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Joystick System
Operator Manual
Release 8.2
385585/C
September 2015 © Kongsberg Maritime AS
Document history
Document number: 385585
This version describes the operation of the cJoy OT Joystick
Rev. A January 2014
System at basis software release 8.2.0.
This version describes the operation of the cJoy OT Joystick
Rev. B June 2015 System at basis software release 8.2.0. Updated missing
references.
This version describes the operation of the cJoy OT Joystick
Rev. C September 2015
System at basis software release 8.2.3.
The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com
Kongsberg Maritime AS
www.kongsberg.com
Operator Manual
Table of contents
Glossary....................................................................................................................8
SYSTEM OVERVIEW .......................................................... 9
The cJoy system .......................................................................................................9
Basic forces and motions..........................................................................................9
System principles ...................................................................................................11
The Kalman Filter....................................................................................... 12
The Controller ........................................................................................... 13
Thruster allocation ...................................................................................... 14
USER INTERFACE ............................................................ 15
cJoy OT operator terminal......................................................................................15
Controls and indicators...........................................................................................16
Panel buttons and indicators ........................................................................ 16
Heading wheel and buttons.......................................................................... 17
Dialog input buttons.................................................................................... 17
Input dialog selection buttons ...................................................................... 18
Colour display ............................................................................................ 18
View selection buttons ................................................................................ 18
Silence/ack. button and alarm indicator ........................................................ 19
Command control buttons ........................................................................... 19
Operational mode buttons............................................................................ 19
Joystick buttons .......................................................................................... 20
Three-axis joystick...................................................................................... 20
Display layout.........................................................................................................21
Title bar ..................................................................................................... 22
Message line............................................................................................... 23
Heading area .............................................................................................. 23
Position area............................................................................................... 25
View area .................................................................................................. 27
Operational views...................................................................................................27
View selection ............................................................................................ 27
Main view .................................................................................................. 28
Position-reference System view ................................................................... 34
Thruster view ............................................................................................. 36
Thruster subviews....................................................................................... 37
Sensor view................................................................................................ 38
Power Consumption view............................................................................ 39
Input dialogs ...........................................................................................................40
Available input dialogs................................................................................ 40
Dialog selection.......................................................................................... 41
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Setting the maximum rudder angle for joystick heading control ................... 120
Selecting the steering mode ....................................................................... 120
Selecting the steering group....................................................................... 121
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Glossary
Abbreviations
AP Autopilot (a device for automatic heading control)
BIST Built-In Self Test
BITE Built-In Test Equipment
CCW Counter Clockwise
cJoy Kongsberg Compact Joystick system
cPos Kongsberg Compact Dynamic Positioning system
CW Clockwise
DP Dynamic Positioning
DPC Dynamic Positioning Controller
GPS Global Positioning System
I/O Input/Output
IMO International Maritime Organisation
KM Kongsberg Maritime
K-Pos Kongsberg Dynamic Positioning system
OS Operator Station
OT Operator Terminal
PS Process Station
RCU Remote Control Unit
ROT Rate Of Turn
RPM Revolutions Per Minute
VRS Vertical Reference Sensor
WT Wing Terminal
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System overview
System overview
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The term “forces” in the following sections includes both forces and yawing moments,
unless otherwise stated. The vessel's responses to these forces are measured by a
gyrocompass, vertical reference sensor and position-reference system. Position-reference
system readings are corrected for pitch and roll using readings from the vertical reference
sensor. Wind speed and direction are measured by the wind sensor.
Note
If your system does not include a pitch and roll (vertical reference) sensor, the
position-reference data will not be corrected for noise induced by pitch and roll
movements.
The system calculates the forces that the thrusters must produce in order to control the
vessel's motion in three degrees of freedom - surge, sway and yaw - in the horizontal
plane.
The vessel also moves in three vertical degrees of freedom: pitch, roll and heave.
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System overview
The pitch and roll motions are not controlled by the cJoy OT system. However, in order
to allow the position-reference system to correct for these motions, the system must have
information about them. This information is received from the vertical reference sensor.
System principles
A simplified block diagram of the cJoy OT system is shown in Figure 3, and described in
the sections that follow.
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Thruster
Allocation
Forces and
Moment Demand
Model
Update
Sea Current
Estimate
Kalman Filter
(CD2879A)
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The Controller
The controller calculates the resulting force to be exerted by the thrusters/propellers in
order for the vessel to remain on station.
The controller consists of the following parts:
• Excursion Feedback
The deviation between the operator-specified position/heading setpoints and the
actual position/heading data, and similar deviations with respect to the vessel's
velocity/heading rate, drive the excursion feedback. The deviations are multiplied
by gain factors to obtain a force demand (restoring demand and damping demand)
required to bring the vessel back to its setpoint values while also slowing down its
movements.
• Wind Feed-Forward
In order to counteract the wind forces as quickly as possible, the feed-forward concept
is used. Based on wind speed and direction measurements, the wind-induced forces
acting upon the vessel can be calculated. The thrusters/propellers are ordered to
counteract the forces due to wind.
• Current Feedback
The excursion feedback and wind feed-forward are not sufficient to bring the vessel
back to the desired setpoints due to unmeasured external forces (such as waves
and current). The system estimates these forces over time, and calculates the force
demand required to counteract them.
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Thruster allocation
The force demand in the surge and sway axes (the force setpoint), and in the yaw axis
(the turning moment setpoint), is distributed to the various thrusters and propellers by
the Thruster Allocation function.
These setpoints are distributed in such a way as to obtain the force and turning moment
required for position and heading control, while also ensuring optimum thruster/propeller
use with minimum power consumption and minimum wear and tear on the propulsion
equipment.
If it is not possible to maintain both the turning moment and the force setpoint due
to insufficient available thrust, priority is normally set to obtain the turning moment
setpoint (heading).
If a thruster/propeller is out of service or de-selected, the “lost” thrust is automatically
redistributed to the remaining thrusters/propellers.
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User interface
power
operation
Sensor
enable
System cJoy
(CD3025)
The operator terminal panel is delivered in two standard versions — black and grey.
The layout is divided into four main areas where controls and indicators are arranged
according to their function. For safety reasons, some of the buttons must be pressed
twice within four seconds to invoke action.
On the black standard version these buttons are indicated by a white line along the
lower edge.
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On the grey standard version the button text or symbol is colour-coded to indicate the
button type as follows:
• White text or symbol on a dark background.
Single-press action button for test, set-up, data input and operation monitoring.
• Dark text on a white background.
Double-press action button for operation control.
• Dark text on an orange background.
Single-press action button for the message system.
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• The and buttons change the value of the input field that
is in focus (see Changing values and options on page 55).
Enter
These two buttons can also be used to display and navigate
through multiple views and subviews (see Multiple Thruster
views on page 37 and on page ).
Cancel
• The Enter button confirms and stores changed values and
options in the displayed input dialog (see Saving changed
values and options on page 56).
• The Cancel button cancels changed values and options in the
displayed input dialog. It also closes the displayed input dialog
(see Discarding changed values and options on page 56).
The four arrow buttons together with the Enter button are also
used during panel dimming (see Panel dimming on page 74) and
joystick calibration (see Joystick calibration on page 77).
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Colour display
This is a high-resolution colour display (see Display layout on page 21).
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Joystick buttons
This group comprises four buttons with green status indicators.
Full
thrust • The Full thrust button toggles the joystick thrust setting
between Full and Reduced (see Setting the joystick thrust on
page 109).
Fore • The Fore pivot button selects the fore of the vessel as the
pivot
rotation centre in Joystick mode (see Selecting the vessel
rotation centre on page 111).
Centre • The Centre pivot button selects the centre of the vessel
pivot
(midships) as the rotation centre in Joystick mode (see
Selecting the vessel rotation centre on page 111).
Aft • The Aft pivot button selects the aft of the vessel as the rotation
pivot
centre in Joystick mode (see Selecting the vessel rotation
centre on page 111).
Three-axis joystick
This group comprises the three-axis joystick, which is
automatically configured according to the orientation of the
operator terminal relative to the vessel.
This joystick is used to control the thrusters in all three axes
(surge, sway and yaw) when they are selected for joystick
control.
To move the vessel in the surge and sway axes (alongships
and athwartships directions), tilt the joystick. The direction in
which the joystick is tilted determines the direction of applied
thruster force, and the angle of tilt determines the amount of
applied thruster force.
To turn the vessel (the yaw axis), rotate the joystick. The
direction in which the joystick is rotated determines the direction
of the turning force setpoint, and the angle through which the
joystick is rotated determines the amount of applied turning
moment.
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Display layout
The view shown on the display of the operator terminal is divided into areas:
Title bar
Message line
Heading
area
View
area
Position
area
(CD3023)
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The content of these areas, other than the working area, is fixed except for when the
Equipment view or the Message view is being displayed (see Equipment view on page 57
and Presentation of messages on page 64).
The content of the working area depends upon the currently selected view, i.e.
operational view, system status view or input dialog.
Title bar
The Title bar identifies the operator terminal, shows system status and shows the current
date and time.
When the operator terminal has command, the background colour of the Controller
PS group: Command group field is green when thrusters are ready, and yellow when
thrusters are not ready.
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In the example shown above, the Controller PS group is Joystick: (the one to which
the operator terminal is connected) and the Command group is IJS (which the system
controls).
Message line
The message line shows the most recent Emergency, Alarm or Warning message that has
not yet been acknowledged (see Presentation of messages on page 64).
Heading area
The Heading area displays numerical and graphical information relevant for manual and
automatic heading control functions. This area is automatically arranged according to
the current system state.
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Position area
The Position area displays numerical and graphical information
relevant for manual and automatic position control functions.
This area is automatically arranged according to the current
system state, and the location/orientation of the operator
terminal on the vessel.
The coordinate system used depends upon the type of position-reference system installed.
If a global position-reference system such as a GPS is installed,
the vessel position is displayed in global geographic coordinates.
Joystick mode
The pane displays joystick-related information during Joystick
mode.
The joystick setpoint is indicated by the orange line and shown
as two percentage values (ahead or astern for surge and port
or starboard for sway).
The obtained response (feedback) is indicated by the blue bar.
The tilt of the joystick is indicated by the filled grey circle and
dashed grey coordinate lines that are positioned relative to the
centre of the cross formation (zero tilt).
Note
The joystick setpoint relative to the joystick tilt depends on the
joystick thrust and joystick precision settings.
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Autopilot mode
In the optional Autopilot mode, the joystick setpoint and joystick
response for the surge axis is indicated as described for Joystick
mode (see Joystick mode on page 25).
The direction of the joystick tilt is indicated as described for the
axis under joystick control in Mixed Joystick/Auto modes (see
Mixed Joystick/Auto modes on page 26).
View area
The View area is used to show operational views, input dialogs (see Input dialogs on
page 40), and system views and input dialogs.
Operational views
The operational views present information relevant for system operation.
View selection
Operational views are selected and cyclically displayed in the View area of the display
by pressing the Views button one or more times until the required view is displayed.
The sequence in which the views are displayed is as follows:
• Main view
• Position-reference System view (option)
• Thruster view
• Sensor view
• Power Consumption view (option)
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Main view
The Main view shows information required during normal operation.
The units shown on the view, i.e. metres/second (m/s) or knots (kn) depend upon the
type of units selected in the System Setup input dialog (see System Setup input dialog on
page 58).
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The order heading indicator shows the value of the heading setpoint
(in degrees) when automatic heading control is selected, i.e. the yaw
axis is under automatic control.
This information is not shown in Joystick mode when automatic
heading control is not selected.
The direction and value of the athwartships speed at the bow of the
vessel, green arrow to starboard, pink arrow to port.
The direction and value of the alongships and athwartships speed at
the centre of the vessel, green arrow forward, pink arrow reverse.
The direction and value of the athwartships speed at the aft of the
vessel, green arrow to starboard, pink arrow to port.
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In Auto Pilot mode the direction and value of the alongships speed
along the vessel centre as measured by the selected speed sensor, e.g.
GPS # for a GPS speed sensor and DOP # for a Doppler Log speed
sensor.
If more than one speed sensor is selected, the name of the sensor with
the highest priority is shown. Normally a GPS speed sensor has a
higher priority than a Doppler log speed sensor.
The type of speed output from the selected sensor is indicated by a
three-letter abbreviation:
• SOG — Speed over the sea-bed (ground speed).
• STW — Speed through the water.
Status area
The Status area shows the state of the operational sensors and
position-reference systems when they deviate from normal.
The area will be blank when at least one sensor of each type and
a position-reference system (if the optional Station Keeping
mode is available) are functioning correctly and are in use, i.e.
the selected system mode can operate with the available sensor
and, if required, position-reference system measurements.
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The Refs status indicator is only shown when the current system
mode (i.e. the Station Keeping and Mixed Joystick/Auto modes)
requires the position-reference and it is not enabled and/or
accepted by the system. The colours shown by the Refs status
indicator are:
• Grey — Ready, but not enabled.
• Red — No measurements available.
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Wind area
The Wind area shows (by means of an arrow that points at a
vessel symbol) the direction of the wind relative to the fore/aft
and port/starboard axes of the vessel. It also shows the true wind
speed as numeric value.
The units for wind speed (m/s or kn) depend upon the type of
units selected in the System Setup input dialog (see System Setup
input dialog on page 58).
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Position The values for the calibrated position (from the position-reference
system) as used by the system.
Position Setpoint The wanted position for the vessel.
Reference origin The name of the position-reference system providing the
sensor: reference origin.
