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301027/C
December 2006
Document history
Document number: 301027
This version describes the operation of the K-Pos DP at basis
Rev. A October 2006
software release 7.0.1.
Rev. B November 2006 Minor errors corrected.
Rev. C December 2006 Text Entity corrected.
The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com
Kongsberg Maritime AS
P.O.Box 483 Telephone: +47 32 28 50 00
N-3601 Kongsberg, Telefax: +47 32 28 50 10
Norway Service: +47 815 35 355
www.kongsberg.com
Operator Manual
Table of contents
Glossary..................................................................................................................13
1 K-POS DP SYSTEM THEORY ............................................. 19
1.1 The K-Pos DP system.............................................................................................19
1.2 Basic forces and motions........................................................................................19
1.3 K-Pos DP system principles ...................................................................................21
1.3.1 The Extended Kalman Filter ........................................................................ 21
1.3.3 The Controller ............................................................................................ 24
1.3.3.2 High Precision and Relaxed Control ........................................................ 24
1.3.3.3 Green control......................................................................................... 25
1.3.5 Thruster allocation ...................................................................................... 27
2 USER INTERFACE ............................................................ 29
2.1 Operator station ......................................................................................................29
2.2 Operator panel ........................................................................................................30
2.2.1 Push buttons ............................................................................................... 31
2.2.1.1 Modes ................................................................................................... 31
2.2.1.2 Controls ................................................................................................ 32
2.2.1.3 Views .................................................................................................... 32
2.2.1.4 Thrusters ............................................................................................... 32
2.2.1.5 Sensors.................................................................................................. 32
2.2.1.6 Command.............................................................................................. 32
2.2.1.7 Alarms .................................................................................................. 32
2.2.2 Input .......................................................................................................... 32
2.2.3 Trackball.................................................................................................... 33
2.2.4 Joystick...................................................................................................... 34
2.2.5 Heading wheel............................................................................................ 34
2.3 Display layout.........................................................................................................35
2.3.1 Title bar ..................................................................................................... 36
2.3.2 Menu bar.................................................................................................... 36
2.3.2.1 Active and unavailable commands .......................................................... 37
2.3.3 Message line............................................................................................... 37
2.3.4 Performance area ........................................................................................ 38
2.3.5 Working areas............................................................................................. 38
2.3.6 Status line .................................................................................................. 38
2.3.7 Status bar ................................................................................................... 38
2.3.7.1 Overview of labels on the status bar ........................................................ 38
2.3.8 Dialog boxes .............................................................................................. 40
2.3.9 Entering numeric values .............................................................................. 42
2.3.9.1 Enabling the Enter a New Numeric Value dialog box................................ 42
2.3.9.2 Using the Enter a New Numeric Value dialog box .................................... 44
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2.3.9.3 Overview of the keys in the Enter a New Numeric Value dialog box........... 45
2.3.10 Input validation of entered values................................................................. 45
2.4 Display views .........................................................................................................46
2.4.1 Orientation of the OS and effect on display views ......................................... 46
2.4.2 Tooltip/hotspot cursor and change of cursor image ........................................ 46
2.4.3 Available views .......................................................................................... 47
2.4.4 Selecting a display view .............................................................................. 48
2.4.5 View control dialog boxes ........................................................................... 49
2.4.6 Zooming .................................................................................................... 50
2.4.7 Preselecting views ...................................................................................... 50
2.5 Main menus ............................................................................................................51
2.5.1 Menu bar.................................................................................................... 52
2.5.2 System menu .............................................................................................. 52
2.5.3 View menu ................................................................................................. 53
2.5.4 Sensors menu ............................................................................................. 54
2.5.5 Thruster menu ............................................................................................ 54
2.5.6 Joystick menu............................................................................................. 55
2.5.7 AutoPos menu ............................................................................................ 55
2.5.8 Help menu.................................................................................................. 56
3 SYSTEM SETTINGS .......................................................... 57
3.1 Changing user.........................................................................................................57
3.2 Printing the display picture.....................................................................................58
3.3 Panel Light Configuration dialog box ....................................................................58
3.3.1 Dimming level............................................................................................ 58
3.3.2 Lamp test ................................................................................................... 59
3.4 Display Units dialog box ........................................................................................60
3.4.1 Selecting the set of display units to use......................................................... 60
3.4.2 Editing Display Units.................................................................................. 61
3.4.3 Additional information ................................................................................ 62
3.4.4 Vessel and sea current speed ........................................................................ 62
3.4.5 Wind, waves and sea current direction.......................................................... 63
3.4.6 Resetting the display units ........................................................................... 63
3.5 System date and time..............................................................................................63
3.5.1 Date and time ............................................................................................. 63
3.5.2 Time zone .................................................................................................. 64
3.6 Set palette (display colours) ...................................................................................64
3.6.1 Changing the display palette on Operator Stations that are not set to have
an independent palette selection................................................................... 64
3.6.2 Changing the display palette on a single Operator Station .............................. 65
3.7 Alarm Limits dialog box ........................................................................................65
3.7.1 Position page .............................................................................................. 65
3.7.2 VRS page................................................................................................... 67
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Glossary
Abbreviations
ARP Alternative Rotation Point
AP Autopilot (a device for automatic heading control)
BIST Built-In Self Test
BITE Built-In Test Equipment
cPos Kongsberg Compact Dynamic Positioning
CCW Counter Clockwise
CG Centre of Gravity
COG Course Over Ground
CW Clockwise
DGPS Differential GPS
DP Dynamic Positioning
DPC DP Controller
DPM Dynamic Positioning and Position Mooring
DQI Differential Quality Indicator
EBL Electronic Bearing Line
GPS Global Positioning System
HDOP Horizontal Dilution Of Precision
HPR Hydroacoustic Position Reference
IAS Integrated Automation System
I/O Input/Output
IMO International Maritime Organisation
KM Kongsberg Maritime
LTW Light-weight Taut Wire
MOB MOBile transponder
OS Operator Station
OT Operator Terminal
PM Position Mooring
PMS Power Management System
PS Process Station
RIO Remote Input - Output
rms root mean square
ROT Rate Of Turn
ROV Remotely Operated Vehicle
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General terms
Apparent wind See Relative wind.
Bearing The horizontal direction of one terrestrial point from another,
expressed as the angular distance from a reference direction,
clockwise through 360º.
Blackout A method of preventing a power failure due to overloading of the
prevention supply generators.
Cartesian A coordinate system where the axes are mutually-perpendicular
coordinate straight lines.
system
Command A group of functions that reflect the way the system will operate
group for a specific process area, for example, Propulsion and Propulsion
Simulation.
Controller A group of one or more controller process stations.
group
Course The horizontal direction in which a vessel is steered or is intended
to be steered, expressed as angular distance from north, usually
from 000º at north, clockwise through 360º. Strictly, this term
applies to direction through the water, not the direction intended
to be made good over the ground. Differs from Heading.
Crab angle The angle between the vessel heading and the track.
Cross-track The distance from the vessel’s present position to the closest point
error on the track.
Datum Mathematical description of the shape of the earth (represented by
flattening and semi-major axis as well as the origin and orientation
of the coordinate systems used to map the earth).
Dead reckoning The process of determining the position of a vessel at any instant
by applying to the last well-determined position the run that has
since been made, based on the recent history of speed and heading
measurements.
Destination The immediate geographic point of interest to which a vessel
is navigating. It may be the next waypoint along a route of
waypoints or the final destination of a voyage.
Feedback Signals returned from the process (vessel) and used as input
signals to the Vessel Model.
Gyrocompass A compass having one or more gyroscopes as the directive
element, and which is north-seeking. Its operation depends on four
natural phenomena: gyroscopic inertia, gyroscopic precession,
the earth’s rotation and gravity.
Heading The horizontal direction in which a vessel actually points or
heads at any instant, expressed in angular units from a reference
direction, normally true north, usually from 0005 at the reference
direction clockwise through 360º. Differs from Course.
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International Formally called IMCO, the IMO is the specialised agency of the
Maritime United Nations responsible for maritime safety and efficiency
Organisation of navigation.
Kalman filter The Kalman filter is a set of mathematical equations that provides
an efficient computational (recursive) solution of the least-squares
method. The filter is very powerful in several aspects; it supports
estimations of past, present and even future states, and it can also
do so, even when the precise nature of the modelled system is
unknown.
Leg The straight line between two waypoints.
Log An instrument for measuring the speed or distance or both
travelled by a vessel.
Median value A number dividing the higher half of a sample or population from
the lower half, i.e. the middle number.
Navigation leg The leg of a voyage on which the vessel is currently travelling.
Process Station One Central Processing Unit (CPU) plus I/O interfaces, possibly
shared with other CPUs in redundant configurations. A physical
PS may be single, part of a dual-redundant-physical PS or part
of a triple-redundant-physical PS. The PS utilises RCU, SBC or
PC hardware.
Reference origin The reference point of the first position-reference system that is
selected and accepted for use with the system. The origin in the
internal coordinate system.
Relative bearing The bearing of an object relative to the vessel’s heading.
Relative wind The speed and relative direction from which the wind appears to
blow with reference to the moving vessel.
Route A planned course of travel, usually composed of more than one
navigation leg.
Standard The square root of the Variance.
Deviation
Surge Vessel movement in the fore-and-aft direction.
Sway Vessel movement in the transverse direction.
Thruster In this document, this is used as a general term for any element of
the vessel’s propulsion system, such as an azimuth thruster, tunnel
thruster, main propulsion or rudder.
Track The intended or desired horizontal direction of travel with respect
to the earth.
Transponder In this document, this is the physical reference of a
position-reference system. For example: for an HPR system this
means any deployed transponder; for an Artemis system, the
Fixed Antenna unit/beacon; for a Taut Wire system, the depressor
weight.
True bearing Bearing relative to true north.
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The pitch and roll motions are not controlled by the K-Pos DP
system. However, in order to allow the position-reference system
to correct for these motions, the system must have information
about them. This information is received from vertical reference
sensors.
The K-Pos DP system does not control or require information
about the heave motion, but the motion can be measured and
displayed.
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• Excursion Feedback
The deviation between the operator-specified position/heading
setpoints and the actual position/heading data, and similar
deviations with respect to the vessel’s velocity/heading rate,
drive the excursion feedback. The differences are multiplied
by gain factors giving a force setpoint (restoring setpoint and
damping setpoint) required to bring the vessel back to its
setpoint values while also slowing down its movements.
The main difference between High Precision control and
Relaxed control is the restoring characteristics of the two
controller types as indicated in Figure 5.
Thrust
High precision
Relaxed
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2 USER INTERFACE
This chapter contains the following sections:
2.1 Operator station..........................................................29
2.2 Operator panel............................................................30
2.3 Display layout ............................................................35
2.4 Display views.............................................................46
2.5 Main menus................................................................51
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The power switch and adjustment controls for the display are
placed on the right hand side of the screen. The use of the power
switch and adjustment controls is described in the Hardware
Module Description for the screen.
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Note that the appearance of push buttons may vary from vessel
to vessel.
2.2.1.1 Modes
The MODES button group contains buttons for selecting the main
operational modes. Status lamps indicate the current mode.
Three additional buttons allow you to select individual axes
for automatic control. These are referred to as the SURGE,
SWAY and YAW buttons throughout this manual.
Figure 11 shows the button arrangement for an OS where the
operator looks in the alongships direction whilst looking at the
screen.
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2.2.1.2 Controls
The CONTROLS button group contains buttons for accessing
system functions and dialog boxes.
2.2.1.3 Views
The VIEWS button group contains buttons for selecting the view
to be displayed in the main working area of the screen.
2.2.1.4 Thrusters
The THRUSTERS button group contains buttons for enabling
thrusters.
2.2.1.5 Sensors
The SENSORS button group contains buttons for enabling
position-reference systems and for initiating dialog boxes related
to other system sensors.
2.2.1.6 Command
The COMMAND button group contains buttons for transferring
command to one Operator Station or operator terminal from
another.
2.2.1.7 Alarms
The ALARMS button group contains indicators and buttons
to display and acknowledge alarms and events. The
SILENCE button, shown to the left, is used to silence the audible
signal without acknowledging the Emergency or Alarm message
that caused it.
2.2.2 Input
The INPUT keypad provides keys that are used to enter values or
text into dialog boxes.
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This is the ENTER key. Pressing this key applies the value or text
you have written to the system (i.e. corresponds with clicking
the OK button on a dialog box)
2.2.3 Trackball
The TRACKBALL is used to position the cursor on the screen.
The left button is used to click on screen buttons, choose from
menus and select displayed symbols.
The right button is used to display a shortcut menu.
The middle button is not used.
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2.2.4 Joystick
In Joystick mode, the operator controls the positioning of the
vessel using the three-axis joystick (integrated joystick and rotate
controller).
To move the vessel in the surge and sway axes (alongships and
athwartships directions), tilt the joystick. The direction in which
the joystick is tilted determines the direction of applied thruster
force, and the angle of tilt determines the amount of applied
thruster force.
