WESMAR

DSP5000 SERIES STABILIZER

DSP 5003 SYSTEM SETUP MANUAL

Western Marine Electronics

14120 NE 200th Street, Box 7201,
Woodinville, WA 98072-4001 USA
T: (425) 481-2296 / F: (425) 486-0909
 Table of Contents
INTRODUCTION......................................................................................................................................... 1

SYSTEM STARTUP...................................................................................................................................... 1

POWER UP.................................................................................................................................................... 1

FIN CALIBRATION..................................................................................................................................... 2

GYRO OFFSETS........................................................................................................................................... 3

VALVE CURRENT........................................................................................................................................ 3

FIN ACCELERATION................................................................................................................................. 4

PID ADJUSTMENTS.................................................................................................................................... 6

JERK............................................................................................................................................................... 7

AT ANCHOR TUNNING PROCEDURE.................................................................................................... 8

BEFORE TUNNING.............................................................................................................8

USING THE AUTO TUNE FUNCTION..................................................................................................... 9

SUMMARY............................................................................................................................9

START THE TUNNING.......................................................................................................9

MANUAL TUNE OF AT ANCHOR........................................................................................................... 10

UDERWAY SETTINGS.............................................................................................................................. 11
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INTRODUCTION
The DSP 5000 Series Stabilizer Control is intended to be as automatic as possible with little input from
the operator required. The system uses GPS data received over the NMEA 2000 network to assist in
making continuous adjustments to optimize the performance of the system. The system also uses
a adaptive control to modify the fin response to as accurate and smooth as possible. If GPS data is
not available to the system, the operator may need to manually adjust some parameters to optimize
performance at different vessel speeds and conditions.

SYSTEM STARTUP
After installation of the DSP 5003 system and Hydraulic system is installed, the start up of the system
may proceed.
•Have all 24VDC power supplied where needed, Interconnect module, Valve and system con-
trol module(s), Hydraulic power pack, etc.

•Hydraulic system shall be running.

•Lock pins removed from actuators.

•Area around actuators inside and outside of the vessel is clear and free to have full move-
ment.

POWER UP
When 24VDC power is applied, the system will start to boot up the display controller with a welcome
screen and splash screen. When the boot is completed you will see the HOME MENU PAGE of the
display controller (figure 1.). You will now need to run through some calibrations of the system.

Fig. 1 DSP5003 Home Menu Page

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FIN CALIBRATION
Fin Calibration can be done according to the following steps:

• Press and hold the ENGAGE key for 2 seconds until the Hydraulic indicator changes from RED to
GREEN. The GREEN light indicates that the hydraulic supply valve is now energized and the fins
will have the hydraulic power needed to move (hydraulic system motors or engines must be
running at this time).

• Now press the MAIN MENU key, this will take you to the Home Menu Page

• Press the System Setup key (brings you to page 1)

• Press Page 2 key.

• Press Fin Calibration key.

• Press the fin CALIBRATION START button. The system will move the fins to the maximum ex-
tents of travel and calculate the center position. You can see when this calculation is finished
that the fin position will now read +/- 1°(figure 2.).

Fig. 2 Fin Calibration

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You will also need to confirm that the fins are physically in their centered position
as an incorrect valve connection may cause the fin to stay in a hard over position.

If the fins are not centered to the position of having the lock pin fit into the holes,
you can adjust the fin offset for port and starboard fins if needed (figure 3).

Fig. 3

To get to Fin Offset page follow the next few steps:

• From the Main Menu page
• Press System Setup key (Brings you to Page 1)
• Press Page 2 key
• Press on Fin Offset key see figure 4 for additional help.

Fig. 4

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GYRO OFFSETS
The system uses a multi term gyro. These gyros may need to be adjusted to compensate
for certain conditions:

• The first adjustment is for the mounting of the gyro and heel of the boat. This
adjustment must be done when the vessel is in its natural state (loading condition
of the vessel for normal operations). Adjust the heel offset so that the angle is as
close to zero as possible. (See figure 5)
• The second adjustment is the roll offset; this will need to be adjusted so that the
value is as close to 0.000 as possible. If the vessel is rolling you will see that these
numbers continuously move, you are looking for the value to be equal on + and –
sides indicating an average of 0.000. (See figure 5)

Fig. 5

To get to Heel Offset page follow the next few steps:

• From the Main Menu page
• Press System Setup key (Brings you to page 1)
• Press Gyro Offsets see figure 6 for additional help.

Fig. 6

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VALVE CURRENT
The system allows you to modify the current levels to the valve side A &B.