Reference name The name of the position-reference system.
When the position-reference system is providing the reference
origin its name is marked with an asterisk (*).
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Thruster view
The Thruster view shows the overall status of all the vessels thrusters and main
propulsion units (including rudders).
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The next Thruster view is selected and displayed by pressing the button on the panel
and a return to the previous Thruster view is made by pressing the button.
When the last Thruster view is displayed, this is indicated by the text Thruster Details
being displayed at the bottom of the view.
Thruster subviews
The Thruster subviews are selected and displayed using the and buttons.
Each subview displays, for its respective thruster or main propulsion unit, the same
status and setpoint information as shown on the Thruster view plus the thruster or main
propulsion unit feedback in percent (%).
Note
This feedback is only displayed if the vessel's propulsion system provides feedback
signals.
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Sensor view
The Sensor view shows the status and performance of each sensor.
If the optional Autopilot mode is available the Sensor view will have at least two
gyrocompasses and possibly one or more speed sensors.
(sensor name) Shows if a sensor is enabled or not for use by the system.
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(Wind) Speed The relative wind speed and direction as measured by the wind
sensor.
(Wind) Direction
(VRS) Pitch The vessel pitch and roll as measured by the vertical reference
sensor.
(VRS) Roll
The following sign convention is used for pitch and roll:
• Pitch — + is bow up
• Roll — + is port up
(GpsSPD) Speed The vessel speed and course as measured by the GPS speed
sensor.
(GpsSPD) Direction
(DopLog) Surge SPD The vessel alongships and athwartships speed as measured by
the Doppler Log speed sensor.
(DopLog) Sway SPD
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Input dialogs
Input dialogs enable you to setup the system by changing parameter values and options.
Note
The operator terminal must be in command of the system before parameter values and
options can be changed.
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Dialog selection
Input dialogs are selected and displayed in the View area by means of dedicated input
dialog selection buttons (see relevant input dialog description).
The only exception is the Heading Setpoint pop-up dialog which is displayed in the
Position area of the display.
General Setup
The General Setup input dialog is used to change thruster allocation, joystick and
controller setup.
To display this input dialog, press the General setup button.
Thruster Alloc
Allows you to select the Thruster Allocation mode (e.g. Variable, Fix and/or
vessel specific) for azimuth thrusters (see Selecting the thruster allocation mode
on page 95).
This field is displayed as unavailable in the optional Autopilot mode.
Joystick Precision
Allows you to set the precision of the joystick (General, Low Speed or High Speed)
for different operational requirements (see Joystick precision on page 109).
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Rate Of Turn
Allows you to set the Rate Of Turn for change heading operations. Within the
configured range the value can be increased and decreased in 5 degree steps (see
Setting the Rate Of Turn on page 114).
This field is not shown in the optional Autopilot mode. The Rate Of Turn for
Autopilot mode is located on the Pilot Setup input dialog (see Pilot Setup on
page 52).
Draught Type
Allows you to select the vessel draught — Transit, Operational and/or any other
vessel-specific draught (see Selecting the vessel draught on page 108).
This field is only shown if the system is configured with more than one vessel
draught.
Wind Comp.
Allows you to enable or disable (On or Off) joystick wind compensation, provided
that at least one wind sensor is enabled (see Environmental compensation on
page 110).
This field is not shown in the optional Station Keeping and Autopilot modes.
Gain Level
Allows you to select the controller gain level (Low, Medium or High) for the
automatic heading and automatic position control functions (see Selecting the
controller gain level on page 113).
This field is not shown in the optional Autopilot mode.
Sensors
The Sensor Enable input dialog is used to enable and disable sensors. It also shows
their availability (ready for use) status.
To display this input dialog, press the Sensor enable button.
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If the optional Station Keeping mode is available the Sensor Enable input dialog will
also show a position-reference system as shown in Figure 7.
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If the optional Autopilot mode is available the Sensor Enable input dialog will include
two gyrocompasses and one or more speed sensors. It will also comprise two dialogs;
one for sensors (with or without the optional position-reference system) as shown in
Figure 8, and the second for speed sensors as shown in Figure 9.
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Sensor
The name and identification number of each position-reference system and sensor.
Ready
Shows if a position-reference system or sensor is available for use by the system.
• Green — Available
• Red — Not available
Enable
Allows you to enable (On) and disable (Off) the signals from a selected
position-reference system or sensor. The position-reference system or sensor must
be available for use (Green Ready indicator) before it can be enabled. The system
will automatically disable the position-reference system or a gyrocompass if it is
not available for use (red Ready indicator).
Used
Shows which gyrocompass is being used by the system to calculate the vessel's
heading (see Gyrocompasses on page 98).
Preference
Allows you to select which gyrocompass (1 or 2) is preferred for use by the system
(see Gyrocompasses on page 98).
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Speed sensors
The second dialog for speed sensors is used to enable and disable speed sensors, and enter
a manual speed value that will be used to provide the system with speed information.
To display this second dialog, press the Sensor enable button once more.
Use
Shows which speed sensors or manual speed value are being used by the system
(see Speed sensors on page 102).
• Green — In use
• Grey — Not in use
Manual SPD
Allows you to enable (On) and disable (Off) the manual speed value entered
in the Value field.
This value is used in the optional Autopilot and Seismic Track modes.
Value
Allows you to enter a manual speed value. Within the configured range the value
can be increased and decreased in 0.1 metre/second or 0.1 knot steps (see Entering
and enabling a manual speed value on page 103).
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This field becomes unavailable and shows the current vessel speed if a speed
sensor is enabled.
Thruster Setup
The Thruster Enable input dialogs are used to enable and disable the vessel's thrusters,
main propulsion units and/or rudders for use by the system, and select the combinator
control for thrusters and main propulsion units that can be controlled by both pitch
and RPM.
Dialog selection
Thruster Enable input dialogs are selected and cyclically displayed in the View area of
the display by pressing the Thruster enable button one or more times until the required
input dialog is displayed.
The sequence in which the Thruster Enable input dialogs are displayed is as follows:
• Thruster Enable
• Combinator Control
• Run in
Pressing the Thruster enable button when the Combinator Control input dialog is being
displayed closes the dialog.
Thruster Enable
The Thruster Enable input dialog is used to enable and disable the vessel's thrusters, main
propulsion units and/or rudders for use by the system. This input dialog, which reflects
the vessel's thruster and propulsion configuration, also shows running and ready status.
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Running
Shows the running status of a thruster or main propulsion unit.
• Green — Running
• Grey — Not running
Ready
Shows if a thruster, main propulsion unit or rudder is available for control by the
system.
• Green — Available
• Grey — Not available
Enable
Allows you to enable (Yes) or disable (No) a thruster, main propulsion unit or
rudder for control. A thruster, main propulsion unit or rudder must be running
and available (Green Ready indicator) before it can be enabled. The system will
automatically disable thrusters, main propulsion units and rudders that are not
available for control (grey Ready indicator).
For further details, see Enabling thrusters on page 95.
Combinator Control
The Combinator Control input dialog is used to select the combinator control for
thrusters and main propulsion units that can be controlled by both pitch and RPM.
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MIN RPM
Allows you to set the minimum RPM (in percent) for each of the listed thrusters.
Within the configured range the value can be increased and decreased in 5 percent
steps (see Setting the minimum RPM on page 96).
This field is displayed as unavailable when Full Combinator Mode is selected. This
is because minimum RPM is not applicable in this mode.
Combinator Mode
Allows you to select the combinator mode (Sequential, Stepwise or Full) for each of
the listed thrusters (see Selecting the combinator mode on page 97).
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Run in
Select Yes to turn on the Thruster Run-in function for the corresponding thruster.
MAX setpoint (%)
The maximum setpoint for the corresponding thruster in percent. The specified
value must be more than any required minimum setpoint for the thruster (such as
for minimum thrust or idle rpm) and must always be at least 20%. This value is
valid for both the positive and negative directions.
For thrusters with combined pitch/rpm control, the specified maximum setpoint
refers to either the pitch or the rpm setpoint, depending on the configuration.
Alarm Limits
The Limits input dialog is used to activate or de-activate warning and alarm limits for
heading deviation and position deviation. It is also used to set warning and alarm limit
values.
To display this input dialog, press the Limits button.
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If the optional Station Keeping mode is available, the Limits input dialog is also used to
activate, de-activate and set warning and alarm limits for position deviation as shown
in Figure 10.
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Figure 10 Limits input dialog with position warning and alarm limits
Active
Allows you to activate or de-activate (Yes or No) a warning or alarm limit.
Limit
Allows you to set the value of a warning or alarm limit.
Heading Limits (Warning and Alarm)
Within the configured range the value can be increased and decreased in 0.5
degree steps.
Position Limits (Warning and Alarm)
Within the configured range the value can be increased and decreased in 1 metre or
1 foot steps.
For further details, see Setting heading and position limits on page 115.
Pilot Setup
The Pilot Setup input dialog is used to setup and configure the operation of the optional
Autopilot mode.
To display this input dialog, press the Pilot setup button.
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Gain Level
Allows you to select the gain level (Low, Med or Hi) that is to be applied to the
yaw axis for the autopilot control function (see Selecting the autopilot gain level
on page 117).
Counter Rudder
Allows you to set the gain for the autopilot counter rudder function. Within the
configured range the value can be increased and decreased in 5 percent steps (see
Setting the counter rudder gain on page 117).
Auto Trim
Allows you to set the gain for the autopilot auto trim function. Within the
configured range the value can be increased and decreased in 5 percent steps (see
Setting the auto trim gain on page 118).
Weather Compensation
Allows you to enable or disable (On or Off) the autopilot wind compensation
function (see Enabling weather compensation on page 119).
Rate Of Turn
Allows you to set the Rate Of Turn for autopilot change heading operations. Within
the configured range the value can be increased and decreased in 1 degree/minute
steps (see Setting the autopilot Rate Of Turn on page 119).
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The value (in degrees) shown in the dialog is the heading setpoint from the heading
wheel, which changes immediately whenever the wheel is turned, or one of the + and -
buttons is pressed.
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Turning the heading wheel to the right increases the value and turning it to the left
decreases the value. Pressing the + (increase) button steps the value up and pressing the -
(decrease) button steps the value down.
The dialog is closed by pressing the Set heading button. If the heading wheel is not
turned, or one of the + and - buttons is not pressed within a preset time limit, the dialog
is closed automatically.
Field navigation
To move the focus to the next field, i.e. navigate forward, press the button.
To move the focus to the previous field, i.e. navigate backwards, press the button.
For single-column fields:
• Forward navigation is top to bottom and then cycle back up to the top.
• Backwards navigation is bottom to top and then cycle back down to the bottom.
For two-column fields:
• Forward navigation is left to right, down to the left on next row and then left to right
again. When the bottom right is reached the focus is cycled back up to the top left.
• Backwards navigation is right to left, up to the right on the previous row and then
right left again. When the top left is reached the focus is cycled back down to the
bottom right.
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Note
Numeric values do not cycle. When the upper or lower end of the range is reached, the
other arrow button must be used to increase or decrease the value.
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User interface
Equipment view
The Equipment view shows the operational status for all configured stations and fills
the display screen.
Station
The station name (i.e. station type and number):
• cJoy-JS# — cJoy Operator Terminal
• WT# — cJoy Wing Terminal
• DpPs# — Dynamic Positioning Process Station (controller PS)
If a warning or alarm condition occurs, the background of this field changes
colour and starts to flash. It continues to flash until the applicable warning or
alarm is acknowledged.
When no warning or alarm conditions are active, the background colour of the
field is white.
Status
The current operational status of the station:
• Not Reported — No status has been reported.
• Booting — Booting (loading configuration).
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58 385585/C
User interface
Units
Allows you to select the type of units (Modified Metric, Metric Units or Imperial
Units) that are to be used in views and input dialogs (see Display units on page 77).
Note
Modified Metric is basically the same as Metric Units except that all speed values are
in nautical miles per hour (kn), not metres per second (m/s).
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Operator Terminal
Shut Down this Operator Terminal
Allows you to shut down the joystick application software and operating system
running on the operator terminal so that power can be disconnected from the
operator terminal (see Shutting down the operator terminal on page 80).
Restart this Operator Terminal
Allows you to restart the operating system and application software running in the
operator terminal (see Upgrading the operator terminal software on page 82).
Upgrade from Remote Control Unit
Allows you to copy the application software stored in the flash PROM of the
controller PS over to the hard disk of the operator terminal (see Upgrading the
operator terminal software on page 82).
The Status indicator shows the operational status of the Upgrade from Remote
Control Unit function.
• Green — Everything satisfactory
• Yellow — Function in progress
• Red — Failure or error detected
• Grey — No contact with the controller PS
Remote Control Unit
Clear Flash
Allows you to delete all data from the flash PROM in the controller PS. After
this function has been used, the controller PS will have to load its software from
a operator station the next time it is started (see Upgrading the controller PS
software on page 82).
The Status indicator shows the operational status of the Clear Flash function.
• — Everything satisfactory
• Yellow — Function in progress
• Red — Failure or error detected
• Grey — No contact with the controller PS
Upgrade Flash from this Terminal
Allows you to copy the application software stored on the hard disk of the operator
terminal over to the flash PROM of the controller PS (see Upgrading the controller
PS software on page 82).
The Status indicator shows the operational status of the Upgrade Flash from this
Terminal function. For possible states, see Clear Flash - Status indicator above.
Restart Remote Control Unit
Allows you to shut down and restart the controller PS (see Upgrading the
controller PS software on page 82).
