0144 Document No.

24006000TM-309
NMS6000 DP O&M Manual
April 2010
Rev A

NMS6000
Dynamic Positioning
System

Operations & Maintenance

Manual

Stemat Spirit
COPYRIGHT AND CHANGES
The software and hardware described in this document are furnished under a license
agreement and may only be used in accordance with the terms of the agreement. The
software and manuals may not be copied or distributed in any form or medium, disclosed to
third parties, or used in any manner except as specified in the agreement.
Any electronic files accompanying this document may not be copied or distributed in any
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agreement. The intent of L-3 DP&CS in providing the manual and accompanying
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for accountability purposes to L-3 DP&CS for recall at any time L-3 DP&CS deems
necessary.

ECN
Revision Description Effective Date
Number
A - Initial Release April 2010

Document No. 24006000TM-309

L-3 Dynamic Positioning & Control Systems

12131 Community Rd, Poway, CA 92064-8893
Tel: 858.679.5500 Fax: 858.679.5501
Web: www.L-3com.com/DPCS/

NMS6000 Operations & Maintenance Manual 24006000TM-309 i

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ii NMS6000 Operations & Maintenance Manual 24006000TM-309

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iv NMS6000 Operations & Maintenance Manual 24006000TM-309

TABLE OF CONTENTS
1. DP SYSTEM OVERVIEW ..................................................................................................... 1-1
1.1 NMS6000 DP SYSTEM BASIC OVERVIEW .......................................................................................... 1-1
1.1.1 Basic Equipment ...................................................................................................................... 1-6
1.2 DYNAMIC POSITIONING OPERATIONS OVERVIEW ................................................................................ 1-7
1.3 GLOSSARY OF ABBREVIATIONS AND ACRONYMS ................................................................................. 1-9
1.4 MANUAL CONVENTIONS ................................................................................................................... 1-10
2. DP SYSTEM STARTUP & SHUTDOWN .............................................................................. 2-1
2.1 NMS6000 DP SYSTEM STARTUP ...................................................................................................... 2-1
2.1.1 Hardware Startup..................................................................................................................... 2-1
2.1.2 Software Startup ...................................................................................................................... 2-2
2.2 NMS6000 DP SYSTEM SHUTDOWN................................................................................................... 2-3
2.2.1 Software Shutdown.................................................................................................................. 2-3
2.2.2 Hardware Shutdown ................................................................................................................ 2-4
3. DP OPERATOR INTERFACE BASICS ................................................................................ 3-1
3.1 OPERATOR W ORKSTATION ................................................................................................................ 3-1
3.2 INDUSTRIAL COMPUTER ..................................................................................................................... 3-2
3.3 PORTABLE JOYSTICK ......................................................................................................................... 3-3
3.3.1 ACCEPT CONTROL................................................................................................................ 3-3
3.3.2 HOLD HEADING ..................................................................................................................... 3-3
3.3.3 WIND COMP ........................................................................................................................... 3-3
3.3.4 ALARM .................................................................................................................................... 3-3
3.4 TRACKBALL AND CURSOR CONTROL SWITCHES .................................................................................. 3-4
3.4.1 Selecting - Left-Clicking ........................................................................................................... 3-5
3.5 THREE-AXIS JOYSTICK W/HEADING CONTROL KNOB ........................................................................... 3-5
3.6 TOUCHSCREEN DISPLAY.................................................................................................................... 3-6
3.6.1 Touchscreen Display Power Switch Panel .............................................................................. 3-7
3.6.1.1 Brightness Control Knob ...................................................................................................................3-7
3.6.1.2 Assignable Hotkeys ..........................................................................................................................3-7
3.6.2 On-Screen Display (OSD) Menu Control Panel ...................................................................... 3-8
3.6.2.1 Hotkey Assignment ...........................................................................................................................3-8
3.6.3 Touchscreen Cleaning ............................................................................................................. 3-9
3.6.3.1 Power Down the Display ...................................................................................................................3-9
3.6.3.2 Cleaning the Touchscreen Display .................................................................................................3-10
3.6.4 Touchscreen Calibration ........................................................................................................ 3-11
3.6.4.1 Single Screen .................................................................................................................................3-11
3.6.4.2 Calibration Procedure .....................................................................................................................3-12
3.6.4.3 Dual Screens (if applicable) ............................................................................................................3-13
3.6.5 Touchscreen Interfacing ........................................................................................................ 3-15
3.6.5.1 Data Entry Fields ............................................................................................................................3-15
3.6.5.2 Option Buttons ................................................................................................................................3-16
3.6.5.3 Command Buttons ..........................................................................................................................3-16
3.6.5.4 State Buttons ..................................................................................................................................3-17
3.6.5.5 Buttons Available/Unavailable for Change ......................................................................................3-17
3.6.6 Image Sticking Effect on LCD Displays ................................................................................. 3-17
3.7 AUDIBLE ALARMS ............................................................................................................................ 3-19
4. OPERATIONAL THEORY .................................................................................................... 4-1
4.1 DP SYSTEM TERMINOLOGY ............................................................................................................... 4-2
4.1.1 Actuator ................................................................................................................................... 4-2
4.1.2 Backup and Manual Independent Backup Joystick Operator Workstations............................ 4-2
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TABLE OF CONTENTS

4.1.3 Bias .......................................................................................................................................... 4-2

4.1.4 Center of Rotation (COR) ......................................................................................................... 4-2
4.1.5 Comparator .............................................................................................................................. 4-2
4.1.6 Controller .................................................................................................................................. 4-3
4.1.7 Cycle (Control) Time ................................................................................................................ 4-3
4.1.8 Differential Global Positioning System (DGPS) ....................................................................... 4-3
4.1.9 Deviation (Control Error) .......................................................................................................... 4-3
4.1.10 Environmental Sensors ............................................................................................................ 4-3
4.1.11 Master Operator Workstation ................................................................................................... 4-3
4.1.12 Moment .................................................................................................................................... 4-3
4.1.13 Origin ........................................................................................................................................ 4-3
4.1.14 Pages/Screens ......................................................................................................................... 4-4
4.1.15 Position Reference Sensors..................................................................................................... 4-4
4.1.16 Setpoints .................................................................................................................................. 4-4
4.1.17 Surge ........................................................................................................................................ 4-4
4.1.18 Sway ......................................................................................................................................... 4-4
4.1.19 Yaw .......................................................................................................................................... 4-4
4.2 SIGNING CONVENTIONS ..................................................................................................................... 4-5
4.2.1 Ship Axes Signing Conventions ............................................................................................... 4-5
4.2.2 Earth Axes Signing Conventions.............................................................................................. 4-5
4.2.3 Pitch, Roll, and Heave Signing Conventions ........................................................................... 4-6
4.2.4 Clockwise/Counterclockwise Signing Conventions.................................................................. 4-6
4.3 DP SYSTEM CONTROL LOOP.............................................................................................................. 4-7
4.3.1 Comparator .............................................................................................................................. 4-7
4.3.2 Proportional, Integral, and Derivative (PID) Controller ............................................................ 4-8
4.3.3 Actuator .................................................................................................................................... 4-9
4.4 POSITION SENSOR PROCESSING CONCEPTS....................................................................................... 4-9
4.4.1 Sensor Noise ............................................................................................................................ 4-9
4.4.2 Noise Rejection Logic .............................................................................................................. 4-9
4.4.3 Sensor Jumping ..................................................................................................................... 4-10
4.4.4 Median Testing ....................................................................................................................... 4-10
4.4.5 Origin Reference Sensor ........................................................................................................ 4-11
4.4.6 Sensor Weighting ................................................................................................................... 4-12
4.4.7 Sensor Drift ............................................................................................................................ 4-12
4.5 POSITION ESTIMATING ..................................................................................................................... 4-12
4.5.1 Position Sensor Blending ....................................................................................................... 4-12
4.5.2 Low-Pass Wave Filter ............................................................................................................ 4-13
4.5.3 Notch Filter ............................................................................................................................. 4-13
4.5.4 Kalman Filter .......................................................................................................................... 4-13
4.5.4.1 Measurement Update .................................................................................................................... 4-13
4.5.4.2 Model Propagation ......................................................................................................................... 4-14
4.6 ENVIRONMENTAL SENSORS.............................................................................................................. 4-14
4.7 STATION KEEPING CONTROL LAW .................................................................................................... 4-15
4.8 SETPOINT SELECT ........................................................................................................................... 4-16
4.9 DEAD RECKONING ........................................................................................................................... 4-16
4.10 MANEUVER PROCESS OVERVIEW ..................................................................................................... 4-17
4.11 PRIMARY CONTROL MODES & FUNCTIONS ........................................................................................ 4-18
4.11.1 Hold Heading.......................................................................................................................... 4-18
4.11.2 Hold Position .......................................................................................................................... 4-18
4.11.2.1 Hold Flexjoint ................................................................................................................................. 4-18
4.11.3 ROV Follow ............................................................................................................................ 4-18
4.11.4 Track Follow ........................................................................................................................... 4-19
4.11.4.1 Low Speed Track Follow (LSTF).................................................................................................... 4-19
4.11.4.2 High Speed Track Follow (HSTF or AutoTrack) ............................................................................. 4-19
4.11.5 Manual Control (JSTK) ........................................................................................................... 4-19
4.11.6 Hold Area Mode (HAM) .......................................................................................................... 4-19
4.11.7 Remote Center of Rotation (COR) ......................................................................................... 4-19
4.11.8 Active Wind Compensation (AWC) ........................................................................................ 4-20
4.11.9 Auto Heading for Minimum Thrust (AHMT) ............................................................................ 4-20

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5. MASTER/BACKUP OPERATOR CONTROL ....................................................................... 5-1

5.1 MASTER/BACKUP MODES DEFINED .................................................................................................... 5-1
5.2 MASTER/BACKUP MODE STATUS ....................................................................................................... 5-2
5.2.1 DPS–0 Master/Backup Mode Status ....................................................................................... 5-2
5.2.2 DPS–1 Master/Backup Mode Status ....................................................................................... 5-2
5.2.3 DPS–2/3 Master/Backup Mode Status .................................................................................... 5-3
5.3 TAKING & TRANSFERRING CONTROL OF THE DP SYSTEM ................................................................... 5-7
5.3.1 Taking & Transferring Control of Master & Backup Stations ................................................... 5-7
5.3.2 Taking & Transferring Control of Remote & Portable Joysticks .............................................. 5-7
5.3.2.1 Transfer from Operator Workstation to Portable Joystick .................................................................5-8
5.3.2.2 Transfer from Portable Joystick to Operator Workstation .................................................................5-8
5.3.2.3 Take Control Away from a Portable Joystick ....................................................................................5-8
5.4 DPS–1/2/3 OPERATOR W ORKSTATION SYNCHRONIZATION ................................................................ 5-9
5.5 INITIALIZING BACKUP OPERATOR W ORKSTATIONS FOR DPS–2/3 ........................................................ 5-9
6. DETAILED OPERATOR INTERFACE .................................................................................. 6-1
6.1 TITLE BAR ........................................................................................................................................ 6-2
6.2 NAVIGATION BAR .............................................................................................................................. 6-3
6.3 DETAILED DISPLAY PAGES & DROP-DOWN MENUS ............................................................................. 6-4
6.3.1 Detailed Display Pages – Selection......................................................................................... 6-4
6.3.2 Detailed Display Pages – Backup Workstation ....................................................................... 6-5
6.4 OVERVIEW PAGE............................................................................................................................... 6-6
6.4.1 Compass .................................................................................................................................. 6-7
6.4.2 Deviation Display Page ........................................................................................................... 6-8
6.4.2.1 Additional Deviation Display Symbols...............................................................................................6-9
6.4.3 Alarm and Status Windows ................................................................................................... 6-10
6.4.3.1 Alarm Summary Window ................................................................................................................6-10
6.4.3.2 Last Alarm Window .........................................................................................................................6-10
6.4.3.3 Status Message Window ................................................................................................................6-10
6.4.3.3.1 Error ...........................................................................................................................................6-10
6.4.3.3.2 Operator Prompt ........................................................................................................................6-10
6.4.3.3.3 System Status ............................................................................................................................6-10
6.4.3.3.4 Help............................................................................................................................................6-10
6.4.4 Vessel Position (Tabular) ...................................................................................................... 6-11
6.5 REQUESTED & TOTAL FORCES % .................................................................................................... 6-12
6.5.1 Requested Forces % ............................................................................................................. 6-12
6.5.2 Total Forces %....................................................................................................................... 6-12
7. DROP-DOWN MENUS & DETAILED DISPLAY PAGES ...................................................... 7-1
7.1 SETUP DROP-DOWN MENU ............................................................................................................... 7-2
7.2 SETUP PAGE 1 .................................................................................................................................. 7-3
7.2.1 Deviation Display ..................................................................................................................... 7-4
7.2.1.1 Frame ...............................................................................................................................................7-4
7.2.1.1.1 Earth Frame .................................................................................................................................7-4
7.2.1.1.2 Ship Frame ..................................................................................................................................7-4
7.2.1.2 Center ...............................................................................................................................................7-5
7.2.1.3 Minimum Scale .................................................................................................................................7-5
7.2.2 Display ..................................................................................................................................... 7-6
7.2.2.1 Metric or Imperial ..............................................................................................................................7-6
7.2.2.2 Metric or Imperial, Percentage of Water Depth .................................................................................7-6
7.2.3 Vessel ...................................................................................................................................... 7-7
7.2.3.1 Draft ..................................................................................................................................................7-7
7.2.3.2 HAM Radius......................................................................................................................................7-7
7.2.3.3 Water Depth......................................................................................................................................7-7
7.2.4 Transit Mode ............................................................................................................................ 7-8
7.2.4.1 Rudder Gain .....................................................................................................................................7-8
7.2.4.2 Counter Rudder Gain ........................................................................................................................7-8
7.2.4.3 Heading Error Threshold...................................................................................................................7-8
7.2.4.4 Deadband .........................................................................................................................................7-8
7.2.4.5 Max Rudder Angle ............................................................................................................................7-8
7.2.4.6 Heading Change Increment ..............................................................................................................7-8
7.2.4.7 Rudder Jog Increment ......................................................................................................................7-9

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7.2.5 DP Gains .................................................................................................................................. 7-9

7.2.5.1 DP Gains Compute ........................................................................................................................ 7-10
7.2.5.2 Set/Modify DP Gains...................................................................................................................... 7-10
7.3 SETUP PAGE 2 ................................................................................................................................ 7-10
7.3.1 GPS Reference Position ........................................................................................................ 7-11
7.3.1.1 Manually Entering a GPS Reference Position................................................................................ 7-11
7.3.2 Remote Center of Rotation (COR) ......................................................................................... 7-12
7.3.2.1 COR Offsets F/A & P/S .................................................................................................................. 7-12
7.3.2.2 Active ............................................................................................................................................. 7-12
7.3.2.2.1 Vessel ....................................................................................................................................... 7-12
7.3.2.2.2 Remote ..................................................................................................................................... 7-12
7.3.3 Power ..................................................................................................................................... 7-12
7.3.3.1 Lower Limit Margin......................................................................................................................... 7-13
7.3.3.2 Reserved kW ................................................................................................................................. 7-13
7.3.3.3 Generator Alarm Level ................................................................................................................... 7-13
7.4 SETUP PAGE 3 ................................................................................................................................ 7-14
7.4.1 Threshold ............................................................................................................................... 7-15
7.4.1.1 Heading Error................................................................................................................................. 7-15
7.4.1.2 Position Error ................................................................................................................................. 7-15
7.4.1.3 Median Alarm ................................................................................................................................. 7-15
7.4.2 Alert Radius ............................................................................................................................ 7-15
7.4.3 Consequence Analysis ........................................................................................................... 7-16
7.4.4 Compare................................................................................................................................. 7-16
7.4.4.1 Thrust............................................................................................................................................. 7-16
7.4.4.2 Rudder/Azimuth ............................................................................................................................. 7-16
7.4.4.3 Thrust Level ................................................................................................................................... 7-16
7.4.4.4 Wind Direction................................................................................................................................ 7-16
7.4.4.5 Wind Speed ................................................................................................................................... 7-16
7.4.5 Hold Relative .......................................................................................................................... 7-17
7.5 SETUP PAGE 4 ................................................................................................................................ 7-17
7.5.1 NMS/ROV Beacon Mapping .................................................................................................. 7-18
7.5.2 ROV Follow Configuration ...................................................................................................... 7-18
7.5.2.1 ROV Deadzone Radius.................................................................................................................. 7-19
7.5.2.2 ROV Offsets ................................................................................................................................... 7-19
7.5.2.3 Follow Offset Type ......................................................................................................................... 7-19
7.5.2.4 ROV Filter Gain.............................................................................................................................. 7-19
7.6 MODE FUNCTION PAGE .................................................................................................................... 7-20
7.6.1 Mode Select ........................................................................................................................... 7-21
7.6.1.1 Hold Heading ................................................................................................................................. 7-21
7.6.1.2 Auto Heading for Minimum Thrust (AHMT) .................................................................................... 7-21
7.6.1.3 Transit Mode .................................................................................................................................. 7-22
7.6.1.4 Pilot Mode ...................................................................................................................................... 7-22
7.6.1.5 Hold Position/Surge/Sway ............................................................................................................. 7-22
7.6.1.6 Hold Area Mode (HAM) .................................................................................................................. 7-22
7.6.1.7 Wind Compensation....................................................................................................................... 7-23
7.6.1.8 Joystick Desens (Desensitizing) .................................................................................................... 7-23
7.6.1.9 Track Follow................................................................................................................................... 7-24
7.6.1.10 ROV Follow .................................................................................................................................... 7-24
7.6.1.11 Vessel COR (Center of Rotation) ................................................................................................... 7-24
7.6.1.12 Power Limit Sustain ....................................................................................................................... 7-24
7.6.1.13 Portable Joystick ............................................................................................................................ 7-24
7.6.1.14 Hold Relative.................................................................................................................................. 7-24
7.6.1.15 Night Mode .................................................................................................................................... 7-24
7.6.2 Function Select....................................................................................................................... 7-25
7.6.2.1 Setpoint Maneuvers ....................................................................................................................... 7-25
7.6.2.1.1 Halting the Vessel ..................................................................................................................... 7-25
7.6.2.1.2 Heading Setpoint....................................................................................................................... 7-26
7.6.2.1.3 Position Setpoint ....................................................................................................................... 7-29
7.6.2.1.4 Moving the Vessel to a Precise Location .................................................................................. 7-34
7.6.2.1.5 Proposed Setpoint Outline ........................................................................................................ 7-35
7.6.2.2 Clear Joystick Bias......................................................................................................................... 7-35
7.6.2.3 Alarm Page Inhibit.......................................................................................................................... 7-36
7.7 SENSOR DROP-DOWN MENU ........................................................................................................... 7-37

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7.8 SENSOR PAGES 1 & 2 ..................................................................................................................... 7-38

7.8.1 Gyrocompasses ..................................................................................................................... 7-39
7.8.1.1 Gyro Processing .............................................................................................................................7-39
7.8.1.2 Heading – True & Reciprocal ..........................................................................................................7-40
7.8.1.2.1 New Data ...................................................................................................................................7-40
7.8.1.2.2 Blended ......................................................................................................................................7-40
7.8.2 Wind Sensors ........................................................................................................................ 7-40
7.8.2.1 Wind Sensor - Online Placement ....................................................................................................7-40
7.8.3 Vertical Reference Sensors ................................................................................................... 7-41
7.8.3.1 Vertical Reference Sensor Processing ...........................................................................................7-41
7.8.3.2 Controlling Vertical Reference Sensors ..........................................................................................7-41
7.8.3.3 Vertical Reference Data ..................................................................................................................7-41
7.8.4 Current ................................................................................................................................... 7-42
7.8.4.1 Calculated .......................................................................................................................................7-43
7.8.4.2 Estimated ........................................................................................................................................7-43
7.8.4.3 Current Source ...............................................................................................................................7-43
7.8.5 GPS/DGPS ............................................................................................................................ 7-43
7.9 POSITION REFERENCE PAGES 1 & 2 ................................................................................................ 7-44
7.9.1 Position Reference Sensor Data Use .................................................................................... 7-45
7.9.2 Position Reference Page Use ............................................................................................... 7-45
7.9.2.1 Sensor Select Buttons ....................................................................................................................7-45
7.9.3 Position Reference Page 1 .................................................................................................... 7-45
7.9.3.1 Measured Column ..........................................................................................................................7-45
7.9.3.2 Corrected Column...........................................................................................................................7-45
7.9.3.3 Noise ..............................................................................................................................................7-45
7.9.3.4 New Data ........................................................................................................................................7-45
7.9.3.5 Blended...........................................................................................................................................7-45
7.9.3.6 Reference Calibration .....................................................................................................................7-46
7.9.3.7 Sensor Select .................................................................................................................................7-46
7.9.3.8 North/East Offset ............................................................................................................................7-46
7.9.4 Position Reference Page 2 .................................................................................................... 7-46
7.9.4.1 Calibration Bias...............................................................................................................................7-46
7.9.4.2 Calibration Drift ...............................................................................................................................7-46
7.9.4.3 % Weight ........................................................................................................................................7-46
7.9.5 Selecting the Origin Reference Sensor ................................................................................. 7-47
7.9.5.1 Relocating the Origin Reference Sensor’s Origin ...........................................................................7-48
7.9.6 Charting Position Reference Sensor Data ............................................................................ 7-48
7.9.7 Position Reference Sensor Symbols ..................................................................................... 7-49
7.9.7.1 Sensor Symbol Colors ....................................................................................................................7-49
7.10 THRUST/PROPULSION DROP-DOWN MENU ....................................................................................... 7-50
7.11 THRUSTER PAGE 1.......................................................................................................................... 7-51
7.11.1 Text Box – Thruster and Rudder ........................................................................................... 7-52
7.11.2 Azimuthing Thruster Icon ....................................................................................................... 7-53
7.11.3 Tunnel Thruster Icons ............................................................................................................ 7-54
7.11.4 Rudder Icons ......................................................................................................................... 7-54
7.11.5 Thruster Modes ...................................................................................................................... 7-55
7.11.5.1 Manual ............................................................................................................................................7-55
7.11.5.2 Auto ................................................................................................................................................7-56
7.11.5.3 Off ...................................................................................................................................................7-56
7.11.5.4 Mode Select Buttons .......................................................................................................................7-56
7.11.6 Thrust Allocation Logic (TAL) ................................................................................................ 7-56
7.11.7 Thruster Biasing or Power Biasing ........................................................................................ 7-58
7.11.7.1 Thruster Biasing Modes ..................................................................................................................7-59
7.11.8 Thruster Bias Percentage (%) ............................................................................................... 7-59
7.11.9 Control Gains ......................................................................................................................... 7-59
7.12 THRUSTER PAGE 2.......................................................................................................................... 7-60
7.12.1 Status ..................................................................................................................................... 7-61
7.12.2 Mode ...................................................................................................................................... 7-61
7.12.3 Manual Command % ............................................................................................................. 7-61
7.12.4 Manual Azimuth º ................................................................................................................... 7-61
7.12.5 Command % .......................................................................................................................... 7-61
7.12.6 Feedback % ........................................................................................................................... 7-61

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7.12.7 RPM Command % ................................................................................................................. 7-61

7.12.8 RPM Feedback % .................................................................................................................. 7-61
7.12.9 RPM Feedback....................................................................................................................... 7-61
7.12.10 Pitch Command % ................................................................................................................. 7-62
7.12.11 Pitch Feedback % .................................................................................................................. 7-62
7.12.12 Azimuth Command º .............................................................................................................. 7-62
7.12.13 Azimuth Feedback º ............................................................................................................... 7-62
7.12.14 Rudder Command º................................................................................................................ 7-62
7.12.15 Rudder Feedback º ................................................................................................................ 7-62
7.12.16 Thruster Alarm........................................................................................................................ 7-62
7.12.17 Rudder Alarm ......................................................................................................................... 7-62
7.12.18 Azimuth Alarm ........................................................................................................................ 7-62
7.13 POWER PAGE 1 ............................................................................................................................... 7-63
7.13.1 Generator Readings and Icons .............................................................................................. 7-64
7.13.2 Closed Circuit Breaker Icons.................................................................................................. 7-64
7.13.3 Open Circuit Breaker Icon ...................................................................................................... 7-64
7.13.4 Bus Lines ................................................................................................................................ 7-64
7.13.5 Thruster Icons ........................................................................................................................ 7-64
7.14 POWER PAGE 2: KW LOADING.......................................................................................................... 7-65
7.14.1 Bus ......................................................................................................................................... 7-65
7.14.2 Online Rated Capacity ........................................................................................................... 7-65
7.14.3 Total Load Feedback ............................................................................................................. 7-65
7.14.4 Power Limiting ........................................................................................................................ 7-65
7.14.4.1 Upper Power Limit (UPL) ............................................................................................................... 7-66
7.14.4.2 Lower Power Limit (LPL)................................................................................................................ 7-66
7.14.4.3 Operating Power Limit (OPL) ......................................................................................................... 7-67
7.14.4.4 Power Limit Sustain ....................................................................................................................... 7-67
7.14.5 Propulsion Command ............................................................................................................. 7-67
7.14.6 Hotel Load .............................................................................................................................. 7-67
7.14.7 DP Power Cutback ................................................................................................................. 7-67
7.15 POWER PAGE 3 ............................................................................................................................... 7-69
7.16 PLOT IO DROP-DOWN MENU ........................................................................................................... 7-70
7.17 PLOT PAGE ..................................................................................................................................... 7-70
7.17.1 Plot Page: Parameter Plots .................................................................................................... 7-71
7.17.1.1 Freeze Display ............................................................................................................................... 7-73
7.18 SIGNAL INPUT/OUTPUT PAGES ......................................................................................................... 7-73
7.18.1 Signal I/O Page 1 – Analog Communications ........................................................................ 7-74
7.18.2 Signal I/O Page 2 – Digital Communications ......................................................................... 7-75
7.18.3 Signal I/O Page 3 – Serial Communications .......................................................................... 7-76
7.19 CHART TRACK DROP-DOWN MENU .................................................................................................. 7-77
7.20 HOLDING CAPABILITY PLOT .............................................................................................................. 7-78
7.20.1 Mode ...................................................................................................................................... 7-80
7.20.2 Thrusters/Rudders ................................................................................................................. 7-80
7.20.3 Current & Wind ....................................................................................................................... 7-80
7.21 CHART PAGE ................................................................................................................................... 7-81
7.21.1 Pan and Zoom Control Buttons .............................................................................................. 7-82
7.21.2 Configuration Buttons ............................................................................................................. 7-82
7.21.2.1 Ship Focus ..................................................................................................................................... 7-82
7.21.2.2 Follow Ship .................................................................................................................................... 7-82
7.21.2.3 No Grid .......................................................................................................................................... 7-82
7.21.2.4 Lat/Lon ........................................................................................................................................... 7-82
7.21.2.5 North/East ...................................................................................................................................... 7-82
7.21.2.6 Sens Disp ...................................................................................................................................... 7-82
7.21.2.7 Vessel Trail .................................................................................................................................... 7-83
7.21.2.8 Clear Trail ...................................................................................................................................... 7-83
7.21.2.9 Track Disp ...................................................................................................................................... 7-83
7.21.3 Chart Page Symbols .............................................................................................................. 7-84
7.21.3.1 Force/Motion Vectors ..................................................................................................................... 7-84
7.21.3.2 Red and Yellow Alert Circles.......................................................................................................... 7-84
7.21.3.3 Position Reference Sensor Symbols.............................................................................................. 7-84
7.22 TRACK OPERATION PAGE................................................................................................................. 7-85
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7.22.1 Track Control Summary ......................................................................................................... 7-86

7.22.1.1 LSTF/HSTF.....................................................................................................................................7-86
7.22.1.2 Leg ..................................................................................................................................................7-86
7.22.1.3 Goal stpt (LSTF) .............................................................................................................................7-87
7.22.1.4 Vessel (LSTF) .................................................................................................................................7-87
7.22.1.5 Deviation (LSTF).............................................................................................................................7-87
7.22.1.6 Bearing To (HSTF) .........................................................................................................................7-87
7.22.1.7 Distance To (HSTF) ........................................................................................................................7-87
7.22.1.8 Time To (HSTF) ..............................................................................................................................7-87
7.22.2 Track Offsets ......................................................................................................................... 7-88
7.22.2.1 Heading ..........................................................................................................................................7-88
7.22.2.2 North/East .......................................................................................................................................7-88
7.22.2.3 Cross ..............................................................................................................................................7-88
7.22.3 Track Settings ........................................................................................................................ 7-89
7.22.3.1 Mode/Direction................................................................................................................................7-89
7.22.3.1.1 Mode .........................................................................................................................................7-89
7.22.3.1.2 Direction....................................................................................................................................7-89
7.22.3.2 Heading Mode ................................................................................................................................7-89
7.22.3.3 Speed Mode ...................................................................................................................................7-90
7.22.3.4 User Speed .....................................................................................................................................7-90
7.23 W AYPOINT PAGE............................................................................................................................. 7-91
7.23.1 Display Window ..................................................................................................................... 7-92
7.23.2 Lat/Lon ................................................................................................................................... 7-92
7.23.3 N/E ......................................................................................................................................... 7-92
7.23.4 Setup ..................................................................................................................................... 7-92
7.23.4.1 Cross Track Threshold ...................................................................................................................7-92
7.23.5 Route ..................................................................................................................................... 7-93
7.23.5.1 New ................................................................................................................................................7-93
7.23.5.2 Select ..............................................................................................................................................7-94
7.23.5.3 Save ...............................................................................................................................................7-94
7.23.6 Waypoint ................................................................................................................................ 7-95
7.23.6.1 Insert...............................................................................................................................................7-95
7.23.6.2 Add .................................................................................................................................................7-95
7.23.6.3 Delete .............................................................................................................................................7-95
7.23.6.4 Up ...................................................................................................................................................7-95
7.23.6.5 Down ..............................................................................................................................................7-95
7.23.6.6 Edit .................................................................................................................................................7-96
7.23.7 Waypoint Edit Pop-up ............................................................................................................ 7-96
7.23.7.1 Identifier ..........................................................................................................................................7-96
7.23.7.2 Position ...........................................................................................................................................7-96
7.23.7.3 Properties .......................................................................................................................................7-97
7.23.7.3.1 Turning Radius .........................................................................................................................7-97
7.23.7.3.2 Heading ....................................................................................................................................7-97
7.23.7.3.3 Speed .......................................................................................................................................7-97
7.24 MODE FUNCTION DROP-DOWN MENU .............................................................................................. 7-98
7.25 HEADING DROP-DOWN MENU .......................................................................................................... 7-99
7.26 POSITION DROP-DOWN MENU ....................................................................................................... 7-100
7.27 INITIALIZE BACKUP BUTTON ........................................................................................................... 7-101
7.28 ALARM SILENCE BUTTON ............................................................................................................... 7-101
8. OPERATIONAL & AUTOMATIC MODES............................................................................. 8-1
8.1 MANUAL JOYSTICK (JSTK) ................................................................................................................ 8-1
8.1.1 Basic Operational Modes Utilizing the Joystick ....................................................................... 8-2
8.2 HOLD HEADING ................................................................................................................................. 8-4
8.3 HOLD POSITION ................................................................................................................................ 8-5
8.3.1 Hold Position - Activation ......................................................................................................... 8-6
8.3.2 Hold Surge/Sway ..................................................................................................................... 8-6
8.4 ROV FOLLOW ................................................................................................................................... 8-7
8.4.1 ROV Follow - Set Up ............................................................................................................... 8-7
8.4.2 ROV Follow - Fixed Position Sensor Online ............................................................................ 8-8
8.4.3 ROV Follow Mode - NO Fixed Position Sensor Online ........................................................... 8-8
8.5 TRACK FOLLOW ................................................................................................................................ 8-9
8.5.1 Speed Control for Track Follow ............................................................................................... 8-9
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8.5.2 Heading Control for Track Follow........................................................................................... 8-10

8.5.3 Starting Track Follow ............................................................................................................. 8-10
8.5.3.1 Low Speed Track Follow (LSTF).................................................................................................... 8-10
8.5.3.2 High Speed Track Follow (HSTF or AutoTrack) ............................................................................. 8-11
8.5.4 Stopping Track Follow ............................................................................................................ 8-11
8.5.5 Track Display Selection and Monitoring ................................................................................. 8-11
8.5.6 Track and Waypoint Description ............................................................................................ 8-12
8.5.7 Passing Waypoints ................................................................................................................. 8-12
8.5.8 Stopping (LSTF Mode) ........................................................................................................... 8-13
8.5.9 Track Definition File Format ................................................................................................... 8-13
8.5.9.1 Absolute Tracks ............................................................................................................................. 8-14
8.5.9.2 Relative Tracks .............................................................................................................................. 8-14
8.6 ACTIVE W IND COMPENSATION (AWC) .............................................................................................. 8-15
8.6.1 Active Wind Compensation Processing ................................................................................. 8-15
8.7 HOLD AREA MODE (HAM) ............................................................................................................... 8-16
8.8 AUTO HEADING FOR MINIMUM THRUST (AHMT)................................................................................ 8-16
8.9 REMOTE CENTER OF ROTATION (COR) ............................................................................................ 8-16
8.10 SIMULATION MODE .......................................................................................................................... 8-17
8.10.1 Simulation Control .................................................................................................................. 8-17
8.10.1.1 Wind Speed ................................................................................................................................... 8-17
8.10.1.2 Wind Speed Variance .................................................................................................................... 8-18
8.10.1.3 Wind Direction................................................................................................................................ 8-18
8.10.1.4 Wind Direction Variance ................................................................................................................ 8-18
8.10.1.5 Current Velocity ............................................................................................................................. 8-18
8.10.1.6 Current Direction ............................................................................................................................ 8-18
8.10.1.7 Position Noise ................................................................................................................................ 8-18
8.10.1.8 Simulation Rate.............................................................................................................................. 8-18
8.10.1.9 Initial Condition .............................................................................................................................. 8-18
8.10.1.9.1 Normal ..................................................................................................................................... 8-18
8.10.1.9.2 Initial ........................................................................................................................................ 8-19
8.10.1.10 Mode ......................................................................................................................................... 8-19
8.10.1.10.1 Mode – Real........................................................................................................................... 8-19
8.10.1.10.2 Mode – Simulation ................................................................................................................. 8-19
8.11 TRANSIT MODE................................................................................................................................ 8-19
8.11.1 ROT ........................................................................................................................................ 8-21
8.11.2 Thrust Level & Azimuth Angle Text Boxes ............................................................................. 8-21
8.11.3 Heading Setpoint & Jog ......................................................................................................... 8-21
8.11.4 ROT (Rate of Turning) Setpoint ............................................................................................. 8-21
8.11.5 Speed and Heading Data ....................................................................................................... 8-21
8.11.6 Corrected Position .................................................................................................................. 8-21
8.11.7 Wind ....................................................................................................................................... 8-21
8.11.8 Course Jog Arrows ................................................................................................................. 8-21
8.11.9 Speed Setpoint & Hold Speed ............................................................................................... 8-22
8.12 PILOT MODE.................................................................................................................................... 8-22
8.13 HOLD RELATIVE............................................................................................................................... 8-22
9. DP SYSTEM OPERATIONAL HINTS ....................................................................................9-1
9.1 GPS DRIFT ....................................................................................................................................... 9-1
9.2 DP CONTROL GAINS.......................................................................................................................... 9-1
9.3 INTEGRAL W INDUP............................................................................................................................. 9-2
9.4 INTEGRAL PRE-LOADING .................................................................................................................... 9-2
9.5 INTEGRAL TRANSFERS ....................................................................................................................... 9-3
9.6 HALTING THE VESSEL ........................................................................................................................ 9-3
9.7 MOVING THE VESSEL TO A PRECISE LOCATION ................................................................................... 9-3
10. VESSEL SPECIFIC MENUS & DISPLAY PAGES...............................................................10-1
10.1 OVERVIEW PAGE ............................................................................................................................. 10-2
10.2 SETUP DROP-DOWN MENU .............................................................................................................. 10-3
10.2.1 Setup Page 1.......................................................................................................................... 10-4
10.2.2 Setup Page 2.......................................................................................................................... 10-5
10.2.3 Setup Page 3.......................................................................................................................... 10-6
10.2.4 Mode Function........................................................................................................................ 10-7
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10.2.5 Simulation Page..................................................................................................................... 10-8

10.3 SENSOR DROP-DOWN MENU ........................................................................................................... 10-9
10.3.1 Sensor Page 1 ..................................................................................................................... 10-10
10.3.3 Sensor Page 2 ..................................................................................................................... 10-11
10.3.4 Position Reference Page 1 .................................................................................................. 10-12
10.3.5 Position Reference Page 2 .................................................................................................. 10-13
10.4 THRUSTER DROP-DOWN MENU ..................................................................................................... 10-14
10.4.1 Thruster Page 1 ................................................................................................................... 10-15
10.4.2 Thruster Page 2 ................................................................................................................... 10-16
10.5 PLOT DROP-DOWN MENU ............................................................................................................. 10-17
10.6 CHART DROP-DOWN MENU ........................................................................................................... 10-18
10.6.1 Holding Plot ......................................................................................................................... 10-19
10.6.2 Chart .................................................................................................................................... 10-20
10.6.3 Track Operation ................................................................................................................... 10-21
10.6.4 Waypoint .............................................................................................................................. 10-22
10.7 MODE FUNCTION DROP-DOWN MENU ............................................................................................ 10-23
10.8 HEADING & POSITION DROP-DOWN MENUS ................................................................................... 10-23
10.8.1 Transit Page ........................................................................................................................ 10-24
10.8.2 Pilot Page ............................................................................................................................ 10-25
11. MAINTENANCE, TEST PROCEDURES & SPECS ............................................................ 11-1
11.1 ELECTROSTATIC DISCHARGE (ESD) PRECAUTIONS .......................................................................... 11-1
11.1.1 ESD-Sensitive Devices .......................................................................................................... 11-1
11.1.2 Protective Procedures ........................................................................................................... 11-1
11.1.3 ESD Guidelines for Replacing Circuit Card Assemblies ....................................................... 11-2
11.2 TOOLS AND TEST EQUIPMENT.......................................................................................................... 11-3
11.3 MONTHLY MECHANICAL INSPECTION ................................................................................................ 11-4
11.4 MONTHLY OPERATOR W ORKSTATION AIR FILTER SERVICE ............................................................... 11-4
11.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE ................................................................ 11-5
11.6 POWER SUPPLY VOLTAGE CHECK ................................................................................................... 11-5
11.6.1 Signal Processor Unit Test Points & Values ......................................................................... 11-5
11.6.1.1 Signal Processor Unit (SPU) 1........................................................................................................11-6
11.6.1.2 Signal Processor Unit (SPU) 2........................................................................................................11-7
11.6.1.3 Signal Processor Unit (SPU) 3........................................................................................................11-8
11.6.1.4 Signal Processor Unit (SPU) 4........................................................................................................11-9
11.6.1.5 Signal Processor Unit (SPU) 5......................................................................................................11-10
11.6.1.1 Signal Processor Unit (SPU) 6......................................................................................................11-11
11.6.1.2 Periodic Maintenance ...................................................................................................................11-12
11.7 SIGNAL MAINTENANCE AND TROUBLESHOOTING ............................................................................. 11-13
11.7.1 Point I/O RS232 ASCII ........................................................................................................ 11-13
11.7.2 RS422/RS485 ...................................................................................................................... 11-13
11.7.3 Programmable Logic Controller (PLC) ................................................................................ 11-14
11.7.4 System Reset and Corrective Action ................................................................................... 11-14
11.7.5 Flex I/O Modules .................................................................................................................. 11-14
11.7.6 Analog and Digital I/O .......................................................................................................... 11-15
11.7.7 Central Processing Unit (CPU) Circuit Card Configuration ................................................. 11-15
11.7.8 Joystick Calibration .............................................................................................................. 11-16
11.7.8.1 Console & Portable Joystick Calibration .......................................................................................11-16
11.7.8.2 Console Joystick Fine Tuning Calibration .....................................................................................11-17
11.8 MODULE AND COMPONENT REPLACEMENT ..................................................................................... 11-18
11.8.1 CMOS Battery Replacement - (2 Years) ............................................................................. 11-18
11.8.2 SPU Modules and Components .......................................................................................... 11-19
11.8.2.1 Intelligent Communication Modules ..............................................................................................11-19
11.8.2.2 Flex I/O Modules...........................................................................................................................11-19
11.8.2.3 Flex I/O Terminal Bases ...............................................................................................................11-20
11.8.2.4 Remote I/O Adapter ......................................................................................................................11-20
11.8.2.5 Optical Communications Modem (OCM) ......................................................................................11-20
11.8.2.6 EtherNet Switch ............................................................................................................................11-20
11.8.2.7 NMS6000 Uninterruptible Power Supply (UPS) ............................................................................11-21
11.8.2.8 SPU Uninterruptible Power Supply (UPS) ....................................................................................11-21
11.8.2.9 UPS Battery ..................................................................................................................................11-21

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TABLE OF CONTENTS
11.8.2.10 SPU Power Supply.................................................................................................................. 11-21
11.8.2.11 SPU Exhaust Fan.................................................................................................................... 11-21
11.8.3 Sensors ................................................................................................................................ 11-22
11.8.3.1 Motion Reference Unit (MRU) ...................................................................................................... 11-22
11.8.3.2 Global Positioning System (GPS) ................................................................................................ 11-22
11.8.3.3 Vertical Reference Unit (VRU) ..................................................................................................... 11-22
11.9 W ARNING FROM THE USCG FOR GPS USERS ................................................................................ 11-23
11.10 CUSTOMER SUPPORT ................................................................................................................ 11-24
11.11 SERVICE & PARTS ..................................................................................................................... 11-25
11.11.1 Recommended Spare or Replacement Parts ...................................................................... 11-25
11.11.2 Service Locations ................................................................................................................. 11-25
11.11.3 Field Service Order Information ........................................................................................... 11-26
11.11.4 Ordering New Parts .............................................................................................................. 11-26
11.11.5 Returning Items .................................................................................................................... 11-26
12. DP SYSTEM ALARMS & TROUBLESHOOTING ................................................................12-1
12.1 ALARM CONDITIONS......................................................................................................................... 12-1
12.2 ALARM NOTIFICATION ...................................................................................................................... 12-2
12.3 ALARM PAGE ................................................................................................................................... 12-2
12.3.1 Inhibiting the Alarm Page ....................................................................................................... 12-4
12.4 COLOR-CODING OF ALARMS ............................................................................................................ 12-5
12.4.1 Flashing Red – Unacknowledged Alarms .............................................................................. 12-5
12.4.2 Solid Red – Acknowledged Alarms ........................................................................................ 12-5
12.4.3 Flashing Yellow – Expired Alarms.......................................................................................... 12-5
12.4.4 Green – Consequence Analysis Alarms ................................................................................ 12-5
12.5 SILENCING ALARMS ......................................................................................................................... 12-5
12.6 ACKNOWLEDGING ALARMS ............................................................................................................... 12-6
12.7 SORTING ALARMS ............................................................................................................................ 12-6
12.8 DISABLING ALARMS ......................................................................................................................... 12-7
12.8.1 Disabling an Alarm listed on the Alarm Page......................................................................... 12-8
12.8.2 Disabling Any Alarm ............................................................................................................... 12-8
12.9 CONSEQUENCE ANALYSIS ROUTINE ................................................................................................. 12-9
12.9.1 Specific Consequence Analysis Routines ............................................................................ 12-10
12.9.1.1 Single Generator Loss ................................................................................................................. 12-10
12.9.1.2 Single Bus Loss ........................................................................................................................... 12-11
12.9.1.3 Single Signal Processor Loss ...................................................................................................... 12-11
12.9.1.4 Thruster Loss ............................................................................................................................... 12-11
12.10 ALARM LOGS ............................................................................................................................ 12-11
12.11 DP SYSTEM ALARMS AND MESSAGES ........................................................................................ 12-12
13. INDEX ..................................................................................................................................13-1
14. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS .....................................................14-1

xiv NMS6000 Operations & Maintenance Manual 24006000TM-309

LIST OF FIGURES AND TABLES
Note – The Figures included in this manual are pictorial representations presented for
clarity of thoughts or descriptions and may vary from actual equipment.
FIGURE 1-1. TYPICAL DPS-0 SYSTEM OVERVIEW ............................................................................. 1-2
FIGURE 1-2. TYPICAL DPS-1 SYSTEM OVERVIEW ............................................................................. 1-3
FIGURE 1-3. TYPICAL DPS-2 SYSTEM OVERVIEW ............................................................................. 1-4
FIGURE 1-4. TYPICAL DPS-3 SYSTEM OVERVIEW ............................................................................. 1-5
FIGURE 3-1. OPERATOR CONTROL PANEL ........................................................................................ 3-1
FIGURE 3-2. OPERATOR CONTROL CONSOLE WITH SECONDARY DISPLAY .......................................... 3-2
FIGURE 3-3. PORTABLE JOYSTICK ................................................................................................... 3-3
FIGURE 3-4. TRACKBALL AND CURSOR CONTROL SWITCHES ............................................................. 3-4
FIGURE 3-5. TRACKBALL AND CURSOR CONTROL SWITCHES (OPTIONAL MODEL) ............................... 3-4
FIGURE 3-6. W HITE ARROW SHAPED CURSOR ................................................................................. 3-4
FIGURE 3-7. THREE-AXES JOYSTICK W /HEADING CONTROL KNOB ..................................................... 3-5
FIGURE 3-8. TOUCHSCREEN DISPLAY .............................................................................................. 3-6
FIGURE 3-9. TOUCHSCREEN DISPLAY POWER SWITCH PANEL ........................................................... 3-7
FIGURE 3-10. ON-SCREEN DISPLAY (OSD) MENU CONTROL PANEL .................................................. 3-8
FIGURE 3-11. OSD MENU MODE POP-UP ........................................................................................ 3-8
FIGURE 3-12. TOUCHW ARE ICON .................................................................................................. 3-11
FIGURE 3-13. TOUCHW ARE PROPERTIES DIALOG BOX ................................................................... 3-11
FIGURE 3-14. TOUCHSCREEN CALIBRATION BULLS-EYE .................................................................. 3-12
FIGURE 3-15. CALIBRATION COMPLETE POP-UP DIALOG BOX ......................................................... 3-12
FIGURE 3-16. TOUCHW ARE ICON .................................................................................................. 3-13
FIGURE 3-17. TOUCHW ARE PROPERTIES (1) DIALOG BOX (MULTIPLE MONITORS) ........................... 3-13
FIGURE 3-18. MULTIPLE MONITORS TAB ........................................................................................ 3-14
FIGURE 3-19. TYPICAL DATA ENTRY FIELD ..................................................................................... 3-15
FIGURE 3-20. TYPICAL POP-UP KEYPAD ........................................................................................ 3-16
FIGURE 3-21. TYPICAL OPTION BUTTON ......................................................................................... 3-16
FIGURE 3-22. TYPICAL COMMAND BUTTONS ................................................................................... 3-16
FIGURE 3-23. TYPICAL STATE BUTTONS......................................................................................... 3-17
FIGURE 3-24. BUTTON AVAILABLE/UNAVAILABLE FOR CHANGE ........................................................ 3-17
FIGURE 4-1. DYNAMIC POSITIONING SYSTEM OPERATION ................................................................. 4-1
FIGURE 4-2. SHIP AXES SIGNING CONVENTIONS............................................................................... 4-5
FIGURE 4-3. EARTH AXES SIGNING CONVENTIONS............................................................................ 4-5
FIGURE 4-4. PITCH, ROLL, AND HEAVE SIGNING CONVENTIONS ......................................................... 4-6
FIGURE 4-5. DP SYSTEM CONTROL LOOP ........................................................................................ 4-7
FIGURE 4-6. NOISE REJECTION LOGIC ILLUSTRATION ........................................................................ 4-9
FIGURE 4-7. SENSOR JUMPING ...................................................................................................... 4-10
FIGURE 4-8. POSITION REFERENCE SENSOR BIASING ..................................................................... 4-11
FIGURE 4-9. SENSOR W EIGHTING .................................................................................................. 4-12
FIGURE 4-10. CONTROL AXES ....................................................................................................... 4-15
FIGURE 4-11. POSITION MANEUVER PROFILE ILLUSTRATION ........................................................... 4-17
FIGURE 5-1. TITLE BAR & MODE STATUS ......................................................................................... 5-3
FIGURE 5-2. TYPICAL DPS-1 TRANSFER CONFIGURATION ................................................................. 5-4
FIGURE 5-3. TYPICAL DPS-2 TRANSFER CONFIGURATION ................................................................. 5-5
NMS6000 Operations & Maintenance Manual 24006000TM-309 xv
LIST OF FIGURES AND TABLES

FIGURE 5-4. TYPICAL DPS-3 TRANSFER CONFIGURATION ................................................................ 5-6

FIGURE 5-5. NMS ONLINE BUTTON ................................................................................................. 5-7
FIGURE 5-6. CONFIRM TAKE CONTROL DIALOG BOX ......................................................................... 5-7
FIGURE 5-7. INITIALIZE BACKUP BUTTON .......................................................................................... 5-9
FIGURE 6-1. TYPICAL DP SYSTEM DISPLAY SCREEN LAYOUT ............................................................ 6-1
FIGURE 6-2. DP TITLE BAR ............................................................................................................. 6-2
FIGURE 6-3. NAVIGATION BAR ......................................................................................................... 6-3
FIGURE 6-4. NAVIGATION BAR DETAIL ............................................................................................. 6-4
FIGURE 6-5. TYPICAL OVERVIEW PAGE ............................................................................................ 6-6
FIGURE 6-6. COMPASS ................................................................................................................... 6-7
FIGURE 6-7. TYPICAL DEVIATION DISPLAY PAGE .............................................................................. 6-8
FIGURE 6-8. ADDITIONAL DEVIATION DISPLAY SYMBOLS ................................................................... 6-9
FIGURE 6-9. ALARM AND STATUS W INDOWS.................................................................................. 6-10
FIGURE 6-10. TYPICAL TABULAR VESSEL POSITION SECTION .......................................................... 6-11
FIGURE 6-11. REQUESTED & TOTAL FORCES % ............................................................................. 6-12
FIGURE 7-1. NAVIGATION BAR DETAIL ............................................................................................. 7-1
FIGURE 7-2. SETUP PAGE 1 ............................................................................................................ 7-3
FIGURE 7-3. EARTH (LEFT) & SHIP (RIGHT) FRAMES FOR A FWD-FACING W ORKSTATION ..................... 7-4
FIGURE 7-4. EARTH (LEFT) & SHIP (RIGHT) FRAMES FOR AN AFT-FACING W ORKSTATION .................... 7-4
FIGURE 7-5. EXAMPLES OF DEVIATION DISPLAY SHOWING SCALE ..................................................... 7-5
FIGURE 7-6. CONTROL AXES ........................................................................................................... 7-9
FIGURE 7-7. SETUP PAGE 2 .......................................................................................................... 7-10
FIGURE 7-8. SETUP PAGE 3 .......................................................................................................... 7-14
FIGURE 7-9. SETUP PAGE 4 .......................................................................................................... 7-17
FIGURE 7-10. MODE FUNCTION PAGE ............................................................................................ 7-20
FIGURE 7-11. FOUR OPTIONS FOR SETTING THE HEADING SETPOINT ............................................. 7-28
FIGURE 7-12. EIGHT OPTIONS FOR SETTING THE POSITION SETPOINT ............................................ 7-32
FIGURE 7-13. POSITION SETPOINT PROFILE .................................................................................. 7-33
FIGURE 7-14. PROPOSED POSITION MANEUVER OUTLINE ............................................................... 7-35
FIGURE 7-15. REQUESTED FORCES % WITH JSTK BIAS TRANSFERRED & CLEARED ........................ 7-36
FIGURE 7-16. SENSOR PAGE 1 ...................................................................................................... 7-38
FIGURE 7-17. SENSOR PAGE 2 ...................................................................................................... 7-39
FIGURE 7-18. CURRENT SPEED & DIRECTION INDICATOR, CALCULATED OR ESTIMATED ................... 7-42
FIGURE 7-19. POSITION REFERENCE PAGE 1 ................................................................................. 7-44
FIGURE 7-20. POSITION REFERENCE PAGE 2 ................................................................................. 7-44
FIGURE 7-21. CHART PAGE – SENS DISP BUTTON .......................................................................... 7-48
FIGURE 7-22. CHART PAGE – DETAIL OF POSITION REFERENCE SENSORS ...................................... 7-49
FIGURE 7-23. THRUSTER PAGE 1 WITH AZIMUTHING THRUSTERS .................................................... 7-51
FIGURE 7-24. THRUSTER PAGE 1 DETAIL WITH TUNNEL THRUSTER & RUDDERS .............................. 7-52
FIGURE 7-25. TEXT BOX - THRUSTER AND RUDDER ........................................................................ 7-52
FIGURE 7-26. AZIMUTHING THRUSTER ICONS ................................................................................. 7-53
FIGURE 7-27. TYPICAL TUNNEL THRUSTER ICON ............................................................................ 7-54
FIGURE 7-28. RUDDER ICONS ....................................................................................................... 7-54
FIGURE 7-29. THRUSTER POP-UP DIALOG BOX .............................................................................. 7-55
FIGURE 7-30. TAL FORCES ICON .................................................................................................. 7-57
FIGURE 7-31. TYPICAL THRUSTER PAGE 2 & ALTERNATE CONFIGURATIONS .................................... 7-60
FIGURE 7-32. POWER PAGE 1- GENERATORS AND BREAKERS ........................................................ 7-63
FIGURE 7-33. POWER PAGE 2: KW LOADING .................................................................................. 7-65
TABLE 7-1. POWER LIMITING TERM CALCULATIONS ........................................................................ 7-67
FIGURE 7-34. POWER LIMIT SUSTAIN ............................................................................................. 7-68
FIGURE 7-35. POWER PAGE 3. ...................................................................................................... 7-69
FIGURE 7-36. TYPICAL PLOT PAGE ................................................................................................ 7-71
FIGURE 7-37. POINT CONFIGURATION POP-UP & SYMMETRIC DETAIL.............................................. 7-72

xvi NMS6000 Operations & Maintenance Manual 24006000TM-309

 LIST OF FIGURES AND TABLES

FIGURE 7-38. SIGNAL I/O PAGE 1 – ANALOG COMMUNICATIONS ...................................................... 7-74

FIGURE 7-39. SIGNAL I/O PAGE 2 – DIGITAL COMMUNICATIONS ....................................................... 7-75
FIGURE 7-40. SIGNAL I/O PAGE 3 – SERIAL COMMUNICATIONS ........................................................ 7-76
FIGURE 7-41. HOLDING CAPABILITY PLOT ...................................................................................... 7-79
FIGURE 7-42. CHART PAGE ........................................................................................................... 7-81
FIGURE 7-43. PAN AND ZOOM CONTROL BUTTONS ......................................................................... 7-82
FIGURE 7-44. CONFIGURATION BUTTONS ....................................................................................... 7-82
FIGURE 7-45. LOW SPEED TRACK FOLLOW – TRACK AND W AYPOINTS (TWO EXAMPLES) ................... 7-83
FIGURE 7-46. TRACK OPERATION .................................................................................................. 7-85
FIGURE 7-47. NORTH/EAST TRACK OFFSET ................................................................................... 7-88
FIGURE 7-48. CROSS TRACK OFFSET ............................................................................................ 7-88
FIGURE 7-49. W AYPOINT PAGE ..................................................................................................... 7-91
FIGURE 7-50. SELECT TRACK TYPE POP-UP ................................................................................... 7-93
FIGURE 7-51. OPEN FILE DIALOG BOX ........................................................................................... 7-94
FIGURE 7-52. SAVE AS DIALOG BOX .............................................................................................. 7-94
FIGURE 7-53. W AYPOINT EDIT POP-UP .......................................................................................... 7-96
FIGURE 8-1. HOLD HEADING ILLUSTRATION ...................................................................................... 8-4
FIGURE 8-2. HOLD POSITION ILLUSTRATION ..................................................................................... 8-5
FIGURE 8-3. ROV FOLLOW CONFIGURATION DIALOG BOX ................................................................ 8-7
FIGURE 8-4. TRACK AND WAYPOINTS ............................................................................................. 8-12
FIGURE 8-5. DP SIMULATION PAGE ............................................................................................... 8-17
FIGURE 8-6. TRANSIT DISPLAY PAGE ............................................................................................ 8-20
FIGURE 8-7. PILOT DISPLAY PAGE ................................................................................................ 8-22
FIGURE 10-1. VESSEL SPECIFIC NAVIGATION BAR DETAIL .............................................................. 10-1
FIGURE 10-2. OVERVIEW PAGE ..................................................................................................... 10-2
FIGURE 10-3. SETUP PAGE 1 ........................................................................................................ 10-4
FIGURE 10-4. SETUP PAGE 2 ........................................................................................................ 10-5
FIGURE 10-5. SETUP PAGE 3 ........................................................................................................ 10-6
FIGURE 10-7. MODE FUNCTION ..................................................................................................... 10-7
FIGURE 10-8. SIMULATION PAGE ................................................................................................... 10-8
FIGURE 10-9. SENSOR PAGE ....................................................................................................... 10-10
FIGURE 10-10. RELATIVE SENSOR PAGE ..................................................................................... 10-11
FIGURE 10-11. POSITION REFERENCE PAGE 1 ............................................................................. 10-12
FIGURE 10-12. POSITION REFERENCE PAGE 2 ............................................................................. 10-13
FIGURE 10-13. THRUSTER PAGE 1 .............................................................................................. 10-15
FIGURE 10-14. THRUSTER PAGE 2 .............................................................................................. 10-16
FIGURE 10-18. HOLDING CAPABILITY PLOT .................................................................................. 10-19
FIGURE 10-19. CHART (TWO EXAMPLES) ...................................................................................... 10-20
FIGURE 10-20. TRACK OPERATION .............................................................................................. 10-21
FIGURE 10-21. W AYPOINT........................................................................................................... 10-22
FIGURE 10-22. TRANSIT PAGE..................................................................................................... 10-24
FIGURE 10-23. PILOT PAGE......................................................................................................... 10-25
TABLE 11-1. TOOLS AND TEST EQUIPMENT .................................................................................... 11-3
TABLE 11-2. POWER SUPPLY VOLTAGES – (NOMINAL AND TOLERANCE) .......................................... 11-5
FIGURE 11-1. CORRECT WAVEFORM ........................................................................................... 11-13
FIGURE 11-2. FLEX I/O MODULES AND TEST POINTS .................................................................... 11-15
FIGURE 12-1. ALARM SUMMARY W INDOW ...................................................................................... 12-1
FIGURE 12-2. LAST ALARM W INDOW & ALARM PAGE BUTTON ......................................................... 12-2
FIGURE 12-3. TYPICAL ALARM PAGE .............................................................................................. 12-3
FIGURE 12-4. INHIBITING THE ALARM PAGE .................................................................................... 12-4
FIGURE 12-5. ACKNOWLEDGING ALARMS ....................................................................................... 12-6
FIGURE 12-6. SORTING ALARMS .................................................................................................... 12-6
FIGURE 12-7. ALARM PAGE WITH A DISABLED ALARM MESSAGE ...................................................... 12-7

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LIST OF FIGURES AND TABLES

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xviii NMS6000 Operations & Maintenance Manual 24006000TM-309

1. DP SYSTEM OVERVIEW
This operations and maintenance manual describes the hardware, software,
and operational capabilities of the L-3 DP&CS Marine System Model 6000
(NMS6000) Dynamic Positioning (DP) System (DPS), and provides
instructions for using the DPS and associated sub-systems. Additionally, the
manual contains information on system casualty troubleshooting, corrective
actions, and test & maintenance procedures.

Note – The diagrams and descriptions included in this manual are

representative of typical NMS6000 systems and are presented
as such. Actual equipment will vary from system to system and
vessel to vessel depending on options installed and vessel-
specific customization. For an accurate representation of
vessel-specific modes and options please see Chapter 10,
Vessel Specific Menus & Display Pages.
L-3 DP&CS suggests NMS6000 DP Operators read this manual
thoroughly prior to commencing operations.

1.1 NMS6000 DP SYSTEM BASIC OVERVIEW

The NMS6000 DP System controls vessel thrusters to maintain the vessel at
specific heading and/or position goal setpoints despite environmental forces
that would tend to drive the vessel off-station.
Typical NMS6000 systems may be configured as follows:
 DPS-0 – One (1) NMS6000 DP Operator Workstation (no backup
panel), Figure 1-1.
 DPS-1 – One (1) NMS6000 DP Operator Workstation and One (1)
Manual Independent Backup Joystick Panel, Figure 1-2.
 DPS-2 – Two (2) NMS6000 DP Operator Workstations, and One (1)
Manual Independent Backup Joystick Panel, Figure 1-3.
 DPS-3 – Three (3) NMS6000 DP Operator Workstations, and One (1)
Manual Independent Joystick Panel, Figure 1-4.

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Figure 1-1. Typical DPS-0 System Overview

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 CHAPTER 1: DP SYSTEM OVERVIEW

Figure 1-2. Typical DPS-1 System Overview

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CHAPTER 1: DP SYSTEM OVERVIEW

Figure 1-3. Typical DPS-2 System Overview

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 CHAPTER 1: DP SYSTEM OVERVIEW

Figure 1-4. Typical DPS-3 System Overview

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CHAPTER 1: DP SYSTEM OVERVIEW

1.1.1 Basic Equipment

A typical NMS6000 system consists of the following basic equipment:
Operator Workstations – Provide operator interface and contain industrial
computers, touchscreen displays, trackball & cursor control switches, and
manual controls for vessel position and heading.
Touchscreen Displays – Generate customized color Display Pages
providing information on the vessel systems and sensors integrated with the
vessel’s NMS6000 DP System. This manual uses the terms “pages” and
“screens” interchangeably. Refer to Section 3.6 for additional information on
Touchscreen Displays.
System Selector Switch – The 3-position System Selector Switch is used to
switch between the primary DP Operator Workstation(s), the vessel’s manual
controls, and the Independent Backup Joystick. The names of the functions
associated with the switch are "DP Online" / "Manual Control" / "Ind. JS
Online". See examples in Figure 1-2, Figure 1-3 & Figure 1-4.
Sensors: Position Reference and Environmental – Position Reference
Sensors consist of DGPS, Hydro-Acoustic Systems, and Laser Radar;
Environmental Sensors consist of Wind Sensors, Gyrocompasses, Vertical
Reference Sensors (VRU’s & MRU’s), and a Current Estimator. These
sensors feed the vessel’s position, heading, attitude, and environmental
forces to the Operator Workstation computer. The DP software uses this data
to maintain the vessel’s desired station and control axis. During operations,
the NMS6000 compares the desired goal setpoints to the vessel’s measured
position and/or heading, and then generates appropriate thruster commands
to minimize the deviation.
Signal Processing Units (SPUs) - SPUs handle field sensor signals and
convert the signals to data streams. The data streams are then passed to the
Programmable Logic Controllers (PLC) and on to the Operator Workstations.
The SPUs also accept crucial data, such as the status of thrusters,
generators, circuit breakers, and power supplies. Each SPU is responsible for
converting a given set of input signals to a protocol that can be read by the
PLCs.
PLC - Programmable Logic Controllers (PLC), typically mounted inside the
SPUs, communicate to the I/O Modules through a dual redundant ControlNet.
Soft PLC – Software acting as a PLC.
I/O Modules - I/O Modules interface the workstation PC’s to field devices.
This industrial computer can only understand digital signals. Therefore, the
job of the I/O Module is to convert all input signals to a digital format
understood by the workstation and the underlying PLC.
Serial Interface: ControlNet and EtherNet - These redundant networks
pass data between the various components of the NMS6000 DP System, as
well as any other vessel systems, with which they are integrated. The DP
consoles have a serial-to-ControlNet interface to sensors, thrusters, and
switchboards; and a serial-to-EtherNet interface that handles redundant
master/backup data, printers, and data loggers.

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 CHAPTER 1: DP SYSTEM OVERVIEW

Uninterruptible Power Supplies (UPS) - Ensures the NMS6000 DP System

maintains control of the vessel during a power plant failure.
Printers: Alarm and/or Color - Dedicated alarm printers (if optionally
configured) generate a continuous list of system alarms as they occur.
Optional color printers are used to print copies of graphic display pages.
1.2 DYNAMIC POSITIONING OPERATIONS OVERVIEW

Note - The following overview is not intended to serve as guidelines for

operating a vessel equipped with an NMS6000 Dynamic
Positioning (DP) System, but only as a means of becoming more
familiar with many important Dynamic Positioning Concepts.
When Dynamic Positioning Operators (DPOs) power up the NMS6000 DP
System, a graphic ALARM PAGE, generated on the Operator Workstation’s
touchscreen display, informs DPOs of the NMS6000 DP System status.
Given normal operating conditions and system configuration, DPOs select
either DP Console #1, #2, or #3 (if configured) to serve as the Master
Controller. Only commands issued at the Master Operator Workstation affect
the operation of the vessel’s thrusters and the sensors associated with the
NMS6000 DP System.
Graphic display pages allow DPOs to verify and, if necessary, change basic
operating parameters. DPOs use SETUP PAGES to configure certain alarm
limits, set power limiting constraints, enter basic facts about the vessel (such
as draft), and create the position and heading alarm limits that take effect
when the vessel is under the automatic control of the NMS6000 DP System.
DPOs use customized graphic display pages to place appropriate auxiliary
and position reference sensors online. These sensors provide the data used
by the NMS6000 DP System to determine the vessel’s deviation from the
desired heading and position goal setpoints. The data displayed on Auxiliary
and Position Reference pages also allows DPOs to control the online status
of the sensors themselves.
DPOs then place a sufficient number of thrusters online and under the control
of the NMS6000 DP System. The definition of sufficient varies depending on
environmental conditions such as sea state, wind, current, etc. Again,
customized graphic display pages (Thruster) allow DPOs to view the status,
output, and azimuth (if any) of the thrusters interfaced with the NMS6000 DP
System.
Once the appropriate sensors and thrusters are online, DPOs may manually
maneuver the vessel using controls on the Master NMS6000 Operator
Workstation.

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CHAPTER 1: DP SYSTEM OVERVIEW

Having stabilized the vessel at the appropriate position and heading, DPOs
can then select from several automatic control modes. These modes vary in
purpose (and by system), but all rely on sensor data being compared to goal
setpoints. The NMS6000 DP System then generates the necessary thruster
commands to minimize the deviation between the measured readings and the
goal setpoints.
During automatic operations, DPOs can select from a variety of display pages
to view information on the vessel’s position and heading, performance of
sensors and thrusters, status of the power generation and distribution system,
any detected alarms, communication signals, and other important elements of
the NMS6000 DP System.
Should the function of the Master Operator Workstation degrade, the
NMS6000 automatically transfers control to its Backup Operator Workstation
(if installed). The DPO can also manually transfer control of the NMS6000
from the current Master to the Backup or, in some configurations the Manual
Independent Backup Joystick NMS6000 Operator Workstation at any time.
Upon transfer of control, the station that was the Backup becomes the
Master, and vice versa.

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1.3 GLOSSARY OF ABBREVIATIONS AND ACRONYMS

Abbreviation & Definition Abbreviation & Definition

A/D Analog/Digital LSTF Low Speed Track Follow
ABS Absolute MAN Manual Command
ACK Acknowledge MCS Manual Control System/Station
AN Analog MRU Motion Reference Unit
ARA Acoustic Riser Angle MUX Multiplexer
ASK Automatic Station Keeping NFU Non Follow-Up
AWC Active Wind Compensation OCM Optical Communications Modem
BU Backup OCP Operator Control Panel
CCW Counter clockwise OSD On-Screen Display
CFE Customer Furnished Equipment P/S Port/Stbd
CMPR Compare Alarm PC Personal Computer
COR Center of Rotation PCB Printed Circuit Board
COS Cosine PID Proportional Integral Derivative
CPU Central Processing Unit PLC Programmable Logic Controller
CW Clockwise PMS Power Management System
DCD Data Carrier Detect POS Position
DCU Display Control Unit RAM Random Access Memory
DGPS Differential Global Positioning Sys. REL Relative
Diff Difference RH Relative Humidity
DIR Direction ROM Read Only Memory
DMS Dynamic Motion Sensor ROV Remotely Operated Vehicle
DP Dynamic Positioning RPM Revolutions Per Minute
DPO Dynamic Positioning Operator RTS Request to Send
DPS Dynamic Positioning System RXD Receive Data
ECR Engine Control Room SBL Short Baseline
ERA Electric Riser Angle SIG-GND Signal Ground
ERR Error SIN Sine
ESA Electric Stack Angle SPD Speed
F/A Forward/Aft SPU Signal Processor Unit
Fore Forward STBD Starboard
GND Ground STPT Setpoint
GPS See DGPS above TAC Three-Axis Controller
GUI Graphical User Interface TAL Thrust Allocation Logic
HCBA Hold Commanded Ball-Joint Angle TBD To Be Determined
HDG Heading TCS Thruster Control System
HDS Hydrophone Deployment System TTL Transistor, Transistor Logic
I/F Interface TXD Transmit Data
I/O Input/Output UI User Interface
KTS Knots UPS Uninterruptible Power Supply
LBL Long Baseline USBL Ultra Short Baseline
LED Light Emitting Diode VRS Vertical Reference Sensor
LEVL Thruster Level Alarm VRU Vertical Reference Unit

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CHAPTER 1: DP SYSTEM OVERVIEW

1.4 MANUAL CONVENTIONS

The Manual Conventions listed in the following table define the meanings of
various text styles used throughout this manual.

Text Style Definition

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

ALL CAPS
up dialog box, such as THRUSTER 6.
Identifies a specific section of the Workstation keyboard,
such as the Sensor Select Switch Group, or a specific
Bold
element of the Graphic User Interface, such as the
Header Line.

BOLD ALL Name of an operational mode, such as HOLD HEADING

CAPS or ACTIVE WIND COMPENSATION.

Identifies a crucial concept, such as the Origin Reference

Italics Sensor, as well as instructions and/or explanations of
extreme importance.
Identifies a display page button, icon color, or OCP
Bold Italics
status.

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

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

SMALL CAPS
found on the display pages.
Name of a physical control on the Workstation keyboard,
<SMALL CAPS>
such as the <ASK ONLINE> switch.

Bold Underline Emphasizes a crucial concept or reader attention,

such as: The display page is not numbered.
Over - Emphasizes a crucial concept or reader
Bold Capitals attention, such as: The NMS6000 DP System must be
Underline in HOLD POSITION, and NOT IN HOLD FLEXJOINT
ANGLE, when performing an automatic Position
Setpoint Maneuver.
Underlining identifies choices made from a predefined
list of options.
Example -When a given switch has three positions, the
Underline first is identified as Position 1.
Example - The DEVIATION DISPLAY CENTER button allows
operators to select the Origin, Goal, or Setpoint as the
center-point of the Deviation Display.

