Konsberg K-DP Guide

1. AHTS. ARK CHARLY. CONVERTEAM EQUIPMENT. 1

2. AHTS. ASD. JASCON 21 DP2 BHP 5200. 2 KONGSBERG K-POS

3. NOTE : PLEASE READ NOTE BELOW 3

4. 4 The K- Pos DP

5. 5 KONGSBERG K- POS DP. Main DP Mode and Operating procedure. Standby mode. - Calibrate the joystick - Select the required vessel rotation point. - Enable all sensor - Enable the required thruster, propeller and rudder. Returning to standby mode / manual lever. - Press the standby button in the mode twice. - Disable all position reference systems - Disable all thruster, propeller and rudders.

6. Joystick Mode. Moving the joystick forward / back controls. ( surge ) Moving the joystick left / right ( sway ) Rotation the joystick command the vessel to rotate. Standby to joystick. Ensure that the required gyrocompasses are enabled. Ensure that the required sensor are enabled. Check if the has a switched or button to select be turn joystick and SDP thruster control. Ensure that the required thruster, propeller and rudder enabled. Press the joystick button in the mode. Enable the required position reference also position and heading information 6

7. JOYSTICK SETUP BUTTON 7

8. Mixed Joystick to Auto Mode. Select Jaw ( Heading control with joystick ) Select surge – sway ( Auto position ) Select jaw and surge ( Auto heading Automatic stabilisation) Select jaw and sway ( Auto heading and Auto stabilisation ) Common Procedure Available. Joystick setting and environmental compensation Thruster control mode ROT ( rate of Turn ) Joystick mode with Automatic heading control. Selecting automatic heading control Check that non of the status lamps for the surge, sway or jaw buttons in the modes button group are lit. Ensure that the required gyrocompasses are enabled Press jaw button twice within four second. 8

9. Common Procedures available as for joystick mode plus, Controller mode and gain level selection Changing the heading set point Heading limit Set ROT ( Rate Of Turn ) Returning to joystick heading control. Press the jaw button in the mode button group twice. Displaying the vessel in the view centre. Click “ Centre Here “ on the Posplot “ Pop-Up” menu On the posplot “ Pop-Up” menu click “ View Control “ and select – true, vessel on relative and vessel in the posplot dialog box mode. 9

10. Selecting automatic stabilization. Ensure that the required gyrocompasses on enabled Ensure that at least one position reference system in active and enabled Press jaw, the current vessel heading becomes the heading set point and the system automatically keeps the vessel on this heading Press surge or sway twice. Common Procedure Available. Controller mode and gain level selection Changing the heading set point Position limit Heading limit Setting the vessel speed Setting ROT ( Rate Of Turn ) 10

11. From Joystick mode to Auto position mode. Ensure that the required gyrocompasses are enabled Ensure that at least one position reference system is active and enabled Ensure that either high precision or relaxed is set on the selected controller mode in gain dialog box. Press jaw twice ( allow the vessel to stabilize on it’s present heading ) Hold the vessel as stationary as possible using joystick Press the Auto Position button in the modes button group twice ( the status lamps for the auto position, surge, sway and jaw buttons are lit ) Warning : if green controller mode is desired, continue as follows ; allow the vessel to stabilize in auto position mode for about 15 minutes to attain optimal performance in the green controller mode. Select green controller mode with the required are set in the gain dialog box. The defined area as displayed in the posplot view the inner and outer area are indicated with dashed circle, with green shading on the inner area. 11

12. The background of auto position in the status bar is shaded green. The gain symbol in the status bar is changed to a green shaded box indicating that green controller mode is active. Warning ; No changing in position or heading should be attempted during the first five minutes after the auto position mode in order to allow the vessel model to stabilize. For more critical DP operations or during more difficult weather / current conditions, this limit should be prolonged to minimum 15 minutes. 12

13. Common Procedure Available. Controller mode and gain level selection Thruster control mode Changing the position set point Changing heading set point Position limit Heading limit Setting the ROT ( rate Of Turn ) Rotation point for automatic control Quick model up date DP consequence analysis. 13

