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Kongsberg cJoy OT, Operator'S Manual

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Kongsberg cJoy OT

Thruster allocation

The force demand in the surge and sway axes (the force setpoint), and in the yaw axis
(the turning moment setpoint), is distributed to the various thrusters and propellers by
the Thruster Allocation function.

These setpoints are distributed in such a way as to obtain the force and turning moment
required for position and heading control, while also ensuring optimum thruster/propeller
use with minimum power consumption and minimum wear and tear on the propulsion
equipment.

If it is not possible to maintain both the turning moment and the force setpoint due
to insufficient available thrust, priority is normally set to obtain the turning moment
setpoint (heading).

If a thruster/propeller is out of service or de-selected, the “lost” thrust is automatically
redistributed to the remaining thrusters/propellers.

14

385585/C

Summary of Contents for cJoy OT

Page 1: ...Kongsberg cJoy OT Joystick System Operator Manual Release 8 2 385585 C September 2015 Kongsberg Maritime AS...

Page 2: ...sberg Maritime AS No part of this document may be copied or reproduced in any form or by any means and the information contained within it is not to be communicated to a third party without the prior...

Page 3: ...Input dialog selection buttons 18 Colour display 18 View selection buttons 18 Silence ack button and alarm indicator 19 Command control buttons 19 Operational mode buttons 19 Joystick buttons 20 Three...

Page 4: ...GE SYSTEM 62 System diagnostics 62 Operational checks 62 Audible and visual indications 63 Types of message 63 Presentation of messages 64 Acknowledging messages 66 Message line 66 Message view 67 Ala...

Page 5: ...eeping mode 91 Autopilot mode 92 Entering the Autopilot mode 92 Changing heading 93 Leaving the Autopilot mode 93 OPERATING PROCEDURES 94 Thrusters 94 Displayed thruster information 94 Enabling thrust...

Page 6: ...Joystick precision 109 Environmental compensation 110 Selecting the vessel rotation centre 111 Controlling the vessel heading 112 Changing the heading setpoint 112 Stopping a change of heading 113 Se...

Page 7: ...Operator Manual Setting the maximum rudder angle for joystick heading control 120 Selecting the steering mode 120 Selecting the steering group 121 385585 C 7...

Page 8: ...amic Positioning system CW Clockwise DP Dynamic Positioning DPC Dynamic Positioning Controller GPS Global Positioning System I O Input Output IMO International Maritime Organisation KM Kongsberg Marit...

Page 9: ...oystick causes the vessel to move in the fore aft and port starboard directions whilst rotating the joystick causes the vessel to change heading When automatic heading control is selected the vessel s...

Page 10: ...ion are measured by the wind sensor Note If your system does not include a pitch and roll vertical reference sensor the position reference data will not be corrected for noise induced by pitch and rol...

Page 11: ...ence system to correct for these motions the system must have information about them This information is received from the vertical reference sensor System principles A simplified block diagram of the...

Page 12: ...corrected The vessel s heading and position are measured using the gyrocompass and position reference system and are used as input data to the system These measurements are compared with the predicte...

Page 13: ...ll be better able to handle dropout of position measurements during sailing autopilot The speed measurement interface can be DGPS or Doppler Log The Controller The controller calculates the resulting...

Page 14: ...ent required for position and heading control while also ensuring optimum thruster propeller use with minimum power consumption and minimum wear and tear on the propulsion equipment If it is not possi...

Page 15: ...able Thruster enable Limits Pilot setup Views System Day night Alarms Silence ack Stand by Take Give Full thrust Joystick Station keeping Auto pilot Fore pivot Auto heading Auto surge Auto sway Centre...

Page 16: ...bles and terminates the panel test function see Panel test on page 73 The Dim button enables and terminates the panel dimming function see Panel dimming on page 74 The green power indicator is lit whe...

Page 17: ...omprises six buttons The and buttons select within the displayed input dialog the field that is to be in focus see Field navigation on page 55 The and buttons change the value of the input field that...

Page 18: ...50 The Pilot setup button displays and closes the Pilot Setup input dialog This button is only used if the optional Autopilot mode is available in the system Colour display This is a high resolution c...

Page 19: ...prises eight buttons with green status indicators The Standby button selects Standby mode see Standby mode on page 85 The Joystick button selects Joystick mode see Joystick mode on page 86 The Station...

Page 20: ...e Aft pivot button selects the aft of the vessel as the rotation centre in Joystick mode see Selecting the vessel rotation centre on page 111 Three axis joystick This group comprises the three axis jo...

Page 21: ...User interface Display layout The view shown on the display of the operator terminal is divided into areas Title bar Message line Heading area Position area View area CD3023 385585 C 21...