The Status indicator shows the operational status of the Restart Remote Control
Unit function. For possible states, see Clear Flash - Status indicator above.
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User interface
The displayed information can be useful for you to have available when contacting
Kongsberg Maritime for help in case of problems with the system.
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Message system
System diagnostics
The following methods are used for fault detection:
• Built-In System Test (BIST) that performs a comprehensive system test at power-on.
• Built-In Test Equipment (BITE) that continually checks for internal system faults
when the system is running.
• Additional self-checking facilities for system components such as I/O units, etc.
• Supervision of the controller computer fan and temperature.
• Comparison of data with preset maximum and minimum limits.
• Consistency checking of input measurements.
• Supervision of serial lines.
Any faults are reported.
Operational checks
The following checks are continuously carried out during system operation:
• Detection of possible degraded performance of the system.
• Logical checking of information.
• Comparison of data with preset maximum and minimum limits.
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Message system
Types of message
There are four categories of messages, depending on their severity:
• Emergency messages
Emergency messages are generated in response to critical system faults such as
over-temperature or power supply failure.
All Emergency messages must be critically examined to determine their cause and
effect.
• Alarm messages
Alarm messages are generated when conditions are detected that critically affect the
capability or performance of the system (such as a system fault or a defined alarm
limit exceeded).
All Alarm messages must be critically examined to determine their cause and effect.
• Warning messages
Warning messages inform you of the occurrence of conditions in the system that,
if ignored, could result in unwanted system response or eventual failure (such as
incorrect operator actions, intermittent position-reference data or a defined warning
limit exceeded).
• Information messages
Information messages inform you of conditions that are noteworthy, but that have no
serious effect on the performance of the system.
Emergency and Alarm messages are accompanied by an audible signal which continues
until you acknowledge the message. There are no audible signals associated with
Warning or Information messages.
Emergency, Alarm and Warning messages are accompanied by the red alarm indicator
above the Silence/ack. button flashing. This indicator continues to flash until all active
Emergency, Alarm and Warning messages have been acknowledged.
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Presentation of messages
System messages are colour coded in the following way:
• Emergency messages are displayed on red background.
• Alarm messages are displayed on red background.
• Warning messages are displayed on yellow background.
• Information messages are displayed on grey background.
The messages are presented in two different displays:
• The Message line, which shows the most recent Emergency, Alarm or Warning
message that has not yet been acknowledged.
• The Message view, which contains a list of all the currently active system messages.
To display the Message view, press the Alarms button.
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Message system
(First column)
Identifies the acknowledge status of the message:
• An asterisk (*) with its background colour flashing is displayed for an
unacknowledged message that is in a command group over which the operator
terminal has control.
• A vertical bar (|) is displayed for an unacknowledged message that is in a
command group over which the operator terminal does not have control.
• An empty (blank) space is displayed in any other situation.
Orig.
Identifies the originator (source) of the message:
• cJoy-OT# — cJoy Operator Terminal
• JS — Joystick controller PS
• WT# — cJoy Wing Terminal
• Equipment — Equipment monitoring system
Memb.
Members of the originator of the message (not relevant when the originator is
an operator terminal).
If the message is from a controller PS, this column will contain one of the
following characters.
• A — Message was reported by the controller PS.
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• - — Message was reported by the controller PS and is now inactive (but not
acknowledged).
Time
Time when the message was first reported (hour:minute:second).
Pri.
The priority of the message:
• A — Alarm
• W — Warning
• I — Information
• E — Emergency
State
The event state for the message:
• - — Normal (indicates that the alarm or warning condition is no longer present)
• On — Active digital alarm
Text
Message text.
Info
Additional information. Up to three blocks of additional data may be included in
the message. The meaning of this additional data varies for each message.
For further information concerning the meaning of this additional information,
refer to the message explanations in Appendix A at the end of this manual.
Acknowledging messages
You can either acknowledge the message currently being displayed in the Message line
or all messages that are currently visible in the Message view.
Message line
To acknowledge the message currently shown in the Message line, proceed as follows:
1 If the audible signal horn is not sounding, press the Silence/ack. button once to
acknowledge the message.
• If the message has been reported as inactive, it is removed from the Message
line and replaced by the next most recent active Emergency, Alarm or Warning
message.
2 If the audible signal horn is sounding, press the Silence/ack. button twice with a
delay of at least 2 seconds between each press.
• The first press silences the audible signal.
• The second press acknowledges the message shown in the Message line.
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Message system
• If the message has been reported as inactive, it is removed from the Message
line and replaced by the next most recent active Emergency, Alarm or Warning
message.
Message view
To acknowledge the unacknowledged messages currently visible in the Message view,
proceed as follows:
1 Press the Alarms button.
• The Message view is displayed.
2 If the audible signal horn is not sounding, press the Silence/ack. button once to
acknowledge the visible messages.
• All inactive acknowledged Emergency, Alarm and Warning messages together
with any Information messages are removed from the view.
• If there are further unacknowledged messages, the view is refreshed and refilled
with active messages.
• If all active messages have been acknowledged, the flashing red alarm indicator
above the Silence/ack. button extinguishes (becomes unlit).
3 If the audible signal horn is sounding, press the Silence/ack. button twice with a
delay of at least 2 seconds between each press.
• The first press silences the audible signal.
• The second press acknowledges all visible unacknowledged messages.
• All inactive acknowledged Emergency, Alarm and Warning messages together
with any information messages are removed from the view.
• If there are further unacknowledged messages, the view is refreshed and refilled
with active messages.
• If all active messages have been acknowledged, the flashing red alarm indicator
above the Silence/ack. button extinguishes (becomes unlit).
4 If the red alarm indicator above the Silence/ack. button is still flashing, repeat step
2 as many times as required, until it changes to steadily lit.
5 Press the Alarms or Cancel button.
• The Message view is closed.
Alarm indicator
This red alarm indicator above the Silence/ack. button flashes in response to a
software-generated alarm or warning from the operator terminal microprocessor initiated
by an operational alarm or warning condition; for example, heading or position deviation
beyond limits or sensor error. These alarms are generated by a controller PS or another
alarm originator (such as the equipment monitoring system) and do not indicate failures
in the operator terminal.
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A flashing alarm indicator shows that unacknowledged warnings and/or alarms are
active. A steadily lit alarm indicator shows that all warnings and/or alarms have been
acknowledged but are still active. The alarm indicator will extinguish three seconds after
the last warning or alarm status has been removed.
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Message system
Controller PS response
If there is no response from the controller PS, e.g. communication with the controller
PS is lost or it has a major hardware failure, the critical system message No network
response from DP Controller PS is displayed.
It is normal for this message to be displayed when the system is being started or restarted
after the controller PS has been switched off, e.g. for servicing.
Assuming that the controller PS is serviceable, this message will be replaced by the
message The DP Controller PS is now responding when the system has been restarted and
the operator terminal establishes communication with the controller PS.
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After a preset time limit (when the Countdown: value reaches zero) this message is
removed from the display.
If the No network response from DP Controller PS message is not replaced by the The
DP Controller PS is now responding message within 2 minutes, then try to solve the
problem using the fault finding flowchart in the Maintenance Manual for your vessel. If
this fails to find the cause of the problem, contact the Kongsberg Maritime Customer
Support department for help.
Software inconsistency
If a software inconsistency occurs, due to an unauthorised change of the parameters in
a software configuration file or, for some reason the software has become corrupted, a
critical system message is displayed.
If this message is displayed, it may be unsafe to continue using the system. Therefore, it
is recommended to place the system in Standby mode (or shut it down) and then contact
the Kongsberg Maritime Customer Support department for help.
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Starting operations
Starting operations
System start-up
The operator terminal and the joystick controller are usually left with power on and the
system in Standby mode.
It is recommend to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new DP
operation. A sequential restart of all the units with an interval is recommended.
If the entire system has been shut down, use the start-up procedure given in the
Maintenance Manual for your vessel to start-up the system.
Similarly, use the shut-down procedure given in the Maintenance Manual for your vessel
if the entire system has to be shut down.
Note
To turn off the operator terminal, its 24 VDC power supply must be switched off in the
joystick controller . For further details, refer to the Maintenance Manual for your vessel.
Command transfer
The system can be controlled from the operator terminal or any wing terminal connected
to the system.
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After the system has been started-up and its application software has loaded, the operator
terminal and all connected wing terminals are automatically placed in Standby mode.
Although all available information about the system is provided at each terminal, only
one terminal can be in command of the system at any one time.
Operator terminals have Take and Give buttons whereas wing terminals only have Take
buttons. At the operator or wing terminal that has command, the Take button status
indicator is lit. If an operator terminal is in command, then IJS is displayed in the Title
bar on the display.
There are two methods for transferring command between operator and wing terminals:
• Take Command
• Give Command
The system command configuration determines whether or not the “Take Command”
method can be used. The “Take” and “Give” actions apply only for the controller PS
group to which the operator terminal or wing terminal is connected.
Note
Command of a system can only be transferred to a wing terminal using the “Give
Command”.
Taking command
To take command of the system at an operator terminal, press the Take button twice
within four seconds. The Take button status indicator starts to flash and then becomes
steadily lit when the operator terminal has taken command.
At the wing terminal or operator terminal that was previously in command of the system,
the information (INFO:) or operator pop-up message Not in Command any more is
displayed and the Take button status indicator becomes unlit.
Note
If the system is configured as a stand-alone joystick system and is in Standby mode when
command is transferred to the operator terminal, the system will automatically enter
Joystick mode provided that the joystick is in the centre (zero) position.
If the system is configured as an independent joystick system for a cPos or K-Pos system,
this automatic mode change will not take place.
Giving command
To give command of the system from an operator terminal to a wing terminal or another
operator terminal, proceed as follows:
1 At the operator terminal, press the Give button.
• The operator pop-up message Giving Command is displayed, the audible signal
horn sounds and the Take button status indicator starts to flash.
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Starting operations
Panel test
The buttons, indicators and audible signal horn on the operator terminal can be tested by
means of the panel test function.
Note
System operation is blocked when the panel test is enabled. It is therefore recommended
to perform the test in Standby mode or before taking command at the operator terminal.
The panel test is automatically terminated if no buttons are pressed within a preset
time limit.
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Panel dimming
The operator terminal stores two palettes for the display, one for day operation and the
other for night operation. Both of these palettes contain parameters which adjust the
brightness of the display, the brightness of the button status indicators and the intensity
of the button background lighting.
The parameter values for these palettes are changed by means of the Panel dimming
function.
Note
System operation is blocked when the panel dimming function is enabled. If a button not
used by the panel dimming function is pressed (i.e. all buttons except for , , ,
and Enter) when the function is enabled, the function is automatically terminated.
The panel dimming is also automatically terminated if no buttons are pressed within
a preset time limit.
Toggling between day and night settings is performed by means of the Day/night button
(see Day and night palettes on page 77).
When an operator terminal is restarted, the settings for night operation are automatically
selected.
To perform panel dimming for the currently selected (day or night) palette, proceed as
follows:
Note
Use the (decrease) and (increase) buttons to adjust level values. Any adjustments
made with these two buttons takes effect immediately.
Use the (up) and (down) buttons to navigate from one setting to another.
Use the Enter button to navigate down to the next setting.
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Starting operations
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Note
Although the level of the HORN SETTINGS - Volume can be adjusted, it does not
have any effect on the sound generated by the audible signal horn (function
disabled). This is to prevent the volume of the audible signal horn being reduced
to an inaudible level (classification society requirement).
8 Press the Enter or Dim button to terminate the panel dimming function.
• The panel dimming function is terminated.
• The Dim Settings input dialog is closed.
• The operation indicator changes to steadily lit green.
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Starting operations
To switch between day and night palettes, press the Day/night button.
Display units
You can select the type of units (metric or imperial) to be used for measured values
shown in the Heading area, Position area and operational views, and for parameter
values in the input dialogs.
To change the display units to be used, proceed as follows:
1 Display the System Setup input dialog.
2 Change the option in the Units field.
3 Press the Enter button.
• The display units are changed to the selected option.
4 Close the System Setup input dialog.
Joystick calibration
Calibration of the joystick ensures that a certain deflection of the joystick corresponds to
a specific thruster power depending upon the selected thrust, e.g. Full or Reduced.
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2 Set the joystick to the centre position and then press the Enter button.
• The following indicators are displayed on the Joystick Calibration view:
– A red joystick reference line at the top of the vertical (X) axis.
– A red joystick movement, reference cross in the centre of the vertical and
horizontal (X/Y) axes.
– Black maximum movement lines at the ends of the vertical and horizontal
(X/Y) axes.
3 Move the joystick to the maximum in the forwards and backwards direction
(X), then in the left and right direction (Y) and then in the clockwise and
counter-clockwise rotate direction (Z).
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Starting operations
• The current position of the joystick (with respect to the centre position) is
indicated by a black cross.
• The current direction and amount by which the joystick has been rotated (with
respect to the centre position) is indicated by a black line within the semicircle.
4 Press the Enter button.
• The joystick is calibrated.
• The joystick calibration function is disabled and calibration terminated.
• The Joystick Calibration view is replaced by the original display view.
• The operation indicator changes to steadily lit green.
5 Check that the joystick is functioning correctly by comparing:
a The rotation of the joystick with the movement of the joystick rotation indicator
(upwards pointing arrow on the upper two-directional bar) in the Heading area
(see Joystick heading control on page 24).
b The tilt of the joystick with the movement of the joystick tilt indicator (filled
purple circle with a white outline and purple dashed coordinate lines) in the
Position area (see Joystick mode on page 25).
