Icon DP Sys - User Manual

1 Introduction
2 Safety
User Manual
3 System Description
Rolls-Royce
Icon DP2
4 Delivery Specification
5 Technical Data
6 Operating Instruction
7 Maintenance Instructions
8 Trouble Shooting
9 Contact List
10 Spare parts
Project: : Jackson Offshore
BAE Systems H-255
Order no. : 12S001678
Document : CAA-111220-01MU
11 Tools
Revision : A
Date : 12.12.2013
12 Design drawings
Copyright © 2013 Rolls-Royce plc

The information in this document is the property of Rolls-Royce plc and
may not be copied or communicated to a third party, or used for any 13 Revision
purpose other than that for which it is supplied without the express written
consent of Rolls-Royce Marine plc.
This information is given in good faith based upon the latest information
available to Rolls-Royce plc, no warranty or representation is given
concerning such information, which must not be taken as establishing any
contractual or other commitment binding upon Rolls-Royce plc or any of CD Subsuppliers manuals
its subsidiary or associated companies.
[THIS PAGE IS INTENTIONALLY LEFT BLANK]
1
Introduction
1 Purpose .....................................................................................................1-3
2 Contents ....................................................................................................1-3
3 Target Groups ...........................................................................................1-3
4 Terms and Abbreviations ........................................................................1-4
5 References ................................................................................................1-5

The content of this document is the property of Rolls-Royce plc and may not be redistributed in whole or in part thereof without
Doc. No.: CAA-021001-01MU
express written consent of Rolls-Royce plc. Revision: C
Doc. No.: CAA-021001-01MU Copyright © 2008 Rolls-Royce plc
Revision: C
Introduction
1
1 Purpose
The purpose of the Icon User Manual is to provide the necessary information to plan and
perform a safe and correct operation of the installed system, as well as under-standing
the basic functionality of the equipment. The User Manual covers both operational and
technical aspects of the system.
The personnel involved in using the system must have relevant experience and training
with regards to the use of such systems.
2 Contents
This manual contains the following chapters:
Chapter Contents
1. Introduction This chapter specifies the purpose and target groups for the
manual. It also contains list of used abbreviations and a
specification of the document conventions.
2. Safety This chapter specifies safety instructions to follow when
operating and maintaining system.
3. System Description This chapter briefly describes the system components, the
system design and the functionality.
4. Delivery Specification This chapter specifies the delivered equipment.
5. Technical Data This chapter contains technical specifications and
performance data.
6. Operating Instructions This chapter describes how to use the Icon system.
7. Maintenance Instructions This chapter describes how to maintain the Icon system,
including both preventive and corrective actions.
8. Trouble Shooting This chapter describes how to act when a malfunction occur
in the Icon system.
9. Contact List This chapter contains contact information for Rolls-Royce
Marine, Dept. Control Aalesund and Rolls-Royce World Wide
Support Organization.
10. Spare Parts This chapter specifies recommended spare parts for the Icon
system.
11. Tools This chapter describes required and recommended tools for
the maintenance of the system.
12. Design Drawings This chapter consists of design drawings that serve as an
information source about the installed system.
13. Revision This chapter contains the revision history for the total binder,
including a listing of contained documents.
14. Subsuppliers Manuals This chapter contains documentation from other suppliers
than Rolls-Royce, if such has been delivered by RRM.
3 Target Groups
The User Manual is primarily intended for the user of the system. The user must be
properly trained in using and maintaining the system.
Doc. No.: CAA-021001-01MU Copyright © 2008 Rolls-Royce plc Page 1-3 of 6

Revision: C
Introduction
4 Terms and Abbreviations
Abbreviation or term Description

AC, DC Alternating Current, Direct Current
AI, AO Analogue Input, Analogue Output
Az Azimuth
BASE-T Basic twisted pair
CAA Control - Aalesund
CAN-bus Controller Area Network Bus
CB Circuit Breaker
NC Normally Closed
CPP Controllable Pitch Propeller
CTE Cross Track Error
CW, CCW Clockwise, Counter-clockwise
DGPS Differential Global Positioning System
DI, DO Digital Input, Digital Output
DP Dynamic Positioning
DPC DP Controller (Marine Controller used for DP calculations)
ETA Estimated Time of Arrival
EMC Electromagnetic Compatibility
ESD Electrostatic Discharge
FAT Factory Acceptance Test
FWD, BWD Forward, Backward
GNSS Global Navigation Satellite System
GSN Global Support Network
GUI Graphical User Interface
HAT Harbour Acceptance Test
HDG Heading
HDOP Horizontal Dilution of Precision
Heave Vertical motion of the entire ship
H/W, S/W Hardware, Software
HUD Head-up Display
IBS Integrated Bridge System
I/O Input/Output
IMO International Maritime Organization
IOC I/O Controller (Marine Controller used for I/O calculations)
JS Joystick System
LAN Local Area Network
LED Light Emitting Diode
MultiMode, MM Fibre-optic cable which allows multiple modes (light rays) to pass
through it
NMEA National Marine Electronics Association
MP Main Propeller
N/A Not Applicable
NO Normally Open
Page 1-4 of 6 Copyright © 2008 Rolls-Royce plc Doc. No.: CAA-021001-01MU

Revision: C
Introduction
1
Abbreviation or term Description
Outstation An outstation provides the interface necessary for the inter-
connection between the control system and the equipment to be
controlled/monitored (i.e. thruster or switchboard/PMS)
Pitch The motion of a ship about her transverse axis. This causes the
forward and aft ends of the ship to rise and fall repeatedly.
Pitch is also used as denomination for the angle of the propeller

blades.
PMS Power Management System
RPM Revolutions Per Minute
Roll The motion of a ship about her longitudinal axis. This causes the
ship to rock from side to side.
RRM Rolls-Royce Marine
RRMC Rolls-Royce Marine Controller
RSG Rudder Steering Gear
SAT Sea Acceptance Test
SB, SWBD Switchboard
Stbd, Pt Starboard, Port
S-FTP Braid and foil screened twisted pair
SP Setpoint
ST Straight Tip (a fibre-optic connector used with multimode fiber)
STP Shielded Twisted Pair
Surge Alongship movement
Sway Athwartship movement
THR Thruster system
VRU Vertical Reference Unit (also called VRS)
WP Waypoint
XTE Cross Track Deviation
Yaw Rotation about the centre of selected rotation
5 References
References to delivery specific documents are only shown as suffixes in this document.
The document ID syntax is:
CAA-<Project Number>- <Suffix>
See front page of this manual for the delivery specific project number. It is also specified
on the attached lists and drawings to this manual.
Type Suffix Description
Drawings 01DC Cable Diagram
0xDW Wiring Diagram
01DM Mechanical Drawing
01DL Layout Drawing
Listings 01LI Main Item List

01LC Cable List
01LF Fuse List

Revision: C
Introduction
Type Suffix Description

01LN Network List
Documents 01TS Sea Trial Acceptance Test (SAT)

01TF Factory Acceptance Test Procedure
nnMI Installation Manual *)
nnMU User Manual *)
nnMX Common document for Installation and User Manual *)
For Installation and User Manuals, the initial two digits specifies the Chapter No.

Revision: C
Safety 2
1 Introduction ...............................................................................................2-3
2 Disclaimer .................................................................................................2-3
3 Safety Instructions ...................................................................................2-4
4 Safety Messages .......................................................................................2-4

The information in this document is the property of Rolls-Royce plc and may not be copied or communicated to a third party, or
Doc. No.: CAA-000001-02MX
used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine plc.
This information is given in good faith based upon the latest information available to Rolls-Royce plc, no warranty or representation
Revision: A
is given concerning such information, which must not be taken as establishing any contractual or other commitment binding upon
Rolls-Royce plc or any of its subsidiary or associated companies.
2
Doc. No.: CAA-000001-02MX Copyright © 2006 Rolls-Royce plc

Revision: A used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine plc.
Safety
1 Introduction
This chapter provides information regarding safety measures that must be taken to
2
prevent injury to people and damage of equipment.
Whoever is responsible for the installation, operation or maintenance of this Rolls-
Royce system, is obliged to read this chapter and fully understand its content before any
installation, operation or maintenance of the system may take place.
2 Disclaimer
Undertaking any work envisaged by this document may either directly or indirectly
create risks to the safety and health of the person undertaking the work or the product
and/or its components while the work is being performed.
It is the responsibility of the user to protect the health and safety of the persons
undertaking the work as well as risk to the product and/or its components. Therefore the
user must ensure that appropriate controls and precautions are identified and taken in
relation to the work envisaged by this document in accordance with the relevant
statutory and legal and industrial requirements.
Neither this document, nor its use, in any way absolves the user from the responsibility
to ensure that the controls and precautions referred to above are implemented.
If any Rolls-Royce product design related features which could create risks to persons,
the product and/or its components are identified, Rolls-Royce should be contacted
immediately.
It is the user's responsibility to make all relevant hazard identifications and risk
assessments of all the activities associated with the use of this document.
It is the user's responsibility to design and implement safe systems of work and to supply
safe equipment (including, without limitation, safety equipment) and training
(including, without limitation, health and safety training) to anyone using this document
to work on products to which it relates.
A user without relevant experience of working in accordance with this document, or
with products to which it relates, should seek appropriate advice to identify the health
and safety controls and precautions that need to be taken while working.
Technical assistance can be sought from Rolls-Royce and will be subject to Rolls-
Royce's terms and conditions.
Doc. No.: CAA-000001-02MX Copyright © 2006 Rolls-Royce plc Page 2-3 of 4

Revision: A
Safety
3 Safety Instructions
2 This Rolls-Royce system is a heading/position control system connected to the
propeller, rudder and thruster control systems on board a vessel. By operating the
system, thrust force will be generated at the different propulsion units.
The operator must at all times be aware of:
• Consequences of operating the system to prevent injury to people, damage of
equipment, damage to the vessel operated and damage to the surroundings.
• That the system will set out an order signal to the propulsion unit if any position sensor
signal differs from the position set in the system.
Such an event will cause the propulsion units to generate thrust force. Special
consideration must be taken when the operator of the system is involved in other
activities, such as communication, operation of other systems or any other activities that
might take the focus away from the operation of the vessel.
4 Safety Messages
Safety messages in this manual are always accompanied by a safety alert symbol and a
signal word. The safety alert symbol is used to alert the reader about a potential risk of
personal injury or damage to the equipment.
The following types of safety messages are used within this manual:
Warning: Risk of... Indicates the presence of a hazard which could result in death or
personal injury.
Caution: Indicates the presence of a hazard which could result in damage to

equipment or property and seriously impact the function of the equipment.
Note: Alerts the reader to relevant factors and conditions which may impact the
function of the equipment.
Page 2-4 of 4 Copyright © 2006 Rolls-Royce plc Doc. No.: CAA-000001-02MX

Revision: A
System Description
1 General ......................................................................................................... 3
2 System Overview ......................................................................................... 3 3
2.1 Main Components ......................................................................................... 3
2.2 Thrust Allocation ............................................................................................ 7
2.3 Signal Processing .......................................................................................... 7
2.4 Vessel Model (Filtering and Estimation) ........................................................ 7
2.5 Trajectory Generator ..................................................................................... 7
2.6 Feedback and Feedforward Control .............................................................. 8
3 Design .......................................................................................................... 9
3.1 Manoeuvre Mode Selector ............................................................................ 9
3.1.1 Switch ................................................................................................. 9
3.1.2 System ............................................................................................... 9
3.2 Operator Station .......................................................................................... 10
3.2.1 Graphical Display(s) ......................................................................... 10
3.2.2 Operator Station Computer .............................................................. 11
3.2.3 Joystick Device ................................................................................. 11
3.2.4 Positioning Device ............................................................................ 12
3.3 Printers ........................................................................................................ 12
3.4 Additional Operator Station (Optional) ......................................................... 13
3.5 Control Cabinets .......................................................................................... 14
3.5.1 Additional I/O Cabinet ...................................................................... 16
3.6 UPS ............................................................................................................. 16
3.7 Thrust Devices ............................................................................................. 17
3.7.1 Status and Settings .......................................................................... 17
3.7.2 Failure Detection and Failure Handling ............................................ 18
3.8 Sensors and Position Reference System .................................................... 19
3.8.1 Multi Sensor System Handling ......................................................... 19
4 Function ..................................................................................................... 20
4.1 Operation Principles .................................................................................... 20
4.2 Graphical User Interface .............................................................................. 21
4.2.1 GUI Philosophy and Interaction ........................................................ 21
4.2.2 Main Layout and Components ......................................................... 22
4.3 System Operation ........................................................................................ 24
4.3.1 Basic Operational Modes ................................................................. 24
4.3.2 Basic System Functions ................................................................... 27
4.3.3 Optional Functions ........................................................................... 29
4.4 Signal Processing Functions ....................................................................... 33
5 Location of Manufacturing Number ......................................................... 37
5.1 Marking Locations ....................................................................................... 37
5.1.1 Product Identification ........................................................................ 37
5.1.2 Company Identification ..................................................................... 37

express written consent of Rolls-Royce plc. Revision: F
Revision: F
System Description
1 General
This chapter provides an overview of the Icon system and a technical description of the
main components that give the required knowledge about the system.The figures,
drawings and text in this chapter are general and may not comply to the actual
installation on the vessel. For details on the delivered equipment, see chapter 4 Delivery
Specification. 3
2 System Overview
2.1 Main Components

