MEGA-GUARD Dynamic Positioning System Operator guide

MEGA-GUARD
DYNAMIC POSITIONING SYSTEM
/ Joystick Control System
IMO-DP 0/1/2

OPERATOR GUIDE
MEGA-GUARD
Ship Automation and Navigation System

Title: DP Operator Guide Page 1 of 102

Date: 17 August 2016
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TABLE OF CONTENT:
1 MEGA-GUARD IMO DP dynamic positioning system __________________________________6
1.1 Beforehand______________________________________________________________________ 6
1.2 General _________________________________________________________________________ 6
1.3 Units ___________________________________________________________________________ 7
1.4 Abbreviations and explanation of terms ______________________________________________ 8
1.5 Communication overview __________________________________________________________ 9
1.6 Communication matrix ___________________________________________________________10
1.6.1 DP control commands to thrusters 1a, 2a, 3a, 4a, 5a, 6a ________________________________________ 10
1.6.2 Thruster feedback to DP controllers 1b, 2b, 3b, 4b, 5b, 6b ______________________________________ 10
1.6.3 JC control commands to thrusters 1c, 2c, 3c, 4c, 5c, 6c _________________________________________ 10
1.6.4 Thruster feedback to JC controller 1d, 2d, 3d, 4d, 5d, 6d ________________________________________ 10
1.6.5 Settings synchronize between DP stations 13a, 13b ___________________________________________ 10
1.6.6 Status DP stations to back-up DP station 21a, 21b _____________________________________________ 10
1.6.7 Status DP stations JC station 23a, 23b _______________________________________________________ 10
1.6.8 Status JC station DP stations 24a, 24b _______________________________________________________ 11
1.7 System Block Diagrams ___________________________________________________________11
2 System Principle ______________________________________________________________13
2.1 Schematic overview ______________________________________________________________13
2.2 System diagram _________________________________________________________________13
2.2.1 Motion Controller _______________________________________________________________________ 15
2.2.2 Normalize _____________________________________________________________________________ 15
2.2.3 Position Controller ______________________________________________________________________ 15
2.2.4 Velocity Controller ______________________________________________________________________ 16
2.2.5 Gain __________________________________________________________________________________ 16
2.2.6 Vector select ___________________________________________________________________________ 17
2.2.7 Force calculation _______________________________________________________________________ 17
2.2.8 Thruster Allocation ______________________________________________________________________ 17
2.2.9 Ramp _________________________________________________________________________________ 18
2.2.10 Current _____________________________________________________________________________ 18

3 OPERATOR STATIONS __________________________________________________________19

3.1 Power distribution panels _________________________________________________________20
3.2 DP Operator Panel _______________________________________________________________21
3.2.1 Joystick and trackerball __________________________________________________________________ 21

4 DP CONTROL TRANSFER ________________________________________________________22

4.1 Before control transfer for usage in DP2 mode ________________________________________22
4.2 Control transfer from Individual control to DP/JC ______________________________________22
4.3 Control transfer from DP to JC panel ________________________________________________22
4.4 Control transfer from DP/JC to Individual control ______________________________________23
4.5 Auto control transfer on fail condition _______________________________________________23
4.6 Simulation mode ________________________________________________________________23
5 CONTROL MODES _____________________________________________________________25

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5.1 Change control mode on a station __________________________________________________25

5.2 Manual Joystick Mode ____________________________________________________________26
5.3 Auto Joystick Mode ______________________________________________________________27
5.4 Auto Positioning Mode ___________________________________________________________28
5.4.1 Operation Mode: Consequences Analysis ____________________________________________________ 30
5.5 Auto Heading Mode ______________________________________________________________31
6 DP WORKSTATION ____________________________________________________________32
6.1 MAP __________________________________________________________________________32
6.1.1 MAP section ___________________________________________________________________________ 33
6.1.2 Thrusters section _______________________________________________________________________ 34
6.1.3 Heading Setting section __________________________________________________________________ 34
6.1.4 Position Settings section _________________________________________________________________ 35
6.1.5 Heading and Position keeping gain, speed and alarm settings ___________________________________ 35
6.1.6 Joystick gain setting _____________________________________________________________________ 35
6.1.7 Environmental Settings __________________________________________________________________ 35
6.1.8 Wind compensation _____________________________________________________________________ 35
6.1.9 Current compensation ___________________________________________________________________ 36
6.1.10 Alarm area and dimming _______________________________________________________________ 37
6.2 TRACKING ______________________________________________________________________38
6.2.1 General screen description _______________________________________________________________ 38
6.2.2 Creating and running a track ______________________________________________________________ 40
6.3 PMS___________________________________________________________________________42
6.4 CAPABILITY _____________________________________________________________________44
6.5 SENSORS _______________________________________________________________________45
6.5.1 Available sensors _______________________________________________________________________ 45
6.5.2 Motion sensor _________________________________________________________________________ 45
6.5.3 Heading sensor _________________________________________________________________________ 46
6.5.4 Wind sensor ___________________________________________________________________________ 46
6.6 POSITION ______________________________________________________________________47
6.6.1 GPS sensor ____________________________________________________________________________ 48
6.6.2 GPS Sensor weighing ____________________________________________________________________ 48
6.6.1 Acoustic Sensor ________________________________________________________________________ 49
6.7 FOLLOW _______________________________________________________________________51
6.7.1 Select sensor for F.U. (Follow Up) __________________________________________________________ 51
6.7.2 Set system to Auto Position Follow mode ____________________________________________________ 51
6.8 SIMULATION____________________________________________________________________53
6.8.1 Setting Environment in Simulation mode ____________________________________________________ 53
6.8.2 Setting GPS in Simulation mode ___________________________________________________________ 54
6.8.1 Setting Laser or Radar in Simulation mode ___________________________________________________ 54

7 Operational Usage ____________________________________________________________55

7.1 Screen selection _________________________________________________________________55
7.2 Set MAP view preferences_________________________________________________________55
7.3 Turn on day / night dimming _______________________________________________________56
7.4 Silence horn, accept alarms ________________________________________________________57
7.5 Joystick gain ____________________________________________________________________58

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7.6 Wind compensation ______________________________________________________________59

7.7 Current compensation ____________________________________________________________59
7.8 Switch thrusters on/off ___________________________________________________________59
7.9 Position sensor calibration and selection _____________________________________________60
7.10 Heading settings_________________________________________________________________60
7.10.1 Change heading set point ______________________________________________________________ 60
7.10.2 Change rotation speed ________________________________________________________________ 61
7.10.3 Change heading gain __________________________________________________________________ 61
7.10.4 Change heading alarm limit ____________________________________________________________ 61
7.11 Rotation Point __________________________________________________________________62
7.12 Auto position mode settings _______________________________________________________62
7.12.1 Auto Position mode ___________________________________________________________________ 62
7.12.2 Change position set point ______________________________________________________________ 62
7.12.3 Switch between relative and absolute position adjustment ___________________________________ 62
7.12.4 Change position set point relative to vessel ________________________________________________ 63
7.12.5 Change position set point in North, South, East or West direction ______________________________ 63
7.12.6 To change position set point in any direction ______________________________________________ 64
7.12.7 Change target set point by key in Latitude Longitude coordinates ______________________________ 64
7.12.8 Change position set point using joystick __________________________________________________ 64
7.12.9 Set transfer speed ____________________________________________________________________ 65
7.12.10 Change position gain __________________________________________________________________ 65
7.12.11 Change position alarm limit ____________________________________________________________ 65
7.13 Follow mode____________________________________________________________________66
8 Operational scenarios __________________________________________________________68
8.1 Before using auto position nearby other objects _______________________________________68
8.2 Vessel losing position ____________________________________________________________68
8.3 Losing redundancy (DP2) __________________________________________________________68
8.4 Strong current force ______________________________________________________________68
8.5 Strong wind force________________________________________________________________69
8.6 Warning for loss on worst case failure _______________________________________________69
8.7 DP2 Usage nearby high objects _____________________________________________________69
8.8 Alternative wind sensor usage _____________________________________________________69
9 Maintenance _________________________________________________________________70
9.1 Planned maintenance ____________________________________________________________70
9.1.1 System restart _________________________________________________________________________ 70
9.1.2 UPS __________________________________________________________________________________ 70
9.1.3 Check free disk space ____________________________________________________________________ 70
9.1.4 Set Date and Time ______________________________________________________________________ 71
9.1.5 Joystick calibration ______________________________________________________________________ 71
9.2 Repeat for DP station 2 and JC station. Special maintenance _____________________________71
9.2.1 USB memory stick_______________________________________________________________________ 71
9.2.2 Log files _______________________________________________________________________________ 72
9.2.3 Sensor Communication __________________________________________________________________ 72

10 Diagnostics and Alarms ______________________________________________________74

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10.1 Description _____________________________________________________________________74

10.2 Alarm list and alarm handling ______________________________________________________74
10.3 System alarms __________________________________________________________________74
10.4 Thruster alarms _________________________________________________________________75
10.5 Reference sensor alarms __________________________________________________________76
10.6 Position sensor alarms ____________________________________________________________76
10.7 Heading sensor alarms____________________________________________________________77
10.8 Wind sensor alarms ______________________________________________________________78
10.9 Operational alarms ______________________________________________________________78
11 Trouble shooting ____________________________________________________________80
11.1 Question: Cannot take control even if system seems ready. ______________________________80
11.2 Question: Wind compensation does not work _________________________________________80
11.3 Question: use full bow and stern thruster ____________________________________________80
11.4 Question: release control of thrusters _______________________________________________80
11.5 Question: CAMCLIENT NO COMMUNICATION _________________________________________80
11.6 Question: DGPS diagnostics, how is this detected? _____________________________________81
12 Appendix __________________________________________________________________83
12.1 Appendix A: UPS battery history ____________________________________________________83
12.2 Appendix B: Checklist for taking DP system into usage __________________________________83
12.3 Appendix C: DP System Layouts ____________________________________________________84
12.4 Appendix D: 8.4” TFT Operator Panel ________________________________________________87

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1 MEGA-GUARD IMO DP DYNAMIC POSITIONING SYSTEM

1.1 Beforehand
This operator guide is intended for DP operators when using the MEGA-GUARD DP system.
The MEGA-GUARD DP system offers functionality to control heading and position keeping of
the vessel. For heading keeping at minimal one bow thruster and one gyro should be
available, for position keeping stern thrusters must be available and a positioning device
such as DGPS.

Rotation Surge, Sway,

(Z) Ahead / Astern Portside/Starboard
(X) (Y)

The Gyro and DGPS sensors are corrected by MRU sensors. The MRU can detect list and
roll motion.

List, Roll Trim, Pitch Heave

1.2 General
The Mega-Guard IMO DP Dynamic Positioning System automatically controls a vessel's
position and heading by activating thrusters based upon data as received from position
reference systems, gyro compasses, wind sensors and pitch/roll sensors. The Dynamic
Tracking mode allows the ship to move along a pre-defined track at low speed as defined by
the operator.

The Mega-Guard Joystick Control System (JC) is an independent JC control station serving
as a backup for the DP control station. The functionality of the independent Joystick station is
equal to the functionality of a single DP control station.

 The functionality of the independent Joystick station is manual joystick or joystick with
heading keeping and wind correction but without position control.

The Mega-Guard DP and JC system are based upon the field-proven products of the Mega-
Guard product line.

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The Mega-Guard DP and JC system are perfectly suited for vessels that require IMO DP
notations:

LRS: DP (CM), DP (AM), DP (AA)

BV: DYNAPOS SAM, DYNAPOS AM/AT, DYNAPOS AM/AT R
DNV: DYNPOS-AUTS, DYNPOS-AUT, DYNPOS-AUTR
ABS: DPS-0, DPS-1, DPS-2
GL: DP-0, DP-1, DP-2
CCS: DP-0, DP-1, DP-2
RMRS: DYNPOS-0, DYNPOS-1, DYNPOS-2

Main advantages of the Mega-Guard IMO DP Dynamic Positioning System:

1) Accurate positioning with up to 0.5 meter accuracy in combination with accurate DGPS
and MRU (inclinometer) which is used as a position reference.
The DGPS and Motion Reference Unit allows for accurate filtering and calculating of the
actual position with the DGPS signal and taking into account the actual movement of the
vessel. Higher position accuracy's can be achieved with e.g. a laser beam system.

2) Sea trial tuning and testing can be limited to three days maximum.
Parameter tuning is already done before shipment out of our factory by modelling of the
ship and testing with a ship's simulator. In addition, our self-tuning DP algorithms greatly
reduce the time needed on board during the sea trial.

3) Extremely reliable hardware by using only solid state components and 24VDC power
supply.
The DP Workstation uses solid state disks running under the Windows-XP embedded
operating system. The DP Workstation (Marine PC, TFT screen and Printer) and all other
components of the DP system are working with a 24VDC supply voltage with low power
consumption.

4) Cost effective DP solution.

Reliable hardware that is field proven on hundreds of vessels, allows for efficient of the
shelf manufacturing in large quantities. The result is that we can offer our advanced
Mega-Guard Dynamic Positioning System, including navigation sensor package, at a very
attractive price level.

1.3 Units
Mega-Guard DP system works with the following units:
Unit Description
Distance Meters
Speed Knots. 1 knot is approximately 0.5 m/sec
1 Knot is 1 nautical mile per hour
1 nautical mile = 1852 meter.
More precise: 1 knot x 1852 / 3600 = 0.514 m/s
Heading / Bearing Angle in degrees from 0 to 360°. 0 degrees is towards North,
180 degrees is towards South.
Thruster direction Angle in degrees from -180° to +180° relative to vessel. 0
degrees is towards Bow, -180 and 180° is towards stern.
Rotation speed Degrees / minute.

