Kongsberg Maritime: Fanbeam 4.2, Combined Installation, Technical and Operations Manual

Kongsberg Maritime
Fanbeam 4.2, Combined

Installation, Technical and
Operations Manual
Supplier: Measurement Devices Limited

Reference:
Version: 07
179395/B
Fanbeam®4.2
Long Range Laser Radar System
WORLD LEADERS IN LASER MEASUREMENT TECHNOLOGY

CONTENTS PAGE
1 Fanbeam®4.2 User’s Manual 5
1.1 Dear Customer!........................................................................................... 6
1.2 Warranty Information .................................................................................. 7
1.3 Software License Agreement ...................................................................... 8
2 Short-form Description 9
2.1 Fanbeam®4.2 ............................................................................................. 9
3 System Description 11
3.1 Laser.......................................................................................................... 11
3.1.1 Laser Principle of Operation.......................................................... 11
3.2 Optional AutoTilt Mechanism ..................................................................... 12
3.3 Scanner ..................................................................................................... 12
3.4 Universal Control Unit (UCU) ..................................................................... 13
3.5 Power Supply............................................................................................. 14
3.6 Optional Current Loop Converter ............................................................... 14
4 System Technical Specifications 15
4.1 Laser.......................................................................................................... 15
4.2 Optional AutoTilt Mechanism ..................................................................... 15
4.3 Scanner ..................................................................................................... 15
4.4 Universal Control Unit (UCU) ..................................................................... 16
4.5 Power Supply............................................................................................. 16
4.6 Laser Safety............................................................................................... 17
4.7 Electromagnetic Compatibility.................................................................... 18
4.8 Electrical Safety ......................................................................................... 18
4.9 Environmental Compliance ........................................................................ 19
4.10 Vibration..................................................................................................... 19
4.11 CE Approval............................................................................................... 19
5 Installation 20
5.1 Mechanical Installation............................................................................... 20
5.1.1 Scanner Locations......................................................................... 20
5.2 Mounting the Fanbeam®4.2 ...................................................................... 21
5.2.1 Fanbeam®4.2 Alignment Calibration............................................. 25
5.2.2 28V PSU Installation ..................................................................... 25
5.2.3 UCU Installation ............................................................................ 27
5.2.4 Targets .......................................................................................... 29
5.3 Electrical Installation .................................................................................. 30
5.3.1 Data/Deck Cable ........................................................................... 30
5.3.2 DC Power Cable............................................................................ 31
© Copyright 1993-2005 Measurement Devices Limited
Issue 07 Copying of the materials in this document is prohibited 1
5.3.3 UCU Data Cable............................................................................ 31
6 Single Target Dynamic Positioning Software 32
6.1 Using the UCU2 ......................................................................................... 32
6.1.1 Powering On and Off..................................................................... 32
6.1.2 User Input...................................................................................... 33
6.1.3 Dual Boot Option ........................................................................... 33
6.2 STDP Software – The Main Display........................................................... 34
6.3 STDP Software Setup................................................................................ 36
6.3.1 Data Output................................................................................... 36
6.3.2 Data Output Formats..................................................................... 37
6.3.3 Data Adjustment Parameters ........................................................ 38
6.3.4 Alarms ........................................................................................... 39
6.3.5 Colours.......................................................................................... 41
6.3.6 Vessel Outline ............................................................................... 42
6.4 Track.......................................................................................................... 43
6.4.1 Target Acquisition.......................................................................... 43
6.4.2 User Intervention ........................................................................... 44
6.4.3 Selecting A Target......................................................................... 45
6.4.4 Waiting For The System To Lock On ............................................ 45
6.4.5 Tracking ........................................................................................ 45
6.4.6 Target Loss ................................................................................... 47
6.4.7 Logical Events for Target Observations ........................................ 48
6.5 Target Properties ....................................................................................... 49
6.6 Park ........................................................................................................... 50
6.7 Command – Fanbeam Setup And Offline Control...................................... 51
6.7.1 The Fanbeam Settings .................................................................. 51
6.7.2 The Fanbeam Controls.................................................................. 52
6.7.3 The Gating Parameters ................................................................. 52
7 Multi-Target Tracking Software 53
7.1 MTT Software – The Main Display............................................................. 53
7.2 MTT Software Setup .................................................................................. 55
7.2.1 Data Output................................................................................... 55
7.2.2 Data Output Formats..................................................................... 56
7.2.3 Data Adjustment Parameters ........................................................ 57
7.2.4 Colours.......................................................................................... 58
7.2.5 Vessel Outline ............................................................................... 59
7.2.6 Tracking Options ........................................................................... 60
7.3 Target Files ................................................................................................ 61
7.3.1 Target Files – Edit ......................................................................... 61
7.3.2 Target Files – New ........................................................................ 63
7.3.3 Target Files – Open....................................................................... 64
7.3.4 Target Files – Save / Save As....................................................... 64
7.3.5 Target Files - Delete...................................................................... 64
7.4 Track.......................................................................................................... 64
7.4.1 The Gating Parameters ................................................................. 66
7.4.2 Editing Target Files During Tracking ............................................. 66
7.4.3 Manipulating the Graphic Display.................................................. 67
7.5 Park ........................................................................................................... 67
7.6 Command – Fanbeam Setup And Offline Control...................................... 67
2 Copying of the materials in this document is prohibited Issue 07
8 Maintenance 68
8.1 Routine Maintenance ................................................................................. 68
9 Fault Finding 70
9.1 Basic Checklist........................................................................................... 70
9.2 Advanced Fault Finding ............................................................................. 71
9.2.1 Power Related Problems............................................................... 71
9.2.2 Data Related Problems ................................................................. 72
9.2.3 Operational Problems.................................................................... 72
9.2.4 Mechanical Problems .................................................................... 73
9.2.5 Fanbeam Re-assembly ................................................................. 73
9.3 Board Layouts and Wiring Diagrams ......................................................... 74
9.3.1 The Mother Board ......................................................................... 74
9.3.2 Internal Connections for Fanbeam®4.2 Mother Board.................. 75
9.3.3 The Stepper Board ........................................................................ 76
9.3.4 The Control Board ......................................................................... 77
10 Data Output Formats 80
10.1 Single Target Dynamic Positioning Software ............................................. 81
10.1.1 MDL Standard ............................................................................... 81
10.1.2 MDL Single Target ........................................................................ 81
10.1.3 Kongsberg SIMRAD Standard ...................................................... 82
10.1.4 Kongsberg SIMRAD Legacy ......................................................... 82
10.1.5 CEGELEC Standard...................................................................... 83
10.1.6 CEGELEC Legacy......................................................................... 83
10.1.7 Nautronix Standard ....................................................................... 84
10.1.8 Nautronix Legacy .......................................................................... 84
10.1.9 MDL Standard c/w Checksum....................................................... 85
10.2 Multi-Target Tracking Software .................................................................. 85
10.2.1 MDL Standard ............................................................................... 85
10.2.2 MDL Standard with Relative B/R ................................................... 86
10.2.3 MDL Standard + C/S ..................................................................... 87
10.2.4 MDL Standard + C/S with Relative B/R......................................... 87
11 Exploded Diagrams 88
11.1 Fanbeam Exploded Diagram ..................................................................... 88
11.2 UCU Exploded Diagram............................................................................. 90
11.3 PSU Exploded Diagram and Parts............................................................. 92

Figures
Figure 1 – Equipment Configuration ......................................................................... 20

Figure 2 – Mounting Plate Plan View with Dimensions............................................. 22
Figure 3 – Mounting Side Elevation.......................................................................... 23
Figure 4 – Mounting with Clearance Dimensions ..................................................... 24
Figure 5 – PSU Dimensions ..................................................................................... 26
Figure 6 – UCU2 Dimensions ................................................................................... 28
Figure 7 – STDP Software Main Display .................................................................. 34
Figure 8 – STDP Software Manual Sections ............................................................ 35
Figure 9 – Tracking Displays with Alarms................................................................. 40
Figure 10 – Target Acquisition Display ..................................................................... 43
Figure 11 – Logical Events for Target Observations................................................. 48
Figure 12 – Fanbeam in Park Position for Transit Case ........................................... 50
Figure 13 – Fanbeam Command Dialog................................................................... 51
Figure 14 – MTT Software Main Display................................................................... 53
Figure 15 – MTT Software Manual Sections............................................................. 54
Figure 16 – Editing a Target File .............................................................................. 61
Figure 17 – Multi-Target Acquisition ......................................................................... 63
Figure 18 – MTT Software Whilst Tracking............................................................... 65
Figure 19 – Routine Maintenance............................................................................. 69
Figure 20 – The Mother Board.................................................................................. 74
Figure 21 – The Stepper Board ................................................................................ 76
Figure 22 – The Control Board ................................................................................. 77
Figure 23 – Current Loop Driver Configuration......................................................... 78
Figure 24 – Fanbeam® Exploded Diagram .............................................................. 88
Figure 25 – UCU Exploded Diagram ........................................................................ 90
Figure 26 – PSU Exploded Diagram......................................................................... 92
Tables
Table 1 – Target Range / Fanbeam Speed Correlation ............................................ 45

Table 2 – Internal Connections for Fanbeam®4.2 Mother Board ............................. 75

1 Fanbeam®4.2 User’s Manual
THIS MANUAL HAS BEEN COMPILED WITH CARE. HOWEVER, SHOULD YOU
DISCOVER ANY ERROR, WE WOULD BE GRATEFUL IF YOU COULD CONTACT THE
MARKETING MANAGER DIRECT.
IT IS IMPORTANT THAT YOU READ THIS MANUAL CAREFULLY BEFORE USING THE
SYSTEM.
Measurement Devices Ltd.

Silverburn Crescent
Bridge of Don Industrial Estate
Aberdeen AB23 8EW
Scotland UK
Tel: + 44 (0) 1224 246700
Fax: + 44 (0) 1224 824987
e-mail: marketing@mdl.co.uk
Internet: http://www.mdl.co.uk
©Copyright 2005 Measurement Devices Limited.

Reproduction in whole or in part, including utilisation in machines capable of reproduction or
retrieval, without the express written permission of MDL is prohibited. Reverse engineering
is also prohibited.
Software Version 2.00 and above.

©Copyright 1988 – 2005 Measurement Devices Limited.
The programs that control this product are copyrighted and all rights are reserved.
Reproduction, adaptation, or translation of those programs without prior written consent of
Measurement Devices Limited is prohibited.
The information in this manual is subject to change without notice.
Some names referred to within this document are trademarks.
Manual Revision History:
DATE SIGNATURE ISSUE

02/11/1999 KSP 01
10/08/2000 KSP 02
22/11/2000 KSP 03
26/06/2001 KSP/AJC 04
05/09/2001 KSP 05
11/03/2005 KSP/DSL/GG/SR 06
28/09/2005 KSP/GG 07

1.1 Dear Customer!
We congratulate you on the purchase of the Fanbeam®4.2. You are now the owner of a high
quality laser radar system. The system is easy to operate.
However we would ask you to take the time to carefully work through these operating
instructions before using the instrument and keep it with the instrument at all times.
If your system requires a service, contact us at:
Measurement Devices Ltd.

Silverburn Crescent
Bridge of Don Industrial Estate
Aberdeen AB23 8EW
Tel: + 44 (0) 1224 246700

Mob: +44 (0) 7803 087322
Fax: + 44 (0) 1224 824987
e-mail: support@mdl.co.uk
Internet: http://www.mdl.co.uk
24hr Support: +44 (0) 7803 087 322
Alternatively for information on your nearest Service & Support Centre visit out website:
http://www.mdl.co.uk
For best service, please make a note of the serial number, which can be found, on the
instrument. Thank you!

1.2 Warranty Information
This product is manufactured by Measurement Devices Limited, Silverburn Crescent, Bridge

of Don Industrial Estate, Aberdeen, AB23 8EW, Scotland UK.
(a) Unless otherwise specified MDL warrants the equipment for a period of twelve months
from the date of receipt. This warranty is however given subject to the following
conditions:-
(i) MDL shall be under no liability in respect of any defects in the equipment arising
from any drawing, design or specification supplied or modification requested by the
customer.
(ii) MDL shall be under no liability in respect of defects arising from fair wear and tear,
wilful damage, negligence, abnormal working conditions, failure to follow MDL’s
instructions (whether oral or in writing), misuse or alteration or repair of the
equipment without MDL’s approval.
(b) Claims in respect of defective equipment must be intimated by notice in writing to MDL
and the equipment must be retained by the customer pending written instructions from
MDL.
(c) Following authorised return of the equipment, which must be made by the customer on a
freight prepaid basis, MDL will examine the equipment and if the claim is justified, at
MDL’s option, will repair the defective equipment or will make replacement without charge
and MDL will have no further liability to the customer.
NOTE: IF THE SYSTEM’S ROUTINE MAINTENANCE IS NOT PERFORMED, THE

WARRANTY MAY BE INVALIDATED. SEE SECTION 8 FOR MORE INFORMATION.

