Cyscan: Positioning System

GCS
CyScan
Positioning
System
Installation and
Maintenance Guide
GCS
GU
G U II D
DAAN
N CC EE
CC O
O N
N TT R
R O
O LL
S Y S T E M S
LL II M
M II TT EE D
D
Downloaded from www.Manualslib.com manuals search engine

Copyright © 2003 Guidance Control Systems Limited. All Rights Reserved.
Copyright in the whole and every part of this manual belongs to Guidance Control
Systems Limited (the “Owner”) and may not be used, sold, transferred, copied or repro-
duced in whole or in part in any manner or form or in or on any media to any person
other than in accordance with the terms of the Owner’s Agreement or otherwise without
the prior written consent of the Owner.
Windows is a trademark of Microsoft Corporation.
All other brand or product names are trademarks or registered trademarks of their
respective companies or organisations.
Release: 1.1
Date: 17/3/03
Document No: 94-0003-1
Previous issue: Installation and Maintenance Guide v1.0

Date: 9/1/03
Changes: Various changes and additions
Guidance Control Systems Limited

4 Dominus Way • Meridian Business Park
Leicester • LE19 1RP • United Kingdom
Tel: +44 (0)116 229 2600

Fax: +44 (0)116 229 2604
Email: cyscan@gcsltd.co.uk
Website: http://www.gcsltd.co.uk
Printed in the UK

Contents
Introduction .................................................... 3
CyScan Installation ....................................... 4
Unpacking the CyScan System .................................................................. 4
Mounting the System Components ........................................................... 6
When mounting two CyScan sensors on the same vessel ....... 6
Wiring the CyScan System ......................................................................... 8
Power Supply Unit (PSU) ................................................................. 8
The Data Converter ....................................................................... 10
Notebook computer ...................................................................... 10
Connecting the CyScan Sensor ................................................................ 11
CyScan LED Indicators ............................................................................. 12
Correct startup indication .............................................................. 12
Error states and possible causes ..................................................... 12
Shutdown/suspend ....................................................................... 12
CyScan Removal .......................................... 13

Switching off the CyScan Console System ............................................... 13
Disconnecting the CyScan Sensor ............................................................ 14
Un-mounting the CyScan Sensor ............................................................. 14
Packing the CyScan System ..................................................................... 15
Maintenance and Servicing ....................... 17

Removing and fitting key components ..................................................... 17
Stage 1 - The Rotor Heatshield ...................................................... 17
Stage 2 - The Rotor ....................................................................... 18
Stage 3 - The Body Cover .............................................................. 19
Stage 4 - The Motor Gearbox ........................................................ 20
Stage 5 - The CPU Module ............................................................ 21
Stage 6 - The Controller Board ...................................................... 22
Stage 7 - The Yaw Gyro ................................................................ 23
Stage 8 - The Vertical Reference Unit (VRU) ................................... 24
Stage 9 - The Actuators ................................................................ 25
Cleaning the CyScan Sensor .................................................................... 27
To clean the casing and bellows: ................................................... 27
To clean the optical window: ......................................................... 27
To clean the targets: ...................................................................... 27
Greasing the Gearbox ............................................................................. 27
GCS
CyScan Positioning System • Installation and Maintenance Guide r1.1 1

Troubleshooting .......................................... 28
For further assistance .............................................................................. 28
No communication between CyScan Console and the Sensor ........ 28
Sensor head does not rotate ......................................................... 28
Sensor rotates slowly ..................................................................... 29
System appears to be operational, however, the sensor
head is not levelling or rotating ..................................................... 29
System appears to be operational, however, no reflections
are displayed within CyScan Console ............................................. 29
System is operational but is not navigating .................................... 29
System navigating but no data is received at the DP system ........... 29
System appears to be operational, however, it is exhibiting
erratic behaviour with communications locking up occasionally ..... 29
System operates correctly but in cold weather loses targets. .......... 29
Alarm Codes ........................................................................................... 30
Fatal alarms - codes 2xxx ............................................................... 30
Errors - codes 3xxx ........................................................................ 30
Warnings - codes 4xxx .................................................................. 30
Information - codes 5xxx ............................................................... 30
CyScan Fuse Information ......................................................................... 31
Power Supply Unit Fuse ................................................................. 31
Controller Board Fuse .................................................................... 31
Appendices ................................................... 32
Appendix 1 - CyScan Sensor Connector Pin-outs ..................................... 32
Appendix 2 - CyScan Sensor Mounting Template ..................................... 33
Appendix 3 - CyScan PSU Mounting Template ......................................... 34
Appendix 4 - CyScan RS485 Data Converter Mounting Template ............. 35
Appendix 5 - Recommended Spares List .................................................. 36
Appendix 6 - Using CyScan Admin Console ............................................. 37
To start CyScan Admin Console ..................................................... 37
To exit CyScan Admin Console ...................................................... 37
CyScan Admin Console Quick Start ............................................... 38
Setting up the User Console Vessel Orientation ................... 39
Checking the Comms Port Settings ..................................... 40
Reinitialise the communications link .................................... 41
Enable Sensor Components ................................................ 42
Check Scanner Enabled ....................................................... 43
Check system supply voltages ............................................. 44
Mooring Point Reflectors - Installation and Definition ............................... 45
Reflector types .............................................................................. 45
Reflector Installation ..................................................................... 46
Defining Reflector Positions ........................................................... 47
Reflector Positioning Examples ...................................................... 48
GCS

Introduction
Welcome to the CyScan positioning system. CyScan uses high accuracy laser navigation
to provide automated approach and/or station keeping relative to one or more desig-
nated mooring points. The mooring points can be fixed structures or other vessels.
CyScan is designed to be semi-portable and straightforward to operate. In use, the
CyScan system consists of several key elements, these being:
• The CyScan Sensor, which is mounted on
deck as required.
CyScan
• The CyScan Console. A monitoring Sensor
application running within MS Windows
on a notebook computer. It provides the
DP operator with full information and Power PSU
control over the data stream being fed to
the DP system.
• The Power Supply Unit (PSU). It is Data
Converter
contained within a watertight enclosure
and is mounted near to the CyScan
sensor. The Console and DP System cables CyScan DP
are fed via the PSU. Console System
• The Data Converter. Situated near to the The key elements of the CyScan system
DP System, this sealed enclosure translates
between the RS485 signals used by the
CyScan Sensor and DP Systems, and the RS232 signals used by the CyScan
Console Notebook computer.
The remaining requirements for the CyScan system are the Targets that must be
mounted on the designated mooring point(s). The Targets consist of specialist reflective
strips or cylinders placed in certain positions along the side of the mooring point structure
or vessel. The coordinates of the targets are then declared to (or discovered by) the
CyScan Console, and using this data the system is able to determine the exact position of
the vessel relative to the mooring point.
Reflective Targets
Mooring Point/Vessel
CyScan
equipped
Vessel
GCS
Positional information is gained by using highly reflective target strips in fixed locations

CyScan Installation
The CyScan Sensor is designed to be semi-portable. This allows it to be mounted in
different positions on the vessel to present the best view of the mooring point targets.
Commissioning the CyScan system ready for operation involves four basic stages:
• Unpacking the CyScan System
• Mounting the CyScan Sensor
• Wiring the CyScan System
• Connecting the CyScan Sensor
Unpacking the CyScan System

The whole CyScan system (comprising: main sensor unit, power supply and data con-
verter) are supplied and shipped in a custom-built flight case. Use the following proce-
dure to unpack and prepare the system elements ready for installation.
To unpack the CyScan system:

1 Position the CyScan flight case on a level surface, close to the area where the
sensor will be installed.
! Warning: The CyScan Sensor and peripheral items weigh in excess of 30kg. Two
people, should perform all lifting and carrying of the unit.
2 Release the four locking
catches by rotating the
butterfly-wing tabs anti-
clockwise. Swing the
catches outwards until they ï Remove the flight case lid
lock out, away from the
lower lip.
3 With the assistance of
another person, lift and
remove the upper lid of the ò Lift out the inner box
flight case.
4 You will now be left with
the base of the flight case and an inner box
containing the sensor. Check that the eight
screws attaching the lid of the inner box are
intact. With the assistance of another person,
hold the open sides of the lid and lift the inner
box out of the flight case base. You can then
place the inner box onto the ground or, if space
is limited, rotate it horizontally by 45 degrees
and place it onto the lip
of the flight case.
5 Using a crosshead
screwdriver, remove the
eight screws securing
the lid onto the inner ï Remove the inner box lid
box and remove the lid.
GCS

ï Remove the bumper
boards
6 Using a crosshead
screwdriver,
remove the eight
screws securing
the two end
bumper boards
and remove.
7 Using a 13mm socket and ratchet,

remove the four bolts that secure the
CyScan sensor to the base of the inner
box.
ñ Remove the bolts
8 With the assistance of

another person, lift the
sensor from the inner
box using the two
ï Lift out the sensor
carrying handles. Place
the sensor next to the
pre-installed mounting
plate on deck.
9 From the access hole in

the base of the flight
case, remove the
power supply and data
converter boxes plus
their accompanying
cables.
ï Remove the
The system is now ready for peripheral items
installation.
GCS

Mounting the System Components
The sensor can be mounted on the vessel using four bolts. The bolts secure the sensor
unit through the holes in the base.
! Warning: The CyScan Sensor weighs approximately 30kg. Two people, using the
integral handles on either side, should perform all lifting and carrying of the
unit.
To mount the CyScan Sensor:

1 With the assistance of another person,
use the two lifting handles to lift the
CyScan Sensor onto the required
mounting plate.
2 Orient the CyScan Sensor so that its
four connectors face the Stern of the
vessel.
3 Carefully lower the CyScan Sensor onto
the mounting position so that its four
mounting holes lineup with those of the
pre-drilled mounting plate. Refer to
Appendix 2 for mounting details.
4 Insert four M8 x 25 stainless steel bolts
and tighten them evenly using a 13mm STE
socket and ratchet. RN
Refer to Appendix 2 for
CyScan Sensor mounting
template details.
5 Remove each of the four locking pins

from the sensor. Ensuring that the white
bellows are not damaged, rotate the
larger barrel of each locking pin clockwise
until it becomes short enough to remove.
Keep the locking pins with the flight case
for future shipping. Avoid using tools for
this job to minimise the chance of inad-
vertently tightening the locking pins and
damaging the CyScan Sensor.
! Important: Ensure that the CyScan Sensor has a clear view in the intended
direction of the mooring point targets. Also, there should be no object within
300mm of the rotating head in any direction as the head requires sufficient space
to tilt in response to pitch and roll vessel movements.
When mounting two CyScan sensors on the same vessel

In situations where two separate CyScan sensors are to be used on the same vessel, the
following criteria should be met:
• The two CyScan sensors must be mounted at least 20m apart.
• An opaque screen should be mounted between the two sensors to avoid crossover
of laser beams.
• The blanking zones of both units should be set so that the alternate sensor is
excluded from the zone of operation.
GCS

To mount the CyScan PSU:
The CyScan PSU must be securely mounted within
one metre of the CyScan Sensor position.
1 Prepare a suitable site for the PSU and
pre-drill pilot holes for the mounting screws
according to the template provided in
Appendix 3.
2 Remove the PSU lid and insert four M6 x
30 stainless steel cap head screws through
the mounting holes at the four corners of
the PSU enclosure.
To mount the CyScan Data Converter

The CyScan Data Converter must be securely mounted in the vicinity of the CyScan
notebook computer.
1 Prepare a suitable site for the Data Converter and pre-drill pilot holes for the
mounting screws according to the template provided in Appendix 4.
2 Remove the Data Converter lid and insert four M4 x 20 stainless steel cap head
screws through the mounting holes at the four corners of the Data Converter
enclosure.
GCS

Wiring the CyScan System
The CyScan system introduces four main items to the vessel, these are:
• CyScan Sensor
• Power Supply Unit
• Data Converter
• CyScan Console Notebook Computer
The diagram below indicates the connections between the four items.
CyScan
Sensor
Main
Power In
Power
Supply
Power Unit Data
DP Feed Converter
Console Feed
sole
1 2T
Con
2R X
2 1TX X
3 1R
X
PW
R
4
DP
5
6
7
8
9
10
11
3 12
r
we
13
14
Po
15
16
17
18
19
20
3 21
22
22
22
22
23
23
23
3 23
To
DP Unit
CyScan
Console
notebook
computer
Power Supply Unit (PSU)

The PSU is supplied with three flying leads, all of which attach to the connectors at the
Stern end of the sensor. Three M20 x 1.5 threaded holes (fitted with stopping plugs) are
provided to accommodate cable glands leading to/from:
• The vessel’s DP system
• The CyScan notebook computer (via the Data Converter)
• A suitable AC power feed
Inside, the PSU contains a row of industrial connectors to make the wiring process as
quick and flexible as possible. Each connector is numbered and the relevant signal con-
nections (with their connector number) are shown on the diagram (overleaf). The PSU
requires a supply of 90-264VAC at 5A.
GCS

Power Supply Unit (continued)
e
sol
Con 1
DP 32
r 4
Po we 09
87
65
111
2
3 31
5 14 1
161
817
191
1 20
32
2 22 Power Input Conn.
2 222
23 232 90-264VAC 47-63Hz 1
323 0V AC 2
32
Earth 3
Console Cable Plug Main AC Power Input
OV A
RXD+ B
TXD- C
TXD+ D DP Cable Socket Signal Connector
RXD- E OV A Signal Connector 0V 23
24V F RXD+ B RXA 20 24VDC 22
Link GJ G TXD- C Power Cable Socket TXB 19 RXA 11
GND H TXD+ D Earth C TXA 18 TXB 10
Link GJ J RXD- E 24VDC A RXB 17 TXA 9
24V F GND B GND 14 RXB 8
Link GJ G GND 5
GND H DP Connection
Link GJ J Console Signals
(To Data Converter)
! IMPORTANT: 0V is not the same as GND. 0V is the power supply return whereas
GND is a digital ground connection for the communication ports. If 0V and GND
are crossed or joined, the system will not function correctly.
! IMPORTANT: When replacing the lid on the PSU, ensure that the rubber seal is
smeared with silicone grease (Dow Corning® DC4) to maintain a watertight fit.
To insert wires:
! WARNING: Ensure all power is removed from the
system before altering any wiring.
1 Push a small flatblade screwdriver into the square
vertical hole at the front of the connector block
and press down on the lever inside.
2 While pressure is applied to the screwdriver, insert
the required wire(s) into the round hole adjacent to 3
the square hole.
3 Remove the screwdriver. Check that the cable is
securely held in place.
DP Signal Crossover
The RS485 connection between the
CyScan PSU and the vessel’s DP
CyScan Vessel
system requires a crossover in order PSU DP System
that transmit and receive signals are RXA RXA
correctly routed. Ensure that the TXB TXB
crossover is correctly performed as TXA TXA
the cable from the DP system is RXB RXB
GND GND
wired into the PSU.
GCS

The Data Converter
The Data Converter is necessary to translate between the RS485 signals used by the
CyScan sensor (and the DP system) and the RS232 signals used by the notebook compu-
ter. The Data Converter is contained within a watertight enclosure, however, it is usually
mounted on the bridge near to the CyScan notebook (refer to mounting template in
Appendix 4). The Data Converter requires a DC power supply between 7 and 35V – this
can be derived either from the CyScan Power Supply Unit or from the vessel’s bridge, as
required.
Console Signals
from PSU Unit
Signal Connector
GND 6
NC 5
RXB 4
RXA 3
CyScan Notebook & TXB 2
Power Connections TXA 1
Signal Connector 2
2 TX
TX 1 1 RX
NC 2 1R TX
X
RX 3 PW
R
NC 4
RTS 5
GND 6
7-35VDC 7
OV 8
DIP Switch Position