Page 22: ...ontent of the working area depends upon the currently selected view i e operational view system status view or input dialog Title bar The Title bar identifies the operator terminal shows system status...

Page 23: ...e current system state The vessel heading either as estimated by the Vessel Model or from the gyrocompass in use is shown graphically against a rotating compass rose and as a numeric value The heading...

Page 24: ...ing force setpoint and the resulting vessel response are shown by a bidirectional bar and a numeric value The rotation of the joystick is indicated by a dark grey triangle The turning force setpoint i...

Page 25: ...ion reference system such as a GPS is installed the vessel position is displayed in global geographic coordinates If a local position reference system such as HPR HiPAP Fanbeam Artemis or Taut Wire is...

Page 26: ...bidirectional bar which represents the deviation from the position setpoint The colour of the bar changes in relation to the position warning and alarm limits Yellow Warning limit exceeded Red Alarm...

Page 27: ...tick Auto modes on page 26 View area The View area is used to show operational views input dialogs see Input dialogs on page 40 and system views and input dialogs Operational views The operational vie...

Page 28: ...w shows information required during normal operation The units shown on the view i e metres second m s or knots kn depend upon the type of units selected in the System Setup input dialog see System Se...

Page 29: ...ng limit for percentage of available thrust typically 80 This applies only in some modes depending on your system configuration but usually auto modes If the thrust force for a thruster or main propul...

Page 30: ...r log speed sensor The type of speed output from the selected sensor is indicated by a three letter abbreviation SOG Speed over the sea bed ground speed STW Speed through the water If no speed sensors...

Page 31: ...he current system mode i e the Station Keeping and Mixed Joystick Auto modes requires the position reference and it is not enabled and or accepted by the system The colours shown by the Refs status in...

Page 32: ...It also shows the true wind speed as numeric value The units for wind speed m s or kn depend upon the type of units selected in the System Setup input dialog see System Setup input dialog on page 58 I...

Page 33: ...ction boxes in order to configure the joystick axis relative to the fore aft and port starboard axes of the vessel The orientation of the Main view is configured according to the location and orientat...

Page 34: ...urrently enabled Position The values for the calibrated position from the position reference system as used by the system Position Setpoint The wanted position for the vessel Reference origin sensor T...

Page 35: ...s are lost during calibration Lost is displayed with red frame around the circle Weight A blue horizontal bar that shows the weighting factor applied to the measurements from the position reference sy...

Page 36: ...propulsion unit or rudder is available for control by the system Enabled Shows if a thruster main propulsion unit or rudder is enabled or disabled for control by the system Load The estimated power co...

Page 37: ...view The next Thruster view is selected and displayed by pressing the button on the panel and a return to the previous Thruster view is made by pressing the button When the last Thruster view is disp...

Page 38: ...wo gyrocompasses and possibly one or more speed sensors sensor name Shows if a sensor is enabled or not for use by the system The sensor is in use The sensor is enabled but not in use The sensor is no...

Page 39: ...roll Pitch is bow up Roll is port up GpsSPD Speed GpsSPD Direction The vessel speed and course as measured by the GPS speed sensor DopLog Surge SPD DopLog Sway SPD The vessel alongships and athwartsh...

Page 40: ...of the frame around the bar changes to yellow If the upper alarm limit typically 80 is exceeded the colour of the frame around the bar changes to red The consumed power for a switchboard group The sw...

Page 41: ...ange thruster allocation joystick and controller setup To display this input dialog press the General setup button Thruster Alloc Allows you to select the Thruster Allocation mode e g Variable Fix and...

Page 42: ...wn if the system is configured with more than one vessel draught Wind Comp Allows you to enable or disable On or Off joystick wind compensation provided that at least one wind sensor is enabled see En...

Page 43: ...User interface If the optional Station Keeping mode is available the Sensor Enable input dialog will also show a position reference system as shown in Figure 7 385585 C 43...

Page 44: ...pilot mode is available the Sensor Enable input dialog will include two gyrocompasses and one or more speed sensors It will also comprise two dialogs one for sensors with or without the optional posit...

Page 45: ...selected position reference system or sensor The position reference system or sensor must be available for use Green Ready indicator before it can be enabled The system will automatically disable the...

Page 46: ...e Shows which speed sensors or manual speed value are being used by the system see Speed sensors on page 102 Green In use Grey Not in use Manual SPD Allows you to enable On and disable Off the manual...

Page 47: ...ayed in the View area of the display by pressing the Thruster enable button one or more times until the required input dialog is displayed The sequence in which the Thruster Enable input dialogs are d...