14. THRUSTER MAIN VIEW 14

15. Resetting after an automatic switch over . Select system - Redundant stations. User error objects in the Redundant stations dialog box to find out which errors are present Have error rectified In the redundant stations dialog box, right click in the error objects are. 15 Error objects : In Error Locked Overruled Description A 1-RSER200-4 A 2-RSER200-4 B 3-RSER200-4 4-RSER200-4

16. The following shortcut menu is displayed : Select Unlock All the locked error objects are reset to the normal state. 16 Permanent on Permanent off Unlock all

17. Sensor Dialog Box. Select sensor gyro, Press gyro button. OK : the OK status for each gyro compass is shown in the matching OK check box. Enable : each gyrocompass has an associated Enable check box. Preference : these option buttons allow you to specify which gyrocompass is preferred for use by the system. In Use : the gyrocompass that is currently used by the system to calculate the vessel’s heading is indicated in the In Use check box. 17

18. Gyro heading : The measured heading from the gyrocompass. Added correction : this text box allows you to specify a gyrocompass correction . Used heading : The measured heading from the gyrocompass with added correction. Gyro status lamp. The gyro button has a status lamp which show the status of the gyrocompass. On : at least one gyrocompass is enabled and accepted by the system. Flashing : the measurements from one of the enabled gyrocompass are not accepted by the system. Off : No gyrocompass are enabled. 18

19. CHANGING THE POSITION SET POINT. This chapter contains the following section: Stopping a change of position Marking a new position set point on the posplot view Position R/ B dialog ( Range and Bearing ) Position Inc dialog box ( incremental ) Position dialog box Speed set point dialog box Acceleration / retardation setting dialog box. Stopping a change of position. To set the vessel’s present position as the position set point, press the Present Position button twice, this will interrupted a requested change of position. 19

20. POSITION SET POINT ON THE POSPLOT VIEW 20

21. B. Making a new position set point on the posplot view. Click on the position set point symbol  in the posplot view, the position dialog box is displayed Move the set point symbol  with the track ball . The set point symbol  move on the display and the position coordinates are up dated dynamically on the position dialog box Click again to fix the set point symbol at the required position. A temporary position set point is displayed at the new position and the coordinate , distance and both true and relative direction from the present position set point are displayed on the dialog box Either click the OK.. Position R/ B dialog ( range and bearing ) The position R/ B dialog box is use full in operations that required frequent changes of position set point. 21 Position R/ B Range True bearing -------- m ------------ º OK Cancel Apply

22. POSITION DIALOG BOX 22 Inc (Incremental) : Port / Stbd/ Ahead/ Astern R/B : Range / Bearing Abs : Absolute coordinates

23. 23 Thruster : 1- 2- 3- 4 Sensor : Gyro- Wind - VRS Joystick- Manual - DP GPS1- GPS2- Radius Main Modes Command responsibility 3-axis joystick View selection System functions Trackball OPERATOR - PANEL Heading wheel

24. 24 TRACKBALL Right Left Middle The trackball is used to position the cursor on the screen. Left button is used to click on screen buttons, choose from menus and select displayed symbols. The right button is used to display a shortcut menu. The middle button is not used.

25. 25 HEADING WHEEL The heading wheel comprises one heading wheel and seven buttons. Three of these are located in front. The other four forms a circle close to the heading wheel. ROT Heading wheel Heading buttons Set or activate buttons

26. 26 DISPLAY LAYOUT The display is divided into a number of predefined areas as shown in the following figure. In addition to these, dialog boxes are displayed whenever operator interaction is required.