In some cases of extreme high or low pressure systems it may be necessary to adjust the minimum
current to the valve to minimize the time it takes to have the valve shift to a position where there is
hydraulic fluid flowing into the cylinder.

Fig. 7

The max current may need to be adjusted so that the valves are opening to the maximum level re-
quired to reach the desired speed of cylinder travel. These settings are preset at the factory and will
rarely need adjustment. In the case of a system being installed into existing stabilizer, these may need
to be adjusted.

Typical values for MIN CURRENT 600-700mA and MAX CURRENT 1600-1700mA (see figure 7). Note:
The system must have enough hydraulic flow for system to reach its maximum travel speed. Also note
figure 7 is Page 1 to get there just follow intructions as seen on figure 6.

If lag is noticed, check the pressure gauge and see that the pressure does not drop more than a few
hundred P.S.I If the P.S.I. does drop more than allowed, Increase flow to the system or you will be re-
quired to lower the maximum acceleration of the stabilizers to maintain adequate pressure.

WARNING: Failure to have adequate hydraulic supply will cause

erratic behavior and poor performance of the system. See trouble
shooting for suggestions.

FIN ACCELERATION
The Fin Acceleration (see figure 9 to get to page 3 where you can have access to At Anchor and Un-
derway Acceleration Rate Adjustments Menu, At Anchor and Under way Ramp Rate Adjustments
Menu and At Anchor Fin Calibration) will determine the maximum speed at which the fins move from
side to side. The travel times for the systems are below in table 1. The settings have been made at the
factory but minor adjustments may be needed if the results of the test are not as follows. Figure 8
shows Under way Acceleration Rate Adjustments Menu.

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Fig. 8

To get to page 3 follow the next few steps:

• From the Main Menu page
• Press System Setup key (Brings you to page 1)
• Press Page 2 key
• Press Page 3 key see figure 9 for additional help

Fig. 9

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Table 1:

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To perform this calibration it may be necessary to use the gyro to simulate a maximum speed fin
movement.

• Place the system in stabilize mode by pressing the Engage hard key, the Engage tag should
now be green indicating the system is in stabilize mode.

• Now navigate to the traces page. The traces page will allow you to see graphically the
signal the system is giving the fins to move to and the actual movement or response of
the fins.

• Note: There will always be a gap between the signal and the response. This is due to the
time it takes for the signal to be sent to the valves, the shift of the valves to the proper
position needed to move the fins at the desired speed etc. If when you rock the gyro in
one direction for 2 seconds and then back for 3 seconds you will see a green line on the
traces screen that will show the signal. If the response of the fins is shadowing the signal
then the acceleration is fine, if it cannot shadow the signal and falls further behind during
travel from one side to the other, you may need to lower the acceleration rate. Note: En-
sure the fins have adequate hydraulic supply and pressure. If the fins fall behind the signal
and do not catch up to it, the acceleration rate will need to be decreased until the fins are
able keep up. If the fins are able shadow the signal you are done with the acceleration. If
you notice banging sound or see that the fins catch up to the signal, pause and start again,
this correction will be made in other settings.

• After the fast acceleration rate is reached you will need to set the slow acceleration rate.
The slow rate for movement of the fins should not be less than half of the roll period of
the vessel. For example if the roll period of the vessel is 5.2 seconds, the slow acceleration
travel time must not be more than 2.6 seconds. The medium acceleration speed should
be approximately the value halfway between the fast and slow acceleration travel time.
For example if the fast travel time is 1.3 seconds and the slow travel time is 2.3 seconds,
then the medium travel time should be approximately 1.8 seconds.

PID ADJUSTMENTS
The settings for these terms have been made at the factory but it may be necessary to make mi-
nor adjustments to these terms.

The settings for these terms have been made at the factory but it may be necessary to make mi-
nor adjustments to these terms.

• Using the gyro to simulate roll, if the fins catch up to the signal and pause or shudder during
the travel from one side to the other, reduce the P value by 20 and try again.
• if the result is the same reduce the P value further. If the fins now lag the signal or do not
maintain a consistent lag from the signal, then increase the value by half the amount you had
decreased it.
• When this lag is consistent during the main part of the travel, the P adjustment is done.

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• If the fins at the end of the travel over shoot the signal, increase the D value by .01. If the Fins
now stop short of the signal at the end of the travel and shudder to make a final catch up to
the signal, decrease the D value by half of the amount it was increased. Repeat steps until this
is a fairly uniform travel from side to side. (Figure 10)

To get to PID page follow the next few steps:

• From the Main Menu page
• Press System Setup key (Brings you to page 1)
• Press PID Loop key. See figure 10 for additional help.