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1.4 Abbreviations and explanation of terms

Abbreviation Description
Apparent Wind Wind speed and angle relative to vessel, as measured by
Wind sensor (see also True Wind). Wind is displayed in
numeric values with direction ‘coming from’.
COG Course Over Ground, in degrees, from 0 to 360°, Bearing
(relative to world)
Check Box Software switch:
To turn On (checked status)
To turn Off (unchecked status):
DP Operator panel Small graphics TFT build into panel with joystick and rotation
knob build next to it. The Operator panel can be controlled by
push buttons in the display frame canvas.
DP system Dynamic Positioning system. Equipment reading position
sensors for automatic control of thrusters.
Joystick Lever next to the Small graphics screen. It has
control axis forward to afterwards for vessel motion
bow to stern and left to right for vessel motion
portside to starboard, depending on how it is
positioned, orientated, on the vessel.
The rotation knob is integrated in the lever, and controls a
third axis by turning the lever clockwise to counterclockwise.
LAT, Latitude Latitude in degrees (°) angle from
center of earth to north pole as positive,
to south pole as negative. Format is dd°mm.mmmm
dd: whole degrees
mm.mmmm: minutes of degrees with decimals
(60 minutes in 1 degree)
LON, Longitude Longitude in degrees (°) angle from
center of earth to Greenwich (England).
Prefixed with W for West or E for East. Positive to east,
negative to west. Format is dd°mm.mmmm
dd: whole degrees
mm.mmmm: minutes of degrees with decimals
(60 minutes in 1 degree)
Screen, Mimic, Graphic Graphic display with moving objects and updated process
values that represent actual status of system.
ROT Rate of Turn, heading change degrees per minute (°/min),
positive towards starboard, negative towards portside

SOG Speed Over Ground (knots), Absolute Speed (relative to

world)

True Wind Wind speed and angle relative to world, as measured by

device on land (see also apparent wind)

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1.5 Communication overview

The following overview drawing shows a block diagram with the main system components
and network connections.

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1.6 Communication matrix

This paragraph contains a table and description which components exchange information via
Ethernet network.

Stat. Comp. A B C D E F G H I
DP1 MPC1 A - 13b, 23a 1b 2b 3b 4b 5b 6b
21a
DP2 MPC2 B 13a, - 23b 1b 2b 3b 4b 5b 6b
21b
JS MPC3 C 24a 24b - 1d 2d 3d 4d 5d 6d
THR XP-T1 D 1a 1a 1c -
XP-T2 E 2a 2a 2c -
XP-T3 F 3a 3a 3c -
XP-T4 G 4a 4a 4c -
XP-T5 H 5a 5a 5c -
XP-T6 I 6a 6a 6c -
In this table each component name is shown in the vertical row with an Alphabetic character
to identify. This character is also used horizontally.

1.6.1 DP control commands to thrusters 1a, 2a, 3a, 4a, 5a, 6a

The MPC’s run the DP controllers which give thruster set points for RPM/Pitch and direction
angle to the thruster controller processors. Only the DP station that is in control sends these
set points.

1.6.2 Thruster feedback to DP controllers 1b, 2b, 3b, 4b, 5b, 6b

The thruster processors collect actual RPM/Pitch signal and send this back to DP controllers.

1.6.3 JC control commands to thrusters 1c, 2c, 3c, 4c, 5c, 6c

The MPC run the JC controller which give thruster set points for RPM/Pitch and direction
angle to the thruster controller processors. Only if the JC station is in control it sends these
set points.

1.6.4 Thruster feedback to JC controller 1d, 2d, 3d, 4d, 5d, 6d

The thruster processors collect actual RPM/Pitch signal and send this back to JC controller.

1.6.5 Settings synchronize between DP stations 13a, 13b

The DP stations exchange user settings continuously. User settings include gain, alarm
limits, set points and all other settings used to control the vessel.

1.6.6 Status DP stations to back-up DP station 21a, 21b

The DP stations exchange their status continuously. JC station is independent only
information on availability and selected mode is exchanged.

1.6.7 Status DP stations JC station 23a, 23b

The DP stations exchange their status continuously. JC station is independent only
information on availability and selected mode is exchanged.

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1.6.8 Status JC station DP stations 24a, 24b

The DP stations exchange their status continuously. JC station is independent only
information on availability and selected mode is exchanged.

1.7 System Block Diagrams

There are different system layouts possible of the Mega-Guard DP system. In appendix C
the different layouts are shown. The picture below shows the layout of a DP-2 System with
decentralized-IO for both DP and JC system .
The possible layout are:

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 DP with centralized-IO and JC with centralized-IO

 DP with decentralized-IO and JC with decentralized-IO (see picture below)
 DP with decentralized-IO and JC with centralized-IO

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2 SYSTEM PRINCIPLE
In this chapter is explained how the data flow of the DP system works. A system diagram
visualizes how information flows through the system processes.

2.1 Schematic overview

The schematic overview of the system has the different Sensors grouped in one symbol. This
includes Gyro, DGPS, and MRU sensors. The sensor filter checks each sensor signal and
alarms if a sensor fails:

The control block receives position and speed errors from the sensor filter and calculates the
proper response. This is output to the vector selection block which also receives the mode
that the user has selected, and position of joystick and rotation knob. The block decides what
to output to the force calculation block.

The force calculation block receives user or controller vector, wind and current forces, and it
summarizes this to a total force that is passed onto the Thruster allocation. This block
decides how thrusters should be used, and outputs the set point for each thruster to the
thruster ramp block. The thruster ramp applies the set point changes while taking into
account how fast a thruster can change angle and RPM.
Also the approximate current is calculated from the applied thrust, and feed backward to the
force calculation block.

2.2 System diagram

The system is built around the controller. It consists of a position and a velocity controller,
and all sensor data is input to it, all thruster set points outputs are driven by it. The Motion
Control determines if the Controller is used or that the system is in manual mode.

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The system works according the following steps, which will be explained more thoroughly
afterwards:
1) Motion Control determines which mode is used
2) Normalize blocks convert sensor data to a values between -1 and 1
3) Position controller calculates the required thrust when lying close to target
4) Velocity controller calculates required thrust when sailing to target or along track
5) Gain is applied to the controller output
6) Vector Select checks for manual overrides from joystick or rotation knob
7) Force calculation summarizes Wind, waves, current and known external forces to total
force demand
8) Thruster Allocation routine decides on the set point and direction of each thruster.

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9) The thruster Ramps are applied, so that each thruster is increased or decreased to its
ability
10) Current is calculated from filtered thruster set points and speed of the vessel.

In the below paragraphs each of the above steps is explained in detail.

2.2.1 Motion Controller

The Motion Controller most important task is to switch between modes:
 Joystick Manual
 Joystick Auto (automatic heading control using bow thruster)
 Auto Position (full automatic control)
 Auto Pilot (automatic heading control using steering) 

The Auto Position mode has several sub modes:

 Tracking
 ROV follow 

 Due to class requirements Auto Pilot is not available in DP system

Motion Controller collects settings such as the Transfer speed and Rate Of Turn. Also the
Motion Controller collects sensor and position data. This data is passed on to the X, Y and Z
controllers. The motion controller determines when to switch from velocity controlling into
position controlling. For XY movements larger than 15 meter velocity controller is used, when
the distance becomes shorter than 15 meter then a combination of position and velocity
controller is used.
The speed that the Velocity Controller uses is accelerated towards with the Deceleration /
Acceleration setting of 0.05 meters / second.
For Z movements (rotation) the acceleration / deceleration is 1 °/second, and the system
switches from positioning to velocity when the heading distance is larger than 30° from set
point.

2.2.2 Normalize
The controller requires data scaled to values between range from -1
and +1. The function of the normalize block is to scale the error of
position and error of speed to this range. In the displayed example the
normalization is done with a range from -40 meters to + 40 meters for
both X and Y. The speed is 3.5 knots in X direction and 3.0 knots in Y direction. The Rotation
range is -90° to +90°. All values outside this range will be truncated to the range. For
example: X distance error of -10 meter will give a controller input of -0.25
Y speed error of 0.5 knot will give a controller input of 0.16.
Z rotation distance to set point of 130° gives +1 as controller input.

2.2.3 Position Controller

The position controller regulates the force to move a vessel to the
position set point. This type of regulating is used for smaller distances
up to 15 meters, as described in paragraph Motion Controller.

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The position controller exists out of a regulator and an integrator. Both get the same position
error outputs from the normalize block and output a force in X, Y or Z direction for the vessel
to compensate.

The regulator looks up the input value in a fuzzy logic table to find the proper response. This
value is multiplied with the gain factor 0.25. For example a position error of 0.25 gives an
output value of ~ 0.07.

The integrator uses a first order filter to compensate for errors of a constant type. This is
mostly current, but it can also be an external force that needs the same correction force for
longer period of time. The I-Time value defines the length of this period of time in seconds.
For example a position error of 0.25 will give an output value of 0.25 after 60 seconds.

2.2.4 Velocity Controller

The velocity controller regulates the speed at which the vessel will
move over when changing position set points or sailing along a track.
This type of regulating is used for distances larger than 15 meter, as
described in paragraph Motion Controller.

The velocity controller exists out of the same components as the position controller (see
previous paragraph). The difference is that the position error and speed input is calculated
over time to get speed and acceleration. The velocity controller also has its own fuzzy tables
to lookup the output value.

For example: If a command is given to move the vessel 100 meters forward, the velocity
controller regulates that the vessel will move at 3 m/s speed, with an acceleration of 2 m/s2.

2.2.5 Gain
The Gain changes the response of the vessel from slow (smooth) to fast (aggressive). Before
applying gain the position and velocity calculations are summed so one set of X, Y and Z
motion is computed.

There are multiple gain factors. The K - gain that is setup during commissioning, and the
User gain which can be changed from (amongst others) the MAP screen. The gains are
multiplication factors on the X, Y, Z from the regulator.

The regulators of position and Velocity controller are multiplied by the K factors. This
influences how much the system depends on the slow but steady integration controller
output, and how much it uses of the position and speed errors.
The controller output for movement in X and Y direction are multiplied by the Position gain
factor and the controller output for rotation, Z, is multiplied by the Heading gain factor. These
factors are available on the user screens such as the MAP screen. On this manner they can
be changed easily to suit the needs for the particular situation.

For example: The output of the FC-PD regulator is added by 0.6 times the output of the FC-
PI regulator. This total is multiplied by position gain 70% (times 0.7) for the X-Y movements
and times heading gain of 60% (times 0.6) for the rotation movement. The result of this is
output towards the Vector selection.

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2.2.6 Vector select

Vector selection gets the actual set points from the joystick, rotation
knob and controller. The joystick X and Y are multiplied with the
individual X and Y gain settings, the rotation knob is multiplied with the
Z gain. All are multiplied with the common Joystick Manual Gain
(JSM). Then it adds these values to the controller outputs depending on settings. It outputs to
the Max block.

For example:
If the user has joystick and rotation knob set to neutral the vector select simply forwards the
inputs to the Max block.
If the user has joystick pushed forward, then vector select adds the forward setting to the X
input

2.2.7 Force calculation

The Force calculation block receives X,Y and Z motion as input. To
prevent system overloading the force values are limited to the
maximum. The forces are output to the Summarize block.

The block gets inputs from the regulator, wind sensor and the current compensation. Extra
external forces can be setup. These forces are added into X, Y and Z force for the vessel.
These forces are output towards the Allocation (ALLOC block).

Lowering the wind compensation also lowers the thrust. If the vessel does require this thrust
to stay on position, the regulator will increase the integration factors.

2.2.8 Thruster Allocation

The allocation block gets force demand inputs from the force
calculation block, and outputs thruster set point towards the Ramp
block. The inputs are in 3 dimensions, X, Y and Z. The outputs are up
to 2 set points per thruster for direction angle set point and RPM set
point.

The function of the allocation block is to divide the demand force over the available thrusters.
It gives priority to rotation force. The block will limit X and Y force to make sure the vessel
stays at requested heading. This check is based on force only. If a vessel has developed a

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particular speed the rotation forces can become so high that also the heading cannot be
maintained.

2.2.9 Ramp
The Ramp block receives all thruster set points and feedbacks as
inputs, and gives ramped thruster set points as outputs. The main task
of the Ramp block is to change the actual set point to the new set point
by increasing or decreasing as fast as the thruster is able to follow.
Second task of the ramp block is to check if the feedback signal matches the set point. The
Ramp block also calculates the force after ramp. This is the force that is actually delivered by
the thrusters.

2.2.10 Current
The Current block receives the thruster forces from the Ramp block
and output the current force to the Summarize block. The main task of
the current block is to calculate the average output thrust over a longer
time period. If the Wind and other known external forces are subtracted
from this, the current force remains.

The calculation is done by filtering the thruster set points over longer period of time to
calculate the average force that is required to keep the vessel on position. From this thrust all
known forces are subtracted to calculate remaining force that is most likely caused by water
flow.

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3 OPERATOR STATIONS
The Mega-Guard Dynamic Positioning System is a redundant (double) Dynamic Positioning
System fulfilling the rules of IMO DP2.

A DP Console consists of a redundant DP Controller, redundant DP Workstation,

redundant DP Operator Panel and redundant DP Thruster I/O Controller.

 The redundant DP Controllers are built-up around an extremely ruggedized and highly
powerful computer with solid state disks. The DP Controller has interfaces to the DP
Workstation, DP Operator Panel and the DP Thruster I/O Controller. The DP Controller
has up to 21 NMEA and RTCM104 interfaces for Heading, Position, Wind and Motion
Reference Unit sensors.

The DP Controller can be bulkhead mounted inside a yard supplied bridge console or can be
mounted in an optional DP Console.

 The redundant DP Workstations are equipped with a high resolution TFT color screen, a
Trackball for operation and an optional Printer. The DP Workstation is used for DP data
presentation in a graphical and user-friendly way.

The DP Workstation can be bulkhead mounted inside a yard supplied bridge console or can
be mounted in an optional DP Console.

 The redundant DP Operator Panels are equipped with a Joystick with heading knob
integrated in joystick and with pushbuttons for choosing the different operator modes, and
a tracker ball with numeric keyboard. The DP Operator Panels equipped with an 8.4” TFT
are described in Appendix D.

The DP Operator Panel can be bulkhead mounted inside a yard supplied bridge console or
can be mounted in an optional DP Console.

 The redundant DP Thruster I/O Controllers accept any kind of thrusters as can be found
in DP applications (e.g. CPP propellers, rudders, azimuth thrusters, tunnel thrusters etc.).

The DP Thruster I/O Controller is mounted in the Thruster I/O Cabinet and provides
interfaces to both DP Controllers.

 The redundant UPS-es power the Mega-Guard DP2 Dynamic Positioning System. A
unique feature of the Mega-Guard DP2 system is that it is completely powered by
24VDC. The UPS has a 230VAC input and a 24VDC fail safe output with a 30 minutes
battery back-up.

 For DP Systems equipped with 8.4” TFT Operator Panels we refer to Appendix D.

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3.1 Power distribution panels

Inside the cabinet the switches to turn DP system components on or off.

