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G U I D A N C EG U I D A N C E

L I M I T E D

C O N T R O LC O N T R O L

S Y S T E M SS Y S T E M S

L I M I T E D

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Installation andMaintenance Guide

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Copyright © 2003 Guidance Control Systems Limited. All Rights Reserved.

Copyright in the whole and every part of this manual belongs to Guidance ControlSystems Limited (the “Owner”) and may not be used, sold, transferred, copied or repro-duced in whole or in part in any manner or form or in or on any media to any personother than in accordance with the terms of the Owner’s Agreement or otherwise withoutthe prior written consent of the Owner.

Windows is a trademark of Microsoft Corporation.

All other brand or product names are trademarks or registered trademarks of theirrespective companies or organisations.

Release: 1.1Date: 17/3/03Document No: 94-0003-1

Previous issue: Installation and Maintenance Guide v1.0

Date: 9/1/03

Changes: Various changes and additions

Guidance Control Systems Limited

4 Dominus Way • Meridian Business Park

Leicester • LE19 1RP • United Kingdom

Tel: +44 (0)116 229 2600

Fax: +44 (0)116 229 2604

Email: [email protected]

Website: http://www.gcsltd.co.uk

Printed in the UK

1CyScan Positioning System • Installation and Maintenance Guide r1.1

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� �� Unpacking the CyScan System .................................................................. 4

Mounting the System Components ........................................................... 6

When mounting two CyScan sensors on the same vessel ....... 6

Wiring the CyScan System......................................................................... 8

Power Supply Unit (PSU) ................................................................. 8

The Data Converter ....................................................................... 10

Notebook computer ...................................................................... 10

Connecting the CyScan Sensor ................................................................ 11

CyScan LED Indicators ............................................................................. 12

Correct startup indication .............................................................. 12

Error states and possible causes ..................................................... 12

Shutdown/suspend ....................................................................... 12

� �� Switching off the CyScan Console System ............................................... 13

Disconnecting the CyScan Sensor ............................................................ 14

Un-mounting the CyScan Sensor ............................................................. 14

Packing the CyScan System ..................................................................... 15

�� Removing and fitting key components ..................................................... 17

Stage 1 - The Rotor Heatshield ...................................................... 17

Stage 2 - The Rotor ....................................................................... 18

Stage 3 - The Body Cover .............................................................. 19

Stage 4 - The Motor Gearbox ........................................................ 20

Stage 5 - The CPU Module ............................................................ 21

Stage 6 - The Controller Board ...................................................... 22

Stage 7 - The Yaw Gyro ................................................................ 23

Stage 8 - The Vertical Reference Unit (VRU) ................................... 24

Stage 9 - The Actuators ................................................................ 25

Cleaning the CyScan Sensor .................................................................... 27

To clean the casing and bellows: ................................................... 27

To clean the optical window: ......................................................... 27

To clean the targets: ...................................................................... 27

Greasing the Gearbox ............................................................................. 27


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�� For further assistance .............................................................................. 28

No communication between CyScan Console and the Sensor ........ 28

Sensor head does not rotate ......................................................... 28

Sensor rotates slowly ..................................................................... 29

System appears to be operational, however, the sensorhead is not levelling or rotating ..................................................... 29

System appears to be operational, however, no reflectionsare displayed within CyScan Console ............................................. 29

System is operational but is not navigating .................................... 29

System navigating but no data is received at the DP system ........... 29

System appears to be operational, however, it is exhibitingerratic behaviour with communications locking up occasionally ..... 29

System operates correctly but in cold weather loses targets. .......... 29

Alarm Codes ........................................................................................... 30

Fatal alarms - codes 2xxx ............................................................... 30

Errors - codes 3xxx ........................................................................ 30

Warnings - codes 4xxx .................................................................. 30

Information - codes 5xxx ............................................................... 30

CyScan Fuse Information ......................................................................... 31

Power Supply Unit Fuse ................................................................. 31

Controller Board Fuse .................................................................... 31

!""�� Appendix 1 - CyScan Sensor Connector Pin-outs ..................................... 32

Appendix 2 - CyScan Sensor Mounting Template ..................................... 33

Appendix 3 - CyScan PSU Mounting Template ......................................... 34

Appendix 4 - CyScan RS485 Data Converter Mounting Template ............. 35

Appendix 5 - Recommended Spares List .................................................. 36

Appendix 6 - Using CyScan Admin Console ............................................. 37

To start CyScan Admin Console ..................................................... 37

To exit CyScan Admin Console ...................................................... 37

CyScan Admin Console Quick Start ............................................... 38

Setting up the User Console Vessel Orientation ................... 39

Checking the Comms Port Settings ..................................... 40

Reinitialise the communications link .................................... 41

Enable Sensor Components ................................................ 42

Check Scanner Enabled ....................................................... 43

Check system supply voltages ............................................. 44

Mooring Point Reflectors - Installation and Definition ............................... 45

Reflector types .............................................................................. 45

Reflector Installation ..................................................................... 46

Defining Reflector Positions ........................................................... 47

Reflector Positioning Examples ...................................................... 48


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

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

• The CyScan Sensor, which is mounted ondeck as required.

• The CyScan Console. A monitoringapplication running within MS Windowson a notebook computer. It provides theDP operator with full information andcontrol over the data stream being fed tothe DP system.

• The Power Supply Unit (PSU). It iscontained within a watertight enclosureand is mounted near to the CyScansensor. The Console and DP System cablesare fed via the PSU.

• The Data Converter. Situated near to theDP System, this sealed enclosure translatesbetween the RS485 signals used by theCyScan Sensor and DP Systems, and the RS232 signals used by the CyScanConsole Notebook computer.

The remaining requirements for the CyScan system are the Targets that must bemounted on the designated mooring point(s). The Targets consist of specialist reflectivestrips or cylinders placed in certain positions along the side of the mooring point structureor vessel. The coordinates of the targets are then declared to (or discovered by) theCyScan Console, and using this data the system is able to determine the exact position ofthe vessel relative to the mooring point.

DPSystem

CyScanConsole

PSUPower

CyScanSensor

DataConverter

The key elements of the CyScan system

CyScanequipped

Vessel

Mooring Point/Vessel

Reflective Targets

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


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The CyScan Sensor is designed to be semi-portable. This allows it to be mounted indifferent positions on the vessel to present the best view of the mooring point targets.

Commissioning the CyScan system ready for operation involves four basic stages:

• Unpacking the CyScan System

• Mounting the CyScan Sensor

• Wiring the CyScan System

• Connecting the CyScan Sensor

�� The whole CyScan system (comprising: main sensor unit, power supply and data con-verter) are supplied and shipped in a custom-built flight case. Use the following proce-dure to unpack and prepare the system elements ready for installation.

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1 Position the CyScan flight case on a level surface, close to the area where thesensor will be installed.

! Warning: The CyScan Sensor and peripheral items weigh in excess of 30kg. Twopeople, should perform all lifting and carrying of the unit.

2 Release the four lockingcatches by rotating thebutterfly-wing tabs anti-clockwise. Swing thecatches outwards until theylock out, away from thelower lip.

3 With the assistance ofanother person, lift andremove the upper lid of theflight case.

4 You will now be left withthe base of the flight case and an inner boxcontaining the sensor. Check that the eightscrews attaching the lid of the inner box areintact. With the assistance of another person,hold the open sides of the lid and lift the innerbox out of the flight case base. You can thenplace the inner box onto the ground or, if spaceis limited, rotate it horizontally by 45 degreesand place it onto the lipof the flight case.