The redundant Icon DP 2 system is based on a triple controller solution with a redundant
fibre-optic network. Interface to sensors and position reference systems, power system
and thruster system are split into logical groups, based on class requirements and system
segregation.
The connected nodes do not need special functionality to handle network redundancy.
With the DP system integrity preserved, the DP network is separated from networks of
other applications. The DP cabinets, operator stations, sensors and position reference
systems are dual powered from the redundant UPS system.
A typical Icon DP 2 system configuration is illustrated in Figure 2. It shows how the
system parts communicate with each other. See chapter 12 Design Drawings for
delivery specific details.
A typical system may consist of the following:
• Three control cabinets (triple redundant controllers), alternatively a large single
cabinet.
• Redundant fibre-optic network
• Two or more Icon operator stations with:
- high-resolution colour LCD with touch-screen interface
- Joystick device
- Positioning device
- Remote display controller (located in the operator’s chair)
• Printer(s):
- for printing of alarms, trendings etc.
• Manoeuvring mode selector switch
• Sensors and position reference systems (of different types)
• Two UPS (Uninterruptible Power Supply)
• Interfaces to thruster devices (I/O modules or Rolls-Royce HeliconX3).
Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 3 of 38

Revision: F
System Description
DP Operator Stations
Manoeuvring Mode
Selector Switch
Sensor and Position

Reference System
Groups
Control Cabinets
Uninterruptible
Power Supplies
DP Network
Thrust Devices
Figure 1 Illustration of an Icon DP System Class 2 Configuration
Page 4 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

Revision: F
System Description
From the UPS, 220 VAC power is distributed to the control cabinet(s), the operator
station(s) and positioning reference systems.
Figure 2 shows how power (220 VAC) is distributed to the system parts.
Operator Station 1 Operator Station 2
3
Sensors and Position Sensors and Position
Reference Systems Reference Systems
Main
Main
Main
Main
Main
Control A C B
Cabinets
UPS 1 UPS 2
Figure 2 Illustration of an RR Icon DP System Class 2 – 220 VAC Power Distribution

The system can consist of one or three control cabinets, depending on the customer
requirements. For systems with only one control cabinet, the cabinet is divided into three
logical sections with separate power supplies. An addtional I/O cabinet will be installed
when using only one control cabinet.
Addtional UPSs may also be added to the system.

Revision: F
System Description
The Icon system acquire measurements from the propulsion system, power system,
sensor and position reference systems, and apply thrust setpoints to the propulsion
system, satisfying the commanded surge and sway forces and yawing moment.
The control loop of the Icon system is illustrated in Figure 3.
Thrust Device
Setpoints Measurements
Power
Limits
Thrust Allocation Signal Processing
Commanded
Thruster
Forces Control System
Feedback and Vessel Model

Estimated Vessel Motion
Feedforward (Filtering & Estimation)
Controller
Trajectory Generator
References
Operator Input
Figure 3 Icon System Control Loop

Revision: F
System Description
2.2 Thrust Allocation
Note: A thrust device can be any propeller, thruster or rudder.
The force demands in surge and sway and moment demand in yaw from the controller
3
have to be distributed to each thruster as pitch and/or rpm setpoints and (if applicable)
directional setpoints.
The thrust allocation in the Icon system takes into account:
• Available power on each bus bar. The Icon system will not enforce thruster action that
exceeds the available power.
• Optimal thruster utilisation in normal operations.
• Turning rate of thrusters, pitch and rpm response. The direction of azimuthing thrusters
can either be variable (auto direction) or fixed in a set of pre-defined configurations.
• Grouping of thrusters. Two or more thrusters can be arranged to be working as a group.
The purpose is often to reduce changes in thruster direction. In cases where thrusters
cannot produce negative thruster force (reverse direction), this ensures that the thrust
demand is fulfilled without unnecessary turning of thruster direction.
• Fixed thruster direction configurations or variable thruster direction.
• Forbidden sectors for thruster direction.
2.3 Signal Processing

All measurements to the Icon system have to pass several levels of testing and
processing before being used in the control of the vessel. The type of testing and
processing functions used, is dependant on the signal source.
See section 4.4 Signal Processing Functions.
2.4 Vessel Model (Filtering and Estimation)

Oscillatory motion caused by waves will not be compensated by the thrusters, main
propellers and rudders in auto heading and auto position control. Advanced adaptive
wave-filtering and estimation techniques in combination with the internal vessel model
are used to generate estimates of the low-frequency motion of the vessel that
automatically adjusts to the varying sea-states and operational conditions. The estimated
motion (vessel speed, rate-of-turn, position and heading) is used in the feedback control
of the vessel.
2.5 Trajectory Generator

During automatic change heading and change position operations, the internal trajectory
generator ensures a smooth change of the vessel heading and position. The vessel
motion is according to the operator defined motion settings (maximum surge and sway
speed and rate-of-turn). The start-up and end phase of the movement are automatically
adjusted according to the capacity of the propulsion equipment installed.

Revision: F
System Description
2.6 Feedback and Feedforward Control

The feedback controller computes the required surge and sway forces and yawing
moment to keep the vessel on the desired position, heading or track in automatic control
modes of operation. The individual position and heading control gain settings influence
how aggressive the system will respond to deviations in position and heading.
Automatic control modes also use reference feedforward control action, based on the
trajectory generator to speed up the response of the system in change position and
change heading operations. Wind measurements are used for wind compensation. I.e.
the wind force and moment acting on the vessel is derived from wind speed and
direction, wind drag coefficients and wind areas scaled by draught measurements. The
corresponding wind feedforward counter force and moment are commanded.

Revision: F
System Description
3 Design
3.1 Manoeuvre Mode Selector
3.1.1 Switch
3
The manoeuvring mode selector switch (“DP selector switch”) is used for the selection
of operational mode (independent Joystick control/Manual/Icon control). The switch is
located on the bridge.
Figure 4 Example of a Manoeuvring Mode Selector Switch

The manoeuvring mode selector switch can also be used for a fast disconnection of the
Icon system, in case of an emergency situation.
A fast disconnection will cause the separate thruster/rudder control systems to be
enabled instead of the Icon system.
3.1.2 System
The manoeuvre mode selector system allows more than one manoeuvre mode selector
switch to be installed. The design and implementation of the MMS system is based on
the idea that each of the control systems to be used for controlling the thrusters shall be
selectable independently. I.e. a failure in one system shall not prevent that another
system may be used as a backup.
H5 H6 H7 S3/H3
DP MANUAL /
JOYSTICK LAMP
MODE AUTOPILOT
MODE TEST
MODE
S1/H1 S4/H4 S2/H2 R1
RELEASE
DP TO JOYSTICK
MANUAL
DIMMER
Figure 5 Example of a MMS Operator Panel

The MMS system itself is used as a signalling device for enabling mode changes. The
actual mode switching is a result of signal communication between DP, JS and each of
the RTCs. The communication protocol is based on the existing Ethernet communi-
cation interface.
To ensure that the rudders are available whenever the propellers are available for DP/JS
operations, a digital signal from the propeller’s RTC is used. By combining the
traditional DP/JS request signals with this new signal, a safe enabling/disabling of the
rudders for DP/JS operation is obtained.

Revision: F
System Description
3.2 Operator Station

The operator station or stations have a display with a touch-screen interface, a
positioning device and a joystick device.
The operator stations can be of different versions:
• Fixed mounted
• Integrated in the operator chair.
The Icon may be equipped with several operator stations.
The main components of an operator station are:
• Graphical display for advanced system operation and status monitoring
• Computer
• Joystick device, including dedicated push-buttons and indicators.
• Positioning device, including dedicated push-buttons and indicators
• Trackball or mouse (optional).
Figure 6 Example of Icon Operator Station
3.2.1 Graphical Display(s)

A graphical display for the Icon system is a high-resolution colour display with a touch-
screen interface. The touch-screen is operated with buttons on the display. A button can
have different colours, indicating the current status of the system.

Revision: F
System Description
Remote Control Display (Optional)

For Icon operator stations integrated in the Rolls-Royce operator’s chair, a remote
control graphical display with a touch-screen interface can be mounted directly on the
chair. The main display is mounted in the close vicinity of the operator station.
3.2.2 Operator Station Computer 3

The computer contains all application software needed for running the Icon GUI
software. It works independently of the control cabinet(s). It communicates via Ethernet
link.
3.2.3 Joystick Device

The joystick device is used for the mode changes and joystick control operations. Main
parts of the joystick device are:
• Three-axes joystick device for manoeuvring (surge, sway and yaw)
• Illuminated push-buttons for
- System on/off
- Command transfer
- Auto/manual heading
- Heading setpoint increment/decrement
- Alarm silence
- Dimmer.
Figure 7 Joystick Device

Detailed explanations of the push-buttons and their functions are in chapter 6 Operating
Instructions.

Revision: F
System Description
3.2.4 Positioning Device

The positioning device is used for the manoeuvering of the vessel during DP control
mode operations. Main parts of the positioning device are:
• Two-axes lever for positioning control with an integrated turning wheel for heading
setpoint control
• Illuminated push-buttons for
- DP/joystick control mode (auto/manual position, auto/manual surge and sway)
- Increment/decrement of setting values
- Pause/restore of operation
- Enter/apply.
Figure 8 Positioning Device

Detailed explanations of the push-buttons and their functions are in chapter 6 Operating
Instructions.
3.3 Printers
Normally, an Icon DP 2 system is equipped with the following network printer:
• A high-resolution colour laser printer, for printing of alarms, trendings, and screen-
shots of the GUI. When the system is active, this printer will print one page with alarms
every hour or when an alarm page is full. The operator can also force a printout by
means of the ‘Print Alarm queue’ button.
In addition, an Icon DP 2 system can also be equipped with an impact dot matrix printer
for printing of alarms. This printer continuously prints all alarms as they get active, are
being acknowledged and reset. When this printer is installed, the laser printer will not
be used for alarm printouts.

Revision: F
System Description
3.4 Additional Operator Station (Optional)

Depending on the class notation and class society there will always be one or more
required main operator stations. Additional operator stations can also be delivered.
These operator stations are delivered as fully or more limited equipped versions.
A fully equipped operator station will have the same hardware components as a main
operator station.
A limited operator station will have a smaller display and will not be able to present
3
information to the same extent as a fully equipped operator station.
Note: Additional operator stations may not confirm with class requirements.
Which operator station to use for a given operation, should be chosen
based on type of operation, area of operation and the risk involved.

Revision: F
System Description
3.5 Control Cabinets

For DP class 2 systems, three (or alternatively one large) cabinets are required. All
cabinets are based on the same Rolls-Royce Common Platform design.
Each control cabinet have four Rolls-Royce Marine Controllers with interfaces to
operator stations, thruster devices, power systems, position reference systems (GNSS,
laser, radar, hydro acoustics etc.) and different sensors (gyro compasses, VRUs, wind
sensors etc.).
For the alternative DP 2 configuration, the control cabinet contains six Rolls-Royce
Marine Controllers.
Figure 9 shows examples of the location of the main components of the control cabinet.
Figure 9 Example of an Icon Control Cabinet’s Layout

1. Main AC/DC power supply
2. Circuit breaker for the AC/DC power supply/supplies
3. Backup AC/DC power supply (if installed)
4. CAN modules
5. Rolls-Royce Marine Controller including flash memory (system) (if installed)
6. Rolls-Royce Marine Controller including flash memory (simulator) (if installed)
7. Rolls-Royce Marine Controller including flash memory (I/O) (if installed)
8. System specific I/O modules
9. System specific network switch
10. Thruster specific I/O modules
Figure 10 shows examples of the location of the main components of the alternative
large DP 2 control cabinet.

