DPT4500 Conning - freetechnics.eu · CONNING MANUAL Reference number: ACC-5612-CONNING-GBD v2.4...

RH MARINE NETHERLANDS B.V.

Jan Evertsenweg 2

3115 JA Schiedam

The Netherlands

T +31 10 487 19 11

F +31 10 487 17 02

[email protected]

www.rhmarine.com

CONNING MANUAL

Reference number: ACC-5612-CONNING-GBD v2.4 19 March 2018

of 119

DPT4500 Conning

User Manual

Date

19 March 2018

Reference

ACC-5612-CONNING-GBD v2.4

CONNING MANUAL

Reference number: ACC-5612-CONNING-GBD v2.4 Date: 19 March 2018

of 119

Main title Date

DPT4500 Conning 19 March 2018

Subtitle Reference number

User Manual ACC-5612-CONNING-GBD v2.4

Version

2.4

Total number of pages

119

Author

DPT team

Quality control

M. Vermeulen

Acknowledged

B. Veldhuijzen

NOTICE

This document contains proprietary information.

No part of this document may be photocopied, reproduced or

translated into another language without the prior written consent

of RH Marine

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Table of contents

Figures ............................................................................................................................................................................................................ 7

Tables ........................................................................................................................................................................................................... 11

References ................................................................................................................................................................................................. 12

Abbreviations............................................................................................................................................................................................ 12

Updates ....................................................................................................................................................................................................... 13

1. General ............................................................................................................................................................................ 14

2. Screen lay out ............................................................................................................................................................... 15 2.1 Working sets ..........................................................................................................................................18 2.2 Mimic types ............................................................................................................................................18 2.2.1 Conning Mimics .......................................................................................................................18 2.2.2 General Mimics ........................................................................................................................19 2.3 Dual language support ......................................................................................................................20 2.4 Header Area ...........................................................................................................................................20 2.5 Screen operating, Preset and Confirmation Window ............................................................21 2.5.1 Trackball .....................................................................................................................................22 2.6 View Options..........................................................................................................................................22 2.6.1 Select mimic working set .....................................................................................................23 2.6.2 Colour Schemes .......................................................................................................................23 2.6.3 Mouse control area and tooltip text ...............................................................................23 2.6.4 About Window .........................................................................................................................24 2.6.5 Exit Application ........................................................................................................................24 2.6.6 Language selection ................................................................................................................24

3. Mimics ............................................................................................................................................................................. 25 3.1 Heading Mimic ......................................................................................................................................25 3.2 Track Mimic ............................................................................................................................................26 3.3 DP mimic .................................................................................................................................................27 3.4 Route Mimic ...........................................................................................................................................28 3.5 Capability mimic ...................................................................................................................................28 3.5.1 Environment variables ...........................................................................................................30 3.5.2 Actuator variables ...................................................................................................................31 3.5.3 Insufficient Capability ............................................................................................................32 3.6 Waypoints ...............................................................................................................................................32 3.6.1 Actual tab ...................................................................................................................................33 3.6.2 Received Tab .............................................................................................................................35 3.6.3 Invalid Route .............................................................................................................................35 3.6.4 Edit received Route ................................................................................................................35

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3.7 Dp Waypoint Mimic ............................................................................................................................37 3.8 Panel Mimic ............................................................................................................................................39 3.9 Alert Mimic .............................................................................................................................................40 3.9.1 Alert Icons ..................................................................................................................................41 3.10 Index mimic, Normal mode ................................................................................................41 3.11 Index mimic, Maintenance mode .....................................................................................42 3.12 Position Mimic .........................................................................................................................43 3.13 Alerts List ....................................................................................................................................43 3.14 Sensor IO ....................................................................................................................................43 3.15 DPTpanel IO ..............................................................................................................................44 3.16 General Mimic ..........................................................................................................................46 3.16.1 Pilot Tab ......................................................................................................................................46 3.16.2 Position reference Tab ..........................................................................................................47 3.16.3 Actuator Tab .............................................................................................................................48 3.16.4 Sensor Tab .................................................................................................................................49 3.16.5 Position sensor tab .................................................................................................................50 3.16.6 Radius and Hipap Tabs .........................................................................................................51 3.16.7 Time Tab .....................................................................................................................................52 3.16.8 Manual Tab ................................................................................................................................52 3.16.9 Server Tab ..................................................................................................................................52 3.16.10 View Tab .....................................................................................................................................53 3.17 Training Options ......................................................................................................................54 3.17.1 Environment tab ......................................................................................................................54 3.17.2 Actuator tab ..............................................................................................................................55 3.17.3 Sensor tab ..................................................................................................................................56 3.17.4 General tab ................................................................................................................................57 3.18 Hardware Panel (Training mode) ......................................................................................58 3.19 ECDIS Simulator (Training mode) .....................................................................................59

4. Control modes .............................................................................................................................................................. 60 4.1 Control Panel .........................................................................................................................................60 4.2 Transit mode, control steer options .............................................................................................60 4.2.1 Heading modes .......................................................................................................................61 4.2.2 Speed modes ............................................................................................................................61 4.2.3 Low speed modes ...................................................................................................................61 4.3 Position mode control and steer options ...................................................................................62 4.3.1 DP Track modes .......................................................................................................................62 4.3.2 DP Position ................................................................................................................................63 4.3.3 Plough Mode (Optional) ......................................................................................................64 4.3.3.1 Plough mode resume speed functionality ....................................................................65 4.3.3.2 Plough mode, mode switch functionality .....................................................................65 4.3.3.3 Plough mode, functionalities .............................................................................................66

5. Components .................................................................................................................................................................. 67 5.1 Conning mimic components ...........................................................................................................67 5.1.1 Position control .......................................................................................................................67

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5.1.2 Wind indicator, Set + Drift ..................................................................................................68 5.1.3 Position indicator ....................................................................................................................68 5.1.4 Compass component ............................................................................................................69 5.1.5 Heading control component ..............................................................................................70 5.1.6 Change heading setpoint ....................................................................................................70 5.1.7 Heading Control component with Drift Angle indicator.........................................71 5.1.8 Heading error indicator ........................................................................................................72 5.1.9 Heading History .......................................................................................................................73 5.1.10 Track Component ...................................................................................................................73 5.1.11 Track error indicator ..............................................................................................................73 5.1.12 Track History .............................................................................................................................74 5.1.13 Line shift component.............................................................................................................74 5.1.13.1 External Line/track shift component ...............................................................................75 5.1.14 Route component ...................................................................................................................75 5.1.14.1 Route shift..................................................................................................................................76

5.1.14.1.1 External route shift ......................................................................................................76 5.1.14.2 Sailing backwards along a route .......................................................................................77 5.1.15 Speed numerical component .............................................................................................77 5.1.15.1 External speed setpoint ........................................................................................................77 5.1.16 Depth indicator ........................................................................................................................78 5.1.17 Tunnel thruster indicators ...................................................................................................78 5.1.18 Azimuth thruster indicator ..................................................................................................79 5.1.18.1 Preferences – Bias Azimuth thrusters..............................................................................80 5.1.18.2 Preferences – Bias Propellers .............................................................................................80 5.1.19 Power component ..................................................................................................................81 5.1.20 Alert component .....................................................................................................................82 5.1.21 Distance component .............................................................................................................83 5.2 Dynamic Positioning functionality ................................................................................................84 5.2.1 DP component .........................................................................................................................84 5.2.2 DP setpoint definition ...........................................................................................................84 5.2.2.1 Set DP point graphical in the DP component .............................................................85 5.2.2.2 DP point translation component ......................................................................................85 5.2.2.3 Specify and save DP setpoint .............................................................................................85 5.2.2.4 Save and Go To pre-defined DP setpoint (DP setpoint library present) .........86 5.2.2.5 Line-up DP setpoint ...............................................................................................................86 5.2.2.6 Stop ..............................................................................................................................................87 5.2.2.7 Track Step and Route step ..................................................................................................87 5.2.2.8 Follow target .............................................................................................................................87 5.2.3 DP position error indicator..................................................................................................89 5.2.4 Optimal heading component .............................................................................................89 5.3 Consequence Analysis ........................................................................................................................90 5.4 Virtual Joystick component ..............................................................................................................90 5.5 Position Average tab ..........................................................................................................................91 5.5.1 Trend tab ....................................................................................................................................91 5.6 General mimic, Pilot tab components .........................................................................................92 5.6.1 Control Settings .......................................................................................................................92

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5.6.2 Sensor filtering, accuracy settings ....................................................................................92 5.6.3 Sensor deviation limits ..........................................................................................................93 5.6.4 Assist settings ...........................................................................................................................94 5.6.5 Speed order...............................................................................................................................94 5.6.6 Consequence analysis and BusBar ...................................................................................94 5.7 General Mimic – Position reference tab ......................................................................................96 5.7.1 Pivot point .................................................................................................................................96 5.7.2 Grid reference settings .........................................................................................................97 5.7.3 Position Reference point ......................................................................................................97 5.7.4 UTM Notation ..........................................................................................................................98 5.7.5 Antenna positions ...................................................................................................................99 5.8 General mimic, Actuator tab components .................................................................................99 5.8.1 Actuator status limits .............................................................................................................99 5.8.2 Forbidden zones ................................................................................................................... 101 5.8.3 Fix actuator load angle ...................................................................................................... 102 5.9 General mimic, Sensor tab ............................................................................................................ 102 5.9.1 Sensor data and selection ................................................................................................ 102 5.9.2 GPS position sensor data quality ................................................................................... 103 5.10 Position Reference Systems (PRS) ................................................................................. 104 5.10.1 Position Systems .................................................................................................................. 104 5.10.2 Position Average .................................................................................................................. 104 5.11 Validation process of position reference sensors ................................................... 106 5.11.1 Average .................................................................................................................................... 106 5.11.2 Plausibility ............................................................................................................................... 107 5.11.3 Integrity.................................................................................................................................... 108 5.12 General Mimic, HIPAP tab ................................................................................................ 109 5.12.1 Target Selection options ................................................................................................... 110 5.12.2 Target Information .............................................................................................................. 110 5.12.3 Target deviation limit ......................................................................................................... 111 5.12.4 Deviation graph .................................................................................................................... 111 5.12.5 Line-up ..................................................................................................................................... 111 5.12.6 Position Reference System plot ..................................................................................... 112 5.13 General mimic, time tab .................................................................................................... 112 5.14 General Mimic, Manual tab .............................................................................................. 113 5.14.1 Manual Settings .................................................................................................................... 113 5.15 General mimic, Server tab ................................................................................................ 114 5.15.1 Server component ............................................................................................................... 114 5.16 General mimic, View tab component........................................................................... 115 5.16.1 Ships History .......................................................................................................................... 115 5.16.2 Auto Alert mimic .................................................................................................................. 115 5.16.3 Auto Track mimic ................................................................................................................. 115 5.16.4 Filter Standby alerts ............................................................................................................ 116 5.16.5 Track and DP mimic display options ............................................................................ 116 5.16.6 Route mimic display options ........................................................................................... 117 5.16.7 Client connection components ...................................................................................... 117 5.17 DPT Panel IO components ............................................................................................... 118

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5.17.1 Messages ................................................................................................................................. 118 5.17.2 Joystick enabled lamp test ............................................................................................... 118 5.17.3 Joystick calibration .............................................................................................................. 119

Figures

Figure 1 - Screen lay out Dark grey blue ...................................................................................................................................... 15 Figure 2 - Screen layout Green grey ............................................................................................................................................... 16 Figure 3 - Screen layout Classic ........................................................................................................................................................ 16 Figure 4 - Screen layout Dark Tile .................................................................................................................................................... 17 Figure 5 - Screen layout example Dark Blue in Training mode ........................................................................................... 17 Figure 6 - Conning mimic template ................................................................................................................................................ 18 Figure 7 - General mimic, Pilot page .............................................................................................................................................. 20 Figure 8 - Header area parts .............................................................................................................................................................. 21 Figure 9 - Heading setpoint Preset window ................................................................................................................................ 22 Figure 10 - Move DP-point confirmation window .................................................................................................................... 22 Figure 11 - Select mimic work set .................................................................................................................................................... 23 Figure 12 - Colour schemes ................................................................................................................................................................ 23 Figure 13 - Show/Hide mouse control area and tool tip options ....................................................................................... 23 Figure 14 - Example of a hidden mouse control area ............................................................................................................. 23 Figure 15 - About window (example) ............................................................................................................................................. 24 Figure 16 - More About box (example) ......................................................................................................................................... 24 Figure 17 - Exit and About application options ......................................................................................................................... 24 Figure 18 - Language selection option .......................................................................................................................................... 24 Figure 19 - Heading mimic ................................................................................................................................................................. 25 Figure 20 - Track mimic ........................................................................................................................................................................ 26 Figure 21 - DP mimic ............................................................................................................................................................................. 27 Figure 22 - Route mimic ...................................................................................................................................................................... 28 Figure 23 - Capability mimic .............................................................................................................................................................. 29 Figure 24 - Capability mode selection ........................................................................................................................................... 29 Figure 25 - Capability mimic for wind ............................................................................................................................................ 30 Figure 26 - Capability environment settings ............................................................................................................................... 30 Figure 27 - Capability plot with fixed heading ........................................................................................................................... 31 Figure 28 - Capability plot in Wind mode .................................................................................................................................... 31 Figure 29 - Capability plot in Current mode ................................................................................................................................ 31 Figure 30 - Capability plot actuator variables ............................................................................................................................. 32

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Figure 31 - Insufficient capability ..................................................................................................................................................... 32 Figure 32 - Waypoint mimic, Actual tab (example) .................................................................................................................. 33 Figure 33 - Additional waypoint information .............................................................................................................................. 34 Figure 34 - Column switch .................................................................................................................................................................. 35 Figure 35 - Edit Wheelover points ................................................................................................................................................... 36 Figure 36 - Wheelover points edited .............................................................................................................................................. 36 Figure 37 - DP Waypoint mimic ........................................................................................................................................................ 37 Figure 38 - DP Waypoint mimic – On screen keyboard .......................................................................................................... 38 Figure 39 - Panel mimic ....................................................................................................................................................................... 39 Figure 40 - Alert mimic ......................................................................................................................................................................... 40 Figure 41 - Index mimic list, Normal working mode ................................................................................................................ 42 Figure 42 - Index mimic list, Maintenance working mode .................................................................................................... 42 Figure 43 - All Alerts list ....................................................................................................................................................................... 43 Figure 44 - Sensor I/O page, example ........................................................................................................................................... 44 Figure 45 - SMC GPS1 interface, example .................................................................................................................................... 44 Figure 46 - DPT panel I/O page ........................................................................................................................................................ 45 Figure 47 - General mimic, Pilot tab ............................................................................................................................................... 46 Figure 48 - General mimic, POS-REF tab ....................................................................................................................................... 47 Figure 49 - General mimic, Actuator tab ....................................................................................................................................... 48 Figure 50 - General Mimic, Sensor tab .......................................................................................................................................... 49 Figure 51 - General mimic, Position sensor tab ......................................................................................................................... 50 Figure 52 - General mimic, HIPAP tab ............................................................................................................................................ 51 Figure 53 - General mimic, Time tab .............................................................................................................................................. 52 Figure 54 - General mimic, Manual tab ......................................................................................................................................... 52 Figure 55 - General mimic, Server tab ............................................................................................................................................ 53 Figure 56 - General mimic, View tab ............................................................................................................................................... 53 Figure 57 - Training options, Environment tab ........................................................................................................................... 54 Figure 58 - Training options, Actuator tab ................................................................................................................................... 55 Figure 59 - Training options, Sensor tab ....................................................................................................................................... 56 Figure 60 - Training options, General tab ..................................................................................................................................... 57 Figure 61 - Hardware panel, training mimic ................................................................................................................................ 58 Figure 62 - ECDIS simulator, training mimic ................................................................................................................................ 59 Figure 63 - Mode and control mode options in software panel ......................................................................................... 60 Figure 64 - Control mode selection on Conning - Transit ..................................................................................................... 61 Figure 65 - Steer modes ....................................................................................................................................................................... 61 Figure 66 - Control mode selection on Conning - DP ............................................................................................................. 62 Figure 67 - Steer mode selection buttons .................................................................................................................................... 63 Figure 68 - Control mode selection on Conning- Plough Mode ........................................................................................ 64 Figure 69 - External Force/moment indication ........................................................................................................................... 64 Figure 70 - Plough mode speed reduction .................................................................................................................................. 64 Figure 71 - Plough mode resume speed functionality ............................................................................................................ 65 Figure 72 - Plough mode, alarm indicating automatic speed setpoint reduction due too large roll

momentum ................................................................................................................................................................................................ 65 Figure 73 - Plough Mode automatic mode switch DT-slow -> DP Auto ......................................................................... 65