Power Distribution
UPS 1 POWER DISTRIBUTION UPS 2 POWER DISTRIBUTION SHIP SUPPLY 24 Vdc

JC-SYSTEM
DP-1 (Mounting plate, Panel DP-2 (Mounting plate, Panel PC,
F1 (Mounting plate, Panel PC,
PC, joystick) joystick)
joystick)
F2 THRUSTER CONTROLLER THRUSTER CONTROLLER

F3 DGPS-1 DGPS-2

F4 GYRO-1 GYRO-2

F5 WIND-1 WIND-2

F6 MRU-1 MRU-2

F7 CYSCAN LASER SYSTEM GYRO-3

F8

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3.2 DP Operator Panel

3.2.1 Joystick and trackerball

The DP Operator panel consists of:

A) Joystick panel with integrated rotation button and mode select buttons
 Panel size (HxWxD): 144 x 144 x 75
 Joystick 2-dimensional coordinate type with 135mm stick
 Heading knob by turning joystick lever
 Integrated push buttons (10)

B) Tracker Ball for controlling large TFT screen

 Panel size (HxWxD): 144 x 144 x 20
 Trackerball
 Numeric keyboard

The DP system operation modes are selected with – and indicated on - the push buttons on
the joystick panel or at the screens shown at the TFT monitor of the DP workstation.
Operation mode change is only possible when the Joystick and RATE OF TURN knob (also
called HEADING knob) are in neutral position.

In each Operation Mode the appropriate settings can be displayed and adjusted by pressing
the SETTINGS push button.

 Settings can be entered via tracker ball and buttons on large screen.
The DP Operator Panel equipped with a 8.4” TFT is described in Appendix D.

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4 DP CONTROL TRANSFER
Before the Mega-Guard DP system can take over the control, a takeover procedure from
Individual Thruster/Rudder Control to DP Operation has to take place. On the Mega-Guard
DP system you have to CALL for the DP System to take over the control.

4.1 Before control transfer for usage in DP2 mode

When using the system in DP2 mode the operator should check following:

1) DP1 and DP2 Stations should not be in simulation mode.

2) The switchboard (PMS) must be in DP2 configuration, in case of electric propulsion.

The switchboard must be in split bus arrangement. A single switchboard fault should stop the
minimal amount to thrusters. The remaining thrusters must be able to hold position under
given circumstances.
See also Appendix B for checklist form.

4.2 Control transfer from Individual control to DP/JC

Before taking the DP system into usage check that no (unacknowledged) alarms are present.
An operator who wants to change over from Individual Thruster/Rudder Control to DP
Operation has to execute the following functions:

1) The Mega-Guard DP system should be in healthy condition

The system healthy is indicated on the DP Operator Panel.
2) Set the Joystick and the Heading knob in the neutral position.
The Joystick and Heading knob are part of the DP Operator Panel.
3) Each thruster/rudder should be in healthy condition.
The healthy indication is indicated on each Individual Controller
4) Each thruster/rudder should be set to neutral position.
The thruster setting is part of each Individual Controller.
5) Set the mode switch from MANUAL to DP/JC.
6) Firmly push the button ‘CTRL’ on the DP Joystick Panel.
Wait 2 seconds until button starts flashing.
7) Firmly push the button ‘CTRL’ on the DP Joystick Panel again.
Call control outputs are activated.
8) Each thruster/rudder: set the switch ‘Individual / DP-JC’ to ‘DP-JC’.
This switch is part of each Individual Controller.
9) The pushbutton on the DP Operator Panel will stop flashing.

In case the operator wants JC Operation, he can follow the same procedure on the JC
Operator Panel. See also Appendix B for checklist form.

4.3 Control transfer from DP to JC panel

An operator who wants to change over from DP Operation to JC Operation (or vice-versa)
has to execute the following functions:

1) The Mega-Guard JC system should be in healthy condition.

2) Set the Joystick and the Heading knob in the neutral position on the DP Operator
Panel and on the JC Operator Panel.
3) Set the mode switch from DP to JC.
The DP station will release control.

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4) Repeat the procedure from 4.2 but now on JC.

For DP2 system the settings between DP1 and DP2 stations are synchronized. The settings
between DP and joystick station are not synchronized.

 Joystick system works independent from DP system. When switching control from DP
system to JS (joystick system) the Wind and current compensation settings are not
taken over. Also other settings such as gain and rotation speed are not taken over.

4.4 Control transfer from DP/JC to Individual control

An operator who wants to change over from DP Operation or JC Operation to Individual
Thruster/Rudder Control has to execute the following functions:

1) Set the Joystick and the Heading knob in neutral position.

2) Each thruster/rudder should be set to neutral position.
3) Set the mode switch to ‘Manual’
The DP station will release control.

 When the mode switch is set to Manual; that the control is taken immediate away from
the DP – JC. Takeover to individual controls is arranged by the Individual Controllers

4.5 Auto control transfer on fail condition

When the system is in auto position mode the control will change from the active DP server
to the back-up server in case of a critical failure. See chapter “Diagnostics and alarms” for list
of failures and system responses. This function is only for DP2 systems.

For this function to work the back-up DP server must be in healthy condition. After the control
transfer the operator must press ‘CTRL’ to indicate the system which operator panel is to be
used.

The failures on the active system that will cause a control transfer are:
1) Heading reference not available.
2) Position reference not available.
3) DP system failure:
 Loss of connection with the IO-controller.
 DP-controller failure

4.6 Simulation mode

The simulation mode is meant to explain and learn the users how the system generally
operates. When the system is in simulation mode it cannot be used for vessel operation.

When setting the system into simulation mode it

may not be in control. The settings used during
simulation are synchronized to the other DP
station with the exception of specific simulation
environment settings made on the simulation

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screen. These specific simulation settings are the Wind (speed and direction), Wind variation
(in speed and direction), automatic wind rotation, current speed and current direction. See
the simulation settings block in the simulation screen.

Before using simulation mode the system must not be in control. An operator who wants to
enter simulation mode has to execute the following functions:

1) Set the Joystick and the Heading knob in neutral

position.
2) Set the mode switch to ‘Manual’
3) Open simulation screen via button at top of screen
4) Select simulation mode on the workstation’s
‘Simulation’ screen.
5) Push button to take control (‘CTRL’) on the Operator
Joystick Panel.

When the button starts flashing, push again to confirm take

control.

When entering DP mode an alarm is given to warn the user

that the system is simulation mode, also the text
“SIMULATION” is continuously flashing.

An operator who wants to exit simulation mode has to execute the following functions:

1) Release control by pressing “MODE” and “RELEASE

CONTROL” button on the large screen. Pressing mode
requires double clicking if that is configured.
2) Deselect simulation mode on the workstation’s ‘Simulation’
screen.

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5 CONTROL MODES
5.1 Change control mode on a station

Changing control mode is done via operator joystick panel buttons or via the “MODE” button
at the TFT Operator screen.

To change the control mode (e.g. select auto positioning mode) on the active station (DP or
JC) execute the following functions:

1) Set station in control

2) Select required sensors (navigation instruments) for the requested control mode.
3) Firmly push the control mode button on the operator joystick panel and wait 2
seconds. When the button starts flashing push again to confirm selection.

The following modes are selectable:

 Manual Joystick Mode (MAN JOY)

 Auto Joystick Mode (AUTO JOY)
 Auto Heading Mode (AUTO HDG)
 Auto Positioning Mode (AUTO POS)

 On classified systems Auto Heading mode is not available due to class requirements.

Changing control mode is also possible via the large screen.

Change mode by pressing “MODE” and the desired mode button on the large screen.
Pressing mode requires double clicking if that is configured.

Wind compensation setting is valid for all modes. If wind

compensation is turned on in manual joystick mode, it will remain
on after switching to auto joystick or auto position mode, and vice
versa.

Gain settings are individual. The joystick gain works for joystick
manual and joystick auto. Auto position mode has separate gain
setting. Each gain setting can be configured via MAP screen (see
Chapter “Operational usage”).

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5.2 Manual Joystick Mode

The operator controls manually the position of the vessel with the Joystick and the heading
via the Heading knob.

When taking the DP system into control the system starts in manual joystick mode without
wind correction. The current correction is always off in manual joystick mode. When the
system returns to manual joystick mode the operator must check if wind correction is in
desired state (on or off) by looking at the status of the wind correction button. The operator
can switch wind correction on or off.

 On this system the rotation button is integrated into joystick lever.

OPERATOR INTERFACES

Joystick Controls forward thrust moments

(surge) and sideways thrust
moments (sway) of available
thrusters according direction and
position of Joystick

Separate Integrated in
Heading knob Joystick
HEADING knob Adjusts heading by applying offset of
thrusters moments and rudders
angles

 MEGA-GUARD E-series systems have rotation button integrated into the joystick lever.

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5.3 Auto Joystick Mode

The operator controls manually the position of the vessel via Joystick and the heading is kept
automatically to the Set Heading. The joystick gain setting is used for both joystick modes;
manual joystick as well as auto joystick.

When entering this mode the Set Heading is default set to the actual heading.

OPERATOR INTERFACES

Joystick Controls forward thrust moments

(surge) and sideways thrust moments
(sway) of available thrusters according
direction and position of Joystick

8.4”
HEADING knob Manually adjusts SET Heading to port
/starboard with variable rate depending
knob deflection.
This function is not available in MINIMAL
POWER mode.

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5.4 Auto Positioning Mode

The position of the vessel is kept automatically on Set Position and the heading is kept
automatically on the Set Heading. The Set Position can be absolute map longitude/latitude
coordinates (absolute position keeping) or relative coordinates from e.g. a platform (relative
position keeping).

When entering this mode the Set Heading and Set Position are default set to the actual
compass heading and actual DGPS position.

Following Automatic Positioning sub-modes are selectable:

 Manual Surge
 Manual Sway
 Manual Surge and Sway
 Minimal Power

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OPERATOR INTERFACES

DP Operator The DP Operator Workstation is used to

Workstation adjust the Set Position by setting the
bearing and distance.
The vessel will move to the new position
with the Set Transfer Speed.

Joystick The joystick has no function except in the

MANUAL SURGE and/or MANUAL
SWAY modes (see below)

The DP system automatically controls all

selected thrusters to apply fore/aft
(Surge) and/or port/starboard (Sway)
thrust in order to keep the vessel at the
Set Position.

HEADING knob Manually adjusts Set Heading to port

/starboard with variable rate depending
knob deflection.
or This function is not available in MINIMAL
POWER mode.

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5.4.1 Operation Mode: Consequences Analysis

In Auto Positioning Mode the Mega-Guard DP software will continuously verify that the
vessel can maintain in position even if the worst case failure occurs. The software verifies
that the thrusters remaining in operation can generate the same resultant thruster force and
direction as required before the failure.

The consequence analysis will generate an alarm if the occurrence of a worst case failure
will lead to a loss of position due to insufficient thrust for the prevailing environmental
conditions.

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5.5 Auto Heading Mode

 On classified systems Auto Heading mode is not available due to class requirements.

The vessels heading is kept to the Set Heading and the vessels speed is controlled by the
joystick forward movement. Only the main thrusters and rudders are used in this mode.

When entering this mode the Set Heading is default set to the actual compass heading.

OPERATOR INTERFACES

Joystick The vessels forward thrust is controlled

relative to the JOYSTICK forward deflection

HEADING knob Manually adjusts Set Heading to port

/starboard with variable rate depending
knob deflection.

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6 DP WORKSTATION

The DP Operator Workstation is operated via a Trackball for pointing or via the function
selection keys on the TFT screen. Each graphic display is called a “screen” and displays
settings and system information as numeric values or as graphic animation. Numeric system
information is printed in white, while changeable settings are displayed in yellow. User can
change settings by double clicking on a yellow number and entering a new value in the
dialog that appears. After clicking on the OK button the settings is confirmed and active.

Each button at the top of the screen displays a screen for a specific function. The following
functions can be selected:

6.1 MAP
The MAP screen is selectable via push buttons on the top of the screen. The basic layout of
this screen is as follows:

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The DP Operator Workstation MAP screen is divided in several sections:

6.1.1 MAP section

Indicators in this section are for Position Reference and effective forces on vessel:
 COG - Course Over Ground (°), including graphical
representation in map
 SOG - Speed Over Ground (knot)
 Map including:
o Latitude / Longitude.
o Error North (m) / Error South (m)
o Vessel orientation, heading and movement
o SOG vector (green)
o WIND vector (yellow)
o FORCE vector (white), controller output.

 Wind force is displayed with a vector as “Wind going to”, and numeric as “Wind coming
from”.

MAP section has the following selectable options:

 Vessel orientated selected.
Selecting this option shows the map orientated to the
vessel. If desired an offset for the orientation can be
entered for instance if the monitor is not facing in forward
direction. In the below picture an offset of 180° is entered
(workstation facing AFT ship).
 Vessel orientated deselected.
If this option is de-selected the map is facing north up.
 Vessel fixed selected.
If this option is selected the image of the vessel is locked in the center of the map and the
target position is moving. See below picture for an example.
 Vessel fixed deselected.
If this option is de-selected the target location is locked in the center and the vessel is
moving.

Rotation Point:
 Mid (default setting
 Fwd (rotation point at the bow of the vessel)
 Aft (rotation point at the stern of the vessel
The settings for the rotation points are adjustable via parameters.
The operator can select which rotation point is active by clicking at the vessel icon. A window
will appear with the three options. See chapter 7.11.

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6.1.2 Thrusters section

This part is dependent of the actual thruster configuration of the vessel. In this example the
vessel has two azimuth thrusters on the stern and one azimuth and one tunnel thruster in the
bow.

Indicators in this section are:

 Bar graphs per thruster
o Thrust Set point (%) (dark green/red
colors)
o RPM or Pitch Set point (%) (dark
green/red colors)
o RPM or Pitch Feedback (%) (light
green/red colors)
 Numeric values per thruster RPM or Pitch
Feedback (%)
 An Icon per Thruster or Rudder showing the
angle Set point (°)
 An Icon per Thruster or Rudder showing the
angle feedback (°)
 Numeric value for each Thruster or Rudder
angle (°)
 A check box to select / deselect the
individual thrusters.
 Thruster ready indication (Thruster ready
and DP control selected)
 Heading controller output.
 Server status.
 Operator station status (Which operator
station in control; 1,2,3)
 Operating mode (Joystick Manual, Joystick
Auto, Auto Position, Auto Pilot, Tracking)

6.1.3 Heading Setting section

The Heading Settings are displayed in following right of the center, at the
bottom of the MAP screen. See this section of the screen:

 Heading Set point in degrees, parameter adjustable

 Decrease – and Increase + buttons
 Increase / Decrease step size, parameter adjustable
 Set current heading as heading set point
 Apply to confirm and execute the heading change request
 Cancel to keep existing heading set point

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6.1.4 Position Settings section

Position Settings are displayed at the right bottom of the MAP screen, in following section of
the screen:

 Position Set point change step size in meters,

parameter adjustable
 SP Relative, SP UTM, SP GEO to input new position
set point
 Control button “Current Position” to use actual vessel
location as set point
 Select TRUE option for Absolute movement (N/E) and
unselect button for Relative (X/Y) movement
 Apply to confirm and execute the position set point
change request
 Cancel to keep existing position set point

6.1.5 Heading and Position keeping gain, speed and alarm settings
 Heading Gain is amount of thrust maximal used for
correcting heading
 Position Gain is amount of thrust maximal used for
correcting position
 Joystick Gain is amount of thrust maximal used in
joystick manual or joystick auto mode when joystick
pushed in outer position (see next paragraph)
 Speed maximum for rotation (°)
 Speed maximum for movement (knot) (parameter adjustable)

6.1.6 Joystick gain setting

The system starts in Joystick Manual. This mode can take full usage of all thrusters. To limit
the system to use less than maximum the JSM GAIN setting is available. The joystick gain
setting is used for both joystick modes; manual joystick as well as auto joystick (see also
previous paragraph).
 Joystick gain (%) (parameter adjustable)
This value determines how much thrust is given when the joystick or rotation button are
moved to most outer positions. If it is set to 100% it can use full thrust of the vessel. Best
value in harbor is approximately 30%.