27. THRUSTER MENU. Enable Automatic start Allocation mode Allocation setting Biasing Run in Enable / Disable ALL Selecting or clearing this check box allows you to enable or disable all thruster and rudders for K- Pos DP. Allocation mode. Thruster allocation can be performed in many different ways. That are available for the vessel are listed on the thruster allocation dialog box. 27 Thruster enable √ Enable / disable ALL Running Rdy Enable √ √ √ Tunnel 1 √ √ √ Tunnel 2 √ √ √ Tunnel 3 √ √ √ Tunnel 4 OK Cancel Apply Thruster allocation Mode Control ◙ Variable Increased power Fix Position priority Environ Fix Diving OK Cancel Apply

28. CALIBRATE THE DP JOYSTICK Ensure that the system in STANDBY mode Select “ Calibrate “ on the joystick menu ( See displayed ) Set joystick in “ ZERO “ position and press button Move the joystick to it’s “ Min / Max “ position in the 3 axis a couple of time. This will register joystick swing. If needed, modify the “ dead band “ value ( Press Dead band ) Then press OK button to save calibrate value Dead band axis % of max swing 0 = 5 1 = 5 2 = 5 28

29. Click joystick dialog box ◙ Trust Precision Envir. Comp √ Reduced ◙ High speed √ Surge √ General √ Sway ◙ Low speed √ jaw OK Cancel Apply Alarm Limits. Position / VRS Active warning Active Alarm Position √ 1.8 m √ 3.0 m Heading √ 1.0 deg √ 3.0 deg Cross √ 1.8 m √ 3.0 m OK Cancel Apply 29

30. VRS. Position VRS Active Alarm Pitch √ 3.00 deg Roll √ 3.00 deg Heave √ 0.00 OK Cancel Apply 30

31. CALIBRATE BACKUP JOYSTICK Calibrate of the backup joystick ensure that a certain deflection of the joystick corresponds to a specific thruster force depending upon the selected thrust (Full or reduced). it is necessary to calibrate the joystick as follows; Press each of the following four buttons once, in the sequence listed: fore pivot – Present heading – joystick and aft pivot. The joystick calibration function is enabled The operation indicator starts flashing green /red Showing on the display; 31 X Y Z Centre joystick Press < Set > ESC

32. Set joystick to the centre position and then Press the set button. Showing on the display. Move the joystick to it’s limit in the forward and back wards direction (X), then in the left and right direction (Y) and then rotate in the clockwise and counter clockwise direction (Z) 32 X Y Z Pos joystick to all extremities XYZ Press < Set >

33. The movement of the joystick in each direction is indicated by three vertical bar graphs ( X – Y – Z ) showing in the display. Press the Set buttons. The joystick is calibrated The joystick calibration function and calibration terminated The operation indicator change to steadily lit green. 33 Z Y X Pos joystick to all extremities XYZ Press Set

34. Calibrate backup joystick showing on the screen. To calibrate the joystick , proceed as follow ; Press , within 10 second, the Fore pivot, present heading, joystick and aft pivot buttons in the same sequence as listed. The joystick calibration function is enabled The operation indicator starts flashing green / red The joystick calibration view is displayed in the view area of the display. 34 JOYSTICK CALIBRATION Set joystick in ZERO position ( all 3 axis ) And press ENTER.

35. Set the joystick to the centre position and then Press the ENTER button. the following indicators are displayed on the joystick calibration view: A red joystick reference line at the top of the vertical ( X ) axes A red joystick movement, reference cross in the centre of the vertical and horizontal ( X / Y ) axes Black maximum movement lines at the ends of the vertical and horizontal ( X / Y ) axes. Move the joystick to the maximum in the forward and back wards direction (X), then in the left and right direction (Y) and then in the clockwise and counter-clockwise rotate direction (Z) The movement of the joystick in the X and Y direction is indicated by horizontal and vertical lines in each quadrant of the joystick calibration view The rotation of the joystick in the Z direction is indicated by a semicircle in the upper two quadrant of the joystick calibration view. The current position of the joystick ( with respect to the centre position) is indicated by the black cross The current direction and amount by which the joystick has been rotated (with respect to the centre position) is indicated by a black line within the semicircle. 35

36. Press the ENTER button. The joystick is calibrated The joystick calibration function is disabled and calibration terminated The joystick calibration view is replaced by the original display view The operation indicator changes to steadily lit green Check the joystick is functioning correctly by comparing : The rotation of the joystick with the movement of the joystick rotation indicator ( upward pointing arrow on the upper two – directional bar) The tilt of the joystick with the movement of the joystick tilt indicator (filled purple circle with a white outline and purple dashed coordinate lines) 36 JOYSTICK CALIBRATION Move joystick to MAX / MIN position (all 3 axis) And press ENTER