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2. DP SYSTEM STARTUP & SHUTDOWN
This chapter describes the NMS6000 DP System Startup and Shutdown
procedures for the system hardware and software.

Note – Depending upon the vessel’s NMS6000 DP System

configuration, some of the hardware components listed in this
section might not be applicable.

2.1 NMS6000 DP SYSTEM STARTUP

Starting the DP system is a two-step process; start the system hardware first
and then the system software. The shutdown is essentially a reverse of this
process. For a list of DP hardware components, review the System
Specification document in Chapter 14.
2.1.1 Hardware Startup
Perform the following to ensure the proper startup sequence for the DP
system, from a cold start:
1. Verify the Uninterruptible Power Supplies (UPS) are on and the Power
Distribution Panel Circuit Breakers are closed.
2. Power up the Signal Processor Unit(s) (SPU). Programmable Logic
Controllers (PLC) are located in the SPU(s). DPS-0/1 Systems have one
PLC, DPS-2/3 Systems typically have two PLCs, and larger distributed
control systems may have one PLC per thruster. The I/O light on front of the
PLC will be solid green when the PLCs (Programmable Logic Controllers)
are established. Ensure that PLC(s) Are Established!
a. If the DP system has FlexLogix PLCs, then there should be no red
or flashing green lights on the face of the module and the two lights
on the side of the module should be solid green.
b. If the DP system has Control Logic PLCs with Hot Backup
modules, then the Master PLC Redundancy Module will show PRIM
(primary), and the Backup PLC will show SYNC, confirming
synchronization with the Master.
c. If the DP system has Hot Backup cards, then the lights on those
cards will be on and green (primary), yellow (secondary), and orange
(qualified) (this applies to older DP systems).
If PLC’s do not established, contact L-3 DP&CS (see Section 11.11.2).

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CHAPTER 2: DP SYSTEM START AND SHUTDOWN

3. Ensure that the following DP System hardware components are powered

up:
a. DGPS equipment
b. Gyrocompasses
c. Wind Sensors
d. Vertical Reference Units & Motion Reference Units
e. Acoustic Reference System Processors & Display Control Units
f. Taut Wire Positioning System (if configured)
g. Laser Range & Bearing Positioning System (FanBeam or CyScan)
(if configured)
h. Artemis Positioning System (if configured)
i. System Alarm Printers (if configured)
j. Remote or Portable Joysticks (if configured)
4. Power up Master Operator Workstation and wait for User Interface (DP
software) to load completely.

Note – This process is automatic and can take up to four minutes to

complete.
5. If the vessel is equipped with Backup/Standby Operator Panels/Consoles,
then wait approximately 60 seconds and power up those DP systems.
2.1.2 Software Startup
Once powered up, the NMS6000 Operator Workstation’s pre-installed DP
software automatically begins to run.

Note – DP Operators should allow sufficient time for sensor

measurements to stabilize before taking control of the vessel
through the NMS6000 (i.e., Gyros may take up to 30 minutes
to stabilize).

Take control of the vessel by selecting the NMS ONLINE button at the upper
right corner of the display screen.

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 CHAPTER 2: DP SYSTEM START AND SHUTDOWN

2.2 NMS6000 DP SYSTEM SHUTDOWN

Note - DP Software shutdown requires a password and, therefore, only

authorized personnel may do so.
2.2.1 Software Shutdown
Shutting down the DP system is a two-step process; shut down the system
software first and then the system hardware.
Performing the DP Software Shutdown process at any DP Operator
Workstation affects only the DP Operator Workstation where the command is
initiated. The remaining DP Operator Workstations continue to run the DP
software, therefore, to perform a software shutdown of the entire DP System;
operators must perform software shutdowns on each of the DP Operator
Workstations individually.
Perform the following to carry out the Software Shutdown process:
1. Select SETUP on the DP Drop-Down Menu Bar.

2. A “Drop-Down Menu” appears.

3. Select the SHUTDOWN button.

4. The following Enter System Password dialog box appears:

5. Use the Pop-Up Keypad to enter the password 789 in the New window.
6. Click <OK> on the Pop-Up Keypad.
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CHAPTER 2: DP SYSTEM START AND SHUTDOWN

7. The following dialog box appears:

8. Select NMS6000 SHUTDOWN to close the DP software, or select CANCEL to
abort the DP software shutdown process.

2.2.2 Hardware Shutdown

To completely shutdown the NMS6000 DP System, operators must perform a
Hardware Shutdown. To perform a NMS6000 DP System Hardware
Shutdown, power down the following components:
a. Operator Workstations
i. Follow Software Shutdown procedure 2.2.1.
ii. Allow the NMS6000 Software to shutdown.
iii. Select the Start button on the lower left corner of the display
“desktop”, select the Shut Down button icon, and select Shut
Down again on the Pop-up menu, and click OK. The computer
initiates a shutdown sequence and powers down.
b. Acoustic Position Reference System Processors & Display Control
Units (if configured)
c. Signal Processor Units (Wind Sensors and Vertical Reference Units
receive power from their associated SPU)
d. System Alarm Printers (if configured)
e. Taut Wire Positioning System (if configured)
f. Laser Range & Bearing Positioning System (FanBeam or CyScan)
(if configured)
g. Artemis Positioning System (if configured)
h. Portable Joystick and Remote Connection Boxes (if configured)
i. Gyrocompasses
j. DGPS equipment
k. Uninterruptible Power Supplies (UPS)

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3. DP OPERATOR INTERFACE BASICS
3.1 OPERATOR WORKSTATION
The Operator Workstation, consisting of either a Control Panel or a Control
Console, provides a User Interface (UI) allowing DP operators to command
and monitor the NMS6000 DP System through Physical Controls and
Touchscreen Displays.
 Physical Controls – Include Trackball and Cursor Control Switches, and
Three-Axis Position and Heading Control Joystick.
 Touchscreen Displays – Display screens are accessed through touch
and/or cursor control.
Operators can enter data, change operational parameters, select thrusters &
sensors, and set operational modes only by using the Master Operator
Workstation. However, certain non-critical functions, such as display options
can be initiated at the Backup Operator Workstations.
A typical NMS6000 DP Operator Workstation consists of a Touchscreen
Display, Trackball and Cursor Control Switches, and a Three-Axis Position
and Heading Control Joystick (see Figure 4-10)
for an example of the three control axes). Operator Workstations are
configured either as a Control Panel, Figure 3-1, or a Control Console, Figure
3-2. Control Consoles may have an optional secondary display.

Touchscreen
Display

Cursor
Control

Heading
Control
Trackbal
Three-Axis
Joystick

Figure 3-1. Operator Control Panel

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CHAPTER 3: DP OPERATOR INTERFACE BASICS

Three-Axis Joystick
with Heading
Touchscreen
Control Knob
Display
(standard)

Cursor Control
Operator and Trackball
Control
Console

Lower
Touchscreen
Display (optional)

Figure 3-2. Operator Control Console with Secondary Display

3.2 INDUSTRIAL COMPUTER

A rack-mounted industrial computer is installed in the base of each Operator
Console. It provides high-performance digital control processing, generates
graphics, and permits high-speed data highway communications and serial
interfaces with position reference sensors. A hard disk drive stores the
NMS6000 application program, database, and the Microsoft Windows XP
operating system. The case can be removed to provide access to the card
rack from the top. All connectors are available at the back of the computer.
Additionally, this computer assembly contains serial interfaces to the Signal
Processor, remote and portable joysticks (if configured), Control Console, and
auxiliary USB ports.
Refer to the CD included with this DP manual for the computer
manufacturer’s user manual.

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3.3 PORTABLE JOYSTICK

LAMP
INTENSITY

MODE SELECT

HEADING/POSITION
CONTROL

Figure 3-3. Portable Joystick

The Portable Joystick is a self-contained unit that can be carried around by

the operator. It has a long cable “tether” that plugs in to a connection box
(cables are available in 11’ & 30’ lengths). There may be multiple connection
boxes installed in strategic places around the vessel (i.e., bridge wings, work
deck, near the moon pool).
The three key switch buttons and an alarm indicator light on the Portable
Joystick, shown in Figure 3-3 and explained below, are typical, but can vary
from vessel to vessel.
See Section 11.7.8 for Joystick Calibration.
3.3.1 ACCEPT CONTROL
Press the key switch button to accept/relinquish control of the DP system.
See Section 5.3.2, Taking & Transferring Control of Remote & Portable
Joysticks, for a full explanation of the <ACCEPT CONTROL> key switch button.
3.3.2 HOLD HEADING
Press the key switch button to initiate/cancel Hold Heading Mode. See
Section 8.2, Hold Heading, for a full explanation of this mode. This key switch
button is illuminated when the Hold Heading mode is activated.
3.3.3 WIND COMP
Press the key switch button to initiate/cancel Wind Compensation. See
Section 8.6, Active Wind Compensation (AWC), for a full explanation of this
mode. This key switch button is illuminated when the AWC mode is activated.
3.3.4 ALARM
This is an indicator light, not a key switch button. See Section 12.2, Alarm
Notification, item number 5, for a full explanation of the <ALARM> indicator
light.

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3.4 TRACKBALL AND CURSOR CONTROL SWITCHES

The Trackball and Cursor Control Switches, Figure 3-4, allow operators to
issue commands to the NMS6000, and change settings and values in the
software by using the trackball to move a White arrow-shaped cursor, Figure
3-6, around the display screen to the various command, settings, and values
fields.

Note – DP Operators may opt to use the Trackball and Cursor Control
Switches, Figure 3-4, instead of touching the Flat Panel
Touchscreen Display.
The NMS6000 DP System does not wait until the operator exits a display
page before accepting the data. Therefore, commanded changes take effect
immediately and are stored in the Database File on the system hard disk.
Changes are immediately transmitted to Backup NMS6000 Operator
Workstations, if applicable.

Left Cursor
Control Switch Right Cursor
Control Switch

Trackball

CURSOR
CONTROL

Figure 3-4. Trackball and Cursor Control Switches

Trackball
Light
Dimmer Trackball

Left Button Right Button

Middle Button

Figure 3-5. Trackball and Cursor Control Switches (Optional Model)

Figure 3-6. White Arrow Shaped Cursor

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3.4.1 Selecting - Left-Clicking

The <LEFT TRACKBALL SWITCH> acts like the left button on a standard personal
computer mouse. Operators unfamiliar with such devices, may find it helpful
to think of the <LEFT TRACKBALL SWITCH> as an <ENTER> and/or <SELECT>
switch.
Pressing the <LEFT TRACKBALL SWITCH > once while the cursor is located on
top of a field is referred to as “Selecting” or “Left-Clicking.”

Note – Touching the applicable icon on the Touch Display page

produces the same results as “Selecting” or “Left-Clicking.”
3.5 THREE-AXIS JOYSTICK W/HEADING CONTROL KNOB
The joystick, Figure 3-7, is located on the right side of the Operator
Workstation. This is a three-axis, stay-put control with output signals
proportional to angular deflection of the joystick and rotation torque of the
control knob. The three control axes are Surge (Fore/Aft), Sway (Port/Stbd),
and Yaw (180º of Heading control). The term “stay-put” means that the
joystick and knob will stay where the operator puts them and not
automatically spring back to the neutral (or zero) position.
Operator Workstations may be configured facing in any direction
(fore/aft/port/stbd) depending on the requirements of the vessel. The thrusters
will respond to move the vessel in the same direction of the deflection of the
joystick. In other words, regardless of which way the Operator Workstation is
facing, the joystick must be deflected toward the bow to move the vessel
forward.

 Example – If the Operator Workstation is “port-facing” (meaning that

the operator is facing to port when standing at the controls),
then the operator must deflect the joystick to his right in
order to move the vessel forward.

Position
Control
Joystick
Heading
Control
Knob

Figure 3-7. Three-Axes Joystick w/Heading Control Knob

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3.6 TOUCHSCREEN DISPLAY

In this section, the terms Display, Monitor, and Screen are synonymous.

Display Power
Switch Panel
On-Screen
Display Menu
Control Panel

Figure 3-8. Touchscreen Display

The Touchscreen Display, Figure 3-8, features an anti-glare screen for

nighttime operation. It is designed specifically for harsh marine environments,
and capable of operating at a maximum temperature range of 55°C (131°F)
for long durations.

Note – Test conditions for the Touchscreen Display provide for

maximum continuous operating temperature of 55°C (131°F).
However, continuous operating temperatures should take
place, when possible, at ambient temperatures from 18°C
(64°F) to 26°C (79°F) to ensure long life of the display.

Touchscreen Displays allow operators to issue commands, change display

pages by touching the various information fields around the display screen,
and monitor vessel movement.
Operators have the option of using the trackball and cursor control switches
or touching the screen. Touching the screen works the same as <Selecting –
Left-Clicking> the trackball cursor control switch or using the left button on a
standard personal computer mouse. Touching the screen fields once is the
same as “selecting” or “left-clicking.” Touching the screen fields twice in rapid
succession causes the field to activate much like “double-clicking” the left
mouse button.

Note – The display speaker is not used by the NMS6000 DP System.

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3.6.1 Touchscreen Display Power Switch Panel

The Touchscreen Display Power Switch Panel located on the lower right
side of the display features an Instant-ON/Delay-OFF switch to ensure the
display is not turned off accidentally.

Figure 3-9. Touchscreen Display Power Switch Panel

Perform the following to turn the display on:

 Display Power On
1. Press the <POWER> switch.
2. Power Light Indicator illuminates Green.
3. Turn the Brightness Knob to the desired level of operation.

Note – If no VGA signal sync is present, a “NO SYNC” message

appears on the display screen. If this occurs then check that the
display cable is connected securely at both ends.
Perform the following to turn the display off:
 Display Power Off
1. Press and hold the <POWER> switch down for 3 seconds.
3.6.1.1 Brightness Control Knob
Adjust display illumination brightness by turning the Brightness Knob
to the right or left until the desired brightness is achieved.
3.6.1.2 Assignable Hotkeys
Operators may assign various display functions as Hotkeys in order to
quickly adjust the display brightness, image size, contrast or other display
image functions.

Note – L-3 DP&CS suggests operators refer to the manufacturers User

Manual when assigning Hotkeys using the On Screen Display
(OSD) Menu Control Panel.

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3.6.2 On-Screen Display (OSD) Menu Control Panel

The On-Screen Display (OSD) Menu Control Panel, Figure 3-10, is on the
lower left side of the display (under the metal cover plate).

Figure 3-10. On-Screen Display (OSD) Menu Control Panel

Note – L-3 DP&CS recommends that operators refer to the

manufacturers User Manual before attempting to manipulate
the factory display settings, or assigning Hotkeys using the
On-Screen Display (OSD) Menu Control Panel.

3.6.2.1 Hotkey Assignment

Turn the display off and remove the metal cover plate (if still in place) to
expose the OSD Menu Control Panel. Referring to the manufacturer’s User
Manual (see note above), perform the following preliminary steps to access
the advanced OSD Menu and begin assigning Hotkeys:
1. Press and hold the <Down> button on the OSD Menu Control Panel,
Figure 3-10, while then pressing the <Power > switch on the Power
Switch Panel.
2. When the display screen picture appears, release the <Down> button,
and press the <Menu> button on the On-screen Display (OSD) Menu
Control Panel, Figure 3-10.
3. One of four (4) advanced OSD Menu Mode pop-ups appears,

Figure 3-11. OSD Menu Mode Pop-Up

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4. Press the <Up> or <Down> buttons on the OSD Menu Control Panel,
Figure 3-10, to select options within the advanced OSD User Icon Menu
pop-up. The color of the selected option becomes Yellow.
5. Press the plus (+) or minus (-) buttons on the OSD Menu Control Panel to
increase or decrease the option values, which then become Green.
6. Press the plus (+) button on the OSD Menu Control Panel to confirm the
selection.
3.6.3 Touchscreen Cleaning
3.6.3.1 Power Down the Display

Note – Do not power down the display while operating the

associated DP display, since the display screens will not be
available for use while the display is off. Shut down DP
system software, or transfer control to another Operator
Workstation, before cleaning the touchscreen.

Prior to cleaning the touchscreen display you must first power down the
display (see note above). The touchscreen Display Power Switch Panel is
located on the lower right side of the display and features an Instant-
ON/Delayed-OFF switch,
. To power down the display, press and hold the <POWER> switch down for 3
seconds.

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3.6.3.2 Cleaning the Touchscreen Display

After powering down the display, and depending on the type of contaminant,
please clean the touchscreen display as follows:
 Dust - Wipe off with a soft cloth (do not rub).
 Dirt, Fingerprints, Grease, etc. - Apply clean water to a soft cloth, wring
out the excess water so the cloth is just damp, then lightly wipe off (do not
rub) the display. If that does not remove the contaminant, then use a small
amount of isopropyl alcohol or ethanol. After wiping with a solvent, be sure
to wipe down with a water-only damp cloth to remove any excess solvent.
Be careful not to splash water or solvents on the edge of polarizer or in the
LCD unit. The polarizer may exfoliate due to solvents or water.
 Water or Other Liquid Spills - If a liquid spill occurs on the display during
DP operation, the display should be immediately powered down, wiped off
with a soft cloth, and powered back up again to continue operation. If the
system is a DPS-2 or higher, then transfer master control to the backup
DP station while cleaning the contaminated display. Otherwise, power
down the display immediately, wipe it down with a soft cloth, and power it
back up to continue DP operation. Do a more thorough cleaning as soon
as possible.

Note – Water droplets may affect the touchscreen much like a finger
touch causing the cursor to follow the water drops. Powering
down the display (and cleaning off the water) should reset the
touchscreen back to normal user control. However, any more
water moving over the screen will affect cursor control. In any
case, the display should be powered down and cleaned
immediately per instructions above.

Caution!
 Do not use unspecified solvent (ketone, acetone, etc.) or aromatics
(xylene, toluene, etc).
 Be careful not to allow the water or solvent to enter the module.
 If solvent or water drops are left on the display for a long period of time,
the part may become deformed or discolored.
 Do not allow oil to adhere to the display since excessive oil is hard to
clean.

After properly cleaning the touchscreen press the <POWER> switch to turn the
display on. The Power Light Indicator illuminates Green.

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3.6.4 Touchscreen Calibration

Note – Perform touchscreen calibration once every six months or as

needed. Do not perform calibration while operating the
associated DP display, since the screen will not be available
for use during calibration. Shut down DP system software, or
transfer control to another Operator Workstation, before
calibrating the touchscreen.
3.6.4.1 Single Screen
Double-click the TOUCHW ARE icon on the PC Desktop to start the calibration
process, Figure 3-12.

Figure 3-12. TouchWare Icon

Click the CALIBRATE button from the TOUCHW ARE PROPERTIES dialog box,
Figure 3-13.

Figure 3-13. TouchWare Properties Dialog Box

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3.6.4.2 Calibration Procedure

1. Two crosshair bull’s-eyes appear on an all white screen, (lower left and
upper right corners), with a hand symbol next to the lower left corner
bull’s-eye, Figure 3-14.

Figure 3-14. Touchscreen Calibration Bulls-Eye

2. Touch and hold the lower left bull’s-eye until the TOUCHSCREEN ENABLED
indication appears. The hand symbol then shifts to the upper right bull’s-
eye.
3. Perform the same procedure on the upper right bull’s-eye.
4. After a brief warning not to touch the screen, a CALIBRATION COMPLETE
pop-up dialog box appears, Figure 3-15.

Figure 3-15. Calibration Complete Pop-Up Dialog Box

5. Test the new calibration by randomly touching the screen in several
locations ensuring the cursor follows your finger.
6. If the screen responds correctly to the random touching, select the DONE
button on the CALIBRATION COMPLETE pop-up dialog box, Figure 3-15.
7. Select the CLOSE button on the TOUCHW ARE PROPERTIES dialog box,
Figure 3-13.
Single touchscreen calibration is now complete.

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3.6.4.3 Dual Screens (if applicable)

In this case, “Dual Screens” are two screens either side-by-side or one
up/one down and controlled by only one set of cursor controls.
1. Double-click the TOUCHW ARE icon on the PC Desktop to start the
calibration process, Figure 3-16.

Figure 3-16. TouchWare Icon

2. Click the CALIBRATE button from the TOUCHWARE PROPERTIES (1) dialog
box, Figure 3-17. The “(1)” in the dialog box title indicates that monitor
#1 is the current display and will change to “(2)” when monitor #2 is
current.

Figure 3-17. TouchWare Properties (1) Dialog Box (Multiple Monitors)

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3. Perform the Calibration Procedure, as shown above in Section

3.6.4.2, for monitor #1. Once it has been calibrated then select the
MULTIPLE MONITORS tab from the TOUCHW ARE PROPERTIES dialog box,
Figure 3-18. Displays may be installed side-by-side or one up/one
down depending on vessel configuration.

Figure 3-18. Multiple Monitors Tab

A. Select monitor #2 from the MULTIPLE MONITORS tab, Figure 3-18.

Notice that the monitor #2 icon highlights and the “(1)” changes to a
“(2)” in the title of the dialog box.
B. Once monitor #2 is the current display, then select the CALIBRATE tab.
C. Perform the Calibration Procedure as shown above (Section
3.6.4.2) for monitor #2.
D. Select the MULTIPLE MONITORS tab.
E. Select monitor #1 so it is the current display.
F. Select the CLOSE button on the TOUCHW ARE PROPERTIES dialog box,
Figure 3-17.
Dual touchscreen calibration is now complete.

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3.6.5 Touchscreen Interfacing

The following types of display screen fields and buttons allow operators to
enter data or change system settings:
 Data Entry Fields
 Option Buttons
 Command Buttons
 Buttons Available/Unavailable for Change
3.6.5.1 Data Entry Fields
Data Entry Fields, Figure 3-19, allow operators to enter numeric data.

Figure 3-19. Typical Data Entry Field

Note - When operators select one of these fields, a typical Pop-Up

Keypad, Figure 3-20, appears. Operators may use this pop-up
keypad to enter a new setting.

A typical Pop-Up Keypad, Figure 3-20, displays the current value for the
selected parameter, a minimum value, and a maximum value. To change
the current setting, use the cursor control to highlight the numbers in the new
value window (highlighted numbers have a blue background), then use the
cursor control and select the numbers on the Pop-Up Keypad, then select
the <OK> button.

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Figure 3-20. Typical Pop-Up Keypad

3.6.5.2 Option Buttons
Option Buttons, Figure 3-21, permit operators to select from a limited
number of choices, such as Metric, Imperial or Percentage of Water Depth for
Display Units used in this example. The button shows the current setting.
Selecting the button changes the text on the button, and the current setting, to
the next available option.

Figure 3-21. Typical Option Button

3.6.5.3 Command Buttons

Command Buttons are used by the DP Operator to invoke commands on
the NMS6000. In this example, the Command Buttons, Figure 3-22, order
the DP System software to Cancel or Accept a command setting.

Figure 3-22. Typical Command Buttons

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3.6.5.4 State Buttons

State Buttons display the state of a sensor, thruster, etc. In this example,
Figure 3-23, the states of DGPS 1 are online, in Green, and offline, in Gray.

Figure 3-23. Typical State Buttons

3.6.5.5 Buttons Available/Unavailable for Change

Buttons that are available for change by the operator appear to stand out
from the screen. Buttons that are unavailable for change by the operator
appear to be recessed. In this example, Figure 3-24, the Chart button is
available and the Overview button is unavailable for change.

Figure 3-24. Button Available/Unavailable for Change

3.6.6 Image Sticking Effect on LCD Displays

Copied from Hatteland document: Image_sticking_lcd - rev 03 - 12 Sep 2008,
which may be found on enclosed CD.
Image Sticking on LCD Displays
The Image Sticking Effect is a faint outline, or ghosting of the original image,
even when you change the picture content. LCD TVs do not suffer from burn-
in like plasma screens, but they still suffer from image retention when a static
or semi-static image is left displayed on the screen for too long. Remark that
though burn-in in plasma televisions and image sticking in LCD display panels
both result in image retention or ghosting on the display panel, yet burn-in
and image sticking are two different phenomena. Image retention in LCD
panels is often referred in the LCD industry as 'image sticking', and it is a
common problem that all manufacturers have. As with burn-in, image sticking
is a phenomenon where a faint outline of a previously displayed fixed or semi-
fixed image remains visible on the screen even when the image is changed.
The intensity of image retention depends on various factors, not just how long
the static image has been displayed on the screen. Issues such as image
design, operating temperature, should also be factored in.

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What are the reasons for Image Sticking in TFT LCD Displays?
The LCD sticking phenomenon appears as soon as the liquid crystals differ
from their desired position. Different reasons may cause this effect, but not all
of these mechanisms can be determined technologically. This polarization
takes place at the liquid crystal level in the LCD panel; it affects the crystals'
optical properties as it prevents the liquid crystals to return fully to their
normal 'relaxed' state upon deactivation. The effect can be recognized when
static video content is displayed for long period of times. So it is always a risk
to use a LCD monitor over days, weeks and months by displaying static
contents. If then the content suddenly change, parts of the old content
becomes visible as "shade". This wear and tear effect can worsen by
unsuitable application methods. This results in a parasitic charge build-up, or
polarization, within individual pixels and sub-pixels. The severity of the
resultant image sticking would - as pointed out above - vary among different
brands, and depends on several factors including operating temperature, time
the static image remained on, and the image pattern, contrast and brightness
levels.
Is Image-Sticking Reversible?
Yes, unlike permanent burn-in in phosphor-based displays, image sticking in
LCD panels can often be reversed to a point of total invisibility. However, the
extent to which image sticking can be reversed depends on the severity of the
causes that eventually led to image retention; top of the list is the
environmental temperature at which image sticking took place. A simple way
to remove a retained image on an LCD panel is to run an all-white screen
saver for several hours. It would generally help if this image sticking reversal
operation were run at an elevated temperature of around 40 deg. Celsius.
This should help speed up the reversal process. If the image sticking
appeared recently, try turning off the LCD display for a longer period than the
time it took for the static image to cause image retention.

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Avoiding or minimize the Image-Sticking Effect

1. Controlling the environment temperature: The monitor should be used
in an air conditioned area. Temperatures above 25° degrees Celsius
accelerate the Image Sticking effect.
2. Using an external stand-by controller: The monitor should not (if
possible) longer be ON more than 18 hours per day and with the help
of an external stand-by controller be switched OFF.
3. Using a screen saver: Activate the screen saver function by displaying
white or black image/background and/or inverse the display image.
4. Using Picture rotation: To compensate similar load by static images
enable the picture rotation function of the monitor.
5. Toggle between static and animated images: Change the content to
animated images or movies after 5 minutes for approximately 15
seconds.
6. Design uncritical images: Avoid huge contrast ratios in the images.
Best is, foreground and background should be colors with similar
brightness.
3.7 AUDIBLE ALARMS
The NMS6000 DP System generates the following distinct sounds through
the internal computer speakers:
 A continuous “high-low” tone indicates unacknowledged alarms. Refer to
Chapter 12 for more information on NMS6000 DP System Alarms.
 A single “beep” indicates an error message. The text of any error message
is displayed on the Status/Prompt Window. Refer to Section 12.1 for
details on this portion of the NMS6000 DP System Display Screen.
 A continuous low “foghorn” tone indicates the <SWITCH TEST> function has
been selected.
 A repetitive “blip” tone indicates an unacknowledged Consequence
Analysis alarm.

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4. OPERATIONAL THEORY
Although Dynamic Positioning Operations can involve many maneuvers and
vessel commands that are too numerous to mention in this chapter, the
following DP theory definition may prove useful:
 A Dynamic Positioning (DP) System controls the output of a vessel’s
thrusters, propellers, and rudders automatically maintaining position
(fixed or relative) and heading goals without the need to anchor or
moor, while simultaneously compensating for wind, current, and other
factors that would drive the vessel off-station if left unchecked. Figure
4-1, provides a general illustration of this process.

Commanded
Position/Heading

Position/Heading Thruster
Control Algorithm Allocation Logic

Reference Wind
Position/Heading Compensation

DP Control System

Wind
Forces

Wave Surface
Forces Current
Force

Hydrophone
Thruster Thruster

Beacon

Figure 4-1. Dynamic Positioning System Operation

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4.1 DP SYSTEM TERMINOLOGY

4.1.1 Actuator
A component of a control system that changes the system’s output to meet a
given goal. The DP System uses thrusters as actuators. Refer to Comparator
and Controller for additional information.
4.1.2 Backup and Manual Independent Backup Joystick Operator
Workstations
The Backup Operator workstation(s) provide the Operator with redundant
control stations. An Automatic Backup (or Hot Backup) will immediately take
control if the Master fails. A Manual or Independent Backup requires the
Operator to manually transfer control.
4.1.3 Bias
Listed are the following distinct definitions of bias as it applies to the DP
System:
 Thruster Biasing maintains some thrust level for selected online thrusters,
oriented so as not to move the vessel off-station (usually pointing toward
each other or at the center of the vessel), thus reducing variations in
azimuthing commands in light environmental conditions. Thruster Biasing
(or Power Biasing) is also used to increase load on the diesel engines,
allowing them to run more efficiently.
 Sensor Biasing is a means of programming all position reference sensors
to agree with the Origin Reference Sensor, by determining the differences
between their position (in X & Y coordinates) and that of the Origin
Reference Sensor, then compensating for these differences.
 Joystick Bias – When in HOLD POSITION and/or HOLD HEADING or
TRANSIT modes, the NMS automatically calculates the integral forces
needed to counteract steady-state environmental conditions. When
transferring to MANUAL (JOYSTICK) CONTROL, the NMS automatically
transfers any such integral forces to the joystick allowing the vessel to
remain in place without any immediate use of the manual controls. This
transferred integral force is the “Joystick Bias.”
4.1.4 Center of Rotation (COR)
This is the nominal Center of Rotation (COR). It is the vessel’s natural turning
point. Some vessels are equipped with an operator-defined Remote COR
feature. See Section 7.3.2, Remote Center of Rotation (COR), for more
information.
4.1.5 Comparator
A Comparator compares a measured value, such as heading, to the setpoint,
and calculates the deviation, error, and/or excursion.

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4.1.6 Controller
A Controller determines the amount of control necessary to compensate for
the calculated deviation determined by the Comparator. A Controller is also
known as a Proportional Integral Derivative (PID) Controller.
4.1.7 Cycle (Control) Time
Measures data, initiates control changes, and displays information at
½-second intervals.
4.1.8 Differential Global Positioning System (DGPS)
DGPS is an enhancement to Global Positioning System (GPS) that uses a
network of fixed ground based reference stations to broadcast the difference
between the positions indicated by the satellite systems and the known fixed
positions.
4.1.9 Deviation (Control Error)
The deviation is the difference between the Instantaneous Setpoint (see
Setpoints below) and the measured (feedback) reading of the vessel’s current
position or Heading. Deviation is often abbreviated as “Diff” on DP System
Display Pages.
4.1.10 Environmental Sensors
Provide the following data:
 Wind Speed and Direction
 Vessel Heading
 Vessel Pitch, Roll, and Heave
Depending on the vessel’s DP System configuration, each vessel has a
unique set of environmental sensors.
4.1.11 Master Operator Workstation
Provides for primary centralized control of DP System vessel navigation,
propulsion, and electrical power generation.
4.1.12 Moment
A force acting at a distance which has the effect of rotating the vessel around
its center (see Yaw).
4.1.13 Origin
Central coordinate point, in Earth axes, of the Coordinate Reference Grid. It is
centered on the Deviation Display when the Display Center is set to “Origin”
(see Section 6.4.2). It is the 0,0 center point for all position reference
systems. An Absolute Setpoint is relative to this origin. This coordinate may
be changed as desired on one of the SETUP PAGEs, Figure 7-7. See also
Section 6.4.2.1, Additional Deviation Display Symbols.

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4.1.14 Pages/Screens
Presents information through the Touchscreen Displays of the DP System
Master, Backup, and Manual Independent Backup Joystick Operator
Workstations. This manual uses the terms “pages” and “screens”
interchangeably.
4.1.15 Position Reference Sensors
Position sensors provide measurements relative to their respective local
origins (fanbean = reflector, hydro acoustic sensor = beacon, DGPS = origin
reference position, tautwire = clump weight, etc). See Section 4.4.5 for the
Origin Reference Sensor.
4.1.16 Setpoints
The DP System uses Absolute, Goal and Instantaneous Setpoints as follows:
 Absolute Setpoint is relative to the Origin of the Coordinate Reference
Grid.
 Goal Setpoint represents the vessel’s ultimate position or heading goal
and the value entered by operators when executing a setpoint prompt
sequence.
 Instantaneous Setpoint is generated on a cycle-by-cycle basis by the
setpoint routine. It represents the heading and position the DP System is
attempting to hold or move the vessel to at any given time. When the DP
System moves the vessel from point A (vessel’s current position) to point
B (Goal Setpoint), the system gradually moves the Instantaneous Setpoint
across a range of points, step-by-step, from A to B. See Figure 4-11. In
Track Follow Mode, the instantaneous setpoint is known as the trackpoint.
4.1.17 Surge
Fore/Aft direction of movement of the vessel, Figure 4-10.

4.1.18 Sway
Port/Starboard direction of movement of the vessel, Figure 4-10.

4.1.19 Yaw
Rotation of the bow around the vessel’s center of rotation (COR), Figure 4-10.

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4.2 SIGNING CONVENTIONS

4.2.1 Ship Axes Signing Conventions
The DP System recognizes Fore and Starboard as positive numbers, Aft
and Port as negative numbers, as illustrated in Figure 4-2.

A F T (-) N E G A T I V E N U M B E R

P O R T (-) N E G A T I V E N U M B E R

S T A R B O A R D (+) P O S I T I V E N U M B E R

F O R W A R D (+) P O S I T I V E N U M B E R

Figure 4-2. Ship Axes Signing Conventions

4.2.2 Earth Axes Signing Conventions

The DP System recognizes North and East as positive numbers, South and
West as negative numbers, as illustrated in Figure 4-3.

NORTH (+) POSITIVE NUMBER

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

SOUTH (-) NEGATIVE NUMBER

Figure 4-3. Earth Axes Signing Conventions

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4.2.3 Pitch, Roll, and Heave Signing Conventions

The DP System recognizes Port Side Up and Bow Up conditions as positive
numbers, Starboard Side Up and Stern Up as negative numbers, as
illustrated in Figure 4-4.

Waterline FWD

Bow Up = Positive Pitch

STBD

Port Side Up = Positive Roll

Waterline

Upward Movement = Positive Heave

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

4.2.4 Clockwise/Counterclockwise Signing Conventions

The DP System labels Clockwise Data as positive (+) and Counter-
Clockwise Data as negative (-).

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4.3 DP SYSTEM CONTROL LOOP

Automatic DP System Control Loops operate in heading, surge (fore/aft), and
sway (port/starboard) degrees of freedom. The DP System Control Loop,
Figure 4-5, is comprised of t he following main elements:
 Comparator
 Controller
 Actuator
Heading
Setpoints: Set
by Operator
Measurement Errors

Heading Control
Deviations Signals
Heading
Measurements
Comparator Controller Actuator
via
Sensors

Vessel Movement Thrust

Disturbing Forces:
Wind
Wave
Current

Figure 4-5. DP System Control Loop

4.3.1 Comparator
Compares the vessel’s estimated position or heading to the instantaneous
setpoint, thus calculating the deviation, error, or excursion. The Comparator
must constantly re-establish the deviation during automatic DP System
operation, as the control process actively minimizes the difference between
the estimated values and the instantaneous setpoints.

The estimated position, determined by a Kalman filter, uses position

measurements from sensors, controller commands, and a simple vessel
model. The estimated heading is determined by blending and wave filtering
inputs from the online gyrocompasses.

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4.3.2 Proportional, Integral, and Derivative (PID) Controller

The PID Controller determines the amount of control to be exercised in order
to compensate for the calculated deviation, determined by the Comparator.
The output of the Controller equals the sum of the following three elements:
Proportional, Integral, and Derivative.
 Proportional - calculates control force in proportion to the measured
deviation. The amount of control force for a given deviation, also
known as gain, is determined by the bandwidth, stored in the DP
System database and set during sea trials. No other mitigating factors
are allowed to influence the calculation of the needed Proportional
control force. The Proportional term simply attempts to minimize the
deviation between the measured heading and/or position and the goal
setpoint(s).
 Integral - calculates control force in terms of the measured deviation and
elapsed time. The Integral thus builds slowly over time and is designed
to compensate for steady-state environmental forces such as current
and waves. Over time, the Integral builds to a level sufficient to hold
heading and/or position without cyclical increases and decreases in
thruster force, assuming the steady-state environment forces are not
augmented by other factors. However, Integral also degrades slowly.
When a new heading and/or position goal setpoint is selected, and the
environmental forces strike the vessel from a different direction, the
built-up Integral may, in fact, move the vessel further off-station. The
Controller attempts to mitigate this effect by “rotating” integrals during
heading maneuvers. See Chapter 9, DP System Operational Hints, for
more information.

Note - Large, rapid heading changes may negatively affect the vessel’s
station-keeping ability if the built-up Integral and/or the surface
current estimate are incorrect.

 Derivative - determines control force in relationship to the vessel velocity

by helping with smooth acceleration and deceleration. Additionally,
Derivative limits goal overshoot.

 Example - Derivative slows the vessel down as the deviation between

the measured heading and/or position nears the goal
setpoint(s).

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4.3.3 Actuator
Acts in response to Controller commands. The actuator consists of the
Thruster Allocation Logic (TAL) and the thrusters themselves. The TAL
converts the Controller’s surge, sway, and yaw axes commands into
individual commands for each thruster. When summed, these commands
should satisfy the overall surge, sway, and yaw commands of the controller.
In systems where the rudders are controlled by the DP System the Actuator
outputs rudder commands.
4.4 POSITION SENSOR PROCESSING CONCEPTS
4.4.1 Sensor Noise
Sensor Noise is a measure of the standard deviation of the position reference
sensor data, adjusted for steady motion of the vessel, over the last several
minutes. Noise readings are shown on POSITION REFERENCE PAGE 1.
4.4.2 Noise Rejection Logic
Noise Rejection Logic (NRL), as illustrated in Figure 4-6, functions to screen
each individual measurement to detect and eliminate "outlier" measurements
(“Rejected Data” in Figure 4-6). The rejection function is executed on all
position reference sensors supplying data to the DP System.

Rejected Data
Adaptive Rejection Threshold

Data Average

Data Stream

Figure 4-6. Noise Rejection Logic Illustration

Noise Rejection Logic (NRL) continually calculates an adaptive rejection
threshold window. This window acts as a "peak detector" comparing the
difference between each new measurement and past values. It rejects spikes
that lie significantly beyond the expected deviation about the mean. When the
measurements are widely spaced, the adaptive rejection threshold window
grows wider in order to accommodate more of the data stream. As the data
tightens around the mean, the adaptive window shrinks.
On subsea position sensors, the NRL Window is scaled to allow more noise
for beacons submerged at lower depths. However, it should be noted that
beacons cannot be configured above the DP System minimum depth setting
(Setup Menu 1, if configured).

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4.4.3 Sensor Jumping

Sensor Jumping is caused by the average filtered position moving to a point
outside the Noise Rejection Logic adaptive window and then remaining
stable.
As illustrated in Figure 4-7, the DP System rejects this data and generates
appropriate alarms. Operators must then determine if cycling the sensor off
and online to take advantage of the new stable position is appropriate.

POSITION
REFERENCE NOISE REJECTION LOGIC
SENSOR ADAPTIVE WINDOW
DATA

JUMP

SENSOR DATA NOW STABLE BUT REJECTED

Figure 4-7. Sensor Jumping

4.4.4 Median Testing
Median Testing rejects any individual values significantly different from the
collective data values from all position reference sensors. The median value
is determined from online, initialized sensors. Then values from every online
sensor are compared to the median value.
When the difference is greater than the MEDIAN ALARM THRESHOLD, entered on
the SETUP PAGE(s), the DP System generates a “Median Test Alarm.” The
sensor providing the faulty data is eliminated from the pool of readings used
to compute the vessel’s estimated position. Refer to Section 7.4.1.3 for
additional information on setting the MEDIAN ALARM THRESHOLD.
When the distance from the measurement median to the nearest data point is
greater than the MEDIAN ALARM THRESHOLD, the DP System generates a
“Divergence Alarm”, indicating that readings from all sensors are drifting
apart.

Note – There must be at least three sensors online for the system to
detect divergence.

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4.4.5 Origin Reference Sensor

The Origin Reference Sensor is a crucial element in understanding and using
the DP System.

Note - The first position reference sensor placed online is automatically

set as the Origin Reference Sensor.
When operators place multiple, non-alarmed position reference sensors
online, the system computes bias correction values (in the North and East
coordinate frame) for each additional sensor relative to the Origin Reference
Sensor. These stored bias correction values are equal to the difference
between the Origin Reference Sensor’s and the respective sensor's low-
passed (averaged) data. As illustrated in Figure 4-8, the DP System adds bias
correction values to the raw values reported by the respective position reference
sensors. These “corrected” positions are virtually identical to position reported
by the Origin Reference Sensor.
When more than one unalarmed position reference sensor is online, operators
can select a different Origin Reference Sensor. Refer to Section 7.9 for details.
Position Reference Sensor:
2 meters North, 2 meters East of
Origin Reference Sensor.

Reported position = +2, +2

Stored biases = -2, -2.

Position Reference Sensor:

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

Reported Position = 0, +3

Stored biases = 0, -3.

Position Reference Sensor:

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

Reported Position = -4, -3

Stored biases = +4, +3.

Figure 4-8. Position Reference Sensor Biasing

The stored bias correction values are continually added to the measured
values from the sensor. Once established, they are fixed in magnitude until a
Position Reference Calibration is performed by selecting the <CALIBRATE>
button on a POSITION REFERENCE PAGE. This fixing prevents
deterioration in the reference sensor data from affecting other sensors or
contaminating the overall position estimate. The <REFERENCE CALIBRATION>
button is found on the Position Reference Page, Section 7.9.
In addition to acting as a reference source for all other position reference
systems, the coordinate system origin used by the Origin Reference Sensor
becomes the base coordinate origin for the DP System.
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4.4.6 Sensor Weighting

Sensor Weighting is assigned to each sensor based on the inverse of the
noise. The POSITION REFERENCE PAGE displays the weight assigned to the
sensors. After passing through noise rejection logic and biasing, the position
reference sensor measurements are combined, as illustrated in Figure 4-9,
using the inverse noise-weighted average forming a single “measurement.”
Low Noise

High Noise

Low Weight High Weight

Figure 4-9. Sensor Weighting
4.4.7 Sensor Drift
Drift is the tendency of a given sensor to report different positions over a span
of time when the vessel has not moved.
The DP System calculates the instantaneous bias between every regular
position sensor and the Origin Reference Sensor, to determine if a sensor is
drifting. The difference between the instantaneous bias and the stored bias,
equals the Sensor Drift, displayed on the POSITION REFERENCE PAGE.
4.5 POSITION ESTIMATING
4.5.1 Position Sensor Blending
The NMS6000 computes a single vessel position measurement based on the
position data from all non-alarmed position reference sensors. It incorporates
instantaneous noise levels and offset biases. This process cycles
continuously at approximately 250 milliseconds per cycle.
1. If a cycle's datum passes the Noise Rejection Logic, the variance and
standard deviation figure is updated. Variance is calculated as the result of
a low-pass filter operating on the square of the difference between the
datum and its average value as computed via an additional low-pass filter.
Standard deviation is the instantaneous square root of the running
variance figure.
2. If the sensor is turned off, alarm flags are zeroed along with all
intermediate parameters.
3. If the sensor has just been turned on and all other sensors are inactive, it
becomes the Origin Reference Sensor. The data rejection window,
position state estimates, and all intermediate values, such as filter past
values, will be initialized.
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4. A bias is calculated between each sensor and the Origin Reference

Sensor by differencing outputs of low-pass filters associated with each
sensor axis.
5. The blended measurement is a weighted average using the inverse of
standard deviation (noise) figure for each measurement as its weight.
The result of each process cycle is the “New Position Estimate” used by the
Kalman Filter (see below).
4.5.2 Low-Pass Wave Filter
This filter removes high frequency position variations caused by wave motion
and executes third-order filters on both the blended position and the heading
estimates, yielding filtered results. Digital difference equations are employed
to affect the low-pass filter. Low-pass wave filter characteristics are
established by the gain compute module, which establishes the frequency as
a linear function of selected control axis bandwidth.
4.5.3 Notch Filter
In selected applications, a notch filter may be applied to the Proportional and
Derivative terms of the Controller to prevent the DP System from driving the
vessel at its natural roll frequency. The frequency of the filter is set during sea
trials by a L-3 DP&CS analyst, or may be set automatically to the estimated
natural roll frequency of the vessel as determined by roll data from the
vessel’s vertical reference sensors.
4.5.4 Kalman Filter
The Kalman Filter is an efficient recursive filter that estimates the state of a
dynamic system from a series of incomplete and/or noisy measurements. The
Kalman Filter consists of the following:
 Measurement Update
 Model Propagation
4.5.4.1 Measurement Update
This function of the Kalman filter incorporates new position measurements
into the estimated vessel position. A simple position and rate gain are
required for each axis.
For each axis the measurement update step is exercised if the axis of interest
is under automatic control and if a blended measurement is available.

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The actual estimate update progression is:

Residual = filtered data – past position estimate
New Position Estimate =
past position estimate + (pos Kalman gain * residual)
New Rate Estimate =
old rate estimate + (rate Kalman gain * residual)
For the Position States of Surge and Sway, the New Rate Estimate
calculation requires a coordinate transformation to body axes for the residual.
Position estimates (New Position Estimate) are in North/East axes.
4.5.4.2 Model Propagation
The vessel Model Propagation incorporated with the Kalman filter accounts
for expected vessel acceleration from the commanded thrust.
Acceleration is determined by the Proportional and Derivative terms of the
Controller divided by the vessel’s mass (see Section 4.3.2 for PID Controller).
The acceleration is propagated and incorporated in the velocity estimate,
which in turn is propagated and incorporated in the vessel position estimate.
This imbedded model greatly improves position determination in the presence
of data and provides a reliable estimate during data loss (i.e. DEAD
RECKONING).
4.6 ENVIRONMENTAL SENSORS
Environmental sensors consist of:
 Gyrocompasses (Gyro)
 Wind Sensors
 Vertical Reference Sensors (VRS) consisting of:
• Vertical Reference Units (VRU)
• Motion Reference Units (MRU)
 Current Estimator (not an actual sensor, but a software estimate)
Gyrocompasses (Gyro) associated with the Dynamic Positioning System
are capable of giving the vessel’s True North heading with an accuracy of
<0.1º. In order for the NMS6000 to dynamically position the vessel, at least
one gyro must be online. The system uses gyro data to update the estimated
heading and the heading rate of change. See Section 7.8.1, Gyrocompasses,
for more information.
Wind Sensors provide wind sensing data, consisting of speed and direction,
to allow the DP System to compensate for aerodynamic forces acting on the
vessel. See Section 7.8.2, Wind Sensors, for more information.

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Vertical Reference Sensors (VRS) consist of Vertical Reference Units

(VRU) and/or Motion Reference Units (MRU). These provide vessel pitch and
roll data with an accuracy of ±0.3o (VRU) or pitch, roll and heave data of
±0.04o (MRU). See Section 7.8.3, Vertical Reference Sensors, for more
information.
The Current Estimator provides data consisting of calculated and estimated
current speed and direction. See Section 7.8.4, Current, for more information.
4.7 STATION KEEPING CONTROL LAW
The Station Keeping Control Law function computes the thruster control
commands that go to the Thrust Allocation Logic (TAL). It accommodates
both manual and automatic position control modes. When manual mode is
active for a given Control Axis, (Surge, Sway, and Yaw). See below.
The Station Keeping Control Law zeros all PID components of the auto
command equation.
When both HOLD HEADING and HOLD POSITION MODES are selected
(HOLD HEADING HOLD POSITION), the Station Keeping Control Law first
computes position errors in body axes and then checks them for excessive
error. When errors are excessive, alarms are set. Control forces are
computed utilizing the position errors, rate setpoints and estimates, steady-
state force estimates and DP Control Gains utilizing the following
relationships:
Integral = integral + (int gain * offset * cycle time)
Prop-Rate = (prop gain * offset) + (accel cmnd * mass * accel switch) +
(rate gain * rate error signal) + integral
Lastly, the per-cycle change in the controller forces is limited.

Surge

Sway

Yaw

Figure 4-10. Control Axes

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4.8 SETPOINT SELECT

Setpoint Select is a routine that generates setpoints when automatic control
of position is engaged. The following setpoint concepts are involved: Goal
and Instantaneous.
 Goal Setpoint represents the vessel’s ultimate position or heading goal
and the value entered by operators when executing a setpoint prompt
sequence.
 Instantaneous Setpoint is generated on a cycle-by-cycle basis by the
setpoint routine. It represents the position/heading the DP System is
attempting to hold/move the vessel to at any given time. When the DP
System moves the vessel from point A (vessel’s current position) to point
B (Goal Setpoint), the system gradually moves the Instantaneous Setpoint
across a range of points, step-by-step, from A to B. See Figure 4-11. In
Track Follow Mode, the instantaneous setpoint is known as the trackpoint.
The routine actually yields three control setpoints for each control axis: one
each for position, velocity, and acceleration. The algorithm ramps the velocity
of the instantaneous setpoint change from zero up to the desired velocity. It is
then held constant as long as deceleration is not required.
Look-ahead logic determines when the setpoint velocity needs to be ramped
back down to zero so the vessel decelerates appropriately to stop at point B.
See Figure 4-11.
4.9 DEAD RECKONING
The Dead Reckoning system is capable of continued operation during a
temporary loss of all position sensor or gyrocompass information. This dead
reckoning function estimates the vessel’s present position and speed based
on past positions, past rates, any available wind sensor input, and the Kalman
vessel model.

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4.10 MANEUVER PROCESS OVERVIEW

The speed the DP System executes a maneuver grows linearly from zero to
the maximum position or heading rate of change, as illustrated in Figure 4-11.
The system maintains maximum velocity, whether the maneuver involves a
change in heading or position, until deceleration becomes necessary. The
velocity then decreases to zero, also linearly, to conclude the maneuver.
Position maneuvers over short distances may not reach the specified
maximum rate before it is necessary to decelerate to a stop at the new
position. Figure 4-11 shows the profile of instantaneous setpoints as the
vessel relocates from A to B. In the lower part of the illustration, the position,
velocity and accelerator setpoints are shown graphically. The setpoint or
maximum rate may be changed while an automatic maneuver is already
underway.

Goal
Setpoint

Actual Vessel
Movement
Instantaneous
Instantaneous Setpoint at t2
Setpoint at t1 Goal
Setpoint
Position

Setpoint

0
Setpoint
Velocity

0
Acceleration
Setpoint

t1 t2
Time

Figure 4-11. Position Maneuver Profile Illustration

If the DP operator wishes to halt the vessel at its current position or heading,
then selecting the <CURRENT HEADING> or <CURRENT POSITION> buttons (on
the Heading Setpoint Selection or Position Setpoint Selection dialog
boxes, shown below) will change the setpoint to the current heading/position.
Alternately, the DP Operator may take the DP System out of automatic mode
(i.e. out of Hold Heading and/or Hold Position), thus placing it into full Manual
Control, and halt the vessel manually.

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4.11 PRIMARY CONTROL MODES & FUNCTIONS

The NMS6000 permits several combinations of automatic and manual vessel
control modes. Chapter 8 describes these Operational and Automatic Modes
in detail, but the major control methods are described below.
4.11.1 Hold Heading
HOLD HEADING mode automatically maintains the vessel at a fixed heading.
The DP System compares the aggregate gyro readings to the instantaneous
heading setpoint, then generates thruster signals to minimize the deviation
between them. The operator can also use this mode to automatically drive the
vessel to a new heading by entering a new heading setpoint. Refer to Section
8.2 for additional information.
4.11.2 Hold Position
HOLD POSITION mode automatically maintains the vessel at a fixed location.
The Master Operator Workstation reads data from the DGPS, acoustic, and
other position reference systems, uses a Kalman filter to estimate the vessel’s
actual position, compares this data to the desired position setpoint, and
generates thruster control signals to minimize the deviation between them.
The operator can also use this mode to automatically drive the vessel to a
new location, by entering a new position setpoint. HOLD SURGE & HOLD
SWAY modes are also available. Refer to Section 8.3 for additional
information.
When the operator selects HOLD POSITION in conjunction with HOLD
HEADING, the DP System assumes complete automatic control of position
and heading.
4.11.2.1 Hold Flexjoint
The optional HOLD FLEXJOINT sub-mode of HOLD POSITION maintains a
desired angle at the Flexjoint, measured by both acoustic and electric riser
angle sensors. The system generates thruster commands to reduce any
deviation between the actual angle and the commanded angle. This mode is
installed on drillships only.
4.11.3 ROV Follow
Tracks an ROV through an acoustic beacon. ROV Follow then generates
thruster commands driving the vessel to pursue the ROV, and maintain any
offsets set by the operator. Operators can also set a reaction radius around
the reported position of the ROV beacon enabling the NMS6000 DP to move
the vessel only when the ROV moves outside of this radius.

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4.11.4 Track Follow

4.11.4.1 Low Speed Track Follow (LSTF)
See next.
4.11.4.2 High Speed Track Follow (HSTF or AutoTrack)
TRACK FOLLOW mode, controls vessel position and heading along a
predefined track with a high degree of accuracy. When TRACK FOLLOW is
active the track generator continuously moves the trackpoint, or
instantaneous setpoint, along the track. Trackpoint speed and heading is
either directly controlled by the operator or derived from a predefined track
definition. Movement between waypoints is always defined in position, speed
and heading.
Waypoints have several attributes such as target speed, target heading and
turning radius. The latter allows for smooth transition between track legs.
Tracks can be created in either Absolute or Relative format. Absolute tracks
are defined by waypoints in Lat/Lon format whereas relative tracks are
defined by waypoints stored in Northing/Easting format. The relative format
enables one and the same track to be used at different locations, which may
be useful for search operations. Refer also to Section 8.5, Track Follow.
4.11.5 Manual Control (JSTK)
Uses the <POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>
on the Operator Workstations to control the vessel through the DP System.
The <POSITION CONTROL JOYSTICK> can also function as a manual control
device when the vessel operates in HOLD HEADING. Similarly, the <HEADING
CONTROL KNOB> can provide manual control of the vessel’s heading when in
HOLD POSITION MODE.
When any axis is in MANUAL MODE, the command going to the actuator for
that axis is from the <POSITION CONTROL JOYSTICK>. For instance, when in
HOLD HEADING and MANUAL POSITION, the Yaw axis is controlled by the
PID, whereas the Surge (F/A) and Sway (P/S) axes are controlled by the
<POSITION CONTROL JOYSTICK>. (See Section 4.3.2 for Proportional, Integral,
and Derivative (PID) Controller.)
4.11.6 Hold Area Mode (HAM)
HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is
provided to allow reduced control activity while maintaining the vessel in the
general area of the goal position. Refer to Section 8.7 for additional
information on HOLD AREA MODE (HAM).
4.11.7 Remote Center of Rotation (COR)
The Remote Center of Rotation (COR) mode allows for rotation about any
arbitrary point on the vessel as measured offset from the vessel’s nominal
Center of Rotation. Refer to Section 7.3.2 for additional information.

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4.11.8 Active Wind Compensation (AWC)

Utilizes wind speed and direction information from the wind sensors, and a
virtual model of the vessel’s aerodynamics, to compute the wind forces on the
vessel. These forces are used to command the thrusters in reaction to the
wind force to provide a fast acting response particularly in gusty conditions.
AWC can be enabled or disabled by the operator in any operational mode
directly by switch or indirectly by deselecting sensors. Refer to Section 8.6 for
additional information.

Note – Wind Compensation (WIND COMP) mode must be ON for the

Current Estimator (Section 7.8.4) to operate.
4.11.9 Auto Heading for Minimum Thrust (AHMT)
AHMT is used in conjunction with HOLD POSITION and HOLD HEADING
modes. When active, it automatically adjusts the vessel’s goal heading
setpoint to attempt to minimize the lateral (port/starboard) thruster
requirements by pointing the bow or stern of the vessel into the strongest
environmental forces. This is usually in the direction of the prevailing weather.
Operators can also use this mode to automatically maintain thrusters in a
standby minimum thrust mode (for power saving) and bring the thrusters
online as needed.
Refer to Section 8.8 for operation.

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5. MASTER/BACKUP OPERATOR CONTROL
All NMS6000 DP Systems, with the exception of DPS-0, have a redundant
architecture with Master and Backup Operator Workstation. This chapter
addresses the relationship between Master, Backup, and Independent
Backup Operator Workstation.
5.1 MASTER/BACKUP MODES DEFINED
Each DPS–1/2/3 Operator Workstation can be configured as either a Master
or a Backup. The Master Workstation is responsible for control of the DP
system. It receives all sensor and operator inputs and communicates
commands to external devices (e.g. thrusters, rudder). Backup Workstations
process all sensor and operator inputs, just like the Master, and continuously
compute commands for the external devices. However, only the Master
Workstation commands go through the Signal Processing Units (SPU) and
are executed by the external devices. Since the Backup Workstations
process the same inputs as the Master Workstation, they are ready to
assume immediate control if and when necessary.
There are three different Backup modes.
1. Automatic (Auto) – Auto Backup mode is only available on DPS-2 or
DPS-3 systems and is always configured between DP Stations #1 & #2. In
this scenario, DP #1 & #2 are known as the Hot Backup Pair. When one
of the DP Stations (#1 or #2) is the Master, then the other DP Station is
the Auto Backup. The Auto Backup will automatically take control and
assume Master status if it detects the current Master Operator
Workstation is faulting or otherwise unstable.
2. Manual – DPS-3 systems have a third Operator Workstation, DP Station
#3, which is configured as a Manual Backup console. The DP operator
must manually take control from the Master by using the NMS ONLINE
display button or <ASK ONLINE> Auxiliary switch.
3. Independent – Included with DPS-1/2/3 systems, Independent Backup
consoles are “stand alone” stations that do not communicate with the
other DP Operator Workstation(s) and are usually a Joystick System. A
DP Selector Switch separates Independent Backup consoles from the
other DP consoles (see Figure 5-2, Figure 5-3, and Figure 5-4). The DP
operator must rotate the DP Selector Switch to the Independent Backup
position in order to take control at that station.

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Note – The Master DP and Independent Backup DP station,

separated by the DP Selector Switch, both “think” of
themselves as the Master regardless of which way the switch
is set. The Operator Workstation title bar will remain blue on
both stations, but only the true Master, as designated by the
DP Selector Switch, will have a solid blue title bar. The other
station’s title bar will be flashing blue. A station with a
flashing blue title bar does NOT have control.
When the NMS6000 DP system is initially brought online, the DP operator
must determine which Operator Workstation will act as the Master. See
Section 5.3, Taking & Transferring Control of the DP System.
5.2 MASTER/BACKUP MODE STATUS
The Title Bar, generated at the top of each display screen, indicates the
status of the Operator Workstation.

Note – The Title Bars shown below are examples of typical NMS6000
DP systems. Actual Title Bars may vary depending on system
options and customization.
5.2.1 DPS–0 Master/Backup Mode Status
DPS-0 systems are comprised of one (1) DP Operator Workstation and do
not have a backup console.
5.2.2 DPS–1 Master/Backup Mode Status
DPS-1 Systems are comprised of one (1) DP Operator Workstation plus one
(1) Manual Independent Backup Joystick System. When the Primary DP
Control Station is the Master, control can be transferred to the independent
backup via the DP Selector Switch. This switch is normally located at the
primary DP console for easy operator access. Once control is transferred via
the Selector Switch, the Manual Independent Backup Joystick System
operator must touch the <YES> button on the Confirm Take Control on-
screen dialog box.
The display screen Title Bars on a DPS-1 system simply show whether that
particular DP Operator Workstation is the Master and is in control of the DP
system. Below are examples of Title Bars of the Master (NMS) and the
Backup (UNKN) DP consoles. The Backup does not communicate with the
Master, so as far as it is concerned, control status of the DP system is
unknown (UNKN).

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5.2.3 DPS–2/3 Master/Backup Mode Status

DPS-2/3 Systems are comprised of two (2) or three (3) DP Operator
Workstations plus one (1) Manual Independent Backup Joystick System. The
software module configured on each DP Operator Workstation is the same,
except for the Operator Workstation Identification Number shown in the Title
Bar at the top of the screen. The following three Title Bars are from a DPS-2
system.
The Title Bar below shows the status before the operator has taken control of
the DP System.

ID Number and Control Date & Status of

Master/Backup Status Status Time Other DP’s

As the DP Operator takes control and DP #1 (NMS1) becomes the Master,

the Title Bar changes from yellow to blue, M/B status changes to Master,
Control Status shows that NMS1 is in control, and that NMS2 is online and
operating OK.

DP #2 (NMS2) defaults to Automatic Backup (AUT BKUP) status.

DPS-3 system Title Bars are similar to the above, but also include the status
of the third DP station. The following Title Bars are examples from a DPS-3
system. Notice that NMS1 is the Master and in Control, NMS2 is the
Automatic Backup, NMS3 is the Manual Backup, and all stations are online
and operating OK.

Figure 5-1. Title Bar & Mode Status

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DPS–1/2/3 System Transfer Configuration Schematics,

Figure 5-2, Figure 5-3, and Figure 5-4:

Figure 5-2. Typical DPS-1 Transfer Configuration

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Figure 5-3. Typical DPS-2 Transfer Configuration

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Figure 5-4. Typical DPS-3 Transfer Configuration

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5.3 TAKING & TRANSFERRING CONTROL OF THE DP SYSTEM

5.3.1 Taking & Transferring Control of Master & Backup Stations
Taking control and transferring control of the Master DP console are done in
the same way. However, taking control is performed at the DP station that is
to serve as the Master once the system is brought online, and transferring
control is performed from a Backup station after initial startup. To perform
either function, take these steps:
1. Verify the Operator Workstation to become the Master is functional.
2. Touch the NMS ONLINE button on the Navigation Bar, see Figure 5-5.

Figure 5-5. NMS Online Button

3. Select <YES> on the Confirm Take Control dialog box, Figure 5-6.

Figure 5-6. Confirm Take Control Dialog Box

5.3.2 Taking & Transferring Control of Remote & Portable Joysticks
Control can be transferred to, or taken from, the Operator Workstation and
any one of the Portable Joysticks.

Note – The Operator Workstation’s <P JOYSTICKS> button on

ORTABLE
the MODE FUNCTION drop-down menu performs the same function
as the Portable Joystick’s <ACCEPT CONTROL> key switch button
mentioned below.

Note – The NMS6000 Title Bar, Section 6.1, indicates which station has
control of the DPS – either the Master Control Console or one of
the joysticks.

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CHAPTER 5: M ASTER/BACKUP OPERATOR CONTROL

Note – Clear Joystick Bias, see Section 7.6.2.2, prior to transferring

control to a Portable Joystick.
5.3.2.1 Transfer from Operator Workstation to Portable Joystick
Perform the following to transfer control from the Operator Workstation to one
of the Portable Joysticks:
1. Select the MODE FUNCTION drop-down menu on the NMS6000 Navigation
Bar, see Section 6.2.
2. Select the <PORTABLE JOYSTICKS> button from the MODE FUNCTION drop-
down menu.
 That button begins to flash green.
 The <ACCEPT CONTROL> key switch buttons start flashing on all of the
Portable Joysticks.
 The message “Joystick control in arbitration” appears in the Status
Message Window (see Section 6.4.3.3) on the Operator Workstation
display screen.
3. Press the <ACCEPT CONTROL> key switch button on the Portable Joystick
to be in control. This action causes all <ACCEPT CONTROL> lights to
extinguish except on the unit now in control, where it remains steadily
illuminated. Or press the <PORTABLE JOYSTICKS> button again to cancel
the transfer.
5.3.2.2 Transfer from Portable Joystick to Operator Workstation
Perform the following to transfer control from one of the Portable Joysticks to
the Operator Workstation:
1. Press the <ACCEPT CONTROL> key switch button on the Portable Joystick
that is in control.
 The <ACCEPT CONTROL> key switch buttons start flashing on all of the
Portable Joysticks.
 The <PORTABLE JOYSTICKS> button on the MODE FUNCTION menu
begins to flash green.
 The message “Joystick control in arbitration” appears in the Status
Message Window (see Section 6.4.3.3) on the Operator Workstation
display screen.
2. Select the MODE FUNCTION drop-down menu on the DPS Navigation Bar,
see Section 6.2.
3. Select the <PORTABLE JOYSTICKS> button from the menu.
5.3.2.3 Take Control Away from a Portable Joystick
Perform the following at the Operator Workstation to take control away from a
Portable Joystick.

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1. Select the MODE FUNCTION drop-down menu on the NMS6000 Navigation

Bar, see Section 6.2.
2. Select the <PORTABLE JOYSTICKS> button from the MODE FUNCTION drop-
down menu.
 That button begins to flash green.
 The <ACCEPT CONTROL> key switch buttons start flashing on all of the
Portable Joysticks.
 The message “Joystick control in arbitration” appears in the Status
Message Window (see Section 6.4.3.3) on the Operator Workstation
display screen.
3. Select the <PORTABLE JOYSTICKS> button again.
5.4 DPS–1/2/3 OPERATOR WORKSTATION SYNCHRONIZATION
The NMS6000 DP System provides for bumpless transfer of control from the
Master to the Backup Operator Workstations ensuring there is no change in
control outputs when the transfer is made. During normal operation (when the
Backup(s) are in agreement with the Master), all commands initiated at the
Master that affect system control are passed to the Backup(s). Commands
initiated at all Operator Workstations that do not affect system control (such
as for data display options) are allowed to take effect at the local Operator
Workstation but are not propagated to other controllers.
Commands initiated at Backup Operator Workstations affecting system
control are disallowed, and error messages appear at the respective displays
informing operators the Operator Workstation is not the Master and does not
control the NMS6000 DP System.
DPS-1/2/3 Operator Workstations operate in parallel, processing the same
data inputs and generating comparable data.

Note – There is one exception to this condition, the Backup tracks the
online controller integral variables and TAL assignments to allow
agreement between the systems.

5.5 INITIALIZING BACKUP OPERATOR WORKSTATIONS FOR DPS–2/3

When the Initialize Backup button on the Navigation Bar is pressed (see
Figure 5-7), several large data packets are sent from the Master to the
Backup(s). These packets ensure that the Backup(s) completely agree with
the Master on everything except for certain operator-selectable display
options. Such display options do not affect vessel control.

Figure 5-7. Initialize Backup Button

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CHAPTER 5: M ASTER/BACKUP OPERATOR CONTROL

On every control cycle, the Master also sends certain vessel control-related
data to update the Backup(s). These transmissions allow a bumpless
transfer of control.
Between Initialize Backup button presses, the Backups independently
calculate various control factors to ensure a corrupted Master does not cause
the Backup to become corrupted.
The Backup independently performs the same control calculations as the
Master, therefore it should not be necessary to press Initialize Backup
frequently, but only when a new Operator Workstation is first started, or when
operators notice that commands, position estimates, etc., on a Backup
Operator Workstation have drifted from those on the Master. However, since
the solution from the Master should be in agreement with the Backup (and
vice versa), an Initialize Backup command, in general, should not be
required.

Note - If frequent Initialize Backup commands are required to keep the

systems synchronized, then one or more of the controllers may
have a problem. In this case, inspect all Operator Workstations to
ensure they are operating properly.
When Initialize Backup is pressed on the Master, the message, “INIT
BACKUP Command Sent” is displayed on the Master’s Status/Prompt
Window. The necessary information is split into packets and sent over
several cycles to the Backups. When all the packets are received at a
Backup, the message, “INIT BACKUP Command Received” is displayed on
the Backup’s Status/Prompt Window.
When the message, “Not All INIT BACKUP Packets Received” is displayed
on the Backup’s Status/Prompt Window, then the data was corrupted in
transmission and the Backup initialization should be attempted again.
Because there is a delay in the transmission of the data, the Backups are
initialized with data slightly out of date. Therefore, it is best, when possible, to
select <INIT BACK-UP> when the NMS6000 and the vessel thruster commands
are not changing rapidly, the vessel is moving slowly, etc.

Note - Selecting <I BACK-UP> on an Auxiliary Backup Operator

NIT
Workstation does not initialize the Backup. Backup Initialization
must be performed from a Master console.

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6. DETAILED OPERATOR INTERFACE
The Display Screen Layout, Figure 6-1, shows the various command and
monitoring information sub-sections:

 Title Bar  Alarm Summary Window

 Navigation Bar  Last Alarm Window
 Detailed Display Page  Status Message Window
 Drop-Down Menu  Tabular Position Data
 Overview Page  Requested Forces %

DP Title Bar and Navigation Bar

Detailed Overview
Display PAGE
Page

Drop-Down
Menu Status Message Window
Tabular Last Alarm Window
Requested & Position Data
Total Forces % Alarm Summary Window

Figure 6-1. Typical DP System Display Screen Layout

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Note – The Menus and Displays shown in this chapter are examples of
typical NMS6000 DP systems. Actual Menus and Displays may
vary depending on system options and customization. See
Chapter 10 for Vessel Specific Menus & Display Pages.

6.1 TITLE BAR

The DP Title Bar, Figure 6-2, is positioned at the top of the DP Display
Screen. The following information describes the various data fields on the
Title Bar. See also Section 5.2, MASTER/BACKUP MODE STATUS, for
different examples of Title Bar configurations.

Figure 6-2. DP Title Bar

Blue: Workstation is acting as the Master.

Flashing Blue: Station does NOT have
Background Color control.
Yellow: Workstation is acting as a Backup.
Red: DP System is not in control or the
Control Processor is not communicating
with the Graphic User Interface.

System Status
When the Workstation is actively in control of
the system, the text “NMS” or “NMS#”
appears (with # being the DP station
number). Backup and Standby identifies
Workstations passively receiving sensor
inputs. See Chapter 5 for more examples.

Flashes between green and gray every cycle

Heartbeat (approximately every 0.5 seconds) to
indicate the program is active. “S” appears in
the heartbeat window when the DP System
is in “Simulation” mode.

Date/Time Electronic run date and time. Operators are

not able to change these values.

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6.2 NAVIGATION BAR

The Navigation Bar, Figure 6-3, is located underneath the Title Bar of the DP
Display Screen. The graphic buttons on the Navigation Bar perform a variety
of functions. Most buttons initiate a “Drop-Down Menu” for access to the
Detailed Display Pages described in Chapter 7.
The Navigation Bar buttons are described as follows:
 The two BACK/FORWARD arrow buttons (left end of Navigation Bar) allow
operators to toggle between previously displayed pages.
 The four blue back-grounded DP System buttons, (SETUP, SENSOR,
PROPULSION, and PLOT) produce “Drop-Down Menus” allowing operators to
select, monitor, and configure the DP System.

Note – The S ETUP button’s “Drop-Down Menu” additionally provides a

red SHUTDOWN button for use in shutting down the DP System,
refer to Figure 6-1.

