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AHTS. ARK CHARLY.CONVERTEAM EQUIPMENT.

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AHTS. ASD. JASCON 21 DP2 BHP 5200.

KONGSB

ERG K-

POS

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NOTE : PLEASE READ NOTE BELOW

RECORDS COMPILED BELOW CAN HELP NEW FRIENDS WHO OPERATE

KONGSBERG K.POS. THESE RECORDS CAN HELP TO MORE EASLY HOW TO

OPERATE MENTIONED EQUIPMENT. IF FOUND UNSATISFACTORY BEG

FORGIVENESS.

Capt. Victor Tambelangi

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The K- Pos DP

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KONGSBERG K- POS DP.

Main DP Mode and Operating procedure.

1. Standby mode.• - Calibrate the joystick• - Select the required vessel rotation point.• - Enable all sensor• - Enable the required thruster, propeller and rudder.

2. Returning to standby mode / manual lever.• - Press the standby button in the mode twice.• - Disable all position reference systems • - Disable all thruster, propeller and rudders.

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Joystick Mode.1. Moving the joystick forward / back controls. ( surge )2. Moving the joystick left / right ( sway )3. Rotation the joystick command the vessel to rotate.

Standby to joystick.4. Ensure that the required gyrocompasses are enabled.5. Ensure that the required sensor are enabled.6. Check if the has a switched or button to select be turn

joystick and SDP thruster control.7. Ensure that the required thruster, propeller and rudder

enabled.8. Press the joystick button in the mode.9. Enable the required position reference also position and

heading information

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JOYSTICK SETUP BUTTON

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Mixed Joystick to Auto Mode.1. Select Jaw ( Heading control with joystick )2. Select surge – sway ( Auto position )3. Select jaw and surge ( Auto heading Automatic stabilisation)4. Select jaw and sway ( Auto heading and Auto stabilisation ) Common Procedure Available.1. Joystick setting and environmental compensation2. Thruster control mode3. ROT ( rate of Turn ) Joystick mode with Automatic heading control. Selecting automatic heading control1. Check that non of the status lamps for the surge, sway or jaw

buttons in the modes button group are lit.2. Ensure that the required gyrocompasses are enabled3. Press jaw button twice within four second.

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Common Procedures available as for joystick mode plus,1. Controller mode and gain level selection2. Changing the heading set point 3. Heading limit4. Set ROT ( Rate Of Turn ) Returning to joystick heading control. Press the jaw button in the mode button group twice.

Displaying the vessel in the view centre.1. Click “ Centre Here “ on the Posplot “ Pop-Up” menu2. On the posplot “ Pop-Up” menu click “ View Control “ and

select – true, vessel on relative and vessel in the posplot dialog box mode.

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Selecting automatic stabilization.1. Ensure that the required gyrocompasses on enabled2. Ensure that at least one position reference system in

active and enabled3. Press jaw, the current vessel heading becomes the

heading set point and the system automatically keeps the vessel on this heading

4. Press surge or sway twice.

Common Procedure Available.5. Controller mode and gain level selection6. Changing the heading set point7. Position limit8. Heading limit9. Setting the vessel speed10. Setting ROT ( Rate Of Turn )

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From Joystick mode to Auto position mode.1. Ensure that the required gyrocompasses are enabled2. Ensure that at least one position reference system is active and enabled3. Ensure that either high precision or relaxed is set on the selected controller

mode in gain dialog box.4. Press jaw twice ( allow the vessel to stabilize on it’s present heading )5. Hold the vessel as stationary as possible using joystick6. Press the Auto Position button in the modes button group twice ( the status

lamps for the auto position, surge, sway and jaw buttons are lit )

Warning : if green controller mode is desired, continue as follows ;7. allow the vessel to stabilize in auto position mode for about 15 minutes

to attain optimal performance in the green controller mode.8. Select green controller mode with the required are set in the gain dialog

box.9. The defined area as displayed in the posplot view the inner and outer area

are indicated with dashed circle, with green shading on the inner area.

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4. The background of auto position in the status bar is shaded green.5. The gain symbol in the status bar is changed to a green shaded box

indicating that green controller mode is active.

Warning ; No changing in position or heading should be attempted during the first

five minutes after the auto position mode in order to allow the vessel model to stabilize. For more critical DP operations or during more

difficult weather / current conditions, this limit should be prolonged to minimum 15 minutes.

