Kongsberg cJoy OT User manual

KongsbergcJoyOT
JoystickSystem
OperatorManual
Release8.2
385585/C
September2015©KongsbergMaritimeAS

Documenthistory
Documentnumber:385585
Rev.AJanuary2014ThisversiondescribestheoperationofthecJoyOTJoystick
Systematbasissoftwarerelease8.2.0.
Rev.BJune2015
ThisversiondescribestheoperationofthecJoyOTJoystick
Systematbasissoftwarerelease8.2.0.Updatedmissing
references.
Rev.CSeptember2015ThisversiondescribestheoperationofthecJoyOTJoystick
Systematbasissoftwarerelease8.2.3.
Thereader
Thisoperatormanualisintendedasareferencemanualforthesystemoperator.Thismanualisbasedon
theassumptionthatthesystemoperatorisanexperiencedDPoperatorwithgoodunderstandingofbasic
DPprinciplesandgeneralDPoperation.Ifthisisnotthecase,thentheoperatorshouldrstattendthe
appropriateKongsbergMaritimetrainingcourses.
Note
TheinformationcontainedinthisdocumentremainsthesolepropertyofKongsbergMaritimeAS.No
partofthisdocumentmaybecopiedorreproducedinanyformorbyanymeans,andtheinformation
containedwithinitisnottobecommunicatedtoathirdparty,withoutthepriorwrittenconsentof
KongsbergMaritimeAS.
KongsbergMaritimeASendeavourstoensurethatallinformationinthisdocumentiscorrectandfairly
stated,butdoesnotacceptliabilityforanyerrorsoromissions.
Warning
Theequipmenttowhichthismanualappliesmustonlybeusedforthepurposeforwhichitwas
designed.Improperuseormaintenancemaycausedamagetotheequipmentand/orinjurytopersonnel.
Theusermustbefamiliarwiththecontentsoftheappropriatemanualsbeforeattemptingtooperate
orworkontheequipment.
KongsbergMaritimedisclaimsanyresponsibilityfordamageorinjurycausedbyimproperinstallation,
useormaintenanceoftheequipment.
Comments
Toassistusinmakingimprovementstotheproductandtothismanual,wewelcomecommentsand
constructivecriticism.
e-mail:[e-mail]
KongsbergMaritimeAS
www.kongsberg.com

OperatorManual
Tableofcontents
Glossary....................................................................................................................8
SYSTEMOVERVIEW..........................................................9
ThecJoysystem.......................................................................................................9
Basicforcesandmotions..........................................................................................9
Systemprinciples...................................................................................................11
TheKalmanFilter.......................................................................................12
TheController...........................................................................................13
Thrusterallocation......................................................................................14
USERINTERFACE............................................................15
cJoyOToperatorterminal......................................................................................15
Controlsandindicators...........................................................................................16
Panelbuttonsandindicators........................................................................16
Headingwheelandbuttons..........................................................................17
Dialoginputbuttons....................................................................................17
Inputdialogselectionbuttons......................................................................18
Colourdisplay............................................................................................18
Viewselectionbuttons................................................................................18
Silence/ack.buttonandalarmindicator........................................................19
Commandcontrolbuttons...........................................................................19
Operationalmodebuttons............................................................................19
Joystickbuttons..........................................................................................20
Three-axisjoystick......................................................................................20
Displaylayout.........................................................................................................21
Titlebar.....................................................................................................22
Messageline...............................................................................................23
Headingarea..............................................................................................23
Positionarea...............................................................................................25
Viewarea..................................................................................................27
Operationalviews...................................................................................................27
Viewselection............................................................................................27
Mainview..................................................................................................28
Position-referenceSystemview...................................................................34
Thrusterview.............................................................................................36
Thrustersubviews.......................................................................................37
Sensorview................................................................................................38
PowerConsumptionview............................................................................39
Inputdialogs...........................................................................................................40
Availableinputdialogs................................................................................40
Dialogselection..........................................................................................41
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GeneralSetup.............................................................................................41
Sensors......................................................................................................42
ThrusterSetup............................................................................................47
AlarmLimits..............................................................................................50
PilotSetup..................................................................................................52
HeadingSetpointpop-updialog...................................................................54
Changingandenteringinputdialogparametervaluesandoptions..................55
Closinginputdialogs..................................................................................56
Systemstatusviewsandinputdialogs...................................................................56
Viewanddialogselection............................................................................56
Equipmentview..........................................................................................57
SystemSetupinputdialog...........................................................................58
SoftwareUpgradeandRestartinputdialog...................................................59