Revision: F
System Description
DP-A DP-C DP-B
1
3
2
3
3
4 4
5 10
6 9
7 8
Figure 10 Examples of the Alternative Large DP 2 Control Cabinet’s Layout
1. Rolls-Royce Marine Controller including flash memory
2. CAN modules
3. Network switches
4. I/O modules
5. DP-A Main AC/DC power supply
6. DP-A Backup AC/DC power supply (if installed)
7. DP-C Main AC/DC power supply
8. DP-C Backup AC/DC power supply (if installed)
9. DP-B Main AC/DC power supply
10. DP-B Backup AC/DC power supply (if installed)

Revision: F
System Description
3.5.1 Additional I/O Cabinet

When the alternative large DP 2 control cabinet is installed, an additional I/O cabinet is
also installed comprising I/O modules, CAN modules and a Rolls-Royce Marine
Controller. Figure 11 below illustrates an example of such an additional I/O cabinet.
DP-C
DP-A DP-B
Figure 11 Example of an Additional I/O Cabinet
3.6 UPS
The uninterruptable power supply, UPS, delivers filtered and stabilized uninterrupted
power for the Icon system. In case of loss of main supply, the UPS can provide power
for the system for at least 30 minutes. The status of the UPS is monitored by the Icon
system.
The connectors for power supply and interfaces are located at the distribution cabinet.
See sub supplier manual for the details of the UPS system.
1 5
2
3
4
Figure 12 Example of an Uninterruptable Power Supply Layout, Front and Rear View
1. Circuit breakers
2. UPS Marine filter
3. UPS Power module
4. UPS Battery module
5. Main switch

Revision: F
System Description
3.7 Thrust Devices
Note: The Icon system is controlling the thrust devices via a corresponding
remote control system.
3
3.7.1 Status and Settings
Rudders
The operator can set the maximum permitted rudder angle for manoeuvre operations.
In addition, it is possible to fix a rudder in neutral position (zero angle) such that the
rudder is not actively used.
Azimuth Thrusters
To achieve the optimal system performance, the Icon system will normally actively use
the steering of azimuth thrusters (auto direction) to obtain the best overall utilisation of
the thrust devices. However, it is possible to fix a single azimuth thruster to a set of pre-
defined, fixed directions (typically towards port, starboard, aft, forward). Similarly, a
group of azimuth thrusters will be defined to take a set of fixed directions (typically two
azimuth thrusters aft).
Pitch/Rpm Combinator
The Icon system is configured for combinator run in cases where the thrust device can
actively control both rpm and pitch of the propeller. The combinator curves are
optimised for each propeller with respect to:
• Fast thruster force generation
• Noise and vibration
• Fuel consumption.
Transfer to Lever Control

During operation, the operator can transfer a thrust device to manual lever control. This
functionality depends on the type of remote control system for the specific thrust device.
The command transfer to lever control is by the give-then-take principle. First, the thrust
device is disabled from the Icon system. Secondly the operator must take command on
the lever unit and then control the thrust device manually.
From the Icon system the operator can re-enable the thrust device for Icon operation at
any time.
Some examples where such functionality might be useful are:
• Transfer of main propellers (and rudders) to lever control and use the remaining
thrusters for heading control only
• Transfer of a swing-up thruster to lever control and keep the remaining thrust devices
for positioning and heading control by the Icon system.

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System Description
3.7.2 Failure Detection and Failure Handling
Communication and Signal Monitoring

The Icon system continuously monitors and compares the thrust device feedback and
order signals by the setpoint-feedback monitoring function. Any significant steady-state
deviations will result in an alarm.
When thrust device signals are hardwired between the Icon system and the thrust device,
the signals out of range (typically an effect of a broken wire) will issue an alarm.
Communication errors between the Icon system and the thrust device will automatically
be detected.
Insufficient Thrust Configuration

The Icon monitors the system's ability to perform the requested operation based on the
present thrust configuration. The thrust configuration depends on:
• Number of active thrust devices
• Fixed or automatic direction on azimuth thrusters and rudders
• Power system configuration and loads.
When the system is no longer able to generate force in surge or sway or moment in yaw,
insufficient thrust configuration alarms will be issued.
Example 1
If the system is operating with active sway control and a thruster is lost such that sway
force no longer can be generated without also introducing a large moment, the system
will not be able to keep a safe operation. An insufficient sway configuration alarm is
then issued and also clearly indicated on the graphical display.
Example 2
A vessel with two azimuth thrusters aft in a fixed direction configuration. If one of the
thrusters is lost and the other remains fixed in a certain direction, the Icon system cannot
necessarily generate thrust in all three axes. An insufficient configuration alarm is then
issued and also clearly indicated on the graphical display.
Note: If azimuth thrusters or rudders are set to fixed direction and insufficient
thrust configuration occurs, the system will, if necessary, automatically
disable fixed directions and set the direction control to auto.
Note: If the operator (on purpose) would like to reduce the number of active
thrust devices such that an insufficient thrust configuration situation will
occur, it is recommended to disable surge and/or sway from active control
in order to avoid the alarm situation.

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System Description
3.8 Sensors and Position Reference System
Note: For detailed information about sensors that are part of the Icon delivery,
see chapter 14 Subsuppliers Manuals.
Information about sensors that are not part of the Icon delivery, see
sensor system supplier’s manuals.
3
A number of sensors provide the interfaces for various operator devices monitored by
the Icon system via the control cabinet. In addition to gyro compass, such devices can
be hydro acoustic, laser based, radar based, VRU’s, wind sensors, or GNSS etc.
Class rules regulate minimum system requirement. The Icon system requires interface
to accurate position measurement systems (typically differential GNSS reference
system). The Icon system also will have interface to at least a wind sensor (relative wind
speed and direction) and a vertical reference unit (VRU) for measurement of roll and
pitch angle of the vessel.
3.8.1 Multi Sensor System Handling

The Icon system can be connected to more than one sensor of the same type. When
multiple sensors are used the system will do a weighting between the signals based on
the signal quality, see section 4.4 Signal Processing Functions.
The Icon system will automatically detect unacceptable deviations between sensors of
same type and an alarm will be issued. If an error is detected in a sensor, the weighting
function automatically decrease the weight factor of that sensor to a minimum. Instead,
the factor from the other sensors of the same type is increased. The operator can also
disable a sensor and thereby stop it from being used.

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System Description
4 Function
Note: If not all thrusters, position reference systems, and sensors are fully
available and function properly it may result in a reduced performance of
the system.
4.1 Operation Principles

The operation of the Icon system is related to the fundamental axes of horizontal motion
– surge (alongship), sway (athwartships) and yaw (rotation about the centre of selected
rotation), see Figure 13.
surge
sway
yaw
Figure 13 Fundamental Axes of Horizontal Motion

By automatic control of the propulsion system, thruster forces in surge and sway and
thruster moment in yaw will be applied in order to achieve the desired vessel motion,
position, heading or path.

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System Description
4.2 Graphical User Interface
4.2.1 GUI Philosophy and Interaction

The Icon system operations are performed via the operator devices and the graphical
user interface (GUI). The most common operations can be performed by using dedicated
push-buttons on the operator devices. For details, please refer to the User Manual
3
chapter 6 Operating Instructions.
The graphical user interface is designed to be a tool for monitoring and actively
controlling the system through intuitive presentation and touch-screen principles. The
amount of information presented on the display is restricted to the basics necessary for
the operation of the system. This helps the operator to focus on the most vital
information.
To achieve the best visibility of the graphical interface, the system can be set to different
colour schemes:
• Day-colour scheme with light background colour
• Night-colour scheme with the darkest background colour.
A change of the colour scheme will have effect on all operator stations simultaneously.
Status Indications and Colour Codes

In the GUI, different colours are used for the visualisation of:
• Selected and activestatus of thruster device, sensor or position reference system
• Online standby state
• Alarm status
• Feedback signals
• Setpoints, orders and other operator inputs
• Negative measurements.
Figure 14 GUI Main View (example)

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System Description
4.2.2 Main Layout and Components

The GUI is specially designed for Icon system operations and touch-screen based user
interaction. The display unit is divided into areas, each representing the different
operational aspects of the Icon system. Depending on the system configuration, the
logical areas can be placed on two different screens. It is also possible to some extent to
control which logical areas to display in each screen.
Figure 15, Figure 16 and Figure 17 show the GUI layout for, respectively:
• Splitscreen mode – displays the toolbar (5), statusbar (7) and most functions and
settings available in the system, including two stack of panels (1) for main operations
and user defined settings.
• Remote control display – displays the statusbar (7), toolbar (5) and two stack of
panels (1) for main operations and user defined settings.
• Fullscreen mode – displays the toolbar (5), statusbar (7) and mostly “view only”
information.
For detailed information about the different areas and system modes, please refer to the
User Manual chapter 6 Operating Instructions.
4
1 5
2 2
1 6
Figure 15 GUI – Splitscreen Mode

Pos Designation Function
1 Stack of panels The stack of panels contains operational functions and user
defined settings.
2 User HUD User head-up display, the information presented in these two
areas contain speed indicator, position coordinates indicator,
DP Class monitor, thrust power indicator etc.
3 Main HUD Main head-up display, presents vital information about the
vessel movement (i.e. heading, position and order).
4 World Area for the visualisation of the vessel position, heading and
motion, and the thruster and rudder usage.
5 Toolbar The toolbar contains buttons to alter the appearance of the GUI,
change the operational settings of the system and short-cuts to
some vital system functions.
6 Alarm & Message Area Information area, displaying alarm messages and other vital
information.
7 Statusbar Information area, displaying current system mode and status.

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System Description
1 7 1 5
Figure 16 GUI – Remote Control Display
4
5
2 2
Figure 17 GUI – Fullscreen Mode
Note: For a detailed description of the GUI and its different areas, please refer to
the User Manual chapter 6 Operating Instructions.

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System Description
Stack of Panels
The panels are displayed, two at the time, on the remote control display and on the main
DP operator station display when set to split-screen view.
The different panels are:
• Change – used for changing of position heading values and tracking operations.
• PosRef – used for monitoring, enabling/disabling, blocking/unblocking, aligning and
zeroing of sensors and positioning reference systems.
• Sensors – used for monitoring, enabling/disabling and blocking/unblocking of
sensors.
• Thrust – used for monitoring and enabling/disabling of thrust devices.
• Control – used for changing of operational functions and modes.
• Settings – used for changing of different system (operational) settings.
• Operation – used to change/start operational functions.
• Performance (available on the remote control display) – shows information related to
heading control, speed and rate-of-turn, thruster force and moment order.
• Aux (Optional. Only available when Icon used for control of auxiliary devices
functions and modes.
4.3 System Operation

The Icon operator stations have a high resolution colour display with a touch-screen
interface. Any operation of the system can be performed through the graphical interface.
In addition, the most common operations can be performed by means of dedicated push-
buttons on the operator devices.
For details, please refer to the User Manual chapter 6 Operating Instructions.
4.3.1 Basic Operational Modes

The Icon system comprise the following basic operational modes:
• Standby
• Joystick
• Positioning.
Standby
Standby is a monitoring mode where the Icon system will not generate any control
outputs (such as thruster action). If sensors and position reference systems are available,
all signals can be monitored on the operator station(s). Feedback and status signals from
thrust devices and power system can be monitored as well. Entering standby from any
other Icon function will immediately stop any thruster action on thrusters actively used
for Icon operations.

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System Description
Start-up Function
When the system is activated (out of standby), the default start-up function is the
Joystick function with manual position and manual heading control modes. However, it
is possible to define other start-up functions such as ‘yaw control fore’.
Start-up heading control function (Manual/Auto) can also be preset in such way that the
Icon system automatically enters fixed heading function when activated. The selected
start-up function will activate only thrust devices needed for the selected function, e.g.
yaw control fore will activate only thrust devices located fore of midship.
3
Joystick Functions
The Joystick mode comprises all operational functions in surge, sway and yaw for
operating the vessel by means of the joystick device and manual/automatic heading
control. The following operational functions are available as standard for the Joystick
mode:
• Manual position and manual heading. In manual position and manual heading, the
operator manoeuvres the vessel by using the three-axes lever. The lever is used for
direct generation of surge and sway forces and yawing moment demands by the thrust
devices.
• Auto heading (fixed or change heading). Reliable and accurate heading
measurement (usually a gyrocompass) is required for activating this function. In auto
heading, the heading of the vessel is kept automatically at the present heading setpoint
value (fixed heading). Heading deviation is monitored and an alarm will be issued
when moving outside the boundaries. In auto heading, the heading of the vessel can be
automatically controlled from the present heading towards a new heading setpoint by
a change heading operation. A reference heading signal is generated to ensure a smooth
and controlled heading change operation. In change heading, the system takes into
account the maximum rotation speed setting.
• Yaw control (fore/aft). If surge and sway axes are disabled (no control), the system
will control the yawing moment of the vessel only. This function can be used in cases
where few thrust devices are enabled for active use, e.g. only one tunnel thruster fore
and the other thrust devices are operated by manual levers. The heading function can
then be either in manual heading or auto heading (fixed or change).
• Rotation point. When the selected rotation point is Fore or Aft, the system will
generate an additional sway force when the joystick lever is rotated. This sway
compensation force is generated to keep a pure rotation of the vessel around the
rotation point.
There is no feedback command involved for positioning the vessel in this operation.
The additional sway force is generated from the yawing moment generated by the
rotation of the joystick lever.
The operator can generate a new heading setpoint in many ways, such as:
• Position device – Heading wheel. A new heading setpoint is easily generated by
rotating the heading wheel in the desired direction, in increments relative to the present
heading setpoint.
• Joystick device – Push-buttons. Dedicated push-buttons are available for the
increment or decrement of the heading setpoint relative to the present heading setpoint.
• GUI. When using the graphical user interface, a new heading setpoint can be generated
by:
– Numeric input of a new heading setpoint.
– Increment/decrement of the heading setpoint relative to the present heading setpoint.