Fig. 10

Fig. 11

RAMP
The RAMP adjustment is preset at the factory but may require some small adjustments to smooth
out the start and stop motion of the fins.

The higher the value of the RAMP setting the faster or sharper the system will respond to the signal.
If the start and or stop are too abrupt, it may cause excess noise from the actuators. If this is the
case reduce the RAMP value by .2 and test until the reaction is smooth and quiet. If the fins start too
slowly increase the RAMP value until the movement of the fins is either to abrupt or noise is heard
from the actuators.

The lag or gap between the signal and fins will increase when the RAMP is lowered and may affect
the maximum acceleration value allowed if the RAMP value needs to be reduced too far.(see table 1)

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The acceleration and jerk play an important role in the set up of the AT ANCHOR mode as you
can see in the 2 graphs above, the fin movements have the same time of travel from one maxi-
mum extent to the other however one of them only reaches a maximum speed of 39°/s and the
other reaches a faster speed of 60°/sec. The difference is how long it will take for the fins acceler-
ate to that speed and then decelerate to 0. This is vital for having a smooth movement of fins in
the anchor mode.

The first graph would be a typical profile for Active stabilization while the second is suited for
AT ANCHOR operations where the fins need to reach a fast velocity to generate the anti rolling
forces needed. (Figure 12)

To adjust the RAMP settings go to page 3 of the Vessel Setup menu and select the RAMP Rate
Adjustment key to bring you to the Ramp Rate page (figure 13)

Fig. 12

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Fig. 13

AT ANCHOR TUNNING PROCEDURE

BEFORE TUNNING
All conditions must be met before proceeding with the AT ANCHOR tuning.

•Accumulator(s) must be charged to the proper pressure and installed properly at the correct
location(s).

•Hydraulic pump(s) that will be used during normal AT ANCHOR operation must be set to the
proper pressures and functioning properly.

•The areas around the fins must clear of obstacles and activity for 3 diameters of the fin
length.

•The vessel must be free of all mooring lines an sitting still in flat harbor/sea conditions mean-
ing virtually no rolling motion on the boat. If the sea conditions are contributing to the rolling
of the boat, the tuning cannot take place and must be postponed until flat harbor sea condi-
tions are available.

•Activities aboard the vessel must be kept to a minimum while performing tuning to minimize
contribution to the Gyro readings.

•Rudder(s) shall be centered.

•Do not use thrusters while performing Auto Tune.

•Vessel must be stationary to water flow.

•Acceleration rate and Jerk rate adjustments must be completed.

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USING THE AUTO TUNE FUNCTION
The AT ANCHOR Auto tune function will perform a series of fin movements at various rates of
movements while recording the reaction of the vessel to the commanded fin movements. This
allows the AT ANCHOR system to give the precise fin movement to counteract the rolling motion
of the vessel to the best of its ability.

The DSP system is equipped with a output signal for an auxiliary pump to start running when
anchor mode is selected. There is a ramping time that can be adjusted to ensure that the auxiliary
pump is running at the proper speed before the hydraulic supply is turned on. This adjustment as
well as the maximum AT ANCHOR activation speed adjustment is in the vessel setup page. (Figure
14)

Note: To ge to Vessel Setup page, go to page 2 as seen on figure 4. On Page 2, you’ll see Vessel
Setup key on the right hand side.

Fig. 14

START THE TUNNING

From Page 3, press the At Anchor Fin Calibration key as seen in figure 15.

Fig. 15
After pressing the At Anchor Fin Calibration key it will take you to the AT ANCHOR Calibration
screen as seen in Figure 16.

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Fig. 16

At this time if all the above conditions are met, you can start the tuning.
• Select the HIGH SPEED tab by pressing the key adjacent to it, the tab will now be RED.

• Press the key adjacent to the AUTO TUNE tab. The AUTO TUNE tab will be RED while
the auto tune is running; the process should take approximately 20-30 seconds.

• After the auto tune is complete the HIGH ROLL RATE box will populate a value as indi-
cated by the arrow in Figure 16.

Note: This value is the based on the reaction the vessel experienced from the movement of
the fins. Record the number. It is recommended that you perform the AUTO TUNE for the HIGH
SPEED several times and record the highest value.

If the AUTO TUNE takes longer than 60 seconds, cycle the

power to the system and start again.

• The travel time of the Fin will be populated after each tune is completed. The TRAVEL
TIME must be less than half of the roll period of the vessel. The travel time includes
the ramp up and down time of the motion of the fin and cannot be used to calculate
maximum rate of travel.

• Follow the same procedure for the MEDIUM SPEED and SLOW SPEED tabs recording
the information for each tune.