SystemInformationview.............................................................................61
MESSAGESYSTEM...........................................................62
Systemdiagnostics.................................................................................................62
Operationalchecks.................................................................................................62
Audibleandvisualindications.....................................................................63
Typesofmessage....................................................................................................63
Presentationofmessages........................................................................................64
Acknowledgingmessages......................................................................................66
Messageline...............................................................................................66
Messageview.............................................................................................67
Alarmindicator.......................................................................................................67
Operatorpop-upmessages.....................................................................................68
Criticalsystemmessages........................................................................................69
ControllerPSresponse................................................................................69
Softwareinconsistency................................................................................70
STARTINGOPERATIONS.................................................71
Systemstart-up.......................................................................................................71
Commandtransfer......................................................................................71
Takingcommand........................................................................................72
Givingcommand........................................................................................72
Paneltest.................................................................................................................73
Paneldimming........................................................................................................74
Dayandnightpalettes............................................................................................77
Systemdateandtime..............................................................................................77
Displayunits...........................................................................................................77
Joystickcalibration.................................................................................................77
SYSTEMPROCEDURES.....................................................80
Shuttingdowntheoperatorterminal......................................................................80
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Restartingtheoperatorterminal.............................................................................81
Upgradingtheoperatorterminalsoftware..............................................................82
UpgradingthecontrollerPSsoftware....................................................................82
OPERATINGMODES........................................................85
Standbymode.........................................................................................................85
ReturningtoStandbymode/manuallevers....................................................86
Joystickmode.........................................................................................................86
FromStandbymodetoJoystickmode..........................................................87
Headingandpositioninformation................................................................88
MixedJoystick/Automodes........................................................................88
Joystickmodewithautomaticheadingcontrol..............................................88
Joystickmodewithautomaticpositioncontrolinbothsurgeandsway...........89
Joystickmodewithautomaticstabilisation...................................................90
StationKeepingmode............................................................................................91
FromJoystickmodetoStationKeepingmode..............................................91
Autopilotmode.......................................................................................................92
EnteringtheAutopilotmode........................................................................92
Changingheading.......................................................................................93
LeavingtheAutopilotmode........................................................................93
OPERATINGPROCEDURES..............................................94
Thrusters.................................................................................................................94
Displayedthrusterinformation.....................................................................94
Enablingthrusters.......................................................................................95
Disablingthrusters......................................................................................95
Selectingthethrusterallocationmode..........................................................95
SettingtheminimumRPM..........................................................................96
Selectingthecombinatormode....................................................................97
Gyrocompasses.......................................................................................................98
Rejectionofheadingmeasurements.............................................................98
Displayedheadinginformation....................................................................98
Enablingagyrocompass..............................................................................98
Disablingagyrocompass.............................................................................99
Faultygyrocompass....................................................................................99
Headingdropout.........................................................................................99
Windsensor............................................................................................................99
Displayedwindinformation......................................................................100
Enablingthewindsensor...........................................................................100
Disablingthewindsensor..........................................................................100
Faultywindsensor....................................................................................100
Rejectionoffaultywinddata.....................................................................100
Operatingwithoutwindsensorinput..........................................................101
Verticalreferencesensor......................................................................................101
