Document No.

24005003TM-054
ASK/TCS O & M Manual
Rev. A – Change 1
November 2001

Operations and Maintenance

Manual

EREGRINE
(DEEPWATER EXPEDITION)

NAUTRONIX INC
OFFSHORE TECHNOLOGY GROUP www.nautronix.com
COPYRIGHT AND CHANGES
ASK5003 and TCS5000 are trademarks of Nautronix, Inc. and are protected under United
States Copyright Law and International Treaty provisions. All other product names and
designations, if trademarked, are the property of their respective owners.
The software and hardware described in this document are furnished under a license
agreement and may only be used in accordance with the terms of the agreement. The
software and manuals may not be copied or distributed in any form or medium, disclosed to
third parties, or used in any manner except as specified in the agreement.
Any electronic files accompanying this document may not be copied or distributed in any
form or medium, disclosed to third parties, or used in any manner except as specified in the
agreement. The intent of Nautronix, Inc. in providing the manual and accompanying artwork
and/or drawings files to the purchaser is strictly for in-house use by the purchaser. It is the
purchaser’s responsibility to monitor the in-house distribution of all manuals and electronic
files and keep a hard copy record of distribution for accountability purposes to Nautronix,
Inc. for recall at any time Nautronix, Inc. deems necessary.

Change
Revision Title and/or Brief Description Effective Date
Number

A Initial Release 04/12/2000

1 Incorporates New Sensor Page 1 Screen and

11/07/2001
Write-up featuring Satellites Information.

Document No. 24005003TM-054

Printed in the United States of America.
Nautronix, Inc.
12131 Community Road
Poway, CA 92064
Telephone: (858) 679-5500
Fax: (858) 679-5501
© 1999, 2000, 2001 Nautronix, Inc. All Rights Reserved.

ASK5003/TCS5001 Operations and Maintenance Manual – Change 1 i

COPYRIGHT AND CHANGES

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ii ASK5003/TCS5001 Operations and Maintenance Manual – Change 1

TABLE OF CONTENTS
1. INTRODUCTION........................................................................................................ 1-1
1.1 BASIC OVERVIEW OF THE ASK5003........................................................................... 1-1
1.2 OVERVIEW OF DYNAMIC POSITIONING OPERATIONS .................................................. 1-2
1.3 MANUAL CONVENTIONS ............................................................................................. 1-4
1.4 USEFUL TERMS ........................................................................................................... 1-5
1.5 SHIP AXES SIGNING CONVENTIONS ............................................................................ 1-7
1.6 EARTH AXES SIGNING CONVENTIONS ......................................................................... 1-7
1.7 PITCH, ROLL, AND HEAVE SIGNING CONVENTIONS .................................................... 1-8
1.8 CLOCKWISE/COUNTERCLOCKWISE SIGNING CONVENTIONS ....................................... 1-8
1.9 GLOSSARY .................................................................................................................. 1-9
2. HARDWARE OVERVIEW........................................................................................ 2-1
2.1 EQUIPMENT LIST ......................................................................................................... 2-1
3. THEORY OF OPERATION ...................................................................................... 3-1
3.1 ASK/TCS CONTROL LOOP ......................................................................................... 3-2
3.1.1 Comparator ........................................................................................................ 3-4
3.1.2 Controller ........................................................................................................... 3-5
3.1.3 Actuator.............................................................................................................. 3-5
3.2 PRIMARY CONTROL MODES ........................................................................................ 3-6
3.2.1 Hold Heading ..................................................................................................... 3-6
3.2.2 Hold Position ..................................................................................................... 3-6
3.2.3 Hold Flexjoint .................................................................................................... 3-6
3.2.4 Manual Control .................................................................................................. 3-6
3.2.5 Active Wind Compensation (AWC).................................................................. 3-7
3.2.6 Power Limit Sustain........................................................................................... 3-7
3.3 POSITION REFERENCE SENSOR SERIAL INTERFACE HANDLING ................................... 3-7
3.4 MANUAL CONTROL PROCESSING ................................................................................ 3-7
3.5 POSITION SENSOR BLENDING ...................................................................................... 3-8
3.6 LOW-PASS WAVE FILTER ........................................................................................... 3-8
3.7 NOTCH FILTER ............................................................................................................ 3-8
3.8 KALMAN FILTER ......................................................................................................... 3-9
3.8.1 Measurement Update ......................................................................................... 3-9
3.8.2 Model Propagation............................................................................................. 3-9
3.9 SETPOINT SELECT ..................................................................................................... 3-10
3.10 DEAD RECKONING ................................................................................................ 3-10
4. SYSTEM START AND SHUT DOWN ..................................................................... 4-1
4.1 SYSTEM START ........................................................................................................... 4-1
4.2 SHUTTING DOWN SOFTWARE ...................................................................................... 4-2
4.3 HARDWARE SHUT DOWN ............................................................................................ 4-3
5. MASTER/BACKUP CONSOLES.............................................................................. 5-1
5.1 ASK5003 CONFIGURATION ........................................................................................ 5-1
5.2 MASTER/BACKUPS ...................................................................................................... 5-1

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5.3 TRANSFERRING CONTROL BETWEEN CONSOLES ......................................................... 5-2

5.4 ASK CONSOLE SYNCHRONIZATION ............................................................................ 5-2
5.4.1 Initializing Backup Consoles ............................................................................. 5-3
6. USER INTERFACE .................................................................................................... 6-1
6.1 CONTROL PANEL......................................................................................................... 6-1
6.1.1 Main Control Panel ............................................................................................ 6-3
6.1.2 Right Control Panel............................................................................................ 6-7
6.1.3 Left Section of Control Panel ............................................................................ 6-8
6.2 GRAPHICAL USER INTERFACE ..................................................................................... 6-9
6.2.1 Selecting: Left-clicking..................................................................................... 6-9
6.2.2 Interfacing with Display Screens ..................................................................... 6-10
6.2.3 Fields Available for Change ............................................................................ 6-11
6.3 SOUNDS .................................................................................................................... 6-12
7. DISPLAY SCREENS - LAYOUT AND PRINTING ............................................... 7-1
7.1 HEADER LINE.............................................................................................................. 7-3
7.2 TOOLBAR .................................................................................................................... 7-5
7.2.1 Detail Window ................................................................................................... 7-6
7.2.2 Selecting the Page to be shown in the Detail Window ...................................... 7-7
7.2.3 Choosing Displays on ASK Backup Console.................................................... 7-7
7.3 OVERVIEW PAGE......................................................................................................... 7-9
7.3.1 Compass........................................................................................................... 7-10
7.3.2 Deviation Display ............................................................................................ 7-12
7.3.3 Vessel Position (Tabular)................................................................................. 7-14
7.3.4 Propulsion Summary........................................................................................ 7-15
7.3.5 Thruster Status Window .................................................................................. 7-16
7.4 STATUS/PROMPT LINE .............................................................................................. 7-20
7.4.1 Error Messages................................................................................................. 7-20
7.4.2 Operator Prompts ............................................................................................. 7-20
7.4.3 Status Messages ............................................................................................... 7-20
7.4.4 Help Messages ................................................................................................. 7-20
7.5 ALARM SUMMARY LINES .......................................................................................... 7-21
7.6 PRINTING THE ASK DISPLAY.................................................................................... 7-22
7.6.1 Printing the TCS Display ................................................................................. 7-22
8. ALARMS AND TROUBLESHOOTING .................................................................. 8-1
8.1 ALARM CONDITIONS ................................................................................................... 8-1
8.2 ALARM NOTIFICATION ................................................................................................ 8-1
8.3 ALARM PAGE .............................................................................................................. 8-2
8.3.1 Inhibiting the Alarm Page from Automatically Appearing ............................... 8-3
8.4 COLOR CODING OF ALARMS ....................................................................................... 8-4
8.4.1 Flashing Red – Unacknowledged Alarms.......................................................... 8-4
8.4.2 Solid Red – Acknowledged Alarms................................................................... 8-4
8.4.3 Flashing Yellow - Expired Alarms .................................................................... 8-5
8.4.4 Green – Consequence Analysis Alarms............................................................. 8-5
8.5 SORTING ALARMS ....................................................................................................... 8-5

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8.6 ACKNOWLEDGING ALARMS ........................................................................................ 8-6

8.7 DISABLING ALARMS ................................................................................................... 8-8
8.7.1 Disabling an Alarm listed on the Alarm Page ................................................... 8-9
8.7.2 Disabling Any Alarm....................................................................................... 8-10
8.8 MANUAL YELLOW/MANUAL RED ALARMS .............................................................. 8-11
8.9 SPECIFIC ALARM MESSAGES ..................................................................................... 8-12
9. MAINTENANCE......................................................................................................... 9-1
9.1 GENERAL TOOLS AND TEST EQUIPMENT..................................................................... 9-1
9.2 ELECTROSTATIC DISCHARGE PRECAUTIONS ............................................................... 9-1
9.2.1 ESD-Sensitive Devices ...................................................................................... 9-2
9.2.2 Protective Procedures......................................................................................... 9-2
9.3 MONTHLY MECHANICAL INSPECTION ......................................................................... 9-3
9.4 MONTHLY OPERATOR CONSOLE AIR FILTER SERVICE................................................ 9-3
9.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE ........................................ 9-4
9.6 POWER SUPPLY VOLTAGE CHECK............................................................................... 9-5
9.6.1 Operator Console Test Point Values/Adjustments ............................................ 9-6
9.6.2 Keyboard Test Point Values/Adjustments ......................................................... 9-6
9.6.3 Signal Processor Unit Test Points/Values/Adjustments .................................... 9-7
9.7 SCHEDULED MAINTENANCE (2 YEARS) .................................................................... 9-10
9.7.1 Replace PLC Lithium Battery.......................................................................... 9-10
9.8 SIGNAL MAINTENANCE AND TROUBLESHOOTING ..................................................... 9-11
9.8.1 RS232............................................................................................................... 9-11
9.8.2 RS422/RS485................................................................................................... 9-12
9.8.3 Programmable Logic Controller (PLC) ........................................................... 9-12
9.8.4 System Reset and Corrective Action ............................................................... 9-12
9.8.5 Flex I/O Modules ............................................................................................. 9-13
9.8.6 Switch Interface Controller.............................................................................. 9-14
9.8.7 Circuit Card Jumper Configurations................................................................ 9-14
9.8.8 Joystick and Heading Control Knob Zero Point Calibration ........................... 9-14
9.9 MODULE AND COMPONENT REPLACEMENT .............................................................. 9-14
9.9.1 ASK Console Modules and Components ........................................................ 9-15
9.9.2 SPU Modules and Components ....................................................................... 9-18
9.9.3 Sensors ............................................................................................................. 9-22
9.10 RECOMMENDED SPARE PARTS .............................................................................. 9-23
9.10.1 Power Distribution ........................................................................................... 9-23
9.10.2 Console/Keyboard............................................................................................ 9-24
9.10.3 Computer and CPU Interface........................................................................... 9-24
9.10.4 Cabling............................................................................................................. 9-25
9.10.5 Data I/O Hardware........................................................................................... 9-25
9.11 SERVICE LOCATIONS ............................................................................................. 9-26
9.12 ORDERING NEW PARTS ......................................................................................... 9-27
9.13 RETURNING ITEMS ................................................................................................ 9-27
9.14 FIELD SERVICE ORDER INFORMATION .................................................................. 9-27
10. SETUP PAGES .......................................................................................................... 10-1
10.1 ASK SETUP PAGE 1 .............................................................................................. 10-1

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10.1.1 Vessel Draft ..................................................................................................... 10-2

10.1.2 Water Depth ..................................................................................................... 10-2
10.1.3 Yellow and Red Alert Flexjoint Angles........................................................... 10-2
10.1.4 Yellow and Red Alert Radii............................................................................. 10-2
10.1.5 System Time/Date............................................................................................ 10-2
10.1.6 Autoheading Error Threshold .......................................................................... 10-2
10.1.7 Position Error Threshold.................................................................................. 10-2
10.1.8 Median Alarm Threshold................................................................................. 10-3
10.1.9 Deviation Display Frame ................................................................................. 10-3
10.1.10 Deviation Display Center............................................................................. 10-3
10.1.11 Minimum Deviation Scale ........................................................................... 10-4
10.1.12 Consequence Analysis ................................................................................. 10-4
10.1.13 Display Units ............................................................................................... 10-4
10.1.14 DGPS Ref Latitude/Longitude..................................................................... 10-5
10.2 ASK SETUP PAGE 2 .............................................................................................. 10-6
10.2.1 Thruster Bias.................................................................................................... 10-6
10.2.2 Thruster Bias Level.......................................................................................... 10-6
10.2.3 Riser Beacon .................................................................................................... 10-7
10.2.4 Thrust Compare ............................................................................................... 10-7
10.2.5 Azimuth Compare............................................................................................ 10-7
10.2.6 Thrust Level ..................................................................................................... 10-7
10.2.7 Wind Direction Compare................................................................................. 10-7
10.2.8 Wind Speed Compare ...................................................................................... 10-7
10.2.9 Lower Limit Margin ........................................................................................ 10-7
10.2.10 Reserved kW................................................................................................ 10-7
10.2.11 Generator Alarm Level ................................................................................ 10-8
10.2.12 Controller Gains Section.............................................................................. 10-8
10.3 TCS SETUP PAGE.................................................................................................. 10-9
10.3.1 Thruster Bias and Thruster Bias Level ............................................................ 10-9
10.3.2 Vessel Draft ..................................................................................................... 10-9
10.3.3 Yaw Gain ....................................................................................................... 10-10
10.3.4 Display Units ................................................................................................. 10-10
10.3.5 Rudder............................................................................................................ 10-10
10.3.6 Counter Rudder.............................................................................................. 10-10
10.3.7 Deadband ....................................................................................................... 10-10
10.3.8 Maximum Azimuth Rudder Angle ................................................................ 10-10
10.3.9 Thrust Compare ............................................................................................. 10-10
10.3.10 Azimuth Compare...................................................................................... 10-11
10.3.11 Thrust Level ............................................................................................... 10-11
10.3.12 Wind Direction Compare........................................................................... 10-11
10.3.13 Wind Speed Compare ................................................................................ 10-11
10.3.14 Heading Error............................................................................................. 10-11
10.3.15 Autopilot Heading Error ............................................................................ 10-11
10.3.16 Reserved kW.............................................................................................. 10-12
10.3.17 Generator Alarm Level .............................................................................. 10-12
11. CONTROL GAINS.................................................................................................... 11-1

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11.1 CONTROL GAIN COMPUTE .................................................................................... 11-1

11.2 SETTING CONTROL GAINS..................................................................................... 11-2
11.2.1 Setting Control Gains through ASK Setup Page 2 .......................................... 11-2
11.2.2 Modifying Gains through the <Control Gain> Key......................................... 11-3
11.2.3 Modifying Gains through the ASK or TCS Function Page ............................. 11-4
12. AUXILIARY SENSORS ........................................................................................... 12-1
12.1 GYROCOMPASSES.................................................................................................. 12-2
12.1.1 Gyro Processing ............................................................................................... 12-2
12.1.2 Placing Gyrocompasses Offline....................................................................... 12-2
12.1.3 Gyro Data on Sensor Page 1 ............................................................................ 12-2
12.2 WIND SENSORS ..................................................................................................... 12-3
12.2.1 Placing Wind Sensors Online .......................................................................... 12-3
12.2.2 Wind Sensor Data on ASK Sensor Page 1 or TCS Sensor Page ..................... 12-3
12.3 VERTICAL REFERENCE SENSORS ........................................................................... 12-4
12.3.1 Vertical Reference Sensor Processing ............................................................. 12-4
12.3.2 Controlling Vertical Reference Sensors........................................................... 12-4
12.3.3 Vertical Reference Data on Sensor Page 1 ...................................................... 12-4
12.4 DGPS DATA DISPLAY ON SENSOR PAGE 1 ........................................................... 12-5
12.5 CURRENT ESTIMATION - SENSOR PAGE 3 (CURRENT)........................................... 12-5
13. RISER ANGLE SENSORS....................................................................................... 13-1
13.1 SENSOR PAGE 2..................................................................................................... 13-1
13.1.1 Riser Section .................................................................................................... 13-2
13.1.2 Stack Section.................................................................................................... 13-3
13.1.3 Flexjoint Section .............................................................................................. 13-4
13.1.4 Stack and Choke/kill Settings .......................................................................... 13-5
13.2 CALIBRATE STACK/RISER ANGLE SENSOR BIASES ............................................... 13-6
14. POSITION REFERENCE SENSORS ..................................................................... 14-1
14.1 DGPS HARDWARE OVERVIEW ............................................................................. 14-2
14.2 RS925 ACOUSTIC POSITION REFERENCE SYSTEMS............................................... 14-2
14.3 FLEXJOINT SENSOR ............................................................................................... 14-2
14.4 IMPORTANT POSITION REFERENCE SENSOR CONCEPTS ......................................... 14-2
14.4.1 Noise ................................................................................................................ 14-2
14.4.2 Noise Rejection Logic...................................................................................... 14-3
14.4.3 Origin Reference Sensor .................................................................................. 14-4
14.4.4 Weighting......................................................................................................... 14-5
14.4.5 Drift.................................................................................................................. 14-5
14.4.6 Jumping............................................................................................................ 14-7
14.4.7 Median Testing ................................................................................................ 14-7
14.5 POSITION REFERENCE PAGE 1............................................................................... 14-8
14.5.1 Position Reference Sensor Screen Buttons ...................................................... 14-9
14.5.2 Measured Column............................................................................................ 14-9
14.5.3 Corrected Column............................................................................................ 14-9
14.5.4 Noise ................................................................................................................ 14-9
14.5.5 New Data ......................................................................................................... 14-9

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14.5.6 Blended Values – Final Ship Position Estimate .............................................. 14-9

14.5.7 Origin Reference Sensor Select ..................................................................... 14-10
14.6 POSITION REFERENCE PAGE 2............................................................................. 14-11
14.6.1 Calibration Bias ............................................................................................. 14-12
14.6.2 Drift Column.................................................................................................. 14-12
14.6.3 Weight............................................................................................................ 14-12
14.7 PLACING A DGPS UNIT ONLINE ......................................................................... 14-13
14.8 PLACING AN RS925 BEACON ONLINE................................................................. 14-13
14.9 PLACING A TOP-LEVEL RS925 SYSTEM ONLINE ................................................ 14-13
14.10 PLACING THE FLEXJOINT SENSOR ONLINE .......................................................... 14-13
14.11 CHARTING POSITION REFERENCE SENSOR DATA ................................................ 14-14
14.11.1 Position Reference Sensor Symbols .......................................................... 14-15
14.12 POSITION REFERENCE CALIBRATION .................................................................. 14-16
15. THRUSTER CONTROL .......................................................................................... 15-1
15.1 THRUST PAGE 1- GRAPHIC DISPLAY ..................................................................... 15-1
15.1.1 Text Boxes ....................................................................................................... 15-2
15.1.2 Bias Indicator ................................................................................................... 15-2
15.1.3 Thruster Icons .................................................................................................. 15-3
15.1.4 Thrust Allocation Logic (TAL) Circle............................................................. 15-4
15.2 THRUST PAGE 2 - TABULAR DATA ....................................................................... 15-5
15.2.1 Status................................................................................................................ 15-6
15.2.2 Mode ................................................................................................................ 15-6
15.2.3 Manual Command % ....................................................................................... 15-6
15.2.4 RPM Command ............................................................................................... 15-6
15.2.5 RPM Feedback................................................................................................. 15-6
15.2.6 Command %..................................................................................................... 15-6
15.2.7 Feedback %...................................................................................................... 15-6
15.2.8 Manual Azimuth°............................................................................................. 15-7
15.2.9 AzCmnd° ......................................................................................................... 15-7
15.2.10 AzFdbk° ....................................................................................................... 15-7
15.2.11 Alarms Row ................................................................................................. 15-7
15.2.12 Force Summary Section............................................................................... 15-8
15.3 TCS THRUST PAGE - TABULAR DATA .................................................................. 15-9
15.3.1 Thruster .......................................................................................................... 15-10
15.3.2 DP Mode ........................................................................................................ 15-10
15.3.3 RPM Cmnd .................................................................................................... 15-10
15.3.4 RPM Fdbk...................................................................................................... 15-10
15.3.5 Cmnd % ......................................................................................................... 15-10
15.3.6 Fdbk % ........................................................................................................... 15-10
15.3.7 AzCmnd° ....................................................................................................... 15-10
15.3.8 AzFdbk° ......................................................................................................... 15-10
15.3.9 Alarms Row ................................................................................................... 15-10
15.3.10 Force Summary Section............................................................................. 15-11
15.4 ASK AND TCS THRUSTER MODES .................................................................... 15-12
15.4.1 Manual ........................................................................................................... 15-12
15.4.2 Auto................................................................................................................ 15-12

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15.4.3 Off .................................................................................................................. 15-12

15.4.4 Selecting Thrusters at an ASK Console......................................................... 15-13
15.4.5 Selecting Thrusters at the TCS Console ........................................................ 15-14
15.4.6 Selecting Thrusters through ASK Thrust Page 1........................................... 15-15
15.4.7 Selecting Thrusters through TCS Overview Page ......................................... 15-16
15.5 THRUSTER BIASING ............................................................................................ 15-17
15.6 THRUST ALLOCATION LOGIC .............................................................................. 15-18
15.6.1 Pinwheel TAL................................................................................................ 15-18
15.6.2 Thruster Online Requirements....................................................................... 15-18
15.6.3 Axis Priority................................................................................................... 15-18
15.6.4 Anti-spoiling .................................................................................................. 15-18
15.6.5 Level Reduction with Azimuth Error ............................................................ 15-19
15.6.6 Thrust Allocation Inverse .............................................................................. 15-19
16. ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS ................ 16-1
16.1 ENTERING CONTROL MODES ................................................................................ 16-2
16.2 MANUAL MODE - POSITION AND HEADING .......................................................... 16-3
16.2.1 Joystick Desensitize Key ................................................................................. 16-3
16.3 HOLD HEADING .................................................................................................... 16-4
16.3.1 Entering Hold Heading .................................................................................... 16-7
16.4 HOLD POSITION .................................................................................................... 16-8
16.4.1 Entering Hold Position..................................................................................... 16-9
16.5 HOLD HEADING - HOLD POSITION ...................................................................... 16-10
16.5.1 Entering Hold Heading – Hold Position ........................................................ 16-13
16.5.2 Clearing Manual Control (Joystick) Bias ...................................................... 16-14
16.6 HOLD FLEXJOINT ANGLE MODE ......................................................................... 16-16
16.6.1 Entering Hold Flexjoint ................................................................................. 16-19
16.6.2 Flexjoint Setpoint Changes ............................................................................ 16-20
16.7 ACTIVE WIND COMPENSATION (AWC) .............................................................. 16-22
16.7.1 Active Wind Compensation Processing......................................................... 16-22
16.8 PORTABLE JOYSTICK CONTROL FUNCTIONS AND KEYS ...................................... 16-23
16.8.1 Portable Joystick Control/Transfer ................................................................ 16-24
16.9 MANEUVERS ....................................................................................................... 16-25
16.9.1 Maneuver Process Overview ......................................................................... 16-26
16.9.2 Position Setpoint Maneuvers ......................................................................... 16-27
16.9.3 Heading Setpoint Maneuvers......................................................................... 16-29
16.9.4 Proposed Setpoint Outline ............................................................................. 16-30
17. TCS CONTROL MODES......................................................................................... 17-1
17.1 COORDINATED CONTROL ...................................................................................... 17-2
17.1.1 Joystick Desensitizing Function ...................................................................... 17-2
17.2 HOLD HEADING MODE ......................................................................................... 17-3
17.3 HAND PILOT MODE ............................................................................................... 17-4
17.4 AUTOPILOT MODE ................................................................................................ 17-5
17.4.1 Clearing Manual Control (Joystick) Bias ........................................................ 17-6
17.5 ACTIVE WIND COMPENSATION (AWC) ............................................................... 17-7
17.6 CRASH ASTERN FUNCTION ................................................................................... 17-8

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18. CONTROLLING THRUSTERS WITH THE TCS ............................................... 18-1

18.1 THRUST PAGE ....................................................................................................... 18-1
18.1.1 Status................................................................................................................ 18-1
18.1.2 Mode ................................................................................................................ 18-1
18.1.3 Manual Command % ....................................................................................... 18-2
18.1.4 RPM Command ............................................................................................... 18-2
18.1.5 RPM Feedback................................................................................................. 18-2
18.1.6 Command %..................................................................................................... 18-2
18.1.7 Feedback %...................................................................................................... 18-2
18.1.8 Manual Azimuth°............................................................................................. 18-2
18.1.9 AzCmnd° ......................................................................................................... 18-2
18.1.10 AzFdbk° ....................................................................................................... 18-2
18.1.11 Alarms.......................................................................................................... 18-2
18.1.12 Force Summary Section............................................................................... 18-3
18.2 THRUSTER CONTROL PREREQUISITES ................................................................... 18-4
18.3 THRUSTER MODES ................................................................................................ 18-4
18.3.1 Auto.................................................................................................................. 18-4
18.3.2 Off .................................................................................................................... 18-4
18.4 SELECTING THRUSTERS VIA THE TCS CONTROL PANEL ....................................... 18-5
18.5 SELECTING THRUSTERS THROUGH THE TCS OVERVIEW PAGE ............................. 18-6
18.6 THRUSTER BIASING .............................................................................................. 18-8
18.7 THRUST ALLOCATION LOGIC ................................................................................ 18-9
18.7.1 Pinwheel TAL.................................................................................................. 18-9
18.7.2 Thruster Online Requirements......................................................................... 18-9
18.7.3 Axis Priority..................................................................................................... 18-9
18.7.4 Anti-spoiling .................................................................................................... 18-9
18.7.5 Level Reduction with Azimuth Error ............................................................ 18-10
18.7.6 Thrust Allocation Inverse .............................................................................. 18-10
19. POWER SYSTEM MONITORING AND POWER LIMITING.......................... 19-1
19.1 POWER PAGE 1: GENERATORS/BREAKERS ............................................................ 19-1
19.1.1 Generator Readings and Icons ......................................................................... 19-2
19.1.2 Closed-Circuit Breaker Icons........................................................................... 19-2
19.1.3 Open-Circuit Breaker Icon............................................................................... 19-2
19.1.4 Bus Lines ......................................................................................................... 19-2
19.2 POWER PAGE 2: KW LOADING............................................................................. 19-3
19.2.1 Capacity ........................................................................................................... 19-4
19.2.2 Total Load........................................................................................................ 19-4
19.2.3 Operating Power Limit .................................................................................... 19-4
19.2.4 Upper Power Limit (ASK Only)...................................................................... 19-4
19.2.5 Lower Power Limit (ASK Only) ..................................................................... 19-4
19.2.6 Propulsion Load ............................................................................................... 19-4
19.2.7 Drilling/Hotel Load.......................................................................................... 19-4
19.2.8 Control Bias Power .......................................................................................... 19-4
19.2.9 DP Power Cutback........................................................................................... 19-4
19.3 POWER PAGE 3: KW TRENDING ............................................................................ 19-5

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19.4 POWER LIMITING .................................................................................................. 19-6

19.4.1 Lower Power Limit .......................................................................................... 19-6
19.4.2 Upper Power Limit .......................................................................................... 19-6
19.4.3 Operating Power Limit .................................................................................... 19-6
19.4.4 Power Limit Sustain Mode .............................................................................. 19-7
20. SUMMARY PAGE .................................................................................................... 20-1
20.1 CONTROL SECTION ............................................................................................... 20-2
20.1.1 Goal.................................................................................................................. 20-2
20.1.2 Setpoint ............................................................................................................ 20-2
20.1.3 Vessel............................................................................................................... 20-2
20.1.4 Error ................................................................................................................. 20-2
20.1.5 Rate .................................................................................................................. 20-2
20.2 FLEXJOINT SECTION .............................................................................................. 20-3
20.2.1 Setpoint ............................................................................................................ 20-3
20.2.2 Vessel............................................................................................................... 20-3
20.2.3 Error ................................................................................................................. 20-3
20.3 FORCES SECTION................................................................................................... 20-4
20.4 PROPULSION SECTION ........................................................................................... 20-5
21. CHART PAGE ........................................................................................................... 21-1
21.1 PAN AND ZOOM CONTROLS .................................................................................. 21-2
21.2 CHART PAGE CONFIGURATION BUTTONS ............................................................. 21-2
21.2.1 Ship Focus........................................................................................................ 21-2
21.2.2 Follow Ship...................................................................................................... 21-2
21.2.3 No Grids........................................................................................................... 21-2
21.2.4 North/East ........................................................................................................ 21-2
21.2.5 Lat/Lon Grids................................................................................................... 21-2
21.2.6 Sensor Overlay................................................................................................. 21-2
21.2.7 Vessel Trail ...................................................................................................... 21-2
21.3 SYMBOLS FOUND ON THE CHART PAGE ................................................................ 21-3
21.3.1 Force/Motion Vectors ...................................................................................... 21-3
21.3.2 Red and Yellow Alert Circles .......................................................................... 21-3
21.3.3 Position Reference Sensor Symbols ................................................................ 21-3
22. SIGNAL INPUT AND OUTPUT ............................................................................. 22-1
22.1 SIGNAL I/O PAGE 1: ANALOG COMMUNICATIONS ................................................ 22-1
22.2 SIGNAL I/O PAGE 2: DIGITAL COMMUNICATIONS................................................. 22-2
22.3 SIGNAL I/O PAGE 3: SERIAL COMMUNICATIONS .................................................. 22-3
23. PLOT PAGES ............................................................................................................ 23-1
23.1 PLOT PAGES 1 AND 2 ............................................................................................ 23-1
23.2 PLOT PAGE 3: HOLDING CAPABILITY.................................................................... 23-2
23.2.1 Mode ................................................................................................................ 23-3
23.2.2 Thruster Icons .................................................................................................. 23-3
23.2.3 Current ............................................................................................................. 23-3
23.2.4 Wind................................................................................................................. 23-3

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TABLE OF CONTENTS

24. CONSEQUENCE ANALYSIS ................................................................................. 24-1

24.1 SPECIFIC SCENARIOS ............................................................................................. 24-3
24.1.1 Single Generator Loss...................................................................................... 24-3
24.1.2 Single Bus Loss................................................................................................ 24-3
24.1.3 Single Signal Processor Loss ........................................................................... 24-3
24.1.4 Thruster Loss ................................................................................................... 24-3
24.1.5 Compartment Loss ........................................................................................... 24-3
25. OPERATIONAL HINTS .......................................................................................... 25-1
25.1 DGPS DRIFT......................................................................................................... 25-1
25.2 INTEGRAL WINDUP ............................................................................................... 25-1
25.3 INTEGRAL PRE-LOADING ...................................................................................... 25-1
25.4 INTEGRAL TRANSFERS .......................................................................................... 25-2
Index.............................................................................................................................. Index-1
SSDD ............................................................................................................................. SSDD-1

xii ASK5003/TCS5001 Operations and Maintenance Manual – Change 1

LIST OF FIGURES AND TABLES
Figure 1-1. Control Axes ...................................................................................................... 1-3
Figure 1-2. Ship Axes Signing Conventions.......................................................................... 1-7
Figure 1-3. Earth Axes Signing Conventions ....................................................................... 1-7
Figure 1-4. Pitch, Roll, and Heave Signing Conventions ..................................................... 1-8
Figure 2-1. Typical System Overview .................................................................................. 2-3
Figure 3-1. Dynamic Positioning Overview ......................................................................... 3-1
Figure 3-2. Control System Theory ...................................................................................... 3-3
Figure 5-1. Auxiliary Switch Group ..................................................................................... 5-1
Figure 5-2. Auxiliary Switch Group ..................................................................................... 5-2
Figure 5-3. Auxiliary Switch Group ..................................................................................... 5-3
Figure 6-1. ASK Main Control Panel ................................................................................... 6-1
Figure 6-2. TCS Main Control Panel.................................................................................... 6-2
Figure 6-3. Console Data Entry Keypad............................................................................... 6-5
Figure 6-4. Switch Test Key Switches.................................................................................. 6-6
Figure 6-5. Right Section of ASK or TCS Control Panel.................................................... 6-7
Figure 6-6. Left Section of ASK & TCS Control Panels...................................................... 6-8
Figure 6-7. Trackball and Mouse Keys................................................................................. 6-9
Figure 6-8. Cursor Positioned over Numeric Data Entry Field ............................................ 6-9
Figure 7-1. ASK Display Layout .......................................................................................... 7-1
Figure 7-2. TCS Display Layout........................................................................................... 7-2
Figure 7-3. Header Line........................................................................................................ 7-3
TCS Toolbar........................................................................................................................... 7-5
ASK Toolbar (Master) ........................................................................................................... 7-5
Figure 7-4. Toolbars............................................................................................................... 7-5
Figure 7-5. ASK & TCS Display Select Switch Groups ...................................................... 7-7
Figure 7-6. ASK Overview Page .......................................................................................... 7-9
Figure 7-7. TCS Overview Page......................................................................................... 7-10
Figure 7-8. ASK Deviation Display.................................................................................... 7-12
Figure 7-9. Symbols found on the Deviation Display ........................................................ 7-13
Figure 7-10. TCS Thruster Status Window ........................................................................ 7-16
Figure 7-11. TAL Circle ..................................................................................................... 7-19
Figure 7-12. How to Print the ASK Display....................................................................... 7-22
Figure 7-13. How to Print the TCS Display ....................................................................... 7-22
Figure 8-1. Alarm Summary Line......................................................................................... 8-1
Calling Up the TCS Alarm Page............................................................................................ 8-2
Figure 8-2. Alarm Page......................................................................................................... 8-3
Figure 8-3. Alarm Page Inhibit Key Switches ...................................................................... 8-3
Figure 8-4. Function Pages with Alarm Page Inhibit selected.............................................. 8-4
Figure 8-5. How to Acknowledge Alarms ............................................................................ 8-7
Figure 8-6. Alarm Page with one disabled message ............................................................. 8-8
Figure 8-7. Initiating Manual Yellow and Red Alarms ...................................................... 8-11
Table 9-1. Support and Test Equipment ................................................................................ 9-1
Table 9-2. Power Supply Voltages (Nominal and Tolerance)............................................... 9-5
Figure 9-1. Correct Waveform............................................................................................ 9-11
Figure 9-2. Flex I/O Modules and Test Points.................................................................... 9-13

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TABLE OF FIGURES

Figure 9-3. Switch Interface Controller .............................................................................. 9-15

Figure 10-1. Setup Page 1................................................................................................... 10-1
Figure 10-2. Setup Page 2................................................................................................... 10-6
Figure 10-3. Setup Page...................................................................................................... 10-9
Figure 11-1. Control Axes .................................................................................................. 11-1
Figure 11-2. Setup Page 2................................................................................................... 11-2
Figure 11-3. Control Gain Key ........................................................................................... 11-3
Figure 11-4. Function Page................................................................................................. 11-4
Figure 12-1. Sensor Page 1 ................................................................................................. 12-1
Figure 12-2. Sensor Select Switch Groups ......................................................................... 12-3
Figure 11-3. Sensor Page 3: Current................................................................................... 12-5
Figure 13-1. Sensor Page 2 ................................................................................................. 13-1
Figure 13-2. Sensor Page 2 ................................................................................................. 13-7
Figure 14-1. Sensor Select Switch Group........................................................................... 14-1
Figure 14-2. Noise Rejection Logic.................................................................................... 14-3
Figure 14-3. Position Reference Sensor Biasing ................................................................ 14-4
Figure 14-4. Sensor Weighting ........................................................................................... 14-5
Figure 14-5. Sensor Jumping .............................................................................................. 14-7
Figure 14-6. Position Reference Page 1.............................................................................. 14-8
Figure 14-7. Position Reference Page 2............................................................................ 14-11
Figure 14-8. Chart Page .................................................................................................... 14-14
Figure 14-9. Position Reference Calibration Key............................................................. 14-16
Figure 15-1. Thrust Page 1.................................................................................................. 15-1
Figure 15-2. TAL Circle ..................................................................................................... 15-4
Figure 15-3. Thrust Display Page 2 .................................................................................... 15-5
Figure 15-4. TCS Thrust Page ............................................................................................ 15-9
Figure 15-5. ASK5003 Thruster Select Switch Group ..................................................... 15-13
Figure 15-6. TCS5000 Thruster Select Switch Group...................................................... 15-14
Figure 15-7. ASK Thruster Pop-Up Dialog Box .............................................................. 15-15
Figure 15-8. TCS Thruster Pop-Up Dialog Box ............................................................... 15-16
Figure 15-9. Setup Page 2................................................................................................. 15-17
Figure 16-1. ASK Mode Select Switch Groups.................................................................. 16-2
Figure 16-2. Function Page................................................................................................. 16-2
Figure 16-3. Hold Heading ................................................................................................. 16-5
Figure 16-4. Hold Position.................................................................................................. 16-8
Figure 16-5. Hold Heading and Hold Position ................................................................. 16-12
Figure 16-6. Thrust Page 2................................................................................................ 16-14
Figure 15-7. Portable Joystick .......................................................................................... 16-23
Figure 16-7. ASK Setpoint Keys ...................................................................................... 16-25
Figure 16-8. ASK Function Page...................................................................................... 16-25
Figure 16-9. Position Maneuver Profile............................................................................ 16-26
Figure 16-10. Proposed Position Maneuver as seen on Deviation Display...................... 16-30
Figure 17-1. TCS JS DESENS Key ...................................................................................... 17-2
Figure 17-2. TCS HOLD HEADING Key............................................................................... 17-3
Figure 17-3. TCS AUTO PILOT Key .................................................................................... 17-4
Figure 17-4. Autopilot Mode Keys ..................................................................................... 17-5
Figure 17-5. TCS Clear JS Bias Key .................................................................................. 17-6

xiv ASK5003/TCS5001 Operations and Maintenance Manual – Change 1

 TABLE OF FIGURES

Figure 17-6. TCS Sensor Page............................................................................................ 17-7

Figure 18-1. Thrust Page..................................................................................................... 18-1
Figure 18-2. Thruster Select Switch Group ........................................................................ 18-5
Figure 18-3. TCS Overview Page....................................................................................... 18-6
Figure 18-4. Thruster Pop-Up Dialog Box ......................................................................... 18-7
Figure 18-5. Setup Page...................................................................................................... 18-8
Figure 19-1. Power Page 1.................................................................................................. 19-1
Figure 19-2. Power Page 2 (ASK) ...................................................................................... 19-3
Figure 19-3. Power Page 3.................................................................................................. 19-5
Figure 19-4. Mode Select Switch Group ............................................................................ 19-7
Figure 19-5. Function Page................................................................................................. 19-7
Figure 20-1. Summary Page ............................................................................................... 20-1
Figure 21-1. Typical Chart Page......................................................................................... 21-1
Figure 22-1. Signal I/O Page 1 ........................................................................................... 22-1
Figure 22-2. Signal I/O Page 2 ........................................................................................... 22-2
Figure 22-3. Signal I/O Page 3 ........................................................................................... 22-3
Figure 23-1. Plot Page 1...................................................................................................... 23-1
Figure 23-2. Plot Page 3...................................................................................................... 23-2
Figure 24-1. Setup Page 1................................................................................................... 24-1

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1. INTRODUCTION
This manual describes the hardware, software, and operational capabilities of
the Nautronix ASK5003 Dynamic Positioning and TCS5000 Thruster Control
Systems. It provides instructions for using the systems and any associated
sub-systems, such as sensors, computers, and signal processing equipment.
Nautronix suggests that the Dynamic Positioning Operators read this manual
carefully before commencing operations with the ASK and TC systems.