1 OFF
2 OFF
3 ON
4 OFF
Data Converter Signal Crossover

The RS485 connection
between the CyScan PSU CyScan Data
and the Data Converter PSU Converter
requires a crossover in order
that transmit and receive RXA RXA
signals are correctly routed. TXB TXB
Ensure that the crossover is TXA TXA
correctly performed as the RXB RXB
cable from the Data Con- GND GND
verter is wired into the PSU.
The Data Converter is supplied with a single cable 2 metres in length that has a 9 pin
female D-Type connector for attachment to the CyScan notebook computer’s serial port.
A second cable gland allows entry for a cable to connect with the CyScan Power Supply
Unit.
Notebook computer
The CyScan notebook computer is supplied with a battery charger and mains plug. This
should be connected when in use. A footprint of 400 x 400 mm should be allowed for
the console notebook computer. The notebook charger is typically 200 x 70 x 50mm and
will require mounting close to a mains supply.
GCS

Connecting the CyScan Sensor
With the CyScan Sensor in position, the necessary electrical connections can be made.
! Important: The Console application must be closed whilst the Sensor is being
connected or disconnected.
To connect the CyScan Sensor:

1 Remove the protective dust caps from the Power, DP and Console sockets at the
Stern end of the CyScan Sensor. Do not remove the protective cap from the fourth
sensor connector.
The cable connectors and corresponding sockets are similarly labelled. Also, the
sockets and connectors are not interchangeable.
! Warning: The scanning head will begin to spin
within 30 seconds after power is applied.
Ensure that it is not obstructed before attach-
ing the power connector. Keep all objects at
least 300mm away from the scanning head
in all directions.
2 Attach each of the three cable
connectors, in the order that
follows, to the appropriate
sockets on the CyScan Power
sensor:
DP Feed
1 First, attach the
Console
Power connector.
2 Next, attach the DP
Feed and Console connectors.
For each connection:
• Match the orientation of the cable connector to the socket (position 1 on
the connector should be facing upwards) and push it into the socket until
resistance is detected.
• Next, push the outer ring of the cable connector until it locks in place.
3 Double check that each connection is secure.
Note: For pin-outs of all sensor connectors, refer to Appendix 1.
GCS

CyScan LED Indicators
To provide instant status information, the CyScan sensor features three LED indicators
mounted beneath the carrying handle at the Stern side. Each indicator displays the
current status of three key elements of the sensor circuitry:
Red Leveller diagnostic

Yellow Embedded PC status
Green Main heartbeat
Correct startup indication

As the CyScan sensor initialises itself, the following sequence should be seen:
Red Flashes once briefly when power is applied and should then be off for as
long as the yellow LED is on. As soon as the yellow LED has turned off, it
will toggle at one second intervals as the leveller circuitry initialises for about
30 seconds. After the initialisation period, the Red indicator should switch
off and stay off. If at any point it stays on permanently then a hardware
fault has been detected.
Yellow On continuously after power has been applied while the embedded PC
circuitry initialises. After the initialisation period, the Yellow indicator should
switch off and stay off. It will come on again once the system has been
shutdown or in case of an embedded PC failure.
Green Toggles twice a second after power is applied and while the yellow led is on. As
soon as the yellow led switches off and the leveller initialises (RED led toggles),
the green led will begin to flash at 10 Hz intervals giving the main system
heartbeat. When the system is suspended it flashes briefly once a second.
Error states and possible causes

Red Permanently on at any point - Electronic hardware failure within the leveller
or sensor circuitry. Can also come on when a hardware failure is detected
during operation.
Yellow On after the initialisation period is complete - Embedded PC failure or unit is
shut down. Communication with the sensor is not possible. Recycle power
to the CyScan system.
Green Permanently on or off - No heartbeat to the system. No operation is possi-
ble. Recycle power to the CyScan system.
Blinking slowly - unit suspended or shutdown (see YELLLOW and RED leds).
Toggling twice a second - after power has been applied, waiting for the PC
to initialise and the yellow LED to turn off.
Shutdown/suspend
Red Off unless there is a hardware failure.
Yellow On for shutdown, Off for suspend.
GCS Green Flashes briefly once a second.

CyScan Removal
Decommissioning the CyScan system ready for stowage involves three basic stages:
• Switching off the CyScan Console System,
• Disconnecting the CyScan Sensor, and
• Un-mounting the CyScan Sensor
Switching off the CyScan Console System

! Important: The system running the CyScan Console application MUST be
switched OFF before the CyScan Sensor is disconnected.
To exit CyScan Console and shutdown the system

1 Click the ‘CyScan’ button in the lower left corner of the screen (this button is
unavailable while navigating). The control dialog will be displayed:
2 Click the down-arrow to reveal the three options. Select ‘Shut down’ and click the
OK button.
3 Click ‘Yes’ to confirm your selection in the subsequent pop-up message. The
application will send shut down commands to the CyScan sensor and then close
itself down.
4 In the lower left hand corner of the Windows screen, click the Start button.
5 Select the Shut Down option.
6 In the subsequent Shut Down Windows dialog, ensure that Shut Down option is
selected and click OK.
7 When the system reports that it is ‘safe to switch off your computer’, turn off the
notebook computer.
You can now proceed to disconnect and un-mount the CyScan Sensor (if required).
The status LEDs on the sensor unit should show the yellow LED on and the green LED
flashing briefly once a second.
Note: The Console application should always be running when the Sensor is in
operation.
GCS

Disconnecting the CyScan Sensor
! Important: The system running the CyScan Console application MUST be
switched OFF before the CyScan sensor is disconnected.
! Important: Do not disconnect the sensor if the scanning head is still spinning.
To disconnect the CyScan Sensor:

1 Begin by disconnecting the DP Feed and Console connectors.
For each connection:
• Pull the outer ring of the cable connector until it disengages from the socket.
• Next, gently pull the cable connector from the socket.
2 Now disconnect the Input Power connector.
3 IMPORTANT: Replace the protective dust caps onto the three sockets on the
CyScan Sensor and also on the three cable connectors.
Un-mounting the CyScan Sensor

! Warning: The CyScan Sensor weighs approximately 30kg. Two people, using the
integral handles on either side, should perform all lifting and carrying of the unit.
To un-mount the CyScan Sensor:

1 Locking pin installation:
a Locate the four anodised locking pins that
were supplied with the CyScan sensor.
b Rotate the larger barrel of each locking pin
clockwise so that they become short
enough to be inserted between the base
plate and the middle body of the sensor.
c Ensure that the scanner head is parallel with
the Sensor baseplate. Locate the four locking pin holes in the sensor base
plate holes which are adjacent to each of the four larger mounting holes.
d For each of the four locking pins, insert the point of the thinner barrel into
the locking pin hole of the base plate. Then, push the larger barrel towards
the white bellows and gently rotate the larger barrel anti-clockwise so that
the pin extends.
Important: Ensure that the white bellows are not damaged by the locking
pin rotation.
e Continue rotating the larger barrel and guide the point of the locking pin
into the corresponding hole in the underside of the sensor body (the hole
will be directly above the one on the base plate).
f Do not tighten fully until all four locking pins are in place, and then tighten
them evenly by hand so that the sensor body is fixed in a level position.
IMPORTANT: Do not use tools to tighten the locking pins.
2 Using a 13mm socket and ratchet, remove the four
mounting bolts.
3 With the assistance of another person, use the two
lifting handles to lift the sensor away from the mount-
ing plate.
4 If necessary, place the sensor in its storage case
(covered next).
GCS

Packing the CyScan System
With sensor disconnected and removed from its mounting plate, you can now begin to
pack it ready for shipping.
1 Locate the base and sides of
the wooden inner box in
which the CyScan sensor
was supplied. With the
assistance of another
person, lift the sensor into
the base of the inner box so
that the mounting holes of
the sensor base plate
correspond to the four
threaded inserts in the base
of the box.
2 Insert the four locking bolts. Using a 13mm

socket and ratchet, tighten the four bolts so
that the sensor is secure.
3 Locate the two end

bumper boards and
place them either side of
the sensor so that they
line up with correspond-
ing holes in the sides of
the box. The foam pads
on each of the bumper
boards should face
towards the sensor.
Insert the four screws
that secure each board
through the sides of the
inner box and tighten
with a crosshead screwdriver.
4 Place the lid of the inner box onto

base and sides and insert the
eight securing screws. Tighten the
eight screws using a crosshead
screwdriver.
GCS