To turn the vessel (the yaw axis), rotate the joystick. The
direction in which the joystick is rotated determines the direction
of the rotational moment demand, and the angle through which
the joystick is rotated determines the amount of applied rotational
moment.
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DISTANCE TO TURN
For adjusting the Distance To Turn.
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AllocMode
The present thruster allocation mode, for example VARIABLE
(see Thruster Allocation dialog box on page 204).
RotationCenter
Shows the present Rotation Center (see Rotation center for
automatic control on page 75 or Rotation center for joystick
manoeuvring on page 82).
Thr
An indication of the status of the thrusters:
• Grey — No thrusters are enabled.
• Green — At least one thruster is enabled.
Refs
An indication of the status of the position-reference systems:
• Grey — No position-reference systems are enabled.
• Yellow — At least one position-reference system is enabled,
but there is no acceptable position information.
• Green — At least one position-reference system is enabled
and the position information from at least one of them is
accepted.
Sens
This is one of the click-sensitive areas. If you press the left
trackball button while the cursor has the shape of an open hand,
the Sensors dialog box is opened.
Joystick
Symbols describing the present joystick settings are grouped
above this label.
Joystick Thrust level
Full or Reduced (see Joystick settings on page 79).
Joystick Precision level
High Speed, General or Low Speed (see Joystick settings on
page 79).
AutoPos
Symbols concerning automatic control are grouped above this
label.
Axis Control and Axis Damping Control
These are graphic indications of the axes that are under automatic
control or damping control.
The descriptions of the surge and sway axes apply to a system
with the vessel diagram displayed “bow up” (see Orientation of
the OS and effect on display views on page 46).
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Click the OK button on this dialog box. The illegal value will
remain highlighted in the text box until it is corrected.
If the dialog box has more than one page, and you enter an illegal
value on one of the pages, the validation will be performed when
you click the OK or Apply button, even though another page is
displayed. The dialog box is automatically displayed with the
page containing the illegal value on top.
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If more than one validation error occurs, all errors are listed in
one message box. In the dialog box, however, only the first error
will be highlighted.
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2.4.6 Zooming
To zoom a view that is displayed in the working or monitoring
areas, click Zoom In on the shortcut menu. The view is enlarged
by approximately 60%, centered on the cursor position when the
shortcut menu was displayed.
A zoomed view can be panned or zoomed again. Place the cursor
in the required area and click the right trackball button. The
following shortcut menu is displayed:
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Note
The Calibrate function is only available to the “Chief” user. See
Changing user on page 57.
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3 SYSTEM SETTINGS
This chapter contains the following sections:
3.1 Changing user ............................................................57
3.2 Printing the display picture ........................................58
3.3 Panel Light Configuration dialog box........................58
3.4 Display Units dialog box ...........................................60
3.5 System date and time .................................................63
3.6 Set palette (display colours).......................................64
3.7 Alarm Limits dialog box ............................................65
3.8 Controller mode and gain level selection...................68
3.9 Quick model update ...................................................73
3.10 Rotation center for automatic control ........................75
Select the required user in the New user list box and click the
Change user button.
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You can use this dialog box to select the printer and to define
the printer set-up.
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2 From the list boxes, select the required light intensity for the
indicator lamps and the background lamps for the available
Palettes. Available light intensities are Bright, Normal,
Dimmed, Very Dimmed and Off.
3 Click the OK button.
The * symbol shows which display palette is currently in use.
You can perform a lamp test by clicking the Lamp Test button.
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Note
Only User Definable display units sets can be edited.
2 Using the scroll bar to the right, find the display units type
you want to edit and select it. It is possible to sort the unit
list alphabetically by clicking the column heading. Click
once for ascending order, twice for descending order and
three times to have the default order (no alphabetical sorting)
displayed.
3 Click in the Display Format column for the selected display
units type.
• A list box containing all the display formats for this value
is displayed.
• The presently selected display format is indicated with
white text on blue background.
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2 Click the Yes button if you want to reset all the display units
settings to factory (original) settings, otherwise click the
No button.
The Set System Date/Time dialog box allows you to change the
date and time of the system clock.
To display this dialog box, select System→Set Date/Time.
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Use this dialog box to set the correct date and time. You can
either enter the time and date values directly into the text boxes
or you can use the up/down arrow to select time and date values.
Use this dialog box to set the required time zone from the
selection in the drop-down list box. Select the check box if
you want the system to automatically adjust the clock for
daylight-saving changes.
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Position
Warning and alarm limits can be set for position deviation. When
the vessel’s actual position differs from the position setpoint by
more than the warning limit, a warning message is displayed.
When the vessel’s actual position differs from the position
setpoint by more than the alarm limit, an audible signal sounds
and an alarm message is displayed.
When active, the position limits are displayed as solid circles in
the Performance area (see Performance area on page 293), on
the General view (see General view on page 279), the Deviation
view (see Deviation view on page 272), and the Posplot view (see
Posplot view on page 298). When inactive, the position limits are
shown as dashed circles on the General and Deviation views.
Note
In all modes, the position limits are inhibited until a requested
change in position is completed.
Heading
Warning and alarm limits can be set for heading deviation. When
the vessel’s actual heading differs from the heading setpoint by
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3.8.2.2 Green
When the controller mode is Green, the background of AUTO
POS (MainMode) and the Gain indicator on the status bar are
both shaded green (see Figure 18). The height of the Gain bar
graph on the status bar depends on the Inner Radius (the radius of
the working area).
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The Green outer and inner control radii are indicated on the
Posplot view, with the position setpoint as center, see Figure 19.
The inner radius is indicated by a green, shaded circle.
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Enable
Enable or disable the Quick Model Update function.
Duration
The duration of the function, after which it will be automatically
switched off.
Time left
The timer starts when you select Enable and then click the OK
or Apply button. The Time left field shows the time remaining
before the function will be automatically disabled.
Error gain modification factors
A gain modification factor can be specified for each axis. The
factor is specified as a percentage of the normal reaction to
deviation in that axis caused by “current” forces. A larger factor
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Note
When the vessel’s rotation center is set to a location other than
Midships and the speed setpoint is zero, it will not be possible to
perform a change of heading. This is because a heading change
with a rotation center other than Midships implies a change of
position which requires a speed setpoint that is not zero.
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Preview
A red circle on the Preview display shows the position of the
currently-active rotation center (In Use). A green circle shows the
position of the proposed rotation center (Select Rotation Center).
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4 JOYSTICK
This chapter contains the following sections:
4.1 Calibrating the joystick ..............................................78
4.2 Joystick settings .........................................................79
4.3 Rotation center for joystick manoeuvring..................82
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• Environmental compensation
• Current update
To display this dialog, select Joystick→Settings or press the
JOYSTICK SETUP button.
Thrust
These option buttons allow you to select either Full or Reduced
thrust.
Full
The maximum force available from all thrusters can be used.
This increases the vessel’s response to movement of the joystick
compared to the Reduced option.
Reduced
The maximum applied thruster force for axes that are under
joystick control is limited to about 50% of the available force
from all thrusters.
The joystick thrust setting can also be changed by pressing the
JOY. FULL THRUST button. The status for the joystick thrust
setting will be dynamically updated on the Joystick Settings
dialog box to reflect this change.
Precision
The applied thruster force for axes that are under joystick
control can be scaled in various ways. This scaling gives a
different response to movement of the joystick, depending on
the configuration and operational requirements of the vessel.
Figure 20 displays thrust as a function of joystick deflection in
the cases of Full and Reduced thrust, with High speed, General
or Low speed precision.
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Joystick
The option buttons allow you to select from High speed, General
or Low speed precision.
High speed
For precise high-speed manoeuvring. At small movements of the
joystick the change in thruster force is large, but decreases with
increasing movements.
General
Linear relationship between movement of the joystick and force
exerted by the thrusters. The Precision is automatically changed
from High speed to General when changing from high speed to
low speed manoeuvring (for example from Autopilot mode to
Joystick mode).
Low speed
For precise low-speed manoeuvring. Progressive relationship
between movement of the joystick and force exerted by the
thrusters. At small movements of the joystick the change in
thruster force is low, but increases with increasing movements.
Exponent
This shows the exponent used in the calculation of thrust for the
currently selected Precision option. This is for information only.
Envir. Comp.
The check boxes allow you to combine joystick control with
environmental compensation separately for each of the Surge,
Sway and Yaw axes. The system then automatically compensates
for the wind forces acting on the vessel by providing the thrusters
with the necessary extra thrust in the appropriate direction.
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Joystick
Only rotation centers that are intended for use during joystick
manoeuvring can be activated in Joystick mode.
A suitable configuration of thrusters must be enabled. For
example, if you want the vessel to rotate about the aft part of the
vessel, there must be at least one thruster enabled forward of
the vessel center.
In Joystick mode you can specify a rotation center for use in
automatic mode, but the selection will not be effective until an
automatic mode is selected.
If thrusters are disabled so that the selected rotation center no
longer can be applied, the rotation center in use will automatically
be changed.
In mixed Joystick mode the system will, if possible, use the Fore,
Midships or Aft rotation center, but the position setpoint will be
at the operator-specified rotation center. The position controller
may then force the vessel to rotate around the operator-specified
rotation center. We will clarify this with an example.
Assume that the vessel is in Auto Position mode with an
operator-specified rotation center different from Fore, Midships
or Aft. The operator then disables automatic yaw control and uses
the joystick to command the vessel to rotate counter-clockwise.
The joystick control in yaw will try to rotate the vessel around
Midships, but the position control will work in such a way as to
keep the vessel at its position setpoint. The vessel may then be
forced to rotate around the position setpoint as shown in Figure
22.
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Joystick
Midships
Rotate about the Midships of the vessel.
Aft
Rotate about the aft part of the vessel.
In Use
The In Use boxes show the coordinates of the currently-active
rotation center in the Ahead/Astern and Stbd/Port axes.
Additional information
On the Posplot view, the position of the currently-active rotation
center is shown as a small circle. Also, the title and coordinates
of the rotation center relative to Midships are displayed in the top
left corner of the Posplot view as shown below.
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5 MESSAGE SYSTEM
This chapter contains the following sections:
5.1 System diagnostics.....................................................86
5.2 Operational checks.....................................................86
5.3 Message priority.........................................................87
5.4 Presentation of messages ...........................................88
5.5 Alarm states ...............................................................92
5.6 Acknowledging messages ..........................................93
5.7 Alarm lamps...............................................................94
5.8 Messages on the printer .............................................96
5.9 Message explanations ................................................97
5.10 Operator advice messages........................................102
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• Information messages
Information messages inform you of conditions that are
noteworthy, but that have no serious effect on the performance
of the system.
Emergency and Alarm messages are accompanied by an audible
signal which continues until you acknowledge the message.
There are no audible signals associated with Warning or
Information messages.
Emergency, Alarm and Warning messages are accompanied by
the relevant lamp flashing in the ALARMS button group until
you acknowledge the message.
If the system tests do not report the same message within a
timeout period (usually 20 seconds), the message becomes
inactive. Inactive Warning and Alarm messages must be
acknowledged before they are removed from the Message Line
and the Dynamic Alarm Page. They will remain displayed with
the state Void in the Dynamic Event and Historic Event Pages.
Explanations can be obtained for any of the messages generated
by the controller process stations, see Message explanations on
page 97.
• The Event List window contains a list of all the current system
messages. By pressing the ALARM VIEW button, you can
display the Event List window.
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Message system
(First column)
If you have not yet acknowledged a message, an asterisk (*) is
displayed and the background colour is displayed flashing (see
Acknowledging messages on page 93 for more information).
A vertical bar (|) is displayed in place an asterisk for an
unacknowledged message that is in a command group over which
the operator station does not have control.
Orig
Identifies the originator (source) of the message:
• DP-OS# – Operator station
• DpMain – Controller PS group
• Equipment – Equipment monitoring system
Member
Members of the originator of the message (not relevant when the
originator is an Operator Station or a controller PS group with
only one member).
If the message is from a controller PS group with more than
one process station, this column identifies the members of the
group. It may contain up to three characters, depending on the
redundancy level. For example, for a triple-redundant system:
ABC The message was reported by all three process
stations and is still active.
C The message was reported only by process station
C and is still active.
-B The message was reported by process stations A
and B. The message from process station A is now
inactive.
--- The message was reported by all three process stations
and is now inactive (but is not yet acknowledged).
Name
Identifies the source of process events and system events.
Time
Time and date when the message was first reported.
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Prior
Message priority: Emergency, Alarm, Warning or Info
(Information).
State
The state of the Event: High, HighHigh, HighScale, Low,
LowLow, LowScale (here all these are commonly referred to as
Active), Normal or Void (see also Alarm states on page 92).
• Active — Indicates that the alarm condition is present.
• Normal — Indicates that the alarm condition is no longer
present.
• Void — Used in the Dynamic Event Page and the Historic
Event Page. Indicates that the message is removed from the
Dynamic Alarm Page.
Text
Message text.
Additional information
Up to three blocks of additional data may be included in the
message. The meaning of this additional data varies for each
message. See Message explanations on page 97.