Page 48: ...t or rudder for control A thruster main propulsion unit or rudder must be running and available Green Ready indicator before it can be enabled The system will automatically disable thrusters main prop...

Page 49: ...unavailable when Full Combinator Mode is selected This is because minimum RPM is not applicable in this mode Combinator Mode Allows you to select the combinator mode Sequential Stepwise or Full for ea...

Page 50: ...must always be at least 20 This value is valid for both the positive and negative directions For thrusters with combined pitch rpm control the specified maximum setpoint refers to either the pitch or...

Page 51: ...erface If the optional Station Keeping mode is available the Limits input dialog is also used to activate de activate and set warning and alarm limits for position deviation as shown in Figure 10 3855...

Page 52: ...he configured range the value can be increased and decreased in 0 5 degree steps Position Limits Warning and Alarm Within the configured range the value can be increased and decreased in 1 metre or 1...

Page 53: ...ter rudder gain on page 117 Auto Trim Allows you to set the gain for the autopilot auto trim function Within the configured range the value can be increased and decreased in 5 percent steps see Settin...

Page 54: ...topilot function see Selecting the steering mode on page 120 This field is not shown if the vessel has one main propulsion unit with one rudder or one azimuth thruster used for autopilot steering Stee...

Page 55: ...n the active option is selected Yes or On Field navigation To move the focus to the next field i e navigate forward press the button To move the focus to the previous field i e navigate backwards pres...

Page 56: ...ing a different input dialog Opening and displaying an operational view Changing the system main mode If the Enter button has not been pressed prior to performing one of the above the input dialog wil...

Page 57: ...cJoy Operator Terminal WT cJoy Wing Terminal DpPs Dynamic Positioning Process Station controller PS If a warning or alarm condition occurs the background of this field changes colour and starts to fl...

Page 58: ...hed on Error The number of detected errors in the station Reported The time stamp of the last communication with the station hour minute second Master Only used if dual redundancy has been configured...

Page 59: ...es per second m s Hour Min Sec Allows you to change the system time see System date and time on page 77 Day Month Year Allows you to change the system date see System date and time on page 77 Software...

Page 60: ...it Clear Flash Allows you to delete all data from the flash PROM in the controller PS After this function has been used the controller PS will have to load its software from a operator station the nex...

Page 61: ...not set to zero File Version Match Status Shows if the file version of the software stored on the hard disk of the operator terminal is the same as that stored in the flash PROM of the controller PS G...

Page 62: ...uipment BITE that continually checks for internal system faults when the system is running Additional self checking facilities for system components such as I O units etc Supervision of the controller...

Page 63: ...o determine their cause and effect Alarm messages Alarm messages are generated when conditions are detected that critically affect the capability or performance of the system such as a system fault or...

Page 64: ...ges are automatically removed from the Message view Presentation of messages System messages are colour coded in the following way Emergency messages are displayed on red background Alarm messages are...

Page 65: ...group over which the operator terminal does not have control An empty blank space is displayed in any other situation Orig Identifies the originator source of the message cJoy OT cJoy Operator Termina...

Page 66: ...essage explanations in Appendix A at the end of this manual Acknowledging messages You can either acknowledge the message currently being displayed in the Message line or all messages that are current...

Page 67: ...rst press silences the audible signal The second press acknowledges all visible unacknowledged messages All inactive acknowledged Emergency Alarm and Warning messages together with any information mes...

Page 68: ...when applicable operator pop up messages are superimposed across the centre of the display These messages are displayed in situations like a button is pressed when the operator station is not in comm...

Page 69: ...g communication with the controller PS is lost or it has a major hardware failure the critical system message No network response from DP Controller PS is displayed Figure 14 Critical system message N...

Page 70: ...his fails to find the cause of the problem contact the Kongsberg Maritime Customer Support department for help Software inconsistency If a software inconsistency occurs due to an unauthorised change o...

Page 71: ...he controller process stations and the operator stations before starting a new DP operation A sequential restart of all the units with an interval is recommended If the entire system has been shut dow...

Page 72: ...sing the Give Command Taking command To take command of the system at an operator terminal press the Take button twice within four seconds The Take button status indicator starts to flash and then bec...

Page 73: ...erator pop up message Giving Command Ended is displayed the audible signal is silenced and the Take button status indicator stops flashing and becomes unlit At all other terminals the information INFO...

Page 74: ...ction is automatically terminated The panel dimming is also automatically terminated if no buttons are pressed within a preset time limit Toggling between day and night settings is performed by means...

Page 75: ...ss bargraph changes back to grey The Button Indicator bargraph is selected green level indicator 4 Adjust the brightness level of the button status indicators as required 5 Press the or Enter button T...

