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CyScan Positioning System • Installation and Maintenance Guide r1.1

GCS

GCS

Introduction

Welcome to the CyScan positioning system. CyScan uses high accuracy laser navigation
to provide automated approach and/or station keeping relative to one or more desig-
nated mooring points. The mooring points can be fixed structures or other vessels.

CyScan is designed to be semi-portable and straightforward to operate. In use, the
CyScan system consists of several key elements, these being:

• The

CyScan Sensor

, which is mounted on

deck as required.

• The

CyScan Console

. A monitoring

application running within MS Windows
on a notebook computer. It provides the
DP operator with full information and
control over the data stream being fed to
the DP system.

• The

Power Supply Unit

(PSU). It is

contained within a watertight enclosure
and is mounted near to the CyScan
sensor. The Console and DP System cables
are fed via the PSU.

• The

Data Converter

. Situated near to the

DP System, this sealed enclosure translates
between the RS485 signals used by the
CyScan Sensor and DP Systems, and the RS232 signals used by the CyScan
Console Notebook computer.

The remaining requirements for the CyScan system are the

Targets

that must be

mounted on the designated mooring point(s). The Targets consist of specialist reflective
strips or cylinders placed in certain positions along the side of the mooring point structure
or vessel. The coordinates of the targets are then declared to (or discovered by) the
CyScan Console, and using this data the system is able to determine the exact position of
the vessel relative to the mooring point.

DP

System

CyScan

Console

PSU

Power

CyScan

Sensor

Data

Converter

The key elements of the CyScan system

CyScan

equipped

Vessel

Mooring Point/Vessel

Reflective Targets

Positional information is gained by using highly reflective target strips in fixed locations

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Содержание CYSCAN

Страница 1: ...GCS GCS G U I D A N C E G U I D A N C E L I M I T E D C O N T R O L C O N T R O L S Y S T E M S S Y S T E M S L I M I T E D CyScan Positioning System Installation and Maintenance Guide GCS GCS ...

Страница 2: ...e without the prior written consent of the Owner Windows is a trademark of Microsoft Corporation All other brand or product names are trademarks or registered trademarks of their respective companies or organisations Release 1 1 Date 17 3 03 Document No 94 0003 1 Previous issue Installation and Maintenance Guide v1 0 Date 9 1 03 Changes Various changes and additions Guidance Control Systems Limite...

Страница 3: ...s 12 Shutdown suspend 12 CyScan Removal 13 Switching off the CyScan Console System 13 Disconnecting the CyScan Sensor 14 Un mounting the CyScan Sensor 14 Packing the CyScan System 15 Maintenance and Servicing 17 Removing and fitting key components 17 Stage 1 The Rotor Heatshield 17 Stage 2 The Rotor 18 Stage 3 The Body Cover 19 Stage 4 The Motor Gearbox 20 Stage 5 The CPU Module 21 Stage 6 The Con...

Страница 4: ...alarms codes 2xxx 30 Errors codes 3xxx 30 Warnings codes 4xxx 30 Information codes 5xxx 30 CyScan Fuse Information 31 Power Supply Unit Fuse 31 Controller Board Fuse 31 Appendices 32 Appendix 1 CyScan Sensor Connector Pin outs 32 Appendix 2 CyScan Sensor Mounting Template 33 Appendix 3 CyScan PSU Mounting Template 34 Appendix 4 CyScan RS485 Data Converter Mounting Template 35 Appendix 5 Recommende...

Страница 5: ...ear to the CyScan sensor The Console and DP System cables are fed via the PSU The Data Converter Situated near to the DP System this sealed enclosure translates between the RS485 signals used by the CyScan Sensor and DP Systems and the RS232 signals used by the CyScan Console Notebook computer The remaining requirements for the CyScan system are the Targets that must be mounted on the designated m...

Страница 6: ... will be installed Warning The CyScan Sensor and peripheral items weigh in excess of 30kg Two people should perform all lifting and carrying of the unit 2 Release the four locking catches by rotating the butterfly wing tabs anti clockwise Swing the catches outwards until they lock out away from the lower lip 3 With the assistance of another person lift and remove the upper lid of the flight case 4...