6.1.7 Environmental Settings

Environmental settings include Wind and Current compensation.
See next paragraph for usage of wind and current settings

6.1.8 Wind compensation

Wind compensation force is calculated with parameters setup during
commissioning and actual sensor values. The parameter describe the vessels wind area in
transversal and longitudinal direction. The formulas to calculate compensation forces include
wind area, wind speed and wind direction. The wind speed is retrieved from wind sensors.
When multiple wind sensors are available the average of these sensors is used.

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Settings for wind compensation are:

 Check box to enable/disable wind compensation
 0~100% wind compensation (parameter adjustable) to
reduce the compensation thrust
Use percentage compensation factor at 100% by default, and
lower it when too much compensation force is used. This can be when the vessel is behind
an object while the wind sensors are not.

Note that:
 Wind Compensation is default off when taking station in control
 Wind Compensation can be switched on by using the check box or button on operator
panel
 Wind Compensation setting is for all modes

 Wind compensation settings remain the same when changing between operator
modes.
For example when wind correction is enabled in auto position it remains enabled after
going to joystick manual.
The independent joystick system does not synchronize wind settings with the DP
system.

6.1.9 Current compensation

Current compensation force is calculated with parameters setup during commissioning and
values from position sensor and actual forces used on the thrusters. The parameters
describe the part of the vessel that is underneath water line and include length, beam and
draft. The position sensors give the speed of the vessel.

Information display about current compensation:

 Indication of the mode for current compensation:
OFF: The current compensation is off
ON: The system automatically calculates the values for the current speed and angle from
the thruster load and vessel speed and wind. These values are the most accurate if the
vessel is in a steady position. The calculation takes several minutes to find the correct
value.
 During Autopilot mode the current compensation is OFF.
 During Joystick Manual and Joystick Auto mode the current
compensation is off.
 During Auto position mode the current compensation is in ON.

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6.1.10 Alarm area and dimming

 The area displays alarms (errors) in system
 Stop horn button to silence the buzzer after an alarm
has occurred
 Accept to acknowledge alarms visible in the area
 Day button to switch display dimming to day mode
 Night button to switch display dimming to night mode
 Buzzer will be on if new error is added to this list
 Click on each alarm to accept it, only then the system
will check if this alarm occurs a second time

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6.2 TRACKING

This chapter describes how to use tracking. A track exists out of multiple segments,
connected with way points. Each way point has an arcs (angular rotations) to gradually go to
the next track segment. Each track can be ran with configurable speed and vessel heading.

6.2.1 General screen description

The tracking screen gives control and feedback to run tracks.

The DP Operator Workstation TRACKING screen is divided in several sections. Values in

yellow can be altered by double clicking and entering a new value.

1) Left side: Track section:

 Displays the track overview as a map
 Displays the vessel on the position and heading on the track
 Displays Environment information such as Wind and
Current compensation

2) Right top side: alarm section:

 This section displays alarms (errors) in system
 Click on each alarm to acknowledge it, only then the system
will check if this alarm occurs a second time
 Stop horn with “CANCEL” button on joystick panel to
silence the buzzer after an alarm has occurred
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 Buzzer will be on if new error is added to this list

3) Middle section: Actual data section:

This section displays the following information:

 ALONG TRACK DISTANCE: Distance travelled
along track
 DISTANCE
 TO WAY POINT: Distance to travel until
next way point, including turning radius
 TO TURN: Distance to travel until next way
point, excluding turning radius
 TIME TO WAYPOINT: Remaining time before next
track segment has been reached, including turn
radius.
 TIME TO TURN: Remaining time before next turn
 PRE WARNING: Time to warn before turn starts
 TRACKING: Vessel is running track. Click to stop
track.
 RUN TRACK: Start track, green when system is
doing track
 HOLD TRACK: Pause along track, slow down
vessel speed zero, green when active.
 ACCEPT NEXT: Allow system to start next turn
(system will hold if accept is not pressed).
 HEADING SETPOINT: For the heading during a
track a choice must be made between. Note that USE TUNNELS must be check to
activate these options:
 TRACK HEADING: The vessel will have the heading according the track file.
 TRACK BEARING: The vessel will have the heading the same as the bearing
of the track.
 MANUAL INPUT: The operator can input the heading manually and can adjust
it during tracking.
 AUTO ADJUST: If this option is selected the operator allows the system to
adjust the heading to get a better behavior.
 This option is used when the vessel is operating near or outside the sideway
capability. The system will auto adjust its heading set point into the current
depending on the requested sideway thrust needed. The maximum deviation
can be set by the operator.
 USE TUNNELS: If checked the vessel will use tunnel thrusters and thus be able to
follow the track with any heading (is wheatear and current conditions allow it).
If not checked the vessel runs the track using main propulsion and rudder only (Ship
heading will not be according track setting, it will be adjusted to run track)
 CROSS TRACK
 ERROR: Shortest distance from vessel to track (perpendicular)
 OFFSET: Distance that vessel should remain next to track.
 ALARM: If the cross track error exceeds this value an alarm is given.
 TRACK ERROR: Trend that shows cross track error over time

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4) Lower section: WP: Way points

 PLOT: Draw track in left area
 FILE READ: Load track from file, file can be selected
by clicking the triangle.
 ADD / DELETE / CLEAR: Add track segment, Delete
track segment, Clear (Delete all) track segments
 RELATIVE / ABSOLUTE: toggle track input between relative and absolute. Relative
makes track with bearing and distance in meters, which will be relative from current
position. The system will fix the track once it starts tracking. When this button has
been pressed the track will be absolute, meaning that the track is input via Latitude
and Longitude.
 Displays track segments relative (REL) or absolute (ABS) with Bearing, Distance,
Latitude, Longitude, Speed, Heading, Radius and rate of turn (ROT).
 Each row displays a segment of the track, the current track section is indicated by the
green arrow.

6.2.2 Creating and running a track

To run a track first the track must be input and loaded, then it can be used for tracking. On
the TRACKING screen the following steps must be taken.

6.2.2.1 Create a relative track:

1) Set INPUT to RELATIVE
2) Double click on Bearing number to input bearing (lower center of screen)
3) Double click on Distance number to input distance to next way point
4) Double click on Radius to enter turning radius to next way point
5) Press ADD to create track segment
6) Repeat steps 2 to 5 until track is complete

6.2.2.2 Create an absolute track:

1) Set INPUT to ABSOLUTE
2) Double click on Latitude number to input coordinate of way point
3) Double click on Longitude number to input coordinate of way point
4) Double click on Radius to enter turning radius to next way point
5) Press ADD to create track segment
6) Repeat steps 2 to 5 until track is complete

6.2.2.3 Run a track.

Tracking is a sub-mode of the DP mode. The system must be set in DP mode first, and only
then the tracking feature can be used:

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1) Switch to DP screen
2) Place system in DP mode
3) Change heading of vessel to best heading to run the track
4) Switch to TRACKING screen
5) Press button TRACKING
6) Select “Use bow thrusters” for low speed track or deselect it to only use the main
propulsion thrusters.
7) Press button RUN TRACK.
8) In Manual mode: Adjust heading to place bow of vessel little into current to improve
vessel performance (Auto heading mode will do this automatically).

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6.3 PMS
This screen displays a one-line configuration of the Power Management System with
generators and thrusters.

In the left section all the generators and thrusters are displayed in the actual bus
configuration, so this screen may differ per project.
Every generator and every thruster must be assigned to a bus number (if no PMS
functionality is required for a system the thrusters are assigned to bus 0). On the right
the capacity and bus for every generator can be set, for the thrusters this must be done
in the thruster settings screen. If there are additional heavy consumers in the system
this can be entered also on the left, an example can be power for fire pumps so the
system reserves the amount of power for this and not use it for DP. Further on the left
the operator can select the bus limit for the DP so the bus will not be loaded higher than
this value.

The PMS functionality guards the DP system from overloading the power system.
The DP system constantly checks the power request from the controller to the
thrusters. If for a given bus this will exceed the bus reduce limit the system reduces the
power for the connected thrusters. The allocator will transfer the requested thrust to
other thrusters if possible.
On a sudden power loss (generator or bus-tie trip) the system immediately reduces the
power request to the connected thrusters. After this the system will try to re-route the
power request to other thrusters.
If the system has to reduce the power to the thrusters beyond the level that the
requested power/thrust can no longer be generated, the system will reduce the thrust in

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such a way that heading will be kept as long as possible. If this happens an indication
on the screen and a REDUCE alarm will be given.

The PMS screen can be used in both simulation mode and in normal mode.
In normal mode the values and statuses are measured and displayed.
An extra option is that in the PMS screen a generator and/or a thruster can be
selected/deselected, the generator or thruster will still function but in the capability plot
(Capability screen) the green line will show the effect. Thus letting the operator study
the effect of losing a generator or thruster on the capability without effecting the system
and while in DP.

In simulation mode the PMS is also simulated. In simulation mode the operator can
open and close breakers for generators and bus ties and select/deselect thrusters.
Doing this the operator can study what the consequences are for a given failure or
setting without effecting (or starting) the actual system.

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6.4 CAPABILITY
In the capability screen the operator can see the ability of the vessel to keep position and
heading at given wind speed and direction. This can be used for consequence analysis to
determine the vessel ability to keep position under given environmental conditions.

Capability section:
 Red X/Y plot of wind capability with selected thrusters at 100%.
 Green X/Y plot of wind capability with selected thrusters at 80%.
 Amber X/Y plot of wind capability with selected thrusters at 80% on worst case failure.
 Wind vector showing direction and speed. If this vector reaches the capability
boundaries the vessel is out of capability.
 Current values and compensation settings
 Wind values and compensation settings
 Heading and ships speed.

The operator de-select thrusters by clicking on the checkbox for every thruster (in the above
picture this is done for thruster T4), by doing this the system will calculate the capability
without this thruster. This is shown in the green plot. Note that this is only a calculation the
thruster is not disengaged! If the system has PMS controls the same can be done for
generators to study the effect of losing a generator on the capability.

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6.5 SENSORS
Sensor information includes all sensors except positioning sensors. Information and settings
are displayed via Sensors screen and reachable by pressing the Sensors button at the top of
the large screen.

6.5.1 Available sensors

For an overview of the available sensors please check the schematic system overview in
chapter 1, paragraph 6.

6.5.2 Motion sensor

The DP Operator Workstation SENSORS screen provides the following info / functions:

 MRU section (suitable for 3 different MRU devices):

o Comport Status / sample time
o Check box to use this reference device
o Display of raw values Roll / Pitch / Yaw and Heave (if available)
o Parameter for manual rating per device (0~10)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)
o Parameter for filter time (moving average filter, default set at 0.2sec)
o Parameters for adjusting factors for the weighing rating/deviation/error (0~10)
o Display of weighed List / Trim used by the DP controller.

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6.5.3 Heading sensor

 GYRO section (suitable for 3 different heading devices):
o Comport Status / sample time
o Check box to use this reference device
o Display of raw values Heading / Rate of Turn (if available)
o Display of output values Heading / Rate of Turn
o Parameters for device orientation
o Display of List / Trim / Heading (if available)
o Parameter for manual rating per device (0~10)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)
o Parameter for filter time (moving average filter, default set at 2sec)
o Parameters for adjusting factors for the weighing rating/deviation/error (0~10)
o Display of weighed heading and rate of turn used by the DP controller.

6.5.4 Wind sensor

 WIND section (suitable for 3 different wind sensors):
o Comport Status / sample time
o Check box to use this wind sensor
o Display of raw values relative direction and speed.
o Display of output values:
 Relative direction and speed
 Absolute direction and speed
o Parameter for manual rating per device (0~10)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)
o Parameter for filter time (moving average filter, default set at 5sec)
o Parameters for adjusting factors for the weighing rating/deviation/error (0~10)
o Display of weighed absolute and relative wind used by the DP controller.

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6.6 POSITION
Information and settings on the position reference sensors can be obtained via a button in
the top of the large screen:

To select a sensor for usage click the checkbox in the “USE” column. Before usage is
allowed the sensor must be calibrated (for example see the ACOUSTIC in the above screen
shot). Calibration will be done automatically after (re-connection) but it can also be done
manually by clicking on the checkbox in the “CALIB” column.
The weight of each sensor is calculated automatically by de deviation of this sensor to the
vessel model.

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To review the accuracy of each sensor open the PRS PLOT screen by using the button
below the “POSITION” button:

6.6.1 GPS sensor

 GPS section (suitable for 3 different GPS devices):
o Comport Status / sample time
o Display of raw values Latitude / Longitude
o Check box to use this device
o Display of output values Latitude / Longitude at rotation point.
o Latched GPS value when selected (Latched = Actual + Error)
o Error north / east (m)
o Parameter for manual rating per device (0~100)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)

6.6.2 GPS Sensor weighing

GPS sensor quality is calculated with the following information:
 GPS HDOP value from Sensor NMEA $--GGA sentence (deviation in meters)
 GPS RMS value (if available via $--RMS sentence, in this case we do not use the
HDOP value)
 Manual rating (Per sensor from screen 0..10)
 Error (distance of position to calculated model position)
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 Deviation (average change of position over time)

Each of the above is calculated into a numbers from 0 to 10, then added to a total. This total
is compared to other sensors to determine the weight of this sensor.