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Figure 74 - Plough Mode Force/moment measurements ..................................................................................................... 66 Figure 75 - Position control indicator ............................................................................................................................................. 67 Figure 76 - Wind indicator .................................................................................................................................................................. 68 Figure 77 - Manual true wind value applied ................................................................................................................................ 68 Figure 78 - Manual set and drift values applied ........................................................................................................................ 68 Figure 79 - Position indicator ............................................................................................................................................................ 68 Figure 80 - CCRP ..................................................................................................................................................................................... 69 Figure 81 - Alternating DR and Degradation timers ................................................................................................................ 69 Figure 82 - Compass component, North Up, Heading Auto mode ................................................................................... 69 Figure 83 - Compass component, Heading Up, Track Auto mode .................................................................................... 69 Figure 84 - Heading control component, Heading Auto mode .......................................................................................... 70 Figure 85 - Heading component, Track Auto mode ................................................................................................................ 70 Figure 86 - Heading setpoint in entry field................................................................................................................................. 70 Figure 87 - Heading setpoint in compass bar............................................................................................................................. 71 Figure 88 - Heading setpoint in compass rose........................................................................................................................... 71 Figure 89 - Change ROT limit setting ............................................................................................................................................. 71 Figure 90 - Drift angle entry field ..................................................................................................................................................... 72 Figure 91 - Ship in DT Sail (Track Auto) mode............................................................................................................................ 72 Figure 92 - Ship in DT Slow Drift Angle mode ............................................................................................................................ 72 Figure 93 - Heading error indicator ................................................................................................................................................ 72 Figure 94 - Heading History component ...................................................................................................................................... 73 Figure 95 - Track component (Auto Track mode) ..................................................................................................................... 73 Figure 96 - Track error indicator ....................................................................................................................................................... 73 Figure 97 - Track history ...................................................................................................................................................................... 74 Figure 98 - Line shift component ..................................................................................................................................................... 74 Figure 99 - External Line/track shift component........................................................................................................................ 75 Figure 100 - Caution external track shift input enabled ......................................................................................................... 75 Figure 101 - Route component ......................................................................................................................................................... 76 Figure 102 - External Route shift component ............................................................................................................................. 76 Figure 103 - Caution External route shift enabled .................................................................................................................... 76 Figure 104 - Negative speed setting .............................................................................................................................................. 77 Figure 105 - Speed numerical component ................................................................................................................................... 77 Figure 106 - External speed setpoint .............................................................................................................................................. 77 Figure 107 - Caution, External speed input enabled ................................................................................................................ 77 Figure 108 - Depth indicators ............................................................................................................................................................ 78 Figure 109 - Tunnel thruster indicators ......................................................................................................................................... 78 Figure 110 - Azimuth thruster components ................................................................................................................................ 79 Figure 111 - Thruster angle bar and value ................................................................................................................................... 79 Figure 112 - Azimuth thruster DP mode ....................................................................................................................................... 79 Figure 113 - Forbidden zone azimuth thrusters related to Pivot point ............................................................................ 79 Figure 114 - Azimuth thruster DP mode operating at more than 60% of max thrust ............................................... 80 Figure 115 - Propeller PS bias mode .............................................................................................................................................. 80 Figure 116 - Propeller STBD Bias ...................................................................................................................................................... 81 Figure 117 - MSB component............................................................................................................................................................ 81

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Figure 118 - Power component, Busbar closed ......................................................................................................................... 81 Figure 119 - Alert component ........................................................................................................................................................... 82 Figure 120 - Side tab alert component .......................................................................................................................................... 83 Figure 121 - Distance indicator ......................................................................................................................................................... 83 Figure 122 - DP component ............................................................................................................................................................... 84 Figure 123 - Set DP point in DP component ............................................................................................................................... 85 Figure 124 - DP point translation component ............................................................................................................................ 85 Figure 125 - saved DP point ............................................................................................................................................................... 86 Figure 126 - saved DP point ............................................................................................................................................................... 86 Figure 127 - DP line-up ........................................................................................................................................................................ 86 Figure 128 - Line-up DP point to track .......................................................................................................................................... 86 Figure 129 - DP point on stop ........................................................................................................................................................... 87 Figure 130 - Route step indicator .................................................................................................................................................... 87 Figure 131 - General, relative position sensor tab .................................................................................................................... 87 Figure 132 - DP mimic with following target mode activated ............................................................................................. 88 Figure 133 - Target cursor reach the follow target guard limit ........................................................................................... 88 Figure 134 - Vessels position setpoint is moved to the yellow pointer ........................................................................... 88 Figure 135 - DP position error indicator ....................................................................................................................................... 89 Figure 136 - DP position error, Surge and Sway ........................................................................................................................ 89 Figure 137 - Optimal heading component .................................................................................................................................. 89 Figure 138 - Optimal heading example ......................................................................................................................................... 89 Figure 139 - Consequence Analysis indicator lights ................................................................................................................ 90 Figure 140 - Virtual Joystick component ...................................................................................................................................... 90 Figure 141 - Trend: True wind and Set+Drift speed ................................................................................................................. 91 Figure 142 - Trend: True wind and Set+Drift angle .................................................................................................................. 91 Figure 143 - Trend: Motion ................................................................................................................................................................. 91 Figure 144 - Trend: DP error .............................................................................................................................................................. 91 Figure 145 - Control limits component ......................................................................................................................................... 92 Figure 146 - Filter and accuracy settings ...................................................................................................................................... 92 Figure 147 - Depth and Sensor Deviation limits ........................................................................................................................ 93 Figure 148 - Assist settings indicator ............................................................................................................................................. 94 Figure 149 - Assist setpoint color .................................................................................................................................................... 94 Figure 150 - Assist mode indication ............................................................................................................................................... 94 Figure 151 - Speed order..................................................................................................................................................................... 94 Figure 152 - Consequence analysis on/off ................................................................................................................................... 94 Figure 153 - Pivot point ....................................................................................................................................................................... 96 Figure 154 - Grid reference setting ................................................................................................................................................. 97 Figure 155 - Position XY Geo coordinates .................................................................................................................................. 97 Figure 156 - Position XY UTM co-ordinates ................................................................................................................................ 98 Figure 157 - Position component, Position XY notation ........................................................................................................ 98 Figure 158 - Pivot point options ....................................................................................................................................................... 99 Figure 159 - Antenna positions, graphical (left) and numerical (above) .......................................................................... 99 Figure 160 - Actuator components ............................................................................................................................................... 100 Figure 161 - Forbidden zone settings .......................................................................................................................................... 101

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Figure 162 - IB angle setting (PS) ................................................................................................................................................... 101 Figure 163 - OBF and OBB setting (PS) ........................................................................................................................................ 101 Figure 164 - Fix actuator value ........................................................................................................................................................ 102 Figure 165 - Actuator indicated as fixed ..................................................................................................................................... 102 Figure 166 - Sensor information (example) ............................................................................................................................... 103 Figure 167 - Position sensor quality.............................................................................................................................................. 103 Figure 168 - Weight of position sensors in calculation of Average value ..................................................................... 105 Figure 169 - Deviation from Average position value per contributing position sensor .......................................... 105 Figure 170 - Position sensor average tab ................................................................................................................................... 107 Figure 171 - Position sensors plausibility tab ........................................................................................................................... 108 Figure 172 - Position sensor integrity tab .................................................................................................................................. 109 Figure 173 - Radius target selection options ............................................................................................................................ 110 Figure 174 - Radius target information ....................................................................................................................................... 111 Figure 175 - Radius and HIPAP deviation graph ..................................................................................................................... 111 Figure 176 - Position reference plot ............................................................................................................................................. 112 Figure 177 - Ships time component ............................................................................................................................................. 112 Figure 178 - GPS time ......................................................................................................................................................................... 113 Figure 179 - Manual input component........................................................................................................................................ 113 Figure 180 - Server component ...................................................................................................................................................... 114 Figure 181 - Clear Ships History button ...................................................................................................................................... 115 Figure 182 - Auto alert setting ........................................................................................................................................................ 115 Figure 183 - Auto track mimic ......................................................................................................................................................... 115 Figure 184 - Filter standby alerts option ..................................................................................................................................... 116 Figure 185 - Track and DP mimic display component .......................................................................................................... 116 Figure 186 - vector display in DP mode ...................................................................................................................................... 117 Figure 187 - Route mimic display options ................................................................................................................................. 117 Figure 188 - Client connection component. Normal mode, data viewed from Master server ............................. 117 Figure 189 - slave server view indicator in top bar ................................................................................................................. 117 Figure 190 - Client connection component, Maintenance mode, data viewed from Slave server ..................... 117 Figure 191 - Incoming (upper) and outgoing (lower) panel messages .......................................................................... 118 Figure 192 - Read messages DPT Panel IO ................................................................................................................................ 118 Figure 193 - Joystick hardware/software switch button ....................................................................................................... 119 Figure 194 - Panel lamp test button ............................................................................................................................................. 119 Figure 195 - Joystick calibration panel......................................................................................................................................... 119

Tables

Table 1 - Capability modes ................................................................................................................................................................. 29 Table 2 - GPS quality ........................................................................................................................................................................... 104

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References

[1] Name: DPT 4500 System user manual

Code: ACC-5612-SYSTEM-GBD

Issue: 2.1

Date: 8 January 2016

[2] Name: DPT 4500 Panel user manual

Code: ACC-5612-PANEL-GBD

Issue: 2.1

Date: 8 January 2016

[3] Name: User Manual Application Manager 4500

Code: ACC-4111A-APM-GBD

Issue: 2.0.0

Date: 15 May 2013

Abbreviations

AI Analogue Input

AIS Automatic Identification System

AMS Alarm & Monitoring System

AO Analogue Output

APP Aft Perpendicular

ARCS Admiralty Raster Chart System

ATE Approach Track Error

BAM Bridge Alert Management

BV Bureau Veritas

BNWAS Bridge Navigation Watch Alarm System

CA Consequence Analysis

CCRP Common Consistent Reference Point

COG Course Over Ground

CPA Closest Point of Approach

CPP Controllable Pitch Propeller

CS Control Server

CTS Course To Steer

DGPS Differential Global Positioning System

DI Digital Input

DNV Det Norske Veritas

DOF Degree Of Freedom

DOP Dilution Of Precision

DP Dynamic Positioning

DP Detection Probability

DPCS Dynamic Positioning Control System

DPS Dynamic Positioning System

LAN Local Area Network

LAT Geographic Latitude

LON Geographic Longitude

LPP Length between Perpendiculars

MFW Multi Function Workstation

MMI Man Machine Interface

MOB Man Over Board

MRU Motion Reference Unit

MSB Main Switchboard

NFU Non Follow Up

NM Nautical mile (1852 m)

NMEA National Marine Electronics Association

OBB Outer Bound Backwards (angle)

OBF Outer Bound Forward (angle)

OBTS Onboard Training System

P Probability

PC Personal Computer

PD Proportional Differential

PLC Programmable Logic Controller

PMS Power Management system

PRS Position Reference System

PS Port Side

RADAR Radio Detection And Ranging

ROT Rate Of Turn

RPM Revolutions Per Minute

RD Reliability Diagram

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DPT Dynamic Positioning & Tracking

DTW Distance To Wheel-over Point

DT Dynamic Track

DTER Distance To End of Route

ECC Early Course Change

ECDIS Electronic Chart Display & Info System

ECR Engine Control Room

ENC Electronic Navigation Chart

ETA Estimated Time of Arrival

FAT Factory Acceptance Test

FWD Forward

FMEA Failure Mode Effects Analysis

FMECA FMEA and Criticality

FU Follow Up

GMT Greenwich Mean Time

GPS Global Positioning System

GUI Graphical User Interface

HAT Harbour Acceptance Test

HDG Heading

HDOP Horizontal Dilution Of Position

HMI Human Machine Interface

I/O Input / Output

IB Inbound (angle)

IBS Integrated Bridge System

IJS Independent Joystick System

Kn Knots

RDV Rock Dumping Vessel

SAT Sea Acceptance Trials

SB Starboard

SC Severity Classification

SMC Ship Motion Control

SOG Speed Over Ground

SP Service Pack

SPD Speed

STBD Starboard

STW Speed Through Water (LOG)

TCP Transmission Control Protocol

TCS Thruster Control System

TID Touch Input Device

TIU Thruster Interface Unit

TTER Time To End of Route

TTW Time To Wheel-over Point

UDP User Datagram Protocol

UKC Under Keel Clearance

UPS Uninterruptible Power Supply

UTC Universal Time Coordinate

VDR Voyage Data Recorder

VRM Variable Range Marker

XTE Cross (X) Track Error

Updates

In the table below the corrections are recorded of those parts that have changed since the previous version.

Version Date Change/Correction Reason

1.0 2-dec-2012 Initial Solution version

2.0 6-jan-2015 New template, BAM consequences

implemented

New TCS standard implemented

2.1 8-jan-2016 New template, improved forbidden

zone description

Company name change, Improved

clarity

2.2 10-Aug-2016 Added description extra functionalities:

1. Plough module

2. External speed input

3. External route/track shift input

Extra developed functionality

2.3 20-June-

2017

Added description extra functionality:

1. Propulsion bias mode


2.4 19-March-

2018

Added description extra functionality:

DP points library


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1. General

This solution manual describes the use of the Conning 4500 application, the main input and visualisation

device for DPT4500. It is the DP Client application that is installed on each DP operator station.

In a basic DP configuration each operator station has DPT 4500 Conning running next to the DPT4500 server

software. Additional operator positions only have the Conning 4500 application. When DP is an addition to

a Rhodium Bridge System, Conning 4500 may run on any multi-purpose workstation.

Conning 4500 provides the operator with primary navigation and operational information, grouped in a set

of functional or ‘Conning’ mimics. Each mimic is designed for a specific operation/operating condition. In

addition to the visually presented navigation information, the system is configured to generate alert signals.

In principle, the application can be installed in two hardware depending versions.

1. A version for a system with track ball or mouse

2. A touch screen version providing a pop-up dialog whenever the operator wants to enter settings.

A Conning 4500 client requires a server application for providing data. A DPT4500 DP2 class configuration

contains two servers in a master/slave set-up and an independent joystick server. The Conning by default

shows data from, and provides access to, the Master server; however, provisions are available to temporarily

address the Slave server.

Several clients may run in parallel on a number of operating positions. Depending on the configuration,

operator accessibility may be limited to avoid conflicts between the operator positions in different rooms.

Independent joystick

This manual describes the conning view of the redundant DPT4500 DP2 system configuration.

The conning of the independent joystick configuration is basically identical, be it that the joystick

configuration is a single server configuration and therefore all references to redundant server functionality

are not applicable for the joystick operator station.

Note: For the sake of brevity, whenever this document mentions a ‘he’ with reference to a person, one

should read ‘he or she’.

Each system is tailored to the specific configuration of the vessel. The mimics pictured in this manual

refer to a typical setup, and therefore may show differences with the actual situation on board.

This manual is based on a DP 2 system with the full functionality of the solution. Parts of the

functionality described in this manual and/or pictured mimics may not be part of the implementation

on board of the applicable vessel. This can be because the configuration does not support the

functionality or because it was not part of the scope of delivery.

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2. Screen lay out

The Conning 4500 screen layout consists of two parts:

1. At the top, a header bar with shortcut buttons and date, time and status indicators, outlined in red in

Figure 1.

2. A mimic area that contains the navigational information and control functionality, outlined in yellow in

Figure 1.

The screen layout is available in four different colour layouts. Namely Darkgreyblue, Greygreen, Classic and

DarkTile. In this manual the Darkgreyblue colour layout is used.

Figure 1 - Screen lay out Dark grey blue

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Figure 2 - Screen layout Green grey

Figure 3 - Screen layout Classic

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Figure 4 - Screen layout Dark Tile

Figure 5 - Screen layout example Dark Blue in Training mode

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2.1 Working sets

Since the Conning 4500 application has been designed for different types of users, the available

functionality is grouped in so-called working sets:

The Normal working set

The Maintenance working set

The ‘Normal’ working set is the default working set, designed for the regular operator. The ‘Maintenance’

working set is intended for testing and maintenance purposes. This latter working set is password-

protected. Some of the available functionality cannot be accessed in Normal working set mode. If this is the

case, it will be clearly stated with the description in the following chapters.

2.2 Mimic types

The Conning 4500 is built in two types of mimics:

Mimics designed for continuous use during a specific operational condition/operation of the ship. A

typical example is the ‘Heading’ mimic, the mimic that shows all relevant information required by an

operator to sail a ship from port to port. (See Figure 1)

General mimic pages, which provide additional information, and contain various view and selection

options, such as past track display and sensor selection.

2.2.1 Conning Mimics

The Conning mimics consist of a header area, a

central area that contains the mimic specific

functionality, standard components above and

below the central area, and a tab area at left and

right that, depending on the functionality on board

of the ship, can contain a number of separate tab

pages, each with its specific information.

Figure 6 shows the conning mimic template.

The conning mimic components and their specific

functionality are described in chapter 0.

header area

mimic specifictab left tab right

standard

standard

Figure 6 - Conning mimic template

The conning mimics have been designed to the following principles:

For optimal design purposes, the ship specific navigational information and control settings are

grouped at specific tab areas to the left or right of the central mimic area.

Data shown on the screen must be reliable. Therefore, if the system does not receive information, this

will be clearly indicated on the screen, for example by values being replaced by red stars: ‘****’.

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There is a clear distinction between operator adjustable set points, identified as white numbers on a

black background. Set points that cannot be adjusted by the operator are displayed blue numbers on a

black background. In the grey and classic view these numbers are green on a grey background.

Values for adjustable setpoints outside their logical range cannot be entered. For example in the

heading field a value above 360 cannot be entered.

It is not possible to enter values in input fields outside the expected

The colours Red and Orange are mainly used to indicate serious problems that require operator

attention. The colour Yellow is used to indicate other type of problems. The operator is expected to take

action if there are orange or red colours on the display. He is expected to be cautious when using

yellow coloured information.

Blinking, in particular accompanied by sound, is the systems way to say it expects some operator action.

The blinking of alert controls is one example, but when a control mode degrades, the system will

indicate by blinking that the operator has to confirm the new control mode selected by the system.

Yellow elements in the screen, e.g. yellow numbers or a yellow label, indicate the existence of an

unusual or non-standard situation that the operator may need to be aware of. Example: if the Speed

Over Ground is backwards w.r.t. the heading (i.e. sailing backwards or drifting sideways), the SOG

numbers will turn yellow. Or, when an actuator component is disabled by the DP system, its name

appears on a yellow label.

The conning mimic may include a number of hidden control elements. By moving the pointer over the

mimic, these can be found; controllable items will pop-up, will be highlighted or cause a change of

pointer symbol as soon as the pointer is on top of that item. The mouse control areas can also be

highlighted with a setting in the conning.