1.1 BASIC OVERVIEW OF THE ASK5003

The purpose of the ASK5003 is to control a vessel’s thrusters so as to
maintain the vessel at specific heading and/or position goal setpoints, despite
environmental forces that would tend to drive the vessel off-station.
The ASK5003 consists of twin ASK5002 operator consoles in the primary
control area (ASK 1 and ASK 2) and a backup console (ASK 3). These
consoles contain industrial computers, push-button keys, color display
monitors, and manual controls for vessel position and heading.
The color monitors generate customized Display Pages that provide
information on the vessel systems and sensors integrated with the ASK. Both
the Display Pages and the manual controls on the operator consoles (keys,
joysticks, knobs, etc.) may be used to command the ASK system.
Auxiliary Sensors (wind sensors, gyroscopic compasses, motion reference
units, and current/drag monitors) and Position Reference Sensors (DGPS,
acoustic systems, laser radars, taut wire) feed data on the vessel’s position,
heading, attitude, and on environmental forces to the operator console
computers. During operations, the ASK compares the desired goal setpoints
to the vessel’s measured position and/or heading, then generates appropriate
thruster commands to minimize the deviation.

Signal Processing Units (SPU) handle some sensor data before it is passed to
the operator consoles. The Signal Processing Units also accept crucial data
such as the status of thrusters, generators, circuit breakers, and power
supplies. Each SPU is responsible for converting a given set of input signals
to a protocol that can be read by the computers in the operator consoles.

A redundant Communications Network passes data between the various

components of the ASK, as well as any vessel systems with which it is
integrated.

Uninterruptible Power Supplies (UPS) ensure that the ASK does not lose
control of the vessel as a result of power plant failure. Dedicated printers
generate lists of system alarms and, if desired, copies of graphic display
pages.

ASK5003/TCS5001 Operations and Maintenance Manual 1-1

CHAPTER 1: INTRODUCTION

1.2 OVERVIEW OF DYNAMIC POSITIONING OPERATIONS

The following paragraphs are not intended to serve as guidelines for operating
a vessel equipped with an ASK5003 Dynamic Positioning System. They
should be read only as a means to become more familiar with many important
Dynamic Positioning concepts.

The Dynamic Positioning Operator (DPO) powers up the ASK as the vessel
approaches the worksite.

A graphic ALARM PAGE, generated on the consoles’ color monitors,

informs the DPO of any problems with the consoles.

Given normal operating conditions, the DPO will select either ASK 1 or ASK
2 to serve as the Master. Only commands issued at the Master will affect the
command of the vessel’s thrusters and the sensors associated with the ASK.

Special display pages allow the DPO to verify, and change, if necessary, basic
operating parameters. These SETUP PAGES permit the DPO to configure
certain alarm limits, set power limiting constraints, enter basic facts about the
vessel (such as draft), and create the position and heading alarm limits that
will take effect when the vessel is under the automatic control of the ASK.

The DPO will then place appropriate auxiliary and position reference sensors
online. These sensors provide the data used by the ASK to determine the
vessel’s deviation from the desired heading and position goal setpoints. This
data is displayed on customized graphic display pages, which also allow the
DPO to control the online status of the sensors themselves. Push-button keys
on the operator consoles also control many of these sensors.

The DPO then brings a sufficient number of thrusters online and under the
control of the ASK. The definition of sufficient will vary depending on global
conditions – sea state, wind, current, etc. Again, customized graphic display
pages show the DPO the status, output, and azimuth (if any) of the thrusters
interfaced with the ASK.

Once the appropriate sensors and thrusters are online, the DPO may manually
maneuver the vessel using controls on the Master ASK console.

Having stabilized the vessel at the appropriate position and heading, the DPO
can then select from several automatic control modes. These modes vary in
purpose, but they all rely on sensor data being compared to goal setpoints,
with the ASK then generating thruster commands to minimize the deviation
between the measured readings and the goals.

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 CHAPTER 1: INTRODUCTION

During automatic operations, the DPO can select from a variety of display
pages to see information on the vessel’s position and heading, the
performance of sensors and thrusters, the status of the power generation and
distribution system, any detected alarms, communication signals, and other
important elements of the ASK.

Should the function of the Master console degrade, the ASK will
automatically transfer control to its twin in the ASK5002. The DPO can also
manually transfer control of the ASK from the current Master to either of the
other ASK consoles at any time.

Surge

Sway

Yaw
Figure 1-1. Control Axes

ASK5003/TCS5001 Operations and Maintenance Manual 1-3

CHAPTER 1: INTRODUCTION

1.3 MANUAL CONVENTIONS

The following table explains the meanings of various text styles used
throughout this manual.

Text Style Meaning

Name of display page, such as ALARM PAGE, or a pop-

ALL CAPS
up dialog box, such as THRUSTER 6.

Identifies a specific section of the console keyboard, such

as the Sensor Select Switch Group, or a specific
Bold
element of the Graphic User Interface, such as the
Header Line.

BOLD ALL Name of an operational mode, such as HOLD

CAPS HEADING or ACTIVE WIND COMPENSATION.

Identifies a crucial concept, such as the Origin Reference

Italics Sensor, as well as instructions and/or explanations of
extreme importance.

“Quotes” Identifies a sub-section of a complex display page.

Name on a graphic screen button or a data entry field,

SMALL CAPS
both found on the display pages.

Name of a physical control on the console keyboard,

<SMALL CAPS>
such as the <ASK ONLINE> key.

Choices made from a predefined list of options are

identified by underlining.

For example, if a given switch has three positions, the

Underline first will be identified as Position 1.

For example: The DEVIATION DISPLAY CENTER screen

button allows you to select the Origin, Goal, or Setpoint
as the centerpoint of the Deviation Display.

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 CHAPTER 1: INTRODUCTION

1.4 USEFUL TERMS

The following terms are used frequently throughout this manual.
Actuator
An actuator is a component of a control system that changes the system’s
output to meet a given goal. In the case of the ASK5003, the thrusters are the
actuators. See Comparator and Controller below for more information.
Auxiliary Sensors
Each vessel has a unique set of auxiliary sensors. Depending on the installed
units, these sensors provide data on: wind speed and direction; vessel heading;
vessel pitch, roll, and heave; ocean current; and riser drag.
Bias
There are three distinct meanings of the word bias as it applies to the ASK.
Thruster Biasing maintains some thrust level for some online thrusters,
oriented so as not to move the vessel off-station, thus reducing variations in
azimuthing commands in light environmental conditions. Thruster Biasing
can also be employed to consume electrical power. See Chapter 15 for more
information.
Sensor Biasing is a means of forcing all position reference sensors to agree
with the Origin Reference Sensor, by determining the differences between
their position measurements and that of the Origin Reference Sensor, then
compensating for these differences. See Chapter 14 for more information.
Stack/Riser Sensor Bias is similar to Sensor Biasing. It compensates for the
fact that mounting errors may cause stack and riser sensors to report pitch
and/or roll when there is no actual tilt. See Chapter 13 for more information
on Stack/Riser Sensor Biasing.
Comparator
A subsystem of the ASK that compares a measured value, such as heading, to
the setpoint, thus calculating the deviation, error, or excursion.
Controller
A subsystem of the ASK that determines how much control must be exercised
in order to compensate for the calculated deviation, determined by the
Comparator. Also known as a PID Controller. See Section 3.1 for details.
Cycle
The ASK5003 measures data, initiates control changes, and displays
information at intervals of 1/2 second. This interval is known as a cycle.

ASK5003/TCS5001 Operations and Maintenance Manual 1-5

CHAPTER 1: INTRODUCTION

Deviation
The difference between an instantaneous setpoint and the measured reading.
Often abbreviated as “Diff” on ASK Display Pages.
Master
This term defines the online ASK console that controls the ASK5003. Any of
the three consoles can function as the Master. See Chapter 5 for details.
Moment
A force acting at a distance which has the effect of rotating the vessel around
its center.
Origin
The central coordinate point, in Earth axes, of the position reference grid. In
other words, it is the 0,0 point for the operational position reference system. It
may also be referred to as the Absolute Setpoint (see below).
Pages/Screens
The color monitors in the ASK consoles present information through graphic
pages or screens. This manual uses these terms interchangeably.
Position Reference Sensors
Position Reference Sensors provide data on the vessel’s location in
relationship to a specified origin point. This origin point will vary depending
on the sensor selected as the Origin Reference Sensor.
Setpoints
The ASK uses Absolute, Goal and Instantaneous setpoints.
The Absolute Setpoint is the Origin of the position reference grid in Earth
axes.
The Goal Setpoint represents the ship’s ultimate position or heading goal.
The Instantaneous Setpoint is generated on a cycle-by-cycle basis. It
represents the point or heading at which the ASK is attempting to hold the
vessel. When the ASK moves from point A to point B, it gradually moves the
Instantaneous Setpoint across a range of points between A and B.
Surge
Fore/Aft movement of the vessel.
Sway
Port/Starboard movement of the vessel.
Yaw
Rotation of the bow around the vessel’s centerpoint.

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 CHAPTER 1: INTRODUCTION

1.5 SHIP AXES SIGNING CONVENTIONS

The ASK treats Fore and Starboard as positive numbers.
Aft and Port are negative numbers.

AFT (-) NEGATIVE NUMBER

PORT (-) NEGATIVE NUMBER

STARBOARD (+) POSITIVE NUMBER

FORWARD (+) POSITIVE NUMBER

Figure 1-2. Ship Axes Signing Conventions

1.6 EARTH AXES SIGNING CONVENTIONS

The ASK treats North and East as positive numbers.
South and West are negative numbers.

NORTH (+) POSITIVE NUMBER

WEST (-) NEGATIVE NUMBER EAST (+) POSITIVE NUMBER

SOUTH (-) NEGATIVE NUMBER

Figure 1-3. Earth Axes Signing Conventions

ASK5003/TCS5001 Operations and Maintenance Manual 1-7

CHAPTER 1: INTRODUCTION

1.7 PITCH, ROLL, AND HEAVE SIGNING CONVENTIONS

The ASK treats Port Side Up and Bow Up conditions as positive numbers.
Starboard Side Up and Stern Up are negative numbers.

Waterline F

Bow Up = Positive Pitch

Port Side Up = Positive Roll

Waterline

Upward Movement = Positive Heave

Figure 1-4. Pitch, Roll, and Heave Signing Conventions

1.8 CLOCKWISE/COUNTERCLOCKWISE SIGNING CONVENTIONS

The ASK labels clockwise data as positive (+) and counter-clockwise as
negative (-).

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 CHAPTER 1: INTRODUCTION

1.9 GLOSSARY
The following abbreviations and acronyms may be used throughout this
manual:

A/D Analog/Digital MANL Manual Command

ACK Acknowledge MTCP Manual Thruster Control Panel
ACP Auxiliary Control Panel MUX Multiplexer
A/D Analog/Digital NFU Non Follow-Up
AN Analog OCM Optical Communications Modem
ASK Automatic Station Keeping PC Personal Computer
AWC Active Wind Compensation PCB Printed Circuit Board
BU Backup PID Proportional Integral Derivative
CCW Counter clockwise PLC Programmable Logic Controller
CFE Customer Furnished PM Power Management
Equipment
CMPR Compare Alarm POS Position
COS Cosine RAM Random Access Memory
CPU Central Processing Unit REL Relative
CRT Cathode Ray Tube RH Relative Humidity
CTS Clear To Send ROM Read Only Memory
CW Clockwise ROV Remotely Operated Vehicle
DCD Data Carrier Detect RPM Revolutions Per Minute
DCU Display Control Unit RTS Request to Send
DIR Direction RXD Receive Data
DP Dynamic Positioning SIG- Signal Ground
GND
DPS Dynamic Positioning System SIN Sine
DSR Data Set Ready SPD Speed
DTE Data Terminal Equipment SPU Signal Processor Unit
DTR Data Terminal Ready STBD Starboard
ERR Error STC Selection & Transfer Cabinet
GND Ground STPT Setpoint
HDG Heading TAC Three-Axis Controller
I/F Interface TAL Thrust Allocation Logic
I/O Input/Output TTL Transistor, Transistor Logic
KTS Knots TXD Transmit Data
LED Light Emitting Diode UPS Uninterruptible Power Supply
LEVL Thruster Level Alarm VRS Vertical Reference Sensor
MAN Manual Command

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CHAPTER 1: INTRODUCTION

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1-10 ASK5003/TCS5001 Operations and Maintenance Manual – Change 1

2. HARDWARE OVERVIEW
This chapter defines the equipment, interfacing, and processing functionality
for the Nautronix ASK5003 Dynamic Positioning System. The ASK5003
consists of a dual redundancy ASK5002, a single backup ASK5001, a single
TCS5001 Thruster Control System, a Manual Thruster Control Console, and
three DLS5000 Data Loggers.

2.1 EQUIPMENT LIST

The ASK5003 is comprised of the following equipment:

· Operator Consoles for the ASK, TCS, and Data Loggers

· Three (3) Signal Processing Units

· Two (2) RS925 acoustic position reference system with six hydrophones

· Three (3) Differential Global Positioning Systems (DGPS)

· Three (3) Gyrocompasses

· Three (3) Wind Sensors

· Two (2) Motion Reference Units

· One (1) Vertical Reference Unit

· Five (5) Electric Riser Angle sensors (4 installed, 1 spare)

· Three (3) Uninterruptible Power Supplies

· Three (3) System Printers

ASK5003/TCS5001 Operations and Maintenance Manual 2-1

CHAPTER 2: HARDWARE OVERVIEW

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 CHAPTER 2: HARDWARE OVERVIEW

GYROCOMPASS 1 GYROCOMPASS 2 GYROCOMPASS 3 BRIDGE

DIGITAL GYRO

DIGITAL GYRO

DIGITAL GYRO
PRINTER
SERIAL COMM'S - SEE NOTE 1
PRINTER

RS925-1 SPU MANUAL THRUSTER

PRINTER
CONTROLS (QTY 6)
MARSHALLING
ALARM
DCU (LIPS SUPPLIED) PRINTERS
BOX TCS5001
RS925-2 SPU

DCU
ASK5002 ASK5001

DUAL RS925 SBL/LBL

ACOUSTIC SYSTEM
(x6) SBL (x2) LBL
HYDROPHONES PROJECTORS

DGPS 1 DGPS 2
DGPS DGPS

SERIAL COMM'S - SEE NOTE 1

QTY 3 SPU'S
LOCATED IN
DP CONTROL
ROOM.

WIND WIND WIND

VRU
PLC 1 PLC 2
DP ALARMS
MRU RED/YELLOW
MRU DP ALARMS
SPU 2 SPU 3
SPU 1 RED/YELLOW

BUS TIE
SIGNALS
MDG 1 MDG 3 MDG 4 MDG 6
KW & CB KW & KW & KW &
CB CB CB
MDG 2 MDG 7 MDG 5 MDG 8
THR 1 THR 4 KW & CB KW & CB THR 2 THR 5 THR 3 THR 6 KW & CB KW & CB

NOTE 1: NOTE 2:
ALL DEVICES COMMUNICATING WITH RS232 THRUSTER MANUAL MODE: UNDER LIPS PANEL CONTROL
OR RS422 SERIAL PROTOCOL. ALL DEVICES ASK1
ASK2 THRUSTER AUTO MODE: UNDER NIX MODE (TCS OR ASK)
ARE SPLIT AND ON SEPARATE COMMUNICATION ASK3
SIGNALS FEED TO LIPSTRONIC CONTROL UNIT.
TCS
LINES - DEVICE COMMUNICATION SHOWN
SERIAL SIGNAL SIGNAL
AS ONE LINE FOR CLARITY. SEE FIGURE AT RIGHT. DEVICE SPLITTER OUTPUT

Figure 2-1. Typical System Overview

Figure 2-1 represents a typical Automated Station Keeping (ASK)/Thruster

Control System (TCS) overview and is not intended to represent any one
particular vessel.

ASK5003/TCS5001 Operations and Maintenance Manual 2-3

CHAPTER 2: HARDWARE OVERVIEW

2-4 ASK5003/TCS5001 Operations and Maintenance Manual – Change 1

3. THEORY OF OPERATION
Although Dynamic Positioning (DP) can involve many maneuvers and vessel
commands, the following simple definition may prove useful: A Dynamic
Positioning system controls the output of a vessel’s thrusters to automatically
maintain position and heading goals without the need to anchor or moor,
simultaneously compensating for wind, current, and other factors that would
drive the ship off-station if left unchecked. The following illustration
provides a general illustration of this process.

Commanded
Position/Heading

Position/Heading Thruster
Control Algorithm Allocation Logic

Reference Wind
Position/Heading Compensation

DP Control System

Wind
Forces

Wave Surface
Forces Current
Force

Hydrophone
Thruster Thruster

Beacon

Figure 3-1. Dynamic Positioning Overview

ASK5003/TCS5001 Operations and Maintenance Manual 3-1

CHAPTER 3: THEORY OF OPERATION

3.1 ASK/TCS CONTROL LOOP

The automatic ASK/TCS Control Loop is comprised of three elements, the
Comparator, the Controller, and the Actuator. ASK control loops operate in
heading, surge (fore/aft), and sway (port/starboard) positions. There are two
TCS control loop modes in heading:
· Hold Heading
· Autopilot

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 CHAPTER 3: THEORY OF OPERATION

Measured Wind
S and Direction

Disturbing
Wind
Heading and Wave
Wind Current
Position Goal
Setpoints: Set Compensation
by Operator Function
Measurement
E

Heading and Control

Position Signals
Heading and Deviations
Position
Measurements Comparator Controller Actuator
via
Sensors

Vessel
Movement Thrust

Figure 3-2. Control System Theory

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CHAPTER 3: THEORY OF OPERATION

3.1.1 Comparator
This subsystem of the control loop compares the vessel’s estimated position or
heading to the instantaneous setpoint, thus calculating the deviation, error, or
excursion. The Comparator must constantly re-establish the deviation during
automatic ASK/TCS operation, as the control process actively minimizes the
difference between the estimated values and the instantaneous setpoints.
The estimated position is determined by a Kalman filter, which uses position
measurements from sensors, controller commands, and a simple vessel model.
See Section 3.8 for more information on the Kalman filter.
The estimated heading is determined by blending and wave filtering inputs
from the online gyrocompasses.

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 CHAPTER 3: THEORY OF OPERATION

3.1.2 Controller
The PID Controller is a subsystem of the control loop that determines how
much control must be exercised in order to compensate for the calculated
deviation, which is determined by the Comparator. The output of the
Controller equals the sum of three elements, the Proportional, Integral, and
Derivative terms.
The Proportional element calculates control force in proportion to the
measured deviation. The amount of control force for a given deviation, also
known as gain, is determined by the bandwidth, stored in the ASK, or TCS
database and set during sea trials. The Proportional term simply attempts to
minimize the deviation between the measured heading and/or position and the
instantaneous setpoint(s).
The Integral element calculates control force in terms of the measured
deviation and elapsed time. The Integral term thus builds slowly over time
and is designed to compensate for steady-state environmental forces such as
current and waves. Over time, the Integral term will build to a level sufficient
to hold heading and/or position without cyclical increases and decreases in
thruster force, assuming the steady-state environment forces are not
augmented by other factors. If a new heading and/or position goal setpoint is
selected, and the environmental forces thus strike the vessel from a different
direction, the built-up Integral may, in fact, move the vessel further off-
station. The Controller attempts to mitigate this effect by “rotating” the
integrals during heading maneuvers.

F Please Note: Large, rapid heading changes may negatively affect the
vessel’s station-keeping ability if the built-up Integral and/or the surface
current estimate is incorrect.
The Derivative element determines control force in relationship to the vessel
velocity. It thus slows the vessel down as the deviation between the measured
heading and/or position nears the goal setpoint(s).

3.1.3 Actuator
This subsystem of the control loop is responsible for taking action in response
to the Controller commands. It consists of the ASK/TCS Thruster Allocation
Logic (TAL) and the thrusters themselves. The TAL converts the
Controller’s commands in the surge, sway, and yaw axes into individual
commands for each thruster. When summed, these commands should satisfy
the overall surge, sway, and yaw commands of the TAL Controller. In
systems where the rudders are controlled by the ASK/TCS, the TAL will also
output rudder commands. In TCS Autopilot mode, the TAL commands only
the aft steering thrusters or rudders.

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CHAPTER 3: THEORY OF OPERATION

3.2 PRIMARY CONTROL MODES

The ASK and TCS permit several combinations of automatic and manual
vessel control. Chapter 16 describes the available modes in detail, but the
major control methods are described below.

3.2.1 Hold Heading

This mode automatically maintains the vessel at a fixed heading. The ASK
compares the aggregate gyro readings to the instantaneous heading setpoint,
then generates thruster signals to minimize the deviation between them. The
operator can also use this mode to automatically drive the vessel to a new
heading, by entering a new heading setpoint.

3.2.2 Hold Position

This mode automatically maintains the vessel at a fixed location. The
controlling console reads data from the DGPS, acoustic, and other position
reference systems, uses a Kalman filter to estimate the vessel’s actual
position, compares this data to the desired position setpoint, and generates
thruster control signals to minimize the deviation between them. The operator
can also use this mode to automatically drive the vessel to a new location, by
entering a new position setpoint.
When the operator selects this mode in conjunction with HOLD HEADING,
the ASK assumes complete automatic control of position and heading.

3.2.3 Hold Flexjoint

This sub-mode of HOLD POSITION maintains a desired angle at the
Flexjoint, measured by both acoustic and electric riser angle sensors. The
system generates a goal position setpoint (and appropriate thrust commands)
on the surface that will reduce any deviation between the actual angle and the
commanded angle at the flexjoint.

3.2.4 Manual Control

An operator can take full manual control of the vessel through the ASK by
using the <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL
KNOB> on the Operator Consoles.
The <POSITION CONTROL JOYSTICK> can also function as a manual control
device when the vessel operates in HOLD HEADING. Similarly, the
<HEADING CONTROL KNOB> can provide manual control of the vessel’s
heading even when in HOLD POSITION MODE.
When an axis (surge, sway, or yaw) is in MANUAL CONTROL, the
commands sent to the Actuator for that axis will be determined by the
<POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB> on the
Operator Consoles, not the PID Controller.

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 CHAPTER 3: THEORY OF OPERATION

3.2.5 Active Wind Compensation (AWC)

Active Wind Compensation (AWC) mode uses the wind speed and direction
information from the wind sensors through an internal model of the vessel’s
aerodynamics to compute the wind forces on the vessel. These forces are used
to command the thrusters in reaction to the wind force to provide a fast acting
response particularly in gusty conditions. AWC can be enabled or disabled by
the operator in any operational mode by deselecting sensors.

3.2.6 Power Limit Sustain

The thruster power request is normally limited to a lower power limit set at
some percentage (e.g., 10%) above the average power consumption over the
last few minutes. This is the power limit normally in effect, and allows the
operator to detect a sudden increase in power requirements caused by the DP
system being led astray by faulty position data.

3.3 POSITION REFERENCE SENSOR SERIAL INTERFACE

HANDLING
The processors respond to the interrupts generated by the stream of serial data
from the position reference sensors, which may include DGPS, surface radar
and hydroacoustic systems. The processors then save these messages in
random access memory (RAM) for subsequent processing by the appropriate
modules. Interrupt handling is accomplished via dedicated serial interface
boards. Data transmission security is provided, where possible, via a
predefined data block start sequence and end of block checksum word.
Communications software generates alarms if a transmission fails to pass
these security checks.

3.4 MANUAL CONTROL PROCESSING

The processors read analog commands from the manual controls. Analog
values are first adjusted to zero using a calibration value stored on disk. Next,
the processors employ a deadband that ignores small voltages when the
manual controls are near zero, resulting in a repeatable command of zero. A
guard band at the high end of the voltage range prevents the manual
commands from exceeding 100%. The voltage from the manual controls is
then converted to a proportional force or moment command. Hard-over
voltage checks are included in this processing. If an input is at zero or the
circuit supply voltage, an alarm report is generated and the voltage commands
are ignored for the associated control axis.

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CHAPTER 3: THEORY OF OPERATION

3.5 POSITION SENSOR BLENDING

The ASK computes a single vessel position measurement based on the
position data from all non-alarmed position reference sensors. It incorporates
instantaneous noise levels and offset biases.
1. If this cycle's datum passes the Noise Rejection Logic, the variance and
standard deviation figure is updated. Variance is calculated as the result
of a low-pass filter operating on the square of the difference between the
datum and its average value as computed via an additional low-pass filter.
Standard deviation is the instantaneous square root of the running variance
figure. This standard deviation represents the average sensor noise over
the last couple of minutes.
2. If the sensor is turned off, alarm flags are zeroed along with all
intermediate parameters.
3. If the sensor has just been turned on and all other sensors are inactive, it
becomes the Origin Reference Sensor. The data rejection window,
position state estimates and all intermediate values such as filter past
values will be initialized.
4. A bias is calculated between each sensor and the Origin Reference Sensor
by differencing outputs of low-pass filters associated with each sensor
axis.
5. The blended measurement is a weighted average using the inverse of
standard deviation (noise) figure for each measurement as its weight.

3.6 LOW-PASS WAVE FILTER

The purpose of this filter is to remove high frequency position variations
caused by wave motion. This module executes third-order filters on both the
blended position and the heading estimates, yielding filtered results. Digital
difference equations are employed to effect a low-pass filter. Characteristics
of the low-pass filter are established by the gain compute module, which
establishes the frequency as a linear function of selected control axis
bandwidth.

3.7 NOTCH FILTER

In selected applications, a notch filter may be applied to the Proportional and
Derivative terms of the Controller. This filter prevents the ASK from driving
the vessel at its natural roll frequency. The frequency of the filter is set during
sea trials by a Nautronix analyst, or, may be set automatically to the estimated
natural roll frequency of the vessel, as determined by roll data from the
vertical reference sensors.

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 CHAPTER 3: THEORY OF OPERATION

3.8 KALMAN FILTER

This filter consists of two components, a measurement update and a model.

3.8.1 Measurement Update

This function of the Kalman filter incorporates new position measurements
into the estimated vessel position. A simple position and rate gain are
required for each axis.
For each axis the measurement update step is exercised if the axis of interest is
under automatic control and if a blended measurement is available.

The actual estimate update progression is:

residual = filtered_data - past_position_estimate

new_position_estimate = past_position_estimate + (pos_kalman_gain *

residual)

new_rate_estimate = old_rate_estimate + (rate_kalman_gain *

residual)

For the position states Surge and Sway, the new_rate_estimate calculation
requires a coordinate transformation to body axes for the residual. Position
estimates (new_position_estimate) are in North-East axes.

3.8.2 Model Propagation

The vessel model incorporated with the Kalman filter accounts for expected
vessel acceleration from the commanded thrust. Acceleration is determined
by the Proportional and Derivative terms of the Controller divided by the
vessel’s mass. The acceleration is propagated and incorporated in the velocity
estimate, which is in turn propagated and incorporated in the vessel position
estimate.
This imbedded model greatly improves position determination in the presence
of data and provides a reliable estimate during data loss (DEAD
RECKONING).

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CHAPTER 3: THEORY OF OPERATION

3.9 SETPOINT SELECT

This routine generates setpoints when automatic control of position is
engaged. There are two concepts involved: goal setpoint and instantaneous
setpoint.
The goal setpoint is defined as the ultimate position goal for the ship and is
the value entered by the operator when he executes a setpoint prompt
sequence.
The instantaneous setpoint is generated on a cycle-by-cycle basis by the
setpoint routine and is the point at which the control system is attempting to
hold the ship at any given time. When the ship is relocated from point A to
point B, calculations within the setpoint routine gradually move the
instantaneous setpoint from A to B.
The routine actually yields three control setpoints for each control axis: one
for position, one for velocity and one for acceleration. The algorithm ramps
the velocity of the instantaneous setpoint change from zero up to the desired
velocity. It is then held constant as long as deceleration is not required.
Look-ahead logic determines when the setpoint velocity needs to be ramped
back down to zero so that the vessel decelerates appropriately to stop at point
B.

3.10 DEAD RECKONING

The system is capable of continued operation during a temporary loss of all
position sensor or gyrocompass information. This dead reckoning function
estimates the vessel’s present position and speed based on past positions, past
rates, any available wind sensor input, and the Kalman vessel model.
If the ASK enters DEAD RECKONING mode, the following alarm will
appear on the OVERVIEW PAGE:

DEAD RECKONING

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4. SYSTEM START AND SHUT DOWN
This chapter describes how to start and shut down the ASK hardware and
software.

4.1 SYSTEM START

Apply power to the ASK components in this order:

1. Uninterruptible Power Supplies

2. DGPS equipment

3. Gyrocompasses

4. Motion Reference Units

5. Current Sensor

6. Electric Riser Angle Sensors

7. Signal Processor Units (Wind Sensors and Vertical Reference Unit receive
power from associated SPU)

8. Acoustic Position Reference System Processors and Display Control Units

9. Operator Consoles

Once the operator powers up the Operator Consoles, the ASK software will
automatically begin to run, generating display screens and enabling the
operator to select the Master console. Refer to Chapter 5 for guidelines on
this selection.

The operator should allow a sufficient time for the sensor measurements to
stabilize before beginning automatic control of the vessel via the ASK.

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CHAPTER 4: SYSTEM START AND SHUT DOWN

4.2 SHUTTING DOWN SOFTWARE

Shutting down an ASK console requires a password. Unauthorized personnel
should not shut down the system.
Performing the shut down process at any ASK console affects only that
console. To shut down the entire ASK system, the operator would need to
shut down each console individually.

To carry out the shutdown process:

1. Select the <MORE> screen button on the Toolbar. (On the TCS console,
there is no <MORE> screen button – proceed to Step 3).

2. A second row of Toolbar screen buttons will appear.

3. Select the <SHUT DOWN> screen button.

4. The following dialog box will appear:

5. Select the central rectangle.

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 CHAPTER 4: SYSTEM START AND SHUT DOWN

6. Use the Data Entry Keypad to enter the password.

7. Press <ENTER> on the Data Entry Keypad.

8. The following dialog box will appear:

9. Select <SHUTDOWN ASK SOFTWARE> to close the ASK software without

powering off the console computer.

10. Select <RESTART COMPUTER> to cycle the computer power off and on and
to reboot Windows NT.

11. Select the <OK> screen button.

4.3 HARDWARE SHUT DOWN

To shut down the system completely, remove power from the ASK
components in this order:

1. Operator Consoles

2. Acoustic Position Reference System Processors and Display Control Units

3. Signal Processor Units (Wind Sensors and Vertical Reference Unit receive
power from associated SPU)

4. Electric Riser Angle Sensors

5. Current Sensor

6. Motion Reference Units

7. Gyrocompasses

8. DGPS equipment

9. Uninterruptible Power Supplies

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5. MASTER/BACKUP CONSOLES
This chapter describes the redundant architecture of the ASK. It also provides
instructions on selecting the Master console, which controls the ASK system,
and for transferring the Master status from one console to another.

5.1 ASK5003 CONFIGURATION

The ASK5003 is composed of an ASK5002 dual console and an ASK5001
single console. The software module executed on each console is the same,
with the console identification of each station detected at power-up. The
ASK5002 console on the left configures itself to be System 1, the ASK5002
console on the right configures itself to be System 2, and the separate
ASK5001 configures itself to be System 3.

5.2 MASTER/BACKUPS
Each ASK console can either be a Master or a Backup. The Master is
responsible for talking to the external devices such as Signal Processor Units
or Position Reference Sensors. The Backups process all sensor and operator
inputs while continuously computing their own commands to external devices
(i.e., thrusters). However, only the Master’s commands are actually sent out
through the SPUs. Therefore, the Backups are always ready to assume control.
The DP operator must manually determine which console will act as the
Master when the system is initially brought online. This selection is made by
pressing the <ASK ONLINE> key on the desired console.

AUXILIARY

ASK INIT
ONLINE BACK-UP

Figure 5-1. Auxiliary Switch Group

The ASK5002 consoles have an Auto Backup feature. When one of the
consoles in the ASK5002 is the Master, the other ASK5002 system will
automatically assume the Master status if it detects that the Master console is
not healthy. When the ASK5001 serves as the Master console, the Auto
Backup feature is not in effect.
The Header Line, generated on each ASK console’s display screen, shows
the current status of that console. Refer to Section 7.1 for details on the
Header Line.

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CHAPTER 5: M ASTER/BACKUP CONSOLES

5.3 TRANSFERRING CONTROL BETWEEN CONSOLES

You may transfer the Master status, and thus the control of the ASK, from one
console to another. To do so:

1. Verify the console the operator wishes to become the Master is functional.

2. Press the <ASK ONLINE> key, found in the Auxiliary Switch Group, on
the console that will become the Master.

AUXILIARY

ASK INIT
ONLINE BACK-UP

Figure 5-2. Auxiliary Switch Group

5.4 ASK CONSOLE SYNCHRONIZATION

The ASK5003 provides for bumpless transfer of control from the Master to
either Backup console. Commands initiated at the Master that affect system
control are passed to the Backups. Commands initiated at all consoles that do
not affect system control (such as for data display options) are allowed to take
effect at the local console but are not propagated to other systems. Commands
initiated at Backup consoles that affect system control are disallowed, and
error messages will appear at the respective displays to make the operator
aware that the console does not control the ASK5003.
All three ASK consoles operate in parallel, processing the same data inputs
and generating comparable data. There is one exception to this condition, and
that is the Backup consoles track the online controller integral variables and
TAL assignments to allow agreement between the systems.

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 CHAPTER 5: M ASTER/BACKUP CONSOLES

5.4.1 Initializing Backup Consoles

If the <INIT BACK-UP> key, found in the Auxiliary Switch Group, is pressed
on the Master console, several large data packets are sent to the Backup
consoles. These packets ensure that the Backup consoles completely agree
with the Master on everything except for certain operator-selectable display
options. Such options do not affect vessel control.

AUXILIARY

ASK INIT
ONLINE BACK-UP

Figure 5-3. Auxiliary Switch Group

On every control cycle, the Master also sends certain vessel control-related
data to update the Backup consoles. These transmissions allow a bumpless
transfer of control, if necessary. Pressing the <INIT BACK-UP> key, allows the
Backup console to independently calculate various control factors so that a
corrupted Master does not cause the Backup to become corrupted.

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6. USER INTERFACE
You can interface with the ASK through two separate mechanisms:

1. Physical controls, such as push-button keys, joysticks, and knobs.

2. The Graphical User Interface shown on the display monitor and accessed
through the cursor control.

You can only enter data, change operational parameters, select thrusters,
sensors, and operational modes, when using the Master console. Certain non-
critical functions, such as display options, can be initiated at Backup consoles.

6.1 CONTROL PANEL

The control panel allows you to command and monitor the ASK or TCS
system. It can be split into 3 sections:

· Main Control Panel

· Right Control Panel

· Left Control Panel

SENSOR SELECT MODE SELECT

POWER
LAMP
DGPS
1
RS925
1
RS925
2
FLEX
JOINT
HOLD
HEADING
HOLD
POSITION
WIND
COMP
LIMIT
JS
DESENS
INTENSITY
SUSTAIN

MANUAL MANUAL
DGPS FLEXJOINT
YELLOW RED
2 ANGLE
ALARM ALARM

DGPS WIND
3 1
THRUSTER SELECT
REF
WIND
SENSOR
2 THR 1 THR 2 THR 3 THR 4 THR 5 THR 6
SELECT
AUXILIARY
POS REF WIND
ASK INIT CALIB 3 MANUAL AUTO OFF
ONLINE BACKUPS

FUNCTION SELECT DATA ENTRY

HEADING POSITION CONTROL LOGGING SWITCH

7 8 9 YES POSITION
STPT STPT GAIN INHIBIT TEST
CONTROL

ALARM
FLEXJOINT CLEAR ALARM
JS BIAS
PAGE
ACK 4 5 6 NO
STPT INHIBIT

1 2 3 CLEAR
DISPLAY SELECT

POSITION 0 - . ENTER
SUMMARY SENSOR CHART THRUST POWER
REF

SIGNAL PRINT
HEADING SETUP PLOT ALARM
I/O DISPLAY
CONTROL
CURSOR
CONTROL

Figure 6-1. ASK Main Control Panel

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CHAPTER 6: USER INTERFACE

SENSOR SELECT MODE SELECT

LAMP
AUTO
PILOT
WIND
COMP
JS
DESENS
INTENSITY

HOLD
COURSE

WIND
1
THRUSTER SELECT

WIND
2 THR 1 THR 2 THR 3 THR 4 THR 5 THR 6
AUXILIARY
WIND
TCS 3 AUTO OFF
ONLINE

FUNCTION SELECT DATA ENTRY

HEADING CONTROL SWITCH 7 8 9 YES POSITION

STPT GAIN TEST CONTROL

CLEAR ALARM
ALARM 4 5 6 NO
JS BIAS PAGE
ACK
INHIBIT

1 2 3 CLEAR
DISPLAY SELECT

0 - . ENTER
SETUP SENSOR THRUST POWER

SIGNAL PRINT
HEADING ALARM
I/O DISPLAY
CONTROL
CURSOR
CONTROL

Figure 6-2. TCS Main Control Panel

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 CHAPTER 6: USER INTERFACE

6.1.1 Main Control Panel

This panel consists of six switch groups described in Sections 6.1.1.1 through
6.1.1.6.

6.1.1.1 Sensor Select

These keys place sensors online and take them back offline. Every sensor
may not have its own switch. The SENSOR PAGES typically control devices
that do not have independent control panel sensor select keys.

SENSOR SELECT SENSOR SELECT

DGPS RS925 RS925 FLEX

1 1 2 JOINT

DGPS
2

DGPS WIND WIND

3 1 1

REF
WIND WIND
SENSOR
2 2
SELECT

POS REF WIND WIND

CALIB 3 3

ASK TCS
6.1.1.2 Function Select
These keys allow the operator to enter a variety of data, acknowledge alarms,
and perform certain other tasks.

FUNCTION SELECT FUNCTION SELECT

HEADING POSITION CONTROL LOGGING SWITCH HEADING CONTROL SWITCH

STPT STPT GAIN INHIBIT TEST STPT GAIN TEST

ALARM ALARM
FLEXJOINT CLEAR ALARM CLEAR ALARM
PAGE PAGE
STPT JS BIAS ACK JS BIAS ACK
INHIBIT INHIBIT

ASK TCS

6.1.1.3 Display Select

For the most part, these switches call up display pages. The <PRINT DISPLAY>
key captures the current display screen electronically and sends it to the
network color printer, as described in Section 7.6.

DISPLAY SELECT DISPLAY SELECT

POSITION SETUP SENSOR THRUST POWER

SUMMARY SENSOR CHART THRUST POWER
REF

SIGNAL PRINT SIGNAL PRINT

SETUP PLOT ALARM ALARM
I/O DISPLAY I/O DISPLAY

ASK TCS

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CHAPTER 6: USER INTERFACE

6.1.1.4 Mode Select

Switches in this group place the ASK or TCS in one or more of the available
control modes.

MODE SELECT MODE SELECT

POWER
HOLD HOLD WIND JS AUTO WIND JS
LIMIT
HEADING POSITION COMP DESENS PILOT COMP DESENS
SUSTAIN

MANUAL MANUAL
FLEXJOINT HOLD
YELLOW RED
ANGLE COURSE
ALARM ALARM

ASK TCS

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 CHAPTER 6: USER INTERFACE

6.1.1.5 Thruster Select

These keys can place the vessel’s thrusters under the automatic command of
the ASK or TCS, under ASK manual control, or take them offline in relation
to the dynamic positioning system.

THRUSTER SELECT THRUSTER SELECT

THR 1 THR 2 THR 3 THR 4 THR 5 THR 6 THR 1 THR 2 THR 3 THR 4 THR 5 THR 6

MANUAL AUTO OFF AUTO OFF

ASK TCS

6.1.1.6 Data Entry Keypad

Use the Data Entry Keypad on the ASK or TCS consoles to enter numerical
data, make operational selections, and acknowledge messages.