 The MODE FUNCTION button calls up a “Drop-Down Menu” of the

available Control Modes.
 The HEADING AUTO/JSTK and POSITION AUTO/JSTK buttons call up
“Drop-Down Menus” for Automatic Maneuvers and/or enable use of the
TAL Controller (Joystick) for HEADING and POSITION maneuvering.
 The INITIALIZING BACKUP button is discussed in detail in Section 5.5.
 The ALARM SILENCE button silences the audible portion of the most
current flashing alarm and causes the alarm to become solidly
illuminated. This action allows the operator to observe and perform
corrective action on the most current alarm without enduring the noise
of the audible portion of the alarm. See chapter 12 for more information
on alarms.

Figure 6-3. Navigation Bar

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6.3 DETAILED DISPLAY PAGES & DROP-DOWN MENUS

Operators may select any of the DP System Display Pages listed below for
display as the Detailed Display Page on the left side of the Master (and
Independent Backup) Operator Workstation screen. The Overview Page is
always displayed on the right side of the Master (and Independent Backup)
display screen.
Backup Operator Workstations may have Detailed Display Pages on both
sides of the screen, see Section 6.3.2.
The following DP Detailed Display Pages are described in-depth in these
sections:

 SETUP PAGES – Sections 7.2 - 7.5  MODE FUNCTION PAGE – Section 7.6

 ENVIRONMENTAL SENSORS – Section 7.8  POSITION REFERENCE – Section 7.9

 THRUSTERS – Sections 7.11 & 7.12  POWER PAGES – Sections 7.13 - 7.15

 PLOT PAGE – Section 7.17  SIGNAL I/O – Section 7.18

 HOLDING CAPABILITY – Section 7.20  CHART PAGE – Section 7.21

 TRACK OPERATION – Section 7.22  WAYPOINT PAGE – Section 7.23

6.3.1 Detailed Display Pages – Selection

The buttons shown here on the Navigation Bar Detail, Figure 6-4, are used
to access the available Detailed Display Pages. See Chapter 7 for Drop-
Down Menus & Detailed Display Pages.

Figure 6-4. Navigation Bar Detail

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6.3.2 Detailed Display Pages – Backup Workstation

When operators are working on a Backup Operator Workstation, they may
choose to bring up a second Detailed Display Page, instead of the
Overview Page, on the right side of the display screen.

Note – Operators cannot display two Detailed Display Pages on the

Master Operator Workstation. The right side of the Master screen
is reserved for the Overview Page, Section 6.4.

Perform the following to view a second Detailed Display Page on a Backup

Operator Workstation screen:
1. Notice the “L” or “R” button in the upper left corner of the Backup display
Title Bar.

The “L” & “R” buttons indicate which half of the screen, left or right, will
display the next selected Detailed Display Page.
2. Pick the “L/R” button to change from one side of the display screen to the
other.
3. Pick the desired Detailed Display Page. See Chapter 7 for instructions
and examples.

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 CHAPTER 6: DETAILED OPERATOR INTERFACE

6.4 OVERVIEW PAGE

The Overview Page, Figure 6-5, is divided into sub-sections and is described
as follows:

 Compass  Deviation Display

 Vessel Position (Tabular)  Alarm Summary Window

 Last Alarm Window  Status Message Window

Compass

Deviation
Display

Alarm Summary Window

Last Alarm Window

Status Message Window

Vessel Position (Tabular)

Figure 6-5. Typical Overview Page

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6.4.1 Compass
The compass displays the vessel heading in degrees relative to True North,
Figure 6-6.
Instantaneous Goal
Heading Heading
Setpoint Setpoint

Actual Vessel Heading Numeric

Heading
Display

Figure 6-6. Compass

The identification markers of the compass are as follows:

 Solid yellow triangular markers and vertical line indicate the Actual Vessel
Heading.

 Solid light blue triangular marker indicates the Goal Heading Setpoint, the
ultimate heading “target” for the DP System.

 Open light blue triangle indicates the Instantaneous Heading Setpoint, -

where the DP System wants the vessel to be at any given moment while
trying to reach the Goal Heading Setpoint.

 Text on the left and numeric displays on the right indicate the Goal
Heading Setpoint (Goal), the measured heading of the vessel (Vessel,
taken from the gyrocompass average), and the difference between
these two values (Error).
See Section 4.8, Setpoint Select, for further explanation of goal and
instantaneous setpoints.

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6.4.2 Deviation Display Page

The Deviation Display Page, Figure 6-7, displays the position of the vessel
on the Coordinate Reference Grid.
The size of the vessel image remains constant, although the display scale
(minimum scale) changes if needed.
See Section 7.2.1 for a more detailed explanation of the Deviation Display.

Distance and Direction

to Goal Position

Rates
of
Change

Scale of Tick Marks

and
Center of Deviation

Figure 6-7. Typical Deviation Display Page

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6.4.2.1 Additional Deviation Display Symbols

The following symbols, Figure 6-8, are also used on the Deviation Display
screen.

W 25kts Represents the measured wind, speed, and

direction. The length of the arrow becomes
proportional to the wind speed

Represents the Goal Position Setpoint

Represents the origin point for the Coordinate

Reference Grid. It will not appear as a distinct
symbol when centering the Deviation Display
on the origin, since it is supplanted by the
intersection of the grid.

Indicates the vessel reference point.

Figure 6-8. Additional Deviation Display Symbols

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6.4.3 Alarm and Status Windows

Alarm Summary Window

Last Alarm Window

Status Message Window

Figure 6-9. Alarm and Status Windows

6.4.3.1 Alarm Summary Window

The Alarm Summary Window displays the DP System’s alarms generated
for general conditions. Refer to Chapter 12 for more details on alarm
conditions.
6.4.3.2 Last Alarm Window
The Last Alarm Window displays the latest alarm message.
6.4.3.3 Status Message Window
The types of messages displayed in the Status Message Window are:
6.4.3.3.1 ERROR
When operators have entered data improperly or attempted to issue a
command the DP System cannot comply with, an Error message appears.
When applicable, the DP System speakers generate a single high “beep”
to notify operators of the Error message. If more information is still
required, an Operator Prompt message is generated requesting the
correct data.
6.4.3.3.2 OPERATOR PROMPT
When operators select a function requiring more input, an Operator
Prompt message is displayed.
6.4.3.3.3 SYSTEM STATUS
When no operator response is required, and System Status is available
from a previously executed operation, a System Status message is
displayed.
6.4.3.3.4 HELP
When none of the above messages are applicable, a Help message may
appear.

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6.4.4 Vessel Position (Tabular)

The Vessel Position is configured in tabular form and indicates the current
estimated vessel position in North/South-East/West and Fore/Aft-
Port/Starboard terms.
The measurements are made in the current Display Units, which can be
changed on SETUP PAGE 1. Refer to Section 7.2.1.3 for instructions on
setting the Display Units.
When the DP System is not in HOLD POSITION mode, some of these fields
are blank, as there can be no Goal, Setpoint, or Error readings unless the DP
System is in automatic control of position.
Goal - Ultimate “target” for the vessel. See “Goal Setpoint” in Section 4.8.
Setpoint - Position the DP System wants the vessel to meet on a particular
control cycle. See “Instantaneous Setpoint” in Section 4.8.
Vessel - Estimated vessel position as determined by the DP System.
Error - Difference between the “Setpoint” and “Vessel” readings.

Figure 6-10. Typical Tabular Vessel Position Section

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6.5 REQUESTED & TOTAL FORCES %

Requested and Total Forces % displays the components of the surge (F/A)
and sway (P/S) control forces, as well as the yaw control moment, which are
allocated to the online thrusters. The figures represent percentages of maximum
thrust.
Many of these readings are derived from the automatic control loop. Refer to
Section 4.3, DP System Control Loop, for more information on this process.

Figure 6-11. Requested & Total Forces %

6.5.1 Requested Forces %

 Jstk - Sum of all forces commanded by the <POSITION CONTROL
JOYSTICK> and the <HEADING CONTROL KNOB>, plus any integral (bias)
terms acquired when switching from Automatic to Manual mode. Refer
to Section 9.4 for more information on the transfer of integral terms.
 Wind - Displays commanded forces resulting from the ACTIVE WIND
COMPENSATION (AWC) function. Refer to Section 4.11.8 for more
information on AWC.
 Envr - The Integral terms of the commanded forces and moments
resulting from the NMS6000 DP System Control Loop, which
compensate for environmental conditions (minus wind if AWC is active)
and other unknowable errors. Refer to Section 4.3 for more information
on the NMS6000 DP System Control Loop.
 Ctrl - The “Derivative” and “Proportional” terms of the commanded
forces and moments resulting from the NMS6000 DP System
Automatic Control Loop. Refer to Section 4.3 for more information on
the NMS6000 DP System Control Loop.
 CutBk - When commanded forces in the “Jstk,” “Wind,” “Envr,” and
“Ctrl” columns exceed the available thrust, the “CutBk” column
indicates the unmet percentage.
6.5.2 Total Forces %
 Reqst - Sum of all other columns in the Force Summary section,
except the “CutBk” forces. Therefore, this column indicates the sum of
the commanded thruster forces before any cutbacks occur.
 Achvd - Displays the sum of the measured thruster forces. These
figures are derived from the TAL Inverse routine.

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Note – The Drop-Down Menus & Detailed Display Pages shown in

this chapter are examples of typical NMS6000 DP systems.
Actual Drop-Down Menus & Detailed Display Pages may vary
depending on system options and customization. See Chapter
10 for Vessel Specific Menus & Display Pages.
The buttons shown here on the Navigation Bar Detail are used to access the
drop-down menus for NMS6000 Detailed Display Pages and Operational
and Automatic Modes.

Figure 7-1. Navigation Bar Detail

See the following sections for the associated drop-down menus:
 Setup – see Section 7.1, pg 7-2
 Sensor – see Section 7.7, pg 7-37
 Thrust or Propulsion – see Section 7.10, pg 7-50
 Plot IO – see Section 7.16, pg 7-70
 Chart Track – see Section 7.19, pg 7-77
 Mode Function – see Section 7.24, pg 7-98
 Heading – see Section 7.25, pg 7-99
 Position – see Section 7.26, pg 7-100
 Initialize Backup Button (no menu) – see Section 5.5, pg 5-9
 Alarm Silence Button (no menu) – see Section 12.5, pg 12-5

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7.1 SETUP DROP-DOWN MENU

Perform the following to access the SETUP Display Pages:
1. Select SETUP on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following Detailed Display Pages are accessed through this drop-down
menu:
 Setup Page 1 – See Section 7.2, pg 7-3
 Setup Page 2 – See Section 7.3, pg 7-10
 Setup Page 3 – See Section 7.4, pg 7-14
 Setup Page 4 – See Section 7.5, pg 7-17
 Mode Function Page – See Section 7.6, pg 7-20
 DP Simulation Page – See Section 8.10, pg 8-17
 ShutDown – See Section 2.2.1, pg 2-3

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7.2 SETUP PAGE 1

The NMS6000 DP System utilizes the following Setup Pages to provide DP
Operators the opportunity to configure and monitor the DP System. SETUP
PAGE 1, Figure 7-2, is divided into the following sections:

 Deviation Display  Transit Mode

 Display  DP Gains (Control Gains)

 Vessel

Figure 7-2. Setup Page 1

The following sections describe the fields and options available on the DP
System SETUP PAGE 1.

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7.2.1 Deviation Display

7.2.1.1 Frame
There are two Deviation Display Frames: Earth and Ship, see Figure 7-4.
7.2.1.1.1 EARTH FRAME
In Earth Frame, the top of the display is always North. The orientation of the
ship's graphic is shown relative to North. The background of the Deviation
Display is blue (below left).
7.2.1.1.2 SHIP FRAME
In Ship Frame, the top of the display is the direction that the operator is
facing while at the workstation (Aft, Port, Fwd or Stbd). A white arrow labeled
“N” indicates toward true North. The background of the Deviation Display is
black (below right).

Figure 7-3. Earth (left) & Ship (right) Frames for a Fwd-Facing Workstation

Figure 7-4. Earth (left) & Ship (right) Frames for an Aft-Facing Workstation

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7.2.1.2 Center
Operators may position the Deviation Display Center on any of the following
points:
 Origin – See Section 4.1.13
 Goal – See Section 4.1.16
 SetPt (Instantaneous Setpoint) – See Section 4.1.16
7.2.1.3 Minimum Scale
Minimum Scale sets the smallest allowable scale for the Deviation Display,
see Figure 6-7.
During operations, the system automatically lowers or raises the scale as the
vessel gets closer to or further from the Origin, Goal & Setpoint, thus keeping
the Origin, Goal & Setpoint viewed on the Deviation Display.
Here are some hints on setting the Minimum Scale:
 The scale will not go below the Minimum Scale setting. Using a large
Minimum Scale will reduce the amount of automatic zooming in and
out, but will make small deviations harder to notice.
 The scale is always a multiple of (is divisible by) the Minimum Scale
setting. In the example below, the Minimum Scale is set to 4 so each of
the scales (64, 32, 16) are divisible by 4.
 Some vessels have the option of setting the Minimum Scale to a
Percentage of Water Depth. See Section 7.2.2.2, Metric or Imperial,
Percentage of Water Depth.
In the example below, as the vessel moves closer to the Goal (as shown in
upper right corner of display, “To Goal”) the Scale is automatically reduced
while the display zooms in on the vessel’s location. The vessel graphic and
outline remain the same size on the screen regardless of the scale.

Figure 7-5. Examples of Deviation Display Showing Scale

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7.2.2 Display
Picking the Display Units button changes the units of all displayed and
entered values from metric to imperial as shown below. The underlying
processing of the DP System is not affected by changing the Display Units.
Display Unit settings differ from vessel to vessel and may include:
7.2.2.1 Metric or Imperial

Notice that the Minimum Scale and Vessel buttons automatically change
from meters to feet as the Display Units button is changed from Metric to
Imperial.
7.2.2.2 Metric or Imperial, Percentage of Water Depth

Notice the bottom right corner of the Deviation Display when the Display Units
are set to a Percentage of Water Depth. The Minimum Scale division
increments are shown as a percentage of water depth. In either case, Metric
or Imperial, the operator needs to set the MINIMUM SCALE button (see Section
7.2.1.3) to the desired increment.

Metric Imperial

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Example – If the R ED ALERT RADIUS is set to 50 meters and the W ATER

DEPTH is set to 1000 meters, then the RED ALERT RADIUS
equals 5% of the water depth (i.e. 50/1000 = 0.05 or 5%).
However, if the water depth is changed to 2000 meters but
the RED ALERT RADIUS remains at 50 meters, then the RED
ALERT RADIUS equals 2.5% of the water depth (i.e. 50/2000 =
0.025 or 2.5%).
7.2.3 Vessel
Depending on the type of vessel, the Setup Page may display one or the
other examples shown here:

7.2.3.1 Draft
Vessel Draft affects the DP System calculations of vessel mass, and moment
of inertia, used to scale the DP Control Gains. The DP System also uses the
VESSEL DRAFT entry when estimating the effect of hydrodynamic and
aerodynamic forces. Since changes in the draft setting may cause large
changes in thrust commands when in AUTOMATIC mode, a confirmation is
required before the value is changed.
7.2.3.2 HAM Radius
HAM (Hold Area Mode) Radius allows operators to define the hold area by
providing, on the setup page, the radius of the area defined as a circle. When
engaged, the control bandwidth in position and yaw axes is reduced with a
schedule based on the entered radius. The larger the radius the more relaxed
the control. (Yaw axis reduction will be less than position axes reduction). See
Section 8.7.
7.2.3.3 Water Depth
The Water Depth setting affects some distance measurements when
calculated as percentages of water depth. It also affects other control factors
such as hydroacoustic data noise rejection and Kalman filter gains for
subsurface sensors.

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7.2.4 Transit Mode

TRANSIT MODE is for use when the vessel is under way (i.e. in transit). In
this mode, the <POSITION CONTROL JOYSTICK> controls the vessel’s surge
(fwd/aft) movements only; it does not control sway (port/stbd) movements.
The NMS6000 automatically holds the heading measured at the moment the
Transit mode is engaged. Heading may be changed using Heading Setpoint
Maneuvers, see Section 7.6.2.1.2. The <HEADING CONTROL KNOB> has no
effect on the vessel while in Transit mode. Heading is achieved by main props
& rudders only; tunnel thrusters are not utilized in this mode.
The various Transit Mode settings accessible from the Setup Page are listed
below. See also Section 8.11 for information on operating in Transit Mode.
7.2.4.1 Rudder Gain
Sets the Proportional component of the Proportional-Integral-Derivative
control term for the auto controller. Operators set the gain between 1 and 9.
7.2.4.2 Counter Rudder Gain
Sets the Derivative component of the Proportional-Integral-Derivative control
term for the auto controller. Operators set the gain between 1 and 9.
7.2.4.3 Heading Error Threshold
The Heading Error Threshold setting is operator determined, and is the
difference between the commanded and the measured headings. When the
DP System is in HOLD HEADING mode, and exceeds this predetermined
Heading Error Threshold setting, the system issues an alarm
7.2.4.4 Deadband
DP Systems in an Auto Maneuver Mode (Heading/Position) using a reduced
rudder gain setting (5) do not respond to deviations between commanded and
measured heading unless the deviation exceeds this setting. Nominal (5) or
reduced rudder and counter rudder gains should be used in conjunction with
a non-zero deadband*.
* A Deadband (sometimes called a neutral zone) is an area of a signal range
or band where no action occurs (the system is dead). The purpose is to
prevent oscillation or repeated activation-deactivation cycles (called 'hunting'
in proportional control systems).
7.2.4.5 Max Rudder Angle
The Max Rudder Angle is the maximum angle in degrees the auto heading
and position will command the rudder.
7.2.4.6 Heading Change Increment
This is the setting in degrees for the Heading Change Increment. This setting
works in conjunction with the Heading Setpoint Arrows located on the Transit
Page (Figure 8-6). Each time one of the Heading Setpoint Arrows is picked,
the Heading Setpoint will change by the Heading Change Increment degrees.

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In other words, if the Heading Change Increment is 5º and the right

(starboard) Heading Setpoint arrow is pressed three times, then the Heading
Setpoint will increase by 15º. Alternately, if the left (port) Heading Setpoint
arrow is pressed two times, then the Heading Setpoint will decrease by 10º.
See also Section 8.11.3, Heading Setpoint & Jog.
7.2.4.7 Rudder Jog Increment
This is the setting in degrees for the Rudder Jog Increment. This setting
works in conjunction with the Course Jog Arrows located on the Transit Page
(Figure 8-6). The operator may temporarily change course by pressing and
holding one of the Course Jog Arrows. While the arrow is depressed, the
Heading will change per the amount set in the Rudder Jog Increment. Once
the Arrow is released, the vessel will revert to its original Heading Setpoint.
See also Section 8.11.8, Course Jog Arrows.
7.2.5 DP Gains
DP Control Gains settings determine the amount of control “stiffness” for the
three control axes: Surge, Sway, and Yaw, as illustrated in Figure 7-6.

Figure 7-6. Control Axes

The range of acceptable gain values is minus (-) 10 to plus (+) 10. Zero (0)
represents the nominal midpoint gain.
High (positive) gain values yield a higher than nominal bandwidth. These
settings result in better position holding accuracy, but increased propulsion
activity, since the vessel must try harder to eliminate deviations from the goal
setpoints. Higher thruster activity can also create increased water aeration,
which may degrade the performance of the acoustic positioning systems.
Low (negative) gain values yield a lower than nominal bandwidth, causing
reduced position holding accuracy and decreased propulsion activity. Smaller
values may be appropriate in heavy weather to minimize thruster
modulations.
Generally, when sub-surface sensors are used as position reference sensors,
the system sets the bandwidth lower as water depth increases and higher as
water depth decreases.

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7.2.5.1 DP Gains Compute

The DP Gains Compute function in the DP System software yields the
appropriate PID control gains for each of the control axes. The calculated
gains are based on the CONTROLLER GAIN settings entered by the operator
and tuning parameters set during sea trials. Each axis has its own
independent bandwidth and set of gains. Refer to Section 4.3.2 for more
information on the PID Controller.
This Controller (Gains) Compute function also computes the required low-
pass filter digital difference equation coefficients.
Lastly, Kalman filter gains are computed each cycle as a function of
measured position sensor noise.
7.2.5.2 Set/Modify DP Gains
After calling up SETUP PAGE 1, Figure 7-2, use the cursor control or the
touchscreen method to select the SURGE, SWAY, or YAW button, and enter a
new setting using the Pop-Up Keypad.
7.3 SETUP PAGE 2
SETUP PAGE 2 provides DP Operators additional opportunity to configure
and monitor performance of the DP System. SETUP PAGE 2, Figure 7-7, is
divided into the following sections:

 GPS Reference

 Remote Center of Rotation

 Power

Figure 7-7. Setup Page 2

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The following sections describe the fields and options available on the DP
System SETUP PAGE 2.
7.3.1 GPS Reference Position
The Global Positioning System (GPS) uses the intersection of the Equator
and the Prime Meridian as the 0,0 point. Since the vessel may operate
thousands of kilometers away from the Equator and/or the Prime Meridian, a
local GPS Reference Position is used. L-3 DP&CS recommends placing the
GPS Reference Position inside the operational area. DP Operators use this
as the local 0,0 point of operation and position the vessel in relationship to it.
The (DGPS) Reference Position (entered on the Setup page) constitutes the
Origin when a DGPS is the reference sensor.
The GPS Reference Position also centers the flat earth projection used to
convert latitude and longitude to North and East positions.
The GPS Reference section of SETUP PAGE 2 has three areas of interest:
 Corrected Position
 Reference Position
 GPS Reference Reset
Corrected Position: This section shows the vessel’s current Lat/Lon
position.
Reference Position: The DP operator may enter new Lat/Lon coordinates to
set any desired Reference Position. Examples of practical Reference
Positions might be a port, destination worksite, or any other known Lat/Lon
location of reference. For drilling operations, the wellhead would be the most
practical point. See instructions below (this feature does not work in
Simulation Mode). This coordinate is also known as the Origin. The DGPS
sensors can only be modified when they are OFFLINE.
GPS Reference Reset: Selecting this button resets the Reference Position
(mentioned above) to the vessel’s current Lat/Lon position. In other words,
the coordinates that are displayed in the Corrected Position field become
the new Reference Position at the moment the GPS Reference Reset button
is selected (this feature does not work in Simulation Mode). All position
reference sensors must be switched offline before attempting a GPS
Reference Reset. The DGPS sensors can only be modified when they are
OFFLINE.
7.3.1.1 Manually Entering a GPS Reference Position
1. Ensure all DGPS sensors are offline.
2. Select the first REFERENCE POSITION LATITUDE field to toggle it between N
(North) and S (South).
3. Select the second REFERENCE POSITION LATITUDE field. The Pop-Up
Keypad appears.
4. Enter the “degrees” portion of the reference latitude.

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5. Select the OK button. The pop-up disappears.

6. Select the third REFERENCE POSITION LATITUDE field. The Pop-Up Keypad
appears.
7. Enter the “minutes” portion (including decimal) of the reference latitude.
8. Select the OK button. The pop-up disappears.
9. Repeat steps 2-8 for the REFERENCE POSITION LONGITUDE fields. Notice
that the first field toggles between E (East) and W (West).
10. Bring a DGPS sensor online.
7.3.2 Remote Center of Rotation (COR)
7.3.2.1 COR Offsets F/A & P/S
The operator-defined Remote Center of Rotation (COR) allows for rotation
about any arbitrary point on or around the vessel, and is measured “offset”
from the vessel’s nominal Center of Rotation.
COR Offsets (F/A & P/S) define the Remote Center of Rotation in relation to
the vessel’s nominal Center of Rotation. Enter positive numbers to define the
Remote Center of Rotation as being forward or to starboard of the nominal
Center of Rotation. Enter negative numbers to define it as being aft or to port
of the nominal Center of Rotation. The COR Offsets are disabled when the
Active button is set to Vessel.

Note – When the COR is changed from Vessel to Remote, the vessel’s
position setpoint is automatically updated so there will be no
vessel motion due to the change in COR. In other words, if the
Remote COR offsets are + 25 fore and -10 port, then the position
setpoint will be automatically adjusted by the same numbers, +
25 fore and -10 port, at the moment the Remote COR is
activated. Switching back to the vessel COR will reset the
original setpoint.
7.3.2.2 Active
Selecting the Active button changes the current Center of Rotation, used by
the DP System when calculating control factors and thrust commands,
between Vessel and Remote.
7.3.2.2.1 VESSEL
This is the nominal Center of Rotation (COR). It is the vessel’s natural turning
point.
7.3.2.2.2 REMOTE
This is the Remote Center of Rotation defined by the COR Offset fields
mentioned above.
7.3.3 Power
See also Section 7.14.4, Power Limiting.

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7.3.3.1 Lower Limit Margin

The Lower (Power) Limit Margin determines how much power above the
average propulsion command will be immediately available to the DP system.
A LPL margin of 20% will allow the propulsion command to jump 20% without
any power cutback occurring. Note that the LPL will never exceed the UPL
regardless of the Lower (Power) Limit Margin.
7.3.3.2 Reserved kW
The Reserved kW field sets aside a certain number of kilowatts for use by
systems other than the NMS6000. This amount is not available to the
thrusters while the NMS is in control, even if the Drilling/Hotel Load drops to
zero (refer to Section 7.14.6).
This does not apply if the NMS is using an external input (i.e., Power
Management System) to set the Upper Power Limit. On systems with a PMS
system, an external UPL is being input from the PMS and the internal UPL
calculation is bypassed (if the external UPL is healthy). “Ext” appears next to
the UPL numbers when an external input is being used. “Int” (internal)
appears when the external input is unavailable or is unhealthy. See Power
Page 2, Figure 7-33.

7.3.3.3 Generator Alarm Level

The NMS6000 generates a Generator Alarm Level alarm when the
measured power consumption exceeds this percentage setting.

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7.4 SETUP PAGE 3

Setup Page 3 provides DP Operators additional opportunity to configure and
monitor performance of the DP System. SETUP PAGE 3, Figure 7-8, is
divided into the following sections:

 Threshold  Compare
 Alert Radius  Hold Relative Configuration
 Consequence Analysis

Figure 7-8. Setup Page 3

The following sections describe the fields and options available on the DP
System SETUP PAGE 3.

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7.4.1 Threshold
7.4.1.1 Heading Error
The Heading Error setting is operator determined, and is the difference
between the commanded and the measured headings. When the DP System
is in HOLD HEADING mode, and exceeds this predetermined Heading Error
Threshold setting, the system issues an alarm.
7.4.1.2 Position Error
Position Error Threshold setting is operator determined, and sets a radius
around the Instantaneous Setpoint. When the DP System is in HOLD
POSITION mode, and the center of the vessel (or Remote COR when active)
moves outside the Position Error Threshold circle, the system issues an
alarm.
7.4.1.3 Median Alarm
The DP System uses the operator-determined Median Alarm setting to
ensure the quality of position reference sensor data. When any online position
reference sensor’s measurement differs from the median of all online position
reference sensor measurements by more than the Median Alarm setting, the
DP System generates an alarm.
7.4.2 Alert Radius
The Yellow and Red Alert Radius settings create two circles centered on the:
 Instantaneous Setpoint for workboats
 Origin, Goal or Setpoint for drillships (depending on customer
preference). (Hint: The operator may toggle the Center button, Section
7.2.1.2, while watching the Deviation Display to determine the center
point of the Alert Radius circles.)
When the NMS6000 is in HOLD POSITION or HOLD FLEXJOINT ANGLE
mode, and the center of the vessel (or Remote COR when active) moves
outside the yellow circle, the system initiates the Yellow warning condition.
When the center of the vessel (or Remote COR when active) moves outside
the red circle, the NMS6000 clears the Yellow warning condition and initiates
the Red warning condition. To disable these alerts, enter “0” as the values.

Note – For drilling operations, operators must reset the Reference

Position (Origin) to the wellhead. This is true only if the Alert
Radius circles are centered around the Origin. Refer to Section
7.3.1 for instructions on setting the GPS Reference Position.

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7.4.3 Consequence Analysis

Consequence Analysis - the operator can turn Consequence Analysis
alarms on or off with the ON or OFF keys respectively. If Off is selected, all
consequence analysis alarms will be cleared immediately.
When the Consequence Analysis in enabled, the system automatically
performs Consequence Analysis and generates appropriate Consequence
Analysis alarms. When Consequence Analysis is active, the letter “C” is
displayed in the heartbeat indication box of the DP Title Bar. Refer to Section
12.9 for additional information on this function.
7.4.4 Compare
7.4.4.1 Thrust
When the difference between the commanded and feedback thrust levels
exceeds the Thrust Compare Setting, the system generates a “Thrust
Compare” alarm.
7.4.4.2 Rudder/Azimuth
When the difference between the commanded and feedback Rudder levels
exceeds the Rudder Compare Setting, the system generates a “Rudder
Compare” alarm.
7.4.4.3 Thrust Level
When the command or feedback of a given thruster is equal to, or exceeds
the Thrust level setting, an alarm is generated.
7.4.4.4 Wind Direction
The wind direction is defined as the direction the wind is coming from and is
measured in degrees from true North. The Wind Direction Compare limit
sets the maximum difference between the wind direction from each individual
wind sensor and the blended average wind direction from all sensors. An
alarm condition is generated when an individual sensor’s input differs from the
median of all online wind sensors by more than the indicated setting. This
alarm is filtered over time so that temporary differences do not cause an
Alarm to be reported. A value of zero (0) suppresses the alarm condition.
7.4.4.5 Wind Speed
Wind speed is defined as its velocity at a given moment. The units of
measure are meters per second. Similar to Wind Direction, the Wind Speed
Compare limit sets the maximum difference between the wind speed from
each wind sensor and the blended average wind speed before an alarm
condition is generated. This alarm is filtered so that temporary differences are
not flagged as an actual hardware problem. A value of zero (0) suppresses
the alarm condition.

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7.4.5 Hold Relative

HOLD RELATIVE Mode is an optional software module that operates in
conjunction with the standard NMS6000 DP System software. This laser
radar system provides positional information to allow automated approach
and/or station keeping relative to a structure/vessel. The target
structure/vessel requires reflective targets to be attached to its sides. The
HOLD RELATIVE mode requires one laser radar sensor to be installed on
the primary vessel and three reflective targets to be installed on the target
structure/vessel. When HOLD RELATIVE is engaged, the DP generates
thruster commands driving the vessel to acquire and maintain relative
heading and position of the target. Further information is included in the
appendices for vessels that feature this option.
7.5 SETUP PAGE 4
SETUP PAGE 4 provides DP Operators additional opportunity to configure
and monitor performance of the DP System. SETUP PAGE 4, Figure 7-9, is
divided into the following sections:
 NMS/ROV Beacon Mapping
 ROV Follow Configuration

Figure 7-9. Setup Page 4

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7.5.1 NMS/ROV Beacon Mapping

The ROV (Remotely Operated Vehicle) options allow operators to select the
beacon number and acoustic channel used to track the ROV. To choose a
beacon as the ROV Follow beacon, select the appropriate check box with the
cursor. The operator can select only one beacon as the active ROV sensor at
any one time, but may mount redundant beacons to the ROV. Such
duplication allows a quick switchover in case the original ROV beacon data
becomes unusable. To choose no beacons as the ROV Follow beacon,
reselect the ROV beacon check box with the cursor.
Because hydroacoustics can track up to eight beacons, it is necessary to
assign beacons (channels) to each of the four DP beacon inputs available. To
enable a different acoustic channel for a DP beacon, select the drop-down
box and choose the desired channel number

Note – When a hydroacoustic beacon is selected as the ROV Follow

sensor on SETUP PAGE 4, the hydroacoustic beacon is not
allowed to be placed online as a position reference sensor.

7.5.2 ROV Follow Configuration

In ROV FOLLOW, the DP generates thruster commands driving the vessel to
follow the reported position of the ROV (Remotely Operated Vehicle). ROV
tracking is possible when a hydroacoustic beacon is mounted on the ROV,
and the beacon data is used to report the position of the ROV in relation to
the vessel.
Since hydrodynamic effects of the hull vary with vessel speed and ocean
current direction, the most successful tracking occurs at lower ROV speeds
(approximately 2 knots).
Operators may need to adjust the control gains for optimal ROV tracking
under various environmental and operational conditions. Refer to section
7.2.5 for more details on DP Control Gains. For further details on ROV Follow
Configuration, see Section 8.4.

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7.5.2.1 ROV Deadzone Radius

ROV Deadzone Radius is a circle centered on the reported position of the
ROV beacon at the time when operators enter ROV FOLLOW. The ROV
DEADZONE RADIUS field allows operators to set the radius of this circle.
Operators may edit this field while ROV FOLLOW is active or inactive.
When operating in ROV FOLLOW, the DP does not reposition the vessel in
response to ROV movement unless the ROV moves outside the ROV
Deadzone Radius. This feature allows the ROV to move somewhat freely
without causing the DP to generate thrust commands in pursuit of the ROV.
When the Display Units are defined as a Percentage of Water Depth (see
Section 7.2.2.2) the Deadzone Radius will be displayed as such.
A fixed position sensor (DGPS or fixed beacon) must be online and free from
alarms when entering ROV FOLLOW in order for the DP to determine the
appropriate center-point of the ROV Deadzone Radius.
7.5.2.2 ROV Offsets
ROV Offsets create a “buffer zone” between the vessel reference position and
the center of the ROV Deadzone Radius. In ROV FOLLOW, the DP attempts
to maintain these offsets so the vessel does not pursue the ROV more closely
than desired. The DP automatically determines these offsets when entering
ROV FOLLOW, by calculating the initial reported position of the ROV relative
to the center of the vessel. Once operators enter ROV FOLLOW, they can
edit these fields to change the offsets.
The labels on the offset fields and the values themselves change between
Earth and Ship Axes depending on their selection in the FOLLOW OFFSET
TYPE. When the Display Units are defined as a Percentage of Water Depth
(see Section 7.2.2.2) the ROV Offsets will be displayed as such.
The DP recognizes Fore, Starboard, North, and East as positive numbers.
Aft, Port, South, and West as negative numbers.
7.5.2.3 Follow Offset Type
Follow Offset Type changes the frame of reference for ROV FOLLOW from
Earth (North, South, East, and West) to Ship (Fore, Aft, Port, and Starboard).
7.5.2.4 ROV Filter Gain
ROV Filter Gain defines the level of filtering the system applies to position
data generated by the acoustic beacon mounted on the ROV. If the acoustic
channel is relatively noisy or for a more relaxed following of actual ROV
motion, set the filtering higher. If the acoustic channel is relatively clean,
operators can lower the filtering to improve the positioning accuracy.
The available range of filtering runs from 1 to 10, with 10 being the highest
level.

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7.6 MODE FUNCTION PAGE

Control Modes and Automatic Maneuvers are selected by using the MODE
FUNCTION display page, Figure 7-10.
The MODE FUNCTION display page is accessed by touching and/or left
clicking on the DP MODE FUNCTION Navigation Bar button.
Once the MODE FUNCTION display page is visible operators may then
select the Control Mode or Automatic Maneuver of their choice by touching
and/or left clicking on the selected mode button, which then illuminates
Green.

Figure 7-10. Mode Function Page

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7.6.1 Mode Select

The Mode Select section of the MODE FUNCTION page offers the following
Modes:
 Hold Heading  Joystick Desens
 AHMT  Track Follow
 Transit  ROV Follow
 Pilot  Vessel COR
 Hold Position/Surge/Sway  Power Limit Sustain
 Hold Area  Portable Joystick
 Wind Comp  Hold Relative

Note – Examples of the Navigation Bar buttons that indicate the active
mode are included with some of the following definitions.

7.6.1.1 Hold Heading

Operators normally transfer from TRANSIT to HOLD HEADING mode after
arriving at the worksite and placing the vessel on the desired heading. When
selecting HOLD HEADING button, the DP System reads and maintains the
current heading, until a new heading setpoint is entered or HOLD HEADING
is deactivated. See Section 8.2, Hold Heading.

7.6.1.2 Auto Heading for Minimum Thrust (AHMT)

AHMT is used in conjunction with HOLD POSITION and HOLD HEADING
modes. When active, it automatically adjusts the vessel’s goal heading
setpoint to attempt to minimize the lateral (port/starboard) control
requirements by pointing the bow or stern of the vessel into the strongest
environment. This is usually in the direction of the prevailing weather. See
Section 8.8, Auto Heading for Minimum Thrust (AHMT).

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7.6.1.3 Transit Mode

TRANSIT MODE is for use when the vessel is under way (i.e. in transit). In
this mode, the <POSITION CONTROL JOYSTICK> controls the vessel’s surge
(fwd/aft) movements only; it does not control sway (port/stbd) movements.
The NMS6000 automatically holds the heading measured at the moment the
Transit mode is engaged. Heading may be changed using Heading Setpoint
Maneuvers, see Section 7.6.2.1.2. The <HEADING CONTROL KNOB> has no
effect on the vessel while in Transit mode. Heading is achieved by main props
& rudders only; tunnel thrusters are not utilized in this mode. See also Section
8.11 for information on operating in Transit Mode.
.

7.6.1.4 Pilot Mode

PILOT MODE is identical to TRANSIT MODE (above) with one exception;
heading is manually controlled by <HEADING CONTROL KNOB>. See Section
8.12.

7.6.1.5 Hold Position/Surge/Sway

In HOLD POSITION, the DP System automatically maintains the vessel’s
position while allowing operators to make heading changes with the <HEADING
CONTROL KNOB>. See Section 8.3, Hold Position.

7.6.1.6 Hold Area Mode (HAM)

HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is
provided to allow reduced control activity while maintaining the vessel in the
general area of the goal position. See Section 8.7.

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7.6.1.7 Wind Compensation

ACTIVE WIND COMPENSATION (AWC) uses data from all online wind
sensors. Using an internal model of the vessel’s aerodynamics, the DP
System calculates wind effects and counteracts them through the vessel
thrusters, reducing station-keeping errors when wind speed and direction
change. Operators may use AWC simultaneously with any of the other control
modes. See Section 8.6, Active Wind Compensation (AWC).
7.6.1.8 Joystick Desens (Desensitizing)
Joystick Desensitizing (Joystick Desens) decreases the thrust command
signals generated in response to movement of the <POSITION CONTROL
JOYSTICK> and/or the <HEADING CONTROL KNOB> by fifty percent (50%). This
feature is enabled by selecting the JOYSTICK DESENS buttons on the Mode
Function Page and Drop-Down Menu.
JOYSTICK DESENS may be particularly useful when manually controlling the
vessel requiring very small, fine adjustments in position and heading. When
operators do not enable JOYSTICK DESENS, it may become very difficult to
move the <POSITION CONTROL JOYSTICK> and/or <HEADING CONTROL KNOB> in
small enough increments to meet the needs of the maneuvering situation.

Example - Without Joystick Desensitizing active, pushing the

<POSITION CONTROL JOYSTICK> to the limit in any direction
results in a relatively large force on the vessel. Selecting
JOYSTICK DESENS, allows operators to move the <POSITION
CONTROL JOYSTICK> through the same range of motion but
cause a smaller force to act on the vessel.

When Joystick Desens is active, the Heading & Position drop-down menus
buttons read “JSTK 50%”

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7.6.1.9 Track Follow

TRACK FOLLOW MODE controls vessel position and heading along a
predefined track. See Section 8.5.
7.6.1.10 ROV Follow
In ROV FOLLOW, the DP generates thruster commands driving the vessel to
follow the reported position of a Remotely Operated Vehicle (ROV). See
Section 8.4.
7.6.1.11 Vessel COR (Center of Rotation)

COR stands for “Center of Rotation.” Picking the <COR> button changes this
mode from “Vessel” to “Remote.”
 Vessel COR: This is the nominal Center of Rotation (COR). It is the
vessel’s natural turning point.
 Remote COR: The operator-defined Remote Center of Rotation (COR)
allows for rotation about any arbitrary point on or around the vessel,
and is measured “offset” from the vessel’s nominal Center of Rotation.
See Section 7.3.2.1, COR Offsets F/A & P/S.
7.6.1.12 Power Limit Sustain
Enabling POWER LIMIT SUSTAIN forces the Operating Power Limit to the
Lower Power Limit. See Section 7.14.4.4 for more on Power Limit Sustain.
7.6.1.13 Portable Joystick
Operators can manually control the vessel with the Portable Joystick’s
<POSITION CONTROL JOYSTICK> and <HEADING CONTROL KNOB>. The thrusters
respond to the manual commands, attempting to move the vessel in the
position and heading directions commanded. Operators normally use a
Portable Joystick to position the vessel at the worksite, maneuver at
dockside, or in other situations where human command (control) of the vessel
is desired from a remote operating station, or in case of malfunctioning
Operator Workstations. See Sections 3.3 for operation of Portable Joystick
and 5.3.2 for Taking & Transferring Control of Remote & Portable Joysticks.
7.6.1.14 Hold Relative
This optional laser radar system provides positional information to allow
automated approach and/or station keeping relative to a structure/vessel. See
Section 7.4.5 for more information.
7.6.1.15 Night Mode
This optional button makes the screen either dark red, dark blue, dark green
or normal (day mode) .Pushing the button repeatedly cycles through these
choices.
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7.6.2 Function Select

The Function Select section of the MODE FUNCTION page offers the
following:
 Heading Setpoint  Position Setpoint
 Clear JS Bias  Alarm Pg Inhibit
7.6.2.1 Setpoint Maneuvers
The NMS6000 provides the capability of executing setpoint maneuvers both
in vessel heading and position. Setpoints may be small adjustments in
positioning or large track maneuvers at an operator-selected maximum
speed. Operator entry is similar in all cases. The operator supplies setpoint
values and a maximum velocity for execution of the maneuver.
When a large maneuver (heading or position) is executed, the velocity
setpoint increases linearly from zero until it reaches the maximum maneuver
velocity. The velocity setpoint then remains at the maximum maneuver
velocity until the system detects that deceleration must begin. As shown in
Figure 4-11, Position Maneuver Profile Illustration, the setpoint velocity then
decreases linearly to zero at the conclusion of the maneuver.
7.6.2.1.1 HALTING THE VESSEL
If the DP operator wishes to halt the vessel at its current position or heading,
then selecting the <CURRENT HEADING> or <CURRENT POSITION> buttons (on
the Heading Setpoint Selection or Position Setpoint Selection dialog
boxes, shown below) will change the setpoint to the current heading/position.
Alternately, the DP Operator may take the DP System out of automatic mode
(i.e. out of Hold Heading and/or Hold Position), thus placing it into full Manual
Control, and halt the vessel manually.

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7.6.2.1.2 HEADING SETPOINT

To initiate HEADING SETPOINT MANEUVERS, the NMS6000 must be in
HOLD HEADING or TRANSIT modes. The Heading Setpoint is the same as
the Goal Heading shown on the NMS6000 Compass (see Section 6.4.1).
Select the <HEADING SETPOINT> button on the MODE FUNCTION PAGE, or
pick on the Compass. The following “Advanced” or “Basic” dialog box
appears:
Advanced Dialog Box Instructions:

Text will change

depending on which
method is used to
define the setpoint.

Data Entry
Buttons

1. Select one of the four available options for defining the heading setpoint:
 Previous Setpoint – Sets the vessel’s previous heading setpoint as
the setpoint.
 Current Heading – Sets the vessel’s current heading as the setpoint.
 True – absolute setpoint relative to True North
 Relative – relative offset from current heading
2. For the True or Relative option, select the Heading data entry button.
3. Use the Pop-Up Keypad to enter the new heading setpoint and pick
<OK>.
4. For any of the four options, select the Rate data entry button.
5. Use the Pop-Up Keypad to enter the Rate of Turn in degrees per minute
(º/min) and pick <OK>.
6. Select the <ACCEPT> button to initiate the new setpoint. Or select the
<CANCEL> button to exit the dialog box without changing the setpoint.

Note – Select the <A DVANCED> button to switch to the Basic dialog box.

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Basic Dialog Box Instructions:

Number indicates desired

change in Heading Setpoint
(relative to current heading)
as CW/CCW buttons are
pressed.

1. Select one of the three available options for defining the heading setpoint:
 Previous Setpoint – Sets vessel’s previous heading setpoint as
the setpoint.
 Current Heading – Sets vessel’s current heading as the setpoint.
 CW/CCW – Allows operator to manually adjust heading setpoint,
step-by-step, relative to current heading (in ship coordinates).
2. Select the Step data entry box.
3. Use the Pop-Up Keypad to enter the Step Size. The Step Size is the
angle in degrees the heading setpoint will increase or decrease each time
the CW or CCW button is pressed.
4. Select the Rate data entry box.
5. Use the Pop-Up Keypad to enter the Rate of Turn in degrees per minute
(º/min) and pick <OK>.
6. Select the <CW> or <CCW> button to increase or decrease the change in
heading setpoint relative to the current heading.
7. Select the <ACCEPT> button to initiate the new setpoint. Or select the
<CANCEL> button to exit the dialog box without changing the setpoint.

In the example above, the Step was set to 3.0º and the <CW> button was
pressed 4 times. This increased the desired change in heading setpoint to
positive 12º which will be added to the current heading once the <ACCEPT>
button is pressed.

Note – Select the <B ASIC> button to switch to the Advanced dialog box.

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The four Heading Setpoint dialog boxes outlined in the “Advanced

Instructions” above:

Figure 7-11. Four Options for Setting the Heading Setpoint

The button with the dark blue background indicates the option selected.
Notice that the descriptive text to the left of the Heading data entry button
changes depending on which option is used to define the heading setpoint.

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7.6.2.1.3 POSITION SETPOINT

To begin an automatic POSITION SETPOINT MANEUVER, the NMS6000
must be in HOLD POSITION mode. It cannot be in HOLD FLEXJOINT
ANGLE mode (if applicable). The Position Setpoint is the same as the Goal
Position mentioned in other parts of this manual.
All linear measurements are made in the current display units. North, East,
Fore, and Starboard are positive numbers. South, West, Aft, and Port are
negative numbers. Enter angular quantities in degrees (positive clockwise).
The position change rate is configured by selecting the “Enter Rate” button
on the Position Setpoint dialog box shown below. It is set to meters per
minute (m/min) or feet per minute (ft/min) depending on the DP Display Units
setting.
Select the POSITION SETPOINT button on the MODE FUNCTION PAGE, or pick
on the Deviation Display, see Section 6.4.2. The following “Advanced” or
“Basic” dialog box appears:

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Advanced Dialog Box Instructions:

Select the Frame

button to switch from
Earth to Ship axis.

Text will change

depending on which
method is used to
define the setpoint.

Data Entry
Buttons

1. There are eight options for specifying a position setpoint, see Figure 7-12:
 Previous Setpoint – Sets vessel’s previous position setpoint as the
setpoint.
 Current Position – Sets vessel’s current position as the setpoint.
 Rectangular Absolute from origin in Earth axes
 Rectangular Offset from current position in Earth axes
 Polar Offset from current position in Earth axes
 Rectangular Absolute from origin in Ship axes
 Rectangular Offset from current position in Ship axes
 Polar Offset from current position in Ship axes
2. Select one of the options listed above to create the new position setpoint.
3. Select the desired Data Entry Button to change its value.
4. Use the Pop-Up Keypad to enter the new value and pick <OK>.
5. Repeat steps 3 and 4 for the remaining Data Entry Buttons.
6. Select the <ACCEPT> button to initiate the new setpoint. Or select the
<CANCEL> button to exit the dialog box without changing the setpoint.

Note – Select the <A DVANCED> button to switch to the Basic dialog box.

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Basic Dialog Box Instructions:

Select the Frame
button to switch from
Numbers indicate Earth to Ship axis.
desired change in
Position Setpoint
(relative to current
position) as N/E/S/W
or F/S/A/P buttons
are Pressed.

1. Select one of the three available options for defining the position setpoint:
 Previous Setpoint – Sets vessel’s previous position setpoint as
the setpoint.
 Current Position – Sets vessel’s current position as the setpoint.
 N/E/S/W or F/S/A/P – Allows operator to manually adjust position
setpoint, step-by-step, relative to current position in earth or ship
axes.
2. Select the Step data entry box.
3. Use the Pop-Up Keypad to enter the Step Size. The Step Size is the
distance that the position setpoint will increase or decrease each time the
CW or CCW button is pressed.
4. Select the Rate data entry box.
5. Use the Pop-Up Keypad to enter the Rate of Change in feet per minute
(ft/min) and pick <OK>.
6. Select the N/E/S/W or F/S/A/P buttons to increase or decrease the
change in position setpoint relative to the current position.
7. Select the <ACCEPT> button to initiate the new setpoint. Or select the
<CANCEL> button to exit the dialog box without changing the setpoint.

Note – Select the <B ASIC> button to switch to the Advanced dialog box.

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The eight Position Setpoint dialog boxes outlined in the “Advanced Instructions” above:

Figure 7-12. Eight Options for Setting the Position Setpoint

The button with the dark blue background indicates the option selected.

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Earth: Rectangular Absolute Earth: Rectangular Offset

N N
50 Proposed Setpoint 30 Proposed Setpoint
(60,50) (60,50)

40
60

Existing Setpoint
(20,20) Existing Setpoint
(20,20)

E E
0,0 0,0

Operator Entry: 60 N/S, 50 E/W Operator Entry: 40 N/S, 30 E/W

Earth: Polar Offset Ship: Rectangular Offset

N N
N Proposed Setpoint -30 Proposed Setpoint
030 deg (60,50) (60,50)

-40
50

Existing Setpoint
(20,20) Existing Setpoint
(20,20)

E E
0,0 0,0

Operator Entry: 50 Dist, 030 Bearing Operator Entry: -40 F/A, -30 S/P

Figure 7-13. Position Setpoint Profile

The above illustration outlines four different ways of moving the ship, to a
single desired location, using Position Setpoint Maneuvers.

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7.6.2.1.4 MOVING THE VESSEL TO A PRECISE LOCATION

The Reference Position setting on SETUP PAGE 2, Figure 7-7, may be
used to move the vessel to a precise location (i.e. a specific Lat/Lon
coordinate).
With the system offline or in joystick position mode and the vessel near the
desired point:
1. Turn all position sensors offline.
2. On the SETUP PAGE 2, enter the desired position (degrees and
minutes) as the Reference Position, see Section 7.3.1.1, Manually
Entering a GPS Reference Position.
3. Bring the desired position sensors online.

The Measured data on the POSITION REFERENCE page (Section

7.9.3.1) is now relative to this location.
4. To move to this location, enter HOLD POSITION and bring up the
position setpoint dialog box (see 7.6.2.1.3).
5. In Advanced Mode, change the Frame to Earth and select Rect
Absolute.

The setpoint coordinates are now in feet from the Reference Position
6. Changing both Absolute Setpoints to zero (0) will move the vessel to the
Reference Position.

Note - The vessel should be near the desired point before starting this
procedure.

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7.6.2.1.5 PROPOSED SETPOINT OUTLINE

When operators begin either a heading or a position maneuver, the Deviation
Display generates a flashing vessel outline based on the proposed setpoint.
This outline becomes solid if operators confirm they want to conduct the
maneuver. It remains visible until the completion of the maneuver. The
maneuver is complete when the instantaneous setpoint reaches the goal
setpoint.

Figure 7-14. Proposed Position Maneuver Outline

7.6.2.2 Clear Joystick Bias

When in HOLD POSITION and/or HOLD HEADING or TRANSIT modes, the
NMS automatically calculates the integral forces needed to counteract
steady-state environmental conditions. When transferring to MANUAL
(JOYSTICK) CONTROL, the NMS automatically transfers any such integral
forces to the joystick allowing the vessel to remain in place without any
immediate use of the manual controls. This transferred integral force is the
“Joystick Bias.”
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 Place the Joystick in the center detent position before transferring

out of Hold Position and into Manual Joystick Control Mode.
 Place the Heading Control Knob in the center detent position before
transferring out of Hold Heading and into Manual Joystick Control
Mode
The operator can view the existing integral forces in the “Requested Forces
%” summary section of the DP display. The “Envr” column shows the current
integral forces. When the operator moves to MANUAL POSITION and/or
MANUAL HEADING CONTROL, the system automatically transfers these
integral forces to the figures in the “Jstk” column. The “F/A” & “P/S” rows
display position data; the “Yaw” row displays heading data.
For vessels with split axis control – Hold Surge & Hold Sway – the integral
forces will transfer depending on which mode is exited. Exiting Hold Surge will
transfer the F/A forces; exiting Hold Sway will transfer the P/S forces.
See also Section 6.5, Requested & Total Forces %, for more detailed
information.

Figure 7-15. Requested Forces % with JSTK Bias Transferred & Cleared
When bias forces exist, the CLEAR JS BIAS buttons on the MODE FUNCTION
page and drop-down menu start to flash. Selecting one of the buttons causes
those bias forces to be zeroed immediately. This action may be useful in
situations where the bias forces are deemed inappropriate, or where the
operator wishes to assume full MANUAL CONTROL of vessel propulsion
without any biases applied.
When the operator switches back to HOLD POSITION and/or HOLD
HEADING or TRANSIT modes, the NMS feeds any forces caused by the
joystick biases or the current deflection of the <POSITION CONTROL JOYSTICK>
and the <HEADING CONTROL KNOB> into the integral forces to allow immediate
counteraction of environmental forces.
Refer to Section 4.3 for more information on the DP System Control Loop.
7.6.2.3 Alarm Page Inhibit
Normally, whenever a new alarm occurs, the Alarm Page, Figure 12-3, is
automatically displayed. The ALARM PAGE INHIBIT button on the MODE
FUNCTION display page (and MODE FUNCTION drop-down menu) prevents
the system from automatically displaying the ALARM PAGE when a new
alarm occurs.
When the operator has inhibited the ALARM PAGE, the INHB button in the
Alarm Summary Window, Figure 12-1, is illuminated.

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7.7 SENSOR DROP-DOWN MENU

Perform the following to access the SENSOR Display Pages:
1. Select SENSOR on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following Detailed Display Pages are accessed through this drop-down
menu:
 Sensor Page 1 – See Section 7.8, pg 7-38

 Sensor Page 2 – See Section 7.8, pg 7-38

 Position Reference Page 1 – See Section 7.9, pg 7-44

 Position Reference Page 2 – See Section 7.9, pg 7-44

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7.8 SENSOR PAGES 1 & 2

The DP System utilizes SENSOR PAGEs to display data from environmental
sensors. SENSOR PAGE 1 & 2, Figure 7-16 & Figure 7-17, allow operators to
control and monitor the online status of the following Environmental Sensors
and associated data:
 Gyrocompass  Current Estimator
 Wind  GPS Lat/Lon Data
 Vertical Reference (VRS)

Note – An offline sensor is not necessarily “off,” in the sense of being

without power. However, the DP System does not use data from
offline sensors in its calculations.

Figure 7-16. Sensor Page 1

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Figure 7-17. Sensor Page 2

The following sections describe the fields and options available on the DP
System SENSOR PAGES 1 & 2.
7.8.1 Gyrocompasses
The gyrocompasses associated with the Dynamic Positioning System are
capable of giving the vessel’s True North heading with an accuracy of <0.1º.
The NMS6000 uses the serial line outputs to obtain necessary heading data.
In order for the NMS6000 to dynamically position the vessel, at least one gyro
must be online. The system uses gyro data to update the estimated heading
and the heading rate of change. It also uses gyro input to transform position
reference sensor data, which may employ various coordinate frames, into
earth axes.
7.8.1.1 Gyro Processing
The gyro processing routine in the NMS6000 software handles multiple
gyrocompass inputs. First, the power status line is checked to make sure that
the unit is powered. When a power alarm condition is not detected, the
routine processes the serial data stream or analog voltage from that
gyrocompass.
The data from each gyrocompass is extracted and converted to system units,
and then compared against each of the other non-alarmed sensors. Individual
sensors not agreeing with other sensors are flagged with an alarm message.
Finally, all active non-faulted sensors form an average that becomes the
internal vessel heading estimate.
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7.8.1.2 Heading – True & Reciprocal

The Heading Sensors consist of Gyrocompasses and display “True”
(heading data in degrees from True North) and “Reciprocal” degree data.
The Reciprocal (opposite) degree data is simply 180º from the True heading
and is listed for the convenience of the operator.
7.8.1.2.1 NEW DATA
Illuminates when new in-coming data is being received.
7.8.1.2.2 BLENDED
The “Blended” field displays the average of all online, un-faulted gyros in True
and Reciprocal degrees.
7.8.2 Wind Sensors
The Wind Sensor provides wind sensing data, consisting of speed and
direction, to allow the DP System to compensate for aerodynamic forces
(Environment) acting on the vessel.
 The “Wind Speed” column displays the measured wind speed
corrected for sensor height to a standard 10 meters.
 The “Relative Wind Direction” column displays the wind direction
relative to the ship’s bow.
 The “True Wind Direction” column displays the wind direction true to
the ship’s bow.
 The “New Data” icons illuminate when new in-coming data is being
received.
 The “Blended” field displays the average velocity and direction as
determined by all online, un-faulted wind sensors.
7.8.2.1 Wind Sensor - Online Placement
Perform the following to place a wind sensor online:

1. Open SENSOR PAGE 1

2. Select the W IND 1 button.

Note – The color of the buttons and data on SENSOR PAGE 1 indicates
the status of the wind sensor:

 Red - NOT READY/FAULTED (Data)

 Dark Gray - OFFLINE
 Green - ONLINE (Button)
 Black - ONLINE (Data)
 Green/Gray Alternate Blinking - ONLINE and FAULTED (Button)

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7.8.3 Vertical Reference Sensors

There are two types of Vertical Reference Sensors (VRS):
 the Vertical Reference Unit (VRU) and
 the Motion Reference Unit (MRU)
The VRU provides vessel pitch and roll data with an accuracy of ±0.3o. The
MRU provides vessel pitch and roll data to a higher accuracy of ±0.04o. The
MRU outputs NMEA 0183 RS232 serial data and also monitors and outputs
heave data.
Both the NMS6000 and the acoustic position reference systems (if
configured) use data from Vertical Reference Sensors to correct errors
induced by pitch and roll. Such errors may particularly affect information
gathered by antennae and hydrophones. Acoustic systems perform pitch and
roll compensation before passing their position data to the NMS6000.
7.8.3.1 Vertical Reference Sensor Processing
VRS processing operates on raw data available through analog and serial
inputs. These values are checked for compliance with a maximum value
stored in a database. An alarm flag is issued if this maximum is exceeded on
any cycle. The NMS6000 then averages the values of all online, unalarmed
sensors. Next, a first-order filter calculates the long term averages, which are
displayed as “Trim” and “List.” The NMS6000 processing function uses the
blended, instantaneous data to compensate for the incoming position data
from antennae. The acoustic systems use the blended data to compensate
for position data from hydrophones before passing it to the NMS6000. Filtered
peak to peak heave data is also displayed when MRUs are installed.
7.8.3.2 Controlling Vertical Reference Sensors
To bring the Vertical Reference Sensors online or take them offline, open
SENSOR PAGE 1 and select the appropriate button(s) with the cursor
control.
7.8.3.3 Vertical Reference Data
The Vertical Reference Sensors consists of Pitch, Roll, and Heave data
(only MRU’s output heave data) derived from the following values:
 “RMS” values are the Root-Mean-Square variations from the “Trim”
and “List” values. These readings generally equal 0.707 of the typical
peak pitch and roll amplitudes from the trim/list values.
 “Trim/List” displays the long-term average of the pitch (Trim) and roll
(List).

Note - Blended readings are the averages of the sensors listed.

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7.8.4 Current
The Current section of the Sensor Page provides data consisting of
calculated or estimated current speed and direction (aka the Current
Estimator). This allows the DP System to compensate for hydrodynamic
environmental forces acting on the vessel. Operators can choose to use the
Calculated current velocity or the operator-entered Estimated value by
selecting the CURRENT SOURCE button. A white arrow appears on the
Deviation Display indicating current speed and direction. Either a “C” or an “E”
will be displayed next to the current speed indicator depending on which
Current Source is used, Calculated or Estimated, Figure 7-18. The Current
feature (calculated and estimated) is available in Real Mode and has no effect
in Simulation Mode.

Figure 7-18. Current Speed & Direction Indicator, Calculated or Estimated

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7.8.4.1 Calculated
When there are environmental forces (wind, waves, current) acting on the
vessel, the thrusters generate a force to counteract them. If the Wind
Compensation (WIND COMP) mode is turned ON, then the DP System can
calculate the wind force on the vessel (based on the aerodynamic model in
the DP software). If the wind force is subtracted from the total force being
produced by the thrusters, then the remaining force is the assumed current
force. (The remainder is everything that is not attributed to the wind, which is,
in other words, current and waves) The current speed and direction are
calculated from this data.
7.8.4.2 Estimated
DP Operators may input estimated current speed and direction by selecting
those buttons and using the Pop-Up Keypad to enter the desired data. Using
the Estimated Current does not have any effect on the vessel’s performance.
It simply displays the data for the operator’s reference.

Note – Wind Compensation (WIND COMP) mode must be ON for the

Current Estimator to operate. See Section 8.6, Active Wind
Compensation (AWC), for instructions on operating that mode.

7.8.4.3 Current Source

The DP Operator uses this button to toggle between the Calculated and
Estimated current source (see above).
7.8.5 GPS/DGPS
The GPS Tabular Display section of the SENSOR PAGE displays the
vessel’s Reference Position (see Section 7.3.1).
The reported Latitude & Longitude are shown for each online DGPS.
“Sats” is the number of Global Positioning Satellites (GPS) now utilized.

Note - This data is provided for information only. Operators cannot

control the GPS from SENSOR PAGEs.

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7.9 POSITION REFERENCE PAGES 1 & 2

The Differential Global Positioning System (DGPS) consists of GPS
receivers, differential signal receivers, and processing computers; it outputs
data to the DP System. Refer to the OEM Information Manual for in-depth
information on the GPS. The DP System’s Position Reference Sensors
consist of two (or more) GPS units monitored and commanded from the
POSITION REFERENCE pages.

Figure 7-19. Position Reference Page 1

Figure 7-20. Position Reference Page 2

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7.9.1 Position Reference Sensor Data Use

The DP System uses data from the online Position Reference Sensors to
estimate the vessel’s North/East position. These calculations are required for
proper operation in the HOLD POSITION modes.
7.9.2 Position Reference Page Use
The following sections provide an overview of the fields on the POSITION
REFERENCE PAGE.

Note – When placing position reference sensors online, select only

alarm-free units that appear to be yielding reasonable data.
7.9.2.1 Sensor Select Buttons
Select position reference Sensor Select Buttons by touching the screen or
using the cursor control to place sensors on or offline. The DGPS sensors are
the primary position reference sensors. FanBeam and CyScan are optional
Hold Relative Mode sensors; information on these sensors is included in the
appendices (and on the enclosed CD) for vessels that feature these options.
See also Section 7.9.5, Selecting the Origin Reference Sensor.
7.9.3 Position Reference Page 1
7.9.3.1 Measured Column
Measured Column values are raw measurements of the center of the vessel
relative to the origin as calculated from the data returned by the position
reference sensors, adjusted for antenna/hydrophone locations, and vessel
pitch/roll.
7.9.3.2 Corrected Column
Corrected Column fields display each sensor’s final processed position data,
created by adding stored biases to the raw measurements. Refer to Sections
4.1.3 and 4.4.5 for more information on sensor biasing. The DP System uses
corrected data for the New Position Estimate, described in Section 4.5.
7.9.3.3 Noise
Noise provides a decimal reading of the amount of noise picked up by the
DGPS units.
7.9.3.4 New Data
The circles in the New Data column flash green as new sensor data is being
received.
7.9.3.5 Blended
Blended is the average of the Corrected values.

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7.9.3.6 Reference Calibration

Selecting the <CALIBRATE> button performs a Position Reference
Calibration. Refer to Section 4.4.5, Origin Reference Sensor, in the
paragraph below Figure 4-8.
7.9.3.7 Sensor Select
Refer to Section 7.9.5, Selecting the Origin Reference Sensor.
7.9.3.8 North/East Offset
Refer to Section 7.9.5.1, Relocating the Origin Reference Sensor’s Origin.
7.9.4 Position Reference Page 2
7.9.4.1 Calibration Bias
This column displays the stored bias required to bring each sensor into
agreement with the Origin Reference Sensor (this is not to be confused with
the instantaneous bias used to calculate drift).
The NMS6000 automatically sets the bias whenever the operator performs a
Position Reference Calibration by pressing the <CALIBRATE> button on
POSITION REFERENCE PAGE 1. It is also set when the operator places a
new position reference sensor online.
Refer to Sections 4.1.3 and 4.4.5 for more information on sensor biasing.
7.9.4.2 Calibration Drift
This column indicates the long-term drift of each sensor’s data to its
established calibration bias. Higher drift values indicate an undesirable
shifting of the sensor’s frame of reference.
Refer to Section 4.4.7, for more information on sensor drift.
7.9.4.3 % Weight
This column displays the relative weighting of position estimates from the
sensors. In general, the higher the noise, the lower the sensor’s weighting
into the New Position Estimate (refer to Section 4.5). Only online sensors
contributing to the solution are weighted. Faulted sensors receive no
weighting.

Note - Weight values are rounded to one decimal point for display and
may therefore appear not to sum 1.0.

Refer to Section 4.4.6, Sensor Weighting.

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7.9.5 Selecting the Origin Reference Sensor

Unless overridden, the NMS6000 automatically identifies the first position
reference sensor placed online as the Origin Reference Sensor. Operators
may change this selection via the SENSOR SELECT button on POSITION
REFERENCE PAGE 1. The button for the position reference sensor that is
designated as the Origin Reference Sensor has blue text. The sensor name is
designated on the SENSOR SELECT button.

Note – The Origin Reference Sensor may be a DGPS, a beacon, a

fanbeam reflector, or any other position reference sensor.

The sensor with the best long-term stability should be selected as the Origin
Reference Sensor. A noisy sensor with long-term stability may be a better
choice than a noise-free sensor that drifts over a long period of time. When
the Origin Reference Sensor is changed to a different position reference
sensor, then every sensor bias is adjusted appropriately, refer to Figure 4-8.
In addition, the Origin Reference Sensor offsets are automatically modified to
maintain the same absolute origin. These offsets are displayed on POSITION
REFERENCE PAGE 1 as the “Measured” data.
Perform the following steps to select a new Origin Reference Sensor:
1. Open the POSITION REFERENCE PAGE that shows the Bias & Drift
tabular data.
2. Look in the “Drift” column for the sensor with the best long-term stability. A
noisy but stable unit is a better choice than a noise-free sensor that drifts.
3. Open the POSITION REFERENCE PAGE that shows the desired sensor
button.
4. If no sensors are online, then select the desired sensor. The first sensor to
be brought online defaults to the Origin Reference Sensor.
5. If more than one sensor is online and a different Origin Reference Sensor
is desired, then select the <SENSOR SELECT> button at the bottom of the
page – that button starts flashing.
6. Select the sensor button for the new Origin Reference Sensor.
7. To cancel the Origin Reference Sensor selection process, select the
<SENSOR SELECT> button again.
Refer to Section 4.4.5 for a detailed explanation of the Origin Reference
Sensor.

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7.9.5.1 Relocating the Origin Reference Sensor’s Origin

Operators may relocate the Origin Reference Sensor’s coordinate origin by
entering offsets.

 Example 1 – Operators can move the 0,0 point for the grid shown on
the Deviation Display and the CHART PAGE.

 Example 2 – If a beacon is selected as the Origin Reference Sensor,

and it is mounted 2 meters North and 3 meters West of
the wellhead, but the wellhead is the desired origin,
simply enter a North Offset of -2 and an East Offset of 3.
Perform the following steps to move this origin:
1. Select the <North Offset> button.
2. The Pop-Up Keypad appears.
3. Enter the desired offset. A positive number moves the origin to the
north. A negative number moves it south.
4. Select the <OK> button.
5. Repeat steps 1-4 for the EAST OFFSET button. A positive number
moves the origin to the east. A negative number moves it west.
7.9.6 Charting Position Reference Sensor Data
The DP System plots position reference sensors on the CHART PAGE, as
displayed on Figure 7-22. When the online position reference sensors are not
experiencing drift, the symbols for these sensors are superimposed upon one
another, as they are all biased to the Origin Reference Sensor. If any sensor
does begin to drift, its symbol moves away from the others.
Perform the following to plot the biased position reference sensors:
1. Open CHART PAGE, Figure 7-22.
2. Select the SENS DISP (Sensor Display) button so the sensors show on
the page.

Figure 7-21. Chart Page – Sens Disp Button

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Figure 7-22. Chart Page – Detail of Position Reference Sensors

7.9.7 Position Reference Sensor Symbols

The following symbols appear when plotting Position Reference Sensors on
the CHART PAGE. The subtext “1” may be replaced by another number (2, 3,
4, etc.) for corresponding sensors.

Symbol Position Reference Sensor

C1 CyScan
D1 DGPS
FB FanBeam
10 Hydroacoustic Baseline
11 Hydroacoustic Beacon
T1 Taut Wire

7.9.7.1 Sensor Symbol Colors

 Blue - Online and Origin Reference Sensor

 Yellow - Online

 Gray - Offline

 Red - Faulted

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7.10 THRUST/PROPULSION DROP-DOWN MENU

Perform the following to access the THRUST/PROPULSION Display Pages:
1. Select THRUST or PROPULSION on the DP Navigation Bar.

or

2. A “Drop-Down Menu” appears:

The following Detailed Display Pages are accessed through this drop-down
menu:
 Thruster Page 1 – See Section 7.11, pg 7-51

 Thruster Page 2 – See Section 7.12, pg 7-60

 Power Page 1 – See Section 7.13, pg 7-63

 Power Page 2 – See Section 7.14, pg 7-65

 Power Page 3 – See Section 7.15, pg 7-69

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7.11 THRUSTER PAGE 1

A typical THRUSTER PAGE 1 consists of the following sections:
 Thruster Icons (Azimuthing or Tunnel)  Text Boxes (Thruster & Rudder)
 Thrust Allocation Logic (TAL) Forces  Mode Select Buttons
 Bias Mode  Control Gains

Note – Due to varying thruster configurations, the vessel’s DP System

may or may not feature all of the icons, indicators, and sections
discussed in this section.

THRUSTER ICONS

TEXT BOXES

CONTROL GAINS

BIAS MODE
MODE
SELECT
BIAS % BUTTONS

TAL FORCES

Figure 7-23. Thruster Page 1 with Azimuthing Thrusters

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Figure 7-24. Thruster Page 1 Detail with Tunnel Thruster & Rudders

7.11.1 Text Box – Thruster and Rudder

A Text Box, Figure 7-25, is generated for each icon. All text boxes display one
or more of the following abbreviations:
 OFF – offline from the DP System
 MAN – in MANUAL mode
 AUTO – in AUTOMATIC mode
 NRDY – Not Ready to respond
 CMPR – Measured thrust level or azimuth does not agree with
commanded thrust level or azimuth.
 LEVL – Measured thrust exceeds THRUST ALARM level, entered on a
SETUP PAGE.
The yellow numbers represent the measured (feedback) thrust level.
The light blue numbers represent the commanded thrust level.
When the yellow and light blue numbers are the same, the measured and
commanded thrust levels are equal.