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System procedures
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System procedures
Note
To turn off the operator terminal, its 24 VDC power supply must be switched off in
the joystick controller cabinet. For further details, refer to the Maintenance Manual
for your vessel.
To shut down and restart the operator terminal in a controlled manner, proceed as follows:
1 Display the Software Upgrade and Restart input dialog.
2 Move the focus to the Restart this Operator Terminal field and change the option to
Yes.
3 Press the Enter button.
• The operator pop-up message The Operator Terminal will be restarted... is
displayed.
• The application software is shut down.
• The Microsoft Windows message System Shutdown is displayed.
• After a few seconds, the operating system is shut down.
• When the operating system has been shut down the audible signal horn sounds.
• A few seconds after the audible signal horn starts sounding, the operating system
automatically starts to reload.
4 Press the Silence/ack. button.
• The audible signal is silenced.
5 When the operating system and application software have been reloaded and the
operator terminal is running, display the Software Upgrade and Restart input dialog.
6 Check that the colour of the single Operator Terminal Status field and the six Remote
Control Unit Status fields are green.
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To upgrade the operator terminal application software from the flash PROM of the
controller PS, proceed as follows:
1 Display the Software Upgrade and Restart input dialog.
2 Ensure that the colour of the File version match field is red.
3 Move the focus to the Upgrade from Remote Control Unit field and change the
option to Yes.
4 Press the Enter button.
• The operator pop-up message Please be patient... This will take some time. is
displayed.
• Copying of the application software stored in the flash PROM of the controller
PS over to the hard disk of the operator terminal is started.
• The Status field for the Upgrade from Remote Control Unit function changes to
yellow and all option fields become unavailable.
• When the software upgrade has been completed, the Status field for the Upgrade
from Remote Control Unit function changes to green and all option fields become
available with the Upgrade from Remote Control Unit field in focus (selected).
5 Restart the operator terminal (see Restarting the operator terminal on page 81
for procedure details).
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System procedures
If the controller PS has been replaced, it will automatically update the software in the
flash PROM (from the application software stored on the operator terminal hard disk)
the first time it is started, provided that its three hexadecimal Address switches and its
hexadecimal Mode switch have been set up correctly.
However, if for some reason, the application software stored in the flash PROM of
the controller PS does not match the software stored on the hard disk of the operator
terminal, the File version match field on the Software Upgrade and Restart input dialog
(see Software Upgrade and Restart input dialog on page 59) will be red.
In this situation the application software stored in the flash PROM of the controller PS
will need to be upgraded with the application software stored on the hard disk of the
operator terminal.
Caution
The following procedure should only be performed if the colour of the File
version match field on the Software Upgrade and Restart input dialog is red,
and then preferably by a Kongsberg Maritime software engineer.
To upgrade the application software stored in the flash PROM of the controller PS from
the operator terminal, proceed as follows:
1 Display the Software Upgrade and Restart input dialog.
2 Check that the colour of the File version match field is red.
3 Move the focus to the Clear Flash field and change the option to Yes.
4 Press the Enter button.
• The operator pop-up message Please be patient... This will take some time. is
displayed.
• Deletion of the application software stored in the flash PROM of the controller
PS is started.
• The Status field for the Clear Flash function changes to yellow and all of the
option fields become unavailable.
• When the application software has been deleted from the flash PROM, the Status
field for the Clear Flash function changes to green and all of the option fields
become available with the Clear Flash field in focus (selected).
5 Move the focus to the Upgrade Flash From this Terminal field and change the option
to Yes.
6 Press the Enter button.
• The operator pop-up message Please be patient... This will take some time. is
displayed.
• Copying of the application software stored on the hard disk of the operator
terminal over to the flash PROM of the controller PS is started.
• The Status field for the Upgrade Flash From this Terminal function changes to
yellow.
• All of the option fields become unavailable.
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• When the software upgrade has been completed, the Status field for the Upgrade
Flash From this Terminal function changes to green and all of the option fields
become available with the Upgrade Flash From this Terminal field in focus
(selected).
7 Move the focus to the Restart Remote Controller Unit field and change the option to
Yes.
8 Press the Enter button.
• The operator pop-up message Please be patient... This will take some time.
• Shut down of the controller PS is started.
• All of the option fields and all of the Status fields become unavailable.
• When the controller PS is shut down, the critical system message No network
response from Controller PS is displayed and the audible signal horn sounds.
• A few seconds after the audible signal horn starts sounding, the controller PS
automatically starts to reboot.
9 Press the Silence/ack. button.
• The audible signal is silenced.
10 When the controller PS has been rebooted and is running, check that:
a All of the Status fields are green.
b All of the option fields, except for the Shut Down this Operator Terminal and
Restart this Operator Terminal fields, are available with the Restart Remote
Controller Unit field in focus (selected).
c After a few seconds the critical system message No network response from
Controller PS is replaced by the critical system message The Controller PS is
now responding.
11 If the audible signal horn sounds, due to an alarm or warning message, press the
Silence/ack. button (one or more times).
• The audible signal is silenced.
12 When the critical system message The Controller PS is now responding is removed,
re-display the Software Upgrade and Restart input dialog.
13 Check that the colour of all the Status fields is green and all option fields are
available with the Restart Remote Controller Unit field in focus (selected).
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Operating modes
Operating modes
Standby mode
The Standby mode is a waiting and reset mode in which the system is in a state of
readiness, but in which no vessel control commands can be made. It is also the default
mode when the system is first switched on.
In this mode you can prepare the system for operation and you can put the system into
Joystick mode (see Joystick mode on page 86).
Note
Changing from Standby to Joystick mode will automatically enable the thrusters
provided that they are ready within a timeout of 10 seconds.
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Joystick mode
In Joystick mode, the operator controls the movement of the vessel using the three-axis
joystick.
The joystick axes (surge and sway) are automatically configured according to the operator
terminal's orientation relative to the vessel, i.e. whether the terminal is facing ahead,
astern, port or starboard (see Figure 17 and Orientation of the main view on page 33).
86 385585/C
Operating modes
Astern Starboard
Astern Starboard
Ahead Port
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88 385585/C
Operating modes
• When the Rate Of Turn is reduced to less than a predefined limit, automatic
heading control is enabled and the Auto heading and Present heading button
status indicators become steadily lit. The current vessel heading becomes the
heading setpoint, and the system automatically maintains this heading.
• The deviation between the estimated heading and the heading setpoint is shown
in the Heading area of the display (see Automatic heading control on page 24).
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Operating modes
• When the vessel speed (in the surge or sway axis) is reduced to less than a
predefined limit, automatic position control in the selected axis is enabled and
the Auto surge or Auto sway button status indicator becomes steadily lit. The
current vessel position in the selected axis becomes the position setpoint in that
axis and the system automatically keeps the vessel at this position.
• The deviation between the estimated position and the position setpoint is shown
on the Position area on the display (see Mixed Joystick/Auto modes on page 26).
6 Control the vessel movement in the unselected axis manually using the joystick.
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• The deviation between the estimated heading and the heading setpoint is shown
in the Heading area of the display (see Automatic heading control on page 24).
• When the vessel speed (in both the surge and sway axes) is reduced to less than
predefined limits, automatic position control is enabled and the Auto surge
and Auto sway button status indicators become steadily lit. The current vessel
position becomes the position setpoint, and the system automatically keeps the
vessel at this position.
• The deviation between the estimated position and the position setpoint is shown
on the Position area on the display (see Station Keeping mode on page 26).
Autopilot mode
The optional Autopilot mode enables the vessel to accurately and automatically maintain
a selected heading. This mode uses the vessel's propeller(s) and rudder(s) or azimuth
thrusters.
The vessel speed is normally controlled from the joystick on the operator terminal.
If the vessel's rotation centre is other than the centre of the vessel (midships) when
entering the optional Autopilot mode, it is automatically changed to the centre of the
vessel and the status indicator above the Centre pivot button is steadily lit.
At least two gyrocompasses must be enabled. If this requirement is not met, the message
Heading monitor requires 2nd source is displayed.
At least one speed sensor must be enabled. If this requirement is not met, the message
Speed sensor dropout is displayed.
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Operating modes
9 Set the required Rate Of Turn (see Setting the autopilot Rate Of Turn on page 119).
10 Set the required maximum rudder angle for automatic heading control (see Setting
the maximum rudder angle for automatic heading control on page 119).
11 Set the required maximum rudder angle for joystick heading control (see Setting the
maximum rudder angle for joystick heading control on page 120).
12 Select the required steering mode (see Selecting the steering mode on page 120).
13 If applicable, select the required steering group (see Selecting the steering group
on page 121).
14 Press the Auto pilot button twice within four seconds.
• The Auto heading button status indicator starts to flash and then becomes
steadily lit together with Auto pilot button status indicator when Autopilot mode
is entered.
• The vessel heading is controlled automatically (see Changing heading on
page 93).
• The vessel speed is controlled from the joystick.
15 Move the joystick in the alongships direction until the required vessel speed is
obtained.
Changing heading
There are several ways to change heading in the optional Autopilot mode:
• As described in Changing the heading setpoint on page 112.
Note
When changing the heading setpoint, the turn direction will depend on the new
heading setpoint. The shortest turn is always used.
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Thrusters
The term “thruster” is used throughout this section to mean any element of the vessel's
propulsion system; including main propulsion units, rudders, tunnel thrusters and
azimuth thrusters. (The specific terms for the elements of the propulsion system are used
whenever this enhances the readability of the manual).
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Enabling thrusters
When a thruster can be enabled for joystick control, it is shown as Running and Ready
on the Thruster view (see Thruster view on page 36) and on the Thruster Enable input
dialog (see Thruster Setup on page 47).
There are generally two criteria for a thruster Ready status:
• The individual thruster must be running without faults.
• The individual thruster must be available for joystick control.
Before a thruster can be enabled, it must be Ready. If a thruster is enabled and it
subsequently loses its Ready status, it is automatically disabled.
The system uses only those thrusters that are enabled for use by the system. The thrusters
can be enabled and disabled using the Thruster Enable input dialog.
Note
Changing from Standby to Joystick mode will automatically enable the thrusters
provided that they are ready within a timeout period of 10 seconds.
Disabling thrusters
To disable a thruster, proceed as follows:
1 Display the Thruster Enable input dialog.
2 Move the focus to the Enable field for the required thruster and change the option
to No.
3 If required, repeat step 2 for other thrusters.
4 Press the Enter button.
• The selected thrusters are disabled.
5 Close the Thruster Enable input dialog.
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For the azimuth thrusters, you can choose between various thruster allocation modes.
The currently-selected thruster allocation mode is shown in the Thruster Alloc field of
the General Setup input dialog.
Depending on the operational mode, illegal thruster allocation modes are unavailable in
the General Setup input dialog.
Typical examples of azimuth thruster allocation modes are:
• Variable
The system automatically changes the angle of the azimuth thrusters so that the
thrust is always angled in the optimum direction. In order to reduce wear and tear
on the azimuth thrusters due to continuous changes in the azimuth thruster angles, a
dead-band function is incorporated.
Use this thruster allocation mode when the environmental forces acting on the vessel
are large and are not constantly changing direction.
A set of forbidden zones for each thruster can be predefined to prevent a particular
thruster from interfering with other thrusters, the hull or other equipment. What
happens to the thrust, when a thruster passes a forbidden zone, can be predefined for
each zone (for example, the thrust can be reduced).
• Fix
The system automatically selects a fixed angle for each azimuth thruster. When the
environmental force is small and constantly changing direction, this mode can be used
in order to avoid continuous changes in the azimuth thruster angle.
If you disable and then re-enable a thruster that is running in this mode with a negative
pitch or rpm, the system will automatically turn the thruster 180 degrees.
• Steering
Azimuth thrusters not used for steering will have predefined fixed angles for use in
the optional Autopilot mode. This thruster allocation mode is automatically selected
when the system is in Autopilot mode.
Additional information
The configuration and operational requirements of the vessel determines the thruster
allocation modes that are implemented in the system, as well as the criteria for automatic
mode changes. Details of the available thruster allocation modes are provided with the
configuration information for each vessel.
For some of the thruster allocation modes such as Fix a sufficient number of thrusters
must be enabled to select the mode. The system will automatically change back to the
default thruster allocation mode (normally Variable mode), if you de-select thrusters or
thrusters lose their Ready status.
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This minimum RPM is a limit which defines the lowest RPM that the thruster propeller
will be allowed to rotate in either of these two modes. For example, if the minimum RPM
is set to 60% then the range for the thruster propeller RPM will be set to 60 to 100%, i.e.
the thruster propeller will not be allowed to rotate at less than 60% of its maximum RPM.
To set the minimum RPM, proceed as follows:
1 Display the Combinator Control input dialog.
2 Move the focus to the MIN RPM field for the thruster and change the value to the
required percentage.
3 Press the Enter button.
• The minimum RPM percentage is set to the value selected.
4 Close the Combinator Control input dialog.
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Gyrocompasses
At least one gyrocompass should be enabled at all times to provide heading information
to the system for automatic control of heading.
Enabling a gyrocompass
To enable a gyrocompass, proceed as follows:
1 Display the Sensor Enable input dialog.
2 Check that the colour of the Ready field for the gyrocompass is green.
3 Move the focus to the Enable field for the gyrocompass and change the option to On.
4 If the optional Autopilot mode is available, repeat steps 2 and 3 for the other
gyrocompass.
5 Press the Enter button.
• The gyrocompass(es) is(are) enabled.