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System Description
Whenever a new heading setpoint is defined, the new proposed heading is clearly
displayed on the graphical user interface together with a numeric presentation. The
change heading operation starts when the new heading setpoint is acknowledged by the
operator (by the ‘Accept’ soft-button on the graphical user interface, or by the ‘Accept’
push-button on the joystick or positioning device).
Joystick Settings
The following settings are available for the Joystick mode:
• Joystick sensitivity
• Heading control gain
• Maximum rotational speed (used in change heading operations)
• Heading deviation warning and alarm limits
• Thrust allocation settings, depending on the thrust configuration of the vessel (e.g. bias
settings, thrust device combinator settings, maximum rudder angle, fixed direction on
azimuthing thrusters).
Positioning Functions
The positioning mode comprises all joystick functions. In addition, the following
operational functions are available:
• Auto position (fixed or change position). The surge and sway axes are controlled
automatically. Reliable and accurate position measurements (e.g. satellite-based
systems, laser-based systems, radar-based systems, hydro-acoustic systems) are
required for these operations. The environmental conditions, the system control gain
settings and the number of thrusters active, determine the performance of the automatic
positioning. In fixed position, the vessel is kept automatically on the operator selected
position setpoint. Position deviation is monitored and an alarm will be issued when
moving outside the boundaries. A change position operation can be initiated for
automatic moving of the vessel from present position towards the new position
setpoint. Reference position signals are generated to ensure a smooth and controlled
position change operation. The surge and sway speed settings determine the response
and time to achieve the new vessel position. Change position operations requires the
auto heading control to be active. A change position operation can be combined with a
change heading operation at any time, either stepwise or in a coupled operation.
• Mixed surge and sway control. The operator can select combinations of surge and
sway axes control (No control, Manual or Auto).
• Manual/auto heading control. Automatic heading control (fixed or change heading)
is in most cases required in combination with any auto position mode.
• Rotation point. The operator can set the rotation (pivot) point, either by means of a set
of pre-defined rotation points, or by a user-defined rotation point. The actual vessel
position, the position setpoint and the position deviation monitoring, are always related
to the selected rotation point.
When the selected rotation point is Fore or Aft, the system will generate an additional
sway force when the joystick lever is rotated. This sway compensation force is
generated to keep a pure rotation of the vessel around the rotation point.
There is no feedback command involved for positioning the vessel in this operation.
The additional sway force is generated from the yawing moment generated by the
rotation of the joystick lever.

Revision: F
System Description
Additional Positioning Functions

When in positioning mode, the following additional functions are available:
• Wind compensation. If wind speed and direction measurements are available, the
resulting wind loads acting on the vessel can be automatically compensated by the Icon
system. This function is for rapid compensation of variations in wind loads acting on
the vessel. In most cases, the wind compensation feature will enhance the positioning
performance. 3
Positioning Settings
The following settings are available for the Positioning function:
• Position control gain (low/medium/high)
• Maximum surge and sway speed (used in change position operations)
• Position deviation warning and alarm limits
4.3.2 Basic System Functions
Command Transfer
The Icon system provides means for transfer of command control between the different
operator stations. Only one logical operator station (operator devices with
corresponding operator station display(s)) can be in command at a given time.
Command transfer between Icon operator stations can be set-up to require a “Give-than-
take” functionality.
Class Monitoring
In the Icon system, the operator can select the IMO DP class, which the system is
supposed to be in compliance with. Based on this input, the class monitoring function
will provide a complete overview of the system configuration regarding:
• Sufficient sensors systems active
• Sufficient position reference systems active
• The power system and its configuration
• Sufficient thrust devices active
• DP system hardware components and data network status
• Result of the online consequence monitoring function.
Online Consequence Monitoring

The DP online consequence monitoring is a class requirement for IMO DP 2 and DP 3
operations. Based on the prevailing conditions, this function evaluates online the DP
systems ability to keep the vessel on the desired position, heading or track in a worst-
case failure scenario, typically loss of one of the main power bus bars or equivalent.
The DP consequence monitoring function status is presented on the graphical user
interface, and an alarm will be issued when appropriate. For DP class 1 operations, this
function can be disabled.

Revision: F
System Description
Power Limitation
The Icon system includes power limitation. When activated, the power limitation
function computes the available power for Icon operation and limits the thrust device
action to avoid power system overload.
Power system measurements, thrust device feedback and internal power models are used
to estimate available power on each power bus for thrust devices controlled by the Icon
system. In cases with power limitation, i.e. insufficient available power to satisfy the
commanded thrust, the thrust orders are equally reduced.
Hence, the thrust reduction ratio is equal for all thrusters on the bus(es) with insufficient
power. Power limitation alarms are submitted for the limited thrust devices, and
limitation status is clearly indicated on the Icon graphical display.
Note: If desired, the Icon system can be configured not to utilise all the available
power, to avoid an automatic start of the generators by the power
management system.
Power Interface Failure Detection and Failure Handling

The Icon system performs error checks on the power interface. Alarms are issued when
failures on the power system interface are detected. These are I/O link failures, I/O unit
failures or other communication failures.
The value of estimated available power for Icon thrust devices will not be updated
(freeze) when a power interface failure is detected, and the power limitation function
will continue in a non-feedback manner.
Thrust Configuration
When the Icon system is activated (from standby), all available thrust devices are
enabled for active use. During operation, a thrust device can be set to idle state. This
means that the system keeps command of the thrust device, but the thrust order is neutral
(e.g. zero pitch).
When a thrust device is in idle state, the operator have the ability to take command of
the thrust device on the dedicated lever, and operate it in combination with the remaining
thrust devices actively used by the Icon system.
The Icon system will automatically adjust to the actual number of active thrust devices.
If the requested mode of operation cannot be fulfilled due to reduced number of thrust
devices, an alarm will be issued. However, if an axis is set to ‘No control’, this alarm
will not be issued.
Note: When the start-up function is defined to be other than default (Joystick
mode with manual position and manual heading), the system will activate
only the thrust devices required for the selected start-up mode.
Example: If the start-up function is defined to be yaw control fore, only fore
thrust devices are activated.

Revision: F
System Description
Built-in Trainer
The purpose of the built-in trainer is to provide operator training and system
familiarisation as an integral part of the Icon system. The built-in trainer comprises a
vessel simulator and a dedicated graphical user interface for set-up of the simulated
operational conditions. The simulator generates realistic dynamic behavior of
3
environmental conditions, thrust devices, power system, and resulting vessel motion.
The simulator sends artificial measurements and feedback signals to the Icon system that
in real operations are received from the sensor systems, position reference systems,
power systems and thrust devices. Based on these inputs, the Icon system computes
thrust device order signals. In training, these signals are sent back to the vessel
simulator, not the real thrust devices.
Note: The built-in trainer can only be started when the Icon system is in standby
mode. When operating the system with the trainer, this is clearly indicated
on the graphical user interface.
4.3.3 Optional Functions

An Icon system can be delivered with the following optional operational functions:
• Waypoint tracking
• Target tracking
• Towing.
An Icon system can be delivered with the following optional system functions:
• Capability analysis.
Waypoint Tracking
Waypoint tracking is enabled from the ‘Operation’ panel.
Waypoint tracking is a low speed tracking function that permits the vessel to
automatically move along a track defined by a list of pre-defined waypoints.
Each waypoint is associated with a set of data. The acceptance radius determines where
the vessel starts turning towards the next waypoint, also known as the wheel-over point.
This turn occurs on an inscribed circle. All waypoints are connected by straight track
legs. The waypoint track thus consists of inscribed circles in waypoints and straight lines
between them.
The radius of the inscribed circle is called turning radius. The turning radius is
determined by the acceptance radius and the previous and next waypoint. The
acceptance radius can be specified directly or the system can calculate it from the vessel
ROT and speed settings.
The wheel-over point is where the waypoint track starts the turn towards the next
waypoint.

Revision: F
System Description
Acceptance
radius Track Leg
Wheel-over point
Turning
radius
Figure 18 Waypoint Tracking Definitions
Track
Original
A track without any offset.
Offset (relative/parallel)
The operator can offset the vessel a specified distance perpendicular to the left or right
of the track direction. This creates a new track parallel to the original track. Positive
values are to the right of the track (when following the waypoints in an ascending order).
This will increase or decrease the turning radius of each turn depending on turn direction
and sign of offset value.
Offset (geographic)
The entire track is moved a specified distance in a specified direction relative to North.
The geographical offset can also be specified in relative North/East distance. The new
track will be an exact copy of the original track.
Track (validation)
All changes to a track are validated by the system to make sure that waypoints are
located sufficiently far away from each other. When a relative offset is selected, the
acceptance radius of each waypoint is checked to validate the new turning radius.
Activate Low-Speed Waypoint Tracking

To enter low-speed tracking heading must be fixed (Auto mode) and the yellow curve
must be shown on the 3D scene. After starting the tracking operation, surge and sway
will enter Change mode (regardless of previous modes). The rotation point must always
be at the centre while in tracking, so the system will automatically force it to (0, 0) when
the function is activated by the operator. (Note that a warning will be given if the system
changes the rotation point).
Deactivate Low-Speed Waypoint Tracking

The vessel will stop at the last waypoint when it has completed the track. The DP system
will then enter Fixed Mode and will be positioned at this location until a new command
is given.
During operation, low-speed tracking is aborted by using the Exit button on the
Operation Panel or by selecting a new (or re-fix a) position control mode from control
mode menu in GUI or from control mode buttons on the Positioning Device twice. The
vessel will then go to the control mode selected, Fixed, Manual or Mixed.

Revision: F
System Description
Target Tracking
Target tracking is a function that permits the DP vessel to track another object, a remote
operated vehicle or another vessel, in a fixed distance (range) and direction (bearing).
Relative position reference systems are used to measure relative distance to the tracked
object, typically laser or radar based systems for surface objects and hydro-acoustic
3
systems for sub-surface objects. The system defines the target by the measured reflector
(above surface) or transponder (sub-surface) distance and direction readings.
Single Mode
In single mode, one reflector/transponder is enabled and set as target. Heading and
global position position measurements must be available, surge, sway and yaw must be
controllable. The system will enter auto track mode in surge and sway and auto heading
mode in yaw, regardless of previous modes.
• If a reaction radius is used, the position setpoint will be updated only when the target
moves outside the pre-defined reaction radius. The heading setpoint is not dependent
on the target movement. During target tracking operation, the heading setpoint can be
changed by the operator.
• If no reaction radius is used (direct follow), the position setpoint will be continuously
updated as the target moves.
Note: During normal operation, the relative position and heading setpoints can
be changed at any time.
Multi Mode
In multi mode, two or more reflectors/transponders are enabled and set as target.
Heading and global position measurements must be available, surge, sway and yaw must
be controllable. The position and heading modes depend on the tracking mode:
• Follow position: position will be in auto track mode, i.e. when target moves the DP
vessel position setpoint depends on target movement (constant range to all used
targets). In this mode, the target heading is not taken into consideration.
• Follow heading: position may be in either auto or joystick, while heading always will
be in auto track mode, automatically changing DP vessel heading with target
orientation changes. In this mode, the distance to the target is not taken into
consideration.
• Follow heading and follow position: both position and heading of the DP vessel
tracks the movement and orientation changes of the tracked object.

Revision: F
System Description
Important
The modes with reaction radius are designed to follow a target that occasionally moves
outside the specified circle, but mainly stays within it. If such mode is used to follow a
target that is moving close to constant speed, there will be a lag between the actual vessel
position and the setpoint. The reason for this is that the vessel should be able to stop at
the setpoint without overshoot if the target suddenly stops.
The vessel velocities (surge, sway, and rate of turn) will also be limited by the values set
by the operator in position and heading settings.
If a more aggressive following (without a constant lag between the actual position and
heading and the setpoints) is wanted, one of the direct following modes should be used.
In these modes, the vessel velocities will not be limited by the operator set values. The
system will do its best to go as fast as the target movement requires.
Towing
During a towing operation, the operator can add a bias force in the forward direction to
compensate a near constant load. A constant bias force can only be added when the surge
axis control mode is set to ‘Joystick’. The bias force will automatically be set to zero by
the system if the ‘Joystick’ mode is exited. The joystick lever can be used in
combination with the constant bias force to adjust the total surge force order, i.e. the
constant bias force can be neutralized by moving the joystick in negative surge position.
Towing Settings
The bias surge force can be entered numerically or incrementally up and down from the
GUI.