5 Locate the base of the CyScan flight
case. If the power supply and data
converter boxes are also to be
shipped, places these and their cables,
if necessary, into the lower recess of
the flight case base.
6 With the assistance of another person,

hold the open sides of the inner box
lid and lift the whole assembly into
the flight case base. Ensure that the
inner box is properly seated within the
foam guides of the flight case base.
7 With the assistance of another

person, place the lid of the flight
case onto the base so that it seats
correctly.
8 Engage the four locking catches

with the locking lips of the base
and secure each of the locking
catches by rotating the butterfly-
wing tabs clockwise.
The CyScan system is now ready for shipping.
GCS

Maintenance and Servicing
The CyScan sensor is constructed from distinct modules that can be removed and re-
placed as required. This section covers the removal, replacement, upgrading and servicing
of the CyScan sensor system. A list of recommended spare parts is listed in Appendix 5.
Removing and fitting key components

There are nine key stages of disassembly/assembly for all CyScan sensor modules, these
are:
Stage Previous stages required
1 The Rotor Heatshield
2 The Rotor 1
3 The Body Cover 1
4 The Motor Gearbox 1,2,3
5 The CPU Module 1,3
6 The Controller Board 1,3,5
7 The Yaw Gyro 1,2,3,4,5,6
8 The Vertical Reference Unit (VRU) 1,2,3,4
9 The Pitch and Roll Actuators 1,2,3,4
The figures shown to the right of each stage are the other previous stages that you must
complete before access can be gained to the necessary components.
! WARNING: Ensure Static Safe Handling procedures are observed when removing/
fitting circuit board assemblies, e.g. CPU & Controller PCB, VRU, Yaw gyro, etc.
Stage 1 - The Rotor Heatshield
To remove the Rotor Heatshield:

1 Using a flat blade screwdriver, remove the
four screws on top of the rotor heatshield.
2 Lift the rotor heatshield up away from the
sensor.
To fit the Rotor Heatshield:

1 Place the rotor heatshield onto the rotor so
that the aperture aligns with the two rotor
lenses. Also the four mounting holes must
correspond to the four pillars on top of the
rotor.
2 Insert M5 x 12 slotted screws and bonded
seals into the four mounting holes and
using a flat blade screwdriver, tighten the
four screws in a staged and even manner
until all are tight.
GCS

Stage 2 - The Rotor
To remove the Rotor:

1 Using a flat blade screwdriver, loosen the two
screws on top of the rotor in an even manner
until they are both loose. Fully undo the two
screws and retract them from the rotor.
! IMPORTANT: Both screws have special
waterproof ‘bonded seal’ washers. Be
sure to keep the washers safe with the
screws. Standard washers must not be
used in replacement, as a watertight seal
will not be achieved.
2 Lift the rotor vertically upwards away from the
sensor gearbox.
To fit the Rotor:

1 Ensure the ‘O’ ring is present on the top of the gearbox shaft. Smear silicone
grease lightly over the ‘O’ ring but ensure none gets on the contacts of the ex-
posed connector.
2 Orient the rotor above the sensor with its main connector facing down to the
sensor and the face with the large
connector pointing in the same
direction as the small key screw
on the shaft. This ensures that the
keyway in the rotor connector
aligns with the key screw of the
shaft.
3 Place the rotor onto the shaft and
slide it down into position. It may
be necessary to rock the rotor
slightly to get it to fully mate with
the shaft.
4 Insert the two long M5 x 100
screws each with a specialist
waterproof sealing washer intact.
Smear silicone grease onto the
sealing washers for better water
protection. These bonded seal washers are essential to form a watertight seal -
normal washers must not be used in replacement.
! IMPORTANT: It is essential that the two screws in the next step are tight-
ened evenly.
5 Using a flat blade screwdriver, tighten the two screws alternately to take up the
slack. Now tighten the two screws alternately in decreasing steps of rotation, i.e.
one turn each, then three quarters each, then half each, etc. Continue in small
increments of rotation until both are brought to even tightness. Finally, apply a
coating of silicone grease around the screw heads and sealing washers to minimise
the chance of water ingress at this point.
6 Ensure that the rotor can rotate freely without touching any part of the sensor
gearbox.
GCS

Stage 3 - The Body Cover
To remove the Body Cover: 12 x bolts +

bonded seals
1 Using a 4mm AF hex key, loosen and remove

the outer ring of twelve M5 x 12 screws (and
their bonded seal washers) around the body
cover top plate.
2 On the underside of body cover, just above the
white bellows, locate the four lower retaining
screws. These four screws are recessed and are
placed at 90 degree intervals. Their positions,
when viewing from the top of
the sensor, are rotated 15
degrees anticlockwise from the
main Bow-Stern, Port-Star-
board axes of the sensor. Push
Position of locking Locking bolt axis
down the white bellows and bolt axis - roughly
use a right-angled 4mm AF o
15 from Bow-Stern
axis 4 x bolts +
hex key to loosen and remove bonded seals
the four M5 x 25 screws +
bonded seals.
3 Raise the body cover up until
you have access to the lower
half of the controller board on
the starboard side of the
sensor. Locate the Case LEDs
connector on the controller board and disconnect
the socket housing from the plug.
4 Now lift the body cover and Case LEDs lead
vertically upwards and away from the sensor body.
To fit the Body Cover:

1 Smear a thin layer of silicone grease onto the two white rubber seals.
2 Orient the body cover so that the handles accurately line up with the Bow-Stern
axis of the sensor. The LED cable connector should be on
the same side as the main controller PCB.
3 Lower the body cover onto the sensor frame until
it is possible to attach the Case LEDs lead from
the cover to the corresponding connector on the
lower right hand side of the controller board.
4 Fully seat the body cover and ensure that its
twelve mounting holes line up with those in the
outer ring of the sensor motor gearbox top plate.
5 On the underside of the body cover, locate four
mounting holes which are spaced at 90 degree
intervals but whose axes are rotated 15 degrees anticlockwise from the main bow-
stern, port-starboard axes of the sensor (see position diagram above). Push down
the white bellows and insert a hex head bolt into each mounting hole. Finger
tighten the bolts and then use a right-angled 4mm AF hex key to tighten the four
M5 x 25 screws + M5 bonded seals in a staged and even manner until all are tight.
6 Insert M5 x 12 hex head screws + bonded seals into the twelve mounting holes
around the top of the body cover. Using a 4mm A/F hex key, tighten the twelve
screws in a staged and even manner until all are tight. When screws are secure,
smear a thin layer of silicone grease around the screw heads and washers to
GCS maintain a watertight seal.