5 Using a crossheadscrewdriver, remove theeight screws securingthe lid onto the innerbox and remove the lid.

� Remove the flight case lid

� Lift out the inner box

� Remove the inner box lid


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6 Using a crossheadscrewdriver,remove the eightscrews securingthe two endbumper boardsand remove.

7 Using a 13mm socket and ratchet,remove the four bolts that secure theCyScan sensor to the base of the innerbox.

8 With the assistance ofanother person, lift thesensor from the innerbox using the twocarrying handles. Placethe sensor next to thepre-installed mountingplate on deck.

9 From the access hole inthe base of the flightcase, remove thepower supply and dataconverter boxes plustheir accompanyingcables.

The system is now ready forinstallation.

� Remove the bumperboards

� Remove the bolts

� Lift out the sensor

� Remove theperipheral items


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�� The sensor can be mounted on the vessel using four bolts. The bolts secure the sensorunit through the holes in the base.

! Warning: The CyScan Sensor weighs approximately 30kg. Two people, using theintegral handles on either side, should perform all lifting and carrying of theunit.

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1 With the assistance of another person,use the two lifting handles to lift theCyScan Sensor onto the requiredmounting plate.

2 Orient the CyScan Sensor so that itsfour connectors face the Stern of thevessel.

3 Carefully lower the CyScan Sensor ontothe mounting position so that its fourmounting holes lineup with those of thepre-drilled mounting plate. Refer toAppendix 2 for mounting details.

4 Insert four M8 x 25 stainless steel boltsand tighten them evenly using a 13mmsocket and ratchet.

STERNRefer to Appendix 2 forCyScan Sensor mountingtemplate details.

5 Remove each of the four locking pinsfrom the sensor. Ensuring that the whitebellows are not damaged, rotate thelarger barrel of each locking pin clockwiseuntil it becomes short enough to remove.Keep the locking pins with the flight casefor future shipping. Avoid using tools forthis job to minimise the chance of inad-vertently tightening the locking pins anddamaging the CyScan Sensor.

! Important: Ensure that the CyScan Sensor has a clear view in the intendeddirection of the mooring point targets. Also, there should be no object within300mm of the rotating head in any direction as the head requires sufficient spaceto tilt in response to pitch and roll vessel movements.

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In situations where two separate CyScan sensors are to be used on the same vessel, thefollowing criteria should be met:

• The two CyScan sensors must be mounted at least 20m apart.

• An opaque screen should be mounted between the two sensors to avoid crossoverof laser beams.

• The blanking zones of both units should be set so that the alternate sensor isexcluded from the zone of operation.


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The CyScan PSU must be securely mounted withinone metre of the CyScan Sensor position.

1 Prepare a suitable site for the PSU andpre-drill pilot holes for the mounting screwsaccording to the template provided inAppendix 3.

2 Remove the PSU lid and insert four M6 x30 stainless steel cap head screws throughthe mounting holes at the four corners ofthe PSU enclosure.

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The CyScan Data Converter must be securely mounted in the vicinity of the CyScannotebook computer.

1 Prepare a suitable site for the Data Converter and pre-drill pilot holes for themounting screws according to the template provided in Appendix 4.

2 Remove the Data Converter lid and insert four M4 x 20 stainless steel cap headscrews through the mounting holes at the four corners of the Data Converterenclosure.


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�� The CyScan system introduces four main items to the vessel, these are:

• CyScan Sensor

• Power Supply Unit

• Data Converter

• CyScan Console Notebook Computer

The diagram below indicates the connections between the four items.

1

23

45678910

111231314151617181920

213

2222

2222

2323

2323

3

Console

DP

Power

2TX2RX1TX1RXPWR

Power

CyScanSensor

PowerSupplyUnit Data

ConverterDP FeedConsole Feed

ToDP Unit

MainPower In

CyScanConsolenotebookcomputer

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The PSU is supplied with three flying leads, all of which attach to the connectors at theStern end of the sensor. Three M20 x 1.5 threaded holes (fitted with stopping plugs) areprovided to accommodate cable glands leading to/from:

• The vessel’s DP system

• The CyScan notebook computer (via the Data Converter)

• A suitable AC power feed

Inside, the PSU contains a row of industrial connectors to make the wiring process asquick and flexible as possible. Each connector is numbered and the relevant signal con-nections (with their connector number) are shown on the diagram (overleaf). The PSUrequires a supply of 90-264VAC at 5A.


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! IMPORTANT: 0V is not the same as GND. 0V is the power supply return whereasGND is a digital ground connection for the communication ports. If 0V and GNDare crossed or joined, the system will not function correctly.

! IMPORTANT: When replacing the lid on the PSU, ensure that the rubber seal issmeared with silicone grease (Dow Corning® DC4) to maintain a watertight fit.

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! WARNING: Ensure all power is removed from thesystem before altering any wiring.

1 Push a small flatblade screwdriver into the squarevertical hole at the front of the connector blockand press down on the lever inside.

2 While pressure is applied to the screwdriver, insertthe required wire(s) into the round hole adjacent tothe square hole.

3 Remove the screwdriver. Check that the cable issecurely held in place.

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The RS485 connection between theCyScan PSU and the vessel’s DPsystem requires a crossover in orderthat transmit and receive signals arecorrectly routed. Ensure that thecrossover is correctly performed asthe cable from the DP system iswired into the PSU.

1

23

4567891011123

19181716151413

20213

23232322222222

233

Console

DP

Power

Power Input90-264VAC 47-63Hz

0V ACEarth

Conn.123

SignalRXATXBTXARXBGND

Connector2019181714

DPOV

RXD+TXD-TXD+RXD-24V

Link GJGND

Link GJ

Cable SocketABCDEFGHJ

ConsoleOV

RXD+TXD-TXD+RXD-24V

Link GJGND

Link GJ

Cable PlugABCDEFGHJ

PowerEarth

24VDCGND

Cable SocketCAB

Signal0V

24VDC

GND

RXATXBTXARXB

Connector23221110985

Console Signals(To Data Converter)

DP Connection

Main AC Power Input

3

RXA

TXB

TXA

RXB

GND

RXA

TXB

TXA

RXB

GND

CyScanPSU

VesselDP System


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The Data Converter is necessary to translate between the RS485 signals used by theCyScan sensor (and the DP system) and the RS232 signals used by the notebook compu-ter. The Data Converter is contained within a watertight enclosure, however, it is usuallymounted on the bridge near to the CyScan notebook (refer to mounting template inAppendix 4). The Data Converter requires a DC power supply between 7 and 35V – thiscan be derived either from the CyScan Power Supply Unit or from the vessel’s bridge, asrequired.

2TX2RX1TX1RXPWR

SignalTXNCRXNCRTSGND

7-35VDCOV

Connector12345678

SignalGNDNCRXBRXATXBTXA

Connector654321

DIP Switch1234

PositionOFFOFFONOFF

CyScan Notebook &Power Connections

Console Signalsfrom PSU Unit

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The RS485 connectionbetween the CyScan PSUand the Data Converterrequires a crossover in orderthat transmit and receivesignals are correctly routed.Ensure that the crossover iscorrectly performed as thecable from the Data Con-verter is wired into the PSU.

