NMEA message

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:
HARDWARE
Vessels DP Alert system has been activated.

Input to the DP system from external alarm
system.
Red Alarm
Refer to vessels operational procedures.

DP Alarm X:
HARDWARE
Vessels DP Alert system has been activated.

Input to the DP system from external alarm
system.
Yellow Alarm
Refer to vessels operational procedures.

East Axis:
CONTROL
No valid position measurements are available.
Dead Reckoning
Place additional position sensors online and/or

troubleshoot current online sensors.
7-8
ALARM MESSAGE
Gen X:
CATEGORY
POWER
DEFINITION AND
CORRECTIVE ACTION
Check on Digital I/O page.
PLC/Profibus Breaker
Compare Alarm
Gyro X:
SENSOR
Data from sensors not in agreement with two

other sensors.
Data Median Alarm

Inspect sensor data and take faulty sensor
offline.
Gyro X:
SENSOR
Invalid Data Block
Gyro X:
The NMEA message is invalid.

string.
SENSOR
Power Fault
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:
SENSOR
Serial Port Error
Gyro X:

Troubleshoot the serial link between the sensor
and the DP.
SENSOR
Sensor is not transmitting or there is a loss of

signal between sensor and DP.
Serial Port Timeout

Check sensor and wiring for proper operation.
Gyro X:
SENSOR
The NMEA message rate is set too high (two

per second is adequate) or the data is invalid.

string.
Gyro X:
SENSOR
Data from sensor has not been received at

expected interval.
Time out
Take sensor offline until data stream is
7-9
ALARM MESSAGE
DEFINITION AND
CORRECTIVE ACTION
CATEGORY
restored.
Gyro X:
SENSOR
Data from two or more sensors not in

agreement.
Divergence Alarm
Inspect sensor data and take faulty sensor offline.
HAM:
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.
Using Nominal Bandwidth

HAM:
Outside Radius -Using
Nominal Bandwidth
Heading Excursion
Increase control gain for Yaw axis.

If condition persists, review sensor and
propulsion status for contributing alarm
conditions.
Heading Axis:
CONTROL
No valid heading measurements are available

from any online gyro.
Dead Reckoning
Place
additional
gyros
online
troubleshoot current online gyros.
Inappropriate Thruster
Configuration
CONTROL
and/or
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
DEFINITION AND
CORRECTIVE ACTION
Insufficient thrust
commands.
available
to
meet
yaw

Insufficient P/S Thrust
CONTROL
Insufficient thrust available to meet sway

commands.
Joystick:
HARDWARE
Calibration Error
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:
HARDWARE
Calibration Rejected
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:
HARDWARE
Data received from portable joystick is outside

the allowed limit.
Invalid F/A Data

Run TESTCONS to check joystick function.
Joystick:
HARDWARE
Data received from portable joystick is outside

the allowed limit.
Invalid P/S Data

Joystick:
HARDWARE
Data received from portable joystick in control

of system is outside the allowed limit.
Invalid Yaw Data

7-11
ALARM MESSAGE
LSTF:
CATEGORY
CONTROL
DEFINITION AND
CORRECTIVE ACTION
Cross track error exceeds operator entered
cross track error threshold.
Cross Track Error

Reconfigure track or enter new error threshold.
Nav Input Expired Data
North Axis:
SENSOR
Data stream from navigation computer lost

while in Track Follow mode.
CONTROL
No valid position measurements in the North

direction are available from any online position
sensor.
Dead Reckoning
Place additional position sensors online and/or

troubleshoot current online sensors.
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:
HARDWARE
Communication Error
PLC X:
Check for CH A, B, or I/O errors.

Check for broken cables, loose connections,
missing terminals, etc.
HARDWARE
Replace battery while maintaining power to the

PLC.
HARDWARE
Ensure PLC switch is positioned to RUN.
Battery is Low
PLC X:
Forces Are Enabled
PLC X:
7-12
Cycle power to PLC to restart (if necessary).

HARDWARE
Place PLC switch to RUN.
ALARM MESSAGE
CATEGORY
In Program Mode
PLC X:

HARDWARE
In Test Mode
PLC X:
HARDWARE
HARDWARE
HARDWARE
HARDWARE
HARDWARE
HARDWARE
HARDWARE
Hardware signals dont agree.