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DisplayedVRSinformation.......................................................................102
EnablingtheVRS.....................................................................................102
DisablingtheVRS....................................................................................102
FaultyVRS..............................................................................................102
Speedsensors.......................................................................................................102
DisplayedSpeedinformation.....................................................................103
Enablingaspeedsensor............................................................................103
Disablingaspeedsensor...........................................................................103
Enteringandenablingamanualspeedvalue...............................................103
Disablingamanualspeedvalue.................................................................104
Position-referencesystem.....................................................................................104
Systemdatum...........................................................................................104
Referenceorigin.......................................................................................104
Testsonpositionmeasurements.................................................................104
Enablingtheposition-referencesystem......................................................106
Disablingtheposition-referencesystem.....................................................107
Positiondropout.......................................................................................107
Selectingthevesseldraught.................................................................................108
Joysticksettings....................................................................................................109
Settingthejoystickthrust..........................................................................109
Joystickprecision.....................................................................................109
Environmentalcompensation.....................................................................110
Selectingthevesselrotationcentre.............................................................111
Controllingthevesselheading.............................................................................112
Changingtheheadingsetpoint...................................................................112
Stoppingachangeofheading....................................................................113
Selectingthecontrollergainlevel..............................................................113
SettingtheRateOfTurn............................................................................114
Controllingthevesselposition.............................................................................114
Selectingthecontrollergainlevel..............................................................114
Changingthevesselpositionusingthejoystick...........................................114
Settingheadingandpositionlimits......................................................................115
Headingdeviation.....................................................................................115
Positiondeviation.....................................................................................116
Autopilotsetup.....................................................................................................117
Selectingtheautopilotgainlevel................................................................117
Settingthecounterruddergain..................................................................117
Settingtheautotrimgain...........................................................................118
Enablingweathercompensation.................................................................119
Disablingweathercompensation................................................................119
SettingtheautopilotRateOfTurn..............................................................119
Settingthemaximumrudderangleforautomaticheadingcontrol................119
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Settingthemaximumrudderangleforjoystickheadingcontrol...................120
Selectingthesteeringmode.......................................................................120
Selectingthesteeringgroup.......................................................................121
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Glossary
Abbreviations
APAutopilot(adeviceforautomaticheadingcontrol)
BISTBuilt-InSelfTest
BITEBuilt-InTestEquipment
CCWCounterClockwise
cJoyKongsbergCompactJoysticksystem
cPosKongsbergCompactDynamicPositioningsystem
CWClockwise
DPDynamicPositioning
DPCDynamicPositioningController
GPSGlobalPositioningSystem
I/OInput/Output
IMOInternationalMaritimeOrganisation
KMKongsbergMaritime
K-PosKongsbergDynamicPositioningsystem
OSOperatorStation
OTOperatorTerminal
PSProcessStation
RCURemoteControlUnit
ROTRateOfTurn
RPMRevolutionsPerMinute
VRSVerticalReferenceSensor
WTWingTerminal
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Systemoverview
Systemoverview
Thissectioncontainsthefollowingtopics:
ThecJoysystem.................................................................................................................9
Basicforcesandmotions...................................................................................................9
Systemprinciples.............................................................................................................11
ThecJoysystem
TheKongsbergJoysticksystem(cJoyOT)isacomputerisedsteeringcontrolsystem
withmanual,semiautomaticandoptionalfullautomaticcontrolcapability.
Thissystemintegratescontrolofthevessel'spropulsionsystemsinasinglejoystick
andhasaddedfeaturesforautomaticheadingcontrolandselectionofvesselrotation
point.Italsohas,asoptions,automaticpositioncontrol(stationkeeping)andsteering
alongaselectedcourse(autopilot).
Vesselmovementismanuallycontrolledusingthejoystick.Tiltingthejoystickcauses
thevesseltomoveinthefore/aftandport/starboarddirectionswhilstrotatingthejoystick
causesthevesseltochangeheading.
Whenautomaticheadingcontrolisselected,thevessel'sheadingiscontrolled
automaticallybasedonmeasurementsfromagyrocompass,whilethevessel'sposition
iscontrolledmanuallyfromthejoystick.
Whenautomaticpositioncontrol(stationkeeping)isselected,thevessel'spositionis
maintainedatthecurrentlocationbasedonmeasurementsfromawindsensor,vertical
referencesensorandposition-referencesystem.
Deviationsfromthedesiredheadingorpositionareautomaticallydetectedand
appropriateadjustmentsaremadebythesystem.
Basicforcesandmotions
Aseagoingvesselissubjectedtoforcesfromwind,wavesandcurrent,aswellasfrom
forcesandmomentsgeneratedbythevessel'spropulsionsystem.
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Theterm“forces”inthefollowingsectionsincludesbothforcesandyawingmoments,
unlessotherwisestated.Thevessel'sresponsestotheseforcesaremeasuredbya
gyrocompass,verticalreferencesensorandposition-referencesystem.Position-reference
systemreadingsarecorrectedforpitchandrollusingreadingsfromtheverticalreference
sensor.Windspeedanddirectionaremeasuredbythewindsensor.