RXA

TXB

TXA

RXB

GND

RXA

TXB

TXA

RXB

GND

CyScanPSU

DataConverter

The Data Converter is supplied with a single cable 2 metres in length that has a 9 pinfemale D-Type connector for attachment to the CyScan notebook computer’s serial port.A second cable gland allows entry for a cable to connect with the CyScan Power SupplyUnit.

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The CyScan notebook computer is supplied with a battery charger and mains plug. Thisshould be connected when in use. A footprint of 400 x 400 mm should be allowed forthe console notebook computer. The notebook charger is typically 200 x 70 x 50mm andwill require mounting close to a mains supply.


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�� With the CyScan Sensor in position, the necessary electrical connections can be made.

! Important: The Console application must be closed whilst the Sensor is beingconnected or disconnected.

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1 Remove the protective dust caps from the Power, DP and Console sockets at theStern end of the CyScan Sensor. Do not remove the protective cap from the fourthsensor connector.

The cable connectors and corresponding sockets are similarly labelled. Also, thesockets and connectors are not interchangeable.

! Warning: The scanning head will begin to spinwithin 30 seconds after power is applied.Ensure that it is not obstructed before attach-ing the power connector. Keep all objects atleast 300mm away from the scanning headin all directions.

2 Attach each of the three cableconnectors, in the order thatfollows, to the appropriatesockets on the CyScansensor:

1 First, attach thePower connector.

2 Next, attach the DPFeed and Console connectors.

For each connection:

• Match the orientation of the cable connector to the socket (position 1 onthe connector should be facing upwards) and push it into the socket untilresistance is detected.

• Next, push the outer ring of the cable connector until it locks in place.

3 Double check that each connection is secure.

Note: For pin-outs of all sensor connectors, refer to Appendix 1.

DP Feed

Console

Power


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Red

Yellow

Green

Leveller diagnostic

Embedded PC status

Main heartbeat

��To provide instant status information, the CyScan sensor features three LED indicatorsmounted beneath the carrying handle at the Stern side. Each indicator displays thecurrent status of three key elements of the sensor circuitry:

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As the CyScan sensor initialises itself, the following sequence should be seen:

Red Flashes once briefly when power is applied and should then be off for aslong as the yellow LED is on. As soon as the yellow LED has turned off, itwill toggle at one second intervals as the leveller circuitry initialises for about30 seconds. After the initialisation period, the Red indicator should switchoff and stay off. If at any point it stays on permanently then a hardwarefault has been detected.

Yellow On continuously after power has been applied while the embedded PCcircuitry initialises. After the initialisation period, the Yellow indicator shouldswitch off and stay off. It will come on again once the system has beenshutdown or in case of an embedded PC failure.

Green Toggles twice a second after power is applied and while the yellow led is on. Assoon as the yellow led switches off and the leveller initialises (RED led toggles),the green led will begin to flash at 10 Hz intervals giving the main systemheartbeat. When the system is suspended it flashes briefly once a second.

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Red Permanently on at any point - Electronic hardware failure within the levelleror sensor circuitry. Can also come on when a hardware failure is detectedduring operation.

Yellow On after the initialisation period is complete - Embedded PC failure or unit isshut down. Communication with the sensor is not possible. Recycle powerto the CyScan system.

Green Permanently on or off - No heartbeat to the system. No operation is possi-ble. Recycle power to the CyScan system.

Blinking slowly - unit suspended or shutdown (see YELLLOW and RED leds).

Toggling twice a second - after power has been applied, waiting for the PCto initialise and the yellow LED to turn off.

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Red Off unless there is a hardware failure.

Yellow On for shutdown, Off for suspend.

Green Flashes briefly once a second.


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Decommissioning the CyScan system ready for stowage involves three basic stages:

• Switching off the CyScan Console System,

• Disconnecting the CyScan Sensor, and

• Un-mounting the CyScan Sensor

�� ! Important: The system running the CyScan Console application MUST be

switched OFF before the CyScan Sensor is disconnected.

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1 Click the ‘CyScan’ button in the lower left corner of the screen (this button isunavailable while navigating). The control dialog will be displayed:

2 Click the down-arrow to reveal the three options. Select ‘Shut down’ and click theOK button.

3 Click ‘Yes’ to confirm your selection in the subsequent pop-up message. Theapplication will send shut down commands to the CyScan sensor and then closeitself down.

4 In the lower left hand corner of the Windows screen, click the Start button.

5 Select the Shut Down option.

6 In the subsequent Shut Down Windows dialog, ensure that Shut Down option isselected and click OK.

7 When the system reports that it is ‘safe to switch off your computer’, turn off thenotebook computer.

You can now proceed to disconnect and un-mount the CyScan Sensor (if required).

The status LEDs on the sensor unit should show the yellow LED on and the green LEDflashing briefly once a second.

Note: The Console application should always be running when the Sensor is inoperation.


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�� ! Important: The system running the CyScan Console application MUST be

switched OFF before the CyScan sensor is disconnected.

! Important: Do not disconnect the sensor if the scanning head is still spinning.

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1 Begin by disconnecting the DP Feed and Console connectors.

For each connection:

• Pull the outer ring of the cable connector until it disengages from the socket.

• Next, gently pull the cable connector from the socket.

2 Now disconnect the Input Power connector.

3 IMPORTANT: Replace the protective dust caps onto the three sockets on theCyScan Sensor and also on the three cable connectors.

�� ! Warning: The CyScan Sensor weighs approximately 30kg. Two people, using the

integral handles on either side, should perform all lifting and carrying of the unit.

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1 Locking pin installation:

a Locate the four anodised locking pins thatwere supplied with the CyScan sensor.

b Rotate the larger barrel of each locking pinclockwise so that they become shortenough to be inserted between the baseplate and the middle body of the sensor.

c Ensure that the scanner head is parallel withthe Sensor baseplate. Locate the four locking pin holes in the sensor baseplate holes which are adjacent to each of the four larger mounting holes.

d For each of the four locking pins, insert the point of the thinner barrel intothe locking pin hole of the base plate. Then, push the larger barrel towardsthe white bellows and gently rotate the larger barrel anti-clockwise so thatthe pin extends.

Important: Ensure that the white bellows are not damaged by the lockingpin rotation.

e Continue rotating the larger barrel and guide the point of the locking pininto the corresponding hole in the underside of the sensor body (the holewill be directly above the one on the base plate).

f Do not tighten fully until all four locking pins are in place, and then tightenthem evenly by hand so that the sensor body is fixed in a level position.

IMPORTANT: Do not use tools to tighten the locking pins.

2 Using a 13mm socket and ratchet, remove the fourmounting bolts.

3 With the assistance of another person, use the twolifting handles to lift the sensor away from the mount-ing plate.

4 If necessary, place the sensor in its storage case(covered next).


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�� With sensor disconnected and removed from its mounting plate, you can now begin topack it ready for shipping.

1 Locate the base and sides ofthe wooden inner box inwhich the CyScan sensorwas supplied. With theassistance of anotherperson, lift the sensor intothe base of the inner box sothat the mounting holes ofthe sensor base platecorrespond to the fourthreaded inserts in the baseof the box.