Check Digital I/O.
HARDWARE
Auto/Manual Input Fault

PMS X:

Check Digital I/O.
PMS Auto Compare

PMS X:

Compare Alarm
PLC/Profibus X:

No Hot-Backup PLC in Control

PLC/Profibus X:

No Hot-Backup PLC Present

PLC X:

Hot-Backup Summary Alarm

PLC X:

Hot-Backup Invalid
Configuration
PLC X:

Not in Run Mode

PLC X:
DEFINITION AND
CORRECTIVE ACTION

Check Digital I/O.
HARDWARE
PMS has disabled Operator External Power

Bias.
Disabled Manual Bias
7-13
ALARM MESSAGE
PMS X:
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
HARDWARE
PMS has disabled Operator External Power

Bias.
HARDWARE
Input signals dont agree.
Not in Auto - PMS Bias

Disabled
PMS X:
Totalizing Power Compare
Alarm
PMS X
Check Analog I/O.

HARDWARE
Tot. Wattmeter Input Compare

Alarm
Power:
Check Analog I/O.

POWER
Gen X Breaker Fault

Power:
Hardwired and Proibus signals disagree.

Check I/O.
HARDWARE
Gen X High Level

Power:
Input signals dont agree.
Above threshold.
Check Setup Page.
HARDWARE
Check generator low signal on Analog I/O,

using Tot Watt Meter
Gen kW on Main Bus is Low

Using Tot. Watt Meter
Power:
POWER
Gen X Breaker Fault

Power:
Breaker has tripped.

Inspect hardware or examine PMS data.
POWER
Specified generators output exceeds alarm

limit.
Gen X High Level

Place additional generator(s) online to reduce
load.
Power:
CONTROL
An additional generator has been brought

online.
Generator Added
Determine if there are any resulting control
issues.
7-14
ALARM MESSAGE
Power:
CATEGORY
CONTROL
Generator Removed
Power:
DEFINITION AND
CORRECTIVE ACTION
A generator has been taken offline.
issues.
CONTROL
Power Limiting has reduced thruster power for

this axis.
Surge Axis Propulsion Cutback

Reorient vessel or place additional generators
online.
Power:
CONTROL

this axis.
Sway Axis Propulsion Cutback

online.
Power:
CONTROL

this axis.
Yaw Axis Propulsion Cutback

online.
Port Main:
THRUSTER
High Level Alert
Port Main:

place azimuthing thruster online
THRUSTER
Not Ready/Not DP Control
Port Main:
Port main thruster command exceeds Thrust

Alarm Limit.
Port Main is not ready for DP control and is

unable to comply with thrust commands.
Troubleshoot thruster interface.
THRUSTER
Thrust Compare Error
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:
THRUSTER
Pitch Reduction Alarm
Port Main thruster control unit has automatically

reduced pitch due to overload.
Reset pitch requirement.
7-15
ALARM MESSAGE
Position Excursion
CATEGORY
CONTROL
DEFINITION AND
CORRECTIVE ACTION
Measured position differs from position setpoint
by more than the defined Position Error
Threshold.
Increase control gain for Surge and/or Sway
axes.
conditions.
Position Sensor Divergence
SENSOR

agreement.
Position Sensor Divergence
SENSOR

agreement.
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.
conditions.
Power:
POWER
Breaker signal indicates open with significant

power measured.
Gen X Breaker Fault

Power:
POWER
Breaker signal indicates open with significant

power measured.
Thr X Breaker Fault

Power:
7-16
POWER
Specified generators output exceeds alarm
ALARM MESSAGE
DEFINITION AND
CORRECTIVE ACTION
CATEGORY
limit.
Gen X High Level
Place additional generator(s) online to reduce

load.
Power:
CONTROL
Generator Added
An additional generator has been brought

online.
issues.
Power:
CONTROL
Generator Removed
Power:

issues.
CONTROL
Surge Axis Propulsion

Cutback
Power:
A generator has been taken offline.

this axis.
online.
CONTROL
Yaw Axis Propulsion Cutback

this axis.
online.
Power:
CONTROL
Sway Axis Propulsion Cutback

this axis.
online.
7-17
ALARM MESSAGE
Redundancy:
CATEGORY
CONTROL
Heading Compare Alarm
DEFINITION AND
CORRECTIVE ACTION
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:
CONTROL
Database Packet Not

Received
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:
CONTROL
Init Backup Packet Not

Received
Init Backup Packet transmission error occurred

from Master Control Panel to Backup Control
Panel.
again.
Redundancy:
CONTROL
Joystick Calibration Packet

Not Received
Joystick Calibration Packet transmission error

occurred from Master Control Panel to Backup
Control Panel.
again.
Redundancy:
CONTROL
LSTF Packet transmission error occurred from