The used colours are used to give the operator a calm overview of the operation.

2.2.2 General Mimics

The General mimic consists of a number of pages that, for instance, allow the operator to select various

navigational or view options, to set alarm limit values, to inspect navigational data such as sensor

information or actuator status.

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The information is grouped in a number of pages. Figure 7 gives an example of the Pilot page where, for

instance, alert limit values, sensor accuracy and filter settings, and control accuracy are defined.

Figure 7 - General mimic, Pilot page

2.3 Dual language support

The Conning 4500 can optionally be delivered with a dual language option. In this case the following display

text is available in a second language:

Labels for mimics, data fields and buttons.

Tooltips for active mouse areas.

Alarm texts.

Switching between languages can be done during operation, see section 2.6.6.

This manual is based on the English setting.

Note that other applications such as Application Manager or System Manager remain in English.

2.4 Header Area

The Header area contains the mimic shortcut buttons, the name of the current mimic, the date and time, the

status indicators and the company logo.

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The mimic shortcut buttons provide the user with quick

access to the available mimics. Selecting a button will

display the requested mimic.

The Alert short-cut button turns red, orange or yellow

and flashes if an alert is generated.

The Silence button allows the operator to switch off the

audible alert sound without accepting the alert. The

button starts flashing yellow when the alert sound

becomes active. After silencing the colour becomes

steady yellow, after accepting all active alerts the button

turns grey again.

Current date and time.

The name of the currently selected mimic. The selected

mimic is also recognised by the lighter background

colour of its short-cut button.

The status indicator is a solid green circle when the

conning is in control position; when the conning is not in

control it is an open green circle.

Name and the position of the server whose data is

currently being viewed in the conning. Green: data from

Active server; yellow: data from Backup server. Only

shown when not in Client Connection Auto mode

(§5.16.7).

Maintenance Mode indicator. When in Normal working

mode, no indicator is shown.

Training Mode indicator. When in Training Mode, the

OBTS indicator is shown. On instructor stations the word

INSTRUCTOR is added.

2.5 Screen operating, Preset and Confirmation Window The screen functionality enables the user to perform regular point-and-click actions in order to retrieve and

browse for specific information and, if applicable, to set and enter values.

Since the DP2 Type approval requires that inadvertent actions, which could possibly result in a change of the

ship’s position, are precluded, some of the regular point and click actions of the standard Rhdodium bridge

system, have been replaced by a floating setpoint entry field or are followed up by a confirmation window.

For instance, clicking in a setpoint entry field brings up a separate window in which the required value can

Figure 8 - Header area parts

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be entered. Figure 9 and Figure 10 show two examples. In this document, the appearance of these windows

is assumed to be known and no specific mention is made of all instances where they occur.

Figure 9 - Heading setpoint Preset window

Figure 10 - Move DP-point confirmation window

2.5.1 Trackball

The Track ball is used to move a mouse cursor over the conning screen. It has a left, middle and a right

button. In principle, only the left button is used to make a selection on the conning screen. Left and right

button are both used for a number of other functions on the conning screen such as decreasing/increasing

digits in a numerical field. The middle track ball button can be used to zero the digit in a numerical field

Standard cursor Used above idle screen areas.

Zoom cursor A + (in) or – (out) sign appears with the looking glass. Click left to

zoom in or out. The + sign appears when the cursor is in the upper

half of the view; the – sign appears when the cursor is in the lower

half of the view.

DP point cursor Click right to switch from Zoom cursor to DP point cursor. Then click

left to set DP point.

Click right again to switch back to zoom cursor (DP and Route mimic

only)/

Shift left cursor Click left to shift view area to the corresponding direction (in Route

mimic and grid presentation in PosSensor tab)

Shift right cursor

Shift up cursor

Shift down cursor

Execute cursor Click left to select/activate/toggle related item.

Increment cursor Click left to select previous item; click right to select next item.

Click left to decrease the digit; click right to increase the digit.

2.6 View Options

The Conning 4500 application contains a number of View controls that relate to the accessibility of specific

functionality and the display of graphical components.

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The view options are found in the View tab of the General mimic (section View Tab). A number of general

view options is described below.

2.6.1 Select mimic working set

To select a mimic working set, press the relevant Select button,

Normal or Maintenance.

Depending on the configuration and the control position, a

password number may be required to select the Maintenance

working set.

The default password to access the Maintenance working set is

“1234”, but it may be user customised. Click right to increase,

or left to decrease the digits at the four positions in the entry

field.

Figure 11 - Select mimic work set

2.6.2 Colour Schemes

The lighting of the Conning 4500

screen can be switched between Day

(standard green on dark grey), Dusk,

and Night (red night vision) mode.

Press the required button to select a

vision mode.

The colour scheme can also be

changed in the App Manager for a

group of connected operator stations

(Ref. [3]).

Figure 12 - Colour schemes

2.6.3 Mouse control area and tooltip text

A hidden mouse control area can be an entry field, an on/off

button, or a hidden switch option. When the cursor crosses a

mouse control area that relates to the presence of a hidden

switch option, a tool tip shows the name of the alternative

option.

Figure 13 - Show/Hide mouse control area and

tool tip options

By default the tool tip text remains on screen for 4 seconds (“Normal” setting); if ‘Always’ is selected it

remains on screen until the mouse pointer is moved away from the mouse control area; with ‘Hide’ the tool

tip text is not shown at all.

Figure 14 shows an example: the operator can switch the

scale of the heading error display to 30.

Figure 14 - Example of a hidden mouse control

area

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2.6.4 About Window

The About window shows the copyright version of the Conning View version, and a Copyright notice. The

window also displays the obligatory MED certification wheel mark information.

To bring up the About window, press the About button in the View tab of the General mimic (see 3.16.10).

Clicking the More button brings up the More About box, displaying the version numbers of the software

components (Figure 16).

Figure 15 - About window (example)

Figure 16 - More About box (example)

2.6.5 Exit Application

To exit the Conning 4500 application, press the Exit

button in the View tab of the General mimic (see

3.16.10)

2.6.6 Language selection

If applicable the Conning 4500 application starts

in the non-English language. The operator can

always switch to the standard English language

by pressing the button Init English. The button

Init XX-xx on the right top of the screen switches

back again, in which XX-xx is the language code

(Figure 18 shows this for Dutch).

After changing language the screen jumps back

to the default start up mimic.

Figure 18 - Language selection option

Figure 17 - Exit and About application options

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3. Mimics

3.1 Heading Mimic

The Heading mimic is designed for use during medium and high speed sailing, with heading control (Sail

Pilot and Medium Pilot in the hardware panel).

In the centre of the Heading mimic, a large circular compass indicator shows the actual heading (solid white

arrow) and the heading set point requested by the pilot system (solid green arrow). The orientation of the

compass can be toggled between Heading up or true North up by clicking in the centre of the screen. If in

Heading Auto mode, the heading error is displayed both as a bar graph and a numerical value underneath

the compass.

For a more detailed description of the heading mimic functionality, see the relevant sections in chapter 0).

At the top of the screen the RATE OF TURN of the vessel is shown as a numerical value and as a bar graph. Two

arrows below the RATE OF TURN bar graph show the rate of turn limit, i.e. the (average) Rate of Turn requested

by the operator during the manoeuvre. The rate of turn limit has no effect during heading keeping. When

heading is in Automatic control, heading changes will be made with an average ROT equal to the limit set

on the rate of turn bar graph.

Figure 19 - Heading mimic

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3.2 Track Mimic

The Track mimic is designed for use during medium speed and high speed manoeuvring, when the track

control functionality has been selected (DT Sail and DT Medium in the hardware panel). In the centre of the

screen the ship is shown with SOG indicators for forward speed and lateral speed at the bow and stern, the

track line (green), and the ship’s past track (grey line). Below the central area is a track error bar.

For a more detailed description of the track mimic functionality, see the relevant sections in chapter 0.

Figure 20 - Track mimic

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3.3 DP mimic

The DP mimic assists the operator in maintaining position near a selected DP point. While in Position

control, the mimic displays the DP point, the ship’s SOG in longitudinal and lateral direction, actuator force

vectors, track history, and heading and position error. Distance is depicted as circular lines with radial

increment of 20m from the DP point. The increment can be increased / decreased with the track ball zoom

function.

When not in DP mode, the mimic does not display the circles or the DP point, but shows the ship’s past

track (and the track it is sailing if in Track Auto mode) instead.

The display in the DP mimic can be customised with a number of additional view options (see section

5.16.5).

Figure 21 - DP mimic

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3.4 Route Mimic

The Route mimic provides a broader view of the ship’s position in a grid relative to its track or to the DP

point than the conning mimics Track or DP. Display details, however, are similar.

At the bottom, Heading (HDG) and Speed Over Ground (SOG) are shown. The cross track error

(XTE) is shown, when Track Auto mode is selected.

To zoom in on the display, click in the upper half of the map; to zoom out, click in the lower half.

The cursor turns to zoom-cursor shape.

To shift the display, move the cursor to the edge of the screen where it turns to arrow shape, and

click.

The View tab of the General mimic contains additional display settings: hide or show the history,

centre ship’s position, plot time interval, plot type and show vectors. See section 5.16.6.

If the ship is sailing along a planned route, planned track is indicated with a grey line. The track of the route,

currently being sailed is shown in green. Red lines along the route represent the guard limits as defined for

the route in the route planning application (broken lines), and the track limits defined in the Conning (solid

lines). See section 5.6.

Figure 22 - Route mimic

The tabs at left allow the operator to control or monitor the ships motion.

3.5 Capability mimic

Capability information is used to show the ship’s capabilities in relation to wind or current. It shows a

contour around the ship based on actual or user defined environment and thruster information.

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Figure 23 - Capability mimic

At the top left the capability mode can be selected;

either off, for wind or for current.

Depending on the selected capability mode the variables apply as show in Table 1 below.

Wind Current

Variables

Ships heading

Current direction

Current speed

Draught

Actuator settings

Ships heading

Wind direction

Wind speed

Draught

Actuator settings

Plotted

Wind direction as a symbol in the

scale circle

Max wind speed as a circle

Current direction as a symbol in the

scale circle

Max current speed as a circle

Table 1 - Capability modes

Figure 24 - Capability mode selection

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The graphic shows the

calculated maximum wind or

current speed at which the ship

can hold position, in relation to

the angle of the wind or

current direction.

Click in the component to

zoom in or out.

Figure 25 - Capability mimic for wind

3.5.1 Environment variables

In the environment section (Figure 26) the actual

or user defined environment settings are

presented.

The set value is only used if Fix is activated;

otherwise the actual value is used.

Figure 26 - Capability environment settings

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When the heading is fixed, an additional yellow

ship contour is shown, indicating this heading.

The diagram is correspondingly rotated (Figure

27).

Figure 27 - Capability plot with fixed heading

In Wind mode the current can be fixed, after

which these values are used to update the

diagram.

In Wind mode the wind value is greyed out, but

can still be fixed. In that case the wind direction

will be shown with a yellow symbol, while the

wind speed circle is changed to the set value

(Figure 28).

Figure 28 - Capability plot in Wind mode

In Current mode the wind can be fixed, after

which these values are used to update the

diagram.

In Current mode the current value is greyed out,

but can also be fixed. In that case the current

direction will be shown with a yellow symbol,

while the current speed circle is changed to the

set value (Figure 29).

Figure 29 - Capability plot in Current mode

3.5.2 Actuator variables

At the lower part the actuator status is shown, and selections can be made on how to include these in the

diagram.

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Figure 30 - Capability plot actuator variables

The Actual column shows the current status of the actuators. These are default used to generate the

capability plot. The Auto indication shows if the thruster is used in automatic mode, or is disabled for the

system, or fixed on a certain value. The blue column under ActuatorMax shows the current maximum

allowed limit of the thrusters.

The Fix buttons can be used to override the current status of the thrusters for the capability plot.

For example, in Figure 30 Bowthruster 1 is not available for the system (not Auto), but for the capability plot

the Auto status if overridden, meaning the thruster is taken into account in the plot. The STBD Azimuth

Angle is fixed on 0 degrees for the plot. At last the limit for the reverse PORT Azimuth Thrust is limited to

60% for the capability plot.

3.5.3 Insufficient Capability

If any of the actual settings results in an insufficient

capability, this will be visible by the speed circle

exceeding the capability diagram.

The sectors where insufficient thrust occurs will turn

red on the speed circle (Figure 31).

Figure 31 - Insufficient capability

3.6 Waypoints

The Waypoints mimic provides information on routes that are received from, for instance, an ECDIS route

planner. The Actual tab shows the active planning data; the Received tab can show the data of an optional,

additional route.

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The route data consists of a list of waypoints, the corresponding course and track leg distances, and the

wheel over points, speed and guard limits.

Figure 32 - Waypoint mimic, Actual tab (example)

3.6.1 Actual tab

At the top of the Actual tab screen the attributes of the planned track file are found, such as:

Grid information (in geodetic datum format)

Route Shift value

the Mode option to select the Approach Waypoint selection (see section 4.2, Auto Route Mode)

the buttons In and Clear

the Invalid indicator and

the InRange indicator light (when approaching a route)

Clear removes the route.

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Click Reverse to load the route in reverse direction; the last waypoint becomes the first waypoint. Be aware

that if a route is valid in one direction, it is not necessarily also valid in the reverse direction.

The Invalid indicator light is On as a warning that an invalid route has been loaded. See sections 3.6.3 and

3.6.4.

The middle section of the screen contains a route (label) name, current track number, last point, initial point,

initial date and time and a group of values: ATE, XTE, Heading and Course with respect to the currently

selected waypoint that is being approached. The values are green when if they comply with the InRange

criteria, and red if not.

The lower section of the mimic shows the waypoint data of the planned route as received from the planning

station:

Index number of Waypoint

Name (label of track)

Type (rhumb line or great circle)

Longitude

Latitude

Distance

Rate Of Turn (ROT)

Course

Speed

Wheel-over-point

Heading

Guard1

Guard2

The data of the currently active route leg are green.

Figure 33 - Additional waypoint information

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Figure 34 - Column switch

Due to space constraints, not all data columns may be shown at the same time. Click the or arrow

(red circle in Figure 33) to switch the last four columns.

Click the arrows of the scroll bar at right to jump to a next page of the waypoints list.

The maximum number of waypoints is limited to 1000 (waypoint 0 to 999).

3.6.2 Received Tab

The data of each route that is sent by the route planning application first appears in the Received tab. If no

Actual route is present, or if an actual route is present but the ship is not in Auto Route mode, the Received

route is automatically copied to the Actual tab and it becomes the currently available route.

If a new route is received while a route is being sailed, an alarm message: ‘Unexpected route received’ is

generated. The route remains in the Received tab. When Auto Route control is de-activated, the received

route is copied to the Actual tab, and if route control is restarted, the new route is the route that is going to

be sailed.

Press “Clear” to remove a received route.

3.6.3 Invalid Route

If a route is valid, meaning that the ship can sail the planned route, the Invalid light in both Waypoints tabs

is OFF. If the ship cannot meet certain requirements of the planned route, the route is not valid, the Invalid

light in On (red). This may be the case, for instance, if it is physically impossible for the ship to apply the ROT

required by the route. Incompatibilities with the current ship’s settings are indicated in red.

It is possible to start sailing an Invalid route, the system issues an alarm to warn the operator. The invalid

waypoints are indicated in the Waypoints list. The operator should sail the ‘Invalid’ sections of the route

manually.

To make an invalid route valid, change the necessary settings in the Route planning application. The Invalid

light is switched off.

Alternatively, edit the wheelover points in the Conning application. See section 3.6.4.

3.6.4 Edit received Route

If a route is Invalid because wheelover point information is missing or because a wheelover point is not

compliant with the ship, this can be adapted in the Waypoint mimic, be it in a slightly indirect way.

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Proceed as follows:

Load the route. Although it is Invalid, it will appear in the Waypoint mimic, Actual tab.

Activate Route Auto. The ship starts sailing the route.

Load the route again, while Route Auto remains On. The route data now appears in the Waypoint

mimic, Received tab as well. (The ‘Unexpected route received’ alarm appears. Ignore.)

Enter or edit the wheelover information in the Received tab. To do so: change the speed and/or ROT

value and press Set (Figure 35). The new value(s) are applied to the entire route, all wheelover points

are changed.

Select values that result in valid wheelover points for all waypoints.

Switch Route Auto off. The edited route data is transferred from the Received tab to the Actual tab.

Select Route Auto anew. The ship now sails the edited route.

Figure 35 - Edit Wheelover points

Figure 36 - Wheelover points edited

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3.7 Dp Waypoint Mimic

The DP Waypoint mimic provides the operator the ability to name and define pre-defined DP points.

Up to 40 DP points can be pre-defined.

Figure 37 - DP Waypoint mimic

Predefining a DP point, can be done in two ways:

1. On the ” DpWayp” mimic.

Name and coordinates of the location can be set

2. On the DP tab, at the DP mimic.

Only coordinates of the current DP point can be saved. See 5.2.2.4.

Predefining a DP point on the Dp Waypoint mimic is done in the following way:

1. Select a pre-defined DP point from the list in the DpWaypoint mimic.

2. Set the desired coordinates (Lat/Lon) by positioning the cursor over the Lat/Lon coordinates and

choose the desired numbers

Note: The Dp point on the DP tab at the DP mimic (see 5.2.2.4) will be synchronized with the chosen Dp

point on the DP Waypoint mimic.

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Setting the name of the pre-defined DP point

1. Positioning the cursor on the DP point name, (pressing the left mouse button)

2. Use the keyboard to enter the name.

If no keyboard is available, the virtual keypad appears (Figure 38); define the desired name, press

OK when finished. (With the “Aa#” button the symbols on the keypad switch into a different mode:

symbols, capital letters, numbers etc.)