Page 76: ...RN SETTINGS Volume can be adjusted it does not have any effect on the sound generated by the audible signal horn function disabled This is to prevent the volume of the audible signal horn being reduce...

Page 77: ...th Year Hour Min and Sec fields as required 3 Press the Enter button The system date and time is changed to the selected values 4 Close the System Setup input dialog Display units You can select the t...

Page 78: ...bration data if the joystick is not moved or no buttons are pressed within a preset time limit To calibrate the joystick proceed as follows 1 Press within 10 seconds the Fore pivot Present heading Joy...

Page 79: ...ithin the semicircle 4 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 origi...

Page 80: ...the operator terminal is in Standby mode and does not have control of the vessel s propulsion system To shut down the operator terminal in a controlled manner proceed as follows 1 Display the Softwar...

Page 81: ...s 1 Display the Software Upgrade and Restart input dialog 2 Move the focus to the Restart this Operator Terminal field and change the option to Yes 3 Press the Enter button The operator pop up message...

Page 82: ...upgrade the operator terminal application software from the flash PROM of the controller PS proceed as follows 1 Display the Software Upgrade and Restart input dialog 2 Ensure that the colour of the F...

Page 83: ...stored in the flash PROM of the controller PS from the operator terminal proceed as follows 1 Display the Software Upgrade and Restart input dialog 2 Check that the colour of the File version match f...

Page 84: ...rts to reboot 9 Press the Silence ack button The audible signal is silenced 10 When the controller PS has been rebooted and is running check that a All of the Status fields are green b All of the opti...

Page 85: ...stick mode will automatically enable the thrusters provided that they are ready within a timeout of 10 seconds In this mode you may also Calibrate the joystick see Joystick calibration on page 77 Enab...

Page 86: ...sferring to manual lever control various warnings and alarms related to thrusters and propulsion units will be generated unnecessarily When switching to manual thruster control the thrusters propulsio...

Page 87: ...see Enabling the wind sensor on page 100 3 If required enable the vertical reference sensor see Enabling the VRS on page 102 4 If applicable ensure that the required vessel draught is selected see Sel...

Page 88: ...nd sway on page 89 Select Auto heading and Auto surge for automatic heading control automatic stabilisation in the surge axis and joystick control of the sway axis see Joystick mode with automatic sta...

Page 89: ...surge and sway axes for automatic control is normally combined with automatic heading yaw control and is described in Joystick mode with automatic stabilisation on page 90 Selecting automatic position...

Page 90: ...compass is enabled see Enabling a gyrocompass on page 98 3 Ensure that a position reference system is enabled and accepted see Enabling the position reference system on page 106 4 Press the Auto headi...

Page 91: ...as follows 1 Ensure that none of the status lamps above the Auto heading Auto surge and Auto sway buttons are lit 2 Ensure that at least one gyrocompass is active and enabled see Gyrocompasses on pag...

Page 92: ...the optional Autopilot mode it is automatically changed to the centre of the vessel and the status indicator above the Centre pivot button is steadily lit At least two gyrocompasses must be enabled I...

Page 93: ...ly see Changing heading on page 93 The vessel speed is controlled from the joystick 15 Move the joystick in the alongships direction until the required vessel speed is obtained Changing heading There...

Page 94: ...lsion system including main propulsion units rudders tunnel thrusters and azimuth thrusters The specific terms for the elements of the propulsion system are used whenever this enhances the readability...

Page 95: ...re ready within a timeout period of 10 seconds To enable a thruster proceed as follows 1 Display the Thruster Enable input dialog 2 Check that the colour of the Running and Ready fields for the thrust...

Page 96: ...e for each azimuth thruster When the environmental force is small and constantly changing direction this mode can be used in order to avoid continuous changes in the azimuth thruster angle If you disa...

Page 97: ...rease if the force demand is higher than what can be dealt with by varying the pitch The pitch setpoint will always be 100 or 100 when the RPM setpoint is higher than the MIN RPM limit Stepwise The RP...

Page 98: ...is in use the system will change automatically to the other gyrocompass Note In the event of a Gyro prediction error you should always check the values from the gyrocompass on the Sensors view and co...

Page 99: ...rs significantly from the measured vessel heading the following message is displayed Heading prediction error If this continues for more than two seconds the system will assume that the information fr...

Page 100: ...Enable input dialog 2 Check that the colour of the Ready field for the wind sensor is green 3 Move the focus to the Enable field for the wind sensor and change the option to On 4 Press the Enter butt...

Page 101: ...by mode When the sensor Enable changes from Off to On If there is a long time 5 minutes since a Ready signal was received from the wind sensor Operating without wind sensor input There can be situatio...