Note: The MEDIUM SPEED travel time needs to be longer than the HIGH SPEED travel time. The
MEDIUM ROLL RATE must be smaller than the HIGH ROLL RATE. The SLOW SPEED travel time
cannot be more than half of the roll period of the vessel or the information derived from the
tune will not be correct. Some vessels with faster roll periods may have values that are fairly
close to each other this is acceptable as long as the values follow the order fastest to slowest.
When the three speeds have had successful auto tunes, you may be done.

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If the values for the HIGH SPEED test vary greatly between each test, it
may be necessary to do a manual tune. Press DONE when completed.

MANUAL TUNE OF AT ANCHOR

If the values of the AUTO TUNE calibration varied, you can enter the values into the MANUAL
TUNE page as seen in figure 17.
To get to Manual Tune Page:
• Go to page 3

• Press The At Anchor Fin Calibration

• Press the Manual Tune key as seen on figure 18

Fig. 17

• Enter the highest or average of consistent numbers achieved during the auto tunes by
pressing the increase rate keys or decrease rate keys to reach the desired value.

• When the values have been entered correctly, press the DONE key to save the values.

Fig. 18

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UDERWAY SETTINGS
If the vessel has a NMEA 2000 network, it is highly recommended that a drop cable from the back
bone be connected to the DSP interconnect module of the system. The data received from the GPS
over the network will allow the system to automatically adjust the sensitivity of the system to opti-
mize performance. The user will be able to set the minimum speed at which the system will engage
and disengage as well as recognizing if the vessel in a reverse motion.

Note: If a NMEA 0183 network is used, a converter to NMEA 2000 can be used to produce the data.

The set up for the NMEA data is almost automatic. Once the drop cable is connected to the sys-
tem and the data that is on the network will be produced and can be seen in the NMEA 2K SPEED
VIEWER page. (figure 19.) The PGNs that are being received will be populated on the screen.

To get to NMEA 2K Speed Viewer Page

• Go to page 2

• Press on NMEA2K Speed Viewer/Manual Key as seen on figure 20.

Fig. 19

Fig. 20

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For the set up of the inserted values into the system it will be necessary to perform a sea
For the active stabilization tuning, the SPEED SENSITIVITY BY AUTO must not be in use, this would
be indicated by the tab being red in color. This will allow for manual entry of the sensitivity at vari-
ous speeds. Next follow the follwing steps:
• First would be to have the vessel move at a speed just above idle forward.

• Engage the system and increase the sensitivity until the vessel is stabilized or, if the fins
become erratic or produce a rolling motion reduce the sensitivity until the behavior stops
and reduce further 10%.

• Some systems paired with a specific fin size for a vessel may have little to no effect at idle
speeds as the system is sized to perform optimally at the cruising speed of the vessel.

• Note the SENSITIVITY setting that is found to be best.

• The next step is to increase the speed of the vessel to cruising speed

• repeat the process noting the found SENSITIVITY value. The SENSITIVITY value needed will
be decreased as the vessel increases speed. Note the value.

• The next step is to increase the speed of the vessel to max cruising speed and repeat the
process.Note the SENSITIVITY used.

WARNING: For high speed vessels a maximum speed should be selected where
stabilization is no longer required, this is typically just above hull plaining
speed. Do not go above this speed during this testing.

After these SENSITIVITY values have been found, they can be entered into the Under Way set-
tings
• The Disable Settings is the minimum speed at which the system will allow the stabilization
to activate, typically this value is just above the idle forward speed. (See figure 21)

• The next values to enter are the Minimum Speed Settings here you will need to enter the
speed the vessel was moving during the slow speed test and the sensitivity value used.
(See figure 21)

• The next settings are for the Cruise Speed Settings using the speed and SENSITIVITY value
found during the test. (See figure 21)

• The last setting is the Max Speed Settings using those values found during the test. (See
figure 21)

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To get to Disable, Minimum Speed, Cruise Speed and Max Speed Settings

• Go to page 2

• Press on Under Way Settings key (See figure 22)

Fig. 21

Fig. 22

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• Now activate the SENSITIVITY BY SPEED MANUAL on the Main Menu Page. The tab will
change from Red to Green. (See figure 23)

• Test that that with the system engaged the Engage tab will be yellow when the vessel is
below the DISABLE speed value and turn green when the vessel speed increases above
the DISABLE value

• You can now see the used values on the Underway Settings page. (see figure 24)

Fig. 23

Fig. 24

• Run through various speeds with the vessel, if a over correction is noticed, go to the
appropriate speed setting page and decrease the SENSITIVITY value.