1.3 Software License Agreement
You have acquired a device (“FANBEAM”) that includes software licensed by Measurement Devices
Limited from Microsoft Licensing, GP or its affiliates (“MS”). Those installed software products of MS
origin, as well as associated media, printed materials, and “online” or electronic documentation
(“SOFTWARE”) are protected by international intellectual property laws and treaties. The SOFTWARE
is licensed, not sold. All rights reserved.
IF YOU DO NOT AGREE TO THIS END USER LICENCE AGREEMENT (“EULA”), DO NOT USE
THE FANBEAM OR COPY THE SOFTWARE. INSTEAD, PROMPTLY CONTACT MEASURMENT
DEVICES LIMITED FOR INSTRUCTIONS ON RETURN OF THE UNUSED DEVICE(S) FOR A
REFUND. ANY USE OF THE SOFTWARE, INCLUDING BUT NOT LIMITED TO USE ON THE
FANBEAM, WILL CONSTITUTE YOUR AGREEMENT TO THIS EULA (OR RATIFICATION OF ANY
PREVIOUS CONSENT).
GRANT OF SOFTWARE LICENCE. This EULA grants you the following licence:
! You may use the SOFTWARE only on the FANBEAM.
! NOT FAULT TOLERANT. THE SOFTWARE IS NOT FAULT TOLERANT MEASUREMENT

DEVICES LIMITED HAS INDEPENDANTLY DETERMINED HOW TO USE THE SOFTWARE
IN THE DEVICE, AND MS HAS RELIED UPON MEASUREMENT DEVICES LIMITED TO
CONDUCT SUFFICIENT TESTING TO DETERMINE THAT THE SOFTWARE IS SUITABLE
FOR SUCH USE.
! NO WARRANTIES FOR THE SOFTWARE. THE SOFTWARE is provided (AS IS) and with all
faults. THE ENTIRE RISK AS TO SATISFACTORY QUALITY, PERFORMANCE,
ACCURACY, AND EFFORT (INCLUDING LACK OF NEGLIGENCE) IS WITH YOU. ALSO,
THERE IS NO WARRANTY AGAINST INTERFERANCE WITH YOUR ENJOYMENT OF THE
SOFTWARE OR AGAINST INFRINGEMENT. IF YOU HAVE RECEIVED ANY
WARRANTIES REGARDING THE FANBEAM OR THE SOFTWARE, THOSE
WARRANTIES DO NOT ORGINATE FROM, AND ARE NOT BINDING ON, MS
! No Liability for Certain Damages. EXCEPT AS PROHIBITED BY LAW, MS SHALL HAVE

NO LIABILTY FOR ANY INDIRECT, SPECIAL, CONSEQUENTIAL OR INCIDENTAL
DAMAGES ARISING FROM OR IN CONNECTION WITH THE USE OR PERFORMANCE
OF THE SOFTWARE. THIS LIMITATION SHALL APPLY EVEN IF ANY REMEDY FAILS OF
ITS ESSENTAIL PURPOSE. IN NO EVENT SHALL MS BE LIABLE FOR ANY AMOUNT IN
EXCESS OF U.S. TWO HUNDRED FIFTY DOLLARS (U.S.$250.00).
! Limitations on Reverse Engineering, Decompilation, and Disassembly. You may not

reverse engineer, decompile, or disassemble the SOFTWARE, except and only to the extent
that such activity is expressly permitted by applicable law notwithstanding this limitation.
! SOFTWARE TRANSFER ALLOWED BUT WITH RESTRICTIONS. You may permanently

transfer rights under this EULA only as part of a permanent sale or transfer of the Device, and
if only the recipient agrees to this EULA. If the SOFTWARE is an upgrade, any transfer must
also include all prior versions of the SOFTWARE.
! EXPORT RESTRICTIONS. You acknowledge that SOFTWARE is subject to U.S. export

jurisdiction. You agree to comply with all applicable international and national laws that apply
to SOFTWARE, including the U.S. Export Administration Regulations, as well as end-user,
end-use and country destination restrictions issued by U.S. and other governments. For
additional information on exporting the SOFTWARE, see http://www.microsoft.com/exporting/.

2 Short-form Description
2.1 Fanbeam®4.2
Precision Positioning and Tracking System
MDL's Fanbeam®4.2 is a laser radar system designed for repetitive, high accuracy
positioning and tracking of marine vessels, and static and semi-static anchored structures.
The system is primarily used to control or assist automatic docking of a vessel next to a
platform, jetty or other vessel. Traditionally, three sensors are employed onboard a vessel
involved in dynamic positioning operations. MDL's Fanbeam®4.2 compliments differential
GPS (DGPS) and can assume a primary role when differential signals are lost or become
ineffective. The system is also widely used to position seismic vessels gun array floats as the
vessel surveys the latest oilfield prospects.
THE SYSTEM
The basic system consists of a laser-scanning unit mounted on a motorised yoke that can
rotate 360º at up to 50º per second. The Fanbeam®4.2 laser can measure to a range of
1,000m to within an accuracy of ±10cm using a vertical 18º fan of pulsed light produced by a
multiple element semiconductor laser diode in combination with special optics.
Pulses reflected from a retro-reflector mounted on a rig or a vessels gun array, for example,
is timed and multiplied by the speed of light to give distance. At the time of the received
return the electro optical encoder is read to give bearing.
AUTOTILT MECHANISM OPTION
An autotilt mechanism incorporated into the yoke of the Fanbeam®4.2 allows the laser-
scanning head to be adjusted by ±15º giving a total beam range of -24º to +24º. This
valuable option removes the need for the laser-scanning head to be manually adjusted
during critical operations where large variations in height occur between a vessel and a rig or
two vessels in different states of ballast. A rugged universal control unit (UCU) which
features a backlit keypad for night operations controls the Fanbeam®4.2 with the autotilt
option.

MOTION SENSOR TECHNOLOGY OPTION
MDL can now incorporate motion sensor technology into the Fanbeam®4.2 unit as an
additional option. In this particular configuration, the system must be controlled via a PC that
constantly updates and displays range, bearing and also heave, yaw, pitch and roll data in
real-time. The errors that consistently occur between two independent systems, traditionally
employed onboard a vessel, are automatically compensated for in MDL's software. This
valuable option removes the need for two separate installations and complicated calibration
surveys.
SOFTWARE OPTIONS
Fanbeam®4.2 is supplied with MDL's Single Target DP PC software as standard. In addition

to a large range of configurable data output formats, MDL's Single Target DP software can
be defined by the user to optimise the systems performance according to the vessels current
environment. The basic software displays range and bearing information. Systems
incorporating MDL's optional motion sensor technology display heave, yaw, pitch and roll as
well as range and bearing information.
Alternatively, MDL can supply you with its Seismic Software, which has many valuable
features and procedures. The software has been designed to enable Fanbeam®4.2 to track
up to twenty targets, add and modify target windows on-line and calculate the separations
between any pair of targets in real-time. Improved graphics all packaged within user-friendly
Windows environment makes MDL's Seismic Software a valuable tool for tracking targets
such as gun arrays or dyad tows.
The Fanbeam® is now in regular use on board FPSOs, drill rigs and ships, survey vessels,
shuttle tankers, pipe and cable-lay barges, repair vessels, stone dumpers and dredgers.
ADVANTAGES
MDL's Fanbeam®4.2 system has many advantages. Our customers tell us that the
Fanbeam®4.2 is straightforward to set up, performs excellently during short range
operations, high accuracy is achieved consistently, the system utilises intrinsically safe
targets, requires very little maintenance and is low cost compared to other systems. This
versatile laser system can be employed as a primary or backup system and is considered a
valuable alternative or complementary system to DGPS and other navigational aids
• Performs Excellently During Short-range Operations

• Achieves High Accuracy's Consistently
• Utilises Inexpensive Intrinsically Safe Targets
• Rugged Design
• State-of-the-art Technology
• Long Product Life
• Meets Needs of a Diverse Range of Applications
• All Weather Operation
• Valuable Alternative or Complementary to DGPS
• Excellent Standalone or Backup System

3 System Description
The following section aims to describe the Fanbeam laser radar system as supplied for
dynamic positioning applications.
3.1 Laser
The Fanbeam®4.2 laser is housed in a black anodised aluminium case. The unit is
supported on the scanner by means of a “U” shaped cradle assembly containing a motorised
gearbox and encoder assembly, enabling the laser head to be tilted ±15º from its standard
position by remote control. The aluminium block on the front of the laser houses the glass
lens and window assembly. Looking at the lenses, the right hand lens is the transmitter.
The laser housing is shrouded by an aluminium heat shield, which is finished in white on the
outside and matt black on the inside. The shield is mounted on the laser with spacers, which
allow the free circulation of air. The complete laser assembly is sealed against the ingress of
moisture.
3.1.1 Laser Principle of Operation
An electrical pulse generator drives the infrared semiconductor laser diode at a repetition
rate of 7,500Hz. These light impulses which are collimated and emitted by the transmitter
lens, produce a vertically diverging and horizontally parallel beam, via the receiver lens, part
the echo signal reflected by the target, hits a photo diode which in turn generates an
electrical receiver signal. The time interval between the transmitted and received pulse is
measured and used to compute the range.
Note:
The vertical spread of the transmitted beam is 18° at the optics reducing over range
due to dissipation.
The laser outputs the range information along with signal level and timing information to the
scanner for further processing. A 6-wire interface is used between the laser and the scanner.
The laser is controlled by the scanner and is free to run when speed of rotation is above 4
degrees per second. Below this speed the laser transmitter is switched off. During rotation,
whenever a valid target enters the field of view, information is passed to the scanner.

3.2 Optional AutoTilt Mechanism
Until the development of the Fanbeam®4 in 1998, the only way to adjust the tilt angle was to
loosen two screws on the canopy and move the laser head by hand. In most installations this
is very impractical as the instrument may be mounted in an inaccessible location.
As a result of this limitation, MDL have

developed the “autotilt mechanism”. The
auto tilt allows the operator to adjust the tilt Tilt +15º
angle of the Fanbeam®4.2 head by remote
control. Vertical tilt angles of-15º, -10º, -5º, Tilt 0º
0º, +5º, +10º and +15º are available. When
the operator selects one of these angles a
motor situated with the laser cradle head
drives the head to the requested angle.
FANBEAM4
J LASER RADAR
A result of the autotilt modifications is that
the canopy is now fixed to the laser cradle Tilt -15º
head and the laser module tilts
independently.
3.3 Scanner
The scanner is housed in a rugged die-cast aluminium case finished in synthetic stove
enamel and black hard anodising with stainless steel fastenings. The laser cradle assembly
mounts on top of a stainless steel shaft that protrudes through a watertight seal. Two
mounting brackets are fitted to the base of the unit for fixing of the Fanbeam®4.2.
Connection to the Fanbeam®4.2 is via two connectors on the scanner; one for power and
one for data I/0 to the UCU. The complete assembly is sealed against the ingress of
moisture.
A rotating table within the scanner is driven by a stepper motor through a reduction gear and
a precision worm and wheel, which results in a resolution of 0.01°. The angular position of
the laser is measured by a high accuracy optical encoder, which is mounted directly on the
laser shaft, thereby avoiding any backlash problems, which may be caused through gearing.
This assembly allows measurement of horizontal angle to a resolution of 0.01° and an
accuracy of better than 0.02°.
The laser shaft is fitted with a double seal and provision is made to lubricate the space
between the seals via an external grease nipple fitted in the upper part of the shaft.
Electrical connections between the laser and scanner are passed through slip-rings which
are mounted within the shaft, thus allowing for continuous rotation of the laser if required.
The control and drive electronics are contained on two plug-in cards housed within the
scanner.
Power is fed to the system via the 2-way male cannon type connector.
The scanner is switched on via the data I/0 connector and is protected by a 3.15 amp fuse
and over voltage protector, mounted on the control card. Two further fuses on this card
provide protection for the laser and data output.
There are three PCB’s in the scanner, the motherboard, the stepper board and the control
board.
3.4 Universal Control Unit (UCU)
The UCU is normally supplied with a

Fanbeam®4.2 that is destined for use as a
dynamic positioning sensor. It provides all the
control functions and can be mounted either
beside the Fanbeam®4.2 (i.e. when the
Fanbeam®4.2 is tripod mounted) or several
hundred meters away (i.e. when the
Fanbeam®4.2 is mounted on board a ship
and the control is required in the bridge or
computer room).
The UCU is housed in a die-cast aluminium

housing. A backlit keypad is provided on the
front and three connectors are fitted on the
rear. The UCU is supplied with a “U” shaped
bracket for mounting the system to a bulkhead or tripod.
Power is supplied to the unit via the Fanbeam®4.2, along with the bi-directional current loop
data link and control signals, via the 8-way male cannon type connector. All the control
functions are carried out between the UCU and Fanbeam®4.2 over the current loop data link.
If the system is required to connect customer’s equipment the serial connector on the UCU is
utilised. This connector is a bi-directional RS232 interface, which at the simplest level is set
up to only output target information. Several different output formats can be selected from the
UCU software to provide easy interfacing to the customer equipment.
The third connector is a standard 15 way ‘D’ type VGA connector, which provides connection
to the monitor. The UCU provides VGA graphics when connected to a monitor. A simple
backlit membrane keypad and integrated pointing device allow full control of the system. On
and off buttons control the power supply to the UCU and the Fanbeam®4.2.
The UCU may be supplied with one of several programmes depending on the application.
This must be specified at the time of ordering.

3.5 Power Supply
The PSU is housed in a rugged die-cast aluminium case

finished in white synthetic stove enamel. The unit is sealed
against the ingress of moisture. The PSU consists of a
switched mode supply, which has universal mains input
capable of operating over the range of 85V to 264V AC at
47Hz to 400Hz. It supplies a DC output at up to 3.5 Amps.
The output is adjustable between 24V and 30V, and is
supplied at an output of 28.5 volts. The unit is set at this
voltage to overcome the voltage drop in the DC connecting
cable between the PSU and the Fanbeam®4.2. The
operating voltage of the Fanbeam®4.2 is normally 28 volts but it can operate over the range
of 22 volts to 30 volts.
3.6 Optional Current Loop Converter
The current loop interface box is an option which may

be ordered if a computer is required to be directly
connected to the Fanbeam®4.2. The box contains a bi-
directional current loop RS232 interface and an
isolated power supply. The deck cable plugs directly
into the box and a short flying lead terminated with a 9
way ‘D’ type female connector provides connection to
the computer.