Page 102: ...t dialog 2 Move the focus to the Enable field for the VRS and change the option to Off 3 Press the Enter button The VRS is disabled 4 Close the Sensor Enable VRS input dialog Faulty VRS If measurement...

Page 103: ...e speed sensor and change the option to On 4 Press the Enter button The speed sensor is enabled If a high speed operation is selected the Use field for the speed sensor changes to green 5 Close the Se...

Page 104: ...as a system datum All position information from global reference systems which use a different datum are converted internally to WGS84 Reference origin The position reference system provides position...

Page 105: ...me period In such a situation the following alarm message is displayed Reference position frozen You should disable the position reference system Note By configuration the freeze test is usually disab...

Page 106: ...iction Measurement Rejection limit CD3293 If the Prediction test limits are exceeded the following warning message is displayed Reference prediction error When this message is displayed you should ver...

Page 107: ...s displayed in the Message Line or if no longer displayed on the Message view Reference origin system The origin of the position reference system is now being used as the reference origin Disabling th...

Page 108: ...ill have no immediate effect but if the calibrated system is unreliable or drifting the vessel may begin to move The recommended action in Position dropout if operational circumstances allow is 1 Retu...

Page 109: ...seconds The Full thrust button status indicator is steadily lit when full thrust is selected and unlit when reduced thrust is selected Joystick precision The applied thruster force for axes that are...

Page 110: ...precision is changed to the selected option 4 Close the General Setup input dialog Environmental compensation Joystick control can be combined with environmental compensation in each of the three axes...

Page 111: ...ected draught in the DP system and enabled thrusters The same principle is applicable for the Aft Pivot it is calculated to be the point where bow thrusters are mainly used to rotate the vessel This m...

Page 112: ...an select a rotation centre for use in an automatic mode but the selection will not be effective until an automatic mode is selected If thrusters are disabled so that the selected rotation centre no l...

Page 113: ...24 The Heading Setpoint pop up dialog closes automatically after preset time limit provided that the input wheel is not turned or one of its associated buttons pressed 4 If required press the Set head...

Page 114: ...a change of heading even though you have entered a new heading setpoint when the Rate Of Turn setpoint is zero Controlling the vessel position Selecting the controller gain level See Selecting the co...

Page 115: ...rent vessel position in the sway axis becomes the position setpoint in the sway axis and the system automatically keeps the vessel at this position The system enters Station Keeping mode and the Stati...

Page 116: ...r sway axis is under automatic control i e the system is in a mode where automatic position control is possible When the vessel s actual position differs from the position setpoint by more than the wa...

Page 117: ...0 provides the slowest vessel response To change the gain level applied to the yaw axis proceed as follows 1 Display the Pilot Setup input dialog 2 Move the focus to the Gain Level field and either se...

Page 118: ...ss the Enter button The counter rudder gain is changed to the selected value 4 Close the Pilot Setup input dialog Setting the auto trim gain Auto trim which can be set in the range from 50 to 150 with...

Page 119: ...play the Pilot Setup input dialog 2 Move the focus to the Weather Compensation field and change the option to Off 3 Press the Enter button Autopilot weather compensation is disabled 4 Close the Pilot...

Page 120: ...sters If you try to enter angle values beyond predefined limits a message instructing you to correct the values will be displayed To set the maximum rudder angle that can be used when joystick heading...

Page 121: ...to the selected option 4 Close the Pilot Setup input dialog Selecting the steering group In the optional Autopilot mode you can select the pre configured steering group to be used for steering the ve...

Page 122: ...atus is not available 10 Block type is not available 10 Calibration error 10 Calibration offset 10 Calibration OK 11 Checksum error see message 11 Clock failure 11 Code checksum difference 11 Communic...

Page 123: ...nt exception see message 22 FOST Channel restored failed 22 FOST Illegal channel config 23 FOST Passive side error 23 FOST PDU residual voltage 23 FOST PDU restore failed 23 FOST PDU stuck 23 FOST Shu...

Page 124: ...ad terminal IO connections are accepted 35 NB Unconnected IO blocks are accepted 35 NB Unconnected IO modules are accepted 35 Net invalid message received 36 Net storm detected on net A 36 Net storm d...

Page 125: ...connected RIO module type 49 RBUS Initial configuration and scan sequence failed 49 RBUS IO Scan Mail box failure Scan not running 49 RBUS Memory allocation failure Scan not running 49 RBUS RIO config...

Page 126: ...0 RIO Loop Power error 60 RIO Loop Stuck 60 RIO Module configuration error 60 RIO Not in normal IO mode Automatically set to normal 61 RIO On board reference voltage error reset required 61 RIO On boa...