(Event pages)
You can choose among the following Event pages:
Dynamic Alarm Page
The Dynamic Alarm Page shows a list of the most recent
messages. The Dynamic Alarm Page has a limited length; as
the list is filled up, the oldest messages are pushed out while the
most recent ones are added to the top of the list. Messages where
the underlying condition is no longer present are displayed with
the state Normal.
Messages can be acknowledged on the Dynamic Alarm Page.
Acknowledged messages where the underlying condition is no
longer present are removed from the Dynamic Alarm Page.
Use the Dynamic Alarm Page to get a survey of the current alarm
situation.
Historic Event Page
The Historic Event Page provides a log of all messages that occur.
Within the limits of the event database, you can define the time
span to be covered by the Historic Event Page. While a message
can appear only once on the Dynamic Alarm page, it appears as
many times on the historic page as there are changes in its state.
Use the Historic Event Page whenever you need to analyse the
evolution of events. If the list extends beyond the window area
of the display, you can use the up/down arrows in the tool bar.
Dynamic Event Page
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You can specify a date and time by using the calendar, and
entering the required time in the Hour, Min: and Sec: text boxes.
And time span backwards
The time span is defined in days, hours, minutes and seconds
backwards in time. Type in the required values in the Days:,
Hours:, Min: and Sec: text boxes.
HighScale
HighScale Limit
HighHigh Active
HighHigh Limit
High
Alarm limits
High Limit
Normal/Void Inactive
Low Limit
Low
LowLow Limit
LowLow Active
LowScale Limit
LowScale
CD3248 The alarm state is valid to, but not including this limit.
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Message system
The alarm becomes Active when the terminal value crosses the
High/Low limits.
Any change in the alarm state is indicated in the Status cell for
that message in the Event List window.
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Message system
• FAULT
This lamp is lit red when the contact between the operator
panel and the Operator Station computer is lost, else it is off.
Note
This lamp does not indicate failures in the controller process
station(s). If the Operator Station loses contact with the
controller process station, a message is displayed in a
message dialog box.
• ALARM
This lamp flashes in response to a software-generated
Emergency, Alarm or Warning message from the Operator
Station computer; for example, heading or position deviation
beyond limits or sensor error. These messages are generated
by the controller process station and do not indicate
failures in the Operator Station. A flashing lamp indicates
unacknowledged messages. A continuously lit lamp indicates
that all messages are acknowledged. The lamp will extinguish
three seconds after the last Emergency, Alarm or Warning
status has been removed.
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Printer name
The name of the event printer.
Printer type
The type of the event printer.
Unprinted events
The number of unprinted messages in the event printer buffer.
Flush
Click this button to print all of the unprinted events on the event
printer.
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Message system
Refresh
Click this button to update the information shown in the dialog
box.
5.9.1 Contents
Select the required message from a list of Contents. To open/close
the list of messages in the Contents pane, click the +/- sign next
to the folder icons.
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5.9.2 Search
To search for a message, display the Search pane (by clicking the
Search page tab), type in words or phrases that are contained in
the message name or the message explanation and then click
the List Topics button. Topics that match the search criteria
are displayed in the Select topic: list box. Select the required
message and then click the Display button to display the message
explanation in the message explanation pane.
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Message system
Note
The Corrective actions in the message explanations provides only
general advice. You must evaluate the required action according
to the current operational situation.
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(CD3330)
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Message system
Locate
Displays the Contents pane with the title of the message shown in
the message pane, highlighted.
Back
Displays the previous message explanation in the history list.
Forward
Displays the next message explanation in the history list (only
available if you have previously selected Back).
Home
Displays the Help start page.
Stop
Stops an ongoing search.
Refresh
Updates the screen with any new information (not relevant for
this system).
Internet Options
Displays the standard Microsoft Internet Options dialog box.
Print
Prints the currently-displayed message explanation. See also
Printing message explanations below.
Search Highlights Off (On)
When Off is selected, the terms that was searched for is
highlighted in the message explanation. When On is selected,
the terms are not highlighted.
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This dialog box can be used to select the printer and to define
the printer set-up. This is a general-purpose printer connected
to an Operator Station or to the network (not the event printer
connected to the controller process station).
Warning
Information
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6 STARTING OPERATIONS
This chapter contains the following sections:
6.1 System start-up/shut-down and OS
stop/restart................................................................104
6.2 Logon Configuration dialog box ..............................106
6.3 Command transfer....................................................107
6.4 Command Control dialog box..................................109
6.5 Connecting to a controller PS group ........................ 116
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Starting operations
Caution
Some of the options you can perform on this dialog box
are not part of the normal operating procedures for the
K-Pos DP system. They are implemented to facilitate
service and installation work performed by trained
personnel from Kongsberg Maritime.
OS Software
Stop
Stop the OS software and leave the Windows session running.
Restart
Restart the OS software with the Windows session running.
Windows
Shutdown
Stop the OS software, shut down the Windows session and
prepare the computer to be turned off.
Reboot (with OS Restart)
Stop the OS software, reboot the Windows session and restart
the OS software.
Note
Avoid restarting the Operator Station by switching the power off
and on. It may be damaging to the Windows file system.
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Starting operations
User Logon
Select this option button if the user is required to log on manually
each time the system is started.
Logon Profile
Auto Logon
Select this option button if automatic logon is to be configured
and performed each time the system is started. This is the normal
logon configuration.
Shell
Drop-down list box where you can select which shell
configuration to use when logging on, either Microsoft Windows
or the OS software. The OS software is the normal shell
configuration.
Apply and Logoff
Clicking this button after having selected a new shell
configuration will quickly restart the system with the new shell
configuration.
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All the Operator Stations have TAKE and GIVE buttons. On the
Operator Station that has command of the Main controller PS
group, the TAKE button is lit and Propulsion is displayed in the
title bar.
There are two methods for switching command between Operator
Stations that are connected to the same controller PS group:
• Take Command
• Give Command
The system command configuration determines whether or not
the “Take Command” method can be used. The “Take” and
“Give” actions apply only for the controller PS group to which
the Operator Station is connected.
In the following example procedures, both DP-OS1 and DP-OS2
are connected to the Main controller PS group, DP-OS1 currently
has command of this group, and command is to be transferred
to DP-OS2.
1 DP-OS1 is in command.
• The TAKE button status lamp on DP-OS1 is lit.
• No COMMAND button status lamps are lit on DP-OS2.
2 To take command at DP-OS2, press the TAKE button on
DP-OS2 twice within four seconds.
3 DP-OS2 is now in command.
• The TAKE button status lamp on DP-OS2 is lit.
• No COMMAND button status lamps are lit on DP-OS1.
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Starting operations
This dialog box has three pages, one page with the name of the
Operator Station (in this example DP-OS1), Overview, and Give.
The DP-OS1 page is referred to as “the DP-OS page” and some
elements are present on all three pages.
The information available from the Command Control dialog
box is mainly intended for operation of systems with several
Operator Stations.
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6.4.1.1 Thr_Propulsion
The Operator Station that controls this Command group, controls
the vessel’s propulsion system. All Operator Stations can take
command of Thr_Propulsion.
6.4.1.2 Thr_Propulsion(Sim)
A simulation session can be performed on the Operator Station
that controls this Command group.
A training or simulation session can be performed on the Operator
Station that controls this Command group (provided that the
requirements stated in Trainer functions on page 266 are met).
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Starting operations
Command Group
All command groups are listed in this column. Only
Thr_Propulsion and Thr_Propulsion(Sim) are of interest for the
K-Pos DP system.
Status
Using the text In Command, this column displays the command
groups over which this Operator Station has control.
Modified
Displays the time the command control state of the command
groups was last changed by this Operator Station.
Privileges
Displays the Operator Station’s privileges for each command
group. Takeable is the only one of interest for the K-Pos DP
system. “Takeable” means that an Operator Station can take
command of the command group in question without acceptance
from the Operator Station that was originally in command.
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Command Group
All Command groups are listed in this column.
In Command
Displays the Operator Station that is in command.
Modified
Displays the time when the command control state was last
changed by any Operator Station. This may be different from the
time displayed for the same command group on the DP-OS page
as it shows the time the command control state was last changed
by the Operator Station that you are at.
Command Locations
Displays the Operator Stations that can take command of each
command group. The asterisks (*) mean that the Operator Station
can take command without acceptance. This is usually the case
for Operator Stations in K-Pos DP systems.
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Starting operations
To OS Group:
Displays the Operator Station(s) to which command can be
transferred.
Give Command of:
Clicking an DP-OS in the To OS Group list, causes a list of all the
command groups over which the Operator Station you are at (here
DP-OS1) currently has command, to be displayed in this field.
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The best way to ensure that errors are deleted from the K-Pos DP
controller PSs is therefore to reset all of them. To retrieve the
default settings, all K-Pos DP controller PSs must be reset.
1 Ensure that the K-Pos DP system does not have control of
the vessel propulsion system.
2 Ensure that the K-Pos DP system is in Standby mode.
3 Ensure that no thrusters are enabled.
4 Reset all K-Pos DP controller PSs simultaneously using the
Reset Controller PS dialog box (see 7.1.2).
• The Reset Controller PS message box is displayed
informing you that the vessel will be without control
from this system during the restart period.
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• Failure detection
The system will detect a failure, allowing corrective actions to
be taken.
• Fault isolation
If one system component fails, the other components will not
be affected.
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PS Groups
Select the target controller PS group for all commands and
operational statuses of the dialog box from this list.
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Redundancy Status
Master
The current master PS is indicated in the appropriate check box.
The master PS is designated for specific tasks only done by a
single PS on behalf of the redundancy group.
You can click the Set button to set the corresponding PS as the
master.
Online
The current online PS is indicated in the appropriate check box.
The online PS controls the field output.
Capability
Displays the Capability status (i.e. to which extent the PS is
technically capable of fulfilling its intended purpose).
• OK
No errors
• Common Error
Errors that are common to all PSs in the controller PS group
• Degraded
Errors that are restricted to one of the PSs in the group
• Incapable
The PS is in a state where it should not be used as the master
or online PS
Mode
Running modes are defined to structure the start-up phase, before
a PS is ready to take control.
• Inactive
The PS is not communicating. It may be in the process of
initiating or loading, or not executing at all.
• Starting
The PS is communicating, but more preparation is needed.
In particular, it may be necessary to initiate IO devices and
detect their state.
• Learning
The PS is communicating and has been initiated, but is in the
process of retrieving information from other PSs, which are in
Running mode. This mode can also be entered from Running
mode in cases where normal operation has been interrupted
for a while.
• Running
The PS is communicating, and has finished all start-up
preparations.
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Redundancy Control
Redundancy type
Displays the Redundancy type for the selected controller PS
group. Single, Dual and Triple are the ones that are relevant for
K-Pos DP purposes.
PS fault tolerance
This is the number of PSs that can fail without losing control
of the system. For a single system this number is 0, for a fully
operational dual system it is 1, and for a fully operational triple
system it is 2.
Update Offline
In the event of deviation between the two PSs in a dual (or
degraded triple) system, click Update Offline to update the offline
PS.
Update Offline is unavailable for a fully operational triple
redundant system. If a failure is detected in PS A, B or C, the
system continues operating as a dual redundant system and the
Update Offline functionality becomes available.
If a failure is detected in PS A or B in a dual system (or in two
of the three PSs in a triple system), the Update Offline button
on the dialog box becomes unavailable. The system continues
operating as a single system.
A message about the status of the last “Update Offline” is
displayed below the Update offline button, for example:
Last update offline OK
Error Objects
Error objects are used to report the presence of failures that may
lead to an auto-switch from one PS to another.
If you right-click in the Error Objects area, the following shortcut
menu is displayed:
In Error
The PS(s) on which the failure is detected.
Locked
Yes is displayed for locked error objects (failures that presently
exist in the system and that may lead to an auto-switch). To
reset all error objects to the normal state, select Unlock all on
the shortcut menu.
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Controller process stations
Overruled
It can be useful to be able to overrule the automatic detection
of failures, especially in cases of instability. This is done by
right-clicking the relevant error and selecting Permanent On (the
error is regarded as being permanently present) or Permanent
Off (the error is regarded as being permanently absent) on the
shortcut menu.
Description
A list of the possible failures.
The list is always shown in the dialog box, but only those failures
that are marked with Yes in the Locked column are present in
the system.
(Status field in the lower left corner)
The status field displays the current status of the selected
controller PS group (Ready, Requesting information..., Request
for configuration failed, Request for capability failed, Request for
state failed, Switching of Master failed and Error when changing
permanent settings).
PS Operation...
Not relevant during normal operation.
Refresh
Clicking this button updates the content of the dialog box with
the current operational status.
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8 SENSORS
This chapter contains the following sections:
8.1 Gyrocompasses ........................................................126
8.2 Wind sensors ............................................................131
8.3 Vertical reference sensors (VRS) .............................136
8.4 Speed sensors ...........................................................138
8.5 Draught sensors........................................................141
8.6 Rate Of Turn sensors................................................143
8.1 Gyrocompasses
At least one gyrocompass must be enabled at all times to provide
heading information to the system for automatic control of
heading.