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Common Procedure Available.1. Controller mode and gain level selection2. Thruster control mode3. Changing the position set point4. Changing heading set point5. Position limit6. Heading limit7. Setting the ROT ( rate Of Turn )8. Rotation point for automatic control9. Quick model up date10. DP consequence analysis.

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THRUSTER MAIN VIEW

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Resetting after an automatic switch over .1. Select system - Redundant stations.

2. User error objects in the Redundant stations dialog box to find out which errors are present

3. Have error rectified 4. In the redundant stations dialog box, right click in the error

objects are.

Error objects :In Error Locked Overrule

dDescription

A 1-RSER200-4A 2-RSER200-4B 3-RSER200-4

4-RSER200-4

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The following shortcut menu is displayed :

5. Select Unlock All the locked error objects are reset to the normal state.

Permanent onPermanent off

Unlock all

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Sensor Dialog Box. Select sensor gyro, Press gyro button.

OK : the OK status for each gyro compass is shown in the matching OK check box.

Enable : each gyrocompass has an associated Enable check box. Preference : these option buttons allow you to specify which

gyrocompass is preferred for use by the system. In Use : the gyrocompass that is currently used by the system to

calculate the vessel’s heading is indicated in the In Use check box.

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Gyro heading : The measured heading from the gyrocompass.

Added correction : this text box allows you to specify a gyrocompass correction .

Used heading : The measured heading from the gyrocompass with added correction.

Gyro status lamp.The gyro button has a status lamp which show the status of

the gyrocompass.1. On : at least one gyrocompass is enabled and accepted by

the system.2. Flashing : the measurements from one of the enabled

gyrocompass are not accepted by the system.3. Off : No gyrocompass are enabled.

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CHANGING THE POSITION SET POINT. This chapter contains the following section:1. Stopping a change of position2. Marking a new position set point on the posplot view3. Position R/ B dialog ( Range and Bearing )4. Position Inc dialog box ( incremental )5. Position dialog box6. Speed set point dialog box7. Acceleration / retardation setting dialog box.

A. Stopping a change of position. To set the vessel’s present position as the position set

point, press the Present Position button twice, this will interrupted a requested change of position.

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POSITION SET POINT ON THE POSPLOT VIEW

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B. Making a new position set point on the posplot view.1. Click on the position set point symbol in the posplot

view, the position dialog box is displayed2. Move the set point symbol with the track ball . The set point symbol move on the display and the

position coordinates are up dated dynamically on the position dialog box

3. Click again to fix the set point symbol at the required position.

A temporary position set point is displayed at the new position and the coordinate , distance and both true and relative direction from the present position set point are displayed on the dialog box

4. Either click the OK..Position R/ B dialog ( range and bearing )The position R/ B dialog box is use full in operations that

required frequent changes of position set point.

Position R/ BRange True bearing-------- m ------------ º OK Cancel Apply

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POSITION DIALOG BOX

Inc (Incremental) : Port / Stbd/ Ahead/ Astern R/B : Range / BearingAbs : Absolute coordinates

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Thruster : 1- 2- 3- 4

Sensor : Gyro- Wind - VRS

Joystick- Manual - DP

GPS1- GPS2- Radius

Main Modes

Command responsibility

3-axis joystick

View selection

System functions

Trackball

OPERATOR - PANEL

Heading wheel

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TRACKBALL

Right

LeftMiddle

The trackball is used to position the cursor on the screen. Left button is used to click on screen buttons, choose from menus and select displayed symbols.The right button is used to display a shortcut menu.The middle button is not used.

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HEADING WHEEL

The heading wheel comprises one heading wheel and seven buttons. Three of these are located in front. The other four forms a circle close to the heading wheel.

ROT

Heading wheel

Heading buttons

Set or activate buttons

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DISPLAY LAYOUT

The display is divided into a number of predefined areas as shown in the following figure. In addition

to these, dialog boxes are displayed whenever operator interaction is required.

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THRUSTER MENU.1. Enable 2. Automatic start3. Allocation mode4. Allocation setting5. Biasing 6. Run in

7. Enable / Disable ALL Selecting or clearing this check box allows you to enable

or disable all thruster and rudders for K- Pos DP.2. Allocation mode. Thruster allocation can be performed in many different ways. That are available for the vessel are listed on the thruster allocation dialog box.