2 Insert the four locking bolts. Using a 13mmsocket and ratchet, tighten the four bolts sothat the sensor is secure.

3 Locate the two endbumper boards andplace them either side ofthe sensor so that theyline up with correspond-ing holes in the sides ofthe box. The foam padson each of the bumperboards should facetowards the sensor.Insert the four screwsthat secure each boardthrough the sides of theinner box and tightenwith a crosshead screwdriver.

4 Place the lid of the inner box ontobase and sides and insert theeight securing screws. Tighten theeight screws using a crossheadscrewdriver.


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5 Locate the base of the CyScan flightcase. If the power supply and dataconverter boxes are also to beshipped, places these and their cables,if necessary, into the lower recess ofthe flight case base.

6 With the assistance of another person,hold the open sides of the inner boxlid and lift the whole assembly intothe flight case base. Ensure that theinner box is properly seated within thefoam guides of the flight case base.

7 With the assistance of anotherperson, place the lid of the flightcase onto the base so that it seatscorrectly.

8 Engage the four locking catcheswith the locking lips of the baseand secure each of the lockingcatches by rotating the butterfly-wing tabs clockwise.

The CyScan system is now ready for shipping.


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The CyScan sensor is constructed from distinct modules that can be removed and re-placed as required. This section covers the removal, replacement, upgrading and servicingof the CyScan sensor system. A list of recommended spare parts is listed in Appendix 5.

!��"��There are nine key stages of disassembly/assembly for all CyScan sensor modules, theseare:

Stage Previous stages required

1 The Rotor Heatshield

2 The Rotor 1

3 The Body Cover 1

4 The Motor Gearbox 1,2,3

5 The CPU Module 1,3

6 The Controller Board 1,3,5

7 The Yaw Gyro 1,2,3,4,5,6

8 The Vertical Reference Unit (VRU) 1,2,3,4

9 The Pitch and Roll Actuators 1,2,3,4

The figures shown to the right of each stage are the other previous stages that you mustcomplete before access can be gained to the necessary components.

! WARNING: Ensure Static Safe Handling procedures are observed when removing/fitting circuit board assemblies, e.g. CPU & Controller PCB, VRU, Yaw gyro, etc.

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1 Using a flat blade screwdriver, remove thefour screws on top of the rotor heatshield.

2 Lift the rotor heatshield up away from thesensor.

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1 Place the rotor heatshield onto the rotor sothat the aperture aligns with the two rotorlenses. Also the four mounting holes mustcorrespond to the four pillars on top of therotor.

2 Insert M5 x 12 slotted screws and bondedseals into the four mounting holes andusing a flat blade screwdriver, tighten thefour screws in a staged and even manneruntil all are tight.


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1 Using a flat blade screwdriver, loosen the twoscrews on top of the rotor in an even manneruntil they are both loose. Fully undo the twoscrews and retract them from the rotor.

! IMPORTANT: Both screws have specialwaterproof ‘bonded seal’ washers. Besure to keep the washers safe with thescrews. Standard washers must not beused in replacement, as a watertight sealwill not be achieved.

2 Lift the rotor vertically upwards away from thesensor gearbox.

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1 Ensure the ‘O’ ring is present on the top of the gearbox shaft. Smear siliconegrease lightly over the ‘O’ ring but ensure none gets on the contacts of the ex-posed connector.

2 Orient the rotor above the sensor with its main connector facing down to thesensor and the face with the largeconnector pointing in the samedirection as the small key screwon the shaft. This ensures that thekeyway in the rotor connectoraligns with the key screw of theshaft.

3 Place the rotor onto the shaft andslide it down into position. It maybe necessary to rock the rotorslightly to get it to fully mate withthe shaft.

4 Insert the two long M5 x 100screws each with a specialistwaterproof sealing washer intact.Smear silicone grease onto thesealing washers for better waterprotection. These bonded seal washers are essential to form a watertight seal -normal washers must not be used in replacement.

! IMPORTANT: It is essential that the two screws in the next step are tight-ened evenly.

5 Using a flat blade screwdriver, tighten the two screws alternately to take up theslack. Now tighten the two screws alternately in decreasing steps of rotation, i.e.one turn each, then three quarters each, then half each, etc. Continue in smallincrements of rotation until both are brought to even tightness. Finally, apply acoating of silicone grease around the screw heads and sealing washers to minimisethe chance of water ingress at this point.

6 Ensure that the rotor can rotate freely without touching any part of the sensorgearbox.


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1 Using a 4mm AF hex key, loosen and removethe outer ring of twelve M5 x 12 screws (andtheir bonded seal washers) around the bodycover top plate.

2 On the underside of body cover, just above thewhite bellows, locate the four lower retainingscrews. These four screws are recessed and areplaced at 90 degree intervals. Their positions,when viewing from the top ofthe sensor, are rotated 15degrees anticlockwise from themain Bow-Stern, Port-Star-board axes of the sensor. Pushdown the white bellows anduse a right-angled 4mm AFhex key to loosen and removethe four M5 x 25 screws +bonded seals.

3 Raise the body cover up untilyou have access to the lowerhalf of the controller board onthe starboard side of thesensor. Locate the Case LEDsconnector on the controller board and disconnectthe socket housing from the plug.

4 Now lift the body cover and Case LEDs leadvertically upwards and away from the sensor body.

Position of lockingbolt axis - roughly15o from Bow-Sternaxis

Locking bolt axis

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1 Smear a thin layer of silicone grease onto the two white rubber seals.

2 Orient the body cover so that the handles accurately line up with the Bow-Sternaxis of the sensor. The LED cable connector should be onthe same side as the main controller PCB.

3 Lower the body cover onto the sensor frame untilit is possible to attach the Case LEDs lead fromthe cover to the corresponding connector on thelower right hand side of the controller board.

4 Fully seat the body cover and ensure that itstwelve mounting holes line up with those in theouter ring of the sensor motor gearbox top plate.

5 On the underside of the body cover, locate fourmounting holes which are spaced at 90 degreeintervals but whose axes are rotated 15 degrees anticlockwise from the main bow-stern, port-starboard axes of the sensor (see position diagram above). Push downthe white bellows and insert a hex head bolt into each mounting hole. Fingertighten the bolts and then use a right-angled 4mm AF hex key to tighten the fourM5 x 25 screws + M5 bonded seals in a staged and even manner until all are tight.

6 Insert M5 x 12 hex head screws + bonded seals into the twelve mounting holesaround the top of the body cover. Using a 4mm A/F hex key, tighten the twelvescrews in a staged and even manner until all are tight. When screws are secure,smear a thin layer of silicone grease around the screw heads and washers tomaintain a watertight seal.

12 x bolts +bonded seals

4 x bolts +bonded seals


GCSGCS

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1 Using a 4mm AF hex key, loosen andremove the ring of six outermost M5 x20 screws and bonded seals of thesensor motor gearbox top plate.

2 On the right hand side of the controllerboard, locate the motor power and datacables. Cut cable tie and elastomer sealon power connector. Disconnect both ofthese cables from their connectors andensure that the cables are free to moveas the motor/gearbox unit is removed.

3 Lift the complete motor gearbox assem-bly vertically upwards and away from thesensor body, ensuring that its two cablesdo not snag.

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1 Place the head motor gearbox assemblyover the sensor frame and orient it sothat the motor is towards the Bow endof the sensor. Slowly lower the assemblyinto the sensor frame, taking care toroute the two motor cables neatlytowards the Bow end of the controllerboard.

2 Seat the motor gearbox assembly ontothe top ring of the sensor frame so thatthe six mounting holes of the assemblycorrespond to those of the frame.