Figure 7-25. Text Box - Thruster and Rudder

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7.11.2 Azimuthing Thruster Icon

The Azimuthing Thruster Icons, Figure 7-26, display the commanded and
actual direction and level of thrust, and are divided into the following sections:

2
Figure 7-26. Azimuthing Thruster Icons
1. Indicates the actual measured (feedback) level and direction of thrust.
The yellow triangular head represents the actual thrust direction – it is
pointing in the heading direction that the thruster is attempting to move
the vessel. The rectangular section fills with yellow color as the
measured (feedback) thrust increases.
2. Indicates the commanded thrust level and direction. The light blue
triangular head points in the commanded thrust direction. The
rectangular section fills with light blue color as the commanded thrust
increases.
NOTE: The difference between the angles of #1 & #2 is the deviation.
3. Represents anti-spoil zones used to protect hydrophones, and other
thrusters. The DP System automatically attempts to keep the
azimuthing thrusters from pointing in the direction of these dark shaded
areas. This prevents thruster wash from being discharged 180º
opposite (or reciprocal) of the darkened anti-spoil zone.

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7.11.3 Tunnel Thruster Icons

Tunnel Thruster Icons, Figure 7-27, indicate the direction and level of thrust.
The split yellow bar represents the measured (feedback) thrust level. Its
length is proportional to the measured thrust level.
The centered light blue bar represents the commanded thrust level. Its
length is proportional to the commanded thrust level.
When a thrust indicator bar moves from the center of the icon to the right, it
indicates starboard thrust. (This will be port on an aft-facing console.)
When a thrust indicator bar moves from the center of the icon to the left, it
indicates port thrust. (This will be starboard on an aft-facing console.)
The colored bars represent the actual thrust direction – they are pointing in
the direction that the thruster is attempting to move the vessel.

Figure 7-27. Typical Tunnel Thruster Icon

7.11.4 Rudder Icons
Rudder Icons, Figure 7-28, indicate the commanded and actual degrees of
angle of the Port (left) and Starboard (right) rudders.

Figure 7-28. Rudder Icons

The yellow teardrop represents measured (feedback) rudder degree angle
and direction.
The light blue triangle represents commanded rudder degree angle and
direction.
When the yellow and light blue icons are aligned, the measured and
commanded rudder degree and direction are the same.
The red arc is port and the green arc is starboard.
The icon forward of the rudder is the main prop. That icon works the same as
a tunnel thruster icon, which is described in Section 7.11.3.

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7.11.5 Thruster Modes

Operators may place a thruster in the appropriate mode and set the manual
command and azimuth levels from THRUSTER PAGE 1, by performing the
following steps:
1. Open THRUSTER PAGE 1.
2. Select the desired thruster (1-6) icon.
3. A thruster dialog box (1-6), Figure 7-29, appears:

Figure 7-29. Thruster Pop-Up Dialog Box

4. Select <AUTO>, <MAN>, or <OFF> button.

5. When <AUTO> or <OFF> is selected, select the <ACCEPT> button to place
the thruster in the desired mode.
6. When <MAN> is selected, the MANUAL COMMAND and MANUAL AZIMUTH data
entry fields change from gray to white. Select these fields and use the
Data Entry Keypad to enter the desired settings. Select the <ACCEPT>
button to place the thruster in MANUAL mode.
7. Select <CANCEL> button to exit the THRUSTER dialog box without
changing any thruster settings or modes.
7.11.5.1 Manual
The DP System permits operators to enter manual commands for each
thruster on the THRUSTER PAGE. When operators place any thruster in
MANUAL mode, the DP System sends these commands to that thruster.

Note - Thrusters in MANUAL mode will not respond to the <P OSITION
CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>.
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7.11.5.2 Auto
The DP System controls thruster azimuth and force to meet the heading and
position setpoints.

Note - Thrusters in AUTO mode respond to the <P CONTROL

OSITION
JOYSTICK> and the <HEADING CONTROL KNOB>, unless the vessel
is placed in one of the automatic control modes.
7.11.5.3 Off
The DP System does not issue any commands to thrusters in OFF mode.

Note - When operators are in an automatic control mode, the DP

System will not allow them to reduce the number of thrusters in
AUTO mode below two.
7.11.5.4 Mode Select Buttons
Another way to set thrusters to AUTO or OFF is by selecting the ALL button
on the right side of the display and then picking the desired mode. All thruster
icons will start flashing green once the ALL button is selected. The flashing
will stop once the AUTO or OFF button is picked. Thrusters cannot be set to
Manual Mode with these buttons.

7.11.6 Thrust Allocation Logic (TAL)

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

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The TAL Forces Icon, Figure 7-30, located in the center of the display page,
indicates the net commanded and measured force/moment values for all
online thrusters. Refer to Section 4.6 for more information on the TAL
processing scheme.

3
4
1 2

Figure 7-30. TAL Forces Icon

1. Arrow-topped rectangle indicates the Net Commanded Direction for

positional thrust, the direction the TAL has commanded the combined
thrusters to push the vessel in order to satisfy surge and sway
commands. The rectangular section fills with blue color as the
commanded level of thrust increases, becoming solid blue if the Net
Thruster Command reaches 100% of maximum.
2. Arrow-topped rectangle indicates the net measured (feedback) direction
for positional thrust (surge and sway). The rectangular section fills with
yellow color as the measured level of thrust increases.
3. Light blue band along the inside of the circle represents the net
commanded moment designed to satisfy the yaw requirements. The
band grows in size as the net commanded moment increases. It
reaches ¼ of the way around the TAL circle if the commanded moment
equals 100% of maximum.
4. Yellow band along the inside of the circle represents the net measured
(achieved, feedback) moment. The band grows in size as the net
measured moment increases. It reaches ¼ of the way around the TAL
circle if the net measured moment equals 100% of maximum

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7.11.7 Thruster Biasing or Power Biasing

Thruster (Power) Biasing typically improves the responsiveness of the
system, since the thrusters constantly maintain a given thrust level, and do
not need to ramp up from zero. Biasing also reduces thruster azimuthing
during light environmental conditions. Thruster Biasing provides an “artificial
environment” against which the thrusters can push to keep themselves
steady.
The system orients the bias thrust to ensure it does not drive the vessel off-
station. When conditions permit the DP to hold station without frequent thrust
commands, the thrusters, are in effect, “pointed” at each other (see Thruster
Biasing Modes below). To meet a new position or heading setpoint, the DP
simply redirects the thrusters. When more thrust is required, the system
automatically increases the thrust level.
To select the desired Thruster Biasing Mode:

1. Pick the Bias Mode button from Thruster Page 1.

2. The Select Bias Mode dialog box appears.

3. Choose the desired Biasing Mode (see below), or turn biasing off.
4. Pick the Close button.
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7.11.7.1 Thruster Biasing Modes

Grouped Centroid Across

7.11.8 Thruster Bias Percentage (%)

The DPO must set the percentage of thruster biasing to a number from 1 to
100 – the higher the percentage, the greater the thrust.
7.11.9 Control Gains

Refer to Section 7.2.5, DP Gains, and Chapter 9, DP System Operational

Hints, for information pertaining to this feature.

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7.12 THRUSTER PAGE 2

A typical THRUSTER PAGE 2, Figure 7-31, displays numeric and textual data
on the status of each thruster. THRUSTER PAGE 2 also allows operators to
set thrust levels and rudders, which the DP System uses when the selected
thruster is placed in MANUAL mode. The column to the right shows alternate
configurations depending on vessel-specific features.

Figure 7-31. Typical Thruster Page 2 & Alternate Configurations

The following sections describe the areas of tabular data on the THRUSTER
PAGE 2 display page.

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7.12.1 Status
Displays the current status of the thruster: Rdy if ready or NRdy if not ready.
These readings are based on the status of the thruster interface. Additional
status information such as Rqst or On, may also be indicated, depending on
the particulars of the vessel’s thruster interface.
7.12.2 Mode
Indicates the control mode of the thruster: OFF, AUTO, or MANUAL.
7.12.3 Manual Command %
Indicates the current commanded RPM for each thruster. The Manual
Command selection button permits the operator to set the thrust level for
each propulsor operating in Manual mode only. The operator activates the
pop-up keypad for data entry by pressing on the associated Touch Button in
this section. The desired commanded value is then entered on the pop-up
keypad and entered by touching the ENTER button on the keypad. The
manual thrust level can also be set by touching the appropriate propulsor icon
on Thruster Page 1.
7.12.4 Manual Azimuth º
Indicates the current commanded heading in degrees for each azimuthing
thruster. The Manual Azimuth selection button permits the operator to set
the heading for each azimuthing thruster operating in Manual mode only. The
operator activates the pop-up keypad for data entry by pressing on the
associated Touch Button in this section. The desired commanded value is
then entered on the pop-up keypad and entered by touching the ENTER
button on the keypad. The manual azimuth degrees can also be set by
touching the appropriate propulsor icon on Thruster Page 1.
7.12.5 Command %
Indicates the current commanded force level for each thruster, as a
percentage of maximum.
7.12.6 Feedback %
Indicates the current measured, or feedback, force level for each thruster, as
a percentage of maximum.
7.12.7 RPM Command %
Indicates the commanded propulsor RPMs as a percentage of maximum.
7.12.8 RPM Feedback %
Indicates the measured, or feedback, propulsor RPMs as a percentage of
maximum.
7.12.9 RPM Feedback
Indicates the actual measured, or feedback, RPMs.

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7.12.10 Pitch Command %

Indicates the commanded propeller pitch as a percentage of maximum.
7.12.11 Pitch Feedback %
Indicates the actual measured, or feedback, propeller pitch as a percentage
of maximum.
7.12.12 Azimuth Command º
Indicates the commanded degrees of the azimuthing thruster.
7.12.13 Azimuth Feedback º
Indicates the actual measured, or feedback, degrees of the azimuthing
thruster.
7.12.14 Rudder Command º
Indicates the commanded degrees of the rudder.
7.12.15 Rudder Feedback º
Indicates the actual measured, or feedback, degrees of the rudder.
7.12.16 Thruster Alarm
The Thruster Alarm field displays appropriate text abbreviations to indicate
the following alarm conditions:
NRDY – Thruster is not ready to respond.
LEVEL – Measured thrust exceeds THRUST ALARM level, as entered on
SETUP PAGE 3. See Section 7.4.4.3.
CMPR (Compare) – Measured thrust level does not agree with commanded.
This alarm is triggered when the difference between the measured and
commanded levels exceeds the Thrust Compare percentage, as entered on
SETUP PAGE 3. See Section 7.4.4.1.
7.12.17 Rudder Alarm
CMPR (Compare) – Measured rudder degrees does not agree with
commanded angle. This alarm is triggered when the difference between the
measured and commanded degree angle exceeds the Rudder Compare
setting, as entered on SETUP PAGE 3. See Section 7.4.4.2.
7.12.18 Azimuth Alarm
CMPR (Compare) – Measured azimuthing thruster degrees does not agree
with commanded angle. This alarm is triggered when the difference between
the measured and commanded degree angle exceeds the Azimuth Compare
setting, as entered on SETUP PAGE 3. See Section 7.4.4.2.

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7.13 POWER PAGE 1

The following sections describe the screen symbols usually found on the typical
Power Page 1: Generators/Breakers display page, Figure 7-32.

Figure 7-32. Power Page 1- Generators and Breakers

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7.13.1 Generator Readings and Icons

The numeric readings display the output of the generator in kilowatts (kW).
The individual generator icons fill with yellow color as they approach 100% of
their capacity.
The horizontal red line represents the generator alarm level, configured on
SETUP PAGE 2.

7.13.2 Closed Circuit Breaker Icons

These yellow or red symbols represent closed circuit breakers.

7.13.3 Open Circuit Breaker Icon

This green symbol represents an open circuit breaker.

The graphic picture on the right shows an example of an open circuit breaker
(to 6A) and a closed circuit breaker (to 6B).
7.13.4 Bus Lines
A recessed yellow line indicates a hot bus.

7.13.5 Thruster Icons

These symbols indicate thrusters.

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7.14 POWER PAGE 2: KW LOADING

Depending on the status of the breakers, operators may view a different number
of bar graphs (one bar graph per bus). Figure 7-33 displays an example of
POWER PAGE 2: kW Loading when the buses are split. All numbers, other
than the bus number, are in kW (kilowatts).

Figure 7-33. Power Page 2: kW Loading

7.14.1 Bus
This is the bus number that coincides with bar graphs and columns on this
page.
7.14.2 Online Rated Capacity
Total Online Rated Capacity (ORC) of the electrical generator(s) tied to that
particular bus.
7.14.3 Total Load Feedback
The Total Load Feedback (TLF) is the total measured power load on the bus,
including DP thrust loads, thruster biasing, drilling, and Hotel Load.
7.14.4 Power Limiting
When the buses are split, the system performs POWER LIMITING
calculations for each bus individually. When the buses are tied, it performs
the calculations for the single tied bus. See Table 7-1. The following four
sections are the basic concepts that apply to POWER LIMITING:

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7.14.4.1 Upper Power Limit (UPL)

The UPL represents the maximum power that can be used by the DP System
for propulsion. This is the kilowatt “ceiling” used by the DP System when
calculating thrust commands. When a power limit signal from a Power
Management System (PMS) is available and valid, then that is used as the
UPL. Otherwise, the UPL is equal to the Online Rated Capacity minus the
higher of the Drilling/Hotel Load or Reserved kW. See Section 7.3.3.2 for
Reserved kW.
The system calculates the Hotel Load by subtracting the estimated thruster
feedback power from the Total Load Feedback.
When the NMS is using an external input (i.e., Power Management System)
to set the Upper Power Limit, the internal UPL calculation is bypassed (if the
external UPL is healthy). “Ext” appears next to the UPL numbers when an
external input is being used. “Int” (internal) appears when an external input is
unavailable or is unhealthy. See Power Page 2, Figure 7-33.

7.14.4.2 Lower Power Limit (LPL)

The purpose of the Lower Power Limit is to prevent sudden increases in DP
propulsion when in HOLD HEADING and HOLD POSITION modes. The DP
Operator is notified by an alarm in the event of a sudden increase in
propulsion command. The Operating Power Limit (OPL, see below) is either
held to the LPL or released to the UPL depending on whether Power Limit
Sustain (PLS) is enabled or not (respectively). The following two scenarios,
and Figure 7-34, illustrate power limiting.
 When PLS is enabled, and the propulsion command request suddenly
increases, the propulsion command is held to the LPL and an alarm is
generated. DP Power Cutback engages until the LPL ramps up slowly
to match the propulsion command request. The LPL continues to ramp
up until the Lower Limit Margin is satisfied. See Section 7.3.3.1 for
Lower Limit Margin.
 When PLS is NOT enabled, and the propulsion command request
suddenly increases, the propulsion command is held to the LPL and an
alarm is generated. DP Power Cutback engages for ten seconds, then
the Operating Power Limit (OPL, see below) is released to the UPL.
The ten seconds of power cutback is meant to give the DP Operator
time to react to the situation, and enable PLS if desired, before the
OPL is released to the UPL. The OPL stays at the UPL until the
propulsion command request falls below the LPL. The OPL then
reverts back to the LPL.
The LPL is calculated by averaging the thruster power requirements (i.e.
feedback) over a period of approximately one minute, then adding that to the
LOWER LIMIT MARGIN, entered on SETUP PAGE 2, see Section 7.3.3.1. Since
the system constantly recalculates the LPL, it most closely follows the
vessel’s actual power requirements.
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7.14.4.3 Operating Power Limit (OPL)

The Operating Power Limit is the power available for propulsion and is always
equal to either the LPL or the UPL.
The OPL is set to the LPL when the DP System is in HOLD HEADING and
HOLD POSITION, and POWER LIMIT SUSTAIN is enabled.
The OPL is released to the UPL when:
 The DP System is switched to manual JSTK mode for any control axis
– surge, sway or yaw. (This allows the DP to react immediately to
manual commands in the event of an emergency.)
 After ten seconds of sustained DP Power Cutback (see below), if
Power Limit Sustain is not enabled, and if the vessel is in full automatic
DP mode
7.14.4.4 Power Limit Sustain
Enabling Power Limit Sustain sets the Operating Power Limit to the Lower
Power Limit. This sustained limiting does not mean the thrusters are held to
one power setting. The LPL can in fact “ramp up” slowly until it equals the
UPL. The Power Limit Sustain button is on Mode Function Page, Figure 7-10.
7.14.5 Propulsion Command
Commanded propulsion kW
7.14.6 Hotel Load
This is all power consumption associated with non-DP vessel operations. The
DP system calculates the Hotel Load by subtracting the total propulsion
thruster feedback from the Total Load Feedback mentioned above.
7.14.7 DP Power Cutback
This is the difference between the requested propulsion command and the
actual limited propulsion command.

Online Rated Capacity (ORC) Total capacity of all online generators on a bus
Total kW load on a bus calculated by adding up all
Total Load Feedback (TLF) online Generator kW feedback signals.
ORC minus higher of Drilling/Hotel Load or Reserved
Upper Power Limit (UPL) kW. See Section 7.3.3.2 for Reserved kW.
Upper Power Limit (UPL) Ext. UPL is set by an External source (i.e. PMS).
Propulsion Command (filtered) multiplied by (one plus
LLM/100). See Section 7.3.3.1 for LLM (Lower Limit
Lower Power Limit (LPL) Margin).
Hotel Load TLF minus total thruster feedback

Table 7-1. Power Limiting Term Calculations

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Power Power Limit Sustain is NOT Enabled

Upper Power Limit (UPL)

Event + 10 Seconds:
"OPL Released to UPL"

Event Alarm:
"Req Thrust Exceeds OPL" When Prop Cmd
crosses below LPL,
then OPL = LPL
Lower Power Limit (LPL)

Lower Limit Margin DP Power Cutback

until OPL is
released to UPL
Propulsion Cmd Avg
Propulsion Command
Time
Operating Power Limit = LPL OPL = UPL OPL = LPL

Power Power Limit Sustain is Enabled

Upper Power Limit (UPL)

Event Alarm:
"Req Thrust Exceeds OPL" Propulsion Cmd
crosses below LPL
Lower Power Limit (LPL)

Lower Limit Margin DP Power Cutback

until Prop Cmd
crosses below LPL
Propulsion Cmd Avg
Propulsion Command
Time
Operating Power Limit = LPL

Figure 7-34. Power Limit Sustain

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7.15 POWER PAGE 3

The POWER PAGE 3: kW TRENDING page generates trend graphs for the
Online Rated Capacity (Total Capacity), Operating Power Limit, and
Propulsion Command (see previous section). Figure 7-35 displays POWER
PAGE 3 when the buses are split. If the buses are tied, then there is a single
graph. The units of measure are as follows:
 Vertical Axis = kilowatts
 Horizontal Axis = minutes

Figure 7-35. Power Page 3.

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7.16 PLOT IO DROP-DOWN MENU

Perform the following to access the PLOT IO Display Pages:
1. Select PLOT IO on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following Detailed Display Pages are accessed through this drop-down
menu:
 Plot Page 1, 2 & 3 – See Section 7.17.1 pg 7-70,
 Signal I/O Page 1: Analog – See Section 7.18.1, pg 7-74
 Signal I/O Page 2: Digital – See Section 7.18.2, pg 7-75
 Signal I/O Page 3: Serial – See Section 7.18.3, pg 7-76

7.17 PLOT PAGE

There are three Plot pages available. Parameters are shown in the Display
Units, selected on Setup Page 1, despite their native metric units within the
DP program.

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7.17.1 Plot Page: Parameter Plots

PLOT PAGE 1/2/3: PARAMETER PLOTS Page, Figure 7-36, provides strip
chart-style plots of certain system parameters.
There are multiple parameter pages available, each with four plot fields,
allowing four program parameters to be plotted concurrently on each User
Interface or Extended User Interface display. The time scale per division (tick
marks) for all plot fields on a given graph is displayed at the top of the plot
page in the right hand corner (upper case M represents large tick marks,
lower case m represents small tick marks). The DP program will automatically
calculate the total amount of time represented as the Full Scale Time shown
in the upper right corner of the page. If the time scale is changed, all plots will
be redrawn and the page will attempt to show as much of the already-
collected data as is appropriate for the new time scale.
The operator-selectable program parameters available for plotting are
accessed via a pop-up dialog box, which is invoked by left-clicking in the
black area of that parameter. The operator will be allowed to scroll through
the list pages forward and backward, until a parameter is selected through a
button press or the entry is canceled.

Figure 7-36. Typical Plot Page

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The scale and bias of the plot are determined by the Min and Max value
settings. The maximum value to be plotted must always be set higher than
the minimum value. If the operator tries to set a new minimum value that is
higher than the existing maximum value, the existing maximum value will be
automatically adjusted higher to allow the new entry to be valid. Similarly, the
minimum value will be automatically adjusted if a new maximum value is
lower than the minimum.
The vertical scale will be broken into between three and five sections,
depending on the scale of the plot selected by the operator.
If Mark is selected, a red line will be inserted at that time into all plot fields.
This allows the operator to see the effects of changes without having to
remember the exact time frames of the changes.
Selecting the PLOT button on the Toolbar, brings up the Plot Pages for
operator use.
Operators may select the parameter to plot, perform Y-axis scaling and
automatic units conversion, by double touching or placing the cursor in the
black plot area and left clicking. This action prompts the Point Configuration
pop-up, Figure 7-37, to appear.

Figure 7-37. Point Configuration Pop-Up & Symmetric Detail

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Once the Point Configuration pop-up appears, perform the following to

select a parameter to plot:
1. Place cursor and left click to select and highlight a configuration point

 Example –

2. Enter a MAX and MIN numeric value and pick OK. Alternatively, check the
Symmetric box to set the Min. equal to the negative of the Max.
3. Select a new X-axis scaling, update rate, by left-clicking on the 1 SEC
(number may vary) button on Plot Page 1. The total elapsed time
displayed on the plot is indicated at the upper right of the page.
7.17.1.1 Freeze Display
Pressing the FREEZE DISPLAY switch causes the data on the screen display
to remain fixed, allowing the operator to inspect pertinent data at a fixed point
in time. The system will continue to update and adjust vessel position as
normal even with the display frozen. A second press of the FREEZE
DISPLAY switch cancels the Freeze Display mode.
When activated, a red FREEZE DISPLAY message flashes in the menu bar
of the display, the FREEZE DISPLAY switch lamp flashes, and a low-pitched
audible tone is activated as a reminder that this selection prevents the
operator from viewing the present control performance. This mode should be
utilized only for short periods of time.
To cancel the screen freeze, press the FREEZE DISPLAY switch a second
time. The data display will return to normal.
7.18 SIGNAL INPUT/OUTPUT PAGES
There are three Signal I/O Pages, under the Plot menu, two of which have
multiple pages that can be scrolled through. Signal I/O Page 1 shows Analog
input and output values to and from the PLCs. Signal I/O Page 2 shows
Digital input and output values to and from the PLCs. Signal I/O Page 3
shows Serial Communications messages.

When the given data is meant to be interpreted as a string of printable

characters, it is displayed as ASCII text. Carriage return and line feed
characters appear as left-pointing and down-pointing blue arrows,
respectively. Other unprintable characters appear as red blocks.
If the data being transmitted or received is “binary,” it is displayed in
hexadecimal format. Two “characters,” 0 through F, represent a base-16
value for each byte, with a space between consecutive bytes.
These screens display data from a program cycle only for the duration of the
cycle, and then clear it allowing presentation of the next group of information.

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7.18.1 Signal I/O Page 1 – Analog Communications

Figure 7-38 shows the various input and output values for PLC analog
elements, along with a description of the function of the I/O point. Commanded
output values are shown in light blue and input feedback values are shown in
yellow.
Outputs from Backup systems are shown in dark blue, but are not used by the
DP system. Only the signals from the Master are used.
The “Address” column on the left contain internal PLC addresses and are not
relevant to the DPO. These values are used by the L-3 DP&CS analyst during
commissioning and seatrials tuning of the DP System.
The Description column defines the relevant equipment and function of each
I/O signal.

Figure 7-38. Signal I/O Page 1 – Analog Communications

The Value field shows the scaled engineering units being read in or sent out
by the PLC. The Counts field shows the digital equivalent representation of
this signal in counts in the PLC. The operator can scroll up and down through
the entire list using the arrow keys or the scroll bar located immediately to the
right of the I/O list.

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7.18.2 Signal I/O Page 2 – Digital Communications

Figure 7-39 shows the various input and output values for PLC digital elements,
along with a description of the function of the I/O points. Output values are
shown in light blue and input values are shown in yellow, consistent with the
DP command/feedback color scheme. Outputs from Backup systems are
shown in dark blue, but are not used by the DP system. Only the signals from
the Master are used.
The Address column on the left contain internal PLC addresses and are not
relevant to the DPO. These values are used by the L-3 DP&CS analyst during
commissioning and seatrials tuning of the DP System.
The Description column defines the relevant equipment and function of each
I/O signal.
The Value field shows the actual digital states read in or sent out by the PLC.
Digital points show either “True” (on, closed) or “False” (off, open).
The operator can scroll up and down through the entire list using the arrow
keys or the scroll bar located immediately to the right of the I/O list.

Figure 7-39. Signal I/O Page 2 – Digital Communications

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7.18.3 Signal I/O Page 3 – Serial Communications

The SIGNAL I/O PAGE 3: SERIAL COMMUNICATIONS Page presents
information from various serial communication connections. Refer to

Figure 7-40. Signal I/O Page 3 – Serial Communications

When the given data is meant to be interpreted as a string of printable

characters, it is displayed as ASCII text. Carriage return and line feed
characters appear as left-pointing and down-pointing blue arrows,
respectively. Other unprintable characters appear as red blocks.
If the data being transmitted or received is “binary,” it is displayed in
hexadecimal format. Two “characters,” 0 through F, represent a base-16
value for each byte, with a space between consecutive bytes.
These screens display data from a program cycle only for the duration of the
cycle, then clear it allowing presentation of the next group of information.

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7.19 CHART TRACK DROP-DOWN MENU

Perform the following to access the CHART TRACK Display Pages:
1. Select CHART TRACK on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following Detailed Display Pages are accessed through this drop-down
menu:
 Holding Capability Plot Page – See Section 7.20, pg 7-78

 Chart Page – See Section 7.21, pg 7-81

 Track Operation Page – See Section 7.22, pg 7-85

 Waypoint Page – See Section 7.23, pg 7-91

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7.20 HOLDING CAPABILITY PLOT

The Holding Capability (Holding Plot) page, Figure 7-41, displays a graphical
representation of the percentage of available thrust required to hold station
at any given heading. By viewing this page, the DP operator can tell what the
optimum heading would be in order to use the least amount of thrust.
Environmental forces of current speed and direction, and wind speed and
direction, and the amount and power of available online thrusters are all
factored into the Holding Capability plot.
The vessel outline is shown at the center of the plot and is always facing
toward the top of the display. The concentric rings, starting at the center and
moving out from the vessel, represent the percentage (i.e. 20% to 100%) of
available thrust. The tick marks and degree callouts around the outer circle
represent compass headings.
DP operators use the Mode button to switch from Actual to Hypothetical
modes. In Hypothetical mode, the operator may enter the environmental
factors of Current and Wind. The letters HC and HW appear outside the circle
and indicate the direction from which the Hypothetical Current and Wind are
coming. In Actual mode, the relevant sensors report those environmental
factors. The letters TC and TW appear outside the circle and indicate the
direction from which the True Current and Wind are coming.
The holding plot appears as a yellow line. This yellow line indicates the
percentage of thrust required, from the highest-loaded online thruster, to hold
station at any given heading. The holding plot size and shape changes based
on variations in wind, current, and online thruster availability. The DP operator
may increase the amount of available thrust by bringing more thrusters online.
The yellow plot line is drawn in towards the vessel at two points. These
points represent the headings from which the environmental forces have the
most impact on the vessel. The least amount of thrust will be required to hold
station when the vessel’s heading is aligned with these points.
In the following example, the DP operator must set the heading to either 45º
or 225º to use the least amount of thrust to hold station. If the heading was
set to 30º, for example, then 20% of thruster power would be required. This is
shown where the yellow plot line intersects the 30º heading line at the 20%
ring. Or if the heading was set to 0º, thrust power would be closer to 60%.
The Holding Capability plot is sometimes referred to as a “Butterfly Plot.” As
seen in the following example, when the vessel is set to the optimum heading
the holding plot lines appear to be butterfly wings on the body of the vessel.

Note – For maximum station-keeping performance, orient the vessel

with the bow or stern pointing into the environment (wind,
waves, current).

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Figure 7-41. Holding Capability Plot

Perform the following to determine the amount of thrust required to hold

station:
1. Find the heading along the outer circle
2. Trace directly toward the center of the circle
3. Find the spot where the heading line intersects the yellow holding plot
4. Count the number of circles between this point and the center point. Each
circle represents 20% of available power

The following sections describe the information displayed on the HOLDING

CAPABILITY Page.

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7.20.1 Mode
Mode - Actual or Hypothetical, changes the base-line holding plot data
according to the following:
 In Actual mode, the display generates a holding plot based on the current
thruster status, current speed/direction, and wind speed/direction.
 In Hypothetical mode, operators can observe how new thruster conditions,
a different current speed/direction, and/or a different wind speed/direction
would affect the system’s ability to hold station.
7.20.2 Thrusters/Rudders
 Green indicates an online thruster/rudder.
 Gray represents an offline thruster/rudder.
 Red indicates a faulted thruster/rudder.
7.20.3 Current & Wind
 Speed (kts) - displays the measured current/wind speed in Actual mode or
the user-defined data in Hypothetical mode.
 Dir. (True) – displays the measured current/wind direction in Actual mode
or the user-defined data in Hypothetical mode.
HC – Hypothetical Current is coming from this direction.
HW – Hypothetical Wind is coming from this direction.
TC – True Current is coming from this direction.
TW – True Wind is coming from this direction.

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7.21 CHART PAGE

The CHART PAGE presents an overview of important vessel control and
tracking information. The top right corner of the page displays the current
display units. Touching/left-clicking the CHART Button on the CHART/SUMMARY
drop-down menu calls up the CHART PAGE.

Note – The top of the CHART PAGE always represents north.

Figure 7-42. Chart Page

The following sections describe the control and configuration buttons on
CHART PAGE.

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7.21.1 Pan and Zoom Control Buttons

Pan and Zoom Control Buttons, Figure 7-43, move the view-port of the
CHART PAGE and change its scale.

Figure 7-43. Pan and Zoom Control Buttons

 Select the ARROW buttons to pan up, down, left, and right.
 Select the Plus (+) button to zoom in on the display.
 Select the Negative (-) button to zoom out.

Note – When operators zoom out to where the ship icon would
disappear if held to its true scale, the screen displays the
message – Ship Not To Scale
7.21.2 Configuration Buttons
The Configuration Buttons affect the appearance and behavior of CHART
PAGE. A button has been selected when it appears to be recessed, like the
NORTH/EAST, SENS DISP, VESSEL TRAIL, & TRACK DISP buttons in Figure 7-44.

Figure 7-44. Configuration Buttons

7.21.2.1 Ship Focus
Select SHIP FOCUS to center the CHART PAGE on the vessel icon.
7.21.2.2 Follow Ship
FOLLOW SHIP allows the display to adjust continuously to keep the vessel icon
inside the viewing area.
7.21.2.3 No Grid
NO GRID removes all grid lines.
7.21.2.4 Lat/Lon
Selecting LAT/LON allows viewing of the latitude and longitude grid lines.
7.21.2.5 North/East
Selecting NORTH/EAST allows viewing of the North/South and East/West grid
lines.
7.21.2.6 Sens Disp
SENS DISP enables and plots the position reference sensors.

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7.21.2.7 Vessel Trail

VESSEL TRAIL generates a series of green dots representing the vessel’s
movements. When operators replace the CHART PAGE with another display
page, Vessel Trail automatically clears.
7.21.2.8 Clear Trail
Clear Trail erases the green dot trail generated by the Vessel Trail command
mentioned above.
7.21.2.9 Track Disp
The TRACK DISP button displays and plots the active track and waypoints on
the Chart Page, Figure 7-45. The three waypoints shown in the figure to the
left represent the starting point (the large magenta X labeled “0”), the
trackpoint (the large magenta X near the vessel), and the goal waypoint (the
small magenta X labeled “1”). The trackpoint (see “instantaneous setpoint”)
moves along the track from the previous waypoint to the next waypoint; the
vessel follows the trackpoint. See Section 4.1, DP System Terminology, and
Section 4.8, Setpoint Select, for an explanation of “instantaneous setpoint”.

...
Figure 7-45. Low Speed Track Follow – Track and Waypoints (two examples)

Note – The track, Figure 7-45, is drawn as a solid magenta line with the
active or current leg indicated by a thicker line. The waypoints
are marked with small magenta “x” symbols and waypoint
numbers. Dotted magenta lines are drawn from the tangential
points of the turn radius to the waypoints. The each end of the
track and the trackpoint are marked with large magenta “X”
symbol.

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7.21.3 Chart Page Symbols

CHART PAGE incorporates the following symbolic abbreviations:
7.21.3.1 Force/Motion Vectors
Force/Motion Vectors arrow lengths are proportional to the respective thrust
levels; see Figure 7-45.
A light blue arrow, originating from the center of the vessel icon, indicates
commanded surge and/or sway thrust. A yellow arrow, originating from the
center of the vessel icon, indicates measured surge and/or sway thrust.
A curved light blue arrow, originating near the bow of the vessel icon,
indicates commanded yaw thrust. A curved yellow arrow, originating near the
bow of the vessel icon, indicates measured yaw thrust.
7.21.3.2 Red and Yellow Alert Circles
Red and Yellow alert circles are displayed when the DP System is in HOLD
POSITION. See Section 7.4.2, Alert Radius, for more information.
7.21.3.3 Position Reference Sensor Symbols
See Section 7.9.7, Position Reference Sensor Symbols.

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7.22 TRACK OPERATION PAGE

The TRACK OPERATION Page, Figure 7-46, presents an overview of vessel
position tracking information. The top right corner of the page shows the
current Display Units. The rest of the page is organized into the following
distinct sections:
 Track Control Summary
 Track Offsets
 Track Settings

Figure 7-46. Track Operation

The sections that follow describe the control and configuration buttons on the
TRACK OPERATION Page. See Section 8.5, Track Follow, for instructions on
operating the Track Follow mode.

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7.22.1 Track Control Summary

7.22.1.1 LSTF/HSTF
Indicates current status of the Track Follow mode, LSTF or HSTF and:
 Tracking
 At Waypoint
 Idle

Target Speed indicates the goal speed setpoint. This may be programmed
into each Waypoint or set by the <USER SPEED> button on the TRACK
OPERATION Page. See 7.22.3.3, Speed Mode, for operation.
Distance To Go displays the total distance the vessel must travel along the
track before arriving at the end of the track.
7.22.1.2 Leg
The Leg numbers within the brackets [WP0 - WP1] correspond to the
beginning and ending waypoint numbers for the active leg.
Bearing displays the orientation of the active leg.
Next is the bearing of the next leg.

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7.22.1.3 Goal stpt (LSTF)

Goal Setpoint consists of the goal heading setpoint (Heading) and the actual
position setpoints, where North & East are measured from the origin, and
Along & Cross are measured from the track.
 North – North/South distance from Goal stpt to origin
 East – East/West distance from Goal stpt to origin
 Along – distance along the track between the trackpoint and a point on
the track that is perpendicular to the vessel’s actual location (displays
deviation only).
 Cross – shortest distance measured from the track to the vessel’s
actual location (displays deviation only).
7.22.1.4 Vessel (LSTF)
Displays the vessel’s actual position relative to the origin.
7.22.1.5 Deviation (LSTF)
Displays the difference between the goal setpoint (trackpoint location) and the
actual vessel position.
7.22.1.6 Bearing To (HSTF)
Displays the bearing to the next waypoint.
7.22.1.7 Distance To (HSTF)
Displays the distance to:
 Waypoint – the next waypoint
 WOP (Wheel Over Point) – the point on the track where the vessel
deviates from the current leg and starts into a turn (following the
turning radius). This point occurs prior to the tangent point of the
turning radius.
 WCP (Wheel Center Point) – the point on the turning radius where the
vessel comes out of the turn and then attaches to the next leg. This
point occurs prior to the tangent point on the next leg. See Section
7.23.7.3.1 for an explanation of the turning radius.
7.22.1.8 Time To (HSTF)
Displays the time that will elapse until the WOP or WCP.

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7.22.2 Track Offsets

The Track Offset is a user-defined distance, added to or subtracted from, the
actual goal setpoints defined in the track. Track Offsets are available in LSTF
only, not in HSTF.

7.22.2.1 Heading
The operator-entered Heading track offset is a specific number of degrees,
added to or subtracted from, the track heading (a positive number measures
clockwise, a negative number measures counterclockwise).
7.22.2.2 North/East
The operator-entered North/East waypoint offset. Each waypoint is offset
the same distance, as illustrated in Figure 7-47 (positive numbers measure
North & East; negative numbers measure South & West).

Offset Track

Original Track

Figure 7-47. North/East Track Offset

7.22.2.3 Cross
The operator-entered Cross track offset. Each leg is offset the same
distance, as illustrated in Figure 7-48 (a positive number measures stbd, a
negative number measures port).
Offset Track

Original Track

Figure 7-48. Cross Track Offset

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7.22.3 Track Settings

Track Settings allow the DP operator to edit parameters for direction, heading
and speed. When Track Follow mode is active, these buttons are disabled.

7.22.3.1 Mode/Direction
7.22.3.1.1 MODE
 Low Spd = Low Speed Track Follow (LSTF)
 Hi Spd = High Speed Track Follow (HSTF)
See Section 8.5.1, Speed Control for Track Follow, for an explanation of
the difference between these two modes.
7.22.3.1.2 DIRECTION
 REV & FWD (Reverse and Forward) buttons control the vessel’s direction
along the track.
• REV – trackpoint progresses towards decreasing waypoint numbers.
Note: when in reverse, the Target Speed on the Track Operation
Page is shown as a negative number.
• FWD – trackpoint progresses towards increasing waypoint numbers.
7.22.3.2 Heading Mode
Heading Mode parameters (available for LSTF only) can be changed only
while in Hold Heading Mode. Hold Heading mode must be engaged for the
Table, Previous WP & Next WP options to be available for use.
 Table – heading setpoint taken from the current waypoint table (file). The
heading setpoint is, in this case, equal to the target heading of the
waypoint that the vessel is moving away from (i.e. heading setpoint of
previous waypoint). In other words, if the vessel is on the leg between
WP1 & WP2, in forward the heading setpoint will be that of WP1, but in
reverse the heading setpoint will be that of WP2.
 Previous WP – heading setpoint is equal to reciprocal of the current leg
bearing (i.e. pointing towards the waypoint with the lower number).
 Next WP – heading setpoint equal to the current leg bearing (i.e. pointing
towards the waypoint with the higher number).

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 Auto/Man – when this button is depressed, the vessel heading is

controlled by standard DP functionality. If the heading axis is in JSTK,
then heading is controlled manually with the heading control knob. If
heading axis is in AUTO, then the heading setpoint is controlled by means
of setpoint maneuvers, see Section 7.6.2.1. Auto/Man is the default
button when Hold Heading mode is disengaged.
7.22.3.3 Speed Mode
There are four Speed Mode parameters (available for LSTF only).
 Table – target speed taken from the waypoint table (file). The current track
speed is equal to the target speed of the waypoint with the lower WP
number. In other words, if the vessel is on the leg between WP1 & WP2,
and regardless of being in forward or reverse, the target speed will be that
of WP1.
 Joystick – speed is controlled by the joystick’s F/A axis. Maximum speed
for LSTF is 120 meters per minute (120 m/min). When the joystick is
placed in the full forward position, the target speed will be 120 m/min. The
joystick’s P/S axis has no effect while in LSTF.
 UI – track speed is entered by the User Speed button on the Track
Settings screen (UI = User Interface).
 UI + Jstk – track speed is entered by the User Speed button on the Track
Settings screen as above, but can be modulated with the joystick. The
track speed is equal to the User Speed only when the joystick’s F/A axis
is in its ‘0’ position. Any F/A movement of the joystick will override the UI.
7.22.3.4 User Speed
User Speed is the operator-entered target speed. Speed Mode must be set
to either “UI” or “UI + Jstk” for User Speed to be in effect.

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7.23 WAYPOINT PAGE

WAYPOINT Page, Figure 7-49, presents an additional overview of important
vessel waypoint tracking information. The top right corner of the page shows
the current display units. The rest of the display page is organized into the
following distinct sections:

 Display Window  Setup

 Lat/Lon  Route

 N/E  Waypoint

Figure 7-49. Waypoint Page

The sections that follow describe the control and configuration buttons on the
WAYPOINT Page. See Section 8.5, Track Follow, for instructions on
operating the Track Follow mode.

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7.23.1 Display Window

The waypoints defining the current track are viewed in the Display Window.
The waypoints can be edited on either the Master or Backup Operator
Workstation while Track Follow mode is not active. When Track Follow mode
is active, the edit function is disabled.

7.23.2 Lat/Lon
When the Lat/Lon button is pressed, waypoints are displayed in a
Latitude/Longitude format. Lat/Lon format is available for Absolute track
types only, not for Relative tracks.
7.23.3 N/E
When the N/E button is pressed, waypoints are displayed in a
Northing/Easting format for either Absolute or Relative tracks. The
Northing/Easting coordinates are displayed relative to the Origin (usually the
GPS Reference Position). If the origin is changed, then the Northing/Easting
data for each waypoint is equally changed, thus keeping the Waypoints in
their absolute (real world) location. The GPS Reference Position button is
found on one of the SETUP PAGEs, Figure 7-7.
7.23.4 Setup
The Setup section of the Waypoint page allows the DP operator to manually
adjust the Cross Track Threshold.

7.23.4.1 Cross Track Threshold

This button allows DP operators to change the threshold for the cross track
alarm. The number displayed is in feet or meters, depending on the Display
Units. If the vessel position drifts/drives away from the track more than this
distance (the Cross Track Threshold) then an alarm is triggered.

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7.23.5 Route
The Route section of the Waypoint Page allows the DP operator to create a
new, select or save a Waypoint Track file.

7.23.5.1 New
Selecting New removes any current track from memory and creates a new
track (save the current track before creating a new one). The Select Track
Type pop-up appears, Figure 7-50.

Figure 7-50. Select Track Type Pop-up

DP operators then have to choose from the following possible track formats:
 Absolute – All coordinates are stored in Lat/Lon format. Waypoints
are edited and displayed in either Lat/Lon or Northing/Easting
formats. Northing/Easting coordinates are displayed relative to the
GPS Reference Position (aka the Origin).
 Relative – All coordinates are stored in Northing/Easting format.
Waypoints are edited and displayed in Northing/Easting format only.
Northing/Easting coordinates are calculated relative to the GPS
Reference Position (aka the Origin). This format is useful for creating
search patterns, which may be repeated at different absolute sites.
Waypoints in Relative format cannot be displayed in Lat/Lon
coordinates.

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7.23.5.2 Select
Picking the Select button opens the Open file dialog box, Figure 7-51,
allowing operators to select a predefined Waypoint file (or track). This function
is disabled when Track Follow mode is active. When Track Follow mode is
not active, different tracks can be opened on the Backup Operator
Workstation(s). When Track Follow mode is activated from the Master
Workstation, then that master track is transferred to the Backup
Workstation(s), overwriting any previously opened Waypoint file track.

Note - Do not delete or move the file OpenRoute.wpt from the C:\ drive.

Figure 7-51. Open File Dialog Box

7.23.5.3 Save
Picking the Save button opens the Save As dialog box, Figure 7-52, allowing
operators to save or rename a Waypoint file.

Figure 7-52. Save As Dialog Box

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7.23.6 Waypoint
The Waypoint section contains the following buttons:

 Insert
 Add
 Delete

 Up
 Down
 Edit

When any of the Insert, Add, or Edit buttons are selected, the Waypoint
Edit pop-up appears. See Figure 7-53.
The following sections describe the functionality of the Waypoint buttons.
7.23.6.1 Insert
Perform the following to insert a new waypoint into an existing track:
1. Select an existing waypoint, in the waypoints list, where the new
waypoint is to be inserted. The new waypoint will be inserted above it.
2. Select the INSERT button. The Waypoint Edit pop-up appears.
3. Edit the newly inserted waypoint as desired.
7.23.6.2 Add
Perform the following to add a new waypoint into an existing track:
1. Select the ADD button. A new waypoint will be added to the bottom of
the existing list. The Waypoint Edit pop-up appears.
2. Edit the new waypoint as desired.
7.23.6.3 Delete
To delete a waypoint, select a waypoint in the waypoint list, then select the
DELETE button.
7.23.6.4 Up
To move a waypoint up in the track order, select the waypoint in the waypoint
list, then select the UP button.
7.23.6.5 Down
To move a waypoint down in the track order, select the waypoint in the
waypoint list, then press the DN button.

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7.23.6.6 Edit
Perform the following to edit any waypoint:
1. Select a waypoint in the list
2. Press the Edit button (or double click the waypoint in the list). The
Waypoint Edit pop-up appears.
3. Edit the waypoint as desired.
7.23.7 Waypoint Edit Pop-up
The following sections describe the functionality of the buttons on the
Waypoint Edit pop-up.

Figure 7-53. Waypoint Edit Pop-Up

7.23.7.1 Identifier
Each waypoint is automatically assigned a waypoint number starting at zero
(WP 0). However, the waypoint may also have a user-created IDENTIFIER
name or number.
7.23.7.2 Position
The waypoint POSITION is displayed in either Lat/Lon or Northing/Easting
format. Northing/Easting units are displayed in either meters or feet,
depending on the Display Units setting. Pick either button to change its value.

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7.23.7.3 Properties
7.23.7.3.1 TURNING RADIUS
Each waypoint has an associated Turning Radius to allow smooth
transitions between legs. If the turning radius is set to zero the waypoint
is considered as a “stop point”. The trackpoint decelerates to a full stop
when it approaches a waypoint with a turning radius of zero. When the
trackpoint, and thus the vessel, has come to a complete stop, the track status
changes from “Tracking” to “At Waypoint.” The operator may then reinitiate
tracking by picking the flashing Track Follow button.

Note – A waypoint radius that is too large invalidates the track

geometry. Therefore, a track validation test is performed, for
this and other error conditions, each time Track Follow mode is
initiated. DP operators are alerted if the current track failed the
validation test.
7.23.7.3.2 HEADING
The DP operator may enter a desired heading for the current track. However,
this heading will be initiated only if the Heading Mode in the Track Settings
section of the Track Operations page is set to TABLE, see Section 7.22.3.2.
7.23.7.3.3 SPEED
The DP operator may enter a desired speed for the current track. However,
this speed will be initiated only if the Speed Mode in the Track Settings
section of the Track Operations page is set to TABLE, see Section 7.22.3.3.

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7.24 MODE FUNCTION DROP-DOWN MENU

Perform the following to access the MODE FUNCTION Drop-Down Menu:
1. Select MODE FUNCTION on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following Mode Functions are accessed through this drop-down menu:
 Alarm Page (displays Alarm Page) – See Section 12.3, pg 12-2
 Alarm Page Inhibit (on/off) – Sections 7.6.2.3 & 12.3.1, pgs 7-36 & 12-4
 Wind Comp (on/off) – See Sections 4.11.8 (pg 4-20) for Theory and 8.6
(pg 8-15) for Operation
 Joystick Desens – See Section 7.6.1.8, pg 7-23
 Clear Joystick Bias – See Section 7.6.2.2, pg 7-35
 Portable Joystick (on/off) – See Sections 3.3 (pg 3-3) for Operation of
Portable Joystick and 5.3.2 (pg 5-7) for Taking & Transferring Control of
Remote & Portable Joysticks
 Power Limit Sustain (on/off) – See Section 7.14.4.4, pg 7-67

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7.25 HEADING DROP-DOWN MENU

Perform the following to access the HEADING Drop-Down Menu:
1. Select HEADING on the DP Navigation Bar.

or

2. A “Drop-Down Menu” appears:

The following Operational & Automatic Modes are accessed through this
drop-down menu:

 Hold Heading – See Section 4.11.1, pg 4-18, for Theory, and Section 8.2,
pg 8-4, for Operation

 AHMT (Auto Heading for Minimum Thrust) – See Section 4.11.9, pg 4-20,
for Theory, and Section 8.8, pg 8-16, for Operation

 Transit – See Section 3.5, pg 3-5, for Overview, Section 7.2.4, pg 7-8, for
Setup Page Settings, and Section 8.11, pg 8-19, for Operation

 Pilot – See Sections 3.5 & 7.6.1.4, pgs 3-5 & 7-22, for Overview, and
Section 8.12, pg 8-22, for Operation

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7.26 POSITION DROP-DOWN MENU

Perform the following to access the POSITION Drop-Down Menu:
1. Select POSITION on the DP Navigation Bar.

or

2. A “Drop-Down Menu” appears:

The following Operational & Automatic Modes are accessed through this
drop-down menu:

 Hold Position, Hold Surge, Hold Sway – See Section 4.11.2, pg 4-18, for
Theory, and Section 8.3, pg 8-5, for Operation

 Hold Area – See Section 4.11.2, pg 4-18, for Theory, and Section 8.7, pg
8-16, for Operation

 Track Follow – See Section 4.11.4, pg 4-19, for Theory, and Section 8.5,
pg 8-9, for Operation

 ROV Follow – See Section 4.11.3, pg 4-18, for Theory, and Section 8.4,
pg 8-7, for Operation

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7.27 INITIALIZE BACKUP BUTTON

 Initialize Backup – See Section 5.5, pg 5-9

7.28 ALARM SILENCE BUTTON

 Alarm Silence – See Section 12.5, pg 12-5

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8. OPERATIONAL & AUTOMATIC MODES
The NMS6000 DP System offers the following Operational Modes and
Automatic Maneuvers:

 Manual Joystick (JSTK), pg 8-1  Hold Heading, pg 8-4

 Hold Position/Surge/Sway, pg 8-5  ROV Follow, pg 8-7

 Track Follow, pg 8-9  Active Wind Compensation, pg 8-15

 Hold Area Mode (HAM), pg 8-16  Auto Heading for Minimum Thrust, pg 8-16

 Remote Center of Rotation, pg 8-16  Simulation Mode, pg 8-17

 Transit Mode, pg 8-19  Pilot Mode, pg 8-22

Control Modes and Automatic Maneuvers are selected by using the

navigation bar MODE FUNCTION, HEADING, OR POSITION buttons’ “Drop-Down
Menus”.

Note – If the vessels DP System is not configured for a certain Control

Mode and/or Automatic Maneuver, then that Control Mode
and/or Automatic Maneuver will not be available on the MODE
FUNCTION, HEADING AUTO, OR POSITION AUTO “Drop-Down
Menus”.
Once the “Drop-Down Menu” is visible operators may then select the
Control Mode or Automatic Maneuver of their choice. Select desired
command by touching or left clicking the button, which then illuminates
Green.
8.1 MANUAL JOYSTICK (JSTK)
Operators can manually control the vessel with the Operator Workstation’s
<POSITION CONTROL JOYSTICK> and the <HEADING CONTROL KNOB>. The
thrusters respond to the manual commands, attempting to move the vessel in
the position and heading directions commanded from the joystick.
Operators normally use this mode to position the vessel at the worksite,
maneuver at dockside, or in other situations where human command (control)
of the vessel is desired.
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Perform the following to place the vessel under full MANUAL CONTROL:
1. Clear all propulsion alarms.
2. Verify both HOLD HEADING and HOLD POSITION are disengaged.
3. Maneuver the vessel.
8.1.1 Basic Operational Modes Utilizing the Joystick
An overview of these modes are:
 JSTK – In JSTK MODE (MANUAL MODE), the operator has full
manual control of all three control axis, see Figure 4-10. JSTK MODE
is used for maneuvering about a worksite or when docking the vessel,
both at slow speeds. All thrusters and rudders are utilized for position
and heading control. Both the <HEADING> & <POSITION> buttons,
Sections 7.25 & 7.26, show “JSTK” while in this mode.

Alternatively, the operator may set either the <HEADING> or <POSITION>

buttons to “AUTO”, while leaving the other axis in “JSTK”.
When the <HEADING> button is set to “AUTO” and the <POSITION>
button is set to “JSTK”, the DP System is in HOLD HEADING MODE,
see Section 8.1.1. In this mode, HEADING is controlled by using
Setpoint Maneuvers and POSITION is controlled by the Joystick.

When the <POSITION> button is set to “AUTO” and the <HEADING>

button is set to “JSTK”, the DP System is in HOLD POSITION MODE,
see Section 8.3. In this mode, POSITION is controlled by using
Setpoint Maneuvers and HEADING is controlled by the Control Knob.

Lastly, when both the <HEADING> and <POSITION> buttons are set to
“AUTO”, the DP System is in HOLD HEADING HOLD POSITION. In
this mode, all axes are controlled by using Setpoint Maneuvers, and
the joystick is not utilized. See Section 7.6.2.1 for Setpoint Maneuvers.

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 PILOT – In PILOT MODE, the operator has control over two of the
controls axis: Surge & Yaw. Moving the joystick from side to side has
no affect. PILOT MODE is used for driving the vessel when manual
control over Yaw (heading) is desired. In this mode, only the rudders &
main props are used for heading control. The <HEADING> button,
Section 7.25, shows “PILOT” while in this mode. See Section 8.12.

 TRANSIT – In TRANSIT MODE, the operator has control over only the
Surge control axis. TRANSIT MODE is used for driving the vessel
when automatic Yaw (heading) control is desired. The operator may
change the heading using Setpoint Maneuvers, see Section 7.6.2.1.
The <HEADING> button, Section 7.25, shows “TRANSIT” while in this
mode. See Section 8.11.

Note – Reverse propulsion should only be used in case of an

emergency while in TRANSIT. TRANSIT Mode is not designed
to keep course under this circumstance.

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8.2 HOLD HEADING

Operators would normally transfer from full MANUAL CONTROL to HOLD
HEADING mode after arriving at the worksite and placing the vessel on the
desired heading. When selecting the <HOLD HEADING> button (on the Mode
Function page or Position Drop-Down Menu), the DP System reads and
maintains the current heading, until a new heading setpoint is entered or
HOLD HEADING is deactivated. Clear any Joystick Bias prior to entering
HOLD HEADING. See Section 7.6.2.2, Clear Joystick Bias.

Heading Goal Setpoint: 0 degrees

Measured Heading: 10 degrees

Thrust Commands

Thrust Commands

Figure 8-1. Hold Heading Illustration

In HOLD HEADING, as illustrated in Figure 8-1, the system reads the

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

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8.3 HOLD POSITION

In HOLD POSITION, the illustration of Figure 8-2, displays how the DP
System automatically maintains the vessel’s position while allowing operators
to make heading changes with the <HEADING CONTROL KNOB>.
Clear any Joystick Bias prior to entering HOLD POSITION. See Section
7.6.2.2, Clear Joystick Bias.
Refer to Section 6.5.1, Requested Forces %, and Section 6.5.2, Total Forces
%, for pertinent information concerning the operation of Hold Position Mode.

! CAUTION
HIGH VELOCITY TURNS CAN CAUSE SERIOUS PROBLEMS:

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

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

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

increasing water aeration and thruster noise levels.
L-3 DP&CS recommends avoiding high velocity turns entirely. When high
velocity turns become necessary, operators should carefully assess the
consequences before beginning the maneuver.

to move in the
fr ee Ya
l
s se w
ax
Ve
is

Thruster Forces Current and Wind Forces

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

Figure 8-2. Hold Position Illustration

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8.3.1 Hold Position - Activation

Perform the following to activate HOLD POSITION:
1. Establish MANUAL CONTROL of vessel per Section 8.1.
2. Place at least two thrusters online in AUTO mode. Refer to Section
7.11.5 for instructions. More thrusters may be necessary depending on
the situation.
3. Verify the appropriate position reference sensor(s) are online.
4. Clear all relevant alarms, especially those relating to position reference
sensor(s).
5. Move the <POSITION CONTROL JOYSTICK> until the vessel stabilizes at
the desired position.
6. Press the <HOLD POSITION> switch or select the HOLD POSITION button
on the Mode Function page or Position Drop-Down Menu.
7. To exit HOLD POSITION, press the <HOLD POSITION> switch or select
the HOLD POSITION button again. The Confirm Exit of HOLD
POSITION Mode? dialog box appears:

8. Select the YES button to exit. To remain in HOLD POSITION, select

the NO button.
8.3.2 Hold Surge/Sway
The HOLD POSITION mode controls both surge and sway. For operational
flexibility, HOLD SURGE (Fore & Aft) and HOLD SWAY (Port & Stbd) modes
are also available. When in HOLD SURGE, the surge axis is in automatic DP
control and the sway axis is manual joystick control. The opposite is true for
HOLD SWAY. Both modes are selected from the Position Drop-Down
Menu, see Section 7.26.

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8.4 ROV FOLLOW

In ROV FOLLOW, the DP generates thruster commands driving the vessel to
follow the reported position of a Remotely Operated Vehicle (ROV). ROV
tracking is possible when a hydroacoustic beacon is mounted on the ROV,
and the beacon data is used to report the position of the ROV in relation to
the vessel.
Since hydrodynamic effects of the hull vary with vessel speed and ocean
current direction, the most successful tracking occurs at lower ROV speeds
(approximately 2 knots).
Operators may need to adjust the control gains for optimal ROV tracking
under various environmental and operational conditions.
8.4.1 ROV Follow - Set Up
Perform the following to set up ROV FOLLOW:
 Select SETUP PAGE 4 from the drop-down SETUP Menu on the
Navigation Bar. See Figure 8-3.
 The ROV FOLLOW CONFIGURATION dialog box appears allowing
operators to enter several important parameters related to the ROV
FOLLOW mode. See Section 7.5.2 for details.

Figure 8-3. ROV Follow Configuration Dialog Box

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8.4.2 ROV Follow - Fixed Position Sensor Online

1. Place stable and accurate position sensors online.
2. Select the SETUP PAGE 4 from the drop-down SETUP Menu. Enter the
identification number of the ROV beacon.
3. Select ROV FOLLOW from the ROV POSITION drop-down menu. If the DP
is not currently in HOLD POSITION, the DP illuminates both the ROV
FOLLOW and the HOLD POSITION buttons.

Note – The distance between the center of the vessel and the ROV is
immediately recorded. On the CHART PAGE the ROV
Deadzone Radius is plotted as a circle around this point.
4. The DP initiates automatic position control. When the ROV moves outside
the ROV Deadzone Radius, the DP generates thruster commands to drive
the vessel to a new goal at the given offset from the ROV position. The
goal continues to move until the ROV is back inside the ROV Deadzone
Radius.

Note – The vessel is free to rotate unless operators also select HOLD
HEADING mode.
5. When the ROV sensor’s reported position appears too noisy and is
affecting control of the vessel, open the ROV FOLLOW
CONFIGURATION dialog box and increase the ROV FILTER GAIN.
Conversely, if the ROV position data is extremely clean and better
positional accuracy is desired, set the filtering to a lower value.
6. Operators cannot initiate Position maneuvers while in ROV FOLLOW
mode.
7. To exit ROV FOLLOW mode, simply select the ROV FOLLOW screen. The
system remains in HOLD POSITION mode until this function is
deselected.

Note – When the operator selects the H OLDPOSITION button while

operating in ROV FOLLOW mode, the DP cancels both modes
and reverts to Manual Position Control.
8.4.3 ROV Follow Mode - NO Fixed Position Sensor Online
Without an online fixed position sensor, the DP cannot define an ROV
Deadzone Radius. For this reason, changing the Deadzone radius has no
effect and the DP attempts to follow any motion of the ROV while also
maintaining the given offsets.

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8.5 TRACK FOLLOW

TRACK FOLLOW mode controls vessel position and heading, with a high
degree of accuracy, along a predefined track. A track is comprised of two or
more waypoints, which are specific coordinates along the track. The space
between any two waypoints is called a “leg” of the track. In Track Follow
mode, the instantaneous setpoint (see Section 4.1.16) is called the
trackpoint. The track program logic continuously moves the trackpoint along
the track. Trackpoint speed and heading data is derived from a predefined
track or may be controlled directly by the DP operator.
Movement between waypoints is always defined in position, speed and
heading. Waypoints have several attributes such as target speed, target
heading, and turning radius. The latter allows for smooth transitions between
track legs. Tracks can be created in either Absolute or Relative format.
Absolute tracks are defined by waypoints in Lat/Lon format. Relative tracks
are defined by waypoints in Northing/Easting format. The relative format
enables the same track to be used at different locations, such as for search
operations.
The tracks can be created from any of the DP System Operator Workstations
using the Waypoint Page, or can be read in from an external Track File (.wpt)
created on a stand-alone computer. See Section 7.22, Track Operation Page,
and Section 7.23, Waypoint Page, for more information.
Some vessels are equipped with an optional Electronic Chart Display and
Information System (ECDIS) interface which is utilized for High Speed Track
Follow (HSTF). The ECDIS system allows the operator to enter a track on the
map display. When HSTF is initiated, the DP System receives steering
information from the ECDIS, which is responsible for the primary navigation.
Track Follow has two modes, Low Speed and High Speed. The two modes
are similar, but have some important differences:
 Speed Control
 Heading Control
 Starting & Stopping
8.5.1 Speed Control for Track Follow
In Low Speed Track Follow (LSTF), there are different ways to control
speed. See Section 7.22.3, Track Settings, for instructions on the various
methods of speed control.
 Deflecting the joystick in the F/A direction
 Setting the speed in the Waypoint Editor
 The Speed Mode options on the Track Operation Page
 Setting the User Speed on the Track Operation Page
In LSTF, vessel speed is limited to 120 meters per minute (m/min) or approx
3.9 kts.
In High Speed Track Follow (HSTF), vessel speed is controlled directly by
the joystick and is not limited.
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8.5.2 Heading Control for Track Follow

In LSTF, vessel heading is controlled by three different methods or a
combination of them.
 as the Heading setting in the Waypoint Editor for each waypoint
 selecting one of the four Heading Mode options on the Track Operation
Page (Hold Heading Mode must be established first)
 setting the Heading in the Track Offsets section of the Track Operation
Page
In HSTF, vessel heading is controlled by the DP system, which attempts to
keep the vessel on track while adjusting for any cross track deviation. The DP
operator may use the <JOG> buttons on the TRANSIT PAGE to adjust course.
See Section 8.11.8 for use of the <JOG> buttons.
See Section 7.22.3, Track Settings, for instructions on the various methods of
heading control.
8.5.3 Starting Track Follow
8.5.3.1 Low Speed Track Follow (LSTF)
Perform the following to activate the LOW SPEED TRACK FOLLOW mode:
1. Prepare and load a track. See Section 7.23, Waypoint Page.
2. Establish HOLD POSITION in close proximity to the track.
3. Select <LOW SPEED> on the TRACK OPERATION Page, Figure 7-46.
4. Select the <TRACK FOLLOW > button on the MODE FUNCTION PAGE or
POSITION DROP-DOWN MENU.
5. Pick YES on the Confirm Low Speed Track Follow Mode dialog box. The
Position Mode changes from AUTO to LSTF.
6. Two scenarios are possible at this point:
 If the vessel is positioned at a waypoint, then the message “Waiting at
Waypoint” appears in the Status Message Window and the <TRACK
FOLLOW > button starts to flash. Pick the <TRACK FOLLOW > button again
to initiate LSTF, or pick the HOLD POSITION button to cancel it.
 If the vessel is close to (but not on) the track, then the message
“Starting LSTF Attaching to Leg” appears in the Status Message
Window and LSTF is automatically initiated. Pick the <HOLD POSITION>
button to cancel Track Follow.

Maximum speed for LSTF is 120 meters per minute (m/min) or approx 3.9 kts.

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8.5.3.2 High Speed Track Follow (HSTF or AutoTrack)

1. Prepare and load a track. See Section 7.23, Waypoint Page.
2. Establish speed and heading in TRANSIT or PILOT MODE, steering the
vessel near and parallel to the track, heading toward the next waypoint.
3. Select HI SPEED on the TRACK OPERATION Page, Figure 7-46.
4. Select the TRACK FOLLOW button on the MODE FUNCTION PAGE or
POSITION DROP-DOWN MENU.
5. Pick YES on the Confirm High Speed Track Follow Mode dialog box. The
Heading & Position Modes change to HSTF and the TRANSIT PAGE is
displayed.
6. The message “Starting HSTF” appears in the Status Message Window.
7. Use the joystick to adjust the forward speed of the vessel as desired.
The DPS operator can manually change the speed of the vessel using the
<POSITION CONTROL JOYSTICK>. However, sway commands to the <POSITION
CONTROL JOYSTICK> and yaw commands to the <HEADING CONTROL KNOB>
are ignored while in HSTF mode.
8.5.4 Stopping Track Follow
While in LSTF, picking the <TRACK FOLLOW> button will initiate a stop. The
vessel will slow to a halt and the DP system will go into HOLD POSITION
MODE.
While in HSTF, picking the <TRACK FOLLOW> button will exit HSTF and enter
TRANSIT MODE.

Note – The vessel will stop at the end of the tack in LSTF, but will not
do that in HSTF.

8.5.5 Track Display Selection and Monitoring

Selecting TRACK DISP on the CHART PAGE brings up a display of the vessel’s
current commanded track and configured waypoints, Figure 8-4. This allows
operators to monitor the vessel’s progress along the track.

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Figure 8-4. Track and Waypoints

8.5.6 Track and Waypoint Description
The track, Figure 8-4, is drawn as a solid magenta line with the active or
current leg indicated by a thicker line. The waypoints are marked with small
magenta “x” symbols and waypoint numbers. Each end of the track and the
trackpoint are marked with large magenta “X” symbol. Dotted magenta lines
are drawn from the tangential points of the turn radius to the waypoints.
8.5.7 Passing Waypoints
When the track point approaches a waypoint, the following two scenarios are
possible depending on the turning radius for the waypoint:
 Turning Radius Equals Zero (0) - The trackpoint decelerates as it is
approaching the waypoint and comes to a complete stop at the waypoint.
The track status changes from “Tracking” to “At waypoint”, and the
message “Waiting At Waypoint” appears. The vessel holds this position
until the operator resumes tracking by pressing the <LSTF> button.
 Turning Radius Not Equal to Zero (0) - The trackpoint continues to
move along the track following the arc described by the two adjacent legs
and the waypoint’s turning radius. While the vessel is in the curve, the
controller applies additional thrust to compensate for centripetal forces.

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Note – This may cause large thruster response if the trackpoint speed
is high in combination with a small turning radius.

The end point of the track is treated similar to a waypoint with Turning Radius
Zero (0).

Example – The vessel comes to a stop and hold position at the end of
the track. The track status changes to “End of Track” when
the track point has come to a complete stop. The operator
can exit LSTF mode by selecting the <LSTF> button.
8.5.8 Stopping (LSTF Mode)
A stop sequence is initiated when the LSTF MODE button is selected while in
LSTF mode. The trackpoint decelerates and comes to a stop followed by the
control mode changing to HOLD POSITION.

Note – If the trackpoint was moving when the stop was initiated, the
final position will not be the same as where the stop was
initiated.

Note – When the Track Follow button is pressed before the trackpoint
has decelerated to a stop, the mode is forced to HOLD
POSITION. This action may cause large thruster response and
should be avoided if possible.
8.5.9 Track Definition File Format
The track definition file consists of a number of waypoints organized in
consecutive rows. Each row contains eight comma-separated elements as
described in the following sections. The files can be created and edited using
the Waypoint Page of the DP UI or with a simple text editor. The file extension
is “.wpt.

Note – Do not delete or move the file OpenRoute.wpt from the C:\ drive.
Tracks are defined by a minimum of two waypoints and/or a maximum of 100
waypoints. The examples below are of the same track with the exception that
one is Absolute and the other is Relative. Notice that the Absolute track is
stored in Lat/Lon while the Relative track is stored in Northing/Easting format.

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8.5.9.1 Absolute Tracks

Parameter Variable Unit
1 WP Number Integer
2 Identifier String
3 Latitude Degrees & Minutes
4 Longitude Degrees & Minutes
5 Turning Radius Meters
6 Stop Flag (not used) -
7 Target Heading Degrees
8 Target Speed M/sec

 Example:
0,start,+000°00.00000',+000°00.00000',0.000000,0,0.000000,0.333333
1,WP1,+000°00.05396',+000°00.00000',0.000000,0,0.000000,0.333333
2,WP2,+000°00.10792',+000°00.05396',50.000000,0,45.000000,0.333333
3,WP3,+000°00.10792',+000°00.10792',50.000000,0,45.000000,0.333333
4,WP4,+000°00.16188',+000°00.10792',50.000000,0,45.000000,0.333333
5,end,+000°00.16188',+000°00.16188',50.000000,0,0.000000,0.333333
8.5.9.2 Relative Tracks
Position Variable Unit
1 WP Number Integer
2 Identifier String
3 Northing Meters
4 Easting Meters
5 Turning Radius Meters
6 Stop Flag (not used) -
7 Target Heading Degrees
8 Target Speed M/sec

 Example:
0,start,0.000000,0.000000,0.000000,0,0.000000,0.333333
1,WP1,100.000000,0.000000,0.000000,0,0.000000,0.333333
2,WP2,200.000000,100.000000,50.000000,0,45.000000,0.333333
3,WP3,200.000000,200.000000,50.000000,0,45.000000,0.333333
4,WP4,300.000000,200.000000,50.000000,0,45.000000,0.333333
5,end,300.000000,300.000000,50.000000,0,0.000000,0.333333

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8.6 ACTIVE WIND COMPENSATION (AWC)

ACTIVE WIND COMPENSATION (AWC) uses data from all online wind
sensors. Using a virtual model of the vessel’s aerodynamics, the DP System
calculates wind effects and counteracts them through the vessel thrusters,
reducing station-keeping errors when wind speed and direction change.
Operators may use AWC simultaneously with any of the other control modes.
Perform the following to activate AWC:
1. Open SENSOR PAGE 1. Verify at least one valid wind sensor is online.

Note – The system automatically excludes faulted wind sensors from

AWC calculations.
2. Select the W IND COMP button on the DP Mode Function Drop-Down
Menu.
To turn AWC off, select the <W IND COMP> button on the FUNCTION PAGE or
the Mode Function Drop-Down Menu. When in HOLD POSITION and/or
HOLD HEADING this action immediately transfers the current compensation
commands to the controller’s integral terms. The DP System maintains these
compensation settings but no longer actively responds to changes in wind
speed and direction. Similarly, when the operator activates AWC, the system
subtracts the new compensation forces from the controller’s integral terms.
This addition and subtraction prevents sudden vessel movements when the
operator activates or deactivates AWC.