When entering numeric data, the operator must press the <ENTER> key to
complete the process.

The operator does not need to press <ENTER> after pressing <YES>, <NO>, or
<CLEAR>.

DATA ENTRY

7 8 9 YES

4 5 6 NO

1 2 3 CLEAR

0 - . ENTER

Figure 6-3. Console Data Entry Keypad

See Section 6.2.2.1 for instructions on entering data through the Graphic User
Interface.

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CHAPTER 6: USER INTERFACE

6.1.1.7 Testing the Keyboard Switches

The <SWITCH TEST> key, found in the Function Select Switch Group,
simultaneously activates all console switch lamps to test them for operation.

FUNCTION SELECT FUNCTION SELECT

HEADING POSITION CONTROL LOGGING SWITCH HEADING CONTROL SWITCH

STPT STPT GAIN INHIBIT TEST STPT GAIN TEST

ALARM ALARM
FLEXJOINT CLEAR ALARM CLEAR ALARM
PAGE PAGE
STPT JS BIAS ACK JS BIAS ACK
INHIBIT INHIBIT

ASK TCS

Figure 6-4. Switch Test Key Switches

Pressing <SWITCH TEST> turns on all of the switch lamps, with the exception
of the <SWITCH TEST> lamp itself, which will flash.
The speaker will emit a continuous low-pitched tone, signifying that the
system is in a special test mode.
While in this mode, pressing a switch will have no effect on the operation of
the ASK or TCS, but will simply cycle that switch lamp between on, flashing,
and off.

Pressing <SWITCH TEST> again causes the ASK or TCS to resume the normal
operating mode.

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 CHAPTER 6: USER INTERFACE

6.1.2 Right Control Panel

When the ASK or TCS is in MANUAL CONTROL mode for position,
pushing the <POSITION CONTROL JOYSTICK> causes a corresponding
movement of the vessel.

LAMP
INTENSITY

POSITION
CONTROL

CURSOR
CONTROL

Figure 6-5. Right Section of ASK or TCS Control Panel

6.1.2.1 Cursor Control

Section 6.2.1 describes the <CURSOR CONTROL> tools.

6.1.2.2 Lamp Intensity

This knob determines the intensity of the console lamps.

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CHAPTER 6: USER INTERFACE

6.1.3 Left Section of Control Panel

The <HEADING CONTROL KNOB> manually controls vessel heading. When
the ASK or TCS is in MANUAL CONTROL mode for heading, rotating the
knob will cause a corresponding adjustment of the vessel’s bearing.

AUXILIARY AUXILIARY

ASK INIT TCS

ONLINE BACKUPS ONLINE

HEADING HEADING
CONTROL CONTROL

ASK TCS
Figure 6-6. Left Section of ASK & TCS Control Panels

6.1.3.1 Auxiliary Switch Group

Refer to Chapter 5 for instructions on using these keys.

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 CHAPTER 6: USER INTERFACE

6.2 GRAPHICAL USER INTERFACE

The trackball and mouse keys allow the operator to issue commands to the
ASK or TCS and to change settings and values in the software by moving a
white arrow-shaped cursor around the display screen.
The operator can also move the cursor with the <ARROW> keys on the Data
Entry Keypad.
Changes take effect immediately - the ASK or TCS do not wait until the
operator exits a display page before accepting the data. Changes will be
stored in the Database File on the system hard disk and transmitted to Backup
ASK console if applicable.

Left Mouse Key Right Mouse Key

Trackball
Trackball

CURSOR
CONTROL

Figure 6-7. Trackball and Mouse Keys

Figure 6-8. Cursor Positioned over Numeric Data Entry Field

6.2.1 Selecting: Left-clicking

The <LEFT MOUSE KEY> acts like the left button on a standard personal
computer mouse. If the operator is unfamiliar with such devices, it may be
helpful to think of the <LEFT MOUSE KEY> as an <ENTER> or <SELECT> key.

Pressing the <LEFT MOUSE KEY> once while the cursor is located on top of a
field is referred to as “selecting” or “left-clicking.”

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CHAPTER 6: USER INTERFACE

6.2.2 Interfacing with Display Screens

Three types of fields, or screen buttons, allow the operator to enter data or
change system settings:

· Data Entry
· Option
· Command

6.2.2.1 Data Entry Fields

These fields allow the operator to enter numeric data.

If the operator selects one of these fields, the Pop-Up Keypad will appear.
The operator may use either this pop-up or the Data Entry Keypad on the
console to enter a new setting. Refer to Section 6.1.1.6 for more information
on the console Data Entry Keypad.
The Pop-Up Keypad shows the current value for the selected parameter, a
minimum value, and a maximum value. To change the current setting, use the
cursor control to select the keys on the Pop-Up Keypad, then select the OK
screen button.

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6.2.2.2 Option Fields

These fields permit the operator to select from a limited number of choices,
such as Metric versus Imperial versus Percentage of Water Depth. Selecting
an option field will change the text on the button to the next available option.

6.2.2.3 Command Fields

These fields serve two functions:

Selecting some command fields cycles the status of a given sensor, thruster, or
function between online (green) and offline (gray).

Selecting the second type of command field orders the ASK software to
cancel or accept a changed setting.

6.2.3 Fields Available for Change

Fields that are currently unavailable to be changed – typically because you are
viewing the given display page on a Backup console – will appear to be
recessed.

The top picture shows a field generated on the Master console, which can be
changed. The lower picture shows a field generated on a Backup console,
which cannot be changed.

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6.3 SOUNDS
The ASK or TCS consoles generate four distinct sounds through the internal
speakers:

1. A continuous high-low tone indicates unacknowledged alarms. Refer to

Chapter 8 for more information on ASK and TCS alarms.

2. A single “beep” indicates an error message. The text of any error message
will be shown on the Status/Prompt Line. Refer to Section 7.4 for
details on this portion of the ASK or TCS Display Screen.

3. A continuous low “foghorn” tone indicates that the <SWITCH TEST>

function has been selected. Refer to Section 6.1.1.7 for more details on
this function.

4. A repetitive “blip” tone indicates an unacknowledged CONSEQUENCE

ANALYSIS alarm. Refer to Chapter 24 for more information on
CONSEQUENCE ANALYSIS.

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7. DISPLAY SCREENS - LAYOUT AND PRINTING
Every ASK or TCS display screen consists of the following sub-sections:

· Header Line

· Toolbar

· Detail Window

· Overview Page (This is always shown on the Master console and may be
replaced by a second Detailed Display Page on Backup consoles. Refer to
Section 7.2.3 for details.)

· Status/Prompt Line

· Alarm Summary

Header Line
Detail Window

Overview
Page

Toolbar

Status/Prompt Alarm Summary

Line

Figure 7-1. ASK Display Layout

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Header Line

Detail Window

Overview
Page

Toolbar

Status/Prompt Alarm Summary

Line

Figure 7-2. TCS Display Layout

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7.1 HEADER LINE

The table below explains the various data fields on this line:

Figure 7-3. Header Line

Background Color Blue: Console is acting as the Master.

Yellow: Console is acting as a Backup.
Red: ASK is not in control or the Control Processor is not
communicating with the Graphic User Interface.

Screen Indicator: On Backup consoles, this field indicates which half of the
monitor (left or right) will show the next display page you
select. See Section 7.2.3 for details.

The 5002 console on the left configures itself to be System 1,

System Identification the 5002 console on the right configures itself to be System 2,
and the 5001 configures itself to be System 3. If the console is
actively in control of the system, the word “Master” will appear
next to the system number. “Man Bkup” and “Aut Bkup”
identify consoles that are passively receiving sensor input.

Control
This field identifies the Master console. If the system does not
know this information, this field will read “UNKN.”

Heartbeat This field will flash between black and green every cycle
(approximately every .5 seconds) to show that the program is
active.

Date/Time

You cannot change these values.

Heading This field shows “JSTK” during manual heading control and
“AUTO” when operating in HOLD HEADING mode. The TCS
also displays “HANDPILOT” when in HANDPILOT mode and
“AUTOPILOT” when in AUTOPILOT mode.

Position This field shows “JSTK” during manual positioning, “AUTO”

when in HOLD POSITION mode, or “HFJA” for HOLD
FLEXJOINT ANGLE mode. This field does not appear on the
TCS Header Line.

Status This field shows the status of the other ASK consoles.

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7.2 TOOLBAR
In the illustration below, the Toolbar has been split to make it easier to view.
The graphic buttons on the Toolbar perform a variety of functions. Most of
them call up the Detailed Display Pages described in Section 7.2.1. The
functions of the other Toolbar buttons are described below:
The PRINT DISPLAY button sends a copy of the current Display Screen to the
color printer.
The ALARM ACK button acknowledges all current, unacknowledged alarms.
Refer to Section 8.6 for details.
Selecting the <MORE> button calls up a second row of buttons, which are
shown at the top of the illustration below. These buttons will appear for a
short period of time and then disappear.
The <SYSTEM INFO> button calls up a text box which identifies the ASK
software version.
Selecting the <SHUT DOWN> button begins the shutdown process. You must
know the system password in order to shutdown the ASK. Refer to Chapter 4
for details.

TCS Toolbar

ASK Toolbar (Master)

Figure 7-4. Toolbars

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7.2.1 Detail Window

On the Master console, you may select any of the following Display Pages to
be shown in the Detail Window on the left half of the screen. The
OVERVIEW PAGE will always be shown on the right side of the Master
display screen.
On the Backup consoles, you can select any of these screens to be shown in
the Detail Window, as well as a second Detailed Display Page on the right
half of the screen. Refer to Section 7.2.3 for instructions.

· Summary – See Chapter 20

· Position Reference – See Chapter 14

· Chart – See Chapter 20

· Thrust – See Chapter 15

· Signal I/O – See Chapter 22

· Setup – See Chapter 10

· Sensor – See Chapters 12 and 13

· Power – See Chapter 17

· Alarm – See Chapter 8

· Monitor Data/Plot Pages – See Chapter 23

· Holding Plot – See Chapter 23

· Mode/Function – Largely duplicates the Mode Select and Function

Select Switch Groups on the console.

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7.2.2 Selecting the Page to be shown in the Detail Window

The Toolbar at the bottom of the ASK display screen, as well as the Display
Select Switch Group on the keyboard, allow the operator to open the
available Detailed Display Pages.

DISPLAY SELECT DISPLAY SELECT

POSITION SETUP SENSOR THRUST POWER

SUMMARY SENSOR CHART THRUST POWER
REF

SIGNAL PRINT SIGNAL PRINT

SETUP PLOT ALARM ALARM
I/O DISPLAY I/O DISPLAY

ASK TCS

Figure 7-5. ASK & TCS Display Select Switch Groups

7.2.3 Choosing Displays on ASK Backup Console

If the operator is viewing either ASK Backup console, they may call up two
detailed display pages instead of one detail page and the OVERVIEW PAGE.

The operator cannot show two detailed pages on the Master console. The
right side of the Master console will always show the OVERVIEW PAGE.
Refer to Chapter 5 for information on selecting the Master console.
To view a second Detailed Display Page on an ASK Backup console:

1. Select the <MORE> button on the Toolbar.

2. Select the <LEFT/RIGHT> screen button on the Toolbar until the letter “L”
appears at the extreme left end of the Header Line.

3. Press the desired <DISPLAY SELECT> key on the console or select the
appropriate Toolbar screen button.

4. Select the <LEFT/RIGHT> button again, so that the letter “R” appears at the
extreme left end of the Header Line.

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5. Press the desired <DISPLAY SELECT> key on the console or select the
appropriate Toolbar screen button.

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7.3 OVERVIEW PAGE

The ASK OVERVIEW PAGE can be divided into four sub-sections:

· Compass

· Vessel Position (Tabular)

· Deviation Display

· Propulsion Summary

Compass

Deviation
Display

Vessel
Position
(Tabular)

Propulsion
Summary

Figure 7-6. ASK Overview Page

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The TCS OVERVIEW PAGE is constantly visible on the right side of the
TCS display screen. It provides a Compass Window and a graphic Thruster
Status Window.

Compass

Figure 7-7. TCS Overview Page

7.3.1 Compass
The Compass displays the vessel heading in degrees relative to True North.
The solid yellow triangular marker shows the actual vessel heading.
The solid light blue triangular marker shows the Goal Heading Setpoint, the
ultimate heading “target” for the ASK or TCS.

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The open light blue triangle shows the Instantaneous Heading Setpoint, where the
ASK or TCS wants the vessel to be at any given moment while trying to reach the
Goal Heading Setpoint.
Numeric displays on the right show the Goal Heading Setpoint (Goal), the
measured heading of the vessel (Vessel, taken from the gyrocompass average),
and the difference between these two values (Error).

Instantaneous Numeric Heading

Goal Heading Setpoint
Heading Setpoint Display

Actual Vessel Heading

If the ASK or TCS is in HOLD HEADING mode, and you select the
Compass, the HEADING SETPOINT MANEUVER dialog box will appear.
See Section 16.9.3 for details on this automatic maneuver.

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7.3.2 Deviation Display

This window displays the position of the vessel in the grid coordinate system,
and is viewable only on the ASK console.
The size of the vessel image remains constant, although the display scale will
change if needed.
When the ASK is in HOLD FLEXJOINT mode, the background color will
flash yellow if the “Yellow Alert Flexjoint Angle” is exceeded. The
background will flash red if the “Red Alert Flexjoint Angle” is exceeded.
Distance
Rates of Change and
Direction
to Goal
Position
Setpoint

Yellow and
Red Alarm
Limit

Scale of
tick marks
and center
of Deviation
Display

Figure 7-8. ASK Deviation Display

7.3.2.1 Controlling the ASK through the Deviation Display Window

If the ASK is in HOLD POSITION mode, and you select the Deviation
Display, the POSITION SETPOINT MANEUVER dialog box will appear.
Refer to Section 16.9.2 for details on this automatic maneuver.

If the ASK is in HOLD FLEXJOINT mode, and you select the Deviation
Display, the FLEXJOINT SETPOINT MANEUVER dialog box will appear.
Refer to Section 16.6.2 for details on this automatic maneuver.

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7.3.2.2 Other Deviation Display Symbols

The following symbols are either not shown or are too small to be easily
identified on the previous illustration.

W 25kts This symbol represents the measured

speed
i d and direction. The length of the arrow is
proportional to the velocity.

This symbol represents the environmental speed

and direction, determined by current sensor(S),
E 0.4kts calculation (C), or the user's estimate (E),
depending on the selection on the sensor page
The length of the arrow is proportional to
velocity. The ASK will not calculate an
th
environment estimate unless both
HOLD POSITION and ACTIVE WIND
COMPENSATION modes are active.

This symbol represents the Goal

Setpoint.
P iti

This symbol represents the origin point for

coordinate reference grid. It will not appear as
th
a distinct symbol if you center the Deviation Display
on the origin, since it will be supplanted by the
intersection of the grid.

This symbol indicates the vessel reference

i t

Figure 7-9. Symbols found on the Deviation Display

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7.3.3 Vessel Position (Tabular)

This area displays the current vessel position estimate, both in North/South/
East/West and Fore/Aft/Port/Starboard terms.
The measurements are made in the current “Display Units,” which can be
changed on SETUP PAGE 1. Refer to Section 10.1.13 for instructions on
setting the “Display Units.”
If the ASK is not in HOLD POSITION or HOLD FLEXJOINT mode,
some of these fields will be blank, as there can be no Goal, Setpoint, or Error
readings unless the ASK is in automatic control of position.

Goal: Goal Position Setpoint, the ultimate “target” for the vessel.

Setpoint: Instantaneous Position Setpoint, or the position the ASK wants the
vessel to meet on that control cycle.

Vessel: The estimated vessel position as determined by the ASK.

Error: The difference between the “Setpoint” reading and the “Vessel”
reading.

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7.3.4 Propulsion Summary

This portion of the ASK OVERVIEW PAGE displays the measured thrust level
currently being generated by the individual thrusters.

The feedback from each thruster is displayed in a unique rectangular box. When
the box shows no yellow fill color, that thruster is not loaded. The box will fill
with yellow color, moving from bottom to top, as the measured thrust force
increases.

A horizontal red line across the top of each individual thruster box represents the
THRUST LEVEL alarm limit, set by an entry on SETUP PAGE 2. Refer to Section
10.2.6 for more information on setting this alarm limit.

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7.3.5 Thruster Status Window

This window consists of four elements, which are viewed on the TCS:

Thruster
Icon

Text Box

TAL Circle

Wind
Indicator

Wind Indicator

Figure 7-10. TCS Thruster Status Window

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7.3.5.1 Text Boxes

The page generates a simple text box and graphic icon for each thruster. Each
text box shows one or more of the following abbreviations:

OFF – Thruster is offline to the TCS.

AUTO – Thruster is in Automatic Control mode.

NRDY – Thruster is not ready to respond.

IDLE – Thruster is not generating any force.

BIAS – Thrust commands include thrust biasing.

TCMP – Measured thrust level does not agree with commanded level.

ACMP – Measured azimuth does not agree with commanded azimuth.

LEVL – Measured thrust exceeds THRUST ALARM level, entered on the TCS
SETUP PAGE.

Thrust CMD Thrust Feedback

In % In %
(Blue) (Yellow)

7.3.5.2 Wind Indicator

This textual indicator shows the relative wind speed and direction.

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7.3.5.3 Thruster Icons

These icons show the direction and level of thrust. Selecting an icon also
allows you to choose the control mode (see Chapter 18).
They can be divided into three sections:

2
1. This symbol indicates the measured direction of thrust – that is, the
direction that thruster is pushing the vessel. It will fill with yellow color
as the measured level of thrust increases.

2. This symbol indicates the instantaneous commanded thrust direction. It

will fill with light blue color as the commanded force increases.

3. Brown areas represent the anti-spoil zones. The TCS will automatically
attempt to keep the azimuthing thrusters from directing thrust in these
areas, so as to protect hydrophones and prevent wash from entering other
thruster inlets.

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7.3.5.4 Thrust Allocation Logic (TAL) Circle

The TAL Forces circle, found in the center of the display page, indicates the
net commanded and measured force/azimuth values for all online thrusters.

1 2

Figure 7-11. TAL Circle

1. This arrow-topped rectangle indicates the commanded direction for

positional thrust – that is, the direction that the TAL has ordered the
combined thrusters to push the vessel in order to satisfy surge and
sway commands. The rectangular section will fill with blue color as
the commanded level of thrust increases, becoming solid blue if the
thruster reaches 100% of maximum.
2. This arrow-topped rectangle indicates the measured (achieved,
feedback) direction for positional thrust (surge and sway). The
rectangular section will fill with yellow color as the measured level of
thrust increases.
3. The light blue band along the inside of the circle represents
commanded thrust designed to satisfy the yaw requirements. The band
will grow in size as the commanded level of thrust for yaw increases.
4. The yellow band along the inside of the circle represents measured
(achieved, feedback) thrust designed to satisfy the yaw requirements.
The band will grow in size as the commanded level of thrust for yaw
increases.

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7.4 STATUS/PROMPT LINE

The following sections explain the messages that will be shown on this line.

7.4.1 Error Messages

If you have entered data improperly or attempted to issue a command that the
ASK or TCS system cannot comply with, an error message will appear. The
ASK or TCS speakers will generate a single high “beep” to notify you of the
error message. If more information is still required, you will be prompted to
enter the correct data.

7.4.2 Operator Prompts

If the operator select a function requiring more input, a message will be
displayed.

7.4.3 Status Messages

If no operator response is required, but status is available from a previously
executed operation, a status message will be displayed.

7.4.4 Help Messages

If none of the above is applicable, a help message may appear.

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7.5 ALARM SUMMARY LINES

These sections of the standard ASK or TCS display page contains nine
“boxes.” Seven of these boxes represent different categories of alarm.

· Sensors

· Control

· Thrusters

· Power

· Hardware

· Master/Backup Compare

· Consequence Analysis

· Inhibit

· Disabled

The background color of the seven alarm boxes represents the status of the
detected alarm(s). Refer to Section 8.4 for an explanation of alarm color
codes.

The INHB box, if illuminated, indicates that the ALARM PAGE has been
inhibited from automatically appearing when a new alarm is detected. Refer
to Section 8.3.1 for details.

The DISA box indicates that an alarm has been disabled. Refer to Section 8.7
for details.

The alarm summary line directly below the seven alarm summary boxes
shows the most recent active alarm.

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7.6 PRINTING THE ASK DISPLAY

To print the current ASK display screen, use either the <PRINT DISPLAY> key
on the ASK console or the <PRINT DISPLAY> screen button on the Toolbar.
DISPLAY SELECT

POSITION
SUMMARY SENSOR CHART THRUST POWER
REF

PRINT DISPLAY
SIGNAL PRINT
SETUP PLOT
I/O DISPLAY
ALARM Key and Screen
Button

Figure 7-12. How to Print the ASK Display

With either method, the current display screen will be electronically captured
and sent to one of the color system printers. You can then change display
pages without affecting the print job.

7.6.1 Printing the TCS Display

The Print Display option for the TCS functions exactly like the ASK Print
Display function. To print the current TCS display screen, use either the
<PRINT DISPLAY> key on the console or the <PRINT DISPLAY> screen button
on the Toolbar.
DISPLAY SELECT

SETUP SENSOR THRUST POWER PRINT DISPLAY

Key and Screen
Button
SIGNAL PRINT
ALARM
I/O DISPLAY

Figure 7-13. How to Print the TCS Display

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With either method, the current display screen will be electronically captured
and sent to one of the color system printers. The operator can then change
display pages without affecting the print job.

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8. ALARMS AND TROUBLESHOOTING

8.1 ALARM CONDITIONS

The ASK and TCS systems generate alarms for the following general
conditions:

· Sensor input failure or comparison error between multiple sensor inputs

(abbreviated as SENS on the Alarm Summary Line).

· Control performance not satisfactory (abbreviated as CTRL on the Alarm

Summary Line).

· Thruster commands exceeding alarm levels (abbreviated as THRS on the

Alarm Summary Line).

· Power manager limits or generator alarm levels exceed (abbreviated as

POWR on the Alarm Summary Line).

· Computer processor, SPU, or other hardware self-test failure (abbreviated

as HDWR on the Alarm Summary Line).

· Comparison error between Master and Backup console position estimates

(abbreviated as CMPR on the Alarm Summary Line).

· Consequence Analysis warnings (abbreviated as CONS on the Alarm

Summary Line).

Each of these categories, along with the INHB indicator (see Section 8.3.1)
and the DISA indicator (refer to Section 8.7), is tied to an indicator box on the
Alarm Summary Line.

Figure 8-1. Alarm Summary Line

8.2 ALARM NOTIFICATION

The ALARM PAGE will automatically appear, unless you have inhibited it
from doing so, on any console which detects a new unacknowledged alarm
condition. Refer to Section 8.3.1 for instructions on inhibiting the page from
appearing whenever the ASK or TCS detects a new alarm. The Master
console generates a continuous high-low alarm tone when it detects a new
alarm condition.

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8.3 ALARM PAGE

The ASK or TCS will normally call up the ALARM PAGE when it detects a
new alarm condition. To view the page on-demand, press the <ALARM> key
in the Display Select Switch Group or select the ALARM button on the
Toolbar.

DISPLAY SELECT

POSITION
SUMMARY SENSOR CHART THRUST POWER
REF

SIGNAL PRINT
SETUP PLOT ALARM
I/O DISPLAY

Calling Up the ASK Alarm Page

DISPLAY SELECT

SETUP SENSOR THRUST POWER

SIGNAL PRINT
ALARM
I/O DISPLAY

Calling Up the TCS Alarm Page

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 CHAPTER 8: ALARMS AND TROUBLESHOOTING

Figure 8-2. Alarm Page

8.3.1 Inhibiting the Alarm Page from Automatically Appearing

The <ALARM PAGE INHIBIT> key on the ASK or TCS console, and the ALARM
PAGE INHIBIT screen button on the Master console FUNCTION PAGES,
prevent the systems from automatically displaying the ALARM PAGE when a
new alarm occurs.

FUNCTION SELECT FUNCTION SELECT

HEADING POSITION CONTROL LOGGING SWITCH HEADING CONTROL SWITCH

STPT STPT GAIN INHIBIT TEST STPT GAIN TEST

ALARM ALARM
FLEXJOINT CLEAR ALARM CLEAR ALARM
PAGE PAGE
STPT JS BIAS ACK JS BIAS ACK
INHIBIT INHIBIT

ASK TCS

Figure 8-3. Alarm Page Inhibit Key Switches

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ASK TCS

Figure 8-4. Function Pages with Alarm Page Inhibit selected

When this function is selected, the console <ALARM PAGE INHIBIT> keys will
illuminate and the INHB box on the Alarm Summary Line will be
illuminated.

8.4 COLOR CODING OF ALARMS

The following subsection explains the color-coding scheme for alarm
messages.
This color-coding applies both to the messages listed on the ALARM PAGES
and to the Alarm Summary Lines.
On the Alarm Summary Line, the color of a given display box will be tied to
the most severe of the detected alarms for a given category. Thus, if the ASK
detects an unacknowledged thruster alarm, as well as an acknowledged alarm,
the THRS display box will flash red.

8.4.1 Flashing Red – Unacknowledged Alarms

Flashing red messages indicate an unacknowledged alarm condition. A
dashed red line separates such alarms from acknowledged, expired,
Consequence Analysis, and Disabled alarm messages.

8.4.2 Solid Red – Acknowledged Alarms

Solid red indicates an acknowledged alarm.

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8.4.3 Flashing Yellow - Expired Alarms

Alarm conditions that have occurred, but which have cleared before being
acknowledged, will be presented in yellow.

8.4.4 Green – Consequence Analysis Alarms

Consequence Analysis alarms always appear in green. The system clears
these alarms automatically if you select the Alarm Acknowledge function
(refer to Section 8.6) or if the condition that gave rise to the CA alarm no
longer pertains.
Refer to Chapter 24 for more information on the CA function.

8.5 SORTING ALARMS

Select the TIME button at the top of the ALARM PAGE to change the sorting
of alarms from Time to Group (Sensor, Control, Thruster, Power, Hardware,
Comparison, and Consequence Analysis).
Select the screen button again to sort the alarm list by Time.

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8.6 ACKNOWLEDGING ALARMS

The <ALARM ACK> key in the Function Select Switch Group will flash and
the console will generate a high-low tone if the system detects any
unacknowledged alarm condition.
There are three ways to acknowledge every unacknowledged alarm:

1. With the <ALARM ACK> switch in the Function Select Switch Group.

2. With the <ALARM ACK> screen button on the Toolbar.

3. With the <ACK> screen button at the top of the ALARM PAGE.

FUNCTION SELECT

TCS HEADING
STPT
CONTROL
GAIN
SWITCH
TEST

ALARM ACK KEY ALARM

CLEAR ALARM
JS BIAS PAGE
ACK
INHIBIT

FUNCTION SELECT

HEADING POSITION CONTROL LOGGING SWITCH

ASK STPT STPT GAIN INHIBIT TEST

ALARM ACK KEY FLEXJOINT CLEAR

ALARM
ALARM
PAGE
STPT JS BIAS ACK
INHIBIT

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Figure 8-5. How to Acknowledge Alarms

After the operator acknowledges alarms, the system will:

· Silence the continuous high-low alarm tone.

· Convert flashing red alarms (unacknowledged) to solid red

(acknowledged) alarms.

· Eliminate flashing yellow (expired) and green (Consequence Analysis)

alarms.

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8.7 DISABLING ALARMS

Disabling an alarm removes the specific alarm detection code from the active
list. It does not merely clear a specific alarm occurrence, but prevents the
ASK or TCS from detecting that alarm condition as long as the code is
disabled.
Disabling should be used with caution during normal operations. This
function may be useful for eliminating automatic ALARM PAGE switching
and alarm notification caused by “nuisance” alarms which constantly clear
and recur. Taking the corresponding hardware offline rather than disabling
the alarm code itself may clear most sensor and thruster alarms.
Disabled alarm messages that are based on a still-active alarm condition
appear as red text on a white bar at the bottom of the ALARM PAGE. In the
following illustration, the “PLC 1: Communication Error” alarm has been
disabled, although the condition itself has not cleared.
Disabled alarm messages that are based on non-alarm conditions appear as
black text on a white bar.

Figure 8-6. Alarm Page with one disabled message

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 CHAPTER 8: ALARMS AND TROUBLESHOOTING

8.7.1 Disabling an Alarm listed on the Alarm Page

1. Using the cursor control, select the appropriate ALARM PAGE message.

2. The system will highlight this line.

3. Select the <DISABLE > screen button.

When any alarm has been disabled, the DISA box on the Status/Prompt Line
will be illuminated.

To return a disabled alarm message to the active list:

1. Select the disabled message.

2. The system will highlight this line.

3. Select the <ENABLE> button at the top of the ALARM PAGE.

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8.7.2 Disabling Any Alarm

The ASK or TCS permits the operator to disable any alarm in the database,
even if the alarm is not currently displayed on the ALARM PAGES.

1. Select the <ID ENABLE> screen button at the top of the ALARM PAGES.

2. The ALARM ID pop-up window will appear. Light blue messages

represent alarms that are not currently present on the ALARM PAGE.
Red messages indicate active alarms, both acknowledged and
unacknowledged. Yellow messages indicate expired alarms. Green
messages indicate Consequence Analysis alarms.

3. Scroll through the list of messages until the desired alarm appears.

4. Use the cursor control to highlight this line.

5. Select the <OK> button on the ALARM ID pop-up.

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8.8 MANUAL YELLOW/MANUAL RED ALARMS

The Mode Select Switch Group and the FUNCTION PAGE include these
keys and screen buttons, so that the yellow and red discrete outputs may be set
before the yellow or red flexjoint angles are exceeded. When selecting either
function, the display screen will ask for confirmation of the command. If
given, the system will force the appropriate discrete output High. To cancel
this condition, press the key or select the screen button again.

MODE SELECT

POWER
HOLD HOLD WIND JS
LIMIT
HEADING POSITION COMP DESENS
SUSTAIN

MANUAL MANUAL
FLEXJOINT
YELLOW RED
ANGLE
ALARM ALARM

Figure 8-7. Initiating Manual Yellow and Red Alarms

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8.9 SPECIFIC ALARM MESSAGES

In the following table, the letter “X” following the name of a hardware item
represents the number of that item. Thus, “Thruster X” may be replaced by
“Thruster 1” in the actual alarm message.
DEFINITION AND CORRECTIVE
MESSAGE CATEGORY
ACTION
BOP X: Bad Serial SENSOR Data does not conform to
Data Message anticipated standard. Take sensor
offline until correct format is
restored.
BOP X: Bad Serial SENSOR The message appears to be
Message Checksum corrupted. Inspect SIGNAL I/O
PAGES and check for bad
connections.
BOP X: Serial Data SENSOR The NMEA message rate is set too
Overflow high (two per second is adequate)
or the data is invalid. Inspect
SIGNAL I/O PAGES for correct NMEA
string.
Control Net Ch X – HARDWARE Check connections at SPU and ASK.
Faulted Unit
Control Net Ch X – HARDWARE Check connections.
Incorrect Node
Configuration
Control Net Ch X – HARDWARE Check connections.
Internal Diagnostics
Fail
Control Net Ch X – HARDWARE Check connections.
Cable Disconnect of
Cable Fault
Control Net Ch X – PLC HARDWARE Check connections.
Address Above UMAX
Control Net Ch X – HARDWARE Check connections.
Self Test Fail
Control Net Ch X – HARDWARE Check connections.
Random/Intermittent
Comm Fault
Choke/Kill: Clockwise CONTROL The rotational clockwise Choke/Kill
Windup limit has been exceeded. Take
appropriate control measures.
Choke/Kill: CONTROL The rotational counterclockwise
Counter-Clockwise Choke/Kill limit has been exceeded.
Windup Take appropriate control measures.
Cons: Bus X Loss - CONSEQ The Consequence Analysis function
Insuff F/A Thrust has determined that the loss of the
specific bus would result in unmet
surge thrust commands.
Cons: Bus X Loss - CONSEQ The Consequence Analysis function

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Insuff Hdg Thrust has determined that the loss of the
specific bus would result in unmet
yaw thrust commands.
Cons: Bus X Loss - CONSEQ The Consequence Analysis function
Insuff P/S Thrust has determined that the loss of the
specific bus would result in unmet
sway thrust commands.
Cons: Gen X Loss - CONSEQ The Consequence Analysis function
Insuff F/A Thrust has determined that the loss of the
specific generator would result in
unmet surge thrust commands.
Cons: Gen X Loss - CONSEQ The Consequence Analysis function
Insuff Hdg Thrust has determined that the loss of the
specific generator would result in
unmet yaw thrust commands.
Cons: Gen X Loss - CONSEQ The Consequence Analysis function
Insuff P/S Thrust has determined that the loss of the
specific generator would result in
unmet sway thrust commands.
Cons: One Bus Loss - CONSEQ The Consequence Analysis function
Insuff F/A Thr has determined that the loss of any
one online bus would result in
unmet surge thrust commands.
Cons: One Bus Loss - CONSEQ The Consequence Analysis function
Insuff Hdg Thr has determined that the loss of any
one online bus would result in
unmet yaw thrust commands.
Cons: One Bus Loss - CONSEQ The Consequence Analysis function
Insuff P/S Thr has determined that the loss of any
one online bus would result in
unmet sway thrust commands.
Cons: One Gen Loss - CONSEQ The Consequence Analysis function
Insuff F/A Thr has determined that the loss of any
one online generator would result
in unmet surge thrust commands.
Cons: One Gen Loss - CONSEQ The Consequence Analysis function
Insuff Hdg Thr has determined that the loss of any
one online generator would result
in unmet yaw thrust commands.
Cons: One Gen Loss - CONSEQ The Consequence Analysis function
Insuff P/S Thr has determined that the loss of any
one online generator would result
in unmet sway thrust commands.
Cons: One SPU Loss - CONSEQ The Consequence Analysis function
Insuff F/A Thrust has determined that the loss of any
one online SPU would result in
unmet surge thrust commands.
Cons: One SPU Loss - CONSEQ The Consequence Analysis function
Insuff Hdg Thrust has determined that the loss of any

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
one online SPU would result in
unmet yaw thrust commands.
Cons: One SPU Loss - CONSEQ The Consequence Analysis function
Insuff P/S Thrust has determined that the loss of any
one online SPU would result in
unmet sway thrust commands.
Cons: One Thruster CONSEQ The Consequence Analysis function
Loss - Insuff F/A Thr has determined that the loss of any
one online thruster would result in
unmet surge thrust commands.
Cons: One Thruster CONSEQ The Consequence Analysis function
Loss - Insuff Hdg Thr has determined that the loss of any
one online thruster would result in
unmet yaw thrust commands.
Cons: One Thruster CONSEQ The Consequence Analysis function
Loss - Insuff P/S Thr has determined that the loss of any
one online thruster would result in
unmet sway thrust commands.
Cons: SPU X Loss - CONSEQ The Consequence Analysis function
Insuff F/A Thrust has determined that the loss of the
specific SPU would result in unmet
surge thrust commands.
Cons: SPU X Loss - CONSEQ The Consequence Analysis function
Insuff Hdg Thrust has determined that the loss of the
specific SPU would result in unmet
yaw thrust commands.
Cons: SPU X Loss - CONSEQ The Consequence Analysis function
Insuff P/S Thrust has determined that the loss of the
specific SPU would result in unmet
sway thrust commands.
Cons: Thruster X Loss CONSEQ The Consequence Analysis function
- Insuff F/A Thrust has determined that the loss of the
specific thruster would result in
unmet surge thrust commands.
Cons: Thruster X Loss CONSEQ The Consequence Analysis function
- Insuff Hdg Thrust has determined that the loss of the
specific thruster would result in
unmet yaw thrust commands.
Cons: Thruster X Loss CONSEQ The Consequence Analysis function
- Insuff P/S Thrust has determined that the loss of the
specific thruster would result in
unmet sway thrust commands.
Console Joystick: HARDWARE Data received from console joystick
Invalid F/A Data in control of system is outside the
allowed limit.
Run the console test program
TESTCONS to check joystick
function.
Console Joystick: HARDWARE Data received from console joystick

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Invalid P/S Data in control of system is outside the
allowed limit. Run the console
test program TESTCONS to check
joystick function.
Console Joystick: HARDWARE Data received from console joystick
Invalid Yaw Data in control of system is outside the
allowed limit. Run the console
test program TESTCONS to check
joystick function.
Control Panel: HARDWARE Communication with control panel
Communication Error was unsuccessful. If alarm
persists, select another console to
act as the Master and troubleshoot
former Master.
DGPS X: Diff Age SENSOR The time allowed for the
Exceeded differential correction signal to
be received has elapsed. Wait for
the next correction signal.
DGPS X: Diff Fix SENSOR The differential correction signal
Quality Invalid reception has degraded. Wait for
satellite configuration to improve.
DGPS X: Data Rejection SENSOR Data falls outside the adaptive
alarm threshold, determined by the
data history of the sensor.
If alarm clears automatically, no
corrective action is required.
If the alarm persists, examine the
data. If the data appears valid,
take the sensor offline and then
place it online again to clear the
alarm condition.
If the data appears invalid, take
the sensor offline and
troubleshoot. Do not place the
sensor online until the fault has
been corrected.
DGPS X: Median Test SENSOR Drift has exceeded Drift Alarm
Alarm Threshold.
If this alarm clears automatically,
no corrective action is required.
If alarm persists, the data will be
permanently rejected. Inspect the
data and take sensor offline or
perform Position Reference
Calibration.
DGPS X: Fix Update SENSOR The time allowed for the
Period Exceeded differential correction signal to
be received has elapsed. Wait for
the next correction signal.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
DGPS X: High Horiz SENSOR The Horizontal Dilution of
Precision Dilution Precision is too high.
Check DGPS equipment for any fault.
If none, wait for reading to lower.
This alarm may result from poor
satellite geometry.
DGPS X: High Noise SENSOR Calculated noise level for sensor
Alarm exceeds upper threshold.
If alarm clears automatically, no
corrective action is required.
If alarm persists, take sensor
offline.
DGPS X: Loss of SENSOR The differential correction signal
Differential Corr received separately from the DGPS
data is not currently valid,
rendering the position estimate
unreliable. If this alarm clears
automatically, no corrective action
is required. If alarm persists,
the data will be permanently
rejected. Inspect the data and
take sensor offline if it appears
invalid.
DGPS X: No Data SENSOR Data from sensor has not been
received at expected interval.
Take sensor offline until data
stream is restored.
DGPS X: Serial Port SENSOR Error reading the serial port.
Error Troubleshoot the serial link
between the sensor and the ASK.
DGPS X: Serial Port SENSOR No data is being received on the
Timeout serial port. Ensure the sensor is
powered up and properly configured.
DGPS X: Serial Receive SENSOR The DGPS is sending to much data in
Buffer Overflow one ASK cycle. Ensure the DGPS is
sending only one sentence per
second.
DGPS X: Position SENSOR The position estimate quality is
Quality Fault low enough to be unreliable. If
this alarm clears automatically, no
corrective action is required. If
alarm persists, the data will be
permanently rejected. Inspect the
data and take sensor offline if it
appears invalid.
DGPS X: Unexpected SENSOR Sensor message cannot be understood
NMEA message or does not conform to anticipated
standard. Check that correct NMEA
device is connected to sensor port.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION

East Axis: Dead CONTROL No valid position measurements in

Reckoning the East direction are available
from any online position sensor.
Place additional position sensors
online and/or troubleshoot current
online sensors.
ERA X: Max X Angle (20 SENSOR Electric Riser Angle stack-relative
deg) Exceeded measurement outside of valid range.
Take sensor offline.
ERA X: Max Y Angle (20 SENSOR Electric Riser Angle stack-relative
deg) Exceeded measurement outside of valid range.
Take sensor offline.
ERA/ARA: Angle Compare COMPARE Electric Riser Angle measurements
do not agree with Acoustic Riser
Angle measurements. Inspect data
and take invalid sensor(s) offline.
ESA X: Max X Angle (20 SENSOR Electric Riser Angle stack-relative
deg) Exceeded measurement outside of valid range.
Take sensor offline.
ESA X: Max Y Angle (20 SENSOR Electric Riser Angle stack-relative
deg) Exceeded measurement outside of valid range.
Take sensor offline.
Flexjoint: Dead CONTROL No valid flexjoint sensor
Reckoning measurements are available. Place
additional flexjoint sensors online
and/or troubleshoot current online
sensors.
Flexjoint: East Data SENSOR Data falls outside the adaptive
Rejection alarm threshold, determined by the
data history of the sensor.
If alarm clears automatically, no
corrective action is required.
If the alarm persists, examine the
data. If the data appears valid,
take the sensor offline and then
place it online again to clear the
alarm condition. If the data
appears invalid, take the sensor
offline and troubleshoot. Do not
place the sensor online until the
fault has been corrected.
Flexjoint: East Drift SENSOR Drift has exceeded Drift Alarm
Alarm Threshold. If this alarm clears
automatically, no corrective action
is required. If alarm persists,
the data will be permanently
rejected. Inspect the data and
take sensor offline or perform
Position Reference Calibration.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Flexjoint: Excessive SENSOR The flexjoint angle error limit in
Angle the database (nominally 3 degrees)
has been exceeded. Take
appropriate control measures.
Flexjoint: High Noise SENSOR Calculated noise level for sensor
Alarm exceeds upper threshold. If alarm
clears automatically, no corrective
action is required. If alarm
persists, take sensor offline.
Flexjoint: North Data SENSOR Data falls outside the adaptive
Rejection alarm threshold, determined by the
data history of the sensor.
If alarm clears automatically, no
corrective action is required.
If the alarm persists, examine the
data. If the data appears valid,
take the sensor offline and then
place it online again to clear the
alarm condition. If the data
appears invalid, take the sensor
offline and troubleshoot. Do not
place the sensor online until the
fault has been corrected.
Flexjoint: North Drift SENSOR Drift has exceeded Drift Alarm
Alarm Threshold.
If this alarm clears automatically,
no corrective action is required.
If alarm persists, the data will be
permanently rejected. Inspect the
data and take sensor offline or
perform Position Reference
Calibration.
Flexjoint: Red Alarm CONTROL The flexjoint measurement has
Condition exceeded the Red Alert Radius.
Take appropriate control measures.
Flexjoint: Yellow CONTROL The flexjoint measurement has
Alarm Condition exceeded the Yellow Alert Radius.
Take appropriate control measures.
Gyro X: Compare Alarm SENSOR Data from two or more sensors not
in agreement. Inspect sensor data
and take faulty sensor offline.
Gyro X: Invalid Data SENSOR The NMEA message is invalid.
Block Inspect SIGNAL I/O PAGES for
correct NMEA string.
Gyro X: No NMEA SENSOR Sensor is not transmitting or there
Message Received is a loss of signal between sensor
and ASK. Check sensor and wiring
for proper operation.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Gyro X: Power Fault SENSOR Sensor is not receiving adequate
power. Take sensor offline until
this condition clears.
If another unalarmed sensor is not
available, revert to manual control
of heading and position.
Gyro X: Receive Buffer SENSOR The NMEA message rate is set too
Overflow high (two per second is adequate)
or the data is invalid.
Inspect SIGNAL I/O PAGES for
correct NMEA string.
Gyro X: Time out SENSOR Data from sensor has not been
received at expected interval.
Take sensor offline until data
stream is restored.
Heading Excursion CONTROL Measured heading differs from
heading setpoint by more than the
defined Heading Error Threshold.
Increase control gain for Yaw axis.