Страница 7: ...he base of the inner box 8 With the assistance of another person lift the sensor from the inner box using the two carrying handles Place the sensor next to the pre installed mounting plate on deck 9 From the access hole in the base of the flight case remove the power supply and data converter boxes plus their accompanying cables The system is now ready for installation ï Remove the bumper boards ñ...

Страница 8: ...Sensor mounting template details 5 Remove each of the four locking pins from the sensor Ensuring that the white bellows are not damaged rotate the larger barrel of each locking pin clockwise until it becomes short enough to remove Keep the locking pins with the flight case for future shipping Avoid using tools for this job to minimise the chance of inad vertently tightening the locking pins and da...

Страница 9: ...ur M6 x 30 stainless steel cap head screws through the mounting holes at the four corners of the PSU enclosure To mount the CyScan Data Converter The CyScan Data Converter must be securely mounted in the vicinity of the CyScan notebook computer 1 Prepare a suitable site for the Data Converter and pre drill pilot holes for the mounting screws according to the template provided in Appendix 4 2 Remov...

Страница 10: ...nsole Feed To DP Unit Main Power In CyScan Console notebook computer Power Supply Unit PSU The PSU is supplied with three flying leads all of which attach to the connectors at the Stern end of the sensor Three M20 x 1 5 threaded holes fitted with stopping plugs are provided to accommodate cable glands leading to from The vessel s DP system The CyScan notebook computer via the Data Converter A suit...

Страница 11: ...round hole adjacent to the square hole 3 Remove the screwdriver Check that the cable is securely held in place DP Signal Crossover The RS485 connection between the CyScan PSU and the vessel s DP system requires a crossover in order that transmit and receive signals are correctly routed Ensure that the crossover is correctly performed as the cable from the DP system is wired into the PSU 1 2 3 4 5 ...

Страница 12: ...Notebook Power Connections Console Signals from PSU Unit Data Converter Signal Crossover The RS485 connection between the CyScan PSU and the Data Converter requires a crossover in order that transmit and receive signals are correctly routed Ensure that the crossover is correctly performed as the cable from the Data Con verter is wired into the PSU RXA TXB TXA RXB GND RXA TXB TXA RXB GND CyScan PSU...

Страница 13: ...rning The scanning head will begin to spin within 30 seconds after power is applied Ensure that it is not obstructed before attach ing the power connector Keep all objects at least 300mm away from the scanning head in all directions 2 Attach each of the three cable connectors in the order that follows to the appropriate sockets on the CyScan sensor 1 First attach the Power connector 2 Next attach ...

Страница 14: ...tor should switch off and stay off It will come on again once the system has been shutdown or in case of an embedded PC failure Green Toggles twice a second after power is applied and while the yellow led is on As soon as the yellow led switches off and the leveller initialises RED led toggles the green led will begin to flash at 10 Hz intervals giving the main system heartbeat When the system is ...

Страница 15: ...Click the down arrow to reveal the three options Select Shut down and click the OK button 3 Click Yes to confirm your selection in the subsequent pop up message The application will send shut down commands to the CyScan sensor and then close itself down 4 In the lower left hand corner of the Windows screen click the Start button 5 Select the Shut Down option 6 In the subsequent Shut Down Windows d...

Страница 16: ... clockwise so that they become short enough to be inserted between the base plate and the middle body of the sensor c Ensure that the scanner head is parallel with the Sensor baseplate Locate the four locking pin holes in the sensor base plate holes which are adjacent to each of the four larger mounting holes d For each of the four locking pins insert the point of the thinner barrel into the locki...

Страница 17: ...o the four threaded inserts in the base of the box 2 Insert the four locking bolts Using a 13mm socket and ratchet tighten the four bolts so that the sensor is secure 3 Locate the two end bumper boards and place them either side of the sensor so that they line up with correspond ing holes in the sides of the box The foam pads on each of the bumper boards should face towards the sensor Insert the f...