4 System Technical Specifications
The following section covers the technical specifications of the various components of the
Fanbeam®4.2 system.
4.1 Laser
Type Semi-conducting Laser Diode 7.5KHz Rep Rate

Wavelength 905nm
Vertical Beam Divergence 18º
Horizontal Beam Divergence 3 milli-radians
Eye Safety Class 1*
Maximum Range 2000m
Accuracy 20cm (10cm possible depending upon target and scan speed)
* Fanbeam® Mk 4.2 is classified as a Class 1 Eye Safe Laser Product in compliance with the requirements of 21 CFR 1040.10
and 1040.11 (except for deviations pursuant to LASER NOTICE No. 50, dated July 2001), with EN60825-1 2001 and with IEC
60825-1:2001.
4.2 Optional AutoTilt Mechanism
Gear Box Servo Driven Worm and Wheel

Range - 15º to +15º (5º increments)
4.3 Scanner
Construction Die-cast Aluminium with Marine Grade Paint

Dimensions (WxLxH) 200 x 300 x 290 mm
Weight 13.4 kgs
Operating Temperature -25ºC to +60ºC
Water and Dust Resistant IP66
Scan Speed Up to 50º / s
Optical Encoder 0º to 360º
Angular Resolution 0.01º
Angular Accuracy ±0.02º
Current Loop 20mA
Baud Rate 9600 bps

4.4 Universal Control Unit (UCU)
PC Specifications
CPU Transmeta Crusoe TM3200 400MHz
Memory 128Mb RAM
Storage 32Mb Compact Flash Module
Display 800 x 600 x 256 VGA
Sound 16 Bit Stereo
Operating System Windows NT 4.0 Embedded
I/O 2 x 16550 UART RS232
User Input
Keyboard Custom Back-lit with numerics / cursors / DEL / . / ENT / ON / OFF
Mouse Micro-module Mini Joystick Two Button Mouse
Connectors
Fanbeam 8 Way PTO2A128P Deck Cable Male
Monitor 15 Way VGA Female D-Type
Data 9 Way RS232 Male D-Type
Housing
Type Die-Cast Aluminium Al Si 12
Dimensions 240 x 160 x 67 mm
(WxHxD) (not including connectors or bracket mounts)
Mount 250 x 100 x 48 mm U-Bracket
Environmental IP41 (Not designed for outside use)
Temperature
Operating 0ºC to 40ºC
Storage -10ºC to +50ºC
4.5 Power Supply
Universal Input 85V – 264V AC / 47 – 440Hz

Universal Output 28V DC 3.5 amps
Dimensions (WxLxH) 160 x 260 x 140 mm
Weight 6 kgs

4.6 Laser Safety
The Fanbeam® MK4.2 is classified as a Class 1

eye safe laser product in compliance with the
requirements of 21 CFR 1040.10 and 1040.11
(except for deviations pursuant to Laser Notice
no. 50, dated July 2001), with EN60825-1: 2001
and with IEC 60825-1: 2001.
This product is intended for use in a locale where the emitted radiation is unlikely to
be viewed with optical instruments.
Nevertheless, we recommend that the instrument is not directly pointed at people’s eyes.
Aligning the Laser with the lenses of CCD-cameras or infrared night vision devices can result
in damage to them and is therefore not permitted.
CAUTION! Use of controls or adjustments, of performance of procedures other than those

specified herein, may result in hazardous radiation exposure.
Never open the instrument’s housing! Opening the laser unit may cause exposure to
Class 3B radiation.
Do not operate evidently damaged instruments! If the instrument is handled incompetently,
the manufacturers absolve themselves from honouring any guarantee or insurance
whatsoever.
DO NOT UNNECESSARILY LOOK INTO THE TRANSMITTER LENS OF THE LASER

4.7 Electromagnetic Compatibility
The Fanbeam® Mk4.2 has been tested and found to comply with the following
electromagnetic standards:
Basic Standard Test

EN 60945 : 1997 Maritime Navigation and Radiocommunication equipment and
systems – General requirements – Methods of testing and required
test results
Radiated Emissions
Conducted Emissions
Conducted low frequency interference
Power supply short term variation
Power supply failure
IEC 61000-4-2 Testing and measurement techniques
Section 2. Immunity to Electrostatic discharge
Section 3. Immunity to Radiated radio frequency electromagnetic
field
Section 4. Immunity to Electrical fast transient/burst
Section 5. Immunity to Surge
Section 6. Immunity to conducted disturbances induced by radio
frequency fields
4.8 Electrical Safety
The Fanbeam® Mk4.2 has been tested and found to comply with the following electrical
safety standard:
EN 60950-1 : 2001 Information Technology Equipment

4.9 Environmental Compliance
The Fanbeam® Mk4.2 has been tested and found to comply with the following environmental
standards:
BS EN 60945 : 1997
Clause Test
7.1 Extreme Power Supply (Operational check/s)
7.2 Excessive conditions
The above test clauses were conducted either during, before and after each test as per the
test clause instructions in the standard
8.2 Dry Heat temperature +70ºC
Test was conducted for 15 hours in the Park mode
Then 14 hours at +55ºC
8.3 Damp Heat temperature +40ºC and 93% rh
Test was conducted for 14 hours in the Park mode
8.4 Low Temperature Test –25ºC
Test was conducted for 15 hours not powered
8.8 Rain Test IP test
12.5mm nozzle, 100 Ltr/min for 30 minutes power off
Test conducted on Fanbeam and 28V PSU
11.2 Compass Safe Distance Test
Fluxgate magnetometer and a magnetic compass were placed 0.5 meters
from the nearest point of the system
System State Magnetometer Reading (uT) Compass Deflection
Off 0.01 0º
Park Mode 0.07 0º
Search Mode 0.03 0º
4.10 Vibration
The Fanbeam® Mk4.2 has been tested and found to comply with the following vibration
standard:
DNV Standard for certification No. 24 April 2001, Section 3.6
4.11 CE Approval
Any changes or modifications to the standard equipment as supplied by Measurement

Devices Ltd. may void the CE approval for the system.
The Fanbeam®4.2, which meets the requirements of the European standards, will have a
label attached to the back panel of each instrument marked:

5 Installation
The Fanbeam®4.2 system is simple to install. However, there are some very important
points in the following section that should be observed before undertaking an installation.
Power is normally supplied to the Fanbeam®4.2 and UCU from the Fanbeam®4.2’s PSU
which requires an AC voltage between 85 and 265 volts. Connection between the
Fanbeam®4.2 and UCU is by the deck cable normally supplied with the system.
Power Cable AC Input

PSU
FANBEAM
J LASER RADAR
Deck
Cable
SVGA Monitor
UCU2
RS232
DATA OUT
Figure 1 – Equipment Configuration
5.1 Mechanical Installation
5.1.1 Scanner Locations
The location and mounting of the Fanbeam®4.2 on the vessel is an important consideration
in any installation. Before any work is carried out, due attention should be paid to the
following issues:
• The Fanbeam®4.2 is an optical device and relies upon a clear line-of-sight to the area(s)
where the target(s) are to be installed. Avoid locations where other equipment could
potentially obstruct the laser-beam and hinder the Fanbeam®4.2’s performance. In many
cases, it has been found that an ideal place to mount the Fanbeam®4.2 is on the centre
line, directly above the bridge.
• The location should be reasonably easy to access so the routine maintenance can be
carried out regularly and without risk. A mast installation may offer the best line of sight,
but presents problems when the Fanbeam®4.2 has to be removed for servicing.
• The mounting location should avoid areas of vibration or dirt, such as emissions from the
vessel funnels that may affect the lenses.
• The Fanbeam mounting location must allow space for 360º rotation of the head. A heavy
obstacle could block the movement and cause damage to the mechanical assembly.

5.2 Mounting the Fanbeam®4.2
The unit should be mounted on a heavy-duty steel plate welded in location as shown in the
diagrams that follow in this section. The mounting plate should be welded to a stable
structure ensuring that it is level in both planes. The holes for mounting Fanbeam®4.2
should be aligned carefully along the fore and aft axis of the vessel. Check the plate for
mechanical arching and fit shims as required. The Fanbeam base can be damaged if forced
onto a distorted plinth.
IMPORTANT: THE UNIT SHOULD BE MOUNTED WITH THE TWO EXTERNAL CANNON
CONNECTORS FACING THE FRONT OF THE VESSEL. THIS ALLIGNS THE FANBEAM
0º AXIS WITH THAT OF THE VESSEL.
Always fit the supplied feet isolators and plastic washers to prevent galvanic earthing. Torque
up the four M8 bolts to 100-105 lbs/inches (11.9Nm). The connectors should be copiously
greased before and after fitting. Take care not to grease the pins. Use self-amalgamating
tape to wrap both connectors and protect from moisture ingress. Always leave service loops
of cable for both power and data at the Fanbeam. This allows for spare cable in the event of
re-termination and helps to prevent moisture runs.
Once mounted, check that there are no obstructions, which will limit movement of the
system’s head through 360°.
WARNING: ALWAYS WEAR THE APPROPRIATE PERSONAL PROTECTIVE

EQUIPMENT (P.P.E.) WHEN WORKING IN AREAS OF POTENTIAL HAZARD. IF
WORKING AT HEIGHT, ALWAYS USE A SAFETY HARNESS.
WARNING: DO NOT REMOVE THE FANBEAM®4.2 BASE WHEN INSTALLING THE

SYSTEM. USE THE DRAWING TEMPLATE IN FIGURE 2.
WARNING: NEVER ROTATE THE FANBEAM HEAD BY HAND. THE SYSTEM CAN ONLY
BE ROTATED BY COMMANDS FROM THE UCU ONCE POWER IS CONNECTED.
WARNING: PROTECT THE FANBEAM FROM ALL FORMS OF MECHANICAL DAMAGE

AND SHOCK
WARNING: NEVER DIRECTLY CONNECT THE FANBEAM TO MAINS OR AC

VOLTAGES

Figure 2 – Mounting Plate Plan View with Dimensions

TAPE UP
AND GREASE
CONNECTOR
DO NOT REMOVE UNIT’S BASE

PLATE WHEN INSTALLING THE
FANBEAM®4.2 – YOU WILL
VOID WARRANTY. USE
DRAWING TEMPLATE IN
SECTION 6.1 FOR
INSTALLATION.
Figure 3 – Mounting Side Elevation

150mm dia
Figure 4 – Mounting with Clearance Dimensions

5.2.1 Fanbeam®4.2 Alignment Calibration
It is desirable to have the laser beam aligned to the ship’s heading so that when the laser is
pointing directly forwards to the vessel the horizontal angle will read 000.00°.
The optical path of the laser is aligned with a “zero index pulse” on the optical encoder during
manufacture. The encoder is directly mounted to the horizontal rotation axis of the laser. It is
therefore unlikely that this basic alignment will be lost. In order to correlate the relative angles
measured by the Fanbeam®4.2, the zero position of the instrument must be referenced to
the ships heading.
A reflective target can be positioned on the centre line and the laser commanded to scan
slowly over the sector where the target lies. As the Fanbeam®4.2 can detect the centre of
the target to within 0.02° the angle output from the Fanbeam®4.2 need only be noted and the
offset calculated. This offset can then be programmed into the system.
NOTE: IF THE TARGET IS FORWARD OF THE LASER THE ANGLE SHOULD BE ZERO.
IF, HOWEVER, IT IS MORE FLEXIBLE TO POSITION THE TARGET AFT OF THE LASER
THE ANGLE SHOULD BE 180°.
For greater accuracy in alignment, it may be desirable to use a longer baseline than is
available on board. To achieve this, the vessel is tied up to the quayside and a target is
positioned at some distance away on the quayside. The position of this target can then be
measured and an angle relative to the ships heading calculated using conventional survey
techniques with a theodolite or EDM. The Fanbeam®4.2 is then commanded to scan slowly
over the sector and the returned angle is noted. An offset is then calculated and entered as
before.
5.2.2 28V PSU Installation
The Fanbeam®4.2 28V PSU unit should be mounted in a secure location where mains
voltage is available and connected using the mains power cable supplied to an 85-265V AC
supply. With the power off and lid removed, secure the PSU using P/H screws or wood
screws. If the PSU is mounted outside, ensure that the connectors are greased and wrapped
in self-amalgamating tape. Also, grease the lid copiously before re-fitting.
WARNING: THE PSU SUPPLY IS GREATER THAN 75V AC AND IS THEREFORE

CLASSIFIED AS A LETHAL VOLTAGE. IF CARRYING OUT WORK ON THE PSU
ISOLATE SUPPLY BEFORE REMOVING COVER.

Figure 5 – PSU Dimensions

5.2.3 UCU Installation
The Fanbeam®4.2 UCU and monitor should generally be installed in, or near the bridge
console and should be either built in to the console or secured accordingly, to ensure there is
no possibility of movement during bad weather. Mounting details are shown in the diagram
that follows.
The UCU is supplied with a “U” shaped bracket, which allows the unit to pivot. The bracket
may be secured to the desired mounting position and the angle of the keypad and pointing
device adjusted to suit. Alternatively, the bracket may be removed and the two blind tapped
holes either side of the UCU used to secure it as desired. MDL recommend that the unit be
installed at a normal working height to facilitate ease of use of the integrated pointing device.

Figure 6 – UCU2 Dimensions

5.2.4 Targets
To achieve the best performance from the Fanbeam®4.2 it is important to use good quality
targets mounted in the most suitable locations. There are two main types of target, reflective
tape and retro prisms.
• Reflective tape
Good quality reflective tape should be used. Standard tape will considerably reduce the
Fanbeam®4.2’s performance.
MDL Recommend: Diamond Grade White Reflective Tape
Targets made up from such reflective tape will generally give ranges up to 100m and
possibly 150m depending on conditions. At short ranges a simple strip of tape a few inches
wide will suffice, but it is recommended that a cylindrical target approximately 150mm in
diameter and 1m long be used. This will allow for viewing from all angles.
• Retro Prisms
Retro prisms are required at longer ranges to give a strong enough reflection to register a
range. They are designed to return any light received on a parallel path, and will normally do
so over a spread of 30° either side of the centre.
With targets where the laser may originate from any angle, a prism cluster is required for full
360° viewing. Six prisms are the minimum, but eight are recommended to ensure there are
no blind spots.
A single prism will register at ranges up to 500m and a cluster of six is good to 2km. With
such a number of prisms the weight of the target must be considered, and a suitable strong
and stable mount used. Reflective foil of the type mentioned put round the central tube can
help to overcome potential blind spots between prisms at short ranges.