Revision: F
System Description
4.4 Signal Processing Functions

All measurements to the Icon system have to pass several levels of testing and
processing before being utilised in the control of the vessel, see following table. Alarms
will be issued if the Icon system detects any errors in the input signals at any level.
Signal Processing Functions per Device (X = Applied, – = Not Applied)
Function\Device Power
System
Propulsion
System
Wind
Sensors
VRU’s Gyro Com-
passes
Posrefs 3
Interface check X X X X X X
Device specific checks Consistency SP/FB Wind speed Output – Info quality
checks monitoring scaling smoothing evaluation
Range check X X X X X X
Frozen signal check – – X X X X
Wildpoint check – – X X X X
Step check – – X X X X
High variance check – – X X X X
High dynamics – – – – X X
Position – – – – – X
standardisation
Position alignment – – – – – X
Differ and voting reject – – X X X X
Weighting – – X X X X
Manual scaling – – X X X X

Revision: F
System Description
The signal processing functions available are described in more detail in the following
table:
Function Desciption
Interface check This function checks that the interface to all sub-systems and devices are working
correctly. Loop and range checks on signals are performed, as well as hardware and
protocol checks for serial lines and network communication. Possible interface errors
will result in ‘Unavailable’ status for the specific device in the GUI.
Device specific checks This function device specific checks on sub-systems and devices.
Range check
Out of range Frozen signal
This function checks if all input signals to the system are within the system specified
range.
‘Out of range’ status will result in auto disabling of sensors and position reference
systems.
‘Out of range’ status on power signals will cause the signal to be limited on max/min
limit.
Frozen signal check This function checks that the signals from sensors and position reference devices are
not frozen. If a signal is unchanged or changes very slowly for an abnormal long
period of time, a ‘signal freeze’ alarm is issued.
Wildpoint check
Wild point & Step High dynamics High variance

replacement
This function checks the signals for wildpoints, i.e. single values that are unexpected
and does not follow the “curve” for the other values. Signal wild points are replaced,
and alarms issued in the GUI.
Step check This function checks the signals from the devices for unacceptable steps. If
unacceptable steps are found, the device will be disapproved until the signal
becomes normal again. For large signal steps the device will be automatically
disabled.

Revision: F
System Description
Function Desciption
High variance check This function checks if there are high variances in the output values from sensors and
position reference devices. If there are high variances, the device will be disapproved
until the signal becomes normal again.
High dynamics This function checks the signals for high dynamics. For abnormal signal dynamics
the device will be disapproved until the signal becomes normal again. For extreme 3
signal dynamics the device will be automatically disabled.
Position standardisation This function performs checks on raw measurements, standardized measurements
and aligned measurements for position reference systems.
‘Out of range’ and ‘Frozen signal’ checks are performed on the raw measurements.
The raw measurements are mapped to the standardized vessel position.
The ‘Wildpoint’, ‘Step’, ‘High variance’ and ‘High dynamics’ checks are performed on
standardized positions.
Position alignment
Aligning dashed line with continuous
This function is used for alignment of the position reference systems to provide
position measurements that are referred to a common zero frame.
Basically, each GNSS define their own zero point, and the local position references
are aligned with the GNSS zero frame. A GNSS can also be aligned if the position
deviates from another more reliable GNSS.
The position references can be re-aligned from the GUI when required.
If there are no GNSS available one of the local position reference systems will define
the zero frame.

Revision: F
System Description
Function Desciption
Differ and voting reject
Voting rejected
Weighted
Differ rejected
t
These functions performs divergence checks.

‘Differ’ check is performed when two devices of the same type are enabled. If the
difference between the signals of the two devices exceed a predefined limit, a ‘Differ’
alarm is issued. If one of the signals clearly moves away from the other, that device
will be ‘Differ Rejected’.
‘Voting Reject’ is performed when three or more devices of the same type are
enabled. If the difference between the signals of one device compared with the
others exceed a predefined limit, the device is rejected / disapproved until the signals
becomes normal again.
Divergence checks are also performed on disabled devices. The disabled devices
are compared with the enabled devices.
Weighting This function automatically makes the output values from functional and enabled
sensors and position reference devices affect the system in relation to the quality of
the output signal.
Weighted signals will only be calculated for multiple devices of the same type.
Manual scaling This functions is used to manually control how much specific sensors and position
reference devices affects the system

Revision: F
System Description
5 Location of Manufacturing Number
5.1 Marking Locations

Electrical cabinets and junction boxes are physically marked with a unique tag, and also
on all applicable drawings. The I/O cabinets are marked with the Rolls-Royce logotype
in the upper left corner.
3
The Rolls-Royce logotype is imprinted in remote control panels, alarm panels and cabin
panels.
Cables are marked with a cable tag at both ends.
5.1.1 Product Identification

Each unit of the Icon system is marked with a unique product identification label, stating
system name and type, unit name and function, and tag number, see example in Figure
19.
Rolls-Royce IconTM
DP System Class 2
MAIN CONTROL CABINET A
+C101
Figure 19 Product Identification Label
5.1.2 Company Identification

The Rolls-Royce Company Identification sticker shows where the product has been
produced and is found on discrete places on all delivered items, e.g. on the inside of the
cabinet doors.
1
TYPE NO INST.NO
3
SERIAL NO Q.A.- DATE

4
2
MADE IN NORWAY
Rolls-Royce Marine AS
dep.: Automation - Longva
N-6293 Longva, Norway
Figure 20 Company Identification Sticker
Pos Denomination Meaning
1 TYPE NO Corresponding drawing number with the revision letter in
closed brackets
2 SERIAL NO Production order number
3 MPS number (part number)
4 Q.A. DATE Date and signature by test responsible

Revision: F
System Description

Revision: F
Delivery Specification
1 General ......................................................................................................4-3
2 Main Item List ............................................................................................4-3

express written consent of Rolls-Royce plc. Revision: B
Revision: B
1 General
This chapter contains a delivery specification of all separately packaged items in the
Rolls-Royce delivery.
Note: Upon reception of the Rolls-Royce equipment, the receiver must compare
the shipping documents with the physical items received. If any
discrepancy is found, Rolls-Royce must be informed immediately.
4
2 Main Item List
If the delivery comprise a complete system (Poscon or Icon), the delivery specification
is found in the Main Item List (01LI), see chapter 12 Design Drawings.

Revision: B

Revision: B
Technical Data
1 General ......................................................................................................5-3
2 Environmental Data ..................................................................................5-3
3 Electrical Data ...........................................................................................5-3
4 Hardware Data ..........................................................................................5-4
4.1 Operator Stations .......................................................................................5-4
4.1.1 Main Display ....................................................................................5-4
4.1.2 Display Controller ............................................................................5-4
4.1.3 Input Device ....................................................................................5-4
4.1.4 AC/DC Power Supply ......................................................................5-5
4.1.5 Diode Bridge ....................................................................................5-5
5
4.1.6 Printers ............................................................................................5-5
4.1.7 Remote Control Display (Operator’s Chair Only) ............................5-5
4.2 Control Cabinet(s) ......................................................................................5-5
4.2.1 Main Components in the Control Cabinet(s) ...................................5-5
4.3 Uninterruptible Power Supply (UPS) ..........................................................5-7
4.3.1 Main Components in the UPS .........................................................5-7
5 Interfaces ..................................................................................................5-8
5.1 Manoeuvering Mode Selector Switch .........................................................5-8
5.2 Thruster System .........................................................................................5-8
5.2.1 Manoeuvring Mode Selection Signals ...........................................5-10
5.2.2 Manoeuvring Mode Selection Sequence .......................................5-11
5.3 Sensors / Positioning Reference Systems ...............................................5-12
5.4 Power System ..........................................................................................5-12
6 Additional Interfaces ..............................................................................5-12

Revision: B
Technical Data
1 General
This section provides the technical data of the Icon system, with focus on the main
hardware components. Detailed drawings and interface descriptions are found in the
delivery specific drawings, see chapter 12 Design Drawings.
The Icon system is designed to meet the type approval requirements stated by EU
standards and the following classification societies:
• American Bureau of Shipping (ABS)
• Bureau Veritas (BV)
• China Classification Society (CCS)
• Det Norske Veritas (DNV)
• Germanischer Lloyds (GL)
• Korean Register of Shipping (KR)
• Lloyd’s Register (LR) 5
• Nippon Kaiji Kyokai (NK)
• Registro Italiano Navale (RINA)
• Russian Maritime Register of Shipping (RS)
• Croatian Register of Shipping (Hrvatski Register Brodova) (CRS)
• Indian Register of Shipping (IRS).
2 Environmental Data
Temperature: 0–55 °C (Engine room)
0–55 °C (Control room, Accomodation and Bridge)
Humidity: 97 %
Vibration: Restrictions in the 3–100 Hz frequency range
3–13.2 Hz, displacement limited to ±1.0 mm
13.2–100 Hz, acceleration limited to 0.7 g
EMC: According to the rules of the Classification Societies, and the
IEC945 standard for Electromagnetic Compatibility
Enclosure: IP22 (Control room, Accomodation and Bridge)
IP44 (Engine room)
3 Electrical Data
DC power supply 24 VDC
AC power supply 220–230 VAC, 50–60 Hz*)
*) See chapter 12 Design Drawings for required power details.

All sub-components of the system are powered via the main control cabinets, or directly
from a system UPS (Uninterruptiple Power Supply).

Revision: B
Technical Data
4 Hardware Data
This section describes each of the Icon system unit types. Some units in this description
may not be a part of the specific delivery. See the Main Item List (01LI) in chapter
12 Design Drawings, for a detailed listing of the specific system delivery.
Details about the hardware can be subject to change without further notice.
4.1 Operator Stations

The operator stations provide the operator interaction units. The system may be
equipped with several operator stations. The operator station can be divided into several
units. Hence, the sub-panel units can be arranged according to the user requirements and
the requirements to ergonomics at the different bridge arrangement (desk, chair,
integrated bridge system etc.).
Each operator station is interfaced to the control cabinet(s) by means of Ethernet and
CAN bus communication links.
All operations can be performed and monitored either from any main operator station,
integrated in the operators chair or from a desk mounted operator station.
The vessel can also be equipeed with additional, limited operator stations that will have
a smaller display and will not be able to present information to the same extent as a fully
equipped operator station.
In general, the operator stations consists of the following main items:
• Display unit (including display controller)
• Operator devices
- Joystick device (including a 3-axes joystick lever, push-buttons and indicators)
- Positioning device (including a 2-axes joystick lever, push-buttons and indicators).
4.1.1 Main Display

• High-resolution colour LCD with resistive touch-screen interface
• 24 VDC power supply.
4.1.2 Display Controller

• CPU with VGA and 10/100Base-Tx Ethernet
• Serial channels (RS-232/RS-485/RS-422)
• Compact flash reader
4.1.3 Input Device

• CAN bus interface

Revision: B
Technical Data
4.1.4 AC/DC Power Supply

• Input voltage range: 85–264 VAC (45–65 Hz)
• Nominal output voltage tolerance: 24 VDC ±1 %
• Setting range for the output voltage: 22.5–28.5 VDC
• Max. output current (continuous): 10–20 A @ 24 VDC.
4.1.5 Diode Bridge

• Input: 2x24 V/20 A
• Output: 1x24 V/20 A.
4.1.6 Printers
• Line printer (no graphics, only alarms)
5
- Impact dot matrix printer with roll paper stand.
- 230 VAC power supply
• Hardcopy printer
- High resolution color printer
- 230 VAC power supply.
4.1.7 Remote Control Display (Operator’s Chair Only)

• High-resolution colour LCD with resistive touch-screen
• Integrated display controller.
4.2 Control Cabinet(s)

The control cabinet(s) provide the interfaces necessary for the interconnection between
the operator stations, thrust devices, switchboard, sensors and position reference
systems. The number of control cabinets depends on the DP class and customer
requirements of the delivered system.
Each cabinet contains controllers, both for DP calculations (DPC) and I/O calculations
(IOC) such as communicating with thrust devices, switchboard, sensors, position
reference systems and auxiliary systems.
4.2.1 Main Components in the Control Cabinet(s)

• I/O modules (digital input/output, analogue input/output and serial line interfaces)
• Fused distribution to the control system units (24 VDC to sensors and position
reference systems)
• Marine Controllers
• AC/DC Power Supply
• Diode Bridge
• Ethernet Switch
• Interface Modules

Revision: B
Technical Data
Marine Controllers (DPC and IOC)

• CPU (with VGA/DVI) and dual 100Base-Tx Ethernet
• 5 serial channels (RS-232/RS-485/RS-422)
• 4 CAN bus channels
• Digital outputs.
AC/DC Power Supply

• Input voltage range: 85–264 VAC (45–65 Hz)
• Nominal output voltage tolerance: 24 VDC ±1 %
• Setting range for the output voltage: 22.5–28.5 VDC
• Max. output current (continuous): 10 A–20 A @ 24 VDC
Diode Bridge
• Input: 2x24 V/20 A
• Output: 1x24 V/20 A
Ethernet Switch
• Managed switch
• 10/100 MBit/s twisted pair ports
• Fibre-optic ports
• Ring network support.
Interface Modules
A control cabinet may be equipped in different ways, dependant of which subsystem to
be interfaced with. In case thrusters or other devices are already equipped with Ethernet
interfaces, there will be less need for digital/analogue I/O. In such case, the cabinet may
be equipped with a separate Ethernet switch connected to the I/O Controller (IOC) in
addition to the CAN I/O modules.
• CAN I/O modules
- RRAIO for analogue and digital I/O signals
- RRDIO for digital I/O signals
• Signal Isolation Amplifier
- Output current: 0(4)–20 mA
- Maximum input current: 25 mA
- Load impedance, current: <= 600 ohm
- Galvanic isolation: 3-way disconnector
• Ethernet Switch
- Managed switch
- 10/100 MBit/s twisted pair ports.