Страница 18: ...her person hold the open sides of the inner box lid and lift the whole assembly into the flight case base Ensure that the inner box is properly seated within the foam guides of the flight case base 7 With the assistance of another person place the lid of the flight case onto the base so that it seats correctly 8 Engage the four locking catches with the locking lips of the base and secure each of t...

Страница 19: ...tch and Roll Actuators 1 2 3 4 The figures shown to the right of each stage are the other previous stages that you must complete before access can be gained to the necessary components WARNING Ensure Static Safe Handling procedures are observed when removing fitting circuit board assemblies e g CPU Controller PCB VRU Yaw gyro etc Stage 1 The Rotor Heatshield To remove the Rotor Heatshield 1 Using ...

Страница 20: ... This ensures that the keyway in the rotor connector aligns with the key screw of the shaft 3 Place the rotor onto the shaft and slide it down into position It may be necessary to rock the rotor slightly to get it to fully mate with the shaft 4 Insert the two long M5 x 100 screws each with a specialist waterproof sealing washer intact Smear silicone grease onto the sealing washers for better water...

Страница 21: ...e rubber seals 2 Orient the body cover so that the handles accurately line up with the Bow Stern axis of the sensor The LED cable connector should be on the same side as the main controller PCB 3 Lower the body cover onto the sensor frame until it is possible to attach the Case LEDs lead from the cover to the corresponding connector on the lower right hand side of the controller board 4 Fully seat...

Страница 22: ...and orient it so that the motor is towards the Bow end of the sensor Slowly lower the assembly into the sensor frame taking care to route the two motor cables neatly towards the Bow end of the controller board 2 Seat the motor gearbox assembly onto the top ring of the sensor frame so that the six mounting holes of the assembly correspond to those of the frame 3 Attach the motor power and data cabl...

Страница 23: ...together as a pair To fit the CPU Module 1 Orient the CPU board so that its two long edge connectors are at the top Place the CPU board close to the controller board on the Starboard side of the sensor 2 Locate the three short ribbon cables that lead from the middle section of the controller board In turn attach each of these cables to the corre sponding connectors on the CPU module with their res...

Страница 24: ...the sensor frame Ensure that all of the connections to be made to the controller are in suitable positions particularly the ribbon cables that will attach to the connectors along the bottom edge these must pass under the controller board and are most easily positioned before the board is fixed in place 2 Insert seven nylon M3 x 6 screws and two spacers in the outer holes of the controller board ex...

Страница 25: ...ect the ribbon cable connector from the yaw gyro board 3 Lift out the yaw gyro unit To fit the Yaw Gyro 1 Place the yaw gyro board into the sensor frame adjacent to the pitch actuator The large rectangular component the gyro unit should be uppermost on the board 2 Locate the ribbon cable leading from the VRU board and attach it to the connector situated towards the bottom of the yaw gyro assembly ...

Страница 26: ...U 1 Looking from the Bow end of the sensor body locate the mounting space for the VRU the horizontal space bordered on three sides by the controller board and the two actuators Place the VRU board into the space so that its two ribbon cable connectors face the Stern end of the sensor 2 Insert four screws into the VRU board mounting holes An earth strap must be placed onto the screw in the front le...

Страница 27: ...screw shaft that extends down into the base of the sensor IMPORTANT As you turn the large toothed pulley take care not to damage the encoder disc the thin circular metal plate with four slots cut through it Throughout the winding process it may be necessary to slant the body of the sensor into various positions to accommodate the actuator and lead screw shaft within the confines of the sensor fram...

Страница 28: ...t through it Throughout the winding process it may be necessary to slant the body of the sensor into various positions to accommodate the actuator and lead screw shaft within the confines of the sensor frame 4 Continue winding the toothed pulley until the actuator has travelled down the lead screw shaft sufficiently to allow it to be fixed to the actuator base plate that is attached to the sensor ...

