BANDAK Mk 15B User manual

Bandak
Light Weight Taut Wire Mk 15B
Volume 2 Operation Manual
Sagamoen, N-3825 Lunde, Norway
Phone+47 35 94 66 00 Fax +47 35 94 66 01
www. bandak.no

Light Weight Taut Wire Mk 15B Operation Manual
2
Document revisions
Written by Checked by Approved by
Rev. Date Sign. Date Sign. Date Sign.
A 21/9-04 SL 25/9-04 HT 30/9-04 SL
B 14/5-08 SL 15/5-08 HT 26/5-08 SL
C 29/10-08 SL 30/10-08 HT 31/10-08 SL
D

Light Weight Taut Wire Mk 14B Operation Manual
3
Table of contents
1INTRODUCTION..........................................................................................................5
2ABBREVIATIONS........................................................................................................6
3TECHNICAL DATA.....................................................................................................7
3.1 Operational Specifications ........................................................................................7
3.2 System Accuracy.......................................................................................................7
4TECHNICAL DESCRIPTION.....................................................................................9
4.1 Principle of Operation.............................................................................................23
4.2 Hydraulic System....................................................................................................12
4.3 Winch System..........................................................................................................13
4.4 Tension Compensating System ...............................................................................13
4.5 Control System........................................................................................................13
4.6 Heating System........................................................................................................14
5OPERATION................................................................................................................15
5.1 Setting in Operation.................................................................................................17
5.2 Parking.....................................................................................................................21
5.3 Adjusting Wire ........................................................................................................23

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Document History
Rev A Initial Issue
Rev B Revised fig. 5.2 Optional Remote Control Panel and table 5.2 Remote
Control Panel Button Functions both available from SN BAN-090.
Rev C Revised chapter 5, Operation; due to change of operation terminal.

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5
1INTRODUCTION
The Taut Wire is a position reference system intended for a
deck-mounted, starboard or portside position, on most surface vessels.
The purpose of the Taut Wire is to give accurate input data, related to
vessel movement, to the vessel's data processing system to calculate
vessel position corrections.
The purpose of this manual is to provide the user a general
understanding of the principles, and instructions for operation of the
MK15 Taut Wire System.
Note All technical description, information and specification given in this
manual are subject to change without further notice.

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2ABBREVIATIONS
Abbreviation Explanation
DC
DP
KM
LTW
PLC
TB
Direct Current
Dynamic Positioning
Kongsberg Maritime
Light Weight Taut Wire
Programmable Logic Controller
Terminal Board
TW Taut Wire
UPS Uninterruptible Power Supply

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3TECHNICAL DATA
3.1 Operational Specifications
LTW MK15-300 / 500
Wire length 700 m
Wire diameter 4,9 mm +/- 0,1 mm
Min. wire breaking load 18 kN
Calculated breaking load 22 kN
Depressor weight 360 kg / 465 kg
Depressor weight volume 50 litres / 65 litres
Max. operational depth 300m / 500 m (with ATWC installed)
Max. wire acceleration 2,5 m/s2
Max. wirespeed 2,5 m/s
Mooring tension 150-300 (adjustable)
Tension variation +/- 10 %
Max.heave compensation Available wire length
Max. wire angle Mechanical stop at 25o
Hoist / Lower speed Adjustable 0-1.5 m/s
3.2 System Accuracy
DEVIATION IN METERS
CURRENT AT SEA SURFACE 0 m/s 0,5 m/s
CURRENT AT SEABED 0 m/s 0,5 m/s
WIRE ANGLE 0o10o20o0
o10o20o
0 0,6 1,2 2,4 2,9 3,5
0 1,8 3,5 9,3 11,2 13,0
200 Kp
MOORING
TENSION
WATER DEPTH
100
200
300 0 3,5 7,6 20,2 23,3 28,0
0 0,5 1,0 2,0 2,5 3,0
0 1,5 3,0 8,0 9,5 11,0
0 3,0 6,6 18,0 20,0 24,0
300 Kp
MOORING
TENSION
WATER DEPTH
100
200
300
400 0 5,0 11,0 31,0 35,0 41,0

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Figure 3.1 Overall Dimensions
LTW MK15
Total weight 2150 kg not incl. Depr. weight