Master Control Panel to Backup Control Panel.
LSTF Packet Not Received

again.
Reduced Power Alarm
7-18
THRUSTER
Thrust Allocation Logic cannot meet requested

forces.
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
place additional thrusters on-line.
Redundancy:
CONTROL
Initiate forcing Master Control Panel back by

reselecting DP online.
CONTROL
Online Status Packet transmission error

occurred from Master Control Panel to Backup
Control Panel.
No Master Control Panel

Redundancy:
Online Status Packet Not
Received
Redundancy:

again.
Compare
Position Compare Alarm - East
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.
bumplessly transfer control.
Redundancy:
Compare
Position Compare Alarm

North
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.
bumplessly transfer control.
Redundancy:
CONTROL
Position Sensor Packet Not

Received
Redundancy:
Reinitiate position sensor packet.

CONTROL
Initiated user change packet not received.

Reinitiate user change packet.
User Change Packet Not

Received
Req Thrust Exceeds OPL:
Initiated position sensor packet not received.
CONTROL
Bus X
The Operating Power Limit has been exceeded

due to propulsion demands and thrust is being
limited.
7-19
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
The OPL may automatically increase over time,
but you may need to bring more generators
online.
RS925 Beacon X:
SENSOR
Data Rejection
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:
HARDWARE
ACNR1 Connection Status

Alarm
SPU X:
Replace module and cycle power to SPU.
HARDWARE
HARDWARE

Alarm
SPU X:
CONSEQ
The Consequence Analysis function has

determined that the loss of the specific SPU
would result in unmet F/A thrust commands.
CONSEQ

would result in unmet P/S thrust commands.
CONSEQ

would result in unmet Hdg thrust commands.
HARDWARE
Failure or degradation of 24vdc power supply to

I/O Module X in SPU X.
ACNR Loss / Insuff P/S Thrust
SPU X:
ACNR Loss / Insuff Hdg Thrust
SPU X/MODX:
Verify current module type and connections.

ACNR Loss / Insuff F/A Thrust
SPU X:


Alarm
SPU X:
24VDC Power Failure
7-20
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
Check power supply at fuse or physical
connection.
SPU X/MODX:
HARDWARE
Module Bad; Missing; or

Wrong Type
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:
HARDWARE
Over Ranged
SPU X/MOD X/Chn X:
Analog signal is over range by approx. 10% of

maximum value (11 vdc or 22 mA)
Check incoming signal and correct from the
source.
HARDWARE
Analog signal is under range by approx. 10% of

maximum value (-11 vdc or 3.6 mA)
Under Ranged
Check incoming signal and correct from the
source.
SPU / PS X:
HARDWARE
Power supply within SPU is not out-putting

adequate voltage.
+24Vdc Power Fault

Check input/output of Power Supply.
Replace if necessary.
SPU / PS X:
HARDWARE
SPU is not receiving adequate power.

Take SPU offline until this condition clears.
+24Vdc Power Fault
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:
HARDWARE
Compare measured field value with signal I/O

page.
Over Ranged
7-21
ALARM MESSAGE
SPU/Mod/ChnlY:
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
HARDWARE

page.
HARDWARE
Check fuses and power to module.
HARDWARE

page.
SPU/ModX Module bad;

missing; or wrong type
HARDWARE
SPU X / ACNRX:
HARDWARE
Under Ranged
SPU/ModX:
24VDC Power Failure
SPU/ModX:
Analog Data Invalid
Connection Status Alarm

Stbd Main:
THRUSTER
Stbd main thruster command exceeds Thrust

Alarm Limit.
High Level Alert

place azimuthing thruster online.
Stbd Main:
THRUSTER
Stbd Main is unable to comply with thrust

commands.
Not Ready / Not DP Control

Stbd Main:
Thrust Compare Error
THRUSTER

If the error is large, take Stbd Main thruster
offline.
7-22
ALARM MESSAGE
Stbd Main:
CATEGORY
THRUSTER
DEFINITION AND
CORRECTIVE ACTION
Stbd Main thruster control unit has
automatically reduced pitch due to overload.
Pitch Reduction Alarm

Reset pitch requirement.
TAC Input:
HARDWARE
Check Analog I/O.
HARDWARE
Check Analog I/O.
HARDWARE
Check Analog I/O.
THRUSTER
DC/DC converter in corresponding SPU is

faulted.
Invalid F/A Data

TAC Input:
Invalid P/S Data
TAC Input:
Invalid Yaw Data
Thruster X AZM:
+10Vdc Power Fault
Trouble-shoot Power supply, I/O module or

physical connections within SPU cabinet.
Thruster X AZM:
THRUSTER
DC/DC converter in corresponding SPU is

faulted.
-10Vdc Power Fault

Trouble-shoot Power supply, I/O module or
physical connections within SPU cabinet.
Thruster X:
THRUSTER
Power/RPM Compare Alarm
KW input and kW calculated (based on RPM)

are not in agreement and exceeding alarm
threshold.
Check RPM and power inputs.
Thruster X AZM:
THRUSTER
Azimuth Sin/Cos Feedback