Figure 38 - DP Waypoint mimic – On screen keyboard

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3.8 Panel Mimic

The mimic ‘Panel’ provides a software alternative for several of the hardware panel components.

The mimic has primarily been designed for use on a secondary control position (remote view) as an

alternative for the DPT4500 panel. However, at the bridge panel, it can be used as backup for the

corresponding hardware panel components and for troubleshooting.

For a description of the Panel options see Ref. [2].

N.B. The Dim button of the hardware panel is not present in Panel mimic.

Figure 39 - Panel mimic

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3.9 Alert Mimic

The centre part of this mimic shows the active alert list. The scroll bar at the right appears when more than

20 alerts are in the list. The alert list can be scrolled page by page. In compliance with the BAM regulations

the order is based on the alert priority; Alarms on top, followed by Warnings and the Cautions on the

bottom. Unacknowledged alerts always are placed above acknowledged alerts.

See 5.1.20 for details on the Alert component.

Figure 40 - Alert mimic

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3.9.1 Alert Icons

Each alert line starts with an icon that indicates the priority and the status of the alert. An optionally

preceding secondary icon provides additional information.

Alarm

unacknowledged alarm

unacknowledged silenced alarm

acknowledged alarm

unacknowledged alarm, while the cause of the problem has disappeared

responsibility transferred alarm

Warning

unacknowledged warning

unacknowledged silenced warning

acknowledged warning

unacknowledged warning while the cause of the problem has disappeared

responsibility transferred warning

Caution

caution

Optional preceding icons:

List of cautions that can be aggregated to one line. Click it to fold up.

One line that represents a list of cautions. Click on it to unfold the list.

3.10 Index mimic, Normal mode

The Index mimic brings up an overview with all available operator mimics and their related shortcut keys for

quick access. To use the shortcut key functionality a connected and enabled keyboard is required.

Some mimics can only be accessed through the Index list. See section 3.12 for the Position mimic. For

Heading History and Track History see sections 5.1.9 and 5.1.12.

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Figure 41 - Index mimic list, Normal working mode

3.11 Index mimic, Maintenance mode

In Maintenance working mode, the operator has access

to two additional information pages, the All Alerts page

and the Sensor IO page.

The All Alerts page lists all possible alert messages.

Switch to Maintenance mode (General mimic, View tab)

and press the shortcut key F3, or (in Maintenance mode)

go to the Index mimic and select All Alerts (Figure 42).

The All Alerts list is discussed in section 3.13.

Figure 42 - Index mimic list, Maintenance working

mode

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3.12 Position Mimic

The Position mimic is only accessible through the Index list (Figure 41). In the central area, it combines the

actuator information from the right hand side tab with the vector information from the Track or DP mimic.

The Position mimic allows the operator to show a different combination of information on screen than

possible with the Heading, Track or DP mimics.

3.13 Alerts List

Figure 43 shows the All Alerts list. The list can be filtered to show the alerts raised on either server, the View

alarms, or All alarms. The number of an active alert is highlighted in red orange or yellow, dependant on the

priority.

Figure 43 - All Alerts list

3.14 Sensor IO

The Sensor IO mimic shows an overview of all SMC external interfaces. The status and content of the sensor

messages as coming in or going out on all connected interfaces can be viewed in case of problems or for

maintenance purposes.

More specific details are provided on sub-pages that are opened up by clicking on the indicated link. Figure

44 and Figure 45 show examples of these pages.

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Figure 44 - Sensor I/O page, example

Figure 45 - SMC GPS1 interface, example

3.15 DPTpanel IO

Depending on its configuration, some stations may have access to the DPT Panel IO mimic. This mimic

provides information on the messages that the DPT-Panel sends and receives, and it allows for activation of

the software joystick and for calibration of the joystick movement with respect to the raw data that is

received.

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Figure 46 - DPT panel I/O page

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3.16 General Mimic

3.16.1 Pilot Tab

Figure 47 - General mimic, Pilot tab

The ‘Pilot’ tab contains the advanced settings for the different control modes. These settings influence the

system’s behaviour in the different control modes.

The Control limits determine when a deviation alarm is generated. The Filter and Accuracy settings

determine the level of sensor filtering and control sensitivity.

The Assist settings allow the operator to enable the (autopilot) alert(s) related to a control mode when the

ship is not in that auto mode.

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3.16.2 Position reference Tab

Apart from the pivot point, the Pos-Ref tab contains a number of additional settings that relate to the way in

which the ship’s position is presented in the user interface. Especially in DP operations, the selection may

facilitate the operator’s assessment of the ship’s movement and of the accuracy of the control system. Also

shown are the antenna positions.

The Pivot 1 and Pivot 2 activate an extra forbidden zone for the water flow of the azimuth thruster next to

the pivot point. See sections 5.1.18 and 5.6.1.

Figure 48 - General mimic, POS-REF tab

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3.16.3 Actuator Tab

The Actuator tab gives the operator an overview of all the actuators that can be controlled by the pilot

system. It shows the actuator control status and current limit settings, and offers the possibility to exclude

an actuator from the pilot system. The operator can fix one or more of the actuators in its current or in a

user-defined state (see section 5.8.2).

For a more detailed description of the various actuator options in Actuator tab, see section 5.8.1.

Figure 49 - General mimic, Actuator tab

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3.16.4 Sensor Tab

The tab ’Sensor’ shows the current status and data of the navigation sensors. For each sensor the state and

current value are shown. If multiple sensors are available, one of them is the selected sensor. For a further

description, see section 5.9.

Figure 50 - General Mimic, Sensor tab

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3.16.5 Position sensor tab

The Position sensor tab gives information about the validation of all position sensors. This mimic gives an

overview of the current status of the position sensors. It allows the operator to change automatic generate

settings to manual values. For a further description of the position sensor validation process see section

5.11.

Figure 51 - General mimic, Position sensor tab

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3.16.6 Radius and Hipap Tabs

The tabs ‘Radius’ and ‘HIPAP’ provide the operator with information from the Radius and HIPAP position

reference systems in relation to the other position data.

At left information of the targets is displayed, together with a deviation plot for comparison with average

GPS position data. At right the position of the targets in relation to the vessel is plotted in combination with

an overview of the location of the enabled position reference systems relative to the currently selected

position source.

Figure 52 - General mimic, HIPAP tab

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3.16.7 Time Tab

The tab ‘Time’ shows the system time and time from the selected GPS. It allows the operator to send a

change request to the IBS timeserver application. This is the only location where the time settings can be

modified!

Figure 53 - General mimic, Time tab

3.16.8 Manual Tab

The Manual tab allows the user to manually override input from non-navigation sensors, such as wind or

current. This may be necessary, for instance in case of sensor degradation, or when the sensor data are

disturbed by temporary distortions.

Figure 54 - General mimic, Manual tab

3.16.9 Server Tab

For a multi-server system, the tab ‘Server’ allows the user to control the server-related settings.

In case of a server failure, after bringing the server back on-line, the operator has to acknowledge in this tab

that the server can be used again. See section 5.15.1.

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Figure 55 - General mimic, Server tab

3.16.10 View Tab

The View tab contains the controls for the view options of the conning mimics. Examples of the view options

are: hidden mouse control area on or off, display options in the Track or Route mimic, and the selection of

Normal of Maintenance working set mode.

The tab also contains the option to close the Conning application.

The Client Connection option is active in Maintenance working mode only. It allows the operator to select

the server whose data is viewed on screen. In Normal mode, the Client Connection buttons are shown as

non-selectable indicator lights.

Figure 56 - General mimic, View tab

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3.17 Training Options

When the optional OBTS is part of the installation, the system can be used to simulate vessel control in a

simulated environment. The training options mimic will only be visible when the ‘Training’ working set is

activated (General mimic, View tab) and the station is configured as an Instructor station.

The instructor is able to manipulate the simulated vessel environmental conditions, introduce actuator- and

sensor failures and manipulate general training settings.

Note: After 10 minutes of inactivity at the workstation, the Normal working set is automatically activated

again.

3.17.1 Environment tab

The environment tab allows the instructor to define wind, waves and current acting on the simulated vessel.

Furthermore a wave spectrum can be selected, which relates wind to wave height and wave period.

Figure 57 - Training options, Environment tab

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3.17.2 Actuator tab

The actuator tab allows the instructor to introduce actuator (thruster) related faults, such as an actuator

power failure, or rendering the actuator out-of-service. Furthermore, failures of the actuator pitch and/or

RPM and/or angle sensors can be introduced. Finally the thrusters can be frozen in their current state or an

angle or pitch/RPM offset can be defined. All failures result in an (expected) DPT4500 control system

response.

Figure 58 - Training options, Actuator tab

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3.17.3 Sensor tab

The sensor tab allows the instructor to introduce (navigation) sensor related faults. He can introduce a

sensor power failure, or render the sensor out of service. Furthermore a sensor can be frozen in its current

state. Finally offsets and white noise can be introduced onto each specific sensor. All failures result in an

(expected) DPT4500 control system response.

Figure 59 - Training options, Sensor tab

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3.17.4 General tab

The general tab allows the instructor to reset the training system to a user defined state with respect to

position, heading, speed, depth and draught. Furthermore a random failure can be introduced, resulting in a

single sensor or actuator failure (excluding offsets and noise) at a random time interval. Finally all

introduced failures, including offset and noise can be cleared.

Figure 60 - Training options, General tab

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3.18 Hardware Panel (Training mode)

The hardware panel mimic allows the user to control all thrusters by software lever and switch the DPT

system ON or OFF.

The Hardware panel is accessed in the Index list, when in Training mode.

Figure 61 - Hardware panel, training mimic

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3.19 ECDIS Simulator (Training mode)

The ECDIS simulator mimic allows the user to load several pre-defined routes into the DPT4500 training

system. Route waypoint characteristics can be altered depending on the current simulated vessel position.

Figure 62 - ECDIS simulator, training mimic

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4. Control modes

4.1 Control Panel

When the autopilot system is activated, the ship is in either Transit or Position mode. The selection is made

on the hardware panel or in the software Panel mimic. See Figure 63.

Both for Transit and Position mode, additional control mode options are present in the left hand side ‘Pilot’

tab of the conning mimics: Sail Manual, Sail Auto, Low Auto or DP Joystick and DP Auto. By selecting one of

these modes, the ship is also automatically set in Transit or Position control mode (Figure 63, Figure 64 and

Figure 65).

Figure 63 - Mode and control mode options in software panel

4.2 Transit mode, control steer options

The Transit mode applies when sailing (large) distances. The software panel and the left hand side ‘Pilot’ tab

area of the conning mimics contains the Transit steer mode selection buttons that allow the operator to

switch between Speed Manual/Auto, Heading Manual/Auto/Optimal/Drift, and Track Off/Auto and Route.

When Transit mode is selected, the operator is given Manual control, i.e. the actuators follow the manual

lever commands. See Ref[1].

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Figure 64 - Control mode selection on Conning - Transit

4.2.1 Heading modes

If the Heading indicator Auto is on, the system acts as an advanced autopilot. At least one actuator needs

to be available that has sufficient influence on the ship’s heading.

If the indicator ‘Auto’ flashes, this indicates that an auto heading control position is in error, for instance as a

result of a necessary compass instrument not being available.

Optimal heading is selected automatically when in Track Auto mode. In this mode, the system calculates

the heading that requires the minimum amount of energy for keeping to the track.

Drift heading is only available in DT Slow mode, see section 4.2.3.

4.2.2 Speed modes

Select Speed Auto to activate the speed pilot. The current speed is taken as setpoint. To change the speed

setpoint, enter the required value in the speed setpoint entry field (see Figure 105).

4.2.3 Low speed modes

For some kinds of offshore vessel operations, high accuracy track keeping is required. A special low speed

control mode, Sail Auto Low Speed (Figure 64), with a set of control algorithms and settings specifically

designed for low speed (< 4kn) track sailing, offers this precision. The most important feature is that the

tunnel thrusters can be used by the pilot system.

If Sail Auto Low Speed mode is activated while in Heading Auto mode, the Panel mode is Medium Pilot.

The mode is similar to Sail Auto, but the system can use the tunnel thrusters to keep heading.

If Sail Auto Low Speed is activated while in Course Auto mode, the system automatically selects the panel

option DT Slow. The ship moves along a track line, at very low speed. The pilot system is allowed to use the

tunnel thrusters. Heading mode is Optimal.

In DT Slow mode, however, the Heading mode Drift becomes selectable. (If DT Slow is selected on the

hardware panel, Drift is the default heading mode.) With Heading Drift mode, the operator can specify a

course setpoint and an angle between the ship’s course and its heading, the Drift angle. When the course

setpoint is changed,, the heading setpoint changes as well in order to maintain the Drift angle.

Figure 65 - Steer modes

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Apart from the Heading modes Optimal and Drift, the Heading mode Auto is also available in DT Slow

mode. In that case, the operator specifies a course setpoint and a heading setpoint. See also Ref. [1]. When

the course setpoint is changed, the heading setpoint remains at its setpoint value.

The panel option DT Medium mode should be used in Auto Track mode and Sail Auto Low Speed mode at

slightly higher, but still low, speed. The heading mode is Optimal. The difference with the DT Sail panel

option is that in DT Medium mode the pilot system is allowed to use the tunnel thrusters to keep to the

track.

For more information on DT Slow, DT Medium, Low Auto and relevant Heading modes, see also Ref.

[1].

4.3 Position mode control and steer options

When the ship must engage in dynamic

positioning, Position control mode is selected in

the (hardware or software) panel, or by selecting

one of the DP steer options, DP Joystick or DP

Auto (Figure 64 and Figure 67).

In Position control the left three buttons in the

control mode mimic adapt to this mode

See Ref. [1] for a more detailed operational

discussion of the DP system.

Figure 66 - Control mode selection on Conning - DP

4.3.1 DP Track modes

With the DP Track control mode it is possible move the DP point forward or backwards along a track line.

When clicking the “Dp Track” button this mode is activated, defining the track line over that moment’s

position with that moment’s heading as course setpoint.

The button “DP Route” activates a similar mode, in which the DP point can be moved over a route.

DP Route can only be activated if a route has been loaded and the route is in range, as shown by the

appearing “InRange” indicator. The criteria for being in range are similar to those for the route pilot in

transit mode (see ref [1]), but are independent from the heading and course.

The “Track Off” button deactivates the DP Track or DP Route modes, making it fall back on DP Auto.

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4.3.2 DP Position

If the ship is in Position (DP) mode, the left hand side ‘Pilot’

tab area contains the steer mode selection buttons that

allow the operator to select which motions are to be

controlled Automatically by the DPT system, and which

motions are to be controlled manually by the DPT Joystick

(Figure 67). (The options are also available on the hardware

and software DPT panel.)

When the Position option on the panel is selected, the

operator is given Joystick command for all motion

directions.

Figure 67 - Steer mode selection buttons

If Heading Optimal is selected, the system calculates and uses the heading value that requires the minimum

amount of energy for station keeping. See section 5.2.4.

The Surge, Sway and Heading Line-up functions move the DP setpoint in such a way that the required ship

movement in the selected direction(s) becomes zero.

The Position Line-up button moves both Surge and Sway and thus effectively moves the DP setpoint to the

current ship’s position. See also section 5.2.2.5.

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4.3.3 Plough Mode (Optional)

The Plough Mode can be activated through the control

mode selection button: Plough Mode. This mode will only

be active during DP auto modes , and the DT-slow mode.

The Plough mode button will activate a number of

functionalities:

1. The measured plough forces/moments will be

taken into account while operating in the DP

modes or in the DT-slow mode

2. Automatic adjustment of filter/control gains based

upon the measured plough forces/moments.

3. Automatic adjustment of the speed setpoint if

applicable

4. Switching from DT-slow to DP-Auto if applicable

5. Extra alarming functionality related to the plough operation will be activated

Figure 69 - External Force/moment indication

Figure 70 - Plough mode speed reduction

Figure 68 - Control mode selection on

Conning- Plough Mode

External Yaw momentum

visualization

External Force x/y plane

indication

Orange speed setpoint

indication, as speed setpoint is

being automatically reduced

by the plough module, due to

large plough forces

Alarm indicating that the

speed setpoint is reduced due

to large plough forces

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4.3.3.1 Plough mode resume speed functionality In case the speed setpoint is reduced in the DT-slow mode due to the plough

mode functionality, the speed setpoint is coloured orange. Next to that a

resume button appears, this resume button will set the speed setpoint to the

value prior to the automatic speed reduction. The speed reduction occurs in

case of either too large plough forces/moments, or specifically a too large

roll momentum.

4.3.3.2 Plough mode, mode switch functionality In the DT-slow mode, the situation can occur that the vessel is not able to keep track with the set speed due

to the large external plough forces/moments,

if the vessel is still not able to keep track and speed after a predefined amount of time of automatic speed

reduction, the system will switch automatically to the DP auto mode. An alarm is generated, indicating this

automatic switch over.

Figure 73 - Plough Mode automatic mode switch DT-slow -> DP Auto

Figure 72 - Plough mode, alarm indicating automatic speed setpoint

reduction due too large roll momentum

Figure 71 - Plough mode

resume speed functionality

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4.3.3.3 Plough mode, functionalities The following plough mode functionalities are not specifically visualized in the conning:

1. The measured plough forces/moments will be taken into account while operating in the DP modes

or in the DT-slow mode

2. Automatic adjustment of filter/control gains based upon the measured plough forces/moments.

The measured plough forces/moments are visualized in the Conning on the General/Sensor page (see

Figure 74.

Figure 74 - Plough Mode Force/moment measurements

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5. Components

A component can be described as a mixture of text, pictures and numbers designed as a stand-alone entity

providing information and controls for a single topic.