3 Attach the motor power and data cablesto the appropriate connectors in the topright hand corner of the controllerboard. Add cable ties to the leg of theframe and secure cables to these. Placeelastomer on the power connector tomaintain in position.

4 Insert M5 x 20 hex head screws with M5bonded seals into the six mounting holesaround the top ring of the motorgearbox assembly. Using a 4mm A/F hexkey, tighten the six screws in a stagedand even manner until all are tight.When screws are secure, smear a thinlayer of silicone grease around the screwheads and washers to maintain a water-tight seal.


GCSGCS

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! IMPORTANT: Observe Static Safe handling procedure.

�� .��

1 Disconnect the three ribbon cableconnectors (at the controller boardend) that link the CPU module withthe controller board.

2 Using a flat blade screwdriver,remove the four screws from theCPU module. Each screw has awasher, ensure that the washersare not mislaid.

3 Grasp the CPU module either sideof its circuit board adjacent to themain connector at the top. Free theboard from the long connector withsmall pulls on each side of the board.When the connector becomes free,remove the CPU module from itsmounting.

Note: The CPU Module and ControllerBoard should be kept- and exchangedtogether as a pair.

��)�� .��

1 Orient the CPU board so that its twolong edge connectors are at the top.Place the CPU board close to thecontroller board on the Starboardside of the sensor.

2 Locate the three short ribbon cablesthat lead from the middle section ofthe controller board. In turn, attacheach of these cables to the corre-sponding connectors on the CPUmodule with their respective red-marked wires uppermost. Note:ensure that the orientations of thethree short ribbon cables are correctas it is possible to connect them thewrong way round.

3 Ensure that the two long edgeconnectors of the CPU board line upwith those on the controller boardand push the two boards togetherso that they fully mate.

4 Insert four screws (each with awasher) into the four holes of theCPU board and into the correspond-ing threaded mounting posts on thecontroller board. Using a flat bladescrewdriver, tighten all four screwsto reasonable hand tightness.


GCSGCS

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! IMPORTANT: Observe Static Safe handling procedure.

�� ,��

1 Carefully disconnect all of theconnections to the controller board.

2 Using a flat blade screwdriver, firstremove the top left screw to releasethe earth contacts. Next disconnectthe cable connectors and thenremove the remaining seven nylonM3 x 6 screws and two spacerssecuring the board to the sensorframe.

3 Remove the controller board from theunit.

Note: The CPU Module and ControllerBoard should be kept- and exchangedtogether as a pair.

red stripe

red stripeCPU

board

red stripe

MotorGearbox

POWER

POWERIN

DATA

VerticalReference

Unit

Rotor

RollActuator

PitchActuator

YawGyroCase LED

Indicators

0V - BLUE

24V - BROWN

��)�� ,��

1 Place the controller board against its mounting pillars on the Starboard side of thesensor frame. Ensure that all of the connections to be made to the controller are insuitable positions, particularly the ribbon cables that will attach to the connectorsalong the bottom edge – these must pass under the controller board and are mosteasily positioned before the board is fixed in place.

2 Insert seven nylon M3 x 6 screwsand two spacers in the outer holesof the controller board (except thetop left hole) and into the corre-sponding threaded mounting postson the sensor frame. Insert the steelscrew into the top left hole andensure the earth contact is attached.Using a flat blade screwdriver,tighten all six screws to reasonablehand tightness.

3 Attach the following cables tothe appropriate connectors onthe controller board (refer tothe connection diagram): thepitch and roll actuator cables,the rotor unit cable, the VRUcable and the two power leads.If the three short ribbon cablesare not already attached to thecontroller, attach them now,ensuring that their orientationsmatch those shown on theblock connection diagram �

If the Motor Gearbox is inplace, also attach the motorpower and data cables.


GCSGCS

��2�%��3��/��

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1 Looking from the Starboard side ofthe sensor locate the yaw gyro - asmall vertically mounted circuitboard. Using a 2.5mm A/F hex toolto remove the two M3 x 16 screwsthat secure the yaw gyro board tothe sensor frame (these arenormally hidden behind thecontroller board).

2 Disconnect the ribbon cableconnector from the yaw gyroboard.

3 Lift out the yaw gyro unit.

��)��3��/��

1 Place the yaw gyro board into thesensor frame adjacent to the pitchactuator. The large rectangularcomponent (the gyro unit) shouldbe uppermost on the board.

2 Locate the ribbon cable leadingfrom the VRU board and attach itto the connector situated towardsthe bottom of the yaw gyroassembly.

3 Insert two M3 x 16 screws throughthe upper and lower frame barsand into the correspondingthreaded holes of the yaw gyroboard. Using a 2.5mm A/F hextool, tighten both screws toreasonable hand tightness.


GCSGCS

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1 Looking into the Bow end of thesensor body, locate the VerticalReference Unit which is a small circuitboard mounted horizontally. Discon-nect both of the ribbon cable con-nectors from the VRU board.

2 Using a flat blade screwdriver,remove the four M3 x 6 screws thatsecure the VRU to the sensor frame.Lift aside the earth lead from thefront left screw hole.

3 Lift out the VRU board.

��)��5��'�)��5'��

1 Looking from the Bow endof the sensor body, locatethe mounting space for theVRU (the horizontal spacebordered on three sides bythe controller board and thetwo actuators. Place theVRU board into the spaceso that its two ribbon cableconnectors face the Sternend of the sensor.

2 Insert four screws into theVRU board mounting holes.An earth strap must beplaced onto the screw inthe front left corner (asviewed from above). Usinga flat blade screwdriver,tighten all four screws toreasonable hand tightness.

3 Locate the VRU ribbon cable leading from the controller board and attach it to thestarboard side connector of the two.

4 Locate the ribbon cable leading from the yaw gyro board and attach it to the portside connector of the two.

Tocontroller

Toyaw gyro

Earth strap


GCSGCS

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1 Disconnect the ribbon cable connector atthe rear of the actuator circuit board.

2 Using a 4mm A/F hex key, remove thetwo bolts at either end of the actua-tor crosspiece.

3 Carefully rotate the large toothedpulley of the actuator anti-clockwise(as viewed from above) until itreleases from the lead screw shaftthat extends down into the base ofthe sensor.

IMPORTANT: As you turn the large toothed pulley,take care not to damage the encoder disc (the thincircular metal plate with four slots cut through it).

Throughout the winding process, it may be necessary toslant the body of the sensor into various positions toaccommodate the actuator and lead screw shaft withinthe confines of the sensor frame.

4 When the lead screw shaftreleases from the actuator,remove the actuator crosspiecefrom the sensor frame.

5 To remove the actuator base, removethe four M5 x 20 bolts from the twopedestal bearings at either side of theactuator base.

see next page for fitting instructions


GCSGCS

��)��7��8��'��7��

1 Place the actuator base in positionso the lead screw shaft (rising fromthe sensor base plate) protrudesthrough the actuator base. Inserttwo M5 x 20 bolts into each of thetwo pedestal bearings at either sideof the actuator base. Tighten thefour bolts evenly.

2 Place the actuator crosspiece intothe sensor frame so that its PCBfaces into the sensor.

3 Angle the body of the sensor sothat the lead screw shaft (risingfrom the sensor base plate throughthe area covered by the whitebellows) is visible and there issufficient space to place the actua-tor onto the end of the shaft. Thelead screw shaft must be placedinto the underside of the largetoothed pulley of the actuator.Once the shaft is in place, rotatethe toothed pulley clockwise (asviewed from above) to make theactuator move down the shaft.