6.6.1 Acoustic Sensor

 ACOUSTIC section (suitable for 2 different echo devices):

o Comport Status / sample time
o Display of raw values distance to transponder; X and Y (m)
o Display transponder status (fixed or Mobile)
o Check box to use this device
o Display North and East distance to transponder at rotation point (m)
o Latched distance to transponder (Latched = Actual + Error from weighed)
o Error north / east (m)
o Parameter for manual rating per device (0~100)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)

 Laser section (suitable for 1 devices):

o Comport Status / sample time
o Display of raw values distance to target; A and B (m)
o Check box to use this device
o Display North and East distance to target at rotation point (m)
o Latched distance to target (Latched = Actual + Error from weighed)
o Error north / east (m)
o Parameter for manual rating per device (0~100)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)

 Taut wire section (suitable for 1 devices):

o Comport Status / sample time
o Display of raw values distance to clump; A and B (m)
o Check box to use this device
o Display North and East distance to clump at rotation point (m)
o Latched distance to clump (Latched = Actual + Error from weighed)
o Error north / east (m)
o Parameter for manual rating per device (0~100)
o Sensor weighing section.
 Display of calculated rating.
 Display of deviation from weighed over a longer period
 Display of error from weighed
 Weight bar graph (0~1)

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 Weighing section:
o Parameter for filter time (moving average filter, default set at 4sec)
o Parameters for adjusting factors for the weighing rating/deviation/error (0~10)
o Display of difference absolute (weighed).
 Error North / SOG North
 Error East / SOG East
o Resolved absolute position via weighed absolute position reference.
o Resolved difference relative used by the DP controller.
 Error X / SOG X
 Error Y / SOG Y

 Sensor location section:

o Parameter table to set the X / Y / Z offset of the reference device to the center of
the vessel.

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6.7 FOLLOW
To make the DP system follow one particular sensor the Follow mode must be engaged. To
enable this mode first the system must be put into Auto-Position mode.

1) On POSITION screen select sensor as F.U. (Follow Up)

2) On the FOLLOW screen, select Follow

6.7.1 Select sensor for F.U. (Follow Up)

Select a sensor for Follow up in on the position screen. If the sensor was in use as normal
positioning sensor then first unselect it. In the below graphic the Laser sensor is selected to
be used for Follow Up.

Only one sensor can be used for Follow up at a time. To change to another sensor the
selected sensor first has to be unselected which puts the system from Follow mode back to
Auto position mode.

6.7.2 Set system to Auto Position Follow mode

After select a sensor for Follow up in on the Position screen the system can be changed from
Auto Position mode to Auto Position Follow mode using the FOLLOW screen (button in top
button row).

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On the Follow screen there is a section at the center bottom of the screen to switch to follow
mode by selecting the FOLLOW checkbox. A fixed offset distance from the sensor can also
be setup here via the Target Offset inputs.

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6.8 SIMULATION
This paragraph explains functionality in simulation mode. Before going into simulation mode
the system should not be in control. During simulation mode set points will not be output to
the thrusters. The mode is for test, demonstration and educational purpose.

The tab-button at the top of the screen with “SIMULATION” will blink in red during simulation.
After switching into simulation mode two sensors of each type will be available.

Typical simulation settings of these sensors can be altered on the simulation screen. Other
screens can be used to operate the system same as in non-simulation (real) mode.

6.8.1 Setting Environment in Simulation mode

To change system behavior in a particular wind and
current condition the environment can be set.
Double click on the (yellow) number to change following
settings:
 Wind setting for wind speed in knots. This will have
direct effect on the vessel. In Joystick manual mode the vessel will drift off because of
wind force. This will show on map screen and vessel speed will show how fast the vessel
will drift.
 Wind angle setting determines which direction the wind goes to. This will have direct
effect on the vessel.
 Wind Rotate option will disregard the set wind angle and make the wind rotate 360°
around the vessel.
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 Wind variation in speed and direction will change the wind force and direction with a sinus
like motion over time. The setting makes the maximum deviation from the set wind force
and set wind direction.
 Current speed and direction setting determines the water speed in knots. This will directly
affect the force on the vessel, making it drift in the direction of the current.
 Wave settings can adjust wave height in meters and wave period in seconds. Wave force
is calculated depending on wind speed combined with current speed.

6.8.2 Setting GPS in Simulation mode

To change position sensor behavior the settings for two
simulated GPS sensors can be set.
Double click on the (yellow) number to change following
settings.
 Error X, in surge / length direction
 Error Y, in sway / sideway direction
 Error Z, in height / elevation

6.8.1 Setting Laser or Radar in Simulation mode

Not applicable yet

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7 OPERATIONAL USAGE
This chapter explains how to change the most important settings used in combination with
the Joystick, Auto Heading and Auto position mode.

 All settings have numbers colored in yellow, and can be edited by double clicking on
the number

7.1 Screen selection

The Mega-Guard system has many different screens to display various information, and allow
the user to input commands and settings. The screens can be displayed using the Tracker Ball
to click on a button at the top of the large screen.
For example:
1) Select the MAP screen by pressing MAP at the top left of the
screen
2) The MAP screen loads, and the button will display in selected
color

This procedure works same for all buttons and screens in the top row.

7.2 Set MAP view preferences

The MAP screen display can be customized to
user preference.
 The orientation can be relative to the
vessel (Vessel orientated) or with the
north up (world orientated). In case of
vessel orientated the bow of the vessel
will be in actual bow direction and the
north and south will display rotated
depending on heading of the vessel. In
case of not vessel orientated the North
will be up and the vessel will rotate
depending on the heading of the vessel.
 The user can choose to have the target at
the center of the map and the vessel
moving (relative to world), or to have the
vessel at the center of the screen and the
target moving (vessel fix, relative to
vessel).
 The map view can be set to zoom out automatically when the vessel is moving away from
target set point, or it can be fixed to keep current zoom setting.

To switch to vessel orientated in the MAP screen do as follows:

1) Find the check box for vessel orientated below the MAP chart
2) Click to check so vessel orientated is selected
3) See how bow rotates upwards, and the north-south-east-west
cross rotates to the heading of the vessel

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To switch to north up in the MAP screen do as follows:

1) Find the check box for vessel orientated below the MAP chart
2) Click to uncheck so north up is selected
3) See how bow rotates to the heading of the vessel, and the
north-south-east-west cross rotates to upwards.

To switch to relative view vessel fix in the MAP screen do as follows:

1) Find the check box for vessel fix below the MAP chart
2) Click to check so vessel fix is selected
3) See how vessel remains at the center of the screen and the target moves depending on
distance to position set point

To switch to absolute view in the MAP screen do as follows:

1) Find the check box for vessel fix below the MAP chart
2) Click to uncheck so vessel fix is not selected
3) See how target is at the center of the screen and the vessel moves depending on
distance to position set point

To switch to automatic zoom in the MAP screen do as follows:

1) Find the check box with LOCK below the MAP chart
2) Click to uncheck so zoom lock is not selected
3) See how size of the vessel is decreased and how zooming is
decreased when the vessel moves away from position set
point.

To switch off automatic zoom in the MAP screen do as follows:

1) Find the check box with LOCK below the MAP chart
2) Click to check so zoom lock is selected
3) Click on OUT button to zoom out and increase view area
4) See how size of the vessel is decreased and how zooming is decreased. Also notice
that zoom is not changed when vessel moves away from target. If Vessel is outside
view area it will be displayed at the closest edge of the view area.

7.3 Turn on day / night dimming

Night vision lowers the light emission to be able to keep your night vision. It
changes graphics to more dark colors.
1) Select the MAP screen by pressing MAP at the right top of the screen
2) To turn on night vision (low light usage): Press the “Night” Button
3) To turn off night vision (high light usage): Press the “Day” Button

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Map screen in daylight colors

7.4 Silence horn, accept alarms

When a failure is detected the system will turn on the horn (intermittently) and show an alarm
entry in the alarm area. This entry will flash as long the user has not confirmed to the system
that it has seen the alarm. The alarm area can be found on the top right of all screens. To stop
the horn, and confirm flashing alarm lines follow these steps:

1) To silence the buzzer press the “CANCEL” button on the

joystick panel.
2) To confirm alarms press on the alarm entry in the alarm
area and this alarm (and only this one) is confirmed. This action will also make the
alarms stop flashing.

To display larger list with Alarms, press the “Alarm Page” button
on the MAP or FOLLOW screen.
To stop the horn, and confirm flashing alarm lines follow these
steps:

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1) To silence the buzzer click the “STOP HORN” button

under the alarm area.
2) To confirm alarms click on the “ACCEPT” button under
the alarm area and all visusual alarms are confirmed.
This action will also make the alarms stop flashing

7.5 Joystick gain

The joystick gain can make the joystick more or less sensitive. This is input via a number
from 0 to 100%. The joystick gain setting is used for both joystick modes; manual joystick as
well as auto joystick.

At a gain of 1% the joystick minimal effect. Pushing the joystick lever to the outer edge will
only slightly increase engine thrust. At a gain of 100% pushing the joystick lever to outer
position will increase engine thrust heavily.

For in harbor usage the percentage can best be set at 30% or lower.

The Gain option can be set via the MAP screen (see section 6.1.5.).
1) Click on the JSM GAIN percentage value in at the lower
right of the screen.
2) Enter a new value in range 0 to 100, for example for in
harbor usage click on “3” and “0” to set “30”.
3) Click on OK to confirm.

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7.6 Wind compensation

The Wind compensation is default off. This is to care that after taking control on the DP
system the thrusters will not act directly to counteract for the wind forces. The setting is
automatic switched off when changing to another modes. For example turning wind
compensation on in auto position mode will be turned off in joystick manual mode.

To turn on wind compensation the following section on the MAP screen can be used:

1) Click on the check box to turn on

2) Press OK on the confirmation dialog
3) Set percentage value to 100% (normal)
4) Optionally set percentage value to lower (50%), if vessel is over responding on the
wind

By clicking on the check box (and press OK on the confirmation dialog) the wind
compensation will be turned on. The effect of wind compensation can be influenced by
setting the percentage. If this is set to 0%, the wind compensation is still not functional. Set it
to 100% for normal usage.

Lowering the wind compensation also lowers the thrust. If the vessel does require this thrust
to stay on position, the regulator will increase the integration factors. See paragraph 2.2.7
“Force calculation” for more information on how thruster force is calculated.

 Before using wind compensation on / off button on operator panel check that
percentage value is setup properly

7.7 Current compensation

The current compensation is automatic on in Auto position mode. It is turned off
automatically in joystick manual mode. When system is in auto position it continuously
calculates and updates the current speed and direction. When system is in joystick manual
or auto mode it remembers the last values used in Auto position mode. If the system is set to
Auto Position mode again, it continues to use the previously calculated and remembered
values.

7.8 Switch thrusters on/off

Before taking into control all thrusters must be selected. Once a thruster failure occurs a
thruster is automatic deselected. To take this thruster back into usage, it must be selected
manually. Follow these steps.
Open the MAP screen, the thrusters section is displayed at the right
half of the screen,
1) Find the thruster that must be switched on or off
2) Using tracker ball, click on the check box
3) Press “Yes” button on the confirmation dialog that appears
4) Again click on the check box to switch on or off
5) You may turn on or off without confirmation for one minute

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7.9 Position sensor calibration and selection

Before using the Auto Position mode a Position sensor must be selected. This can be done
from the POSITION screen.
1) Switch to the POSITION screen via top button bar
2) Check if the sensor is healthy, if not the Healthy state symbol will
show that the sensor is in failure or not calibrated.
3) Check if the sensor is calibrated, if not the calibrate symbol will
be visible. It is also possible to start a manual calibration by clicking on
the checkbox in the calibrate column.
4) Select the positioning sensor for use by clicking on the checkbox

See paragraph 6.7 for general explanation on POSITION screen.

7.10 Heading settings

The most used system settings for heading can be altered from MAP screen.
Heading information and settings are displayed at the lower center of the
screen in the area of the actual heading display.

7.10.1 Change heading set point

Via the MAP screen the heading set point can be changed in two ways. The
system must be in Auto heading or auto position mode to use the heading set point.

To change heading set point to a particular angle do as follows:

1) Find HSP (Heading Set Point) input and display at the center lower
part of the screen
2) Click on – (decrease) or + (increase) buttons until desired heading is reached. See
also how in the MAP area a dashed line shows the new heading input
3) Once heading set point is input press Apply to confirm.
4) If the vessel is in auto heading or auto position it will start to rotate to the new heading
angle
Alternatively it is possible to double click on the yellow HSP number to input a heading with
digit input.

To change heading set point to actual heading do as follows:

1) Find CURRENT HEADING button at the center lower part of the screen,
2) Click on the button to take over the actual heading as new heading set
point
3) Press Apply to confirm.
If the vessel is in auto heading or auto position it will start to keep the new
heading angle immediately.

Via the Rotation knob it is possible to change the heading set point
1) Rotate the knob to the direction the vessel should rotate.
2) The rotate knob indicates the rotation speed. To rotate faster the button should be
rotated more.
3) Check the actual heading angle. Once this angle reaches the desired new set point
angle the rotation button must be put back at the neutral (zero) position.

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7.10.2 Change rotation speed

When the vessel is rotating to the heading set point it first accelerates to the maximum
rotation speed, then it rotates at that speed towards the new set point until it is close by this
set point. Finally it slows down and holds at the heading set point.
To change the speed that the vessel will rotate with do the
following:
1) Find the Heading speed display and input box at
the lower left side of the screen
2) Double click on the yellow digits that display the
maximum rotation speed that is currently set
3) A dialog box appears with digit buttons to key in the new rotation speed maximum
4) Press OK to confirm after input of the rotation speed

 It is not possible to enter a speed larger than the true maximum rotation speed of the
vessel

7.10.3 Change heading gain

Although the rotation maximum determines at what the vessel will rotate, the gain will affect
the acceleration by limiting the thrust that may be used. The higher the gain, the more thrust
the system will use to correct errors in auto heading mode. To change this setting using the
MAP screen follow these steps:
1) Find the GAIN display and input box at the lower center of the
screen in the HEADING angle display area
2) Double click on the yellow digits that display gain that is
currently set
3) A dialog box appears with digit buttons to key in the gain percentage
4) Press OK to confirm after input of the gain

 Using high gain may lead to over shoot

7.10.4 Change heading alarm limit

The system can be setup to warn by giving an alarm when heading cannot be kept. The
difference of the actual heading compared to the set heading must be larger than the alarm
limit.
1) Find the ALARM limit display the lower center
of the screen in the HEADING angle display
area
2) Double click on the yellow digits that display
alarm limit that is currently set
3) A dialog box appears with digit buttons to key in the alarm angle
4) Press OK to confirm after input of the angle

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7.11 Rotation Point

 Mid (default setting)
 Fwd (rotation point at the bow of the vessel)
 Aft (rotation point at the stern of the vessel
The settings for the rotation points are adjustable via
parameters.
The operator can select which rotation point is active by clicking
at the vessel icon. A window will appear with the three options.
Pressing one of the three buttons will change the rotation point
accordingly. With the CLOSE button the window can be closed.