Many integrated components are interactive. They can be set in another mode, to another scale, or to

another set point. All HMI / mimic components are designed to display a specific portion of navigational

information as clear and efficient as possible.

All components can be switched to day, dusk or night colour settings.

When a fault occurs, when the measured value is out of range, or when the measured value is not integer,

the component will show this by replacing the values by void-characters like red “****”.

If a component is in alarm it is not interactive anymore, until its alarm status is rectified.

5.1 Conning mimic components

5.1.1 Position control

A station in the DPT 4500 bridge configuration can either be In Control or not.

When in control, the operator has access to the pilot system, the relevant

options in the conning screen become active.

Only one position can be in control at the time.

In the left hand side Pilot tab, two indicator lights indicate whether the current

conning position is in control or not.

If the conning is in control, the Desk light is green. In the top bar of the

conning, the control indicator is a solid green circle.

When the conning position is not in control, the Remote indicator light is

green. In the top bar of the conning, the control indicator is an open green

circle.

For the Take Over Control procedure, see [1].

Figure 75 -

Position control

indicator

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5.1.2 Wind indicator, Set + Drift

The wind indicator displays the speed and direction of the

wind in image and in number. The measured wind on board

a vessel is the relative wind, actually felt during sailing.

Relative wind is indicated with a green arrow, its actual

strength and direction is shown in the data fields inside the

compass circle.

True wind is calculated from the heading and speed of the

vessel. It is indicated with a white arrow, and its actual

values appear in the data fields at lower left. The grey label

at bottom left shows the name of the currently selected

wind sensor.

The Set + Drift data fields give an indication of the

unknown disturbances that may cause an unavoidable

steady state error. Assuming the ship’s model to be

accurate and other forces (wind, waves etc.) known, the

only unknown factor is the water current.

Figure 76 - Wind indicator

The values shown at lower right in the wind indicator are

the true directional and true speed values that the pilot

system, from the ship’s behaviour, has calculated for this

‘current’ effect.

The direction is indicated with a white triangle in the

compass circle.

If a manual value for True Wind or Set + Drift is applied

(5.14.1), this is indicated by a yellow label ‘Manual’

underneath the data field(s).

Figure 77 - Manual

true wind value

applied

Figure 78 - Manual

set and drift values

applied

5.1.3 Position indicator

The Position indicator displays the available position data

and the name of the sensor from which the data is acquired

(GPS2 in Figure 79). The sensor is selected in the Sensor tab

of the General mimic (sections 3.16.4 and 5.9).

The green field preceding COG shows the track auto mode,

COURSE (in this example), ROUTE, DP or JOYSTICK. When

neither is activate, this element reads ‘Off’.

In case the integrity or plausibility of the delivered position

and/or speed is not good, the coordinates and/or speed

are displayed in yellow.

Figure 79 - Position indicator

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The CCRP position is indicated on the ship’s outline in the

conning mimics with a small double circle and horizontal

line. Figure 80 - CCRP

When the auto mode is about to degrade, the green

mode label alternates with a yellow timer counting

down to the moment of degradation.

When no position data is available, instead of the

sensor name a yellow text ‘DR’ alternates with a

timer, indicating that the system is dead reckoning.

Once the DR time has elapsed, the position data is

replaced by red stars, and the name of the sensor

appears on a red label.

Figure 81 - Alternating DR and Degradation timers

5.1.4 Compass component

Presentation in the compass rose can be Heading up or North

up. In Heading up mode, the silhouette stays pointing upward

and the compass rotates underneath. When the compass is

switched (left click in the centre of the compass) to North up

mode, North stays at the top of the compass and the silhouette

rotates over the compass, together with the white triangle.

The compass rose displays the ship’s silhouette. The present

heading of the ship is shown as a white triangle.

In Figure 82, the ship is in Heading Auto mode, the heading

setpoint is indicated with a green triangle.

Figure 82 - Compass component,

North Up, Heading Auto mode

In Figure 83, the ship is in Track Auto mode, the COG setpoint is

indicated with a small green line.

Figure 83 - Compass component,

Heading Up, Track Auto mode

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5.1.5 Heading control component

The Heading Control component displays the heading information, both graphically and numerically.

Depending on the control mode (Manual, Auto Heading, Auto Track, Auto Route, Joystick, DP), some of the

elements change or disappear.

Heading control mode (OFF, MANUAL, AUTO or OPTIMAL)

Rate Of Turn (ROT) (value and bar)

ROT limits (white arrows below bar)

Heading (value and vertical green line in compass bar)

Heading set point (value at lower right and green triangle in compass bar). The setpoint is editable

in Heading Auto mode.

‘Off Heading’ limit (two white/red small bars in compass bar). See below.

Heading source (lower left corner)

In Track Auto mode, the heading setpoint entry

field is no longer editable and shows the

heading value that the pilot system calculates to

come on, or keep to, the track. The Track set

point is then shown as a small green bar at

compass bar.

Off heading limit

If applicable, two red short bars (or white if the

results of the adaptive control algorithms for

heading fluctuate within a specific time interval)

at the compass bar indicate the ‘OFF HEADING

LIMIT’. This limit can by defined by the operator

in the Pilot tab of the General mimic (section

3.16.1). Alternatively, point at the base line of the

heading bar with the cursor and click.

Figure 84 - Heading control component, Heading Auto

mode

Figure 85 - Heading component, Track Auto mode

5.1.6 Change heading setpoint

The Heading setpoint can be changed in several ways:

1. Enter the required value in the entry field at lower right.

This field is editable when in Heading Auto mode. A value

above 360 or below 0 cannot be entered.

Figure 86 - Heading setpoint in entry field

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2. Click at the required value inside the compass bar (cursor

in ‘hand shape’). The position of the green triangle and

the numerical value are updated.`

Figure 87 - Heading setpoint in compass bar

3. Move cursor in the black circle of the compass rose.

Cursor turns to ‘hand shape’. Click at required value.

Figure 88 - Heading setpoint in compass

rose

If the heading setpoint differs less than 90º from the actual heading, the maximum allowed heading change

is 175 º. If the setpoint differs more than 90 º from the actual heading, the maximum setpoint change away

from the actual heading is 90º.

Rate of Turn

The Rate of Turn (ROT) displays the change of heading in

time. It is shown graphically as a bar, and as a number.

Two triangles below the bar indicate the current ROT limits

that the autopilot will apply as an average ROT for

manoeuvring. To change the limit settings: point with the

cursor at the bar (cursor turns to ‘hand shape’), move

pointer to required value, and click.

The scale of the ROT bar can be toggled between 60 and

120. Position the cursor over the end value (60 or 120)

and click.

Figure 89 - Change ROT limit setting

5.1.7 Heading Control component with Drift Angle indicator

The hardware DP panel contains the control mode DT Slow (see Ref. [1]). In this mode, at slow speed, the

pilot system is able to control the ship’s heading and course independently. Contrary to the other modes,

DT Slow mode has no built-in thruster limitations. It is also the only control mode where reverse thrust from

the main propulsion actuators is used to decelerate to a lower speed. The effectiveness of this mode

depends on the effectiveness of the tunnel thrusters. The theoretical limit for forward speed in DT Slow

mode is 4kn, but if the tunnel thruster performance degrades quickly with increasing forward speed, the

practical limit may be as low as 2kn.

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When DT Slow is activated, the operator can specify

a Drift angle to be maintained between the ship’s

Heading and Course. On the hardware panel the

angle is set with the Set Angle rotation knob; in the

conning screen a value can be entered in the Drift

angle entry field that, in this mode, appears in the

Heading component.

Figure 90 - Drift angle entry field

Figure 91 and Figure 92 show a ship in DT Sail (i.e. Track Auto) and DT Slow mode, respectively. Heading is

indicated by a green triangle; Course by a small green line (just left of track line in the circle segment in

Figure 92).

Figure 91 - Ship in DT Sail (Track Auto) mode

Figure 92 - Ship in DT Slow Drift Angle mode

The drift angle can also be used in the DP Track and DP Route control mode (see section 4.3.1) to define the

angle between the heading and the track.

5.1.8 Heading error indicator

If in Heading Auto mode, the Heading Error

indicator displays the deviation of the actual

heading from the heading set point value as a

number and as a bar graph. A green arrow pointing

right indicates an error to starboard; a red arrow to

the left indicates an error to port side.

Figure 93 - Heading error indicator

The scale of the bar can be toggled between 10 and 30. Position the cursor over the end value (10 or 30)

and click.

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5.1.9 Heading History

The Heading (error) History can be displayed graphically

by bringing up the Heading History component. Select the

mimic in the Index list, or use the Shift + H short-cut key.

The Heading history component appears in the central

mimic area and shows the heading error on a grid.

Two white or red (see section 5.1.5) lines indicate the

currently defined Off Heading limit, and a thin green line

on the front grid line moves with the heading error bar.

Click in the component to zoom in and out.

Figure 94 - Heading History component

5.1.10 Track Component

The track component shows a ship symbol within a compass repeater with Speed Over Ground (SOG)

indicators for forward speed and lateral speed at the bow and stern.

Each SOG indicator is accompanied by a triangle/arrow indicating the speed direction.

The track is indicated by a green line; the ship’s past track by a grey line.

The green arrow represents the heading setpoint

that the system calculates as needed to come on

track or keep to the track, the small green bar is the

Course (Track) setpoint.

Click in the compass area to zoom in our out.

Further view options of the track component: plot

time interval and ship history presentation, are

found in the View tab of the General mimic (section

5.16.5).

Figure 95 - Track component (Auto Track mode)

5.1.11 Track error indicator

The current Track Error is presented as a numerical

value and as a bar graph underneath the track

component. Track error is shown when the ship is

sailing in Auto Track or Auto Route mode.

Figure 96 - Track error indicator

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A green arrow pointing right indicates an error to

starboard, a red arrow to the left indicates an error

to port side.

The scale of the bar can be switched between 30

and 90 m. Move the cursor over the end value (30 or

90) and click.

5.1.12 Track History

The Track (error) History can be displayed

graphically by bringing up the Track History

component. This can be done in the hardware panel

(press the Track History button), by selecting the

mimic in the Index list, or by directly using the Shift

+ T short-cut key.

The Track history appears in the central mimic area

and shows the tack error on a grid.

Two red lines indicate the currently defined Off

Track limit, and a thin green line on the front grid

line moves with the cross-track error bar.

Click in the component to zoom in and out.

Figure 97 - Track history

5.1.13 Line shift component

Line Shift (left tab area: Track, or right tab area:

Route) allows the user to shift a defined track over a

certain distance to port or starboard, for instance

when dredging trenches or shooting a seismic

survey.

Define a shift increment by increasing or decreasing

the numerical value with the mouse or tracker ball.

Figure 98 - Line shift component

If the mouse cursor is pointed over one of the shift arrows, a tool tip with the proposed shift is shown. The

new, shifted, track line starts blinking in the screen.

Click on the shift arrow to actually shift the track.

If the mouse cursor remains over the tool tip, a next shifted (over the same distance) track line starts

blinking in the screen.

Repeat the shift as many times as necessary.

When the mouse cursor is moved away from the shift arrows only the new track is visible on screen.

Line Shift is only available when Track Auto is active.

When DP Route mode is active, the label “Track Shift” is replaced by label “Route Shift”, providing the same

functionality to the actual route leg.

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5.1.13.1 External Line/track shift component The external line shift option enables the system to receive line

shift orders from a secondary system.

In order to activate this option the button “external” has to be

activated. When this option is active an caution will be triggered.

5.1.14 Route component

The route component shows the user relevant route information. The time and distance for the next wheel

over line and next waypoint are given. The position of the waypoint where the vessel is sailing to, the

current course over ground and planned speed are displayed, also for the next waypoint. The name of the

route and waypoints names are given.

It is possible to get the ETA of each waypoint with the current speed, planned speed or a user defined

speed.

Figure 99 - External Line/track shift component

Figure 100 - Caution external track shift input enabled

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5.1.14.1 Route shift When the Auto Route or DP Route is active, it is

possible to shift the complete route over a certain

distance to port or starboard, using Route Shift (left

tab area: Track and right tab area: Route).

The shift increment can be defined by increasing or

decreasing the numerical value with the mouse or

track ball. If the mouse cursor is pointed over one of

the shift arrows, a tool tip with the proposed shift is

shown in the DP mimic or Grid as the new and

shifted route starts blinking. Click on the shift arrow

to actually shift the route.

If the mouse cursor remains over the tool tip, a next

shifted (over the same distance) route starts blinking

in the screen.

Repeat the shift as many times as necessary.

When the mouse cursor is moved away from the

shift arrows only the new route is visible on screen.

A shift is performed to port or starboard of the ship,

i.e. if the route is a closed route, its shape (= length)

will increase or decrease.

When DP Route is active, it is possible to define the

Route Step in a similar way as the increment.

After clicking the arrow button of the route step, the

DP point moved over the course line.

Figure 101 - Route component

Route Line up

The Route Line up function (left tab area: Track) moves the route so that the track error is reduced to zero.

I.e. the new route runs through the ship’s pivot point (centre point).

5.1.14.1.1 External route shift The route can also be shifted by an external input

from a secondary system. To enable the shifting of

the route by an external input the option has to be

activated through the “external” button. Activating

this option will trigger a caution, indicating that

the option is active.

Figure 102 - External Route shift component

Figure 103 - Caution External route shift enabled

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5.1.14.2 Sailing backwards along a route In some instances it may be necessary, or desirable,

to sail backwards along the track of a route. This is

possible in DT slow mode. By changing the required

in a negative value the ship will sail backwards over

the route.

Figure 104 - Negative speed setting

5.1.15 Speed numerical component

The Speed numerical component shows the STW

and SOG, the currently selected speed sensor (if

more than one present), and the speed setpoint

entry field.

Edit the speed setpoint by increasing or decreasing

the digital numbers.

The green label ‘Auto’ indicates that speed is

currently in automatic mode, under pilot control.

5.1.15.1 External speed setpoint The ability exists to receive external speed setpoints

from secondary systems. Enabling this functionality

should be done in the conning by selecting the

option “external”. Selecting this option will result in a

caution indicating that this function is active.

Figure 105 - Speed numerical component

Figure 106 - External speed setpoint

Figure 107 - Caution, External speed input enabled

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5.1.16 Depth indicator

The depth indicator displays depth measured by the

depth sensors as a numerical value, together with

the depth history over the last 1, 2, 10 or 60 minutes.

Click on the time value at the X-axis to change the

period.

The depth range can be set at 10, 50, 100, 150 or

200 m. Left click on the depth value at the Y-axis

(100 m in Figure 108).

Figure 108 - Depth indicators

The red line represents the ship’s draught, the light and darker blue lines show the depth measurements of

the FWD and AFT depth sensors, respectively.

5.1.17 Tunnel thruster indicators

The tunnel thruster indicators display the currently

generated thrust of the bow and stern thrusters in a

bar graph and as a numerical value. The thrust is

represented as a percentage of maximum thrust.

The white lines on the bar represent the currently set

thrust limit values (section 5.8.1).

Figure 109 - Tunnel thruster indicators

The tunnel thrusters are only used by the pilot system in DT Medium and DT Slow mode. See Ref. [1].

When in DP mode, the colour of the bar can change from green to yellow to red. These colours are an

indication of the amount of thrust that is applied:

The bar is green when the thruster is operating at less than 60% of its set limit.

A yellow bar means that the thruster is operating at more than 60% of its set limit.

When the thruster reaches it maximum the bar turns red.

Maximum thrust can be less than 100% because

1. the operator has set a thrust limit value (white lines on bar in Figure 109, see section Actuator

status limits) or

2. because the thruster recognises a situation that makes application of 100% thrust undesirable. The

thruster then reduces its thrust output and the bar may turn red at a thrust percentage below

maximum, indicating a reduced state.

For the ‘Auto’ option, see section 5.8.1.

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5.1.18 Azimuth thruster indicator

The azimuth thruster indicator shows the azimuth angle

and the currently generated thrust. The thrust is

represented as a percentage of maximum thrust. The

data is represented as numerical values and graphically

indicated by a vertical bar graph and a rotating thruster

symbol. The azimuth angle and thrust setpoints are

indicated by the green arrows.

Figure 110 - Azimuth thruster components

When azimuth thrusters propulsion and/or angle is limited by the operator (section 5.8.1), white lines in the

% bar and the picture indicate the current limit settings.

The lines only appear when the limits are set lower than the built-in maximum values (100% and 45°).

Orange lines in the % bar indicate the thrust limits as provided by the PMS.

The thruster information is shown separately for each

azimuth thrusters, both in the right actuator tab (Figure

110) and underneath the mimic’s central area (Figure

111).

When in DP mode, the system should take care that the

water movement generated by one thruster does not

interfere with the other thruster. A certain range of

azimuth values (in combination with specific movement

direction) is not allowed. These limits are specified by the

user in the General mimic Actuator tab (section 5.8.1) and

are indicated by the ‘forbidden’ part of the azimuth

circumference being coloured red.

Figure 111 - Thruster angle bar and value

Figure 112 - Azimuth thruster DP mode

If Pivot point 1 or 2 is used, an extra ‘forbidden’ zone for

the water flow of the azimuth thruster next to the

relevant pivot point is applied (Azimuth Stbd in Figure

113). See section 3.16.2.

Figure 113 - Forbidden zone azimuth thrusters

related to Pivot point

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If a thruster in DP mode is operating at more than 60% of

its maximum allowed thrust, the colour of its bar graph

turns yellow (Figure 114)

Figure 114 - Azimuth thruster DP mode operating

at more than 60% of max thrust

5.1.18.1 Preferences – Bias Azimuth thrusters With the Preference option, the operator forces the system to adopt an initial position for DP or very slow

transit operations. The thrusters rotate to a position in which they are opposed to one another and will try

to stick to this position as long as possible. When too much thrust is required to perform the current

operation, the Preference setting is lost.