Revision: B
Technical Data
4.3 Uninterruptible Power Supply (UPS)

The UPS delivers filtered and stabilized uninterrupted power for the Icon system. In case
of loss of main supply, the UPS can provide power for the system for at least 30 minutes.
The status of the UPS is monitored by the Icon system.
4.3.1 Main Components in the UPS

• Power module
• Battery module
• EMC filter
• Fuses for AC power distribution.
Power Module
• On-line double conversion with PFC (Power Factor Correction) system
5
• 10/100 MBit/s twisted pair ports (10/100Base-Tx, RJ45 connectors)
• Single phase input
Battery Module
• Maintenance-free sealed lead acid
• 20 pcs 12 V/7 Ah batteries in series per module.

Revision: B
Technical Data
5 Interfaces
The Icon system can acquire measurements from the power system, the truster system,
sensors and position reference systems, and applies thrust setpoints to the thruster
system. This section provides an overview of the different types of interfaces.
For detailed description of interfaces, refer to the delivery specific interface list. See
chapter 12 Design Drawings.
5.1 Manoeuvering Mode Selector Switch

The control cabinet(s) comprises an interface to the manouvering mode switch system
to be enabled for the Icon system operation. The manoeuvring mode selector switch has
the following states:
• Manual (manual manoeuvring, Icon system disabled)
• Joystick (Icon system enabled) – closed contact when active.
• DP control – (Icon system enabled) – closed contact when active.
5.2 Thruster System

The thruster systems are interface by means of a set of signals. The signals are
communicated to the different other thruster systems in one of two ways:
• Ethernet (i.e. Helicon X3)
The interface to the thruster control system is based on network communication. The
thruster system interface is a dedicated network channel from an I/O controller, located
in a control cabinet.
• Discrete signals
Each signal has its dedicated pair of wires. They are galvanically isolated at the
transmitting end.

Revision: B
Technical Data
The signals are set/received with I/O:s located in the thrusters controller cabinet of the
thruster control system, which again are interfaced towards switchboard, steering gear,
variable speed drive and auxiliaries. For each thruster system, the interface may consist
of the signals listed in the following table.
Signal 1) Type 2) Direction Description
Order Pitch 4–20 mA or ±10 V THR < Icon Setpoint pitch: -100 % – 100 %
Feedback Pitch 4–20 mA or ±10 V THR > Icon Feedback pitch: -100 % – 100 %
Order Direction 4–20 mA or ±10 V THR < Icon Setpoint azimuth angle:
-180° – +180°
Signal is only relevant for azimuth thrusters
Feedback Direction 4–20 mA or ±10 V THR > Icon Feedback azimuth angle:
-180° – +180°
Signal is only relevant for azimuth thrusters
Order RPM 4–20 mA or ±10 V THR < Icon Setpoint RPM:0 – 100%
Feedback RPM
Order Rudder
4–20 mA or ±10 V
4–20 mA or ±10 V
THR > Icon
THR < Icon
Feedback RPM:0 – 100%
Setpoint angle:±35, ±45° ±70°
5
Feedback Rudder 4–20 mA or ±10 V THR > Icon Feedback angle:±35, ±45° ±70°
Thruster Avaliable Pot. free THR > Icon Thruster ready for Icon
system
Thruster Request Pot. free THR < Icon Thruster call from Icon
system
Thruster Pot. free THR > Icon Thruster has accepted DP
Acknowledge control
Pitch Reduced Pot. free THR > Icon Pitch is reduced due to protection or PMS
power limitation
1)
Other status signals may apply, e.g. clutches signal (closed = clutch engaged).
2)
For Ethernet interfaces (outstations omitted), ignore the ‘Type’ column.
For analogue signals ±10 V is available if required, 4-20 mA is preferred.
Calibration: 6 mA = -180° (CCW), 12 mA = 0°, 18 mA = +180° (CW).
For a detailed description of each thruster interface, refer to the delivery specific system
drawings. See chapter 12 Design Drawings.

Revision: B
Technical Data
5.2.1 Manoeuvring Mode Selection Signals
Manoeuvring Mode
Selector Switch
Joystick
DP
Manual
Joystick Mode
Joystick Mode
Enable request
Enable request
Enable request
Enable request
Enable request
Enable request
DP Mode
Rudder 1 (2 similar)
Joystick Request Request DP
Rudder request (Separate contacts
operate simultaneously)
RUN PUMP 1 Not recommended to select only RUN PUMP 1

one rudder (in or out).
RUN PUMP 2 RUN PUMP 2
Select both or none!
Acknowledge Acknowledge
Propulsion / Thruster
Request Request
Available Available
Propulsion / Thruster Request

Request
INFO INFO
Available Available
Not a part decision. Not a part decision.
Information for Information for
DP/JS only. DP/JS only.
Enable Request Request signal enabled for DP/Joystick operation.

Available The thruster system is available for DP/Joystick operation and will accept
a request signal.
Request The DP/Joystick request to take control.
Acknowledge The thruster/steering gear system is operated from DP/Joystick.
RUN PUMP 1 Pump 1 running (steering gear).
RUN PUMP 2 Pump 2 running (steering gear).
Joystick Mode Status Manoeuvring Mode Selector Switch.
Manual Mode Status Manoeuvring Mode Selector Switch
DP Mode Status Manoeuvring Mode Selector Switch

Revision: B
Technical Data
5.2.2 Manoeuvring Mode Selection Sequence
Joystick / DP - Thruster Joystick / DP - Steering Gear Interface
Enable Request Enable Request

activated from No activated from No
Manoeuvring Mode Manoeuvring Mode
Selector Switch Selector Switch
Yes Yes
Available
activated from
thruster
No RUN PUMP 1
(and/or) RUN PUMP 2 (from) No 5
Steering Gear
Yes Yes
Request Request
from Joystick / DP from Joystick / DP
activated from No activated from No
thruster Steering Gear
Yes Yes
Thruster operated Steering gear operated

from Joystick / DP from Joystick / DP

Revision: B
Technical Data
5.3 Sensors / Positioning Reference Systems

The Icon system may be interfaced to various sensors and positioning reference systems.
This can be done by means of serial or Ethernet connections.
If nothing else is specified in the delivery specific drawings, the sensors and position
reference systems interface protocol is NMEA 0183 on a serial line RS422 9600/8/N/1.
See chapter 12 Design Drawings for delivery specific drawings.
See chapter 14 Subsuppliers Manuals for details on delivered sensors and position
reference systems.
The Icon system can be connected (point-to-point) to all types of sensors and positioning
reference systems with a standard type of interface.
Types of sensors and position reference systems can be:
• GNSS (Global Navigation Satellite System)
• Radar based sensor
• Laser based sensor
• Hydroacoustic based sensor
• Taut wire.
Types of external sensors can be:
• Gyrocompass
• Wind sensor
• VRU sensor
• Draft sensor
• Winch interface
5.4 Power System

The power system interface monitors the status of the applicable circuit breakers, bus tie
and generator load. Interface signal specifications are found in the Wiring Diagram, see
Signal Type Direction Description
Generator load 4–20 mA SB > Icon Generator power load measurement
Generator breaker Pot. free SB > Icon Closed/open = Generator available/
unavailable
Bus tie Pot. free SB > Icon Closed = buses are connected
Open = separate buses
Thruster breaker Pot. free SB > Icon Closed/open = Thruster available/
unavailable
6 Additional Interfaces
Possible additional interfaces may be implemented with the Icon system. In such cases,
details will be found in chapter 12 Design Drawings.

Revision: B
Operating Instructions
1 General ......................................................................................................6-3
1.1 Operation Principles ...................................................................................6-3
1.2 Basic Operational Modes ...........................................................................6-3
2 Operation ...................................................................................................6-4
2.1 Joystick Device ...........................................................................................6-4
2.1.1 Push-buttons and Indicators ............................................................6-4
2.2 Positioning Device ......................................................................................6-6
2.2.1 Push-buttons and Indicators ............................................................6-6
2.3 Graphical User Interface .............................................................................6-7
2.3.1 GUI Philosophy and Interaction .......................................................6-7
2.3.2 Main Layout and Components ........................................................6-8
2.4 Activating the System ...............................................................................6-10
2.5 Deactivating the System ...........................................................................6-10
2.6 Standby ....................................................................................................6-11
2.7 Transfer of Command Between Operator Stations ..................................6-11
6
2.8 Joystick Operations ..................................................................................6-12
2.8.1 Manual Heading ............................................................................6-12
2.8.2 Auto Heading .................................................................................6-13
2.8.3 Heading Control Settings ..............................................................6-15
2.8.4 Rotation Point (Pivot) ....................................................................6-16
2.8.5 Control Presets ..............................................................................6-17
2.9 Positioning Functions ...............................................................................6-18
2.9.1 Automatic Positioning ....................................................................6-18
2.9.2 Position Control Settings ...............................................................6-20
2.9.3 Mixed Surge and Sway Control .....................................................6-20
2.10 Wind Compensation .................................................................................6-21
2.11 Basic System Functions ...........................................................................6-21
2.11.1 Class Monitoring ............................................................................6-21
2.11.2 Online Consequence Monitoring ...................................................6-21
2.11.3 Power Limitation ............................................................................6-22
2.11.4 Thrust Configuration ......................................................................6-22
2.11.5 Built-in Trainer ...............................................................................6-23
2.12 Optional Functions ....................................................................................6-24
2.12.1 Target Tracking .............................................................................6-24
2.12.2 Waypoint Tracking .........................................................................6-29
2.12.3 Towing ...........................................................................................6-51
3 GUI ...........................................................................................................6-52
3.1 Main View .................................................................................................6-52
Copyright © 2013 Rolls-Royce plc Doc. No.: CAA-021001-06MU

The content of this document is the property of Rolls-Royce plc and may not be redistributed Revision: E
in whole or in part thereof without express written consent of Rolls-Royce plc.
3.2 Indicators ................................................................................................. 6-53
3.2.1 Heading Indicator .......................................................................... 6-53
3.2.2 Order Indicator .............................................................................. 6-55
3.2.3 Position Indicator .......................................................................... 6-56
3.2.4 Class Monitor Indicator ................................................................. 6-57
3.2.5 Power Indicator ............................................................................. 6-58
3.2.6 Speed Indicator ............................................................................ 6-59
3.2.7 Vessel Position Indicator .............................................................. 6-59
3.2.8 Wind/Resulting Force Indicator ..................................................... 6-60
3.3 Statusbar ................................................................................................. 6-61
3.3.1 System Status ............................................................................... 6-61
3.3.2 In Command/Give Command ....................................................... 6-62
3.3.3 Axes Control ................................................................................. 6-62
3.3.4 Position Reference System .......................................................... 6-63
3.3.5 Wind Compensation ..................................................................... 6-63
3.3.6 Current Camera View ................................................................... 6-63
3.4 Stack of Panels ........................................................................................ 6-64
3.4.1 Working with Panels ..................................................................... 6-64
3.4.2 The Change Panel ........................................................................ 6-65
3.4.3 The PosRefs Panel ....................................................................... 6-66
3.4.4 The Sensors Panel ....................................................................... 6-68
3.4.5 The Thrust Panel .......................................................................... 6-69
3.4.6 The Control Panel ......................................................................... 6-71
3.4.7 The Settings Panel ....................................................................... 6-73
3.4.8 The Operation Panel ..................................................................... 6-76
3.4.9 The Performace Panel (Remote Control Display) ........................ 6-80
3.5 Toolbar ..................................................................................................... 6-81
3.5.1 Views ............................................................................................ 6-82
3.5.2 Zoom ............................................................................................ 6-82
3.5.3 Camera Control ............................................................................ 6-82
3.5.4 Alarms ........................................................................................... 6-83
3.5.5 DP System .................................................................................... 6-83
3.5.6 Power ........................................................................................... 6-85
3.5.7 Monitoring ..................................................................................... 6-86
3.5.8 Operation Pages ........................................................................... 6-87
3.5.9 Printers ......................................................................................... 6-90
4 Status Symbols and Alarm Handling ................................................... 6-91
4.1 Basic Status Symbols .............................................................................. 6-91
4.2 Align Status Symbols ............................................................................... 6-91
4.3 Additional Status Symbols ....................................................................... 6-92
4.4 Alarm Status Symbols ............................................................................. 6-93
4.5 Alarm Handling ........................................................................................ 6-94

Revision: E
1 General
This chapter gives a brief overview on how to operate the Icon system. For practical
reasons, it is not possible to go into particulars about all available functions. Instead, the
graphical user interface (GUI) is designed to be as self-explanatory as possible. In the
following sections, the most common functions are described in detail.
1.1 Operation Principles

The operation of the Icon system is related to the fundamental axes of horizontal motion
– surge (alongship), sway (athwartship) and yaw (rotation around the selected rotation
point), see Figure 1.
sway
surge
6
yaw
Figure 1 Fundamental Axes of Horizontal Motion

By automatic control of the propulsion system, thruster forces in surge and sway as well
as thruster moment in yaw will be applied in order to achieve the desired vessel motion,
position, heading or path.
1.2 Basic Operational Modes

The main operational modes in the system are:
• Standby
The ‘Standby’ is a monitoring function where the Icon system will not generate any
control outputs (such as thruster action). If sensors and position reference systems are
available, all signals can be monitored on the operator station(s).
• Joystick
The ‘Joystick’ comprise all operational modes in surge, sway and yaw for operating the
vessel by means of the joystick lever and manual/automatic heading control.
• Positioning
The ‘Positioning’ comprise all joystick functionality. In addition, the vessel can be kept
in a fixed position utilising inputs from one or more positioning reference systems.

