Kongsberg cJoy OT, Operator'S Manual

Page: 90 / 208

Kongsberg cJoy OT
Returning to joystick position control
To return to joystick position control, proceed as follows:
1 Press the Joystick button twice within four seconds.
• The
Auto surge
and
Auto sway
button status indicators become unlit when
automatic position control is disabled.
2 Control the vessel's position manually using the joystick.
Joystick mode with automatic stabilisation
In Joystick mode with a gyrocompass enabled, and a position-reference system enabled
and accepted, you can select automatic stabilisation.
This means that either:
• The yaw and surge axes are under automatic control while the sway axis remains
under joystick control.
or
• The yaw and sway axes are under automatic control while the surge axis remains
under joystick control.
Selecting automatic stabilisation
To select automatic stabilisation while in Joystick mode, proceed as follows:
1 Check that none of the status indicators above the
Auto surge
,
Auto sway
and
Auto heading buttons are lit.
2
Ensure that a gyrocompass 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 heading
button twice within four seconds.
• The
Auto heading
button status indicator starts to flash.
• The vessel rotation (Rate Of Turn) starts to slow down in a controlled manner at
a rate that depends on the selected controller gain.
• When the Rate Of Turn is reduced to less than a predefined limit, automatic
heading control is enabled and the
Auto heading
and
Present heading
button
status indicators become steadily lit. The current vessel heading becomes the
heading setpoint, and the system automatically keeps the vessel on this heading.
• The deviation between the estimated heading and the heading setpoint is shown
on the Heading area on the display (see Automatic heading control on page 24).
5 Press either the Auto surge or Auto sway button twice within four seconds.
• The
Auto surge
or
Auto sway
button status indicator starts to flash.
• The vessel starts to slow down (loose speed) in the surge or sway axis in a
controlled manner at a rate that depends on the selected controller gain.
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