37. AUTO TRACK MODE. In the Auto track mode, the vessel accurately follows a predefined track, described by a set of waypoint. Auto track mode , covers Low speed, High speed and Move-Up operations using different strategies for speed and heading control.. 37 1 2 4 Auto track operation ( Posplot View 1- 2- 3 and 4 is number of waypoint

38. Auto track with Low Speed mode, all the available thrusters are used to provide full position and heading control. Auto track with High Speed mode, the rudders or azimuth thrusters are used to control the vessel heading to minimize the cross track error while maintaining the required speed. Auto track with Moving-Up mode, you can move the vessel a specified distance a long the track. Low speed, High speed and Move-Up mode are selected from the auto track setting dialog box. Auto track set-up buttons in the control buttons group as follows; Setting General Setting Stop Setting Heading Setting Speed Setting Turn Setting Receive. 38

39. These general feature description are followed by ; Procedures describing the necessary preparations for auto track mode Procedures for running in low speed Procedures for running in high speed Procedures for running in move-up. 39 Waypoint No Position Leg length(m) Leg l course(deg) Turn Radius(m) OK Apply Undo Editing Mode Move Insert new delete AUTO TRACK MENU. On the auto track menu, select New, the waypoint dialog box is displayed. Number : number of the waypoints Position : the position of the waypoint Leg length : the length of the leg from the current waypoint to the next Leg course : the course of the leg Turn radius : the turn radius of the vessel should use when passing the waypoint.

40. Undo : deletes changes since you last clicked Cancel : Discards all changes. Graphical Track Editing. New track To define a track. On the auto track menu, select New. The waypoint dialog box is displayed, and the cursor changes from an arrow to a pointing hand. Define the first waypoint by moving the cursor on the leg is displayed on the posplot view . See picture. When entering the last waypoint, double click to end the definition of new waypoint. Select apply or OK. Defining a waypoint using graphical track editing. 40

41. MODIFY A TRACK. Moving a waypoint. On the auto track menu, select Modify, the waypoint dialog box is displayed. Select Move Drag the required waypoint to the correct position using the cursor, click once to confirm Click OK or apply. ADJUSTING THE TURN RADIUS. On the auto track menu, select modify. Select Move Click the require waypoint arc. A rubber band model, increase the turn radius. 41 Turn Radius.

42. INSERTING A NEW WAYPOINT. At the beginning of a track Between two waypoints At the end of track. To insert a new waypoint. On the auto track menu, select modify, Select Insert new Click the leg on which you wish to insert Drag the new waypoint to new position and click again to confirm If you want to insert a waypoint at the “ Beginning “ on the track, click the first waypoint. Click and move the cursor as described above. If you want to insert a waypoint at “ The end of the track “, click the last waypoint . Click and move the cursor as described above. Click OK or apply 42

43. DELETING WAYPOINT. On the auto track menu, select modify. Select delete Click the waypoint that you want to delete Click OK WAYPOINT TABLE. To display waypoint table, select “ Editor “ on auto track menu. You can either load waypoint from an external system. 43

44. AUTO TRACK SETTING. I GENERAL Tracking move : low speed Leg offset : 0,0 m Track direction : forward / stop /reverse Approach track : track leg Leg type : rhumb line Apply / OK II STOP Stop on track : stay Reverse action : go astern Force : 50% Position dropout action : stop Apply / OK 44

45. III HEADING. Heading set point : system selected / operator Limit : only on high speed Offset : 0,0 deg IV SPEED Along speed set point : Operator - 0,5 m/sec Across speed set point : 0,3 m / sec Waypoint speed strategy : slow down at waypoint ( 5m ) Apply / OK V TURN Turn radius for waypoint turn - automatic WOP warning - active ( WOP = Wheel Over Point ) 45