To activate the Preference setting, press the Bias button. By default the setting is Off.

N.B.

Bias can only be activated in DP or DT Slow mode.

Bias applies to both thrusters; it is not possible to activate Bias for one thruster only.

5.1.18.2 Preferences – Bias Propellers With the Preference option, the operator forces the system to adopt an

initial setting of the propellers for DP operations. The propellers start with

an initial amount of thrust. That is: Either: The PS propeller

is continuously providing a minimum amount of forward thrust,

(with as result that the STBD propeller is continuously

providing a minimum thrust in the aft direction: or within the other mode

the STBD propeller is providing continuously a minimum amount

of forward thrust. (with as result that the PS propeller will continuously

provide a minimum thrust in the aft direction

Figure 115 - Propeller PS bias

mode

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In case the demanded forces/moment cannot be

obtained due to the Bias mode, the bias mode will

be switched off automatically by the system.

To activate the Preference setting, press the Bias button.

By default the setting is Off.

N.B.

Bias can only be activated in DP or DT Slow mode.

The propeller bias mode is specifically designed for specific weather

conditions (no to low disturbances). During station keeping, (so not during

position shifts within the DP auto mode)

Using the propeller bias mode within conditions different from its design

conditions, will have its adverse effect upon the DP performance.

5.1.19 Power component

The Power numerical value indicates the load (bar

and numerical value) that the Power Management

System currently provides to the Main Switch Boards

1 and 2.

The orange line in the bar indicates the maximum

allowed power. This may be limited to a value less

than 100% (100% equals nominal power of

converters).

Figure 117 - MSB component

The colour of the bar is a quick visual indication of the currently applied power as compared to the

maximum allowed power:

Green: power at less than 60% of max

Yellow: power at more than 60% of max

Red: power at maximum

Figure 118 - Power component, Busbar closed

The colour indication is only active when in DP mode.

If, in Transit mode, the MSB 1 and 2 are connected (bus bar breaker closed) this will be indicated in the

Power component by a vertical connection between the MSB1 and MSB2 numerical entry fields.

Figure 116 - Propeller STBD

Bias

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5.1.20 Alert component

The active alert list is shown in the Alert

component. A scroll bar appears at the

right when more than 20 alerts are in the

list. The alert list can be scrolled page by

page. In compliance with the BAM

regulations the order is based on the alert

priority; Alarms on top, followed by

Warnings and the Cautions on the

bottom. Unacknowledged alerts always

are placed above acknowledged alerts.

The alert list in displayed in order of

priority:

1. Unacknowledged Alarms

2. Unacknowledged Warnings

3. Acknowledged Alarms (and Alarms

with responsibility taken over by

another system)

4. Acknowledged Warnings (and

Warnings with responsibility taken

over)

5. Cautions

Figure 119 - Alert component

Each alert is listed in the following format:

Triangle arrow (to unfold/fold group alerts, only if applicable)

Status of the alert (icon)

Time stamp indicating when the alert was generated

Description of the alert optionally with an follow-up advice.

When an alert with priority Caution occurs the following happens:

The Alert button at the top of the mimic screens turns yellow and starts blinking.

A blinking alert line appears in the list in the Alerts mimic.

30 seconds after appearance the alert moves to the group “Caution alert(s)” represented with one alert

line. This group can be unfolded/ folded by clicking on the preceding arrow.

A Caution does not produce sound, nor needs acknowledgement.

When an alert with priority Alarm or Warning occurs the following happens:

An alert sound is generated (only at the active control position).

The Alert button at the top of the mimic screens turns red (Alarm) or orange (Warning) and starts

blinking.

The Alert mimic may be automatically be forced (see 5.16.2)

The Silence button at the top of the mimic turns yellow and starts blinking.

A blinking alert line appears in the list in the Alerts mimic.

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The “ALARM” button on the DPT-Panel starts flashing.

If due to the alert a field no longer has information available to display, red stars “****” are shown

instead.

If the alert implicates an abnormal value, the field for this value displays yellow characters.

All alerts from the backup server appear as Cautions, grouped under the line “Standby Alert(s)”.

In some cases an alert line can change automatically:

If an alert is not accepted but the alert condition has disappeared, the icon in the alert message line

changes (see Section 0).

An acknowledged alert whose alert condition is rectified is automatically removed from the list.

If the operator changes to a different control mode, the priority of alerts may change according the

demands of that new mode.

To acknowledge a warning or alarm click left on the short description in the alert list.

All alerts have to be accepted are accepted per line. ECC and ACC alerts and alarms can also be accepted by

left clicking on the ECC/ACC button.

If certain alerts are not acknowledged within a defined time they may escalate.

Warnings escalate to alarm.

Alarms may initiate the BNWAS alarm.

Note that for the group alerts (Standby Alerts/ Caution

Alerts) the side tab alert component differs a little from

the main alert component, due to less screen space.

Instead of the triangle buttons a plus or minus symbol is

displayed to unfold/ fold the group and all is aligned to

the left.

Also there’s space for less lines (see Figure 120).

Figure 120 - Side tab alert component

5.1.21 Distance component

The Distance component records the distance that the

ship has sailed from any user defined moment onwards.

Distance is calculated as current Speed x Time, in which

Log Distance and Log Day Counter use the current STW,

and GPS Distance and GPS Day Counter use the current

SOG.

The two different values, Distance and Day Counter, allow

the user to record a cumulative and a specific distance

value.

Figure 121 - Distance indicator

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5.2 Dynamic Positioning functionality

5.2.1 DP component

In DP mode, the DP component, i.e. the central area of the DP mimic, displays data required for dynamic

positioning and high-precision, slow speed navigation.

It shows:

Longitudinal SOG and transverse SOG aft as well

as forward, needed for DP navigation.

Track history (grey line)

DP actuator force vectors at relevant ship’s

position

DP set point

Range circles around the DP set point

DP Guard limit (red circle)

Optimal Heading heading (yellow arrow) and

sector (circle segment). See section 5.2.4.

Ring distance and scale at top left and right

Figure 122 - DP component

When not in Position control mode, the DP component does not display range the circles. Depending on

control mode, it displays the heading setpoint (Auto Heading), course line (Auto Track), or planned Track

(Route control). For further display options, see section 5.2.4.

5.2.2 DP setpoint definition

The DP setpoint can be defined in the following ways.

Graphically in the DP component or Route mimic (section 5.2.2.1).

By shifting the current DP point over a certain distance. See section 5.2.2.2 .

By specifying a DP setpoint. See section 5.2.2.3.

By using a saved DP setpoint. See section 5.2.2.3.

Using the Line-up functions. See section 5.2.2.5.

By moving it along a track or route. See section 5.2.2.6

By following a target. See section 5.2.2.8

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5.2.2.1 Set DP point graphical in the DP component To change the DP point in the DP component:

Click right in the DP component. The cursor

changes to DP mode, and the proposed shift is

shown. Click at the required DP setpoint

position.

Click left, and confirm the shift in the DP shift

confirmation window.

Click right again to close DP mode. The cursor

returns to normal shape.

The same can be done in the grid of the Route

mimic (Section 3.4).

Figure 123 - Set DP point in DP component

5.2.2.2 DP point translation component The DP setpoint can be moved with the DP point

translation component. The translation can be

specified as

shift in XY (surge/sway) direction, expressed as a

move forward or backwards, to starboard or to

port side, over a user defined distance. Moves

astern and to portside use negative values.

shift along a bearing line from the current

heading of ship.

shift in a course direction relative to the North.

Click on type name to switch between direction

types.

enter the shift increment in the entry fields.

position the cursor over the Go To button, the

new position starts blinking in the DP

component.

Press Go To. The new position is accepted.

Figure 124 - DP point translation component

5.2.2.3 Specify and save DP setpoint Specify a DP setpoint by its co-ordinates.

Enter the co-ordinates in the DP points entry fields in the left DP tab area (Figure 125).

press GoTo. The system accepts the coordinates as the new DP setpoint.

The current DP setpoint can be saved for re-use at another time. Four different points can be stored (Saved

DP points), each with their own identifying number (1 – 4).

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Select a ‘Saved DP point’ number: position the

cursor over the number and click to the required

number.

Press ‘Save’. The current DP point is saved. If a

DP point with this number already existed, this

is overwritten.

Figure 125 - saved DP point

To use a saved point as DP setpoint, select the number and press Go To. The ship moves to the selected

Saved DP point.

5.2.2.4 Save and Go To pre-defined DP setpoint (DP setpoint library present) Go to a pre-defined DP setpoint (can also be done on the DP Waypoint mimic see 3.7) .

Scroll through the pre-defined DP setpoints by clicking on the arrows next to the DP setpoint name.

To use the selected DP setpoint , press Go To, the ship moves to the selected pre-defined DP setpoint

The current DP setpoint coordinates can be saved for re-use at another time. Forty different points can be

stored, each with their own name .

Select a ‘Saved DP point’ name: position the

cursor over the arrows, click towards the desired

name

Press ‘Save’. The current DP point coordinates

are saved under the visualized name. The

selected DP point coordinates will be

overwritten by the current DP point coordinates.

Figure 126 - saved DP point

5.2.2.5 Line-up DP setpoint The DP setpoint can also be changed with a line-up

function.

- Surge, Sway, Heading

- Follow-up

- Track, Route

Figure 127 - DP line-up

The Surge, Sway and Heading Line-up functions move the DP setpoint in such a way that the required ship

movements in the selected direction(s) becomes zero. The Position Line-up button moves both Surge and

Sway and thus effectively moves the DP setpoint to the current ship’s position.

While in DP Track or DP Route mode, the DpPnt line-

up button moves the DP point to the closest position

on the line.

Figure 128 - Line-up DP point to track

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5.2.2.6 Stop When clicking the STOP button (Figure 129) while the

vessel is in a DP mode, the DP point will be moved to

the closest position/heading for which it is possible to

stop the vessel, according the control algorithms

depending on the actual vessel speed.

Figure 129 - DP point on stop

5.2.2.7 Track Step and Route step While in a DP Track mode (see section 4.3.1) the DP point can

be moved forward or backwards over a track or route. The

increment can be defined by increasing or decreasing the

numerical value with the mouse or tracker ball. When the

cursor moves over the arrow button the new position starts

blinking in the DP component. Clicking on the applicable

arrow button moves the DP point with the defined step.

Figure 130 - Route step indicator

5.2.2.8 Follow target To activate the follow-target mode the following two steps have to be taken:

1. Enable the beacons. In the General, relative

sensor tab (e.g. Hipap, Radius) the beacon

follow target function has to be enabled and for

all individual beacons the following target

average has to be enabled.

Figure 131 - General, relative position sensor tab

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2. Activate in the DP tab the follow target and/or

heading mode.

Figure 132 - DP mimic with following target mode

activated

If the following target position mode is activated a yellow pointer occurs at the vessels position.

The yellow pointer moves along with the target movement with a constant bearing and distance to the

target. When the yellow pointer reaches the follow target guard limit (yellow ring) the DP position set point

is moved to the yellow pointer again.

The surge and sway error are of the specified DP position set point.

Figure 133 - Target cursor reach the follow target guard

limit

Figure 134 - Vessels position setpoint is moved to the

yellow pointer

The follow target heading works similar. When the target heading exceeds more than the follow target off

heading limit the vessels heading set point will change to the new target heading.

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The follow target heading limit and the follow target DP guard limit can be changed in the general, pilot tab.

Note: Keep in mind that the DP speed limit and maximum ROT are sufficient for the target speed and target

ROT.

5.2.3 DP position error indicator

The DP position error component indicates the

distance between the ship’s pivot point and the DP

setpoint. The arrows indicate the direction in which

the ship should steer to regain the DP point.

Figure 135 - DP position error indicator

The small lines at the bar represent the current limit settings: red when the limit is on, grey when the limit is

suspended. The green bar turns yellow when the position error reaches 60% of the limit setting.

The scale of the bar can be toggled between 10 and 30 m.

The DP position error can also be shown as

deviation values in the surge and sway directions.

Position the cursor over the component’s name

and click left to switch between Position and

Surge/Sway error values.

Figure 136 - DP position error, Surge and Sway

5.2.4 Optimal heading component

The Optimal heading is the heading that requires

the minimum amount of energy for station keeping

(or slow speed sailing along a track).

To prevent the ship from attaining an impractical

heading during DP operations, the user can restrict

the optimal heading calculation to a sector around

the heading set point (Figure 137).

Figure 137 - Optimal heading component

The calculated optimal heading is indicated as a green numerical value, and as a yellow triangle in the DP

component and the header bar. See Figure 157.

Figure 138 - Optimal heading example

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5.3 Consequence Analysis

Consequence Analysis is a functional requirement for DP class 2 systems. It assesses the ship’s capacity to

maintain its position and heading in case single equipment failure occurs while the ship is engaged in

dynamic positioning. If a worst-case single failure (in the ship’s power supply system or actuators) would

jeopardize the dynamic positioning operation, a warning or alarm is given.

Consequence Analysis (CA) can only be active when:

1. The DP operation is fully automatic, i.e. all three motions, Surge, Sway and Heading, are

automatically controlled by the system.

and

2. The DP guard limit is active.

The colour of the outline on the indicator shows the status of the DP operation.

5.4 Virtual Joystick component

With the virtual joystick, the operator can apply joystick

control to one or more of the ship’s motions when in DP

(Position) mode, provided the software panel is enabled.

The software panel can be enabled in the DPT Panel IO

mimic (section 3.15). Switch the Joystick Enabled button

(which relates to the hardware joystick) Off.

If for some reason the hardware joystick at one of the

control positions is disabled, the software joystick panel is

automatically enabled at the other control position.

Figure 140 - Virtual Joystick component

Grey: the CA is not active (not in DP AUTO mode)

White: the CA is starting up or temporarily suspended.

Green: CA is active, no problems recognised.

Yellow: Warning that the situation is not optimal and that problems are imminent.

CA is positive, i.e. it recognises serious problems, for a short period.

Red: Alarm condition. CA has calculated that the DP operation cannot be

maintained with the current actuator configuration. Consequence analysis has

recognised serious problems for more than 30 seconds.

Additionally the icon may contain a cross or line:

Crossed: Consequence Analysis has been switched off (see 5.6.6).

Vertical line: The Busbar monitoring has been switched of (see 5.6.6).

During DP tracking operation (DT-Slow) the CA is also active, but will still asses the

possibility to remain on position, and NOT the possibility to continue sailing on the

track with the actual speed.

Figure 139 -

Consequence

Analysis indicator

lights

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Click left to move the joystick through the four quadrants, changing the thrust in X and Y direction.

Click right to access the rotation component. Two arcs indicate the rotation setting. The numbers at left

indicate the current settings as a % of the maximum.

See Ref. [1] for some insights on usage of joystick control.

The Joystick component is found in both the left and right ‘JOY’ tab area.

5.5 Position Average tab

Left hand side POS-AVG tab: see section 0.

5.5.1 Trend tab

The right hand side Trend tab provides a graphical overview of the development of external factors, like

wind and current, and of control accuracy and motion over time. The graphs allow the operator to assess

possible interrelationships, and can help in deciding on measures like changing the accuracy or sensor

filtering settings, or increasing the available spare power supply.

The time axis can be set at 30 or 15 minutes. Position the cursor over the time value and click.

Figure 141 - Trend: True wind and Set+Drift speed

Figure 142 - Trend: True wind and Set+Drift angle

Figure 143 - Trend: Motion

Figure 144 - Trend: DP error

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5.6 General mimic, Pilot tab components

5.6.1 Control Settings

The Control Settings component displays the user-

defined maximum allowed deviation for all ship motion

set points. The operator can update the settings by

editing the entry fields.

When an actual deviation becomes larger than the set

limit value, the system generates an alarm message.

The limit values can be defined within certain ranges:

Off speed limit: 0 to 50 kn.

Off heading limit: 5º to 15º

Off course limit: 1º to 45º

Off track limit: 1 to 999,9m

DP Guard limit: 1 to 999,9m

DP Auto Speed limit: 0,1 to 5 kn.

Figure 145 - Control limits component

5.6.2 Sensor filtering, accuracy settings

Sensor filtering

Sensor Filtering allows the operator to adapt the

degree of filtering of the sensor value fluctuations.

Normal is standard filtering level. The pilot system

adapts the amount of filtering to the ship’s

behaviour.

With the setting More, the control algorithm

defines the optimum amount of filtering. It tries to

find the best compromise between actuator

fluctuations and control accuracy. This setting can

be selected if sensor fluctuation is high.

Figure 146 - Filter and accuracy settings

sensor fluctuation is high.

With the setting Less, the operator forces the control algorithm to reduce the level of sensor filtering. This

setting can be selected if the accuracy of the control response to sensor fluctuations is not satisfactorily. See

also Ref. [1].

Accuracy Settings

The Accuracy Settings allow the user to set the level of control sensitivity, i.e. the intensity with which the

steering devices react to sensor values changes.

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If the setting is High, the control sensitivity will be high. The actuators are controlled intensively, possibly up

to the maximum allowable limits. Deviation from setpoints will be small.

If the setting is Low, the control sensitivity is low. The actuators are controlled in a gentle and smooth way.

Larger deviations from the setpoints will be the result.

The setting Normal gives the best compromise between fair control accuracy and reasonable actuator

motions. See also Ref. [1].

Current update

The pilot system continuously updates its steering orders in order to account for outside influence such as

currents. If currents change quickly and frequently, the normal update frequency may not be sufficient to

adequately counter the current effects. In such cases the operator can select the Current Update function

Fast (Figure 146). The control system updates the current model 3 times faster and accuracy will improve.

The setting is especially meant to be used in DP operations.