Gyrocompasses are enabled and controlled using the Sensors
dialog box - Gyro page.
OK
The OK status for each gyrocompass is shown in the matching
OK check box. The status for all channels from the gyrocompass
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Sensors
Used Heading
The measured heading from the gyrocompass with added
correction.
Note
The Gyro Deviation Calculation (see Gyro Deviation dialog box
below) uses the Used Heading values as input for the calculations.
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Sensors
Based on
This displays the GPSs the Gyro Deviation Calculation is based on.
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• When two gyrocompasses are enabled, the system will use the
preferred gyrocompass. If the difference between the value
read from a gyrocompass and the model value exceeds a
predefined limit, an alarm is displayed; for example:
Gyro 1 prediction error
If this error is for the gyrocompass that is in use, the system
will change automatically to the other gyrocompass.
Note
In the event of a Gyro prediction error, you should always check
the values from the gyrocompasses on the Sensors view and
compare with an alternative source of heading information to
confirm which gyrocompass is faulty.
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OK
The OK status for each wind sensor is shown in the corresponding
OK check box. The status for all channels from the wind sensor
must be OK for the check box to be selected. This check box
is for information only.
Enable
Each wind sensor has an associated Enable check box. Selecting
this check box enables the signals from the wind sensor.
Preference
Use these option buttons to select the operator-preferred wind
sensor to be used by the system.
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Sensors
In Use
Indicates the wind sensor currently used to calculate the wind
force acting on the vessel. If no errors are detected in the
Wind sensor measurements, the system will always use the
operator-preferred sensor (see Preference above).
Relative Speed
The displayed wind speed is the measured wind speed relative to
the vessel, not corrected for vessel motion.
Relative Dir.
The displayed wind direction is the measured direction relative
to the vessel heading, not corrected for vessel motion.
Manual
You can manually enter the values for wind speed and wind
direction which the system should use to calculate the wind force
acting on the vessel. To enter values, disable all sensors and click
the Apply button. The In Use check box for Manual input will be
selected, the True Speed and True Dir fields will appear white,
and you may enter values using the keyboard or the Numeric
Entry Keypad dialog box.
True Speed, True Dir
Display the true wind speed and direction. The present mode and
whether or not one or more sensor is enabled, determine which
values are displayed in these fields:
• In Standby mode with one or more wind sensor enabled, the
True Speed and True Dir fields display the same values as
Relative Speed and Relative Dir.
• In any mode other than Standby with one or more wind sensor
enabled, the True Speed and True Dir fields display the true
wind speed and direction values (filtered values).
• In any mode with no wind sensors enabled, the True Speed and
True Dir fields contain the manually-entered values for the
true wind speed and direction.
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Sensors
OK
The OK status for each VRS is shown in the corresponding OK
check box. The status for all channels from the VRS must be
OK for the check box to be selected. This check box is for
information only.
Enable
Each VRS has an associated Enable check box. Selecting this
check box enables the signals from the VRS.
Preference
These option buttons allow you to specify which VRS is
preferred for use by the system.
In Use
The VRS that is currently used by the system is indicated in the
In Use check box.
Pitch
The measured pitch from the VRS.
Roll
The measured roll from the VRS.
Heave
The measured heave from the VRS.
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Sensors
Doppler Log
Enable
Select this check box to enable the Doppler Log speed sensor.
You will not be able to select this check box if the Doppler Log is
not OK (the check box is shown dimmed).
In Use
The sensors that are currently used by the system is indicated in
the In Use check box. If a sensor fails, it will no longer be in use,
and this check box is cleared.
Along
Shows the measured alongships vessel speed.
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Athwart
Shows the measured athwartships vessel speed.
The Doppler Log speed is marked with G or W depending on
the type of speed output:
• G — Speed over ground
• W — Speed through water
GPS Speed
Enable
Select this check box to enable the GPS speed sensor. You will
not be able to select this check box if the measured GPS speed is
not OK (the check box is shown dimmed).
In Use
The sensor that is currently used by the system is indicated in the
In Use check box. If a sensor fails, it will no longer be in use,
and this check box is cleared.
Speed
Shows the measured vessel speed.
Course
Shows the measured vessel course.
Note
When a failure occurs in the GPS speed and/or course signals,
the Speed and Course boxes are shown empty.
Manual
Select this check box to enable Manual speed. In high speed
operations it is recommended to enable Manual when using
speed sensors to have an initial Manual value that reflects the
real situation.
In Use
If the manual value is currently used by the system, it is indicated
in the In Use check box. This check box is for information only.
Along
When no speed sensors are enabled, you can enter a value in
this field. This field is not available when one or more sensors
are enabled.
If you try to enter a value that is too high, a message informing
you about the legal range is displayed. You will have to change
the input value to continue.
Used Speed
Shows the vessel speed used by the system. This is an average,
filtered value of the combined measurements from the In Use
speed sensors or manual input.
140 301027/C
Sensors
Along
Shows the used alongships vessel speed.
Athwart
Shows the used athwartships vessel speed. This will be zero
when no speed sensors are enabled.
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Sensors
Used Draught
Shows the draught value that is currently used by the system.
This field is for information only.
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OK
The OK status for each sensor is shown in the matching OK
check box. This check box is for information only.
Enable
Each sensor has an associated Enable check box. You enable
the sensor by selecting this box. The system will automatically
disable a sensor that is not OK. The Enable check box will be
cleared and will appear dimmed.
In Use
The sensor that is currently used by the system is indicated
in the In Use check box. If no errors are detected in the ROT
sensor measurements, the system will use all the OK and enabled
sensors.
Rate Of Turn
Shows the measured Rate Of Turn.
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Position information
9 POSITION INFORMATION
This chapter contains the following sections:
9.1 Handling position information .................................145
9.2 Position Presentation dialog box..............................146
9.3 Datum Details dialog box ........................................149
9.4 Local N/E Properties dialog box..............................150
9.5 UTM Properties dialog box .....................................151
9.6 State plane zone .......................................................152
9.7 Methods for enabling position-reference
systems.....................................................................153
9.8 Panel buttons............................................................153
9.9 Reference System Settings dialog box.....................153
9.10 Reference System dialog box...................................157
9.11 Reference System Properties dialog box .................161
9.12 Coordinate systems ..................................................164
9.13 Tests on position measurements...............................166
9.14 Procedures for enabling position-reference
systems.....................................................................172
9.15 Changing the reference origin..................................173
9.16 Position dropout .......................................................174
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local origin point. If you select this option you can (if configured)
select between a system selected or operator-specified position of
origin (see Local N/E Properties dialog box on page 150).
The length unit to be used is specified by the Length Unit option.
UTM
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Position information
US State Plane
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Kongsberg K-Pos DP (OS)
The Datum Details dialog box contains the Semimajor Axis and
Flattening values and datum transformation parameters for
conversion from WGS84 to the selected datum.
To display this dialog box, click the Details button on the
Position Presentation dialog box.
For Local-datum all fields are editable, and you must define
all the required transformation parameters (see also Reference
System Properties dialog box on page 161).
Translation
The required translation from WGS84 to the selected datum.
Rotation
The required rotation from WGS84 to the selected datum.
Scale
The required scaling from WGS84 to the selected datum.
Semimajor Axis
The semi major axis of the earth ellipsoid for the selected datum.
Flattening
The inverse flattening of the earth ellipsoid for the selected
datum.
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False Easting
When UTM presentation is selected, to avoid the presentation
of negative coordinates, you can specify that a fixed offset of
500 000 m is to be added to the east/west component of a UTM
position before it is displayed.
False Northing
When UTM presentation is selected, you can specify that a
fixed offset of 10 000 000 m is to be added to the north/south
component of a UTM position before it is displayed (10 000 000
m is the approximate distance from the Equator to the North Pole
in a UTM grid). This avoids the display of negative coordinates
for positions in the southern hemisphere. False Northing is
normally only applicable on the southern hemisphere.
Zone options
Automatic zone calculation
Select this box to have the UTM zone calculated automatically
from the geodetic position measurements.
Zone
The required system UTM zone (not available if the UTM zone
is calculated automatically).
Zone offset
Allows you to apply a fixed offset to the received longitude
degrees when calculating the UTM zone of a position. You can
offset the system UTM zone up to ±3°.
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Position Properties
Select the required Datum for position presentation to be used
on this dialog box.
Select the format of the position of origin, either Geographic,
UTM or US State Plane.
Weight
You can change the position-reference systems relative weight.
Normal
Provides standard relative weight between the enabled
position-reference systems, i.e. all systems with equal estimated
variance have equal weights.
Reduced GPS
Reduces the influence from the measured GPS positions relative
to measurements from other position-reference systems.
Reduced GPS weight is especially important if you have an
oscillating GPS system, as often will be the case in equatorial
waters due to ionospheric degradation of GPS. In this way a
position-reference system with slow update rate, such as an LBL
system, will have greater influence on the model than a GPS
system with faster update rate.
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Position information
The relative weights used are shown on the Refsys view (see
Refsys view on page 317).
Acceptance Limits
The acceptance limit for the Prediction Test (see Prediction
test on page 167) and indirectly also the Median Test can be
changed.
Narrow
Narrow limit. Corresponds to a Minimum Prediction Error circle
with a small radius. The radius may still increase due to increased
noise in the position-reference system. Narrow is recommended
when operating in calm weather and with requirements for
accurate station-keeping. If all available (or the dominating)
position reference exhibit an erroneous drift in position, the
system(s) will also be rejected at an early stage before the vessel
is significantly affected by the wrong measurements.
Normal
Medium limit. The same Minimum Prediction Error limit as for
Narrow is used. There is an additional feedback mechanism
where the actual deviation from the model is used to increase
the Prediction Error limit up to a maximum of 2 to 3 times
the smallest radius. Normal should be applied in situations
where there is a chance that the DP model does not follow the
actual movement of the vessel. This is especially relevant when
operating in rough sea. It is also applicable for a vessel operating
with another vessel alongside. A negative side-effect of this
setting is that the DP system will, to a larger extent than with
the Narrow setting, tend to follow drifting position-reference
systems.
Wide
Wide limit. A Minimum Prediction Error circle with an increased
radius compared to the other two settings is used. The same
feedback mechanism as for Normal is used, and the maximum
value of the Prediction Error is also increased. Wide is suitable,
for example, for sailing in Mixed/Joystick mode at high speed.
Median Test
The settings of the Median Test (see Median test on page 169)
can be changed.
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Kongsberg K-Pos DP (OS)
Off
Turns off the median testing. This is indicated with the text OFF
in the Median Test field on the Refsys view, and by removal of
the median test limit circle from the plot on the Refsys view.
Warning
Turns on the median testing. When selected, a deviation warning
is given if the difference between the position data from a specific
position-reference system and the median of all online reference
systems exceeds a preset warning limit.
Warning can be preferable compared to Warning and Reject
(below) in some instances. For example, when operating with
two GPSs and one or two HPR systems, and the GPSs have
similar failures, Warning and Reject could lead to rejection of the
HPR by the median test.
Warning and Reject
Turns on the median testing. When selected, a reject warning is
given if the difference between the position data from a specific
position-reference system and the median of all online reference
systems exceeds a preset combined warning and reject limit. The
position-reference system is rejected.
The median test limit circle is shown on the plot on the Refsys
view, together with the limit value in the Median Test field.
Set System Mode and Origin
Reset
Click this button to reset the System Origin and to deselect all
position sources of the corresponding position-reference system.
ID
Select the position sources to use for the required
position-reference systems from the drop-down lists.
System Mode
The Accepted check boxes show which position-reference
systems and/or individual position sources are currently enabled
and accepted. The Monitor, Enable and Disable option buttons
are used for selecting position-reference systems and individual
position sources to monitor, enable and disable, respectively.
A reference system enabled for monitoring will not influence the
DP model (zero weight), and it will not be included as an active
reference system for the median test. Apart from this all other
reference system checking is active.
System Origin
The operator may choose to fix the reference origin of one
or more reference systems. A reference system with a fixed
reference origin will not be calibrated towards the model. Fixed
reference origins can be specified by typing in the coordinates
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Position information
Accepted
The check boxes show which position-reference systems are
currently accepted.
Monitor
Check boxes for selecting position-reference systems to monitor.
A reference system enabled for monitoring will not influence the
DP model (zero weight), and it will not be included as an active
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reference system for the median test. Apart from this all other
reference system checking is active.
Enable
Check boxes to enable (checked) or disable (unchecked) each of
the available position-reference systems.
The Monitor and Enable check boxes for each position-reference
system are mutually exclusive. If the Monitor check box
of an enabled position-reference system is selected, this
position-reference system is disabled. If the Enable check box
of a monitored position-reference system is selected, Monitor is
deselected for this position-reference system.
Normal
Provides standard relative weight between the enabled
position-reference systems, i.e. all systems with equal estimated
variance have equal weights.