Note – L-3 DP&CS recommends operators use AWC at all times,

except when the wind sensor’s measurements are known to be
incorrect. Overhead helicopter traffic or the wind shadow caused
by another vessel or platform may result in incorrect readings.
However, in most other situations, the DP System performs
better with AWC engaged.

Note – Wind Compensation (WIND COMP) mode must be ON for the

Current Estimator (Section 7.8.4) to operate.
8.6.1 Active Wind Compensation Processing
Raw wind speed and direction signals are low-pass filtered. Wind
compensation forces and moment are then computed using a table look-up
and a scale factor for each axis, which are multiplied by wind speed (squared)
to determine final aerodynamic forces and moment.
The following alarm conditions are generated:
 Speed Comparison With Other Non-alarmed Sensors
 Angle Comparison With Other Non-alarmed Sensors
 Power Loss Reported At Sensor

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8.7 HOLD AREA MODE (HAM)

HOLD AREA MODE (HAM), a standby mode of HOLD POSITION, is
provided to allow reduced control activity while maintaining the vessel in the
general area of the goal position.
Operators define the HAM Radius on Setup Page 1. When engaged, the
control bandwidth in position and yaw axes is reduced with a schedule based
on the entered radius. The larger the radius the more relaxed the control.
(Yaw axis reduction will be less than position axes reduction).
As long as the vessel is within the selected watch circle the control bandwidth
remains low and thruster reactions are minimal. If the vessel moves outside of
the watch circle the control bandwidth increases to the operator selected
nominal value (transitions are low-pass filtered to avoid sudden jumps). The
control bandwidth remains at nominal until the vessel has moved back to
within 75% of the defined radius. At this point it again is reduced.
This hysteresis* is provided to eliminate any control jitters in the transition
from high to low control bandwidth and vice versa. The HAM mode allows
positioning with differentially corrected or uncorrected GPS. Transitioning
from HAM to HOLD POSITION is similar to dead reckoning recovery. Upon
exiting this mode the vessel will be controlled to the present position. This
sequence will happen in controlled fashion as the vessel is relocated to the
goal position.
* Hysteresis is the lagging of a physical effect on a body behind its cause (as
behind changed forces and conditions); the influence of the previous history
or treatment of a body on its subsequent response to a given force.
8.8 AUTO HEADING FOR MINIMUM THRUST (AHMT)
AHMT is used in conjunction with HOLD POSITION and HOLD HEADING
modes. When active, it automatically adjusts the vessel’s goal heading
setpoint to attempt to minimize the lateral (port/starboard) thruster
requirements by pointing the bow or stern of the vessel into the strongest
environmental forces. This is usually in the direction of the prevailing weather.
Operators can also use this mode to automatically maintain thrusters in a
standby minimum thrust mode (for power saving) and bring the thrusters
online as needed.

8.9 REMOTE CENTER OF ROTATION (COR)

The Remote Center of Rotation (COR) mode allows for rotation about any
arbitrary point on the vessel as measured offset from the vessel’s nominal
Center of Rotation. When the operator selects the REMOTE COR mode, the
DP System rotates the vessel around the Remote COR rather than the
vessel’s nominal Center of Rotation. Refer to Section 7.3.2 for more
information.

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8.10 SIMULATION MODE

Operators may select the DP SIMULATION PAGE from the Setup drop-down
menu on the Navigation Bar. Refer to Figure 8-5.

Figure 8-5. DP Simulation Page

The following section describes the fields and options available on the DP
Simulation Page.
8.10.1 Simulation Control
The following Simulation Control options are available: Wind Speed, Wind
Speed Variance, Wind Direction, Wind Direction Variance, Current Velocity,
Current Direction, Position Noise, Simulation Rate, Initial Condition, and
Mode.
8.10.1.1 Wind Speed
The Wind Speed for the Simulated Environment. The units of measure are
meters/sec.

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8.10.1.2 Wind Speed Variance

The Wind Speed Variance for the Simulated Environment. The units of
measure are meters/sec.
8.10.1.3 Wind Direction
The wind direction for the Simulated Environment. The wind direction is
defined as the direction the wind will be coming from. The units of measure
are degrees.
8.10.1.4 Wind Direction Variance
The Wind Direction Variance for the Simulated Environment. The units of
measure are degrees.
8.10.1.5 Current Velocity
The current velocity for the Simulated Environment. The units of measure are
meters/sec
8.10.1.6 Current Direction
The current direction for the Simulated Environment. The current direction is
defined as the direction the current will be coming from. The units of measure
are degrees.
8.10.1.7 Position Noise
The simulated position noise for the simulated position reference sensor data.
The units of measure are meters.
Modifying the Position Noise variable is necessary because the DP software
alarms and rejects DGPS and Gyrocompass sensor inputs if their values
have not changed for a period of time. Alarms “DGPS #: Invalid/Unchanging
Position” and “Gyro #: Invalid/Unchanging Angle” may be displayed.
In the real world, the ship is always moving slightly or there is some inherent
noise in the DGPS/Gyro signals, so when a DGPS position or a Gyrocompass
heading does not change, it usually means there is a problem with the
sensor. This unchanging position or angle alarm will also cause the DP
software to reject the faulted sensor data.
8.10.1.8 Simulation Rate
The Simulation can be run at either Normal speed or in an Accelerated mode
by toggling that button.
8.10.1.9 Initial Condition
The Initial Condition button toggles between Normal and Initial Simulation
Modes.
8.10.1.9.1 NORMAL
Normal mode is the option that should be selected during normal Simulation
runs. This mode allows the vessel to move on the screen in response to
manual commands from the Joystick or automatic commands from the DP
controller.
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8.10.1.9.2 INITIAL
Initial, preset vessel location and settings are programmed into the Simulation
software. When the Initial Condition button is selected to Initial, these preset
conditions are reset and the vessel is returned to its default position. The
vessel is locked in position while in the Initial setting.
Press the Initial Condition button again to return to Normal Simulation Mode
and to start a new simulation run.
8.10.1.10 Mode
The Operator has the option of selecting Simulation mode or Real mode by
toggling that button.
8.10.1.10.1 MODE – REAL
When the DP computer is started, the system will come up in Real mode.
Real mode is the default mode setting where the DP System communicates
to the actual thrusters, sensors and vessel IO. If the DP System is in
Simulation mode, the Operator can select Real mode by toggling that button.
8.10.1.10.2 MODE – SIMULATION
Select Simulation when it is desired to enter the Simulation mode. You will be
required to acknowledge this action with a confirmation dialog box.

WARNING!
Entering Simulation mode disengages the Real Mode.
Simulation mode should only be entered when the vessel is at the dock
or the DP System is not being used for critical operations.

8.11 TRANSIT MODE

TRANSIT MODE is for use when the vessel is under way (i.e. in transit). In
this mode, the <POSITION CONTROL JOYSTICK> controls the vessel’s surge
(fwd/aft) movements only; it does not control sway (port/stbd) movements.
The NMS6000 automatically holds the heading measured at the moment the
Transit mode is engaged. Heading may be changed using Heading Setpoint
Maneuvers, see Section 7.6.2.1.2. The <HEADING CONTROL KNOB> has no
effect on the vessel while in Transit mode. Heading is achieved by main props
& rudders only; tunnel thrusters are not utilized in this mode.
Perform the following steps to enter TRANSIT mode:
1. Maneuver the vessel in the surge axis with the <POSITION CONTROL
JOYSTICK>.
2. Maneuver the vessel to the desired heading with the <HEADING CONTROL
KNOB>.
3. Press the TRANSIT button on the HEADING drop-down menu, Section 7.25.

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4. Operators may set a new heading in one of these ways:

 Pressing the HEADING SETPOINT button on the TRANSIT page, Figure
8-6, or the HEADING SETPOINT button on the MODE FUNCTION PAGE,
Figure 7-10. The HEADING SETPOINT dialog box will appear; refer to
Section 7.6.2.1, Setpoint Maneuvers.
 Selecting the compass and following the instructions in Section
7.6.2.1, Setpoint Maneuvers.
 Using the red and green “jog” arrows on the TRANSIT page (see figure
below).
Refer also to Section 7.2.4, Transit Mode for access to TRANSIT MODE
settings.

Actual ROT

Speed and
Thruster Icons Heading Data

Corrected
Thrust Level Position

Azimuth Angle
Wind

Heading
Setpoint & Jog Course Jog

ROT Setpoint Speed Setpoint

& Hold Speed
Mode Buttons

Figure 8-6. Transit Display Page

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8.11.1 ROT
Displays actual, real time, ROT. See Section 8.11.4.
8.11.2 Thrust Level & Azimuth Angle Text Boxes
The yellow numbers represent the measured (feedback) azimuth angles and
thrust levels.
The light blue numbers represent the commanded azimuth angles and thrust
levels.
When the yellow and light blue numbers are the same, the measured and
commanded azimuth angles and thrust levels are equal.
8.11.3 Heading Setpoint & Jog
The middle HEADING SETPOINT button calls up a numeric keypad for manual
change in the Heading Setpoint.
Use the left & right Heading Setpoint arrows to alter heading by the Heading
Change Increment, which is set on SETUP PAGE 1, Figure 7-2. Refer to
Section 7.2.4.6, Heading Change Increment.
For example, if the Heading Change Increment is 5º and the right (starboard)
Heading Setpoint arrow is pressed three times, then the Heading Setpoint will
increase by 15º. Alternately, if the left (port) Heading Setpoint arrow is
pressed two times, then the Heading Setpoint will decrease by 10º.
8.11.4 ROT (Rate of Turning) Setpoint
The ROT button sets the Rate of Turning in degrees per minute. The actual
ROT is shown in the upper left-hand corner of the display page.
8.11.5 Speed and Heading Data
SOG – Speed Over Ground
Source – Sensor reporting SOG data
STW – Speed Through the Water
COG – Course Over Ground
8.11.6 Corrected Position
See Section 7.9.3.2
8.11.7 Wind
See Section 7.8.2
8.11.8 Course Jog Arrows
The operator may temporarily change course by pressing and holding one of
the Course Jog Arrows. While the arrow is depressed, the Heading will
change per the amount set in the Rudder Jog Increment, which is set on
SETUP PAGE 1, Figure 7-2. Refer to Section 7.2.4.7, Rudder Jog Increment.
Once the Arrow is released, the vessel will revert to its original Heading
Setpoint.
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8.11.9 Speed Setpoint & Hold Speed

When Hold Speed is engaged, that button turns green and the Speed
Setpoint may be entered by selecting the “kts” button to the left of the Hold
Speed button.
8.12 PILOT MODE
PILOT MODE is identical to TRANSIT MODE (detailed above) with one
exception; heading is manually controlled by <HEADING CONTROL KNOB>.

Figure 8-7. Pilot Display Page

8.13 HOLD RELATIVE

See Section 7.4.5 for an overview of the Hold Relative mode. Further
information is included in the appendices for vessels that feature this option.

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9. DP SYSTEM OPERATIONAL HINTS
DP Operational Hints cover information concerning potentially troublesome
DP situations and other important points. Although the following information is
covered in previous chapters, L-3 DP&CS engineers believe these situations
occur frequently enough to warrant these “operational hints.”
9.1 GPS DRIFT
DP operators should be aware that even if the differential portion of the
sensor signal is correct the GPS portion may not be. Different GPS receivers
react differently to various combinations of factors. Antenna and cabling
problems can make matters worse. Acquiring a new satellite low on the
horizon can cause appreciable sensor drift. What may first appear as a
situation where the vessel is moving off location can often be a case where
the GPS itself is drifting and the vessel is not. The DP System may not be
able to tell the difference, especially if only one or two position sensors are
online. Whenever possible, L-3 DP&CS recommends having at least three
position sensors online so the system can detect these sensor drifts.
9.2 DP CONTROL GAINS
When a control axis (surge, sway, or yaw) is in manual control mode, its
corresponding Control Gain has no effect. If that axis is in automatic (hold)
control mode, its control gain (-10 to +10) determines how strongly the vessel
reacts to being away from the goal setpoint in that axis.
Therefore, when the surge and sway gains are set low (negative numbers)
and the vessel wanders off position, the vessel slowly reacts to getting back
to the goal setpoint. When the gain is set high (positive numbers), the vessel
makes a stronger and more rapid attempt to get to the goal setpoint.
When an approach to a new setpoint requires a fair amount of precision, a
higher gain setting can be used to minimize overshoot.
For more specific information on DP Control Gains, refer to Section 7.2.5, DP
Gains. For more information on setpoint maneuvers, refer to Section 7.6.2.1,
Setpoint Maneuvers.

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9.3 INTEGRAL WINDUP

When the vessel is rotating and the operator selects HOLD HEADING, or the
vessel is moving as the operator selects HOLD POSITION, integral windup
occurs.

Note – Integral windup occurs when the momentum of the vessel, not
yet known by the automatic controller, causes the vessel to
overshoot the goal setpoint. This action then causes the
controller to respond to this unknown force by driving the vessel
back in the direction of the overshoot (or goal setpoint).
Therefore, an integral force is created that gradually slows and reverses the
direction of the vessel. However, this integral force also causes the vessel to
pass the goal setpoint in the other direction until the integral force is slowly
negated.
To avoid this integral force situation, operators should ensure the vessel is
not moving in the control axes prior to being placed in automatic mode. This
applies for both HOLD HEADING and HOLD POSITION mode selection. In
other words, in order to avoid a large Integral Windup the vessel should be at
or close to a steady state prior to transferring control from manual to
automatic.
9.4 INTEGRAL PRE-LOADING
In lieu of waiting for the integral forces to build up to counteract ocean current
forces in HOLD HEADING or HOLD POSITION, operators can use the
automatic transfer of manual commands into the integral forces to accomplish
this effect immediately.
Whatever forces are in effect when operators move the DP System from
MANUAL to AUTOMATIC mode are immediately moved into the integral
force terms.

Example – If the vessel approaches the goal position or heading in

MANUAL mode, with the manual controls positioned so
they balance the environmental forces, the manual thrust
forces immediately move into the integral force terms when
HOLD HEADING and/or HOLD POSITION are selected.
As a result of this transfer, the vessel stays in place without
having to build up forces against the current over a lengthy
period.
It is important to note the amount of manual control deflection in effect when
operators select HOLD HEADING and/or HOLD POSITION. If these controls
are deflected more than necessary when an automatic mode is selected, an
improper integral force takes effect, driving the vessel off location until the
integral forces adjust to the proper levels.

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9.5 INTEGRAL TRANSFERS

When the DP System is operated from manual controls, yaw, surge, and
sway commands existing when the operator selects HOLD HEADING and/or
HOLD POSITION are automatically moved into the integral forces of the
automatic controller.
Therefore, when deselecting HOLD HEADING or HOLD POSITION, the
integral forces are transferred back to the manual controls. The CLEAR
JOYSTICK BIAS button on the FUNCTION PAGE flashes to indicate biases
have been transferred. To clear these biases, select the CLEAR JOYSTICK BIAS
button located on the Mode Function page or drop-down menu.
9.6 HALTING THE VESSEL
See Section 7.6.2.1.1
9.7 MOVING THE VESSEL TO A PRECISE LOCATION
See Section 7.6.2.1.4

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10. VESSEL SPECIFIC MENUS & DISPLAY PAGES

Note – Refer to Chapter 7 and the Index for further information pertaining to the fields
presented on these Vessel Specific Display Pages and Menus.
Concerning vessels equipped with both DP & JS (Joystick) workstations, only
the DP menus & display pages are shown in this chapter. JS Workstation
menus & display pages have fewer features (i.e. no DP). However, the
features that they do have are operated in the same way as like features on a
DP workstation.
The buttons shown here on the Navigation Bar Detail are used to access the
drop-down menus for NMS6000 Detailed Display Pages and Operational
and Automatic Modes.

Figure 10-1. Vessel Specific Navigation Bar Detail

See the following sections for the associated drop-down menus:

 Overview Page – Section 10.1
 Setup – Section 10.2
 Sensor – Section 10.3
 Thrust– Section 10.4
 Plot IO – Section 10.5
 Chart – Section 10.6
 Mode Function – Section 10.6.3
 Heading – Section 10.8
 Position – Section 10.8
 Initialize Backup - Section 7.27
 Alarm Silence Button (no menu) – see Section 12.5, pg 12-5

 Note – Vessel direction may vary on the display according to the

placement of the console/joystick on the vessel.

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CHAPTER 10: VESSEL SPECIFIC MENUS & DISPLAY PAGES

10.1 OVERVIEW PAGE

Figure 10-2. Overview Page

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10.2 SETUP DROP-DOWN MENU

The following L-3 DP&CS NMS6000 DP Display Pages are shown here to
familiarize operators with the specific system displays.

Perform the following to access the SETUP Display Pages:

1. Select SETUP on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following SETUP DP Display Pages include:

 Setup Page 1. See Figure 10-3
 Setup Page 2. See Figure 10-4
 Setup Page 3. See Figure 10-5
 Mode Function. See Figure 10-6
 DP Simulation Page. See Figure 10-7
 ShutDown. See Section 2.2.1.

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10.2.1 Setup Page 1

Figure 10-3. Setup Page 1

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10.2.2 Setup Page 2

Figure 10-4. Setup Page 2

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10.2.3 Setup Page 3

Figure 10-5. Setup Page 3

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10.2.4 Mode Function

Figure 10-6. Mode Function

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10.2.5 Simulation Page

Figure 10-7. Simulation Page

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10.3 SENSOR DROP-DOWN MENU

Perform the following to access the SENSOR Display Pages:
1. Select SENSOR on the DP Navigation Bar.

2. A “DROP-DOWN MENU” APPEARS:

The following SENSOR DP Display Pages include:

 Sensor Page 1. See Figure 10-8

 Sensor Page 2. See Figure 10-9

 Position Reference Page 1. See Figure 10-10

 Position Reference Page 2. See Figure 10-11

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10.3.1 Sensor Page 1

Figure 10-8. Sensor Page

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10.3.3 Sensor Page 2

Figure 10-9. Relative Sensor Page

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10.3.4 Position Reference Page 1

Figure 10-10. Position Reference Page 1

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10.3.5 Position Reference Page 2

Figure 10-11. Position Reference Page 2

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10.4 THRUSTER DROP-DOWN MENU

Perform the following to access the Propulsion Display Pages:
1. Select PROPULSION on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following THRUST/PROPULSION DP Display Pages include:

 Thruster Page 1. See Figure 10-12

 Thruster Page 2. See Figure 10-13

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10.4.1 Thruster Page 1

Figure 10-12. Thruster Page 1

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10.4.2 Thruster Page 2

Figure 10-13. Thruster Page 2

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10.5 PLOT DROP-DOWN MENU

Perform the following to access the PLOT IO Display Pages:
1. Select PLOT IO on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following PLOT DP Display Pages include:

 Plot Pages 1, 2, & .3, see Figure 7-36
 Signal IO Page 1 – Analog Communications. Similar to Figure 7-38
 Signal IO Page 2 – Digital Communications. Similar to Figure 7-39
 Signal IO Page 3 – Serial Communications. Similar to Figure 7-40

 Note - The backup console allows the right hand page to open any
available page. However, there is no way to call up the
overview page or Transit page since these by design cannot be
closed on the master console. So on the backup console the
“For Overview Toggle R” and the “For Transit Toggle R” buttons
are used for this purpose.

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10.6 CHART DROP-DOWN MENU

Perform the following to access the CHART Display Pages:
1. Select CHART on the DP Navigation Bar.

2. A “Drop-Down Menu” appears:

The following CHART Display Pages include:

 Holding Plot, see Figure 10-14
 Chart, see Figure 10-15
 Track Operation, see Figure 10-16
 Waypoint, see Figure 10-17

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10.6.1 Holding Plot

Figure 10-14. Holding Capability Plot

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10.6.2 Chart

Figure 10-15. Chart (two examples)

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10.6.3 Track Operation

Figure 10-16. Track Operation

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10.6.4 Waypoint

Figure 10-17. Waypoint

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10.7 MODE FUNCTION DROP-DOWN MENU

Perform the following to access the MODE FUNCTION DROP-DOWN Menu:
1. Select MODE FUNCTION on the DP Navigation Bar. See section 7.24
for a detailed functional description.

2. A “Drop-Down Menu” appears:

10.8 HEADING & POSITION DROP-DOWN MENUS

Perform the following to access the HEADING or POSITION DROP-DOWN Menus:
Refer to Section 8 for functional description.
1. Select the HEADING or POSITION button on the DP Navigation Bar.

2. The HEADING or POSITION “Drop-Down Menus” appear:

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10.8.1 Transit Page

Figure 10-18. Transit Page

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10.8.2 Pilot Page

Figure 10-19. Pilot Page

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This page intentionally left blank.

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11. MAINTENANCE, TEST PROCEDURES & SPECS
Maintenance and Test Procedures on the L-3 DP&CS NMS6000 DP System
requires only simple hand tools and common test equipment for routine
service and casualty repair. The general tools and test equipment required
are listed in Table 11-1, and are normally carried onboard vessels having
electronic equipment.
Shipboard personnel can perform many simple maintenance and
troubleshooting operations on the NMS6000 DP System with these items,
eliminating the need for L-3 DP&CS engineers and/or technicians to visit the
vessel.

Note – Before any maintenance and/or troubleshooting is performed,

ensure the vessel is in a safe operating mode that can
accommodate potential loss of DP equipment.

11.1 ELECTROSTATIC DISCHARGE (ESD) PRECAUTIONS

Shipboard maintenance personnel should read this section on Electrostatic
Discharge (ESD) before attempting any maintenance of the system.
11.1.1 ESD-Sensitive Devices
An electronic component is considered to be ESD-sensitive if its electrical
and/or physical characteristics can be permanently damaged by an
electrostatic discharge. The most sensitive of these devices can be damaged
by the discharge of as little as 170 volts. Since static potential must exceed
2,500 volts before a human being can feel it, ship personnel may never know
that they have caused an ESD event.

Note – Consider all circuit cards and modules in the NMS6000 DP

System to be ESD-sensitive. Handle them in accordance with
the procedures listed below.
11.1.2 Protective Procedures
The key to avoiding ESD damage is the establishment of a common ground
between the sensitive device and its surroundings. This will ensure that there
is NOT a difference of potential.
L-3 DP&CS packages all ESD-sensitive components and assemblies in
“static shielding” packaging.

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 Do store all ESD-sensitive components in their original “static

shielding” packing. If the packaging becomes damaged, replace with
equivalent. Do not staple or compromise the packaging in any way.
 Do not transfer/store ESD-sensitive components into “pink poly” bags.
Pink poly bags are for use around ESD-sensitive components, but not
for storage or packaging of such components. L-3 DP&CS uses pink
poly bags to store documents and software relating to, and that will be
in the vicinity of, its equipment.
 Do not transfer/store ESD-sensitive components into regular plastic
bags, which can generate up to 10,000 volts of static potential. Do not
use regular plastic bags in the vicinity of ESD-sensitive components for
any reason.
When inspecting, counting, or using a part for troubleshooting, observe
proper ESD handling procedures and return the component to its original
packaging as soon as possible. When feasible, L-3 DP&CS recommends
personnel inspect or inventory the part without removing it from the protective
packaging.
Do not install or remove ESD-sensitive assemblies when DC power or signals
are flowing.
11.1.3 ESD Guidelines for Replacing Circuit Card Assemblies
1. Turn off DC power to the faulty Circuit Card Assembly (CCA) and attach a
personnel-grounding strap to the cabinet frame. This wrist strap (3M
Velostat-2064, Richmond-30104, or equivalent) should provide personnel
connection to ground by not less than 250 ohms or more than 1 megohm.

Note – NMS6000 DP Systems can be configured as a redundant

system, with components attached to multiple power sources.
Disconnect all applicable power inputs before proceeding.
2. Connect all exposed metallic surfaces of any test equipment to the test
power ground. Connect test equipment ground to vessel ground by less
than 200 ohms.
3. Remove replacement CCA from its protective package and install. Follow
any applicable installation and test procedures.

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11.2 TOOLS AND TEST EQUIPMENT

The table below lists the minimum tools and test equipment to be carried
onboard the vessel.
Name\Description Manufacturer Part #
Allen Keys, Metric & SAE Folding Husky 545 747
Anti-Static Wrist Strap and Floor Matt 3M Velostat
Cable Cutter - High Leverage Klein Tools 63050-SEN
Channel Lock Pliers 6.5" Channel Lock 426
Coax crimp tool L-com HT301D
Crescent Wrench 6" Cooper Tools AC16CVSML
Crimping/Cutting Pliers Klein Tools 1005
Diagonal Cutting Pliers (Dikes) 8" - High Leverage Klein Tools D228-8-SEN
Ferrule Crimper (McMaster Carr) AVEN 5722K12
Flashlight, Mini (Blue), M2AJTH Maglite 106-000-700
Multimeter, Hand Held HP E2378A
Knife, Retractable Stanley 10-788
Multimeter, Digital Fluke 189 or 87V
Needle Nose vise grips Irwin tools 6LN (14T)
Oscilloscope HP 1740A
Precision Mini Pliers 5 piece
Craftsman 45671
(NN, LN, Ang. NN, Diag Ctre, End Nip)
RJ-45 Crimper Idel #30-496
RS-232 to Rs-422 converter Telebyte Model 253
Screw Driver, #2 Phillips, 1.5", Round Shank Klein Tools 603-1
Screw Driver, #2 Phillips, 4", Round Shank Klein Tools 603-4
Screw Driver, 1/4" Keystone (Standard), 1.5", Round
Klein Tools 600-1
Shank
Screw Driver, 1/4" Keystone (Standard), 4", Square
Klein Tools 600-4
Shank
Screwdriver, Precision, #0 Philips, 0x2.5" Craftsman 41649
Screwdriver, Precision, #00 Philips, 00x1.5" Craftsman 41647
Screwdriver, Precision, #1 Philips, 1x2.5" Craftsman 41650
Screwdriver, Precision, Keystone (Standard), 1/8x1.5" Craftsman 41641
Screwdriver, Precision, Keystone (Standard), 1/8x2.5" Craftsman 41642
Screwdriver, Precision, Keystone (Standard), 5/64x1.5" Craftsman 41639
Screwdriver, Precision, Keystone (Standard), 9/64x2.5" Craftsman 41643
Soldering Iron 110 and or 220 Weller WP-25
Tape Measure - 5m/16ft Stanley 33-158
Torx T-20 Driver Craftsman 41475
11046-12-
Wire Stripper\Cutter Klein Tools
SEN
Table 11-1. Tools and Test Equipment

Note – All tools and manufacturers are suggestions by L-3 DP&CS, equivalent
substitutions are acceptable.
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11.3 MONTHLY MECHANICAL INSPECTION

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

Note – Many NMS6000 DP Systems are configured with different

components attached to multiple power sources. Disconnect all
applicable power inputs before proceeding.
2. Open each sub-assembly (Operator Workstation, signal processor, etc.)
and inspect for physical damage, dust, dirt, or other contaminants.
3. Check that mounting hardware has not become loose.
4. Verify each plug-in assembly is correctly seated in the proper connector
and no contaminants are present.
5. Verify interconnect cables and connectors are secure.
6. Inspect Operator Workstation for physical damage.
7. Close and secure all subassemblies and return system to an operational
status.
11.4 MONTHLY OPERATOR WORKSTATION AIR FILTER SERVICE
The air filters can be cleaned with the Operator Workstations powered up.
1. Remove rear door grille covers and filters by un-snapping grille covers.
2. Pull off filter media.
3. Use an air hose and nozzle from a low-pressure filtered air supply (20 psi
maximum) to back blow and flush debris from blower motors (fans) and air
filters.
4. Visually inspect air filters for damage and any remaining contaminants.
5. Inspect blower motors (fans) and blades for damage and contaminants.
Blades must rotate freely.
6. If low-pressure air does not adequately clean motor and/or filter, clean
them with a non-conductive solvent and a stiff brush. If filter still does not
appear clean, discard it.
7. Install new or cleaned filters, and replace grille covers.

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11.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE

The air filters can be cleaned with the Signal Processor Units powered up.
1. Remove the grilles and filters by removing the eight Nyloc nuts, (four on
each grille, located on the inside of the door).
2. Remove grilles and pull out filters.
3. Use an air hose and nozzle from a low-pressure filtered air supply (20 psi
maximum) to back blow and flush debris from blower motors (fans) and air
filters.
4. Visually inspect air filters for damage and any remaining contaminants.
5. Inspect blower motors and blades for damage and contaminants. Blades
must rotate freely.
6. If low-pressure air does not adequately clean motors and/or filters, clean
them with a non-conductive solvent and a stiff brush. If filters still do not
appear clean, discard them.
7. Install new or cleaned filters, and re-install grilles.
11.6 POWER SUPPLY VOLTAGE CHECK
Shipboard maintenance personnel should periodically check the Signal
Processor(s) power supplies:
Power supply voltage checks are to be taken at the various modules/units
and at the power supplies. Table 11-2 lists the power supply nominal
voltages, and tolerances.

NOMINAL VOLTAGE SPU TOLERANCE

+10 VDC 9.99 to 10.00 VDC

-10 VDC -10.00 to -9.99 VDC

Table 11-2. Power Supply Voltages – (Nominal and Tolerance)

11.6.1 Signal Processor Unit Test Points & Values

Note – Depending on the vessel’s DP System configuration, there

may be more than one Signal Processor Unit (SPU). Each
SPU may have one or more Circuit Breakers and any number
of Fuses. Multiple SPU tables have been included below for
Power Supply data recording purposes. Copies of the
following tables can be used for additional SPUs.

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11.6.1.1 Signal Processor Unit (SPU) 1

SPU 1
Expected Voltage LED
Test Points
Range On/OFF
CB1 23.5 – 27 VDC
CB2 23.5 – 27 VDC
F1 23.5 – 27 VDC
F2 23.5 – 27 VDC
F3 23.5 – 27 VDC
F4 23.5 – 27 VDC
F5 23.5 – 27 VDC
F6 23.5 – 27 VDC
F7 23.5 – 27 VDC
F8 23.5 – 27 VDC
F9 23.5 – 27 VDC
F10 23.5 – 27 VDC
F11 23.5 – 27 VDC
F12 23.5 – 27 VDC
F13 23.5 – 27 VDC
F14 23.5 – 27 VDC
F15 23.5 – 27 VDC
F16 23.5 – 27 VDC
F17 23.5 – 27 VDC
F18 23.5 – 27 VDC
F19 23.5 – 27 VDC
F20 23.5 – 27 VDC
F21 23.5 – 27 VDC
F22 23.5 – 27 VDC
F23 23.5 – 27 VDC
F24 23.5 – 27 VDC
F25 23.5 – 27 VDC

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11.6.1.2 Signal Processor Unit (SPU) 2

SPU 2
Expected Voltage LED
Test Points
Range On/OFF
CB1 23.5 – 27 VDC
CB2 23.5 – 27 VDC
F1 23.5 – 27 VDC
F2 23.5 – 27 VDC
F3 23.5 – 27 VDC
F4 23.5 – 27 VDC
F5 23.5 – 27 VDC
F6 23.5 – 27 VDC
F7 23.5 – 27 VDC
F8 23.5 – 27 VDC
F9 23.5 – 27 VDC
F10 23.5 – 27 VDC
F11 23.5 – 27 VDC
F12 23.5 – 27 VDC
F13 23.5 – 27 VDC
F14 23.5 – 27 VDC
F15 23.5 – 27 VDC
F16 23.5 – 27 VDC
F17 23.5 – 27 VDC
F18 23.5 – 27 VDC
F19 23.5 – 27 VDC
F20 23.5 – 27 VDC
F21 23.5 – 27 VDC
F22 23.5 – 27 VDC
F23 23.5 – 27 VDC
F24 23.5 – 27 VDC
F25 23.5 – 27 VDC

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11.6.1.3 Signal Processor Unit (SPU) 3

SPU 3
Expected Voltage LED
Test Points
Range On/OFF
CB1 23.5 – 27 VDC
CB2 23.5 – 27 VDC
F1 23.5 – 27 VDC
F2 23.5 – 27 VDC
F3 23.5 – 27 VDC
F4 23.5 – 27 VDC
F5 23.5 – 27 VDC
F6 23.5 – 27 VDC
F7 23.5 – 27 VDC
F8 23.5 – 27 VDC
F9 23.5 – 27 VDC
F10 23.5 – 27 VDC
F11 23.5 – 27 VDC
F12 23.5 – 27 VDC
F13 23.5 – 27 VDC
F14 23.5 – 27 VDC
F15 23.5 – 27 VDC
F16 23.5 – 27 VDC
F17 23.5 – 27 VDC
F18 23.5 – 27 VDC
F19 23.5 – 27 VDC
F20 23.5 – 27 VDC
F21 23.5 – 27 VDC
F22 23.5 – 27 VDC
F23 23.5 – 27 VDC
F24 23.5 – 27 VDC
F25 23.5 – 27 VDC

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11.6.1.4 Signal Processor Unit (SPU) 4

SPU 4
Expected Voltage LED
Test Points
Range On/OFF
CB1 23.5 – 27 VDC
CB2 23.5 – 27 VDC
F1 23.5 – 27 VDC
F2 23.5 – 27 VDC
F3 23.5 – 27 VDC
F4 23.5 – 27 VDC
F5 23.5 – 27 VDC
F6 23.5 – 27 VDC
F7 23.5 – 27 VDC
F8 23.5 – 27 VDC
F9 23.5 – 27 VDC
F10 23.5 – 27 VDC
F11 23.5 – 27 VDC
F12 23.5 – 27 VDC
F13 23.5 – 27 VDC
F14 23.5 – 27 VDC
F15 23.5 – 27 VDC
F16 23.5 – 27 VDC
F17 23.5 – 27 VDC
F18 23.5 – 27 VDC
F19 23.5 – 27 VDC
F20 23.5 – 27 VDC
F21 23.5 – 27 VDC
F22 23.5 – 27 VDC
F23 23.5 – 27 VDC
F24 23.5 – 27 VDC
F25 23.5 – 27 VDC

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11.6.1.5 Signal Processor Unit (SPU) 5

SPU 5
Expected Voltage LED
Test Points
Range On/OFF
CB1 23.5 – 27 VDC
CB2 23.5 – 27 VDC
F1 23.5 – 27 VDC
F2 23.5 – 27 VDC
F3 23.5 – 27 VDC
F4 23.5 – 27 VDC
F5 23.5 – 27 VDC
F6 23.5 – 27 VDC
F7 23.5 – 27 VDC
F8 23.5 – 27 VDC
F9 23.5 – 27 VDC
F10 23.5 – 27 VDC
F11 23.5 – 27 VDC
F12 23.5 – 27 VDC
F13 23.5 – 27 VDC
F14 23.5 – 27 VDC
F15 23.5 – 27 VDC
F16 23.5 – 27 VDC
F17 23.5 – 27 VDC
F18 23.5 – 27 VDC
F19 23.5 – 27 VDC
F20 23.5 – 27 VDC
F21 23.5 – 27 VDC
F22 23.5 – 27 VDC
F23 23.5 – 27 VDC
F24 23.5 – 27 VDC
F25 23.5 – 27 VDC

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11.6.1.1 Signal Processor Unit (SPU) 6

SPU 6
Expected Voltage LED
Test Points
Range On/OFF
CB1 23.5 – 27 VDC
CB2 23.5 – 27 VDC
F1 23.5 – 27 VDC
F2 23.5 – 27 VDC
F3 23.5 – 27 VDC
F4 23.5 – 27 VDC
F5 23.5 – 27 VDC
F6 23.5 – 27 VDC
F7 23.5 – 27 VDC
F8 23.5 – 27 VDC
F9 23.5 – 27 VDC
F10 23.5 – 27 VDC
F11 23.5 – 27 VDC
F12 23.5 – 27 VDC
F13 23.5 – 27 VDC
F14 23.5 – 27 VDC
F15 23.5 – 27 VDC
F16 23.5 – 27 VDC
F17 23.5 – 27 VDC
F18 23.5 – 27 VDC
F19 23.5 – 27 VDC
F20 23.5 – 27 VDC
F21 23.5 – 27 VDC
F22 23.5 – 27 VDC
F23 23.5 – 27 VDC
F24 23.5 – 27 VDC
F25 23.5 – 27 VDC

Note – Make copies of this page for additional (optional) SPUs.

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11.6.1.2 Periodic Maintenance

Defined as maintenance that is to be performed on a structured calendar
basis.
Every Three (3) Months
UPS Check for corrosion, security, structural integrity and
cleanliness.
Repair/clean in accordance with local directives.
Conduct Voltage checks on each battery contained in the unit.
Ensure the minimum operating voltage is >23 VDC. To obtain
an accurate voltage checks refer to steps below.
Remove AC power from the UPS.
Monitor the voltage periodically for 30 minutes and ensure
voltage reads >23 VDC.
Restore AC power to UPS.
Replace batteries as needed.
SPU Check for corrosion, security, structural integrity and
cleanliness.
Repair/clean in accordance with local directives.
Clean and inspect fan filters. If damaged, replace.
Computers/Consoles Check for corrosion, security, structural integrity and
cleanliness.
Repair/clean in accordance with local directives.
Clean and inspect fan filters. If damaged, replace.
GPS/GPS Mounts Check for corrosion, security, structural integrity and
cleanliness.
Repair/clean in accordance with local directives.
Windbird/Windbird Check for corrosion, security, structural integrity and
Mounts cleanliness.
Repair/clean in accordance with local directives.

Every Year (12 Months)

Gyros Change fluid (if equipped) and balance Gyro(s).
NOTE: Gyros are to be serviced by a certified technician only.

Every 18 Months
UPS Replace Batteries

Every Two Years (24 Months)

Computers/BIOS/CMOS Replace Batteries
SPU PLCs Replace Batteries

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11.7 SIGNAL MAINTENANCE AND TROUBLESHOOTING

This section covers RS232 and RS422/RS485 Signal Communications,
Programmable Logic Controllers (PLC), Flex I/O Modules, Analog and Digital
I/Os, and Switch Interface Controller System Maintenance, Troubleshooting,
and Corrective Actions, Circuit Card Jumper Configurations, and Joystick
Calibration.
11.7.1 Point I/O RS232 ASCII
For error-free RS232 communications, consider the following factors:
1. Transmit and Receive Signal Cabling Terminations - The transmit pin
of one device must be wired to the receive pin of the other device.
Occasionally there is uncertainty about whether the unit to be interfaced
acts as DTE (Data Terminal Equipment) or DCE (Data Communications
Equipment). These choices determine which pins are used for transmit,
receive, RTS, CTS, etc. To find the transmit pin of an operational device,
look for the presence of approximately -12 VDC with a multimeter.
2. Hardware Handshake Lines - RTS, CTS, DTR, and DSR enable and
disable communications flow. Consult documentation for both devices to
determine how to wire these items.
3. Protocol - Baud rate, stop bits, data bits and parity must be identical for
the linked units.
For a clear picture of the communications process, an oscilloscope must be
used. Connect the probe to the transmit pin. Connect the common line to
signal return. The waveform should show a low voltage “spiking” higher
periodically. Figure 11-1 illustrates a correct waveform.

+12v

0v

-12v
Figure 11-1. Correct Waveform
A single burst corresponds to an individual character. Baud rate determines
the overall bit spacing and duration. If hardware checks indicate that
communications are underway, then observing (and capturing) the actual
data is relatively easy. Connect the sending device to a standard COM port
on an IBM compatible computer. Communications software packages such as
PROCOMM or TELIX can observe the data being transmitted.
11.7.2 RS422/RS485
These items require correct handshake line configuration and protocol as
described in Section 11.7.1. However, the reading displayed by an
oscilloscope looks somewhat different.

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Connect an ungrounded scope between the pins of the differential pair. The
probe should go to positive (+) and the common should go to negative (-).
Signal traces should look like the previous figure except that levels should be
approximately plus (+) and minus (-) 3 VDC.
When NO DATA is being transmitted, the measured differential should be
positive. When NO DATA is being transmitted and the measured differential
is not positive, the wiring may be reversed or a component may have failed.
When testing an RS485, shipboard personnel will detect data packets
transmitted from both the host and the slave if the line is observed long
enough. Signal amplitudes may be somewhat different depending on whether
the host or the slave generated the data.

11.7.3 Programmable Logic Controller (PLC)

Note – A DPS-0 System has only one PLC. In the event of PLC failure
immediately contact L-3 DP&CS for service.

Note – DPS-1/2/3 Systems, have two separate PLC’s installed, allowing

the NMS6000 DP System to continue working in case of a single
PLC failure. However, in the event of PLC failure immediately
contact L-3 DP&CS for service.
11.7.4 System Reset and Corrective Action
During operation in any of the modes, when it is noticed there is no
movement on the NMS6000 DP System display, and the time clock is not
updating, the system has stopped. Corrective Action is as follows:
 Open the Operator Workstation cabinet. Locate and cycle the <ON/OFF>
switch on the front of the computer. The system then begins a reboot into
the Backup Workstation mode configuration.
11.7.5 Flex I/O Modules
The Flex I/O modules in the Signal Processing Units (SPUs), Figure 11-2,
vary depending on system components and application needs. Some
modules have PWR, COMM, ACTIVE, FAULT, STATUS, and/or OK LEDs,
and some have no LEDs. Most SPUs may contain the following Flex I/O
modules:
 24 VDC Power Supply A/C Adapter with one ACTIVE and two FAULT
status LEDs
 Analog Output with PWR LED
 Isolated Analog Output with OK LED

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Flex I/O Module Test Points are displayed in Figure 11-2. On the Analog
Current/Voltage I/O Modules and 24VDC Sink I/O Modules, the common side
of the circuit is the middle row of terminals (B - 16 through 33) and the signal
side is the top row of terminals (A - 0 through 15). For example, for module 0
with a voltage input, test point A-1 is the signal and test point B-18 is the
common.

Figure 11-2. Flex I/O Modules and Test Points

11.7.6 Analog and Digital I/O

Analog modules inputs and outputs of continuously variable voltage and
current signal status are verified using a multi-meter. Digital modules feature
LED’s to indicate input/output signal status. A lighted number indication
reflects the presence of a voltage (for an input module), or a low impedance
path (for an output module). Only qualified personnel should complete
troubleshooting of any electrical component.
11.7.7 Central Processing Unit (CPU) Circuit Card Configuration
The CPU may have jumpers and/or switches on the motherboard and
daughter cards. To maintain proper operation it is necessary to configure the
replacement to the same settings as the unit being removed. Before replacing
a card, verify the switches and/or jumpers are correctly set.

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11.7.8 Joystick Calibration

There are two types of Joysticks: Console Joysticks and (optional) Portable
Joysticks. The Console Joystick is mounted in the Operator Workstation
console. See Section 3.3 for a description of a Portable Joystick.

Note – Joystick Calibration (for console or portable joysticks) can be

performed only from the Master Operator Workstation. The
joystick to be calibrated must be the active, in-control joystick.

Note – The NMS6000 DPS will not work correctly if this calibration is
carried out without the heading and position controls centered
properly
11.7.8.1 Console & Portable Joystick Calibration
Perform the following to accomplish a Joystick Calibration:
1. Ensure all heading and position control actuator knobs and joysticks are
set to their Center De-tent (zero) Position.
2. Connect the USB keyboard to the Operator Workstation PC of the
NMS6000 DP System Operator Workstation.
3. On the keyboard Press and Hold the ALT key while alternatively pressing
the TAB key to scroll to the Control Processor icon.

4. When the Control Processor icon is highlighted, release the Alt key to
maximize the Control Processor window.
5. Simultaneously press the SHIFT + J keys (keyboard must not be in “Caps
Lock”) until the Joystick Calibration Completed message appears in the
Status/Prompt Message Window.

Note – Pressing the S HIFT and J keys writes the zero point values to the
hard disk drive.

Note – If the (optional) portable joystick is not plugged in when

commencing the calibration procedure, the Status/Prompt
Message Window momentarily displays the message JS
Calibration Error: Portable.

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11.7.8.2 Console Joystick Fine Tuning Calibration

Note – The following method is for the console joystick; it does not work
for portable joysticks.

Note – Perform joystick calibration once every six months or as needed.

Do not perform calibration while operating the associated
DP software. Shut down DP system software, or transfer control
to another Operator Workstation (if available), before calibrating
the console joystick.

1. Ensure all heading and position control actuator knobs and joysticks are
set to their Center De-tent (zero) Position.
2. Connect the USB keyboard to the Operator Workstation PC of the
NMS6000 DP System Operator Workstation.
3. Press the Windows key on the USB keyboard.

4. Click the “start” button in the bottom left corner of screen. Then click
Settings, Control Panel, and Game Controllers.

5. Select “Properties.”
6. Choose the “Settings” tab at the top of the popup window.
7. Select “Calibrate.”
8. Follow the onscreen prompts while adhering to the following Notes.
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Note – When prompted to move joystick in a circular motion, this means

to move the joystick to all four corners in a circular motion.

Note – When prompted to press a button on the controller this means to

click on the “Next” button in the popup window.

Note – When rotating the knob on the top of the joystick to calibrate the
“Z” axis disregard the direction of the status bar, as it does not
correlate to the direction the knob is moving. The bar is just for
reference; ensure the bar moves as the knob is turned.

11.8 MODULE AND COMPONENT REPLACEMENT

The following sections pertain to various modules and components of the
NMS6000 DP System.
11.8.1 CMOS Battery Replacement - (2 Years)
The lithium ion battery powers the real-time clock and CMOS memory. It is an
auxiliary source of power when the main power is shut off.
Safety Measures:
 Danger of explosion if battery incorrectly replaced.
 Replace only with the same or equivalent type recommend by the
manufacturer.
 Dispose of used batteries according to the battery manufacturer’s
instructions.
The CMOS battery should be changed every two years as part of routine
scheduled maintenance to maintain proper CPU, CMOS, and BIOS functions.
Perform the following to replace the CMOS battery:

Note – Before removing/replacing CPU components, refer to the

manufacturer’s computer manual for more specific instructions.
Observe the proper ESD safety precautions, Section 11.1,
when working in the unit.
1. Remove all power from the Operator Workstation, rack out the Operator
Workstation computer drawer, and remove computer case to gain access
to the CMOS Battery.
2. Remove old battery and replace with new CMOS battery.
3. Dispose of old battery in accordance with local regulations.

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11.8.2 SPU Modules and Components

11.8.2.1 Intelligent Communication Modules
Perform the following steps to remove and replace intelligent communication
modules:
1. Remove all power to the system.
2. Disconnect power leads on the FlexLogix PLC.
3. Disconnect ControlNet coaxial cables.
4. Remove first module following the FLEXLOGIC PLC.
5. Carefully unlock FLEXLOGIC PLC from first terminal base.
6. Lift keeper tab that secures FLEXLOGIC PLC to the DIN rail.
7. Remove FLEXLOGIC PLC from DIN rail.
8. Place new FLEXLOGIC PLC on din rail.
9. Carefully lock new FLEXLOGIC PLC into terminal base and lower keeper
tab securing FLEXLOGIC PLC to the DIN rail.

 Important ! – Ensure pins inside lock are not bent when locking it
into place! This may cause the FLEXLOGIC PLC to
malfunction.

10. Replace power leads and coax cables.

11.8.2.2 Flex I/O Modules
Flex I/O modules are disposable and should be replaced from the spares
stock. The Flex I/O analog and digital modules can be HOT SWAPPED
(removed and replaced with the cabinet and FLEXLOGIC powered up)
without damaging the module.
1. Lift keeper tab securing module to the terminal base.
2. Remove faulty module.

 Important ! – The key on the side of the module must be aligned

properly with the key-way on the base. If key is not
aligned, damage to the base and module will occur.

3. Carefully install new module of the same type and ensure locking tab is in
place.
4. Discard old part.

Note – For configuration and assembly/disassembly of modules, refer to

Flex I/O Documentation on the CD included with this manual.
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11.8.2.3 Flex I/O Terminal Bases

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

 Important ! – Ensure pins inside the lock are not bent when
locking it into place! This will ruin both of the TB3S
bases and could cause a malfunction!
10. Replace field I/O wires
11. Restore power to the FlexLogix PLC.
12. Discard old part.
11.8.2.4 Remote I/O Adapter
The Remote I/O Adapters in the Equipment Racks should only be removed
and replaced with the cabinet POWERED-DOWN. Refer to the Allen-Bradley
Flex I/O Analog Modules User Manual for details.
11.8.2.5 Optical Communications Modem (OCM)
If the NMS6000 DP System has an OCM that needs replacing, perform the
following:
1. Remove all power to the system.
2. Disconnect all cables from the OCM. Mark cables to ensure proper
reinstallation.
3. Unbolt unit from the tray or release it from the DIN rail and remove it from
the Operator Workstation.
4. Installation of new OCM proceeds in reverse order.
11.8.2.6 EtherNet Switch
1. Remove all power to the system.
2. Disconnect all cables from EtherNet Switch. Mark cables to ensure proper
reinstallation.
3. Unbolt retaining bracket or release it from the DIN rail and remove
EtherNet Switch from Operator Workstation.
4. Installation of new EtherNet Switch proceeds in reverse order.
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11.8.2.7 NMS6000 Uninterruptible Power Supply (UPS)

1. Remove all power to the system.
2. Disconnect all cables from UPS. Mark cables to ensure proper
reinstallation.
3. Pull UPS out the front of the equipment rack.
4. Installation of new UPS proceeds in reverse order.
11.8.2.8 SPU Uninterruptible Power Supply (UPS)
1. Remove all power to the system.
2. Disconnect all cables from UPS. Mark cables to ensure proper
reinstallation.
3. Pull the UPS out the front of the equipment rack.
4. Installation of new UPS proceeds in reverse order.
11.8.2.9 UPS Battery
1. Remove all power to the system.
2. Disconnect all cables from battery. Mark cables to ensure proper
reinstallation.
3. Pull battery out the front of the equipment rack.
4. Installation of new battery proceeds in reverse order.
11.8.2.10 SPU Power Supply
1. Remove all power to the system.
2. Disconnect all leads from power supply. Mark leads to ensure proper
reinstallation.
3. Remove four mounting screws while supporting power supply.
4. Remove power supply.
5. Installation of new power supply proceeds in reverse order.
11.8.2.11 SPU Exhaust Fan
1. Remove all power to the system.
2. Open door and remove four screws securing filter/fan housing.
3. Install replacement fan unit.
4. Reinstall filter/fan housing.
5. Power-up the system and verify proper operation.

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11.8.3 Sensors
11.8.3.1 Motion Reference Unit (MRU)
1. Remove all power to the system.
2. Disconnect all cables from MRU. Mark cables to ensure proper
reinstallation.
3. Unscrew mounting screws and remove MRU.

Note – Whenever possible, align Motion Referenced Unit with the

vessel’s current attitude to ensure the offsets are correct.
4. Installation of the MRU proceeds in reverse order.
11.8.3.2 Global Positioning System (GPS)
1. Remove all power to the system.
2. Disconnect all cables from GPS. Mark cables to ensure proper
reinstallation.
3. Unscrew mounting screws and remove GPS.
4. Installation of new GPS proceeds in the reverse order.
11.8.3.3 Vertical Reference Unit (VRU)
1. Remove all power to the system.
2. Disconnect all cables from VRU. Mark cables to ensure proper
reinstallation.
3. Unscrew mounting screws and remove VRU.

Note – Whenever possible, align Vertical Referenced Unit with the

vessel’s current attitude to ensure the offsets are correct.

4. Installation of new VRU proceeds in reverse order.

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11.9 WARNING FROM THE USCG FOR GPS USERS

WARNING!
The U.S. Coast Guard warns all mariners that certain marine television
antennas may interfere with the performance of Global Positioning System
receivers. The interference can result in inaccurate position information or a
complete loss of GPS signals.
This is a potential hazard to navigation, for both the operator of the vessel
with the television antenna and for nearby boaters as the interference is not
limited to the GPS equipment onboard the vessel with the antenna. In some
cases, vessels up to 2000 feet away from an active antenna have reported
interference.
The Federal Communications Commission identified the following models of
antennas as having potential problems during investigations of GPS
interference:
 TDP (Tandy Distribution Products) Electronics – MINI STATE
Electronic Amplified UHF/VHF TV Antenna – Models 5MS740,
5MS750, 5MS921
 Radio Shack Corporation – Long Range Amplified Omni Directional TV
Antenna – Model 15-1624
 Shakespeare Corporation – SeaWatch – Models 2040 (Code date
02A00), 2050 (Code date 03A00)
If mariners experience outages or degradation of their GPS receiver
operation, they should perform an on-off test of their marine TV antenna. If
turning off the power to the antenna results in improvement in the GPS
receiver performance, the antenna may be the source of interference. In that
case, the mariner should contact the manufacturer of the antenna and identify
the symptoms.
It is stressed that the GPS interference problem may not be limited to the
models listed above. If mariners identify another model with a GPS
interference problem, or if turning off the antenna does not improve the GPS
receiver performance, the Coast Guard requests they contact the 24-hour
Navigation Information Service at [email protected] or (703) 313-5900.
GPS is a satellite-based radionavigation system that permits land, sea and
airborne users to determine their three-dimensional position, velocity and
time, 24 hours a day in all weather, anywhere in the world.

Follow this link for the original and up-to-date USCG source information:
http://www.uscg.mil/hq/cg3/cg3pcx/publications/alcoast/alcoast-298-03.asp

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11.10 CUSTOMER SUPPORT

L-3 Dynamic Positioning & Control Systems (L-3 DP&CS) operates a 24/7
Customer Support Service where you can speak to a real person at any time
of the day or night regardless of your location.
Should you need assistance, please call our dedicated support hotline in the
U.S.: (858) 679-5500
When calling after normal business hours of 8am to 5pm Pacific time, please
dial extension 8 to be transferred to an on-call representative.
Please make sure you have the following information ready when making the
call:
1. Vessel Name
2. Contact name
3. Contact number
4. System Type (NMS, ASK, VMS….)
5. Vessel Location
6. Issue being reported – please be as descriptive as
possible providing details such as environment,
number of hours online, etc.
You may visit our Service Website at:
http://www.l-3com.com/dpcs/support.htm
Should you prefer to e-mail us, please use:
[email protected]

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11.11 SERVICE & PARTS

11.11.1 Recommended Spare or Replacement Parts
L-3 DP&CS strongly encourages each vessel owner to order the
recommended inventory of spares/replacements, to allow vessel personnel
the opportunity to repair most DP System problems. The recommended spare
or replacement parts lists are compiled from our supply listings and may differ
or change as future parts or vessel systems are updated and/or interchanged.

Note – When ordering spare or replacement parts refer to the Bill of

Materials (Console Comp & SPU Assemblies) located in the
Vessel Specific Documentation and Drawings Section in the
back of this manual. Or contact L-3 DP&CS in California, listed
below.

11.11.2 Service Locations

L-3 Dynamic Positioning and Control Systems
6610 W Sam Houston Parkway N.
Suite 300
Houston, TX 77041 USA
Phone: (713) 880-2866
Facsimile: (713) 880-2734

L-3 Dynamic Positioning and Control Systems

12131 Community Road
Poway, CA 92064 USA
Phone: (858) 679-5500
Facsimile: (858) 679-5501

Trained L-3 DP&CS field service engineers and selected inventories of

spare/replacement parts are available at the service locations listed. L-3
DP&CS strongly encourages each vessel owner to order the recommended
inventory of spares from L-3 DP&CS in California, listed above. Ordering the
recommended inventory of spares allows vessel personnel the opportunity to
repair most DP System problems. Refer to Section 11.2 for information on
suggested Tools and Test Equipment.

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11.11.3 Field Service Order Information

L-3 DP&CS requires the following information for any field service request:
 Accurate Identification of the Equipment by Serial Number
 Vessel Name and Location
 Order Number and Billing Instructions
 Where, and to Whom, the Field Service Engineer should report
 Point of Contact On-board the Vessel
 Any Portal Entry Problems and/or Broker Involved
 Complete Description of the Problem
 Availability of Spares Onboard
11.11.4 Ordering New Parts
L-3 DP&CS requires the following information with any new parts order:
 Vessel Name and Location
 Order Number and Billing Instructions
 Shipping Instructions
 Identity of NMS6000 DP System by Serial Number
 Part Name and Part Number of New Items Ordered
11.11.5 Returning Items
The following information is required for returned items:
 Name and Serial Number of Items
 Reason for Return and Disposition:

 Example – Repair to Working Order, Refurbish to Near-new Condition,

Evaluate to Ascertain Whether Part is Repairable, etc.
 Cause and Symptoms of Problem
 Contact Name

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12. DP SYSTEM ALARMS & TROUBLESHOOTING
12.1 ALARM CONDITIONS
The DP system generates alarms for the following general conditions. The
associated alarms will be listed on the Alarm Page. See Section 12.3.
 SENS – Sensor input failure or comparison error between multiple sensor
inputs.
 CTRL – Control performance not satisfactory.
 THRS – Thruster commands exceeding alarm levels.
 POWR – Power manager limits or generator alarm levels exceeded.
 HDWR – Computer processor, SPU, PLC, or other hardware self-test
failure.
 CMPR – Comparison error between Master and Backup Operator
Workstation position estimates.
 CONS – See Section 12.9, Consequence Analysis Routine, pg 12-9.
 JSBS – See Section 7.6.2.2, Clear Joystick Bias, pg 7-35.
 WIND – See Section 7.6.1.7, Wind Compensation, pg 7-23.
 DISA – One or more alarms have been manually disabled.
 INHB – See Section 7.6.2.3, Alarm Page Inhibit, pg 7-36.
The abbreviated alarm names appear in the Alarm Summary Window,
Figure 12-1, which is located under the Deviation Display, Figure 6-7.

Figure 12-1. Alarm Summary Window

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12.2 ALARM NOTIFICATION

Here are five (5) indicators for new unacknowledged alarms.
1. Display boxes in the Alarm Summary Window, Figure 12-1, flash red.
2. The new alarm message appears in the Last Alarm Window, Figure
12-2.
3. The Master console generates a continuous high-low alarm tone.
4. The ALARM PAGE, Figure 12-3, automatically appears unless it is
inhibited from doing so. Refer to Section 12.3.1 for instructions on
inhibiting the ALARM PAGE.
5. The <ALARM> indicator light flashes on the Portable Joystick (if
configured) to tell the operator that there is an unacknowledged alarm.
Operators cannot acknowledge alarms from a Portable Joystick; alarms
can be acknowledged only from a Operator Workstation. L-3 DP&CS
recommends that when a Portable Joystick is being used, another
operator is also at a Operator Workstation. When all active alarms are
acknowledged, the alarm light on the Portable Joystick will stop flashing.
The light will go out when the alarms are cleared. Note that when the
Portable Joystick lamp intensity is turned up, it can appear that the alarm
light is on. Adjust lamp intensity to suit the installation.
12.3 ALARM PAGE
The NMS6000 calls up the ALARM PAGE, Figure 12-3, when it detects a new
alarm condition unless the ALARM PAGE has been inhibited (see Section
12.3.1, Inhibiting the Alarm Page).
To view the ALARM PAGE on demand, pick on (inside) the Last Alarm
Window or pick the <ALARM PAGE> button from the MODE FUNCTION drop-
down menu, Figure 12-2.

Alarm Summary Window

Last Alarm Window

Status Message Window

Figure 12-2. Last Alarm Window & Alarm Page Button

See Section 6.4.3 for more information on Alarm and Status Windows.

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Figure 12-3. Typical Alarm Page

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12.3.1 Inhibiting the Alarm Page

To inhibit (prevent) the system from automatically displaying the ALARM
PAGE when a new alarm occurs, do one of the following.
 Pick the Alarm Page Inhibit button on the Master console MODE
FUNCTION PAGE, Figure 12-4.
 Pick the Alarm Page Inhibit button on the MODE FUNCTION drop-
down menu; Figure 12-4.
When the operator has inhibited the ALARM PAGE, the INHB button in the
Alarm Summary Window, Figure 12-1, is illuminated.

Figure 12-4. Inhibiting the Alarm Page

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12.4 COLOR-CODING OF ALARMS

The following subsections explain the color-coding scheme for alarm
messages. This color-coding applies to the messages listed on the ALARM
PAGE, Figure 12-3, and in the Alarm Summary Window below, Figure 12-1.
In the Alarm Summary Window, the color of a given display box is tied to
the most severe of the detected alarms for a given category. Thus, if the
NMS6000 detects an unacknowledged sensor alarm, as well as an
acknowledged sensor alarm, the SENS display box in the Alarm Summary
Window flashes red to indicate the unacknowledged (e.g. most severe)
alarm.
12.4.1 Flashing Red – Unacknowledged Alarms
Flashing red messages indicate an unacknowledged active alarm condition.
12.4.2 Solid Red – Acknowledged Alarms
Solid red indicates an acknowledged active alarm.
12.4.3 Flashing Yellow – Expired Alarms
Alarm conditions that have occurred, but have cleared before being
acknowledged, are presented in yellow.
12.4.4 Green – Consequence Analysis Alarms
Consequence Analysis (CA) alarms always appear in green. The system
clears these alarms automatically if the operator selects the Alarm
Acknowledge function (refer to Section 12.6) or if the condition that gave rise
to the CA alarm no longer pertains. Refer to Section 12.9 for more information
on the CA function.
12.5 SILENCING ALARMS

Pushing the ALARM SILENCE Button in the upper right hand corner of the
display screen will silence the audible portion of an alarm. If the ALARM
SILENCE button is pushed on a Master Operator Workstation, it silences all of
the audible alarms on the vessel. If it is pushed at a Backup station, it only
silences the audible alarm for that location.

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12.6 ACKNOWLEDGING ALARMS

Pick the <ACK> button at the top of the ALARM PAGE to acknowledge every
unacknowledged alarm.

Figure 12-5. Acknowledging Alarms

After the operator acknowledges alarms, the system:

 Silences all audible alarm tones.
 Converts flashing red alarms (unacknowledged) to solid red
(acknowledged).
 Eliminates yellow alarms.

12.7 SORTING ALARMS

Select the <TIME> button at the top of the ALARM PAGE to change the
sorting of alarms (and the text on the button) from Time to Group. Select the
button again to sort the alarm list by Time. See Figure 12-6.

Figure 12-6. Sorting Alarms

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12.8 DISABLING ALARMS

Disabling an alarm removes the specific alarm detection code from the active
list. It does not merely clear a specific alarm occurrence, but prevents the
NMS6000 from detecting that alarm condition as long as the code is disabled.
Disabling should be used with caution during normal operations. This function
may be useful for eliminating automatic ALARM PAGE switching and alarm
notification caused by “nuisance” alarms which constantly clear and recur.
Taking the corresponding hardware offline rather than disabling the alarm
code itself may clear most sensor and thruster alarms.
Disabling an alarm prevents these three alarm notification routines:
 The audible alarm will not sound.
 The Alarm Page will not pop up.
 The alarm will not show in the Last Alarm Window.
Disabled alarm messages that are based on a still-active alarm condition
appear as red text on a white bar toward the bottom of the ALARM PAGE. In
the following figure, the “Gyro 1: Time out” alarm is disabled.

Figure 12-7. Alarm Page with a Disabled Alarm Message

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12.8.1 Disabling an Alarm listed on the Alarm Page

1. Using the cursor control, select the appropriate ALARM PAGE message.
2. The system highlights this line.
3. Select the <DISABLE > button.

When any alarm has been disabled, the DISA box in the Alarm Summary
Window, Figure 12-1, will be illuminated.

To return a disabled alarm message to the active list:

1. Select the disabled message.

2. The system highlights this line.
3. Select the <ENABLE> button at the top of the ALARM PAGE.

12.8.2 Disabling Any Alarm

The NMS6000 permits operators to disable any alarm in the database, even if
the alarm is not currently displayed on the ALARM PAGE.
1. Select the <ID ENABLE> button at the top of the ALARM PAGES.

2. The ALARM ID pop-up window appears. Light blue messages represent

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

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3. Scroll through the list of messages until the desired alarm appears.
4. Use the cursor control to highlight this line.
5. Select the <OK> button on the ALARM ID pop-up.
To return a disabled alarm message to the active list, pick on it and then
select the <OK> button.
12.9 CONSEQUENCE ANALYSIS ROUTINE
The Consequence Analysis (CA) Routine determines if the failure of a certain
hardware component might affect the station-keeping ability of the vessel at
that moment, given existing environmental conditions. When activated, the
software runs transparently in the background, continuously testing different
failure simulations. It treats redundant hardware components separately (e.g.
If a vessel has four thrusters, CA runs four different routines, examining the
effect of losing each one of them.) This section describes the specific
simulations tested by the CA routine.

Operators may activate or deactivate Consequence Analysis from SETUP

PAGE 3 using the Consequence Analysis ON/OFF button.

An internal Loss Matrix defines the parameters of the various routines. CA

also runs the Thrust Allocation Logic (TAL) and Power Management (PM)
module routines, tying the loss routine to the existing environmental
conditions and simulated thrust and power limitations. The system tracks the
following types of compromised station-keeping:

 Insufficient Port/Starboard Thrust

 Insufficient Fore/Aft Thrust
 Insufficient Heading Thrust

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The comprised station-keeping list is arranged by the importance of the

failure, from low to high. The system displays only the most critical of all
current failures. Therefore, if a given routine would cause both Insufficient
Port/Starboard Thrust and Insufficient Heading Thrust conditions, the display
reports only “Insufficient Heading Thrust.” When CA determines that failure of
a given hardware unit would compromise the vessel’s station-keeping ability,
it generates an advisory CONS CA alarm.

The NMS6000 DP System monitors certain alarms generated during a CA

simulation and allows them to occur for a set number of "grace period"
seconds before raising such advisories. The ALARM PAGE displays CA
alarms along with normal alarms. The NMS6000 DP System treats these
advisories like regular alarms, with the following exceptions:

 The ALARM PAGE does not automatically appear.

 The speaker generates a repetitive “blip” tone, not a continuous high-low
tone.
 The display presents CA alarms in green.

Note – When operators disable CA, the system clears all alarms for the
different loss routines. Operators can temporarily disable single
CA alarms by following the same process used for normal alarms,
see Section 12.8.

12.9.1 Specific Consequence Analysis Routines

The following Specific CA Routines are tested by the NMS6000 DP System:

 Single Generator Loss

 Single Bus Loss
 Single Signal Processor Loss
 Thruster Loss

12.9.1.1 Single Generator Loss

Loss of a single online generator reduces the power available for dynamic
positioning (upper power limit) on the bus fed by that generator. During this
test routine, one generator’s power capability is assumed to drop to zero. The
power limits are then checked and any necessary and feasible adjustments in
the thruster allocation are made to accommodate the reduced upper power
limit on the affected bus. When the resulting allocation will not meet the
required forces and moments, the system generates a Consequence Analysis
alarm.

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12.9.1.2 Single Bus Loss

Loss of a single bus prevents the NMS6000 DP System from using any
thruster on that bus. During this test routine, the thruster allocation logic must
make feasible adjustments to accommodate the lost bus. When the resulting
allocation will not meet the required forces and moments, the system
generates a Consequence Analysis alarm. Each bus loss is tested.
12.9.1.3 Single Signal Processor Loss
Loss of a single SPU prevents the NMS6000 DP System from using any
thruster controlled through that SPU. During this test routine, the thruster
allocation logic must make feasible adjustments to accommodate the lost
SPU. When the resulting allocation will not meet the required forces and
moments, the system generates a Consequence Analysis alarm. Each SPU
loss is tested.
12.9.1.4 Thruster Loss
The Thruster Loss test routine selects each online thruster sequentially and
assumes it to be disabled. The thruster allocation logic is run with only the
usable thrusters. Power limits on other buses are checked and any necessary
and feasible adjustments are made to accommodate the lost thrusters. When
the resulting allocation resulting allocation will not meet the required forces
and moments or if the allocation still exceeds the operating power limit, the
system generates a Consequence Analysis alarm.
12.10 ALARM LOGS
Alarm Log files record all alarms, operator actions, sensor status, and mode
and setpoint changes. New Alarm Log files are created at startup and closed
when the system is shut down. These files are continuously appended to,
while the NMS6000 software is running, provided they have been enabled in
the Workstation PC Registry (see below). Alarm Log files are stored on the
Workstation PC, in the folder C:\NMS6000\cp. There are two types of alarm
log files:
 AlarmLog_00x.log – This type contains all DP alarms (i.e. the same
alarms that go to the alarm printer if one is available).
 DataServer_00x.log – This type contains diagnostic data for L-3
DP&CS technician’s use only.
The following Registry keys enable Alarm logs:
HKEY_LOCAL_MACHINE\SOFTWARE\Nautronix\Logging State
(value of 1 enables logs, 0 disables logs)
The following Registry key enables DataServer logs:
HKEY_LOCAL_MACHINE\SOFTWARE\Nautronix\DataServer\Logging State
(value of 1 enables logging, 0 disables logs)

Note – Only experienced PC technicians may edit the PC’s Registry.

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CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

12.11 DP SYSTEM ALARMS AND MESSAGES

 Note – Depending on the vessel’s DP System configuration, some of

the following alarms may not be applicable.

 Note – The letter “X” following the name of a hardware item represents
the number of that item.

 Example – “Thruster X” may be replaced by “Thruster 1” in the actual

alarm message.

Alarm Message Type Definition and Corrective Action

Thruster is unable to comply with thrust commands. Take thruster
THRST
Bow Tunnel Not Ready offline and troubleshoot thruster interface.
The difference between the commanded azimuth and the measured
Bow Tunnel: Azimuth THRST azimuth exceeds the Azimuth Compare Alarm Limit. If the error is
Compare Error large, take thruster offline.
Bow Tunnel: Azm Sin/Cos Sin/Cos feedback is not aligned. Check both Sin and Cos inputs at
THRST
Feedback Fault I/O module for correct voltages.
Bow Tunnel: Control
THRST Take thruster offline. Inspect/Troubleshoot at thruster.
Transfer Alarm
Positive and negative direction feedbacks from thrusters are either
Bow Tunnel: Direction Input THRST both high or both low. Take thruster offline. Inspect/Troubleshoot the
Fault thruster interface.
The ReadyIO input and DPIO input for the thruster are different. Both
Bow Tunnel: DPIO ReadyIO THRST the signals need to be either Off or ON. Check both the inputs coming
mismatch from the field. Take the thruster offline if the two signals don’t match
Thrust command exceeds Thrust Alarm Limit. Reorient vessel to
THRST
Bow Tunnel: High Level Alert reduce thruster loading or place additional thrusters online.
Thrust Allocation Logic (TAL) cannot meet requested forces for the
Bow Tunnel: Reduced Power THRST thruster. Reorient vessel to reduce thruster loading or place additional
Alarm thrusters online.
The difference between the commanded thrust level and the
Bow Tunnel: Thrust THRST measured thrust level exceeds the Thrust Compare Alarm Limit. If the
Compare error is large, take thruster offline.
Cons: Bow Tunnel Loss - Loss of the specific thruster would result in unmet yaw thrust
CONS
Insuff Hdg Thrust commands.
Cons: Bow Tunnel Loss - Loss of the specific thruster would result in unmet surge/sway thrust
CONS
Insuff Pos Thrust commands.
Cons: One SPU Loss - Insuff Loss of any one online SPU would result in unmet yaw thrust
CONS
Hdg Thrust commands.
Cons: One SPU Loss - Insuff Loss of any one online SPU would result in unmet surge/sway thrust
CONS
Pos Thrust commands.