Stage 4 - The Motor Gearbox
To remove the Motor Gearbox:

1 Using a 4mm AF hex key, loosen and
remove the ring of six outermost M5 x
20 screws and bonded seals of the
sensor motor gearbox top plate.
2 On the right hand side of the controller
board, locate the motor power and data
cables. Cut cable tie and elastomer seal
on power connector. Disconnect both of
these cables from their connectors and
ensure that the cables are free to move
as the motor/gearbox unit is removed.
3 Lift the complete motor gearbox assem-
bly vertically upwards and away from the
sensor body, ensuring that its two cables
do not snag.
To fit the Motor Gearbox:

1 Place the head motor gearbox assembly
over the sensor frame and orient it so
that the motor is towards the Bow end
of the sensor. Slowly lower the assembly
into the sensor frame, taking care to
route the two motor cables neatly
towards the Bow end of the controller
board.
2 Seat the motor gearbox assembly onto
the top ring of the sensor frame so that
the six mounting holes of the assembly
correspond to those of the frame.
3 Attach the motor power and data cables
to the appropriate connectors in the top
right hand corner of the controller
board. Add cable ties to the leg of the
frame and secure cables to these. Place
elastomer on the power connector to
maintain in position.
4 Insert M5 x 20 hex head screws with M5
bonded seals into the six mounting holes
around the top ring of the motor
gearbox assembly. Using a 4mm A/F hex
key, tighten the six screws in a staged
and even manner until all are tight.
When screws are secure, smear a thin
layer of silicone grease around the screw
heads and washers to maintain a water-
tight seal.
GCS

Stage 5 - The CPU Module
! IMPORTANT: Observe Static Safe handling procedure.
To remove the CPU Module:

1 Disconnect the three ribbon cable
connectors (at the controller board
end) that link the CPU module with
the controller board.
2 Using a flat blade screwdriver,
remove the four screws from the
CPU module. Each screw has a
washer, ensure that the washers
are not mislaid.
3 Grasp the CPU module either side
of its circuit board adjacent to the
main connector at the top. Free the
board from the long connector with
small pulls on each side of the board.
When the connector becomes free,
remove the CPU module from its
mounting.
Note: The CPU Module and Controller
Board should be kept- and exchanged
together as a pair.
To fit the CPU Module:

1 Orient the CPU board so that its two
long edge connectors are at the top.
Place the CPU board close to the
controller board on the Starboard
side of the sensor.
2 Locate the three short ribbon cables
that lead from the middle section of
the controller board. In turn, attach
each of these cables to the corre-
sponding connectors on the CPU
module with their respective red-
marked wires uppermost. Note:
ensure that the orientations of the
three short ribbon cables are correct
as it is possible to connect them the
wrong way round.
3 Ensure that the two long edge
connectors of the CPU board line up
with those on the controller board
and push the two boards together
so that they fully mate.
4 Insert four screws (each with a
washer) into the four holes of the
CPU board and into the correspond-
ing threaded mounting posts on the
controller board. Using a flat blade
screwdriver, tighten all four screws
to reasonable hand tightness.
GCS

Stage 6 - The Controller Board
! IMPORTANT: Observe Static Safe handling procedure.
To remove the Controller Board:

1 Carefully disconnect all of the
connections to the controller board.
2 Using a flat blade screwdriver, first
remove the top left screw to release
the earth contacts. Next disconnect
the cable connectors and then
remove the remaining seven nylon
M3 x 6 screws and two spacers
securing the board to the sensor
frame.
3 Remove the controller board from the
unit.
Note: The CPU Module and Controller
Board should be kept- and exchanged
together as a pair.
To fit the Controller Board:

1 Place the controller board against its mounting pillars on the Starboard side of the
sensor frame. Ensure that all of the connections to be made to the controller are in
suitable positions, particularly the ribbon cables that will attach to the connectors
along the bottom edge – these must pass under the controller board and are most
easily positioned before the board is fixed in place.
2 Insert seven nylon M3 x 6 screws
and two spacers in the outer holes
of the controller board (except the
top left hole) and into the corre-
sponding threaded mounting posts
on the sensor frame. Insert the steel
screw into the top left hole and
ensure the earth contact is attached.
Using a flat blade screwdriver,
tighten all six screws to reasonable
hand tightness.
3 Attach the following cables to
the appropriate connectors on
the controller board (refer to
the connection diagram): the
pitch and roll actuator cables, POWER
Motor
Gearbox
the rotor unit cable, the VRU DATA
cable and the two power leads. red stripe
CPU
If the three short ribbon cables board red stripe 0V - BLUE
24V - BROWN
POWER
IN
are not already attached to the red stripe

Vertical
Reference
Unit
controller, attach them now,
ensuring that their orientations
match those shown on the Yaw
Gyro
block connection diagram ð
Case LED Rotor
Indicators
If the Motor Gearbox is in

Pitch Roll
place, also attach the motor Actuator Actuator
power and data cables.
GCS

Stage 7 - The Yaw Gyro
To remove the Yaw Gyro:

1 Looking from the Starboard side of
the sensor locate the yaw gyro - a
small vertically mounted circuit
board. Using a 2.5mm A/F hex tool
to remove the two M3 x 16 screws
that secure the yaw gyro board to
the sensor frame (these are
normally hidden behind the
controller board).
2 Disconnect the ribbon cable
connector from the yaw gyro
board.
3 Lift out the yaw gyro unit.
To fit the Yaw Gyro:

1 Place the yaw gyro board into the
sensor frame adjacent to the pitch
actuator. The large rectangular
component (the gyro unit) should
be uppermost on the board.
2 Locate the ribbon cable leading
from the VRU board and attach it
to the connector situated towards
the bottom of the yaw gyro
assembly.
3 Insert two M3 x 16 screws through
the upper and lower frame bars
and into the corresponding
threaded holes of the yaw gyro
board. Using a 2.5mm A/F hex
tool, tighten both screws to
reasonable hand tightness.
GCS

Stage 8 - The Vertical Reference Unit (VRU)
To remove the Vertical Reference Unit (VRU):

1 Looking into the Bow end of the
sensor body, locate the Vertical
Reference Unit which is a small circuit
board mounted horizontally. Discon-
nect both of the ribbon cable con-
nectors from the VRU board.
2 Using a flat blade screwdriver,
remove the four M3 x 6 screws that
secure the VRU to the sensor frame.
Lift aside the earth lead from the
front left screw hole.
3 Lift out the VRU board.
To fit the Vertical Reference Unit (VRU):

1 Looking from the Bow end
of the sensor body, locate
the mounting space for the
VRU (the horizontal space
bordered on three sides by
the controller board and the
two actuators. Place the
VRU board into the space
so that its two ribbon cable
connectors face the Stern
end of the sensor. To
controller
2 Insert four screws into the

VRU board mounting holes. Earth strap
An earth strap must be To

yaw gyro
placed onto the screw in
the front left corner (as
viewed from above). Using
a flat blade screwdriver,
tighten all four screws to
reasonable hand tightness.
3 Locate the VRU ribbon cable leading from the controller board and attach it to the
starboard side connector of the two.
4 Locate the ribbon cable leading from the yaw gyro board and attach it to the port
side connector of the two.
GCS

Stage 9 - The Actuators
To remove an Actuator unit:

(applies equally to the Pitch and Roll Actuators)
1 Disconnect the ribbon cable connector at
the rear of the actuator circuit board.
2 Using a 4mm A/F hex key, remove the
two bolts at either end of the actua-
tor crosspiece.
3 Carefully rotate the large toothed
pulley of the actuator anti-clockwise
(as viewed from above) until it
releases from the lead screw shaft
that extends down into the base of
the sensor.
IMPORTANT: As you turn the large toothed pulley,
take care not to damage the encoder disc (the thin
circular metal plate with four slots cut through it).
Throughout the winding process, it may be necessary to
slant the body of the sensor into various positions to
accommodate the actuator and lead screw shaft within
the confines of the sensor frame.
4 When the lead screw shaft

releases from the actuator,
remove the actuator crosspiece
from the sensor frame.
5 To remove the actuator base, remove

the four M5 x 20 bolts from the two
pedestal bearings at either side of the
actuator base.
see next page for fitting instructions
GCS