Page 127: ...70 Sensor prediction error 70 Seismic ext ROT speed limit 71 Seismic ext speed limit 71 Seismic offset exceeds limit 71 Seismic track direction limit 71 Speed GPS high noise 72 Speed GPS prediction er...

Page 128: ...imits 79 Thrusters not ready 79 Too many messages 80 Too many tasks registered 80 Transmission timeout 80 Tunnel input error pitch 81 Tunnel not ready 81 Tunnel prediction error pitch 81 Unconnected I...

Page 129: ...and velocity If the rejected position reference systems have corrupted the DP model the vessel may be forced off position quickly If the DP model is functioning correctly and the external conditions...

Page 130: ...put error Azimuth not ready See Thruster rudder not ready Azimuth prediction error pitch See Thruster rudder prediction error Azimuth triangle pot error See Thruster rudder triangle pot error Bad term...

Page 131: ...mit during this 20 seconds period the message is reported The fault may be caused by large variations in data from the position reference system and environmental disturbances air sea Additional infor...

Page 132: ...r during configuration commissioning Possible consequences The system might not function properly Corrective actions Check configuration Should this message occur during normal operation contact Kongs...

Page 133: ...ult may be erroneous initial configuration or a disk failure Additional information Failing function Dependent on function Dependent on function Possible consequences The DP system may not function pr...

Page 134: ...ge is reported if a pitch reduction is performed to avoid a diesel shaft overload The shaft load for the next pitch setpoint necessary to stay in position was too high and a pitch reduction was necess...

Page 135: ...ught not ready See Sensor not ready Draught input updated Description This message is reported if the system has registered a change in draught condition and extrapolated new mass drag gain The new dr...

Page 136: ...ed draughts should be used If other draught sensors are available disable the failed sensor Driver configuration is not available Description This message shall not occur during normal operation but i...

Page 137: ...ge texts describe the current operation executed and enclose this data when delivering the PS to Kongsberg Maritime Service for repair Dual connection generator Description This message is reported if...

Page 138: ...the combination of the present vessel heading relative to the track and a low vessel speed makes it difficult to enter the track at the correct position heading Possible consequences Difficult to mai...

Page 139: ...consequences The fault tolerance is reduced As long as the other network is OK there will be no operational consequences Corrective actions Repair the failing network Examination of the status tab in...

Page 140: ...of the struggling task Check the Task Scheduler node in Station Explorer to find out whether the poor scan regularity is a one time incident or a permanent problem Contact Kongsberg Maritime Service...

Page 141: ...ons If possible try to change the SBC RCU and describe the failure the current operation executed and what processor is failing given in parenthesis before the alarm text when returning the SBC RCU fo...

Page 142: ...ption This message is reported if the Fix allocation mode is disabled and the thruster allocation mode is changed to Variable The reason for this may be that there is insufficient thrust with the sele...

Page 143: ...en caught by the system Possible consequences The system is probably still working more or less as normal but calculations may have got a wrong result This is a kind of error which the system is not d...

Page 144: ...set to 0 Possible consequences Corrective actions Replace card check loop FOST PDU residual voltage Description Only a small drop detected in feedback when turning off the PDU Possible consequences Fi...

Page 145: ...sed by errors in the position reference system setup DP setup The data received does not match the configuration No position from the position reference system is received which may be caused by Timeo...

Page 146: ...is case one or more of these additional data qualifiers have values outside legal limits Possible causes are QUALITY Differential telegram not available SATELLITES Too few satellites HDOP Horizontal D...

Page 147: ...e reported and the measurements from the position reference system will be rejected Corrective actions Disable the GPS position reference system Check if another diff station is available Check antenn...

Page 148: ...e deviation data and go to Joystick mode if the vessel starts drifting off Check if the Gyro is ready drifting or if other error messages indicate interface errors Heading monitor requires 2nd source...

Page 149: ...actions Should the message occur during normal operation contact Kongsberg Maritime service Illegal channel specified Description This message shall not occur during normal operation but is intended t...

Page 150: ...Process Station The RAM size in the DP PS is too small or remaining free RAM is heavily fragmented Can be detected by means of the return status from the memory allocation routine malloc calloc Additi...

Page 151: ...ongsberg Maritime Service if this does not solve the problem Invalid external connections Description This message shall not occur during normal operation but is intended to be an aid for the software...

Page 152: ...self IO input error Description This message is reported if the input value is outside configured limits May be caused by failure in sensor cable breakage short circuit or IO card error in one of the...

Page 153: ...cur during normal operation contact Kongsberg Maritime service IO point linking failed Description This message shall not occur during normal operation but is intended to be an aid for the software en...