If condition persists, review

sensor and propulsion status for
contributing alarm conditions.
Heading: Dead CONTROL No valid heading measurements are
Reckoning available from any online gyro.
Place additional gyros online
and/or troubleshoot current online
gyros.
Insufficient F/A CONTROL Insufficient thrust available to
Thrust meet surge commands.
Reorient vessel to reduce thruster
loading or place additional
thrusters online.
Insufficient Heading CONTROL Insufficient thrust available to
Thrust meet yaw commands.
Reorient vessel to reduce thruster
loading or place additional
thrusters online.
Insufficient P/S CONTROL Insufficient thrust available to
Thrust meet sway commands. Reorient
vessel to reduce thruster loading
or place additional thrusters
online.
Joystick: Calibration HARDWARE A joystick value is not close
Rejected enough to the expected center value
to allow center calibration. Set
the manual controls to their center
positions and perform the
calibration again.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Joystick: Invalid F/A HARDWARE Data received from portable
Data joystick is outside the allowed
limit. Run TESTCONS to check
joystick function.
Joystick: Invalid P/S HARDWARE Data received from portable
Data joystick is outside the allowed
limit. Run the console test
program TESTCONS to check joystick
function.
Joystick: Invalid Yaw HARDWARE Data received from portable
Data joystick in control of system is
outside the allowed limit. Run the
console test program TESTCONS to
check joystick function.
MRU X: Invalid Data SENSOR The NMEA message is invalid.
Inspect SIGNAL I/O PAGES for
correct NMEA string.
MRU X: Maximum Pitch SENSOR Measured pitch data exceeds maximum
Angle allowed value as defined in
database (nominally 30 degrees).
Unless vessel pitch angle is
actually excessive, the sensor has
failed and must be taken offline.
MRU X: Maximum Roll SENSOR Measured roll data exceeds maximum
Angle allowed value as defined in
database (nominally 30 degrees).
Unless vessel roll angle is
actually excessive, the sensor has
failed and must be taken offline.
MRU X: No NMEA Message SENSOR Sensor is not transmitting or there
Received is a loss of signal between sensor
and ASK. Check sensor and wiring
for proper operation.
MRU X: Pitch Compare SENSOR Data from two or more sensors not
in agreement. Inspect sensor data
and take faulty sensor offline.
MRU X: Roll Compare SENSOR Data from two or more sensors not
in agreement. Inspect sensor data
and take faulty sensor offline.
MRU X: Timeout SENSOR Data from sensor has not been
received at expected interval.
Take sensor offline until data
stream is restored.
North Axis: Dead CONTROL No valid position measurements in
Reckoning the North direction are available
from any online position sensor.
Place additional position sensors
online and/or troubleshoot current
online sensors.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
OCM Signal Droop HARDWARE Fiber-optic signal is degrading.
Channel X Inspect fiber-optic cables and
connectors.
OCM Signal Loss HARDWARE Fiber-optic signal has been lost.
Channel X Inspect fiber-optic cables and
connectors.
OPL Released to UPL: CONTROL The Operating Power Limit has
Bus A reached the Upper Power Limit due
to propulsion demands.
Reorient vessel to reduce
propulsion demand or bring
additional generators online.
Position Excursion CONTROL Measured position differs from
position setpoint by more than the
defined Position Error Threshold.
Increase control gain for Surge
and/or Sway axes.
If condition persists, review
sensor and propulsion status for
contributing alarm conditions.
Power: Calculated CONTROL The calculated power factor is
PowerFact Limited below 0.3 or above 1.0. Check
generator inputs.
Power: Gen X Breaker POWER Breaker has tripped. Inspect
Fault hardware or examine PMS data.
Power: Gen X High POWER Specified generator’s output
Level exceeds alarm limit. Place
additional generator(s) online to
reduce load.
Power: Generator Added CONTROL An additional generator has been
brought online. Determine if there
are any resulting control issues.
Power: Generator CONTROL A generator has been taken offline.
Removed Determine if there are any
resulting control issues.
Power: Surge Axis CONTROL Power Limiting has reduced thruster
Propulsion Cutback power for this axis. Reorient
vessel or place additional
generators online.
Power: Sway Axis CONTROL Power Limiting has reduced thruster
Propulsion Cutback power for this axis. Reorient
vessel or place additional
generators online.
Power: Yaw Axis CONTROL Power Limiting has reduced thruster
Propulsion Cutback power for this axis. Reorient
vessel or place additional
generators online.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Redundancy: Heading CONSEQ The Master and Backup Heading
Compare Alarm estimates differ by more than the
threshold set in the database.
Initialize the Backups to ensure
that all long-term filter values
are those used by the Master and
that all ASK systems use the same
sensor data. If this alarm is
active it is impossible to
“bumplessly” transfer control
between the ASK consoles.
Redundancy: Position CONSEQ The Master and Backup East position
Compare Alarm - East estimates differ by more than the
threshold set in the database.
Initialize the Backups to ensure
that all long-term filter values
are those used by the Master and
that all ASK systems are using the
same sensor data. If this alarm is
active it is impossible to
“bumplessly” transfer control.
Redundancy: Position CONSEQ The North position estimate between
Compare Alarm - North Master and Backup differs by more
than the threshold set in the
database. Initialize the Backups
to ensure that all long-term filter
values are those used by the Master
and that all ASK systems are using
the same sensor data. If this
alarm is active it is impossible to
“bumplessly” transfer control.
Req Thrust Exceeds CONTROL The Operating Power Limit has been
OPL: Bus A exceeded due to propulsion demands
and thrust is being limited. The
OPL may automatically increase over
time, but you may need to bring
more generators online.
RS925 X Bcn X: Data SENSOR Data falls outside the adaptive
Rejection alarm threshold, determined by the
data history of the sensor. If
alarm clears automatically, no
corrective action is required. If
the alarm persists, examine the
data. If the data appears valid,
take the sensor offline and then
place it online again to clear the
alarm condition. If the data
appears invalid, take the sensor
offline and troubleshoot. Do not
place the sensor online until the
fault has been corrected.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
RS925 X Bcn X: Median SENSOR Drift has exceeded Drift Alarm
Test Alarm Threshold.
If this alarm clears automatically,
no corrective action is required.
If alarm persists, the data will be
permanently rejected. Inspect the
data and take sensor offline if
invalid or perform Position
Reference Calibration if valid.
RS925 X Bcn X: High SENSOR Calculated noise level for sensor
Noise Alarm exceeds upper threshold. If alarm
clears automatically, no corrective
action is required. If alarm
persists, take sensor offline.
RS925 X Bcn X: No SENSOR Data for the indicated beacon has
Message not been included in the serial
message from the hydro-acoustic
system. Take sensor offline until
data stream is restored.
RS925 X Bcn X: North SENSOR Data falls outside the adaptive
Data Rejection alarm threshold, determined by the
data history of the sensor. If
alarm clears automatically, no
corrective action is required. If
the alarm persists, examine the
data. If the data appears valid,
take the sensor offline and then
place it online again to clear the
alarm condition. If the data
appears invalid, take the sensor
offline and troubleshoot. Do not
place the sensor online until the
fault has been corrected.
RS925 X Bcn X: North SENSOR Drift has exceeded Drift Alarm
Drift Alarm Threshold. If this alarm clears
automatically, no corrective action
is required. If alarm persists,
the data will be permanently
rejected. Inspect the data and
take sensor offline or perform
Position Reference Calibration.
RS925 X Bcn X: Tilt SENSOR Tilt beacon cannot correctly
Telemetry Fault determine tilt. If this alarm
persists, take beacon offline.
Refer to Acoustic Position
Reference System manual for
troubleshooting.
RS925 X: Solve Error SENSOR Solve error received from RS925.
Check beacon and RS925
configuration.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
RS925 X Bcn X: NRL SENSOR Noise rejection logic test failed.
Error Retest noise rejection logic.
RS925 X: Heading SENSOR Heading data sent to Acoustic
Compare Error Position Reference System does not
agree with ASK heading.
Inspect sensor data to determine
which reading is valid.
RS925 X: Serial Port SENSOR Serial port has not received full
Timeout data page in the alloted time.
Check serial data page.
SPU - PS X +24Vdc HARDWARE SPU is not receiving adequate
Power Fault power. Troubleshoot UPS.
Thruster X: Azimuth THRUSTER The difference between the
Compare Error commanded azimuth and the measured
azimuth exceeds the Azimuth Compare
Alarm Limit. If the error is
large, take thruster offline.
Thruster X: High Level THRUSTER Thrust command exceeds Thrust Alarm
Alert Limit. Reorient vessel to reduce
thruster loading or place
additional thrusters online.
Thruster X: Not THRUSTER Thruster is unable to comply with
Rdy/Not DP Ctrl thrust commands. Troubleshoot
thruster interface.
Thruster X: Thrust THRUSTER The difference between the
Compare commanded thrust level and the
measured thrust level exceeds the
Thrust Compare Alarm Limit. If the
error is large, take thruster
offline.
Thruster X: Thruster THRUSTER The Aquamaster Ro-Control Unit has
is Reducing Pitch automatically reduced pitch due to
overload. This reduction occurs
external to the ASK.
Thruster X: Unable to THRUSTER The ASK is unable to determine the
detect RPM setting on speed setting of a multispeed
thruster thruster motor. Troubleshoot the
thruster interface.
Thruster X: Unable to THRUSTER The ASK is unable to determine the
Resolve Thruster Speed speed setting of a two-speed
Setting--Assuming High thruster motor. It will calculate
Speed thrust forces as if the thruster
was set at High Speed.
Troubleshoot the thruster
interface.
UPS X: Alarm HARDWARE This is a UPS Summary Alarm. Refer
to manufacturer’s UPS Manual.
UPS X: Bypass Warning HARDWARE The input voltage is being sent
straight through as output. Refer

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
to manufacturer’s UPS Manual.
UPS X: Line Failure HARDWARE The input line voltage is outside
of nominal values and the UPS is
switching to battery power.
Investigate loss of line power.
UPS X: Low Battery HARDWARE The UPS has detected an impending
Warning loss of power from the battery
backup during an input power
failure. Prepare to shut down the
ASK/TCS.
VRU X: +15Vdc Power SENSOR Sensor is not receiving adequate
Error power. Take sensor offline until
this condition clears.
VRU X: -15Vdc Power SENSOR Sensor is not receiving adequate
Error power. Take sensor offline until
this condition clears.
VRU X: Receive Buffer SENSOR The NMEA message rate is set too
Overflow high (2 per second is adequate) or
the data is invalid. Inspect
SIGNAL PAGES for correct string.
VRU: Maximum Roll SENSOR Measured roll data exceeds maximum
Angle allowed value as defined in
database (nominally 30 degrees).
Unless vessel roll angle is
actually excessive, the sensor has
failed and must be taken offline.
Wind Angle Compare SENSOR Data from two or more sensors not
Warning in agreement. Inspect sensor data
and take faulty sensor offline.
Wind Speed Compare SENSOR Data from two or more sensors not
Warning in agreement. Inspect sensor data
and take faulty sensor offline.
Wind X +15Vdc Power SENSOR Input is out of range. Inspect for
Error open circuit from sensor.
Wind X: Angle Compare SENSOR Data from two or more sensors not
Warning in agreement. Inspect sensor data
and take faulty sensor offline.
Wind X: Input Sin and SENSOR The sine and cosine inputs do not
Cos Not Orthogonal exhibit the proper orthogonal
Warning relationship to one another. Take
sensor offline and troubleshoot.
Wind X: Invalid Analog SENSOR The sensor message cannot be
Data understood or does not conform to
anticipated standard. Inspect
SIGNAL I/O PAGES for correct data
string.
Wind X: Invalid Speed SENSOR Measurement is out of range.
Inspect for open circuit from
sensor.

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DEFINITION AND CORRECTIVE

MESSAGE CATEGORY
ACTION
Wind X: SENSOR Measurement is out of range.
Invalid/Unchanging Inspect for open circuit from
Angle sensor.
Wind X: Speed Compare SENSOR Data from two or more sensors not
Warning in agreement. Inspect sensor data
and take faulty sensor offline.

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ASK5003/TCS5001 Operations and Maintenance Manual 8-27

9. MAINTENANCE
Maintenance and troubleshooting on the Nautronix ASK 5000 systems
requires only simple hand tools and common test equipment for service and
repair. All general tools and test equipment required (as listed in Section 9.1),
are normally carried onboard vessels having electronic equipment.
Shipboard personnel can perform many simple maintenance and
troubleshooting operations on the ASK5000 with these items, eliminating the
need for Nautronix engineers and/or technicians to visit the vessel.

9.1 GENERAL TOOLS AND TEST EQUIPMENT

Table 9-1 lists the minimum test/support equipment that should be carried
onboard the vessel.

Table 9-1. Support and Test Equipment

DESCRIPTION PART NO. MAKE

Oscilloscope 1740A Hewlett-Packard or equivalent

Hand Held Multimeter E2378A Hewlett-Packard or equivalent

Lens Removal Tool 51-938 EAO

Lens Removal Tool 98-968 EAO

Lamp Removal Tool 51-996 EAO

Anti-Static Wrist Strap Velostat - 2064 3M

9.2 ELECTROSTATIC DISCHARGE PRECAUTIONS

Shipboard maintenance personnel should read Sections 9.2.1 and 9.2.2 on
Electrostatic Discharge (ESD) before attempting any maintenance of the
system.

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9.2.1 ESD-Sensitive Devices

An electronic component is considered to be ESD-sensitive if its electrical
and/or physical characteristics can be permanently damaged by an
electrostatic discharge. The most sensitive of these devices can be damaged
by the discharge of as little as 170 volts. Since static potential must exceed
2,500 volts before a human being can feel it, ship personnel may never know
that they have caused an ESD event.
Consider all circuit cards and modules in the ASK5000 to be ESD-sensitive.
Handle them in accordance with the procedures listed below.

9.2.2 Protective Procedures

The key to avoiding ESD damage is the establishment of a common ground
between the sensitive device and its surroundings.
Nautronix packages all ESD-sensitive components and assemblies in bags
made of a special conductive plastic. This plastic, commonly called "pink-
poly" due to its light pink color, does not generate electrostatic charges. Store
all ESD-sensitive spare parts in their original packing. Do not transfer them to
regular plastic bags, which can generate up to 10,000 volts of static potential.
When inspecting, counting, or using a part for troubleshooting, observe proper
ESD handling procedures and return the component to its original packaging
as soon as possible. If feasible, Nautronix recommends that personnel inspect
or inventory the part without removing it from the protective packaging.
Do not install or remove ESD-sensitive assemblies when DC power or signals
are flowing.

9.2.2.1 ESD Guidelines for Replacing Circuit Card Assemblies (CCA)

1. Turn off DC power to the faulty CCA and attach a personnel-grounding
strap to the cabinet frame. This wrist strap (3M Velostat-2064,
Richmond-30104, or equivalent) should provide personnel connection to
ground by not less than 250 ohms or more than 1 megohm.

F Please Note - Because the ASK5000 systems can be configured as a

redundant system, most components are attached to multiple power sources.
Disconnect all applicable power inputs before proceeding.

2. Connect all exposed metallic surfaces of any test equipment to the test
power ground. Connect the test equipment ground to vessel ground by
less than 200 ohms.

3. Remove the replacement CCA from its protective package and install it.
Follow any applicable test procedures.

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9.3 MONTHLY MECHANICAL INSPECTION

1. Perform visual inspection with the system powered up. If a problem is
found, power down the system prior to performing necessary repairs. If
powering down the system, follow the necessary precautions.

F Please Note - Because the ASK5000 systems can be configured as a

redundant system, most components are attached to multiple power sources.
Disconnect all applicable power inputs before proceeding.

2. Open each sub-assembly (operator console, signal processor, etc.) and

inspect for physical damage, dust, dirt, or other contaminants.

3. Check that the mounting hardware has not become loose.

4. Verify that each plug-in assembly is correctly seated in the proper

connector and that no contaminants are present.

5. Verify that the interconnect cables and connectors are secure.

6. Inspect the console control panel for physical damage.

7. Close and secure all subassemblies and return the system to an operational
status.

9.4 MONTHLY OPERATOR CONSOLE AIR FILTER SERVICE

The two filters can be cleaned with the operator consoles powered up.

1. Remove the rear door grille covers and filters by unsnapping the two snap-
on grille covers.

2. Pull off the filters.

3. Use an air hose and nozzle from a low-pressure filtered air supply (20 psi
maximum) to back flush the blower motors and air filters.

4. Visually inspect the air filters for damage and any remaining
contaminants.

5. Inspect the blower motors and blades for damage and contaminants. The
blades must rotate freely.
6. If low-pressure air does not adequately clean the motor and/or filter, clean
them with a non-conductive solvent and a stiff brush. If the filter still does
not appear clean, discard it.
7. Install new or cleaned filters, replace grilles, and return the system to
operational status.

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9.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE

The two filters can be cleaned with the Signal Processor Units powered up.

1. Remove the two front door grilles and filters by undoing the eight Nyloc
nuts behind the door.

2. Remove the grilles and pull out the filters.

3. Use an air hose and nozzle from a low-pressure filtered air supply (20 psi
maximum) to back flush the blower motors and air filters.

4. Visually inspect the air filters for damage and any remaining
contaminants.

5. Inspect the blower motors and blades for damage and contaminants. The
blades must rotate freely.

6. If low-pressure air does not adequately clean the motors and/or filters,
clean them with a non-conductive solvent and a stiff brush. If the filters
still do not appear clean, discard them.

7. Install new or cleaned filters, replace grilles, and return the system to
operational status.

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9.6 POWER SUPPLY VOLTAGE CHECK

Shipboard maintenance personnel should periodically check the following
equipment power supplies:

· Operator Console(s)

· Keyboard(s)

· Signal Processor(s)
Some of the power supply voltage checks are to be taken at the various
modules/units and some at the power supplies. Table 9-2 lists the power
supply nominal voltages and tolerances.

Table 9-2. Power Supply Voltages (Nominal and Tolerance)

OPERATOR
NOMINAL CONSOLE KEYBOARD SIGNAL PROCESSOR
VOLTAGE TOLERANCE TOLERANCE TOLERANCE
+5 VDC 4.85 to 5.15 VDC ---------------- ----------------
+12 VDC 11.64 to 12.6 VDC ---------------- ----------------
+24 VDC 22.8 to 25.2 VDC ---------------- 22.5 to 28.0 VDC
+6 VDC -------------------- 6.2 to 6.4 VDC ----------------
(Lamp
Voltage)
+15 VDC -------------------- ---------------- 14.9 to 15.1 VDC
-15 VDC -------------------- ---------------- -15.1 to -14.9 VDC
+10 VDC -------------------- ---------------- 9.99 to 10.00 VDC
-10 VDC -------------------- ---------------- -10.00 to -9.99 VDC

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9.6.1 Operator Console Test Point Values/Adjustments

Values on the console power supply are to be checked at the following test
points and terminals:

+5 VDC Switch Interface Extender Board

JP3 – 11 with respect to JP3 - 9

JP3 – 23 with respect to JP3 - 10

+12 VDC Voltage Regulator Board

TB1 – 1 with respect to TB1 - 5

F Please Note - There are no adjustments on the console power supply.

9.6.2 Keyboard Test Point Values/Adjustments
Measurement of the primary lamp voltage is made on the Voltage Regulator
located on the Keyboard Interface. The voltage is measured on terminal strip
TB 2:

+6 VDC Pin 1

Common Pin 5
Voltage is measured with the Lamp Brightness knob turned fully clockwise.
This voltage is adjustable by means of RV 1 on the Voltage Regulator. Adjust
to 6.2 - 6.4 VDC.

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9.6.3 Signal Processor Unit Test Points/Values/Adjustments

F Please Note – The following SPU Tables contain column blocks with
TBD in them due to the fact that each of these column blocks are vessel
specific to the application and will vary accordingly. Nautronix engineers
and/or maintenance personnel should enter the voltage values, test points, and
any pertinent adjustments once they are established.

9.6.3.1 Signal Processor Unit (SPU) 1

POWER SUPPLY VOLTS TEST POINT

PS1 +24 VDC PS1 Output WRT Common

(No Adjustments Required)
PS2 +24 VDC PS2 Output WRT Common
(No Adjustments Required)
PS3 PLC Verify Green Power Light is On
PS4 PLC Verify Green Power Light is On
PS5 TBD TBD
PS6 TBD TBD
PS7 TBD TBD

9.6.3.2 Signal Processor Unit (SPU) 2

POWER SUPPLY VOLTS TEST POINT

PS1 +24 VDC PS1 Output WRT Common

(No Adjustments Required)
PS2 +24 VDC PS2 Output WRT Common
(No Adjustments Required)
PS3 PLC Verify Green Power Light is On
PS4 PLC Verify Green Power Light is On
PS5 TBD TBD
PS6 TBD TBD
PS7 TBD TBD

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9.6.3.3 Signal Processor Unit (SPU) 3

POWER SUPPLY VOLTS TEST POINT

PS1 +24 VDC PS1 Output WRT Common

(No Adjustments Required)
PS2 +24 VDC PS2 Output WRT Common
(No Adjustments Required)
PS3 TBD TBD
PS4 TBD TBD
PS5 TBD TBD
PS6 TBD TBD
PS7 TBD TBD

9.6.3.4 Signal Processor Unit 4

POWER SUPPLY VOLTS TEST POINT

PS1 +24 VDC PS1 Output WRT Common

(No Adjustments Required)
PS2 +24 VDC PS2 Output WRT Common
(No Adjustments Required)
PS3 TBD TBD
PS4 TBD TBD
PS5 TBD TBD
PS6 TBD TBD
PS7 TBD TBD

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9.6.3.5 Signal Processor Unit (SPU) 5

POWER SUPPLY VOLTS TEST POINT

PS1 +24 VDC PS1 Output WRT Common

(No Adjustments Required)
PS2 +24 VDC PS2 Output WRT Common
(No Adjustments Required)
PS3 TBD TBD
PS4 TBD TBD
PS5 TBD TBD
PS6 TBD TBD
PS7 TBD TBD

9.6.3.6 Signal Processor Unit (SPU) 6

POWER SUPPLY VOLTS TEST POINT

PS1 +24 VDC PS1 Output WRT Common

(No Adjustments Required)
PS2 +24 VDC PS2 Output WRT Common
(No Adjustments Required)
PS3 TBD TBD
PS4 TBD TBD
PS5 TBD TBD
PS6 TBD TBD
PS7 TBD TBD

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9.7 SCHEDULED MAINTENANCE (2 YEARS)

Two-year scheduled maintenance consists of replacing the Program Logic
Controller (PLC) backup lithium battery. The backup lithium battery stores
the program in PLC memory should there be a loss of power to the PLC.
Nautronix recommends replacing the battery every two years.

9.7.1 Replace PLC Lithium Battery

To replace the PLC backup lithium battery, perform the following steps:

1. Ensure power is ON to the PLC.

@ Important! - If the power is OFF to the PLC and the backup

battery is removed, the PLC program will be lost; and a service call from
Nautronix will be necessary before the program can be restored.

2. Remove old battery and replace with new battery.

3. Dispose of old battery.

F Please Note - For proper care, disposal, and handling of lithium

batteries; refer to Allen-Bradley Guidelines for Handling Lithium Batteries.

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9.8 SIGNAL MAINTENANCE AND TROUBLESHOOTING

9.8.1 RS232
For error-free RS232 communications, consider the following factors:

1. Transmit and Receive Signal Cabling Terminations - The transmit pin of

one device must be wired to the receive pin of the other device.
Occasionally there is uncertainty about whether the unit to be interfaced
acts as DTE (Data Terminal Equipment) or DCE (Data Communications
Equipment). These choices determine which pins are used for transmit,
receive, RTS, CTS, etc. To find the transmit pin of an operational device,
look for the presence of approximately -12 VDC with a multimeter.

2. Hardware Handshake Lines - RTS, CTS, DTR, and DSR enable and
disable communications flow. Consult documentation for both devices to
determine how to wire these items.

3. Protocol - Baud rate, stop bits, data bits and parity must be identical for
the linked units.

For a clear picture of the communications process, an oscilloscope must be

used. Connect the probe to the transmit pin. Connect the common line to
signal return. The waveform should show a low voltage “spiking” higher
periodically. Figure 9-1 illustrates a correct waveform.

+12v

0v

-12v

Figure 9-1. Correct Waveform

A single burst corresponds to an individual character. Baud rate determines

the overall bit spacing and duration. If hardware checks show that
communications are underway, a convenient method for observing (and
capturing) the actual data is to connect the sending device to a standard
COMport on an IBM compatible computer. Communications software
packages such as PROCOMM or TELIX can observe the actual data being
transmitted.

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9.8.2 RS422/RS485
These items require correct handshake line configuration and protocol as
described in Section 9.8.1. However, the reading shown by an oscilloscope
will look somewhat different.

Correct an ungrounded scope between the pins of the differential pair. The
probe should go to (+) and the common should go to (-). Signal traces should
look like the previous figure except that levels should be approximately + and
- 3 VDC.

If there is NO data being transmitted, the measured differential should be

positive. If no known data is being transmitted and the measured differential
is not positive, the wiring may be reversed or a component may have failed.

When testing an RS485, shipboard personnel will detect data packets

transmitted from both the host and the slave if the line is observed long
enough. Signal amplitudes may be somewhat different depending on whether
the host or the slave generated the data.

9.8.3 Programmable Logic Controller (PLC)

The ASK5001 system has only one PLC. In the event of PLC failure
immediately contact Nautronix for service.
On the ASK5002 and ASK5003 systems, two redundant PLCs are installed,
allowing the ASK system to continue working in case of a single PLC failure.
In the event of PLC failure, immediately contact Nautronix for service.

9.8.4 System Reset and Corrective Action

During operation in any of the modes, if it is noticed that there is no
movement on the ASK display and the time clock is not updating, then the
system has stopped. Corrective Action is as follows:

· Open the Operator Console cabinet and locate the <ON/OFF> switch on
the front of the computer.

· Press the <ON/OFF> switch and the system will reboot into the backup
ASK Console mode.

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9.8.5 Flex I/O Modules

The Flex I/O modules in the Signal Processing Units (SPUs), Figure 9-2, will
vary depending on system components and application needs. Some modules
will have PWR, COMM, ACTIVE, FAULT, STATUS, and/or OK LEDs, and
some will have no LEDs. Most SPUs may contain the following Flex I/O
modules:

· 24 VDC Power Supply A/C Adapter with one ACTIVE and two FAULT
status LEDs

· Analog Output with PWR LED

· Isolated Analog Output with OK LED

Flex I/O Module Test Points are shown in Figure 9-2. On the Analog
Current/Voltage I/O Modules and 24VDC Sink I/O Modules, the common
side of the circuit is the middle row of terminals (B - 16 through 33) and the
signal side is the top row of terminals (A - 0 through 15). For example, for
module 0 with a voltage input, test point A-1 is the signal and test point B-18
is the common.
PWR LED

ACTIVE
and
FAULT
LEDS A
B

TEST
POINTS

Figure 9-2. Flex I/O Modules and Test Points

9.8.5.1 Analog and Digital I/Os

Analog modules inputs and outputs of continuously variable voltage and
current signal status are verified using a multi-meter. Digital modules feature
LED’s to indicate input/output signal status. A lighted number indication
reflects the presence of a voltage (for an input module) or a low impedance
path (for an output module). Only qualified personnel should complete
troubleshooting of any electrical component.

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9.8.6 Switch Interface Controller

The Switch Interface Controller in the Operator Console has three (3) LEDs.
These indicate the following when illuminated:

D3 = RUN – Power applied to the Switch Interface

D4 = RECEIVE – Switch Interface is receiving data

D5 = TRANSMIT – Switch Interface is sending data to the serial line

driver
If an alarm message indicates that the communications with the Control
Console have failed, locate the Switch Interface Controller in the Control
Console. Place a shunt on JMP5. With the system power still applied,
remove the shunt to reset the Switch Interface.

9.8.7 Circuit Card Jumper Configurations

9.8.7.1 Central Processor Unit (CPU)
The CPU has several jumpers on the circuit cards that are required for proper
operation. Before replacing a card, verify that the jumpers are correctly
placed. Refer to the IBM 7585 P02 Industrial Computer PCI/ISA Information
Manual.

9.8.7.2 Gyrocompass
Refer to the vessel specific Digital Gyrocompass Equipment Operation and
Service Manual.

9.8.7.3 Switch Interface Controller

The Switch Interface Controller card has several jumpers that are required for
proper operation. Before replacing the card, verify that all jumpers are
correctly placed. Refer to the circuit drawing.

9.8.8 Joystick and Heading Control Knob Zero Point

Calibration
To accomplish a Zero Point Calibration, set all heading and position control
actuators to their center detent position. From a standard AT type keyboard,
press “SHIFT J.” This writes the zero point values to the hard disk drive.

9.9 MODULE AND COMPONENT REPLACEMENT

The following sections pertain to the various modules and components of the
ASK5000 systems.

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9.9.1 ASK Console Modules and Components

9.9.1.1 Keyboard Switch Blocks
To remove the push-button switch blocks, spread the legs of the metal
protective cover. Place the cover against the blue body of the switch block.
Ensure that the legs are fully extended after servicing the switch assemblies.

9.9.1.2 Switch Interface Controller

1. Turn off all power to the system.
2. Mark and remove connectors attached to the Switch Interface Controller.
3. Carefully remove the Switch Interface Controller from the Switch
Interface Extender.
4. Match the jumper configuration from the old card to the new card.
5. Install the Switch Interface Controller on the Switch Interface Extender.
6. Turn on power to the system.
7. Adjust Control Panel back-light intensity as follows:
a. Locate the Lamp Brightness Control on the Position Control Panel.
b. Set this control to mid-range.
c. Locate and adjust Trim Pot RV7, (Figure 9-3), on the Switch Interface
Controller until desired back-light intensity is reached.

RV7

Figure 9-3. Switch Interface Controller

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9.9.1.3 Voltage Regulator

1. Turn off all power to the system.
2. Mark and remove all wiring connected to the voltage regulator.
3. Carefully remove the voltage regulator from the Switch Interface
Assembly.
4. Install the new unit and reconnect all wiring.
5. Turn on power to the system and verify proper operation.

9.9.1.4 Switch Interface Extender Board

1. Turn off all power to the system.
2. Mark and remove all wiring connected to the Switch I/F Extender.
3. Remove the Switch I/F Controller per Section 9.9.1.2.
4. Carefully remove the Switch I/F Extender from the Switch Interface
Assembly.
5. Install the new unit and reconnect all wiring.
6. Reinstall the Switch I/F Controller per Section 9.9.1.2.
7. Turn on power to the system and verify proper operation.

9.9.1.5 Central Processor Unit (CPU)

The replaceable parts in the CPU are the motherboard, circuit cards, and the
disk drive assembly. To replace the circuit cards or the disk drive assembly,
perform the following steps:

1. Turn off all power to the system.

2. Mark and remove any connectors attached to the unit being serviced.

3. Carefully remove the circuit card or disk drive assembly from the card
cage. Circuit card removal requires a depression of the red retainer on the
lower card ledge.

4. Install new unit, taking care not to disturb the wiring on the back wall.

5. Reinstall all relevant connector(s).

6. Turn on power to the system and verify proper operation.

To remove/replace the motherboard, refer to the IBM 7585 P02 Industrial
Computer PCI/ISA Information Manual for more specific instructions.
Observe the proper ESD safety precautions when working in the unit.

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9.9.1.6 Console Power Supply

1. Turn off all power to the system.
2. Disconnect all leads from the power supply. Mark the leads to ensure
proper reinstallation.
3. Remove the four mounting screws while supporting the power supply.
4. Remove the power supply.
5. Installation of the new power supply proceeds in the reverse order.

9.9.1.7 Monitor
1. Turn off all power to the system.
2. Disconnect all cables from the rear of the monitor.
3. Remove the four Phillips head mounting screws on the face of the
monitor.
4. Pull the monitor out of the console using the two handles on the face of
the monitor.
5. Remove faceplate by unscrewing the four bolts securing it to the monitor.
6. Installation of the new monitor proceeds in the reverse order.

9.9.1.8 ASK Console Exhaust Fan

1. Turn off all power to the system.
2. Open the rear door.
3. Remove the four screws securing the filter/fan housing.
4. Install the replacement fan unit.
5. Reinstall the filter/fan housing.
6. Turn on power to the system and verify proper operation.

9.9.1.9 Potentiometer Replacement

If the potentiometer in any Operator Console must be replaced, ensure that its
angular position adjustment is correct.

When replacing a heading potentiometer, adjust its orientation so that the new
unit encounters the mechanical stops at the same deflection angle (measured
from the 12 o'clock position) as the previous device.
When replacing a position lever potentiometer, adjust the angular orientation
of the new unit so the electrical resistance midpoint corresponds to the lever
when in the center position.

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9.9.2 SPU Modules and Components

9.9.2.1 ACNR-15 Intelligent Communication Modules

1. Turn off all power to the system.
2. Disconnect the power leads on the ACNR-15.
3. Disconnect the ControlNet coaxial cables.
4. Remove the first module following the ACNR-15 (Module 0).
5. Carefully unlock the ACNR-15 from the first terminal base.
6. Lift the keeper tab that secures the ACNR-15 to the DIN rail.
7. Remove the ACNR-15 from the DIN rail.
8. Place the new ACNR-15 on the din rail.
9. Carefully lock the new ACNR-15 into the terminal base and lower the
keeper tab that secures the ACNR-15 to the DIN rail.

@ Important! - Make sure the pins inside the lock are not bent when
locking it into place! This will ruin the ACNR-15 and cause it to
malfunction.
10. Replace the power leads and coax cables.

F Please Note - For configuration and assembly/disassembly of

modules, refer to Flex I\O Documentation Flex I/O Catalog #1794-2.1.
9.9.2.2 Flex I\O Modules
Flex I/O modules are disposable and should be replaced from the spares stock.
The Flex I\O analog and digital modules can be hot swapped (removed and
replaced with the cabinet and ACNR-15 powered up) without damaging the
module.
1. Lift the keeper tab that secures the module to the terminal base.
2. Remove the faulty module.
3. Carefully install a new module of the same type and ensure the locking tab
is in place.
@ Important! The key on the side of the module must be aligned
properly with the keyway on the base. If the key is not aligned, damage to
the base and module will occur.
4. Discard old part.
F Please Note - For configuration and assembly/disassembly of modules,
refer to Flex I\O Documentation Flex I/O Catalog #1794-2.1.

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9.9.2.3 Flex I/O Terminal Bases

Terminal Bases P/N 1794-TB3S are disposable and should be replaced from
the spares stock. To remove and replace the terminal base:
1. Remove power from the ACNR-15 associated with the base.
2. Remove the Flex I\O modules on, above, and below the defective base.
3. Note and document the correct placement of the field I\O wiring.
4. Remove the field I\O wires.
5. Carefully unlock the base from the one above and below it.
6. Lift the keeper tab that secures the terminal base to the DIN rail.
7. Remove the defective base from the DIN rail.
8. Install a new base on the DIN rail and ensure the keeper tab is locked into
place.
9. Carefully lock the new base into the bases above and below.

✠ Important! Ensure pins inside the lock are not bent when locking it
into place! This will ruin both of the TB3S bases and could cause a
malfunction!

10. Replace the field I\O wires.

11. Restore power to the ACNR-15.
12. Discard old part.

F Please Note - For configuration and assembly/disassembly of modules,

refer to Flex I\O Documentation Flex I/O Catalog #1794-2.1.
9.9.2.4 Remote I/O Adapter
The Remote I/O Adapters in the Equipment Racks should only be removed
and replaced with the cabinet powered-down. Refer to the Allen-Bradley Flex
I/O Analog Modules User Manual for details.

9.9.2.5 Optical Communications Modem (OCM)

If the ASK5000 system has an OCM that needs replacing, perform the
following steps:
1. Turn off all power to the system.
2. Disconnect all cables from the OCM. Mark the cables to ensure proper
reinstallation.
3. Unbolt the unit from the tray and remove it from the console.
4. Installation of the new OCM proceeds in the reverse order.