Note: The Filtering, Current Update and Heading and Position Accuracy settings also occur in the

left tab areas ‘DP’ and ‘POS-AVG’ of the Conning mimics.

5.6.3 Sensor deviation limits

If redundant sensors are available (e.g. more than

two GPS’s, GYRO’s or a magnetic compass), a sensor

deviation limit can be defined in the general

Conning mimic \ Pilot tab. The deviation of a

redundant sensor is calculated with respect to the

currently selected sensor. If the deviation becomes

larger than the limit setting, a Conning alarm results.

If this happens, check other sensor values to define

whether a problem exists with the selected sensor or

with the sensor that raises the alarm.

For sensor limits the following values are accepted:

Gyro compass: 1 – 30

Magnetic compass: 1 – 30

GPS/Radius/Hipap/Average deviation: 0.1 – 500m

Figure 147 - Depth and Sensor Deviation limits

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5.6.4 Assist settings

When Assist mode is On, the functionality

of the corresponding Auto mode is

available, but without the system taking

control of the actuators. When for instance

Track Assist is ON, the operator has to steer

the ship along the track him/herself, but the

system will issue the alarms and warnings as

if in Auto mode, for instance when a

relevant control limit setting is exceeded.

The system functions as an alarm system.

The Assist settings are always accessible,

but selecting ON is by definition only

meaningful when the relevant control is not

in Auto mode.

To indicate an assist setpoint, the relevant

setpoint will be coloured distinctly different

from the normal setpoint (Figure 149).

An active assist mode is indicated in the

right upper corner (Figure 150).

Figure 148 - Assist settings indicator

Figure 149 - Assist setpoint color

Figure 150 - Assist mode indication

To prevent unexpected movements of the vessel when switching to an automatic mode, the assist setpoint

is only taken as the setpoint for the automatic mode when the vessel is in the corresponding guard limit see

also section 5.6.1. This can be overridden by deselecting Guard in the assist settings and specifying another

limit. When the vessel is outside the guard zone, the current state of the vessel is taken as the initial

setpoint.

5.6.5 Speed order

The Speed order option allows the operator to select

the type of the speed setpoint that the pilot system

uses. Press the relevant option button to select

either STW or SOG

Figure 151 - Speed order

5.6.6 Consequence analysis and BusBar

In the Pilot tab of the General mimic the operator

can switch the Consequence Analysis On or Off. If

On, the CA indication appears in the header bar

(Figure 139). See section 5.3.

Figure 152 - Consequence analysis on/off

If Consequence Analysis is switched off, a Caution is generated and the CA Icon in the header bar gets

crossed.

BusBar

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When in DP mode, the status of the BusBar connection between MSB1 and MSB2 should be open, i.e. MSB1

and MSB2 should be disconnected. If the Consequence Analysis detects that the status is not open, but

closed, i.e. that MSB1 and MSB2 are connected, an alarm is given, and Consequence Analysis indicates

failure to maintain the DP operation with the current actuator configuration.

However, by switching the Bus Bar option OFF, the operator can exclude the BusBar status information from

the Consequence Analysis, and suppress the relevant alarm. The DP operation can continue, although the

busbar status is not OK. A caution warns the operator that the BusBar option is off; additionally the CA icon

in the Bus bar gets a vertical line (see Figure 139).

In Normal working mode, both the Consequence Analysis and the BusBar option is ON, and not accessible

for the user. The buttons are inactive indicator lights. In Maintenance working mode the options become

accessible, and the operator can decide to switch the function(s) off.

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5.7 General Mimic – Position reference tab

5.7.1 Pivot point

The autopilot needs a pivot point and asetpoint to determine

the error that has to be reduced by the control system. In

Transit mode, the pivot point is always mid-ship.

In Dynamic Position mode, however, the operator can specify

another pivot point position. The pivot point is used as the

centre of rotation, both for manual turns made by the operator

when turning the knob on the DP Joystick and for automatic

heading changes made during DP Auto. The system will try to

minimise the distance between the pivot point and the DP

position setpoint.

The pivot point can be changed in the General mimic, Position

Reference (Pos-Ref) tab.

The operator can either:

choose one of the fixed pivot points:

- Bow: on the ship axis at the forward thruster

- Midship: on the ship axis at mid ship

- Stern: on the ship axis between the aft thrusters

- Pivot 1 and Pivot 2. See section 5.1.18.

or

select any point within a certain range from the ship’s axis

and from mid ship. This point can be defined by clicking at

the required position in the pivot component, or by

entering the required offset value (from midship) in the

entry field underneath the ship’s silhouette.

If the pivot point is changed during DP, the DP setpoint will be

changed by the same amount to avoid a position change of the

vessel.

N.B.

In all control modes other than DP mode, the pivot point is

identical to mid ship. For safety reasons the pivot point used in

DP mode reverts automatically back to this mid ship position

upon selecting another control mode.

Figure 153 - Pivot point

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5.7.2 Grid reference settings

Position, i.e. ship’s position and DP setpoint

position, can be indicated in the GEO (regular

Latitude / Longitude) or the UTM (Universal

Transverse Mercator) co-ordinates.

Select the required grid projection in the

Reference Settings component.

Figure 154 - Grid reference setting

Note:

All grid information must be in WGS84 format.

In UTM mode, the position component of the conning mimics shows the ship’s position in False

Easting and False Northing. See section 5.7.4.

To make it easier to monitor the ship’s movement, especially around the boundary of two UTM longitudes

zones, the operator can use a ‘fixed’ UTM Easting zone for ship’s position. UTM Easting will then be given as

the distance to the central meridian of the fixed easting zone, irrespective of the ship’s position actually

being in that zone.

To fix an Easting zone:

- Enter the required zone number in the entry field

- Press the Fixed button. The button turns yellow.

Fixed Easting only relates to ship’s position. DP setpoint co-ordinates always refer to the actual UTM

easting zone of the DP point.

Press Line-up to update the zone number entry field with the zone number of the actual ship’s position.

(Not possible when Easting zone is Fixed.)

5.7.3 Position Reference point

Apart from using absolute GEO or UTM co-

ordinates, the operator can choose to indicate the

ship’s XY position as relative to a user-defined

reference point. This reference point, in its turn, can

also be specified in GEO or UTM co-ordinates.

Figure 155 - Position XY Geo coordinates

To use the Position XY option:

- Select whether the reference point is to be

specified in GEO or UTM co-ordinates. Select

GEO or UTM (Figure 154).

N.B.

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- Press the On button of the Position XY

component (Figure 155 or Figure 156).

Enter the co-ordinates of the reference point in the

Lat/Lon, or Easting/Northing entry fields,

respectively.

Figure 156 - Position XY UTM co-ordinates

Press Line-up to use the current ship’s position as the reference point.

Guard Alarm

If required, an alarm can be set to warn the operator that the distance of the ship to the reference point

exceeds a certain limit value. This can be useful for instance when the ship should remain in a certain area.

Specify a limit distance in the Guard entry field and press the Guard button. When green, the alarm is

armed.

Position XY in Position component of conning mimics

When the Position XY option is selected, the position component in the

Conning mimics shows the ship’s position as the deviation distance from the

reference point in meters in X and Y direction.

Figure 157 - Position

component, Position XY

notation

5.7.4 UTM Notation

UTM divides the surface of the earth between 80ºS and 84ºN into 60 longitude and 20 latitude zones, and

identifies position with the relevant number/letter.

A position on the Earth is referenced in the UTM system by the UTM latitude and longitude zone, and the

Easting and Northing coordinate pair. The Easting is the projected distance of the position from the zone’s

central meridian, while the Northing is the projected distance of the point from the equator. In order to

avoid dealing with negative numbers, the central meridian of each zone is given a "false easting" value of

500,000 meters. Thus, anything west of the central meridian will have an easting less than 500,000 meters.

UTM (false) eastings range from 167,000 meters to 833,000 meters at the equator (these ranges narrow

towards the poles).

In the northern hemisphere, positions are measured northward from the equator, which has an initial

"northing" value of 0 meters and a maximum "northing" value of approximately 9,328,000 meters at the

84th parallel — the maximum northern extent of the UTM zones. In the southern hemisphere, northings

decrease going southward from the equator, which is given a "false northing" of 10,000,000 meters so that

no point within the zone has a negative northing value.

The Latitude zone letter identifies a (false) Northing value as belonging the northern or the southern

hemisphere.

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5.7.5 Antenna positions

Accurate calculation of the ship’s position and dynamic positioning performance depend on accurate

definition of the position sensor antenna positions on board of the ship. These positions are part of the

ship’s configuration and cannot be changed by the operator. In the General mimic, Rev-Pos tab, the antenna

positions can be inspected. The values are relative to the mid-ship longitudinal and transversal axes. Positive

values refer to an antenna position forward and to starboard of the mid-ship position; negative values refer

to antenna positions astern and to port side of the mid-ship position.

The antenna positions are graphically shown in the Pivot point component.

Figure 158 - Pivot point

options

Figure 159 - Antenna positions, graphical (left) and numerical (above)

5.8 General mimic, Actuator tab components

5.8.1 Actuator status limits

The Actuator settings component shows the status of the various thrusters and enables the operator to

adjust their limit values. The Ready circle indicates the status of the actuator. When green, the actuator is

OK and reliable for use by the control system.

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Figure 160 - Actuator components

For each actuator, the operator can specify a maximum limit value for the load that the pilot system is

allowed to put on (as a percentage of available maximum). To set the limit value, drag the triangle along the

bar, click in the bar at the required value, or change the numerical value.

In case of a fixed thruster (i.e. a bow thruster) only load limit value can be specified. For rotatable thrusters,

limits can be set for forward load and reverse load and for azimuth, both for transit and DP operation.

With the Enabled button, the operator can decide whether the pilot system is actually taking the actuator

into account or whether the actuator should be taken out of pilot system control. An actuator may need to

be disabled when it is malfunctioning, or when the operator decides that a certain operation or manoeuvre

is better handled with specific actuators active only. In that case the operator can switch the Enabled button

of the actuators that should not be used Off. The pilot system does not monitor the actuator anymore,

manual commands given to the actuator are not recognised by the pilot system. Alarms for the thrusters are

not generated.

When the actuator Auto option is Off (and Enabled is On), the actuator is in Monitoring mode. This means

that the actuator is not used by the pilot system and that it does not contribute to the system’s calculations

of actuator requirements. If, however, in this situation a manual lever command is given to the actuator, this

is recognised by the pilot system, and the other actuators are instructed to counteract the manual

command.

The Auto option button is also available in the conning mimics to allow for quick access to this functionality,

which, especially when engaged in dynamic positioning, will ease the operation of the vessel.

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When Auto is On (and Enabled is On), the pilot system actually uses the actuator.

5.8.2 Forbidden zones

For azimuth thrusters the

option exists to define a so

called forbidden water flow

zone. In this zone it is not

desired that the thruster

produces a water flow.

If applicable this zone can be

set in the actuator tab.

Figure 161 - Forbidden zone settings

For the inner bound sector the angles are defined in the

IB field by entering the angle from forward and aft.

Figure 162 shows an example for a PS thruster.

For the outbound zone the start and finish angle can be

defined separately.

The forward limit angle is defined in the OBF field, as an

angle from forward.

The backwards limit angle is defined in the OBB field, as

an angle from the stern.

Figure 163 shows an example for a PS thruster.

For a PS thruster the outbound flow is in PS direction and the inbound flow in SB direction.

For a SB thruster the outbound flow is in SB direction and the inbound flow in PS direction.

Figure 162 - IB angle setting (PS)

𝟔𝟓°

𝟕𝟎°

𝟒𝟎°

Figure 163 - OBF and OBB setting (PS)

𝟔𝟓°

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5.8.3 Fix actuator load angle

In some situations, the user may want to keep an actuator

operating at a fixed load or azimuth.

Enter the required value numerically in the Fixed entry field, or

move the white indicator triangle. Then press Fixed.

To fix an actuator setting at the current value, press Line-up. This

enters the current value in the entry field. Press ‘Fixed’.

Figure 164 - Fix actuator value

When an actuator is fixed, this is indicated in the Actuator tab of the

conning mimics with a yellow label warning the operator that the

actuator does not respond to commands from the pilot system anymore.

Figure 165 - Actuator

indicated as fixed

5.9 General mimic, Sensor tab

5.9.1 Sensor data and selection

The Sensor tab displays the unfiltered sensor data in the following format:

From left to right (Figure 166):

Sensor name

Sensor Enabled. If On, the sensor can be selected for use by the pilot system, and is available for

automatic change over in case the selected sensor fails.

Average. If On, the sensor data contributes to the calculation of the Average sensor values (last one

in the list of Figure 166).

N.B. If none of the sensors is set to contribute the Average value, no average can be calculated and

the data fields of the Average sensor show red stars.

Sensor Selected. If On, the sensor is the currently selected sensor for data input. Click on the

Selected button to select a sensor.

Sensor status.

o Green means ok

o Yellow means integrity error or integrity doubtful

o Red means integrity fault, or plausibility fault

Sensor data. Number of columns showing the data provided by the sensor.

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o Blue means ok

o Yellow means integrity error or integrity doubtful

o Red means plausibility fault

Figure 166 - Sensor information (example)

Note:

If more than one of the same sensor is present, and the selected sensor degrades, or is lost, the

system automatically switches over to another sensor.

If an Average position value is available (and Enabled), it will always be the preferred auto selection

sensor, i.e. it will be the first one selected when the currently selected sensor fails.

If a sensor has failed but is restored, the operator must manually activate it again for Average

calculation.

5.9.2 GPS position sensor data quality

The status of the Position data is not indicated with a simple green status circle,

but with a number of differently coloured horizontal lines that are a measure for

the quality of the data. Green stands for highest quality, yellow and orange for

progressively lower quality (Figure 167).

The Radius and HIPAP data represent the average of the enabled targets. See

section 5.12.

Figure 167 - Position

sensor quality

GPS position sensor data include three additional fields that relate to the accuracy of the sensor data:

MODE: GPS in Differential or non-differential, less accurate mode.

HDOP: Horizontal Dilution Of Position. Measure for the accuracy of the position data. Typically an

HDOP value lies between 1 and 2. With values above 4 the operator should be aware that the

position data may not be trustworthy anymore.

SAT: Number of satellites available.

HDOP depends on the satellite constellation in the sky. A GPS needs minimal three satellites to fix a

position. If these satellites are not evenly distributed along the hemispheres the deviation of the calculated

position from the true position will increase.

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Table 2 gives a classification of the signal quality (accuracy table based on an average DGPS):

Table 2 - GPS quality

With values > 4 the operator

should be aware that the

position data may not be

reliable anymore.

HDOP Position Accuracy

<1 Perfect <1 – 3 meters

2 Good 2 – 6 meters

3 Reasonable 3 – 9 meters

4 Bad 4 – 12 meters

5 Very Bad 5 – 15 meters

5> Useless 15> meters

There are basically three situations in which a high HDOP event occurs:

Satellite alone: a satellite failure or planned outage

Receiver alone: a receiver failure or an obstruction near the receiver (either physical or

electromagnetic) that blocks the signal of a critical satellite

Geometry: the relative position of the receiver and the available satellites in view causes poor

geometry

5.10 Position Reference Systems (PRS)

5.10.1 Position Systems

Apart from the GPS position sensors, the system configuration also contains two different position sensors:

Radius and HIPAP. GPS provides absolute position information; HIPAP is relative position reference system,

which is particularly used in Dynamic Positioning operations. They calculate an (averaged) ship’s position

from laser-measured distance and bearing to 4 fixed reference points (targets). The HIPAP sensor data is

given in the HIPAP tab of the General mimic (section 5.12). An overview of the spatial arrangement of the

position sensors on board and the selection of a pivot point and reference grid is provided in the Pos-Ref

tab of the General mimic (section 3.16.2).

5.10.2 Position Average

When multiple position reference systems are interfaced to the DPT 4500 system, the operator can use a

weighted average of the data instead of data from a single position reference system. This makes the

performance of the DPT 4500 system more robust with respect to noise and other disturbances from

individual reference systems. All enabled reference systems providing valid data can be used to calculate the

average, whether or not checked for plausibility or integrity. The weight factor of a position sensor/reference

system in the calculation is proportional to its estimated accuracy (higher accuracy / higher weight). The

weight factors are specified in the configuration, but will automatically be modified when a deterioration of

a sensor’s accuracy is detected.

If necessary, the user can be set a manual weight factor in the General mimic, Sensor tab (Section 5.11.1).

The DPT 4500 system shows the various sensor data in a number of places in the Conning and General

mimics:

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The General mimic, Sensor tab shows the raw data from the GPS sensors and the Radius and HIPAP

sensors. Radius and HIPAP data in itself is also an average, namely the average of enabled and

contributing targets. Radius and HIPAP data per target are provided on the General mimic Radius and

the General mimic HIPAP tabs. See section 3.16.6.

In the General mimic, Sensor tab, an Average position value, calculated from raw data that is selected to

contribute, is given as well. See section 3.16.4.

The contribution of the individual position systems to the calculation of the Average position value, and

the deviation of each individual position system from this Average position value are graphically shown

in the left hand side POS-AVG tab of the Conning mimics (Figure 168 and Figure 169). This allows the

operator to inspect and assess the behaviour of the various position sources.

Figure 168 - Weight of position sensors in calculation of

Average value

Figure 169 - Deviation from Average position value per

contributing position sensor

With the Average buttons in Figure 168, the operator can select which position sensors contribute to the

calculation of the Average position value. (The same buttons occur in the General mimic, Sensor tab.

Switching an ‘Average’ option on or off in one place updates the other.) In Figure 168, for instance, GPS4

data have not been selected. If a sensor has failed but is restored, the operator must manually activate it

again for Average calculation.