Page 154: ...figured for Manual Thrust usage is disabled Corrective actions Enable the thruster if it should be used by DP Manual thrust on Description This message is reported if the Manual Thrust mode is turned...

Page 155: ...The method of detection is by a software check on Surge Sway offset difference Additional information Surge offset from CG Centre of Gravity i e 0 0 Sway offset from CG i e 0 0 Corrective actions An o...

Page 156: ...peration contact Kongsberg Maritime Service NB Unconnected IO blocks are accepted Description System is in test mode This message shall not occur during normal operation but is intended to be an aid f...

Page 157: ...ted high message rate detected on net A Possible consequences If net storm on both net or on a process station with only single network it may be a problem to operate Corrective actions If this alarm...

Page 158: ...net block exceeds GENERIC_MDATA_SIZE messid h 3 Illegal to address 4 Out of send slots 5 Illegal IP Internet Protocol address 0 6 Error returned from dnetSend Net message number tsap Status returned...

Page 159: ...during normal operation contact Kongsberg Maritime service No draught sensor accepted Description None of the enabled druaght sensors are accpted by the system Possible consequences The used draught...

Page 160: ...t be used Corrective actions Start more thrusters main propellers or rudders No reference system enabled Description This message is reported if no position reference systems are enabled The DP system...

Page 161: ...alibration error Description This message is reported if the speed variation of data from the position reference system is too high while the DP system tries to calibrate this reference system As long...

Page 162: ...ceived does not match the configuration No position from the position reference system is received which may be caused by Timeout No data sent from the position reference system Possible consequences...

Page 163: ...ultaneously as the alarm PCI device error Status xx Data xx Address xx Try to replace the PS Process Station Note the alarm message texts describe the current operation executed and enclose this when...

Page 164: ...information Position deviation Violated limit value Possible consequences Depends on the vessel s operation mode Corrective actions Select a heading which is more favourable in the prevailing environ...

Page 165: ...he HPR that provides the invalid data will be rejected Corrective actions No actions necessary if the alarm situation occurs only now and then If the alarm is repeated frequently enable another positi...

Page 166: ...ion Power used by consumers other than DP Power available on the swbd Power used by DP Possible consequences A power demand reduction if the power consumption continues to increase which in turn may c...

Page 167: ...s reported if the percentage load on one or more of the generators connected to the swbd differs considerably from the total percentage load on the swbd i e a unbalanced load is detected The reason fo...

Page 168: ...evel of each diesel connected to the thruster Replace appropriate input interface Adjust the load percentage for the diesel Process net disconnected Description Connection to both process networks is...

Page 169: ...s reduced Continued process control depends on the presence of other capable PSes in the redundancy group Corrective actions Check the alarm list to find the alarm that caused the incapability Follow...

Page 170: ...arm is activated all other alarms related to the RIO module goes to normal state Corrective actions Check configuration for errors or replace physical RIO RBUS Initial configuration and scan sequence...

Page 171: ...e alarm view column will show the reason for the Maintenace mode RBUS MSG xxx An unexpected status from an RBUS message is received Note column text and operational information Contact customer suppor...

Page 172: ...sition and or heading drift which in turn may cause a position and or heading alarm to be activated Corrective actions If possible Enable more thrusters Release all fixed thrusters Select an allocatio...

Page 173: ...ce Description This message is reported if the standard deviation of the measurements from a position reference exceeds the limit The reason for the fault may be a fault in the position reference syst...

Page 174: ...tem rejected the wrong reference system the model might follow a failed reference system Corrective actions Check if the median test detected the correct failure one or more of the other systems might...

Page 175: ...nce system Select the Monitor mode or recalibrate disable and enable faulty system Relative reference system not active Description Tandem Loading mode Relative reference systems are not selected or a...

Page 176: ...Try to restart the RIO Module If this does not help replace the module RIO Current feedback outside tolerance Description The return signal from an analog output current signal is outside expected lim...

Page 177: ...The functional consequences are unpredictable Therefore the RIO module will go to Maintenance mode Consequently the alarm itself will go to normal state Corrective actions Upgrade to new FW P RIO Gro...

Page 178: ...f so check if any channel related alarms on 1 isolated channel group are active and check loop cabling RIO Ground monitoring error Iso1 upper voltage limit exceeded Description The internal ground mon...

Page 179: ...e actions Check if limit is correctly configured If so check if any channel related alarms are active and check loop cabling RIO Ground monitoring error upper current limit exceeded Description The in...

Page 180: ...sible consequences The I O channels are not configured properly and I O values are not to be trusted Corrective actions Note error data and operational information Contact customer support RIO Illegal...