Reduced GPS Weight
Reduces the influence from the measured GPS positions relative
to measurements from other position-reference systems.
Reduced GPS weight is especially important if you have an
oscillating GPS system, as often will be the case in equatorial
waters due to ionospheric degradation of GPS. In this way a
position-reference system with slow update rate, such as an LBL
system, will have greater influence on the model than a GPS
system with faster update rate.
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Position information
The relative weights used are shown on the Refsys view (see
Refsys view on page 317).
Acceptance Limits
The acceptance limit for the Prediction Test (see Prediction
test on page 167) and indirectly also the Median Test can be
changed.
Narrow
Narrow limit. Corresponds to a Minimum Prediction Error circle
with a small radius. The radius may still increase due to increased
noise in the position-reference system. Narrow is recommended
when operating in calm weather and with requirements for
accurate station-keeping. If all available (or the dominating)
position reference exhibit an erroneous drift in position, the
system(s) will also be rejected at an early stage before the vessel
is significantly affected by the wrong measurements.
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Normal
Medium limit. The same Minimum Prediction Error limit as for
Narrow is used. There is an additional feedback mechanism
where the actual deviation from the model is used to increase
the Prediction Error limit up to a maximum of 2 to 3 times
the smallest radius. Normal should be applied in situations
where there is a chance that the DP model does not follow the
actual movement of the vessel. This is especially relevant when
operating in rough sea. It is also applicable for a vessel operating
with another vessel alongside. A negative side-effect of this
setting is that the DP system will, to a larger extent than with
the Narrow setting, tend to follow drifting position-reference
systems.
Wide
Wide limit. A Minimum Prediction Error circle with an increased
radius compared to the other two settings is used. The same
feedback mechanism as for Normal is used, and the maximum
value of the Prediction Error is also increased. Wide is suitable,
for example, for sailing in Mixed/Joystick mode at high speed.
Median Test
The settings of the Median Test (see Median test on page 169)
can be changed.
Off
Turns off the median testing. This is indicated with the text OFF
in the Median Test field on the Refsys view, and by removal of
the median test limit circle from the plot on the Refsys view.
Warning
Turns on the median testing. When selected, a deviation warning
is given if the difference between the position data from a specific
position-reference system and the median of all online reference
systems exceeds a preset warning limit.
Warning can be preferable compared to Warning and Reject
(below) in some instances. For example, when operating with
two GPSs and one or two HPR systems, and the GPSs have
similar failures, Warning and Reject could lead to rejection of the
HPR by the median test.
Warning and Reject
Turns on the median testing. When selected, a reject warning is
given if the difference between the position data from a specific
position-reference system and the median of all online reference
systems exceeds a preset combined warning and reject limit. The
position-reference system is rejected.
The median test limit circle is shown on the plot on the Refsys
view, together with the limit value in the Median Test field.
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Position information
Reference system
Select the name of the reference system from the list box. If you
have changed the properties of a reference system, and then
selected another system from the list, a dialog box is displayed
asking if you want to save the changes.
Datum
For a global reference system, the datum in which the position
measurements are received. If this datum is different from the
selected system datum (WGS84), conversion to the system datum
will be performed.
If position information from a global reference system is based
on a predefined datum other than those present in the Datum
drop down list, you can select Local-datum from this drop-down
list. You must then use the Position Presentation dialog box
and Datum Details dialog box (see Position Presentation dialog
box on page 146 and Datum Details dialog box on page 149,
respectively) to define the required transformation parameters.
CG Offset
Allows you to specify the offset (Ahead, Stbd and Down) from
the antenna or sensor head on the vessel to the vessel’s center of
gravity (Midships). The received position information is then
adjusted for this offset.
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Kongsberg K-Pos DP (OS)
Note
Some position-reference systems have internal adjustments to
CG. For these systems, the received position information should
not be adjusted by the K-Pos DP system.
Expected values
Allows you to specify an Update Period and an Accuracy for the
selected position-reference system. The Update Period is mostly
used for HPR systems. To avoid unnecessary time-out warnings,
you can extend the Update Period and thus the time before a
warning is issued. The Accuracy value is used for calibration
purposes and when testing the accuracy of the position-reference
system. If calibration fails, increase the value to ease calibration
of a position-reference system. Note that the higher the value
entered in the Accuracy text box, the wider the limits for the tests
on position-reference systems.
Details
Clicking this button opens up an extension of the Reference
System Properties dialog box (see Position Presentation dialog
box on page 146). This expansion allows you to set up a quality
filter, defined as a general satellite navigation system filter for
both GPS, GLONASS and GNSS reference systems.
The Details button is only present in the Reference System
Properties dialog box when one of the above satellite navigation
reference systems has been selected in the list box.
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Position information
UTM Properties
Zone
Type in a number, or click the up- or down arrow to enter the
correct UTM zone.
False Easting
Select this check box if the position-reference system provides
position measurements which include false easting.
False Northing
Select this check box if the position-reference system provides
position measurements which include false northing.
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Kongsberg K-Pos DP (OS)
No differential correction
Allows you to select a filter action if no differential data is
available/received. This is considered to be an important
parameter, and a warning or an alarm must always be given. It is
therefore not possible to select None as an action.
Min number of satellites (≥3)
Allows you to type in the minimum number of satellites in
the corresponding text box and to select filter action. The
number of satellites you enter must be larger than or equal to
the preconfigured number displayed on the dialog box (3 in the
example shown).
Max. HDOP (1.0-10.0)
Allows you to type in a maximum value for the HDOP
(Horizontal Dilution Of Precision) in the text box and to select
filter action. The HDOP is a figure of merit for the quality of the
derived position and clock bias estimates. This figure is based on
the geometry of the satellite constellation. The more spread out
the satellite positions are, the lower the HDOP becomes. Low
figures result in low position and clock bias errors.
Time freeze detection
Allows you to select a filter action for the UTC (Universal Time
Coordinated, i.e. common standard time) freeze detect function.
This quality filter function only applies when receiving telegrams
containing clock data.
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drift away from the Vessel Model’s predictions. The limit for the
Prediction test is a function of the actual measurement accuracy
(calculated variance).
Rejected measurement
Rejection limit
Model prediction
Measurement
Rejection limit
TIME
(CD3293)
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Position information
Reject limit
around total
median line
North
Median
line
Measurement
from system B
Measurement
from system C
POSITION
(CD2971) EAST
When the Median test is active, a blue circle with radius equal to
the Median Test Limit and with center at the median value of all
positions given by the position-reference systems, is displayed
on the Refsys view. The Median Test Limit is taken as 80 % of
the Minimum Prediction Error Limit.
The operator may choose to reject an inaccurate position-reference
system, or to only have a warning displayed.
The following Warning Message is displayed in the Event List
window when a position-reference system is rejected:
Reference median rejected
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Position information
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Position information
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Position information
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Main modes and operating procedures
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Main modes and operating procedures
Note
If you do not enable any position-reference systems or
gyrocompasses, you must ignore any displayed position, heading
or speed information.
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Main modes and operating procedures
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Main modes and operating procedures
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Changing the position setpoint
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Range
Enter the range from the Present Setpoint to the New Setpoint in
this text box.
True Bearing
Enter the true bearing from the Present Setpoint to the New
Setpoint in this text box.
A temporary setpoint symbol is displayed on the Posplot view
showing the position of the New Setpoint relative to the Present
Setpoint.
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Changing the position setpoint
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Kongsberg K-Pos DP (OS)
New Setpoint
Shows the coordinates that will be used for the new position
setpoint when you click the OK or Apply button.
A temporary setpoint symbol is displayed on the Posplot view
showing the position of the New Setpoint relative to the Present
Setpoint.
Relative
This applies increments Ahead/Astern/Port/Starboard.
True
This applies increments North/South/East/West.
From Present Setpoint to New Setpoint
Shows the Range and True Bearing from the Present Setpoint
position to the New Setpoint position.
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Changing the position setpoint
New Setpoint
Shows the coordinates that will be used for the new position
setpoint when you click the OK or Apply button.
A temporary setpoint symbol is displayed on the Posplot view
showing the position of the New Setpoint relative to the Present
Setpoint.
To define a new position setpoint, enter the range and bearing in
the Range and Bearing text boxes.
Start position
Choose whether the new position setpoint is to be calculated
relative to the Present Setpoint or the Present Position by clicking
the matching option button.
Bearing
Select either True or Relative bearing by clicking the matching
option button.
From Present Setpoint to New Setpoint
Shows the Range and True Bearing from the Present Setpoint
position to the New Setpoint position.
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New Setpoint
Shows the coordinates that will be used for the new position
setpoint when you click the OK or Apply button. You can enter
New Setpoint coordinates by typing the required coordinates
directly into the New Setpoint boxes.
A temporary setpoint symbol is displayed on the Posplot view
showing the position of the New Setpoint relative to the Present
Setpoint.
Previous Setpoint
Shows the coordinates of the previous position setpoint. Clicking
the Use button writes these coordinates into the New Setpoint
boxes. This feature can be used to return the vessel to a previous
position.
From Present Setpoint to New Setpoint
Shows the Range and True Bearing from the Present Setpoint
position to the New Setpoint position.
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Changing the position setpoint
New Setpoint
Either enter the required value in the New Setpoint spin box, or
use the up and down arrows to adjust the setpoint by the selected
increment or decrement defined in the Increase/Decrease speed
step spin box.
Note
If the speed setpoint is set to 0.0, the vessel will not change
position.
If the speed setpoint has been set to 0.0 and the vessel’s rotation
center has been set to another position than Midships, it will
not be possible to perform a change of heading. This is because
a heading change with a rotation center other than Midships
implies a change of position which requires a speed setpoint that
is not zero.
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Kongsberg K-Pos DP (OS)
Either enter the required value in the Speed Setpoint spin box, or
use the up and down arrows of the to adjust the setpoint by the
selected increment or decrement defined in the Increase/Decrease
speed step spin box.
Note
If the speed setpoint is set to 0.0, the vessel will not change
position.
If the speed setpoint has been set to 0.0 and the vessel’s rotation
center has been set to another position than Midships, it will
not be possible to perform a change of heading. This is because
a heading change with a rotation center other than Midships
implies a change of position which requires a speed setpoint that
is not zero.
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Changing the position setpoint
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Changing the heading setpoint
Note
The different methods for changing the heading setpoint cannot
be used at the same time. When the Heading dialog box is open,
you cannot mark a new setpoint on the Posplot view.
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Changing the heading setpoint
Note
The Heading Setpoint dialog box must be displayed if rotation
of the Heading Wheel is to have an effect. When not used, the
dialog box is automatically closed.
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Note
When changing the heading setpoint, the turn direction will
depend on the new heading setpoint. The shortest turn is always
used.
New Setpoint
Shows the heading that will be used as the new heading setpoint
when you click the OK or Apply button. When Operator Selected
is chosen under Strategy, you can enter the Heading Setpoint by
typing in the required heading or by increasing or decreasing the
value by clicking the arrows next to the New Setpoint spin box.
A temporary heading setpoint symbol is displayed on the Posplot
view showing the proposed heading setpoint.
Previous Setpoint
Shows the previous heading setpoint. Clicking the Use button
writes this heading into the New Setpoint box. You can therefore
use this feature to return the vessel to a previous heading.
Offset From Present Setpoint
Shows the difference in heading between the New Setpoint and
the Present Setpoint. This value is updated dynamically when you
enter the new heading setpoint.
Strategy
System Selected
If you choose System Selected, the displayed system-selected
heading is written into the New Setpoint box. When you click the
OK or Apply button, the system will continue to determine what
the heading setpoint should be.
Operator Selected
If you choose Operator Selected, you can enter the Heading
Setpoint using any of the other methods described here.
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Changing the heading setpoint
New Setpoint
Either enter the required value in the New Setpoint box, or use
the up and down arrows to adjust the setpoint by the selected
increment or decrement (Increase/Decrease step).
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Thrusters
13 THRUSTERS
This chapter contains the following sections:
13.1 Enabling thrusters ....................................................201
13.2 Automatic thruster start (for IAS deliveries) ...........203
13.3 Thruster Allocation dialog box ................................204
13.4 Allocation Settings dialog box.................................208
13.5 Rudder/Nozzle control .............................................209
13.6 Thruster biasing .......................................................209
13.7 Thruster Biasing dialog box.....................................210
13.8 Thruster Combinator Control Settings dialog
box............................................................................219
13.9 Thruster Run-in dialog box ......................................220
The term “thruster” is used throughout this manual to mean any
element of the vessel’s propulsion system; including propellers,
rudders, tunnel thrusters and azimuth thrusters. (The specific
terms for the elements of the propulsion system are used
whenever this enhances the readability of the manual).
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Thrusters
Rudders
Enable/disable All
Selecting or clearing this check box allows you to enable
or disable all thrusters and rudders for K-Pos DP control
simultaneously.
Running
These check boxes show whether the thrusters are running or not.
When a thruster status is set as running, the K-Pos DP system
reads the feedback signal from the thruster and calculates the
resulting thruster force.