6 Close the Sensor Enable input dialog.
98 385585/C
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Disabling a gyrocompass
To disable a gyrocompass, proceed as follows:
1 Display the Sensor Enable input dialog.
2 Move the focus to the Enable field for the gyrocompass and change the option to Off.
3 If the optional Autopilot mode is available and if required, repeat step 2 for the
other gyrocompass.
4 Press the Enter button.
• The gyrocompass(es) is(are) disabled.
5 Close the Sensor Enable input dialog.
Faulty gyrocompass
If the measurements from a gyrocompass are not accepted by the system, a message is
displayed with information about the failure; for example:
Gyro 1 not ready
After a faulty gyrocompass has been repaired and is ready for use, you should enable
it again.
Heading dropout
If the vessel heading that is estimated by the Vessel Model differs significantly from the
measured vessel heading, the following message is displayed:
Heading prediction error
If this continues for more than two seconds, the system will assume that the information
from the gyrocompass(es) is unreliable and will stop updating the Vessel Model with the
measured heading. In this situation the following alarm message is displayed:
Heading dropout
The same alarm will occur if no gyrocompass(es) is(are) enabled, or if there is a total
gyrocompass malfunction.
It is not possible to operate with automatic heading or position control in a Heading
dropout situation.
Go to Standby mode to reset the estimated heading from the Vessel Model to the
measured gyrocompass heading.
Check that the gyrocompass(es) is(are) are ready, whether the readings are drifting or if
other error messages indicate interface errors.
Wind sensor
The wind sensor should be enabled at all times to provide the system with wind speed
and direction information.
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Normally, input from the wind sensor will be enabled. The system then receives and
compares the signal from the sensor and uses it to calculate the wind force acting on
the vessel.
The raw measurements of wind speed and direction are filtered internally (using a
Kalman filter with both low and high frequency parts), to estimate the most reasonable
speed and direction values to be used by the system.
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Faulty VRS
If measurements from the VRS are not accepted by the system, or if at least one of
the channels for the VRS is faulty, a message is displayed with information about the
failure, for example:
VRS 1 not ready
When the VRS has been repaired and is ready for use, you should enable it again.
Speed sensors
Speed measurements can be used as an addition to position measurements to improve
the vessel speed control.
The speed information may be received from two sources, Doppler Log and GPS speed
sensors. You can select available speed sensors or enter a manual alongships vessel
speed value.
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In high speed operations (e.g. in the optional Autopilot mode) all enabled speed sensors
will normally be in use (unless a sensor has failed) when speed measurements are used
by the system. It is recommended to also enable manual speed input since the manual
value will be updated based on the in use sensors. Should all sensors be lost, you will
have an initial manual value that reflects the real situation.
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• If a high speed operation is selected the Manual SPD - Use field changes to green.
6 Close the Sensor Enable input dialog.
Position-reference system
Position information from the GPS position-reference system provides position
information as Latitude and Longitude in a geodesic coordinate system.
System datum
The controller PS always uses an internal geographic coordinate system, that uses
WGS84 as a “system datum”.
All position information from global reference systems which use a different datum are
converted internally to WGS84.
Reference origin
The position-reference system provides position measurements relative to a known
reference point. When the position-reference system is selected and accepted for use with
the system, it becomes the reference origin (the origin in the internal coordinate system).
104 385585/C
Operating procedures
• A prediction test detects sudden jumps or large systematic deviations in the measured
position. The limit for the prediction test is a function of the estimated position in
the Vessel Model and the actual measurement accuracy.
If the results of the variance and prediction tests suggest that the position measurements
from the reference system are not accurate, then the measurements are not used.
The characteristics of the position-reference system (when active) are shown on the
Position-reference System view (see Position-reference System view on page 34).
Freeze test
If the position-reference system has an internal error causing the same measurements
to be continuously sent to the Vessel Model, the system could, if no precautions were
taken, mistake the data for good and stable measurements.
The freeze test rejects repeated measurements and the system treats repeated
reports of the same position from the position-reference system with caution. The
position-reference system is monitored and its input rejected if the variation in its
position measurements is less than a predefined limit over a given time period. In such a
situation, the following alarm message is displayed:
Reference position frozen
You should disable the position-reference system.
Note
By configuration, the freeze test is usually disabled for GPS position-reference systems
due to the resolution in the data from this particular type of position-reference system.
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Prediction test
The prediction test detects sudden jumps in the measured position, and immediately
rejects those that lie outside the limits as illustrated in Figure 18. The test will also reject
data that drift away from the Vessel Model's predictions. The limit for the Prediction test
is a function of the actual measurement accuracy (calculated variance).
Rejected measurement
Rejection limit
Model prediction
Measurement
Rejection limit
TIME
(CD3293)
If the Prediction test limits are exceeded, the following warning message is displayed:
Reference prediction error
When this message is displayed, you should verify that the position-reference system is
rejected so that you can then disable the position-reference system.
Irrespective of the accuracy of the position-reference system, the prediction error
limit is usually not set to less than 4 m. This is done to avoid rejecting accurate
position-reference system data.
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Operating procedures
Position dropout
If the vessel position is under automatic control and all position-reference input is lost
or rejected, the following warning message is displayed:
All reference systems rejected
After 20 seconds without reference input, the following alarm is given:
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Position dropout
This means that the system is currently using only the estimated position from the Vessel
Model, and that this position has not been updated with measured positions for at least
20 seconds (“dead reckoning” mode).
When this message is generated, the position setpoint is set automatically to the current
estimated vessel position while the system tries to re-calibrate the position-reference
system.
You can remain in Position dropout, but the following points must be noted:
• The displayed vessel position is the estimated position from the Vessel Model. After a
few minutes, the vessel may begin to pick up speed in one direction.
• A calibration of the lost position-reference systems may occur at any time. This
will have no immediate effect, but if the calibrated system is unreliable or drifting,
the vessel may begin to move.
The recommended action in Position dropout (if operational circumstances allow) is:
1 Return the system to joystick control in all axes and use the joystick to manoeuvre
the vessel.
2 When the reliable position-reference system becomes reliable and is successfully
calibrated, return to the required operational mode.
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Operating procedures
Joystick settings
Setting the joystick thrust
There are two settings for joystick thrust:
• Full
The maximum force available from all thrusters can be used. This increases the
vessel's response to movement of the joystick compared to the Reduced setting.
• Reduced
The maximum applied thruster force for axes that are under joystick control is limited
to about 50% of the available force from all thrusters.
The difference between these two settings is shown in Figure 19.
To change the joystick thrust, press the Full thrust button twice within four seconds.
The Full thrust button status indicator is steadily lit when full thrust is selected and unlit
when reduced thrust is selected.
Joystick precision
The applied thruster force for axes that are under joystick control can be scaled in various
ways. This scaling gives a different response to movement of the joystick, depending on
the configuration and operational requirements of the vessel.
Thrust as a function of joystick deflection in the cases of Full and Reduced thrust, with
General, Low Speed or High Speed precision is shown in Figure 19.
Thrust / Max
1
Full
0.9
0.6 General
0.5 Reduced
0.4
0.3
0.2
0.1
Low Speed
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Deflection / Max
CD2823
385585/C 109
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• General
Linear relationship between the movement of the joystick and force exerted by the
thrusters. The Precision is automatically changed from High Speed to General when
changing from high-speed to low-speed manoeuvring (for example from Autopilot
mode to Joystick mode).
• Low Speed
For precise low-speed manoeuvring. Progressive relationship between the movement
of the joystick and force exerted by the thrusters. A small movements of the joystick
the change in thrust force is low, but increases with increasing movements.
• High Speed
For precise high-speed manoeuvring. At small movements of the joystick the change
in thrust force is large, but decreases with increasing movements.
Environmental compensation
Joystick control can be combined with environmental compensation in each of the
three axes. The system then automatically compensates for the wind forces acting on
the vessel by providing the thrusters with the necessary extra thrust in the appropriate
direction. When position-reference system measurements are available the system will
calculate the unknown forces, including sea current and wave forces, which are acting
on the vessel (collectively referred to as “current”). The system performs automatic
compensation for these calculated “current” forces.
“Current” is calculated when a position-reference system is accepted. The calculated
value will freeze when no position-reference system is accepted, and will be set to zero
in Standby mode.
110 385585/C
Operating procedures
385585/C 111
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112 385585/C
Operating procedures
Note
The Heading Setpoint pop-up dialog must be displayed if rotation of the heading wheel
is to have an effect.
385585/C 113
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114 385585/C
Operating procedures
Heading deviation
Warning and alarm limits for heading deviation can only be activated when the yaw
axis is under automatic control, i.e. the system is in a mode where automatic heading
control is possible.
When the vessel's actual heading differs from the heading setpoint by more than the
warning limit, a warning message is displayed. When the vessel's actual heading differs
from the heading setpoint by more than the alarm limit, the audible signal horn sounds
and an alarm message is displayed.
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When active, the heading limits are displayed as black lines — dashed for warning limit
and solid for alarm limit, on the heading deviation shown in the Heading area of the
display. When inactive, the heading limits are shown as gray lines.
Note
The heading limits are inhibited during a requested change in heading, until it is
completed.
To set or change, and activate heading deviation alarm and warning limits, proceed as
follows:
1 Display the Limits input dialog.
2 In the Heading Limits group:
a Change the values in the Warning and Alarm Active fields as required.
b Select Yes in the Warning and Alarm Active fields.
3 Press the Enter button.
• The heading deviation limits are changed to the selected values, and activated.
4 Close the Limits input dialog.
Position deviation
Warning and alarm limits for position deviation can only be activated when the surge
and/or sway axis is under automatic control, i.e. the system is in a mode where automatic
position control is possible.
When the vessel's actual position differs from the position setpoint by more than the
warning limit, a warning message is displayed. When the vessel's actual position differs
from the position setpoint by more than the alarm limit, the audible signal horn sounds
and an alarm message is displayed.
When active, the position limits are displayed as black circles — dashed for warning
limit and solid for alarm limit, on the position deviation display shown in the Position
area of the display. When inactive, the position limits are shown as gray circles.
Note
The position limits are inhibited during a requested change in position, until it is
completed.
To set or change, and activate position deviation alarm and warning limits, proceed as
follows:
1 Display the Limits input dialog.
2 In the Position Limits group:
a Change the values in the Warning and Alarm Limit fields as required.
b Select Yes in the Warning and Alarm Limit fields.
3 Press the Enter button.
116 385585/C
Operating procedures
• The position deviation limits are changed to the selected values and activated.
4 Close the Limits input dialog.
Autopilot setup
The optional Autopilot mode is set-up using the Pilot Setup input dialog.
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New course
Counter rudder setting too low ,
overshoot response.
New course
Counter rudder setting too high,
sluggish and creeping response.
New course
Correct setting of counter rudder ,
ideal response.
(CD3291)
118 385585/C
Operating procedures
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If you try to enter angle values beyond predefined limits, a message instructing you to
correct the values will be displayed.
To set the maximum rudder angle that can be used when automatic heading control is
active, proceed as follows:
1 Display the Pilot Setup input dialog.
2 Move the focus to the Rud. Lim. in Auto Yaw Control field and change the value to
the required angle.
3 Press the Enter button.
• The maximum rudder angle is set to the value selected.
4 Close the Pilot Setup input dialog.
120 385585/C
Operating procedures
The starboard steering unit generates the directional force. The port steering unit is
fixed alongships.
• Async PORT (Asynchronous Port)
The port steering unit generates the directional force. The starboard steering unit is
fixed alongships.
To select the steering mode, proceed as follows:
1 Display the Pilot Setup input dialog.
2 Move the focus to the Steer Mode field and select the required option.
3 Press the Enter button.
• The steering mode is changed to the selected option.
4 Close the Pilot Setup input dialog.
385585/C 121
Message explanations
Table of contents
Absolute reference system not active ............................................................................. 8
All reference systems rejected ........................................................................................ 8
Ascreate already done ..................................................................................................... 8
Astern thrust required ..................................................................................................... 8
Auxiliary Timer/interrupt error ...................................................................................... 8
Azimuth [#] input error pitch.......................................................................................... 9
Azimuth [#] not ready..................................................................................................... 9
Azimuth [#] prediction error pitch.................................................................................. 9
Azimuth [#] triangle pot error ........................................................................................ 9
Bad terminal IO connections .......................................................................................... 9
Block parameter is not available .................................................................................... 9
Block status is not available ......................................................................................... 10
Block type is not available............................................................................................ 10
Calibration error ........................................................................................................... 10
Calibration offset .......................................................................................................... 10
Calibration OK ............................................................................................................. 11
Checksum error (see message) ..................................................................................... 11
Clock failure ................................................................................................................. 11
Code checksum difference............................................................................................ 11
Communication port reservation error ......................................................................... 12
Configuration error ....................................................................................................... 12
Demand reduced on swbd [#] ....................................................................................... 12
Demand reduced thruster [#] by ext system ................................................................. 13
Diesel shaft [#] overload............................................................................................... 13
Disk limit exceeded ...................................................................................................... 13
Draught limit reached ................................................................................................... 14
Draught not ready ......................................................................................................... 14
Draught input updated .................................................................................................. 14
Draught not enabled...................................................................................................... 14
Draught [#] sensor rejected........................................................................................... 15
Driver configuration is not available ............................................................................ 15
Driver operation is not available .................................................................................. 15
Driver status is not available ........................................................................................ 15
Driver task creation error .............................................................................................. 16
DSP error (see message) ............................................................................................... 16
Dual connection generator [#] ...................................................................................... 16
ECC is disabled (see message) ..................................................................................... 16
Enable thrusters in bow ................................................................................................ 17
385585/C A-1
Message explanations
A-2 385585/C
Message explanations
385585/C A-3
Message explanations
A-4 385585/C
Message explanations
385585/C A-5
Message explanations
A-6 385585/C
Message explanations
385585/C A-7
Message explanations
Possible The system will revert to standard Approach or Weather Vane mode.
consequences:
Possible If the vessel was forced off position by large waves, the system might recover
consequences from the alarm situation. Otherwise, a Position Dropout will occur and the system
will use the Vessel Model to estimate the vessel position and velocity. If the
rejected position reference systems have corrupted the DP model, the vessel may
be forced off position quickly. If the DP model is functioning correctly and the
external conditions change, the vessel may drift off position after a few minutes.