46. TRACK OFFSET. Click offset on the Auto Track menu. Using this dialog box ; You can select from the strategy “ Parallel- Geography- Present leg- No offset. Specify the Distance for the track. Specify the Direction for the track offset When running in Auto Track mode, track offset can only be performed if you have selected “ ALWAYS ALLOWED “ 46 Auto track Offset ◙ Parallel ◙ Present leg ◙ Geography ◙ No offset Distance --------- Direction --------- OK Cancel Apply

47. SELECTED TRACK UPDATE STRATEGY Click “ Update Strategy “ on the dialog box. Always allowed : All waypoints on a track Not on present leg : using track definition functionalities all waypoints on the track can be updated. Except for the two waypoints describing the present leg. Not in the Auto track mode : no waypoints can updated. Note : When the turn radius is displayed, present leg starts at the waypoint turn’s starting point as illustrated in. 47

48. AUTO TRACK SETTING. General Stop Heading Speed Turn Receive 48

49. AUTO TRACK SETTING GENERAL. Specify how the vessel should approach the track when starting a track Specify the start waypoint for the track operation Select the tracking mode ( Move-Up – Low speed or High speed) Specify the direction in which the track is to be followed, either forward or reverse Specify the default leg type : either Rhumbline, Great Circle or UTM straight line. 49

50. AUTO TRACK SETTING STOP Specify the action to take when stopping on the track.: either to Slow down, Stop and Stay : or to Slow down, Stop and Go back also specify the force that is to be used for stopping the vessel on the track Specify the action to take when reversing course: whether or not to turn: and if so, to port or starboard. Specify whether to stop at the waypoint or continue to a locally generated waypoint. Specify the action to take in event of position dropout. 50

51. STOP ON TRACK Defines the strategy for stopping on the track either as a result of pressing the STOPPING ON TRACK buttons twice or when changing the Track Direction STAY : The vessel slows down, stops and stay at this position. Go Back : The vessel slow down, stops and goes back to the position it had when the stop action was initiated. FORCE : The percentage of the maximum available force to be used for stopping on the track. POSITION DROPOUT ACTION. You can select the action to be taken in the event of the system losing acceptable position reference information in the Auto track mode. STOP : The vessel stops. DEAD RECKONING : The system continues calculating the position based on the last measurements and calculations, and the vessel continues traversing the track using dead Reckoning. 51

52. AUTO TRACK SETTING – HEADING. In slow speed and move-up mode, specify how the vessel heading is to be control. By specifying a fixed heading which will be used irrespective of the track course and the environmental conditions Using the heading defined in the waypoint table for each track leg Using the heading which required the minimum power to maintain, calculated according to the environmental force and vessel speed By setting the heading to be always towards the next waypoint In low speed and move up mode, you can also deselected the JAW axis ( so that the vessel heading is no longer controlled automatically), and use the joystick to control the vessel heading. In high speed mode , the vessel heading is continuously updated to return the vessel to the track if it should drift of track. If required, you can specify limits for turning the rudders or azimuth thruster when running in high speed mode. 52

53. AUTO TRACK SETTING – SPEED. Clicking the setting on the Auto Track menu, or press the track setup button in the controls button group. Using this dialog box, you can ; Specify how the vessel’s speed along the track is to be set. Using the speed defined in the waypoint table for each track leg By manually specifying a speed which will be used for all track leg. Specify the across speed set point that is used to determine the component of the vessel speed that is perpendicular to the track direction. In the move-up and low speed modes, specify the speed strategy to be used for passing waypoints: Slowing down at each waypoint before continuing to the next Passing the waypoint at constant speed, following an arc of a circle between the two track legs. 53

54. PREPARATION FOR AUTO TRACK MODE. Ensure that the required Gyrocompasses are enabled. high speed mode at least two gyrocompasses must be enabled. Ensure that the required wind sensor and VRS are enabled. Ensure that the required position reference system are enabled Ensure that the required thruster, propellers and rudders are enabled Ensure that the waypoint table is correct. Use the Auto track settings dialog box. If required, you can set warning and alarm limits for cross track deviation For move-up mode, use joystick or auto position mode to position the vessel accurately on the track 54