Thruster enable √ Enable / disable ALL

Running

Rdy

Enable

√ √ √ Tunnel 1

√ √ √ Tunnel 2

√ √ √ Tunnel 3

√ √ √ Tunnel 4

OK Cancel

Apply

Thruster allocationMode Control

◙ Variable Increased power

Fix Position priority

Environ FixDiving

OK Cancel Apply

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CALIBRATE THE DP JOYSTICK

Ensure that the system in STANDBY mode Select “ Calibrate “ on the joystick menu ( See displayed )1. Set joystick in “ ZERO “ position and press button2. Move the joystick to it’s “ Min / Max “ position in the 3

axis a couple of time. This will register joystick swing.3. If needed, modify the “ dead band “ value ( Press Dead

band )4. Then press OK button to save calibrate value

5. Dead band axis % of max swing 0 = 5 1 = 5 2 = 5

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Click joystick dialog box ◙ Trust Precision Envir. Comp √ Reduced ◙ High speed √ Surge √ General √ Sway ◙ Low speed √ jaw OK Cancel Apply Alarm Limits. Position / VRS Active warning Active

Alarm Position √ 1.8 m √ 3.0

m Heading √ 1.0 deg √ 3.0

deg Cross √ 1.8 m √ 3.0

m OK Cancel Apply

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VRS.

Position VRS Active Alarm Pitch √ 3.00 deg Roll √ 3.00 deg Heave √ 0.00

OK Cancel Apply

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CALIBRATE BACKUP JOYSTICK

Calibrate of the backup joystick ensure that a certain deflection of the joystick corresponds to a specific thruster force depending upon the selected thrust (Full or reduced).

it is necessary to calibrate the joystick as follows;1. Press each of the following four buttons once, in the

sequence listed: fore pivot – Present heading – joystick and aft pivot.

The joystick calibration function is enabled The operation indicator starts flashing green /red Showing on the display;

X Y Z

1. Centre joystick2. Press < Set >3. ESC

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2 Set joystick to the centre position and then Press the set button. Showing on the display.

3 Move the joystick to it’s limit in the forward and back wards direction (X), then in the left and right direction (Y) and then rotate in the clockwise and counter clockwise direction (Z)

X Y Z

1. Pos joystick to all extremities XYZ

2. Press < Set >

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o The movement of the joystick in each direction is indicated by three vertical bar graphs ( X – Y – Z ) showing in the display.

4 Press the Set buttons. The joystick is calibrated The joystick calibration function and calibration

terminated The operation indicator change to steadily lit green.

ZYX

1. Pos joystick to all extremities XYZ

2. Press Set

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Calibrate backup joystick showing on the screen.

To calibrate the joystick , proceed as follow ;1. Press , within 10 second, the Fore pivot, present heading,

joystick and aft pivot buttons in the same sequence as listed.

The joystick calibration function is enabled The operation indicator starts flashing green / red The joystick calibration view is displayed in the view area

of the display. JOYSTICK CALIBRATIONSet joystick in ZERO position ( all 3

axis )And press ENTER.

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2 Set the joystick to the centre position and then Press the ENTER button.

the following indicators are displayed on the joystick calibration view:

A red joystick reference line at the top of the vertical ( X ) axes

A red joystick movement, reference cross in the centre of the vertical and horizontal ( X / Y ) axes

Black maximum movement lines at the ends of the vertical and horizontal ( X / Y ) axes.

3 Move the joystick to the maximum in the forward and back wards direction (X), then in the left and right direction (Y) and then in the clockwise and counter-clockwise rotate direction (Z)

The movement of the joystick in the X and Y direction is indicated by horizontal and vertical lines in each quadrant of the joystick calibration view

The rotation of the joystick in the Z direction is indicated by a semicircle in the upper two quadrant of the joystick calibration view.

The current position of the joystick ( with respect to the centre position) is indicated by the black cross

The current direction and amount by which the joystick has been rotated (with respect to the centre position) is indicated by a black line within the semicircle.