5.3 Electrical Installation
As can be seen from Figure 1, the Fanbeam system employs a simple cable structure. As
with any marine cable run, however, there are many good practices that should be followed
to ensure a successful installation.
• All cables must be installed with regard to bend radius and entry angle.
• All cable runs should be protected as much as possible. Using REM clamps, plastic tie-
wraps or steel cable bands, the cables should be adequately secured and supported.
This is to ensure there is no free movement or damage to the cables.
• All cable runs should be separated from high voltage AC cables or unscreened data
cables.
• Where there is enough cable, service loops should be left at both ends of each cable to
allow for future work and/or relocation.
5.3.1 Data/Deck Cable
The data or “deck” cable normally supplied with the Fanbeam®4.2 is a 7 core overall screen
polyurethane sheath cable, 50 metres long, terminated at each end with an 8 way cannon
style connector as follows.
LASER UCU
CONNECTOR CONNECTOR
PT06A-12-8P PT06A-12-8S
(MALE) COLOUR FUNCTION (FEMALE)
A NO CONNECTION A
B RED 28V B
C BLUE DATA LASER -> UCU C/L HI C
D GREEN DATA LASER -> UCU C/L LO D
E YELLOW DATA UCU -> LASER C/L LO E
F WHITE DATA UCU -> LASER C/L HI F
G BLACK SWITCH (0V) G
H BROWN SWITCH (28V) H
The cable used is type DS3055 and the conductors are 0.75 SQmm (24/0.2) with a tinned
copper wire braid (75% coverage). The screen is connected at both ends to the connectors.
Other cable lengths may be supplied to order (up to a maximum of 300 metres).

5.3.2 DC Power Cable
The 28V PSU can be powered continuously and the Fanbeam®4.2 powered on and off from
the UCU.
The cable normally supplied with the Fanbeam®4.2 is a three core screened type CY control
cable. The conductor size is 32/0.2 rated at 10 amps. The cable is terminated at each end
with cannon style connectors as below. The screen is connected at both ends of the
connectors.
LASER PSU
CONNECTOR CONNECTOR
PT06A-10-2S PT06A-12-3P
(FEMALE) COLOUR FUNCTION (MALE)
A BLUE 0V C
B BROWN 28.5V A
SCREEN SCREEN B
Normally a 20-metre cable is supplied but other lengths may be ordered (up to a maximum of
80 metres). If longer cables are required it is advised that the PSU be adjusted to ensure that
28V is available at the laser.
WARNING: THE PSU SUPPLY IS GREATER THAN 75V AC AND IS THEREFORE

CLASSIFIED AS A LETHAL VOLTAGE. IF CARRYING OUT WORK ON THE PSU
ISOLATE SUPPLY BEFORE REMOVING COVER.
5.3.3 UCU Data Cable
The cable supplied with the UCU is a 3 core screened cable terminated with a 9 way ‘D’ type
female connector on each end. Cable length is 2 metres.
Connections are as follows:
UCU CONNECTOR DATA CONNECTOR

9 WAY ‘D’ TYPE 9 WAY ‘D’ TYPE
(FEMALE) COLOUR FUNCTION (FEMALE)
2 GREEN / YELLOW DATA TO UCU 3

3 BROWN DATA FROM UCU 2
5 BLUE 0V 5
This cable is used for connection of the Fanbeam®4.2 system to the user’s equipment.

6 Single Target Dynamic Positioning Software
The following sections pertain to the operation of the UCU2 and detail the use of the software
that is embedded on the system. It is highly recommended that this be read by all users of
the Fanbeam system (including existing users of the original UCU) as it contains important
information on how to gain the best performance from the Fanbeam® Laser Radar system.
Due to the optical nature of the sensor, there are a number of operational parameters that
can change on daily basis depending upon the weather and lighting conditions. These
should be fully understood before a user attempts to use the sensor in a DP situation.
Obviously, MDL strives to ensure that its manuals and instructions are as clear and concise
as possible to all concerned. If, however, you or any other user considers that the following
sections could be worded differently or more clearly, please do not hesitate to contact MDL
using the details in section 1.1.
6.1 Using the UCU2
6.1.1 Powering On and Off
Power for the UCU is supplied via the Fanbeam through the deck cable. Before the UCU can
be switched on, the Fanbeam must be connected to the UCU and to an MDL 28V PSU,
which is connected to mains power.
The UCU ON button should be held down for 1-2 seconds and after which the attached
monitor should display the BIOS start-up messages. The Fanbeam will also perform an initial
360º spin.
NOTE: Some monitors will not display an input signal if switched off when the signal is
initially sent. Always ensure the attached monitor is switched on before powering on the
UCU.
Switching the UCU2 off is done by pressing and holding down the OFF button for five(5)
seconds. The software will terminate and the operating system will perform a full system
shutdown. This action takes approximately 20 seconds to complete. This action is only
effective if the software is at the MAIN MENU. Attempting to switch off the UCU2 whilst
tracking or acquiring targets will have no effect.
NOTE: Obviously, the UCU2 can be powered down by disconnecting its power source, the
deck cable. Doing this before a full shutdown has occurred can corrupt the software that is
embedded in the UCU2 and lead to an inoperable unit.
NOTE: After pressing the system shutdown, the screen will go blank. The UCU2 still requires
approximately five seconds to power down after this. If the user requires to switch the unit
back on immediately, he/she must give it time to switch off completely. The keyboard back
light can be used as an indication of the power status.

6.1.2 User Input
The UCU2 has two forms of input available to the user. These are the keyboard and the
integrated pointing device (mouse). The keyboard has the following keys:
ON Used to activate the UCU and Fanbeam

OFF Used to de-activate the UCU and Fanbeam
Cursor UP Used to increase parameter values available in the software
Cursor DOWN Used to decrease parameter values available in the software
Cursor LEFT Used to move focus to next parameter available in the software
Cursor RIGHT Used to move focus to previous parameter available in the software
ENT Used to activate particular options in the software
0-9 Used to select target for tracking or options from the Menu Button Bar
DEL Used to initiate target re-acquisition or apply a tilt angle

. Used to stop acquisition or tracking and return to the main menu
The pointing device is the equivalent of a two-button mouse, allowing the user to move a
cursor around the screen and press software buttons by using the left mouse button. The
right mouse button is only ever used to move the graphics display.
For most purposes, the keyboard is the quickest way of interacting with the software and the
shortcut keys should be learned to facilitate most effective use of the UCU. More information
on the shortcut keys is available throughout the remainder of the software manual.
6.1.3 Dual Boot Option
Most UCUs are supplied with the Single Target Dynamic Positioning (STDP) software as the
default software that is run when the system is powered up. There are, however, two
software packages available on the UCU as follows:
• Single Target Dynamic Positioning Software v2.08 (see section 6.2)

• Multi-Target Tracking Software v1.00 (see section 7)
If both are used then the UCU is configured to “dual boot” at start-up. This configuration
allows the user to select the software to run every time the UCU is powered up.

6.2 STDP Software – The Main Display
Once the UCU has been powered on and has gone through the operating system boot up
process, the Fanbeam software will run and ask the user if he/she wishes to use default
settings. If YES is clicked then default values for the GATING PARAMETERS are loaded,
otherwise the last used values are retained.
MENU BUTTON BAR
GRAPHIC
TOOLBAR
TARGET
READOUTS
GRAPHIC
DISPLAY
TRACKING &
GATING
PARAMETERS
STATUS BAR
Figure 7 – STDP Software Main Display
The screen display is separated into various sections as indicated above. These are:
• MENU BUTTON BAR

This area contains the buttons associated with the main functions of the software.
Target acquisition and tracking is done using these numbered buttons.
• TARGET READOUTS
Large, coloured text readouts of range, bearing, level and accuracy.
• GRAPHIC DISPLAY
Scaled plan view centred about the Fanbeam. Graphically presents targets, a vessel
outline, scale annotations and alarm limits.
• GRAPHIC TOOLBAR
Buttons to allow manual zooming or auto-scaling of the graphic display and colour
scheme selection.
• TRACKING AND GATING PARAMETERS
Online parameters to aid with target acquisition and tracking.
• STATUS BAR
Displays data output, Fanbeam and software status.

The following section of the manual is split into four parts, which document the main
functions of the software. These functions are Setup (section 6.3), Track (section 6.4), Park
(section 6.6) and Command (section 6.7).
NOTE: Whilst these sections deal mostly with interaction with the software, there are also
some important operational points relating to the configuration of the hardware.
Section 6.3 Section 6.4 Section 6.6 Section 6.7
Figure 8 – STDP Software Manual Sections

6.3 STDP Software Setup
There are a number of initial setup options, which can be configured in the software. To
access these options, click the Setup button from the MENU BUTTON BAR or press the 1
key. This action will display the setup dialog at the bottom left of the display. There are four
tabs each containing logical groupings of settings. These are as follows:
NOTE: All setup options are saved to disk when accepted and so are retained after a restart.
6.3.1 Data Output
The data output tab contains all of the settings that pertain to data that is produced and
output by the software.
• Enable Data Output

This checkbox toggles on and off the output of RS232 data from a secondary serial
port.
• Data Format
Clicking this button takes the user to the data output format dialog (see section 10),
which allows selection of different data strings and baud rates for interfacing
purposes.
• Data Output Port
Allows selection of a serial port for data output.
NOTE: This option is always set to COM2 for users of a UCU.
• Log Raw Data
This checkbox toggles on and off an ASCII log file of all target data coming from the
Fanbeam. This should only be used over short time periods as a diagnostic tool.
NOTE: This option is not available on a UCU.
• Log Output Data
This checkbox toggles on and off a log file of output data being sent from the
software. This should only be used over short time periods as a diagnostic tool.

6.3.2 Data Output Formats
The Single Target DP software was first implemented as a DOS program in the early 1990’s.
Over the years, the software has gone through various modifications and has been
interfaced to many different DP consoles. The result of this is that a variety data formats are
available. The exact details of these formats can be found in Section 10.
Selection of the required data format is done by means of a drop down list. The baud rate is
also selectable from standard speed between 1200bps and 57600bps. The normal baud rate
for most of the formats is 9600bps.
NOTE: Users should contact the suppliers of their DP consoles before attempting to connect
or interface a new reference system. Some consoles are not capable of taking a Fanbeam
input without hardware and/or software modifications.

6.3.3 Data Adjustment Parameters
• Delta Height
This parameter is used to automatically reduce slope distances, accounting for a
significant height difference between the Fanbeam and the target. This need only be
used where the measured range needs to be accurate. Many DP situations do not
require an exact range to the target, just a repeatable one. Therefore, this parameter
should only really be used when advised.
NOTE: If this parameter is non-zero, then the range is reduced before being
displayed (i.e. the “raw” range is manipulated).
OBSERVED RANGE = OR
DELTA
HEIGHT
= dH
REDUCED RANGE = 2 2
OR − dH
• Bearing Correction
This parameter is used to offset the bearings
measured by the Fanbeam. Every bearing +ve
observed by the Fanbeam is automatically BEARING
incremented by the bearing correction value. Most OBSERVED CORRECTION
installations should have the Fanbeam mounted BEARING
with its zero angle parallel to the ships head, but a CORRECTED
horizontal adjustment can be implemented in the BEARING
software using this setting.
NOTE: If this parameter is non-zero, then the
bearing is offset before being displayed (i.e. the
“raw” bearing is manipulated).
• X Offset / Y Offset
These parameters are used to offset output data
0º
to reflect a different Fanbeam position to the
actual one. This could be used to align the X Offset
range/bearing output data to another sensor or
location on the vessel where it is not possible to
+ve Y Y Offset
mount the Fanbeam.
NOTE: These parameters only effect the output
+ve X
data and not the on-screen or “raw” data.
Assuming that the Fanbeam is mounted such that Output
it’s 0º points to the bow of the vessel then the Vector
following schematic applies:
Observed
Vector

6.3.4 Alarms
The alarms tab contains settings that allow users to select and configure audio alarms for
target loss and specific range/bearing arrays.
• Alarm Sound
Clicking the speaker button allows the user to select a .WAV file to be played when
an alarm situation arises. Users should be careful in their selection of .WAV files, not
to choose too big or long a sound. The default sound is a short beep. The green play
button can be used to preview the selected sound.
NOTE: This option is not available on a UCU as the sound is restricted to the default
one.
• Target Loss Sound
Clicking the speaker button allows the user to select a .WAV file to be played when
the target is lost during tracking. Users should be careful in their selection of .WAV
files, not to choose too big or long a sound. The default sound is a short laser bolt.
The green play button can be used to preview the selected sound.
NOTE: This option is not available on a UCU as the sound is restricted to the default
one.
• Audio Alarm On Target Loss
This checkbox toggles on and off the playing of a audio alarm on target loss. Some
users may find the feature useful to have active as an early warning of possible
problems.
• Minimum Range Alarm
When enabled, this will trigger an audio alarm when the target being tracked comes
within the specified range. The alarm sound will play and the display will change
colour.
• Maximum Range Alarm
When enabled, this will trigger an audio alarm when the target being tracked goes
out-with the specified range. The alarm sound will play and the display will change
colour.