The operator can switch between these rotation point in every mode.

7.12 Auto position mode settings

The settings for auto position controlling can be found at the lower
right of the screen.

This area displays the actual position and settings that can be used to
change the position holding.

7.12.1 Auto Position mode

Before going into Auto Position mode the system must be in control and one or
more position sensors must be selected.
1) Take system into control using buttons (CTRL) on the joystick panel
2) Take position sensor into usage via Position page
(See paragraph Position sensor calibration and
selection).
3) Switch to Auto Position mode using buttons on the
joystick panel.

7.12.2 Change position set point

The position set point can be changed via different methods. The methods are only available
if the system is in auto position mode.

To change position set point to actual position do as follows:

1) Find the CURRENT POSITION button at the lower right of the screen
2) Click on the button to take over actual position as new set point
3) Press Apply to confirm.

7.12.3 Switch between relative and absolute position adjustment

1) Find the TRUE checkbox at the lower right of the screen
2) If this displays in ADJUST RELATIVE it is set to move the set point
relative to the vessel, click on it to switch to absolute mode

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3) If this displays in green with the text ADJUST ABSOLUTE it is set to move the set
point in north, south, east or west direction. Click on it once to switch to relative mode
4) See how the individual move buttons switch between N (North), W (West), E (East)
and S (South) and SB (Starboard), PS (Portside), AH (Ahead) and AS (Astern).

Adjust relative Adjust Absolute

7.12.4 Change position set point relative to vessel

1) Find the STEP setting at the lower right of the screen
2) Double click on the yellow number that indicates the step size
in meters
3) Input the new step size in the dialog that appears, confirm the dialog
with OK button
4) Find the ADJUST ABSOLUTE / RELATIVE button and click to
switch to Relative input mode if it is in absolute mode
5) Find the AH, AS, SB, PS buttons at the lower right of the screen
6) To move the set point the setup number of meters to starboard
press the SB button
7) To move the set point the setup number of meters to portside press the PS button
8) To move the set point the setup number of meters ahead press the AH button
9) To move the set point the setup number of meters astern press the AS button
10) Press Apply to confirm.

It is possible to repeat the last step to move the vessel again with same step size

7.12.5 Change position set point in North, South, East or West direction
1) Find the STEP setting at the lower right of the screen
2) Double click on the yellow number that indicates the step size
in meters
3) Input the new step size in the dialog that appears, confirm the dialog
with OK button
4) Find the ADJUST ABSOLUTE / RELATIVE button and click to switch
to absolute input mode if it is in relative mode
5) Find the N, S, E, W buttons at the lower right of the screen
6) To move the set point for step size number of meters north press the
N button
7) To move the set point for step size number of meters south press the S button
8) To move the set point for step size number of meters east press the E button
9) To move the set point for step size number of meters west press the W button
10) Press Apply to confirm.

It is possible to repeat the last step to move the vessel again with same step size
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7.12.6 To change position set point in any direction

1) Click the SP Relative Button at the lower right of the screen
2) Input the direction to move to in the dialog that appears, in the Bearing
input box.
3) Input the distance in the dialog that appears, in
the Distance input box.
4) Press Apply to confirm

7.12.7 Change target set point by key in

Latitude Longitude coordinates
The system has several options to change the target set point. The most basic option is to
directly key in the latitude and longitude coordinates.

1) Find the set point display at the lower center of the map view:
2) Double click on the latitude or longitude coordinate
3) A dialog with the coordinates is displayed
including digit buttons, click on the buttons to
input the coordinates
4) After coordinate input press Apply to confirm
5) When the vessel is in “Auto position mode” it
will start moving to the new position
immediately

7.12.8 Change position set point using

joystick
When in auto position mode the joystick can be used to change position set
point as follows:
1) Find Manual Sway button at the right of the joystick panel and press it
for sideways movement (will be illuminated when active)
2) Find Manual Surge button at the right of the joystick panel and press it
for ahead astern movement (will be illuminated when active)
3) Move the joystick in the direction you want to go, the vessel will start to
move in this direction,
4) When the vessel has reached its new location, position the joystick
back to the neutral (zero) position, and watch how the actual position of
the vessel is taken over as the new set point
5) Press the Manual Sway and Surge buttons again to unselect surge and
sway movement

If you only need surge movement the sway button should not be selected. If
you only need sway movement the surge button should not be selected. This prevents for
accidently moving in wrong direction.

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7.12.9 Set transfer speed

The transfer speed is used in auto position mode. When tracking is used or when a new
position set point is entered the system will sail to this destination with the speed given in the
transfer speed setting. The system will first accelerate to the speed setting, and when it is
nearby the destination it will start to slow down. When a new position set point is chosen
nearby the actual position the transfer speed shall not be reached.

To set transfer speed open the MAP screen and follow these steps:
1) Double click on the yellow number indicating the
currently selected transfer speed
2) Aa dialog pops up to enable numeric input. Click on the
numbers to input new speed. For example “0.5” for 0.5
knots
3) Press OK to confirm the new speed
4) See how the transfer speed setting updates to the new speed

7.12.10 Change position gain

Although the transfer speed determines at what speed the vessel will sail, the gain will affect
the acceleration by limiting the thrust that may be used. The higher the gain, the more thrust
the system will use to correct errors in auto position mode. To change this setting using the
MAP screen follow these steps:
1) Find the GAIN display and input box at the lower right of the
screen in the position settings display area
2) Double click on the yellow digits that display gain that is currently
set
3) A dialog box appears with digit buttons to key in the gain
percentage
4) Press OK to confirm after input of the gain

 Using high gain may lead to overshoot

7.12.11 Change position alarm limit

The system can be setup to warn by giving an alarm when position cannot be kept. The
difference of the actual position compared to the set position must be larger than the alarm
limit.
1) Find the ALARM limit display at the lower right
of the screen in the position settings display
area
2) Double click on the yellow digits that display
alarm limit that is currently set
3) A dialog box appears with digit buttons to key in
the alarm distance in meters
4) Press OK to confirm after input of the distance

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7.13 Follow mode

To make the DP system follow one particular sensor the Follow mode must be engaged. To
enable this mode first the system must be put into Auto-Position mode.

1) On POSITION screen select sensor

as F.U. (Follow Up). See  below.
2) On the FOLLOW screen, select PRS INPUT checkbox. Click
the FOLLOW button to confirm that the system is in Follow
mode.
3) Input target offset X and Y distance for fixed offset from
reflector by clicking on the (yellow) OFFSET X and/or OFFSET
Y numbers. In the dialog that opens a new number can be
entered. Press OK to confirm the new offset and close the
dialog.

 Follow Up can only be selected if the sensor is not selected as position sensor. First
unselect the sensor to use for Follow up.

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See in below screen section for example of Laser selected as follow up sensor:

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8 OPERATIONAL SCENARIOS
Guidelines to follow when using the DP system under different situations.

8.1 Before using auto position nearby other objects

Apart from the manual actions required to take the system into usage and set it in auto
position mode, there are also guidelines to let the system learn environment forces present
at time.

When taking the vessel into auto position this should first be done on a safe location away
from other objects. Such a distance from target should be at least 500 meter. Once it is
holding position on this location the operator can give command to move 200 meter towards
target. Then operator can check again, and move yet another time 200 meter towards target.

Closely check for overshoot when the vessel reaches a new stabilization point at 100 meter
from target. At this time the operator should take extra position reference systems into
usage, such as laser sensor. If all is working properly the operator can give command to
move 75 meters towards target, and again check for position overshoot.

Now the vessel is at 25 meter from destination location. Operator can give command to
move 20 meter towards destination. Finally the operator checks if system does not overshoot
more than feasible and holds position properly. The command can be given to move last 5
meters and place the vessel on the target set point.

8.2 Vessel losing position

In case the vessel is in auto position nearby another object, but it loses this position more
than acceptable, the operator should immediately take the system into manual control and
sail away to a safe location. Causes for position loss can be high wind or current
environment, or the failure of multiple position sensors. Other causes can be for example
loss of thrusters or loss of power.
The system gives an alarm when the worse the vessel cannot hold position in case of
thruster or PMS failure (see chapter 10 “Diagnostics and Alarms”)

8.3 Losing redundancy (DP2)

In case the vessel is in auto position with DP2 requirement and it is suffering loss of a DP
station the redundancy is no longer available. The system will keep position, but the operator
should move the vessel to a safe location where the DP2 requirement is no longer required
anymore.

Other tasks such as cargo transfer should be stopped. The operator should notify other
operators to end their sessions so that the vessel can move away immediately after.

8.4 Strong current force

In case the vessel cannot hold position because of strong current force it can be a solution to
rotate the vessel with bow or stern into current. This should also be done if the Worse Case
alarm is given to prepare the vessel for possible thruster or PMS failures.

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8.5 Strong wind force

In case the wind force is high the vessel should be rotated with bow or stern into the best
angle for current and wind. The operator must calculate an angle in between the angle of
wind and angle of current. This should also be done if the Worse Case alarm is given to
prepare the vessel for possible thruster or PMS failures.

8.6 Warning for loss on worst case failure

When the system shows the worst case failure alarm while using it in DP2 situation the
operator should try to rotate the vessel to lower the environmental forces on the vessel. If this
is not possible the DP session should be stopped. During this time a thruster failure can
mean position loss, which makes this not suitable for DP2.

8.7 DP2 Usage nearby high objects

High objects can block the DGPS reception. Such high objects can be wind mill, platform,
large vessel, etc. When the system is used in DP2 it is advised to use redundant DGPS with
different compensation signals. The satellites that broadcast these signals should be from
different angles so that not a single object can block both of them. If there are multiple
objects that can block signals for both DGPS system then also another type positioning
sensor must be used (For example use a Laser sensor in a wind mill park).

8.8 Alternative wind sensor usage

The wind speed provided by the sensor is calculated to a force on the vessel based on the
surface area of the vessel. If this force is too high there are two alternate possibilities to use
the environment compensation system:

1) Disable the wind sensor (uncheck wind sensor)

2) Reduce the wind sensor percentage

See also paragraph 7.6, “Wind compensation”. If the wind sensor is disabled the vessel will
move in the direction from the wind, possibly losing position for a short period. But after
about 10 minutes the environmental force (current force) should also compensate for the
wind force. (see paragraph 7.7 “Current compensation”).

Also it is possible to lower the wind compensation factor in small steps. If it is lowered from
100% to 90% to 80%, etc. with about a minute in between each step, the Environment /
current compensation also has time to calculate the extra force it must deliver to counteract
for the wind. Check position holding in between each step.

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9 MAINTENANCE

To verify proper operation of the DP system the actions described in this chapter must be
taken periodically. Most of these actions can only be performed by getting access to the
Windows system.

9.1 Planned maintenance

9.1.1 System restart

To test if the system starts up properly in case of failures it is required to test the startup
procedure once per week. This procedure also prevents possible accumulating errors to
disrupt system performance.
The startup test must be done while the DP system is not in usage. Please follow these steps
to test startup procedure:
1) Switch off DP1, DP2 and JC system. MPC, I/O and switches hardware must be
powered down.
2) Wait 10 seconds. Check that led lamps on switches are off.
3) Switch on DP1, DP2 and JC system (MPC, I/O and switches).
4) Check DP1 and DP2 displays during startup. This takes about 5 minutes, and it
should display:
a. BIOS report,
b. Windows XP startup
c. Mega-Guard CamClient startup

9.1.2 UPS
The UPS batteries must be replaced once per 4 years. When batteries are replaced the
dates of the changes must be noted on the UPS label (see appendix A). Please check
manual for UPS for details.
Also the UPS is checked once per year with the annual DP classification check. During this
test the UPS must use as only supply for the DP system, and it must be able to power this for
30 minutes (see classification rules).

9.1.3 Check free disk space

To avoid running into disk space issues it is advised to check the system weekly.
1) Using tracker ball, click on Logo at the right top of the screen
2) The system controller screen appears, select the “On screen keyboard” icon
at the right bottom of the screen
3) With “On screen keyboard” press the key with Windows Logo, and press the
“E” key
4) Find the D: drive at the left side of the Windows

It should always have 50MB or more free space on D: drive. If this is not the case please call
Praxis service department to check for a solution.

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9.1.4 Set Date and Time

On most PC’s the time and date will need updating regularly, also on the DP workstations.
Once per month check and correct time setting for on DP1:
1) Click on Praxis Logo at the right top
of the screen,
2) A new screen is loaded
3) Double click on the time left of the
logo
4) Windows Time dialog appears, correct the time and confirm with
OK
5) Click on MAP button at left top to return to MAP screen.
Repeat above steps for DP2 workstation.

9.1.5 Joystick calibration

Due to changing ambient conditions (temperature, moist) and over time the calibration of the
joysticks can become invalid. As a result the joysticks must be recalibrated weekly or before
every use.
To do this follow the following steps.
1) Using tracker ball, click on Logo at the right top of the screen
2) The system controller screen appears, select the “On screen keyboard” icon
at the right bottom of the screen
3) With the tracker ball type ctrl-a, a user and password is requested. Default
no user and password 0 (zero) can be used.
4) The Client Properties window now appears. Select the ‘DP Keyboard Configuration’
tab.
5) Check the ‘Do Calibrate’ checkbox. The view of the window is now changed.
6) Place the joystick in neutral position and also put the rotation in neutral position.
7) Click on the start button.
8) Move the joystick in maximum forward direction and keep it there for a few seconds.
Now move the joystick in maximum backward position and keep it there for a few
seconds.
Do the same for the sideways directions and also for the rotation.
9) Now move the joystick back to the neutral position (also rotation). Click the save
button to store the values.
10) Click the OK button to leave the Client properties window.

9.2 Repeat for DP station 2 and JC station. Special maintenance

Special maintenance is done on request by service or when the operator requires extra
information from the system.

9.2.1 USB memory stick

Any USB stick used with the system should be verified to not contain viruses. This can be
done with a computer that has updated antivirus system installed.
To do this follow these steps:
1.Plugin the USB stick in a good protected computer
2.Start / Open antivirus program and scan the USB stick
Check your antivirus program manual for exact details how to scan the USB stick.