Revision: E
2 Operation
Note: If not all thrusters, position reference systems, and sensors are fully
available and function properly, it may result in a reduced performance of
the system.
2.1 Joystick Device
2.1.1 Push-buttons and Indicators
Push-buttons
Push-buttons with two dots on them, indicates that they need to be pressed twice (double
press) to activate the designated function.
Lamp Control
The Lamp control push-button with indicators, used to adjust the light of the indicators
in steps. One long push (2 s.) activates the Lamp Test function.
LED Indication
The LED indicator on the ‘Alarm’ button (5) flashes red together with the alarm buzzer.
When the ‘Alarm’ button is pressed to mute the alarm, the LED is lit constantly as long
as there are active alarms.
When the LED below the ‘Give command’ symbol (right hand symbol) on the
‘Command transfer’ button (2) flashes on an operator station, this indicates that the
operator station is ready to take the command.

Revision: E
10
7
6
9
5
4 1
3
2
Figure 2 Joystick Device
Pos. Symbol Function 6
1 System activation: Push-button with “System On” lamp.
2 Command transfer: Push-button with indicators, used for the transfer

of command between different operator stations. The ‘Give command’
(right hand) must normally be activated on the operator station in
command, before command can be obtained by another station.
3 Manual heading: Push-button with indicator, used to enter the ‘Manual
heading’ function.
4 Auto heading: Push-button with indicator, used to enter the ‘Auto

heading’ function.
5 Alarm silence: Push-button with indicators, used to mute the alarm

buzzer. The indicators show when an alarm is active.
6 Decrement: Push-button with indicator, used to decrease the heading

setpoint in pre-defined incremental steps (0.1 or 1 degree).
7 Increment: Push-button with indicator, used to increase the heading

setpoint in pre-defined incremental steps (0.1 or 1 degree).
8 Apply: Push-button on top of the joystick lever, used to confirm a new

heading and position setpoint.
9 Lamp control: Push-button with indicators, used to adjust the light of

the indicators in steps.
10 Joystick lever: 3-axes lever for manual heading and positioning

control.
– The lever position generates a force order in surge and sway.
– The rotation of the lever generates a yawing moment. The lever can
also be used to change the heading setpoint.

Revision: E
2.2 Positioning Device
2.2.1 Push-buttons and Indicators

Some push-buttons have two dots on them, indicating that they need to be pressed twice
(double press) to activate the designated function.
1
8
6
9
5
4
3
2
Figure 3 Positioning Device
Pos. Symbol Function
1 Auto position: Push-button with indicator, used to enter the
‘Auto position’ function.
2 Manual position: Push-button used to enter the ‘Manual

position’ function. Indicators for manual surge (left) and manual
sway (right).
3 Auto surge: Push-button with indicator, used to enter the ‘Auto

surge’ function.
4 Auto sway: Push-button with indicator, used to enter the ‘Auto

sway’ function.
5 Pause/Restore: Push-button with indicator, used to pause an
operation. With another press on the push-button, the operation
will continue from where it was paused.
6 Decrement: Push-button with indicator, used to decrease a
value of a setting (optional).
7 Position lever: 2-axes lever for position setpoint changes with

integrated heading wheel for heading setpoint changes.
8 Increment: Push-button with indicator, used to increase a value
of a setting (optional).
9 Apply: Push-button with indicator, used to confirm a new

heading and position setpoint.

Revision: E
2.3 Graphical User Interface
2.3.1 GUI Philosophy and Interaction

The Icon system operations are performed via the operator devices and the graphical
user interface (GUI). The most common operations can be performed by using dedicated
push-buttons on the operator devices. For details, please refer to section 3 GUI.
The graphical user interface is designed to be a tool for monitoring and actively
controlling the system through intuitive presentation and touch-screen principles. The
amount of information presented on the display is restricted to the basics necessary for
the operation of the system. This helps the operator to focus on the most vital
information.
To achieve the best visibility of the graphical interface, the system can be set to different
colour schemes:
• Day-colour scheme with light background colour.
• Night-colour scheme with a darker background colour.
A change of the colour scheme will have effect on all operator stations simultaneously.

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2.3.2 Main Layout and Components

The GUI is specially designed for Icon system operations and touch-screen based user
interaction. The display unit is divided into areas, each representing the different
operational aspects of the Icon system. Depending on the system configuration, the
logical areas can be placed on two different screens. It is also possible to some extent to
control which logical areas to display in each screen.
Figure 4, Figure 5 and Figure 6 show the GUI layout for:
• Splitscreen mode – displays the toolbar (5), statusbar (7) and most functions and
settings available in the system, including two stack of panels (1) for main operations
and user defined settings.
• Remote control display – displays the statusbar (7), toolbar (5) and two stack of
panels (1) for main operations and user defined settings.
• Fullscreen mode – displays the toolbar (5), statusbar (7) and mostly “view only”
information.
For detailed information about the different areas and system modes, please refer to
section 3 GUI.
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1 5
2 2
1 6
Figure 4 GUI – Splitscreen Mode

Pos Designation Function
1 Stack of panels The stack of panels contains operational functions and user
defined settings.
2 User HUD User head-up display, the information presented in these two
areas contain speed indicator, position coordinates indicator,
DP Class monitor, thrust power indicator etc.
3 Main HUD Main head-up display, presents vital information about the
vessel movement (i.e. heading, position and order).
4 World Area for the visualisation of the vessel position and motion, and
the thruster and rudder usage.
5 Toolbar The toolbar contains buttons to alter the appearance of the GUI,
change the operational settings of the system and short-cuts to
some vital system functions.
6 Alarm & Message Area Information area, displaying alarm messages and other vital
information.
7 Statusbar Information area, displaying current system mode and status.

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1 7 1 5
Figure 5 GUI – Remote Control Display
4
6
5
2 2
Figure 6 GUI – Fullscreen Mode
Note: For a detailed description of the GUI and its different areas, please refer to
section 3 GUI.

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Stack of Panels
The stack of panels are displayed, two at the time, on the remote control display and on
the main DP operator station display when set to split-screen viewleft hand side of the
GUI Main view.
The different panels are:
• Change – used for changing of position/heading values and tracking operations.
• PosRef – used for monitoring, enabling/disabling, blocking/unblocking, aligning and
zeroing of sensors positioning reference systems.
• Sensors – used for monitoring, enabling/disabling and blocking/unblocking of
sensors.
• Thrust – used for monitoring and enabling/disabling of thrust devices.
• Control – used for changing of operational functions and modes.
• Settings – used for changing of different system (operational) settings.
• Operation – used to change/start operational functions.
• Performance (available on the remote control display) – shows information related to
heading control, speed and rate-of-turn, thruster force and moment order.
• Aux (Optional. Only available when Icon is used for the control of auxiliary devices
functions and modes, e.g. communication radio, floodlight, wipers.
2.4 Activating the System
Note: The Manoeuvring Mode Selector switch (or the MMS Operator panel) must
be set to ‘DP Control’ in order to be able to activate the Icon system, see
chapter 3 System Description for details.
1. Press the ‘System activation’ push-button on the joystick device twice.

The ‘System active’ indicator is lit. Manual heading mode is automatically set and
its indicator is lit.
2.5 Deactivating the System

On the operator station that is in command:
1. Press the ‘System activation’ push-button on the joystick device twice.
Note: It is not necessary to set the Manoeuvring Mode Selector switch (or the
MMS Operator panel) to ‘Manual’ when the system has been deactivated.
The Selector switch/panel can rather be used for a fast transfer of thrust
devices to manual lever control, see chapter 3 System Description for
details.

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2.6 Standby
In standby (not active) mode, the Icon system is continuously running and processing
input data. However, the system has no control of the thrusters, main propellers or
rudders. The operator can monitor input signals, alarms and system status on the
operator station. The system remains in standby mode until it is activated, see section
2.4 Activating the System.
Note: When the Icon system is in standby mode, audible alarms are
automatically muted.
2.7 Transfer of Command Between Operator Stations
Note: The operator station(s) defined as ‘master’ (normally the operator station
mounted in the operator’s chair) does not require the ‘Give command’ to
acquire command. Command is obtained by pressing the ‘Command 6
transfer’ button twice.
The Icon system has a “Give-then-Take” command transfer functionality.

1. Press the ‘Command transfer’ push-button twice on the Joystick device on the
operator station that currently is in command.
The ‘Give command’ indicator is lit on all operator stations.
2. Press the ‘Command transfer’ push-button twice on the Joystick device for the
operator station to be in command.
The ‘Give command’ indicator is turned off. The ‘In command’ indicator is lit,
indicating that the operator station is now in command.
If no other operator station has taken command within a certain time, the ‘Give
command’ will time-out.
It is not necessary for the system to be activated in order to transfer commands between
operator stations.
It is also possible to change system settings on the operator station when the station is in
command and the system is not activated.
Note: If a failure occurs in the operator station that is in command, the ‘Give
command’ is activated and the ‘Give command’ indicator will be lit on all
operator stations.

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2.8 Joystick Operations
2.8.1 Manual Heading
Note: Whenever the Icon system is activated the manual heading is the default
operating mode.
1. Press the ‘Manual heading’ push-button on the joystick device twice to activate the
manual heading operation function.
In manual heading operation mode, the rotation of the joystick generates a yawing
moment.
The manual heading function is clearly indicated by a symbol in the statusbar on the
graphical display.
Rotation Point
The operator can set the rotation (pivot) point, either by means of a set of pre-defined
rotation points, or by a user-defined rotation point.
How to change the rotation point is described in section 2.8.4 Rotation Point (Pivot).

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2.8.2 Auto Heading
Warning: In manoeuvring operations, the Icon system always turns the vessel in the
direction that makes the shortest turn.
When turning the ship 180 degrees, the way the ship turns will be at
random and will not follow the way the heading wheel is turned.
There are threetwo states of automatic heading control:

• Fixed heading – the vessel is kept at the present heading setpoint automatically.
• Change heading – the vessel rotates from the present heading towards the new heading
setpoint automatically.
• Track – In advanced functions, such as target tracking and waypoint tracking, the
heading setpoint can be automatically changed (either in steps or continously changed)
by the Icon system.
The auto heading function is clearly indicated by a symbol in the statusbar on the
graphical display and in the heading indicator.
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Note: In fixed heading operations, the Icon system will issue an alarm if the
heading deviation exceeds the operator defined alarm limit.
In normal operation, the warning limit must be less than the alarm limit.
A warning limit can, however, be set to avoid warnings and only issue
alarms, by setting the warning limit equal to the alarm limit.
See section 2.8.3 Heading Control Settings on how to change the alarm
and warning limits.
Fixed Heading
Fixed heading is activated in one of the following ways:
• By pressing the ‘Auto heading’ push-button on the joystick device twice.
• From the ‘Control’ panel (see the following instruction).
These methods can also be used to update the heading setpoint.
When fixed heading is entered, the heading setpoint is assigned to be the actual vessel
heading.
1. Select the ‘Control’ panel.
2. Double-tap on the heading row (or select the row and press ‘Menu’), then select
‘Auto’ in the sub-menu.
The fixed heading state can be terminated in two ways:
• By selecting ‘Manual heading’, see section 2.8.1 Manual Heading.
• By deactivating the Icon system, see section 2.5 Deactivating the System.

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Change Heading
Note: Change heading can only be initiated when the system already is
operating in auto heading.
A change heading operation can be initiated in the following ways:

• By turning the heading wheel on the positioning device, followed by a press on the
‘Apply’ button.
• By turning the lever on the joystick device, followed by a press on the ‘Apply’ button.
• By using the increment/decrement push-buttons on the joystick device or on the status
bar on the display, followed by a press on the ‘Apply’ button.
- The increment button “+” will change heading CW.
- The decrement button “-” will change heading CCW.
• By entering the new heading setpoint in the ‘Change’ panel:
1. Select the ‘Change’ panel.
2. Select the row: ‘Hdg’.
3. Press the “Menu” button.
4. In the calculator menu, enter the new heading setpoint followed by ‘Apply’ or
in the arrows menu, change the heading setpoint in incremental steps by means
of the arrows followed by ‘Apply’. The incremental value can be changed by
means of the “+” and “-” buttons.
The new heading setpoint is clearly indicated together with the heading measurements
in the heading display area on the graphical display.
The change heading operation can be paused by pressing the ‘Pause’ push-button, this
makes the vessel stay at heading until pause is released. When it is released the vessel
will continue to the original setpoint.
The change heading operation can be terminated in three ways:
• By selecting ‘Manual heading’ mode, see section 2.8.1 Manual Heading.
• By selecting ‘Auto heading’ mode, see section 2.8.2 Auto Heading.
Rotation Point
The operator can set the rotation (pivot) point, either by means of a set of pre-defined
rotation points, or by a user-defined rotation point.
How to change the rotation point is described in section 2.8.4 Rotation Point (Pivot).