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4 Press the ENTER button. The joystick is calibrated The joystick calibration function is disabled and calibration

terminated The joystick calibration view is replaced by the original

display view The operation indicator changes to steadily lit green5 Check the joystick is functioning correctly by comparing : The rotation of the joystick with the movement of the

joystick rotation indicator ( upward pointing arrow on the upper two – directional bar)

The tilt of the joystick with the movement of the joystick tilt indicator (filled purple circle with a white outline and purple dashed coordinate lines)

JOYSTICK CALIBRATIONMove joystick to MAX / MIN position (all 3 axis)

And press ENTER

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AUTO TRACK MODE.

In the Auto track mode, the vessel accurately follows a predefined track, described by a set of waypoint.Auto track mode , covers Low speed, High speed and Move-Up operations using different strategies for speed and heading control..

1 2

4

Auto track operation ( Posplot View

1- 2- 3 and 4 is number of waypoint

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Auto track with Low Speed mode, all the available thrusters are used to provide full position and heading control.

Auto track with High Speed mode, the rudders or azimuth thrusters are used to control the vessel heading to minimize the cross track error while maintaining the required speed.

Auto track with Moving-Up mode, you can move the vessel a specified distance a long the track.

Low speed, High speed and Move-Up mode are selected from the auto track setting dialog box.

Auto track set-up buttons in the control buttons group as follows;

Setting General Setting Stop Setting Heading Setting Speed Setting Turn Setting Receive.

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These general feature description are followed by ; Procedures describing the necessary preparations for auto

track mode Procedures for running in low speed Procedures for running in high speed Procedures for running in move-up.

Waypoint NoPosition

Leg length(m)Leg l course(deg)Turn Radius(m)

OKApplyUndo

Editing Modeo Moveo Insert newo delete

AUTO TRACK MENU.On the auto track menu, select New, the waypoint dialog box is displayed.Number : number of the waypointsPosition : the position of the waypointLeg length : the length of the leg from the current waypoint to the nextLeg course : the course of the legTurn radius : the turn radius of the vessel should use when passing the waypoint.

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Undo : deletes changes since you last clickedCancel : Discards all changes.

Graphical Track Editing.New track To define a track.

1. On the auto track menu, select New. The waypoint dialog box is displayed, and the cursor changes from an arrow to a pointing hand.

2. Define the first waypoint by moving the cursor on the leg is displayed on the posplot view . See picture.

3. When entering the last waypoint, double click to end the definition of new waypoint.

4. Select apply or OK.

Defining a waypoint using graphical track editing.

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MODIFY A TRACK. Moving a waypoint.1. On the auto track menu, select Modify, the waypoint dialog

box is displayed.2. Select Move3. Drag the required waypoint to the correct position using

the cursor, click once to confirm4. Click OK or apply.

ADJUSTING THE TURN RADIUS.5. On the auto track menu, select modify.6. Select Move7. Click the require waypoint arc. A rubber band model,

increase the turn radius. Turn Radius.

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INSERTING A NEW WAYPOINT. At the beginning of a track Between two waypoints At the end of track.

To insert a new waypoint.1. On the auto track menu, select modify, 2. Select Insert new3. Click the leg on which you wish to insert4. Drag the new waypoint to new position and click again to

confirm5. If you want to insert a waypoint at the “ Beginning “ on the

track, click the first waypoint. Click and move the cursor as described above.

6. If you want to insert a waypoint at “ The end of the track “, click the last waypoint . Click and move the cursor as described above.

7. Click OK or apply

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DELETING WAYPOINT.1. On the auto track menu, select modify.2. Select delete3. Click the waypoint that you want to delete4. Click OKWAYPOINT TABLE.To display waypoint table, select “ Editor “ on auto track

menu.You can either load waypoint from an external system.

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AUTO TRACK SETTING.I GENERAL Tracking move : low speed Leg offset : 0,0 m Track direction : forward / stop /reverse Approach track : track leg Leg type : rhumb line Apply / OK

II STOP Stop on track : stay Reverse action : go astern Force : 50% Position dropout action : stop Apply / OK

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III HEADING. Heading set point : system selected / operator Limit : only on high speed Offset : 0,0 deg

IV SPEED Along speed set point : Operator - 0,5 m/sec Across speed set point : 0,3 m / sec Waypoint speed strategy : slow down at waypoint ( 5m ) Apply / OK

V TURN Turn radius for waypoint turn - automatic WOP warning - active ( WOP = Wheel Over Point )

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TRACK OFFSET.Click offset on the Auto Track menu.Using this dialog box ; You can select from the strategy “ Parallel- Geography-

Present leg- No offset. Specify the Distance for the track. Specify the Direction for the track offset When running in Auto Track mode, track offset can only

be performed if you have selected “ ALWAYS ALLOWED “

Auto track Offset◙ Parallel ◙ Present leg◙ Geography ◙ No offsetDistance --------- Direction --------- OK Cancel Apply

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SELECTED TRACK UPDATE STRATEGYClick “ Update Strategy “ on the dialog box.