The weight applied to the sensor data in the calculation of the average value is shown in the bars. The

yellow bar and the yellow label of GPS 3 indicate that the weight applied to the GPS 3 data has been set

manually in the General mimic, Manual tab (section 3.16.8).

If, from a specific sensor, no data is present at all, the name of that sensor appears on a red background.

The deviation of the various position sources from the Average value is shown in Figure 169.

The horizontal scale of the graph can be set 3, 15, 30 or 60 min. Click underneath the graph at left where the

cursor turns into hand-shape.

The vertical scale of the graph can be set 4, 10 or 20 m. Click at the top of the scale at right where the cursor

turns into hand-shape.

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At the bottom of the POS-AVG tab, the Sensor Filtering and Accuracy options occur. These enable the

operator to control to a certain extent the way in which the pilot system uses the sensor data. See section

5.6.2.

5.11 Validation process of position reference sensors

The DPT4500 system has different built in mechanisms for validation of position reference sensors. Besides

the status check of the received data and the antenna position correction the plausibility and integrity is

checked. It is possible for an operator to disable or change limits of these two checks. In the next sections

the operator settings of both mechanisms are described.

Note: The relative positions sensors are not included in the plausibility or integrity check because

those sensors have their own validation checks.

5.11.1 Average

In the average tab the operator can set two parameters for each sensor; the limits of the average check and

the average weight for each sensor. The averaging check is only active when the plausibility and or the

integrity check are disabled for a sensor.

For each position update the distance to the average (see section 5.10.2) is calculated. If this distance

exceeds the average limit, the weight is set to 0, meaning it is not used for the average calculation. The grid

shows the limits as rings. The square “visible” buttons can be used to switch on and off the rings per sensor.

The average limit is automatically set to 100m. In the Average tab of the General, Positions sensor mimic the

value can be set to a manual value (Figure 170).

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Figure 170 - Position sensor average tab

The weight of each individual sensor is automatically determined. The weight is dependent of the amount of

sensors selected, the type (e.g. GPS, Differential or a relative sensor) of sensor and the quality status of the

sensor (e.g. HDOP, amount of satellites). The operator can also set a manual weight value to a sensor in the

average tab. If a manual weight value is set, all other weight values are automatically adjusted so that the

total weight is equal to 1.

5.11.2 Plausibility

From the last plausible sensor value the next position is calculated based on speed and course. The value is

not plausible if distance between this calculated position and the measured position exceeds the plausibility

limit, providing the alert “value not plausible”.

The plausibility limit is automatically set to two times the HDOP of a specific sensor. If there is no HDOP

data available the plausibility ring is set to 10 meters. In the plausibility tab of the General, Positions sensor

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mimic the limit can be set to a manual value (Figure 171). The grid shows the limits as rings. The square

“visible” buttons can be used to switch on and off the ring per sensor.

It is also possible to disable the plausibility check for a specific sensor. See Figure 171. On the lower right

side of this tab a grid is showed, visualising the plausibility circles together with the measured position.

Figure 171 - Position sensors plausibility tab

5.11.3 Integrity

For each position sensor the distance to the other sensors is calculated. If this distance exceeds the integrity

limit, the value is assumed to be incorrect and therefore rejected, providing the alert “Integrity fault”.

The integrity limit is automatically set to two times the HDOP of a specific sensor. If there is no HDOP data

available the plausibility ring is set to 10 meters. In the integrity tab of the General, Positions sensor mimic

the limit can be set to a manual value (Figure 172). The grid shows the limits as rings. The square “visible”

buttons can be used to switch on and off the rings per sensor.

It is also possible to disable the integrity check for a specific sensor (Figure 172). On the lower right side of

this tab a grid is showed, visualising the integrity circles together with the measured position.

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If less than two reference sensors are available the integrity cannot be checked, so the alert “Integrity

Doubtful” is generated.

Figure 172 - Position sensor integrity tab

5.12 General Mimic, HIPAP tab

Radius and HIPAP are both relative position sensors, i.e. they measure range and bearing of the ship with

respect to a number of (fixed) measuring points or ’targets’. The Radius sensor averages the measurements

of the different targets to calculate one ship’s position value. This average is fed into the pilot system as the

Radius raw data, which appears in the General mimic Sensor tab. Similarly, that HIPAP sensor calculates one

raw HIPAP position value from its different target data.

The Radius and HIPAP tabs are basically identical.

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At left the target selection options occur and target information is given, together with a graphical plot that

shows the deviation of the (averaged) raw Radius/HIPAP data from the average GPS data.

The right hand side shows a position reference plot: the ship, the position of the Radius/HIPAP targets with

respect to the ship and the position of the sensors on board of the ship.

5.12.1 Target Selection options

The data of four targets is displayed. Radius can handle more than four targets, but only four are shown.

They are selected at the Radius workstation.

HIPAP can handle four targets at max.

The target selection options include:

Enable: if On, the data of the target is available for use. An alarm is raised if no data is received from the

Radius/HIPAP system.

Average: if On, the data of the target is used in the calculation of the averaged (raw) Radius/HIPAP sensor

value.

Figure 173 - Radius target selection options

5.12.2 Target Information

The four fields underneath the selection options contain the target ID information. The fields only show

information and are not editable.

ID Frequency used with target

ID Interrogator. Identity of interrogator on board of the ship. HIPAP has only one interrogator,

Radius has four.

Range and bearing from midship to the target.

Average Deviation: the deviation of the target’s position value from the averaged raw position value

Average Weight: weight of the target’s data in the calculation of the averaged raw sensor value.

This weight factor is defined in the sensor’s configuration. However, if the target data fluctuate

strongly, this weight is scaled down.

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Figure 174 - Radius target information

5.12.3 Target deviation limit

The target deviation limit defines the maximum acceptable deviation of a single target’s position from the

averaged Radius/HIPAP sensor position. If the deviation becomes larger, the weight of the target in the

calculation of the averaged sensor’s value is decreased.

5.12.4 Deviation graph

The average deviation graph shows a time trace of the deviation of the relative position sensor data from

the average calculated from all Enabled GPS position data. The graph gives an indication of the reliability of

the absolute position reference systems versus the relative position reference systems, and can support the

operator in judging the quality of the position data received.

5.12.5 Line-up

The Line-up function allows the operator to line up the Radius/HIPAP data with the averaged GPS position.

This function may be required when the Radius/HIPAP system has just come on line, and target data need

to be calibrated. Once the system is functioning properly, the Line-up function should not be necessary

anymore.

Figure 175 - Radius and HIPAP deviation graph

The scale of both axes (time and deviation distance) can be toggled by clicking left on the maximum scale

value.

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5.12.6 Position Reference System plot

In the Tabs for the Relative Position Reference

systems such as RADIUS or HIPAP, a grid is

plotted. This plot shows the position of the

position reference systems on a grid (true

motion, north-up) relative to the currently

selected position source, which is always centred

on midship. In Figure 176 this is GPS1.

The size of a position system’s circle is an

indication of the estimated accuracy and relative

weight of the system’s data. A small circle means

high accuracy.

Figure 176 - Position reference plot

5.13 General mimic, time tab

In the Time tab of the General mimic, the operator can access the time settings:

Ships time

UTC Date

UTC Time

Time Zone

Time zone offset, currently applied to calculate Ships time from UTC time

Time zone offset entry field and Apply button

Figure 177 - Ships time component

The Time zone component broadcasts the system time and ship’s time to all applications in the integrated

bridge environment, including the Conning 4500.

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To change the ship’s time, enter a new time zone offset value and press “Apply”. This action sends a ship

time update request to the IBS timeserver application.

Figure 178 - GPS time

The GPS Time component lists the available (Position) sensors from which the time information is derived.

5.14 General Mimic, Manual tab

5.14.1 Manual Settings

If sensor data is unreliable, a sensor fails or there

are temporary disturbances, it is possible to

provide the pilot system with manual input data

through the manual sensor input component. See

also Ref. [1].

Enter the required value in the entry field and press

‘On’ to have the pilot system honour the manual

input data.

Manual input is available for:

Figure 179 - Manual input component

Wind, strength (0 – 190 kn) and direction

True Set + Drift, strength (0 - 9 kn) and direction

Draught (1 – 10 m)

Water speed (STW) (-5 – 15 kn)

If manual True Wind, True Set + Drift or Water Speed is On, a label ‘MANUAL’ appears in the Wind, Set and

Drift, or Speed component, respectively.

When a manual setting is ON a Caution in the alert list will remind the operator to regularly check if the

value still represents the actual situation.

Note: …Be aware that the use of ‘manual’ input data has a negative effect on the adaptive character

of the DPT 4500 pilot system!

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5.15 General mimic, Server tab

5.15.1 Server component

The Server component allows the operator to

select the active server. The active server is the

server that actually handles the navigational

procedures, data, commands etc.

A server is identified by a number, e.g. ‘server 1’

and the workstation on which it is installed; e.g.

‘U4000-002’.

Figure 180 - Server component

With the Server 1 or Server 2 button, the active server can be selected. The active server is indicated with a

green button. With the button below Standby the server in standby can be set to On or Off.

If there is a problem with the active server, its ‘Fault’ indicator turns red. If the standby function is On, and

the server in standby (at that moment) has no (relevant) problem, the servers automatically change role, the

active becomes standby, and the standby becomes active (server toggle).

The automatic changeover mechanism is now locked, and the Standby button changes to Off. No automatic

changeover can take place before the demoted server has been made available again. This will happen

automatically if the faulty condition is solved thus the red Fault button has turned grey again.

Unlocking is only possible if a server does not have one or more of the following serious problems:

No position/heading/speed data

Loss of control function

Loss of connection to platform (e.g. thrusters)

When the problem has been solved, the red Fault light is greyed out, and the Standby button becomes

green again.

The operator may also intentionally disable automatic changeover by toggling the Standby button to Off.

This is only possible if a server has no serious problem. With the Standby is set to off, the system will not

switch over to the other server in case of a failure, unless the active server itself fails.

Generally, the data presented in the conning mimics, is the data provided by the active server. However, it is

also possible to view data from the server in standby. This can be useful, for instance if sensor problems are

suspected to be related to the main server. The switch between servers for viewing is handled in the View

tab of the General mimic. See section 3.16.10. The option can only be activated in Maintenance mode.

In specific configurations, one of the servers may be defined as the preferred active server, meaning that the

pilot system will always use Server 1, unless that server has problems preventing it from (at least)

maintaining Heading Auto mode. Server 2 then takes over, provided it does not have the same problems. As

soon as Server 1 is available again, it automatically toggles back to Server 1 as the active Server. In such a

configuration it is not possible for the operator to select a server manually.

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5.16 General mimic, View tab component

Some of the View options have been discussed in section 2.6. The remaining options are discussed below.

5.16.1 Ships History

Press the Clear button of the Ships History component to

clear the representation of the ships past track in the Track

component, the DP component, and the Route mimic. The

past track information is removed.

Figure 181 - Clear Ships History button

5.16.2 Auto Alert mimic

When a non-accepted, i.e. flashing, alert message with alarm or warning priority appears in the alert list

while no unaccepted (flashing) messages were present before, there are some options available to have the

Conning automatically revert to the Alert mimic or Alert tab.

Off No other mimic is selected. The alert line will only be visible if an Alert mimic is visible.

Auto If the current mimic has side tabs, the current side tab is replaced by the side tab with the Alert

component.

If the current mimic does not have side tabs, the current mimic is replaced with the Alert

Mimic.

Mimic The current mimic is replaced with the Alert Mimic, also if the current mimic supports side tabs.

Tab The current side tab is replaced by the side tab with the Alert component. If the current mimic

does not support side tabs, the previous selected component that does support side tabs

comes up with the alert tab selected.

Figure 182 - Auto alert setting

The operator can accept the alert, the flashing stops, or he can inspect the list and switch back to another

conning mimic without accepting the alert(s). In the latter case, the flashing message remains in the alarm

list. If a next (new) flashing message appears, the Conning does not revert to the alert mimic, since the

condition for Auto Alert Mimic: no flashing messages in the alert list, is not met.

The Auto Alert Mimic option is only accessible in ‘Maintenance’ working set mode.

5.16.3 Auto Track mimic

When the Auto Track mimic option is On, the conning will

automatically switch to the Track mimic when the ship is sailing a

planned route (Auto Route mode) and no user action is recorded by

the screen for a couple of minutes.

Figure 183 - Auto track mimic

The Auto Track Mimic option is only accessible in ‘Maintenance’ working set mode.

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5.16.4 Filter Standby alerts

Many alerts are noticed by the active as well as the standby

server. For example a GPS sensor failure can cause a Warning

on the active system, but also a caution on the standby system.

Because this information may be seen as less relevant these

“duplicated” alerts can be filtered out from the alert list.

Figure 184 - Filter standby alerts option

In maintenance mode the option is accessible to either set this filer “On” or “Off”.

Note that even with the filter set to “On” the unique alerts of the standby server are still shown.

Apart from the alert list in the Alert mimic, the ship alerts can also be inspected in the All Alerts mimic,

which is accessible in Maintenance mode. Open the Index mimic and select the All Alerts mimic (or use the

F3 short cut button in Maintenance mode). The numbers of the currently active alerts have a coloured

background; red for alarms, orange for warnings and yellow for cautions.

5.16.5 Track and DP mimic display options

The Track and DP mimic display

options relate to the way in which the

past track is presented in the Track

and DP component in the Track and

DP mimic, respectively.

The History (past track) can be shown

as a line, as dots, as ships, or as ships

+ line.

Figure 185 - Track and DP mimic display component

Selecting None hides the past track completely, but does not remove the past track information as does the

Clear option (section 5.16.1).Plot Time Interval defines the frequency of the plot symbols.

Press the Clear button of the Ships History component to clear the representation of the ships past track

(Figure 181).

When Show Vectors is ON, the display in the Track and DP mimic

component shows coloured arrows that indicate the direction and

strength (= vector length) of

- COG (yellow)

- Wind (green)

- Current (blue)

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Figure 186 - vector display in DP mode

5.16.6 Route mimic display options

The Route Mimic component display

options are identical to those of the Track

and DP mimic. One additional option is

present: Ship Position. It defines the

position of the ship in the grid map:

Fixed keeps the ship at a fixed

position, any other display item,

such as a route, moves

underneath the ship.

Press the ‘Fixed’ button to switch

the option On or Off

Figure 187 - Route mimic display options

Center moves the ship to the centre of the grid map. From there it moves on again.

Press the ‘Center’ button to centre the ship. This is a single action, the button remains grey.

5.16.7 Client connection components

The Client Connection component is only active in Maintenance mode. It allows the user to select the server

whose data is being viewed in the Conning mimics.

In Normal mode, the Auto button will be On, and by default data will be viewed from the Master server

(Figure 188).

Figure 188 - Client connection component. Normal mode, data viewed from Master server

However, the user may wish to view data from the slave server, for instance in case of server-related sensor

problems.

To view data from the Slave server:

If in Normal working mode, go to Maintenance

mode. The ‘Auto’ indicator light turns into a

selectable button.

Figure 189 - slave server view indicator in top bar

Switch the Auto button Off. In the header area an ‘S #’ on green background appears (Figure 189).

Select the other server button. The (Slave) server button lights up yellow (Figure 190). In the header area

the ‘S #’ number changes, and its background turns yellow as a warning to the operator that the

conning shows data from the slave server.

Figure 190 - Client connection component, Maintenance mode, data viewed from Slave server

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Be aware that when viewing data from the Slave server, actions reserved to the master server are no longer

possible. For instance, it is not possible to change the master server selection in the General mimic, Server

tab. The conning does not accept master server related commands anymore.

5.17 DPT Panel IO components

5.17.1 Messages

The Panel messages lines display the serial messages as received (upper line) and sent (lower line) by the

DPT panel.

Figure 191 - Incoming (upper) and outgoing (lower) panel messages

The Read Message identifies the content of the

incoming message with respect to the relevant

parameter .

Figure 192 - Read messages DPT Panel IO

5.17.2 Joystick enabled lamp test

The Joystick Enabled button activates the

software joystick in the Conning screen. The

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hardware joystick is switched off.

The Lamptest button checks the hardware panel

lamps. Press the button, all panel lights should

light up.

Figure 193 - Joystick

hardware/software switch button

Figure 194 -

Panel lamp

test button

5.17.3 Joystick calibration

With the joystick calibration options, the user can

calibrate the actual positions of the hardware

joystick against the corresponding message values

that the system generates. First the Zero position of

the joystick is calibrated for all motion directions,

and then the Max and Min positions are calibrated

for all motions directions separately.

It is good practice to check the joystick calibration

at regular intervals, for instance before starting a

new DP operation or when the DP functionality has

not been activated for some time.

Figure 195 - Joystick calibration panel

Proceed as follows:

Make sure the DPT system is NOT in Position mode

Put the hardware joystick in the zero position.

Press the Calibrate button (at left) of all motions: Rotate, Surge and Sway. A value appears in the Raw In

data field. This is the value that the system should use as corresponding to the zero position. (Value in

10th

of %, i.e. 38 = 3.8%.)

Press the Set Zero button of all motion directions.

The zero position has now been calibrated. Press the Calibrate button (at left) for one of the motion

directions, for instance Surge.

Set the joystick in Surge Max position. A Raw In value appears.

Press the Set Max button for Surge. The Surge Max value is now calibrated.

Press the Calibrate button (at left) for Surge.

Set the joystick in Surge Min position. A Raw In value appears.

Press the Set Min button for Surge. The Surge Min value has now been calibrated.

Repeat for the Max and Min values of the other motion directions.

DPT4500 Conning - freetechnics.eu · CONNING MANUAL Reference number: ACC-5612-CONNING-GBD v2.4...

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Transcript of DPT4500 Conning - freetechnics.eu · CONNING MANUAL Reference number: ACC-5612-CONNING-GBD v2.4...