Under certain conditions, the operator can switch the thruster
Running signals on/off. The running status can be changed in
this way only if all of the following conditions are satisfied:
• The running status is not interfaced directly from the thruster
to the K-Pos DP system.
• The thruster is not Ready.
• The system configuration allows manual setting of thruster
running status.
Rdy
These check boxes show whether the thrusters are Ready for
K-Pos DP control.
Enable
These check boxes allow you to enable or disable each of the
thrusters for K-Pos DP control. The system will automatically
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Kongsberg K-Pos DP (OS)
Thruster Start
Turns on and off automatic start of thrusters in all groups.
Thruster Enable
Turns on and off automatic enabling of thrusters in all groups.
(thruster) Group
Start request limit
Allows you to set the force setpoint limit (in %) for automatic
start of a thruster. The force setpoint limit is set individually
for each thruster group.
Start request delay
Allows you to set the delay (in seconds) following a violation of
the start request limit, before performing an automatic start of
a thruster. The Start request delay is set individually for each
thruster group.
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Thrusters
Mode
For the azimuth thrusters, you can choose between various
thruster allocation modes. The currently-selected thruster
allocation mode is shown both on the Thruster Allocation dialog
box and on the Thruster main view (see Thruster main view on
page 333).
Depending on the operational mode, illegal thruster allocation
modes are unavailable on the Thruster Allocation dialog box.
Some azimuth thruster allocation modes can be configured
to comprise thruster biasing. Thruster biasing (see Thruster
biasing on page 209) can also be available as a dedicated thruster
allocation mode with its own name. The following are some
typical examples of azimuth thruster allocation modes:
VARIABLE
The system automatically changes the angle of the azimuth
thrusters so that the thrust is always angled in the optimum
direction. In order to reduce wear and tear on the azimuth
thrusters due to continuous changes in the azimuth thruster
angles, a dead-band function is incorporated.
Use this mode when the environmental forces acting on the
vessel are large and are not constantly changing direction.
A set of prohibited zones for each thruster can be predefined to
prevent a particular thruster from interfering with other thrusters,
the hull or other equipment. What happens to the thrust when a
thruster passes a prohibited zone can be predefined for each zone
(for example, the thrust can be reduced).
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Kongsberg K-Pos DP (OS)
FIX
The system automatically selects a fixed angle for each azimuth
thruster. When the environmental force is small and constantly
changing direction, this mode can be used in order to avoid
continuous changes in the azimuth thruster angle.
If disabling and then re-enabling a thruster with a negative pitch
or RPM, the system will automatically turn the thruster 180°.
ENVIRON FIX
A set of alternative, fixed angles are predefined for each azimuth
thruster. The system will choose the best predefined angle in the
set, based on the direction of the environmental forces when the
mode is enabled.
If disabling and then re-enabling a thruster with a negative pitch
or RPM, the system will automatically turn the thruster 180°.
DIVING
This is identical to VARIABLE azimuth mode except that the two
modes have separate configuration of prohibited zones. It is used
to activate dedicated zones during diving operations to prevent
the sending of thruster wash towards the umbilical or diving bell.
This mode can also be used to protect other kinds of equipment,
such as HPR and LTW, and will then be named accordingly.
What happens to the thrust when a thruster passes a prohibited
zone can be predefined for each zone (for example, the thrust
can be reduced).
STEERING
Azimuth thrusters not used for steering will have predefined
fixed angles for use in Autopilot mode. This allocation mode is
automatically selected when the system is in Autopilot mode or
in Auto Track (high Speed) mode (when the speed is high-high).
HEAVE RED
When using heave reduction, excessive thrust is applied to
increase the hydrodynamic damping of the vessel. This reduces
the motion of the vessel induced by wave forces. The effect
can be used to reduce the motions when particularly critical
operations are to be carried out, for example crane operations,
transfer of personnel, etc.
The azimuth thrusters configured to participate in the motion
reduction will be at predefined azimuth angles, and they will as
a minimum be run at a predefined force limit, for example 50%
force. The thruster angles are selected so that the resulting thrust
is zero when there is no thrust demand.
MANUAL FIX
In this mode the operator can freely set fixed azimuth angles
of azimuth thrusters and rudders/nozzles using the Allocation
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Thrusters
Rudder Limit
The operator can specify angle limits within which the rudders
are allowed to operate. When the In Use check box is selected,
the system will not turn the rudders beyond the specified limit.
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Group Name
The predefined name of the thruster group. The thruster groups
are shown colour-coded on the small thruster force model in the
upper right corner of the Thruster main view (see Thruster main
view on page 333).
In use
Select this check box to turn on the Thruster Biasing function
for this thruster group.
Thrusters
Shows the thruster numbers to counteract each other in each
group. A special situation is when there is only one thruster in a
group. The text boxes for this group then appear dimmed, with
the thruster number shown only in the first text box. With two or
more thrusters in a group, you can define the thrusters to interact.
An error checking routine informs if:
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Thrusters
Shows the thruster numbers to counteract each other in each
group. With two or more thrusters in a group, you can define the
thrusters to interact when By Operator is selected (see Thruster
Select below). See also Manual selection of thruster biasing on
page 210.
Bias
The minimum force to be used for each thruster when running the
thrusters to counteract each other. You can enter a required Bias
value when By Operator is selected (see Thruster Select below).
Thruster Select
Allows you to set the system to change bias pairs automatically
as a function of demand direction. In the Thruster Select group
box, you can choose between Automatic, By Operator or No Bias.
Used
A check mark in this column indicates the option (Automatic, By
Operator or No Bias) used by the system.
Automatic
When selected, the Thrusters and Bias columns become dimmed,
i.e. unavailable for editing by the operator. The system selects
thruster bias groups automatically based on a predefined setting.
The demand direction decides which group setup is selected.
If a thruster becomes the only enabled thruster in a group, this
thruster can (based on certain criteria) join another group. The
thrusters will then counteract each other so that the resulting
thrust is zero for this “new” group. When a thruster joins a
group, the thruster number is shown below the text Joined on the
Thruster Biasing dialog box, adjacent to the numbers of the other
thrusters in the group. See Figure 34.
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Thrusters
By Operator
With Thruster Select set to By Operator, the operator can select
the thrusters in each group by typing in the required thruster
numbers, and enter Bias values or select Total Bias.
No Bias
With Thruster Select set to No Bias, the system is still in thruster
bias main thruster allocation mode, but no bias is applied.
Total Bias
Use
When Use is selected, a total common bias can be entered. You
can also monitor the total applied bias on the dialog box.
Request
When the total bias is entered in this spin box, this bias value is
distributed to all of the bias groups. If the bias was initially equal
for each group, the total bias is distributed equally. If however
the bias was initially unequal for each group, the total will be
distributed in the same proportion as the initial proportions.
Applied
This text box shows the difference of the thrust before and after
total bias was applied.
Bias Type
The Bias Type group box only becomes available when running
in FIX thruster allocation mode. The frame appears dimmed in
all other thruster allocation modes. You can select between Port,
Stbd or Both in this frame. By default the Bias Type is set to Both.
When running in FIX thruster allocation mode the K-Pos DP
system automatically selects a fixed angle for each azimuth
thruster, i.e. the azimuth thrusters cannot turn.
You can use the Bias Type settings in the Thruster Biasing
function to work around this restriction. Depending on the
direction of applied thruster setpoint, removal of the thruster
biasing on specific thrusters in a group can be allowed. In this
situation, the thruster will run below its bias value, including
negative values (e.g. pitch/rpm). The thruster will not turn, but
the thruster force will be in the opposite direction.
In the following examples we have set (by operator) thrusters 7
and 8 to be in the AFT group (and thus to counteract each other).
The vessel is run in Joystick mode using the joystick to control
the thruster setpoint. The effects of the configured Bias Types
Both, Port and Stbd on thruster behaviour are described.
When Bias Type is set to Both and thruster setpoint to Stbd
(Starboard), a bias is applied on both thruster 7 and 8. Thruster
7 cannot turn because it is in FIX thruster allocation mode (see
Figure 35). The same will happen when you set the thruster
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5 T demand
Starboard thruster counteracting
port thruster.
7T 2T
5.99 T demand
Port thruster about to reach 80%.
Starboard thruster will start turning.
7.99 T 2T
6.0 T demand
Port thruster reached 80%, so
starboard thruster turned.
3T 3T (Increasing turn factor to 90% would
turn starboard thruster back again.)
(CD3325)
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Example 1
Example 2
Example 3
(CD3326)
13.7.5 Inwards
When two thrusters are counteracting each other, the Inwards
check box determines whether they should be run towards each
other or away from each other. The examples below show
various situations with Inwards both selected and not selected.
The specified setpoint is the force setpoint for this group.
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3T 3T 3T 3T
7T 2T 2T 7T
(CD3327)
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Thrusters
Configuration
Minimum RPM %
For each of the listed thrusters, the operator can specify a
minimum percentage value for the RPM. The RPM will not fall
below this limit when Sequential or Stepwise Combinator Control
Mode is selected.
Minimum RPM is not applicable for Full Combinator Control
Mode and is therefore unavailable (appears dimmed) when this
mode is selected.
Combinator Control Mode
Sequential
The RPM is kept fixed at the Minimum RPM limit for low force
demands. The RPM will only increase if the force demand is
higher than what can be dealt with by varying the pitch. The
pitch setpoint will always be +100% or –100% when the RPM
setpoint is higher than the Minimum RPM limit.
Stepwise
The RPM will be stepped up (respective down) if the filtered
pitch setpoint is higher (respective lower) than a predefined limit.
The RPM will never be stepped below the Minimum RPM limit.
This mode is designed with long term station-keeping in mind.
In this mode the thrusters will step the RPM automatically in
varying weather conditions in order to force the pitch setpoint
into a desired working interval.
Full
The pitch and the RPM follows a predefined trace (combinator
curve) with regards to the force demand.
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Configuration
Enable
Select a check box to turn on the Thruster Run-in function for the
corresponding thruster.
Max. setpoint (%)
The maximum setpoint for the corresponding thruster in percent.
The specified value must be more than any required minimum
setpoint for the thruster (such as for minimum thrust or idle rpm)
and must always be at least 20%. This value is valid for both the
positive and negative directions.
For thrusters with combined pitch/rpm control, the specified
maximum setpoint refers to either the pitch or the rpm setpoint,
depending on the configuration.
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Power system
14 POWER SYSTEM
This chapter contains the following sections:
14.1 Power monitoring.....................................................221
14.2 Power load monitoring and blackout
prevention ................................................................221
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Note
To minimise the pcAnywhere Waiting... dialog box, do not click
the Cancel button, as this will abort pcAnywhere. Instead, click
the Windows minimize button ( ) in the upper right corner of
the dialog box.
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Print Status
Click this button to request an immediate print-out of the status
page.
Cyclic Print Control
Select the Cyclic Print check box if you want a cyclic print-out to
be made automatically after a specified Interval. This can only be
selected from the Operator Station in command.
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• The Version column lists the version of the program (EXE file).
• The Modified column lists the date when each DLL and EXE
file was last modified.
• The Size column lists the file size for each DLL and EXE file.
Clicking the Overview button returns to the overview of software
information.
Clicking the Details<< button returns to the list of EXE and DLL
files in use.
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16.1 Introduction
Functions are available for monitoring the status of the K-Pos DP
operator stations, process stations and IO system.
During normal operation you can:
• View the operational status of the Operator Stations, History
Stations and Process Stations
• View information and status indications for every IO driver,
IO block and IO point configured in the system.
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16.2.2.1 Redundancy
In single systems, the K-Pos DP Controller Cabinet contains a
single DpPS.
In dual systems, the K-Pos DP Controller Cabinet contains two
DpPSs which operate with a master/slave relationship. Switching
between master and slave can be performed manually, or the
switching can be performed automatically by the system.
In triple systems, the K-Pos DP Cabinet contains three DpPSs.
The concept of majority voting is used to detect and isolate faults
in the sensors and in theK-Pos DP system itself.
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16.2.2.2 WinPS
A WinPS is a Process station that runs on an OS computer, as
opposed to a standard PS. A WinPS provides full PS functionality,
except that it cannot communicate with the IO system.
WinPSs are used for development purposes and in simulators.
16.2.3 IO system
The IO system provides the communication interface for
exchange of IO signals between the field devices (thrusters and
sensors) and the process station.
The main elements of the IO system are:
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• IO drivers
IO drivers are responsible for the communication with the
field device. The IO driver provides conversion between field
values and IO raw values.
The following driver types are supported:
– RBUS for discrete analog and digital IO
– NetIO for communication between PSs
– Dedicated sensor and interface drivers for serial line
devices such as Artemis, GPS, Fanbeam and HPR
– ComAs for generic serial line IO
• IO blocks
An IO block represents a group of identifiable IO signals from
an IO device in the field. For example:
– For IO cards belonging to the RBUS driver, an IO block
represents an IO card in the IO rack.
– For NetIO communication between process stations, an IO
block may represent all the signals related to a particular
sensor or thruster.