To fit an Actuator:
(applies equally to the Pitch and Roll Actuators)
1 Place the actuator base in position
so the lead screw shaft (rising from
the sensor base plate) protrudes
through the actuator base. Insert
two M5 x 20 bolts into each of the
two pedestal bearings at either side
of the actuator base. Tighten the
four bolts evenly.
2 Place the actuator crosspiece into
the sensor frame so that its PCB
faces into the sensor.
3 Angle the body of the sensor so
that the lead screw shaft (rising
from the sensor base plate through
the area covered by the white
bellows) is visible and there is
sufficient space to place the actua-
tor onto the end of the shaft. The
lead screw shaft must be placed
into the underside of the large
toothed pulley of the actuator.
Once the shaft is in place, rotate
the toothed pulley clockwise (as
viewed from above) to make the
actuator move down the shaft.
IMPORTANT: As you turn the large toothed pulley,
take care not to damage the encoder disc (the thin
circular metal plate with four slots cut through it).
Throughout the winding process, it may be necessary to
slant the body of the sensor into various positions to
accommodate the actuator and lead screw shaft within
the confines of the sensor frame.
4 Continue winding the toothed pulley until the actuator has travelled down the
lead screw shaft sufficiently to allow it to be fixed to the actuator base plate that is
attached to the sensor frame. Exact positioning of the actuator along the lead
screw shaft is unnecessary as it will automatically find its own level during the
initialisation process once power is applied.
5 At either end of the actuator base plate (attached to the sensor frame) there are
two universal couplings that are used to secure the body of the actuator. Position
the upper segment of each universal coupling so that they align with the holes at
either end of the actuator body.
6 Insert the two large bolts into the
holes at either end of the actuator
body and ensure that, as you hand
turn them, they engage correctly
with the universal couplings below.
Using a 5mm A/F hex key, tighten
the two mounting bolts in a staged
and even manner.
7 Locate the appropriate ribbon cable
leading from the controller board
and attach it (in the correct orienta-
tion) to the connector on the rear of
the actuator circuit board.
GCS

Cleaning the CyScan Sensor
To maintain the CyScan Sensor in good working order it is important that both its casing
and optical elements are kept free of contamination.
To clean the casing and bellows:

Use a sponge or cloth with warm water to wipe any sea spray or other contamination
from the metal casing or the flexible bellows.
To clean the optical window:

Use a lint-free cloth with IPA spray to carefully wipe the optical window.
To clean the targets:

As per the CyScan casing and bellows above. In dirty environments the reflective faces of
the targets should be cleaned regularly for best viewing. Also, under icy or frosty condi-
tions, the targets should be cleared of any condensation or ice.
Greasing the Gearbox

Where a grease nipple is fitted, the gearbox should be greased once a year.
Remove the rotor heatshield (see Stage 1 of the Removing and fitting key components
section) to gain access to the gearbox grease nipple. Apply 5 to 10 shots of grease to the
grease nipple to lubricate the gearbox. Replace the Rotor Heatshield.
GCS

Troubleshooting
For further assistance

If you experience problems when installing or using the CyScan system, please check
through this Troubleshooting section for a possible solution.
If your problem is not listed here and you cannot resolve the issue, then please contact
the system fitter or equipment provider who are trained to assist with installation and
operation problems.
If the problem cannot be resolved by the system fitter or equipment provider, then please
contact GCS directly:
By phone: +44 (0)116 229 2600
By fax: +44 (0)116 229 2604
By email: cyscan@gcsltd.co.uk
For assistance with using CyScan Admin Console, please refer to Appendix 6.
No communication between CyScan Console and the Sensor

• Check the Power, DP Feed and Display/Diagnostic connections to the sensor.
• Using CyScan Admin Console, check the communication port settings on the
Communications tab.
• Using CyScan Admin Console, observe the Console Status message that appears at
the foot of the screen. In the System Status tab, click the Reset button to
reinitialise the communications link - then check the Console Status readout.
• Ensure that the LEDs on the sensor unit only show the green LED flashing fast, the
yellow and red LED should be off. If this is not the case, power cycle the system
and observe the LED behaviour.
• Check on the data feed converter that it is powered (yellow LED on) and that the
outer transmit/receive lights are flashing once every couple of seconds (i.e. the
laptop is trying to establish communications with the sensor unit). Under normal
conditions the outer LEDs should flash first followed by the inner two LEDs flashing
in response (the sensor unit answering with data).
Sensor head does not rotate

• The sensor rotor might be prevented from rotating due to mechanical
blockage.
• Investigate and remove blockage.
• Sensor rotor shaft may need lubrication. Please refer to the section ‘Greasing the
Gearbox’ within this guide.
• Lubricate using the grease duct on the motor gearbox. This duct is accessible once
the rotor heatshield is removed. Please refer to the section ‘Greasing the Gearbox’
within this guide.
• Check the LEDs on the system unit. Ensure that the red LED is not on. Otherwise
there is a hardware fault; power cycle the unit and observe LED behaviour.
• Check for ice build up between rotor and gearbox cover. Remove any ice which
may be present.
GCS

Sensor rotates slowly
• When switched on from cold at low temperatures the unit may rotate slowly for
several minutes before building up to normal speed of 1 rev per second.
System appears to be operational, however, the sensor head is not levelling or

rotating
• Using CyScan Admin Console, view the System Status page and check that the
leveller and scanner components are not disabled.
System appears to be operational, however, no reflections are displayed within

CyScan Console
• Check that the sensor is enabled and is spinning. Using CyScan Admin Console,
view the Scanner tab. The Scanner selection in the lower left corner should display
Enabled.
• Check that the blanking zone (Blind Spot) is configured correctly.
• Clean lenses of CyScan unit. Please refer to the section ‘Cleaning the CyScan
Sensor’ within this guide.
• Check the sensor is within range of the targets.
System is operational but is not navigating

• Check that the correct mooring point is selected.
• Check that the sensor has a clear view of the targets.
System navigating but no data is received at the DP system

• Check the DP Feed connection to the sensor.
• Check that the DP Feed data converter is flashing.
• Check the data type is set correctly for the DP system.
System appears to be operational, however, it is exhibiting erratic behaviour

with communications locking up occasionally
• Check that the external supply voltage, supplied via the Power cable, to the sensor
has not dropped below 18V.
• Using CyScan Admin Console, check the reading given for the 24V Main on the
System Status page. Also check the other supply voltage. These should be within
10% of their nominal values.
System operates correctly but in cold weather loses targets.

• Check for condensation or ice on targets. Wipe clean if necessary.
GCS

Alarm Codes
For the purpose of an audit trail, events of any nature are reported in the Console appli-
cation in the form of 4 different alarm types. These alarms only apply to the embedded
navigator and the interaction between the sensor unit and the Console user-interface.
Fatal alarms - codes 2xxx

Signifies a fatal event such as malfunctioning software; the system might be able to
recover from this but a power cycle is always recommended (both sensor unit and con-
sole laptop)
Errors - codes 3xxx

Signifies an unexpected event such as a missing parameter file or a lack of response from
a particular sub-system; these errors normally clear themselves after a while. If these
errors occur repeatedly in quick succession especially after restarting the system, then a
serious hardware problem might have occurred.
Warnings - codes 4xxx

Signifies a possible error source; it will be followed by a suitable error message if the
system deteriorates, otherwise this will clear itself in due course. In general most warn-
ings if they are infrequent can be ignored.
Information - codes 5xxx

Signifies purely an event, user initiated or automatic, for audit purposes.
In addition a special category of leveller alarms in the code range 6xxx can occur in any of
the four classifications above. These will signify events that are purely associated with the
sensor rotor and leveller hardware and can provide clues about possible hardware faults.
GCS

CyScan Fuse Information
The CyScan system contains two fuses, their locations are:
• Inside the Power Supply Unit casing on the AC input
• On the Controller Board within the CyScan sensor housing on the DC input
Power Supply Unit Fuse
Fuse specification:
1
20mm
32
4A rating
4
65
87
31
2 11109 Slow Blow
3
5 14 1
161
Controller Board Fuse
Fuse specification:
20mm
5A rating
Slow Blow
Please refer to the Maintenance

and Servicing section for details on
gaining access to the controller
board.
GCS

Appendices
Appendix 1 - CyScan Sensor Connector Pin-outs
The CyScan sensor has four connectors situated at the Stern end of its base plate. Three
of the connectors are used during operation, the fourth is used (offline) when the leveller
component requires a software upgrade.
The pin-outs of the four connectors are given here for completeness.
DC Power
3 way plug DP Feed
9 way plug Console
9 way socket Leveller
Programming
DC Power
12 way socket
Pin Signal
A 24VDC 6A Leveller Programming
B 0V
C Earth Pin Signal
A DSR
DP Feed
B RXD
Pin Signal C NC
D TXD
A 0V
E CTS
B RXA
F NC
C TXB
G NC
D TXA
H GND
E RXB
J VPPEN
F 24V
K NC
G NC
L NC
H GND
M NC
J NC
Console
Pin Signal
A 0V IMPORTANT: 0V is not the same as
B RXA GND. 0V is the power supply return
C TXB whereas GND is a digital ground
connection for the communication
D TXA
ports. If 0V and GND are crossed or
E RXB joined, the system will not function.
F 24V
G NC
H GND
GCS
J NC