• Bearing Alarms
When enabled, these will trigger an audio alarm when the target being tracked is
clockwise of the minimum bearing and counter-clockwise of the maximum bearing.
The alarm sound will play and the display will change colour. Bearings that overlap 0º
are acceptable (e.g. from minimum of 315º to maximum of 25º).
If all of the alarms are enabled, there is effectively a “safe” sector relative to the Fanbeam,
which the target must remain inside to avoid an alarm situation. The alarm parameters are
shown graphically using the current alarm sector colour.
Tracked target is within all alarm limits Tracked target has gone out-with bearing
alarm limits.
Figure 9 – Tracking Displays with Alarms

6.3.5 Colours
The colours tab contains settings that allow the user to configure the colours of many of the
user interface components.
There are two colour schemes available for user customisation and buttons on the
GRAPHICS TOOLBAR can toggle these when tracking a target. The two schemes are
called “Daylight” and “Night Time”.
The coloured components are divided into two groups:
• Text Readouts Tracking Text

Colour of readout text whilst tracking target
Tracking Background
Colour of readout background whilst tracking target
Lost Target Text
Colour of readout text whilst target is lost
Lost Target Background
Colour of readout background whilst target is lost
Alarm Text
Colour of readout text whilst tracking target and alarm is triggered
Alarm Background
Colour of readout background whilst tracking target and alarm is triggered
• Graphic Display Background
Colour of graphic display background
Polar Grid
Colour of graphic display grid
Annotations
Colour of scale text and vessel outline
Tracked Target
Colour of tracked target
Lost Target
Colour of lost target
Spurious Target
Colour of target that is out-with tracked target window
Alarm Sector
Colour of graphic alarm limits
Alarm
Colour of graphic alarm limits whilst alarm is triggered

6.3.6 Vessel Outline
The vessel outline settings tab allows the user to create a graphical representation of the
vessel and position it relative to the Fanbeam. It should be noted that this is a graphical tool
only and has no relationship with the offsets and corrections available in the data output tab.
• Display Vessel Outline

This checkbox toggles on and off a boat shape on the GRAPHIC DISPLAY, which is
centred about the Fanbeam.
• Length
This parameter is the length of the vessel outline (bow to aft) and should be
approximately equal to the length of the actual vessel.
• Width
• Fanbeam X / Fanbeam Y
These parameters are used to position the vessel outline relative to the Fanbeam,
which is at the centre of the outline when they are both zero. Normally the Fanbeam
will be on the centre line and will only have a Y offset. Positive X is towards the
starboard and positive Y is towards the bow.
• Angular Offset
This parameter is used to rotate the outline around the Fanbeam. Normally the
Fanbeam zero axis will be parallel to the centre line and this value will be zero.
Positive is clockwise.
The vessel outline is drawn to scale on the GRAPHIC DISPLAY so an accurate model will
aid with target identification.

6.4 Track
To initiate the dynamic positioning of a particular target with the Fanbeam, click the track
button from the MENU BUTTON BAR or press 2.
There are four steps to be taken before single target tracking can be achieved:
1. Perform 360º acquisition sweeps to find all visible targets.

2. User intervention until the desired target is visible during a sweep.
3. User selection of the desired target using its assigned number.
4. Wait for system to lock onto the desired target.
6.4.1 Target Acquisition
Before any target can be tracked, the system must perform at least one 360 º acquisition
sweep. During a sweep, the software will display all targets that do not infringe the Gating
Parameters and assign each one a number. A list of targets and their associated range,
bearing, level and accuracy is displayed on the right of the graphical display. Up to ten
targets can be displayed in this manner.
Figure 10 – Target Acquisition Display
The system will continue to perform these sweeps until either a target is selected for tracking
or the back button is pressed to return to the main menu.

6.4.2 User Intervention
During the acquisition sweeps, the user can do a number of things to ensure that the correct
target is found:
• Edit the Gating Parameters

Every time a target is observed by the Fanbeam, its measured range, bearing, level
and accuracy are sent to the software. These observations can be filtered using the
software’s built in gating parameters, which
can be modified at any time (see section
6.7.3 for more details). If, during a sweep,
one of the gating parameters turns red, this
means that a target has been observed,
but has been rejected by the software.
When this happens, the user can adjust the
relevant parameter to make the target
acceptable to the software. By contrast, the
Fanbeam may be seeing many targets and
the desired one may not be assigned a
number below 10. In this case, the user
should adjust the gating parameters to filter
out the unwanted reflections.
NOTE: The desired target should be the
best reflector in the vicinity. It is recommended to use MDL approved targets.
• Tilt the Laser

A vertical separation between the
Fanbeam and the target can
result in the target not being Tilt +15º
visible to the laser. If the system
incorporates a Fanbeam®4.2 Tilt 0º
AutoTilt unit, then the laser can
be tilted up or down between
acquisition sweeps. This is done
by means of the tilt button that
becomes available from the FANBEAM4
J LASER RADAR
MENU BUTTON BAR when a tilt
angle that is different from the
Tilt -15º
actual angle is selected. This is
indicated by the tilt angle
becoming yellow. Clicking the tilt
button or pressing DEL on a
UCU2 applies the new tilt angle.

6.4.3 Selecting A Target
Once the desired target has been observed by the Fanbeam during an acquisition sweep, it
will appear on the GRAPHIC DISPLAY as a box with a number and also in the list of range,
bearing, level and accuracy readings on the right.
Tracking can be initiated in one of three ways:

1. Press the numeric key that corresponds to the desired target number.
2. Click on the appropriate numbered button from the MENU BUTTON BAR.
3. Click on the graphical image of the desired target. Moving the mouse over the GRAPHIC
DISPLAY will highlight each target one by one.
6.4.4 Waiting For The System To Lock On
The Fanbeam must complete its 360º sweep before tracking can begin. Therefore, it can
take anywhere from 2 – 15 seconds to find the target once selected. If, for any reason, the
system does not manage to lock onto the target, the user can initiate acquisition sweeps
again by clicking the re-acquire button from the MENU BUTTON BAR or by pressing DEL on
a UCU.
6.4.5 Tracking
Once the system has successfully locked onto the desired target, the readings should update
between 2 to 5 times per second. The software automatically adjusts the scan speed of the
Fanbeam depending upon the target range according to the following look-up table:
Target Range Fanbeam Speed

<100m 50º/s
100 – 250m 30º/s
250 – 500m 15º/s
500 1400m 10º/s
>1400m 5º/s
Table 1 – Target Range / Fanbeam Speed Correlation
This optimises the Fanbeam scan rate whilst still allowing for a reasonable amount of angular
target movement.
Ideally, once tracking, there should be very little user intervention required. This, however,
does not mean that the user cannot do anything further. In track mode, the following
functions are available:
• Gating Parameters
These can still be manipulated to filter out unwanted reflections or to ensure that the
system continues to accept the desired target. Automatic Level Tracking can be a
useful option at this stage. Activating this configures the software to automatically
reduce the level gate so as to remain below that of the tracked target. Changing
weather and lighting conditions can reduce target level values.
NOTE: Any gating infringement is indicated by the corresponding gating value turning
red on the main display. This acts to inform the user that, whilst a target is not being
displayed, it is being seen by the Fanbeam.

• Window Size
Once locked on, the GRAPHICS DISPLAY shows the tracked target with a segment
shaped window round it. This “target window” is used to stop the system from locking
onto other targets, which are close to the desired one. Even when the target is lost,
all other observations that do not infringe the gating parameters are displayed as
spurious targets if the lie out-with the target window. Defined in terms of range and
bearing, the target window is centred about the last target observation. The user can
resize the window in both range and bearing at any time during tracking.
NOTE: These values should not be too small to avoid target loss resulting from inter-
observation movement.
• Manipulate the Graphic Display

The software normally scales the GRAPHIC DISPLAY to accommodate the target
being tracked and its associated window. Using the buttons in the GRAPHIC
TOOLBAR, users can customise the display as required.
The buttons are (from left to right) as follows:
• Zoom In
Allows users to manually select a more detailed scale for the GRAPHIC
DISPLAY.
• Zoom Out
Allows users to manually select a less detailed scale for the GRAPHIC
DISPLAY.
• Dynamic Display Scale
Toggles on and off automatic display scaling. When this is on, the zoom
buttons are unavailable.
• Centre Display
Re-centres the GRAPHIC DISPLAY. Users can move the display by right
clicking and dragging on it with the pointer.
• Daylight Colour Scheme
Sets the colours to the Daylight Scheme.
• Night Time Colour Scheme
• Re-Acquire Target
If, for any reason, the system looses the desired target, the user can instigate the
target acquisition by clicking the Acquire button or pressing DEL on the UCU2.
• Stop Tracking
When the Fanbeam system is no longer required to track, return to the main menu by
clicking the Back button or pressing the period button on a UCU2.

6.4.6 Target Loss
The software incorporates an algorithm to attempt target recovery once the target has been
lost. It behaves as follows:
Target Loss
• Continue to scan in the same location for three sweeps. This should instantly recover an
unmoved target that has been briefly obscured.
• After three scans, increase the scan size by 1.5. Designed to recover a target that has
moved a little more than expected.
• After five scans, begin to gradually increase the scan size and window size to relocate
the target.
• Eventually, the scan size will max out at 180º. At this stage, user intervention is required
to reacquire the target or stop tracking altogether.
The above algorithm is designed to automatically reacquire lost targets that have been
obscured and have not moved significantly, whilst not locking onto any other targets in the
immediate vicinity. Only in situations where there are no other (potentially) reflective objects
near to the desired target should the target window size be set particularly large.

6.4.7 Logical Events for Target Observations
Fanbeam RBLA Data R = Range

Detects Laser Sent To PC B = Bearing
Reflection L = Level
A =
Gating
Infringement
R > Max YES
Range? Target
Discarded
NO
Gating
Infringement
R < Min YES
Range? Target
Discarded
Gating NO
Parameters
Gating
Infringement
L < Min YES
Level? Target
Discarded
NO
Gating
Infringement
A < Min YES
Accuracy? Target
Discarded
NO
Spurious
Target
R / B Inside NO
Target Displayed &
Window? Not Tracked
YES
Desired Alarm
Target R < Min YES
Trigger Audio
Range Alarm?
Displayed with & Visual
Window & Alarms
NO
Alarm
Position R > Max YES
Trigger Audio
Alarm Range Alarm?
& Visual
Parameters
Alarms
NO
Alarm
B <> Bearing YES

Trigger Audio
Array Alarm? & Visual
Alarms
Figure 11 – Logical Events for Target Observations

6.5 Target Properties
One of the most important factors in the performance of the system as a whole is the target
that is to be tracked. There are a number of target properties that will help greatly with target
acquisition and tracking.
• Target Quality
MDL recommend the use of diamond grade white reflective tape for tube style
targets. Other reflective tapes can vary greatly in quality. A poor quality reflector is
much less visible to the Fanbeam from longer distances and in bad weather
conditions. Poor reflectors are harder to track because their signal level may become
confused with background returns. This makes target gating harder and increases the
chance of picking up spurious targets such as life jackets or other reflective surfaces.
• Target Size
The Fanbeam system is essentially a 2D system. The vertical fan-shaped laser beam
is designed to find targets even when the Fanbeam is pitching and rolling quite
significantly. The tube style of target is good for short-range work as it presents a long
vertical reflective surface for the moving beam to hit. Tube targets should be at least
one meter in length and the diameter should never exceed 25cm. Care should be
taken to mount these targets in as vertical a position as possible. If multiple prisms
are used, they must be stacked vertically.
• Target Position
The target position is the most important of any of the target properties. A Fanbeam
target should be positioned:
• As far away from any other (potentially) reflective objects (such as lifejackets or
lifeboats) as is practically possible. This reduces the chance of spurious
reflections and eases the gating and acquisition procedures.
• As near to the same height as the Fanbeam as is practically possible. This
reduces the chance of having to tilt the laser to find the target and helps with
short-range work.
• Further from the Fanbeam rather than too close to it. A target at 15m may be
highly reflective, but one at 40m will be a good reflector, can be seen despite a
height difference and is less likely to go out-with the beam when significant pitch /
roll motions affect the Fanbeam.
2 1
2
Fanbeam
• Away from locations where it can become obscured by moving objects such as a
crane jib.

6.6 Park
When the Fanbeam head is positioned at 180º, we call this the “Park” position. The Fanbeam
can be left in this position when not in use or switched off and can be useful for lens
cleaning. Most importantly, however, is the fact that the Fanbeam must be put into the park
position before being removed and put in its transit case for shipping. Users must take care
to remember that the Fanbeam will not fit in its transit case otherwise and cannot be rotated
manually.
Fanbeam must be in “Park” position before transit.
Figure 12 – Fanbeam in Park Position for Transit Case

6.7 Command – Fanbeam Setup And Offline Control
The Fanbeam settings must be configured once the system is installed to tell the software
how the hardware is interconnected.
Clicking on the Command button on the MENU BUTTON BAR or pressing 4 displays the
following dialog:
FANBEAM
CONTROLS
DATA
DISPLAY
OBSERVED
TARGETS
FANBEAM
SETTINGS
GATING
PARAMETERS
Figure 13 – Fanbeam Command Dialog
6.7.1 The Fanbeam Settings
• Fanbeam Port
RS232 port to be used for communication with the Fanbeam must be different to the
data output port (see section 6.4.1).
NOTE: This option is disabled on a UCU2.
• Tilt
If an AUTOTILT Fanbeam is used, the user can tilt the head of the laser up or down in
5º increments between +15º and –15º.
• Park Angle
This option allows the user to specify the “Park” angle. Users should note, however,
that for shipping purposes, the 180º option must be used.
• Speed
Sets the rotational speed of the Fanbeam in degrees per second.
Once happy with the FANBEAM SETTINGS the user should be able to use the FANBEAM
CONTROLS to manipulate the instrument.

6.7.2 The Fanbeam Controls
• The plan view circle depicts a plan view of the Fanbeam in a white
circle. The mouse can be moved over this circle to select a bearing
to move the Fanbeam to or scan between. Once the desired bearing
is shown on the display below the circle, left click to move the
Fanbeam to that bearing, or right click to start scanning between the
chosen bearing and the current bearing.
• The run buttons allow the user to set the Fanbeam running
continuously in a clockwise or counter-clockwise direction.
• The stop button cancels any of the above commands.
• The park button moves the Fanbeam to the 180º position that is
used for shipping the instrument.
Once the Fanbeam is moving, any information for targets that is observed will appear in the
OBSERVED TARGETS area and the DATA DISPLAY. Some targets may be ignored if they
infringe the GATING PARAMETERS.
6.7.3 The Gating Parameters
These parameters are replicated on the main display and can be modified at any time. See
section 6.5 for more information on how and when to use these settings.
Fanbeam
• Minimum Range
Any targets with a range lower than this value Valid Ranges Invalid Ranges
are ignored by the software.
• Maximum Range
Any targets with a range higher than this value
are ignored by the software.
• Minimum Level
Any targets with a level lower than this value are ignored by the software.
• Minimum Accuracy
Any targets with an accuracy lower than this value are ignored by the software.
• Auto Level Tracking
A target’s level is dependant on many outside factors such as weather conditions and
visibility. If this option is checked the level gate will remain lower than any observed
target level.
• Apply Gating Parameters
This control allows the user to toggle on and off all of the gating parameters. When
this option is unchecked, all observations will be considered as real targets. With this
option checked, any observations that fall out-with the gating parameters will cause
an “infringement”. The coloured status indicators next to each gating parameter show
gating infringements. The values shown are counts of each infringement since the
scan began. These indicators will let the user know if the gating parameters are set
too high.