Always allowed : All waypoints on a track Not on present leg : using track definition functionalities all

waypoints on the track can be updated. Except for the two waypoints describing the present leg.

Not in the Auto track mode : no waypoints can updated. Note : When the turn radius is displayed, present leg starts

at the waypoint turn’s starting point as illustrated in.

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AUTO TRACK SETTING.1. General2. Stop3. Heading4. Speed5. Turn6. Receive

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AUTO TRACK SETTING GENERAL.1. Specify how the vessel should approach the track when

starting a track2. Specify the start waypoint for the track operation3. Select the tracking mode ( Move-Up – Low speed or High

speed)4. Specify the direction in which the track is to be followed,

either forward or reverse5. Specify the default leg type : either Rhumbline, Great

Circle or UTM straight line.

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AUTO TRACK SETTING STOP1. Specify the action to take when stopping on the track.:

either to Slow down, Stop and Stay : or to Slow down, Stop and Go back also specify the force that is to be used for stopping the vessel on the track

2. Specify the action to take when reversing course: whether or not to turn: and if so, to port or starboard.

3. Specify whether to stop at the waypoint or continue to a locally generated waypoint.

4. Specify the action to take in event of position dropout.

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STOP ON TRACKDefines the strategy for stopping on the track either as a result of pressing the STOPPING ON TRACK buttons twice or when changing the Track Direction

STAY : The vessel slows down, stops and stay at this position.Go Back : The vessel slow down, stops and goes back to the position it had when the stop action was initiated.FORCE : The percentage of the maximum available force to be used for stopping on the track.

POSITION DROPOUT ACTION.You can select the action to be taken in the event of the system losing acceptable position reference information in the Auto track mode.STOP : The vessel stops.DEAD RECKONING : The system continues calculating the position based on the last measurements and calculations, and the vessel continues traversing the track using dead Reckoning.

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AUTO TRACK SETTING – HEADING. In slow speed and move-up mode, specify how the vessel

heading is to be control.1) By specifying a fixed heading which will be used

irrespective of the track course and the environmental conditions

2) Using the heading defined in the waypoint table for each track leg

3) Using the heading which required the minimum power to maintain, calculated according to the environmental force and vessel speed

4) By setting the heading to be always towards the next waypoint

In low speed and move up mode, you can also deselected the JAW axis ( so that the vessel heading is no longer controlled automatically), and use the joystick to control the vessel heading.

In high speed mode , the vessel heading is continuously updated to return the vessel to the track if it should drift of track. If required, you can specify limits for turning the rudders or azimuth thruster when running in high speed mode.

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AUTO TRACK SETTING – SPEED.Clicking the setting on the Auto Track menu, or press the

track setup button in the controls button group.Using this dialog box, you can ; Specify how the vessel’s speed along the track is to be set.1) Using the speed defined in the waypoint table for each

track leg2) By manually specifying a speed which will be used for all

track leg. Specify the across speed set point that is used to

determine the component of the vessel speed that is perpendicular to the track direction.

In the move-up and low speed modes, specify the speed strategy to be used for passing waypoints:

1) Slowing down at each waypoint before continuing to the next

2) Passing the waypoint at constant speed, following an arc of a circle between the two track legs.

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PREPARATION FOR AUTO TRACK MODE.

1. Ensure that the required Gyrocompasses are enabled. high speed mode at least two gyrocompasses must be enabled.

2. Ensure that the required wind sensor and VRS are enabled.

3. Ensure that the required position reference system are enabled

4. Ensure that the required thruster, propellers and rudders are enabled

5. Ensure that the waypoint table is correct.6. Use the Auto track settings dialog box.7. If required, you can set warning and alarm limits for cross

track deviation8. For move-up mode, use joystick or auto position mode to

position the vessel accurately on the track

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RECOMMENDED START POSITION (LOW SPEED AND HIGH SPPED)

If you choose approach Track – track leg (rather than approach track-waypoint), you must ensure that your vessel is “ Past “ the previous waypoint before you enter Auto Track mode. See picture below.