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Alarm Message Type Definition and Corrective Action

Cons: One Thr Loss - Insuff Loss of any one online thruster would result in unmet yaw thrust
CONS
Hdg Thrust commands.

Cons: One Thr Loss - Insuff Loss of any one online thruster would result in unmet surge/sway
CONS
Pos Thrust thrust commands.
Cons: Port Bow Azi Loss - Loss of the specific thruster would result in unmet yaw thrust
CONS
Insuff Hdg Thrust commands.
Cons: Port Bow Azi Loss - Loss of the specific thruster would result in unmet surge/sway thrust
CONS
Insuff Pos Thrust commands.
Cons: Port Main Loss - Insuff Loss of the specific thruster would result in unmet yaw thrust
CONS
Hdg Thrust commands.
Cons: Port Main Loss - Insuff Loss of the specific thruster would result in unmet surge/sway thrust
CONS
Pos Thrust commands.
Cons: SPUX Loss - Insuff
CONS Loss of the specific SPU would result in unmet yaw thrust commands.
Hdg Thrust

Cons: SPUX Loss - Insuff Loss of the specific SPU would result in unmet surge/sway thrust
CONS
Pos Thrust commands.

Cons: Stbd Bow Azi Loss - Loss of the specific thruster would result in unmet yaw thrust
CONS
Insuff Hdg Thrust commands.
Cons: Stbd Bow Azi Loss - Loss of the specific thruster would result in unmet surge/sway thrust
CONS
Insuff Pos Thrust commands.
Cons: Stbd Main Loss - Loss of the specific thruster would result in unmet yaw thrust
CONS
Insuff Hdg Thrust commands.
Cons: Stbd Main Loss - Loss of the specific thruster would result in unmet surge/sway thrust
CONS
Insuff Pos Thrust commands.
Communication with control panel joystick was unsuccessful. If alarm
Console Joystick: HDWR persists, select another Control Panel to act as the Master and
Communication Error troubleshoot former Master.
Communication with control panel was unsuccessful. If alarm
Console Joystick: HDWR persists, select another Control Panel to act as the Master and
Communication Error troubleshoot former Master.
Communication with control panel joystick was unsuccessful. If alarm
Console Joystick: HDWR persists, select another Control Panel to act as the Master and
Communication ErrorE troubleshoot former Master.
Control Panel: Communication with control panel was unsuccessful. Select another
HDWR
Communication Error console as the Master and check console serial data.
Control Net node fault on Ch X. Check for faulty Control Net nodes
ControlNet ChX - Faulted HDWR (Consoles, SPU’s PLC’s, etc.) Check for status indication, refer to
Unit documentation for specific hardware for details.
ControlNet ChX - Incorrect
HDWR Control Net configuration corrupt. Contact L-3 DP&CS for repair.
Node Configuration
Control Net node failure on Ch X. Check for faulty Control Net nodes
ControlNet ChX - Internal HDWR (Consoles, SPU’s PLC’s, etc.) Check for status indication, refer to
Diagnostics Fail documentation for specific hardware for details.

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CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

ControlNet ChX - PLC HDWR Control Net configuration corrupt. Contact L-3 DP&CS for repair.
Address Above UMAX

Control Net node failure on Ch X. Check for faulty Control Net nodes
HDWR (Consoles, SPU’s PLC’s, etc.) Check for status indication, refer to
ControlNet ChX - Self Test documentation for specific hardware for details.
Fail
Control Net communication intermittent failure or noise on Ch X.
ControlNet ChX - Temporary HDWR Check for cable wear, loose connectors, coaxial shield to hull earthed
Errors at all consoles, SPU’s and SNIU’s (if installed).
The time allowed for the differential correction signal to be received
has elapsed. If alarm persists take sensor offline and wait for the
SENS
satellite configuration to improve, or until the differential signal is
DGPS X: Correction Latency received.
Data falls outside the adaptive alarm threshold as determined by the
data history of this sensor. If alarm persists check sensor data. If data
SENS
is valid cycle the online status of the sensor. If data is invalid take
DGPS X: Data Rejection sensor offline until the fault is corrected.
The time allowed for the differential correction signal to be received
DGPS X: Diff Correction Age SENS has elapsed. If alarm persists take sensor offline until the differential
Exceeded signal is received.

The differential correction signal reception has degraded. If alarm

SENS
DGPS X: Diff Fix Low Quality persists take sensor offline until the differential signal is received.

The time allowed for the differential correction signal to be received

DGPS X: Fix Update Period SENS has elapsed. If alarm persists take sensor offline until the differential
Exceeded signal is received.
The Horizontal Dilution of Precision is too high. Check DGPS
DGPS X: High Horiz Dilution SENS equipment for fault. If no fault is found wait for reading to lower. Note
of Precision - This alarm may result from poor satellite geometry.
Calculated noise level exceeds upper threshold. If alarm persists take
SENS
DGPS X: High Noise Alarm sensor offline.
Serial parser cannot understand serial string received. Inspect data
DGPS X: Invalid Data SENS received on Signal I/O Page 3 and verify a valid GPGGA string
Received received. If not, consult DGPS manual for proper DGPS setup.
Data from this sensor is not within the specified limits when compared
with other sensors. If alarm persists check sensor data and take
SENS
faulty sensor offline. If data is valid increase median alarm threshold
DGPS X: Median Test Alarm or perform Position Reference Calibration.
Data from sensor has not been received at expected interval. Take
SENS sensor offline until data stream is restored. Inspect/Troubleshoot at
DGPS X: No Data the sensor.

The position estimate quality is low enough to be unreliable. Inspect

SENS
DGPS X: Position Quality the data and if it appears invalid take sensor offline.
Fault

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Alarm Message Type Definition and Corrective Action

Alarm other than Timeout or Buffer Overflow generated within serial
processing software. If alarm persists, reset serial device, check
SENS
serial page for input message validity or check physical interface
DGPS X: Serial Port Error connections.
Valid data has not been received within the sensors timeout period. If
SENS
DGPS X: Serial Port Timeout alarm persists check DGPS operation or interface connection.
DGPS X: Serial Receive DGPS is sending excessive data in one DP cycle. Ensure the DGPS
SENS
Buffer Overflow is sending only one sentence per second.
DGPS X: Unchanged Sensor data received is unchanging. Check sensor and take
SENS
Position Error appropriate action.

Redundant discrete inputs from DP Online switch do not agree. DP

HDWR
DP Online Comparison Error assumes the switch is in the Online position.

No valid position measurements are available. Place additional

CTRL
East Axis: Dead Reckoning position sensors online and/or troubleshoot current online sensors.
ECDIS: Waypoint ID Must Waypoint data arrived with invalid or duplicate IDs. Investigate the
CTRL
Contain A Number track configuration on the ECDIS.

The DP system cannot receive data from Ethernate A/B. Check the
HDWR
Ethernet X: Receive Bind connection.
Fault
Significant increase in the amount of data received. Isolate the
console/component creating the data storm by removing the
HDWR connection on the ethernet switch. The led corresponding to that
Ethernet X: Receive High datastorm is likely to blink faster or be close to solid green than the
Packet Rate Alarm other ones.
Ethernet X: Receive Timeout Ethernet timeout. Check the connections on the back of the ethernet
HDWR
Alarm switch.
Ethernet X: Transmit Bind The DP system cannot transmit data from Ethernate A/B. Check the
HDWR
Fault connection.
Significant increase in the amount of data transmit ethernet. Isolate
the console/component creating the data storm by removing the
HDWR connection on the ethernet switch. The led corresponding to that
Ethernet X: Transmit High datastorm is likely to blink faster or be close to solid green than the
Packet Rate Alarm other ones.
Ethernet X: Transmit Ethernet timeout. Check the connections on the back of the ethernet
HDWR
Timeout Alarm switch.

Ethernet: Node Pkt Expected Ethernet serial packets not received. The interface is being
HDWR
SequenceXXX Fault resynched. No operator intervention required.

Data falls outside the adaptive alarm threshold, determined by the

data history of the sensor. If alarm clears automatically, no corrective
action is required. If the alarm persists, examine the data. If the data
SENS appears valid, take the sensor offline and then place it online again to
clear the alarm condition. If the data appears invalid, take the sensor
offline and troubleshoot. Note - Do not place the sensor online until
Fanbeam: Data Rejection the fault has been corrected.

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CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

Calculated noise level for sensor exceeds upper threshold. If alarm
SENS clears automatically, no corrective action is required. If alarm persists,
Fanbeam: High Noise Alarm take sensor offline.
Serial parser cannot understand serial string received. Inspect data
SENS received on Signal I/O Page 3 and verify a valid Fanbeam string
Fanbeam: Invalid Data Block received.
Data from this sensor is not within the specified limits when compared
with other sensors. If alarm persists check sensor data and take
SENS
Fanbeam: Median Test faulty sensor offline. If data is valid increase median alarm threshold
Alarm or perform Position Reference Calibration.

Valid data has not been received within the sensors timeout period. If
SENS
Fanbeam: No Data alarm persists check DGPS operation or interface connection.

Alarm other than Timeout or Buffer Overflow generated within serial

processing software. If alarm persists, reset serial device, check
SENS
serial page for input message validity or check physical interface
Fanbeam: Serial Port Error connections.

Fanbeam: Serial Port No data being received on serial port. Ensure sensor is powered up
SENS
Timeout and properly configured.

DGPS is sending excessive data in one DP cycle. Ensure the DGPS

SENS
Fanbeam: Serial Receive is sending only one sentence per second.
Buffer Overflow
FLX PLC XX (DPX) - The FlexPLC watchdog timer has stalled. Check FlexPLC and Point
HDWR
Watchdog Stalled I/O modules associated with the FlexPLC.
FLX PLC XX (SPUX) - The FlexPLC watchdog timer has stalled. Check FlexPLC and Point
HDWR
Watchdog Stalled I/O modules associated with the FlexPLC.
Control Net communication failure on Ch X. Check for cable break,
FLXXX ControlNet Card X HDWR compartment loss, connector failure on all consoles, SPU’s and
ChX - Media Fault SNIU’s (if installed).
Data from this sensor is not within the specified limits when compared
SENS with other sensors. If alarm persists check sensor data and take
Gyro X: Data Median Alarm faulty sensor offline. If data is valid increase median alarm threshold.
Data received is not in a valid format. If alarm persists check status of
SENS
Gyro X: Invalid Data Block NMEA string on I/O page. Check operation of gyrocompass.
Alarm other than Timeout or Buffer Overflow generated within serial
processing software. If alarm persists, reset serial device, check
SENS
serial page for input message validity or check physical interface
Gyro X: Serial Port Error connections.
Valid data has not been received within the sensors timeout period. If
SENS alarm persists check operation of Gyrocompass and interface
Gyro X: Serial Port Timeout connection.
The NMEA message rate is set too high (two per second is adequate)
Gyro X: Serial Receive SENS or the data is invalid. Inspect SIGNAL I/O PAGEs for correct NMEA
Buffer Overflow string.
Data from sensor has not been received at expected interval. Take
SENS
Gyro X: Timeout sensor offline until data stream is restored.

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Alarm Message Type Definition and Corrective Action

Gyro X: Unchanged Angle Sensor data received is unchanging. Check sensor and take
SENS
Fault appropriate action.

Data from two or more sensors not in agreement. Inspect sensor data
SENS
Gyro: Divergence Alarm and take faulty sensor offline.

HAM: Outside Radius - Vessel is outside HAM radius and DP Controller has reverted back to
CTRL
Using Nominal Bandwidth Nominal Bandwidth.

HAM: Using Nominal Vessel just crossed HAM radius and DP Controller is using Nominal
CTRL
Bandwidth Bandwidth.

Heading Axis: Dead No valid heading measurements are available. Place additional
CTRL
Reckoning heading sensors online and/or troubleshoot current online sensors.

Measured heading differs from heading setpoint by more than the

defined Heading Error Threshold. Increase control gain for Yaw axis.
CTRL
If condition persists, review sensor and propulsion status for
Heading Excursion contributing alarm conditions.
Data falls outside the adaptive alarm threshold as determined by the
data history of this sensor. If alarm persists check sensor data. If data
SENS
Hydro 1 Beacon X: Data is valid cycle the online status of the sensor. If data is invalid take
Rejection sensor offline until the fault is corrected.
Data falls outside the adaptive alarm threshold as determined by the
data history of this sensor. If alarm persists check sensor data. If data
SENS
is valid cycle the online status of the sensor. If data is invalid take
Hydro 1 LBL: Data Rejection sensor offline until the fault is corrected.
Hydro 1 LBL: High Noise Calculated noise level exceeds upper threshold. If alarm persists take
SENS
Alarm sensor offline.
Hydro 1 LBL: Sensor data received is unchanging. Check sensor and take
SENS
Invalid/Unchanging Position appropriate action.
Data from this sensor is not within the specified limits when compared
with other sensors. If alarm persists check sensor data and take
SENS
Hydro 1 LBL: Median Test faulty sensor offline. If data is valid increase median alarm threshold
Alarm or perform Position Reference Calibration.
Data from sensor has not been received at expected interval. Take
SENS
Hydro 1 LBL: No Message sensor offline until data stream is restored.
The RS925 System cannot use the signal from LBL X due to noise,
SENS shadowing or faulty LBL. Refer to RS925 User’s manual for corrective
Hydro 1 LBL: NRL Error action.
The RS925 System cannot use the signal from LBL X due to noise,
SENS shadowing or faulty LBL. Refer to RS925 User’s manual for corrective
Hydro 1 LBL: Solve Error action.
Tilt beacon cannot correctly determine tilt. If this alarm persists, take
Hydro 1 LBL: Tilt Telemetry SENS beacon offline. Refer to Acoustic Position Reference System manual
Fault for troubleshooting.

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Alarm Message Type Definition and Corrective Action

Data from sensor has not been received at expected interval. Take
SENS
sensor offline until data stream is restored.
Hydro 1 LBL: Timeout
Heading data sent to Acoustic Position Reference System does not
Hydro 1: Heading Compare SENS agree with NMS heading. Inspect sensor data to determine which
Error reading is valid.
Alarm other than Timeout or Buffer Overflow generated within serial
processing software. If alarm persists, reset serial device, check
SENS
serial page for input message validity or check physical interface
Hydro 1: Serial Port Error connections.
Valid data has not been received within the sensors timeout period. If
SENS alarm persists check operation of RS925 system at DCU. Check
Hydro 1: Serial Port Timeout physical interface connections to/from DCU.
The NMEA message rate is set too high (two per second is adequate)
Hydro 1: Serial Receive SENS or the data is invalid. Inspect SIGNAL I/O PAGEs for correct NMEA
Buffer Overflow string.

Hydro X Bcn X: High Noise Calculated noise level exceeds upper threshold. If alarm persists take
SENS
Alarm sensor offline.

Hydro X Bcn X: Sensor data received is unchanging. Check sensor and take
SENS
Invalid/Unchanging Position appropriate action.

Data from this sensor is not within the specified limits when compared
with other sensors. If alarm persists check sensor data and take
SENS
Hydro X Bcn X: Median Test faulty sensor offline. If data is valid increase median alarm threshold
Alarm or perform Position Reference Calibration.
Data from sensor has not been received at expected interval. Take
SENS
Hydro X Bcn X: No Message sensor offline until data stream is restored.
The RS925 System cannot use the signal from Beacon X due to
SENS noise, shadowing or faulty beacon. Refer to RS925 User’s manual for
Hydro X Bcn X: NRL Error corrective action.
The RS925 System cannot use the signal from Beacon X due to
SENS noise, shadowing or faulty beacon. Refer to RS925 User’s manual for
Hydro X Bcn X: Solve Error corrective action.
Tilt beacon cannot correctly determine tilt. If this alarm persists, take
Hydro X Bcn X: Tilt SENS beacon offline. Refer to Acoustic Position Reference System manual
Telemetry Fault for troubleshooting.
The RS925 system cannot detect Beacon X. Ensure beacon is turned
SENS on or not shadowed. Refer to RS925 user’s manual for further
Hydro X Bcn X: Timeout actions.
Inappropriate Thruster The thrusters online are not in a configuration that allows calculation
CTRL
Configuration of a valid DP solution. Place additional thrusters online.
Insufficient thrust available to meet surge commands. Reorient vessel
CTRL
Insufficient F/A Thrust to reduce thruster loading or place additional thrusters online.
Insufficient thrust available to meet yaw commands. Reorient vessel
CTRL
Insufficient Heading Thrust to reduce thruster loading or place additional thrusters online.

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Alarm Message Type Definition and Corrective Action

Insufficient thrust available to meet sway commands. Reorient vessel
CTRL
Insufficient P/S Thrust to reduce thruster loading or place additional thrusters online.
A joystick value is not close enough to the expected center value to
HDWR allow center calibration. Set the manual controls to their center
Joystick: Calibration Error positions and perform the calibration again.

HDWR PLC Alarm, inspect and troubleshoot at PLC.

Lost all PLCs
Measured pitch data exceeds maximum allowed value as defined in
SENS database (nominally 30 degrees). Unless vessel pitch angle is
MRU: Maximum Pitch Angle actually excessive, the sensor has failed and must be taken offline.
Measured roll data exceeds maximum allowed value as defined in
SENS database (nominally 30 degrees). Unless vessel roll angle is actually
MRU: Maximum Roll Angle excessive, the sensor has failed and must be taken offline.
Data from this sensor is not within the specified limits when compared
MRU: Pitch Data Median SENS with other sensors. If alarm persists check sensor data and take
Alarm faulty sensor offline. If data is valid increase median alarm threshold.
Data from this sensor is not within the specified limits when compared
MRU: Roll Data Median SENS with other sensors. If alarm persists check sensor data and take
Alarm faulty sensor offline. If data is valid increase median alarm threshold.

NMS Offline HDWR The NMS X system is offline. DP Selector Switch is not set to DP.

Not able to detect NMS. Check NMS X for major unexpected system
HDWR
NMSX: Not Responding anomaly.
No valid position measurements in the North direction are available
CTRL from any online position sensor. Place additional position sensors
North Axis: Dead Reckoning online and/or troubleshoot current online sensors.
Change the PLC battery. WARNING! Do not power down the PLC
HDWR
PLC Battery is Low while the battery is removed.
Program rung forces are present in PLC program. Contact L-3
HDWR
PLC Forces are Enabled DP&CS for corrective action.

Ensure PLC switch is positioned to RUN. Cycle power to PLC to

HDWR
PLC is in Program Mode restart (if necessary).

Ensure PLC switch is positioned to RUN. Cycle power to PLC to

HDWR restart (if necessary). If problem persists, contact L-3 DP&CS for
PLC is in Test Mode corrective action.

HDWR PLC Alarm, inspect and troubleshoot at PLC.

PLC X Not Present
Possible bad Hot backup module or corrupt PLC file. Check Hot
backup module for status and indication, replace if possible. Ensure
HDWR
PLC: Hot-Backup Invalid PLC switch is positioned to RUN. Cycle power to PLC to restart (if
Configuration necessary). Otherwise contact L-3 DP&CS for corrective action.

PLC: Hot-Backup Summary HDWR Summary of Hot-Backup alarms. See specific alarm for action.
Alarm

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Alarm Message Type Definition and Corrective Action

Possible bad Hot backup module or corrupt PLC file. Check Hot
backup module for status and indication, replace if possible. Ensure
HDWR
PLC: No Hot-Backup PLC in PLC switch is positioned to RUN. Cycle power to PLC to restart (if
Control necessary). Otherwise contact L-3 DP&CS for corrective action.
Possible bad Hot backup module, corrupt PLC file or faulted PLC.
Check Hot backup module for status and indication, replace if
HDWR possible. Check PLC’s for operation and status. Ensure PLC switch is
PLC: No Hot-Backup PLC positioned to RUN. Cycle power to PLC to restart (if necessary).
Present Otherwise contact L-3 DP&CS for corrective action.
The difference between the commanded azimuth and the measured
Port Bow Azi: Azimuth THRST azimuth exceeds the Azimuth Compare Alarm Limit. If the error is
Compare Error large, take thruster offline.

Port Bow Azi: Azm Sin/Cos Sin/Cos feedback is not aligned. Check both Sin and Cos inputs at
THRST
Feedback Fault I/O module for correct voltages.

Port Bow Azi: Control THRST Take thruster offline. Inspect/Troubleshoot at thruster.
Transfer Alarm
Positive and negative direction feedbacks from thrusters are either
Port Bow Azi: Direction Input THRST both high or both low. Take thruster offline. Inspect/Troubleshoot the
Fault thruster interface.
The ReadyIO input and DPIO input for the thruster are different. Both
Port Bow Azi: DPIO ReadyIO THRST the signals need to be either Off or ON. Check both the inputs coming
mismatch from the field. Take the thruster offline if the two signals don’t match

Port Bow Azi: High Level Thrust command exceeds Thrust Alarm Limit. Reorient vessel to
THRST
Alert reduce thruster loading or place additional thrusters online.

Thruster is not ready for DP control and is unable to comply with

THRST
Port Bow Azi: Not Ready thrust commands. Troubleshoot thruster interface.

The ReadyIO input and DPIO input for the thruster are different. Both
THRST the signals need to be either Off or ON. Check both the inputs coming
Port Bow Azi: Retracted from the field. Take the thruster offline if the two signals don’t match
The difference between the commanded thrust level and the
Port Bow Azi: Thrust THRST measured thrust level exceeds the Thrust Compare Alarm Limit. If the
Compare error is large, take thruster offline.
The difference between the commanded azimuth and the measured
Port Main: Azimuth Compare THRST azimuth exceeds the Azimuth Compare Alarm Limit. If the error is
Error large, take thruster offline.

Port Main: Azm Sin/Cos Sin/Cos feedback is not aligned. Check both Sin and Cos inputs at
THRST
Feedback Fault I/O module for correct voltages.

Port Main: Control Transfer THRST Take thruster offline. Inspect/Troubleshoot at thruster.
Alarm
Positive and negative direction feedbacks from thrusters are either
Port Main: Direction Input THRST both high or both low. Take thruster offline. Inspect/Troubleshoot the
Fault thruster interface.

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Alarm Message Type Definition and Corrective Action

The ReadyIO input and DPIO input for the thruster are different. Both
Port Main: DPIO ReadyIO THRST the signals need to be either Off or ON. Check both the inputs coming
mismatch from the field. Take the thruster offline if the two signals don’t match

Thrust command exceeds Thrust Alarm Limit. Reorient vessel to

THRST
Port Main: High Level Alert reduce thruster loading or place additional thrusters online.

Thruster X is unable to comply with thrust commands. Take thruster

THRST
Port Main: Not Ready offline and troubleshoot thruster interface.

The difference between the commanded thrust level and the

THRST measured thrust level exceeds the Thrust Compare Alarm Limit. If the
Port Main: Thrust Compare error is large, take thruster offline.

Portable Joystick: Communication with portable joystick was unsuccessful. Transfer

HDWR
Communication Error back to Master console and check portable joystick serial data.

Portable Joystick: Invalid F/A Data received from console joystick is outside the allowed limit.
HDWR
Data Check joystick’s surge data.

Portable Joystick: Invalid P/S Data received from console joystick is outside the allowed limit.
HDWR
Data Check joystick’s sway data.

Portable Joystick: Invalid Data received from console joystick is outside the allowed limit.
HDWR
Yaw Data Check joystick’s yaw data.

Error with communications to the control panel. If alarm persists,

Portable Joystick: Missing HDWR select another Control Panel to act as the Master and troubleshoot
Data former Master.
Measured position differs from position setpoint by more than the
defined Position Error Threshold. Increase control gain for Surge
CTRL
and/or Sway axes. If condition persists, review sensor and propulsion
Position Excursion status for contributing alarm conditions.

Data from two or more sensors not in agreement. Inspect sensor data
SENS
Position Sensor Divergence and take faulty sensor offline.

Vessel’s operational position limits have been exceeded. Refer to

CTRL Setup page for operator alarm setpoints. Make provisions to bring
Red Alert Radius Excursion vessel back within acceptable position.

Redundancy: Database One or more packets were not received from the master console.
CTRL
Packet Not Received Initialize backups.

The Master and Backup Heading estimates differ by more than the
threshold set in the database. Initialize the Backups to ensure that all
long-term filter values are those used by the Master and that all DP
CMPR
systems use the same sensor data. If this alarm is active it is
Redundancy: Heading impossible to “bumplessly” transfer control between the NMS6000
Compare Alarm consoles.

Redundancy: Init Backup One or more packets were not received from the master console.
CTRL
Packet Not Received Initialize backups.

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CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

Redundancy: Joystick Joystick Calibration Packet transmission error occurred from Master
Calibration Packet Not CTRL Control Panel to Backup Control Panel. Press INIT Backup on the
Received Master Control Panel, to attempt transmission of all data again.
LSTF Packet transmission error occurred from Master Control Panel
Redundancy: LSTF Packet
CTRL to Backup Control Panel. Press INIT Backup on the Master Control
Not Received
Panel, to attempt transmission of all data again.

Redundancy: No Master No console is in control at this time. Select the NMS Online option on
CTRL
Console the console you want to take control.

Redundancy: Online Status One or more packets were not received from the master console.
CTRL
Packet Not Received Initialize backups.

The East position estimate between Master and Backup differs by

more than the threshold set in the database. Initialize the Backups to
CMPR ensure that all long-term filter values are those used by the Master
Redundancy: Position and that all DP systems are using the same sensor data. If this alarm
Compare Alarm - East is active, it is impossible to “bumplessly” transfer control.
The North position estimate between Master and Backup differs by
more than the threshold set in the database. Initialize the Backups to
CMPR ensure that all long-term filter values are those used by the Master
Redundancy: Position and that all DP systems are using the same sensor data. If this alarm
Compare Alarm - North is active, it is impossible to “bumplessly” transfer control.

Redundancy: Position One or more packets were not received from the master console.
CTRL
Sensor Packet Not Received Initialize backups.

Redundancy: User Change One or more packets were not received from the master console.
CTRL
Packet Not Received Initialize backups.

ROV location data has not been received. Troubleshoot the sensor
SENS
ROV Input: Expired Data and data IO.

SPU1 Pri: +24Vdc Power SPU is not receiving adequate power. Take SPU offline until this
HDWR
Fault condition clears. Troubleshoot UPS.

SPU1 Sec: +24Vdc Power SPU is not receiving adequate power. Take SPU offline until this
HDWR
Fault condition clears. Troubleshoot UPS.

Malfunction or error in ACNR communications or corrupt Control Net

SPUX - ACNR Connection HDWR configuration. Check operation and status of ACNR, replace if
Status Alarm necessary. Contact L-3 DP&CS if problem persists.
Failed or corrupt I/O module X in SPU X. Check seating of Module,
SPUX/ModXX: Module Bad; HDWR re-seat if necessary (can be done “hot”). Replace module if
Missing; or Wrong Type necessary.
DC/DC converter in corresponding SPU is faulted. Trouble-shoot
SPUX: Ref Neg Voltage HDWR Power supply, I/O module or physical connections within SPU
Fault cabinet.
DC/DC converter in corresponding SPU is faulted. Trouble-shoot
HDWR Power supply, I/O module or physical connections within SPU
SPUX: Ref Pos Voltage Fault cabinet.

12-22 NMS6000 Operations & Maintenance Manual 24006000TM-309

 CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

The difference between the commanded azimuth and the measured
Stbd Bow Azi: Azimuth THRST azimuth exceeds the Azimuth Compare Alarm Limit. If the error is
Compare Error large, take thruster offline.

Stbd Bow Azi: Azm Sin/Cos Sin/Cos feedback is not aligned. Check both Sin and Cos inputs at
THRST
Feedback Fault I/O module for correct voltages.

Stbd Bow Azi: Control THRST Take thruster offline. Inspect/Troubleshoot at thruster.
Transfer Alarm
Positive and negative direction feedbacks from thrusters are either
Stbd Bow Azi: Direction Input THRST both high or both low. Take thruster offline. Inspect/Troubleshoot the
Fault thruster interface.
The ReadyIO input and DPIO input for the thruster are different. Both
Stbd Bow Azi: DPIO THRST the signals need to be either Off or ON. Check both the inputs coming
ReadyIO mismatch from the field. Take the thruster offline if the two signals don’t match

Stbd Bow Azi: High Level Thrust command exceeds Thrust Alarm Limit. Reorient vessel to
THRST
Alert reduce thruster loading or place additional thrusters online.

Thruster is unable to comply with thrust commands. Take thruster

THRST
Stbd Bow Azi: Not Ready offline and troubleshoot thruster interface.

The Bow Azi is in Auto mode (in operation) but the signal from the
THRST field says it has Retracted. Check the signal coming from the field.
Stbd Bow Azi: Retracted Take the thruster offline if it is intended to be retracted
The difference between the commanded thrust level and the
Stbd Bow Azi: Thrust THRST measured thrust level exceeds the Thrust Compare Alarm Limit. If the
Compare error is large, take thruster offline.
The difference between the commanded azimuth and the measured
Stbd Main: Azimuth THRST azimuth exceeds the Azimuth Compare Alarm Limit. If the error is
Compare Error large, take thruster offline.

Stbd Main: Azm Sin/Cos Sin/Cos feedback is not aligned. Check both Sin and Cos inputs at
THRST
Feedback Fault I/O module for correct voltages.

Stbd Main: Control Transfer THRST Take thruster offline. Inspect/Troubleshoot at thruster.
Alarm
Positive and negative direction feedbacks from thrusters are either
Stbd Main: Direction Input THRST both high or both low. Take thruster offline. Inspect/Troubleshoot the
Fault thruster interface.
The ReadyIO input and DPIO input for the thruster are different. Both
Stbd Main: DPIO ReadyIO THRST the signals need to be either Off or ON. Check both the inputs coming
mismatch from the field. Take the thruster offline if the two signals don’t match

Thrust command exceeds Thrust Alarm Limit. Reorient vessel to

THRST
Stbd Main: High Level Alert reduce thruster loading or place additional thrusters online.

Thruster is unable to comply with thrust commands. Take thruster

THRST
Stbd Main: Not Ready offline and troubleshoot thruster interface.

NMS6000 Operations & Maintenance Manual 24006000TM-309 12-23

CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

The difference between the commanded thrust level and the
THRST measured thrust level exceeds the Thrust Compare Alarm Limit. If the
Stbd Main: Thrust Compare error is large, take thruster offline.

Thrust Allocation Logic cannot meet requested forces. Reorient

THRST
Thrust Limit Alarm vessel to reduce thruster loading or place additional thrusters online.

Combined surge, sway, and yaw commands not realized with

THRST
Thruster Configuration Error available thrusters. Place additional thrusters in AUTO mode.

Track Follow: At End of CTRL The end of the track has been reached.
Track
Vessel is too far off track or not at appropriate heading. Enter
Track Follow: Can't Follow CTRL appropriate track waypoints or reposition vessel as needed before
Track reinitiating HSTF.

Track Follow: Cross Track Cross track error exceeds operator entered cross track error
CTRL
Error Alarm threshold. Reconfigure track or enter new error threshold.

Track Follow: Destination CTRL No destination waypoint available. Enter destination waypoint.
Waypoint Unknown

Track Follow: Duplicate The ECDIS track contains duplicate consecutive waypoints. Correct
CTRL
Waypoints the track and restart track follow.

Track Follow: Invalid R00 Check operation of ECDIS and verify serial communications are
CTRL
Message Received working.

Track Follow: Invalid RTE Check operation of ECDIS and verify serial communications are
CTRL
Message Received working

Track Follow: Invalid Track The ECDIS track contains consecutive legs that overlap (a 180 deg
CTRL
Geometry turn). Correct the track and restart track follow.

Track Follow: Invalid Did not receive the full set of waypoints from ECDIS (From, To, and
CTRL
Waypoint Data Next). Check communications between the two.

Track Follow: Invalid Did not receive the full set of waypoints from ECDIS (From, To, and
CTRL
Waypoint ID Next). Check communications between the two.

Track Follow: Invalid WPL Did not receive the full set of waypoints from ECDIS (From, To, and
CTRL
Data Alarm Next). Check communications between the two.

Track Follow: Invalid WPL Did not receive the full set of waypoints from ECDIS (From, To, and
CTRL
Message Received Next). Check communications between the two.

Track Follow: Origin CTRL No origin waypoint available. Enter origin waypoint.
Waypoint Unknown

12-24 NMS6000 Operations & Maintenance Manual 24006000TM-309

 CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

Track Follow: R00 Message Check operation of ECDIS and verify serial communications are
CTRL
Timeout Alarm working.

The selected ECDIS track radius is too large for the specified
Track Follow: Radius Too CTRL waypoint geometry. Decrease the radius or increase the waypoint
Large for Geometry spacing and restart track follow.

Track Follow: RTE Message Check operation of ECDIS and verify serial communications are
CTRL
Timeout Alarm working

Track Follow: Track Vessel has deviated from the supplied track. Take action to steer
CTRL
Deviation Alarm back to course.

Track Follow: VTG Message Check operation of ECDIS system and verify serial communications
SENS
Received With Bad Data are working.

Track Follow: VTG Message Check operation of ECDIS system and verify serial communications
SENS
Timeout are working.

Track Follow: Waypoint Data CTRL No destination waypoint available. Enter destination waypoint.
Not Received

Track Follow: WPL Data Check operation of ECDIS system and verify serial communications
CTRL
timeout are working.

Track Follow: WPL Message Check operation of ECDIS system and verify serial communications
CTRL
Timeout Alarm are working.

Measured heading differs from heading setpoint by more than the

defined Heading Error Threshold. Increase control gain for Yaw axis.
CTRL
If condition persists, review sensor and propulsion status for
Transit: Heading Excursion contributing alarm conditions.

Transit: No Steering Port and Stbd Main are unable to comply with thrust commands.
CTRL
Available Troubleshoot thruster interface.

UPS X: AC Line Failure The input line voltage is outside of nominal values and the UPS is
HDWR
Alarm switching to battery power. Investigate loss of line power.

HDWR UPS X common/summary alarm. Inspect/troubleshoot at UPS.

UPS X: Common IO Alarm

Unknown communication port error. If alarm persists check operation

HDWR
VDR: Port Unknown Error of VDR and connection.

Communication port is unable to write to the VDR. If alarm persists

HDWR
VDR: Port Write Error check operation of VDR and connection.

Valid data has not been written to the VDR within the timeout period.
HDWR
VDR: Port Write Timeout If alarm persists check operation of VDR and connection.

NMS6000 Operations & Maintenance Manual 24006000TM-309 12-25

CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

Measured pitch data exceeds maximum allowed value as defined in
VRS 1: Maximum Pitch SENS database (nominally 30 degrees). Unless vessel pitch angle is
Angle actually excessive, the sensor has failed and must be taken offline.
Measured roll data exceeds maximum allowed value as defined in
SENS database (nominally 30 degrees). Unless vessel roll angle is actually
VRS 1: Maximum Roll Angle excessive, the sensor has failed and must be taken offline.
Data from this sensor is not within the specified limits when compared
VRS 1: Pitch Data Median SENS with other sensors. If alarm persists check sensor data and take
Alarm faulty sensor offline.
Data from this sensor is not within the specified limits when compared
VRS 1: Roll Data Median SENS with other sensors. If alarm persists check sensor data and take
Alarm faulty sensor offline.

VRU: Pitch Data Divergence Data from two or more sensors not in agreement. Inspect sensor data
SENS
Alarm and take faulty sensor offline.

VRU: Roll Data Divergence Data from two or more sensors not in agreement. Inspect sensor data
SENS
Alarm and take faulty sensor offline.

Warning: Alarm Printer

Buffer Filling; Check Alarm HDWR Check Alarm Printer.
Printer
Displayed if the Current source input on the Sensor Page is invalid.
For instance, in the case where operators have selected a sensor
which happens to be failed or in the case where operators have
CTRL
selected "Calculated" and the Wind Comp mode (AWC) has not been
Warning: Selected Surface enabled (which disables current estimation calculation). Enable Wind
Current Source Not Valid Comp mode to utilize the Current Estimator. See Section 7.8.4.
Input is out of range. Inspect for open circuit from sensor. -OR -
SENS Sensor is not receiving adequate power. Take sensor offline until this
Wind X: +15Vdc Power Error condition clears.
Data from this sensor is not within the specified limits when compared
Wind X: Angle Data Median SENS with other sensors. If alarm persists check sensor data and take
Alarm faulty sensor offline. If data is valid increase median alarm threshold.
The sensor message cannot be understood or does not conform to
SENS anticipated standard. Inspect SIGNAL I/O PAGEs for correct data
Wind X: Invalid Analog Data string.

SENS Measurement is out of range. Inspect for open circuit from sensor.
Wind X: Invalid Speed

Wind X: Invalid/Unchanging SENS Measurement is out of range. Inspect for open circuit from sensor.
Angle
Alarm other than Timeout or Buffer Overflow generated within serial
processing software. If alarm persists, reset serial device, check
SENS
serial page for input message validity or check physical interface
Wind X: Serial Port Error connections.

Valid data has not been received within the sensors timeout period. If
SENS
Wind X: Serial Port Timeout alarm persists check Wind X operation or interface connection.

12-26 NMS6000 Operations & Maintenance Manual 24006000TM-309

 CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

Alarm Message Type Definition and Corrective Action

The NMEA message rate is set too high (two per second is adequate)
Wind X: Serial Receive SENS or the data is invalid. Inspect SIGNAL I/O PAGEs for correct NMEA
Buffer Overflow string.
Data from this sensor is not within the specified limits when compared
Wind X: Speed Data Median SENS with other sensors. If alarm persists check sensor data and take
Alarm faulty sensor offline. If data is valid increase median alarm threshold.

Data from sensor has not been received at expected interval. Take
SENS
Wind X: Timeout sensor offline until data stream is restored.

Wind: Angle Data Data from two or more sensors not in agreement. Inspect sensor data
SENS
Divergence Alarm and take faulty sensor offline.

Wind: Speed Data Data from two or more sensors is not in agreement. Inspect sensor
SENS
Divergence Alarm data and take faulty sensor offline.

Vessel’s operational position limits have been exceeded. Refer to

Yellow Alert Radius CTRL Setup page for operator alarm setpoints. Make provisions to bring
Excursion vessel back within acceptable position.

NMS6000 Operations & Maintenance Manual 24006000TM-309 12-27

CHAPTER 12: DP SYSTEM ALARMS & TROUBLESHOOTING

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12-28 NMS6000 Operations & Maintenance Manual 24006000TM-309

13. INDEX

% AWC ..................... see Active Wind Compensation

Azimuthing Thruster Icon ................................. 7-53
% Weight .......................................................... 7-46
B
A
Backup Operator Workstation ........................... 4-2
Absolute Setpoint ............................................... 4-4
Battery, UPS .................................................. 11-21
Absolute Tracks ............................................... 8-14
Beacon Mapping .............................................. 7-18
Accept Control, Portable Joysticks .................... 3-3
Bearing To (HSTF) .......................................... 7-87
Acknowledging Alarms ..................................... 12-6
Bias .................................................................... 4-2
ACNR-15 Intelligent Com. Modules ............... 11-19
Biasing, Thruster or Power .............................. 7-58
Active Wind Compensation ........... 4-20, 7-23, 8-15
Blended, Position Reference Sensor .............. 7-45
Actuator ...................................................... 4-2, 4-9
Bumpless Control Transfer ................................ 5-9
Adapter, Remote I/O ...................................... 11-20
Bus ................................................................... 7-65
AHMT ......... see Auto Heading for Minimum Thrust
Bus Lines ......................................................... 7-64
Air Filter Service – Monthly .................... 11-4, 11-5
Butterfly Plot .................................................... 7-78
Alarm
Buttons
Conditions .................................................... 12-1
Available/Unavailable .................................. 3-15
Logs ........................................................... 12-11
Command .................................................... 3-15
Page ............................................................. 12-2
Data Entry ................................................... 3-15
Page Inhibit ........................................ 7-36, 12-4
Option .......................................................... 3-15
Portable Joysticks .......................................... 3-3
Sensor Select .............................................. 7-45
Silence Button ............................................ 7-101
Summary Window .............................. 6-10, 12-1 C
Alarms .............................................................. 12-1
Calibration Bias, Pos Ref Sensors .................. 7-46
Acknowledged.............................................. 12-5
Calibration Drift, Position Reference Sensors . 7-46
Acknowledging ............................................. 12-6
Center of Rotation ....................................see COR
Audible ......................................................... 3-19
Center of Rotation (COR) .................................. 4-2
Color-Coding ................................................ 12-5
Chart .............................................................. 10-20
Consequence Analysis ................................ 12-5
Chart Drop Down Menu ................................. 10-18
Disabling ...................................................... 12-7
Chart Page..................................... 7-48, 7-49, 7-81
Expired ......................................................... 12-5
Pos Ref Sensor Symbols ............................ 7-49
Median ......................................................... 7-15
Symbols ....................................................... 7-84
Messages ................................................... 12-12
Chart Track Drop-Down Menu......................... 7-77
Notification ................................................... 12-2
Charting Position Reference Sensor Data ...... 7-48
Silencing ...................................................... 12-5
Circuit Breaker Icons ....................................... 7-64
Sorting .......................................................... 12-6
Clear JS Bias (Joystick Bias)........................... 7-35
Unacknowledged ......................................... 12-5
Clear Trail, Chart Page .................................... 7-83
Alert Radius ............................................ 7-15, 7-84
CMOS Battery Replacement ......................... 11-18
Analog I/O ...................................................... 11-15
Color-Coding
Audible Alarms ................................................. 3-19
Alarms ......................................................... 12-5
Auto Backup ....................................................... 5-1
Wind Sensor Data ....................................... 7-40
Auto Heading for Minimum Thrust 4-20, 7-21, 8-16
Comparator ................................................. 4-2, 4-7
Automatic Maneuvers
Compare .......................................................... 7-16
Heading Setpoint ......................................... 7-26
Compass............................................................ 6-7
Position Setpoint .......................................... 7-29
Configuration Buttons, Chart Page .................. 7-82
Automatic Modes ............................................... 8-1
Configuration Point - Example ......................... 7-73
AutoTrack ....... 8-11, see High Speed Track Follow
Consequence Analysis .................................... 12-9
Auxiliary Sensors ........ see Environmental Sensors
On/Off .......................................................... 7-16
Auxiliary Switch Group ....................................... 5-7
Specific CA Routines ................................ 12-10
NMS6000 Operations & Maintenance Manual 24006000TM-309 13-1
CHAPTER 13: INDEX

Control Axes ...................................................... 7-9 Distance To (HSTF) ......................................... 7-87

Control Gains ..................................... 7-9, 7-59, 9-1 DP
Control Loop ...................................................... 4-7 Control Gains ..........................................7-9, 9-1
Control Modes & Functions ............................. 4-18 Gains .......................................................7-9, 9-1
Control Transferring Between Panels................ 5-7 Operations Overview ..................................... 1-7
Controller .................................................... 4-3, 4-8 Operator Interface Basics .............................. 3-1
Programmable Logic ................................. 11-14 Power Cutback ............................................ 7-67
Switch Interface ......................................... 11-15 Selector Switch .......................................1-6, 5-1
ControlNet .......................................................... 1-6 DP System
Coordinate Reference Grid .................. 4-3, 4-4, 6-8 Alarms .......................................................... 12-1
COR ......7-24, see also Remote Center of Rotation Control Loop .................................................. 4-7
Active ........................................................... 7-12 Operational Hints ........................................... 9-1
Offsets ......................................................... 7-12 Overview ........................................................ 1-1
Corrected Position ........................................... 7-11 Startup & Shutdown ....................................... 2-1
Data ............................................................. 7-45 Terminology ................................................... 4-2
Corrective Action & System Reset ................ 11-14 Transfer Configuration Schematics ............... 5-4
Counter Rudder Gain......................................... 7-8 Troubleshooting ........................................... 12-1
CPU Circuit Card Configuration ..................... 11-15 DP System Operational Hints
Cross Track DGPS Drift ..................................................... 9-1
Threshold .................................................... 7-92 Halting the Vessel .......................................... 9-3
Cross Track Offsets ......................................... 7-88 Integral Pre-Loading ...................................... 9-2
Current ............................................................. 7-42 Integral Transfers ........................................... 9-3
Calculated ................................................... 7-43 Integral Windup .............................................. 9-2
Direction, DP Simulation Mode ................... 8-18 Moving the Vessel to a Precise Location ....... 9-3
Estimated .................................................... 7-43 DPS–0 Master/Backup Mode Status ................. 5-2
Estimator ..................................................... 7-42 DPS–1 Master/Backup Mode Status ................. 5-2
in Holding Capability.................................... 7-80 DPS–1/2/3 Workstation Synchronization ........... 5-9
Source ......................................................... 7-43 DPS–2/3 Master/Backup Mode Status .............. 5-3
Velocity, DP Simulation Mode ..................... 8-18 Draft.................................................................... 7-7
Current Heading ............................ 7-26, 7-27, 7-31 Drift ................................................................... 4-12
Current Position ............................................... 7-30 Drop-Down Menu ............ 6-4, see also Chapter 10
Cursor Control Switches .................................... 3-4 Chart Track .................................................. 7-77
Cycle (Control) Time .......................................... 4-3 Heading........................................................ 7-99
Mode Function ............................................. 7-98
D
Plot IO .......................................................... 7-70
Dead Reckoning .............................................. 4-16 Position ...................................................... 7-100
Deadband .......................................................... 7-8 Propulsion .................................................... 7-50
Derivative Term ................................................. 4-8 Sensor.......................................................... 7-37
Detailed Display Pages ... 6-4, see also Chapter 10 Setup.............................................................. 7-2
Backup Workstation ...................................... 6-5 Thrust ........................................................... 7-50
Selection ........................................................ 6-4 Dual Screens .................................................... 3-13
Detailed Operator Interface ............................... 6-1 Dynamic Positioning.................................... see DP
Deviation (Control Error) .................................... 4-3 Dynamic Positioning System .................... see DPS
Deviation (LSTF).............................................. 7-87
E
Deviation Display
Center ............................................................ 7-5 Earth Axes .......................................................... 4-5
Frame ............................................................ 7-4 Earth Frame, Deviation Display ......................... 7-4
Page .............................................................. 6-8 Electrostatic Discharge (ESD)
Scale.............................................................. 7-5 Guidelines .................................................... 11-2
DGPS ................................ 4-3, 7-44, also see GPS Precautions .................................................. 11-1
Tabular GPS Display ................................... 7-43 Environmental Sensors ................... 4-3, 4-14, 7-38
Warning – Television Antennas Conflict ... 11-23 ESD ............................. see Electrostatic Discharge
Differential Global Positioning System .. see DGPS EtherNet ............................................................. 1-6
Digital I/O ....................................................... 11-15 Switch ........................................................ 11-20
Disabling Alarms .............................................. 12-7
F
Display ......................................... see Touchscreen
Display Screen Layout ....................................... 6-1 Field Service Order Information ..................... 11-26
Display Units ...................................................... 7-6 Filter

13-2 NMS6000 Operations & Maintenance Manual 24006000TM-309

 CHAPTER 13: INDEX

Kalman ......................................................... 4-13 Heading, Portable Joysticks .......................... 3-3

Low-Pass Wave ........................................... 4-13 Position ........................................ 4-18, 7-22, 8-5
Notch ............................................................ 4-13 Relative ..................................... 7-17, 7-24, 8-22
Flex I/O Surge .................................................... 7-22, 8-6
Modules ......................................... 11-14, 11-19 Sway..................................................... 7-22, 8-6
Terminal Bases .......................................... 11-20 Hold Area Mode ..................... 4-19, 7-7, 7-22, 8-16
Flexjoint, Hold .................................................. 4-18 Holding Capability Plot ......................... 7-78, 10-19
Follow Offset Type (ROV) ................................ 7-19 Holding Plot ................................................... 10-19
Follow Ship, Chart Page .................................. 7-82 Hot Backup Pair ................................................. 5-1
Force/Motion Vectors ....................................... 7-84 Hotel Load ....................................................... 7-67
Frame ................................................................. 7-4 HSTF .............. 7-86, see High Speed Track Follow
Freeze Display ................................................. 7-73 Hysteresis ........................................................ 8-16
Function Select Buttons ................................... 7-25
I
G
I/O
Gains .......................................................... 7-9, 9-1 Analog & Digital ......................................... 11-15
Generator Alarm Level ..................................... 7-13 Modules ......................................................... 1-6
Generator Readings and Icons ........................ 7-64 Independent Backup.......................................... 5-1
Global Positioning System ....................... see GPS Industrial Computer ........................................... 3-2
Glossary of Abbreviations & Acronyms .............. 1-9 Inhibiting the Alarm Page ................................ 12-4
Goal .................................................................... 7-5 Init Backup Switch ............................................. 5-9
Heading ........................................................ 7-26 Initial Condition
Position ........................................................ 7-29 DP Simulation Mode ................................... 8-18
Setpoint Heading ........................................... 6-7 Initialize Backup Button ................................. 7-101
Goal Setpoint ........................................... 4-4, 4-16 Initializing Backup Panels .................................. 5-9
Heading ........................................................ 7-26 Instantaneous Setpoint ............................. 4-4, 4-16
Position ........................................................ 7-29 Heading ......................................................... 6-7
Goal stpt (LSTF) ............................................... 7-87 in Track Follow ............................................ 7-83
GPS .............................. 4-3, 11-22, see also DGPS Integral
Drift ................................................................ 9-1 Pre-Loading ................................................... 9-2
Reference Position ...................................... 7-11 Term .............................................................. 4-8
Reference Reset .......................................... 7-11 Transfers ....................................................... 9-3
Tabular GPS Display ................................... 7-43 Windup .......................................................... 9-2
Warning – Television Antennas Conflict .... 11-23
J
Gyro Processing ............................................... 7-39
Gyrocompass ................................................... 7-39 Jog Arrows
Course ......................................................... 8-21
H
Heading ....................................................... 8-21
Halting the Vessel ............................................ 7-25 Joystick .............................................3-1, see JSTK
HAM ....................................... see Hold Area Mode Bias ............................................................. 7-35
HAM Radius ....................................................... 7-7 Calibration ................................................. 11-16
Hardware Shutdown ................................... 2-1, 2-4 Desensitizing ............................................... 7-23
Heading Portable ................................................ 3-3, 7-24
Change Increment ......................................... 7-8 Taking & Transferring Control ....................... 5-7
Control for Track Follow............................... 8-10 Joystick Bias ...................................................... 4-2
Drop-Down Menu ............................. 7-99, 10-23 JSTK Mode ........................................................ 8-1
Error Threshold .................................... 7-8, 7-15 Jumping, Sensor .............................................. 4-10
Mode Track Settings .................................... 7-89
K
Setpoint Maneuvers ..................................... 7-26
Track Offsets................................................ 7-88 Kalman Filter.................................................... 4-13
True & Reciprocal ........................................ 7-40 Keypad, Pop-Up .............................................. 3-15
Heave Signing Convention................................. 4-6
L
High Speed Track Follow ................................. 4-19
Activation ..................................................... 8-11 Laser Radar ..................................................... 7-17
High Velocity Turns ............................................ 8-5 Last Alarm Window .......................................... 6-10
Hold Lat/Lon Waypoints ........................................... 7-92
Flexjoint ........................................................ 4-18 Lat/Lon, Chart Page ........................................ 7-82
Heading ....................................... 4-18, 7-21, 8-4 Latitude ............................................................ 7-43

NMS6000 Operations & Maintenance Manual 24006000TM-309 13-3

CHAPTER 13: INDEX

Left-Clicking ....................................................... 3-5 NMS/ROV Beacon Mapping ............................ 7-18

Leg (of a Track) ............................................... 7-86 NMS6000
Longitude ......................................................... 7-43 DP System Shutdown .................................... 2-3
Low Speed Track Follow ................................. 4-19 DP System Startup ........................................ 2-1
Activation ..................................................... 8-10 Overview ........................................................ 1-1
Stopping ...................................................... 8-13 No Grid, Chart Page......................................... 7-82
Lower Limit Margin .......................................... 7-13 Noise Rejection Logic ....................................... 4-9
Lower Power Limit ........................................... 7-66 Noise, Position Reference Sensor ................... 7-45
Low-Pass Wave Filter ...................................... 4-13 Noise, Sensor ..................................................... 4-9
LSTF ................ 7-86, see Low Speed Track Follow North/East Track Offsets .................................. 7-88
M North/East, Chart Page .................................... 7-82
Notch Filter ....................................................... 4-13
Maintenance
Periodic...................................................... 11-12 O
Procedures – Monthly ................................. 11-4 Online Rated Capacity ..................................... 7-65
Signal......................................................... 11-13 On-Screen Display Menu Control Panel ............ 3-8
Test Procedures & Specs............................ 11-1 Operating Power Limit...................................... 7-67
Maneuver Process Overview ........................... 4-17 Operational Modes ............................................. 8-1
Manual Active Wind Compensation.......................... 8-15
Backup........................................................... 5-1 Auto Heading for Minimum Thrust ............... 8-16
Control (JSTK) ............................................. 4-19 Hold Area Mode (HAM) ............................... 8-16
Independent Backup Joystick ....................... 4-2 Hold Heading ................................................. 8-4
JSTK Mode .................................................... 8-1 Hold Position .................................................. 8-5
Manual Thruster Select Key ................... 7-55, 7-78 Joystick, Using the ......................................... 8-2
Master Operator Control Workstation ................ 4-3 JSTK .............................................................. 8-1
Master/Backup Modes Manual JSTK ................................................. 8-1
Defined .......................................................... 5-1 Pilot .............................................................. 8-22
Status ............................................................ 5-2 Remote Center of Rotation (COR) .............. 8-16
Max Rudder Angle ............................................. 7-8 ROV Follow .................................................... 8-7
Measured Position Data .................................. 7-45 Simulation Mode .......................................... 8-17
Measurement Update ..................................... 4-13 Track Follow................................................... 8-9
Median Alarm ................................................... 7-15 Transit .......................................................... 8-19
Median Testing ................................................ 4-10 Operational Theory ............................................ 4-1
Messages - Alarm .......................................... 12-12 Operator Workstation ..................................1-6, 3-1
Minimum Scale .................................................. 7-5 Optical Communications Modem ................... 11-20
Mode ................................................................ 7-61 Order Information - Field Service ................... 11-26
Actual or Hypothetical ................................. 7-80 Ordering New Parts ........................................ 11-26
Select........................................................... 7-21 Origin ........................................ 4-3, 4-11, 7-5, 7-11
Mode Function ................................................. 10-7 Origin Reference Sensor.................................. 4-11
Drop-Down Menu ............................. 7-98, 10-23 Relocating the Origin ................................... 7-48
Page ............................................................ 7-20 Selecting ...................................................... 7-47
Mode/Direction Track Settings ........................ 7-89 Overview Page ......................................... 6-6, 10-2
Model Propagation........................................... 4-14
P
Modem - Optical Communications ................ 11-20
Modules - Intelligent Communication ............ 11-19 Pan and Zoom .................................................. 7-82
Modules, Flex I/O ................................ 11-14, 11-19 Parameter Plots ............................................... 7-71
Moment .............................................................. 4-3 Parts - Recommended Spares ....................... 11-25
Motion Reference Unit .......................... 7-41, 11-22 Parts, Ordering New....................................... 11-26
MRU ..............................see Motion Reference Unit Passing Waypoints ........................................... 8-12
N PID Controller ............................................. 4-3, 4-8
Pilot Mode ....................................... 7-22, 8-3, 8-22
N/E Waypoints ................................................. 7-92 Pitch
Navigation Bar ................................................... 6-3 Signing Convention ........................................ 4-6
Detail .................................................... 7-1, 10-1 PLC ................ see Programmable Logic Controller
New Parts Ordering ....................................... 11-26 Plot IO Drop-Down Menu ..................... 7-70, 10-17
New Position Estimate ............................ 4-13, 7-45 Plot Pages ........................................................ 7-70
Night Mode ...................................................... 7-24 Point Configuration Pop-up .................... 7-72, 7-73
NMS Online Switch ............................................ 5-7 Point I/O RS232 ASCII ................................... 11-13

13-4 NMS6000 Operations & Maintenance Manual 24006000TM-309

 CHAPTER 13: INDEX

Polar Offset ...................................................... 7-30 Reference Sensor Select Key ......................... 7-47
Pop-Up Keypad ................................................ 3-15 Relative Heading Setpoint ............................... 7-26
Portable Joystick ...................................... 3-3, 7-24 Relative Tracks ................................................ 8-14
Pos Ref Sensor Remote Center of Rotation ..4-19, 7-12, 7-24, 8-16,
Calibration Bias ............................................ 7-46 see also COR
Position Remote I/O Adapter ....................................... 11-20
Data, Corrected............................................ 7-45 Requested Forces % ....................................... 6-12
Data, Measured ........................................... 7-45 Reserved kW ................................................... 7-13
Drop-Down Menu ........................... 7-100, 10-23 Reset, System ............................................... 11-14
Error Threshold ............................................ 7-15 Returning Items ............................................. 11-26
Noise, DP Simulation Mode ......................... 8-18 Roll Signing Convention .................................... 4-6
Setpoint Maneuvers ..................................... 7-29 Route, Waypoint Page ..................................... 7-93
Position Reference ROV Filter Gain ............................................... 7-19
Calibration .......................................... 4-11, 7-46 ROV Follow...................................... 4-18, 7-24, 8-7
Page 1 ........................................................ 10-12 Configuration ............................................... 7-18
Pages 1 & 2 ................................................. 7-44 Deadzone Radius ........................................ 7-19
Position Reference Page 2 ............................ 10-13 Filter Gain .................................................... 7-19
Position Reference Sensor Offsets ......................................................... 7-19
Calibration Drift ............................................ 7-46 RS232 ............................................................ 11-13
Charting Pos Ref Data ................................. 7-48 RS422/RS485 ................................................ 11-13
Data ............................................................. 7-45 Rud (Rudder)
Defined ........................................................... 4-4 Alarm ........................................................... 7-62
Symbols on Chart Page ............................... 7-49 Rudder
Position Sensor Angle, Max .................................................... 7-8
Blending ....................................................... 4-12 Gain ............................................................... 7-8
Processing Concepts ..................................... 4-9 Icons ............................................................ 7-54
Position Setpoint Jog Increment................................................ 7-9
Maneuvers ................................................... 7-33
S
Moving the Vessel to a Precise Location ..... 7-34
Power Biasing .................................................. 7-58 Sats (Satellites) ............................................... 7-43
Power Cutback ................................................. 7-67 Selecting, Left-Clicking ...................................... 3-5
Power Limit Sustain ............................... 7-24, 7-67 Selector Switch ........................................... 1-6, 5-1
Power Limiting .................................................. 7-65 Sens Disp, Chart Page .................................... 7-82
Power Pages Sensor
Page 1 .......................................................... 7-63 Biasing ........................................................... 4-2
Page 2 .......................................................... 7-65 Drift .............................................................. 4-12
Page 3 .......................................................... 7-69 Drop-Down Menu ............................... 7-37, 10-9
Power Supply Voltage - Inspecting .................. 11-5 Environmental ............................................. 4-14
Power Supply, SPU ........................................ 11-21 Jumping ....................................................... 4-10
Previous Heading Setpoint............................... 7-26 Noise ............................................................. 4-9
Previous Setpoint .......................... 7-27, 7-30, 7-31 Origin Reference ......................................... 4-11
Printers ............................................................... 1-7 Page 1 ....................................................... 10-10
Programmable Logic Controller ............. 1-6, 11-14 Pages 1 & 2 ................................................. 7-38
Proportional Term .............................................. 4-8 Position Reference and Environmental ......... 1-6
Proportional-Integral-Derivative Controller........ 4-3 Position, Blending........................................ 4-12
Proposed Setpoint Outline ............................... 7-35 Processing ..................................................... 4-9
Propulsion Command....................................... 7-67 Select Buttons ............................................. 7-45
Propulsion Drop-Down Menu ........................... 7-50 Weighting .................................................... 4-12
Protective Procedures ...................................... 11-1 Sensor Page 2 ............................................... 10-11
Serial Interface .................................................. 1-6
R Service & Parts .............................................. 11-25
Real Mode ........................................................ 8-19 Service Locations .......................................... 11-25
Recommended Spare Parts ........................... 11-25 Service Website ............................................. 11-24
Rectangular Setpoint
Absolute ....................................................... 7-30 Absolute ........................................................ 4-4
Offset ........................................................... 7-30 Definition ....................................................... 4-4
Red Alert Radius Circles ........................ 7-15, 7-84 Goal ...................................................... 4-4, 4-16
Reference Position ........................................... 7-11 Instantaneous ....................................... 4-4, 4-16

NMS6000 Operations & Maintenance Manual 24006000TM-309 13-5

CHAPTER 13: INDEX

Maneuvers ................................................... 7-25 TAL .............................. see Thrust Allocation Logic

Select........................................................... 4-16 TAL Forces Circle ............................................ 7-57
SetPt .......................... see Setpoint, Instantaneous Television Antennas & GPS Conflict.............. 11-23
Setup Terminal Bases .............................................. 11-20
Drop-Down Menu ................................. 7-2, 10-3 Test Equipment and Tools ............................... 11-3
Page 1 .................................................. 7-3, 10-4 Text Box – Thruster and Rudder ...................... 7-52
Page 2 ................................................ 7-10, 10-5 Threshold ......................................................... 7-15
Page 3 ......................................................... 7-14 Thrust
Page 4 ......................................................... 7-17 Level ............................................................ 7-16
Waypoint Page ............................................ 7-92 Thrust Allocation Logic (TAL) ........................... 7-56
Setup Page 3 ................................................... 10-6 Thrust Drop-Down Menu ...................... 7-50, 10-14
Ship Axes ........................................................... 4-5 Thruster
Ship Focus, Chart Page .................................. 7-82 Alarm ............................................................ 7-62
Ship Frame, Deviation Display .......................... 7-4 Bias Percentage (%) .................................... 7-59
Shutdown ........................................................... 2-4 Biasing ................................................. 4-2, 7-58
Signal I/O Biasing Modes ............................................. 7-59
Page 1 – Analog Communications .............. 7-74 Icons .................................................. 7-53, 7-64
Page 2 – Digital Communications ............... 7-75 Mode Select Buttons .................................... 7-56
Page 3 – Serial Communications ................ 7-76 Modes .......................................................... 7-55
Signal Input/Output Pages ............................... 7-73 Page 1.............................................. 7-51, 10-15
Signal Maintenance and Troubleshooting ..... 11-13 Page 2.............................................. 7-60, 10-16
Signal Processing Units ............................ see SPU Thruster Drop-Down Menu ............................ 10-14
Signing Conventions .......................................... 4-5 Time To (HSTF) ............................................... 7-87
Clockwise/Counterclockwise ......................... 4-6 Title Bar .............................................................. 6-2
Earth Axes ..................................................... 4-5 Tools and Test Equipment ............................... 11-3
Pitch, Roll, and Heave ................................... 4-6 Total Forces % ................................................. 6-12
Ship Axes ...................................................... 4-5 Total Load Feedback ....................................... 7-65
Silencing Alarms .............................................. 12-5 Touchscreen
Simulation Mode ..................................... 8-17, 8-19 Calibration .................................................... 3-11
Simulation Page............................................... 10-8 Display ........................................................... 3-6
Simulation Rate Display Cleaning .......................................... 3-10
DP Simulation Mode.................................... 8-18 Display Power Switch Panel .......................... 3-7
Soft PLC ............................................................ 1-6 Displays ......................................................... 1-6
Software Image Sticking Effect ................................... 3-17
Shutdown ...................................................... 2-3 Interfacing .................................................... 3-15
Startup ........................................................... 2-2 T OUCHW ARE, TOUCHSCREEN SOFTWARE ........... 3-11
Sorting Alarms ................................................. 12-6 Track
Speed Control for Track Follow ......................... 8-9 Absolute ....................................................... 8-14
Speed Mode Track Settings ............................ 7-90 Control Summary ......................................... 7-86
SPU.................................................................... 1-6 Definition File Format................................... 8-13
Exhaust Fan .............................................. 11-21 Description ................................................... 8-12
Modules & Components ............................ 11-19 Display Selection & Monitoring .................... 8-11
Power Supply ............................................ 11-21 Display, Chart Page ..................................... 7-83
Test Points & Values ................................... 11-5 Offsets.......................................................... 7-88
Station Keeping Control Law ........................... 4-15 Operation Page ............................................ 7-85
Status ............................................................... 7-61 Relative ........................................................ 8-14
Status Message Window ................................. 6-10 Settings ........................................................ 7-89
Status/Prompt Window .................................... 5-10 Track Follow .................................... 4-19, 7-24, 8-9
Symbols Absolute or Relative Format ........................ 4-19
Chart Page ......................................... 7-49, 7-84 Heading Control ........................................... 8-10
Deviation Display........................................... 6-9 Speed Control ................................................ 8-9
Position Reference Sensor.......................... 7-49 Starting......................................................... 8-10
Synchronization of Workstations ....................... 5-9 Stopping ....................................................... 8-11
System Reset & Corrective Action ................ 11-14 Track Operation ......................................................
Trackball ............................................................. 3-4
T
Trackpoint ................................................ 4-19, 8-9
Tabular Vessel Position ................................... 6-11 Transfer Configuration Schematics.................... 5-4
Taking Control of the DP System ...................... 5-7 Transferring Control Between Panels ................ 5-7

13-6 NMS6000 Operations & Maintenance Manual 24006000TM-309

 CHAPTER 13: INDEX

Transit Heading Setpoint & Jog ....................... 8-21 Heading ....................................................... 7-97
Transit Mode ................................... 7-22, 8-3, 8-19 Identifier ....................................................... 7-96
Troubleshooting ............................................... 12-1 Lat/Lon ........................................................ 7-92
True Heading Setpoint ..................................... 7-26 N/E .............................................................. 7-92
Tunnel Thruster Icons ...................................... 7-54 New ............................................................. 7-93
Page ............................................................ 7-91
U
Passing ........................................................ 8-12
Uninterruptible Power Supply................. 1-7, 11-21 Position ........................................................ 7-96
for SPU ...................................................... 11-21 Properties .................................................... 7-97
UNKN ................................................................. 5-2 Relative ....................................................... 7-93
Upper Power Limit ............................................ 7-66 Route ........................................................... 7-93
UPS ................... see Uninterruptible Power Supply Setup ........................................................... 7-92
UPS Battery ................................................... 11-21 Speed .......................................................... 7-97
USCG Warning .............................................. 11-23 Turning Radius ............................................ 7-97
User Speed Track Settings .............................. 7-90 WCP, Wheel Center Point ............................... 7-87
Weight.............................................................. 7-46
V
Wheel Center Point ......................................... 7-87
Vertical Reference Sensor ............................... 7-41 Wheel Over Point ............................................ 7-87
Vertical Reference Unit ........................ 7-41, 11-22 Wind Comp ...................................................... 7-23
Vessel (LSTF) .................................................. 7-87 Portable Joysticks ......................................... 3-3
Vessel Draft ........................................................ 7-7 Wind Compensation ........................................ 7-23
Vessel Position (Tabular) ................................. 6-11 Wind Direction ................................................. 7-16
Vessel Specific Documentation & Drawings .... 14-1 DP Simulation Mode ................................... 8-18
Vessel Trail, Chart Page .................................. 7-83 Wind Sensors .................................................. 7-40
VRU ............................. see Vertical Reference Unit Online Placement ........................................ 7-40
Wind Speed ..................................................... 7-16
W DP Simulation Mode ................................... 8-17
Warning from the USCG ................................ 11-23 Wind, Holding Capability ................................. 7-80
Water Depth ....................................................... 7-7 Wokstation PC ................................................... 3-2
Waypoint ........................................................ 10-22 WOP, Wheel Over Point .................................. 7-87
Absolute ....................................................... 7-93 Y
Absolute or Relative format ........................... 8-9
Creating ....................................................... 7-95 Yellow Alert Radius Circles .................... 7-15, 7-84
Description ................................................... 8-12
Z
Display Window ........................................... 7-92
Edit Pop-up .................................................. 7-96 Zoom and Pan ................................................. 7-82
Files on PC .................................................. 7-94

NMS6000 Operations & Maintenance Manual 24006000TM-309 13-7

CHAPTER 13: INDEX

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13-8 NMS6000 Operations & Maintenance Manual 24006000TM-309

14. VESSEL SPECIFIC DOCUMENTATION & DRAWINGS
Vessel Specific Documentation & Drawings for

Stemat Spirit

Document No. Document Title

2400 3061PL-309 System Top Level
2400 4005WI-309 Cable Specification
2400 5000PS-309 System Specification
2400 5290PS-309 I/O Points List
2400 0000WI-309 System Interconnect Diagram
2400 0100TL-009 Portable Joystick Assembly
2400 4202TL-002 VRU Enclosure Assembly
2400 4202WD-002 Wiring Diagram, VRU Enclosure Assembly
2400 4928TL-309A Console Components Assembly 1
2400 4928TL-309B Console Components Assembly 2
2400 4928TL-309C Console Components Assembly 3
2400 4928WD-309A Wiring Diagram, DP Console Components 1
2400 4928WD-309B Wiring Diagram, DP Console Components 2
2400 4928WD-309C Wiring Diagram, Independent JS Console Components
2400 4996TL-309A SPU 1 Assembly
2400 4996TL-309B SPU 2 Assembly
2400 4996TL-309C SPU 3 Assembly
2400 4996TL-309D SPU 4 Assembly
2400 4996TL-309E SPU 5 Assembly
2400 4996WD-309A Wiring Diagram, SPU 1
2400 4996WD-309B Wiring Diagram, SPU 2
2400 4996WD-309C Wiring Diagram, SPU 3
2400 4996WD-309D Wiring Diagram, SPU 4
2400 4996WD-309E Wiring Diagram, SPU 5
2400 5282TL-001 Connection Box Assembly, Portable Joystick
2400 5282WD-001 Wiring Diagram, Connection Box, Portable Joystick
2400 5875TL-010 UPS Assembly, 24V, 10A
2400 5875WD-010 Wiring Diagram, UPS, 24V, 10A

NMS6000 Operations & Maintenance Manual 24006000TM-309 14-1

NMS6000 Operations & Maintenance Manual 24006000TM-309
 Bill of Materials

24003061PL-309 SYSTEM TOP LEVEL, NMS6000-DP, STEMAT SPIRIT REV: C Print Date: 02-Apr-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
1 1 REF S 24005000PS-309 SYSTEM SPECIFICATION, NMS6000, D
STEMAT SPIRIT
2 1 EA R 24000000WI-309 SYS INTERCONNECT DIAGRAM, F
NMS6000-DP CL2, STEMAT SPIRIT
3 1 EA R 24004005WI-309 CABLE SPECIFICATION, NMS6000, E
STEMAT SPIRIT
4 1 EA R 24005418PS-309 FMEA, NMS6000 DP CL2, STEMAT E
SPIRIT
5 1 EA R 24005720PS-309 SUBMITTAL PACKAGE, NMS6000, A
STEMAT SPIRIT
6 1 REF S 24004805TP-309 SYSTEM TEST PLAN, NMS6000, B
STEMAT SPIRIT
7 1 REF S 24000000TP-309 QCFAT, NMS6000, STEMAT SPIRIT D
8 1 REF S 24000001TP-309 SEA TRIALS PROCEDURE, D
NMS6000, STEMAT SPIRIT
9 1 EA S 24006000TM-309 MANUAL, O & M, NMS6000, STEMAT A
SPIRIT
12 1 EA S 24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, B
STEMAT SPIRIT
13 1 EA S 24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, B
STEMAT SPIRIT
14 1 EA S 24004928TL-309C CNSL COMP ASSY, NMS6000 IND. B
JS, STEMAT SPIRIT
17 1 EA S 24004996TL-309A SPU #1 ASSY, NMS6000, STEMAT B
SPIRIT
18 1 EA S 24004996TL-309B SPU #2 ASSY, NMS6000, STEMAT B
SPIRIT
19 1 EA S 24004996TL-309C SPU #3 ASSY, NMS6000, STEMAT B
SPIRIT
20 1 EA S 24004996TL-309D SPU #4 ASSY, NMS6000, STEMAT B
SPIRIT
21 1 EA S 24016000TM-000 MANUAL, O & M, NMS6000 DP, C
GENERIC
24 2 EA S 430-2000-1013-00 PRINTER, DOT MATRIX, 110V, C11C524001 EPSON Y
EPSON FX-890
25 2 EA S 420-0000-1119-00 POWER INVERTER, 24VDC INPUT, XP1-1-2-6-2-64 EXELTECH Y
110VAC / 60Hz OUTPUT
28 8 EA S 24005875TL-010 UPS, 24V, 10A C
31 1 EA S 24000100TL-009 PORTABLE JOYSTICK ASSY, 25 FT K
CABLE

Page 1 of 2
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Report: S:\impromptu\Reports (L-3)\L-3 Bill Of Materials Reports\New MBOM (Multiple Revs) - Internal.imr
 Bill of Materials

24003061PL-309 SYSTEM TOP LEVEL, NMS6000-DP, STEMAT SPIRIT REV: C Print Date: 02-Apr-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
32 3 EA S 24005282TL-001 CONNECTION BOX, PORTABLE C
JOYSTICK ASSY
35 1 EA S 510-0000-1155-00 SWITCH, ROTARY, 3 POS, 12 POLE CA10 USN364-600EF KRAUSANDNA Y
(ISO CONTACTS), CENTER OFF
38 2 EA S 24004202TL-002 VRU ENCLOSURE ASSY, WATSON, B
w/ INTERNAL POWER SUPPLY
41 2000 FT S 004-7500-1800-21 CABLE, CONTROL NET, RG-6, 3093A BELDEN Y
QUAD-SHIELD COAX,
FLOUROCOPOLYMER
42 1 EA S 24004996TL-309E SPU #5 ASSY, NMS6000, STEMAT B
SPIRIT
43 1 EA S 24004267TL-324 LABEL IDENTIFICATION, UPS 8 A

Page 2 of 2
Report: S:\impromptu\Reports (L-3)\L-3 Bill Of Materials Reports\New MBOM (Multiple Revs) - Internal.imr
Report: S:\impromptu\Reports (L-3)\L-3 Bill Of Materials Reports\New MBOM (Multiple Revs) - Internal.imr
 12131 Community Rd. Poway
Tel: 858-679-5500 Fax: 858-679-5501
Web: WWW.L-3com.com/DPCS/

24004005WI-309

Document Title

Cable Specification
NMS6000 DP (Class 2) & Independent Joystick System
Stemat Spirit

Prepared by: Blake Sparks CONTROL STATUS

Approved by: BLAKE SPARKS

Systems Engineer

Unless over stamped “MASTER” or “CONTROLLED” in

red, this document has been provided for information only
and will not be updated.