7 Multi-Target Tracking Software
7.1 MTT Software – The Main Display
Once the UCU has been powered on and has gone through the operating system boot up
process, the Fanbeam software will run and produce the following display:
MENU BUTTON BAR
GRAPHIC
TOOLBAR
TARGET
READOUTS
GRAPHIC
DISPLAY
TRACKING &
GATING
PARAMETERS
STATUS BAR
Figure 14 – MTT Software Main Display
The screen display is separated into various sections as indicated above. These are:
• MENU BUTTON BAR

This area contains the buttons associated with the main functions of the software.
Target File manipulation and tracking is done using these numbered buttons.
• TARGET READOUTS
Large, coloured text readouts of range, bearing, level, accuracy and age.
• GRAPHIC DISPLAY
Scaled plan view centred about the Fanbeam. Graphically presents targets, a vessel
outline, scale annotations and a target vessel outline.
• GRAPHIC TOOLBAR
Buttons to allow manual zooming or auto-scaling of the graphic display and colour
scheme selection. Also displays Target File name.
• TRACKING AND GATING PARAMETERS
Online parameters to aid with target acquisition and tracking.
• STATUS BAR
Displays data output, Fanbeam status and Target File name.

The following section of the manual is split into four parts, which document the main
functions of the software. These functions are Setup (section 7.2), Track (section 7.4), Park
(section 7.5), Command (section 7.6) and File (section 7.3).
NOTE: Whilst these sections deal mostly with interaction with the software, there are also
some important operational points relating to the configuration of the hardware.
Section 7.2 Section 7.4 Section 7.5 Section 7.6 Section 7.3
Figure 15 – MTT Software Manual Sections

7.2 MTT Software Setup
There are a number of initial setup options that are configured in the software. To access
these options, click the Setup button from the MENU BUTTON BAR or press the 1 key. This
action will display the setup dialog at the bottom left of the display. There are four tabs which
each contain logical groupings of settings. These are as follows:
NOTE: All setup options are saved to disk when accepted and so are retained after a restart.
7.2.1 Data Output
The data output tab contains all of the settings that pertain to data that is produced and
output by the software.
• Enable Data Output

This checkbox toggles on and off the output of RS232 data from a secondary serial
port.
• Data Format
Clicking this button takes the user to the data output format dialog (see section 10),
which allows selection of different data strings and baud rates for interfacing
purposes.
• Data Output Port
Allows selection of a serial port for data output.
NOTE: This option is always set to COM2 for users of a UCU.
• Log Raw Data
This checkbox toggles on and off an ASCII log file of all target data coming from the
Fanbeam. This should only be used over short time periods as a diagnostic tool.
• Log Output Data
This checkbox toggles on and off a log file of output data being sent from the
software. This should only be used over short time periods as a diagnostic tool.

7.2.2 Data Output Formats
The Single Target DP software was first implemented as a DOS program in the early 1990’s.
Over the years, the software has gone through various modifications and has been
interfaced to many different DP consoles. The result of this is that a variety data formats are
available. The exact details of these formats can be found in Section 10.
Selection of the required data format is done by means of a drop down list. The baud rate is
also selectable from standard speed between 1200bps and 57600bps. The normal baud rate
for most of the formats is 9600bps.
NOTE: Users should contact the suppliers of their DP consoles before attempting to connect
or interface a new reference system. Some consoles are not capable of taking a Fanbeam®
input without hardware and/or software modifications.

7.2.3 Data Adjustment Parameters
• Delta Height
This parameter is used to automatically reduce slope distances, accounting for a
significant height difference between the Fanbeam and the target. This need only be
used where the measured range needs to be accurate. Many DP situations do not
require an exact range to the target, just a repeatable one. Therefore, this parameter
should only really be used when advised.
NOTE: If this parameter is non-zero, then the range is reduced before being
displayed (i.e. the “raw” range is manipulated).
OBSERVED RANGE = OR
DELTA
HEIGHT
= dH
REDUCED RANGE = 2 2
OR − dH
• Bearing Correction
This parameter is used to offset the bearings
measured by the Fanbeam. Every bearing +ve
observed by the Fanbeam is automatically BEARING
incremented by the bearing correction value. Most OBSERVED CORRECTION
installations should have the Fanbeam mounted BEARING
with its zero angle parallel to the ships head, but a CORRECTED
horizontal adjustment can be implemented in the BEARING
software using this setting.
NOTE: If this parameter is non-zero, then the
bearing is offset before being displayed (i.e. the
“raw” bearing is manipulated).
• X Offset / Y Offset
These parameters are used to offset output data
0º
to reflect a different Fanbeam position to the
actual one. This could be used to align the X Offset
range/bearing output data to another sensor or
location on the vessel where it is not possible to
+ve Y Y Offset
mount the Fanbeam.
NOTE: These parameters only effect the output
+ve X
data and not the on-screen or “raw” data.
Assuming that the Fanbeam is mounted such that Output
it’s 0º points to the bow of the vessel then the Vector
following schematic applies:
Observed
Vector

7.2.4 Colours
The colours tab contains settings that allow the user to configure the colours of many of the
user interface components.
There are two colour schemes available for user customisation, which can be toggled by
buttons on the GRAPHICS TOOLBAR when tracking a target. The two schemes are called
“Daylight” and “Night Time”.
• Background
Colour of Graphics Display and Readout Text background.
• Polar Grid
Colour of Graphics Display grid.
• Scale Annotations
Colour of scale text and vessel outlines.
• Scan Sector
Colour of scan sector.
• Spurious Target
Colour of target that is out-with any target window.
• Default Target
Colour of normal target & window.
• Select Target
Colour of last observed target & window.
• Disabled Target
Colour of disabled target & window.
• Expired Target
Colour of expired target & window.
• Highlighted Target
Colour of user selected target & window.

7.2.5 Vessel Outline
The vessel outline settings tab allows the user to create a graphical representation of the
vessel and position it relative to the Fanbeam. It should be noted that this is a graphical tool
only and has no relationship with the offsets and corrections available in the data output tab.
• Display Vessel Outline

This checkbox toggles on and off a boat shape on the GRAPHIC DISPLAY, which is
centred about the Fanbeam.
• Length
• Width
This parameter is the width of the vessel outline (port to starboard) and should be
• Fanbeam X / Fanbeam Y
These parameters are used to position the vessel outline relative to the Fanbeam,
which is at the centre of the outline when they are both zero. Normally the Fanbeam
will be on the centre line and will only have a Y offset. Positive X is towards the
starboard and positive Y is towards the bow.
• Angular Offset
This parameter is used to rotate the outline around the Fanbeam. Normally the
Fanbeam zero axis will be parallel to the centre line and this value will be zero.
Positive is clockwise.
The vessel outline is drawn to scale on the GRAPHIC DISPLAY so an accurate model will
aid with target identification.

7.2.6 Tracking Options
This page of the Setup Dialog contains parameters related to the acquisition and tracking of
multiple targets.
• Nudge Size
This control allows the user to specify the angle that the scan sector can be “nudged”
by when tracking. A small value is recommended to allow for fine adjustment.
• Scan Sector Overflow

This value defines the angle that is added onto either end of an automatically
generated SCAN SECTOR. See the following example for more details:
• Two targets with bearings of 90º and 110º respectively are found.
• They both have a bearing Tolerance of 5º.
• This would define a SCAN SECTOR of 85º to 115º.
• With the Scan Sector Overflow set to 10º the SCAN SECTOR becomes 75º to 125º.
This parameter is used to create a “generous” SCAN SECTOR when acquiring thus
providing room for the targets to move within the area being scanned by the
Fanbeam®.
• Default Target Window Size

These parameters are used when automatically creating targets to define the window
around the target. The user can modify these values for each target individually by
editing the TARGET FILE.

7.3 Target Files
Before tracking can be initiated, a “Target File” must be loaded if one is not already. To
access the functions that relate to the Target File, click the File button from the MENU
BUTTON BAR or press the 5 key. This will display the FILE MENU BUTTONS, which
appear as below:
The back button returns the user to the Main Menu.
The various file functions are explained below:
7.3.1 Target Files – Edit
Clicking the Edit button or pressing the 1 key when in the File Menu displays the following
dialog:
TARGET
PARAMETERS
SCAN SECTOR
Figure 16 – Editing a Target File
The TARGET FILE edit dialog allows the user to manipulate almost all of the parameters that
relate to a given configuration of targets. A maximum of four (4) targets can be stored in a
TARGET FILE, each with unique TARGET PARAMETERS as follows:

• ID
Name for the target to aid in user target recognition.
• Range
Starting range of the target from the Fanbeam®.
• Range Tol±
Defines the size of the window in the range axis (polar).
• Bearing
Starting bearing of the target from the Fanbeam®.
• Bearing Tol±
Defines the size of the window in the bearing axis (polar).
• Track This Target
This option allows the user to disable a target without renumbering the others.
• Dynamic Window
The Range and Bearing tolerances define a window around the target. If this option is
set, the window will follow the target as it moves, alternatively, the window will remain
static and centred about the start range and bearing.
• Update Expiry
Unless this value is set to zero, the associated target will be deemed expired if it is
not observed for a time period greater that the value in seconds. If a target expires, it
will turn red and will NOT be included in the data output.
• Alarm On Update Expiry
If this option is set, then an audio alarm will be played when the associated target
expires.
There are also buttons to allow the user to ADD and DELETE targets. To add a new target,
simply click the ADD button and a keyboard dialog will appear, allowing the user to input a
target ID using the pointer input device (the UCU has only numeric keys).
Deleting a target will re-number all targets having an ID number higher than that of the
deleted one.
The TARGET FILE also contains further information as follows:

SCAN SECTOR:
• Scan CW From
The starting angle for the scan sector of the Fanbeam®.
• To
The second angle that the Fanbeam® will scan between.
• Automatically Calculate Scan Sector
If enabled, this option allows the software to calculate a scan sector such that all
targets are included.
All of the above values can be edited whilst tracking, allowing great flexibility.

7.3.2 Target Files – New
Every new docking or loading position will require it’s own TARGET FILE. These files can
then be re-used at a later time by loading them back from disk.
On clicking the NEW button or pressing the 2 key will display the keyboard dialog as above,
allowing the user to input a filename for the new TARGET FILE. Once this is accepted, a
save dialog will appear with the filename entered. If the file already exists the user will be
prompted before the file is overwritten.
Once the filename has been accepted, the software will prompt the user to scan for targets. If
the user selects Yes, the Fanbeam® will then perform a 360º sweep and any targets which
are observed and do not infringe the gating parameters (see section 6.7.3) will be displayed.
Figure 17 – Multi-Target Acquisition
If the targets required are found, then the user can select them and they will be added to the
TARGET FILE. If the targets are not seen, the user can adjust the GATING PARAMETERS,
and/or tilt the Fanbeam® then reacquire to see if the required targets can be observed. Once
the targets are selected, a scan sector is automatically generated and the software will offer
to start tracking straight away.
If, after creation, the acquire option is skipped, then the Edit dialog is displayed to allow the
user to modify and confirm the settings. These are then saved to disk.

7.3.3 Target Files – Open
The open button is used to load a TARGET FILE from disk. If no file is loaded, then tracking
cannot commence. On clicking this button, an open dialog appears, displaying a list of
existing TARGET FILES and the user can then select one to load. It should be noted that the
default directory for TARGET FILES is C:\MDL_DATA.
7.3.4 Target Files – Save / Save As
Once a TARGET FILE has been modified using the edit feature, the changes should be
saved to disk for easy recall at a later time. The Save button is only enabled when the
current file has been modified, and clicking it will write the file to disk using the current
filename.
If the user wishes to create a copy of an existing TARGET FILE using a different filename,
the Save As button should be used. This will save the current file using the filename entered
into the keyboard dialog.
7.3.5 Target Files - Delete
As there is only a finite amount of disk space available on the UCU, it may be necessary to
free up space from time to time by deleting old or obsolete data files. Press 6 from the File
menu and the user will be prompted to select a TARGET FILE for deletion. The user must
confirm the selection before the file is erased completely.
If the disk is running low on space (<0.5Mb) then a warning will appear each time a TARGET
FILE is created or saved.
7.4 Track
To initiate the tracking of a particular set of targets with the

Fanbeam, click the track button from the MENU BUTTON BAR or
press 2.
There are two conditions to be satisfied before target tracking can be achieved:
1. A valid TARGET FILE must be loaded.

To find out how to load a target file, please refer to section 7.3.
2. The scan sector must be set such that the bounding values are not equal.
To find out how to set the scan sector, please refer to section 7.3.1.
Assuming that these conditions are met, clicking the Track button will have the following
result:
• The Fanbeam® shall be moved to the most counter-clockwise limit of the scan sector
and begin scanning back and forth at the speed specified in the TARGET FILE.
• As targets are seen by the Fanbeam®, they will be displayed and information on
screen shall be updated.
• Data from the target observations shall be sent to the tertiary system using the
RS232 format selected in the setup.
The display will then look something like this:
Figure 18 – MTT Software Whilst Tracking
Whilst tracking, the software will display target information textually and graphically to allow
the user to quickly and easily see what is happening. The last seen target will be highlighted
in green (or whatever colour is chosen for Select Target in the setup).
The most obvious feature, once tracking, is the TARGET VESSEL OUTLINE, which is
displayed on the GRAPHICAL DISPLAY in its position relative to the vessel with the
Fanbeam®. This feature will move on the display, relative to the Fanbeam as the targets
move, thus giving a real-time perception of the two vessels’ relative position.
NOTE: If only two targets are being used then this feature is disabled.

Once tracking, the system should require little intervention (assuming the parameters have
been set appropriately for the given situation). The following options are, however, available
during tracking:
1. Manipulate the GATING PARAMETERS.