IMPORTANT: As you turn the large toothed pulley,take care not to damage the encoder disc (the thincircular metal plate with four slots cut through it).

Throughout the winding process, it may be necessary toslant the body of the sensor into various positions toaccommodate the actuator and lead screw shaft withinthe confines of the sensor frame.

4 Continue winding the toothed pulley until the actuator has travelled down thelead screw shaft sufficiently to allow it to be fixed to the actuator base plate that isattached to the sensor frame. Exact positioning of the actuator along the leadscrew shaft is unnecessary as it will automatically find its own level during theinitialisation process once power is applied.

5 At either end of the actuator base plate (attached to the sensor frame) there aretwo universal couplings that are used to secure the body of the actuator. Positionthe upper segment of each universal coupling so that they align with the holes ateither end of the actuator body.

6 Insert the two large bolts into theholes at either end of the actuatorbody and ensure that, as you handturn them, they engage correctlywith the universal couplings below.Using a 5mm A/F hex key, tightenthe two mounting bolts in a stagedand even manner.

7 Locate the appropriate ribbon cableleading from the controller boardand attach it (in the correct orienta-tion) to the connector on the rear ofthe actuator circuit board.


GCSGCS

�� To maintain the CyScan Sensor in good working order it is important that both its casingand optical elements are kept free of contamination.

��!��

Use a sponge or cloth with warm water to wipe any sea spray or other contaminationfrom the metal casing or the flexible bellows.

��

Use a lint-free cloth with IPA spray to carefully wipe the optical window.

��

As per the CyScan casing and bellows above. In dirty environments the reflective faces ofthe targets should be cleaned regularly for best viewing. Also, under icy or frosty condi-tions, the targets should be cleared of any condensation or ice.

#��#��$�%Where a grease nipple is fitted, the gearbox should be greased once a year.

Remove the rotor heatshield (see Stage 1 of the Removing and fitting key componentssection) to gain access to the gearbox grease nipple. Apply 5 to 10 shots of grease to thegrease nipple to lubricate the gearbox. Replace the Rotor Heatshield.


GCSGCS

��

&��If you experience problems when installing or using the CyScan system, please checkthrough this Troubleshooting section for a possible solution.

If your problem is not listed here and you cannot resolve the issue, then please contactthe system fitter or equipment provider who are trained to assist with installation andoperation problems.

If the problem cannot be resolved by the system fitter or equipment provider, then pleasecontact GCS directly:

By phone: +44 (0)116 229 2600

By fax: +44 (0)116 229 2604

By email: [email protected]

For assistance with using CyScan Admin Console, please refer to Appendix 6.

��!��

• Check the Power, DP Feed and Display/Diagnostic connections to the sensor.

• Using CyScan Admin Console, check the communication port settings on theCommunications tab.

• Using CyScan Admin Console, observe the Console Status message that appears atthe foot of the screen. In the System Status tab, click the Reset button toreinitialise the communications link - then check the Console Status readout.

• Ensure that the LEDs on the sensor unit only show the green LED flashing fast, theyellow and red LED should be off. If this is not the case, power cycle the systemand observe the LED behaviour.

• Check on the data feed converter that it is powered (yellow LED on) and that theouter transmit/receive lights are flashing once every couple of seconds (i.e. thelaptop is trying to establish communications with the sensor unit). Under normalconditions the outer LEDs should flash first followed by the inner two LEDs flashingin response (the sensor unit answering with data).

��

• The sensor rotor might be prevented from rotating due to mechanicalblockage.

• Investigate and remove blockage.

• Sensor rotor shaft may need lubrication. Please refer to the section ‘Greasing theGearbox’ within this guide.

• Lubricate using the grease duct on the motor gearbox. This duct is accessible oncethe rotor heatshield is removed. Please refer to the section ‘Greasing the Gearbox’within this guide.

• Check the LEDs on the system unit. Ensure that the red LED is not on. Otherwisethere is a hardware fault; power cycle the unit and observe LED behaviour.

• Check for ice build up between rotor and gearbox cover. Remove any ice whichmay be present.


GCSGCS

��

• When switched on from cold at low temperatures the unit may rotate slowly forseveral minutes before building up to normal speed of 1 rev per second.

��!��9��9��

• Using CyScan Admin Console, view the System Status page and check that theleveller and scanner components are not disabled.

��!��9��9��)��

• Check that the sensor is enabled and is spinning. Using CyScan Admin Console,view the Scanner tab. The Scanner selection in the lower left corner should displayEnabled.

• Check that the blanking zone (Blind Spot) is configured correctly.

• Clean lenses of CyScan unit. Please refer to the section ‘Cleaning the CyScanSensor’ within this guide.

• Check the sensor is within range of the targets.

��!��

• Check that the correct mooring point is selected.

• Check that the sensor has a clear view of the targets.

��!��

• Check the DP Feed connection to the sensor.

• Check that the DP Feed data converter is flashing.

• Check the data type is set correctly for the DP system.

��!��9��9��$��!��!��

• Check that the external supply voltage, supplied via the Power cable, to the sensorhas not dropped below 18V.

• Using CyScan Admin Console, check the reading given for the 24V Main on theSystem Status page. Also check the other supply voltage. These should be within10% of their nominal values.

��!��:

• Check for condensation or ice on targets. Wipe clean if necessary.


GCSGCS

'��

For the purpose of an audit trail, events of any nature are reported in the Console appli-cation in the form of 4 different alarm types. These alarms only apply to the embeddednavigator and the interaction between the sensor unit and the Console user-interface.

;��%��*$$$

Signifies a fatal event such as malfunctioning software; the system might be able torecover from this but a power cycle is always recommended (both sensor unit and con-sole laptop)

"��%��+$$$

Signifies an unexpected event such as a missing parameter file or a lack of response froma particular sub-system; these errors normally clear themselves after a while. If theseerrors occur repeatedly in quick succession especially after restarting the system, then aserious hardware problem might have occurred.

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Signifies a possible error source; it will be followed by a suitable error message if thesystem deteriorates, otherwise this will clear itself in due course. In general most warn-ings if they are infrequent can be ignored.

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Signifies purely an event, user initiated or automatic, for audit purposes.

In addition a special category of leveller alarms in the code range 6xxx can occur in any ofthe four classifications above. These will signify events that are purely associated with thesensor rotor and leveller hardware and can provide clues about possible hardware faults.


GCSGCS

��&��The CyScan system contains two fuses, their locations are:

• Inside the Power Supply Unit casing on the AC input

• On the Controller Board within the CyScan sensor housing on the DC input

1

23

4567891011123

16151413

Fuse specification:

20mm

4A rating

Slow Blow

��;��

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Fuse specification:

20mm

5A rating

Slow Blow

Please refer to the Maintenanceand Servicing section for details ongaining access to the controllerboard.


GCSGCS

'��%(� �� The CyScan sensor has four connectors situated at the Stern end of its base plate. Threeof the connectors are used during operation, the fourth is used (offline) when the levellercomponent requires a software upgrade.

The pin-outs of the four connectors are given here for completeness.