• IO points
IO points are the connection points for IO signals. An
IO point may provide signal conditioning elements for
conversion between the IO raw value on the driver side and
the engineering value on the K-Pos DP system side.
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16.3 Equipment
The Equipment - System Status dialog box shows operational
status information about the Operator Stations, History Stations
and Process Stations in your system.
16.3.1 PS page
The PS page shows the current status of all process stations
defined in the system.
To display this page, select System→Equipment.
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Station
Identification of the PS.
Group name
Displays the name of the redundancy group to which this station
belongs.
(No column title)
Identification of the PS within the redundancy group. For
example: Controller PS A, B or C within the DpMain group.
Status
Shows the current status of the PS:
• Operational — PS is operational.
• Booting — PS is booting (loading configuration).
• Rebooting — PS is rebooting due to an error.
• Not Communicational — PS has reported a status, but no
communication with the PS is possible.
• Not Reported — PS has not reported any status.
• Halt — PS has stopped due to an error condition.
Spare Time (%)
The available CPU capacity, expressed as a percentage of total
CPU capacity.
Net State
Indicates the state of the A and B network interfaces:
• OK — Both network interfaces are OK.
• A-ERROR — Error on network interface A.
• B-ERROR — Error on network interface B.
• AB-ERROR — Error on both network interfaces.
I/O Status
Shows the status of the IO system for this PS:
• OK — No errors reported.
• ERROR — Errors reported.
Serial Status
Not relevant for K-Pos DP systems.
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Other Status:
Shows the status of other sub-systems reported by this station
(typically system self-test and monitoring):
• OK — No errors reported.
• ERROR — Errors reported.
Free Memory
Available memory (or largest continuous block) in kB. (Not
applicable for WinPSs.)
Uptime
The accumulated uptime of the station. Shown as a number
followed by a character indicating the period. For example: 3.06
d indicates 3.06 days (m = minutes, h = hours, d = days, y =
years).
Started
Time stamp when the PS was started.
Format: day/month/year hour:min:sec
Last reported
Time stamp of last communication.
Format: hour:min:sec
The PS page has a shortcut menu. Right-click anywhere on the
page to display the following menu:
Print Image.. see Print Image on page 244.
Station Explorer... see Station Explorer on page 245.
PS Info... not relevant for K-Pos DP systems during normal
operation.
System Events... see Presentation of messages on page 88.
IO Manager... see IO Manager on page 249.
IO Point Browser... see IO Point Browser on page 257.
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Station
Identification of the PS.
Group name
Displays the name of the redundancy group to which this station
belongs.
(No column title)
Identification of the PS within the redundancy group. For
example: Controller PS A, B or C within the DpMain group.
Status
Shows the current status of the PS:
• Operational — PS is operational.
• Booting — PS is booting (loading configuration).
• Rebooting — PS is rebooting due to an error.
• Not Communicational — PS has reported a status, but no
communication with the PS is possible.
• Not Reported — PS has not reported any status.
• Halt — PS has stopped due to an error condition.
Online
Displays whether the PS is online or not. See Redundant
systems on page 118.
Master
Displays whether the PS is master or not. See Redundant
systems on page 118.
Capability
Displays the Capability status, indicating to what extent the PS is
technically capable of fulfilling its intended purpose:
• OK — No errors.
• Common Error — Errors that are common to all PSs in the
redundancy group.
• Degraded — Errors that related to only this PS in the
redundancy group.
• Incapable — The PS is in a state where it should not be used
as the master or online computer.
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Running mode
Displays the Running mode:
• Running — The PS is communicating and has finished all
start-up preparations.
• Starting — The PS is communicating, but more startup
preparation is needed.
• Inactive — The PS is not communicating. It may be
initializing or loading, or not executing at all.
Type
Displays the redundancy type for the redundancy group.
For the DpMain and DpM_IO groups, the following types are
relevant: Single, DPDual and DPTriple.
The PS Redundancy page has a shortcut menu. Right-click
anywhere on the page to display the following menu:
Print Image.. see Print Image on page 244.
Station Explorer... see Station Explorer on page 245.
PS Info... not relevant for K-Pos DP systems during normal
operation.
System Events... see Presentation of messages on page 88.
IO Manager... see IO Manager on page 249.
IO Point Browser... see IO Point Browser on page 257.
Station
Identification of the OS or HS.
Status
Shows the current status of the OS or HS:
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• Operational — OS or HS is operational.
• Not Communicational — OS or HS has reported a status, but
no communication with the OS or HS is possible.
• Not Reported — OS or HS has not reported any status.
• Stopped — OS or HS is not switched on.
Last Reported
Time stamp of last communication.
Format: day/month/year hour:min:sec
Net State
Indicates the state of the A and B network interfaces:
• OK — Both network interfaces are OK.
• A-ERROR — Error on network interface A.
• B-ERROR — Error on network interface B.
• AB-ERROR — Error on both network interfaces.
The OS/HS page has a shortcut menu. Right-click anywhere on
the page to display the following menu:
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This page contains a window that is divided into two panes. The
left-hand pane lists all stations in the communication network by
means of icons and names. Clicking any icon or name displays in
the right-hand pane the status of the communication network as
seen from the receiving station in the left-hand pane.
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Select the appropriate printer from the Name drop-down list box.
Use the Properties button to select the printout format.
Comment
The text that you type in the Comment text box is printed in a
separate box on the top right corner of the printout.
Color print
Select this check box if a printout in colour is required.
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4 You can use the drop-down list box to select any other PS
to be displayed.
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16.4.3 Hotspots
Hotspot symbols provide links to dialog boxes for displaying
further information about the IO system:
Displays the Properties dialog box, which shows an overview of
the software and hardware status of the selected PS. This feature
is intended only for Kongsberg Maritime personnel.
Displays the IO Manager dialog box, which shows the status
of the IO drivers and IO blocks for the selected PS. See IO
Manager on page 249.
Displays the Driver Properties dialog box for the selected IO
driver. This feature is intended only for Kongsberg Maritime
personnel.
Displays a submenu:
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• For an IO driver:
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16.5 IO Manager
The IO Manager dialog box displays an overview of the IO
system, showing the IO drivers and IO blocks for a selected
station.
To display the IO Manager dialog box, either:
1 Select System→Equipment.
• The Equipment - System Status dialog box is displayed.
2 Right-click on a PS line anywhere on the PS or PS
Redundancy page of the Equipment - System Status dialog
box.
• The following shortcut menu is displayed:
3 Select IO Manager.
• The IO Manager dialog box is displayed.
or:
1 Start the Station Explorer (see Station Explorer on page 245).
2 Select the required PS from the drop-down list.
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16.5.1 IO Configurator
Use the drop-down box to select the PS for which you will
display the IO drivers and IO blocks.
In the expandable tree view, the symbols are as follows:
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The alarm status indicators are the same as for the Station
Explorer. See Station Explorer on page 245.
If you click on an IO card, the IO Terminal Block dialog box is
displayed showing information about the selected IO card and its
IO channels. See IO Terminal Block on page 252.
If you right-click on an IO card, a shortcut menu is displayed:
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Rack positions containing PSs and power supply units are not
shown on the Detailed level.
The information provided on the Detailed level is intended
primarily for Kongsberg Maritime personnel.
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Station Explorer
The upper-left area displays the selected IO block, filtered from
the expandable tree structure of the Station Explorer, and displays
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the driver, alarm status and the block tag of the selected IO block.
For more details, see Station Explorer on page 245.
Tag
Displays the name of the selected IO block.
Description
Displays descriptive text for the selected IO block.
Task
Shows the scan rate for the selected IO block:
• Task 1 — Normal
• Task 2 — Quick
• Task 3 — Rapid
Auto
Not relevant for K-Pos DP systems.
Upper-right list box
The upper-right list box displays the IO block properties
represented by parameters and values. When you point at a
parameter, a tool-tip is displayed, providing more explanatory
text.
IO Points
This area displays information about the IO points for the
selected IO block.
Direction
The direction of the data flow:
• Output data flow
• Input data flow
IO tag
The name of the IO signal.
(IO point parameter symbol)
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Eng. value
The engineering value and its units.
(Eng. status)
The status of the engineering value:
• OK
• Error
• SIM
Connection
For signals that are to be transferred between process stations,
this field displays the name of the NetIO tag that corresponds to
this IO point.
Note
If you click a cell in the Connection column, the Connect/Disconnect
Terminal dialog box is displayed for the selected IO point. This
dialog box has no function during normal operation.
Details
Clicking the Details button displays or removes the IO Point
Parameters and Eng. Signal Conditioning sections in the lower
part of the dialog box.
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Resize Columns
Resizes the columns displayed in the IO Points area to fit the
content of the columns.
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Sensor unit
Engineering unit
Engineering unit X X X Engineering scale maximum
Bias
Use negative input value
Invert X X X None
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Station
Use this drop-down list box to select either all PSs, or the PS
within which you want to browse.
Tag
Browse Criteria
Use this text box to enter the browse criteria. Wildcard characters
can be used.
Match case
Use this check box to make the Browse Criteria case sensitive.
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Resize Columns
Resizes the columns displayed in the IO Point Browser dialog box
to fit the content of the columns.
Show IO Block
Allows you to view configuration information for the selected IO
Block by displaying the corresponding IO Terminal Block dialog
box. See IO Terminal Block on page 252.
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Enable configuration
When selected, the configuration shown is enabled.
Baud rate
Shows the baud rate (110, 300, 600, 1200, 2400, 4800, 9600,
19200, 38400 baud).
Parity
Shows the parity (No, Even, Odd).
Number of data bits
Shows the number of data bits (5, 6, 7, 8 bit).
Number of stop bits
Shows the number of stop bits (1, 2 bit).
Protocol
Protocols available; Ecma24, Kos100, End of File, End of
Record, Raw, Xon/Xoff, Siemens 3946L, 3946H, 3946RL,
3946RH, Measurex, UniTelWay, SMC, Polled raw, End of
Record/Raw, Kos 150, Inter Frame Gap, Time sync.
EOR char. input
Shows the End of Record character input in hexadecimal.
EOR char. output
Shows the End of Record character output in hexadecimal.
HW handshake
Shows the Hardware handshake (No, RTS@Send,
RTS@Receive) - (RTS is short for Request To Send).
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HW selection
Shows the Hardware selection (Default, RS232, RS422, RS485).
Auto disable interrupts
To automatically disable interrupts, select this check box and
click the OK or Apply button.
Max. interrupt rate receive
Shows the highest recorded receive interrupt rate for this serial
port (since startup or reset).
Max. interrupt rate exception
Shows the highest recorded exception interrupt rate for this serial
port (since startup or reset).
The Int. status page of the Properties — DpPs Serial port dialog
for the ComAs driver displays the interrupt status of a selected
serial port.
Reset disabled serial port
To reset a disabled serial port, select this check box and click
the OK or Apply button.
Reset max. interrupt rate
To reset the displayed values for Max. receive interrupt rate and
Max. exception interrupt rate, select this check box and click
the OK or Apply button.
Disabled due to high receive rate
Indicates whether the selected port is disabled due to high receive
rate (0 = enabled, 1 = disabled).
Disabled due to high exception rate
Indicates whether the selected port is disabled due to high
exception rate (0 = enabled, 1 = disabled).
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17 BUILT-IN TRAINER
This chapter contains the following sections:
17.1 Trainer functions ......................................................266
17.2 Using the trainer.......................................................266
17.3 Setting the start position for the next session ...........268
17.4 Leaving the trainer ...................................................268
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DP online consequence analysis
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19 DISPLAY VIEWS
This chapter contains the following sections:
19.1 Deviation view .........................................................272
19.2 Diesels view .............................................................276
19.3 General view ............................................................279
19.4 Joystick view............................................................281
19.5 LTW view ................................................................285
19.6 Numeric view...........................................................291
19.7 Performance area .....................................................293
19.8 Posplot view.............................................................298
19.9 Power view...............................................................312
19.10 Power Consumption view ........................................316
19.11 Refsys view ..............................................................317
19.12 Refsys Status view ...................................................325
19.13 Rotation Centers view..............................................326
19.14 Sensors view ............................................................327
19.15 Thruster views..........................................................332
19.16 Trends view..............................................................349
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True
True display of position deviation. The graphical display of
position deviation is displayed in a fixed orientation (north up).
Relative
Relative display of position deviation. The graphical display
of position deviation is displayed relative to the vessel heading
(head up).
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True
True display of position deviation. The graphical display of
position deviation is displayed in a fixed orientation (north up).
Relative
Relative display of position deviation. The graphical display
of position deviation is displayed relative to the vessel heading
(head up).
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Gimbal head
Wire
Wire Wire length, Water length, Wire
length vertical depth vertical length
component component
Depressor Seabed
Depressor
weight Seabed weight
CD2824
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Grid
Show
To show or hide the grid.
Square
Square grid.
Circular
Circular grid.
Spacing
The spacing (distance) between grid lines or circles. You can
change the grid spacing by clicking the down arrow and selecting
a new value from the drop-down list.