Note
Ifyoursystemdoesnotincludeapitchandroll(verticalreference)sensor ,the
position-referencedatawillnotbecorrectedfornoiseinducedbypitchandroll
movements.
Thesystemcalculatestheforcesthatthethrustersmustproduceinordertocontrolthe
vessel'smotioninthreedegreesoffreedom-surge,swayandyaw-inthehorizontal
plane.
Figure1Forcesandmotions
Thevesselalsomovesinthreeverticaldegreesoffreedom:pitch,rollandheave.
Figure2Pitch,rollandheave
Pitch
(+ = bow up)
Roll
(+ = starboard down)
Heave
(+ = down)
(CD3292)
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Systemoverview
ThepitchandrollmotionsarenotcontrolledbythecJoyOTsystem.However,inorder
toallowtheposition-referencesystemtocorrectforthesemotions,thesystemmusthave
informationaboutthem.Thisinformationisreceivedfromtheverticalreferencesensor.
Systemprinciples
AsimpliedblockdiagramofthecJoyOTsystemisshowninFigure3,anddescribedin
thesectionsthatfollow.
Figure3cJoyOTsystemblockdiagram
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TheKalmanFilter
TheKalmanFilterestimatesthevessel'sheading,positionandvelocityineachofthe
threedegreesoffreedom-surge,swayandyaw.Italsoincorporatesalgorithmsfor
estimatingtheeffectofseacurrentandwaves.
TheKalmanFilterusesavesselmodelwhichincludeshydrodynamiccharacteristics
suchasdragcoefcientsandvirtualmassdata.Thismodel,calledtheMathematical
VesselModel,describeshowthevesselrespondstoanappliedforce,e.g.windand
thrusters.Themathematicalmodelitselfisnevera100%accuraterepresentationof
therealvessel.However,byusingtheKalmanlteringtechnique,themodelcanbe
continuouslycorrected.
Thevessel'sheadingandpositionaremeasuredusingthegyrocompassand
position-referencesystem,andareusedasinputdatatothesystem.Thesemeasurements
arecomparedwiththepredictedorestimateddataproducedbythemathematicalmodel,
andthedifferencesarethenusedtocorrectthemodel.
Figure4BlockdiagramshowingtheKalmanlter
Model
Update
Sea Current
Estimate
Mathematical
Vessel Model
Kalman Filter
Measurements from
Position-
Reference System
Sensors and
Thruster
Allocation
Controller
Thruster
Feedback
Wind
IndividualThruster
Commands
Wanted Heading
and SpeedPosition
Forces and
Moment Demand
Heading, and Speed EstimatesPosition -+
(CD2879A)
TheKalmanFilterprovidesthefollowingadvantages:
•Optimumself-adaptivenoiselteringofheadingandpositionmeasurements
accordingtonoiselevelandmeasurement-updaterate.
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Systemoverview
•Intheabsenceofpositionmeasurements,themodelprovidesa“dead-reckoning”
mode.Thismeansthatthesystemisabletoperformpositioningforsometime
withoutpositionupdatesfromaposition-referencesystem.
IntheKalmanFilter,theMathematicalV esselModel'sreliabilityandthenoise
levelofthepositionmeasurementarethebasisfordecidinghowmuchtotrusteach
measurement.Astimeelapsesthemodelreliabilitywillincreasethroughcontinuous
updatesfrommeasuredvesselresponse.
Theprocessisadaptive.If,forexample,theposition-referencesystemisactiveand
ithasalowupdaterate,themodelreliabilitywilldecreaseintheperiodsbetween
measurements,andthevesselmodelwillthereforebeheavilyupdatedwitheach
measurement.
AKalmanFilterisalsousedfortheheadinginformationbasedonmeasurementfrom
thegyrocompass.
Additionaladvantagesmaybeobtainedbyuseofspeedmeasurement.Thiscanbeused
asanadditiontopositionmeasurementstoimprovethevesselspeedcontrol,andtomake
calibrationofpositionmeasurementsfasterwhensailingathighspeed.
Acombinationofspeedmeasurementandaposition-referencesystemwillbebetterable
tohandledropoutofpositionmeasurementsduringsailing(autopilot).
ThespeedmeasurementinterfacecanbeDGPSorDopplerLog.