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9.9.2.6 Ethernet Hub

1. Turn off all power to the system.

2. Disconnect all cables from the Ethernet Hub. Mark the cables to ensure
proper reinstallation.

3. Unbolt the retaining bracket and remove the Ethernet Hub from the
console.

4. Installation of the new Ethernet Hub proceeds in the reverse order.

9.9.2.7 ASK Uninterruptible Power Supply (UPS)

1. Turn off all power to the system.

2. Disconnect all cables from the UPS. Mark the cables to ensure proper
reinstallation.

3. Pull the UPS out the front of the equipment rack.

4. Installation of the new UPS proceeds in the reverse order.

9.9.2.8 SPU Uninterruptible Power Supply (UPS)

1. Turn off all power to the system.

2. Disconnect all cables from the UPS. Mark the cables to ensure proper
reinstallation.

3. Pull the UPS out the front of the equipment rack.

4. Installation of the new UPS proceeds in the reverse order.

9.9.2.9 UPS Battery

1. Turn off all power to the system.

2. Disconnect all cables from the battery. Mark the cables to ensure proper
reinstallation.

3. Pull the battery out the front of the equipment rack.

4. Installation of the new battery proceeds in the reverse order.

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9.9.2.10 SPU Power Supply

1. Turn off all power to the system.

2. Disconnect all leads from the power supply. Mark the leads to ensure
proper reinstallation.

3. Remove the four mounting screws while supporting the power supply.

4. Remove the power supply.

5. Installation of the new power supply proceeds in the reverse order.

9.9.2.11 SPU Exhaust Fan

1. Turn off all power to the system.

2. Open the rear door.

3. Remove the four screws securing the filter/fan housing.

4. Install the replacement fan unit.

5. Reinstall the filter/fan housing.

6. Turn on power to the system and verify proper operation.

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9.9.3 Sensors
9.9.3.1 Motion Reference Unit (MRU)

1. Turn off all power to the system.

2. Disconnect all cables from the MRU. Mark the cables to ensure proper
reinstallation.

3. Unbolt the mounting screws and remove the MRU.

4. Installation of the new MRU proceeds in the reverse order.

9.9.3.2 Global Positioning System (GPS)

1. Turn off all power to the system.

2. Disconnect all cables from the GPS. Mark the cables to ensure proper
reinstallation.

3. Unbolt the mounting screws and remove the GPS.

4. Installation of the new GPS proceeds in the reverse order.

9.9.3.3 Vertical Reference Unit (VRU)

1. Turn off all power to the system.

2. Disconnect all cables from the VRU. Mark the cables to ensure proper
reinstallation.

3. Unbolt the mounting screws and remove the VRU.

4. Installation of the new VRU proceeds in the reverse order.

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9.10 RECOMMENDED SPARE PARTS

Nautronix strongly encourages each owner to order the recommended
inventory of spares, which will allow ship personnel to repair most problems.
The recommended spare parts listed are compiled from our vendor supply
sources listings and may differ or change as future parts are updated and/or
interchanged.

9.10.1 Power Distribution

Part Number Description Supply Source

218001 FUSE, 1.0A, SLO BLO LITTLE FUSE
218002 FUSE, 2.0A, SLO BLO LITTLE FUSE
218004 FUSE, 4.0A, SLO BLO LITTLE FUSE
257-001 Fuse, 1 amp, Blade Type LITTLE FUSE
257-004 Fuse, 4 amp, Blade Type LITTLE FUSE
24D15.100 POWER SUPPLY, DC, 24-15 CALEX
VI-PU03-EYU POWER SUPPLY, 200 VICOR
SVQ-300-1 POWER SUPPLY LAMBDA
VI-MU3-EQ POWER SUPPLY, 400 W VICOR
VI-LU3-CU POWER SUPPLY, 600 W VICOR
700-HA32A1 RELAY, 120 VAC ALLEN BRADLEY
3167100 FAN RITTAL
611-1005 METER, HOUR HOBBS
756 LAMP, INCANDESCENT, 14.0V DC OSRAM SYLVANIA
4715MS-12T-B20 FAN, 67CFM, 110VAC, 4.7SQR NMB
09450-F/45 FAN, FILTER MEDIA REFILL QUALTEK
RNC55H1001FS RESISTOR, 1.0K POWEREX
RNC55H1401FS RESISTOR, 1.4K POWEREX
RNC55H3011FS RESISTOR, 3.01K POWEREX
CS240650 DIODE, 30V, 50 AMP POWEREX
1N5400 DIODE, 50V, 3A MOTOROLA
10EP1 FILTER, EMI CORCOMM
RSRI SPARES KIT, 5KVA UPS DELTEC

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9.10.2 Console/Keyboard

Part Number Description Supply Source

24003087TL-002 HEADING CONTROL ASSEMBLY NAUTRONIX
T70P3-3B TRACKBALL/MOUSE, 1.5" CTI ELECTROICS
D53C1-10K POT, 10K, DUAL GANGED CLAROSTAT
JSM6M9154 JOYSTICK, POSITION CONTROL OEM CONTROLS
24000501PA-002 VOLTAGE REGULATOR BOARD NAUTRONIX
24000721PA-001 SWITCH I/F ASSY NAUTRONIX
24000720PA-002 SWITCH I/F CNTRL BD NAUTRONIX
24002036PA-001 PWA, LAMP TERMINAL BOARD #1 NAUTRONIX
24002036PA-002 PWA, LAMP TERMINAL BOARD #2 NAUTRONIX
99995 SPEAKER, 2.5"SQR, 4OHM, 4WATT JAMECO
31-968.02 LED, RED EAO
31-968.04 LED, YEL EAO
31-968.05 LED, GRN EAO
51-398 SWITCH BLOCK/LENS REMOVER EAO
98-968 LENS REMOVER EAO
51-996 LAMP REMOVER EAO
61-128.00 SWITCH, PUSH BUTTON EAO
593561-020 SWITCH BLOCK EAO
61-9381.7 LENS, MATTE, TRANSPARENT EAO
61-9931.0 BEZEL, CLAMP & GASKET EAO

9.10.3 Computer and CPU Interface

Part Number Description Supply Source

7588-001-04 COMPUTER, SPARE IBM INDUSTRIAL HENBERGER
1784-KTCX ADAPTER, RIO, PCISA CARD, C-NET ALLEN BRADLEY
TCM-J-66430 ETHERNET PCI ADAPTER HENBERGER
58264 MOUSE MICROSOFT
ROCKETPORT16 SERIAL PORT CONTROLLER ROCKET PORT
RPI16-232/422 PANEL, INTERFACE ROCKET PORT
8750 RIBBON, BLACK, EPSON FX880 PTR EPSON
CG1001E09 ETHERNET HUB, 8 PORT BLACK BOX

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9.10.4 Cabling

Part Number Description Supply Source

289556 INTERFACE MODULE (SUB-D15) WAGO
BC00705 SERIAL CABLE, DB-25, M-F, 10FT BLACK BOX
EVNSL60-0020 CABLE, ETHERNET, 10BT, 20FT BLACK BOX

9.10.5 Data I/O Hardware

Part Number Description Supply Source

1794-ACNR ADAPTER, ALLEN BRADLEY
PROGRAMMABLE LOGIC
1785-L40C15 ALLEN BRADLEY
CONTROLLER
1794-TB3S TERMINAL BASE ALLEN BRADLEY
1794-TBN TERMINAL BASE, ISOLATED ALLEN BRADLEY
1794-IF2XOF2I MODULE, ANALOG 2IN/2OUT ALLEN BRADLEY
1786-TPR TEE ADAPTER, CONTROL NET ALLEN BRADLEY
OCM-ETC-85-P-D-ST- OPTICAL COMMUNCIATION
PHOENIX DIGITAL
A1-24V MODULE
1794-IV16 DIGITAL INPUT MODULE, 16 PT ALLEN BRADLEY
ANALOG INPUT MODULE, 4 PT,
1794-IF4I ALLEN BRADLEY
ISO
1794-OW8 MODULE, RELAY OUTPUT ALLEN BRADLEY
MODEL 31 SIGNAL SPLITTERS TELEBYTE

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9.11 SERVICE LOCATIONS

North and South America
Nautronix, Inc.
6611 Portwest, Suite 120
Houston, TX 77024
Phone: (713) 880-2866
Facsimile: (713) 880-2734
Nautronix, Inc.
12131 Community Road
Poway, CA 92064
Phone: (858) 679-5500
Facsimile: (858) 679-5501
Australia
Nautronix LTD.
108 Marine Terrace
Freemantle 6160
Western Australia
Phone: (09) 430-5900
Facsimile: (09) 430-5901
Singapore
Nautronix PTE LTD.
Nautronix Building Box 5152
Loyang Offshore Supply Base, Loyang Crescent
Singapore 508988
Phone: (65) 543-2273
Facsimile: (65) 543-2286
Europe and Africa
Nautronix - Helle, LTD.
Howe Moss Avenue
Kirkhill Industrial Estate
Dyce, Aberdeen, Scotland AB2 0GP
United Kingdom
Phone: (224) 775-700
Facsimile: (224) 775-800

Trained Nautronix field service engineers and selected inventories of spare

parts are available at these service locations. Nautronix strongly encourages
each owner to order the recommended inventory of spares, which will allow
ship personnel to repair most problems. Refer to Section 9.1 for information
on suggested maintenance tools.

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9.12 ORDERING NEW PARTS

Nautronix requires the following information with any new parts order:

· Vessel name and location

· Order number and billing instructions

· Shipping instructions

· Identity of ASK by serial number

· Part name and part number of new items ordered

9.13 RETURNING ITEMS

When returning items, the following information is required:

· Name and serial number of items

· Reason for return and disposition; e.g., repair to working order, refurbish
to near-new condition, evaluate to ascertain whether part is repairable, etc.

· Cause and symptoms of problem

· Contact name

9.14 FIELD SERVICE ORDER INFORMATION

Nautronix requires the following information for any field service request:

· Accurate identification of the equipment by serial number

· Vessel name and location

· Order number and billing instructions

· Where, and to whom, the field service engineer should report

· Point of contact on board the vessel

· Any portal entry problems and/or broker involved

· Complete description of the problem

· Availability of spares onboard

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10. SETUP PAGES

The SETUP PAGES allow the operator to configure the ASK or TCS for
optimum use.

10.1 ASK SETUP PAGE 1

Sections 10.1.1 through 10.1.14 describe the fields found on SETUP PAGE 1.

Figure 10-1. Setup Page 1

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CHAPTER 10: SETUP PAGES

10.1.1 Vessel Draft

This setting affects the ASK calculation of vessel mass and moment of inertia,
which are used to scale the Control Gains. Refer to Chapter 11 for more
information on Control Gains. The ASK also uses the VESSEL DRAFT entry when
estimating the effect of hydrodynamic and aerodynamic forces. Since changes in
the draft setting can cause large changes in thrust commands when in
AUTOMATIC mode, a confirmation is required before the value is changed.

10.1.2 Water Depth

This setting affects all measurements when they are calculated as percentages
of water depth. It also affects other control factors such as hydroacoustic data
noise rejection. This field will automatically update the water depth to represent
the new units if the operator modifies the DISPLAY UNITS (Section 10.1.13).

10.1.3 Yellow and Red Alert Flexjoint Angles

These settings determine the angles at which the ASK will generate a Yellow
and Red flexjoint angle alert when in HOLD FLEXJOINT ANGLE mode.
To disable these alerts, enter “0” as the value.
These settings may also used to trip a discrete output, such as an audible alarm
on the drill floor.

10.1.4 Yellow and Red Alert Radii

These settings create two circles centered on either the Reference Origin or
the Goal Position Setpoint (depending on customer requirements). If the ASK
is in HOLD POSITION or HOLD FLEXJOINT ANGLE mode, and the
vessel reference point moves outside the yellow circle, the system initiates the
Yellow warning condition. If the vessel reference point moves outside the red
circle, the ASK will clear the Yellow warning condition and initiate the Red
warning condition. To disable these alerts, enter “0” as the value.
For these alerts to be most useful during drilling operations, you must reset the
Reference Origin to the wellhead (for ASKs centering the alert circles on the
Reference Origin).

10.1.5 System Time/Date

The operator cannot change these settings from SETUP PAGE 1. They are
automatically updated by the DGPS input.

10.1.6 Autoheading Error Threshold

If the ASK is in HOLD HEADING mode, and the difference between the
commanded and the measured headings exceeds this setting, the system will
issue an alarm.

10.1.7 Position Error Threshold

This field sets a radius around the Instantaneous Position Setpoint. If the ASK
is in HOLD POSITION or HOLD FLEXJOINT ANGLE mode, and the
vessel reference point moves outside this circle, the system will issue an alarm.

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10.1.8 Median Alarm Threshold

If any position reference sensor’s measurement differs from the median of all
position reference sensor measurements by more than this setting, the ASK
will generate an alarm. The ASK uses this setting to ensure the quality of
position reference sensor data. Refer to Section 14.4.7 for an explanation of
the median calculation process.

10.1.9 Deviation Display Frame

There are two Deviation Display frames available: Earth and Ship.

10.1.9.1 Earth Frame

In Earth Frame, the top of the Deviation Display is always North, and the
right side is East.
The graphic ship icon will rotate to show its measured heading relative to
North.
The background of the Deviation Display will be blue.

10.1.9.2 Ship Frame

In Ship Frame, the top of the Deviation Display will always represent vessel
forward, and the right side will be starboard. Thus, the vessel will always
appear pointed toward the top of the screen, regardless of the actual vessel
heading. For an aft-facing installation, the opposite is true: top represents aft,
right is port, and the vessel appears pointed to the bottom of the screen.
A white arrow labeled with the letter “N” will indicate toward true North.
The background of the Deviation Display will be black.

10.1.10 Deviation Display Center

The operator can center the Deviation Display on any of three points: Origin,
Goal, or Setpoint.

10.1.10.1 Origin Center

This choice centers the display on the 0,0 coordinates of the working grid
defined by the Origin Reference Sensor.
Refer to Section 14.5.7 for a definition of the Origin Reference Sensor.
In Origin Center, the Deviation Display grid will not slide if the vessel
moves.

10.1.10.2 Goal Center

This choice centers the display on the Goal Position Setpoint.

10.1.10.3 Setpoint Center

This choice centers the display on the Instantaneous Position Setpoint.

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10.1.11 Minimum Deviation Scale

This field sets the smallest allowable scale for the Deviation Display. During
operations, the system will automatically lower the scale for better resolution,
but will not go below this setting.

10.1.12 Consequence Analysis

If this button reads On, the system will automatically perform Consequence
Analysis and generate appropriate CA alarms. Refer to Chapter 24 for more
information on this function.

10.1.13 Display Units

This field changes the units of all displayed and entered values. Choices
include: Metric, Imperial, Metric Percent of Water Depth, and Imperial
Percent of Water Depth.
The underlying processing of the ASK will not be affected by changing the
DISPLAY UNITS.
If the DISPLAY UNITS are Percent of Water Depth, either metric or imperial,
and you change the WATER DEPTH setting (Section 10.1.2), the ASK will
maintain the same absolute length/distance settings and automatically adjust
to maintain the % Water Depth readings.
Example:
The RED ALERT RADIUS equals 5% of water depth. The WATER DEPTH field
is set to 1000 meters, so that the RED ALERT RADIUS equals 50 meters.
If the operator changes the WATER DEPTH field to 2000 meters, the RED
ALERT RADIUS will still equal 50 meters, but the % Water Depth readings will
change from 5% to 2.5%.

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10.1.14 DGPS Ref Latitude/Longitude

The Global Positioning System uses the intersection of the Equator and the
Prime Meridian as its 0,0 point. The ASK typically reports vessel location in
meters or feet. Since the operator may operate thousands of kilometers away
from the Equator and/or the Prime Meridian, a local DGPS reference point
keeps the DGPS values manageable. The local DGPS reference point also
centers the flat earth projection used to convert latitude and longitude to North
and East positions in the area of operation. Nautronix recommends placing
the DGPS reference point inside the operational area, ideally at or near the
wellhead.

10.1.14.1 Manually Entering a DGPS Reference Point

1. Take all DGPS sensors offline, either via POSITION REFERENCE
PAGE 1 or the Sensor Select Switch Group. Refer to Section 14.7 for
details.

2. Select the first DGPS REF LATITUDE field to toggle it between N (North)
and S (South).
3. Select the second DGPS REF LATITUDE field.

4. The Pop-Up Keypad will appear. Enter the “degrees” portion of the
reference latitude.

5. Select the OK button on the Pop-Up Keypad. The pop-up will disappear.

6. Select the third DGPS REF LATITUDE field.

7. The Pop-Up Keypad will appear. Enter the “minutes” portion (including
decimal) of the reference latitude.

8. Select the Pop-Up Keypad OK button. The pop-up will disappear.

9. Repeat steps 2-8 for the DGPS REF LONGITUDE fields.

10.1.14.2 Automatically Setting the DGPS Reference Point to the

Current Vessel Position
1. Select the DGPS REFERENCE RESET field. The Pop-Up Keypad will
appear, asking you to confirm the reference point reset.

2. Select the Pop-Up Keypad <OK> button.

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10.2 ASK SETUP PAGE 2

Sections 10.2.1 through 10.2.12 describe the options available on this display
page.

Figure 10-2. Setup Page 2

10.2.1 Thruster Bias

If this screen button reads On, the ASK will automatically engage thruster
biasing. Refer to Section 15.5 for more information.

10.2.2 Thruster Bias Level

This field sets the percentage of maximum thrust for online thrusters that will
be consumed by bias commands. Refer to Section 15.5 for more information.

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10.2.3 Riser Beacon

This field identifies which beacon will provide the RS925 systems (and thus
the ASK) with acoustic tilt data.

10.2.4 Thrust Compare

If the difference between the commanded and feedback thrust levels exceeds
this setting, the system will generate a “Compare” alarm.

10.2.5 Azimuth Compare

If the difference between the commanded and feedback azimuth levels
exceeds this setting, the system will generate a “Compare” alarm.

10.2.6 Thrust Level

If the ASK detects a thruster operating at or above this setting, it will generate
an alarm.

10.2.7 Wind Direction Compare

If any one wind sensor’s measured direction differs from the average of all
online wind sensors by more than this setting, the ASK will generate an alarm.

10.2.8 Wind Speed Compare

If the measured velocity from any one wind sensor differs from the blended
average of all online wind sensors by more than this setting, the ASK will
generate an alarm.

10.2.9 Lower Limit Margin

This field adds a percentage margin to the average power requirements over
approximately thirty seconds. In effect, the LOWER LIMIT MARGIN adds a
buffer to the LPL, so that a relatively small increase in thruster commands will
not exceed the LPL. Refer to Section 19.4 for more information on the power
limiting function.

10.2.10 Reserved kW
This field sets aside a certain number of kilowatts for use by systems other
than the ASK. This amount will not be available to the thrusters while the
ASK is in control, even if the Hotel/Drilling load (refer to Section 19.2) drops
below this level. This does not apply if the ASK is using an external (PMS)
input to set the Upper Power Limit.

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10.2.11 Generator Alarm Level

If the measured power consumption from any generator exceeds this setting,
the ASK will generate an alarm.

10.2.12 Controller Gains Section

See Chapter 11 for more information on Control Gains.

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10.3 TCS SETUP PAGE

Sections 10.3.1 through 10.3.17 describe the fields available on the TCS
SETUP PAGE.

Figure 10-3. Setup Page

10.3.1 Thruster Bias and Thruster Bias Level

Refer to Section 15.5 for more information on Thruster Biasing.

10.3.2 Vessel Draft

This setting affects the system’s calculation of vessel moment of inertia,
which is used to scale the Control Gains. Refer to Chapter 11 for more
information on Control Gains. The TCS also uses the <VESSEL DRAFT> entry
when estimating the effect of hydrodynamic and aerodynamic forces.

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10.3.3 Yaw Gain

Refer to Chapter 11 for more information on Control Gains.

10.3.4 Display Units

This field changes the units of all displayed and entered values. Choices
include: Metric, Imperial, Metric Percent of Water Depth, and Imperial
Percent of Water Depth. The operation of the vessel will not be affected by
changing the DISPLAY UNITS.

10.3.5 Rudder
This field sets the Proportional component of the Proportional-Integral-
Derivative control term for the TCS Autopilot Controller. The operator can
set the gain between 1 and 9. Refer to Section 3.1 for more information on the
PID Controller.

10.3.6 Counter Rudder

This field sets the Derivative component of the Proportional-Integral-
Derivative control term for the TCS Autopilot Controller. The operator can
set the gain between 1 and 9. Refer to Section 3.1.2 for more information on
the PID Controller.

10.3.7 Deadband
When in automatic control of heading, the TCS Autopilot will not respond to
a deviation between the commanded heading and the measured heading unless
the deviation exceeds this setting. In the absence of disturbances (i.e.,
weather), a non-zero deadband setting will cause the autopilot to limit cycle
where it would otherwise not cycle. Nominal (5) or reduced rudder and
counter rudder gains should be used in conjunction with a non-zero deadband.

10.3.8 Maximum Azimuth Rudder Angle

This field sets the maximum azimuth that the TCS Autopilot will command
the steering thrusters or rudders when holding a heading goal in
AUTOPILOT mode.

10.3.9 Thrust Compare

This field sets the comparison threshold between commanded and feedback
thrust levels. If the difference between these levels exceeds this setting, the
system will generate a “Compare” alarm.

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10.3.10 Azimuth Compare

This field sets the comparison threshold between commanded and feedback
azimuth levels. If the difference between these levels exceeds this setting, the
system will generate a “Compare” alarm.

10.3.11 Thrust Level

This field sets an alarm at a certain percentage of maximum thrust. If the
system detects a thruster operating at or above this setting, it will generate an
alarm.

10.3.12 Wind Direction Compare

This field sets a directional comparison threshold for the online wind sensors.
If the measurement from any one wind sensor differs from the blended
average of all online wind sensors by more than this setting, the TCS will
generate an alarm.

10.3.13 Wind Speed Compare

This field sets the velocity comparison threshold for the online wind sensors.
If the measurement from any one wind sensor differs from the blended
average of all online wind sensors by more than this setting, the TCS will
generate an alarm.

10.3.14 Heading Error

This field sets a tolerance between the commanded heading and the measured
heading when the TCS is in HOLD HEADING mode. If the difference
between the commanded and the measured headings exceeds this tolerance,
the system will issue an alarm.
Refer to Chapter 17 for more information on the TCS Operational Modes.

10.3.15 Autopilot Heading Error

This field sets a tolerance between the commanded heading and the measured
heading when the TCS is in AUTOPILOT mode. If the difference between
the commanded and the measured headings exceeds this tolerance, the system
will issue an alarm.
Refer to Chapter 16 for more information on the TCS Operational Modes and
Automatic Maneuvers.

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10.3.16 Reserved kW
This field sets aside a certain number of kilowatts for use by systems other
than the ASK. This amount will not be available to the thrusters while the
ASK is in control, even if the Hotel/Drilling load (see Section 19.2) drops
below this level. This does not apply if the ASK is using an external (PMS)
input to set the Upper Power Limit.
Refer to Chapter 19 for more information on the Power System Monitoring
and Power Limiting function.

10.3.17 Generator Alarm Level

If the measured power consumption from any generator exceeds this setting,
the TCS will generate an alarm.
Refer to Chapter 17 for more information on the Power System Monitoring
and Power Limiting function.

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11. CONTROL GAINS

The Control Gain settings determine the amount of control “stiffness” for the
three control axes: Surge, Sway, and Yaw.

Figure 11-1. Control Axes

The range of acceptable values is -10 to +10. 0 represents the nominal

midpoint gain.
High (positive) gain values yield a higher than nominal bandwidth. These
settings result in better position holding accuracy but increased propulsion
activity, since the vessel must try harder to eliminate deviations from the goal
setpoints. Higher thruster activity can also create increased water aeration,
which may degrade the performance of the acoustic positioning systems.
Low (negative) gain values yield a lower than nominal bandwidth, causing
reduced position holding accuracy but decreased propulsion activity. Smaller
values may be appropriate in heavy weather to minimize thruster modulations.
In general, when a sub-surface sensor is the primary position reference sensor,
set the gain lower as water depth increases and higher as water depth
decreases. When a surface sensor is the primary position reference sensor,
choose the bandwidth based on the desired holding accuracy and propulsion
modulation.

11.1 CONTROL GAIN COMPUTE

The gain compute function in the ASK and TCS software yields the
appropriate PID control gains for each of the control axes. The calculated
gains are based on the CONTROL GAIN settings entered by the operator and
tuning parameters set during sea trials. Each axis has its own independent

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CHAPTER 11: CONTROL GAINS

bandwidth and set of gains. Refer to Section 3.1.2 for more information on
the PID Controller.
This routine also computes the required low-pass filter digital difference
equation coefficients.
Lastly, Kalman filter gains are computed each cycle as a function of measured
position sensor noise.

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11.2 SETTING CONTROL GAINS

The operator can set or modify the Control Gains in several ways:
1. Using the “Controller (Gains)” section of ASK SETUP PAGE 2 or the
“Yaw (Gain)” setting on the TCS SETUP PAGE.
2. Using the <CONTROL GAIN> key from the ASK or TCS Function Select
Switch Group.
3. Using the <CONTROL GAIN> screen button on the ASK or TCS
FUNCTION PAGE.

11.2.1 Setting Control Gains through ASK Setup Page 2

Move to the “Controller (Gains)” section at the bottom of the ASK SETUP
PAGE 2. After using the cursor control to select the <SURGE>, <SWAY>, or
<YAW> screen button, the operator may enter a new setting through the Pop-
Up Keypad or the “Yaw (Gain)” setting on the TCS SETUP PAGE.

Figure 11-2. Setup Page 2

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 CHAPTER 11: CONTROL GAINS

11.2.2 Modifying Gains through the <Control Gain> Key

The operator may also modify the Control Gains by pressing the <CONTROL
GAIN> key in the Function Select Switch Group.

FUNCTION SELECT FUNCTION SELECT

HEADING CONTROL SWITCH HEADING POSITION CONTROL LOGGING SWITCH

STPT GAIN TEST STPT STPT GAIN INHIBIT TEST

ALARM ALARM
CLEAR ALARM FLEXJOINT CLEAR ALARM
PAGE PAGE
JS BIAS ACK STPT JS BIAS ACK
INHIBIT INHIBIT

TCS ASK

Figure 11-3. Control Gain Key

1. After the operator presses the key, the following ASK dialog box will
appear.

2. Select one of the four screen buttons. Selecting <ALL> permits the
operator to change all three control gain settings to the same value.

3. The Pop-Up Keypad will appear.

4. Enter a new value.

5. Select the <OK > button on the Pop-Up Keypad.

6. The Pop-Up Keypad will disappear.

7. Select the <DONE> button on the CONTROL GAIN ADJUST dialog box.

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11.2.3 Modifying Gains through the ASK or TCS Function Page

The following instructions explain how to change the Control Gains through
the FUNCTION PAGE.

ASK TCS

Figure 11-4. Function Page

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 CHAPTER 11: CONTROL GAINS

1. Select the <CONTROL GAIN> button. The following dialog box will
appear:

2. Select one of the four screen buttons. Selecting <ALL> permits the
operator to change all three control gain settings to the same value.

3. The Pop-Up Keypad will appear.

4. Enter a new value.

5. Select the <OK> button on the Pop-Up Keypad.

6. The Pop-Up Keypad will disappear.

7. Select the <DONE> button on the CONTROL GAIN ADJUST pop-up

dialog box.

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12. AUXILIARY SENSORS

SENSOR PAGE 1 displays data from, and allows operators control of, the
online status of the ASK auxiliary sensors:

· Gyrocompasses

· Wind Sensors

· Vertical Reference Sensors.

An offline sensor is not necessarily “off,” in the sense of being without power.
However, the ASK does not use data from offline sensors in its calculations.

Figure 12-1. Sensor Page 1

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CHAPTER 12: AUXILIARY SENSORS

12.1 GYROCOMPASSES
The three (3) Anschutz/Raytheon Electronics gyrocompasses associated with
the Dynamic Positioning System are capable of giving the vessel’s True North
heading with an accuracy of <0.1o. The ASK and TCS use the serial line
outputs to obtain necessary heading data.
In order for the ASK to dynamically position the vessel, at least one gyro must
be online. The system uses gyro data to update the estimated heading and the
heading rate of change. It also uses gyro input to transform position reference
sensor data, which may employ various coordinate frames, into earth axes.

12.1.1 Gyro Processing

The gyro processing routine in the ASK software handles multiple
gyrocompass inputs. First, the power status line is checked to make sure that
the unit is powered. If a power alarm condition is not detected, then the
routine processes the serial data stream or analog voltage from that
gyrocompass.
The data from each gyrocompass is extracted and converted to system units.
It is then compared against each of the other non-alarmed sensors. Individual
sensors that do not agree with other sensors are flagged with an alarm
message. Finally, all active non-faulted sensors are used to form an average
that becomes the internal vessel heading estimate.

12.1.2 Placing Gyrocompasses Offline

The operator cannot control the gyros from the Sensor Select Switch Group.
The operator must open SENSOR PAGE 1 to bring them online or take them
offline. To do so, select the appropriate <GYRO> button with the cursor
control.
The color of the screen buttons and data indicates the status of the sensor:
· Red: NOT READY/FAULTED (Data)
· Dark gray: OFFLINE
· Green: ONLINE (Screen Button)
· Black: ONLINE (Data)
· Green/Gray Blinking: <ONLINE> and <FAULTED> (Screen Buttons)

12.1.3 Gyro Data on Sensor Page 1

The “True” column shows heading data from these units, in degrees from
True North.
The “Blended” field shows the average heading as determined by all online,
unfaulted gyrocompasses.

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 CHAPTER 12: AUXILIARY SENSORS

12.2 WIND SENSORS

The R.M. Young wind sensors provide accurate wind data and the necessary
redundancy for the vessel management systems. This data allows the ASK or
TCS to compensate for aerodynamic forces acting on the vessel.
12.2.1 Placing Wind Sensors Online
To place a wind sensor online, open SENSOR PAGE 1 (ASK5003) or TCS
SENSOR PAGE, and select the appropriate <WIND> screen button with the
cursor control. The operator may also use the specific <WIND> keys in Sensor
Select Switch Group to place the wind sensors online or take them offline.

SENSOR SELECT SENSOR SELECT

DGPS RS925 RS925 FLEX

1 1 2 JOINT

DGPS
2

DGPS WIND WIND

3 1 1

REF
WIND WIND
SENSOR
2 2
SELECT

POS REF WIND WIND

CALIB 3 3

ASK TCS

Figure 12-2. Sensor Select Switch Groups

The color of the screen buttons and data on SENSOR PAGE 1 and TCS
SENSOR PAGE indicate the status of the wind sensor:
· Red: NOT READY/FAULTED
· Dark gray: OFFLINE
· Green: ONLINE (Screen Button)
· Black: ONLINE (Data)
· Green/Gray Blinking: <ONLINE> and <FAULTED> (Screen Buttons)

12.2.2 Wind Sensor Data on ASK Sensor Page 1 or TCS Sensor

Page
The “Velocity” column shows the measured relative wind speed.
The “Direction (Relative)” column shows the wind direction relative to the
ship’s bow.
The “Blended” field shows the average velocity and direction as determined
by all online, unfaulted wind sensors.

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CHAPTER 12: AUXILIARY SENSORS

12.3 VERTICAL REFERENCE SENSORS

Two (2) Motion Reference Units provide highly accurate pitch and roll data,
outputting NMEA 0183 RS232 serial data. Each MRU has a pitch and roll
accuracy of ± 0.04o. They also output heave.
One (1) Vertical Reference Unit provides accurate pitch and roll data
regarding the vessel. The VRU has an accuracy of ± 0.3o.
Both the ASK and the acoustic position reference systems use data from these
sensors to correct errors induced by pitch and roll. Such errors may
particularly affect information gathered by antennae and hydrophones. The
acoustic systems perform pitch and roll compensation before passing their
position data to the ASK.

12.3.1 Vertical Reference Sensor Processing

VRS processing operates on raw vertical displacement data available via
analog inputs. These values are checked for compliance with a maximum
value stored in a database. An alarm flag is issued if this maximum is
exceeded on any cycle. The ASK then averages the values of all online,
unalarmed sensors. Next, a first-order filter calculates the long term averages,
which are displayed as “Trim” and “List.” The ASK processing function uses
the raw, instantaneous data to compensate for the incoming position data from
antennae, while the acoustic systems use the raw data to compensate for
position data from hydrophones before passing it to the ASK.

12.3.2 Controlling Vertical Reference Sensors

To bring the Vertical Reference Sensors online or take them offline, open
SENSOR PAGE 1 and select the appropriate buttons with the cursor control.
The color of the screen buttons and data indicates the status of the sensor:
· Red: NOT READY/FAULTED (Data)
· Dark gray: OFFLINE
· Green: ONLINE (Screen Button)
· Black: ONLINE (Data)
· Green/Gray Blinking: <ONLINE> and <FAULTED> (Screen Buttons)

12.3.3 Vertical Reference Data on Sensor Page 1

“Blended” readings are the blended values of all online, unfaulted sensors.
The “RMS” values are the Root-Mean-Square variations from the “Trim” and
“List” values. These readings generally equal .707 of the typical peak pitch
and roll amplitudes from the trim/list values.
The “Trim/List” field shows the long-term average of the pitch and roll.

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 CHAPTER 12: AUXILIARY SENSORS

12.4 DGPS DATA DISPLAY ON SENSOR PAGE 1

The bottom section of ASK SENSOR PAGE 1 indicates the vessel’s reported
latitude and longitude from the online DGPS sensors. Additionally, the
numbers of satellites in view are displayed for each DGPS. The tag-names for
these are DGPS001_NumSatellites etc.

This data is provided for information only. Operators cannot control the
DGPS from the SENSOR PAGE 1: ENVIRONMENT. Refer to Chapter
10.1.14 for operational instructions regarding the DGPS units.

12.5 CURRENT ESTIMATION - SENSOR PAGE 3 (CURRENT)

Current Estimation data is provided for calculated and estimated current
information only. The operator cannot control the current from SENSOR
PAGE 3 CURRENT.

Figure 11-3. Sensor Page 3: Current

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13. RISER ANGLE SENSORS

The RS925 systems include Riser Angle Beacons, which can transmit riser
angle data in parallel with the acoustic positioning data. This data will be
brought into the RS925 acoustic system and processed before being passed to
the ASK. Nautronix has also supplied electric riser angle sensors.

13.1 SENSOR PAGE 2: RISER/STACK

This page configures and shows data from the riser and stack sensors. The
color of the screen buttons and data indicates the status of the sensor:

· Red: NOT READY/FAULTED

· Dark gray: OFFLINE
· Green: ONLINE (Screen Button)
· Black: ONLINE (Data)
· Green/Gray Blinking: <ONLINE> and <FAULTED> (Screen Buttons)

Figure 13-1. Sensor Page 2

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CHAPTER 13: RISER ANGLE SENSORS

13.1.1 Riser Section

Select the <ERA B>, <ERA Y>, <ARA 1>, and <ARA 2> screen buttons
with the cursor control to place the Electric and Acoustic Riser Angle Sensors
online or take them offline.

13.1.1.1 Measured Column

These values are the raw angular tilt measurements returned by the riser
sensors.

13.1.1.2 Bias Column

For information on the Bias Column, refer to Section 13.2.

13.1.1.3 Corrected Column

These fields display each sensor’s final riser tilt data after correcting for
sensor biases. The system uses this data for the blended riser estimate.

13.1.1.4 Azimuth Bias

For information on the Azimuth Bias, refer to Section 13.1.2.4.

13.1.1.5 Blended
This field displays the average riser tilt based on data from all online,
unfaulted riser angle sensors.

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 CHAPTER 13: RISER ANGLE SENSORS

13.1.2 Stack Section

The online/offline status of the Electric Stack Sensors are tied to the
corresponding electric riser sensors, described in the paragraphs above. The
operator cannot place the ESA sensors online separately from the ERA units.

13.1.2.1 Measured Column

These values are the raw measurements returned by the stack sensors.

13.1.2.2 Bias Column

For information on the Bias Column, refer to Section 13.2.

13.1.2.3 Corrected Column

These fields display each sensor’s final stack data after correcting for sensor
biases.

13.1.2.4 Azimuth Bias

This field can be used to correct for angular mounting errors (rotation about
the vertical axis) of individual tilt sensors.

13.1.2.5 Fixed Stack Angles

Stack angles are reported in the ESA B and ESA Y fields. However, the
operator must manually enter the fixed fore/aft and port/starboard stack
settings in the FIXED STACK ANGLES fields. These angles should be stable,
average values. The system will not update them based on new sensor data.
The system will generate an alarm if the stack tilt reported by ESA B or Y
varies from the FIXED STACK ANGLES by more than one degree.
1. Select the first <FIXED STACK ANGLES> screen button.
2. The Pop-Up Keypad will appear.
3. Enter a new stack angle.
4. Select the Pop-Up Keypad <OK> button.
5. Repeat steps 1-4 for the second <FIXED STACK ANGLES> button.

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13.1.3 Flexjoint Section

The ASK combines data from both acoustic and electric sensors to measure
riser tilt. It then computes the Flexjoint angle by subtracting the set stack
angle. The resultant data is displayed in the “Measured” row in FLEXJOINT
section of SENSOR PAGE 2:

The display displays data in Stack Axes, Earth Axes, and Polar Axes (Tilt and
Direction from North).

13.1.3.1 Setpoint Row

These fields will be blank unless the operator is in HOLD FLEXJOINT
ANGLE mode. Refer to Section 16.6 for details.

13.1.3.2 Measured Row

These fields display the calculated Flexjoint angle.

13.1.3.3 Error Row

These fields display the difference between the “Measured” row and the
“Setpoint” row.

F Please Note - In the Polar Coordinates (Tilt and Direction)

column, the “Error” row does not show the difference between the measured
and setpoint tilt and direction, but rather the Earth Axes error (N/S and E/W)
converted to Earth polar axes.

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13.1.4 Stack and Choke/Kill Settings

13.1.4.1 Stack Heading

It may be necessary to use an ROV to measure the stack heading, which is the
angle from Earth North to the stack Fore/Aft axis. Once the operator has
determined this heading, enter it in this field.

13.1.4.2 Choke/Kill Heading

The system automatically resets the CHOKE/KILL HEADING to match the
STACK HEADING. The operator may override this automatic setting by
selecting the CHOKE/KILL HEADING field with the cursor control and entering
a new setting.

13.1.4.3 Choke/Kill Rotation Limit

The CHOKE/KILL ROTATION LIMIT field sets the rotational limits from the
Choke/Kill Heading. It may range from 0 (no limits applied or displayed) to
360.
The system sets the WINDUP angle as the smallest windup angle possible,
either clockwise or counterclockwise, without any full rotations.
The system will generate a popup warning box when a heading maneuver
threatens to exceed this setting. It will generate an alarm when the actual
windup exceeds this setting.

13.1.4.4 Choke/Kill Windup

The value shown in CHOKE/KILL WINDUP represents the current windup of the
riser in degrees, with clockwise labeled as positive (+) and counterclockwise
being negative (-).

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13.2 CALIBRATE STACK/RISER ANGLE SENSOR BIASES

After the ASK calibrates the Stack/Riser biases, the Fore/Aft and Port/Stbd
biases will be set to averaged recent tilt data (presumably during which the
BOP is freely suspended), thus removing the effects of mounting errors and
vessel pitch and roll. When subtracted from current readings, these biases will
result in zero “corrected” tilt angles for the cases where there is no actual tilt
on the riser or stack.

F Please Note - Only offline riser and stack sensors will be calibrated.