This document is, or contains, confidential and proprietary information of L-3 Communications.
Revision: E Date: 17-Mar-10 Its receipt or possession does not convey any rights to reproduce or disclose it, or its contents,
or to manufacture, use, or sell anything it may describe or reference. Reproduction, disclosure,
or use without specific written authorization of L-3 Communications is strictly prohibited. This
technical data is controlled under the Export Administration Regulations ECCN [8E992], and
may not be exported to a Foreign Person, either in the U.S. or abroad, without the proper
authorization of the U.S. Department of Commerce.

Revision
Rev. Date Description
A 23-Sep-08 Initial Release
B 09-Feb-09 Incorporate ECN #5939
C 20-Feb-09 Incorporate ECN #5998
D 16-Mar-09 Incorporate ECN #6034
E 17-Mar-10 Incorporate ECN-08096
 Cable Specification
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

General Notes:

1. This document identifies interconnect cables as shown on L-3 Communications Dynamic Postioning and
Control Systems (L-3 DP&CS) Document 24000000WI-309.

2. All cabling needs to be approved by regulatory body (i.e. ABS, DNV, Lloyds, CCS)

3. All cabling will be supplied and "pulled" by the customer unless otherwise noted.

4. Final termination to L-3 DP&CS supplied equipment will be supervised by L-3 DP&CS personnel.

5. Definitions of the interconnect table are as follows:

Cable # L-3 DP&CS Cable Identification Tag

Cable Type Specifies the type of cable to be utilized
ISTP Individually Shielded Twisted Pair
C Core
AWG Specifies the recommended size conductor. This also represents the
Minimum size allowable, Maximum size shall not vary from this
by more than 1 standard size.
Area Specifies the recommended cross-sectional area of the conductor. This also
represents the minimum size allowable. Maximum size shall not vary from this
by more than 1 standard size.
Signal Name Represents the generic signal name for the cable.
Signal Type Specifies type of signal passed by said cable.
From Specifies One end of interconnect
To Specifies Other end of interconnect
Supplied By Specifies whether the customer or L-3 DP&CS supplies the cable.
Length Specifies the length of the supplied cable for L-3 DP&CS supplied cables only.
Comments Pair assignments and/or number of spares

24004005WI-309 Rev. E Commercial in Confidence Page 2 of 5

 Cable Specification
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Area
Cable # Cable Type AWG Signal Name Signal Type From To Supplied By Length Comments
(mm²)

Ship's AC Distribution Panel

DP-001 3C 10 5.0 AC Pwr Distribution VAC UPS 1 Customer
(Bus A)
Ship's AC Distribution Panel
DP-002 3C 10 5.0 AC Pwr Distribution VAC UPS 2 Customer
(Bus B)
Ship's AC Distribution Panel
DP-003 3C 10 5.0 AC Pwr Distribution VAC UPS 3 Customer
(Emerg Swbd)
Ship's AC Distribution Panel
DP-004 3C 10 5.0 AC Pwr Distribution VAC UPS 4 Customer
(Emerg Swbd)
Ship's AC Distribution Panel
DP-005 3C 10 5.0 AC Pwr Distribution VAC UPS 5 Customer
(Bus A)
Ship's AC Distribution Panel
DP-006 3C 10 5.0 AC Pwr Distribution VAC UPS 6 Customer
(Bus B)
Ship's AC Distribution Panel
DP-007 3C 10 5.0 AC Pwr Distribution VAC UPS 7 Customer
(Bus A)
Ship's AC Distribution Panel
DP-008 3C 10 5.0 AC Pwr Distribution VAC UPS 8 Customer
(Bus B)

DP-101 3C 12 3.0 DP Console 1 Pwr 24VDC UPS 1 DP1 Console Customer

DP-102 3C 12 3.0 DP Console 2 Pwr 24VDC UPS 2 DP2 Console Customer
DP-103 3C 12 3.0 Ind JS Console Pwr 24VDC UPS 3 Ind JS Console Customer
DP-104 3C 14 2.0 SPU 1 Pwr 24VDC UPS 4 SPU 1 Customer
DP-105 3C 14 2.0 SPU 2 Pwr 24VDC UPS 5 SPU 2 Customer
DP-106 3C 14 2.0 SPU 3 Pwr 24VDC UPS 6 SPU 3 Customer
DP-107 3C 14 2.0 SPU 4 Pwr 24VDC UPS 7 SPU 4 Customer
DP-108 3C 14 2.0 SPU 5 Pwr 24VDC UPS 8 SPU 5 Customer

DP-111 3C 14 2.0 Alarm Printer 1 Pwr 24VDC UPS 1 Alarm Printer 1 Inverter Customer
DP-112 3C 14 2.0 Alarm Printer 2 Pwr 24VDC UPS 2 Alarm Printer 2 Inverter Customer

DP-124 3C 10 5.0 SPU 1 Secondary Pwr 24VDC UPS 5 SPU 1 Customer

DP-125 3C 10 5.0 SPU 2 Secondary Pwr 24VDC UPS 4 SPU 2 Customer
DP-126 3C 10 5.0 SPU 3 Secondary Pwr 24VDC UPS 7 SPU 3 Customer
DP-127 3C 10 5.0 SPU 4 Secondary Pwr 24VDC UPS 6 SPU 4 Customer

DP-201 4ISTP 20 0.5 UPS 1 Alarm Interface VDC UPS 1 SPU 1 Customer
DP-202 4ISTP 20 0.5 UPS 2 Alarm Interface VDC UPS 2 SPU 2 Customer
DP-203 4ISTP 20 0.5 UPS 3 Alarm Interface VDC UPS 3 SPU 3 Customer
DP-204 4ISTP 20 0.5 UPS 4 Alarm Interface VDC UPS 4 SPU 1 Customer
DP-205 4ISTP 20 0.5 UPS 5 Alarm Interface VDC UPS 5 SPU 2 Customer
DP-206 4ISTP 20 0.5 UPS 6 Alarm Interface VDC UPS 6 SPU 3 Customer
DP-207 4ISTP 20 0.5 UPS 7 Alarm Interface VDC UPS 7 SPU 4 Customer
DP-208 4ISTP 20 0.5 UPS 8 Alarm Interface VDC UPS 8 SPU 5 Customer

DP-210 2ISTP 18 0.8 Gyro 1 Interface RS-422 Gyro 1 DP Console 1 Customer

DP-211 2ISTP 18 0.8 Gyro 2 Interface RS-422 Gyro 2 DP Console 2 Customer
DP-212 2ISTP 18 0.8 Gyro 3 Interface RS-422 Gyro 3 DP Console 2 Customer
DP-213 2ISTP 18 0.8 DGPS 1 Interface RS-232 DGPS 1 Receiver DP Console 1 Customer
DP-214 2ISTP 18 0.8 DGPS 2 Interface RS-232 DGPS 2 Receiver DP Console 2 Customer
DP-215 2ISTP 18 0.8 Wind Sensor 1 Interface RS-422 Wind Sensor 1 DP Console 1 Customer
DP-216 2ISTP 18 0.8 Wind Sensor 2 Interface RS-422 Wind Sensor 2 DP Console 2 Customer
DP-217 4ISTP 18 0.8 VRU 1 Interface VDC VRU 1 SPU 1 Customer DC power and VRU signals.
DP-218 4ISTP 18 0.8 VRU 2 Interface VDC VRU 2 SPU 2 Customer DC power and VRU signals.

DP-220 2ISTP 18 0.8 Gyro 1 Interface RS-422 Gyro 1 Independent JS Console Customer
DP-221 2ISTP 18 0.8 Gyro 2 Interface RS-422 Gyro 2 Independent JS Console Customer
DP-222 2ISTP 18 0.8 Gyro 3 Interface RS-422 Gyro 3 Independent JS Console Customer

DP-225 2ISTP 18 0.8 Fanbeam Interface RS-232 Fanbeam UCU DP Console 1 Customer
DP-226 2ISTP 18 0.8 Hydroacoustic Interface RS-422 Hydroacoustic System DP Console 1 Customer
DP-227 2ISTP 18 0.8 Seismic Computer Interface RS-422 Siesmic Computer DP Console 1 Customer

DP-230 4ISTP 18 0.8 Portable Joystick Interface RS-422 Portable Joystick Connection Box DP Console 1 Customer
DP-231 4ISTP 18 0.8 Portable Joystick Interface RS-422 Portable Joystick Connection Box DP Console 2 Customer
DP-233 10ISTP 18 0.8 DP Console Serial Bridge RS-422 DP Console 1 DP Console 2 Customer Portable Joystick
Fanbeam

24004005WI-309 Rev. D Commercial in Confidence Page 3 of 5

 Cable Specification
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Area
Cable # Cable Type AWG Signal Name Signal Type From To Supplied By Length Comments
(mm²)
Hydro Acoustic
Siesmic Computer

DP-241 Molded DP 1 Monitor Video Video DP Console 1 DP 1 Monitor L3-DPCS 25 ft.

DP-242 Molded DP 1 Monitor Touchscreen Serial DP Console 1 DP 1 Monitor L3-DPCS 25 ft.
DP-243 Molded+5c 18 0.8 Joystick/Trackball Pwr & Comms VDC/Serial DP Console 1 DP 1 Control Panel L3-DPCS 25 ft.
DP-244 Molded DP 2 Monitor Video Video DP Console 2 DP 2 Monitor L3-DPCS 25 ft.
DP-245 Molded DP 2 Monitor Touchscreen Serial DP Console 2 DP 2 Monitor L3-DPCS 25 ft.
DP-246 Molded+5c 18 0.8 Joystick/Trackball Pwr & Comms VDC/Serial DP Console 2 DP 2 Control Panel L3-DPCS 25 ft.
DP-247 Molded Ind JS Monitor Video Video Independent JS Console Ind JS Monitor L3-DPCS 25 ft.
DP-248 Molded Ind JS Monitor Touchscreen Serial Independent JS Console Ind JS Monitor L3-DPCS 25 ft.
DP-249 Molded+5c 18 0.8 Joystick/Trackball Pwr & Comms VDC/Serial Independent JS Console Ind JS Control Panel L3-DPCS 25 ft.

DP-251 Molded Alarm Printer 1 Interface Parallel DP Console 1 Alarm Printer 1 L3-DPCS 25 ft.
DP-252 Molded Alarm Printer 2 Interface Parallel DP Console 2 Alarm Printer 2 L3-DPCS 25 ft.

DP-261 2ISTP 18 0.8 Wind Sensor 1 Interface RS-422 DP Console 1 Independent JS Console Customer
DP-262 2ISTP 18 0.8 Wind Sensor 2 Interface RS-422 DP Console 2 Independent JS Console Customer

DP-311 6ISTP 18 0.8 DP/Manual/JS On-Line VDC SPU 1 Control Select Switch Customer DP Online 1
JS Online 1
T1 Select

DP-312 6ISTP 18 0.8 DP/Manual/JS On-Line VDC SPU 2 Control Select Switch Customer DP Online 2
JS Online 2
T2 Select

DP-313 6ISTP 18 0.8 DP/Manual/JS On-Line VDC SPU 3 Control Select Switch Customer DP Online 3
JS Online 3
T3 Select

DP-314 6ISTP 18 0.8 DP/Manual/JS On-Line VDC SPU 4 Control Select Switch Customer DP Online 4
JS Online 4
T4 Select

DP-315 6ISTP 18 0.8 DP/Manual/JS On-Line VDC SPU 5 Control Select Switch Customer DP Online 5
JS Online 5
T5 Select

DP-501 RG-6U Coax DP Control Net Ch B Network DP Console 1 (ch B) SPU 1 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-502 RG-6U Coax DP Control Net Ch A Network DP Console 2 (ch A) SPU 4 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-503 RG-6U Coax DP Control Net Ch B Network SPU 1 (ch B) SPU 5 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-504 RG-6U Coax DP Control Net Ch A Network SPU 1 (ch A) SPU 5 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-505 RG-6U Coax DP Control Net Ch B Network SPU 2 (ch B) SPU 5 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-506 RG-6U Coax DP Control Net Ch A Network SPU 2 (ch A) SPU 5 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-507 RG-6U Coax DP Control Net Ch B Network SPU 3 (ch B) SPU 2 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-508 RG-6U Coax DP Control Net Ch A Network SPU 3 (ch A) SPU 2 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-509 RG-6U Coax DP Control Net Ch B Network DP Console 1 (ch B) DP Console 2 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-510 RG-6U Coax DP Control Net Ch A Network DP Console 1 (ch A) DP Console 2 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-511 RG-6U Coax DP Control Net Ch B Network SPU 4 (ch B) SPU 3 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-512 RG-6U Coax DP Control Net Ch A Network SPU 4 (ch A) SPU 3 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.

DP-551 RG-6U Coax Ind. JS Control Net Ch B Network Ind. JS Console (ch B) SPU 1 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-552 RG-6U Coax Ind. JS Control Net Ch A Network Ind. JS Console (ch A) SPU 4 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-553 RG-6U Coax Ind. JS Control Net Ch B Network SPU 1 (ch B) SPU 5 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-554 RG-6U Coax Ind. JS Control Net Ch A Network SPU 1 (ch A) SPU 5 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-555 RG-6U Coax Ind. JS Control Net Ch B Network SPU 2 (ch B) SPU 5 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-556 RG-6U Coax Ind. JS Control Net Ch A Network SPU 2 (ch A) SPU 5 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-557 RG-6U Coax Ind. JS Control Net Ch B Network SPU 3 (ch B) SPU 2 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-558 RG-6U Coax Ind. JS Control Net Ch A Network SPU 3 (ch A) SPU 2 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.
DP-561 RG-6U Coax Ind. JS Control Net Ch B Network SPU 4 (ch B) SPU 3 (ch B) L3-DPCS Belden ControlNet Cable 3093A or Equiv.

24004005WI-309 Rev. D Commercial in Confidence Page 4 of 5

 Cable Specification
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Area
Cable # Cable Type AWG Signal Name Signal Type From To Supplied By Length Comments
(mm²)
DP-562 RG-6U Coax Ind. JS Control Net Ch A Network SPU 4 (ch A) SPU 3 (ch A) L3-DPCS Belden ControlNet Cable 3093A or Equiv.

DP-601 CAT5 Ethernet Communications Network DP Console 1 DP Console 2 Customer Peer to Peer Cat-5
DP-602 CAT5 Ethernet Communications Network DP Console 1 DP Console 2 Customer Peer to Peer Cat-5

Fwd Bow Tunnel Thruster T1 DP

W555 8ISTP 18 0.8 VDC DP SPU 5 Fwd Bow Tunnel Thruster T1 Customer Ready
Interface
Select
Pitch Command
Pitch Feedback

W152 8ISTP 18 0.8 Aft Bow Tunnel Thruster T2 DP Interface VDC DP SPU 1 Aft Bow Tunnel Thruster T2 Customer Ready
Select
Pitch Command
Pitch Feedback

W252 8ISTP 18 0.8 Stern Tunnel Thruster T3 DP Interface VDC DP SPU 2 Stern Tunnel Thruster T3 Customer Ready
Select
Pitch Command
Pitch Feedback

W352 10ISTP 18 0.8 Port Main M1 DP Interface VDC DP SPU 3 Port Main T4 Customer Ready
Select
Reduce RPM
RPM Reduced
Pitch Command
Pitch Feedback

W452 10ISTP 18 0.8 Stbd Main M2 DP Interface VDC DP SPU 4 Stbd Main T5 Customer Ready
Select
Reduce RPM
RPM Reduced
Pitch Command
Pitch Feedback

'- END OF LIST -

24004005WI-309 Rev. D Commercial in Confidence Page 5 of 5

This page intentionally left blank.
 12131 Community Rd. Poway
Tel: 858-679-5500 Fax: 858-679-5501
Web: WWW.L-3com.com/DPCS/

Document Number

24005000PS-309

Document Title

System Specification

NMS6000 DP (Class 2) System & Independent Joystick System

Stemat Spirit

Prepared By: Sean Hannan

CONTROL STATUS

Approved By: Sean Hannan

MASTER
Systems Engineer PDF
Unless over stamped “MASTER” or “CONTROLLED” in red, this
document has been provided for information only and will not be
updated
This document is, or contains, confidential and proprietary information of L-3. Its receipt or
possession does not convey any rights to reproduce or disclose it, or its contents, or to manufacture,
use, or sell anything it may describe or reference. Reproduction, disclosure, or use without specific
written authorization of L-3 is strictly prohibited. This technical data is controlled under the Export
Administration Regulations ECCN [8E992], and may not be exported to a Foreign Person, either in
the U.S. or abroad, without the proper authorization of the U.S. Department of Commerce.
Revision: D Date: 27-May-09

REVISION STATUS
Rev. Date Description
A 05-Sept-08 Initial Release
B 09-Feb-09 Incorporate ECN #5941
C 20-Feb-09 Incorporate ECN #5999
D 27-May-09 Incorporate ECN #6198
 Table of Contents

1. INTRODUCTION ............................................................................................................................................. 4
1.1. REGULATORY REQUIREMENTS ....................................................................................................................... 4
1.2. ABBREVIATIONS ............................................................................................................................................. 4
2. SYSTEM OVERVIEW...................................................................................................................................... 5
2.1. VESSEL CHARACTERISTICS ............................................................................................................................ 6
2.1.1. Propulsion Configuration .................................................................................................................... 6
2.1.2. Propulsion Characteristics .................................................................................................................. 6
3. NMS6000 DYNAMIC POSITIONING SYSTEM .............................................................................................. 7
3.1. SYSTEM OVERVIEW ....................................................................................................................................... 7
3.1.1. Vessel Position and Heading Control ................................................................................................. 7
3.1.2. Thruster Allocation Logic (TAL) .......................................................................................................... 7
3.1.3. Position Sensor Processing................................................................................................................ 8
3.1.4. Environmental Sensor Processing ..................................................................................................... 8
3.1.5. Dead Reckoning ................................................................................................................................. 9
3.1.6. Wave Filtering ..................................................................................................................................... 9
3.1.7. Integral Transfer ................................................................................................................................. 9
3.2. OPERATIONAL MODES ................................................................................................................................... 9
3.2.1. Manual Joystick/Heading Control ....................................................................................................... 9
3.2.2. Hold Position Control .......................................................................................................................... 9
3.2.3. Hold Heading Control ......................................................................................................................... 9
3.2.4. Transit Mode ..................................................................................................................................... 10
3.2.5. Low Speed Track Follow .................................................................................................................. 10
3.2.6. ROV Follow....................................................................................................................................... 10
3.2.7. Hold Area Mode (Standby) ............................................................................................................... 10
3.2.8. Remote Center of Rotation ............................................................................................................... 10
3.2.9. Active Wind Compensation (AWC)................................................................................................... 10
3.2.10. Auto Heading for Minimum Thrust .................................................................................................... 10
3.2.11. Offline Simulator/Trainer (embedded) .............................................................................................. 11
3.3. FUNCTION CONTROLS .................................................................................................................................. 11
3.3.1. Sensor Selection............................................................................................................................... 11
3.3.2. Thruster Selection............................................................................................................................. 11
3.3.3. Setpoint Controls .............................................................................................................................. 11
3.4. OTHER FUNCTIONS ...................................................................................................................................... 11
3.4.1. Alarm Processing.............................................................................................................................. 11
3.4.2. Control Gains .................................................................................................................................... 12
3.4.3. Consequence Analysis ..................................................................................................................... 12
3.5. GRAPHICAL USER INTERFACE (DISPLAYS)..................................................................................................... 12
3.6. ALARM PRINTING ......................................................................................................................................... 12
3.7. CONSOLES .................................................................................................................................................. 12
3.7.1. Physical Layout................................................................................................................................. 12
3.7.2. Control Transfer ................................................................................................................................ 12
4. NMS6000 MANUAL INDEPENDENT BACKUP JOYSTICK SYSTEM........................................................ 12
4.1. SYSTEM OVERVIEW ..................................................................................................................................... 12
4.2. CONSOLE .................................................................................................................................................... 13
4.2.1. Physical Layout................................................................................................................................. 13
4.2.2. Control Transfer ................................................................................................................................ 13
5. HARDWARE AND ARCHITECTURE DESCRIPTION ................................................................................. 13
5.1. GENERAL SPECIFICATIONS ........................................................................................................................... 13
5.1.1. Signal I/O .......................................................................................................................................... 13
5.1.2. Power Distribution............................................................................................................................. 13

24005000PS-309 Rev. D Commercial In Confidence Page 2 of 16

 5.1.3. Construction...................................................................................................................................... 13
5.2. CONSOLE COMPONENTS .............................................................................................................................. 13
5.2.1. Joystick Control Panel ...................................................................................................................... 13
5.2.2. Central Processing Unit .................................................................................................................... 13
5.2.3. Display Monitor ................................................................................................................................. 13
5.3. SIGNAL PROCESSING UNIT ........................................................................................................................... 14
5.3.1. Description ........................................................................................................................................ 14
5.4. PORTABLE JOYSTICK ................................................................................................................................... 14
5.5. NETWORKS ................................................................................................................................................. 14
5.5.1. DP ControlNet Network .................................................................................................................... 14
5.5.2. JS ControlNet Network ..................................................................................................................... 14
5.5.3. Ethernet Network .............................................................................................................................. 14
5.6. ALARM AND STATUS PRINTERS..................................................................................................................... 14
6. SENSORS AND INTERFACES .................................................................................................................... 15
6.1. DIFFERENTIAL GLOBAL POSITIONING SYSTEM (DGPS).................................................................................. 15
6.1.1. Trimble DGPS................................................................................................................................... 15
6.1.2. Javad DGPS/GLONASS .................................................................................................................. 15
6.2. FANBEAM LASER RANGE AND BEARING SYSTEM ........................................................................................... 15
6.3. GYROCOMPASS ........................................................................................................................................... 15
6.4. WIND SENSOR ............................................................................................................................................. 16
6.5. VERTICAL REFERENCE UNIT (VRU) .............................................................................................................. 16
6.6. HYDRO-ACOUSTIC SYSTEM .......................................................................................................................... 16
6.7. SEISMIC COMPUTER .................................................................................................................................... 16

24005000PS-309 Rev. D Commercial In Confidence Page 3 of 16

1. Introduction
This document defines the equipment, interfacing and processing functionality for the L-3 Dynamic Positioning and
Control Systems (DP&CS) NMS6000 Class 2 Dynamic Positioning (DP) System and Manual Independent Backup
Joystick System (JS) for the vessel, Stemat Spirit. The scope of deliverables is documented in the project proposal
and change orders are identified in this specification. The end client is Stemat BV.

1.1. Regulatory Requirements

This system is to meet the requirements set forth by the following regulatory documents:

 Bureau Veritas (BV), DYNAPOS AM/AT R (Class 2)

1.2. Abbreviations
AWC Active Wind Compensation NRL Noise Rejection Logic
BV Bureau Veritas PC Personal Computer
CPU Central Processing Unit PLC Programmable Logic Controller
DGPS Differential Global Positioning System ROV Remotely Operated Vehicle
DP Dynamic Positioning SPU Signal Processing Unit
DP&CS Dynamic Positioning & Control Systems TAL Thruster Allocation Logic
GUI Graphical User Interface UPS Uninterruptible Power Supply
I/O Input and Output VDU Video Display Unit
JS Joystick System VRU Vertical Reference Unit
LBP Length Between Perpendiculars

24005000PS-309 Rev. D Commercial In Confidence Page 4 of 16

2. System Overview
The vessel shall receive an NMS6000 DP (Class 2) System and Manual Independent Backup Joystick System
with Automatic Heading Control.
The major system components and functionality include:
NMS6000 DP (Class 2) System
 two (2) computers and wiring trays (suitable for 19 inch rack mount)
 two (2) 3-axis joystick/heading controllers and trackballs
 two (2) 17 inch touchscreen monitors with desktop mounting brackets
 two (2) 7.6 m low-loss Video Display Unit (VDU) cables for DP monitors

Note: The 3-Axis joystick/heading controller and touchscreen monitors cannot be located more than 7.6 m
(cable-length) away from the computer, due to cabling constraints.

NMS6000 Manual Independent Backup Joystick System

 one (1) computer and wiring tray (suitable for 19 inch rack mount)
 one (1) 3-axis joystick/heading controller and trackball
 one (1) 17 inch touchscreen monitor with desktop mounting bracket
 one (1) 7.6 m low-loss VDU cable for DP monitor

Note: The 3-Axis joystick/heading controller and touchscreen monitors cannot be located more than 7.6 m
(cable-length) away from the computer, due to cabling constraints.

Signal Processing Units

 five (5) Signal Processing Units (SPUs), each located adjacent to the corresponding thruster

Sensors
 two (2) interfaces to customer-supplied DGPS receivers
 three (3) interfaces to customer-supplied gyrocompasses
 one (1) interface to customer-supplied hydro-acoustic system
 one (1) interface to customer-supplied Fanbeam laser range and bearing sensor
 one (1) interface to customer-supplied seismic computer
 two (2) Vertical Reference Units (VRUs), Watson (L-3 DP&CS Supplied)
 two (2) interfaces to customer-supplied wind sensors

Printers
 two (2) alarm/status printers, Epson FX890

Portable Joystick
 one (1) portable joystick
 three (3) portable joystick connection boxes

Uninterruptible Power Supply (UPS)

 eight (8) 24VDC Uninterruptible Power Supplies (UPSes) with 30 minute (minimum) battery backup

Both the NMS6000 DP System and Independent Joystick System designs shall be PC-based and shall have a
dual networked system architecture incorporating an Allen Bradley Programmable Logic Controller (PLC) for
signal Input and Output (I/O) to satisfy the customer and regulatory agency requirements.

24005000PS-309 Rev. D Commercial In Confidence Page 5 of 16

2.1. Vessel Characteristics
The vessel has the following characteristics: Meters
 Length (MLD) 90.0 m
 Length Between Perpendiculars (LBP) 86.5 m
 Breadth (MLD) 28.0 m
 Depth (MLD) 6.5 m
 Draft (design) 2.0 m
 Draft (maximum) 4.7 m

2.1.1. Propulsion Configuration

The following figure represents the configuration for the ship’s propulsion.

2.1.2. Propulsion Characteristics

2.1.2.1. Bow Tunnel Thruster (T1)

The vessel is equipped with one (1) electric-driven HRP 5001 TT tunnel thruster in the bow. The thruster is RPM
controllable. The minimum RPM is 0 and the maximum RPM is 380. The output power for the thruster is 650
kW.
The bow tunnel thruster (T1) is located at approximately 83.45 m forward of the aft perpendicular.
The DP to thruster interface shall consist of the following signals:
 RPM Command: 4-20 mA (4mA = max port RPM, 12mA = zero RPM, 20mA = maximum stbd RPM)
 RPM Feedback: 4-20 mA (4mA = max port RPM, 12mA = zero RPM, 20mA = maximum stbd RPM)
 Ready for DP: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 In DP Operation: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 DP Select: Potential Free Close Contact @ DP system (Thruster sourced)
 Reduced Power: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)

2.1.2.2. Bow Azimuth Thrusters (T2 & T3)

The vessel is equipped with two (2) diesel-driven HRP 6111 azimuthing retractable thrusters in the bow. The
thrusters are RPM controllable. The minimum RPM is 131.4 and the maximum RPM is 323.4. The output power
for each thruster is 1118 kW.
The port bow azimuth thruster (T2) is located at approximately 6.0 m port of the vessel centerline and 77.1 m
forward of the aft perpendicular.

24005000PS-309 Rev. D Commercial In Confidence Page 6 of 16

The starboard bow azimuth thruster (T3) is located at approximately 6.0 m starboard of the vessel centerline
and 77.1 m forward of the aft perpendicular.
The DP to thruster interface shall consist of the following signals:
 RPM Command: 4-20 mA (4mA = minimum RPM, 20ma = maximum RPM)
 RPM Feedback: 4-20 mA (4mA = minimum RPM, 20ma = maximum RPM)
 Azimuth Command: 4-20 mA (4mA = 180°, 8mA = 90°, 12mA = 0°, 16mA = 270°, 20mA = 180°)
 Azimuth Feedback: 4-20 mA (4mA = 180°, 8mA = 90°, 12mA = 0°, 16mA = 270°, 20mA = 180°)
 Ready for DP: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 In DP Operation: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 In Retract Mode: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 DP Select: Potential Free Close Contact @ DP system (Thruster sourced)

2.1.2.3. Main Azimuth Thrusters (T4 & T5)

The vessel is equipped with two (2) diesel-driven HRP 6111 azimuthing thrusters in the stern. The thrusters are
RPM controllable. The minimum RPM is 131.4 and the maximum RPM is 323.4. The output power for each
thruster is 1140 kW.
The port main azimuth thruster (T4) is located at approximately 6.0 m port of the vessel centerline and 5.5 m
forward of the aft perpendicular.
The starboard main azimuth thruster (T5) is located at approximately 6.0 m port of the vessel centerline and 5.5
m forward of the aft perpendicular.
The DP to thruster interface shall consist of the following signals:
 RPM Command: 4-20 mA (4mA = minimum RPM, 20mA = maximum RPM)
 RPM Feedback: 4-20 mA (4mA = minimum RPM, 20mA = maximum RPM)
 Azimuth Command: 4-20 mA (4mA = 180°, 8mA = 90°, 12mA = 0°, 16mA = 270°, 20mA = 180°)
 Azimuth Feedback: 4-20 mA (4mA = 180°, 8mA = 90°, 12mA = 0°, 16mA = 270°, 20mA = 180°)
 Ready for DP: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 In DP Operation: Potential Free Close Contact @ Thruster Interface (DP sourced 24 volts)
 DP Select: Potential Free Close Contact @ DP system (Thruster sourced)

3. NMS6000 Dynamic Positioning System

3.1. System Overview
3.1.1. Vessel Position and Heading Control
For the NMS6000, a control algorithm shall be used for surge, sway, and yaw degrees of freedom. Feedback
gains shall be a function of vessel inertia and an overall control bandwidth parameter. Heading and position set
points are modifiable by the operator with function switch selection and through numeric keypad entry on the
touchscreen. Overall control bandwidth for each degree of freedom shall also be capable of modification by the
operator.

Note that actual control accuracy cannot be specified. Achieved control accuracy is dependent on numerous
factors such as weather, dynamic model accuracy, sensor accuracy, and thruster performance. Many of these
factors are outside the scope of the DP system so that overall system performance cannot be guaranteed under
all circumstances.

3.1.2. Thruster Allocation Logic (TAL)

The Thrust Allocation Logic (TAL) shall assign thrust to the available thrusters to meet the demand of the surge,
sway, and yaw controllers, or the operator’s joystick commands. The TAL shall include the following overall
features:
 In limiting conditions the axis priority scheme shall be heading, then sway, and then surge.

24005000PS-309 Rev. D Commercial In Confidence Page 7 of 16

  Thrusters and mains may be selected by the operator as AUTO, MANUAL or OFF. The design
shall accommodate the loss of one thruster, or one main, or operate with only the mains and still
control all three axes, given that there are no limiting conditions.
 Logic to accommodate operator entered thrust values for a thruster in MANUAL mode. Allocation
logic for thrusters in AUTO mode shall compensate for non-zero thrust levels selected for a thruster
in MANUAL.

3.1.3. Position Sensor Processing

The vessel shall be equipped with multiple position reference sensors. The available position measurements
from these sensors shall be processed by the DP system as described in the following paragraphs. The DGPS
positions are compensated for roll and pitch in the DP system prior to the position sensor processing.

3.1.3.1. Position Sensor Quality Control

Position sensor data in the DP system shall first be evaluated by the following sensor processing sequence to
ensure that accurate data is received by the system and errant data points are not used in vessel control
calculations.

Initially, the data is subjected to Noise Rejection Logic (NRL). During this stage the data stream from each
individual sensor is monitored on a cycle to cycle basis. If any value received differs from the previous valid
reading by an amount that lies beyond an adaptive threshold, then the data is rejected.

After passing through the NRL processing the position data is biased to force all of the sensors to reference the
same base location. This allows data from potentially different reference points to be used in locating a single
reference origin. The stored biases described are continually added to the measured values from the sensor.
Once established, these biases are fixed in magnitude. This prevents deterioration in the reference sensor data
from affecting the performance of the other sensors or contaminating the overall position estimate.

The position sensor data now passes through a median testing scheme to reject values that are significantly
different from the overall collection of sensor data. The median value is determined as the “middle” value in the
data set. Each data reading is then compared to that median value. If the difference is larger than the “median
test threshold” (from database), then this value is flagged and eliminated from the pool of readings.

3.1.3.2. Position Sensor Data Weighting

All online, non-alarmed position sensors shall be continuously blended by the DP system to form the best
estimate of position. The sensors shall be blended using a weighted averaging process. The weighting factor
shall be proportional to the inverse of the derived value of that position sensor’s noise level. All position sensors
including the reference sensor are processed in the same way.

3.1.4. Environmental Sensor Processing

The vessel shall be equipped with multiple environmental sensors (i.e., wind sensors, gyrocompasses, motion
reference sensors). The measurements from these sensors shall be processed by the DP system as described
in the following paragraphs.

3.1.4.1. Timeout or Loss of Serial Data

For serial environmental sensors, there shall be a check for timeout or loss of serial data. If there is a timeout or
loss of serial data, an alarm shall be generated and the sensor data shall not be utilized by the DP system.

3.1.4.2. Median Testing

Median testing shall be utilized to reject any values that are unalarmed yet are significantly different for the
collection of data values from all sensors. The median value is determined as the “middle” value in the data set.
Each data reading is then compared to that median value. If the difference is larger than the “median test
threshold” from the database then this value is flagged and eliminated from the pool of readings.

3.1.4.3. Environmental Sensor Data Blending

All online, non-alarmed environmental sensors shall be continuously blended by the DP system using a simple
arithmetic average.
24005000PS-309 Rev. D Commercial In Confidence Page 8 of 16
3.1.5. Dead Reckoning
The system shall be capable of continued operation during a temporary loss of all position or gyro sensor
information by dead reckoning. Dead reckoning uses the estimate of present position, heading and speed
based on past positions, past rates and a vessel model with wind sensor input if selected.

3.1.6. Wave Filtering

Low pass (third order roll-off) filters shall be applied to position sensor data and to heading sensor data to
attenuate frequencies on the measurements at and above predominant ocean wave frequency. The purpose of
this filter is to eliminate the relatively high frequency responses of the control system, and therefore the
thrusters, to the high frequency wave motion.

3.1.7. Integral Transfer

When switching from an automatic control mode to manual control mode, the controller integral forces (used by
the controller to counteract steady-state environmental forces) shall be automatically added to the position
joystick and/or heading control knob thrust vector commands. This allows the operator to keep the vessel
initially on position should he have to take over in manual control. The operator can zero this joystick bias once
he has taken over control. When switching from manual control mode to an automatic control mode, the manual
control settings shall be transferred into the controller integral terms to allow the controller to begin
counteracting steady-state environmental forces immediately.

3.2. Operational Modes

The following operational modes shall be provided. They are accessed via the touchscreen or by using the
trackball using the display cursor to select. The NMS6000 allows full vessel control of position and heading.
Once the vessel is at the desired location and the position sensor systems are deployed correctly, operational
and initialized, the automatic control modes may be used. The operator may select auto control in position
(surge, sway) and/or heading (yaw). An axis not selected for automatic control remains under joystick/heading
potentiometer manual control.

3.2.1. Manual Joystick/Heading Control

Manual Control mode allows for operator control of the thrust vectors by using the joystick on the control
console. This control produces positional movements of the vessel without regard to vessel heading. Heading
adjustments are made using the heading control potentiometer, which is also located on the control console.
Joystick commands are scaled to represent % available thrust.

3.2.2. Hold Position Control

Hold Position mode is used when the operator wants to automatically maintain the vessel’s position. In this
mode, the vessel’s position, determined from the various position sensors, is compared with the desired position
and the thrusters are controlled to reduce the deviation between the vessel’s actual position and the desired
position. The position setpoint can be adjusted by the operator.

In Hold Position mode, the operator shall be able to enter yellow and red alarm circles, which shall be centered
about the vessel position goal. If the vessel reference point moves out beyond the yellow or red alarm circle, the
DP system shall generate the appropriate alarms.

3.2.3. Hold Heading Control

Hold heading mode is used when the operator wants to automatically hold the vessel to a fixed heading. Data
from the gyrocompasses are used as the measurement of heading. In this mode, the measured heading is
compared to the commanded setpoint heading and thrusters are controlled to reduce the deviation between the
commanded and measured heading. The heading setpoint can be adjusted by the operator.

24005000PS-309 Rev. D Commercial In Confidence Page 9 of 16

3.2.4. Transit Mode
In Transit mode, the operator manually controls vessel speed with the joystick, while the DP system
automatically maintains the commanded heading. The operator may change the heading by entering a new
heading setpoint. The vessel’s course is adjusted by controlling the main azimuth thrusters.

The operator is provided with gain, dead band, counter rudder, and rudder limit control settings, as well as an
off-course alarm.

3.2.5. Low Speed Track Follow

Low Speed Track Follow allows the vessel to move along a pre-determined track. The track is defined by a
series of waypoints. These waypoints can be entered manually, loaded into the system via a standard floppy
disk, or received across a serial data-link from the customer-supplied Seismic Computer. The format of the data
sent from the Seismic Computer shall be per L-3 DP&CS Document 24005949PS-001, “Interface Control
Document, NMS6000 Low Speed Track Follow Mode with External Waypoint Source”.

Tracking speed, vessel heading, and turn radius can all be set by the operator. The vessel can be automatically
stopped at each waypoint or track through it. While tracking, the operator can offset the vessel track, stop on the
track, or reverse back along the track.

3.2.6. ROV Follow

In Remotely Operated Vehicle (ROV) follow mode, the NMS system tracks an ROV via an acoustic beacon. It
will then generate thruster commands that drive the vessel to pursue the ROV, maintaining any offsets that have
been set by the operator. The operator can also set a reaction radius around the follow point. The NMS will only
move the vessel if the ROV moves outside of this radius.

3.2.7. Hold Area Mode (Standby)

Hold Area Mode (Standby) provides reduced control activity while maintaining the vessel in the general area of
the goal position. The operator defines the hold area by providing, on the Setup Page, the radius of the area
defined as a circle. When engaged, the control bandwidth in position and yaw axis is reduced with a schedule
based on the entered radius. The larger the radius, the more relaxed control will be. As long as the vessel is
within the selected watch circle, the control bandwidth will remain low and thruster reactions will be minimal. If
the vessel moves outside of the watch circle, the control bandwidth will increase to the operator selected
nominal value and thruster reactions will increase.

3.2.8. Remote Center of Rotation

This mode allows for rotation about any of several arbitrary points on or around the vessel rather than the
natural turning center of the vessel (default).

3.2.9. Active Wind Compensation (AWC)

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

3.2.10. Auto Heading for Minimum Thrust

Auto Heading for Minimum Thrust mode automatically adjusts the vessel heading setpoint to minimize the sway
thrust requirements while in Hold Position and Hold Heading Modes. As the vessel heading rotates to track this
setpoint, the majority of the environmental forces are received at the bow or stern.

24005000PS-309 Rev. D Commercial In Confidence Page 10 of 16

3.2.11. Offline Simulator/Trainer (embedded)
The console is equipped with simulation software that can be invoked per a special start-up sequence. The
simulation option provides for on-board operator training and features simulation of weather conditions, wind,
waves and sea currents as well as the characteristics of the vessel and its propulsion.

3.3. Function Controls

The following function controls will be provided. They are accessed directly from the touchscreen displays or by
using the trackball using the display cursor to select.

3.3.1. Sensor Selection

By selecting the Sensor Page, each sensor may be selected or deselected. The ONLINE or OFFLINE status of
the position, heading, environmental and attitude sensors for data input to the DP system will be displayed on
the sensor page.

3.3.2. Thruster Selection

By selecting the Thrust Page, the mode (Auto, Manual or Off) of each thruster may be selected. The status
(Auto, Manual or Off) of the thruster will be displayed on the Thrust Page.

AUTO - in automatic coordinated control by the DP system.

MANUAL - in manual control by operator entered thrust levels via the DP system.
OFF - thruster offline to the DP System.

3.3.3. Setpoint Controls

Setpoint controls allow the operator to specify the required setpoints for the position and heading to be
controlled.
HEADING SETPOINT
This allows the operator to initiate heading maneuvers by changing the goal heading while operating in
Hold Heading mode. The desired heading or relative change in heading and the rate of change in
degrees per minute can be set.

POSITION SETPOINT
This allows the operator to initiate position moves by specifying the goal position for offset moves while
in Hold Position mode. The goal position may be specified as: movement to an absolute position axes,
position offset form the current setpoint, position offset using a range and bearing. Position offsets may
be specified in either ship axes or earth axes. The desired rate of change can also be set.

3.4. Other Functions

The DP console shall also provide additional functions. These are described below.

3.4.1. Alarm Processing

Alarm displays, audio alerts, and alarm logs shall be generated for system alarm conditions. These conditions
hall include:
 Environmental, attitude, and position sensor data thresholds and noise
 Thruster allocation thresholds
 Communication and data acquisition faults
 Control deviation thresholds
 Power faults
 System comparison alarms
 Hardware self-test alarms

24005000PS-309 Rev. D Commercial In Confidence Page 11 of 16

3.4.2. Control Gains
Independent Axis Gain Adjustment function mode allows the “Gain” for the surge, sway and heading control
loops to be independently selectable. The DP system shall exhibit stable operations for any combination of
“Axis” gains within prescribed limits and for any environmental conditions as long as non-saturated thruster
operation exists. Adjustment values range from -10 to +10 with higher values achieving better positioning with
higher thruster modulations and lower values allowing lower positioning accuracy with less thruster activity.
3.4.3. Consequence Analysis
The DP control system incorporates a consequence analyzer that monitors the vectoral thrust necessary to
maintain position under the prevailing environmental conditions. The consequence analysis also performs
calculations to verify that, in the event of a single failure, there shall be sufficient thrust available to maintain
position in a steady state condition. A warning is presented when a failure shall cause loss of position at present
weather conditions. The function of this module is to determine if the failure of a certain facility will affect the
station-keeping ability of the vessel given existing environmental conditions. If the station-keeping ability is
compromised, an advisory alarm shall appear at the console. The operator can acknowledge the alarm and take
appropriate action. Single failures shall include the following:

 Loss of one (1) propulsor

 Loss of one (1) SPU

3.5. Graphical User Interface (Displays)

The Graphical User Interface (GUI) defines the graphical display shown on the system’s monitors and also
defines how the operator shall interface with the system. The L-3 DP&CS NMS6000 standard GUI shall be
used as a baseline and changes will be made to reflect the vessel's specific configuration. The GUI shall be a
high-resolution (1280 x 1024) graphical interface resembling a Windows™ environment. The display pages
shall be accessed directly from either the touchscreen or the trackball using the display cursor. The trackball
shall be an integral part of the console.

3.6. Alarm Printing

The NMS6000 DP console shall interface to the alarm printer. The printer shall be a dot matrix, continuous feed
type connected directly to the Central Processing Unit (CPU) printer port.

The printer shall output:

 Alarms
 Keystrokes
 Status/Mode Changes

3.7. Consoles
3.7.1. Physical Layout
The NMS6000 DP equipment will be housed in customer-supplied consoles. DP Console 1 will be forward
facing. DP Console 2 will be aft facing.

3.7.2. Control Transfer

The NMS6000 DP system shall have control when the bridge-mounted selector switch is set to “DP”.

4. NMS6000 Manual Independent Backup Joystick System

4.1. System Overview
The NMS6000 Manual Independent Backup Joystick System shall have manual joystick/heading control and
hold heading control functionality.

24005000PS-309 Rev. D Commercial In Confidence Page 12 of 16

4.2. Console
4.2.1. Physical Layout
The NMS6000 Manual Independent Backup Joystick System will be housed in a customer-supplied console.
The console will be forward facing.

4.2.2. Control Transfer

The NMS6000 Manual Independent Backup Joystick System shall have control when the bridge-mounted
selector switch is set to “JS”.

5. Hardware and Architecture Description

5.1. General Specifications
5.1.1. Signal I/O
All shipboard cabling and wiring must meet relevant regulatory body specifications and is the customer’s
responsibility. System cabling required shall be detailed in the System Interconnect Drawing and Cable
Specification. All cabling shall be supplied by the customer except for cables specifically identified as supplied
by L-3 DP&CS. All cabling shall be “pulled” by the customer. Final cable termination shall be the customer’s
responsibility while under L-3 DP&CS’s supervision. L-3 DP&CS shall be responsible for testing of the
termination of the cables inside the L-3 DP&CS supplied equipment. It should be noted that the customer must
provide the signal I/O data for equipment that must interface to the NMS6000 DP and Independent Backup
Joystick systems. This includes as a minimum:

 Thruster Interfaces
 Sensor Interfaces

5.1.2. Power Distribution

The vessel provided power is 240VAC, 50Hz, single phase, which shall be used to power the eight (8) L-3
DP&CS supplied UPS units. The UPS units shall output 24VDC.

The 24VDC UPS systems shall be bulkhead-mountable and shall be rated at 10 amps. Each UPS shall have
sufficient back-up battery packs to provide the NMS6000 DP system with 30 minutes of back-up time. Each
UPS shall be monitored for status and alarms.

5.1.3. Construction
Each piece of equipment shall be mounted according to the supplied Outline and Installation drawings. The
customer shall be responsible for supplying mounting foundations.

5.2. Console Components

5.2.1. Joystick Control Panel
The Joystick System control panel provides the coordinated joystick control. The control panel houses a 3-axis
joystick used for “POSITION and HEADING CONTROL” and a trackball/mouse.
.
5.2.2. Central Processing Unit
The CPU provides for the digital control processing, GUI, control process communications, serial interfaces
(including spares), and system printing functions. The CPU shall be part of a marine-approved Personal
Computer (PC).

All processed data shall be communicated to the CPU located in the console via the ControlNet Network.

5.2.3. Display Monitor

The display shall be a single, full-color, industrial touchscreen monitor. The display shall provide high-resolution
(1280x1024) and a Graphical User Interface for the system.

24005000PS-309 Rev. D Commercial In Confidence Page 13 of 16

5.3. Signal Processing Unit
5.3.1. Description
There shall be five (5) SPUs supplied with NMS6000 DP system. The SPUs shall cover a predetermined type
and number of external signal I/O, external devices, and internal devices. The distribution of these data shall be
organized in such a way to maintain the required redundancy of the overall Dynamic Positioning System. All
processed data shall be communicated to the CPUs located in the NMS6000 consoles via the ControlNet
Network.

Device / Equipment Qty SPU 1 SPU 2 SPU 3 SPU 4 SPU 5

Thrusters 5 T1 T2 T3 T4 T5
Vertical Reference 2 VRU 1 VRU 2 N/A N/A N/A
Units
UPS Alarms 8 UPS 1, UPS 4 UPS 2, UPS 5 UPS 3, UPS 6 UPS 7 UPS 8
DP Online 5 DP Online 1 DP Online 2 DP Online 3 DP Online 4 DP Online 5
Independent JS 5 JS Online 1 JS Online 2 JS Online 3 JS Online 4 JS Online 5
Online

5.4. Portable Joystick

The Portable Joystick System shall interface directly to the NMS6000 DP console and shall allow manual
position and heading control. Additionally, three locations determined by agreement with the customer shall be
provided for remote connection of the portable joystick. The portable joystick has the following features:

 Accept Control
 Hold Heading function
 Wind Compensation selection

5.5. Networks
5.5.1. DP ControlNet Network
The DP ControlNet network shall be comprised of all necessary hardware and software to allow the networking
of the DP consoles to the SPUs. The control network is a peer-to-peer control and data transmission network
that is completely redundant. The network shall be transmitted over coaxial cable runs. The DP ControlNet
Network shall be independent from the JS ControlNet Network.

5.5.2. JS ControlNet Network

The JS ControlNet network shall be comprised of all necessary hardware and software to allow the networking
of the JS console to the SPUs. The control network is a peer-to-peer control and data transmission network that
is completely redundant. The network shall be transmitted over coaxial cable runs. The JS ControlNet Network
shall be independent from the DP ControlNet Network.

5.5.3. Ethernet Network

The Ethernet network shall be comprised of all necessary hardware and software for a redundant Ethernet
connection between the two DP consoles. The Ethernet network is a peer-to-peer control and data transmission
network. The network shall be transmitted over Cat-5 cable runs.

5.6. Alarm and Status Printers

Two (2) Alarm/Status Printers shall be provided with the NMS6000 system. The printers shall be a dot matrix,
continuous feed type. The printers shall be powered from the associated console UPS (via an inverter).

24005000PS-309 Rev. D Commercial In Confidence Page 14 of 16

6. Sensors and Interfaces
6.1. Differential Global Positioning System (DGPS)
6.1.1. Trimble DGPS
One (1) customer-supplied Trimble DSM-232 DGPS receiver will be used to provide high-accuracy position
input to the DP System.

The DGPS unit shall be powered by a customer-supplied UPS and provide the following signals:

 Signal Level: RS-422 (via RS232/422 converter, L-3 DP&CS supplied)

 Baud Rate: 4800
 Data Bits: 8
 Stop Bits: 1
 Parity: None
 Protocol: NMEA-0183 $GPGGA
 Power Customer-Supplied UPS

6.1.2. Javad DGPS/GLONASS

One (1) customer-supplied Javad LGG-100 DGPS/GLONASS receiver will be used to provide high-accuracy
position input to the DP System.

The DGPS unit shall be powered by a customer-supplied UPS and provide the following signals:

 Signal Level: RS-422 (via RS232/422 converter, L-3 DP&CS supplied)

 Baud Rate: 4800
 Data Bits: 8
 Stop Bits: 1
 Parity: None
 Protocol: NMEA-0183 $GPGGA
 Power Customer-Supplied UPS
6.2. Fanbeam Laser Range and Bearing System
One (1) customer-supplied MDL Fanbeam 4.2 Laser Range and Bearing System will provide high accuracy
relative position input to the DP System.

The Fanbeam shall be powered by a customer-supplied UPS and provide the following signals:

 Signal Level: RS-422 (via RS232/422 converter, L-3 DP&CS supplied)

 Baud Rate: 9600
 Data Bits: 8
 Stop Bits: 1
 Parity: None
 Protocol: Nautronix MDLS
 Power Customer-Supplied UPS

6.3. Gyrocompass
Three (3) customer-supplied Anschutz Standard 22 gyrocompasses will provide heading data to the DP and
Independent JS Systems. The DP and Independent JS Systems each require a single $HEHDT string from a
dedicated gyrocompass port.

The gyrocompasses shall be powered by customer-supplied UPSes and provide the following signals:

 Signal Level: RS-422

 Baud Rate: 4800
 Data Bits: 8

24005000PS-309 Rev. D Commercial In Confidence Page 15 of 16

  Stop Bits: 1
 Parity: None
 Protocol: NMEA-0183, $HEHDT
 Power Customer-Supplied UPS

6.4. Wind Sensor

Two (2) customer-supplied Observator OMC-160 serial wind sensors will provide wind data to the DP and
Independent JS Systems. The Wind Sensors shall be capable of covering a wind speed range of 0-100 knots
and a wind direction range of 0 to 359o.

The wind sensors shall be powered by customer-supplied UPSes and provide the following signals:

 Signal Level: RS-422

 Baud Rate: 4800
 Data Bits: 8
 Stop Bits: 1
 Parity: None
 Protocol: NMEA-0183, $IIMWV
 Power Customer-Supplied UPS

6.5. Vertical Reference Unit (VRU)

Two (2) Watson ADS-C232-1A/106 Vertical Reference Units shall be supplied to provide accurate pitch and roll
data to the DP and Independent JS Systems. The VRUs shall be capable of covering a pitch range of +/-30
degrees (+/-10Vdc) and a roll range of +/-30 degrees (+/-10Vdc). The VRUs shall be powered with 24VDC
power from the associated SPU.

6.6. Hydro-Acoustic System

One (1) customer-supplied Hydro-Acoustic System will provide position input to the DP System.

The Hydro-Acoustic System shall be powered by customer-supplied sources and provide the following signals:

 Signal Level: RS-422

 Baud Rate: 9600
 Data Bits: 8
 Stop Bits: 1
 Parity: None
 Protocol: TBD
 Power Customer-Supplied

6.7. Seismic Computer

One (1) customer-supplied Seismic Computer System will provide waypoint information to the DP System per
the interface described in L-3 DP&CS Document 24005949PS-001, “Interface Control Document, NMS6000
Low Speed Track Follow Mode with External Waypoint Source”.

The Seismic Computer shall be powered by customer-supplied sources and provide the following signals:

 Signal Level: RS-422

 Baud Rate: 9600
 Data Bits: 8
 Stop Bits: 1
 Parity: None
 Protocol: NMEA-0183, $WPL
 Power Customer-Supplied

24005000PS-309 Rev. D Commercial In Confidence Page 16 of 16

 Dynamic Positioning and Control Systems
12131 Community Rd.
Poway, CA 92064
858-679-5500 General Fax: 858-679-5501

Document Number

24005290PS-309

Document Title

IO Points List
NMS6000 DP (Class 2) & Independent Joystick System
Stemat Spirit

CONTROL STATUS
Prepared by: Sean Hannan
MASTER
Approved by: Sean Hannan
Systems Engineer PDF
Unless over stamped “MASTER” or “CONTROLLED” in
red, this document has been provided for information only
and will not be updated.

Revision: D Date: 20-Feb-09

This document is, or contains, confidential and proprietary information of L-3 Communications.
Its receipt or possession does not convey any rights to reproduce or disclose it, or its contents, or
to manufacture, use, or sell anything it may describe or reference. Reproduction, disclosure, or
use without specific written authorization of L-3 Communications is strictly prohibited. This
technical data is controlled under the Export Administration Regulations ECCN [8E992], and may
not be exported to a Foreign Person, either in the U.S. or abroad, without the proper
authorization of the U.S. Department of Commerce.

Revision
Rev. Date Description
A 05-Sep-08 Initial Release
B 19-Sep-08 Incorporate ECN #5594
C 09-Feb-09 Incorporate ECN #5943
D 20-Feb-09 Incorporate ECN #6001

24005290PS-309 Rev. D Commercial In Confidence Page 1 of 7

 Points List
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Sig Sig Field Field Mod Cnts Max Sig Cnts Signal
No Equipment Description Tag Name Type NODE MOD CH Address Sig Min Max Units EUmin EUmax EU Mod Cnts Min Max Rng Factor Offset Module Type Sea Trials Verification
SPU 1
0 Bow Tunnel Thruster (T1) Thruster Ready (T1) Thr001_ReadyIO DI 1 0 0 [FLX01_DP]Local:0:I.0 1794-IB10XOB6
1 Bow Tunnel Thruster (T1) Thruster in DP (T1) Thr001_DPIO DI 1 0 1 [FLX01_DP]Local:0:I.1 1794-IB10XOB6
2 Bridge-Control Select DP Online 1 DP1_OnlineIO DI 1 0 2 [FLX01_DP]Local:0:I.2 1794-IB10XOB6
3 Bridge-Control Select Ind. JS Online 1 Ind1_OnlineIO DI 1 0 3 [FLX01_DP]Local:0:I.3 1794-IB10XOB6
4 UPS 1 UPS Common Failure Ups001_CommonAlarmIO DI 1 0 4 [FLX01_DP]Local:0:I.4 1794-IB10XOB6
5 UPS 1 UPS AC Line Failure Ups001_ACLineFailureIO DI 1 0 5 [FLX01_DP]Local:0:I.5 1794-IB10XOB6
6 UPS 4 UPS Common Failure Ups004_CommonAlarmIO DI 1 0 6 [FLX01_DP]Local:0:I.6 1794-IB10XOB6
7 UPS 4 UPS AC Line Failure Ups004_ACLineFailureIO DI 1 0 7 [FLX01_DP]Local:0:I.7 1794-IB10XOB6
8 Bow Tunnel Thruster (T1) Thruster in Reduced Power Mode (T1) Thr001_ReducedPwrIO DI 1 0 8 [FLX01_DP]Local:0:I.8 1794-IB10XOB6
9 Spare DI 1 0 9 [FLX01_DP]Local:0:I.9 1794-IB10XOB6
10 Spare DO 1 0 0 [FLX01_DP]Local:0:O.0 1794-IB10XOB6
11 Spare DO 1 0 1 [FLX01_DP]Local:0:O.1 1794-IB10XOB6
12 Spare DO 1 0 2 [FLX01_DP]Local:0:O.2 1794-IB10XOB6
13 Spare DO 1 0 3 [FLX01_DP]Local:0:O.3 1794-IB10XOB6
14 Spare DO 1 0 4 [FLX01_DP]Local:0:O.4 1794-IB10XOB6
15 Spare DO 1 0 5 [FLX01_DP]Local:0:O.5 1794-IB10XOB6
0 SPU 1 SPU 1 24VDC Primary Supply Spu1_Pri_24VDC AI 1 1 0 [FLX01_DP]Local:1:I.Ch0data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
1 SPU 1 SPU 1 24VDC Secondary Supply Spu1_Sec_24VDC AI 1 1 1 [FLX01_DP]Local:1:I.Ch1data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
2 SPU 1 Reference Voltage Monitor (Positive) Spu1_RefPos_MonitorIO AI 1 1 2 [FLX01_DP]Local:1:I.Ch2data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
3 SPU 1 Reference Voltage Monitor (Negative) Spu1_RefNeg_MonitorIO AI 1 1 3 [FLX01_DP]Local:1:I.Ch3data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
4 VRU 1 Pitch Feedback Vrs001_PitchIO AI 1 1 4 [FLX01_DP]Local:1:I.Ch4data -10 10 VDC -30 30 deg -31200 31200 62400 0.0009615 0 1794-IE8/B ± 10 V
5 VRU 1 Roll Feedback Vrs001_RollIO AI 1 1 5 [FLX01_DP]Local:1:I.Ch5data -10 10 VDC 30 -30 deg -31200 31200 62400 -0.0009615 0 1794-IE8/B ± 10 V
6 Spare AI 1 1 6 [FLX01_DP]Local:1:I.Ch6data 1794-IE8/B
7 Spare AI 1 1 7 [FLX01_DP]Local:1:I.Ch7data 1794-IE8/B
0 Bow Tunnel Thruster (T1) Bow Tunnel Thruster (T1) RPM Command Thr001_CmndIO AO 1 2 0 [FLX01_DP]Local:2:O.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
1 Spare AO 1 2 1 [FLX01_DP]Local:2:O.Ch1data 1794-OF4I
2 Spare AO 1 2 2 [FLX01_DP]Local:2:O.Ch2data 1794-OF4I
3 Spare AO 1 2 3 [FLX01_DP]Local:2:O.Ch3data 1794-OF4I
0 Bow Tunnel Thruster (T1) Bow Tunnel Thruster (T1) RPM Feedback Thr001_FdbkIO AI 1 3 0 [FLX01_DP]Local:3:I.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
1 Spare AI 1 3 1 [FLX01_DP]Local:3:I.Ch1data 1794-IF4I
2 Spare AI 1 3 2 [FLX01_DP]Local:3:I.Ch2data 1794-IF4I
3 Spare AI 1 3 3 [FLX01_DP]Local:3:I.Ch3data 1794-IF4I
SPU 2
0 Port Bow Azimuth Thruster (T2) Thruster Ready (T2) Thr002_ReadyIO DI 2 0 0 [FLX02_DP]Local:0:I.0 1794-IB10XOB6
1 Port Bow Azimuth Thruster (T2) Thruster in DP (T2) Thr002_DPIO DI 2 0 1 [FLX02_DP]Local:0:I.1 1794-IB10XOB6
2 Bridge-Control Select DP Online 2 DP2_OnlineIO DI 2 0 2 [FLX02_DP]Local:0:I.2 1794-IB10XOB6
3 Bridge-Control Select Ind. JS Online 2 Ind2_OnlineIO DI 2 0 3 [FLX02_DP]Local:0:I.3 1794-IB10XOB6
4 UPS 2 UPS Common Failure Ups002_CommonAlarmIO DI 2 0 4 [FLX02_DP]Local:0:I.4 1794-IB10XOB6
5 UPS 2 UPS AC Line Failure Ups002_ACLineFailureIO DI 2 0 5 [FLX02_DP]Local:0:I.5 1794-IB10XOB6
6 UPS 5 UPS Common Failure Ups005_CommonAlarmIO DI 2 0 6 [FLX02_DP]Local:0:I.6 1794-IB10XOB6
7 UPS 5 UPS AC Line Failure Ups005_ACLineFailureIO DI 2 0 7 [FLX02_DP]Local:0:I.7 1794-IB10XOB6
8 Port Bow Azimuth Thruster (T2) Thruster in Retract Mode (T2) Thr002_RetractIO DI 2 0 8 [FLX02_DP]Local:0:I.8 1794-IB10XOB6
9 Spare DI 2 0 9 [FLX02_DP]Local:0:I.9 1794-IB10XOB6
10 Spare DO 2 0 0 [FLX02_DP]Local:0:O.0 1794-IB10XOB6
11 Spare DO 2 0 1 [FLX02_DP]Local:0:O.1 1794-IB10XOB6
12 Spare DO 2 0 2 [FLX02_DP]Local:0:O.2 1794-IB10XOB6
13 Spare DO 2 0 3 [FLX02_DP]Local:0:O.3 1794-IB10XOB6
14 Spare DO 2 0 4 [FLX02_DP]Local:0:O.4 1794-IB10XOB6
15 Spare DO 2 0 5 [FLX02_DP]Local:0:O.5 1794-IB10XOB6
0 SPU 2 SPU 2 24VDC Primary Supply Spu2_Pri_24VDC AI 2 1 0 [FLX02_DP]Local:1:I.Ch0data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
1 SPU 2 SPU 2 24VDC Secondary Supply Spu2_Sec_24VDC AI 2 1 1 [FLX02_DP]Local:1:I.Ch1data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
2 SPU 2 Reference Voltage Monitor (Positive) Spu2_RefPos_MonitorIO AI 2 1 2 [FLX02_DP]Local:1:I.Ch2data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
3 SPU 2 Reference Voltage Monitor (Negative) Spu2_RefNeg_MonitorIO AI 2 1 3 [FLX02_DP]Local:1:I.Ch3data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
4 VRU 2 Pitch Feedback Vrs002_PitchIO AI 2 1 4 [FLX02_DP]Local:1:I.Ch4data -10 10 VDC -30 30 deg -31200 31200 62400 0.0009615 0 1794-IE8/B ± 10 V
5 VRU 2 Roll Feedback Vrs002_RollIO AI 2 1 5 [FLX02_DP]Local:1:I.Ch5data -10 10 VDC 30 -30 deg -31200 31200 62400 -0.0009615 0 1794-IE8/B ± 10 V
6 Spare AI 2 1 6 [FLX02_DP]Local:1:I.Ch6data 1794-IE8/B
7 Spare AI 2 1 7 [FLX02_DP]Local:1:I.Ch7data 1794-IE8/B
0 Port Bow Azimuth Thruster (T2) Port Bow Thruster (T2) RPM Command Thr002_CmndIO AO 2 2 0 [FLX02_DP]Local:2:O.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
1 Port Bow Azimuth Thruster (T2) Port Bow Thruster (T2) Azimuth Command Thr002_CmndAzmDegIO AO 2 2 1 [FLX02_DP]Local:2:O.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
2 Spare AO 2 2 2 [FLX02_DP]Local:2:O.Ch2data 1794-OF4I
3 Spare AO 2 2 3 [FLX02_DP]Local:2:O.Ch3data 1794-OF4I
0 Port Bow Azimuth Thruster (T2) Port Bow Thruster (T2) RPM Feedback Thr002_FdbkIO AI 2 3 0 [FLX02_DP]Local:3:I.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
1 Port Bow Azimuth Thruster (T2) Port Bow Thruster (T2) Azimuth Feedback Thr002_FdbkAzmDegIO AI 2 3 1 [FLX02_DP]Local:3:I.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
2 Spare AI 2 3 2 [FLX02_DP]Local:3:I.Ch2data 1794-IF4I
3 Spare AI 2 3 3 [FLX02_DP]Local:3:I.Ch3data 1794-IF4I