TheController
Thecontrollercalculatestheresultingforcetobeexertedbythethrusters/propellersin
orderforthevesseltoremainonstation.
Thecontrollerconsistsofthefollowingparts:
•ExcursionFeedback
Thedeviationbetweentheoperator-speciedposition/headingsetpointsandthe
actualposition/headingdata,andsimilardeviationswithrespecttothevessel's
velocity/headingrate,drivetheexcursionfeedback.Thedeviationsaremultiplied
bygainfactorstoobtainaforcedemand(restoringdemandanddampingdemand)
requiredtobringthevesselbacktoitssetpointvalueswhilealsoslowingdownits
movements.
•WindFeed-Forward
Inordertocounteractthewindforcesasquicklyaspossible,thefeed-forwardconcept
isused.Basedonwindspeedanddirectionmeasurements,thewind-inducedforces
actinguponthevesselcanbecalculated.Thethrusters/propellersareorderedto
counteracttheforcesduetowind.
•CurrentFeedback
Theexcursionfeedbackandwindfeed-forwardarenotsufcienttobringthevessel
backtothedesiredsetpointsduetounmeasuredexternalforces(suchaswaves
andcurrent).Thesystemestimatestheseforcesovertime,andcalculatestheforce
demandrequiredtocounteractthem.
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Thrusterallocation
Theforcedemandinthesurgeandswayaxes(theforcesetpoint),andintheyawaxis
(theturningmomentsetpoint),isdistributedtothevariousthrustersandpropellersby
theThrusterAllocationfunction.
Thesesetpointsaredistributedinsuchawayastoobtaintheforceandturningmoment
requiredforpositionandheadingcontrol,whilealsoensuringoptimumthruster/propeller
usewithminimumpowerconsumptionandminimumwearandtearonthepropulsion
equipment.
Ifitisnotpossibletomaintainboththeturningmomentandtheforcesetpointdue
toinsufcientavailablethrust,priorityisnormallysettoobtaintheturningmoment
setpoint(heading).
Ifathruster/propellerisoutofserviceorde-selected,the“lost”thrustisautomatically
redistributedtotheremainingthrusters/propellers.
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Userinterface
Userinterface
Thissectioncontainsthefollowingtopics:
cJoyOToperatorterminal...............................................................................................15
Controlsandindicators....................................................................................................16
Displaylayout..................................................................................................................21
Operationalviews............................................................................................................27
Inputdialogs....................................................................................................................40
Systemstatusviewsandinputdialogs.............................................................................56
cJoyOToperatorterminal
ThecJoyOToperatorterminal(cJoyOT)isthemainoperatorinterfaceforthe
stand-alonejoysticksystem.
Itisdesignedformanualandsemi-automaticjoystickoperations.
Figure5cJoyOToperatorterminal
(CD3025)
General
setup
Sensor
enable
Thruster
enable
Limits
Pilot
setup
Views
System
Day/
night
Alarms
Silence/
ack.
Stand
by Take Give Full
thrust
Joystick Station
keeping
Auto
pilot
Fore
pivot
Auto
heading
Auto
surge
Auto
sway
Centre
pivot
Aft
pivot
Present
heading
power
operation
Cancel
Enter
Set
heading +
-
Test Dim
cJoy
Theoperatorterminalpanelisdeliveredintwostandardversions—blackandgrey.
Thelayoutisdividedintofourmainareaswherecontrolsandindicatorsarearranged
accordingtotheirfunction.Forsafetyreasons,someofthebuttonsmustbepressed
twicewithinfoursecondstoinvokeaction.
Ontheblackstandardversionthesebuttonsareindicatedbyawhitelinealongthe
loweredge.
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Onthegreystandardversionthebuttontextorsymboliscolour-codedtoindicatethe
buttontypeasfollows:
•Whitetextorsymbolonadarkbackground.
Single-pressactionbuttonfortest,set-up,datainputandoperationmonitoring.
•Darktextonawhitebackground.
Double-pressactionbuttonforoperationcontrol.
•Darktextonanorangebackground.
Single-pressactionbuttonforthemessagesystem.
Controlsandindicators
Thecontrolsandindicatorsontheoperatorterminalaredividedintothefollowing
functionalgroups.
Panelbuttonsandindicators
power
operation
Test Dim
Thisgroupcomprisesthreebuttonsandtwoindicators.