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Pin Signal

A 24VDC 6AB 0VC Earth

��;��

Pin Signal

A 0VB RXAC TXBD TXAE RXBF 24VG NCH GNDJ NC

��

Pin Signal

A 0VB RXAC TXBD TXAE RXBF 24VG NCH GNDJ NC

IMPORTANT: 0V is not the same asGND. 0V is the power supply returnwhereas GND is a digital groundconnection for the communicationports. If 0V and GND are crossed orjoined, the system will not function.

=��

Pin Signal

A DSRB RXDC NCD TXDE CTSF NCG NCH GNDJ VPPENK NCL NCM NC

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DC Power3 way plug DP Feed

9 way plug Console9 way socket Leveller

Programming12 way socket


GCSGCS

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280

28

0

Width340

Leng

th4

60

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wse

nso

rhe

ighto

f5

00

mm

fro

mm

ountin

gp

late

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ofSe

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GCSGCS

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180

31

0

Height230

Wid

th3

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gc

ab

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do

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pth

of1

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'��%,� ��!�,-.�� "��*��

107

15

7

Height 125

Wid

th1

75

Outlin

eo

fRS4

85

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usin

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wc

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mo

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Remove the Converter lid to access the fixing holes. Mountthe unit close to the CyScan Console laptop computer.

TOP

BOTTOM


GCSGCS

'��%.�!��

Number Name Description

10-0003-4 CyScan Spares Kit 1 Includes grease gun, 10 fuses for PSU, 10 fuses forCyScan Sensor, lens cleaning tissues.

21-0035-0 Baseplate Assembly Baseplate, connectors, bellows, internal cables.

21-0034-0 Bottom Frame Assembly Main frame of Sensor, universal joint.

21-0028-0 CyScan Motor Gearbox Includes gearbox, motor, encoder, shaft and pcb’s.

22-0590-0 Rotor Heatshield Fibreglass heatshield with name label.

21-0029-0 Actuator Lead screw, stepper and drive pcb.

21-0027-0 CyScan Rotor Scanner rotor including rotor and rangefinderelectronics.

21-0031-0 Body Cover Assembly Main housing cover, including LEDs and handles.

39-0011-4 Yaw Gyro Assembly Yaw gyro and pcb.

39-0003-2 VRU Assembly VRU gyros, fluid sensor and pcb.

39-0010-2 CyScan Controller Module Includes controller pcb, PC104 unit, ‘disk on chip’and local interconnection cables.

98-0008-4 Silicone Grease Waterproof silicone compound.

20-0030-0 CyScan PSU Power supply unit and terminal box.

39-0005-2 RS485 Converter Module Housed RS485 to RS232 converter module.

20-0031-0 2m Flat Reflector 2m x 350mm flat reflector including stainless steelclamps.

20-0032-0 Cylindrical Reflector 1.5m cylindrical reflector including shackle.

38-0001-1 CyScan Console Notebook User Console Notebook Computer.

33-0032-3 Programming Leads Dual programming lead set for programming ofSensor rotor and navigator.


GCSGCS

'��%/�� '�� In addition to the usual CyScan Console (or CyScan User Console), a CyScan AdminConsole is also provided for making configuration changes, checking modules andperforming CyScan sensor software upgrades. This appendix provides brief details abouthow to start and exit CyScan Admin Console.

Note: It is not possible to run CyScan User Console and CyScan Admin Console atthe same time.

�� 7��

1 If it is running, exit from CyScan User Console on the notebook computer.

2 Locate the CyScan Admin Console icon on the Windows desktop or select its entrywithin the Start menu.

3 A pop-up dialog will be displayed:

4 Enter your access password and click Log In.

5 The main CyScan Admin Console will open to reveal a number of tabbed pages,each providing information about distinct sections of the CyScan system.

• The Files tab, in particular is used to initiate software upgrades to theCyScan sensor modules.

��$�� 7��

1 When all necessary operations have completed, click the Shutdown button. Thefollowing dialog will be displayed:

2 Click the Yes button to proceed. The CyScan Admin Console will exit and thesensor will shutdown or continue, subject to the setting of the ‘keep sensor activeafter shutdown’ option.


GCSGCS

��7�� >��

1 Switch on the CyScan notebook and login as described on the previous page.

2 A System Status screen similar to that shown below will be displayed:

3 Ensure that the Activity field in the Operations section indicates Running.

• If the Activity field shows Link lost or Initialising (continuously) then theremay be a problem with the sensor communication link.

<< and >>Click theseto changebetweenthe variousinformationpages.

Cancel – Click to undo anychanges made to the currentpage since the Apply buttonwas last clicked.

Apply – Click to activateany changes made to thecurrent page.

? – Click to invoke the help feature. Thecursor will gain a ? mark – subsequently,when you then click on any item, a briefexplanation of that feature will be given.

Tabs – Click these to changebetween the various pages ofinformation.

Start Logs –Click to beginrecordingsysteminformationthat can beused fordiagnosticpurposes.

Position &Heading – Theseindicate the vessel’scurrent calculatedposition andheading relative tothe currentlyselected mooringpoint.

ActivityIndicates the current

status of the linkbetween the sensor

and the console.

Mooring PointAllows you to select

a pre-configuredmooring point or

invoke single targetmode.

AlarmsIndicates the source

and timing of anydetected problems

with the system.

Suspend –Maintainspower tothe sensorbut stopsallmechanicalmotion.

Shutdown –For ServiceTechniciansonly. Click toquit CyScanConsole. Adialog willbe displayedto offer anumber ofoptions priorto leavingtheapplication.

Reset – For ServiceTechnicians only. Used tointerrupt and stopcommunications betweenthe console and the GUIas well as to restart andestablish communicationsafter it has previouslyfailedor it had been manuallystopped.


GCSGCS

�� 5��?��

1 Select the Advanced tab.

2 Insert the relevant parameters in the Vessel Parameters and CyScan Position fields.

3 Click the Apply button.

Vessel and CyScanPosition Parameters


GCSGCS

��

1 Select the Comms tab.

2 The serial port Connection area shows the correct settings.

Serial portConnection area


GCSGCS

'��

1 On the System Status page, observe the Console Status line at the foot of thescreen.

2 The Comms link status can be checked and tested by toggling the Reset button inthe lower right corner of the screen.

Console Status line

Reset


GCSGCS

"��!��

1 In the System Status page, check in the Operations section that the Leveller andScanner are not disabled.

2 Select Scanner Enabled and select a Leveller mode other than ‘Disabled’.

3 Click Apply.

Operations section


GCSGCS

��"��!��

1 Select the Scanner tab.

2 Set the Scanner field to Enabled and click Apply.

Scanner field


GCSGCS

��

1 In the System Status page, check in the Components section that the supplyvoltages are within 10% of their nominal values.

Voltage readings withinthe Components section


GCSGCS

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'�)��

Two main types of reflectors are used with the CyScan system, flat and cylindrical. Theseare shown below:

;��)��

Flat reflectors are generally attachedusing steel clips to rigid structures suchas metal posts.

2m long flat reflectors can typicallybe seen up to 300m in goodconditions. A short 1mreflector will bevisible to200m.

��)��

Cylindrical reflectors can be hungover the side of the mooringpoint vessel.

The GCS cylindricalreflectors can be seenup to 200m in goodconditions. A shackleat either end can beused to secure them.