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9.2.2 Log files

The system logs sensor data, thruster outputs and most user setting changes. These sensor
log is stored on the MPC flash drive in the D:\software\Data folder. Via USB stick these files
can be copied to computer:

 Before plugin check the USB stick to be virus free (see previous paragraph)

1.Open cabinet and locate the MPC

2.Plug in the USB stick in any free USB connector at the backside
3.Using tracker ball, click on Logo at the right top of the screen
4.The system controller screen appears, select the “On screen keyboard” icon
at the right bottom of the screen
5.With “On screen keyboard” press the key with Windows Logo, and press the “E”
key
6.In the windows file explorer that appears, browse to “D:\Software\”
7.Right click on the “Data” folder, and select “Copy” from the menu
8.Find the USB drive at the left side of the windows file explorer, click on it
9.On the right side of the file
manager (now showing USB
stick contents), click with
right mouse button and
select “Paste” from menu
10. On the left side of the
windows file explorer, click
with right tracker ball button
on the USB drive
11. In the menu that appears
select “Eject”
12. Unplug the USB stick from
the MPC.

Your files are now ready for usage on the USB stick.

9.2.3 Sensor Communication

The sensors for Mega-Guard DP use communication strings according specification IEC-
61162-1 (NMEA-0183). The strings used are in this table:

Sensor Sentence Frequency (Hz) Description

Gyro HDT 5 - 10 Provides
 Heading
This sentence is deprecated, and will be
replaced by
ROT 5 - 10 Provides
 Rate of turn
DGPS GGA 5 - 10 Provides
 Latitude
 Longitude

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 Number of satellites
 Quality
GST 5 - 10 Provides
 Compensation signal quality
Wind MWV 1-5 Provides
 Relative direction,
 Relative speed
 Quality
Laser RLS 1-5 Provides
 Relative distance A,
 Relative distance B,
 Quality

MRU and Acoustic sensors may use custom binary protocols.

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10 DIAGNOSTICS AND ALARMS

10.1 Description
The Praxis DP system will perform constant self-diagnostic on hardware and software
failures and generate alarms in case of a malfunctioning. Besides this the system will also
generate functional alarms to warn the operator the vessel can get out of capability, ea the
vessel cannot hold position or heading due to high wind or current.
To reduce the load on the operator and to enhance ergonomics of the system the number of
alarms is kept to a minimum.

10.2 Alarm list and alarm handling

The alarms in the system are listed below. Note that some of the alarms are a combination of
possible errors. This is done to enhance the ergonomics of the system.

In case of an alarm the alarm is shown on the operator workstations. The alarms also show
on the operator panel and the buzzer will sound. Depending on the alarm the system will
react differently. This can vary between automatic control transfer (for instance in case of
hardware failure) and alarm indication only (for instance single sensor failure).

10.3 System alarms

 The ‘x’ displays UPS number and accessory workstation number. Example: when alarm
occurs at workstation 1 then action should be performed at UPS-1

Alarm: “DP SERVER – FAIL”

Cause: Communication between Mega-guard and DP software lost
Reaction: Alarm on buzzer and on workstation.
If in Auto Position mode and DP2, then auto control transfer to other station.
Action: Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “DP SERVER – IO-CONTROLLER FAIL”

Cause: Hardware error.
Reaction: Alarm on buzzer and on workstation.
If in Auto Position mode and DP2, then auto control transfer to other station
Action: Check cabling to IO-controller
Check power supply to IO-controller
Restart IO-controller + workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “OTHER DP SERVER FAIL”

Cause: Hardware error.
Reaction: Alarm on buzzer and on workstation.
If in Standby for DP2, then auto control transfer to this station
Action: Check alarm page of other workstation, solve alarm
Check ethernet cabling
Restart DP_SYSTEM1 and DP_SYSTEM2 by switching OFF/ON power inside UPS-1 and
UPS-2
When this does not solve the problem, contact PRAXIS

Alarm: “JC SERVER FAILURE”

Cause: Hardware error.
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Reaction: Alarm on buzzer and on workstation

Action: Check alarm page of JC SERVER, solve alarm
Check ethernet cabling
Restart JC_SYSTEM by switching OFF/ON power
When this does not solve the problem, contact PRAXIS

 The alarm descriptions ‘x’ displays DP station number

Alarm: “CONTROL STATION x FAILURE (COM & JS)”

Cause: Joystick value is outside specs
Reaction: Alarm on buzzer and on workstation.
If in Auto Position mode and DP2, then auto control transfer to other DP station
Action: Check wiring between Joystick and 8.4” TFT
Contact PRAXIS for Joystick Calibration procedure

Alarm: “WARNING – NO STANDBY SERVER AVAILABLE”

Cause: Hardware failure on standby server while active server is in auto position mode. (Only DP2)
Reaction: Alarm on buzzer and on workstation
Action: Check alarms at standby server, solve alarms
Restart DP/JC SYSTEM by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

10.4 Thruster alarms

For all the selected thrusters the RPM/PITCH and steering feedback alarm can be generated.

 The alarm descriptions ‘x’ displays thruster number

Alarm: “THRUSTER x – CONTROL FAILURE”

Cause: Thruster ready / in control feedback signal lost
Reaction: Alarm on buzzer and on workstation.
Thruster automatic deselected
Action: Check thruster
Check interface wiring between thruster and DP thruster controller
When this does not solve the problem, contact PRAXIS

Alarm: “THRUSTER x – RPM/PITCH FB/SP FAILURE”

Cause: 1. RPM/Pitch feedback loop failure
2. RPM/Pitch set point loop failure
3. Set point and feedback difference out of limits for predefined time delay

Reaction: Alarm on buzzer and on workstation.

Thruster automatic deselected
Action: Check thruster
Check interface wiring between thruster and DP thruster controller
When this does not solve the problem, contact PRAXIS

Alarm: “THRUSTER x – STEERING FEEDBACK FAILURE”

Cause: 1. Steering feedback loop failure
2. Steering set point loop failure
3. Set point and feedback difference out of limits for predefined time delay

Reaction: Alarm on buzzer and on workstation.

Thruster automatic deselected
Action: Check thruster
Check interface wiring between thruster and DP thruster controller

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When this does not solve the problem, contact PRAXIS

Alarm: “XP## – DP THR x IO-CONTROLLER LINK-@ FAIL”

Cause: Network of thruster x is down at connection A or B (@ is A or B)
This alarm will also occur when other thruster XP that is connected to this thruster XP is off.
Reaction: Alarm on buzzer and on workstation.
Communication is automatic rerouted via redundant network. System is no longer
redundant, DP2 operations should be stopped and vessel moved to safe location.
Action: Check ethernet wiring of this section

10.5 Reference sensor alarms

 The alarm descriptions ‘x’ displays reference number

Alarm: “MRU-x ALARM”

Cause: Com port failure. Input sentence not valid.
Reaction: Alarm on buzzer and on workstation.
Quality for this MRU-x is set to 0.
Weight for this MRU-x is set to 0.
Rating for this MRU-x is set to 0
Action: Does alarm occur at DP_SYSTEM1, DP_SYSTEM2 and JC_SYSTEM?
YES:
Check Power supply to MRU
Check wiring between MRU and DP system
When this does not solve the problem, contact PRAXIS
NO:
Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “MOTION REFERENCE NOT AVAILABLE”

Cause: -None of the MRU’s are healthy
Reaction: Alarm on buzzer and on workstation.
MRU roll (list) is set to 0.
MRU pitch (trim) is set to 0.
MRU yaw (heading) is set to 0.
In calm weather DP operation can continue. Otherwise DP performance will be worse,
System may lose position keeping
Action: Check if MRU’s are selected
Does alarm occur at DP_SYSTEM1, DP_SYSTEM2 and JC_SYSTEM?
YES:
Check Power supply to MRU’s
Check wiring between MRU’s and DP system
When this does not solve the problem, contact PRAXIS
NO:
Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

10.6 Position sensor alarms

 The alarm descriptions ‘x’ displays sensor number

Alarm: “LASER-x ALARM”

Cause: Com port failure
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Input sentence not valid or time-out

Signal quality low (input from sensor).
Reaction: Alarm on buzzer and on workstation.
Quality for this LASER reference is set to 0.
Rating for this LASER reference is set to 0
Action: Check at Laser control station that target is selected
Does alarm occur at DP_SYSTEM1, DP_SYSTEM2 and JC_SYSTEM?
YES:
Check Power supply to LASER
Check wiring between LASER and DP system
When this does not solve the problem, contact PRAXIS
NO:
Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “GPS-x ALARM”

Cause: Com port failure
Input sentence not valid or time-out
Signal quality low (input from sensor).
Reaction: Alarm on buzzer and on workstation.
Quality for this GPS is set to 0.
Weight for this GPS is set to 0.
Rating for this GPS is set to 0
Action: Does alarm occur at DP_SYSTEM1, DP_SYSTEM2 and JC_SYSTEM?
YES:
Check Power supply to GPS-x
Check wiring between GPS-x and DP system
When this does not solve the problem, contact PRAXIS
NO:
Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “POSITION REFERENCE NOT AVAILABLE“

Cause: No healthy GPS or LASER reference or Acoustic reference or Taut-wire available
Reaction: Alarm on buzzer and on workstation.
Last valid SOG freezes.
Last valid position difference freezes.
Action: Check if position reference sensors are selected
Restart DP workstation(s) x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

10.7 Heading sensor alarms

 The alarm descriptions ‘x’ displays sensor number

Alarm: “GYRO-x ALARM”

Cause: Com port failure
Input sentence not valid or time-out
Reaction: Alarm on buzzer and on workstation.
Quality for this GYRO is set to 0.
Weight for this GYRO is set to 0.
Rating for this GYRO is set to 0.
Action: Does alarm occur at DP_SYSTEM1, DP_SYSTEM2 and JC_SYSTEM?
YES:
Check Power supply to GYRO-x

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Check wiring between GYRO-x and DP system

When this does not solve the problem, contact PRAXIS
NO:
Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “HEADING REFERENCE NOT AVAILABLE”

Cause: No healthy GYRO reference available.
Reaction: Alarm on buzzer and on workstation.
Last valid Heading freezes.
Last valid ROT freezes.
If in Auto Position mode and DP2, then auto control transfer
Action: Check if any GYRO is selected
Restart DP workstation(s) x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

10.8 Wind sensor alarms

 The alarm descriptions ‘x’ displays sensor number

Alarm: “WIND-x ALARM”

Cause: Com port failure.
Input sentence not valid or time-out.
Reaction: Alarm on buzzer and on workstation.
Quality for this Wind sensor is set to 0.
Weight for this Wind sensor is set to 0.
Rating for this Wind sensor is set to 0.
Action: Does alarm occur at DP_SYSTEM1, DP_SYSTEM2 and JC_SYSTEM?
YES:
Check Power supply to WIND-x
Check wiring between WIND-x and DP system
When this does not solve the problem, contact PRAXIS
NO:
Restart DP workstation x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

Alarm: “WIND REFERENCE NOT AVAILABLE”

Cause: No healthy Wind reference available.
Reaction: Alarm on buzzer and on workstation.
Relative wind speed is set to 0.
Relative wind direction is set to 0.
Absolute wind speed is set to 0.
Absolute wind direction is set to 0.
Action: Check if any WIND sensor is selected
Restart DP workstation(s) x by switching OFF/ON power inside UPS-x
When this does not solve the problem, contact PRAXIS

10.9 Operational alarms

Alarm: “DP SERVER – BUZZER DISABLED”

Cause: The buzzer alarm sounder has been manually disabled. This will be automatically enabled
when taking the system into control.
Reaction: Alarm on workstation
Action: Re-able BUZZER at SIMULATION SCREEN

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Alarm: “HEADING OUT OF LIMITS”

Cause: Difference between actual heading and set point heading is larger than the pre-set value for
at least 5 sec.
Only when in Joystick-auto mode OR in Auto-pilot mode OR Auto-position mode but not in
sub-modes of Auto-position
Reaction: Alarm on buzzer and on workstation
Action: Check if heading is still within limits of operation
Increase heading gain

Alarm: “POSITION OUT OF LIMITS”

Cause: Difference between actual position and set point position is larger than the pre-set value for
at least 5 sec.
Only when in Joystick-auto mode OR in Auto-pilot mode OR Auto-position mode but not in
sub-modes of Auto-position.
Reaction: Alarm on buzzer and on workstation.
Action: Check if position is still within limits of operation
Increase position gain

Alarm: “WARNING – NO CONTROL POSITION SELECTED”

Cause: Server is in control, but no control station is selected. Control station which was in control
has a failure or due to automatic take over.
Reaction: Alarm on buzzer and on workstation.
Action: Select available Control Station

Alarm: “WARNING – NO STANDBY SERVER AVAILABLE”

Cause: Server is in control, but no standby station is available (no backup). Station which is in
control has no communication with the other station.
Reaction: Alarm on buzzer and on workstation
Action: Check alarms at standby server
Check ethernet cabling
Restart total DP_SYSTEM1 and DP_SYSTEM2 by switching OFF/ON power inside UPS-1
and UPS-2
When this does not solve the problem, contact PRAXIS

Alarm: “POWER REDUCTION ACTIVE”

Cause: Requested DP power exceeds available power.
Reaction: Alarm on buzzer and on workstation, thruster set points are reduced.
Action: Check Power Management System

Alarm: “POSITION LOSS ON WORST CASE FAILURE”

Cause: Pre-warning when capability logic detects that in case of a worst case failure, an out of
capability situation occurs.
Reaction: Alarm on buzzer and on workstation.
Action: Check Worst Case Failure
DP2 operation should be aborted

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11 TROUBLE SHOOTING
In this chapter frequently asked questions and their answers are discussed.

11.1 Question: Cannot take control even if system seems ready.

Answer:
Set ROT button and Joystick back to zero (middle / center) position. Press CTRL button to
activate system. If this not working then check the alarm page. Report which alarms are
showing.

11.2 Question: Wind compensation does not work

Large screen shows no check box, or 0% Wind compensation.

Answer:
If 0% wind is shown on big screen, double click on this and enter 100%. Then turn on wind
compensation by clicking the check box on the large screen. If wind compensation is still not
on, the wind measurement device is out of order or not selected on the sensor screen.

11.3 Question: use full bow and stern thruster

The system does not use full bow and stern thruster to counter act current from side of
vessel. Why is this?
Answer:
The current compensation is turned off. The regulator has integration that counteracts
current with only 50% of power of the thrusters. Use current compensation by slowly
increasing current in compensation input field.

11.4 Question: release control of thrusters

How can we release the control from DP to individual thrusters when the monitor is out of
order?
Answer:
Normally the control from DP is released when you take over each thruster to manual at the
thruster control panel. When all thrusters are set to manual control, the DP system will
automatically release the control. The RELEASE button at DIAGRAM or MAP screen is an
extra possibility to release the control.