To calibrate the riser and stack angle sensors:

1. Open SENSOR PAGE 2.

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 CHAPTER 13: RISER ANGLE SENSORS

Figure 13-2. Sensor Page 2

2. Select the <CALIBRATE STACK/RISER ANGLE SENSOR BIAS> screen button.

3. A dialog box will appear, asking you to confirm that you want to perform
the calibration process.

4. Select the <YES> button. The CONFIRMATION dialog box will disappear.

5. The <CALIBRATE STACK/RISER ANGLE SENSOR BIAS> screen button will

turn yellow during the calibration process. Once completed, it will return to
its normal gray color.

As a result of this process, the ASK determines appropriate biases by

calculating the average value from all tilt sensors, then saving the individual
differences from the averages as the respective biases. Once completed, the
FORE/AFT and PORT/STARBOARD, bias fields for the electric and acoustic riser
angle sensors, as well as the stack sensors, will display the calculated biases.
You may also enter individual angle sensor biases via the separate <ERA B>,
<ERA Y>, <ARA 1>, <ARA 2>, <ESA B>, and <ESA Y> screen buttons
(each sensor has a Fore/Aft and Port/Starboard bias).

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14. POSITION REFERENCE SENSORS
Position Reference Sensors may consist of:

· Differential Global Positioning System (DGPS) units

· Acoustic Position Reference Systems (APRS)

· Auxiliary Position Reference System, such as Tautwire, Laser Radar, or

Artemis

· Flexjoint Sensor, which extrapolates the vessel’s position based on the

riser angle as reported by acoustic and electric riser angle sensors.

The ASK uses data from the online position reference sensors to estimate the
vessel’s North/East position. These calculations are required for proper
operation in the HOLD POSITION and HOLD FLEXJOINT ANGLE
modes.

The ASK accepts data from every installed and operational position reference
sensor at all times. The Sensor Select Switch Group and the screen buttons
on the POSITION REFERENCE PAGES do not actually turn these units on
or off. They simply place the sensors online or take them offline, meaning
that the ASK will either use, or not use, their data in its calculations.

SENSOR SELECT

DGPS RS925 RS925 FLEX

1 1 2 JOINT

DGPS
2

DGPS WIND
3 1

REF
WIND
SENSOR
2
SELECT

POS REF WIND

CALIB 3

ASK

Figure 14-1. Sensor Select Switch Group

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CHAPTER 14: POSITION REFERENCE SENSORS

14.1 DGPS HARDWARE OVERVIEW

The Differential Global Positioning Systems output data to both the ASK and
the Acoustic Position Reference Systems.

Refer to the OEM Information Manual for more data on the DGPS units.

14.2 RS925 ACOUSTIC POSITION REFERENCE SYSTEMS

The dual Nautronix RS925 systems consist of:

· 2 Signal Processing Units

· 2 Display and Control Units (DCU)

· 6 Hydrophones

· 6 Hydrophone Cables

· 6 Junction Boxes

14.3 FLEXJOINT SENSOR

The Flexjoint Sensor determines the vessel’s position by determining the riser
angle (from the installed riser angle sensors) and extrapolating a rigid line
from that angle to the surface. The operator may place the riser angle sensors
online without enabling the Flexjoint Sensor, but cannot employ the Flexjoint
Sensor unless the riser angle sensors are configured and operational. Refer to
Chapter 13 for more information on riser angle sensors.

14.4 IMPORTANT POSITION REFERENCE SENSOR CONCEPTS

Sections 14.4.1 through 14.4.7 define important position reference sensor
concepts.

14.4.1 Noise
Sensor noise is a measure of the standard deviation of the position reference
sensor data, adjusted for steady motion of the vessel, over the last several
minutes. Noise readings are shown on POSITION REFERENCE PAGE 1.

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14.4.2 Noise Rejection Logic

The noise rejection function screens each individual measurement to detect
and eliminate "outflyer" measurements. The rejection function is executed on
all position reference sensors supplying data to the ASK.

Rejected Data
Adaptive Rejection Threshold

Data Average

Data Stream

Figure 14-2. Noise Rejection Logic

Noise rejection logic continually calculates an adaptive rejection window.

This window acts as a "peak detector" that compares the difference between
each new measurement and past values. It rejects spikes that lie significantly
beyond the expected deviation about the mean. If the measurements are
widely spaced, the adaptive rejection window will grow wider in order to
accommodate more of the data stream. As the data tightens around the mean,
the adaptive window will shrink.
For subsea position sensors, the NRL Window is scaled to allow more noise
for beacons submerged at lower depths. The ASK has a minimum depth
setting, above which beacons cannot be configured.

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14.4.3 Origin Reference Sensor

The Origin Reference Sensor is a crucial element in understanding and using
the ASK5003. The first position reference sensor online is defined as the
Origin Reference Sensor. If the operator places additional position reference
sensors online and they are free from alarms, the system will compute bias
correction values (in the North and East coordinate frame) for each additional
device relative to the Origin Reference Sensor. These stored biases are equal
to the difference between the Origin Reference Sensor’s low-passed (averaged)
data and the respective sensor's low-passed (averaged) data. In simple terms, the
ASK adds biases to the raw values reported by “regular” position reference
sensors to calculate “corrected” values that are virtually identical to those
reported by the Origin Reference Sensor.
If more than one unalarmed position reference sensor is online, the operator can
select a different Origin Reference Sensor. Refer to Section 14.5.7 for details.
Position Reference Sensor:
2 meters North, 2 meters East of
Origin Reference Sensor.

Reported position = +2, +2

Stored biases = -2, -2.

Position Reference Sensor:

Origin Reference Sensor
0 meters North, 3 meters East of
Origin Reference Sensor.

Reported Position = 0, +3

Stored biases = 0, -3.

Position Reference Sensor:

4 meters South, 3 meters West of
Origin Reference Sensor.

Reported Position = -4, -3

Stored biases = +4, +3.

Figure 14-3. Position Reference Sensor Biasing

The stored biases are continually added to the measured values from the
sensor. Once established, they are fixed in magnitude until a Position
Reference Calibration is performed (refer to Section 14.12). This fixing
prevents deterioration in the reference sensor data from affecting other sensors
or contaminating the overall position estimate.
In addition to acting as a reference source for all other position reference
systems, the coordinate system origin used by the Origin Reference Sensor
becomes the coordinate system origin for the ASK itself.

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14.4.4 Weighting
The ASK assigns weight to each sensor based on the inverse of the noise.
POSITION REFERENCE PAGE 2 displays the weight assigned to the
sensors. After passing through noise rejection logic and biasing, the position
reference sensor measurements are combined using the inverse noise-
weighted average, forming a single “measurement.”

Low Noise

High Noise

Low Weight High Weight

Figure 14-4. Sensor Weighting

14.4.5 Drift
Drift can be defined as the tendency of a given sensor to report different
positions over a span of time when the vessel has not, in fact, moved.
To determine if a sensor is drifting, the ASK calculates the instantaneous bias
between every “regular” position sensor and the Origin Reference Sensor.
The difference between the instantaneous bias and the stored bias (see

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Section 14.4.3) equals the sensor drift, which is displayed on POSITION

REFERENCE PAGE 2.

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14.4.6 Jumping
Some position reference sensors may experience a condition known as
“jumping,” where the average filtered position moves to a point outside the
Noise Rejection Logic adaptive window (refer to Section 14.4.1) and then
remains stable. The ASK will reject this data and generate appropriate alarms.
The operator must then determine if they should cycle the sensor offline and
online to take advantage of the new, stable position.

POSITION
REFERENCE NOISE REJECTION LOGIC
SENSOR ADAPTIVE WINDOW
DATA

JUMP

SENSOR DATA NOW STABLE BUT REJECTED

Figure 14-5. Sensor Jumping

14.4.7 Median Testing

The median testing scheme rejects any individual values that are significantly
different from the collective data values from all position reference sensors.

First, the median value is determined from online initialized sensors.

Next, each value from every online sensor is compared to the median value.
If the difference is larger than the MEDIAN ALARM THRESHOLD, entered on
SETUP PAGE 1, the ASK will generate a “Median Test Alarm.” The sensor
that provided the faulty data is eliminated from the pool of readings used to
compute the vessel’s estimated position. Refer to Section 10.1.8 for more
information on setting the MEDIAN ALARM THRESHOLD.

If the distance from the measurement median to the nearest data point is
greater than the MEDIAN ALARM THRESHOLD, the ASK will generate a
“Divergence Alarm.” This alarm indicates that the readings from all sensors
are drifting apart.

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14.5 POSITION REFERENCE PAGE 1

Before placing any position reference sensor online, open POSITION
REFERENCE PAGE 1. The color of the screen buttons and data indicates the
status of the sensor:
· Red: NOT READY/FAULTED
· Dark gray: OFFLINE
· Green: ONLINE (Screen Button)
· Black: ONLINE (Data)
· Green/Gray Blinking: <ONLINE> and <FAULTED> (Screen Buttons)

Figure 14-6. Position Reference Page 1

When placing position reference sensors online, select only units that appear
to be yielding reasonable data and are free from alarms.

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14.5.1 Position Reference Sensor Screen Buttons

Select these buttons with the cursor control to place the sensors online or take
them offline.
The Sensor Select Switch Group on the console also allows the operator to
place the position reference sensors online or take them offline.

14.5.2 Measured Column

These values are the raw measurements of the vessel reference point relative
to the origin as calculated from the data returned by the position reference
sensors, adjusted for antenna/hydrophone locations and vessel pitch/roll.

14.5.3 Corrected Column

These fields show each sensor’s final processed position data, created by
adding stored biases to the raw measurements. Refer to Section 14.4.3 for
more information on sensor biasing.
The system uses corrected data for the Final Ship Position Estimate described
in Section 14.5.6.

14.5.4 Noise
This column shows a measure of the standard deviation in the position
estimate calculated each cycle for each sensor.
The lowest noise value is 1 meter. Noise values are always shown in meters
or feet, never in percent of water depth. Larger numbers indicate greater
noise.
The lower the noise, the more stable the position estimate from that sensor.
Refer to Section 14.4.1 for more information on noise.

14.5.5 New Data

The symbols in this column will blink when new position data has been
received from a given sensor.

14.5.6 Blended Values – Final Ship Position Estimate

The ASK generates a weighted average of the data from all valid online
position reference sensors. This average then passes through a wave filter and
a Kalman filer to produce the Final Ship Position Estimate.
In HOLD POSITION or HOLD FLEXJOINT ANGLE mode, the ASK will
use this estimate to calculate the deviation between the vessel position and the
instantaneous setpoints.

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14.5.7 Origin Reference Sensor Select

Unless overridden, the ASK will automatically identify the first position
reference sensor placed online as the Origin Reference Sensor. The operator
can change this selection via the SENSOR SELECT field on POSITION
REFERENCE PAGE 1 or through the <REF SENS SELECT> key in the Sensor
Select Switch Group.
The sensor with the best long-term stability should be selected as the Origin
Reference Sensor. A noisy sensor with long-term stability may be a better
choice than a noise-free sensor that drifts over a long period of time. When the
Origin Reference Sensor selection is changed, every bias is adjusted
appropriately. In addition, the Origin Reference Sensor offsets are modified to
maintain the same absolute origin. To select a new Origin Reference Sensor:

1. Open POSITION REFERENCE PAGE 2.

2. Look in the “Drift” column for the sensor with the best long-term stability.
A noisy but stable unit is a better choice than a noise-free sensor that drifts.

3. Open POSITION REFERENCE PAGE 1.

4. Select the SENSOR SELECT screen button in the “Origin Reference”

section. Alternately, the operator may use the <REF SENS SELECT> key on
the console itself, found in the Sensor Select Switch Group.

5. Select the screen button for the new Origin Reference Sensor. Alternately,
the operator may use the appropriate <SENSOR SELECT> key on the
console itself.

6. To cancel the Origin Reference Sensor change process, select the <REF
SENS SELECT> key or the SENSOR SELECT screen button again before
selecting a new Origin Reference Sensor.

14.5.7.1 Relocating the Origin Reference Sensor Origin

The operator can relocate the Origin Reference Sensor’s coordinate origin by
entering offsets. In other words, the operator can move the 0,0 point for the
grid shown on the Deviation Display and the CHART PAGE. To move this
origin:
1. Select the NORTH OFFSET field.
2. The Pop-Up Keypad will appear.
3. Enter the desired offset. A positive number will move the origin to the
north. A negative number will move it south.
4. Select the <OK> button.
5. Repeat steps 1-4 for the EAST OFFSET field. A positive number will move
the origin to the east. A negative number will move it west.

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14.6 POSITION REFERENCE PAGE 2

This page shows additional data related to the position reference sensors. The
color of the screen buttons and data indicates the status of the sensor:
· Red: NOT READY/FAULTED
· Dark gray: OFFLINE
· Green: ONLINE (Screen Button)
· Black: ONLINE (Data)
· Green/Gray Blinking: <ONLINE> and <FAULTED> (Screen Buttons)

Figure 14-7. Position Reference Page 2

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14.6.1 Calibration Bias

This section shows the stored bias (not the instantaneous bias, used to
calculate drift) required to bring each sensor into agreement with the Origin
Reference Sensor.
The ASK automatically sets the bias whenever the operator presses the <POS
REF CALIB> key on the console (refer to Section 14.12). It is also set when
the operator places a new position reference sensor online.
Refer to Section 14.4.3 for more information on sensor biasing.

14.6.2 Drift Column

This section indicates the long-term drift of each sensor’s data to its
established calibration bias. Higher drift values indicate an undesirable
shifting of the sensor’s frame of reference.
Refer to Section 14.4.5 for more information on sensor drift.

14.6.3 Weight
This column shows the relative weighting of position estimates from the
sensors. In general, the higher the noise, the lower the sensor’s weighting into
the Final Ship Position Estimate. Only online sensors contributing to the
solution are weighted. Faulted sensors receive no weighting.
Refer to Section 14.4.4 for more information on sensor weighting.

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14.7 PLACING A DGPS UNIT ONLINE

The operator may place any DGPS unit online after verifying the validity of
its data on the POSITION REFERENCE PAGES and clearing any DGPS
alarms for the unit in question.
There are three methods of placing these sensors online:

1. Select the appropriate position reference sensor screen button on

POSITION REFERENCE PAGE 1 or 2. The screen button will turn
green and the given <SENSOR SELECT> switch on the console will light up.

2. Press the appropriate <DGPS> key in the Sensor Select Switch Group on
the console. The <DGPS> switch will light up, and the corresponding
screen buttons on POSITION REFERENCE PAGE 1 and 2 will turn green.

14.8 PLACING AN RS925 BEACON ONLINE

The operator may place any RS925 beacon online after verifying the validity
of its data on POSITION REFERENCE PAGES 1 and 2 and clearing any
relevant gyro or acoustic system alarms.
To place these sensors online, select the appropriate screen button on
POSITION REFERENCE PAGE 1 or 2. The screen button will turn green
and the given <SENSOR SELECT> switch on the console will light up.

14.9 PLACING A TOP-LEVEL RS925 SYSTEM ONLINE

Although the screen buttons on the POSITION REFERENCE PAGES control
the individual RS925 beacons, the operator can place an entire RS925 system
– including all currently active beacons, and the long-baseline mode, if
selected – online with the RS925 1 or RS925 2 keys in the Sensor Select
Switch Group. These switches will light up to indicate that the top-level
sensors are online.

14.10 PLACING THE FLEXJOINT SENSOR ONLINE

The Flexjoint sensor is actually a composite position measurement formed
from the electric riser angle sensor, acoustic riser angle sensor, and electric
stack angle sensor measurements. To place it online:

1. Set up the riser and stack sensors on SENSOR PAGE 2. Refer to Section
13.1 for details.

2. Open POSITION REFERENCE PAGE 1 or 2.

3. Select the FLEXJOINT screen button. Alternately, press the <FLEXJOINT>

key in the Sensor Select Switch Group.

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14.11 CHARTING POSITION REFERENCE SENSOR DATA

The ASK can plot the position reference sensors on the CHART PAGE. If the
online position reference sensors are not experiencing drift, the symbols for
these sensors will be superimposed upon one another, as they are all biased to
the Origin Reference Sensor. If any sensor does begin to drift, its symbol will
move away from the others. Refer to Sections 14.4.3 and 14.4.5 for more
information on biasing and drift.
To plot the biased position reference sensors:
1. Open the CHART PAGE.
2. Select the <SENSOR OVERLAY> button.

Figure 14-8. Chart Page

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14.11.1 Position Reference Sensor Symbols

If the operator chooses to plot the Position Reference Sensors on the CHART
PAGE, the following symbols will appear:

Symbol Position Reference Sensor

D1 DGPS #1
D2 DGPS #2
D3 DGPS #3
10 Acoustic System 1, LBL Solution
11 Acoustic System 1, Beacon 1
12 Acoustic System 1, Beacon 2
13 Acoustic System 1, Beacon 3
14 Acoustic System 1, Beacon 4
20 Acoustic System 2, LBL Solution
21 Acoustic System 2, Beacon 1
22 Acoustic System 2, Beacon 2
23 Acoustic System 2, Beacon 3
24 Acoustic System 2, Beacon 4
FJ Flexjoint

Refer to Chapter 21 for more information on the CHART PAGE.

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14.12 POSITION REFERENCE CALIBRATION

When the operator initially places a position reference sensor online, the
system establishes a bias to bring that sensor into agreement with the Origin
Reference Sensor. The <POS REF CALIB> key in the Sensor Select Switch
Group orders the ASK to recalculate and store the matrix of position
reference sensor biases.

SENSOR SELECT

DGPS RS925 RS925 FLEX

1 1 2 JOINT

DGPS
2

DGPS WIND
3 1

REF
WIND
SENSOR
2
SELECT

POS REF WIND

CALIB 3

Figure 14-9. Position Reference Calibration Key

This calibration brings the position reference sensors into immediate and
complete agreement with the Origin Reference Sensor. Perform it only when
the system rejects sensor data known to be correct. This function requires that
the Origin Reference Sensor be in a non-alarmed state.

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15. THRUSTER CONTROL

15.1 THRUST PAGE 1: GRAPHICAL DATA

This display page consists of four elements:

Thruster
Icon

Text Box

TAL Circle

Thruster
Bias
Indicator

Figure 15-1. Thrust Page 1

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15.1.1 Text Boxes

The page generates a simple text box and graphic icon for each thruster. Each
text box shows one or more of the following abbreviations:

OFF – Thruster is offline to the ASK system.

MAN – Thruster is in Manual Control mode.

AUTO – Thruster is in Automatic Control mode.

NRDY – Thruster is not ready to respond.

IDLE – Thruster is not generating any force.

CMPR – Measured thrust level or azimuth does not agree with commanded
level.

LEVL – Measured thrust exceeds THRUST ALARM level, entered on SETUP

PAGE 2. Refer to Section 10.2.6 for details.

The light blue numeric reading shows the commanded thrust level as a
percentage of rated thrust.
The yellow numeric reading shows the measured (feedback) thrust level as a
percentage of rated thrust.

15.1.2 Bias Indicator

This textual indicator shows the current thrust bias setting as a percentage of
rated thrust.

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15.1.3 Thruster Icons

These icons show the direction and level of thrust. They can be divided into
three sections:

3
1

1. This symbol indicates the measured level and direction of thrust. The
triangular head represents the thrust direction – that is, the direction that
thruster is pushing the vessel. The rectangular section will fill with yellow
color as the feedback thrust increases.

2. This symbol indicates the instantaneous commanded thrust level and

direction. The triangular head represents the commanded thrust direction
– that is, the direction that the ASK is commanding the thruster to push the
vessel. The rectangular section will fill with light blue color as the
commanded thrust increases.

3. Brown areas represent anti-spoil zones. These zones protect hydrophones,

the ROV launching area, and other thrusters. The ASK will automatically
attempt to keep the azimuthing thrusters from directing thrust in these
areas, which might decrease the performance of the acoustic position
system or another thruster.

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15.1.4 Thrust Allocation Logic (TAL) Circle

The TAL Forces circle, found in the center of the display page, indicates the
net commanded and measured force/moment values for all online thrusters.
Refer to Section 15.6 for more information on the TAL processing scheme.

1 2

Figure 15-2. TAL Circle

1. This arrow-topped rectangle indicates the net commanded direction for

positional thrust – that is, the direction that the TAL has ordered the
combined thrusters to push the vessel in order to satisfy surge and sway
commands. The rectangular section will fill with blue color as the
commanded level of thrust increases, becoming solid blue if the net
thruster command reaches 100% of maximum.
2. This arrow-topped rectangle indicates the net measured (achieved,
feedback) direction for positional thrust (surge and sway). The
rectangular section will fill with yellow color as the measured level of
thrust increases.
3. The light blue band along the inside of the circle represents the net
commanded moment designed to satisfy the yaw requirements. The band
will grow in size as the net commanded moment increases. It will reach ¼
of the way around the TAL circle if the commanded moment equals 100%
of maximum.

4. The yellow band along the inside of the circle represents the net measured
(achieved, feedback) moment. The band will grow in size as the net
measured moment increases. It will reach ¼ of the way around the TAL
circle if the net measured moment equals 100% of maximum.

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15.2 THRUST PAGE 2: TABULAR DATA

This page presents numeric and textual data on the status of each thruster. It
also allows you to set thrust levels and azimuth, which the ASK5003 will use
if the given thruster is placed in MANUAL mode.

Figure 15-3. Thrust Display Page 2

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15.2.1 Status
Displays the current status of the thruster: Rdy if ready or NRdy if not ready.
These readings are based on the status of the thruster interface. Additional
status information such as Rqst or On, may also be shown, depending on the
particulars of the vessel’s thruster interface.

15.2.2 Mode
Displays the control mode of the thruster: OFF, AUTO, or MANUAL.
Refer to Section 15.4 for a description of these modes.

15.2.3 Manual Command %

The ASK will attempt to achieve this setting if the operator places the thruster
in MANUAL control mode. These settings may be entered at any time, even
when the thruster if OFF or in AUTO mode. They will be cleared if the
operator takes the thruster out of MANUAL mode.

F Please Note - If the POWER LIMITING FUNCTION (see Section

19.4) has cut back the thrust commands to any thrusters in AUTO mode,
it will also cut back the thrust commands for any thrusters in MANUAL
mode. Only the commanded thrust will be cut back, however. The
manual thrust command settings will remain the same, and will become
effective if the POWER LIMITING FUNCTION is disabled.
To enter these settings, select the appropriate screen button and use the Pop-
Up Keypad or the Data Entry Keypad.

15.2.4 RPM Command

Displays the current commanded RPM for each thruster.

15.2.5 RPM Feedback

Displays the current measured, or feedback, RPM for each thruster.

15.2.6 Command %
Displays the current commanded force level as a percentage of maximum, for
each thruster.

15.2.7 Feedback %
Displays the current measured, or feedback, force level as a percentage of
maximum for each thruster.

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15.2.8 Manual Azimuth°

The ASK will attempt to achieve this setting if the operator places the thruster
in MANUAL mode. These settings may be entered at any time, even when
the thruster if OFF or in AUTO mode. They will be cleared if the operator
takes the thruster out of MANUAL mode.

F Please Note - If the POWER LIMITING FUNCTION (see Section

19.4) has cut back the thrust commands to any thrusters in AUTO mode, it
will also cut back the thrust commands for any thrusters in MANUAL mode.
However, only the commanded thrust will be cut back. The manual thrust
command settings will remain the same, and will become effective if the
POWER LIMITING FUNCTION is disabled.
To enter these settings, select the appropriate screen button and use the Pop-
Up Keypad or the Data Entry Keypad.

15.2.9 AzCmnd°
Displays the current commanded azimuth for each thruster.

15.2.10 AzFdbk°
Displays the current measured, or feedback, azimuth for each thruster.

15.2.11 Alarms Row

These fields display appropriate text abbreviations to indicate the following
alarm conditions:

NRDY – Thruster is not ready to respond.

LEVL – Measured thrust exceeds THRUST ALARM level, entered on SETUP

PAGE 2. Refer to Section 10.2.6 for details.

CMPR – Measured thrust level or azimuth does not agree with command.

Additional alarms may also be indicated, depending on the particulars of the

vessel’s thruster interface.

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15.2.12 Force Summary Section

Display field shows the components of the surge (F/A) and sway (S/P) control
forces, as well as the yaw control movement, which are allocated to the online
thrusters. The figures represent percentages of maximum thrust. Many of these
readings are derived from the automatic control loop. Refer to Section 3.1 for
more information on this process.

· Jstk: The sum of all forces commanded by the <POSITION CONTROL

JOYSTICK> and the <HEADING CONTROL KNOB>, plus any integral (bias)
terms acquired when switching from Automatic to Manual mode. Refer to
Section 16.5.2 for more information on the transfer of integral terms.
· Wind: This column displays commanded forces resulting from the
ACTIVE WIND COMPENSATION (AWC) function. Refer to Section
16.7 for more information on AWC.
· Curr: The forces commanded to compensate for water current
inflow/cross-flow degradation effects on thrusters. These will be zero if a
current estimate is not available. Refer to Section 23.2.3 for more
information on Current.
· Envr: The Integral terms of the commanded forces and moments
resulting from the ASK Control Loop, which compensate for
environmental conditions (minus wind if AWC is active) and other
unknowable errors. Refer to Section 3.1.2 for more information on the
ASK Control Loop.
· Ctrl: The “Derivative” and “Proportional” terms of the commanded
forces and moments resulting from the ASK Automatic Control Loop.
Refer to Section 3.1.2 for more information on the ASK Control Loop.
· CutBk: If the commanded forces in the “Jstk,” “Wind,” “Curr,” “Envr,”
and “Ctrl” columns exceed the available thrust, this column will show the
unmet percentage.
· Total: The sum of all the other columns in the Force Summary section,
except the “CutBk” forces. In short, this column shows the sum of the
commanded thruster forces before any cutbacks occur.
· Actual: This column shows the sum of the measured thruster forces.
These figures are derived from the TAL Inverse routine, described in
Section 15.6.

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15.3 TCS THRUST PAGE: TABULAR DATA

This page presents numeric and textual data on the status of each thruster. It
also allows you to set thrust levels and azimuth, which the TCS5000 will use
if the given thruster is placed in MANUAL mode.

Figure 15-4. TCS Thrust Page

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15.3.1 Thruster
Shows the current status of the thruster: Rdy if ready or NRdy if not ready.
These readings are based on the status of the thruster interface. Additional
status information such as Rqst or On, may also be shown depending on the
particulars of the vessel’s thruster interface.

15.3.2 DP Mode
Shows the control mode of the thruster: OFF, or AUTO. Refer to Section
15.4 for a description of these modes.

15.3.3 RPM Cmnd

Displays the current commanded RPM for each thruster.

15.3.4 RPM Fdbk

Displays the current measured, or feedback, RPM for each thruster.

15.3.5 Cmnd %
Displays the current commanded force level as a percentage of maximum for
each thruster.

15.3.6 Fdbk %
Displays the current measured, or feedback, force level as a percentage of
maximum for each thruster.

15.3.7 AzCmnd°
Displays the current commanded azimuth for each thruster.

15.3.8 AzFdbk°
Displays the current measured, or feedback, azimuth for each thruster.

15.3.9 Alarms Row

These fields show appropriate text abbreviations to indicate the following
alarm conditions:
NRDY – Thruster is not ready to respond.
LEVL – Measured thrust exceeds THRUST ALARM level, entered on SETUP
PAGE 2. Refer to Section 10.2.6 for details.
CMPR – Measured thrust level does not agree with commanded level.
Additional alarms may also be indicated, depending on the particulars of the
vessel’s thruster interface.

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15.3.10 Force Summary Section

This display shows the components of the surge (F/A) and sway (S/P) control
forces, as well as the yaw control movement, which are allocated to the online
thrusters. The figures represent percentages of maximum thrust.
Many of these readings are derived from the automatic control loop. Refer to
Section 3.1 for more information on this process.

· Jstk: The sum of all forces commanded by the <POSITION CONTROL

JOYSTICK> and the <HEADING CONTROL KNOB>, plus any integral (bias)
terms acquired when switching from Automatic to Manual mode. Refer to
Section 16.5.2 for more information on the transfer of integral terms.
· Wind: This column shows commanded forces resulting from the
ACTIVE WIND COMPENSATION (AWC) function. Refer to Section
16.7 for more information on AWC.
· Envr: The Integral terms of the commanded moment resulting from the
TCS Control Loop, which compensates for environmental conditions
(minus wind if AWC is active) and other unknowable errors. Refer to
Section 3.1.2 for more information on the TCS Control Loop. The F/A and
P/S terms are always zero because the TCS has no automatic position
control loop.
· Ctrl: The “Derivative” and “Proportional” terms of the commanded
moment resulting from the TCS Automatic Control Loop. Refer to
Section 3.1.2 for more information on the TCS Control Loop. The F/A and
P/S terms are always zero because the TCS has no automatic position
control loop.
· CutBk: If the commanded forces in the “Jstk,” “Wind,” “Envr,” and
“Ctrl” columns exceed the available thrust, this column will show the
unmet percentage.
· Total: The sum of all the other columns in the Force Summary section,
except the “CutBk” forces. In short, this column shows the sum of the
commanded thruster forces before any cutbacks occur.
· Actual: This column displays the sum of the measured thruster forces.
These figures are derived from the TAL Inverse routine, described in
Section 15.6.

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15.4 ASK AND TCS THRUSTER MODES

The operator can place the vessel’s thrusters in any of three modes:
· Manual (not available on TCS5000)
· Auto
· Off

15.4.1 Manual
The ASK5003 permits the operator to enter manual commands for each
thruster on THRUSTER PAGE 2. If the operator places any thruster in
MANUAL mode, the ASK will send these commands to that thruster.

F Please Note - Thrusters in MANUAL mode will not respond to the

<POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>.

15.4.2 Auto
The ASK5003 or TCS5000 will control thruster azimuth and force to meet the
heading and position setpoints.

F Please Note - Thrusters in AUTO mode will respond to the

<POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>, unless
the operator places the vessel in one of the automatic (HOLD HEADING,
HOLD POSITION, or HOLD FLEXJOINT ANGLE) control modes.

15.4.3 Off
The ASK5003 or TCS5000 will not issue any commands to thrusters in OFF
mode.

F Please Note - If the operator is in HOLD HEADING, HOLD

POSITION, or HOLD FLEXJOINT ANGLE modes, the ASK5003 or
TCS5000 will not allow the operator to reduce the number of thrusters in
AUTO mode below 2.

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15.4.4 Selecting Thrusters at an ASK Console

The Thruster Select Switch Group on the ASK console can place each
thruster in MANUAL, AUTO, or OFF modes.
To place a thruster in any of these modes:

1. Press the desired <THRUSTER> key in the Thruster Select Switch Group.
The thruster will enter a “pending” state. The operator may select more
than one thruster before proceeding to Step 3.

2. Press <MANUAL>, <AUTO>, or <OFF>.

3. If the operator pressed <MANUAL> or <AUTO>, the <THRUSTER> key(s)

they selected in Step 2 will become solidly illuminated. If the operator
pressed <OFF>, these <THRUSTER> key(s) will go dark.

THRUSTER SELECT

THR 1 THR 2 THR 3 THR 4 THR 5 THR 6

MANUAL AUTO OFF

Figure 15-5. ASK5003 Thruster Select Switch Group

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15.4.5 Selecting Thrusters at the TCS Console

The Thruster Select Switch Group on the TCS5000 console can place each
thruster in MANUAL, AUTO, or OFF modes.
To place a thruster in any of these modes:

1. Press the desired <THRUSTER> key in the Thruster Select Switch Group.
The thruster will enter a “pending” state. The operator may select more
than one thruster before proceeding to Step 3.

2. Press <MANUAL> or <OFF>.

3. If the operator pressed <AUTO>, the <THRUSTER> key(s) they selected in

Step 2 will become solidly illuminated. If the operator pressed <OFF>, the
<THRUSTER> key(s) will extinguish.

THRUSTER SELECT

THR 1 THR 2 THR 3 THR 4 THR 5 THR 6

AUTO OFF

Figure 15-6. TCS5000 Thruster Select Switch Group

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15.4.6 Selecting Thrusters through ASK Thrust Page 1

The operator may place a thruster in the appropriate mode and set the manual
command and azimuth levels from THRUST PAGE 1.

1. Open THRUST PAGE 1.

2. Select the desired thruster icon.

3. The following dialog box will appear:

Figure 15-7. ASK Thruster Pop-Up Dialog Box

4. Select the AUTO, MAN, or OFF button.

5. If the operator selects <AUTO> or <OFF>, they then select the <ACCEPT>
button to place the thruster in the desired mode.

6. If the operator selects <MAN>, the MANUAL COMMAND and MANUAL

AZIMUTH data entry fields will change from gray to white. Select these
fields and use the Data Entry Keypad to enter the desired settings. Select
the <ACCEPT> button to place the thruster in MANUAL mode.

7. Select the <CANCEL> button to exit the THRUSTER dialog box without
changing any thruster settings or modes.

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15.4.7 Selecting Thrusters through TCS Overview Page

The operator may place a thruster in the appropriate mode from TCS
OVERVIEW PAGE.

1. Open THRUST PAGE 1.

2. Select the desired thruster icon.

3. The following dialog box will appear:

Figure 15-8. TCS Thruster Pop-Up Dialog Box

4. Select the <AUTO> or <OFF> button.

5. Select the <ACCEPT> button to place the thruster in the desired mode.

6. Select the <CANCEL> button to exit the THRUSTER dialog box without
changing any thruster settings or modes.

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15.5 THRUSTER BIASING

The Thruster Biasing mode maintains some level of thrust for those thrusters
that are online and in AUTO mode. The ASK SETUP PAGE 2 or TCS
SETUP PAGE allows the operator to enter and configure this optional mode.

ASK5003 TCS5000

Figure 15-9. Setup Page 2

Bias typically improves the responsiveness of the system. The constant bias
thrust reduces thruster azimuthing during light environmental conditions.
Bias can also be used to maintain a load on the electrical plant.
The system orients each thruster’s bias thrust such that the net bias thrust is
zero. To meet controller commands, each thruster’s bias thrust is vector-
added to its original thrust command as determined by the Thruster Allocation
Logic (TAL). If the original thruster commands are above the thrust bias
level, thruster biasing has no effect.
The THRUSTER BIAS LEVEL field sets the percentage of maximum thrust that
the ASK will command for Thruster Biasing.

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15.6 THRUST ALLOCATION LOGIC

Thrust Allocation Logic (TAL) starts with the desired surge, sway and yaw
commands for the vessel, and then calculates individual thrust commands for
each thruster. The TAL looks to see how many thrusters are actually ready,
and makes its allocations based on these inputs.
Based on thruster capacities and mounting locations, the “pinwheel moment”
TAL computes commands for each thruster which simultaneously minimizes
total power and, when taken together, provide the surge/sway, force, and yaw
moment requirements.
In addition to the allocation of thrust commands, the routine calculates alarm
and status conditions if inadequate propulsion is available in surge, sway or
heading.

15.6.1 Pinwheel TAL

The standard pinwheel moment (PWM) TAL allows the azimuthing thrusters
to rotate to the most desirable angles to simultaneously achieve the required
thrust vector and required yaw moment while minimizing power.

15.6.2 Thruster Online Requirements

For the pinwheel moment TAL to satisfy control thrust requirements, at least
two azimuthing thrusters must be online in AUTO mode.

15.6.3 Axis Priority

The Yaw axis will have allocation priority. Priority will be accomplished by
incrementally reducing the requested thrust in surge and sway if the TAL
cannot satisfy the DP thrust request and then rerunning the TAL algorithm. If
the requested surge and sway thrust is reduced to zero and the TAL is still
overloaded, then the requested yaw moment will be reduced.

15.6.4 Anti-spoiling
Anti-spoiling logic prevents the wash from an azimuthing thruster being
directed toward an acoustic hydrophone, the inlet of another azimuthing
thruster, and the ROV launch area (if the ROV SPOIL ZONE mode is in
effect).

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15.6.5 Level Reduction with Azimuth Error

This routine trims the thrust level command when the actual azimuthing
thruster pointing angle is not at the commanded azimuth. The multiplied
factor equals the cosine of the pointing error, or zero if the pointing error
magnitude is larger than 90 degrees.

15.6.6 Thrust Allocation Inverse

This function validates the thrust allocation scheme itself. Its outputs are
displayed on the ASK SUMMARY PAGE, ASK THRUST PAGE 2, and TCS
THRUST PAGE permitting the operator to verify the actual commands being
realized on the ship. The TAL Inverse evaluates individual feedback from
each thruster and calculates the net surge, sway and heading effects on the
ship. These figures can then be compared directly with the commanded forces
on the ship.

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16. ASK OPERATIONAL MODES AND AUTOMATIC
MANEUVERS

The ASK offers the following control modes:

· Manual Control

· Hold Heading

· Hold Position

· Hold Heading and Hold Position

· Hold Flexjoint Angle

· Active Wind Compensation

· Automatic Heading and Position Maneuvers

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.1 ENTERING CONTROL MODES

The Mode Select Switch Group and the FUNCTION PAGE allow the
operator to enter the automatic command modes.

MODE SELECT

POWER
HOLD HOLD WIND JS
LIMIT
HEADING POSITION COMP DESENS
SUSTAIN

MANUAL MANUAL
FLEXJOINT
YELLOW RED
ANGLE
ALARM ALARM

Figure 16-1. ASK Mode Select Switch Groups

Figure 16-2. Function Page

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.2 MANUAL MODE - POSITION AND HEADING

The operator can manually control the vessel with the console <POSITION
CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>. The thrusters will
respond to the operator’s manual commands, attempting to place the vessel at
the position and heading commanded.
The operator would normally use this mode to position the vessel at the
worksite, maneuver at dockside, or in other situations where human command
of the ship is desired.
To place the vessel under full MANUAL CONTROL:

1. Clear all propulsion alarms.

2. Verify that both the HOLD HEADING and HOLD POSITION modes
are disengaged. When disengaged, these switches and screen buttons
should not be illuminated.

3. Maneuver the vessel.

16.2.1 Joystick Desensitize Key

The Joystick Desensitizing function cuts the thrust command signals generated
in response to movement of the <POSITION CONTROL JOYSTICK> and the
<HEADING CONTROL KNOB> by 50%.

This function, accessed via the Mode Select Switch Group or the
FUNCTION PAGE, may be particularly useful when the operator is manually
controlling the vessel and need to make very small, fine adjustments in
position and heading. If the operator does not enable Joystick Desensitizing in
such cases, it may be very difficult to move the <POSITION CONTROL
JOYSTICK> and the <HEADING CONTROL KNOB> in small enough increments
to meet the needs of the situation.

@ For Example: Without Joystick Desensitizing active, pushing the

<POSITION CONTROL JOYSTICK> to the limit in any direction will result in a
relatively large force on the vessel. By selecting Joystick Desensitizing, the
operator can move the <POSITION CONTROL JOYSTICK> through the same
range of motion but cause a smaller force to act on the vessel.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.3 HOLD HEADING

The operator would normally transfer from full MANUAL CONTROL to
this mode after arriving at the worksite and placing the vessel on the desired
heading. When the operator presses the <HOLD HEADING> key or selects the
HOLD HEADING screen button, the ASK will read the current heading and
maintain it until the operator enters a new heading setpoint or deactivates this
mode.

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

Heading Goal Setpoint: 0 degrees

Measured Heading: 10 degrees

Thrust Commands

Thrust Commands

Figure 16-3. Hold Heading

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

In practice, the system reads the commanded heading setpoint. The thrusters
then attempt to minimize any difference between the vessel’s actual heading
and this setpoint. The <POSITION CONTROL JOYSTICK> still controls the ship’s
fore/aft and starboard/port movement.

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.3.1 Entering Hold Heading

To activate this mode:

1. Establish MANUAL CONTROL of vessel per section 16.2 above.

2. Place at least two thrusters online and in AUTO mode. Refer to Section
15.4 for instructions. More thrusters may be necessary depending on the
situation.