GCSGCS

B axisA axis

BACKING SIDE

REFLECTIVE SIDE

SURFACE NORMALON REFLECTIVE SIDE

ORIENTATION

'�)��<��

Key to the operation of the CyScan system are correct installation of reflectors and accurateinformation about their positions on the Mooring Point/Vessel. Please follow the guidelinesgiven below when installing target reflectors on the Mooring Point/Vessel.

Once the reflectors are installed, their relative positions should ideally be measured (bytheodolite using a fully qualified site surveyor) and declared to CyScan Console. Alterna-tively, in many circumstances reflectors can also be automatically surveyed by the system,however restrictions apply and navigation performance may be reduced. For details aboutthis process, please refer to the section Defining Reflector Positions, shown overleaf orUsing Mooring Point Data within CyScan Console respectively.

<��

• All targets must be placed in positions where the sensor can see them while thevessel is within the expected working area.

• Targets should not be placed too far along the Mooring Point/Vessel from theexpected working area.

• The sensor beam should not strike any flat target at an angle of less than 45degrees to the reflector surface as the resultingreflected beam will not be correctly received. Thelaser power returned from the target at the maxi-mum angle of 45 degrees can be reduced by 50%and thus limit the effective maximum range by upto 25%.

• Cylindrical targets can be viewed from any angleequally well. However, it is important to place themin such a way that they cannot be viewed from therear.

• Targets should be positioned with unequal spacing between them – this helps thesystem to distinguish between specific targets. For example, with a typical mooringdistance of 40-80m using three targets, suitable spacings between the reflectorswould be 10m and 20m – giving a total spread of 30m.

• Targets should be placed no closer than 5m together. Ideally they should be placed10m or more apart.

Reflector Orientation

The direction in which each reflector faces must bedeclared to the CyScan Console. All measurements aremade using the direction of the reflector face relativeto the direction of the A axis. Using a centrelinerunning through the reflector, perpendicular to thereflector face, the angle between this line and the Aaxis is measured and declared to the system.

45 o45 o


GCSGCS

��)��'�)��

To achieve the most accurate results, please follow the suggestions given below whendefining the coordinates of installed reflectors.

• Target positions are measured using two perpendicular axes, A and B. The Originof the two axes can be any fixed point on the Mooring Point/Vessel, with allmeasurements along both axes being taken from that point.

If the reflectors are mounted along the side of the Mooring Point/Vessel, then thelogical arrangement (and the most straightforward for measuring reflector posi-tions) is to make the A and B axes match those of the vessel (as shown below).This would involve the B axis passing across the vessel (starboard to port, or viceversa), while the A axis would run parallel to the side of the vessel (stern to bow,or vice versa).

B3

B_supply vessel

B

A

A3 A2

B2

R3

R2

R1

A_supply vessel

MOORING POINT/VESSEL

SUPPLYVESSEL

(ORIGIN)

θ_supply vessel

Defining Reflector PositionsThe Origin can be any fixed point on the vessel,however, in most cases it will be defined as thefirst reflector R1. The remaining reflectors aredefined relative to the origin using theperpendicular axes A and B running through it.

• If the Mooring Point/Vessel has no particular fixed reference point, then it isrecommended that the first reflector, R1 is designated as the Origin.

• The reflectors should be numbered starting from the one on the far right (asviewed from the expected working area) and continuing anticlockwise through theother reflectors.

• The direction in which each reflector faces must be declared to the CyScan Con-sole. All measurements are made using the direction of the reflector face relativeto the direction of the A axis. Using a centreline running through the reflector,perpendicular to the reflector face, the angle between this line and the A axis ismeasured and declared to the system.

Using the above diagram as an example, the perpendicular centrelines of all thereflectors are parallel to the B axis, but pointing in the opposite direction (i.e. theyare facing the sea) – therefore they all have a rotation (or Orientation) of 270degrees.

• The reflector definitions must be entered in the order R1, R2, R3, etc.

• When using auto-survey the first reflection detected in each rev will be used as thedatum or primary target defining the origin of the A/B coordinate frame.

Please refer to the following three pages for examples of typical reflector layouts.


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These three pages provide examples of typical reflector layouts.

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B1

2

3

A

Reflector Positions1 A=0, B=0, orientation= 2700

23

A=+52.52m, B=0, orientation= 270A=+64.89m, B=0, orientation= 270

0

0

CyScan's Position(NMEA-$RLS convention)A =B

+29.559m= -61.451m

Heading = 3450

Notes:1 The DP system will display the Origin of the A and B axes. This could be any

point on the tanker, the main mast, midway between perpendiculars or one ofthe reflectors. In this example it is number 1 reflector.

2 The reflector numbering should be chosen so that they form an anti-clockwisesequence when seen by CyScan.

This can be 1-2-3, or 2-3-1 or 3-1-2, etc.

3 In Auto Survey, target 1 would be the datum (primary target) and denotes theorigin of A/B frame.


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Notes:1 The DP system will display the Origin of the A and B axes. This could be any

point on the tanker, the main mast, midway between perpendiculars or one ofthe reflectors. In this example it is number 1 reflector.

2 The reflector numbering should be chosen so that they form an anti-clockwisesequence when seen by CyScan.

This can be 1-2-3, or 2-3-1 or 3-1-2, etc.

3 An auto-survey would have assigned reflector 2 as the origin resulting in the A/B frame pointing downwards and left respectively, i.e. target 2 would belabelled as 1, target 3 as 2 and target 1 as 3. In terms of navigation the result-ing ship’s position in this auto-surveyed frame would still be a positive A coordi-nate but a negative B coordinate.

B

B*

1

3

2(1*)

(2*)

(3*)

A

A*

Reflector Positions1 A=0, B=0, orientation=+900

23

A=+56.21m, B=0, orientation=+90A=+42.51m, B=0, orientation=+90

0

0

* When auto-surveyed (Items shown in grey)

123

Specifically, the auto-surveyed reflector positionswould be:

A=0, B=0, orientation=+270A=13.7m, B=0, orientation=+270A=56.21m, B=0, orientation=+270

0

0

0

Resulting in a CyScan navigation position of:(NMEA-$RLS convention)

+15.028m= -38.251m

Heading = 1950

A =B

CyScan's Position(NMEA-$RLS convention)A =B

+41.182m= +38.254m

Heading = +150


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B

123

4

240

5

A

Reflector Positions1 A=+11.21m, B=+28.56m, orientation=1560

2345

A=+5.12m, B=+16.00m, orientation=156A=0, B=0, orientation=201A=+36.94m, B=-17.75m, orientation=246A=+52.57m, B=-24.01m, orientation=246

0

0

0

0

CyScan's Position(NMEA-$RLS convention)AB

= -44.456m= -38.032m

Heading = 3020

Notes:1 The DP system will display the Origin of the A and B axes. This could be any point on the

tanker. In this example it is number 3 reflector at the south-west corner of the platform.

2 The reflector numbering should be chosen so that they form an anti-clockwise sequencewhen seen by CyScan.

3 If the reflector positions are in northings and eastings, CyScan gives the ship’s position innorthings and eastings and gives the heading relative to true north.

4 The DP system will display the corner of the platform since that is at the origin of A & B.

5 The ship can move round the corner of the platform without any interruptions in CyScan’sreception.

6 This location could not be auto-surveyed as not all targets can be in view at all times,because it contains more than 4 targets (the limit of the auto-survey) and the targets are notfacing the same orientation or are indeed aligned with each other.

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