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WESMAR/WESTERN MARINE ELECTRONICS AND SUBSIDIARIES
TERMS AND CONDITIONS OF SALES

Following are the terms and conditions of all purchase orders accepted by and all sales made by WESTERN
MARINE ELECTRONICS COMPANIES: (Hereafter called “SELLER”.)

ACCEPTANCE: Purchase orders are subject to SELLER’s acceptance at Woodinville, Washington.

PAYMENT TERMS: The purchase price shall be paid by the BUYER to SELLER as set forth on the purchase or-
der.
Delinquent payments shall bear interest at the rate of up to 18 percent per annum.

DELIVERY: Delivery shall be FOB SELLER’s plant in Woodinville, Washington, and BUYER shall pay all costs of
transportation and shall assume all risks of loss.

SHIPMENT: In the absence of explicit instructions as to routing and method of shipment, SELLER may use its
discretion as to both, and may forward by express or parcel post when packages are small. Parcel post ship-
ment will be insured at BUYER’s expense unless otherwise specified. SELLER assumes no responsibility for
placing valuation upon shipment unless specifically requested to do so by BUYER.
INSTALLATION AND FIELD START-UP: Quotations for installations and field start-up do not include SELLER’s
travel and associated expenses, which BUYER shall pay. Further, such quotations anticipate that the work to
be performed by SELLER will be during normal working hours. If at BUYER’s request or with BUYER’s consent,
overtime is applied to this work, the expenses thereof shall be charged to BUYER.

WARRANTY AND DISCLAIMER: PARAGRAPH 6a APPLIES EXCLUSIVELY TO ALL PURCHASES FOR NONPERSONAL,
FAMILY OR HOUSEHOLD PURPOSES; PARAGRAPH 6b APPLIES EXCLUSIVELY TO ALL PURCHASES FOR PERSON-
AL, FAMILY OR HOUSEHOLD PURPOSES.

6a. COMMERCIAL WARRANTY, DISCLAIMER, AND REMEDIES. SELLER WARRANTS TITLE, MATERIALS, AND
WORKMANSHIP OR EQUIPMENT, EXCEPT COMPONENTS MANUFACTURED BY OTHERS FOR WHICH SELLER AS-
SIGNS, AS PERMITTED, THE ORIGINAL MANUFACTURER’S WARRANTY. SELLER’S WARRANTY PERIOD FOR ALL
APPLICABLE EXPRESS OR IMPLIED WARRANTIES SHALL BE ONE (1) YEAR AFTER DATE OF SHIPMENT TO
THE ORIGINAL BUYER, OR NINETY (90) DAYS AFTER INSTALLATION IF THE INSTALLATION DOES NOT OCCUR
WITHIN ONE (1) YEAR AFTER DATE OF SHIPMENT TO THE ORIGINAL BUYER.

NONCONFORMING EQUIPMENT REPORTED TO SELLER DURING THE APPLICABLE WARRANTY PERIOD AND RE-
TURNED TO SELLER AT BUYER’S EXPENSE AND RISK SHALL BE REPAIRED, OR REPLACED AT SELLER’S OPTION. IF
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ING EQUIPMENT WITHIN A REASONABLE TIME, THEN BUYER SHALL BE ENTITLED TO A REFUND OF THE
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CLUSIVE REMEDIES FOR NONCONFORMING GOODS. THIS WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES,
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PARTICULAR PURPOSE.

6b. CONSUMER LIMITED WARRANTY, DISCLAIMER, AND REMEDIES. SELLER WARRANTS TITLE, MATERIALS,
AND WORKMANSHIP ON EQUIPMENT, EXCEPT COMPONENTS MANUFACTURED BY OTHERS FOR WHICH
SELLER ASSIGNS, AS PERMITTED, THE ORIGINAL

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6b. CONSUMER LIMITED WARRANTY, DISCLAIMER, AND REMEDIES. SELLER WARRANTS TITLE, MATERIALS,
AND WORKMANSHIP ON EQUIPMENT, EXCEPT COMPONENTS MANUFACTURED BY OTHERS FOR WHICH
SELLER ASSIGNS, AS PERMITTED, THE ORIGINAL MANUFACTURER’S WARRANTY. SELLER’S WARRANTY PERI-
OD FOR ALL APPLICABLE EXPRESS OR IMPLIED WARRANTIES SHALL BE ONE (1) YEAR AFTER DATE OF SHIP-
MENT TO THE ORIGINAL BUYER, OR NINETY (90) DAYS AFTER INSTALLATION IF THE INSTALLATION DOES NOT
OCCUR WITHIN ONE (1) YEAR AFTER DATE OF SHIPMENT TO THE ORIGINAL BUYER.

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