Страница 29: ...loth with IPA spray to carefully wipe the optical window To clean the targets As per the CyScan casing and bellows above In dirty environments the reflective faces of the targets should be cleaned regularly for best viewing Also under icy or frosty condi tions the targets should be cleared of any condensation or ice Greasing the Gearbox Where a grease nipple is fitted the gearbox should be greased...

Страница 30: ...ialise the communications link then check the Console Status readout Ensure that the LEDs on the sensor unit only show the green LED flashing fast the yellow and red LED should be off If this is not the case power cycle the system and observe the LED behaviour Check on the data feed converter that it is powered yellow LED on and that the outer transmit receive lights are flashing once every couple...

Страница 31: ... Please refer to the section Cleaning the CyScan Sensor within this guide Check the sensor is within range of the targets System is operational but is not navigating Check that the correct mooring point is selected Check that the sensor has a clear view of the targets System navigating but no data is received at the DP system Check the DP Feed connection to the sensor Check that the DP Feed data c...

Страница 32: ...f response from a particular sub system these errors normally clear themselves after a while If these errors occur repeatedly in quick succession especially after restarting the system then a serious hardware problem might have occurred Warnings codes 4xxx Signifies a possible error source it will be followed by a suitable error message if the system deteriorates otherwise this will clear itself i...

Страница 33: ...y Unit casing on the AC input On the Controller Board within the CyScan sensor housing on the DC input 1 2 3 4 5 6 7 8 9 10 11 12 3 16151413 Fuse specification 20mm 4A rating Slow Blow Power Supply Unit Fuse Controller Board Fuse Fuse specification 20mm 5A rating Slow Blow Please refer to the Maintenance and Servicing section for details on gaining access to the controller board ...

Страница 34: ...teness DC Power Pin Signal A 24VDC 6A B 0V C Earth DP Feed Pin Signal A 0V B RXA C TXB D TXA E RXB F 24V G NC H GND J NC Console Pin Signal A 0V B RXA C TXB D TXA E RXB F 24V G NC H GND J NC IMPORTANT 0V is not the same as GND 0V is the power supply return whereas GND is a digital ground connection for the communication ports If 0V and GND are crossed or joined the system will not function Levelle...

Страница 35: ...80 Width 340 Length 460 Allow sensor height of 500mm from mounting plate Outline of Sensor Baseplate 4 Holes M8 Allow 100mm cable entry along this edge Allow 300mm clearance around baseplate on all sides to prevent any fouling of spinning rotor STERN BOW Mount the baseplate horizontal and level with the bow and stern as shown ...

Страница 36: ...eight 230 Width 330 Allow incoming cable clearance as required on this side Outline of PSU Housing 4 Holes M6 TOP Allow housing depth of 120mm Allow 100mm cable clearance at this side The fixing holes for the PSU are located inside the unit remove the lid for access Ensure that the PSU is located within 1m of the CyScan Sensor ...

Страница 37: ...5 Data Converter Mounting Template 107 157 Height 125 Width 175 Outline of RS485 Housing 4 Holes M4 Allow cable clearance as shown Allow housing depth of 130mm from mounting plate Remove the Converter lid to access the fixing holes Mount the unit close to the CyScan Console laptop computer TOP BOTTOM ...

Страница 38: ... rotor and rangefinder electronics 21 0031 0 Body Cover Assembly Main housing cover including LEDs and handles 39 0011 4 Yaw Gyro Assembly Yaw gyro and pcb 39 0003 2 VRU Assembly VRU gyros fluid sensor and pcb 39 0010 2 CyScan Controller Module Includes controller pcb PC104 unit disk on chip and local interconnection cables 98 0008 4 Silicone Grease Waterproof silicone compound 20 0030 0 CyScan PS...

Страница 39: ...n the notebook computer 2 Locate the CyScan Admin Console icon on the Windows desktop or select its entry within the Start menu 3 A pop up dialog will be displayed 4 Enter your access password and click Log In 5 The main CyScan Admin Console will open to reveal a number of tabbed pages each providing information about distinct sections of the CyScan system The Files tab in particular is used to in...