The grid spacing is automatically adjusted when
decreasing/increasing the display range.
Light Taut Wire Graphics
LTW 1, LTW 2, LTW 3, LTW 4
Allows you to select the LTW system whose position information
is to be displayed in the main graphic area of the view.
Range
Allows you to specify the display range explicitly by typing in
a value in the text box.
Incr. Range
This button allows you to increase the display range in fixed
steps.
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Decr. Range
This button allows you to decrease the display range in fixed
steps.
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True
True display of direction of vessel movement and current force
(relative to the North direction).
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Relative
Relative display of direction of vessel movement and current
force (relative to the vessel heading).
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Note
When changing the Posplot view to close
range or long range, the vessel symbol
changes from showing the correct form and
dimensions of the vessel into a simplified
shape with a constant size.
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Show/Hide
Display or remove various features of the Posplot view.
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Show
Show or hide the grid.
Spacing
The spacing (distance) between grid lines or circles. The grid
spacing can be changed by clicking the down arrow and selecting
a new value from the drop-down list.
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Trend symbols
It is possible to select to show or hide a series of vessel symbols
indicating vessel movement and position (Show) and specify the
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Note
With the Posplot view at close range when the simplified symbol
is displayed, the “trended” symbols are not shown.
Clear All
Clicking this button permanently clears all the trend symbols and
the trace line both in memory and on the Posplot view.
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Present
Selects whether to display the total nominal and produced power
from the generators connected to each Main Bus or each Sub Bus.
Show/Hide
If configured, selects whether or not to display the internal names
(IO Tags) of the generator breaker, bus and thruster switches.
Plot
The trend plot to be displayed.
Time span
The time span for the trend plot.
Y axis Range...
Clicking this button displays the Y-axis Range dialog box which
allows you to select automatic scaling or to manually set the
upper and lower limits for the y-axis plot scale.
Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits manually.
For a detailed description of the available trend plots (see Trends
view on page 349).
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Position
These are numerical values for the calibrated
position (for each reference system) as used
by the DP system. The data are presented
according to current display units/position
selection. Note that colour coding is used.
Transponder Coordinates
These are numerical values for the origin of
the particular reference system, for example
the position of an HPR or LBL transponder
or an Artemis Fix antenna. Note that colour
coding is used.
Raw Position
These are numerical values of raw
(uncompensated and untransformed)
position measurements (for each reference
system) as received by the DP system.
The type of reference system determines
how the position is displayed: either as
Along/Stbd, North/East, Latitude/Longitude
or as Range/Bearing position format. Note
that colour coding is used.
RefSys Raw Data SD
These are trend plots. The type of trend plot
is selected on the Mode page of the Refsys
view control dialog box. Note that colour
coding is used.
You can also select the Y-axis scale range
(either auto or manual scaling) and the time
span.
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Plot Orientation
Displays the Refsys plot relative to the North direction (True) or
the vessel heading (Relative).
Position
Transponder Coordinates
Raw Position
Select the required set of numerical data to be displayed in the
lower right corner of the Refsys view. These items are described
in detail in the previous section.
Trend Plot
Select a Trend Plot to be displayed in the lower right corner
of the Refsys view. These items are described in detail in the
previous section.
Plot
The type of trend plot to be displayed. You can select between
the following options: RefSys Bias E, RefSys Bias N, RefSys
StdDev, RefSysWeight or – none –.
Time span
The time span for the trend plot.
Range...
Clicking this button displays the Y-axis Range dialog box which
allows you to select automatic scaling or to manually set the
upper and lower limits for the y-axis plot scale.
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Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits manually.
Show
To show or hide the grid.
Spacing
The spacing (distance) between grid lines or circles. You can
change the grid spacing by clicking the down arrow and selecting
a new value from the drop-down list.
The grid spacing is automatically adjusted when
decreasing/increasing the display range.
Type
The type of grid.
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Speed Log
The vessel alongships and athwartships
speed as measured by each of the Doppler
Log speed sensors are shown. The Doppler
Log speed is marked with G or W depending
on the type of speed output:
• G — Speed over the sea bed (ground
speed)
• W — Speed through the water
Speed GPS
The vessel speed and course as measured by
each of the GPS speed sensors are shown.
The measurements from the speed sensors
that are currently used by the system are
highlighted.
- - - - - - - - is displayed if a sensor is not OK.
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Trend Plot
Selection of trend plot and settings for the trend plot.
Plot
The trend plot to be displayed.
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Time span
The time span for the trend plot.
Y axis Range...
Clicking this button displays the Y-axis Range dialog box which
allows you to select automatic scaling or to manually set the
upper and lower limits for the y-axis plot scale.
Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits.
For a detailed description of the available trend plots (see Trends
view on page 349).
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Alloc Mode:
This is the currently-selected thruster
allocation mode (see Thruster Allocation
dialog box on page 204).
Alloc Control:
This is the currently-selected thruster
allocation control and free run status.
Priority shows either Hdg (heading) or Pos
(position). See Position Priority in Thruster
Allocation dialog box on page 204.
FreeRun shows either ON or OFF.
Incr.Pow (increased power) shows either
RDY in green when increased power is not
selected, or ON in red when selected, or
nothing when not ready.
The Alloc Mode area is click-sensitive. The
ordinary cursor changes to a pointing hand
when positioned over this area. Clicking the
left trackball button opens up the Thruster
Allocation dialog box.
Force
A numerical display of the resulting force
and direction, and a force vector (displayed
from the vessel’s Midships position), are
shown.
Moment
This is a numerical display of the resulting
turning moment and direction. A curved bar
graph represents these values.
Individual thrust vectors for each thruster
are shown. The thrust vectors change
colour when thrusters pass limit values
for percentage of available thrust (typical
values):
• Green — 0% to 60%
• Orange — 60% to 80%
• Red — 80% to 100%
All values are based on feedback signals
from the thrusters.
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Status
The Status check boxes show the Running,
Ready and Enabled status of each thruster
unit.
Forces
These are numerical values and bar graphs
showing the thruster force for each thruster
unit. The bar graphs show the percentage
of the maximum available thrust and are
scaled individually. Each bar graph is split
in two horizontally. The upper part shows
the setpoint thruster force (Setp) and the
lower part shows the feedback thruster force
(Feedb). The numerical values are all based
on feedback signals from the thrusters.
The bar graphs change colour when thrusters
pass limit values for percentage of available
thrust (typical values):
• Green — 0% to 60%
• Orange — 60% to 80%
• Red — 80% to 100%
These are numerical and graphical displays
of pitch/rpm and power feedback for the
tunnel thruster.
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• Green — 0% to 60%
• Orange — 60% to 80%
• Red — 80% to 100%
This is a numerical display of the pitch,
rpm and power setpoint and feedback, and
the difference between them, shown as a
percentage of the maximum.
The graphical display indicates the
difference between the setpoint and
feedback (with zero at the center of the
scale).
Note that only power is configured in this
example.
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• Green — 0% to 60%
• Orange — 60% to 80%
• Red — 80% to 100%
This is a numerical display of the pitch,
rpm and azimuth setpoint and feedback, and
the difference between them, shown as a
percentage of the maximum.
The graphical display indicates the
difference between the setpoint and
feedback (with zero at the center of the
scale).
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• Green — 0% to 60%
• Orange — 60% to 80%
• Red — 80% to 100%
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Plot
The trend plot to be displayed. The following trend plots are
available:
Thr Pitch
Pitch setpoint and feedback for this thruster.
Thr RPM
RPM setpoint and feedback for this thruster.
Thr Azim
Azimuth setpoint and feedback for this thruster.
Thr Load
Load setpoint and feedback for this thruster.
Time span
The time span for the trend plot.
Y axis Range...
Clicking this button displays the Y axis Range dialog box which
allows you to set the upper and lower limits for the y-axis plot
scale manually or to select automatic scaling.
Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits.
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Ready
Available for control by the K-Pos DP
system.
Enable
Enabled for control by the K-Pos DP system
(see Enabling thrusters on page 201).
These are numerical displays and bar graphs
of the thruster force setpoint and feedback,
and the difference between them, shown as
a percentage of maximum.
These are numerical displays and bar graphs
of the pitch setpoint and feedback, and
the difference between them, shown as a
percentage of maximum.
These are numerical displays and bar graphs
of the rpm setpoint and feedback, and
the difference between them, shown as a
percentage of maximum.
These are numerical displays and bar graphs
of the force setpoint and feedback, and
the difference between them, shown as a
percentage of maximum.
These are numerical and graphical displays
of the thruster azimuth or rudder angle
setpoint and feedback, and the difference
between them (in degrees).
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Forces
These are numerical values and bar graphs
showing the thruster force for each thruster
unit. The bar graphs show the percentage
of the maximum available thrust and are
scaled individually. Each bar graph is split
in two horizontally. The upper part shows
the setpoint thruster force (Setp) and the
lower part shows the feedback thruster force
(Feedb). The numerical values are all based
on feedback signals from the thrusters.
The bar graphs change colour when thrusters
pass limit values for percentage of available
thrust (typical values):
• Green — 0% to 60%
• Orange — 60% to 80%
• Red — 80% to 100%
Status
The Status check boxes show the Running,
Ready and Enabled status of each thruster
unit.
Individual thrust vectors (thruster force
feedback) for each thruster are shown.
The vectors change colour according to
the change of colour on the corresponding
bar graphs (when passing limit values for
percentage of available thrust).
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Plot
The trend plots to be displayed. Clicking the down arrow on the
far right of the Plot list box opens up a list from which you can
select the variable type to be displayed.
Time span
The time span for the trend plots.
Y axis Range...
Clicking this button displays the Y axis Range dialog box which
allows you to set the upper and lower limits for the y-axis plot
scale manually or to select automatic scaling.
Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower range limits manually.
For a detailed description of the available trend plots (see Trends
view on page 349).
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Index
A B position presentation, 146
system datum, 165
About (dialog box) basic forces and motions, 19
current
Details, 230 blackout prevention, 221
direction display, 63
EXE/DLL, 230
current update, 79
Overview, 229
C box), CyberSea Mode (dialog box),
Acceleration/Retardation Settings (dialog
231
200 calibrating
Ack (button), 93 joystick, 78
Activate (button), 34, 197 Change Heading (button), 197 D
active and unavailable commands, Change Position (button), damping, 39
37 187, 189–190 Date And Time (dialog box),
alarm Change User (dialog box), 57 91
acknowledging, 93 changing cursor image, 46 Datum Details (dialog box),
lamps, 94 changing user, 57 150
limits chart Decrease (button), 34, 197
heading, 66 view control, 306 depth
position, 66–67 combinator control of thrusters, displayed on Sensors view,
VRS, 67 219 330
silence, 94 command Deviation view, 272
Alarm Limits (dialog box) groups, 109 position and heading deviation in Auto Position mod
Position, 65 status, 109 273
VRS, 67 transfer, 107 position and heading in Joystick mode,
alarm message, 87 Command Control (dialog box) 272
alarm states, 92 DP-OS, 110 view controls, 276
Alarm View (button), 88 Give, 112 dialog boxes, 40
Alarms (button) Overview, 110–111 Diesels view, 276
Alarm lamp, 95 Connect (dialog box), 116 display
Fault lamp, 95 connecting to a controller group, colours, 64
Power lamp, 94 116 layout, 35
Alloc Setup (button), 205 consequence analysis menu bar, 36
analysis DP, 269 message line, 37
consequence running state messages, 270 performance area, 38
DP, 269 selecting DP class, 270 printing a hardcopy, 58
Auto Position (button), 183 warning messages, 270 selection of display palette,
Auto Position mode, 182 Control Setup (button), 68 64
from Joystick mode to, 183 controller status bar, 38
Green control, 25 gain, 68 status line, 38
Automatic Thruster Start (dialog box), in operation type PM, 27 title bar, 36
203 mode units, 60
AutoPos (menu) display presentation of, working area, 38
Acceleration, 193, 200 71 display accuracy
Alarm Limits, 65 green, 68 sea current speed, 62
Dp Class, 270 high precision, 68 vessel speed, 62
Gain, 68 relaxed, 68 display units
Heading, 197 controller groups, 116 editing, 61
Position, 187, 189–190 Controller Mode resetting, 63
Position Inc, 186 Green, 68 selecting the set of display units to use,
Position R/B, 186 High Precision, 68 60
Quick Model, 74 Relaxed, 68 wind, waves and sea current direction,
Rate Of Turn, 199 controller PS 63
Rotation Center, 75 resetting, 117 Display Units (dialog box), 60
Speed, 191 selecting master, 122 display views, 46
axis control, 39 updating offline, 122 available views, 47
Controls (button), 32 control dialog boxes, 49
coordinate systems, 164 Deviation view, 272
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©2006 Kongsberg Maritime
Kongsberg Maritime AS
P.O.Box 483 Telephone: +47 32 28 50 00
N-3601 Kongsberg, Telefax: +47 32 28 50 10
Norway Service: +47 815 35 355
www.kongsberg.com