Page 181: ...O values may not be trusted Corrective actions Check 24V loop power Try to restart the RIO Module If this does not help replace the module RIO Loop Stuck Description The measurements on the loop term...

Page 182: ...al power cabling or RIO Module FW Corrective actions Check cabinet power and earth connections Try to reset the RIO Module If this does not help replace the module RIO On board reference voltage error...

Page 183: ...els are marked with error and if input values are frozen to last valid value until the problem is solved and a manual reset is activated Corrective actions Check cabinet power and earth connections Tr...

Page 184: ...the RIO Module If this does not help replace the module RIO On board voltage error Vital CPU voltage PWR1 restart required Description An internal vital CPU voltage identified as PWR1 is out of limit...

Page 185: ...re RIO modules has detected power failure on RBUS A Possible consequences No immediate functional consequences but power redundancy is reduced to a single power system for one or more RIO modules Corr...

Page 186: ...is input value is frozen to last valid input as long as alarm is active Corrective actions Check physical loop cabling RIO RBUS cables are crossed Description An erroneous connection is done so that...

Page 187: ...nces Output values may be stuck Corrective actions Check physical loop cabling RIO Self test error restart required Description The RIO module built in system test has returned with error from either...

Page 188: ...ption Second barrier PDU does not seem to work Possible consequences Second barrier may not be able to ensure shutdown NB Overrides all other loop monitoring results Corrective actions Replace RIO mod...

Page 189: ...er pumps Set the rudder in the neutral position Rudder prediction error See Thruster rudder prediction error Rudder triangle pot error See Thruster rudder triangle pot error Rudder in azimuth limits S...

Page 190: ...tive actions Enable another sensor Sensor prediction error Description This message is reported if the difference between the value read from the sensor and the Vessel Model value exceeds a limit This...

Page 191: ...nformation Channel Sensor number 1 Sensor number 2 Possible consequences The system may use data from the sensor that has an error Corrective actions No action is necessary if the error message is onl...

Page 192: ...oint received from the external seismic computer was larger than normal and was rejected Possible consequences Speed setpoint not updated The old speed setpoint will be used Corrective actions Verify...

Page 193: ...ed Corrective actions Check the serviceability of the speed ROT measurement system Speed GPS prediction error See Sensor prediction error Speed log not ready See Sensor not ready Speed log prediction...

Page 194: ...on of which task is the stack owner Note error data and operational information Contact Kongsberg Maritime Service Swbd Generator Thruster Reserved connection failure Description This message is repor...

Page 195: ...scription There was an inconsistency in the data when decoding the ASCII American Standard Code for Information Interchange system parameter files Additional information Explanatory text Possible cons...

Page 196: ...Information Interchange system parameters were written correctly to disk System selected heading not possible Description This message indicates that it is not possible to calculate a system selected...

Page 197: ...is not used by the DP system Corrective actions Check if there is electrical noise Check the serial input interface Telegram timeout Description This message is reported if an expected telegram did n...

Page 198: ...uster rudder triangle pot error Thruster in azimuth limits See Thruster rudder in azimuth limits Thruster rudder input error Description This message is reported if the measured feedback is too high o...

Page 199: ...edback of this thruster do not agree The method of detection is comparison between expected and measured feedback The reason for the fault may be failure in output interface thruster control equipment...

Page 200: ...is comparing the setpoint with the operator specified maximum Turn angle for Steering Rudders Azimuth Thrusters The reason for this fault may be that a low Surge demand results in a low available mom...

Page 201: ...ask that is supposed to be supervised by the software Watchdog is not supervised If this is a vital task the PS Process Station may not stop go to failsafe if e g an exception occurs in the task Corre...

Page 202: ...es System may not work properly Corrective actions Should this message occur during normal operation contact Kongsberg Maritime Service Unconnected IO modules Description IO configuration error This m...

Page 203: ...S error Possible consequences Generally the consequences are serious Corrective actions Check UPS The vessel should not be on DP UTM zone offset Description This message is reported if the difference...

Page 204: ...Possible consequences The DP system will automatically use data from one of the other enabled sensor s Corrective actions Check the sensor and the interface to the DP Consider to disable the sensor VR...

Page 205: ...reason gets in a hung up situation a failsafe operation to stop the PS Process Station is not executed Problem with Watchdog timers might also cause unintentional PS stops Corrective actions Replace...

Page 206: ...ally an overwriting from address 0x0 and upwards Possible consequences This is a serious system error since the lower address area is normally used for system purposes and must not be used by applicat...

Page 207: ...Message explanations A 86 385585 C...

Page 208: ...2015 Kongsberg Maritime...

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