55. RECOMMENDED START POSITION (LOW SPEED AND HIGH SPPED) If you choose approach Track – track leg (rather than approach track-waypoint), you must ensure that your vessel is “ Past “ the previous waypoint before you enter Auto Track mode. See picture below. WP7 is chosen as the start waypoint and track leg is chosen as the approach strategy. In this situation you might expect the vessel to approach the track leg between WP6 and WP7. However , the vessel start position is not “Past” WPT6. In this situation, the start waypoint is changed automatically to WP6 and the vessel will approach the track leg WP5 – WP6. 55

56. RUNNING IN AUTO TRACK (LOW SPEED) MODE. Ensure that the procedures described in preparation for auto track mode have been carried out. Press the Auto Track button in the modes button group twice. The Auto track lamp becomes lit The position set point to the selected start waypoint The heading set point is set to the present heading. The vessel begins to approach the track maintaining the present heading If a heading other than the present heading is required, use the Auto track setting – heading dialog box to select the required heading The vessel follows the track defined in the waypoint table The vessel stop at the last waypoint or continues to locally generated waypoint away from the last waypoint. The system remains in Auto track mode until changed to another mode. 56

57. JOYSTICK HEADING CONTROL. In the low speed mode, you can deselect the Jaw axis for automatic control and use the joystick to control the vessel heading. Press the JAW button in the modes button group twice within four seconds, and the jaw status lamp becomes unlit. Control the vessel’s heading manually using the joystick. To return to automatic heading control, press JAW button twice within four seconds again, the Jaw lamp is lit and the heading set point is set to the present heading. STOPPING ON THE TRACK. Press the STOP on the track button in the control button group twice , stop on track lamp becomes lit. The vessel will slow down and stop, and then either stay at this position. 57

58. CHANGING TRACK DIRECTION (LOW SPEED MODE). To change the direction in which the track is being followed in Auto Track (Low Speed) mode, change the Track Direction setting (Forward or Reverse) on the Auto Track Setting – General dialog box and click OK or Apply. The status lamp of the Stop on Track button in the Controls button group becomes lit The vessel will slow down and stop, and then either stay at this position or go back to the position it had when the change of direction was requested (depending on the selected STOP ON TRACK STRATEGY) Note : The vessel will not turn 180 º when changing track direction in Auto Track (low speed) mode. If moving forward before changing track direction, the vessel will go astern afterwards. If moving backwards before changing track direction, the vessel will go forward afterwards. 58

59. RUNNING IN AUTO TRACK (HIGH SPEED) MODE. Ensure that the procedures described in preparation for Auto Track mode. (at least two gyro compasses must be carried out) Use the steering dialog box to set the required steering parameters : Rudder/azimuth limit and steering mode Steering gain Press the Auto track button in the modes button group twice within four second The auto track lamp becomes lit The position set point is set to the selected start waypoint The heading is controlled to minimize the cross track error while maintaining the wanted speed The vessel begins to approach the track The vessel follows the track defined in the waypoint table When the vessel reaches the last waypoint, it continues at the same speed on the extension of the final track leg The system remains in auto track mode until you change to another mode. 59

60. JOYSTICK SPEED CONTROL. Press the Surge button in the modes button group twice (surge lamp become unlit) Control the vessel’s speed manually using the joystick To return to automatic speed control, press the surge button twice (the surge status lamp is lit) STOPPING ON THE TRACK. Press the stop on track button in the controls button group twice (the stop on track lamp be comes lit The vessel will slow down and stop, and then either stay at this position or go back to the position it had when the stop on track button was pressed twice. 60

61. CALIBRATE DP JOYSTICK. Ensure that in the standby mode Click joystick calibrate dialog box Set joystick in zero position and then click “ IN ZERO POSITION” (on the screen displayed) Red mark appears on the zero position in the figure Move joystick for max/ min in the three axis to register joystick swing, black line will appear in the figure indicating joystick swing in all three axis. You may change the joystick “ Dead band”, click dead band dialog box. Press Enter or OK 61

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