Corrective Enable a new position reference system or recalibrate the reference origin position
actions reference system (disable all reference systems and enable the required
reference-origin system) in order to avoid a "random" selection of new reference-
origin system. Then enable other position reference system as required.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective If astern thrust is wanted deselect Mean Offset and select a function that can give
actions: astern thrust.
A-8 385585/C
Message explanations
Possible Since the timer is not in normal operational use, no immediate consequences are
consequences: to be expected, but the error may be an indication that HW components are
unreliable and that other failures may follow.
Corrective • If possible, try to change the PS (Process Station), and describe the failure,
actions: the current operation executed and what processor is failing (given in
parenthesis before the alarm-text), when returning the PS to Kongsberg
Maritime Service.
• Contact Kongsberg Maritime Service if this does not solve the problem.
Corrective Should this message occur during normal operation, contact Kongsberg Maritime
actions: Service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
385585/C A-9
Message explanations
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Calibration error
Description: This message is reported if the variation of data from the position reference
system is too high during the calibration period.
The first 20 seconds after the position reference system is selected, the position
data received is used to find the coordinates of the reference system in the
coordinate system that is established. If the variation of the data exceeds a limit
during this 20 seconds period, the message is reported.
The fault may be caused by large variations in data from the position reference
system and environmental disturbances (air/sea).
Possible The DP system will start a new calibration for this reference system.
consequences:
Corrective Consider reducing the "Expected Accuracy" of the reference system to the level
actions: reported in Additional information (Experienced variation of measurements
(m)).
Calibration offset
Description: This message is reported if a global position reference system cannot be calibrated
due to mismatch with origin coordinate system.
The reason for the fault may be that the GPS(s) have been turned off when a local
position reference system was calibrated as origin, or that a wrong UTM (Universal
Transversal Mercator) zone is selected for a UTM position reference system.
The method of detection is by comparison of expected (zero latitude and
longitude) and estimated transponder coordinates for global position reference
system.
Possible The DP system will not be able to calibrate the position reference system.
consequences:
A-10 385585/C
Message explanations
Corrective Recalibrate the reference origin by disabling all reference systems, and then
actions: enabling the required origin reference system (may be the same as used before).
Set the correct UTM zone for UTM position reference system(s).
Calibration OK
Description: This message is reported if a position reference system is successfully calibrated
into the system.
The measurements from this reference system was sufficiently stable during the
calibration period to be accepted. Low-pass filtered values are used as
transponder coordinates relative to the reference origin system.
Possible The DP system will start using this system for positioning.
consequences:
Clock failure
Description: This message is reported if the values read from the real time clock (in the PS
(Process Station)) was outside accept-limits (for example, hour is negative or
greater than 24).
The reason may be an error in the real time clock chip or a battery failure.
Possible Error messages (also this one) will have incorrect date/time.
consequences:
385585/C A-11
Message explanations
Possible There is currently no way of finding out what part of the code has been modified
consequences: and if this code is currently in use. Therefore the consequences are unpredictable.
Corrective • If possible, try to change or swap PS (Process Station) with another. If the
actions: error moves with the PS, it should be returned to Kongsberg Maritime
Service for checking/repair (with indication of what processor is failing (given
in parenthesis before the alarm-text)).
• Contact Kongsberg Maritime Service if this does not solve the problem.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Configuration error
Description: This message is reported if there is an error in the system parameter setup or in
configuration files on disk.
The reason for the fault may be erroneous initial configuration or a disk failure.
Corrective Note the Additional Information and contact Kongsberg Maritime Service.
actions:
Switch over to other computer (if any). Restart the failing computer. If the error
persists, switch the failing computer off.
A-12 385585/C
Message explanations
Corrective During transit/moving: Reduce speed or change heading to one that is less power-
actions: consuming to maintain.
During station-keeping: Change heading to one that is less power-consuming to
maintain.
Enable more thrusters if possible.
Possible No more variables or events will be logged until DP Recorder Sessions have been
consequences: properly restarted.
385585/C A-13
Message explanations
Possible Used draugth value will now be "frozen" at high or low limit.
consequences:
Possible The Vessel Model is modified to the new load condition; new mass-drag-gain is
consequences: calculated.
Corrective Note the Additional Information "New draught" and check that the DP has the
actions: correct draught value.
A-14 385585/C
Message explanations
Possible • Data from this sensor is "frozen" and is no longer updated from
consequences: measurements.
• If only one draught sensor is enabled, the used draught will be frozen. DP
will loose dynamic update of draught data
Corrective If only one draught sensor is enabled, manual draught input or predefined
actions: draughts should be used.
If other draught sensors are available, disable the failed sensor.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
385585/C A-15
Message explanations
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Possible The consequences depends on the type of failure, described in the corresponding
consequences: message reported simultaneously as the alarm:
• (1): DSP error: IO bus not operational. WDOG stop time: xx Last updated:
xx
• (2): DSP error: IO controller reporting BITE error: xx.
If (1), the IO processing may have been stopped. If (2), IO processing is not
functioning properly.
Additional
information
Possible The DP system will treat the generator as if it is connected to all the swbds. The
consequences DP system will therefore calculate with too high power available on the swbd(s) for
which the connect signal is wrong. This might cause the DP system to erroneously
not limit the thrust on the affected thrusters.
A-16 385585/C
Message explanations
Possible The memory controller is set to check for ECC errors on every memory read
consequences: cycles, and on every write cycle an ECC check is generated. An ECC error indicates
a memory read error. The system will probably not function correctly.
385585/C A-17
Message explanations
Error net A
Description: Most likely there is a disconnection somewhere in the failing network. The
message rate exceeds 10 messages/100 seconds, but no message has been
received on the failing network during this period.
Possible The fault tolerance is reduced. As long as the other network is OK, there will be no
consequences: operational consequences.
Error net B
Description: Most likely there is a disconnection somewhere in the failing network. The
message rate exceeds 10 messages/100 seconds, but no message has been
received on the failing network during this period.
Possible The fault tolerance is reduced. As long as the other network is OK, there will be no
consequences: operational consequences.
A-18 385585/C
Message explanations
Additional • Axis
information:
• Velocity limit [m/s]
Corrective • Check that the serial line cable to the external clock is connected.
actions:
• Check that the external clock is powered up.
• Contact Kongsberg Maritime Service if this does not solve the problem.
385585/C A-19
Message explanations
Corrective • Check that the time difference between the external clock and the operator
actions: station is small enough.
• Adjust operator station clock within limit set.
• Contact Kongsberg Maritime Service if this does not solve the problem.
Possible Speed setpoint not updated. The old speed setpoint will be used.
consequences
Corrective Enable speed setpoint transmission from external seismic computer or change
actions speed setpoint.
Possible Since the timer is not in use, no immediate consequences are to be expected, but
consequences: the error may be an indication that HW components are unreliable and that other
failures may follow.
Corrective If possible, try to change the SBC/RCU, and describe the failure, the current
actions: operation executed and what processor is failing (given in parenthesis before the
alarm-text), when returning the SBC/RCU for repair.
Possible The task is suspended (denied from execution) and the PS (Process Station) is
consequences: stopped by the software Watchdog.
Corrective A dump is the best way to identify the reason for the error if a PS (Process
actions: Station) stops:
If the PS does not stop, inform Kongsberg Maritime Service about the incident.
A-20 385585/C
Message explanations
Possible There is currently no simple way of finding out if the internal error is on a device
consequences: or memory block that is currently in use. Therefore the consequences are
unpredictable.
Contact Kongsberg Maritime Service if this does not solve the problem.
Fix disabled
Description This message is reported if the Fix allocation mode is disabled and the thruster
allocation mode is changed to Variable.
The reason for this may be that there is insufficient thrust with the selected Fix
mode.
The method of detection is insufficient thrust.
Possible Uploading from Flash or booting from Flash may not work properly later on.
consequences:
385585/C A-21
Message explanations
Corrective Replace PS (Process Station) and return failing PS to Kongsberg Maritime Service.
actions:
(It is possible to try re-formatting the Flash device (Full Format), but replacing the
PS is recommended.)
Possible Uploading from Flash or booting from Flash may not work properly.
consequences:
Possible The system is probably still working more or less as normal, but calculations may
consequences: have got a wrong result. This is a kind of error which the system is not designed
to handle, and it is not possible to describe the consequences in more detail.
Possible
consequences:
A-22 385585/C
Message explanations
Possible
consequences:
Possible
consequences:
Possible
consequences:
Possible
consequences:
385585/C A-23
Message explanations
Possible
consequences:
Framing error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
Framing/overrun error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
A-24 385585/C
Message explanations
Possible An error on the load signal will not have any consequence as long as the generator
consequences is disconnected.
Two or more generators on affected swbd:
The DP system will calculate with too low power available on the affected swbd if
the generator is connected (failure in connect signal). This might cause the DP
system to erroneously limit the thrust on the affected thrusters.
One generator on affected swbd:
Blackout prevention will be disabled for this swbd. DP Consequence Analysis will
report drift off prematurely.
Corrective Verify with engine control room if it is the connect signal or the load signal that is
actions wrong.
Replace appropriate input interface.
Possible Depending on the configured filter action, the measurements may be rejected.
consequences
Corrective On the DP, enable another position reference system. External to the DP, check
actions the GPS unit and its configuration, or adjust filter parameters.
Possible Position measurements from the reference system that provides the invalid data
consequences will be rejected.
Corrective No actions necessary if the alarm situation occurs only now and then.
actions
If the alarm is repeated frequently, enable another position reference system.
Check the position reference system that provides the invalid data.
385585/C A-25
Message explanations
Possible Position data will jump. "Prediction error" Warnings will be reported and the
consequences measurements from the position reference system will be rejected.
Gyro difference
See “Sensor difference”.
A-26 385585/C
Message explanations
Heading dropout
Description: This message is reported if no Gyro readings have been received for the past 2
seconds. The Gyro may not be ready, there may be an error in the connected
Gyro or in the interface between the Gyro and the DP system.
This is a serious alarm if the vessel is in DP mode.
Possible The system uses the Vessel Model to estimate the vessel's heading. If the weather
consequences: conditions change, the vessel may have a position drift-off after a few minutes.
When the "HEADING DROPOUT" message is reported, the system will stop any
vessel movement and automatically set the wanted position and heading equal to
actual position and heading. If only one of the DP PSes (Process Stations) in a
dual redundant system reports heading dropout, an automatic change of master
will occur.
Corrective Observe the deviation data and go to Joystick mode if the vessel starts drifting off.
actions: Check if the Gyro is ready/drifting or if other error messages indicate interface
errors.
Corrective Enable more propellers for DP or use the system selected heading if the system is
actions: in Auto mode to reduce power consumption.
385585/C A-27
Message explanations
Possible No update (correction) of the Vessel Model for the ship's Yaw movement.
consequences:
Corrective Check if the Gyro is OK or if other error messages are given, indicating Gyro
actions: errors.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Illegal protocol
Description: This message shall not occur during normal operation, but is intended to be an aid
for the software engineer during configuration/commissioning.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
A-28 385585/C
Message explanations
Corrective Note message text and operational information. Contact Customer Support.
actions:
Parity error
Unidentified intr. from ISR
No free RBUS entries
RBUS: Illegal parameter in func
RBUS: Illegal unit descriptor
RBUS: Address already in use
Illegal device number
Illegal IO direction
Illegal parity spec.
Illegal fast spec.
Illegal channel
Illegal (too long) RIO module name
All RBUS entries used
RIO module type already in use
RIO module type not available
Illegal position
Illegal rack
Given RIO module type not found
RIO module not attached
Already a RIO module in this position
Illegal opcode for rbusModCfg
Already def, no intr. or no free
Illegal RIO module name or position
Too many simultaneous IO-units
Insufficient memory in DP PS
Description: Insufficient memory in DP PS (Process Station). The RAM size in the DP PS is too
small or remaining free RAM is heavily fragmented. Can be detected by means of
the return status from the memory allocation routine (malloc/calloc).
Corrective Note the Additional information and contact Kongsberg Maritime Service.
actions:
Insufficient thrust
Description: This message is reported when there is insufficient thrust. The reason for the fault
may be that the number of enabled thrusters/propellers is inadequate. This can be
detected by comparing thrust demand and obtained thrust.
Possible Full station keeping is not guaranteed. Position and/or heading alarm may be
consequences: generated.
385585/C A-29
Message explanations
Possible This alarm means that the PS (Process Station) is no longer capable of detecting
consequences: value out of limits for one or more of its internal reference voltages. This will in
itself not cause any problems for functionality, but may be an indication that HW
components are unreliable and that other failures may follow.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
A-30 385585/C
Message explanations
IO config error
Description: This message is caused by an error detected in the card configuration, due to a
failure in the IO configuration file. This message shall not occur during normal
operation, but is intended to be an aid for the software engineer during
configuration/commissioning.