3. Verify that the appropriate position reference sensor(s) are online.

4. Verify that at least one gyrocompass is online and free from current
alarms.

5. Clear all relevant alarms.

6. Rotate the <HEADING CONTROL KNOB> until the vessel stabilizes at the
desired heading.

7. Ensure that no heading axis alarm conditions are active.

8. Press the <HOLD HEADING> key or select the HOLD HEADING screen
button.

9. To exit, press the <HOLD HEADING> key or select the <HOLD HEADING>
screen button again. The following dialog box will appear:

10. Select the <YES> button to exit. Select the <NO> button to remain in
HOLD HEADING mode.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.4 HOLD POSITION

In this mode, the ASK5003 automatically maintains the vessel’s position
while allowing the operator to make heading changes with the <HEADING
CONTROL KNOB>.

CAUTION!
HIGH VELOCITY TURNS CAN CAUSE SERIOUS PROBLEMS:

! Cross-coupling of the fore/aft, port/starboard integral terms: Under

high current (environmental) conditions, this will cause the vessel to
slowly drift off location until the integral terms stabilize to the new
high current (environmental) conditions.

! High-thrust levels can also interfere with beacon signal reception by

increasing water aeration and thruster noise levels.
Nautronix recommends that the operator avoid high velocity turns entirely. If
necessary, carefully assess the consequences before beginning the maneuver.

to m o ve i n t
r ee he
l f Ya
e w
e ss ax
V is

Thruster Forces Current and Wind Forces

Vessel P o s itio n G o a l S e tp o in t
Reference
Point

Figure 16-4. Hold Position

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.4.1 Entering Hold Position

To activate this mode:

1. Establish MANUAL CONTROL of vessel per Section 16.2 above.

2. Place at least two thrusters online and in AUTO mode. Refer to Section
15.4 for instructions. More thrusters may be necessary depending on the
situation.

3. Verify that the appropriate position reference sensor(s) are online.

4. Clear all relevant alarms, especially those relating to position reference

sensor(s).

5. Move the <POSITION CONTROL JOYSTICK> until the vessel stabilizes at the
desired position.

6. Press the <HOLD POSITION> key or select the <HOLD POSITION> screen
button.

7. To exit, press the <HOLD POSITION> key or select the <HOLD HEADING>
screen button again. The following dialog box will appear:

8. Select the <YES> button to exit. To remain in HOLD POSITION mode,

select the <NO> button.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.5 HOLD HEADING - HOLD POSITION

This mode, used for most activities at a worksite, results in full dynamic
positioning of the vessel by the ASK.
When the operator enters HOLD HEADING -- HOLD POSITION, the
ASK will maintain the vessel’s current location and heading until you enter
new goal or heading setpoints, or until the operator deactivates this mode.
The system reads the commanded heading and position setpoints. The
thrusters then attempt to minimize any difference between the vessel’s actual
heading and position and these setpoints.

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

Heading Goal Setpoint: 0 degrees Measured Heading: 10 degrees

Thrust Commands: Yaw

Thrust Commands:
Surge, and Sway

Current and Wind Forces move vessel

forward and to port of setpoint.
Vessel
Reference
Point

Thrust Commands:
Yaw Position Goal Setpoint

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

Figure 16-5. Hold Heading and Hold Position

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.5.1 Entering Hold Heading – Hold Position

To activate this mode:

1. Place at least two thrusters online and in AUTO mode. Refer to Section
15.4 for instructions. More thrusters may be necessary depending on the
situation.

2. Establish MANUAL POSITION and HOLD HEADING.

3. Verify that the appropriate position reference sensor(s) are online.

4. Clear all relevant alarms.

5. Maneuver the vessel with the <POSITION CONTROL JOYSTICK>. When the
ship has achieved the correct position (with low vessel rates), place the
joystick so that it counteracts the steady-state environmental forces.

6. Enter HOLD POSITION. Any forces due to deflection of the <POSITION

CONTROL JOYSTICK> will be immediately transferred to the integral terms
of the controller. Refer to Section 3.1 for more information on the ASK
Control Loop.

7. Return the <POSITION CONTROL JOYSTICK> to its centered position.

8. To exit automatic heading and position mode, press the <HOLD HEADING>
and <HOLD POSITION> keys (or select the screen buttons) again. The
following dialog boxes will appear:

9. Select the <YES> buttons to exit. To remain in HOLD HEADING-

HOLD POSITION mode, select the <NO> buttons.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.5.2 Clearing Manual Control (Joystick) Bias

When in HOLD POSITION and/or HOLD HEADING mode, the ASK
automatically calculates the integral forces needed to counteract steady-state
environmental conditions. If the operator transfers to MANUAL
CONTROL, the ASK automatically adds any such integral forces to manual
commands, allowing the vessel to remain in place without any immediate use
of the manual controls. Refer to Section 3.1 for more information on the
automatic control loop.
The operator can view the existing integral forces in the “Force Summary”
section of THRUST PAGE 2 and SUMMARY PAGE 1. The “Envr” column
shows the current integral forces. If the operator moves to MANUAL
POSITION and/or MANUAL HEADING CONTROL, the system will
automatically add these integral forces to the figures in the “Jstk” column.

Figure 16-6. Thrust Page 2

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

When bias forces exist, the system will automatically illuminate the <CLEAR
JS BIAS> key and the CLEAR JOYSTICK BIAS screen button on the FUNCTION
PAGE. Selecting the key or the button will cause those bias forces to be
zeroed immediately. This action may be useful in situations where the bias
forces are deemed inappropriate, or where the operator wishes to assume full
MANUAL CONTROL of vessel propulsion without any biases applied.
FUNCTION SELECT

HEADING POSITION CONTROL LOGGING SWITCH

STPT STPT GAIN INHIBIT TEST

ALARM
FLEXJOINT CLEAR ALARM
PAGE
STPT JS BIAS ACK
INHIBIT

If the operator switches back to HOLD POSITION and/or HOLD

HEADING, the ASK feeds any forces caused by the joystick biases or the
current deflection of the <POSITION CONTROL JOYSTICK> and the <HEADING
CONTROL KNOB> into the integral forces to allow immediate counteraction of
environmental forces. Clearing joystick biases while in HOLD POSITION
and/or HOLD HEADING will have no effect on those transferred forces.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.6 HOLD FLEXJOINT ANGLE MODE

This sub-mode of HOLD POSITION automatically maintains the flexjoint
setpoint angle. The ASK adjusts the Goal Position Setpoint to maintain this
given angle, which is measured through the acoustic and electric riser angle
sensors. The system controls the thrusters to reduce any deviation between
the actual flexjoint angle and the desired angle.

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ASK5003/TCS5001 Operations and Maintenance Manual 16-17

CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

Commanded Flex Joint Angle: 0 degrees

Thruster Commands

Measured Flex Joint Angle: .5 degrees

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.6.1 Entering Hold Flexjoint

To enter this mode:

1. Place the ASK in HOLD POSITION mode.

2. Ensure that the ERA and ARA sensors are properly configured on
SENSOR PAGE 2. Refer to Section 13.1 for details.

3. Clear all relevant alarms.

4. Select HOLD FLEXJOINT ANGLE mode in one of the following ways:

4.1. Press the <HOLD FLEXJOINT ANGLE> key in the Mode Select Switch
Group.

4.2. Select the <HOLD FLEXJOINT ANGLE> screen button on the

FUNCTION PAGE.

5. The current flexjoint angle as measured by the ERA/ARA sensors will

become the flexjoint angle setpoint.

6. To exit HOLD FLEXJOINT ANGLE mode:

6.1. Press the <HOLD FLEXJOINT ANGLE> key

6.2. Select the <HOLD FLEXJOINT ANGLE> screen button again.

7. The following dialog box will appear:

8. Select the <YES> button to exit. To remain in HOLD FLEXJOINT

ANGLE mode, select the <NO> button.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.6.2 Flexjoint Setpoint Changes

To modify the flexjoint angle setpoint while in HOLD FLEXJOINT
ANGLE mode.
1. Begin the flexjoint angle setpoint modification process:
1.1 Press the <FLEXJOINT STPT> key in the Function Select Switch
Group.
1.2 Select the <FLEXJOINT SETPOINT> button on the FUNCTION PAGE.

1.3 Use the cursor control to select any point in the Deviation Display.
2. The FLEXJOINT SETPOINT dialog box will appear:

3. There are four ways to specify a flexjoint setpoint:

3.1 Previous flexjoint angle
3.2 Current flexjoint angle
3.3 An absolute setpoint in earth axes
3.4 An absolute setpoint in polar coordinates
4. Choose one of the four methods of specifying the setpoint. If necessary,
enter data in the two data entry fields at the bottom of the dialog box.

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

5. Select the <ACCEPT> screen button or press the <ENTER> key.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.7 ACTIVE WIND COMPENSATION (AWC)

This feature uses data from all online wind sensors. Using an internal model
of the vessel’s aerodynamics, the ASK calculates wind effects and counteracts
them through the vessel thrusters, reducing station keeping errors when wind
speed and direction change. The operator may use AWC simultaneously with
any of the other control modes described above.

To activate this mode:

1. Open SENSOR PAGE 1. Verify at least one valid wind sensor is online.
The system automatically excludes faulted wind sensors from AWC
calculations.
2. Press the <WIND COMP> key in the Mode Select Switch Group. When
AWC is active, this switch will be illuminated. Alternately, select the
<WIND COMP> button on the FUNCTION PAGE.

To turn AWC off, press the illuminated <WIND COMP> key or select the
<WIND COMP> button on the FUNCTION PAGE again. When in HOLD
POSITION and/or HOLD HEADING, this action immediately transfers the
current compensation commands to the controller’s integral terms. The ASK
will maintain these compensation settings but will no longer actively respond
to changes in wind speed and direction. Similarly, when the operator activates
AWC, the system will subtract the new compensation forces from the
controller’s integral terms. This addition and subtraction prevents sudden
vessel movements when the operator activates AWC.
Nautronix recommends operators use AWC at all times, except when the
wind sensor’s measurements are known to be incorrect. Overhead helicopter
traffic or the wind shadow caused by another vessel or platform may result in
incorrect readings. In most other situations, the ASK will perform better with
AWC engaged.

16.7.1 Active Wind Compensation Processing

First, raw wind speed and direction signals are low-pass filtered with first-
order difference equations.
Wind compensation forces and moment are then computed using a table look-
up and a scale factor for each axis, which are multiplied by wind speed
squared to determine final aerodynamic forces and moment.
Several alarm conditions are generated:
1. Speed Comparison with other non-alarmed sensors.
2. Angle Comparison with other non-alarmed sensors.
3. Power loss reported at sensor itself.

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.8 PORTABLE JOYSTICK CONTROL FUNCTIONS AND KEYS

When the Portable Joystick is in control, the keys and control tools it provides
serve the following purposes:

The <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>

serve the same function as they do on the Master console. Refer to Section
16.2 for more information.

The <HOLD HEADING> and <CLEAR JS BIAS> keys serve the same function on
the Portable Joystick as they do on the Master console. Refer to Sections 16.3
and 16.5.2 for more information.

The <ALARM> lamp is an indicator only. When illuminated, it shows that the
ASK has detected an alarm condition. The operator cannot acknowledge
alarms from the Portable Joystick.

HOLD CLEAR
ACCEPT JS
HEADING ALARM
CONTROL BIAS

Figure 15-7. Portable Joystick

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.8.1 Portable Joystick Control/Transfer

To transfer control from the Master console to the Portable Joystick:

1. On the Master console, press the <PORTABLE JOYSTICK> key, found in the
Mode Select Switch Group.

1.1 This key and the <ACCEPT CONTROL> switch on the portable joystick
will both flash.

1.2 A “Joystick Control in Arbitration” message will appear on the

Master console.

2. On the Portable Joystick, press the <ACCEPT CONTROL> key.

2.1 The <PORTABLE JOYSTICK> key on the Master console and the
<ACCEPT CONTROL> lamp on the portable joystick will glow
steadily.
3. To transfer control back to the Master console:
3.1 Press <ACCEPT CONTROL> on the portable joystick, then press the
<PORTABLE JOYSTICK> key on the Master console. The Master will
now be in control of the ASK.
3.2 Alternately, press the <PORTABLE JOYSTICK> key on the Master.
A “Joystick Control in Arbitration” message will appear. Press the
<PORTABLE JOYSTICK> key on the Master again. The Master will now be in
control of the ASK.

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 CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.9 MANEUVERS
The ASK can execute automatic heading and position maneuvers. These
maneuvers may be small adjustments or large modifications. Flexjoint
Setpoint maneuvers are described in Section 16.6.1.

FUNCTION SELECT

HEADING POSITION CONTROL LOGGING SWITCH

STPT STPT GAIN INHIBIT TEST

ALARM
FLEXJOINT CLEAR ALARM
PAGE
STPT JS BIAS ACK
INHIBIT

Figure 16-7. ASK Setpoint Keys

Figure 16-8. ASK Function Page

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.9.1 Maneuver Process Overview

The speed at which the ASK executes a maneuver will grow linearly from
zero to the maximum position or heading rate of change. The system will
maintain maximum velocity, whether the maneuver involves a change in
heading or position, until deceleration becomes necessary. The velocity will
then decrease to zero, also linearly, to conclude the maneuver. Position
maneuvers over short distances may not reach the specified maximum rate
before it is necessary to decelerate to a stop at the new position.

New Position

Original Position
POSITION

TIME
ty
ci
lo
Ve

TIME

Acceleration

TIME

Figure 16-9. Position Maneuver Profile

The setpoint or maximum rate may be changed while an automatic maneuver
is already underway. An emergency halt may be initiated by taking the ASK
into full Manual Control mode and stabilizing the vessel. The operator can
then return the vessel to full automatic ASK control.

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16.9.2 Position Setpoint Maneuvers

To begin an automatic position maneuver, the ASK must be in HOLD
POSITION mode. It cannot be in HOLD FLEXJOINT ANGLE mode.
All linear measurements are made in the current display units. North, East,
Fore, and Starboard are positive numbers. South, West, Aft, and Port are
negative numbers. Enter angular quantities in degrees.
To initiate a position maneuver:

1. Press the <POSITION STPT> key on the console, select the <POSITION
SETPOINT> button on the FUNCTION PAGE, or select the Deviation
Display. The following dialog box will appear:

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

2. There are six ways to specify a position setpoint:

· Previous position setpoint. If the operator selects this option, the data
entry fields will display the coordinates of this setpoint.

· Current position (position of the vessel when the <ACCEPT> button is

selected).

· Absolute position in earth axes from current origin.

· Rectangular Offset from vessel’s current position in earth axes.

· Rectangular Offset from vessel’s current position in ship axes.

· Polar - Range and Bearing from vessel’s current position.

3. Select the appropriate button from the options listed in Item 2 above to
determine how to define the new position setpoint.

4. Double left-click in the top data entry field. The label of this field will
vary depending on which ENTRY TYPE the operator selected in Step 3.

5. Using the console Data Entry Keypad, enter the first coordinate of the
new position setpoint.

6. Repeat steps 4 and 5 for the remaining data entry fields.

7. Select the <ACCEPT> button. To exit the POSITION SETPOINT dialog

box without initiating a new heading setpoint, select the <CANCEL>
button.

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16.9.3 Heading Setpoint Maneuvers

To initiate an automatic heading maneuver, the ASK must be in HOLD
HEADING mode.

1. Press the <HEADING STPT> switch on the console, select the HEADING
SETPOINT button on the FUNCTION PAGE, or select the Compass
Window. The following dialog box will appear:

2. Select one of the four available methods of defining the heading setpoint:
Previous Heading, Current Heading, an Absolute Setpoint in Earth
coordinates, or an Offset from the current Heading in Ship coordinates.

3. The descriptions to the left of the two data entry boxes will change
depending on what method you use to define the heading setpoint.

4. Select the first data entry box.

5. Use the Data Entry Keypad or the Pop-Up Keypad to enter the new
heading setpoint.

6. Select the second data entry box.

7. Use the Data Entry Keypad or the Pop-Up Keypad to enter the rate of
change.

8. Select the <ACCEPT> button. To exit the HEADING SETPOINT dialog

box without initiating a new heading setpoint, select the <CANCEL>
button.

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CHAPTER 16: ASK OPERATIONAL MODES AND AUTOMATIC MANEUVERS

16.9.4 Proposed Setpoint Outline

When you begin either a heading or a position maneuver, the Deviation

Display will generate a flashing vessel outline based on the proposed setpoint.
This outline stops flashing if the operator confirms they want to conduct the
maneuver. It remains visible until the completion of the maneuver.

Figure 16-10. Proposed Position Maneuver

as seen on Deviation Display

Proposed position outline above and to left of current position.

This example shows a ship-shaped vessel. The ASK will generate
a different outline for semi-submersible vessels.

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ASK5003/TCS5001 Operations and Maintenance Manual 16-31

17. TCS CONTROL MODES
The TCS5000 provides the following primary operating modes:

· Coordinated Control

· Hold Course

· Hand Pilot

· Autopilot

The following table provides an overview of each Operating Mode:

Mode
Switches
or Max
Surge Sway Yaw Thruster Use
Function Thruster Restrictions
Mode Control Control Control
Page Screen RPM
Buttons
Selected
Coordinated
None Manual Manual Manual 720 None
Control
HOLD
Hold Course COURSE Manual Manual Auto 720 None
only
All online thrusters used
for Surge.
AUTOPILOT
Manual N/A Manual 790 Rear thrusters (4, 5, 6)
Hand Pilot only
used for Heading
Control.
All online thrusters used
AUTOPILOT
for Surge.
and
Manual N/A Auto 790 Rear thrusters (4, 5, 6)
Autopilot HOLD
used for Heading
HEADING
Control.

The TCS also offers the following supplemental Operating Modes:

· Active Wind Compensation

· Crash Astern

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CHAPTER 17: TCS CONTROL MODES

17.1 COORDINATED CONTROL

In this mode, the three <COORDINATED CONTROL KNOBS> on the left side of
the TCS keyboard control the Port/Starboard, Fore/Aft, and Yaw movement of
the vessel.
At least two thrusters must be online and in AUTO mode for
COORDINATED CONTROL to be possible.
To enter this mode:

1. Place the TCS online.

2. Place the desired thrusters in AUTO mode.

3. Maneuver the vessel with the three <COORDINATED CONTROL KNOBS>.

17.1.1 Joystick Desensitizing Function

The Joystick Desensitizing function, accessed by the <JOYSTICK DESENS> key
on the operator keyboard and the JOYSTICK DESENS screen button on the
FUNCTION PAGE, cuts the thrust command signals generated in response to
movement of the three <COORDINATED CONTROL KNOBS> by 50%.
This function may be particularly useful when you are manually controlling
the vessel and need to make very small, fine adjustments in position and/or
heading. If the operator does not select the Joystick Desensitizing function in
such cases, it may be very difficult to move the control knobs in small enough
increments to meet the needs of the situation.

MODE SELECT

AUTO WIND JS
PILOT COMP DESENS

HOLD
COURSE

Figure 17-1. TCS JS DESENS Key

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 CHAPTER 17: TCS CONTROL MODES

17.2 HOLD HEADING MODE

This mode is intended for use while the vessel is maneuvering with the TCS.
The P/S and F/A <COORDINATED CONTROL KNOBS> control the fore/aft and
port/starboard movement of the vessel.
The TCS automatically holds the heading that was measured at the moment
the operator pressed the <HOLD HEADING> key. The operator can set a new
heading by pressing the <HEADING SETPOINT> key in the Function Select
Switch Group and following the screen prompts.

To enter this mode:

1. Place the TCS online.

2. Place the desired thrusters in AUTO mode.

3. Maneuver the vessel to the desired heading with the <COORDINATED

CONTROL KNOBS>.

4. Press the <HOLD HEADING> key or select the <HOLD HEADING> screen
button on the FUNCTION PAGE. The TCS will generate thrust
commands to maintain the current heading.
MODE SELECT

AUTO WIND JS
PILOT COMP DESENS

HOLD
HEADING

Figure 17-2. TCS HOLD HEADING Key

5. Maneuver the vessel in the surge and sway axes with the <COORDINATED
CONTROL KNOBS>. To change the automatic heading, press the <HEADING
STPT> key or select the <HEADING SETPOINT> screen button on the
FUNCTION PAGE, and follow the screen prompts.

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CHAPTER 17: TCS CONTROL MODES

17.3 HAND PILOT MODE

This mode is intended for use while the vessel is in transit.
The <HEADING> knob on the COORDINATED CONTROL panel controls the
turning movement of the vessel.
The <THROTTLE CONTROL JOYSTICK> controls the vessel’s surge speed.
The <F/A> and <P/S> knobs on the COORDINATED CONTROL panel will have
no effect on the vessel.
The aft thrusters will be sent azimuth commands to steer the vessel, along
with surge commands. The remaining online thrusters will provide thrust only
for surge movement. All online thrusters will be sent speed commands.
To enter this mode:

1. Place the TCS online.

2. Place the desired thrusters in AUTO mode.

3. Press the <AUTOPILOT> button or select the AUTOPILOT screen button on

the FUNCTION PAGE.
MODE SELECT

AUTO WIND JS
PILOT COMP DESENS

HOLD
HEADING

Figure 17-3. TCS AUTO PILOT Key

4. Maneuver the vessel in the surge and yaw axes with the <THROTTLE
CONTROL JOYSTICK> and the <HEADING COORDINATED CONTROL KNOB>.

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17.4 AUTOPILOT MODE

In this mode, the <THROTTLE CONTROL JOYSTICK> on the right side of the
TCS keyboard controls the vessel’s surge movement. The TCS automatically
holds the heading that was measured at the moment you enter AUTOPILOT
mode. The <COORDINATED CONTROL KNOBS> will have no effect on the
vessel. The operator can set a new heading by pressing the <HEADING
SETPOINT> key in the Function Select Switch Group and following the
screen prompts.
The aft thrusters will be sent azimuth commands to steer the vessel, along
with surge commands. The remaining online thrusters will provide thrust only
for surge movement. All online thrusters will be sent speed commands.

1. Place the TCS online.

2. Place the desired thrusters in AUTO mode.

3. Press the <AUTOPILOT> key or select the AUTOPILOT screen button on the
FUNCTION PAGE. Surge control will be transferred to the <THROTTLE
CONTROL>.

4. Maneuver the vessel in the surge axis with the <THROTTLE CONTROL
JOYSTICK>.

5. Maneuver the vessel to the desired heading with the <COORDINATED

CONTROL KNOBS>.
MODE SELECT

AUTO WIND JS
PILOT COMP DESENS

HOLD
HEADING

Figure 17-4. Autopilot Mode Keys

6. Press the <HOLD HEADING> key or select the <HOLD HEADING> screen
button on the FUNCTION PAGE. The TCS will generate thruster
commands to maintain the current heading.

7. To change the automatic heading, press the <HEADING SETPOINT> key or

select the <HEADING SETPOINT> screen button on the FUNCTION PAGE.
The screen prompts will direct the operator to enter a new heading
setpoint.

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CHAPTER 17: TCS CONTROL MODES

17.4.1 Clearing Manual Control (Joystick) Bias

When in HOLD HEADING or AUTOPILOT mode, the TCS automatically
calculates the integral forces needed to counteract steady-state environmental
conditions. If the operator transfers to COORDINATED CONTROL, the
TCS automatically adds any such integral forces to manual commands,
allowing the vessel to remain in place without any immediate use of the
<COORDINATED CONTROL KNOBS>.
The operator can view the existing integral bias on the THRUST PAGE. The
“Envr” column shows the current integral forces. If the operator moves from
an automatic control mode to COORDINATED CONTROL, the system will
automatically add these integral forces to the figures in the “Jstk” column.
When bias forces exist, the system will automatically illuminate the <CLEAR
JS BIAS> key, found in the Function Select Switch Group. Pressing this
switch will cause those bias forces to be zeroed immediately. This action may
be useful in situations where the bias forces are deemed inappropriate, or
where the operator wishes to assume full MANUAL CONTROL of vessel
propulsion without any biases applied. The FUNCTION PAGE also provides
a CLEAR JS BIAS screen button.
FUNCTION SELECT

HEADING CONTROL SWITCH

STPT GAIN TEST

CLEAR ALARM
ALARM
JS BIAS PAGE
ACK
INHIBIT

Figure 17-5. TCS Clear JS Bias Key

If the operator switches back to HOLD HEADING or AUTOPILOT mode,

the TCS feeds any forces caused by the current position of the
<COORDINATED CONTROL KNOBS> into the controller integral forces to allow
immediate counteraction of environmental forces. Pressing <CLEAR JS BIAS>
will have no effect on those transferred forces.

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 CHAPTER 17: TCS CONTROL MODES

17.5 ACTIVE WIND COMPENSATION (AWC)

This feature uses data from all online wind sensors. Using an internal model
of the vessel’s aerodynamics, the system calculates wind effects and
counteracts them through the thrusters. The operator may use AWC
simultaneously with the TCS coordinated control and hold heading modes.
AWC is not applied in PILOT modes. To activate this mode:
1. On the SENSOR PAGE, verify that at least one wind sensor is online.

Figure 17-6. TCS Sensor Page

2. Press the <WIND COMP> key in the Mode Select Switch Group.
Alternately, select the WIND COMP screen button on the FUNCTION
PAGE. When AWC is active, this switch and the screen button will be
illuminated.
To turn AWC off, select the illuminated <WIND COMP> switch or WIND
COMP screen button again. This action immediately transfers the current
compensation commands to the controller’s integral terms. The TCS will
maintain these compensation settings but will no longer actively respond to
changes in wind speed and direction. Similarly, when the operator activates
AWC, the system will subtract the new compensation forces from the
controller’s integral terms. This addition and subtraction prevents sudden
vessel movements when the operator activates AWC.

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17.6 CRASH ASTERN FUNCTION

This function is operable only when the TCS is in either HAND PILOT or
AUTOPILOT mode.
If the <THROTTLE CONTROL JOYSTICK> is moved in the reverse direction, no
matter how small the movement, all online thrusters will be commanded
astern. The amount of astern thrust will be proportional to the movement of
the <THROTTLE CONTROL JOYSTICK>. Moving the <THROTTLE CONTROL
JOYSTICK> to the full rearward position would result in 100% astern thrust for
all online thrusters under the control of the TCS.
This function does not cancel HAND PILOT or AUTOPILOT mode. The
TCS will continue to command necessary steering forces while the CRASH
ASTERN function is operating.

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18. CONTROLLING THRUSTERS WITH THE TCS

18.1 TCS THRUST PAGE: TABULAR DATA

Sections 18.1.1 through 18.1.12 describe the elements of this display page.

Figure 18-1. Thrust Page

18.1.1 Status
Displays the current status of the thruster: Rdy if ready or NRdy if not ready.
These readings are based on the status of the thruster interface.

18.1.2 Mode
Displays the control mode of the thruster: OFF, AUTO, or MANUAL.
Refer to Section 18.3 for a description of these modes.

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18.1.3 Manual Command %

This row serves no function within the TCS. It has been retained in order to
support possible future upgrades of the system.

18.1.4 RPM Command

Displays the current commanded RPM for each thruster.

18.1.5 RPM Feedback

Displays the current measured, or feedback, RPM for each thruster.

18.1.6 Command %
Displays the current commanded force level as a percentage of rated thrust.

18.1.7 Feedback %
Displays the current measured, or feedback, force level, as a percentage of
rated thrust, for each thruster.

18.1.8 Manual Azimuth°

This row serves no function within the TCS. It has been retained in order to
support possible future upgrades of the system.

18.1.9 AzCmnd°
Displays the current commanded azimuth for each thruster.

18.1.10 AzFdbk°
Displays the current measured, or feedback, azimuth for each thruster.

18.1.11 Alarms
These fields display appropriate text abbreviations to indicate the following
alarm conditions:

NRDY – Thruster is not ready to respond.

LEVL – Measured thrust exceeds THRUST ALARM level, entered on the

SETUP PAGE 2.
CMPR – Measured thrust level does not agree with commanded level.

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18.1.12 Force Summary Section

The Force Summary Section displays the components of the surge (F/A) and
sway (S/P) control forces, as well as the yaw control movement, which are
allocated to the online thrusters. The figures represent percentages of maximum
thrust.
Many of these readings are derived from the automatic control loop. Refer to
Section 3.1 for more information on this process.

· Jstk: The sum of all forces commanded by the <POSITION CONTROL

JOYSTICK> and the <HEADING CONTROL KNOB>, plus any integral (bias)
terms acquired when switching from Automatic to Manual control of
heading. Refer to Section 17.4.1 for more information on the transfer of
integral terms.
· Wind: This column displays commanded forces resulting from the
ACTIVE WIND COMPENSATION (AWC) function. Refer to Section
17.5 for more information on AWC.
· Envr: The Integral terms of the commanded forces and moments
resulting from the TCS Control Loop, which compensate for
environmental conditions (minus wind and other unknowable errors).
Refer to Section 3.1 for more information on the TCS Control Loop.
· Ctrl: The “Derivative” and “Proportional” terms of the commanded
forces and moments resulting from the TCS Automatic Control Loop.
Refer to Section 3.1 for more information on the TCS Control Loop.
· CutBk: If the commanded forces in the “Jstk,” “Wind,” “Envr,” and
“Ctrl” columns exceed the available thrust, this column will show the
unmet percentage.
· Total: The sum of all the other columns in the Force Summary section,
except the “CutBk” forces. In short, this column displays the sum of the
commanded thruster forces before any cutbacks occur.
· Actual: This column displays the sum of the measured thruster forces.
These figures are derived from the TAL Inverse routine, described in
Section 18.7.6.

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CHAPTER 18: CONTROLLING THRUSTERS WITH THE TCS

18.2 THRUSTER CONTROL PREREQUISITES

The TCS can only control a thruster when these conditions have been met:

1. The <DP/TCS> switch on the Manual Thruster Control Panel must be

selected.

2. The thruster must return a “Ready” signal to the Signal Processor Units,
indicating that it is able to respond to TCS commands.

3. The <TCS ONLINE> key on the left side of the TCS keyboard must be
illuminated.

4. The thruster must be placed in either AUTO or MANUAL mode via the
Thruster Select keys on the TCS console.

18.3 THRUSTER MODES

The operator can place the vessel’s thrusters in either of two modes:
· Auto
· Off

18.3.1 Auto
The TCS will control thruster azimuth and force to meet the heading and
position setpoints.

FPlease Note: Thrusters in AUTO mode will respond to the manual

<COORDINATED CONTROL KNOBS> and/or the <THROTTLE CONTROL>, unless
the operator places the vessel in one of the full automatic control modes.

18.3.2 Off
The TCS will not issue any commands to thrusters in OFF mode.

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18.4 SELECTING THRUSTERS VIA THE TCS CONTROL PANEL

The Thruster Select Switch Group on the TCS console can place the
thrusters in AUTO or OFF modes.

1. Verify that the TCS is online.

2. Select the <DP/TCS> key on the specific Manual Thruster Control Panel.
The operator may repeat this process for more than one thruster before
proceeding to Step 3.

3. Press the desired <THRUSTER> key in the Thruster Select Switch Group.
The thruster will enter a pending state. You may select more than one
thruster before proceeding to Step 4. To place all thrusters in a pending
mode, press the <ALL> key.

4. Press <THR AUTO> or <THR OFF>. All pending thrusters will be

transferred to the selected mode.

THRUSTER SELECT

THR 1 THR 2 THR 3 THR 4 THR 5 THR 6

AUTO OFF

Figure 18-2. Thruster Select Switch Group

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CHAPTER 18: CONTROLLING THRUSTERS WITH THE TCS

18.5 SELECTING THRUSTERS THROUGH THE TCS OVERVIEW PAGE

The operator may place a thruster in the appropriate mode and set the manual
command and azimuth levels from the TCS OVERVIEW PAGE.

Figure 18-3. TCS Overview Page

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 CHAPTER 18: CONTROLLING THRUSTERS WITH THE TCS

1. Select the desired thruster icon.

2. The THRUSTER dialog box will appear:

Figure 18-4. Thruster Pop-Up Dialog Box

3. Select the <AUTO> or <OFF> button. The <MAN> button will be grayed
out and unavailable. It serves no function on the TCS and has been
included only to facilitate possible future upgrades.

4. Select the <ACCEPT> button to place the thruster in the desired mode.

5. Select the <CANCEL> button to exit the THRUSTER dialog box without
changing any thruster settings or modes.

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CHAPTER 18: CONTROLLING THRUSTERS WITH THE TCS

18.6 THRUSTER BIASING

The Thruster Biasing function maintains some level of thrust for those
thrusters that are online and in AUTO mode. The SETUP PAGE allows the
operator to enter and configure this optional function.

Figure 18-5. Setup Page

Bias typically improves the responsiveness of the system. The constant bias
thrust reduces thruster azimuthing during light environmental conditions.
Bias can also be used to maintain a load on the electrical plant.
The system orients each thruster’s bias thrust such that the net bias thrust is
zero. To meet controller commands, each thruster’s bias thrust is vector-
added to its original thrust command as determined by the Thruster Allocation
Logic (TAL). If the original thruster commands are above the thrust bias
level, thruster biasing has no effect.
The THRUSTER BIAS LEVEL field sets the percentage of maximum thrust that
the TCS will command for Thruster Biasing.

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 CHAPTER 18: CONTROLLING THRUSTERS WITH THE TCS

18.7 THRUST ALLOCATION LOGIC

Thrust Allocation Logic (TAL) starts with the desired surge, sway, and yaw
commands for the vessel, and then calculates individual thrust commands for
each of thruster. The TAL looks to see how many thrusters are actually ready,
and makes its allocations based on these inputs.
A “pinwheel moment” allocation is performed where the capacities and
mounting locations are fed into a matrix and the algorithm computes azimuth
angles and thrust levels according to each thruster’s ability to solve for the
various surge/sway forces and yaw moment requirements.
In addition to the allocation of thrust commands, the routine calculates alarm
and status conditions if inadequate propulsion is available in either surge,
sway, or heading.

18.7.1 Pinwheel TAL

The standard pinwheel moment (PWM) TAL allows the azimuthing thrusters
to rotate to the most desirable angles to simultaneously achieve the required
thrust vector and required yaw moment while minimizing power.

18.7.2 Thruster Online Requirements

For the pinwheel moment TAL to satisfy control thrust requirements, at least
two azimuthing thrusters must be online and in AUTO mode.

18.7.3 Axis Priority

The Yaw axis will have allocation priority. Priority will be accomplished by
incrementally reducing the requested thrust in surge and sway if the TAL
cannot satisfy the DP thrust request and then rerunning the TAL algorithm. If
the requested surge and sway thrust is reduced to zero and the TAL is still
overloaded, then the requested yaw moment will be reduced.

18.7.4 Anti-spoiling
Anti-spoiling logic prevents the wash from an azimuthing thruster being
directed toward an acoustic hydrophone and/or the inlet of another thruster.

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18.7.5 Level Reduction with Azimuth Error

This routine trims the thrust level command when the actual azimuthing
thruster pointing angle is not at the commanded azimuth. The multiplied
factor equals the cosine of the pointing error, or zero if the pointing error
magnitude is larger than 90 degrees.

18.7.6 Thrust Allocation Inverse

This function validates the thrust allocation scheme itself. Its outputs are
displayed on the THRUST PAGE, permitting the operator to verify the actual
commands being realized on the ship. The TAL Inverse evaluates individual
feedback from each thruster and calculates the net surge, sway and heading
effects on the ship. These figures can then be compared directly with the
commanded forces on the ship.

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19. POWER SYSTEM MONITORING AND POWER
LIMITING
19.1 POWER PAGE 1: GENERATORS/BREAKERS
Paragraphs 19.1.1 through 19.1.4 describe the screen symbols found on this
display page.

Figure 19-1. Power Page 1

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CHAPTER 19: POWER SYSTEM MONITORING AND POWER LIMITING

19.1.1 Generator Readings and Icons

The numeric readings show the output of the generator in kilowatts (kW).

The individual generator icons will fill with yellow color as they approach
100% of their capacity.

The horizontal red line represents the generator alarm level, configured on
SETUP PAGE 2. Refer to Section 10.2.11 for more information on this
alarm.

19.1.2 Closed-Circuit Breaker Icons

These red symbols represent closed-circuit breakers.

19.1.3 Open-Circuit Breaker Icon

This green symbol represents an open-circuit breaker.

19.1.4 Bus Lines

A recessed yellow line indicates that the bus is hot.

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 CHAPTER 19: POWER SYSTEM MONITORING AND POWER LIMITING

19.2 POWER PAGE 2: KW LOADING

Depending on the status of the tie breakers, the operator will see a different
number of bar graphs. The illustration below shows POWER PAGE 2 when
the buses are completely tied.

Figure 19-2. Power Page 2 (ASK)

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CHAPTER 19: POWER SYSTEM MONITORING AND POWER LIMITING

19.2.1 Capacity
The maximum output capacity of the vessel’s electrical generating system,
which equals the sum of the maximum capacities of all online generators.

19.2.2 Total Load

The overall power demands on the generators, including ASK thrust
commands, thruster bias, and the Drilling/Hotel Load, as indicated by
generator wattmeters.

19.2.3 Operating Power Limit

The power limit currently being applied by the ASK or TCS. On the ASK this
may equal either the Upper Power Limit or the Lower Power Limit (refer to
Section 19.4). On the TCS, it is always the same as the UPL.

19.2.4 Upper Power Limit (ASK Only)

The kilowatt “ceiling” used by the ASK when calculating thrust commands. If
an external power limit signal from a PMS is available, this is used as the
UPL; otherwise it is equal to the Total Capacity minus the larger of the
Drilling/Hotel Load and Reserve kW.

19.2.5 Lower Power Limit (ASK Only)

The ASK calculates the LPL by averaging the thruster power requirements
over a period of approximately one minute and adding the Lower Limit
Margin. The LPL thus closely follows the actual power requirements.

19.2.6 Propulsion Load

The kW load created by the electrical consumption of the thrusters
commanded by the ASK or TCS.

19.2.7 Drilling/Hotel Load

All power consumption associated with non-ASK/TCS vessel operations. The
system calculates this load by subtracting the propulsion load from the
measured total load.

19.2.8 Control Bias Power

Power consumed by thruster biasing. Refer to Section 15.5 for information on
this function.
19.2.9 DP Power Cutback
The % of power requested for thrust commands that have been restricted by
the ASK or TCS power limiting function.
This is the difference between requested (commanded) thruster power before
and after power limiting.

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 CHAPTER 19: POWER SYSTEM MONITORING AND POWER LIMITING

19.3 POWER PAGE 3: KW TRENDING

This page generates trend graphs for the total capacity, propulsion load, and
operating power limit. The unit of measure for the vertical axis is kilowatts.
The unit of measure for the horizontal axis is minutes.

Figure 19-3. Power Page 3

The illustration above shows POWER PAGE 3 when the buses are tied. If the
buses are split in two, there will be a dual graph. For systems with more than
three split busses, the operator may see graphs spread across two pages. Use
the <DOWN ARROW> key on the Data Entry Keypad to access the second set
of graphs.

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CHAPTER 19: POWER SYSTEM MONITORING AND POWER LIMITING

19.4 POWER LIMITING

When the buses are split, the system performs POWER LIMITING
calculations for each bus individually. When the buses are tied, it performs
the calculations separately for each tied bus. There are three basic concepts
that underline the POWER LIMITING:

19.4.1 Lower Power Limit

The ASK calculates the LPL by averaging the thruster power requirements
over a period of approximately one minute, then multiplying it by the LOWER
LIMIT MARGIN, entered on SETUP PAGE 2 (see Section 10.2.9). The LPL
thus closely follows the vessel’s actual power requirements.