•TheTestbuttonenablesandterminatesthepaneltestfunction
(seePaneltestonpage73).
•TheDimbuttonenablesandterminatesthepaneldimming
function(seePaneldimmingonpage74).
•Thegreenpowerindicatorislitwhentheoperatorterminalis
connectedtoajunctionboxandits24VDCpowersupplyis
switchedon.
•Thegreen/redoperationindicatorshowsthecurrent
operationalstatusoftheoperatorterminal:
–SteadygreenTheelectronicsinsidetheoperatorterminal
arefunctioningcorrectlyandcommunicationwiththe
systemhasbeenestablished.
–FlashingredAninternalerrorhasbeendetectedorthe
terminalhaslostcommunicationwiththesystem.
–FlashinggreenAtestorsetupfunctionisactive,i.e.panel
test,paneldimmingorjoystickcalibration.
•Theresetbutton(locatedundertheholebelowtheoperation
indicator)allowsyoutoresetthepanelmicroprocessor.
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Userinterface
Headingwheelandbuttons
Set
heading +
-
Thisgroupcomprisesaheadingwheelandthreebuttons.
•Theheadingwheelincreasesanddecreasestheheading
setpointwhenthechangeheadingfunctionisactive.
•TheSetheadingbuttonactivatesandterminatesthechange
headingfunction.
•The-(decrease)buttonactivatesthechangeheadingfunction
anddecreasestheheadingsetpointwhenthechangeheading
functionisactive.
•The+(increase)buttonactivatesthechangeheadingfunction
andincreasestheheadingsetpointwhenthechangeheading
functionisactive.
Forfurtherdetailsconcerningthechangeheadingfunctionsee
Changingtheheadingsetpointonpage112.
Dialoginputbuttons
Cancel
Enter
Thisgroupcomprisessixbuttons.
•Theandbuttonsselect(withinthedisplayedinput
dialog)theeldthatistobeinfocus(seeFieldnavigation
onpage55).
•Theandbuttonschangethevalueoftheinputeldthat
isinfocus(seeChangingvaluesandoptionsonpage55).
Thesetwobuttonscanalsobeusedtodisplayandnavigate
throughmultipleviewsandsubviews(seeMultipleThruster
viewsonpage37andonpage).
•TheEnterbuttonconrmsandstoreschangedvaluesand
optionsinthedisplayedinputdialog(seeSavingchanged
valuesandoptionsonpage56).
•TheCancelbuttoncancelschangedvaluesandoptionsinthe
displayedinputdialog.Italsoclosesthedisplayedinputdialog
(seeDiscardingchangedvaluesandoptionsonpage56).
ThefourarrowbuttonstogetherwiththeEnterbuttonarealso
usedduringpaneldimming(seePaneldimmingonpage74)and
joystickcalibration(seeJoystickcalibrationonpage77).
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Inputdialogselectionbuttons
General
setup
Sensor
enable
Thruster
enable
Limits
Pilot
setup
Thisgroupcomprisesvebuttons.
•TheGeneralsetupbuttondisplaysandclosestheGeneral
Setupinputdialog(seeGeneralSetuponpage41).
TheSensorenablebuttondisplaysandclosestheSensor
Enableinputdialog(seeSensorsonpage42).
•TheThrusterenablebuttondisplays,cyclesthroughand
closestheThrusterEnableinputdialogs(seeThrusterSetup
onpage47).
•TheLimitsbuttondisplaysandclosestheLimitsinputdialog
(seeAlarmLimitsonpage50).
•ThePilotsetupbuttondisplaysandclosesthePilotSetup
inputdialog.
ThisbuttonisonlyusediftheoptionalAutopilotmodeis
availableinthesystem.
Colourdisplay
Thisisahigh-resolutioncolourdisplay(seeDisplaylayoutonpage21).
Viewselectionbuttons
Views
System
Day/
night
Alarms
Thisgroupcomprisesfourbuttons.
•TheViewsbuttondisplaysandcyclesthroughtheoperational
views(seeViewselectiononpage27).
•TheSystembuttondisplays,cyclesthroughandclosesthe
systemstatusviewsandinputdialog(seeViewanddialog
selectiononpage56).
•TheDay/nightbuttontogglesthedayandnightpalettes(see
Dayandnightpalettesonpage77).