GCS
Length 460
280

Allow 100mm cable
entry along this edge
BOW STERN
Allow sensor height of 500mm from mounting plate Allow 300mm clearance around baseplate
on all sides to prevent any fouling of spinning rotor
280
Width 340
Mount the baseplate horizontal and
Appendix 2 - CyScan Sensor Mounting Template
level with the bow and stern as shown.
CyScan Positioning System • Installation and Maintenance Guide r1.1

4 Holes M8
Outline of Sensor Baseplate
33
GCS
Width 330
310
TOP

Allow 100mm cable
clearance at this side
180
Height 230
Appendix 3 - CyScan PSU Mounting Template
Allow housing depth
CyScan Positioning System • Installation and Maintenance Guide r1.1

of 120mm
4 Holes M6
Outline of PSU Housing
Allow incoming cable clearance as required on this side
The fixing holes for the PSU are located inside the unit - remove the lid for
access. Ensure that the PSU is located within 1m of the CyScan Sensor.
34
Appendix 4 - CyScan RS485 Data Converter Mounting Template
TOP
107
Outline of RS485 Housing
Allow housing depth of 130mm from mounting plate

Width 175
157
4 Holes M4
Allow cable clearance as shown
Height 125
BOTTOM
Remove the Converter lid to access the fixing holes. Mount

the unit close to the CyScan Console laptop computer.
GCS

Appendix 5 - Recommended Spares List
Number Name Description

10-0003-4 CyScan Spares Kit 1 Includes grease gun, 10 fuses for PSU, 10 fuses for
CyScan Sensor, lens cleaning tissues.
21-0035-0 Baseplate Assembly Baseplate, connectors, bellows, internal cables.
21-0034-0 Bottom Frame Assembly Main frame of Sensor, universal joint.
21-0028-0 CyScan Motor Gearbox Includes gearbox, motor, encoder, shaft and pcb’s.
22-0590-0 Rotor Heatshield Fibreglass heatshield with name label.
21-0029-0 Actuator Lead screw, stepper and drive pcb.
21-0027-0 CyScan Rotor Scanner rotor including rotor and rangefinder
electronics.
21-0031-0 Body Cover Assembly Main housing cover, including LEDs and handles.
39-0011-4 Yaw Gyro Assembly Yaw gyro and pcb.
39-0003-2 VRU Assembly VRU gyros, fluid sensor and pcb.
39-0010-2 CyScan Controller Module Includes controller pcb, PC104 unit, ‘disk on chip’
and local interconnection cables.
98-0008-4 Silicone Grease Waterproof silicone compound.
20-0030-0 CyScan PSU Power supply unit and terminal box.
39-0005-2 RS485 Converter Module Housed RS485 to RS232 converter module.
20-0031-0 2m Flat Reflector 2m x 350mm flat reflector including stainless steel
clamps.
20-0032-0 Cylindrical Reflector 1.5m cylindrical reflector including shackle.
38-0001-1 CyScan Console Notebook User Console Notebook Computer.
33-0032-3 Programming Leads Dual programming lead set for programming of
Sensor rotor and navigator.
GCS

Appendix 6 - Using CyScan Admin Console
In addition to the usual CyScan Console (or CyScan User Console), a CyScan Admin
Console is also provided for making configuration changes, checking modules and
performing CyScan sensor software upgrades. This appendix provides brief details about
how to start and exit CyScan Admin Console.
Note: It is not possible to run CyScan User Console and CyScan Admin Console at
the same time.
To start CyScan Admin Console

1 If it is running, exit from CyScan User Console on the notebook computer.
2 Locate the CyScan Admin Console icon on the Windows desktop or select its entry
within the Start menu.
3 A pop-up dialog will be displayed:
4 Enter your access password and click Log In.

5 The main CyScan Admin Console will open to reveal a number of tabbed pages,
each providing information about distinct sections of the CyScan system.
• The Files tab, in particular is used to initiate software upgrades to the
CyScan sensor modules.
To exit CyScan Admin Console

1 When all necessary operations have completed, click the Shutdown button. The
following dialog will be displayed:
2 Click the Yes button to proceed. The CyScan Admin Console will exit and the
sensor will shutdown or continue, subject to the setting of the ‘keep sensor active
after shutdown’ option.
GCS

CyScan Admin Console Quick Start
1 Switch on the CyScan notebook and login as described on the previous page.
2 A System Status screen similar to that shown below will be displayed:
? – Click to invoke the help feature. The

Tabs – Click these to change
cursor will gain a ? mark – subsequently,
between the various pages of
when you then click on any item, a brief
information.
explanation of that feature will be given.
Position &
Heading – These
Mooring Point indicate the vessel’s
Allows you to select current calculated
a pre-configured position and
mooring point or heading relative to
invoke single target the currently
mode. selected mooring
point.
Activity
Indicates the current
status of the link
between the sensor
Reset – For Service
and the console.
Technicians only. Used to
interrupt and stop
communications between
Alarms the console and the GUI
Indicates the source as well as to restart and
and timing of any establish communications
detected problems after it has previously
with the system. failed
or it had been manually
stopped.
Suspend – Shutdown – Start Logs – << and >> Apply – Click to activate
Maintains For Service Click to begin Click these any changes made to the
power to Technicians recording to change current page.
the sensor only. Click to system between
but stops quit CyScan information the various Cancel – Click to undo any
all Console. A that can be information changes made to the current
mechanical dialog will used for pages. page since the Apply button
motion. be displayed diagnostic
was last clicked.
to offer a purposes.
number of
options prior
to leaving
the
application.
3 Ensure that the Activity field in the Operations section indicates Running.
• If the Activity field shows Link lost or Initialising (continuously) then there
may be a problem with the sensor communication link.
GCS

Setting up the User Console Vessel Orientation
1 Select the Advanced tab.
2 Insert the relevant parameters in the Vessel Parameters and CyScan Position fields.
3 Click the Apply button.
Vessel and CyScan

Position Parameters
GCS

Checking the Comms Port Settings
1 Select the Comms tab.
2 The serial port Connection area shows the correct settings.
Serial port
Connection area
GCS

Reinitialise the communications link
1 On the System Status page, observe the Console Status line at the foot of the
screen.
2 The Comms link status can be checked and tested by toggling the Reset button in
the lower right corner of the screen.
Reset
Console Status line
GCS

Enable Sensor Components
1 In the System Status page, check in the Operations section that the Leveller and
Scanner are not disabled.
2 Select Scanner Enabled and select a Leveller mode other than ‘Disabled’.
3 Click Apply.
Operations section
GCS

Check Scanner Enabled
1 Select the Scanner tab.
2 Set the Scanner field to Enabled and click Apply.
Scanner field
GCS

Check system supply voltages
1 In the System Status page, check in the Components section that the supply
voltages are within 10% of their nominal values.
Voltage readings within

the Components section
GCS

Mooring Point Reflectors - Installation and Definition
Reflector types
Two main types of reflectors are used with the CyScan system, flat and cylindrical. These
are shown below:
Flat reflectors
Flat reflectors are generally attached
using steel clips to rigid structures such
as metal posts.
2m long flat reflectors can typically
be seen up to 300m in good
conditions. A short 1m
reflector will be
visible to
200m.
Cylindrical reflectors
Cylindrical reflectors can be hung
over the side of the mooring
point vessel.
The GCS cylindrical
reflectors can be seen
up to 200m in good
conditions. A shackle
at either end can be
used to secure them.
GCS