Error
Thruster X:
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.
Direction Input Fault
7-23
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
Troubleshoot the thruster interface.
Thruster X AZM:
THRUSTER
Drive Inhibit
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:
THRUSTER
Azimuth Compare Error
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:
THRUSTER
High Level Alert
Thruster X:
Thrust command exceeds Thrust Alarm Limit.

THRUSTER
Thruster is not ready for DP control and is

unable to comply with thrust commands.
Not Rdy / Not DP Ctrl

Take thruster offline and troubleshoot thruster
interface.
Thruster X:
THRUSTER
Thrust Compare

If the error is large, take thruster offline.
Thruster Configuration Fault
CONTROL
Check Analog I/O.
Thruster X:
THRUSTER
Thrust command exceeds Thrust Alarm Limit.
High Level Alert
Thruster X:

THRUSTER
Refer to Port Prop condition.
Fixed Thrust Direction

Cancelled
7-24
ALARM MESSAGE
Thruster X:
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
THRUSTER
THRUSTER
THRUSTER
THRUSTER
Thrust Allocation Logic cannot meet requested

forces.
Logic Error Auto Without

Ready
Thruster X:
Fixed Thrust Direction
Cancelled
Thruster X:
Power Compare Alarm
Thrust Limit Alarm

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.
Track Follow Sensor: Data

Rejection
SENSOR
Data falls outside the adaptive alarm threshold,

determined by the data history of the sensor.
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:
SENSOR
High Noise Alarm
Calculated noise level for sensor exceeds

upper threshold.
7-25
ALARM MESSAGE
CATEGORY
DEFINITION AND
CORRECTIVE ACTION
action is required.
If alarm persists, take sensor offline.
Track Follow Sensor:
SENSOR
Drift has exceeded Drift Alarm Threshold.

action is required.
Median Test Alarm

rejected.
Inspect the data and take sensor offline or
perform Position Reference Calibration.
Track Input Bcn X:
SENSOR
No Message
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:
SENSOR
NRL Error
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:
SENSOR
Navigation computer reports it is unable to

solve solution for pseudo-beacons position.
Solve Error
Track Input Bcn X:
SENSOR
Tilt Telemetry Fault
Track Input Bcn X:

SENSOR
Timeout
Track Input:
7-26
Navigation computer reports it is unable to

solve solution for pseudo-beacons position.
Pseduo-Beacon serial port has not received full

data page in the casualty time.
Check pseudo-beacon serial data page.
SENSOR
Heading data sent to Acoustic Position

Reference System does not agree with DP
ALARM MESSAGE
DEFINITION AND
CORRECTIVE ACTION
CATEGORY
heading.
Heading Compare Error
Inspect sensor data to determine which reading

is valid.
Track Input: Serial Port Error
SENSOR

Troubleshoot the serial link between the sensor
and the DP.
Track Input:
SENSOR
Serial Port Timeout
Track Input:
Check beacon serial data page.

SENSOR
UPS X: Summary Alarm
Pseudo-Beacon serial port has not received full

data page in the casualty time.
The navigation computer is sending to much

data in one DP cycle.
Ensure the navigation computer is sending only
one sentence per second.
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:
HARDWARE
Line Failure
The input line voltage is outside of nominal

values and the UPS is switching to battery
power.
Investigate loss of line power.
UPS X:
HARDWARE
Low Battery Warning
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:
SENSOR
Maximum Pitch Angle
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:
CATEGORY
SENSOR
+15Vdc Power Error
VRU X:

SENSOR
-15Vdc Power Error

VRU X:
DEFINITION AND
CORRECTIVE ACTION

SENSOR
The NMEA message rate is set too high (2 per

second is adequate) or the data is invalid.
Receive Buffer Overflow

Inspect SIGNAL PAGES for correct string.
VRU X:
SENSOR
Maximum Roll Angle
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:
SENSOR
Pitch Data Divergence Alarm
VRU X:

SENSOR
Roll Data Divergence Alarm
Warning:
CONTROL
Operator has selected calculated current on

SENSOR PAGES while not in HOLD
POSITION mode with AWC active.
SENSOR

agreement.
Angle Data Median Alarm
Wind X:

agreement.
Selected Current Source Not

Valid
Wind X:

agreement.

offline.
SENSOR

agreement.
Speed Compare Warning

7-28
ALARM MESSAGE
DEFINITION AND
CORRECTIVE ACTION
CATEGORY
offline.
Wind X:
SENSOR

agreement.
Speed Data Divergence Alarm

offline.
Wind X:
SENSOR
+15Vdc Power Error

Wind X:
Input is out of range.