2. Edit TARGET FILE.
3. Manipulating the GRAPHICS DISPLAY.
4. Back – allowing the user to stop the Fanbeam® from tracking and return to the MAIN
MENU.
7.4.1 The Gating Parameters
The gating parameters are always available to the user on the main display:
These values can be used to “filter” out any unwanted targets at any time.
Please refer to section 6.7.3 for more information.
7.4.2 Editing Target Files During Tracking
Please refer to section 7.3 before reading the rest of this section.
WARNING:
Although this function is available, it is not recommended to edit target parameters during
tracking as invalid values could cause a loss of targets and therefore position.
For most purposes, the user should not have to edit target parameters whilst the system is
tracking. This function is present to allow quick access to these values in the event of a
target loss of some change in the settings during tracking.
WARNING:
Caution should be taken when editing TARGET FILE values whilst tracking.
The Edit Target File dialog allows the user access to almost all of the parameters whilst
tracking. The following are exceptions to this:
• Scan Sector – Once tracking, the Fanbeam® must be stopped to change the scan
sector.
• Delete Targets – Targets cannot be removed (but can be deselected using Track This
Target).

7.4.3 Manipulating the Graphic Display
The software normally scales the GRAPHIC DISPLAY to accommodate the target being
tracked and its associated window. Using the buttons in the GRAPHIC TOOLBAR, users
can customise the display as required.
The buttons are (from left to right) as follows:
• Zoom In
Allows users to manually select a more detailed scale for the GRAPHIC DISPLAY.
• Zoom Out
Allows users to manually select a less detailed scale for the GRAPHIC DISPLAY.
• Dynamic Display Scale

Toggles on and off automatic display scaling. When this is on, the zoom buttons are
unavailable.
• Centre Display
Re-centres the GRAPHIC DISPLAY. Users can move the display by right clicking and
dragging on it with the pointer.
• Daylight Colour Scheme

• Night Time Colour Scheme

7.5 Park
Please refer to section 6.6 for more information.
7.6 Command – Fanbeam Setup And Offline Control
Please refer to section 6.7 for more information.

8 Maintenance
NOTE: BEFORE CARRYING OUT ANY OF THE FOLLOWING ROUTINE MAINTENANCE,

THE SYSTEM SHOULD BE POWERED DOWN.
8.1 Routine Maintenance
The scanning head should be inspected for cracks and corrosion at regular intervals and
kept clean by washing with fresh water and a mild detergent. The laser’s lenses should be
cleaned using a proprietary lens cloth.
The shaft seal should be lubricated at three monthly intervals. Using the grease gun
provided, apply two or three thrusts to the nipple on the upper shaft. This should be done at
90º intervals around the shaft by rotating the Fanbeam from the UCU2 software. Lithium
based multi-purpose grease is perfectly adequate. Care should be taken not to apply too
much grease to the shaft as this can cause grease leakage into the internals of the base,
which can lead to component failure.
Provided it is kept lubricated, the shaft seal will give long service. If the routine maintenance
is neglected, even during periods where the system is not used, the shaft seal will fail. This
can result in the overall failure of the system. Special tools are required to remove and
replace the shaft seal; therefore an MDL approved service centre should only undertake this
procedure.
NOTE: FAILURE TO CARRY OUT ROUTINE MAINTENANCE MAY INVALIDATE

WARRANTY.
The Fanbeam connectors should be checked for corrosion or moisture ingress. Silicon
grease and self-amalgamating tape must be re-applied as required. Connectors may be
removed and re-fitted to facilitate this preventative maintenance.

CLEAN LENSES WITH LENS
CLOTH AND MILD WINDOW
CLEANER IF REQUIRED.
(DO NOT REMOVE LENS BLOCK!)
GREASE SHAFT
SEAL AT 90º
INTERVALS
EVERY 3
MONTHS
CHECK
CONNECTOR
SEALING
NOTE:- THE
MANUFACTURER’S
WARRANTY MAY BE VOID IF
ROUTINE MAINTENANCE IS
NOT CARRIED OUT
Figure 19 – Routine Maintenance

9 Fault Finding
In the event of a problem that impedes or prevents the performance of the Fanbeam system,
this section is designed to help users diagnose faults and, in some cases, rectify them.
9.1 Basic Checklist
A reliable method of localising the cause of an apparent fault is to utilise a logical process of
elimination until the problem is isolated. There follows a basic checklist, which may be used
as a guide through such a process:
• The PSU requires an AC input of 85-264V AC. The output should be 28.5V DC between
pins A-C on and off load. The Fanbeam end of the power cable should have 28V DC
between pins A-B. A supply that drops on load will cause the failure of the laser and
erratic movement or operation.
• When powered up the scanning head automatically rotates through 360° to initialise the
encoder. In order to power up the Fanbeam®4.2 the 28 volts must be connected, and the
UCU must also be connected. When the “on” key is pressed on the UCU the power relay
in the Fanbeam®4.2 is activated thus supplying power to the whole system. If the
scanning head rotates when the UCU is powered up this confirms that power distribution
and regulation within the system are in order. It also confirms that the stepper drive card
and associated micro controllers are in order.
• When a move or run command is sent from the UCU, the Fanbeam should respond
accordingly. If it does, it can be assumed that the data link from the UCU to the Fanbeam
is in order. If the UCU display updates when the Fanbeam stops, it can also be assumed
that the data link from the Fanbeam to the UCU is in order.
• The laser can be checked by setting up a target in the line of sight of the Fanbeam
(between the minimum of 3m and the recommended maximum range for the target type).
Set the Fanbeam to scan across the target at more than 4º/s. Each time the laser passes
the target, the UCU display should update.
• Check the Fanbeam for obstructions and clean the lenses, which can become dirty over
time, leading to reduced performance. Carrying out routine maintenance of the Fanbeam
will help to reduce this problem.
• Check that the targets(s) are clean and have not become obscured by other equipment.
The reflective capability of prism tape will reduce with a build up of dirt/salt and
contamination caused by prolonged exposure to the environment. Storing tube targets in
a clean storage facility when they are not in use will reduce this.
• The UCU software has a number of configuration options including many different data
output formats. The correct data format must be used to send target information to a
tertiary system (such as a DP console). If this is not correct, the data will most probably
be rejected or ignored.

9.2 Advanced Fault Finding
WARNING: IN CASES WHERE THE MDL OR SUPPLIERS’ WARRANTY HAS NOT

EXPIRED, THE CUSTOMER SHOULD NOT OPEN THE SCANNER UNIT. THIS WILL
INVALIDATE THE WARRANTY. IN THE EVENT OF A PROBLEM THAT CANNOT BE
RECTIFIED BY THE BASIC FAULTFINDING, THE USER SHOULD PRIMARILY
CONTACT THEIR SUPPLIER TO SEEK ADVICE. IF THIS IS NOT POSSIBLE, THEN
CONTACT MDL.
9.2.1 Power Related Problems
There are a number of conditions that can lead to power supply failure. If the Fanbeam won’t
switch on, refer to the electrical installation (section 5.3) and use the following checklist:
Check 1 Ensure that PSU is connected to 85-264V AC correctly.

Corrective Action Connect to appropriate mains supply and activate
Check 2 Ensure that the PSU output voltage is 28.5V DC between pins A-C
on and off load.
Corrective Action Replace PSU PCB
NOTE: THE PSU CONTAINS LETHAL VOLTAGES. ALWAYS ISOLATE BEFORE
OPENING.
Check 3 Ensure that a DC voltage is present at Fanbeam end of power

cable between pins A-B.
Corrective Action Carry out continuity and insulation test replace power cable.
Check 4 Ensure that at least 28V DC is present at Fanbeam end of power

cable between pins A-B.
Corrective Action 1 Tweak PSU gain potentiometer.
Corrective Action 2 Relocate PSU and shorten power cable run.
Check 5 Short pins G-H of the data connector on the Fanbeam. The laser
head should perform a 360º spin.
Corrective Action 1 Check the three fuses on the control board. Replacement fuses
can be found in the spares kit. Refer to the board layouts later in
this section.
Corrective Action 2 Check the 20V DC and 5V DC supplies on and off load from the
stepper board voltage regulators. Replace stepper board.
Corrective Action 3 Check clock output (controller PCB, IC1, Pin 14) from control board
to stepper card whilst switching on power. If a burst of pulses is not
observed, replace the stepper card, otherwise, replace the control
board.
Check 6 Ensure that Deck Cable has no open circuit or short circuits.
Corrective Action 1 Carry out continuity checks on the deck cable using wiring diagram
in section 5.3.1.
Corrective Action 2 Replace Cable

9.2.2 Data Related Problems
The two-way data interface between the Fanbeam and UCU is based upon 20mA current
loop drivers. The data from the UCU to a tertiary system is RS232.
Check 1 Ensure that Fanbeam responds to commands from the UCU.

Corrective Action 1 Replace the opto coupler on the Fanbeam control board.
Corrective Action 2 Replace deck cable.
Corrective Action 3 Replace UCU.
Check 2 Ensure that UCU display updates when Fanbeam stops.

Corrective Action 1 Replace deck cable.
Corrective Action 2 Replace the opto coupler in the UCU
Corrective Action 3 Replace Fanbeam control board.
Corrective Action 4 Replace UCU.
Check 3 Ensure that data is received and understood by tertiary system.
Corrective Action 1 Select correct data format in UCU software.

Corrective Action 2 Carry out continuity checks on UCU data cable.
Corrective Action 3 Replace UCU data cable
Corrective Action 4 Replace UCU
9.2.3 Operational Problems
Check 1 Ensure that UCU display updates with range and bearing when
Fanbeam observes target during normal operation.
Corrective Action 1 Set scan speed to >10º/s.
Corrective Action 2 Place clean reflective target within line of sight and range of
Fanbeam.
Corrective Action 3 Clean lenses.
Corrective Action 4 Check 20V supply to laser (refer to board layouts). If it is not
present then check fuse F2.
Corrective Action 5 Replace control board.
Corrective Action 6 Carry out continuity checks between the motherboard and laser via
slip rings.
Corrective Action 7 Replace encoder.
Check 2 Ensure that angle for stationary target does not vary by a
significant amount or drift over time.
Corrective Action 1 Replace encoder
Check 3 Ensure that target angle does not jump between two values
Corrective Action 1 Make sure target is not too wide or that another is not too close.
Corrective Action 2 Check Fanbeam head for backlash and replace gearbox if loose.

9.2.4 Mechanical Problems
A motor and gearbox assembly facilitates the horizontal rotation of the Fanbeam.
Check 1 Ensure that Fanbeam head rotates smoothly and completes 360º
rotation at power up
Corrective Action 1 Check for backlash or looseness. Replace gearbox
Corrective Action 2 Check for any erratic movement when Fanbeam rotates. Replace
gearbox.
Corrective Action 3 Replace motor.
Check 2 Ensure that AutoTilt function responds correctly.

Corrective Action 1 Check that Fanbeam has AutoTilt option fitted. Set software option
to disable autotilt option.
Corrective Action 2 Change tilt motor control PCB.
Corrective Action 3 Change tilt motor.
9.2.5 Fanbeam Re-assembly
The Fanbeam is designed to withstand most environmental conditions. If the housing has
been opened for any kind of work, the following guide must be observed when re-assembling
the housing. Failure to do so will result in a housing that may allow moisture ingress, which
leads to complete failure.
Before re-sealing a Fanbeam base, please do the following:
• Inspect the base rubber seal for damage and replace as required.
• Embed the rubber seal into the seal cavity using silicone grease.
• Apply copious quantities of silicone grease along the entire length of the rubber
seal on the lower half and the mating surface on the upper half of the base unit.
• Apply grease to the securing screws and the threaded holes.
• Making sure that no wires or foreign objects are trapped between the base halves,
check the base for alignment and then reassemble.
• Torque the four bolts to 56lbs/inch (6.4Nm).
• Torque the three tamper-proof screws to 43.25lbs/inch (5.0Nm).
• Apply silicone grease over the bolts to isolate from moisture.

9.3 Board Layouts and Wiring Diagrams
9.3.1 The Mother Board
There are no components on this PCB. Its only function is to provide connection between all
the wiring and interconnection between the other plug-in cards.
Figure 20 – The Mother Board

9.3.2 Internal Connections for Fanbeam®4.2 Mother Board
30 ORANGE
29 WHITE/GREEN
28 GREEN
MOTOR 27 WHITE/BLACK STEPPER
26 BLACK MOTOR
25 WHITE/RED
24 WHITE
23 RED
22 BLACK NO CONNECTION A
21 VIOLET CURRENT LOOP LO I/P E
20 ORANGE CURRENT LOOP HI I/P F 8 WAY
DATA I/O 19 BLUE CURRENT LOOP LO D FEMALE
18 YELLOW O/P C CANNON
17 WHITE 20 VOLT FUSED O/P H
16 GREY SWITCH (28 VOLTS) G
15 RED SWITCH (0 VOLTS) B
28 VOLTS
14 BLACK 0 VOLTS
13 YELLOW LASER SAFETY LOCK
LASER 12 GREEN DATA IN FROM LASER SLIP RINGS
11 ORANGE DATA OUT TO LASER
10 BROWN SYNC
9 RED 20 VOLTS
8 WHITE 0.5mm 0 VOLTS
7 GREY A
ENCODE 6 BROWN B ENCODER
R 5 RED C
4 BROWN 0.5mm 5 VOLTS
3 WHITE/BROWN 0.5mm SCREEN
POWER 2 BLACK 0 VOLTS A 2 WAY MALE
IN 1 RED 28 VOLTS B CANNON
Table 2 – Internal Connections for Fanbeam®4.2 Mother Board

9.3.3 The Stepper Board
The board is in two halves. The first is a dual switch mode regulator, which converts the input
voltage (28 V DC), to the voltages required by the system. These are 5 V DC for all the logic
circuitry and 20 V DC for the laser. The second half of this board contains the driver for the
stepper motor. It is fed by two signals from the control board, namely clock and direction, and
translates them into 4 wire, 2 phase signals. Current limiting and circuitry to improve step
response are included on this board.
Figure 21 – The Stepper Board

9.3.4 The Control Board
Like the stepper board the control board is also in two halves. The first consists of 3
protection fuses, F1 20V / 20mA current loop Tx circuit for communication with UCU, F2 20V
laser power supply and F3 28V Fanbeam power supply. Normally the interface is configured
for 20mA digital current loop. The current loop is capable of driving several hundred meters
of cable. If required this interface may be reconfigured to RS232 Tx/Rx.
Figure 22 – The Control Board

The configuration of the current loop drivers and receivers are as follows: -
+20V
Figure 23 – Current Loop Driver Configuration
The second half of the board contains four micro controllers, which interface to and control all
the parts of the Fanbeam®4.2 namely the laser, the stepper drive card, the encoder and the
communications between the Fanbeam®4.2 and the UCU.
The first micro receives commands from the UCU in serial format at 9600 baud. These
commands are deciphered and transferred via a parallel interface to a second micro, which
looks after the acceleration, deceleration, step count and direction of the stepper motor
providing two signals (clock and direction) to the stepper drive card.
A third micro looks after the incremental encoder and keeps track of the horizontal angle and
zero point at all times. The micro communicates with the forth micro via a parallel interface
providing angular information on demand.
The fourth micro controller reads the laser, combines laser data with angular data from the
encoder micro and finally transmits the target information in serial format at 9600 baud to the
UCU. As mentioned earlier, the laser transmitter is only on when the velocity is above 3
degrees per second. This control is provided by the third micro from information provided by
the encoder.