•TheAlarmsbuttondisplaysandclosestheMessageview(see
Presentationofmessagesonpage64).
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Userinterface
Silence/ack.buttonandalarmindicator
Silence/
ack.
Thisgroupcomprisesasinglebuttonwithanalarmindicator.
•TheSilence/ack.buttonstopstheaudiblesignalhornfrom
sounding.Italsoacknowledgesalarmsandwarningmessages
(seeAcknowledgingmessagesonpage66).
•TheredalarmindicatorabovetheSilence/ack.button(when
steadilylitorashing)indicatesthatalarmand/orwarning
statesexistinthesystem(seeAlarmindicatoronpage67).
Commandcontrolbuttons
Take Give
Thisgroupcomprisestwobuttonswithgreenstatusindicators.
•TheTakebuttontransferscontrolofthesystemtotheoperator
terminal(seeTakingcommandonpage72).
•TheGivebuttonenablesawingterminal(ifinstalled)totake
controlofthesystem(seeGivingcommandonpage72).
Operationalmodebuttons
Stand
by
Joystick Station
keeping
Auto
pilot
Auto
heading
Auto
surge
Auto
sway
Present
heading
Thisgroupcompriseseightbuttonswithgreenstatusindicators.
•TheStandbybuttonselectsStandbymode(seeStandbymode
onpage85).
•TheJoystickbuttonselectsJoystickmode(seeJoystickmode
onpage86).
•TheStationkeepingbuttonselectsStationKeepingmode
providedthatthisoptionisavailableinthesystem(seeStation
Keepingmodeonpage91).
•TheAutopilotbuttonselectsAutopilotmodeprovidedthat
thisoptionisavailableinthesystem.
•TheAutoheadingbuttonselectsautomaticheadingcontrol
(seeJoystickmodewithautomaticheadingcontrolonpage88
andJoystickmodewithautomaticstabilisationonpage90).
•TheAutosurgebutton(seeNotebelow)selectsautomatic
surgecontrol(seeJoystickmodewithautomaticposition
controlinbothsurgeandswayonpage89,Joystickmode
withautomaticstabilisationonpage90andStationKeeping
modeonpage91).
•TheAutoswaybutton(seeNotebelow)selectsautomatic
swaycontrol(seeJoystickmodewithautomaticposition
controlinbothsurgeandswayonpage89,Joystickmode
withautomaticstabilisationonpage90andStationKeeping
modeonpage91).
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•ThePresentheadingbuttonselectsthepresentheading(see
Stoppingachangeofheadingonpage113).
Note
TheAutosurgeandAutoswaybuttonscanonlybeusedifa
position-referencesystemisinstalled.
Joystickbuttons
Full
thrust
Fore
pivot
Centre
pivot
Aft
pivot
Thisgroupcomprisesfourbuttonswithgreenstatusindicators.
•TheFullthrustbuttontogglesthejoystickthrustsetting
betweenFullandReduced(seeSettingthejoystickthruston
page109).
•TheForepivotbuttonselectstheforeofthevesselasthe
rotationcentreinJoystickmode(seeSelectingthevessel
rotationcentreonpage111).
•TheCentrepivotbuttonselectsthecentreofthevessel
(midships)astherotationcentreinJoystickmode(see
Selectingthevesselrotationcentreonpage111).
•TheAftpivotbuttonselectstheaftofthevesselastherotation
centreinJoystickmode(seeSelectingthevesselrotation
centreonpage111).
Three-axisjoystick
Thisgroupcomprisesthethree-axisjoystick,whichis
automaticallyconguredaccordingtotheorientationofthe
operatorterminalrelativetothevessel.
Thisjoystickisusedtocontrolthethrustersinallthreeaxes
(surge,swayandyaw)whentheyareselectedforjoystick
control.
Tomovethevesselinthesurgeandswayaxes(alongships
andathwartshipsdirections),tiltthejoystick.Thedirectionin
whichthejoystickistilteddeterminesthedirectionofapplied
thrusterforce,andtheangleoftiltdeterminestheamountof
appliedthrusterforce.
Toturnthevessel(theyawaxis),rotatethejoystick.The
directioninwhichthejoystickisrotateddeterminesthedirection
oftheturningforcesetpoint,andtheanglethroughwhichthe
joystickisrotateddeterminestheamountofappliedturning
moment.
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