Possible Devices connected to the faulty card cannot be operated from the computer
consequences: reporting the error.
IO error
Description: This message is reported if there is an error in the serial interface or in a telegram
received from a position-reference system or sensor.
IO input error
Description: This message is reported if the input value is outside configured limits. May be
caused by failure in sensor, cable breakage, short circuit or IO-card error in one of
the PS (Process Station) clones.
This message shall not occur during normal operation, but is intended to be an aid
for the software engineer during configuration/commissioning.
385585/C A-31
Message explanations
Corrective Increase the maximum size of net blocks, GENERIC_MDATA_SIZE, or reduce the
actions: number of IO-signals configured for voting.
Should the message occur during normal operation, contact Kongsberg Maritime
service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Possible The joystick value for the actual axis is set to zero (it is no longer possible to
consequences: control the vessel in this axis using the joystick).
A-32 385585/C
Message explanations
Manual thrust on
Description This message is reported if the Manual Thrust mode is turned on.
The reason for this is that the operator has turned this mode on.
Possible Thrusters configured for Manual Thrust usage will give output according to
consequences operator setting.
Corrective None.
actions
385585/C A-33
Message explanations
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Corrective An operative advice is to ensure that the position deviation is zero at the moment
actions: of applying the new rotation center.
Possible State summaries such as alarm count etc. will not be correct.
consequences:
Corrective Increase the MaxGroups parameter in the Module Groups section in the PS
actions: configuration (.ps file).
A-34 385585/C
Message explanations
Corrective Should this message occur during normal operation, contact Kongsberg Maritime
actions: Service.
Corrective Should this message occur during normal operation, contact Kongsberg Maritime
actions: Service.
Corrective Should this message occur during normal operation, contact Kongsberg Maritime
actions: Service.
385585/C A-35
Message explanations
Possible If net storm on both net, or on a process station with only single network, it may
consequences: be a problem to operate.
Corrective If this alarm stays active for more than 1 minute, contact Customer Support.
actions
Possible If net storm on both net, or on a process station with only single network, it may
consequences: be a problem to operate.
Corrective If this alarm stays active for more than 1 minute, contact Customer Support.
actions:
Possible If net storm on both net, or on a process station with only single network, it may
consequences: be a problem to operate.
A-36 385585/C
Message explanations
Possible If net storm on both net, or on a process station with only single network, it may
consequences: be a problem to operate.
Possible None if it occurs just now and then. If it occurs continuously Contact Kongsberg
consequences: Maritime Service.
Possible Unpredictable.
consequences:
385585/C A-37
Message explanations
Possible Vessel model updated with new data and new mass-drag-gain calculated.
consequences:
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
Possible The used draught will no longer be updated from sensor measurments.
consequences:
Corrective Should the message occur during normal operation, contact Kongsberg Maritime
actions: service.
A-38 385585/C
Message explanations
Possible Autopilot mode, Auto Track High Speed mode and Track Line mode cannot be
consequences: used.
Possible If external conditions change, the vessel may drift off position after a few minutes.
consequences
Possible No data received from the reference system. If no other reference system is
consequences: selected, you will get position dropout after 30 seconds.
385585/C A-39
Message explanations
Possible Since this alarm may be caused by a value out of limits for a number of internal
consequences: reference voltages, the functional consequences are unpredictable.
Possible The DP system will wait until the speed variation is less than the limit.
consequences:
Corrective Consider using a different position reference system as the reference origin
actions: system.
Overrun error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
A-40 385585/C
Message explanations
Parity error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
Parity/framing error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
Parity/framing/overrun error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
385585/C A-41
Message explanations
Parity/overrun error
Description: This message may be caused by errors in the position-reference system setup/DP
setup. The data received does not match the configuration. No position from the
position-reference system is received which may be caused by:
Timeout.
No data sent from the position-reference system.
Possible There is currently no simple way of finding out if the failing device is currently in
consequences: use. Therefore the consequences are unpredictable.
Position dropout
Description: This message is reported if no position reference systems are enabled, or when no
position measurements have been received and accepted by the DP system for a
defined period of time (typically 30 seconds).
The reason for the fault may be that the variance of position measurements is
high, faults in the position reference systems, or faults in the position reference
system interfaces. Alternatively, the reason may be the influence of unknown
external forces acting on the vessel that may cause the Vessel Model to greatly
differ from the position reference measurements and thus cause a prediction
error.
A-42 385585/C
Message explanations
Possible The system uses the Vessel Model to estimate the vessel's position and velocities.
consequences: If the external conditions change, the vessel may drift off position after a few
minutes. When the "Position Dropout" message is reported, the setpoint is set
automatically to the current estimated vessel position. If only one of the PSes
(Process Stations) in a dual redundant system reports the position dropout, an
automatic change of master will occur.
Corrective If the vessel drifts off position, select Joystick mode and control the vessel
actions: manually.
Check for faults in the enabled position reference systems and the interfaces
between the DP system and the enabled position reference systems.
Additional Limit
information:
385585/C A-43
Message explanations
Possible Position measurements from the HPR that provides the invalid data will be
consequences: rejected.
Corrective No actions necessary if the alarm situation occurs only now and then.
actions:
If the alarm is repeated frequently, enable another position reference system.
Check the HPR system that provides the invalid data.
Possible Position measurements from the HPR that provides the invalid data will be
consequences: rejected.
Corrective No actions necessary if the alarm situation occurs only now and then.
actions:
If the alarm is repeated frequently, enable another position reference system.
Check the HPR system that provides the invalid data.
Possible Depending on your power configuration, some external sensors may have
consequences: stopped.
A-44 385585/C
Message explanations
Possible A power demand reduction if the power consumption continues to increase which,
consequences in turn, may cause a position dropout.
Corrective Avoid critical situations where power use is critical until the error is corrected.
actions
Replace the appropriate input interface.
385585/C A-45
Message explanations
Possible The power management system no longer functions correctly, which may in turn
consequences: cause unwanted pitch reductions.
Corrective Check the current shown by the generator ammeter and compare it with the value
actions: of the analogue feedback signal from the generator.
Replace the appropriate input interface.
Rescale the generator power feedback signal.
Possible The DP system will not take any action if the generator load is higher than the
consequences other generators.
The DP system will reduce the maximum available load on the generator in the
power calculations if the load is lower than the other generators. The DP system
will assume that the generator has problems with picking up load. This might
cause the thrust to be reduced on the affected thrusters in case of power shortage
on the swbd.
Corrective Check the current shown by the generator ammeter and compare it with the value
actions of the analogue feedback signal from the generator.
Replace appropriate input interface.
Adjust the load percentage for the generator.
A-46 385585/C
Message explanations
Corrective Check the fuel level of each diesel connected to the thruster.
actions
Replace appropriate input interface.
Adjust the load percentage for the diesel.
Additional The terminal values on remote connections are not updated. The PS cannot be
information: controlled from the Operator station.
Possible The offline PS will be updated with the following data from the online (Master) PS:
consequences
385585/C A-47
Message explanations
Allocation mode
Wanted position
Actual position
Transponder coordinates
PS Degraded
Description: An error has occurred on the PS causing a possible reduced control capability. This
may cause a redundancy master switch.
Possible The Redundancy Group fault tolerance is reduced, but only related to the failing
consequences: unit. As long as there are other error free Pses in the Redundancy Group, there will
be no operational consequences.
Corrective • Check the alarm list to find the alarm that caused the degradation.
actions:
• Follow the corrective actions described to fix the problem.
PS Incapable
Description: An error has occurred that makes the PS unable to control the process.
Possible The Redundancy Group fault tolerance is reduced. Continued process control
consequences: depends on the presence of other capable PSes in the redundancy group.
Corrective • Check the alarm list to find the alarm that caused the incapability
actions:
• Follow the corrective actions described to fix the problem.
Possible At least one of the PSes is loaded with a configuration that is not up-to-date.
consequences:
Corrective • Ensure that all PSes load the same configuration file.
actions:
• Reload PSes that do not have an up-to-date configuration.
Possible There is currently no way of finding out which part of the code has been modified
consequences: and if this code is currently in use. Therefore, the consequences are unpredictable.
In some cases, the PS (Process Station) stops.
A-48 385585/C
Message explanations
Corrective • The RAM (Read And Write) test is divided into three tests. Therefore, observe
actions: and note the system message received simultaneously as the alarm,
identifying the type of test giving the error, and the address area failing:
CACHE: Error from CACHE test
R/W : Error from RAM read/write/modify
ADR: Error from RAM address line test.
• Replace the PS (Process Station) and return to Kongsberg Maritime Service
including the information described above.
• Contact Kongsberg Maritime Service if this does not solve the problem.
Possible The RIO module is not operational. All output values are zero and input is frozen.
consequences: When this alarm is activated, all other alarms related to the RIO module goes to
normal state.
Possible The RBUS driver does not report IoReady to IO manager and the PS will not start.
consequences:
Corrective Note message text, other alarm column texts and operational information.
actions:
Contact Customer Support. Reboot the PS.
Corrective Note message text, other alarm column texts and operational information. Contact
actions: Customer Support.
Possible The RBUS IO-system will not function, and the RIO modules will be shown as
consequences: unlinked, with red text colour in the IO Image. PS unstable.
385585/C A-49
Message explanations
Corrective Reduce size of configuration, split on more RCU's or change to RCU with more
actions: memory.
Possible The configuration CRC is discarded and the IO input will be read and accepted.
consequences:
Possible The actual RIO module(s) with conflict will not be operational.
consequences:
Corrective A separate alarm view column will show the reason for the Maintenace mode:
actions:
RBUS MSG xxx: An unexpected status from an RBUS message is received. Note
column text and operational information. Contact customer support.
RIO FW: FW version is too old to support expected functionality. Upgrade to
required FW version.
RIO CFG: The RIO module FW did not accept the received configuration. Note
message text and operational information. Contact customer support.
Corrective Note error data and operational information. Contact customer support.
actions:
A-50 385585/C
Message explanations
FW.
Corrective Note message text and operational information. Contact customer support.
actions:
Corrective If possible:
actions:
Enable more thrusters.
Release all fixed thrusters.
Select an allocation mode without forbidden zones.
Additional • Standard deviation of the measurements from the position reference system.
information:
• Limit for acceptable standard deviation.
Possible The DP system performance may be degraded if the position reference system is
consequences: used.
385585/C A-51
Message explanations
Additional • Limit
information:
• Value
Corrective Check the Refsys view to verify which position reference systems are
actions: biased/drifting.
Consider disabling one or more of the position reference systems.
A-52 385585/C
Message explanations
Corrective Check if the median test detected the correct failure (one or more of the other
actions: systems might have failed).
Remember that several GPS systems may experience the same error.
Select the Monitor mode or recalibrate (disable and enable) faulty system.
Possible If the system rejected the wrong reference system, the model might follow a
consequences: failed reference system.
Corrective Check if the median test detected the correct failure (one or more of the other
actions: systems might have failed).
Remember that several GPS systems may experience the same error.
Select the Monitor mode or recalibrate (disable and enable) faulty system.
Reference origin
Description: The measurements from this reference system are the first to be accepted by the
DP PS (Process Station). This reference system is from now on used as the origin
of the coordinate system. This system will be the reference origin until ALL
systems are deselected again. However, this system is not being treated as a
more important or better reference system by the DP than the other systems. It
only concerns the coordinate system.
385585/C A-53
Message explanations
Possible If the system rejected the wrong reference system, the model might follow a
consequences: failed reference system.
Corrective Verify that the test rejected the correct reference system.
actions:
Select the Monitor mode or recalibrate (disable and enable) faulty system.
Possible Tandem Loading mode will be turned off (revert to Approach/Weather Vane).
consequences:
A-54 385585/C
Message explanations
Corrective Note error data and operational information. Replace RIO module. Contact
actions: customer support.
Possible The RIO module is not operational. All output values are zero and input is frozen.
consequences:
Corrective Ensure proper cooling. Try to restart the RIO Module. If this does not help, replace
actions: the module.
Possible The device being controlled by the actual output signal might not operate as
consequences: intended.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
385585/C A-55
Message explanations
Possible The FW version is too old to support expected functionality, and the RIO module
consequences: will therefore not work properly.
Possible The functional consequences are unpredictable. Therefore the RIO module will go
consequences: to Maintenance mode. Consequently the alarm itself will go to normal state.
Possible The functional consequences are unpredictable. Therefore the RIO module will go
consequences: to Maintenance mode. Consequently the alarm itself will go to normal state.
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms are
actions: active, and check loop/cabling.
A-56 385585/C
Message explanations
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms are
actions: active, and check loop/cabling.
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms on
actions: 1. isolated channel group are active, and check loop/cabling.
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms on
actions: 1. isolated channel group are active, and check loop/cabling.
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms on
actions: 2. isolated channel group are active, and check loop/cabling.
385585/C A-57
Message explanations
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms on
actions: 2. isolated channel group are active, and check loop/cabling.
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms are
actions: active, and check loop/cabling.
Possible No immediate functional consequences, but if the condition persists, the signal
consequences: values might be affected.
Corrective Check if limit is correctly configured. If so, check if any channel related alarms are
actions: active, and check loop/cabling.
Corrective Ensure proper cooling. Try to restart the RIO Module. If this does not help, replace
actions: the module.