Reflector Installation
Key to the operation of the CyScan system are correct installation of reflectors and accurate
information about their positions on the Mooring Point/Vessel. Please follow the guidelines
given below when installing target reflectors on the Mooring Point/Vessel.
Once the reflectors are installed, their relative positions should ideally be measured (by
theodolite using a fully qualified site surveyor) and declared to CyScan Console. Alterna-
tively, in many circumstances reflectors can also be automatically surveyed by the system,
however restrictions apply and navigation performance may be reduced. For details about
this process, please refer to the section Defining Reflector Positions, shown overleaf or
Using Mooring Point Data within CyScan Console respectively.
Installation tips
• All targets must be placed in positions where the sensor can see them while the
vessel is within the expected working area.
• Targets should not be placed too far along the Mooring Point/Vessel from the
expected working area.
• The sensor beam should not strike any flat target at an angle of less than 45
degrees to the reflector surface as the resulting
reflected beam will not be correctly received. The
laser power returned from the target at the maxi-
mum angle of 45 degrees can be reduced by 50%
and thus limit the effective maximum range by up
45 o
to 25%.
45 o
• Cylindrical targets can be viewed from any angle
equally well. However, it is important to place them
in such a way that they cannot be viewed from the
rear.
• Targets should be positioned with unequal spacing between them – this helps the
system to distinguish between specific targets. For example, with a typical mooring
distance of 40-80m using three targets, suitable spacings between the reflectors
would be 10m and 20m – giving a total spread of 30m.
• Targets should be placed no closer than 5m together. Ideally they should be placed
10m or more apart.
ORIENTATION
A axis
B axis
SURFACE NORMAL
ON REFLECTIVE SIDE
BACKING SIDE
REFLECTIVE SIDE
Reflector Orientation
The direction in which each reflector faces must be
declared to the CyScan Console. All measurements are
made using the direction of the reflector face relative
to the direction of the A axis. Using a centreline
running through the reflector, perpendicular to the
reflector face, the angle between this line and the A
axis is measured and declared to the system.
GCS

Defining Reflector Positions
To achieve the most accurate results, please follow the suggestions given below when
defining the coordinates of installed reflectors.
• Target positions are measured using two perpendicular axes, A and B. The Origin
of the two axes can be any fixed point on the Mooring Point/Vessel, with all
measurements along both axes being taken from that point.
If the reflectors are mounted along the side of the Mooring Point/Vessel, then the
logical arrangement (and the most straightforward for measuring reflector posi-
tions) is to make the A and B axes match those of the vessel (as shown below).
This would involve the B axis passing across the vessel (starboard to port, or vice
versa), while the A axis would run parallel to the side of the vessel (stern to bow,
or vice versa).
B
MOORING POINT/VESSEL
A_supply vessel
A3 A2 R1 (ORIGIN)
A R3 B3
R2 B2
θ_supply vessel
Defining Reflector Positions

The Origin can be any fixed point on the vessel,
however, in most cases it will be defined as the
first reflector R1. The remaining reflectors are
defined relative to the origin using the B_supply vessel
perpendicular axes A and B running through it.
SUPPLY
VESSEL
• If the Mooring Point/Vessel has no particular fixed reference point, then it is

recommended that the first reflector, R1 is designated as the Origin.
• The reflectors should be numbered starting from the one on the far right (as
viewed from the expected working area) and continuing anticlockwise through the
other reflectors.
• The direction in which each reflector faces must be declared to the CyScan Con-
sole. All measurements are made using the direction of the reflector face relative
to the direction of the A axis. Using a centreline running through the reflector,
perpendicular to the reflector face, the angle between this line and the A axis is
measured and declared to the system.
Using the above diagram as an example, the perpendicular centrelines of all the
reflectors are parallel to the B axis, but pointing in the opposite direction (i.e. they
are facing the sea) – therefore they all have a rotation (or Orientation) of 270
degrees.
• The reflector definitions must be entered in the order R1, R2, R3, etc.
• When using auto-survey the first reflection detected in each rev will be used as the
datum or primary target defining the origin of the A/B coordinate frame.
Please refer to the following three pages for examples of typical reflector layouts.
GCS

Reflector Positioning Examples
These three pages provide examples of typical reflector layouts.
Example 1 - Ship on Tankers Port side, CyScan on ships Starboard side
A
Reflector Positions
0
1 A=0, B=0, orientation= 270
0
2 A=+52.52m, B=0, orientation= 270
0
3 A=+64.89m, B=0, orientation= 270
1 B
CyScan's Position
(NMEA-$RLS convention)
A = +29.559m
B = -61.451m
Heading = 3450
Notes:
1 The DP system will display the Origin of the A and B axes. This could be any
point on the tanker, the main mast, midway between perpendiculars or one of
the reflectors. In this example it is number 1 reflector.
2 The reflector numbering should be chosen so that they form an anti-clockwise
sequence when seen by CyScan.
This can be 1-2-3, or 2-3-1 or 3-1-2, etc.
3 In Auto Survey, target 1 would be the datum (primary target) and denotes the
GCS origin of A/B frame.

Example 2 - Ship on Tankers Starboard side, CyScan on ships Port side
Reflector Positions
0
1 A=0, B=0, orientation=+90
A 2 A=+56.21m, B=0, orientation=+90
0
0
3 A=+42.51m, B=0, orientation=+90
* When auto-surveyed (Items shown in grey)

Specifically, the auto-surveyed reflector positions
would be:
1 A=0, B=0, orientation=+2700
2 A=13.7m, B=0, orientation=+2700
0
3 A=56.21m, B=0, orientation=+270
Resulting in a CyScan navigation position of:

A = +15.028m
B = -38.251m
Heading = 1950
B* (1*) 2
(2*) 3
(3*) 1
CyScan's Position B
A = +41.182m
B = +38.254m
Heading = +150
A*
Notes:
1 The DP system will display the Origin of the A and B axes. This could be any
point on the tanker, the main mast, midway between perpendiculars or one of
the reflectors. In this example it is number 1 reflector.
2 The reflector numbering should be chosen so that they form an anti-clockwise
sequence when seen by CyScan.
This can be 1-2-3, or 2-3-1 or 3-1-2, etc.
3 An auto-survey would have assigned reflector 2 as the origin resulting in the A/
B frame pointing downwards and left respectively, i.e. target 2 would be
labelled as 1, target 3 as 2 and target 1 as 3. In terms of navigation the result-
ing ship’s position in this auto-surveyed frame would still be a positive A coordi-
nate but a negative B coordinate.
GCS

Example 3 - Ship moving round the corner of a fixed platform
A
Reflector Positions
0
1 A=+11.21m, B=+28.56m, orientation=156
0
2 A=+5.12m, B=+16.00m, orientation=156
0
3 A=0, B=0, orientation=201
4 A=+36.94m, B=-17.75m, orientation=246
0 240
5 A=+52.57m, B=-24.01m, orientation=2460
3 2 1
CyScan's Position
A = -44.456m
B = -38.032m
Heading = 3020
Notes:
1 The DP system will display the Origin of the A and B axes. This could be any point on the
tanker. In this example it is number 3 reflector at the south-west corner of the platform.
2 The reflector numbering should be chosen so that they form an anti-clockwise sequence
when seen by CyScan.
3 If the reflector positions are in northings and eastings, CyScan gives the ship’s position in
northings and eastings and gives the heading relative to true north.
4 The DP system will display the corner of the platform since that is at the origin of A & B.
5 The ship can move round the corner of the platform without any interruptions in CyScan’s
reception.
6 This location could not be auto-surveyed as not all targets can be in view at all times,
because it contains more than 4 targets (the limit of the auto-survey) and the targets are not
GCS facing the same orientation or are indeed aligned with each other.

Cyscan: Positioning System

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Cyscan: Positioning System

Uploaded by

Copyright:

Available Formats

GCS

Downloaded from www.Manualslib.com manuals search engine

Windows is a trademark of Microsoft Corporation.

Previous issue: Installation and Maintenance Guide v1.0

Guidance Control Systems Limited

Tel: +44 (0)116 229 2600

Downloaded from www.Manualslib.com manuals search engine

CyScan Removal .......................................... 13

Maintenance and Servicing ....................... 17