WP7 is chosen as the start waypoint and track leg is chosen as the approach strategy. In this situation you might expect the vessel to approach the track leg between WP6 and WP7. However , the vessel start position is not “Past” WPT6. In this situation, the start waypoint is changed automatically to WP6 and the vessel will approach the track leg WP5 – WP6.

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RUNNING IN AUTO TRACK (LOW SPEED) MODE.

1. Ensure that the procedures described in preparation for auto track mode have been carried out.

2. Press the Auto Track button in the modes button group twice.

The Auto track lamp becomes lit The position set point to the selected start waypoint The heading set point is set to the present heading. The vessel begins to approach the track maintaining the

present heading3 If a heading other than the present heading is required,

use the Auto track setting – heading dialog box to select the required heading

4 The vessel follows the track defined in the waypoint table5 The vessel stop at the last waypoint or continues to locally

generated waypoint away from the last waypoint.6 The system remains in Auto track mode until changed to

another mode.

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JOYSTICK HEADING CONTROL.In the low speed mode, you can deselect the Jaw axis for

automatic control and use the joystick to control the vessel heading.

1. Press the JAW button in the modes button group twice within four seconds, and the jaw status lamp becomes unlit.

2. Control the vessel’s heading manually using the joystick.3. To return to automatic heading control, press JAW button

twice within four seconds again, the Jaw lamp is lit and the heading set point is set to the present heading.

STOPPING ON THE TRACK.4. Press the STOP on the track button in the control button

group twice , stop on track lamp becomes lit.5. The vessel will slow down and stop, and then either stay at

this position.

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CHANGING TRACK DIRECTION (LOW SPEED MODE).To change the direction in which the track is being followed in

Auto Track (Low Speed) mode, change the Track Direction setting (Forward or Reverse) on the Auto Track Setting – General dialog box and click OK or Apply.

1. The status lamp of the Stop on Track button in the Controls button group becomes lit

2. The vessel will slow down and stop, and then either stay at this position or go back to the position it had when the change of direction was requested (depending on the selected STOP ON TRACK STRATEGY)

Note : The vessel will not turn 180º when changing track direction in Auto Track (low speed) mode. If moving forward before changing track direction, the vessel will go astern afterwards. If moving backwards before changing track direction, the vessel will go forward afterwards.

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RUNNING IN AUTO TRACK (HIGH SPEED) MODE.1. Ensure that the procedures described in preparation for

Auto Track mode. (at least two gyro compasses must be carried out)

2. Use the steering dialog box to set the required steering parameters :

Rudder/azimuth limit and steering mode Steering gain3 Press the Auto track button in the modes button group

twice within four second The auto track lamp becomes lit The position set point is set to the selected start waypoint The heading is controlled to minimize the cross track error

while maintaining the wanted speed The vessel begins to approach the track4 The vessel follows the track defined in the waypoint table5 When the vessel reaches the last waypoint, it continues at

the same speed on the extension of the final track leg6 The system remains in auto track mode until you change

to another mode.

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JOYSTICK SPEED CONTROL. Press the Surge button in the modes button group twice

(surge lamp become unlit) Control the vessel’s speed manually using the joystick To return to automatic speed control, press the surge

button twice (the surge status lamp is lit)

STOPPING ON THE TRACK. Press the stop on track button in the controls button group

twice (the stop on track lamp be comes lit The vessel will slow down and stop, and then either stay at

this position or go back to the position it had when the stop on track button was pressed twice.

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CALIBRATE DP JOYSTICK.1. Ensure that in the standby mode2. Click joystick calibrate dialog box Set joystick in zero position and then click “ IN ZERO

POSITION” (on the screen displayed) Red mark appears on the zero position in the figure

3. Move joystick for max/ min in the three axis to register joystick swing, black line will appear in the figure indicating joystick swing in all three axis.

4. You may change the joystick “ Dead band”, click dead band dialog box.

5. Press Enter or OK

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