11.5 Question: CAMCLIENT NO COMMUNICATION

We see a red cross at our screen with message CAMCLIENT NO COMMUNICATION. What
can we do to solve this problem?
Answer:
Check which system is out of order. DP_SYSTEM1, DP_SYSTEM2 or JC_SYSTEM. Restart
the computer. Check the result and report this to Praxis service.

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11.6 Question: DGPS diagnostics, how is this detected?

The GPS seems to be malfunctioning, what error reports and diagnostics are available in the
system?
Answer:
The DP system uses NMEA sentences with identifier $--GGA and, if available, $--RMS from
the DGPS with following diagnostic information:
- Time from GPS, if this is not updating after 5 seconds an alarm will be given
- HDOP or RMS with accuracy in meters
- Jump detection in meters (if sensor changes position in large step in little time)
- NMEA CRC check fail will give GPS failure alarm
If the NMEA stops sending the system will give GPS failure alarm.
See also paragraph 6.7.1 and 6.7.2 with information on GPS Sensor.

 Only available for high accuracy DGPS.

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Naming Conventions:
Name of the Product Line: Mega-Guard
Product Name Mega-Guard
Short Product Name: Mega-Guard
Operator Workstation: IMO-DP 0/1/2

Company Information:
Company Name: Praxis Automation Technology
Company Address: Zijldijk 24A
Company Zipcode: 2355 AB
Company City: Leiderdorp
Company Country: The Netherlands
Company Phone: (31) 71-5255353
Company Fax: (31) 71-5224947
Company E-Mail: [email protected]

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12 APPENDIX
12.1 Appendix A: UPS battery history

Battery History Date (mm/yyyy)

Manufacturing Date
Replacement Date (1)
Replacement Date (2)
Replacement Date (3)
Replacement Date (4)
Replacement Date (5)
Battery set to be changed after 4 years of operation or sooner when necessary.

12.2 Appendix B: Checklist for taking DP system into usage

Before taking the DP2 system into usage the following list has to be checked:

Item Description OK 
1 No (unacknowledged) alarms are present 
2 System is not in simulation mode 
3 PMS is in DP2 configuration 
4 The Mega-Guard DP system should be in healthy condition 
The system healthy is indicated on the DP Operator Panel
5 On Sensor screen 2 MRU sensors must be selected 
6 On Sensor screen 2 Gyro sensors must be selected 
7 On Sensor screen 2 Wind sensors must be selected 
8 On Position Sensor page 2 DGPS sensors must be selected 
9 On Position Sensor page Laser sensor must be selected if within reach of 
reflector

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12.3 Appendix C: DP System Layouts

Figure 1 DP Centralized-IO / JC Centralized-IO

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Figure 2 DP Decentralized-IO / JC Centralized-IO

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Figure 3 DP Decentralized-IO / JC Decentralized-IO

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12.4 Appendix D: 8.4” TFT Operator Panel

This appendix describes DP systems delivered with

 MEGA-GUARD E series hardware including 8.4” TFT operator panels
The 8.4” screen will be referred to as DP operator panel.

DP Operator Panel

A B C

Panel mounting: Flush panel mounted

Overall dimensions (HxWxD): 160 x 400 x 65mm
Panel colors: RAL 7043 (accents RAL 5015/7045)

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The DP Operator panel consists of:

8.4” TFT
 Panel size (HxWxD): 160 x 200 x 65
 Panel integrated push buttons (12)
 Panel integrated buzzer

Joystick panel with integrated rotation button

 Panel size (HxWxD): 160 x 160 x 65
 (Standard) Joystick 2-dimensional coordinate type with 75mm stick
 Heading knob by turning joystick lever

Tracker Ball for controlling large TFT screen (if applicable)

 Panel size (HxWxD): 160 x 160 x 65

The JC system operation modes are selected with –and indicated on- the TFT panel top
push buttons or at the mimics shown at the 22” TFT monitor of the JC workstation (if
applicable). Operation mode change is only possible when the Joystick and RATE OF TURN
knob (also called HEADING knob) are in neutral position.

In each Operation Mode the appropriate settings can be displayed and adjusted at the
SETTINGS page at the 8.4” TFT Panel.

At the 8.4” TFT Panel 5 different pages can be selected:

1. MAIN – default page which shows all necessary data and to take control, change
modes
2. ALARMS – shows all active alarms
3. SENSORS – for selecting / de-selecting sensors
4. THRUSTERS – for selecting / de-selecting thrusters
5. SETTINGS – for adjusting parameter settings

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DP CONTROL PANEL 8.4” TFT PAGES

MAIN page
When starting up the system the below picture (MAIN page) will appear at the 8.4” TFT.
For explaination we devide the mimic into the following sections:
 Buttons
 Thruster layout
 Heading
 Position
 Wind and Current
 Sensors
 Rotation
 Joystick
 Extra

Buttons
 JOYSTICK MANUAL - see chapter 5: CONTROL MODES
 JOYSTICK AUTO - see chapter 5: CONTROL MODES
 AUTO POSITION - see chapter 5: CONTROL MODES
 CONTROL - see chapter 4: DP CONTROL TRANSFER
 ROTATION POINT - see chapter 7.11: ROTATION POINT
 MANUAL SURGE - see chapter 7.12: AUTO POSITION MODE SETTINGS

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 MANUAL SWAY - see chapter 7.12: AUTO POSITION MODE SETTINGS

 WIND COMP - see chapter 7.12: AUTO POSITION MODE SETTINGS
 PAGE
 ACCEPT

Button PAGE
With the PAGE button the operator can swap between the 5 selectable pages at the JC
Operator Panel. When pressing the PAGE button the following window will popup:

With the PAGE button the operator can now scroll between the different pages. Each time
the operator presses the PAGE button, the next page will be selected. Note that It is only
possible to scroll downwards:

When pressing the ACCEPT button the TFT will jump to the selected page.

The popup window will dissapear automatically, without jumping to the selected page, after 5
seconds.

Button ACCEPT
With the ACCEPT button the operator can accept several changes:
 Accept page select
 Accept selection or de-selection of sensors (see paragraph 4.3 SENSORS page)
 Accept selection or de-selection of thrusters (see paragraph 4.4 THRUSTERS page)
 Accept HORN

Thruster Layout
The thruster layout section shows for each thruster/rudder the RPM/PITCH, ANGLE,
selected / de-selected and alarm status. The RPM/PITCH is shown through a Bargraph as
well as a percentage.

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Thruster:

: Thruster Selected
: Thruster De-selected
: Thruster in Failure

The two bargraph shown above the vessel and below the vessel display the movement at the
bow and stern of the vessel.

Heading
The heading section displays the actual heading and the heading setpoint. Furthermore this
section shows the ROT value in degrees/minute and through a bargraph.

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Position
This section displays the position, the error from the setpoint and the speed / course of the
vessel.

SOG: Speed over ground (Knots)

COG: Course over ground (0-360 degrees)
SOG X: Speed over ground X-axis of the vessel
SOG Y: Speed over ground Y-axis of the vessel
Position: Latitude / Longitue (degrees – minutes – seconds)
Error X: Distance vessel X-axis to setpoint (m)
Error Y: Distance vessel Y-axis to setpoint (m)

Wind and Current

This section displays the wind speed, direction and the current speed, direction.
Furthermore you can see if the wind compensation function is enabled and if the current
compensation is enabled.

: wind/current compensation enabled

: wind/current compensation disabled

Notice that the current value is calculated by the system and is not measure by a water flow
sensor. This current is the calculated ‘extra’ force to keep the vessel at position. Therefore
the displayed current can differ from the real current state.

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Sensors
This section displays the available sensors and whuch sensors are selected or in failure.

: Sensor Selected
: Sensor De-selected, but available
: Sensor in Failure

Rotation
This section displays which centre of rotation (COR) is selected: AFT, MID or FWD
With the COR at the MID the controller will turn the vessel over this point. With the COR at
AFT the controller will turn the vessel over the AFT side of the vessel and with the COR at
FWD the controller will turn the vessel over the bow side of the vessel.

The default COR is MID. By pressing the ROTATION button the operator can switch
between the 3 rotation points.

The operator can switch between these rotation point in every mode.

Joystick
This section shows the vector of the joystick over the X-axis and the Y-axis as well over the
Z-axis (turning axis)

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At the above example the Joystick vector is about 60% in the X-axis FWD, 35% in the Y-axis
to SB and 20% turning to PS.

Extra
In this section the operator can see what the status of the system is and what mode is
selected.

Status:
 Healthy (no alarms active, communication with controller is running)
 Alarm (alarm active. Operator should check ALARM page for more details)
 Warning (not applicable)

Mode:
 No Control (system is not in control)
 Joystick Manual (Joystick Manual mode active: see chapter 7 for more details about
this mode)
 Joystick Auto (Joystick Auto mode active: see chapter 7 for more details about this
mode)

: TFT is locked by external system (not applicable)

: TFT is unlocked

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ALARM page
When selecting the ALARM page the following mimic will appear:

This page shows all active alarms and non-acknowledged alarms. With the SCROLL buttons
you can scroll to the next alarm, when there are more alarms active than the page can show.

With the STOP HORN button the horn can be silcenced. This can also be done through the
ACCEPT button.

All alarms that are shown at the alarm section can be acknowledged with the ACK button.
When there are more alarms active than can be shown at the alarm section, the operator first
need to scroll down to the active alarms before he can acknowledge them.

After 30 seconds the Operator Panel will switch automatically back to the MAIN page.

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SENSORS page
At this page the operator can select or de-select sensors. Sensors that are in failure or are
not available cannot be selected.
When selecting the SENSORS page the mimic below will be shown.

Now the operator can select the type of sensors he would like to adjust by pressing the
buttons at the left side. When, for example, he presses GYRO SELECT then the following
arrow will appear. Furthermore the button GYRO SELECT will become green.

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With the GYRO SELECT button the operator can now swap between GYRO 1 .. 3. With the
ACCEPT button the operator can now select or de-select the gyro he wants.

: Sensor Selected
: Sensor De-selected, but available
: Sensor in Failure

The same procedure can be followed for every type of sensor.

After 30 seconds the Operator Panel will switch automatically back to the MAIN page.

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THRUSTERS page

At this page the operator can select or de-select thrusters. Thrusters that are in failure or are
not available cannot be selected.
When selecting the THRUSTERS page the mimic below will be shown.

Now the operator can select the thruster he would like to select / de-select by pressing the
buttons at the left side. When, for example, he presses T2 SELECT then the button T2
SELECT will become green.

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With the ACCEPT button the operator can now select or de-select the thruster.

: Thruster Selected
: Thruster De-selected, but available
: Thruster in Failure

After 30 seconds the Operator Panel will switch automatically back to the MAIN page.

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SETTINGS page
At this page the operator can change the heading setpoint, speed settings, gains and the
limits. Furthermore he can change the default color of the TFT and he can dim the light.
When selecting the SETTINGS page the following mimic will appear:

The actual settings are coloured in white and the paramters that can be adjusted are
coloured in yellow. The parameterlist is included in this paragraph.

Now with the 5 buttons at the left the operator can select which kind of setting he would like
to adjust:
 HEADING - for changing the heading setpoint
 SPEED - Rate of Turn, Transfer Speed
 GAIN - Joystick Gain, Position Gain, Heading Gain, Wind Compensation
Gain
 LIMIT - Heading Limit, Position Limit, Auto Pilot Steer Limit

With the DIMMING button the operator can dim the TFT light and with the COLOR button the
operator can change the color of the TFT mimics.

As the procedure for changing a setting is the same for all parameters, one example is given:
Changing the heading limit

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Changing Settings

To change the Heading Limit the operator has to press the button LIMIT at the SETTINGS
page. The LIMIT button will now color green and an arrow will appear at the first line of the
Limits group: HEADING LIMIT. See picture below. When the operator wants to change the
second limit of the group he needs to press the LIMIT button again.

Checking the stepsize:

At the right side of the screen the stepsize appears (in this example the stepsize is 1.0). Now
the operator can change the stepsize by pressing the STEP button. The following stepsizes
can be selected:
 0.1
 1.0
 5.0
 10.0
 20.0
By pressing the STEP button the stepsize will jump to the next stepsize.

Why changing the stepsize? If the operator wants to change a setting from 0.2 to 80 and the
stepsize is 0.1 then the operator needs to press the ADJUST+ button (80-0.2)/0.1 = 798
times. Changing the stepsize to 20 he only needs to press the ADJUST+ button 4 times, then
change the stepsize again to 0.1 and then press the ADJUST- button 2 times.
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Checking the setting:

With the ADJUST+ and the ADJUST- button the operator can now change the parameter
setting. Each time he presses the ADJUST button, the selected parameter will be adjusted
with the stepsize.

The changed parameter needs to be accepted. When the parameter differs from the actual
value, then the ACCEPT button strats flashing. When the operator has set the parameter to
the value he wants, then he needs to press the ACCEPT button to confirm the change.

!!! Important: When the changed value is not confirmed, then the actual value will stay the
same when the operator changes to another mimic at the TFT

After 30 seconds the Operator Panel will switch automatically back to the MAIN page.

Parameter List:
NAME ACTUAL SET DESCRIPTION
*** Note: ACTUAL shows the actual value and the SET shows the new
setpoint
HEADING
HEADING (0~360 degr) 180 90
with the heading parameter the new heading setpoint can be set
SPEED
RATE OF TURN (10~360
60 45
degr/min) Rate of turn setting is the maximum turning speed (degrees/min)

TRANSFER SPEED
2 3 Transfer speed setting is the maximum speed setting in knots for moving
(0.2~5.0 knots) the vessing (not applicable in JOYSTICK MODE, only DP MODE)
GAIN
JOYSTICK GAIN
80 100
(0~100%) Gain for the Joystick (X , Y and Z movement)
POSITION GAIN
80 100 Gain for positioning keeping (not applicable in JOYSTICK MODE, only DP
(0~100%) MODE)

HEADING GAIN
80 100 Gain for heading keeping; when vessel has difficulties to keep heading,
(0~100%) then increase this gain setting

WIND COMPENSATION
80 100 Gain for wind compensation; When system is overcompensating for wind,
GAIN (0~100%) then decrease this gain setting
LIMIT
HEADING LIMIT
3 5
(0.2~100 degr) Alarm limit for the heading

POSITION LIMIT 4 6
Alarm limit for the position (not applicable in JOYSTICK MODE)

AUTOPILOT STEER LIMIT 8 7

Maximum angle for steering; only applicable for AUTO PILOT MODE
DIMMING
DIMMING LEVEL
100 0
(0~96%) Dimming setting for the TFT; 0 = no dimming

Title: DP Operator Guide Page 102 of 102

Date: 17 August 2016
File: PTD_Mega-Guard-DP_operator_guide-Rev3.01.3