Страница 40: ...ture will be given Tabs Click these to change between the various pages of information Start Logs Click to begin recording system information that can be used for diagnostic purposes Position Heading These indicate the vessel s current calculated position and heading relative to the currently selected mooring point Activity Indicates the current status of the link between the sensor and the consol...

Страница 41: ...intenance Guide r1 1 GCS GCS Setting up the User Console Vessel Orientation 1 Select the Advanced tab 2 Insert the relevant parameters in the Vessel Parameters and CyScan Position fields 3 Click the Apply button Vessel and CyScan Position Parameters ...

Страница 42: ...Positioning System Installation and Maintenance Guide r1 1 GCS GCS Checking the Comms Port Settings 1 Select the Comms tab 2 The serial port Connection area shows the correct settings Serial port Connection area ...

Страница 43: ...S GCS Reinitialise the communications link 1 On the System Status page observe the Console Status line at the foot of the screen 2 The Comms link status can be checked and tested by toggling the Reset button in the lower right corner of the screen Console Status line Reset ...

Страница 44: ...e Guide r1 1 GCS GCS Enable Sensor Components 1 In the System Status page check in the Operations section that the Leveller and Scanner are not disabled 2 Select Scanner Enabled and select a Leveller mode other than Disabled 3 Click Apply Operations section ...

Страница 45: ...43 CyScan Positioning System Installation and Maintenance Guide r1 1 GCS GCS Check Scanner Enabled 1 Select the Scanner tab 2 Set the Scanner field to Enabled and click Apply Scanner field ...

Страница 46: ...tion and Maintenance Guide r1 1 GCS GCS Check system supply voltages 1 In the System Status page check in the Components section that the supply voltages are within 10 of their nominal values Voltage readings within the Components section ...

Страница 47: ...t reflectors Flat reflectors are generally attached using steel clips to rigid structures such as metal posts 2m long flat reflectors can typically be seen up to 300m in good conditions A short 1m reflector will be visible to 200m Cylindrical reflectors Cylindrical reflectors can be hung over the side of the mooring point vessel The GCS cylindrical reflectors can be seen up to 200m in good conditi...

Страница 48: ...ar along the Mooring Point Vessel from the expected working area The sensor beam should not strike any flat target at an angle of less than 45 degrees to the reflector surface as the resulting reflected beam will not be correctly received The laser power returned from the target at the maxi mum angle of 45 degrees can be reduced by 50 and thus limit the effective maximum range by up to 25 Cylindri...

Страница 49: ...reflectors are defined relative to the origin using the perpendicular axes A and B running through it If the Mooring Point Vessel has no particular fixed reference point then it is recommended that the first reflector R1 is designated as the Origin The reflectors should be numbered starting from the one on the far right as viewed from the expected working area and continuing anticlockwise through ...

Страница 50: ...rientation 270 0 0 CyScan s Position NMEA RLS convention A B 29 559m 61 451m Heading 3450 Notes 1 The DP system will display the Origin of the A and B axes This could be any point on the tanker the main mast midway between perpendiculars or one of the reflectors In this example it is number 1 reflector 2 The reflector numbering should be chosen so that they form an anti clockwise sequence when see...

Страница 51: ...sulting in the A B frame pointing downwards and left respectively i e target 2 would be labelled as 1 target 3 as 2 and target 1 as 3 In terms of navigation the result ing ship s position in this auto surveyed frame would still be a positive A coordi nate but a negative B coordinate B B 1 3 2 1 2 3 A A Reflector Positions 1 A 0 B 0 orientation 90 0 2 3 A 56 21m B 0 orientation 90 A 42 51m B 0 orie...

Страница 52: ...eflector at the south west corner of the platform 2 The reflector numbering should be chosen so that they form an anti clockwise sequence when seen by CyScan 3 If the reflector positions are in northings and eastings CyScan gives the ship s position in northings and eastings and gives the heading relative to true north 4 The DP system will display the corner of the platform since that is at the or...

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