19.4.2 Upper Power Limit

The UPL represents the maximum power that could be supplied for
propulsion. If an external power limit signal is not available, the ASK
calculates the UPL by summing the online generator maximum output. It then
subtracts the RESERVED KILOWATTS setting (entered on SETUP PAGE 2) or
the DP Drill/Hotel load, whichever is greater.
Refer to Section 10.2.10 for more information on the RESERVED KILOWATTS
entry. The system calculates the DP Drill/Hotel load by subtracting the
measured thruster power from the measured total capacity.
You can view the DP Drill/Hotel load on POWER PAGE 2. Refer to Section
19.2 for details on this display screen.

19.4.3 Operating Power Limit

The OPL can equal either the LPL or the UPL. When the ASK is in HOLD
HEADING – HOLD POSITION and POWER LIMIT SUSTAIN modes, it
will automatically hold the OPL at the LPL. This sustained limiting does not
mean that the thrusters will be held to one power setting, since the system
constantly recalculates the LPL. The LPL can in fact “ramp up” slowly until
it equals the UPL. However, if any axis is in manual control mode, the OPL
is always set to the UPL, whether the operator has depressed the <POWER
LIMIT SUSTAIN> key or not. This setting allows the ASK to immediately react
to manual control commands in the event of an emergency.
If the system is in HOLD HEADING – HOLD POSITION, but not
POWER LIMIT SUSTAIN, the ASK power limiting function allows the
propulsion power demand to jump directly to the UPL after the requested
power has exceeded the LPL for only 10 seconds. Even though the system
will allow this rapid ramping, it will not occur unless thruster commands
require additional propulsion power.

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 CHAPTER 19: POWER SYSTEM MONITORING AND POWER LIMITING

19.4.4 Power Limit Sustain Mode

This control mode limits the power available for propulsion when holding
position and heading in the ASK.

MODE SELECT

POWER WIND
HOLD HOLD LIMIT PORTABLE
HEADING POSITION COMP JOYSTICK
SUSTAIN

ROV TRACK REMOTE JOYSTICK

FOLLOW FOLLOW AHMT COR DESENS

Figure 19-4. Mode Select Switch Group

Figure 19-5. Function Page

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20. SUMMARY PAGE

This display page presents an overview of important vessel control

information.
The top right corner of the page shows the current display units. The rest of
the screen can be broken into four distinct sections:

· Control

· Flexjoint

· Forces

· Propulsion

Figure 20-1. Summary Page

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CHAPTER 20: SUMMARY PAGES

20.1 CONTROL SECTION

This portion of the page describes the vessel’s position and heading. These
fields will be blank if the ASK is not in one of the automatic control modes.

20.1.1 Goal
The final position and heading setpoints which the ASK is currently
attempting to reach. This data is displayed in both earth axes (North/South,
East/West) and ship axes (Fore/Aft, Starboard/Port).

20.1.2 Setpoint
The (instantaneous) setpoints, or the position and heading the ASK5003 wants
the vessel to meet at the specific moment in time. This setting can perhaps be
thought of as a “step” on the path to the goal setpoint.
When the ASK5003 is in MANUAL CONTROL mode, the instantaneous
setpoints and the goal setpoints will be the same. When the ASK5003 is in
HOLD HEADING and/or HOLD POSITION mode, there may be some
deviation between them.

20.1.3 Vessel
The estimated position and heading of the ship, as calculated by the ASK
based on data from the position reference sensors and the gyrocompasses.

20.1.4 Error
The difference between the instantaneous setpoints and the vessel’s actual
position and heading.

20.1.5 Rate
The measured rate of change (in the current units of measure, which can be
seen at the top of the SUMMARY PAGE) per minute.

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 CHAPTER 20: SUMMARY PAGES

20.2 FLEXJOINT SECTION

This section displays data related to the Flexjoint. If the Flexjoint sensor is
online, the system will display this data even when not in HOLD
FLEXJOINT ANGLE mode.

20.2.1 Setpoint
The instantaneous flexjoint setpoint - the position, tilt, and direction the ASK
wants the vessel to meet at the specific moment.

20.2.2 Vessel
The ASK estimation of flexjoint position, tilt, and direction.

20.2.3 Error
The difference between the setpoints and the ASK estimated position, tilt, and
direction of the flexjoint.

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CHAPTER 20: SUMMARY PAGES

20.3 FORCES SECTION

Display field shows the components of the surge (F/A) and sway (S/P) control
forces, as well as the yaw control movement, which are allocated to the online
thrusters. The figures represent percentages of maximum thrust.
Many of these readings are derived from the automatic control loop. Refer to
Section 3.1 for more information on this process.

· Jstk: The sum of all forces commanded by the <POSITION CONTROL

JOYSTICK> and the <HEADING CONTROL KNOB>, plus any integral (bias)
terms acquired when switching from Automatic to Manual mode. Refer to
Section 16.5.2 for more information on the transfer of integral terms.
· Curr: The forces commanded to compensate for water current
inflow/cross-flow degradation effects on thrusters. These will be zero if a
current estimate is not available. Refer to Section 23.2.3 for more
information on Current.
· Wind: This column displays commanded forces resulting from the
ACTIVE WIND COMPENSATION (AWC) function. Refer to Section
16.7 for more information on AWC.
· Envr: The Integral terms of the commanded forces and moments
resulting from the ASK Control Loop, which compensate for
environmental conditions (minus wind and other unknowable errors).
Refer to Section 3.1.2 for more information on the ASK Control Loop.
· Ctrl: The “Derivative” and “Proportional” terms of the commanded
forces and moments resulting from the ASK Automatic Control Loop.
Refer to Section 3.1.2 for more information on the ASK Control Loop.
· CutBk: If the commanded forces in the “Jstk,” “Wind,” “Envr,” and
“Ctrl” columns exceed the available thrust, this column will display the
unmet percentage.
· Total: The sum of all the other columns in the Force Summary section,
except the “CutBk” forces. In short, this column displays the sum of the
commanded thruster forces before any cutbacks occur.
· Actual: This column displays the sum of the measured thruster forces. These
figures are derived from the TAL Inverse routine, described in Section 15.6.

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 CHAPTER 20: SUMMARY PAGES

20.4 PROPULSION SECTION

The Propulsion area displays the thrust level (%) and azimuth (°) for each
thruster, broken into “commanded” and “feedback” terms.

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21. CHART PAGE

The top of this display page will always represent North.

Figure 21-1. Typical Chart Page

To make the CHART PAGE take up the entire display screen, select the
<FULL SCREEN> button. To return the CHART PAGE to its normal size,
select the <NORMAL> button. These options are only available on a Backup
console, since the OVERVIEW PAGE is constantly shown on the right side of
the Master console monitor.

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CHAPTER 21: CHART PAGE

21.1 PAN AND ZOOM CONTROLS

These screen buttons move the viewport of the CHART PAGE and change its
scale.
Select the arrow buttons to pan <UP>, <DOWN>, <LEFT>, and <RIGHT>.
Select the + button to zoom in on the display.
Select the - button to zoom out. If you zoom out so much that the ship icon
would disappear if it was held to its true scale, the screen will show the
message “Ship Not To Scale.”

21.2 CHART PAGE CONFIGURATION BUTTONS

These buttons affect the appearance and behavior of the CHART PAGE. A
button has been selected when it appears to be depressed, like the <FOLLOW
SHIP> and <SENSOR OVERLAY> buttons in the illustration on the previous
page.

21.2.1 Ship Focus

Select this button to center the CHART PAGE on the vessel icon.

21.2.2 Follow Ship

If the operator selects the <FOLLOW SHIP> screen button, the display will
adjust itself continuously to keep the vessel icon inside the viewing area.

21.2.3 No Grids
Select this button to remove all grid lines.

21.2.4 North/East
Select this button to view North/South and East/West grid lines.

21.2.5 Lat/Lon Grids

Select this button to view latitude and longitude grid lines.

21.2.6 Sensor Overlay

Select this button to plot the position reference sensors. Refer to Section
21.3.3 for an explanation of the symbolic abbreviations.

21.2.7 Vessel Trail

If the operator selects this option, the ASK will generate a series of white dots
representing the vessel’s movements.

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 CHAPTER 21: CHART PAGE

21.3 SYMBOLS FOUND ON THE CHART PAGE

The CHART PAGE uses the following symbols:

21.3.1 Force/Motion Vectors

The lengths of these arrows are proportional to the respective thrust levels.
A light blue arrow, originating from the center of the vessel icon, indicates the
commanded surge and/or sway thrust. A yellow arrow, originating from the
center of the vessel icon, indicates the measured surge and/or sway thrust.
A curved light blue arrow, originating near the bow of the vessel icon,
indicates the commanded yaw thrust. A curved yellow arrow, originating near
the bow of the vessel icon, indicates the measured yaw thrust.

21.3.2 Red and Yellow Alert Circles

The red and yellow alert circles will be shown if the ASK is in HOLD
POSITION or HOLD FLEXJOINT ANGLE mode.

21.3.3 Position Reference Sensor Symbols

The following symbols will appear if the operator chooses to plot the Position
Reference Sensors on the CHART PAGE.

Symbol Position Reference Sensor

D1 DGPS #1
D2 DGPS #2
D3 DGPS #3
10 Acoustic System 1, LBL Solution
11 Acoustic System 1, Beacon 1
12 Acoustic System 1, Beacon 2
13 Acoustic System 1, Beacon 3
14 Acoustic System 1, Beacon 4
20 Acoustic System 2, LBL Solution
21 Acoustic System 2, Beacon 1
22 Acoustic System 2, Beacon 2
23 Acoustic System 2, Beacon 3
24 Acoustic System 2, Beacon 4
FJ Flexjoint

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22. SIGNAL INPUT AND OUTPUT

22.1 SIGNAL I/O PAGE 1: ANALOG COMMUNICATIONS

Analog signals include continuously variable DC Voltage levels and current
levels. Voltage levels typically range between -10 and +10 Vdc. Current
standards are 0-20 milliamps and 4-20 milliamps. Typical applications are
thruster pitch servo control and pitch feedback reporting.
The “Address” column identifies the PLC memory location at which the
signal terminates.
The “Description” column describes the function of the signal.
The “Value” column shows the actual reading of the signal at the PLC in
engineering units.
The “Counts” column shows the signal output by the PLC to the ASK. This
data is primarily useful to a Nautronix analyst.

Figure 22-1. Signal I/O Page 1

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CHAPTER 22: SIGNAL INPUT AND OUTPUT

22.2 SIGNAL I/O PAGE 2: DIGITAL COMMUNICATIONS

Digital signals carry on/off information in two ways: the presence or absence
of a voltage, or the status of a relay contact.
Typical applications of digital signals are thruster ready signals (inputs) and
commands to relays.
The “ADDRESS” column identifies the PLC memory location at which the
signal terminates.
The “DESCRIPTION” column describes the function of the signal.
The “VALUE” column shows the actual reading of the signal. Signals
considered logically “True” (Value = 1) when the circuit is open are denoted
by an asterisk (*).
The “COUNTS” column has no meaning on SIGNAL I/O PAGE 2.

Figure 22-2. Signal I/O Page 2

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 CHAPTER 22: SIGNAL INPUT AND OUTPUT

22.3 SIGNAL I/O PAGE 3: SERIAL COMMUNICATIONS

This screen presents information on various serial communications links.

Figure 22-3. Signal I/O Page 3

If the given data is meant to be interpreted as a string of printable characters, it

will be displayed as ASCII text. Carriage return and linefeed characters will
appear as left-pointing and down-pointing blue arrows, respectively. Other
unprintable characters will appear as red blocks.
If the data is being transmitted or received is “binary,” it will be shown in
hexadecimal format. Two “numbers,” 0 through F, represent a base-16 value
for each byte with a space between consecutive bytes.
These screens show the latest data received until the serial link is considered
“Timed Out.”

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22-4 ASK5003/TCS5001 Operations and Maintenance Manual

23. PLOT PAGES

23.1 PLOT PAGES 1 AND 2

These screens provide strip chart-style plots of certain system parameters.
Call up these pages by pressing the <PLOT> key in the Display Select Switch
Group, or by selecting the <PLOT> screen button on the Toolbar.
Select the parameter to plot, Y-axis scaling, and automatic units conversion by
using the cursor to left-click in the black plot area.
Select a new X-axis scaling (update rate) by left clicking on the <1 SEC>
button. The total elapsed time on the plot is shown at the upper right of the
page.

Figure 23-1. Plot Page 1

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CHAPTER 23: PLOT PAGES

23.2 PLOT PAGE 3: HOLDING CAPABILITY

This plot shows the percentage of maximum thrust for the highest loaded
thruster that would be required to hold station at a given heading.

Figure 23-2. Plot Page 3

The graphic display consists of five concentric circles. Each circle represents
20 percent of the available thrust. The fourth circle, corresponding to 80% of
available thrust, is shown in purple. The white tick marks around the outer
circle indicate compass headings. The vessel outline will always point toward
the top of the display for a forward facing console.
The holding plot itself appears as a yellow line. Its size and appearance
change based on variations in wind, current, and online thrusters. This plot
line shows the amount of available thrust that will be required to hold station
at any given heading.

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 CHAPTER 23: PLOT PAGES

To determine how much thrust will be required to hold station:

· Find the heading along the outer circle.
· Trace directly toward the center of the circle.
· Find the spot at which the heading line intersects the yellow holding plot.
· Count the number of circles between this point and the center point. Each
circle represents 20% of available power.

23.2.1 Mode
This button changes the data on which the holding plot is based:
In Actual mode, the display will generate a holding plot based on the current
thruster status, current speed/direction, and wind speed/direction.
In Hypothetical mode, the operator can see how new thruster conditions, a
different current speed/direction, and/or a different wind speed/direction
would affect the system’s ability to hold station.

23.2.2 Thruster Icons

In Actual mode, these icons will show the status of the corresponding thruster.
Green indicates an online thruster. Gray represents an offline thruster. Red
indicates a faulted thruster.
In Hypothetical mode, the operator can select these icons to see what effect
the removal or addition of a thruster would have on the vessel’s ability to
maintain station.

23.2.3 Current
In Actual mode, these fields display the measured current speed and direction.
The measured current is also shown by “TC” on the holding plot.
In Hypothetical mode, the operator can select these fields to enter a new
current velocity (0 to 10 knots) and direction (0 to 360 degrees). The
hypothetical current direction is also shown by “HC” on the holding plot.

23.2.4 Wind
In Actual mode, these two fields will display the measured wind speed and
direction. The measured wind is also shown by “TW” on the holding plot.
In Hypothetical mode, the operator can select these fields to enter a new wind
velocity (0 to 100 knots) and direction (0 to 360 degrees). The hypothetical
wind velocity is also shown by “HW” on the holding plot.

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CHAPTER 23: PLOT PAGES

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23-4 ASK5003/TCS5001 Operations and Maintenance Manual

24. CONSEQUENCE ANALYSIS

The ASK Consequence Analysis (CA) feature determines if the failure of a

certain hardware item will affect the station-keeping ability of the vessel,
given existing environmental conditions. Section 24.1 describes the specific
scenarios tested by the CA feature.
When the vessel mounts more than one unit of a given hardware item, CA
treats the individual units separately. For example, if a vessel has six
thrusters, CA will run six different scenarios examining the effect of losing
each of them.
The operator can activate or deactivate Consequence Analysis from SETUP
PAGE 1. After the operator enables it, the software runs through the available
loss scenarios one by one.

Figure 24-1. Setup Page 1

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CHAPTER 24: CONSEQUENCE ANALYSIS

An internal Loss Matrix defines the parameters of the various scenarios. CA

also runs the Thrust Allocation Logic (TAL) and Power Management (PM)
modules, tying the loss scenario to the existing environmental conditions and
simulated thrust and power limitations.
The system tracks three types of compromised station-keeping:

· Insufficient Port/Starboard Thrust

· Insufficient Fore/Aft Thrust

· Insufficient Heading Thrust

This list is arranged by the importance of the failure from low to high. The
system will display only the most critical of all current failures. Thus, if a
given scenario would cause both Insufficient Port/Starboard Thrust and
Insufficient Heading Thrust conditions, the display will report only
“Insufficient Heading Thrust.”
If CA determines that the failure of a given hardware unit would compromise
the vessel’s station-keeping ability, it will generate an advisory alarm. The
ASK5003 monitors certain alarms generated during the simulation and allows
them to occur for a set number of "grace period" seconds before raising such
advisories.
The ALARM PAGE shows Consequence Analysis alarms along with the
normal alarms. The ASK5003 treats these advisories like regular alarms,
except that:

· The ALARM PAGE will not automatically appear.

· The speaker will generate a repetitive “blip” tone, not a continuous high-
low tone.

· The display presents CA alarms in green.

If the operator disables CA, the system will clear all alarms for the different
loss scenarios. The operator can temporarily disable single CA alarms by
following the same process used for normal alarms, described in Section 8.7.

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 CHAPTER 24: CONSEQUENCE ANALYSIS

24.1 SPECIFIC SCENARIOS

The ASK tests the following scenarios:

24.1.1 Single Generator Loss

The loss of a single online generator reduces the power available for dynamic
positioning (upper power limit) on the bus fed by that generator. In this test,
one generator’s power capability is assumed to drop to zero. The power limits
are then checked and any necessary and feasible adjustments in the thruster
allocation are made to accommodate the reduced upper power limit on the
affected bus. If the resulting allocation would not meet the required forces
and moments, the system generates a Consequence Analysis alarm.

24.1.2 Single Bus Loss

The loss of a single bus prevents the ASK5003 from using any thruster on that
bus. In this test, the thruster allocation logic must make feasible adjustments
to accommodate the lost bus. If the resulting allocation would not meet the
required forces and moments, the system generates a Consequence Analysis
alarm. Each bus loss is tested.

24.1.3 Single Signal Processor Loss

The loss of a single SPU prevents the ASK5003 from using any thruster
controlled through that SPU. In this test, the thruster allocation logic must
make feasible adjustments to accommodate the lost SPU. If the resulting
allocation would not meet the required forces and moments, the system
generates a Consequence Analysis alarm. Each SPU loss is tested.

24.1.4 Thruster Loss

This test selects each online thruster (in sequence) and assumes it to be
disabled. The thruster allocation logic is run with only the usable thrusters.
Power limits on other buses are checked and any necessary and feasible
adjustments are made to accommodate the lost thrusters. If the resulting
allocation would not meet the required forces and moments or if the allocation
would still exceed the operating power limit, the system generates a
Consequence Analysis alarm.

24.1.5 Compartment Loss

On some vessels, there is a requirement to determine the consequence of the
loss of an entire compartment (engine room or switchboard room). For these
scenarios, the appropriate generators, buses, and/or thrusters are assumed
disabled and the thruster allocation logic is run. If the resulting allocation
would not meet the required appropriate generators, buses, and/or thrusters,
the system generates a Consequence Analysis alarm.

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24-4 ASK5003/TCS5001 Operations and Maintenance Manual

25. OPERATIONAL HINTS
The following information is covered elsewhere in this manual, but these
cases and situations occur frequently enough that they warrant inclusion here.

25.1 DGPS DRIFT

Be aware that even if the differential portion of the signal is correct, the GPS
portion may not be correct due to various reasons. Different GPS receivers
react differently to various combinations of factors, and antenna and cabling
problems can make matters worse. Acquiring a new satellite low on the
horizon can cause appreciable sensor drift. What may first appear as a
situation where the vessel is moving off location can often be a case where the
DGPS itself is drifting and the vessel is not. The ASK may not be able to tell
the difference, especially if only one or two position sensors are online.
For more specific information on DGPS, see Chapter 14.

25.2 INTEGRAL WINDUP

If the vessel is rotating when you select HOLD HEADING mode, or the
vessel is moving more than a small fraction of a knot when you select HOLD
POSITION, integral windup will occur. Integral windup is caused when the
momentum of the vessel (which is not known by the automatic controller yet)
causes overshoot of the goal setpoint, and the controller then responds to this
unknown force driving it in the direction of the overshoot. An integral force
will be created which will gradually slow down and reverse the direction of
the vessel, but this integral force will also cause it to pass by the goal setpoint
in the other direction until the integral force is slowly negated. To avoid this
situation, make sure the vessel is not moving in the axes to be placed in
automatic mode before selecting that mode.
For more information on automatic control modes, see Chapter 16.

25.3 INTEGRAL PRE-LOADING

Rather than wait for the integral forces to build up to counteract ocean current
forces in HOLD HEADING or HOLD POSITION, the operator can use the
automatic transfer of manual commands into the integral forces to accomplish
this effect immediately.
Whatever forces are in effect when the operator moves the ASK from manual
to automatic mode are immediately moved into the integral force terms. Thus,
if the vessel approaches the goal position or heading in manual control mode,
and the manual controls are positioned such that they balance the
environmental forces, the manual thrust forces will immediately move into the
integral force terms when HOLD HEADING and/or HOLD POSITION are
selected. As a result of this transfer, the vessel will stay perfectly in place
without having to build up forces against the current over a lengthy period.

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CHAPTER 25: OPERATIONAL HINTS

Therefore, it is important to note the amount of manual control deflection in

effect when you select HOLD HEADING and/or HOLD POSITION. If
these controls are deflected more than necessary when an automatic mode is
selected, an improper integral force will take effect, driving the vessel off
location until the integral forces adjust to the proper levels.
For more information on switching between manual and automatic control
modes, see Chapter 16.

25.4 INTEGRAL TRANSFERS

Whether the ASK is operated from either the Portable Joystick or the console
manual controls, the yaw, surge, and/or sway commands existing when you
select HOLD HEADING and/or HOLD POSITION are automatically
moved into the integral forces of the controller.
Conversely, if the operator deselects HOLD HEADING or HOLD
POSITION while under, the integral forces will be transferred to the manual
controls. The <CLEAR JS BIAS> key on the console and the CLEAR JOYSTICK
BIAS screen button on the FUNCTION PAGE will flash to show that biases
have been transferred. To clear these biases, press the <CLEAR JS BIAS> key
or select the CLEAR JOYSTICK BIAS screen button.
For more information on integral transfers, see Chapter 16.

25-2 ASK5003/TCS5001 Operations and Maintenance Manual

INDEX

A B
Absolute Setpoint ...............................................1-6 Backup Consoles................................................ 5-1
Acknowledging Alarms......................................8-5 Bias
Acoustic Position Reference Beacons Definitions..................................................... 1-5
Placing online ............................................ 14-12 Position Reference Sensors ....................... 14-11
Acoustic Position Reference System Stack/Riser Sensors ..................................... 13-6
Hardware .....................................................14-2 Thrusters........................................... 10-6, 15-17
Sensor Select Keys .................................... 14-12 Blended Values, Position Reference Sensors... 14-8
Active Wind Compensation (AWC) Mode ............. Bumpless Control Transfer ................................ 5-2
..........................................................16-15, 17-7
C
Actuator .......................................................1-5, 3-3
Air Filter Service .........................................9-3, 9-4 Calibrate Stack/Riser Bias................................ 13-6
Alarm Ack Key...................................................8-6 Calibration Bias, Position Reference Sensors 14-11
Alarm Page .........................................................8-2 Chart Page............................................. 14-13, 21-1
Alarm Summary Line ................................7-19, 8-1 Choke/Kill Settings .......................................... 13-5
Alarms Clear Joystick Bias Function................. 16-10, 17-6
Acknowledging..............................................8-5 Color Coding
Autoheading Error ..................................... 10-10 Alarms ........................................................... 8-4
Autopilot Heading Error ............................ 10-10 Gyro Data .................................................... 12-2
Azimuth Compare...................................... 10-10 Header Line ................................................... 7-3
Color Coding .................................................8-4 Position Reference Sensor Data .................. 14-7
Conditions......................................................8-1 Vertical Reference Sensor Data................... 12-4
Disabling........................................................8-7 Wind Sensor Data........................................ 12-3
Manual Red/Yellow.....................................8-10 Command Fields .............................................. 6-10
Messages......................................................8-11 Comparator ........................................................ 1-5
Sorting ...........................................................8-4 Compass Window .............................................. 7-8
Thrust Compare ...........................................10-9 Consequence Analysis ..................................... 24-1
Thrust Level............................................... 10-10 Turning On .................................................. 10-4
Wind Direction Compare........................... 10-10 Consoles, Functions ........................................... 5-1
Wind Speed Compare ................................ 10-10 Control Gains ................................................... 11-1
Anti-spoil Zones Control Loop, Automatic ................................... 3-2
Processing.................................................. 15-18 Control Modes ........................................ 16-1, 17-1
Viewing .......................................................15-3 Control Panel ..................................................... 6-1
Anti-spoil Zones, Viewing ...............................7-16 Controller .................................................... 1-5, 3-3
Anti-Static Wrist Strap .......................................9-1 Coordinated Control Mode (TCS)
ASK Online Key.................................................5-2 Entering ....................................................... 17-2
Auto Backup Console.........................................5-1 Thruster Requirements ................................ 17-2
Auto Thruster Select Key ............ 15-12, 18-4, 18-5 Corrected Position Data .................13-2, 13-3, 14-8
Autoheading Error Alarm Limit ..................... 10-10 Counter Rudder Gain ....................................... 10-9
Automatic Control Loop.....................................3-2 Crash Astern Function ..................................... 17-8
Automatic Heading-Automatic Position Control .... Cursor Control ................................................... 6-8
.....................................................................16-8
Automatic Heading-Joystick Position Control 16-4 D
Automatic Position-Automatic Heading Control .... Data Entry Fields ............................................... 6-9
.....................................................................16-8 Date/Time Readings......................................... 10-2
Autopilot Heading Error Alarm Limit............ 10-10 Deadband ......................................................... 10-9
Autopilot Mode Derivative Term ................................................. 3-3
Thruster Restrictions....................................17-1 Desensitizing the Manual Controls ......... 16-3, 17-2
Autopilot Mode (TCS) .....................................17-5 Detail Window
Auxiliary Switch Group .....................................5-2 Definition ...................................................... 7-5
Azimuth Compare Alarm Limit ..................... 10-10 Deviation Display ............................................ 7-10

ASK5003/TCS5001 Operations and Maintenance Manual Index-1

INDEX

Center of ......................................................10-3 Flexjoint .................................................... 16-14

Frame ...........................................................10-3 Generating ................................................. 16-18
Scale.............................................................10-4 Heading .............................................. 7-8, 16-22
DGPS Position...................................................... 16-20
Hardware......................................................14-2 Graphical User Interface .................................... 6-8
Placing online ............................................14-12 GUI .................................................................... 6-8
Reference Lat/Long .....................................10-5 Gyrocompass.................................................... 12-2
DGPS Sensor Select Keys ..............................14-12
H
Disabling Alarms................................................8-7
Display Pages Hand Pilot Mode
Choosing Left/Right ......................................7-6 Thruster Restrictions ................................... 17-1
List of.............................................................7-5 Hand Pilot Mode (TCS) ................................... 17-4
Printing ........................................................7-20 Hardware Overview ........................................... 2-1
Selecting ........................................................7-5 Header Line........................................................ 7-3
Thrust...........................................................18-1 Heading Control Knob ..............................6-7, 16-3
Display Units ...........................................10-4, 10-9 Heading Error Threshold.................................. 10-2
Draft.........................................................10-2, 10-8 Heading Goal Setpoint ................................... 16-22
Drift, Position Reference Sensors..........14-5, 14-11 Heading Setpoint Function............................. 16-22
Dynamic Positioning Mode ..............................16-8 Help Messages ................................................. 7-18
High Velocity Turns......................................... 16-6
E
Hold Flexjoint Angle Mode ........................... 16-12
Earth Frame, Deviation Display .......................10-3 Hold Heading Mode................................ 16-4, 17-3
Eject Page function.............................................7-4 Hold Heading-Hold Position Control............... 16-8
Equipment List ...................................................2-1 Hold Position Mode ......................................... 16-6
Error Messages .................................................7-18 Holding Plot Page ............................................ 23-2
ESD (Electrostatic Discharge) ............................9-2 Hydrophone and Thruster Spoil Zones, Viewing....
..................................................................... 7-16
F
Hydrophone Spoil Zone
Field Service .....................................................9-27 Processing.................................................. 15-18
Final Ship Position Estimate.............................14-8 Viewing ....................................................... 15-3
Fixed Stack Angles...........................................13-3
I
Flexjoint
Angle Alert Settings.....................................10-2 Init Backup Key ................................................. 5-3
Hold FJ Angle Mode..................................16-12 Initializing Backup Consoles ............................. 5-3
Setpoints ...........................................16-13, 20-3 Instantaneous Setpoint........................................ 1-6
Flexjoint Sensor Viewing ................................................7-8, 7-12
Description.................................................14-12 Integral Forces, clearing........................ 16-10, 17-6
Placing online ............................................14-12 Integral Term...................................................... 3-3
Position data.................................................13-4
J
Setpoints ....................................................16-14
Setting Up ....................................................13-1 Joystick Control ............................................... 16-3
Flexjoint Sensor Select Key............................14-12 Joystick Desensitize (JS Desens) Function ...... 17-2
Flexjoint Setpoint Select Key .........................16-14 Joystick Desensitize function ........................... 16-3
Jumping, Position Reference Sensors .............. 14-6
G
K
Gain
Counter Rudder............................................10-9 Kalman Filter ..................................................... 3-7
Rudder..........................................................10-9
Yaw..............................................................10-9 L
Gains, Control...................................................11-1 Lamp Intensity Knob.......................................... 6-6
Generator Alarm Level ..........................10-7, 10-12 Lamp Removal Tool .......................................... 9-1
Goal Center, Deviation Display........................10-3 Left/Right Display Page Selection ..................... 7-6
Goal Setpoint Left-clicking....................................................... 6-8
Viewing................................................ 7-8, 7-12 Lens Removal Tool ............................................ 9-1
Goal Setpoints Lower Limit Margin......................................... 10-7
Definition.......................................................1-6 Lower Power Limit .......................................... 19-6

Index-2 ASK5003/TCS5001 Operations and Maintenance Manual

 INDEX

M Position Goal Setpoints .................................. 16-20

Position Reference Page 1................................ 14-7
Maintenance Procedures.....................................9-3
Position Reference Page 2.............................. 14-10
Maneuvers, Automatic, Conducting ............... 16-18
Position Reference Sensors
Manual Control
Calibration................................................. 14-15
Heading Control Knob...................................6-7
Calibration Bias......................................... 14-11
Mode............................................................16-3
Charting..................................................... 14-13
Position Control Joystick ...............................6-6
Drift .................................................. 14-5, 14-11
Manual Heading-Automatic Position Control ..16-6
Jumping ....................................................... 14-6
Manual Thruster Select Key ........................... 15-12
Median Tsting ............................................. 14-6
Manual Yellow/Manual Red Alarms................8-10
Noise ........................................................... 14-3
Master Console...................................................5-1
Viewing Noise............................................. 14-8
Maximum Azimuth Angle Setting....................10-9
Weight .............................................. 14-5, 14-11
Measured Position Data................. 13-2, 13-3, 14-8
Position Setpoint Function ............................. 16-20
Median Alarm Threshold .................................10-3
Power Limit Sustain Mode...................... 19-6, 19-7
Median Testing, Position Reference Sensors ...14-6
Power Limit Sustain Select Key.............. 19-6, 19-7
Minimum Deviation Scale................................10-4
Power Page 1.................................................... 19-1
More screen button .............................................7-4
Power Page 2.................................................... 19-3
Motion Reference Sensor .................................12-4
Power Page 3.................................................... 19-5
Mouse .................................................................6-8
Power Settings
Multimeter ..........................................................9-1
Generator Alarm Level................................ 10-7
N Lower Limit Margin.................................... 10-7
Reserved Kilowatts ..................................... 10-7
Noise, Position Reference Sensors Power Supplies
Definition.....................................................14-3 Inspecting ...................................................... 9-5
Viewing .......................................................14-8
Print Display Function ..................................... 7-20
O Print Display Key............................................. 7-20
Prompt Messages ............................................. 7-18
Off Thruster Select Key............... 15-12, 18-4, 18-5 Proportional Term .............................................. 3-3
Operating Power Limit .....................................19-6 Proportional-Integral-Derivative Controller....... 1-5
Operator Consoles, Functions.............................5-1 Proposed Setpoint Outline.............................. 16-23
Operator Prompts..............................................7-18 Propulsion Summary Window ......................... 7-13
Option Fields ....................................................6-10
Origin .................................................................1-6 R
Origin Center, Deviation Display .....................10-3
Red Alarm, Manual.......................................... 8-10
Origin Reference Sensor...................................14-9
Red Alert Flexjoint Angle................................ 10-2
Definition.....................................................14-4 Red Alert Radius..................................... 10-2, 21-3
Relocating Origin.........................................14-9 Reference Sensor Select key ............................ 14-9
Selecting ......................................................14-9
Reserved KW ........................................ 10-7, 10-11
Oscilloscope .......................................................9-1
Responsiveness, Control .................................. 11-1
Overview Page....................................................7-7
Riser/Stack Bias
P Calibrating................................................... 13-6
Rotation Limit .................................................. 13-5
Pages/Screens Rudder Gain ..................................................... 10-9
Definition.......................................................1-6
List of.............................................................7-5 S
Selecting ........................................................7-5
Scale, Deviation Display.................................. 10-4
PID Controller .............................................1-5, 3-3
Screen Buttons ................................................... 6-9
Plot Page 1........................................................23-1 Selecting............................................................. 6-8
Plot Page 2........................................................23-1 Selecting Thrusters.....................15-13, 15-14, 18-5
Plot Page 3........................................................23-2
Sensor Page 1 ................................................... 12-1
Pos Ref Cal Key ............................................. 14-15
Sensor Page 2 ................................................... 13-1
Position Control Joystick...........................6-6, 16-3
Sensor Select Switch Group
Position Data
ASK........................................................... 14-12
Corrected .................................. 13-2, 13-3, 14-8 Service.............................................................. 9-26
Measured .................................. 13-2, 13-3, 14-8 Setpoint Center, Deviation Display.................. 10-3
Position Error Threshold ..................................10-2
Setpoints

ASK5003/TCS5001 Operations and Maintenance Manual Index-3

INDEX

Definition.......................................................1-6 V
Viewing on Summary Page .........................20-2
Vertical Reference Sensor ................................ 12-4
Setup Page 1 .....................................................10-1
Vessel Draft............................................. 10-2, 10-8
Setup Page 2 .....................................................10-6
Vessel Model...................................................... 3-7
Ship Frame, Deviation Display.........................10-3
Vessel Position (Tabular) Window .................. 7-12
Signal I/O Pages ...............................................22-3
Sorting Alarms....................................................8-4 W
Sounds ..............................................................6-11
Water Depth ..................................................... 10-2
Spoil Zones
Wave Filter......................................................... 3-6
Processing ..................................................15-18
Weight, Position Reference Sensors
Viewing........................................................15-3
Calculating................................................... 14-5
Spoil Zones, Viewing .......................................7-16
Stack Heading...................................................13-5 Viewing ..................................................... 14-11
Stack/Riser Bias Wind Compensation (Wind Comp) Mode ..............
.......................................................... 16-15, 17-7
Calibrating ...................................................13-6
Wind Direction Compare Alarm Limit 10-7, 10-10
Status Messages................................................7-18
Wind Sensor ..................................................... 12-3
Status/Prompt Line ...........................................7-18
Wind Speed Compare Alarm Limit....... 10-7, 10-10
Summary Page..................................................20-1
Surge Windup............................................................. 13-5
Definition.......................................................1-6 Y
Thrust forces allocated to..................15-8, 15-11
Sway Yaw
Definition.......................................................1-6 Definition ...................................................... 1-6
Thrust forces allocated to..................15-8, 15-11 Thrust forces allocated to ................. 15-8, 15-11
Switch Test Key..................................................6-5 Yaw Gain ......................................................... 10-9
Symbols Yellow Alarm, Manual..................................... 8-10
Chart Page....................................................21-3 Yellow Alert Flexjoint Angle........................... 10-2
Deviation Display ........................................7-11 Yellow Alert Radius................................ 10-2, 21-3
System Date/Time ............................................10-2
System Info screen button ..................................7-4
T
Terms (Proportional-Integral-Derivative)...........3-3
Thrust Allocation Logic
Display................................................7-17, 15-4
Processing .........................................15-18, 18-9
Thrust Compare Alarm Limit ...........................10-9
Thrust Level Alarm Limit...............................10-10
Thrust Page.......................................................18-1
Thrust Page 1 ....................................................15-1
Thrust Page 2 ...........................................15-5, 15-9
Thruster and Hydrophone Spoil Zones, Viewing ....
.....................................................................7-16
Thruster Biasing ....................................10-6, 15-17
Thruster Modes...............................................15-12
Thruster Select Switch Group.... 15-13, 15-14, 18-5
Thrusters, Controlling
with ASK ........................................15-13, 15-14
with TCS......................................................18-5
Toolbar
Definition.......................................................7-4
Trackball.............................................................6-8
U
Upper Power Limit ...........................................19-6

Index-4 ASK5003/TCS5001 Operations and Maintenance Manual

SYSTEM SUPPORT DOCUMENTATION & DRAWINGS

The following system support documentation and drawings are issued for the
Peregrine IV, Deepwater Expedition vessel:

Drawing Number File Number Drawing Title

24000000WI-054 24000000WI-054-H-01 System Interconnect Diagram,
Peregrine IV, Deepwater Expedition
*24004283TL 24004283TL-A-01.DWG IBS Console Layout, Peregrine IV,
Deepwater Expedition
24004283WD 3674WB01.DWG Wiring Diagram, Integrated Bridge,
Peregrine IV, Deepwater Expedition
*24003891TL-054 3765TA01.DWG Console Assembly, Trainer, 220V,
Peregrine IV, Deepwater Expedition
24004290TL 3498TA01.DWG UPS Rack Assembly
*24003387TL 2211TA01.DWG Assembly, RS232, Distribution Box
*24004202TL 24004202TL-C-01.DWG VRU Enclosure Assembly,
*24004281TL 3527TB01.DWG Console Assembly, TCS, Peregrine
IV, Deepwater Expedition
24004281WD 3545WB01.DWG Wiring Diagram, TCS4001,
Peregrine IV, Deepwater Expedition

*24004284TL 3509TB01.DWG Console Assembly, ASK 4001,

Peregrine IV, Deepwater Expedition

24004284WD 3544WB01.DWG Wiring Diagram, ASK 3 (4001),

Peregrine IV, Deepwater Expedition

*24004286TL 24004286TL-D-01.DWG Signal Processor Assembly No. 1,

Peregrine IV, Deepwater Expedition
24004286WD 24004286WD-D-01.DWG Wiring Diagram, Signal Processor
No. 1, Peregrine IV, Deepwater
Expedition
*24004287TL 24004287TL-D-01.DWG Signal Processor Assembly, No. 2,
Peregrine IV, Deepwater Expedition
24004287WD 24004287WD-D-01.DWG Signal Processor No. 2, SPU2,
Peregrine IV, Deepwater Expedition

ASK5003/TCS5001 Operations and Maintenance Manual SSDD-1

INDEX

*24004288TL 24004288TL-D-01.DWG Signal Processor No. 3, Peregrine

IV, Deepwater Expedition

Index-2 ASK5003/TCS5001 Operations and Maintenance Manual

SYSTEM SUPPORT DOCUMENTATION AND DRAWINGS

24004288WD 24004288WD-D-01.DWG Wiring Diagram, Signal Processor

No. 3, Peregrine IV, Deepwater
Expedition
24004361TL 24004361TL-A-01.DWG Internal Communication System
24004365TL 3807TA01.DWG Safety System
24004366TL 24004366TL-B-01.DWG Satellite Television System,
Peregrine IV Deepwater Expedition
24004392SC 24004392SC-C-01 Camera System, Peregrine IV
Deepwater Expedition

* Indicates Parts List included

SSDD-2 ASK5003/TCS5001 Operations and Maintenance Manual