A-58 385585/C
Message explanations
Corrective Check physical loop/cabling. Remove error, then activate manual reset.
actions:
Possible The device connected to the actual channel might not operate as intended.
consequences:
Possible The I/O-channels are not configured properly, and I/O-values are not to be
consequences: trusted.
Corrective Note error data and operational information. Contact customer support.
actions:
Possible Loop monitoring for some channels will not work properly.
consequences:
Possible The I/O-channels are not configured properly, and I/O-values are not to be
consequences: trusted.
385585/C A-59
Message explanations
Corrective Note error data and operational information. Contact customer support.
actions:
Corrective Note error data and operational information. Contact customer support.
actions:
Possible The functional consequences are unpredictable. I/O-values may not be trusted.
consequences:
Corrective Check 24V loop power. Try to restart the RIO Module.
actions: If this does not help, replace the module.
Possible The device connected to the actual channel might not operate as intended. If
consequences: signal is input, value is frozen to last valid input as long as alarm is active.
Possible The functional consequences are unpredictable. Therefore the RIO module will go
consequences: to Maintenance mode.
Consequently the alarm itself will go to normal state.
A-60 385585/C
Message explanations
Corrective Note error data and operational information. Contact Customer Support.
actions:
Possible In the short period of time before the mode is forced back to normal, signal values
consequences: might be blocked or erroneous.
Corrective No action if immediately normalized and not recurrent. Else note error data and
actions: operational information. Contact customer support.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Corrective Check cabinet power and earth connections. Try to restart the RIO Module.
actions: If this does not help, replace the module.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
385585/C A-61
Message explanations
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
A-62 385585/C
Message explanations
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Possible All affected IO channels are marked with error, and if input, values are frozen to
consequences: last valid value until the problem is solved and a manual reset is activated.
Corrective Check cabinet power and earth connections. Try to reset the RIO Module. If this
actions: does not help, replace the module.
Possible The RIO module is not operational. All output values are zero and input is frozen
consequences: until the problem is solved and the module is restarted.
Corrective Check cabinet power and earth connections. Try to restart the RIO Module. If this
actions: does not help, replace the module.
Possible The device connected to the actual channel might not operate as intended. If
consequences: signal is input, value is frozen to last valid input as long as alarm is active.
385585/C A-63
Message explanations
Corrective Check physical loop/cabling. Remove error, then activate manual reset.
actions:
Corrective Check physical loop/cabling. Remove error, and then activate manual reset.
actions:
A-64 385585/C
Message explanations
Possible The device connected to the actual channel might not operate as intended. If
consequences: signal is input, value is frozen to last valid input as long as alarm is active.
385585/C A-65
Message explanations
consequences:
Corrective Try to restart the RIO Module. If this does not help, replace the module.
actions:
Possible The RIO module is not operational. All output values are zero and input is frozen.
consequences:
Corrective Try to reset RIO Module. If this does not help, replace the module! (IO is disabled
actions: until the card is reset!)
A-66 385585/C
Message explanations
RIO: Short-circuit
Description: There is a short circuit between two field terminals or cables.
Possible The device connected to the actual channel might not operate as intended. If
consequences: signal is input, value is frozen to last valid input as long as alarm is active.
Possible The RIO module is not able to complete all self test routines.
consequences:
Possible Second barrier may not be able to ensure shutdown. NB: Overrides all other loop
consequences: monitoring results.
Possible The device connected to the actual channel might not operate as intended. Input
consequences: value is frozen to last valid input as long as alarm is active.
Possible The device being controlled by the actual output signal might not operate as
consequences: intended.
385585/C A-67
Message explanations
actions:
Possible Full station-keeping is not guaranteed. A position and/or heading alarm may
consequences: occur.
Corrective Check the rudder position and the rudder pumps. Set the rudder in the neutral
actions: position.
A-68 385585/C
Message explanations
Possible If not corrected, the situation can cause overheating and eventually controller
consequences: failure.
Corrective • Ensure that the fan is properly connected or replace the fan. PS must be
actions: replaced as a unit.
• Contact Kongsberg Maritime Service if this does not solve the problem.
Possible The computer will experience reduced life-time and may stop.
consequences:
Possible The DP system will automatically use data from the other sensor (if enabled).
consequences:
385585/C A-69
Message explanations
Possible The DP system will automatically use data from the other enabled sensors.
consequences:
Corrective No actions are necessary if the error message is only reported occasionally. If
actions: reported frequently, disable and repair the faulty sensor.
Sensor difference
Description This message is reported if the difference between the values read from two
sensors exceeds a limit. The reason for the message may be an error in one of the
sensors.
This message can only be given if two sensors are enabled.
Additional • Channel
information
• Sensor number 1
• Sensor number 2
Possible The system may use data from the sensor that has an error.
consequences
Additional Channel
information:
A-70 385585/C
Message explanations
Possible Vessel might not be able to follow planned track/turn due to the limitation
consequences received from seismic computer.
Corrective Depending on operation, increase external rate of turn limit in seismic computer or
actions lower operator selected rate of turn.
Possible Speed setpoint not updated. The old speed setpoint will be used.
consequences
Corrective Verify that the new speed setpoint is correct. Use smaller steps when changing the
actions speed.
385585/C A-71
Message explanations
Corrective Enter the correct alongship speed in the speed sensor dialog. Enable speed
actions: sensors if applicable.
Corrective action Disable the sensor and contact Kongsberg Maritime Service
A-72 385585/C
Message explanations
Possible • If the alarm is caused by an excessive stack usage from a task, and the free
consequences: stack area for the actual task is not near zero (i.e. closer to 1024 than to 0),
it is possible that the system would continue to function without problems,
• but if it is caused by an uncontrolled memory write, the functional
consequences are unpredictable.
• The PS (Process Station) may stop.
Possible The DP system will keep the status of the signal as it was when the failure
consequences occurred. I.e. the DP system will not detect any changes for the connect signal.
Possible The system parameters were not read properly. The system may become unstable
consequences: and the PS (Process Station) may stop.
Corrective Switch from DP to Manual control. Try to reset the PS. Contact Kongsberg
actions: Maritime Service.
385585/C A-73
Message explanations
Possible The PS (Process Station) will not function normally after a reboot.
consequences:
Possible The system parameter files have not been configured correctly and the system
consequences: may become unstable.
Possible The system parameters are not read properly. The system may become unstable
consequences: and the PS (Process Station) may stop.
A-74 385585/C
Message explanations
Possible The system parameters were not written properly. There may be a problem next
consequences: time the file is to be read.
Possible The system selected heading function can not be used at this time.
consequences:
Possible Most likely the system has stopped completely if the timer is malfunctioning, so a
consequences: report of this error may also be based on an erroneous detection.
385585/C A-75
Message explanations
Possible Most likely the system has stopped completely if this timer is malfunctioning, so a
consequences: report of this error may also be based on an erroneous detection.
Corrective • Replace the PS (Process Station). Note the alarm text, describe the current
actions: operation executed and enclose this data when delivering the PS to
Kongsberg Maritime Service for repair.
• Contact Kongsberg Maritime Service if this does not solve the problem.
Telegram timeout
Description: This message is reported if an expected telegram did not arrive within the timeout
limit which indicates a fault in the net communication with the position-reference
system/sensor. The reason for the fault may be a problem with the net interface
hardware, for example:
Cable from reference system broken.
Interface - bad connection.
Plug badly inserted.
Broken interface on SBC.
The method of detection is nothing received from the reference system/sensor.
Possible The data from the reference system/sensor is lost. The consequences depend
consequences: upon the type of operation.
If the fault relates to a position-reference system, and no other reference system
is enabled, you will get position drop-out after 30 seconds.
A-76 385585/C
Message explanations
Possible If the feedback loop is faulty the performance will be nearly unaffected. If the
consequences: control loop is faulty unexpected movements may be the result. The system will
use estimated feedback instead of measured feedback.
385585/C A-77
Message explanations
Corrective If control seems to be degraded the thruster should be switched off. Check the
actions: input/output interface. Compare measurements on the DP Operator Station
display with indicators on the bridge console. Replace input interface if there is
considerable deviation. If not, replace appropriate output interface.
Corrective (Re)start thruster, propeller or rudder if possible and wanted. If the remaining
actions: thrust is sufficient the DP is fully operational. Check ready state from thruster,
propeller or rudder system.
Possible If the feedback loop is faulty the performance will be nearly unaffected. If the
consequences: control loop is faulty unexpected movements may be the result. The system may
use estimated feedback instead of measured feedback depending on configuration.
A-78 385585/C
Message explanations
Corrective Check the SVC (Kongsberg Vessel Control) Operator Station for details.
actions:
Possible If the feedback loop is faulty the performance will be nearly unaffected. If the
consequences: control loop is faulty unexpected movements may be the result. The system may
use estimated feedback instead of measured feedback depending on configuration.
Corrective If control seems to be degraded the thruster should be switched off. Check the
actions: input interface and the thruster feedback equipment.
Additional Steering group name, (if two or more steering groups exist).
information:
Corrective Increase the Surge demand. Check the actual heading and heading setpoint, and
actions: check the operator-specified maximum Turn-angle for Steering Rudders/Azimuth
Thrusters.
Use another operational mode e.g. Joystick - Increase Surge demand or increase
the maximum Turn-angle for Steering Rudders/Azimuth Thrusters.
385585/C A-79
Message explanations
Transmission timeout
Description: This message is reported if an expected telegram did not arrive within the timeout
limit which indicates a fault in the net communication with the position-reference
system/sensor. The reason for the fault may be a problem with the net interface
hardware, for example:
Cable from reference system broken.
Interface - bad connection.
Plug badly inserted.
Broken interface on SBC.
The method of detection is that no data is received from the reference
system/sensor.
Possible The data from the reference system/sensor is lost. The consequences depend
consequences: upon the type of operation.
If the fault relates to a position-reference system, and no other reference system
is enabled, you will get position drop-out after 30 seconds.
A-80 385585/C
Message explanations
Unconnected IO blocks
Description: IO configuration error.
This message shall not occur during normal operation, but is intended to be an aid
for the software engineer during configuration/commissioning.
Corrective Should this message occur during normal operation, contact Kongsberg Maritime
actions: Service.
Unconnected IO modules
Description: IO configuration error.
This message shall not occur during normal operation, but is intended to be an aid
for the software engineer during configuration/commissioning.
Corrective Should this message occur during normal operation, contact Kongsberg Maritime
actions: Service.
Possible Due to the missing handling of this error, there is no simple way of finding out the
consequences: consequences.
385585/C A-81
Message explanations
UPS failure
Description: This is a digital input indicating a UPS (Uninterruptible Power Supply) failure.
The reason for this fault may be power input to UPS missing, UPS breakdown or
internal UPS error.
A-82 385585/C
Message explanations
Possible The DP system will automatically use data from (one of) the other enabled
consequences sensor(s).
VRS difference
See “Sensor difference”.
Possible Scheduled functions are not executed. The consequences depends on the
consequences: importance of the functions executed in the task.
The PS may be stopped by the software Watchdog.
385585/C A-83
Message explanations
Corrective A dump is the best way to identify the reason for the error if a PS stops:
actions:
A memory dump starts, if auto-dump is configured.
If the PS is not configured to start auto-dump automatically, start the dump
manually:
Write the command sbcDump "-d" from the telnet/Hyperterminal.
Restart the PS when the dump is complete (after max. 10 minutes).
Send the dump to Kongsberg Maritime Service with information about which
release the installation is running. A Description: of what operations were
executed in the time around when the PS stopped, must also follow the dump.
If something is not clear, contact Kongsberg Maritime Service.
If the PS does not stop, inform Kongsberg Maritime Service about the incident.
Possible If the Watchdog timer does not work, task execution is not supervised. Normally
consequences: this is not critical, but if a task for some reason gets in a "hung-up" situation, a
failsafe operation to stop the PS (Process Station), is not executed.
Problem with Watchdog timers might also cause unintentional PS stops.
Possible If the watchdog timer does not work, task execution is not supervised. Normally
consequences: this is not critical, but if a task for some reason gets in a "hang-up" situation, a
failsafe operation, to stop the PS (Process Station), is not executed. Problem with
watchdog timers might also cause unintentional PS stops.
Corrective Replace the PS (Process Station). Note the alarm text, describe the current
actions: operation executed and enclose this data when delivering the PS to Kongsberg
Maritime Service for repair.
Contact Kongsberg Maritime Service if this does not solve the problem.
A-84 385585/C
Message explanations
Wind difference
See “Sensor difference”.
Corrective Investigate draught and wind sensor. Correct draught. If wind sensor is in use
actions: change to a different sensor.
Possible This is a serious system-error, since the lower address-area is normally used for
consequences: system-purposes, and must not be used by application. The reason for this type of
error is probably an improper or missing zero-pointer test in some of the software.
The system information in the lower address-area is normally self-reinitialized, but
the functional consequences of a zero pointer usage are unpredictable.
The PS (Process Station) will probably stop.
Corrective • As indicated in the alarm-text, some extra information about the overwriting
actions: is found in a system message received simultaneously as the alarm. Write
down the event-text, describe the current operation executed and what
processor is failing (given in parenthesis before the alarm-text), and report
this to Kongsberg Maritime Service.
• It is also possible that this type of error is caused by a HW component error.
If possible, try to change with another PS (Process Station). If the error
moves with the PS (Process Station), the failing PS should be returned to
Kongsberg Maritime Service.
• Contact Kongsberg Maritime Service if this does not solve the problem.
385585/C A-85
Message explanations
A-86 385585/C
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