Inspect for open circuit from sensor.
SENSOR

agreement.
Angle Compare Warning

offline.
Wind X:
SENSOR
Measurement is out of range.
SENSOR
Measurement is out of range.
Invalid Analog Data

Wind X:
Invalid Speed
Wind X:
Inspect for open circuit from sensor.

SENSOR
Invalid / Unchanging Angle
Yellow Alert Excursion
Angle Measurement is not changing.

Inspect for open circuit
mechanically stuck sensor.
CONTROL
from
sensor
or
Measured Excursion has exceeded the Yellow

Alert Radius.
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
8-2
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
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
8-4
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
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
8-6
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
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
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9. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS

Vessel Specific Documentation & Drawings are issued for the Vessels Name as
follows:
Drawing / Document
Number
Drawing / Document
Drawing / Document
File Number
Title
24000000WI-TBD
24000000WI-TBD-A.DWG
System Interconnect Diagram,

NMS6000-DP, Vessels Name
24004005WI-TBD
24004005WI-TBD-A.DWG
Cable Specification, NMS6000DP Vessels Name
24004426PL-TBDAV1 24004426PL-TBDAV1-A.DOC
CPU Assy, A4200, Vessels

Name
24004805TP-TBD
24004805TP-TBD-A.DOC
System Test Plan, NMS6000-DP,

Vessels Name
24004928WD-TBD
24004928WD-TBD-A.DWG
Wiring Diagram, Console Comp,

Vessels Name
24004996WD-TBD
24004996WD-TBD-A.DWG
Wiring Diagram, SPU, Vessels

Name
24005000PS-TBD
24005000PS-TBD-A.DOC
System Specification, NMS6000

DP (Class TBD) System, Vessels
Name
24005290PS-TBD
24005290PS-TBD-A.DOC
Points List, NMS6000, Vessels

Name

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M/V VESSEL NAME

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Title and/or Brief Description

Document No. 24006000TM-TBD

NMS6000 Operations and Maintenance Manual

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NMS6000 Operations and Maintenance Manual

DP SYSTEM OVERVIEW ............................................................................................1-1

NMS6000 DP SYSTEM BASIC OVERVIEW ...............................................................1-1

DP SYSTEM START AND SHUTDOWN.....................................................................2-1

DP OPERATOR INTERFACE BASICS.......................................................................3-1

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

NMS6000 Operations and Maintenance Manual

4.5.8.1 Display Window ......................................................................................4-71

NMS6000 Operations and Maintenance Manual

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

VESSEL SPECIFIC DISPLAY SCREENS...................................................................5-1

SYSTEM MAINTENANCE AND TEST PROCEDURES..............................................6-1

NMS6000 Operations and Maintenance Manual

APPENDIX - DPS ALARM MESSAGES....................................................................7-1

DPS ALARM MESSAGES .........................................................................................7-1

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

NMS6000 Operations and Maintenance Manual

List of Figures and Tables

NMS6000 Operations and Maintenance Manual

LIST OF FIGURES AND TABLES

NMS6000 Operations and Maintenance Manual

LIST OF FIGURES AND TABLES

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

DPS-0 One (1) NMS6000 DP Operator Control Panel,

DPS-1 One (1) NMS6000 DP Operator Control Panel and One

DPS-2 - Two (2) NMS6000 DP Operator Control Panels, and One

DPS-3 Three (3) NMS6000 DP Operator Control Panels, and

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

Figure 1-1. DPS0 System Overview

Figure 1-2. DPS-1 System Overview

NMS6000 Operations and Maintenance Manual

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

Touch Screen Monitors Generate customized color Display Screen

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

Having stabilized the vessel at the appropriate position and heading,

GLOSSARY OF ABBREVIATIONS AND ACRONYMS

NMS6000 Operations and Maintenance Manual

CHAPTER 1: DP SYSTEM OVERVIEW

Automatic Station Keeping

NMS6000 O&M Manual - Generic 06-05-23

NMS6000 O&M Manual - Generic 06-05-23