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4TECHNICAL DESCRIPTION
4.1 Principle of Operation
The purpose of the Taut Wire is to give accurate input data, related to
vessel movement, to the vessel data processing system to calculate
vessel position corrections.
The Taut Wire system is fundamentally electro-hydraulic-pneumatic
and requires electrical and air supply from the vessel.
The wire rope, although thin to reduce the "offsets" caused by
underwater current disturbance, is strong enough to heave the weight
with a safety factor of 400 percent. Control of the system is effected
from either of two control panels; main control panel (local) or optional
bridge control panel (remote).
The wire rope is tightened against the depressor weight (on the seabed)
with a constant tension by means of a pneumatically and servo electric
"mooring" control system. Any movement of the vessel in either or
both of the X (alongship) or Y (beam) co-ordinates, will cause a
deviation of the tensioned wire rope from the vertical. This deviation
activates potentiometers mounted in the gimbal (sensor) head and
produce changes of analogue data directly proportional to the X-Y
inclination of the gimbal head.
The analogue wire length measurement is obtained from a measuring
device driven by the moving wire.
The DP system contains an accurate model of the dynamics of the
vessel which simulates the vessel's response to various forces e.g. wind,
wave and current disturbance.
Deviations in the specified position of the vessel (detected by changes
above analogue input parameters) will be processed by the software
model to generate appropriate corrective commands to the vessel's
propeller and rudder system.

Light Weight Taut Wire Mk 15B Operation Manual
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Feed
Forward
Gain
Optimum
Wave and Current
Disturbance
Wind
Weight
Depressor
Rudder
Propeller/
Command
+
+
State
Measured
Taut Wire
Figure 4.1 Principle of DP System Operation

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Figure 4.2 Taut Wire Main Parts

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4.2 Hydraulic System
The Hydraulic System operates the boom between the parked and the
operating position.
The system is powered by a small hydraulic power unit, and is
automatically controlled and operated by the PLC system.
The hydraulic system gear pump is driven by a 3-phase, 440 V, 60 Hz,
1.5 kW AC motor IP class 56.
Hydraulic oil tank has a capacity of 10 litres Mobile DTE 13 M or
equivalent
Figure 4.2 Cabinet Door Removed

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4.3 Winch System
The winch lower and hoist the depressor weight to and from the seabed.
The winch is powered by a electrical powered servomotor, and the
servo system is equipped with a fail-safe magnetic brake located
between the servomotor and the gear.
The system is automatically controlled and is operated by the amplifier
and the PLC.
Electrical power are from the vessel’s own supply.
A MDFRARS 132 Mx4 IP 66 Special Asynchron Servomotor, giving
84Nm at 2030 rpm/18 kW powers the winch drum. Max. moment is
168 Nm.
The SEW gear system (gear ratio 1:12) is bringing the maximum torque
up to 1200 Nm.
4.4 Tension Compensating System
The system activates the electrical powered servomotor whenever the
wire tension is deviating from the set-point in mooring mode.
Compensating cylinders air pressure is manually set and automatically
controlled by the pressure regulator. Actual pressure is indicated on the
manometer. Wire tension is directly related to the cylinder air pressure
i.e. increased pressure gives increased tension and visa versa.
Pressurised air is from the vessel’s own supply.
Wire tension is recorded by the load cells (2) located under the wire
angle compensator and visualized on a gauge located on the local
operating panel.
4.5 Control System
The hydraulic and winch drive systems are automatically controlled
and operated by a Telemecanique TSX Micro PLC system.
The local control panel, is situated on the taut wire cabinet R/H side
and has the following equipment
•Main power switch
•PLC terminal
•Mooring indicator lamp
•Mooring tension indicator (optional)
•Joystick for manual hoisting and lowering

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A pressure manometer, located on hydraulic cabinet is, when pump is
running, indicating max. hydraulic working pressure. The pressure is
manually set and automatically controlled by the hydraulic pressure
regulator valve.
Air pressure manometer for air cylinder pressure (tension) control and
adjustment is located on the air pressure regulator inside the cabinet.
The air dumping valve is set to dump the tension compensating
cylinder air pressure whenever the taut wire is outside mooring mode.
The set point is adjusted at the bottom of the valve and should give an
air pressure corresponding to 150 kp tension.
4.6 Heating System
Heating elements in electrical motors and outdoor cabinet provides
heating while the main power switch at the local control panel is
switched “OFF” to prevent condensation.

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5OPERATION
Figure 5.1 Local Operator Panel
Button Display Action
Hoist Wirelength: 0 m
TW Control Hoist
Hoisting weight.
Stop Wirelength: 0 m
TW Control TW Stopped Activating brake.
Lower Wirelength: 0 m
TW Control Lower
Lower weight.
Boom In Wirelength: 0 m
TW Control Boom In
Boom to parked position.
Boom Out Wirelength: 0 m
TW Control Boom Out
Boom to operating position.
Wire
Adjust Codeword: 0
New Wire : 0 m Adjusting wirelenght after cutting and new
wire installation.
Local
Control TW Control TW Ready LTW manually controlled from local panel
Bridge
Control Bridge Control TW ready LTW manually controlled from bridge
Reset
Alarm Resetting alarms
Alarm
Page Alarm history
Table 5.1 Local Control Panel Button Functions
Local
Control
Banda
k
Date Time
Wirelenght Out (m)
0
TW READY
Hoist
Stop
Lower Boom In Boom
Out Wire
Ad
j
ust
Bridge
Control
Reset
Alarm
Alarm
Page
Alarm/Warnin
g