24005290PS-309 Rev. D Commercial in Confidence Page 2 of 7

 Points List
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Sig Sig Field Field Mod Cnts Max Sig Cnts Signal
No Equipment Description Tag Name Type NODE MOD CH Address Sig Min Max Units EUmin EUmax EU Mod Cnts Min Max Rng Factor Offset Module Type Sea Trials Verification
SPU 3
0 Stbd Bow Azimuth Thruster (T3) Thruster Ready (T3) Thr003_ReadyIO DI 3 0 0 [FLX03_DP]Local:0:I.0 1794-IB10XOB6
1 Stbd Bow Azimuth Thruster (T3) Thruster in DP (T3) Thr003_DPIO DI 3 0 1 [FLX03_DP]Local:0:I.1 1794-IB10XOB6
2 Bridge-Control Select DP Online 3 DP3_OnlineIO DI 3 0 2 [FLX03_DP]Local:0:I.2 1794-IB10XOB6
3 Bridge-Control Select Ind. JS Online 3 Ind3_OnlineIO DI 3 0 3 [FLX03_DP]Local:0:I.3 1794-IB10XOB6
4 UPS 3 UPS Common Failure Ups003_CommonAlarmIO DI 3 0 4 [FLX03_DP]Local:0:I.4 1794-IB10XOB6
5 UPS 3 UPS AC Line Failure Ups003_ACLineFailureIO DI 3 0 5 [FLX03_DP]Local:0:I.5 1794-IB10XOB6
6 UPS 6 UPS Common Failure Ups006_CommonAlarmIO DI 3 0 6 [FLX03_DP]Local:0:I.6 1794-IB10XOB6
7 UPS 6 UPS AC Line Failure Ups006_ACLineFailureIO DI 3 0 7 [FLX03_DP]Local:0:I.7 1794-IB10XOB6
8 Stbd Bow Azimuth Thruster (T3) Thruster in Retract Mode (T3) Thr003_RetractIO DI 3 0 8 [FLX03_DP]Local:0:I.8 1794-IB10XOB6
9 Spare DI 3 0 9 [FLX03_DP]Local:0:I.9 1794-IB10XOB6
10 Spare DO 3 0 0 [FLX03_DP]Local:0:O.0 1794-IB10XOB6
11 Spare DO 3 0 1 [FLX03_DP]Local:0:O.1 1794-IB10XOB6
12 Spare DO 3 0 2 [FLX03_DP]Local:0:O.2 1794-IB10XOB6
13 Spare DO 3 0 3 [FLX03_DP]Local:0:O.3 1794-IB10XOB6
14 Spare DO 3 0 4 [FLX03_DP]Local:0:O.4 1794-IB10XOB6
15 Spare DO 3 0 5 [FLX03_DP]Local:0:O.5 1794-IB10XOB6
0 SPU 3 SPU 3 24VDC Primary Supply Spu3_Pri_24VDC AI 3 1 0 [FLX03_DP]Local:1:I.Ch0data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
1 SPU 3 SPU 3 24VDC Secondary Supply Spu3_Sec_24VDC AI 3 1 1 [FLX03_DP]Local:1:I.Ch1data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
2 SPU 3 Reference Voltage Monitor (Positive) Spu3_RefPos_MonitorIO AI 3 1 2 [FLX03_DP]Local:1:I.Ch2data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
3 SPU 3 Reference Voltage Monitor (Negative) Spu3_RefNeg_MonitorIO AI 3 1 3 [FLX03_DP]Local:1:I.Ch3data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
4 Spare AI 3 1 4 [FLX03_DP]Local:1:I.Ch4data 1794-IE8/B
5 Spare AI 3 1 5 [FLX03_DP]Local:1:I.Ch5data 1794-IE8/B
6 Spare AI 3 1 6 [FLX03_DP]Local:1:I.Ch6data 1794-IE8/B
7 Spare AI 3 1 7 [FLX03_DP]Local:1:I.Ch7data 1794-IE8/B
0 Stbd Bow Azimuth Thruster (T3) Stbd Bow Thruster (T3) RPM Command Thr003_CmndIO AO 3 2 0 [FLX03_DP]Local:2:O.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
1 Stbd Bow Azimuth Thruster (T3) Stbd Bow Thruster (T3) Azimuth Command Thr003_CmndAzmDegIO AO 3 2 1 [FLX03_DP]Local:2:O.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
2 Spare AO 3 2 2 [FLX03_DP]Local:2:O.Ch2data 1794-OF4I
3 Spare AO 3 2 3 [FLX03_DP]Local:2:O.Ch3data 1794-OF4I
0 Stbd Bow Azimuth Thruster (T3) Stbd Bow Thruster (T3) RPM Feedback Thr003_FdbkIO AI 3 3 0 [FLX03_DP]Local:3:I.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
1 Stbd Bow Azimuth Thruster (T3) Stbd Bow Thruster (T3) Azimuth Feedback Thr003_FdbkAzmDegIO AI 3 3 1 [FLX03_DP]Local:3:I.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
2 Spare AI 3 3 2 [FLX03_DP]Local:3:I.Ch2data 1794-IF4I
3 Spare AI 3 3 3 [FLX03_DP]Local:3:I.Ch3data 1794-IF4I
SPU 4
0 Port Main Azimuth Thruster (T4) Thruster Ready (T4) Thr004_ReadyIO DI 4 0 0 [FLX04_DP]Local:0:I.0 1794-IB10XOB6
1 Port Main Azimuth Thruster (T4) Thruster in DP (T4) Thr004_DPIO DI 4 0 1 [FLX04_DP]Local:0:I.1 1794-IB10XOB6
2 Bridge-Control Select DP Online 4 DP4_OnlineIO DI 4 0 2 [FLX04_DP]Local:0:I.2 1794-IB10XOB6
3 Bridge-Control Select Ind. JS Online 4 Ind4_OnlineIO DI 4 0 3 [FLX04_DP]Local:0:I.3 1794-IB10XOB6
4 UPS 7 UPS Common Failure Ups007_CommonAlarmIO DI 4 0 4 [FLX04_DP]Local:0:I.4 1794-IB10XOB6
5 UPS 7 UPS AC Line Failure Ups007_ACLineFailureIO DI 4 0 5 [FLX04_DP]Local:0:I.5 1794-IB10XOB6
6 Spare DI 4 0 6 [FLX04_DP]Local:0:I.6 1794-IB10XOB6
7 Spare DI 4 0 7 [FLX04_DP]Local:0:I.7 1794-IB10XOB6
8 Spare DI 4 0 8 [FLX04_DP]Local:0:I.8 1794-IB10XOB6
9 Spare DI 4 0 9 [FLX04_DP]Local:0:I.9 1794-IB10XOB6
10 Spare DO 4 0 0 [FLX04_DP]Local:0:O.0 1794-IB10XOB6
11 Spare DO 4 0 1 [FLX04_DP]Local:0:O.1 1794-IB10XOB6
12 Spare DO 4 0 2 [FLX04_DP]Local:0:O.2 1794-IB10XOB6
13 Spare DO 4 0 3 [FLX04_DP]Local:0:O.3 1794-IB10XOB6
14 Spare DO 4 0 4 [FLX04_DP]Local:0:O.4 1794-IB10XOB6
15 Spare DO 4 0 5 [FLX04_DP]Local:0:O.5 1794-IB10XOB6
0 SPU 4 SPU 4 24VDC Primary Supply Spu4_Pri_24VDC AI 4 1 0 [FLX04_DP]Local:1:I.Ch0data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
1 SPU 4 SPU 4 24VDC Secondary Supply Spu4_Sec_24VDC AI 4 1 1 [FLX04_DP]Local:1:I.Ch1data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
2 SPU 4 Reference Voltage Monitor (Positive) Spu4_RefPos_MonitorIO AI 4 1 2 [FLX04_DP]Local:1:I.Ch2data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
3 SPU 4 Reference Voltage Monitor (Negative) Spu4_RefNeg_MonitorIO AI 4 1 3 [FLX04_DP]Local:1:I.Ch3data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
4 Spare AI 4 1 4 [FLX04_DP]Local:1:I.Ch4data 1794-IE8/B
5 Spare AI 4 1 5 [FLX04_DP]Local:1:I.Ch5data 1794-IE8/B
6 Spare AI 4 1 6 [FLX04_DP]Local:1:I.Ch6data 1794-IE8/B
7 Spare AI 4 1 7 [FLX04_DP]Local:1:I.Ch7data 1794-IE8/B
0 Port Main Azimuth Thruster (T4) Port Main Thruster (T4) RPM Command Thr004_CmndIO AO 4 2 0 [FLX04_DP]Local:2:O.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
1 Port Main Azimuth Thruster (T4) Port Main Thruster (T4) Azimuth Command Thr004_CmndAzmDegIO AO 4 2 1 [FLX04_DP]Local:2:O.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
2 Spare AO 4 2 2 [FLX04_DP]Local:2:O.Ch2data 1794-OF4I
3 Spare AO 4 2 3 [FLX04_DP]Local:2:O.Ch3data 1794-OF4I
0 Port Main Azimuth Thruster (T4) Port Main Thruster (T4) RPM Feedback Thr004_FdbkIO AI 4 3 0 [FLX04_DP]Local:3:I.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
1 Port Main Azimuth Thruster (T4) Port Main Thruster (T4) Azimuth Feedback Thr004_FdbkAzmDegIO AI 4 3 1 [FLX04_DP]Local:3:I.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
2 Spare AI 4 3 2 [FLX04_DP]Local:3:I.Ch2data 1794-IF4I
3 Spare AI 4 3 3 [FLX04_DP]Local:3:I.Ch3data 1794-IF4I

24005290PS-309 Rev. D Commercial in Confidence Page 3 of 7

 Points List
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Sig Sig Field Field Mod Cnts Max Sig Cnts Signal
No Equipment Description Tag Name Type NODE MOD CH Address Sig Min Max Units EUmin EUmax EU Mod Cnts Min Max Rng Factor Offset Module Type Sea Trials Verification
SPU 5
0 Stbd Main Azimuth Thruster (T5) Thruster Ready (T5) Thr005_ReadyIO DI 5 0 0 [FLX05_DP]Local:0:I.0 1794-IB10XOB6
1 Stbd Main Azimuth Thruster (T5) Thruster in DP (T5) Thr005_DPIO DI 5 0 1 [FLX05_DP]Local:0:I.1 1794-IB10XOB6
2 Bridge-Control Select DP Online 5 DP5_OnlineIO DI 5 0 2 [FLX05_DP]Local:0:I.2 1794-IB10XOB6
3 Bridge-Control Select Ind. JS Online 5 Ind5_OnlineIO DI 5 0 3 [FLX05_DP]Local:0:I.3 1794-IB10XOB6
4 UPS 8 UPS Common Failure Ups008_CommonAlarmIO DI 5 0 4 [FLX05_DP]Local:0:I.4 1794-IB10XOB6
5 UPS 8 UPS AC Line Failure Ups008_ACLineFailureIO DI 5 0 5 [FLX05_DP]Local:0:I.5 1794-IB10XOB6
6 Spare DI 5 0 6 [FLX05_DP]Local:0:I.6 1794-IB10XOB6
7 Spare DI 5 0 7 [FLX05_DP]Local:0:I.7 1794-IB10XOB6
8 Spare DI 5 0 8 [FLX05_DP]Local:0:I.8 1794-IB10XOB6
9 Spare DI 5 0 9 [FLX05_DP]Local:0:I.9 1794-IB10XOB6
10 Spare DO 5 0 0 [FLX05_DP]Local:0:O.0 1794-IB10XOB6
11 Spare DO 5 0 1 [FLX05_DP]Local:0:O.1 1794-IB10XOB6
12 Spare DO 5 0 2 [FLX05_DP]Local:0:O.2 1794-IB10XOB6
13 Spare DO 5 0 3 [FLX05_DP]Local:0:O.3 1794-IB10XOB6
14 Spare DO 5 0 4 [FLX05_DP]Local:0:O.4 1794-IB10XOB6
15 Spare DO 5 0 5 [FLX05_DP]Local:0:O.5 1794-IB10XOB6
0 SPU 5 SPU 5 24VDC Primary Supply Spu5_Pri_24VDC AI 5 1 0 [FLX05_DP]Local:1:I.Ch0data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
1 SPU 5 SPU 5 24VDC Secondary Supply Spu5_Sec_24VDC AI 5 1 1 [FLX05_DP]Local:1:I.Ch1data 0 10 VDC 0 40 VDC 0 31200 31200 0.0012821 0 1794-IE8/B ± 10 V
2 SPU 5 Reference Voltage Monitor (Positive) Spu5_RefPos_MonitorIO AI 5 1 2 [FLX05_DP]Local:1:I.Ch2data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
3 SPU 5 Reference Voltage Monitor (Negative) Spu5_RefNeg_MonitorIO AI 5 1 3 [FLX05_DP]Local:1:I.Ch3data -10 10 VDC -20 20 VDC -31200 31200 62400 0.0006410 0 1794-IE8/B ± 10 V
4 Spare AI 5 1 4 [FLX05_DP]Local:1:I.Ch4data 1794-IE8/B
5 Spare AI 5 1 5 [FLX05_DP]Local:1:I.Ch5data 1794-IE8/B
6 Spare AI 5 1 6 [FLX05_DP]Local:1:I.Ch6data 1794-IE8/B
7 Spare AI 5 1 7 [FLX05_DP]Local:1:I.Ch7data 1794-IE8/B
0 Stbd Main Azimuth Thruster (T5) Stbd Main Thruster (T5) RPM Command Thr005_CmndIO AO 5 2 0 [FLX05_DP]Local:2:O.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
1 Stbd Main Azimuth Thruster (T5) Stbd Main Thruster (T5) Azimuth Command Thr005_CmndAzmDegIO AO 5 2 1 [FLX05_DP]Local:2:O.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-OF4I 4-20 mA
2 Spare AO 5 2 2 [FLX05_DP]Local:2:O.Ch2data 1794-OF4I
3 Spare AO 5 2 3 [FLX05_DP]Local:2:O.Ch3data 1794-OF4I
0 Stbd Main Azimuth Thruster (T5) Stbd Main Thruster (T5) RPM Feedback Thr005_FdbkIO AI 5 3 0 [FLX05_DP]Local:3:I.Ch0data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
1 Stbd Main Azimuth Thruster (T5) Stbd Main Thruster (T5) Azimuth Feedback Thr005_FdbkAzmDegIO AI 5 3 1 [FLX05_DP]Local:3:I.Ch1data 4 20 mA 4 20 mA 0 30840 30840 0.0005188 4 1794-IF4I 4-20 mA
2 Spare AI 5 3 2 [FLX05_DP]Local:3:I.Ch2data 1794-IF4I
3 Spare AI 5 3 3 [FLX05_DP]Local:3:I.Ch3data 1794-IF4I

Set ALL Current Input Channels to a FILTER setting of: "1200MHz, No low pass"
Set ALL Voltage Input Channels to a FILTER setting of: "600MHz, 100 ms low pass"
ALL points are present on both the DP and Ind. JS Networks

24005290PS-309 Rev. D Commercial in Confidence Page 4 of 7

 Points List
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

No Equipment Baud Rate Network PLC Topic Tag Name Type Subnet NODE SLOT MOD Address
1 Gyro 1 4.8Kb DP FLX06_DP Serial [0].String I DP Console 1 2 1 21 ACNR_02:1:I
2 Wind 1 4.8Kb DP FLX06_DP Serial [1].String I DP Console 1 2 2 22 ACNR_02:2:I
3 DGPS 1 4.8Kb DP FLX06_DP Serial [2].String I DP Console 1 2 3 23 ACNR_02:3:I
4 Gyro 2 4.8Kb DP FLX07_DP Serial [0].String I DP Console 2 2 1 21 ACNR_02:1:I
5 Gyro 3 4.8Kb DP FLX07_DP Serial [1].String I DP Console 2 2 2 22 ACNR_02:2:I
6 Wind 2 4.8Kb DP FLX07_DP Serial [2].String I DP Console 2 2 3 23 ACNR_02:3:I
7 DGPS 2 4.8Kb DP FLX07_DP Serial [3].String I DP Console 2 2 4 24 ACNR_02:4:I
8 Gyro 1 4.8Kb Ind. JS FLX06_DP Serial [0].String I Ind. JS Console 2 1 21 ACNR_02:1:I
9 Gyro 2 4.8Kb Ind. JS FLX06_DP Serial [1].String I Ind. JS Console 2 2 22 ACNR_02:2:I
10 Gyro 3 4.8Kb Ind. JS FLX06_DP Serial [2].String I Ind. JS Console 2 3 23 ACNR_02:3:I
11 Wind 1 4.8Kb Ind. JS FLX06_DP Serial [3].String I Ind. JS Console 2 4 24 ACNR_02:4:I
12 Wind 2 4.8Kb Ind. JS FLX06_DP Serial [4].String I Ind. JS Console 2 5 25 ACNR_02:5:I

24005290PS-309 Rev. D Commercial in Confidence Page 5 of 7

 Points List
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

Console Serial Port Assignments

COM
Description Port 232/422/485 Baud Rate CPU
Portable Joystick 1 232 19200 DP1, DP2
N/C 2
Touch Screen 3 232 9600 DP1, DP2, Ind. Js
N/C 4
Fanbeam 5 422 9600 DP1, DP2
Hydro-Acoustic 6 422 9600 DP1, DP2
Seismic Computer 7 422 9600 DP1, DP2

Notes:
COM Port is the port settings via Windows operating system.

24005290PS-309 Rev. D Commercial in Confidence Page 6 of 7

 Points List
NMS6000 DP (Class 2) and Independent Joystick System
Stemat Spirit

4-20 mA ± 10 V
min cnts max cnts min cnts max cnts type N_chan
1794-1A16 - - - - DI 16
1794-1A8 - - - - DI 8
1794-1A8I - - - - DI 8
1794-IB10XOB6 - - - - DI/O 16
1794-IB16 - - - - DI 16
1794-IB16D - - - - DI 16
1794-IB8 - - - - DI 8
1734-IB8 - - - - DI 8
1794-IC16 - - - - DI 16
1794-IE4XOE2/B AI/O 6
1794-IE8/B 0 30840 -31200 31200 AI 8
1794-IF2XOF2I AI/O 4
1794-IF4I 0 30840 -31969 31969 AI 4
1794-IM8 - - - - DI 8
1794-IR8 AI 8
1794-IV16 - - - - DI 16
1794-OA16 - - - - DO 16
1794-OA8 - - - - DO 8
1794-OA8I - - - - DO 8
1794-OB16 - - - - DO 16
1794-OB16P - - - - DO 16
1794-OB8 - - - - DO 8
1794-OB8EP - - - - DO 8
1794-OC16 - - - - DO 16
1794-OE4/B AO 4
1794-OF4I 0 30840 -31208 31208 AO 4
1794-OM8 - - - - DO 8
1794-OV16 - - - - DO 16
1794-OV16P - - - - DO 16
1794-OW8 - - - - DO 8

24005290PS-309 Rev. D Commercial in Confidence Page 7 of 7

This page intentionally left blank.
NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24000100TL-009 PORTABLE JOYSTICK ASSY, 25 FT CABLE REV: K Print Date: 04-Apr-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
2 1 EA 24000120TL-003 ENCLOSURE SUB-ASSY, D S
PORTABLE JOYSTICK, ASK400JS

3 1 EA 24000720PA-001 PWA, SWITCH I/F CONTROL Q S

4 1 EA 24000101TL-001 GASKET, PORTABLE JOYSTICK A USE TOOL #90024010NT S

5 1 EA 240-4000-1002-00 TERMINAL STRIP, 10 POS 10-140 CINCH S

7 1 EA 240-3050-1008-00 STRAIN RELIEF, 0.23 - 0.55 3219 HEYCO S

8 1 EA 24000102SC-001 STRAP HARNESS, JOYSTICK C 24000102SC-001 HOTSTUFF S

PORTABLE

9 1 EA 300-0000-1019-00 HANGER-FASTENER,FLUSH FM100C L&MMETALPR S

MOUNT

10 8 EA 006-3422-1324-00 SCREW,FLATHEAD,8-32X1,STAINL MS51959-49B MILSPEC S

ESS STEEL,BLACK OXIDE

11 8 EA 006-3422-1314-07 SCREW,FLTHD,100DEG,8-32UNC-2 N10219 NIXSD R

A X 0.438 L,SST

MS24693-49 MILSPEC
12 4 EA 007-4881-1010-00 NUT, NYLON LOCKING, 6-32 N10368 NIXSD R
UNC-2B, SS

13 4 EA 008-4620-0150-05 WASHER, FLAT, #6, 0.312 DIA, SS N10346 NIXSD R

MS15795-805 MILSPEC

Report: \\NIXSQLDT\deltek\impromptu\Reports\Nautronix Bill Of Materials Reports\New MBOM.imr

Page 1 of 5
NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24000100TL-009 PORTABLE JOYSTICK ASSY, 25 FT CABLE REV: K Print Date: 04-Apr-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
14 4 EA 006-3423-1220-00 SCREW, PANHEAD, 6-32 UNC-2A x N10030 NIXSD R
0.625 L, SS

MS51957-31 MILSPEC
15 25 FT 004-7492-4106-00 CABLE, PORTABLE JOYSTICK CS-009 HYDROCABLE S

16 1 EA 001-0100-0025-00 CONN, CIRCULAR, STRAIGHT, P1 MS3106A20-27P MILSPEC S

SOLID SHELL, 14 POS, MALE

17 1 EA 170-3050-1007-00 STRAIN RELIEF (P1) MS3057-12C MILSPEC S

M85049/2-12C MILSPEC
18 1 EA 170-2000-1025-00 PLUG, PROTECTIVE, GREEN (P1) MS25042-20D MILSPEC S

19 1 EA 170-5000-1001-00 BUSHING, w/o LIP, CABLE CLAMP (P1) MS3420-12A MILSPEC S

SHELL SIZE 20, 22

20 2 EA 300-0000-1012-00 GROMMET, BOTTOM STRAP, 1" 619-1100 ITWNEXUS S

21 4 EA 006-3423-1210-00 SCREW, PANHEAD, 6-32 UNC-2A x N10026 NIXSD R

0.313 L, SS

MS51957-27 MILSPEC
22 1 EA 340-0000-0102-00 LABEL, NAMEPLATE AND SERIAL # N10565 NIXSD R
ID

23 0 AR 280-0000-1008-00 THREADLOCKER, 242 LOCTITE R

NON-PERMANENT

Report: \\NIXSQLDT\deltek\impromptu\Reports\Nautronix Bill Of Materials Reports\New MBOM.imr

Page 2 of 5
NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24000100TL-009 PORTABLE JOYSTICK ASSY, 25 FT CABLE REV: K Print Date: 04-Apr-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
24 1 EA 001-0400-0006-00 CONNECTOR, D-SUB, 9 POS, FEM, P3 747905-2 AMP S
SOLDER CUP

26 1 EA 001-0900-0002-00 CONNECTOR, PC BOARD, DOUBLE P2 102387-3 AMP S

ROW HOUSING, 16 POS, FEM

27 1 EA 170-3000-1001-00 HOUSING, DOUBLE ROW, 20 POS P4 102387-4 AMP S

28 36 EA 240-4050-1014-00 TERMINAL, CRIMP, 24-20 AWG (P2), (P4) 87523-6 AMP S

29 2 EA 008-4644-0338-00 WASHER, NYLON, SHOULDER, #10 5607-186 SEASTROM S

30 2 EA 006-3423-2420-00 SCREW, PANHEAD, 10-32 UNF-2A x N10060 NIXSD R

0.625 L, SS

MS51958-64 MILSPEC
31 4 EA 008-4620-0250-00 WASHER, FLAT, #8, STAINLESS N10347 NIXSD R
STEEL

MS15795-807 MILSPEC
32 4 EA 003-3107-1305-00 STANDOFF, M/F, 1/4 HX, 8-32, 3/8L, 9738-SS-0832 AMATOM S
SS

91075A451 MCMASTERCA
33 4 EA 007-4881-1015-00 NUT, NYLON LOCKING, 8-32 N10369 NIXSD R
UNC-2B, SS

34 0 EA 240-4050-1021-00 LUG,SIZE AND TYPE **LUG** NIXSD R

UNDETERMINED

**LUGS** NIXSD

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24000100TL-009 PORTABLE JOYSTICK ASSY, 25 FT CABLE REV: K Print Date: 04-Apr-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
35 3 EA 550-0000-1002-00 DIODE, 50V, 1A D1, D2, D3 1N4001 MOTOROLA S

36 6 EA 006-3423-1312-00 SCREW, PANHEAD, 8-32 UNC-2A X N10042 NIXSD R

0.375 L, SS

MS51957-43 MILSPEC
37 1 EA 240-2000-1001-00 MARKER STRIP, 10 POS MS-10-140 CINCH S

38 1 EA 520-0000-1009-00 LED,T 1 3/4, RED, MULTI-CHIP, (S4) 10-5306.3252 EAO S

INTEGRAL RES, 6VDC, 45mA

39 3 EA 520-0000-1011-00 LED,T 1 3/4, GREEN, MULTI-CHIP, (S1, S2, S3) 10-5306.3255 EAO S
INTEGRAL RES, 6VDC, 45mA

40 4 EA 510-0000-1048-00 LENS, (BLANK), LARGE (24 x 30 61-9681.7 EAO S

mm), FLUSH MOUNT,
TRANSPARENT

41 1 EA 300-0000-1078-00 SCREW RETAINER KIT, MALE, 205980-1 AMP S

YELLOW CHROMATE, 4-40

42 0 REF 24003075TP FUNCTIONAL TEST, ASK4000 C R

PORTABLE JOYSTICK

43 1 EA 24000112TL-002 PANEL, JOYSTICK, NMS6000, F S

3-AXIS

44 1 EA 320-0000-1008-00 JOYSTICK, 3 AXIS, 10kOhm POTS S50JAK-8024 CALDARO S

45 4 EA 510-0000-1038-00 ACTUATOR, UNIVERSAL, 61-1180.0 (DISCONTINUED) EAO S

MOMENTARY PUSHBUTTON,
FLUSH MOUNT

EUS61-1180.0 (DISCONTINUED) EAO

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24000100TL-009 PORTABLE JOYSTICK ASSY, 25 FT CABLE REV: K Print Date: 04-Apr-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
45... 4... EA... 510-0000-1038-00... ACTUATOR, UNIVERSAL, ... ... 61-1100.0 EAO S... ...
MOMENTARY PUSHBUTTON,
FLUSH MOUNT...

46 4 EA 510-0000-1049-00 BEZEL CLAMP & GASKET, 61-9931.0 EAO S

PLASTIC, LARGE LENS (24 x 30mm)

47 4 EA 510-0000-1079-00 CONTACT BLOCK, SNAP ACTION, 61-8410.22 EAO S

1 PST, NO, GOLD/SILVER
CONTACT

48 1 EA 005-6344-3250-00 RESISTOR,POTENTIOMETER,2.5K RV6NAYSD252A CLAROSTAT S

ohm,1/2W,10% ##

49 1 EA 330-0000-1000-00 KNOB, 1/8 SHAFT, SKIRTED MS91528-0F1B ELECTRONIC S

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24004202TL-002 VRU ENCLOSURE ASSY, WATSON, w/ INTERNAL POWER SUPPLY REV: B Print Date: 12-Mar-2004
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
2 1 EA 450-0000-1013-00 INCLINOMETER,VRU-DUAL AXIS ADS-C232-1A/106 WATSONINDU S
W/EMI SHIELDING
3 1 EA 240-4000-1003-00 TERMINAL BLOCK, 10 POS 10-141 CINCH S

4 1 EA 24003233TL-001 CONVERTER ASSY, DC/DC, 24v IN, E S

+/- 15v @200mA OUT
5 4 EA 003-3007-0207-00 STANDOFF, 1/4 HEX FEMALE, #6 x 2104-632-SS RAF S
1/2L, STAINLESS STEEL
6 1 EA 24003638TL-001 MOUNTING E S
ASSY,VRU,ADJUSTABLE
7 2 EA 240-2050-1008-00 PLUG,BUTTON,BLACK,13/16 BP-13/16 CAPLUG S
DIAMETER
8 2 EA 300-0000-1071-00 CLAMP, SADDLE TC141 THOMAS&BET R

9 1 EA 240-2000-1002-00 MARKER STRIP,10 POSITION MS-10-141 CINCH S

13 0 EA 240-4050-1041-00 TERMINAL LUG,RING,16-14 320560 AMP R

AWG,YELLOW,#8
14 1 EA 250-0000-1007-00 ENCLOSURE, 12 x 10 x 8, HINGED, A12108CH HOFFMAN S
STEEL
E-12108CH RITTAL
15 1 EA 001-0400-0006-00 CONNECTOR, D-SUB, 9 POS, FEM, 747905-2 AMP S
SOLDER CUP
16 1 EA 170-1000-1004-00 BACKSHELL, QUICK SNAP, 9 POS 749914-2 AMP S

20 0 EA 340-0000-0102-00 LABEL, NAMEPLATE AND SERIAL # N10565 NIXSD R

ID
25 1 EA 260-3000-1025-00 PANEL, 8.88" x 10.88", PAINTED A12P10 HOFFMAN S
WHITE
E-12P10 RITTAL
26 2 EA 240-3050-1007-00 STRAIN RELIEF, 0.17 - 0.047 3216 HEYCO S

33 1 EA 300-0000-1078-00 SCREW RETAINER KIT, MALE, 205980-1 AMP S

YELLOW CHROMATE, 4-40

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Page 1 of 2
NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24004202TL-002 VRU ENCLOSURE ASSY, WATSON, w/ INTERNAL POWER SUPPLY REV: B Print Date: 12-Mar-2004
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
35 1 EA 24004211TL-002 LABEL,ADJUSTABLE VRU(4.00H X A S
5.50W)
37 0 AR 280-0000-1022-00 TAK PAK 444 LOCTITE R

38 2 EA 300-0000-1083-00 NUT, SELF-CLINCHING, 6-32, CLS-632-2 PENNENGINE R

STAINLESS STEEL
39 1 EA 300-0000-1082-00 NUT, SELF-CLINCHING, 10-32, CLSS-032-2 PENNENGINE R
STAINLESS STEEL
CLS-032-2 PENNENGINE
40 3 EA 300-0000-1090-00 NUT, SELF-CLINCHING, 1/4-20, CLS-0420-1 PENNENGINE R
STAINLESS STEEL
41 2 EA 550-0000-1002-00 DIODE, 50V, 1A 1N4001 MOTOROLA S

42 0 REF 24004202OI O & I, VERTICAL REFERENCE UNIT A R

ENCLOSURE UNIT

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 MASTER
PDF
Dynamic Positioning & Control Systems
Poway, CA
 Dynamic Positioning & Control Systems
Poway, CA

MASTER
PDF
 MASTER
PDF
Dynamic Positioning & Control Systems
Poway, CA
 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
1 1 REF 24004928OI-004 O & I, CONSOLE COMPONENTS A R

2 1 EA 24004928WD-309A WIRING DIAGRAM, NMS6000 DP A S

CNSL COMP #1, STEMAT
SPIRIT

5 1 EA 24005680SC-037 COMPUTER,INDUSTRIAL,A4300 B S
M,DC IN,P 4,120GB HDD,XP
PRO

6 1 EA 100-2050-1018-00 COMMUNICATION CARD, 1784-PCIC ALLENBRADL S Y

CONTROLNET, REDUNDANT,
PCI, HARD PLC

7 1 EA 100-2050-1019-00 ADAPTER, ETHERNET, PCI, PILA8460BNG1 INTEL S N

INTEL PRO 100 10/100

PILA8460M INTEL Y
8 1 EA 100-4000-1021-00 ADAPTER, SERIAL, CP-114I MOXA S Y
RS232/422/485, PCI, MODEL
CP-114I

11 1 EA 470-0000-1021-00 SOFTWARE, RSView32/LinxPro 9301-2SE3353 ROCKWELLAU S Y

RUNTIME, 5k TAGS, Ver 6.5

12 1 EA 470-0000-1038-00 SOFTWARE, DISK IMAGING, 10024696 (SINGLE ISSUE) SYMANTEC S N

NORTON GHOST 12.0

10024698 (5-PACK) SYMANTEC N

10024699 (10-PACK) SYMANTEC N
11866268 SYMANTEC Y
15 1 EA 220-0000-1020-00 DISPLAY, 17", 24VDC, CAP TCH JH17T02 MMDC2 HATTELAND S Y
SCRN, TFT, MARITIME VIDEO
I/P

16 1 EA 220-1000-1002-00 BRACKET, MOUNTING, for 17.4" 220-1000-1002-00 KINGMFG S Y

MMD TFT DISPLAY

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 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
19 3 EA 24005804TL-001 TRAY, MOUNTING, 19" SLIDING, K S
AMOS COMPUTER

20 3 KT 260-4000-1009-00 SLIDE RAIL KIT, 22", NONPIVOT C-300-S-122 GENERALDEV S Y

21 3 KT 260-5050-1012-00 BRACKET EXTENSION KIT FOR B-308 GENERALDEV S Y

C-300 GENERAL DEVICES
SLIDES

22 12 EA 006-3163-2416-00 SCREW, 10-32 x 0.50, PS10F8CPS01BK STAKEFASTE S Y

SEMI-GLOSS BLACK

23 8 EA 410-2000-1002-00 CONTROLNET COAX Y-TAP 1786-TPYS ALLENBRADL S Y

24 5 EA 001-0200-0005-00 TERMINATOR, 75 Ohm, BNC, 46650-75RFX AMPHENOL S Y

MALE, 1%, 1W

27 1 EA 24005910TL-001 ENCLOSURE, USB PORTABLE A S

HD

28 1 EA 210-0000-1022-00 HARD DRIVE, PORTABLE, USB, WDXML6000UEBN WESTERNDIG S N

80GB

WDXMS800TN WESTERNDIG Y
31 1 EA 24000130TL-005 REMOTE JOYSTICK, A S
TRACKBALL/3-AXIS/ANALOG

32 1 EA 100-0000-1006-00 USB KIT, 3 AXES, 0 BUTTON 100-404 CHPRODUCTS S Y

33 2 EA 240-4000-1026-00 MOUNTING CARRIER, DIN, 35 209-106 WAGO S Y

RAIL

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 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
34 5 EA 170-4000-1035-00 TERMINAL, CRIMP, 22-30 AWG 08-50-0114 MOLEX S Y
2759 SERIES

36 1 EA 140-0000-1020-00 CABLE ASSY, PS/2 EVMPS03-0006-MF BLACKBOXCO S N

EXTENSION, M/F, 6 FT

45-0431-0000 GCELECTRON N
SPC10442 SPCTECHNOL N
SPC20031 SPCTECHNOL Y
37 1 EA 140-0000-1065-00 CABLE ASSY, VGA, DB-15HD, EVNPS06-0025-MM BLACKBOXCO S Y
M/M, 25 FT w/FERRITE CORE

38 1 EA 140-0000-1066-00 CABLE ASSY, SERIAL, DB-9 PIN, BC00233 BLACKBOXCO S Y

M/F, 25 ft

39 1 EA 140-0000-1008-00 CABLE ASSY, CENTRONICS BC00205 BLACKBOXCO S Y

PRINTER, 25 FT

41 1 EA 24005903TL-001 ASSEMBLY, SPEAKER, USB B S

44 1 EA 510-0000-1083-00 CIRCUIT BREAKER, 10A, 1 1492-SP1D100 ALLENBRADL S Y

POLE, DIN RAIL MOUNT,
THERMAL MAGNTC

45 0 IN 240-0000-1023-00 DIN RAIL NS35/7.5 PANDUIT R N

0173.220.05 NEDCO Y
46 8 EA 240-4000-1028-00 END STOP, SCREWLESS, 10MM 249-117 WAGO S Y

47 24 EA 240-4000-1041-00 TERMINAL BLOCK, TRIPLE, 280-547 WAGO S Y

GROUND, THRU/THRU

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 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
48 1 EA 240-4000-1036-00 PLATE, END/INTERMEDIATE 280-304 WAGO S Y
TRIPLE

49 11 EA 240-4000-1053-00 TERMINAL BLOCK, STRAIGHT 281-901 WAGO S Y

THRU

50 2 EA 240-4000-1048-00 END PLATE, THROUGH 281-329 WAGO S Y

TERMINAL

51 1 EA 240-4000-1058-00 TERMINAL BLOCK, STRAIGHT 284-101 WAGO S Y

THRU, 57 AMP

52 1 EA 240-4000-1060-00 END PLATE, TERMINAL BLOCK, 284-302 WAGO S Y

284 SERIES

53 14 EA 240-4000-1057-00 TERMINAL BLOCK, FUSED, 282-698/281-434 WAGO S Y

w/IND

54 1 EA 240-4000-1055-00 END PLATE, FUSE BLOCK 282-333 WAGO S Y

55 1 EA 010-1221-0022-00 FUSE, BLADE TYPE, 10A 257-010 LITTLEFUSE S Y

56 1 EA 010-1221-0034-00 FUSE, BLADE TYPE, 7.5A 32V 257-07.5 LITTLEFUSE S Y

57 2 EA 010-1221-0016-00 FUSE, BLADE TYPE, 4A 257-004 LITTLEFUSE S Y

58 10 EA 010-1221-0008-00 FUSE, BLADE TYPE, 1A 257-001 LITTLEFUSE S Y

61 1 EA 420-0000-1131-00 CONVERTER, DC-DC, 24V PS2 24S24.6HEW CALEX S Y

IN-OUT, 150WATT

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 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
62 5 EA 24003233TL-002 CONVERTER ASSY, DC/DC , 24v F PS3, PS4, PS5, S
IN, +15 @ 700mA Out PS6, PS7

63 1 EA 24003233TL-005 CONVERTER ASSY, DC/DC, 24V B PS1 S

IN 12V @ 900mA OUT

64 24 EA 003-3007-0207-00 STANDOFF, 1/4 HEX FEMALE, 2104-632-SS RAF S Y

#6 x 1/2L, STAINLESS STEEL

91115A127 MCMASTERCA N
67 1 EA 550-0000-1002-00 DIODE, 50V, 1A 1N4001 MOTOROLA S Y

70 4 EA 001-0400-0006-00 CONNECTOR, D-SUB, 9 POS, 5-747905-2 AMP S Y

FEM, SOLDER CUP

71 1 EA 001-0400-0008-00 CONNECTOR, D-SUB, 25 POS, 747912-2 AMP S N

MALE, SOLDER CUP

5-747912-2 AMP Y
72 2 EA 001-0400-0009-00 CONNECTOR, D-SUB, 25 POS, 747913-2 AMP S N
FEM, SOLDER CUP

5-747913-2 AMP Y
73 4 EA 170-1000-1004-00 BACKSHELL, QUICK SNAP, 9 749914-2 AMP S N
POS (USE 170-1000-1014-00)

5749914-2 AMP Y
74 3 EA 170-1000-1003-00 BACKSHELL, DB25, 749626-2 AMP S Y
QUICK-SNAP (USE
170-1000-1013-00)

75 7 EA 300-0000-1078-00 SCREW RETAINER KIT, MALE, 205980-1 (OBSOLETE) AMP S N

YELLOW CHROMATE, 4-40

5205980-1 AMP Y

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 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
81 4 EA 460-0000-1006-00 ISOLATOR, RS422/485, DIN RAIL 485OPDR B&BELECTRO S Y
MOUNTED

82 3 EA 100-4000-1022-00 ADAPTER, SERIAL, RS232 TO 485LDRC B&BELECTRO S Y

RS422/485, ISOLATED, DIN RAIL
MNT

83 1 EA 240-0000-1015-00 SIGNAL SPLITTER, 3 PORT, MODEL 31 TELEBYTE S Y

RS-232

84 4 EA 003-3127-1115-00 STANDOFF, M/F,3/16 H x 4-40, 9736-SS-0440 AMATOM S Y

1L, STAINLESS STEEL

86 1 EA 410-1000-1006-00 PROCESSOR, FLEXLOGIX, 1794-L34 ALLENBRADL S Y

512K MEMORY

87 2 EA 410-2000-1017-00 DAUGHTER CARD, CONTROL 1788-CNCR ALLENBRADL S Y

NET, REDUNDANT MEDIA

88 1 EA 410-2000-1013-00 MEDIA ADAPTER, REDUNDANT, 1734-ACNR ALLENBRADL S Y

POINT I/O CONTROLNET

89 3 EA 410-2050-1009-00 TERMINAL BASE ASSY, SPRING 1734-TBSQ10 ALLENBRADL S Y

CLAMP, POINT I/O

90 3 EA 390-0000-1056-00 MODULE, POINT I/O, RS485 1734-485ASC ALLENBRADL S Y

SIGNAL

93 1 EA 260-0000-1029-00 RACK RAIL, 19", MASTER PACK ORFMPA STARCASE S Y

94 1 EA 260-0000-1030-00 RACK RAIL, 17.5" (4 PAK) ORFCX10RU STARCASE S Y

95 1 EA 260-0000-1031-00 RACK RAIL, 19.25" (4 PACK) ORFC11RU STARCASE S Y

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 MASTER
Bill of Materials PDF
24004928TL-309A CNSL COMP ASSY #1, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
96 4 EA 24005902TL-001 MOUNTING FOOT, 19" RACK A S

100 13 EA 240-4000-1131-00 JUMPER, ADJACENT, NOMINAL 282-402 WAGO S Y

CURRENT 41A, INSULATED

101 8 EA 240-4000-1098-00 JUMPER, ADJACENT, 32A, 281-402 WAGO S Y

GRAY, SERIES 281

102 4 EA 240-4000-1100-00 JUMPER, ADJACENT, GRAY, 280-402 WAGO S Y

RATED CURRENT 24A

103 6 EA 240-4000-1129-00 JUMPER, PUSH-IN WIRE, 249-125 WAGO S Y

18AWG INSULATED

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 MASTER
PDF
Dynamic Positioning & Control Systems
Poway, CA
 Dynamic Positioning & Control Systems
Poway, CA

MASTER
PDF
 Dynamic Positioning & Control Systems
Poway, CA

MASTER
PDF
 MASTER
Bill of Materials PDF
24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
1 1 REF 24004928OI-004 O & I, CONSOLE COMPONENTS A R

2 1 EA 24004928WD-309B WIRING DIAGRAM, NMS6000 DP A S

CNSL COMP #2, STEMAT
SPIRIT

5 1 EA 24005680SC-037 COMPUTER,INDUSTRIAL,A4300 B S
M,DC IN,P 4,120GB HDD,XP
PRO

6 1 EA 100-2050-1018-00 COMMUNICATION CARD, 1784-PCIC ALLENBRADL S Y

CONTROLNET, REDUNDANT,
PCI, HARD PLC

7 1 EA 100-2050-1019-00 ADAPTER, ETHERNET, PCI, PILA8460BNG1 INTEL S N

INTEL PRO 100 10/100

PILA8460M INTEL Y
8 1 EA 100-4000-1021-00 ADAPTER, SERIAL, CP-114I MOXA S Y
RS232/422/485, PCI, MODEL
CP-114I

11 1 EA 470-0000-1021-00 SOFTWARE, RSView32/LinxPro 9301-2SE3353 ROCKWELLAU S Y

RUNTIME, 5k TAGS, Ver 6.5

12 1 EA 470-0000-1038-00 SOFTWARE, DISK IMAGING, 10024696 (SINGLE ISSUE) SYMANTEC S N

NORTON GHOST 12.0

10024698 (5-PACK) SYMANTEC N

10024699 (10-PACK) SYMANTEC N
11866268 SYMANTEC Y
15 1 EA 220-0000-1020-00 DISPLAY, 17", 24VDC, CAP TCH JH17T02 MMDC2 HATTELAND S Y
SCRN, TFT, MARITIME VIDEO
I/P

16 1 EA 220-1000-1002-00 BRACKET, MOUNTING, for 17.4" 220-1000-1002-00 KINGMFG S Y

MMD TFT DISPLAY

Report: \\NIXSQLDT\deltek\impromptu\Reports\L-3 Bill Of Materials Reports\New MBOM (Multiple Revs) - Internal.imr Page 1 of 6
 MASTER
Bill of Materials PDF
24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
19 3 EA 24005804TL-001 TRAY, MOUNTING, 19" SLIDING, K S
AMOS COMPUTER

20 3 KT 260-4000-1009-00 SLIDE RAIL KIT, 22", NONPIVOT C-300-S-122 GENERALDEV S Y

21 3 KT 260-5050-1012-00 BRACKET EXTENSION KIT FOR B-308 GENERALDEV S Y

C-300 GENERAL DEVICES
SLIDES

22 12 EA 006-3163-2416-00 SCREW, 10-32 x 0.50, PS10F8CPS01BK STAKEFASTE S Y

SEMI-GLOSS BLACK

23 8 EA 410-2000-1002-00 CONTROLNET COAX Y-TAP 1786-TPYS ALLENBRADL S Y

24 5 EA 001-0200-0005-00 TERMINATOR, 75 Ohm, BNC, 46650-75RFX AMPHENOL S Y

MALE, 1%, 1W

27 1 EA 24005910TL-001 ENCLOSURE, USB PORTABLE A S

HD

28 1 EA 210-0000-1022-00 HARD DRIVE, PORTABLE, USB, WDXML6000UEBN WESTERNDIG S N

80GB

WDXMS800TN WESTERNDIG Y
31 1 EA 24000130TL-005 REMOTE JOYSTICK, A S
TRACKBALL/3-AXIS/ANALOG

32 1 EA 100-0000-1006-00 USB KIT, 3 AXES, 0 BUTTON 100-404 CHPRODUCTS S Y

33 2 EA 240-4000-1026-00 MOUNTING CARRIER, DIN, 35 209-106 WAGO S Y

RAIL

Report: \\NIXSQLDT\deltek\impromptu\Reports\L-3 Bill Of Materials Reports\New MBOM (Multiple Revs) - Internal.imr Page 2 of 6
 MASTER
Bill of Materials PDF
24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
34 5 EA 170-4000-1035-00 TERMINAL, CRIMP, 22-30 AWG 08-50-0114 MOLEX S Y
2759 SERIES

36 1 EA 140-0000-1020-00 CABLE ASSY, PS/2 EVMPS03-0006-MF BLACKBOXCO S N

EXTENSION, M/F, 6 FT

45-0431-0000 GCELECTRON N
SPC10442 SPCTECHNOL N
SPC20031 SPCTECHNOL Y
37 1 EA 140-0000-1065-00 CABLE ASSY, VGA, DB-15HD, EVNPS06-0025-MM BLACKBOXCO S Y
M/M, 25 FT w/FERRITE CORE

38 1 EA 140-0000-1066-00 CABLE ASSY, SERIAL, DB-9 PIN, BC00233 BLACKBOXCO S Y

M/F, 25 ft

39 1 EA 140-0000-1008-00 CABLE ASSY, CENTRONICS BC00205 BLACKBOXCO S Y

PRINTER, 25 FT

41 1 EA 24005903TL-001 ASSEMBLY, SPEAKER, USB B S

44 1 EA 510-0000-1083-00 CIRCUIT BREAKER, 10A, 1 1492-SP1D100 ALLENBRADL S Y

POLE, DIN RAIL MOUNT,
THERMAL MAGNTC

45 0 IN 240-0000-1023-00 DIN RAIL NS35/7.5 PANDUIT R N

0173.220.05 NEDCO Y
46 8 EA 240-4000-1028-00 END STOP, SCREWLESS, 10MM 249-117 WAGO S Y

47 24 EA 240-4000-1041-00 TERMINAL BLOCK, TRIPLE, 280-547 WAGO S Y

GROUND, THRU/THRU

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 MASTER
Bill of Materials PDF
24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
48 1 EA 240-4000-1036-00 PLATE, END/INTERMEDIATE 280-304 WAGO S Y
TRIPLE

49 11 EA 240-4000-1053-00 TERMINAL BLOCK, STRAIGHT 281-901 WAGO S Y

THRU

50 2 EA 240-4000-1048-00 END PLATE, THROUGH 281-329 WAGO S Y

TERMINAL

51 1 EA 240-4000-1058-00 TERMINAL BLOCK, STRAIGHT 284-101 WAGO S Y

THRU, 57 AMP

52 1 EA 240-4000-1060-00 END PLATE, TERMINAL BLOCK, 284-302 WAGO S Y

284 SERIES

53 14 EA 240-4000-1057-00 TERMINAL BLOCK, FUSED, 282-698/281-434 WAGO S Y

w/IND

54 1 EA 240-4000-1055-00 END PLATE, FUSE BLOCK 282-333 WAGO S Y

55 1 EA 010-1221-0022-00 FUSE, BLADE TYPE, 10A 257-010 LITTLEFUSE S Y

56 2 EA 010-1221-0034-00 FUSE, BLADE TYPE, 7.5A 32V 257-07.5 LITTLEFUSE S Y

57 2 EA 010-1221-0016-00 FUSE, BLADE TYPE, 4A 257-004 LITTLEFUSE S Y

58 9 EA 010-1221-0008-00 FUSE, BLADE TYPE, 1A 257-001 LITTLEFUSE S Y

61 2 EA 420-0000-1131-00 CONVERTER, DC-DC, 24V PS2, PS3 24S24.6HEW CALEX S Y

IN-OUT, 150WATT

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 MASTER
Bill of Materials PDF
24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
62 5 EA 24003233TL-002 CONVERTER ASSY, DC/DC , 24v F PS4, PS5, PS6, S
IN, +15 @ 700mA Out PS7, PS8

63 1 EA 24003233TL-005 CONVERTER ASSY, DC/DC, 24V B PS1 S

IN 12V @ 900mA OUT

64 24 EA 003-3007-0207-00 STANDOFF, 1/4 HEX FEMALE, 2104-632-SS RAF S Y

#6 x 1/2L, STAINLESS STEEL

91115A127 MCMASTERCA N
67 1 EA 550-0000-1002-00 DIODE, 50V, 1A 1N4001 MOTOROLA S Y

70 4 EA 001-0400-0006-00 CONNECTOR, D-SUB, 9 POS, 5-747905-2 AMP S Y

FEM, SOLDER CUP

73 4 EA 170-1000-1004-00 BACKSHELL, QUICK SNAP, 9 749914-2 AMP S N

POS (USE 170-1000-1014-00)

5749914-2 AMP Y
75 4 EA 300-0000-1078-00 SCREW RETAINER KIT, MALE, 205980-1 (OBSOLETE) AMP S N
YELLOW CHROMATE, 4-40

5205980-1 AMP Y
81 5 EA 460-0000-1006-00 ISOLATOR, RS422/485, DIN RAIL A2, A3, A4, A7, 485OPDR B&BELECTRO S Y
MOUNTED A8

82 3 EA 100-4000-1022-00 ADAPTER, SERIAL, RS232 TO A5, A6, A9 485LDRC B&BELECTRO S Y

RS422/485, ISOLATED, DIN RAIL
MNT

86 1 EA 410-1000-1006-00 PROCESSOR, FLEXLOGIX, 1794-L34 ALLENBRADL S Y

512K MEMORY

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 MASTER
Bill of Materials PDF
24004928TL-309B CNSL COMP ASSY #2, NMS6000 DP, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
87 2 EA 410-2000-1017-00 DAUGHTER CARD, CONTROL 1788-CNCR ALLENBRADL S Y
NET, REDUNDANT MEDIA

88 1 EA 410-2000-1013-00 MEDIA ADAPTER, REDUNDANT, 1734-ACNR ALLENBRADL S Y

POINT I/O CONTROLNET

89 4 EA 410-2050-1009-00 TERMINAL BASE ASSY, SPRING 1734-TBSQ10 ALLENBRADL S Y

CLAMP, POINT I/O

90 4 EA 390-0000-1056-00 MODULE, POINT I/O, RS485 1734-485ASC ALLENBRADL S Y

SIGNAL

93 1 EA 260-0000-1029-00 RACK RAIL, 19", MASTER PACK ORFMPA STARCASE S Y

94 1 EA 260-0000-1030-00 RACK RAIL, 17.5" (4 PAK) ORFCX10RU STARCASE S Y

95 1 EA 260-0000-1031-00 RACK RAIL, 19.25" (4 PACK) ORFC11RU STARCASE S Y

96 4 EA 24005902TL-001 MOUNTING FOOT, 19" RACK A S

100 13 EA 240-4000-1131-00 JUMPER, ADJACENT, NOMINAL 282-402 WAGO S Y

CURRENT 41A, INSULATED

101 8 EA 240-4000-1098-00 JUMPER, ADJACENT, 32A, 281-402 WAGO S Y

GRAY, SERIES 281

103 6 EA 240-4000-1129-00 JUMPER, PUSH-IN WIRE, 249-125 WAGO S Y

18AWG INSULATED

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MASTER
PDF
 Dynamic Positioning & Control Systems
Poway, CA

MASTER
PDF
 MASTER
PDF
Dynamic Positioning & Control Systems
Poway, CA
 MASTER
Bill of Materials PDF
24004928TL-309C CNSL COMP ASSY, NMS6000 IND. JS, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
1 1 REF 24004928OI-004 O & I, CONSOLE COMPONENTS A R

2 1 EA 24004928WD-309C WIRING DIAGRAM, NMS6000 A S

IND. JS CONSOLE, STEMAT
SPIRIT

5 1 EA 24005680SC-037 COMPUTER,INDUSTRIAL,A4300 B S
M,DC IN,P 4,120GB HDD,XP
PRO

6 1 EA 100-2050-1018-00 COMMUNICATION CARD, 1784-PCIC ALLENBRADL S Y

CONTROLNET, REDUNDANT,
PCI, HARD PLC

11 1 EA 470-0000-1021-00 SOFTWARE, RSView32/LinxPro 9301-2SE3353 ROCKWELLAU S Y

RUNTIME, 5k TAGS, Ver 6.5

12 1 EA 470-0000-1038-00 SOFTWARE, DISK IMAGING, 10024696 (SINGLE ISSUE) SYMANTEC S N

NORTON GHOST 12.0

10024698 (5-PACK) SYMANTEC N

10024699 (10-PACK) SYMANTEC N
11866268 SYMANTEC Y
15 1 EA 220-0000-1020-00 DISPLAY, 17", 24VDC, CAP TCH JH17T02 MMDC2 HATTELAND S Y
SCRN, TFT, MARITIME VIDEO
I/P

16 1 EA 220-1000-1002-00 BRACKET, MOUNTING, for 17.4" 220-1000-1002-00 KINGMFG S Y

MMD TFT DISPLAY

19 2 EA 24005804TL-001 TRAY, MOUNTING, 19" SLIDING, K S

AMOS COMPUTER

20 2 KT 260-4000-1009-00 SLIDE RAIL KIT, 22", NONPIVOT C-300-S-122 GENERALDEV S Y

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 MASTER
Bill of Materials PDF
24004928TL-309C CNSL COMP ASSY, NMS6000 IND. JS, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
21 2 KT 260-5050-1012-00 BRACKET EXTENSION KIT FOR B-308 GENERALDEV S Y
C-300 GENERAL DEVICES
SLIDES

22 8 EA 006-3163-2416-00 SCREW, 10-32 x 0.50, PS10F8CPS01BK STAKEFASTE S Y

SEMI-GLOSS BLACK

23 8 EA 410-2000-1002-00 CONTROLNET COAX Y-TAP 1786-TPYS ALLENBRADL S Y

24 6 EA 001-0200-0005-00 TERMINATOR, 75 Ohm, BNC, 46650-75RFX AMPHENOL S Y

MALE, 1%, 1W

27 1 EA 24005910TL-001 ENCLOSURE, USB PORTABLE A S

HD

28 1 EA 210-0000-1022-00 HARD DRIVE, PORTABLE, USB, WDXML6000UEBN WESTERNDIG S N

80GB

WDXMS800TN WESTERNDIG Y
31 1 EA 24000130TL-005 REMOTE JOYSTICK, A S
TRACKBALL/3-AXIS/ANALOG

32 1 EA 100-0000-1006-00 USB KIT, 3 AXES, 0 BUTTON 100-404 CHPRODUCTS S Y

33 2 EA 240-4000-1026-00 MOUNTING CARRIER, DIN, 35 209-106 WAGO S Y

RAIL

34 5 EA 170-4000-1035-00 TERMINAL, CRIMP, 22-30 AWG 08-50-0114 MOLEX S Y

2759 SERIES

36 1 EA 140-0000-1020-00 CABLE ASSY, PS/2 EVMPS03-0006-MF BLACKBOXCO S N

EXTENSION, M/F, 6 FT

45-0431-0000 GCELECTRON N

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 MASTER
Bill of Materials PDF
24004928TL-309C CNSL COMP ASSY, NMS6000 IND. JS, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
36... 1... EA... 140-0000-1020-00... CABLE ASSY, PS/2 ... ... SPC10442 SPCTECHNOL S... ... N
EXTENSION, M/F, 6 FT...

SPC20031 SPCTECHNOL Y
37 1 EA 140-0000-1065-00 CABLE ASSY, VGA, DB-15HD, EVNPS06-0025-MM BLACKBOXCO S Y
M/M, 25 FT w/FERRITE CORE

38 1 EA 140-0000-1066-00 CABLE ASSY, SERIAL, DB-9 PIN, BC00233 BLACKBOXCO S Y

M/F, 25 ft

41 1 EA 24005903TL-001 ASSEMBLY, SPEAKER, USB B S

44 1 EA 510-0000-1083-00 CIRCUIT BREAKER, 10A, 1 1492-SP1D100 ALLENBRADL S Y

POLE, DIN RAIL MOUNT,
THERMAL MAGNTC

45 0 IN 240-0000-1023-00 DIN RAIL NS35/7.5 PANDUIT R N

0173.220.05 NEDCO Y
46 6 EA 240-4000-1028-00 END STOP, SCREWLESS, 10MM 249-117 WAGO S Y

47 11 EA 240-4000-1041-00 TERMINAL BLOCK, TRIPLE, 280-547 WAGO S Y

GROUND, THRU/THRU

48 1 EA 240-4000-1036-00 PLATE, END/INTERMEDIATE 280-304 WAGO S Y

TRIPLE

49 6 EA 240-4000-1053-00 TERMINAL BLOCK, STRAIGHT 281-901 WAGO S Y

THRU

50 1 EA 240-4000-1048-00 END PLATE, THROUGH 281-329 WAGO S Y

TERMINAL

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 MASTER
Bill of Materials PDF
24004928TL-309C CNSL COMP ASSY, NMS6000 IND. JS, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
51 1 EA 240-4000-1058-00 TERMINAL BLOCK, STRAIGHT 284-101 WAGO S Y
THRU, 57 AMP

52 1 EA 240-4000-1060-00 END PLATE, TERMINAL BLOCK, 284-302 WAGO S Y

284 SERIES

53 10 EA 240-4000-1057-00 TERMINAL BLOCK, FUSED, 282-698/281-434 WAGO S Y

w/IND

54 1 EA 240-4000-1055-00 END PLATE, FUSE BLOCK 282-333 WAGO S Y

55 1 EA 010-1221-0022-00 FUSE, BLADE TYPE, 10A 257-010 LITTLEFUSE S Y

57 2 EA 010-1221-0016-00 FUSE, BLADE TYPE, 4A 257-004 LITTLEFUSE S Y

58 7 EA 010-1221-0008-00 FUSE, BLADE TYPE, 1A 257-001 LITTLEFUSE S Y

62 3 EA 24003233TL-002 CONVERTER ASSY, DC/DC , 24v F S

IN, +15 @ 700mA Out

64 12 EA 003-3007-0207-00 STANDOFF, 1/4 HEX FEMALE, 2104-632-SS RAF S Y

#6 x 1/2L, STAINLESS STEEL

91115A127 MCMASTERCA N
81 3 EA 460-0000-1006-00 ISOLATOR, RS422/485, DIN RAIL 485OPDR B&BELECTRO S Y
MOUNTED

86 1 EA 410-1000-1006-00 PROCESSOR, FLEXLOGIX, 1794-L34 ALLENBRADL S Y

512K MEMORY

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 MASTER
Bill of Materials PDF
24004928TL-309C CNSL COMP ASSY, NMS6000 IND. JS, STEMAT SPIRIT REV: B Print Date: 23-Jun-2009
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N Pref
87 2 EA 410-2000-1017-00 DAUGHTER CARD, CONTROL 1788-CNCR ALLENBRADL S Y
NET, REDUNDANT MEDIA

88 1 EA 410-2000-1013-00 MEDIA ADAPTER, REDUNDANT, 1734-ACNR ALLENBRADL S Y

POINT I/O CONTROLNET

89 5 EA 410-2050-1009-00 TERMINAL BASE ASSY, SPRING 1734-TBSQ10 ALLENBRADL S Y

CLAMP, POINT I/O

90 5 EA 390-0000-1056-00 MODULE, POINT I/O, RS485 1734-485ASC ALLENBRADL S Y

SIGNAL

93 1 EA 260-0000-1029-00 RACK RAIL, 19", MASTER PACK ORFMPA STARCASE S Y

94 1 EA 260-0000-1030-00 RACK RAIL, 17.5" (4 PAK) ORFCX10RU STARCASE S Y

95 1 EA 260-0000-1031-00 RACK RAIL, 19.25" (4 PACK) ORFC11RU STARCASE S Y

96 4 EA 24005902TL-001 MOUNTING FOOT, 19" RACK A S

100 9 EA 240-4000-1131-00 JUMPER, ADJACENT, NOMINAL 282-402 WAGO S Y

CURRENT 41A, INSULATED

101 5 EA 240-4000-1098-00 JUMPER, ADJACENT, 32A, 281-402 WAGO S Y

GRAY, SERIES 281

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 Bill of Materials

24004996TL-309A SPU #1 ASSY, NMS6000, STEMAT SPIRIT REV: B Print Date: 17-Mar-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
1 1 REF S 24014996TL-001 SPU ASSY, NMS6000-DP, SINGLE B
PROPULSOR, GENERIC
2 1 EA R 24004996WD-309A WIRING DIAGRAM, SPU #1, E
NMS6000-DP, STEMAT SPIRIT
3 1 EA S 410-2000-1017-00 DAUGHTER CARD, CONTROL NET, 1788-CNCR ALLENBRADL Y
REDUNDANT MEDIA
4 2 EA S 410-2000-1001-00 T-TAP, COAX, CONTROL NET 1786-TPR ALLENBRADL Y
5 1 EA S 001-0200-0005-00 TERMINATOR, 75 Ohm, BNC, MALE, 46650-75RFX AMPHENOL Y
1%, 1W

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 Bill of Materials

24004996TL-309B SPU #2 ASSY, NMS6000, STEMAT SPIRIT REV: B Print Date: 17-Mar-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
1 1 REF S 24014996TL-001 SPU ASSY, NMS6000-DP, SINGLE B
PROPULSOR, GENERIC
2 1 EA R 24004996WD-309B WIRING DIAGRAM, SPU #2, D
NMS6000-DP, STEMAT SPIRIT
3 1 EA S 410-2000-1017-00 DAUGHTER CARD, CONTROL NET, 1788-CNCR ALLENBRADL Y
REDUNDANT MEDIA
4 2 EA S 410-2000-1001-00 T-TAP, COAX, CONTROL NET 1786-TPR ALLENBRADL Y

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 Bill of Materials

24004996TL-309C SPU #3 ASSY, NMS6000, STEMAT SPIRIT REV: B Print Date: 17-Mar-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
1 1 REF S 24014996TL-001 SPU ASSY, NMS6000-DP, SINGLE B
PROPULSOR, GENERIC
2 1 EA R 24004996WD-309C WIRING DIAGRAM, SPU #3, E
NMS6000-DP, STEMAT SPIRIT
3 1 EA S 410-2000-1017-00 DAUGHTER CARD, CONTROL NET, 1788-CNCR ALLENBRADL Y
REDUNDANT MEDIA
4 2 EA S 410-2000-1001-00 T-TAP, COAX, CONTROL NET 1786-TPR ALLENBRADL Y

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 Bill of Materials

24004996TL-309D SPU #4 ASSY, NMS6000, STEMAT SPIRIT REV: B Print Date: 17-Mar-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
1 1 REF S 24014996TL-001 SPU ASSY, NMS6000-DP, SINGLE B
PROPULSOR, GENERIC
2 1 EA R 24004996WD-309D WIRING DIAGRAM, SPU #4, E
NMS6000-DP, STEMAT SPIRIT
3 1 EA S 410-2000-1017-00 DAUGHTER CARD, CONTROL NET, 1788-CNCR ALLENBRADL Y
REDUNDANT MEDIA
4 2 EA S 410-2000-1001-00 T-TAP, COAX, CONTROL NET 1786-TPR ALLENBRADL Y
5 1 EA S 001-0200-0005-00 TERMINATOR, 75 Ohm, BNC, MALE, 46650-75RFX AMPHENOL Y
1%, 1W

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 Bill of Materials

24004996TL-309E SPU #5 ASSY, NMS6000, STEMAT SPIRIT REV: B Print Date: 17-Mar-2010
Item Qty UOM PT Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer Substitute P/N Pref
1 1 REF S 24014996TL-001 SPU ASSY, NMS6000-DP, SINGLE B
PROPULSOR, GENERIC
2 1 EA R 24004996WD-309E WIRING DIAGRAM, SPU #5, D
NMS6000-DP, STEMAT SPIRIT
3 1 EA S 410-2000-1017-00 DAUGHTER CARD, CONTROL NET, 1788-CNCR ALLENBRADL Y
REDUNDANT MEDIA
4 2 EA S 410-2000-1001-00 T-TAP, COAX, CONTROL NET 1786-TPR ALLENBRADL Y
5 1 EA S 001-0200-0005-00 TERMINATOR, 75 Ohm, BNC, MALE, 46650-75RFX AMPHENOL Y
1%, 1W
6 1 EA S 24004267TL-005 LABEL IDENTIFICATION, SPU 5 A

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24005282TL-001 CONNECTION BOX, PORTABLE JOYSTICK ASSY REV: C Print Date: 20-Apr-2007
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
1 1 EA 250-0000-1026-00 ENCLOSURE, 6 x 6 x 4, STAINLESS A-606CHNFSS HOFFMAN S
STEEL, NEMA 4X

E-606CHNFSS RITTAL
BN4060604CHSS WIEGMANN
2 1 EA 001-0100-0015-00 CONN, CIRCULAR, BOX MOUNT, MS3102A20-27S MILSPEC S
SOLID SHELL, 14 POS, FEMALE

3 1 EA 170-2000-1017-00 CAP, RECPTACLE PROTECTION, MS25043-20D MILSPEC S

GREEN

4 4 EA 006-3423-1116-00 SCREW, PANHEAD, 4-4O UNC-2A x N10016 NIXSD R

0.50 L, SS

MS51957-17 MILSPEC
5 8 EA 008-4620-0002-00 WASHER, FLAT, #4, 0.312 N10613 NIXSD R
DIAMETER, STAINLESS STEEL

MS15795-804 MILSPEC
6 4 EA 007-4881-1005-00 NUT, NYLON LOCKING, 4-40 N10367 NIXSD R
UNC-2B, SS

MS21044-C04 MILSPEC
7 1 EA 240-3050-1020-00 CORD CONNECTOR,1/2 SHC1024SS HUBBEL S
NPT,STAINLESS STEEL,CORD
RANGE 0.50-0.63"

8 1 EA 007-4862-3048-00 LOCKNUT,1/2NPT CORD CONN 00322001 HUBBEL S

9 1 EA 240-4000-1002-00 TERMINAL STRIP, 10 POS 10-140 CINCH S

10 4 EA 006-3423-1324-00 SCREW,PANHEAD,8-32UNC-2A X N10048 NIXSD R

1.00 L,SST

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24005282TL-001 CONNECTION BOX, PORTABLE JOYSTICK ASSY REV: C Print Date: 20-Apr-2007
Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
10... 4... EA... 006-3423-1324-00... SCREW,PANHEAD,8-32UNC-2A X ... ... MS51957-49 MILSPEC R... ...
1.00 L,SST...

11 4 EA 007-4881-1015-00 NUT, NYLON LOCKING, 8-32 N10369 NIXSD R

UNC-2B, SS

12 4 EA 008-4620-0250-00 WASHER, FLAT, #8, STAINLESS N10347 NIXSD R

STEEL

MS15795-807 MILSPEC
14 1 EA 260-3000-1048-00 PANEL, 4.88 x 4.88, STAINLESS A-6P6SS HOFFMAN S
STEEL

E 6P6SS RITTAL
P0606SS WIEGMANN
15 1 EA 240-2000-1001-00 MARKER STRIP, 10 POS MS-10-140 CINCH S

16 1 EA 440-0000-1067-00 O-RING, 0.799" ID, BUNA N 2-117N674-70 PARKERSEAL S

9452K81 MCMASTERCA
99 0 REF 24005282WD-001 WIRING DIAGRAM, STANDARD, E R
PORTABLE JS CONNECTION BOX

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24005875TL-010 UPS, 24V, 10A REV: C Print Date: 15-May-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
1 1 REF 24005875WD-010 WIRING DIAGRAM, UPS, 24V, 10A C S

2 1 EA 24004990TL-006 ENCLOSURE, UPS, 24V, 10A A S

3 1 EA 24004992TL-006 PANEL, 16.75 x 14.88, for 18 x 16 A B

HINGED ENCLOSURE

7 1 EA 420-0000-1156-00 POWER SUPPLY, SINGLE-PHASE, 2938604 PHOENIXCON S

24DC, 10AMP, PHOENIX CONTACT

8 1 EA 420-0000-1154-00 UPS, 24VDC, 20A, PHOENIX 2866239 PHOENIXCON S

CONTACT

9 1 EA 110-3000-1013-00 BATTERY, LEAD 2866365 PHOENIXCON S

GEL,RECHARGEABLE, 24DC,
12AH, PHOENIX CONTACT

11 0 AR 240-0000-1023-00 DIN RAIL NS35/7.5 PANDUIT R

12 5 EA 240-4000-1115-00 END BRACKET, 9.5MM, GRAY 0800886 PHOENIXCON S

13 7 EA 011-1397-0273-00 RELAY, 1 PDT, 24V COIL, 6A 2966472 PHOENIXCON S

CONTACT, DIN RAIL MOUNT

14 1 EA 011-1398-0273-00 RELAY, 2 PDT, 24V COIL, 6A 2912507 PHOENIXCON S

CONTACT, DIN RAIL MOUNT

15 4 EA 240-4000-1120-00 TERMINAL BLOCK, DOUBLE, 3031429 PHOENIXCON S

CAGE, GRAY

16 1 EA 240-4000-1123-00 PLATE, END, DOUBLE, GRAY 3030462 PHOENIXCON S

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24005875TL-010 UPS, 24V, 10A REV: C Print Date: 15-May-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
17 1 EA 510-0000-1173-00 CIRCUIT BREAKER, 6AMP, 2 POLE, TMC42-02-6-0A PHOENIXCON S
THERMAL MAGNETIC

5650136 PHOENIXCON
0902218 PHOENIXCON
18 2 EA 510-0000-1174-00 CIRCUIT BREAKER, 16 AMP, 2 TMC42-02-16A PHOENIXCON S
POLE, THERMAL MAGNETIC

5650142 PHOENIXCON
0902247 PHOENIXCON
22 1 EA 520-0000-1063-00 LIGHT, PILOT, PLASTIC, GREEN, 800FP-P3 ALLENBRADL S
800F

23 1 EA 520-0000-1064-00 LIGHT, PILOT, PLASTIC, RED, 800F 800FP-P4 ALLENBRADL S

24 1 EA 520-0000-1065-00 LIGHT, PILOT, PLASTIC, YELLOW, 800FP-P5 ALLENBRADL S

800F

25 1 EA 510-0000-1164-00 PUSH BUTTON, MOMENTARY, 800FP-F2 ALLENBRADL S

PLASTIC, FLUSH, BLACK, 800F

26 3 EA 520-0000-1062-00 LED MODULE, (SPRING CLAMP), 800FQ3W ALLENBRADL S

24VDC, WHITE

27 4 EA 510-1000-1006-00 LATCH, PLASTIC, 800F 800F-ALP ALLENBRADL S

28 2 EA 510-0000-1160-00 SWITCH, CONTACT BLOCK, N/O, 800FQ10 ALLENBRADL S

SPRING CLAMP, 800F

30 1 EA 450-0000-1048-00 ALARM, CONTINUOUS PIEZO 56965T13 MCMASTERCA S

TONE, MINIATURE, 1-28VDC, 90db
@1FT

Report: S:\impromptu\Reports\Nautronix Bill Of Materials Reports\New MBOM.imr

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NAUTRONIX INC
www.nautronix.com
MARINE TECHNOLOGY SOLUTIONS

24005875TL-010 UPS, 24V, 10A REV: C Print Date: 15-May-2008

Item Qty UOM Part Number Description Rev Reference Des. Component Line Notes Mfg P/N Manufacturer PT Substitute P/N
31 1 EA 240-4000-1122-00 TERMINAL BLOCK, GROUND, 3031380 PHOENIXCON S
CAGE

32 1 EA 240-4000-1121-00 PLATE, END, SINGLE, GRAY 3030420 PHOENIXCON S

33 2 EA 240-4000-1124-00 JUMPER, TERMINAL BLOCK, 4 3030255 PHOENIXCON S

POSITION

40 1 EA 510-1000-1012-00 INDICATOR, LEGEND PLATE, 800F-11BE100L ALLENBRADL S

SINGLE LINE, "LINE OK", 800F

41 1 EA 510-1000-1010-00 INDICATOR, LEGEND PLATE, 800F-11BE100L ALLENBRADL S

SINGLE LINE, "BATT CHARGE",
800F

42 1 EA 510-1000-1011-00 INDICATOR, LEGEND PLATE, 800F-11BE100L ALLENBRADL S

SINGLE LINE, "ALARM", 800F

43 1 EA 510-1000-1009-00 INDICATOR, LEGEND, DUAL LINE, 800F 12BE 100K ALLENBRADL S

"SILENCE PUSH TO TEST", 800F

44 0 AR 300-0000-1067-00 SADDLE CLAMP TC142 THOMAS&BET R

45 2 EA 010-1221-0026-00 FUSE, BLADE TYPE, 25A 257-025 LITTLEFUSE S

Report: S:\impromptu\Reports\Nautronix Bill Of Materials Reports\New MBOM.imr

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