The high accuracy of the horizontal angle is achieved by detecting every echo from the laser
and reading an angle for each echo. Once the laser has passed over the target the angles
are averaged providing the angle to the centre of the target. This means that the angular
accuracy is not dependent on target size. The echo signals from the laser are averaged
increasing the range accuracy. To achieve an accuracy of ±20cm at least five echoes are
required from the target. If there are nine or more echoes the accuracy is improved to
±10cm. The number of echoes from the laser is output in the range data string to the UCU.
Note: Only one digit for the number of echoes is sent to the UCU/display, therefore the
maximum number displayed is nine although there may have been many more echoes. An
accuracy of nine will normally indicate a valid MDL target.

10 Data Output Formats
MDL’s single target software has a variety of data output formats available. This section
documents the format of each of these and their corresponding line settings: -
The formats are described using the following criteria: -
NAME Title of the format

DESCRIPTION Brief description of the format
PROTOCOL RS232 line settings
TABULAR DESCRIPTION Tabulated field by field description of the format
EXAMPLE Sample output for given range and bearing
Please note the EXAMPLES will use sample values of
Range = 1098.7m Bearing = 123.45º
To illustrate what the actual data will look like.
Where non-printable ASCII characters are used, the appropriate ASCII code will be
represented in curly brackets. For example, a carriage return character will be shown as
{013}. Also, the space character will be shown as a box like this: $.
The first character in each format is at position 1.

10.1 Single Target Dynamic Positioning Software
10.1.1 MDL Standard
NAME MDL Standard

ALTERNATE NAMES MDL
DESCRIPTION Used to interface to various consoles
PROTOCOL 9600 Baud, No Parity, 8 Data Bits, 1 Stop Bit
Description Form Byte Positions

Target Number NN 1..2
Space Character $ 3..3
Range RRRR.RR 4..10
Bearing BBB.BB 12..17
Carriage Return & Line {013}{010} 18..19
Feed Characters
EXAMPLE (Range=1098.7m Bearing=123.45º)

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
Form N N R R R R . R R B B B . B B {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 {013 010}
10.1.2 MDL Single Target
NAME MDL Single Target

ALTERNATE NAMES None
DESCRIPTION Used as a diagnostic format by MDL

Comma Character , 3..3
Range RRRR.R 4..9
Level LLL 18..20
Accuracy A 22..22
Time HH:MM:SS 24..31
Feed Characters
EXAMPLE
(Range=1098.7m Bearing=123.45º Level=123 Accuracy=9 Time=12:34:56)
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3 3 3
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3
Form N N , R R R R . R , B B B . B B , L L L , A , H H : M M : S S {013 010}
Expl 0 1 , 1 0 9 8 . 7 , 1 2 3 . 4 5 , 1 2 3 , 9 , 1 2 : 3 4 : 5 6 {013 010}

10.1.3 Kongsberg SIMRAD Standard
NAME Kongsberg SIMRAD standard

DESCRIPTION Used to interface to certain Kongsberg DP consoles

Bearing * 1000 in packed BBB 1..3
BCD
Range * 10 in packed RRR 4..6
BCD
Two Character Zeros 00 7..8
Character 255 acting as {255} 9..9
Terminator
Char 0 0 0 0 0 0 0 0 0
Posn 1 2 3 4 5 6 7 8 9
Form B B B R R R 0 0 {255}
Expl {018 052 080 001 009 137 000 000 255} DECIMAL
Expl { 12 34 50 1 9 87 0 0 FF} HEX
10.1.4 Kongsberg SIMRAD Legacy
NAME Kongsberg SIMRAD legacy

DESCRIPTION Used to interface to older Kongsberg DP consoles

Bearing * 1000 in packed BBB 1..3
BCD
Range * 10 in packed RRR 4..6
BCD
Character 255 acting as {255} 7..7
Terminator
Char 0 0 0 0 0 0 0
Posn 1 2 3 4 5 6 7
Form B B B R R R {255}
Expl {018 052 080 001 009 137 255} DECIMAL
Expl { 12 34 50 1 9 87 FF} HEX

10.1.5 CEGELEC Standard
NAME CEGELEC Standard

ALTERNATE NAMES Artemis Mk.IV on older UCU / UDU
DESCRIPTION Used to interface to certain Cegelec DP consoles

Range * 10 RRRRRR 1..6
Bearing * 1000 BBBBBB 8..13
Target Number N 15..15
Feed Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7
Form R R R R R R B B B B B B N {013 010}
Expl 0 1 0 9 8 7 1 2 3 4 5 0 1 {013 010}
10.1.6 CEGELEC Legacy
NAME CEGELEC Legacy

ALTERNATE NAMES Artemis Short Bearing
DESCRIPTION Used to interface to certain older Cegelec DP consoles

Range * 10 RRRRRR 1..6
Bearing * 100 BBBBB 8..12
Target Number N 14..14
Feed Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6
Form R R R R R R B B B B B N {013 010}
Expl 0 1 0 9 8 7 1 2 3 4 5 1 {013 010}

10.1.7 Nautronix Standard
NAME Nautronix Standard

ALTERNATE NAMES Nautronix Global Pioneer
DESCRIPTION Used to interface to Nautronix DP consoles

Target Identifier TT 1..2
Range * 10 RRRRR 8..12
Feed Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4
Form T T B B B B B R R R R R {013 010}
Expl 0 0 1 2 3 4 5 1 0 9 8 7 {013 010}
10.1.8 Nautronix Legacy
NAME Nautronix Legacy

ALTERNATE NAMES Nautronix
DESCRIPTION Used to interface to older Nautronix DP consoles

Target Identifier TT 1..2
Range * 10 RRRR 8..11
Feed Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3
Form T T B B B B B R R R R {013 010}
Expl 0 1 1 2 3 4 5 1 0 9 8 {013 010}

10.1.9 MDL Standard c/w Checksum
NAME MDL Standard c/w Checksum

DESCRIPTION Added June 2002 to interface to Kongsberg Simrad
consoles running Follow FPSO function.

Range RRRR.RR 4..10
Checksum CC 19..20
Feed Characters
The Checksum is obtained by taking the XOR of all characters from 01..18. The checksum is
expressed as a two digit alphanumeric HEX value.

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2
Form N N R R R R . R R B B B . B B C C {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 1 7 {013 010}
10.2 Multi-Target Tracking Software
10.2.1 MDL Standard
NAME MDL Standard

ALTERNATE NAMES MDL
DESCRIPTION Used to interface to various consoles

Range RRRR.RR 4..10
Feed Characters

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
Form N N R R R R . R R B B B . B B {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 {013 010}

10.2.2 MDL Standard with Relative B/R
NAME MDL Standard with Relative B/R

DESCRIPTION Used in Multi-Target Tracking software to transmit relative bearing
and ranges
This format consists of two strings. The first that is output is described in section 10.2.1 and
the second is detailed below.

B B 1..1
Target ID N 3..3
Target ID N 5..5
Relative Bearing BBB.BB 7..12
Target Separation RRR.RR 14..19
Checksum CC 21..22
Feed Characters

char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4
Form B N N B B B . B B R R R . R R C C {013 010}
Expl B 1 2 1 2 3 . 4 5 0 9 8 . 7 0 6 6 {013 010}

10.2.3 MDL Standard + C/S
NAME MDL Standard + C/S

DESCRIPTION Same as MDL Standard (Sect 5.1) but with Checksum

Range RRRR.RR 4..10
Checksum CC 19..20
Feed Characters
The Checksum is obtained by taking the XOR of all characters from 01..18. The checksum is
expressed as a two digit alphanumeric HEX value.

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2
Form N N R R R R . R R B B B . B B C C {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 1 7 {013 010}
10.2.4 MDL Standard + C/S with Relative B/R
NAME MDL Standard + C/S with Relative B/R

DESCRIPTION Used in Multi-Target Tracking software to transmit relative
bearing and ranges
This format consists of two strings. The first that is output is described in section 10.2.3 and
the second is detailed in section 10.2.2.

11 Exploded Diagrams
11.1 Fanbeam Exploded Diagram
Figure 24 – Fanbeam® Exploded Diagram

Fanbeam® Parts
1 Weather Canopy
2 Laser Module (TX = Transmit Lens / RX = Receive Lens)
3 Laser Tilt Yoke
4 Shaft to Yoke Mounting Plate
5 Shaft Seal Housing
6 Main Housing
7 PCB Mounting Plate and Motherboard PCB
8 Stepper / Regulator PCB
9 Rotary Table
10 Encoder
11 Housing Base
12 Isolation Mounting Feet
13 Control PCB
14 Gearbox
15 Motor
16 Shaft Seal Weather Guard
17 AutoTilt Motor

11.2 UCU Exploded Diagram
Figure 25 – UCU Exploded Diagram

Universal Control Unit Parts
1 Pointing Device Cover
2 Pointing Device
3 Front Cover
4 UCU Power / Interface PCB
5 Single Board Computer
6 PCB Mounting Plate
7 U-bracket Adjustable Bolts
8 Back Cover
9 U-bracket Plastic Spacers
10 U-bracket
11 Speaker
12 Speaker Mount
13 Back-lit keypad

11.3 PSU Exploded Diagram and Parts
Figure 26 – PSU Exploded Diagram
Power Supply Unit Parts

1 PSU Cover incorporating Handles and Label
2 PSU PCB
3 PCB Mounting Plate
4 Cable Connector
5 PSU Housing


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Fanbeam 4.2, Combined

Supplier: Measurement Devices Limited

WORLD LEADERS IN LASER MEASUREMENT TECHNOLOGY

© Copyright 1993-2005 Measurement Devices Limited

Figure 1 – Equipment Configuration ......................................................................... 20

Table 1 – Target Range / Fanbeam Speed Correlation ............................................ 45

© Copyright 1993-2005 Measurement Devices Limited

Measurement Devices Ltd.

©Copyright 2005 Measurement Devices Limited.

Software Version 2.00 and above.

The information in this manual is subject to change without notice.

Some names referred to within this document are trademarks.

Manual Revision History:

DATE SIGNATURE ISSUE

© Copyright 1993-2005 Measurement Devices Limited

If your system requires a service, contact us at:

Measurement Devices Ltd.

Tel: + 44 (0) 1224 246700

24hr Support: +44 (0) 7803 087 322

© Copyright 1993-2005 Measurement Devices Limited

This product is manufactured by Measurement Devices Limited, Silverburn Crescent, Bridge

NOTE: IF THE SYSTEM’S ROUTINE MAINTENANCE IS NOT PERFORMED, THE

© Copyright 1993-2005 Measurement Devices Limited

! You may use the SOFTWARE only on the FANBEAM.

! NOT FAULT TOLERANT. THE SOFTWARE IS NOT FAULT TOLERANT MEASUREMENT

! No Liability for Certain Damages. EXCEPT AS PROHIBITED BY LAW, MS SHALL HAVE

! Limitations on Reverse Engineering, Decompilation, and Disassembly. You may not

! SOFTWARE TRANSFER ALLOWED BUT WITH RESTRICTIONS. You may permanently

! EXPORT RESTRICTIONS. You acknowledge that SOFTWARE is subject to U.S. export

© Copyright 1993-2005 Measurement Devices Limited

Precision Positioning and Tracking System

AUTOTILT MECHANISM OPTION

© Copyright 1993-2005 Measurement Devices Limited

Fanbeam®4.2 is supplied with MDL's Single Target DP PC software as standard. In addition

• Performs Excellently During Short-range Operations

© Copyright 1993-2005 Measurement Devices Limited

3.1.1 Laser Principle of Operation

© Copyright 1993-2005 Measurement Devices Limited

As a result of this limitation, MDL have

The UCU is normally supplied with a

The UCU is housed in a die-cast aluminium

© Copyright 1993-2005 Measurement Devices Limited

The PSU is housed in a rugged die-cast aluminium case

3.6 Optional Current Loop Converter

The current loop interface box is an option which may

© Copyright 1993-2005 Measurement Devices Limited

Type Semi-conducting Laser Diode 7.5KHz Rep Rate

4.2 Optional AutoTilt Mechanism

Gear Box Servo Driven Worm and Wheel

Construction Die-cast Aluminium with Marine Grade Paint

© Copyright 1993-2005 Measurement Devices Limited

4.5 Power Supply

Universal Input 85V – 264V AC / 47 – 440Hz

© Copyright 1993-2005 Measurement Devices Limited

The Fanbeam® MK4.2 is classified as a Class 1

CAUTION! Use of controls or adjustments, of performance of procedures other than those

DO NOT UNNECESSARILY LOOK INTO THE TRANSMITTER LENS OF THE LASER

© Copyright 1993-2005 Measurement Devices Limited

Basic Standard Test

4.8 Electrical Safety

EN 60950-1 : 2001 Information Technology Equipment

© Copyright 1993-2005 Measurement Devices Limited