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Figure 5.2 Optional Remote Operator Panel
Button
Display
Action
F 1
Wirelength: 0 m
TW Control Hoist
Hoisting depressor weight.
F 2
Wirelength: 0 m
TW Control TW Ready
Activating brake.
Controlled braking
F 3
Wirelength: 0 m
TW Control Lower
Lower weight.
F 4
Bridge Control TW Ready
Bridge Control Selected
ENTER
N/A
N/A
ESC
N/A
N/A
Table 5.2 Remote Control Panel Button Functions

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The operation of the Taut Wire System is divided into three modes:
•Setting in Operation - This procedure puts the system into the
operational mode, i.e. providing position-reference data.
•Parking - This procedure puts the system back to the parked
position, i.e. boom and depressor weight inboard, with the boom in
its stowage position and the weight resting in its cradle.
•Winding Wire - Whenever it is necessary to wind off or on wire
from the drum.
5.1 Setting in Operation
Note This operation should be carried out with the vessel as stationary as
possible, particularly when placing the depressor weight on the seabed.
Four factors are vital to the correct function of the Taut Wire System,
particularly when operating in shallow water:
•Seabed Condition.
Select whenever possible a sea bed condition that will give good
adherence to the weight - a hard surface may allow dragging.
•Working Angle.
Angle between the depressor weight and the gimbal head. Keep wire
operating-angle from the vertical to a minimum - as the horizontal
forces acting upon the weight, and chances of dragging, increases
with the angle.
•Wire Mooring Tension.
Verify that the correct mooring tension is maintained by checking
the mooring tension metre on the main control panel (option) or by
checking the air pressure in the tension compensating system.
•Pitch and Roll of the vessel.
Avoid using the Taut Wire if the rate of the vessel's pitch and roll
exceeds the maximum speed and acceleration capability of the
mooring system.

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Figure 5.3 Operational Mode
The starting procedure is for safety reasons solely effected from the
Taut Wire Control Panel, but the Taut Wire Control may be transferred
to the Bridge Control Panel (option) where it remains throughout the
positioning operation.
Note Hydraulic power will only be available when BOOM OUT, or BOOM
IN mode is activated, and 10 seconds after

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STEP
PROCEDURE
COMMENT
1
Check air lubricating system
Fill up with Mecman oil if necessary
2
Drain and pressurise tension
compensating system.
3 bar is theoretically corresponding to 200 kp
tension (appox. 4.2 bar = 300 kp)
NOTE!
Do not exceed recommended pressure limits as
this may result in damaged gimbal head and
loss of depressor weight.
3
Check wire rope for proper alignment
with regard to wire guide wheels etc.
4
Set “MAIN SWITCH” to "ON"
“CONNECTING” is displayed throughout the PLC
self test program.
WARNING!
Do not operate buttons or joystick before “TW
READY” is displayed.
5
Press “HOIST”
Check that weight is stabilised in weight catcher.
WARNING!
Never activate “Stop” prior to operating the boom. If
doing so, the brake will be activated and the boom
in/out movement will most likely cut the wire.
NOTE!
With reference to the warning above, its vital that
taut wire is still in “HOIST” mode during boom in/out
operation to allow wire to be paid off the drum.
6
Check that “WIRELENGTH 0 m” is displayed before
proceeding to next step. Please see table 5.3.3.

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STEP
PROCEDURE
COMMENT
7
Press “BOOM OUT”
“BOOM OUT” is displayed.
Hydraulic system is activated and pressure gage
indicates max. 200 bar.
Boom moves as long as button is pressed. Ensure
that boom has reached its operating position.
8
Press “WINCH STOP”
The winch brake will engage and relieve the
servomotor from the load of the depressor weight.
The taut wire should never be left in “HOIST” mode
for more than a few minutes as the servo system
might trip due to overtemperature.
9
Press “WINCH LOWER”
“WINCH LOWER” is displayed.
Weight will descend at a speed of 1 m/s.
Wire length paid out will be displayed.
NOTE!
The joystick may override «WINCH LOWER».
Mooring light comes on as soon as weight has
reached seabed.
10
Check that mooring tension is as
required.
Adjust air pressure if necessary.
11
Press “BRIDGE CONTROL”
If “BRIDGE REMOTE CONTROL” is installed
(option).
“Bridge Control” is displayed.
To regain TW Control, press Local Control button.
12
Close and secure the Taut Wire Control
Panel door.
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