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Failure Handling
If heading measurements are lost or disabled during auto heading operations, the internal
vessel model will predict the rotation of the vessel (dead reckoning).
In dead reckoning, an auto heading operation will continue where the command action
is based on the predicted heading and rotational speed signals from the internal vessel
model.
Should this failure situation occur during change heading operations, the internal
reference model will automatically slow down towards zero speed in a controlled
manner to stop the vessel motion.
If the gyro is lost, but the measurements are availbable again, the gyro must be re-
enabled. This is done from the Measurements panel on the display.
Recovery Handling
If the actual heading differ with more than 3 degrees from the set point, a pop-up menu
appears on the display, and the operator must make one of the following decisions:
• Stay - Remain fixed in the present heading (setpoint will then be updated to present
heading)
• To setpoint - Move back to the original heading setpoint (or continue the change
heading operation to the new heading setpoint).
Tap ‘Stay’ or ‘To setpoint’ followed by ‘Apply’ in the pop-up menu.
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2.8.3 Heading Control Settings
The operator can influence the time needed for the automatic heading change operation
by the maximum turn rate value, defined in degrees per minute. In addition, the system
takes into account the present capacity of the thrusters, main propellers and rudders
when starting and stopping the automatic rotation.
In the ‘Settings’ panel, sub-view ‘Heading’, the following settings are available for the
heading mode operations:
• Heading gain (low/medium/high).
• Maximum acceleration factor (used in change heading operations).
• Maximum rotational speed (used in change heading operations).
• Heading deviation warning limit and alarm limit.
To change a heading setting:
1. Select the ‘Settings’ panel, sub-view ‘Heading’.
2. Select a row where a value shall be changed.
3. Press the ‘Menu’ button or double-tap on the selected row.
4. Enter the new value followed by ‘Enter’.
Note: The Joystick sensitivity and Thrust bias can be changed in the ‘Allocation’
sub-view of the ‘Settings’ panel.

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2.8.4 Rotation Point (Pivot)

In the ‘Pivot’ view the pivot point (rotation point) of the vessel can be set. New pivot
points can also be created and stored and custom points can be deleted or renamed.
Figure 7 Settings Panel – Pivot View

Pos Function
1 Pivot panel.
2 Menu button.
3 Combo box.
There are two ways to change the active pivot point:

1. Open the combo box (3). A list of predefined and custom made pivot points will
appear. Select a pivot point, then press ‘Apply’.
2. Click on the small pivot panel with the calculator symbol (1). A calculator will
appear. Enter the specific coordinates for the vessel’s rotation point, then press
‘Enter’. Whenever specific coordinates for the vessel’s rotation point are entered,
the combo box will display the text “Free Select”. This is to make the user aware
that he is using a custom made pivot point that has not been saved.
Any custom made pivot point that is created and saved will appear amongst the pre-
defined options in the combo box selection. To create a new pivot point, first open the
calculator and enter the desired coordinates as described above. Then click the ‘Menu’
button (2) and select ‘Save as new pivot’. A keyboard will appear on the screen. Type
in a name for the new pivot point (maximum 16 characters) and press the ‘Use’ button
on the keyboard.The custom pivot point is now stored and the combo box will display
the new pivot point name. Press ‘Apply’ to use the new pivot point (if not done already).
Whenever a custom pivot point is selected from the combo box, there is also the option
of renaming or deleting that point. This is also done from the ‘Meny’ button.

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The predefined pivot points (usually “Midship”, “Bow” and “Stern”) can not be
renamed or deleted.
The system can only store eight different pivot points at a time, including “Midship”,
“Bow” and “Stern” but not including “Free Select” (which appears whenever custom
rotation point coordinates are entered). If there already are eight pivot points, custom
rotaion point coordinates can still be entered but not saved for later use until at least one
pivot point is deleted in the list.
Note: Rotation point can not be changed in change heading state.
2.8.5 Control Presets

The control presets ‘Normal’, ‘HDG & Sway’ and ‘HDG’ may be used for easy access
to commonly used control mode and thruster combinations. Note that funcionality
equivalent to all these control presets may be obtained by manually disabling/enabling
thrusters and adjusting each of the surge, sway and yaw control modes as described
below.
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Normal
In ‘Normal’ mode, the system will by default be in control of all three degrees of
freedom (either joystick or automatically) and use all available thrusters.
Heading and Sway (HDG & Sway)

When the operator enables this function, the system automatically disables any main
propellers and rudders and sets the surge control mode to “No Control”.
Thus, heading and sway will be controlled either by joystick or automatically by the DP,
while any surge manoeuvring must be done using manual levers.
Auto Heading Fore (HDG)

When the operator enables this function, the system automatically disables all thrusters
aft of midship and rudders and sets the surge and yaw control modes to “No Control”.
Thus, only heading will be controlled by the DP (either automatically or by joystick),
while any surge and sway manoeuvring must be done using manual levers.

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2.9 Positioning Functions
2.9.1 Automatic Positioning

There are three functions for automatic control of positioning:
• Fixed position – the vessel is kept at the present position setpoint automatically.
• Change position – the vessel moves from the present position towards the new position
setpoint automatically.
• Track – In advanced functions, such as target tracking and waypoint tracking, the
position setpoint can be automatically changed (either in steps or continously changed)
by the Icon system.
Note: Fixed position can only be activated when heading is controlled

automatically.
In fixed position, surge and sway axes are controlled automatically.

The fixed position function is clearly indicated by a symbol in the status area on the
graphical display.
Note: In fixed position operations, the Icon system will issue an alarm when
moving outside of the operator defined boundaries.
See section 2.9.2 Position Control Settings on how to change the alarm
limit.
Fixed Position
Fixed position can be activated in different ways:
• By pressing the ‘Auto position’ push-button on the position device twice.
• By pressing the ‘Auto surge’ and ‘Auto sway’ push-buttons on the position device
twice.
• From the ‘Control’ panel (see the following step-by-step description).
2. Double-tap on the of the rows (Surge/Sway/Yaw) row (or select the row and press
‘Menu’), then select ‘Auto’ in the sub-menu.
When auto position is entered, the position setpoint is assigned to be the actual vessel
position.
These methods can also be used to update the position setpoint.
The auto position mode can be terminated in two ways:
• By selecting ‘Manual position’ mode, see section 2.8.5 Control Presets.

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Change Position
Note: A change position operation can only be initiated when the system already
is operating in auto position.
A change position operation can be combined with a change heading operation at any
time, either stepwise or in a coupled operation.
There are two ways to initiate a change position operation:
• By moving the position lever on the positioning device in the desired direction,
followed by a press on the ‘Apply’ push-button. The new position is always generated
relative to the vessel alongship (forward/aft) and athwartship (port/starboard) axes.
• By entering a new position setpoint in the ‘Change’ panel. When using the graphical
user interface, a new position setpoint can be defined as:
- Relative position change; North/South and East/West directions.
- Relative position change; alongship (Fwd/Aft) and athwartship (Port/Stbd)
directions.
- Relative position change; distance and course. 6
- Absolute position change; UTM or Lat/Lon.
Whenever a new position setpoint is defined, the new proposed position is clearly
visualised in the graphical user interface together with numeric position coordinates
(relative and absolute).
The change position operation starts when the new position setpoint is acknowledged by
the operator (by the ‘Apply’ button in the graphical user interface, or by the ‘Apply’
push-button on the positioning device).
To enter a new position setpoint:
1. Select the ‘Change’ panel.
2. Select the row corresponding to the definition to be used.
3. Press the ‘Menu’ button.
4. In the calculator meny, enter the new position setpoint followed by ‘Apply’ or in
the arrows menu, change the position setpoint in incremental steps by means of the
arrows followed by ‘Apply’. The incremental value can be changed by means of
the “+” and “-” buttons.
The system automatically calculates the other position setpoint definitions.
The change position operation can be paused by pressing the ‘Pause’ push-button on the
position device, this makes the vessel stay at heading until pause is released. When
released the vessel will continue to original position setpoint.
The change position operation can be terminated in three ways:
• By selecting ‘Manual position’ mode, see section 2.8.5 Control Presets.
• By pressing the ‘Auto position’ push-button on the positioning device twice, see
section 2.2.1 Push-buttons and Indicators.

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2.9.2 Position Control Settings

In the ‘Settings’ panel, sub-view ‘Position’, the following settings are available for the
positioning mode operations:
• Position control gain (low/medium/high).
• Maximum surge acceleration factor (used in change position operations).
• Maximum sway acceleration factor (used in change position operations).
• Speed limit (maximum surge and sway speed used in change position operations).
• Position deviation warning limit.
• Alarm limit.
The operator can influence the time needed for the automatic position change operation
by the maximum surge and sway speed setting.
To change a position setting:
1. Select the ‘Settings’ panel, sub-view ‘Position’.
2. Select a row where a value shall be changed.
4. Enter the new value followed by ‘Enter’.
Some settings are displayed in the GUI main view:
• Position gain indicator, see section 3.2.3 Position Indicator.
2.9.3 Mixed Surge and Sway Control

The operator can select different combinations of surge and sway axes control (No cntrl/
Joystick/Auto). This is done from the ‘Control’ panel, or by pressing the ‘Auto surge’
and/or ‘Auto sway’ push-buttons on the positioning device. To change the axes control
from the GUI:
2. Select the axis where the control shall be changed.
3. Press the ‘Menu’ button to open the axis control .
4. Select mode for the axis.
The operator can also chose from different predefined modes (Normal/HDG/HDG &
Sway). This i done in the ‘Control’ panel.
1. Press the ‘Preset mode’ button.
2. Select mode from the sub-menu, the following selections are available:
• ‘Normal’ - This is the default selection, where all three horizontal axes are controlled
by the joystick lever. The joystick lever position generates a force order in surge and
sway.
• ‘HDG’ - With this selection, manual position of the vessel is disabled in the Icon
system, only the yawing moment (heading) can be controlled.
• ‘HDG and Sway’ - This selection activates manual position in sway, but not in surge.
The yawing moment is also controlled.

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2.10 Wind Compensation

The wind compensation feature can be set to on or off:
2. Press the ‘Windcomp’ button and choose ‘Windcomp On’ (or ‘Windcomp Off’) in
the sub-menu.
Wind compensation is indicated in the status bar, see section 3.3 Statusbar.
Note: Wind compensation is only active for automatically controlled axes.
2.11 Basic System Functions
2.11.1 Class Monitoring

The class monitor indicator is displayed in the main view.
The class monitoring function comprise the possibility to select which DP class the
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system is assumed to comply with. This is accessed from the ‘Settings’ panel:
1. Select the ‘Settings’ panel, sub-view ‘System’.
2. Select the ‘DP Class’ row.
4. Select DP-class in the sub-menu.
Note: If the system does not comply with the selected class, the class monitor
will hightlight this with an alarm symbol.
2.11.2 Online Consequence Monitoring

The online consequence monitoring status is presented on the graphical user interface,
and an alarm will be issued when appropriate.
The online consequence monitoring function is viewed in the class monitor indicator
area in the main display area.
This functions is mandatory for DP class 2 and 3 systems, but can be disabled in DP class
1 operations.

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2.11.3 Power Limitation

When the power limitation function is activated, it computes the available power for DP
operation and limits the thrust device action to avoid power system overload.
The power limitation function is accessed from the ‘Settings’ panel:
1. Select the ‘Settings’ panel.
2. Select ‘System’ in the drop-down menu.
3. Select the ‘Power Lim’ row and press the ‘Menu’ button.
4. Select ‘enabled’ (or ‘disabled’) in the sub-menu.
Note: If problems with reading the values occur, the system will issue an alarm
‘Incosistent reading’.
When this happen, the operator should consider disabling the power
limitation function.
2.11.4 Thrust Configuration

It is possible to enable or disable any specific thrust device in the system.
1. Select the ‘Thrust’ panel, sub-view ‘List’
2. Select the preferred truster row and press the ‘Menu’ button.
3. Select ‘Enable’ (or ‘Disable’) in the sub-menu.
Note: The Icon system will automatically adjust to the actual number of active
thrust devices.
If the requested mode of operations cannot be fulfilled due to reduced
number of thrust devices, an alarm will be issued. However, if an axis is
set to ‘No control’, this alarm will not be issued.
Note: Disabling thrust devices may reduce performance of the Icon system.

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2.11.5 Built-in Trainer

The built-in trainer comprise a vessel simulator and a dedicated graphical user interface
for set-up of the simulated operational conditions. The simulator generates realistic
dynamic behavior of environmental conditions, thrust devices, power system, and
resulting vessel motion.
Note: The built-in trainer can only be started with the Icon system in standby
mode. When operating the system with the trainer, this is clearly indicated
on the graphical user interface.
Also the Manoeuvring Mode selector switch must be set to either manual
or joystick, it cannot be in DP.
The built-in trainer can be set up to simulate a specific environment or fault.

The trainer is accessed from a sub-view in the ‘Operation’ page on the toolbar.
Operation
From this tab it is possible to start and stop the trainer function and monitor the function
availability.
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Note: When the trainer function is on, it is clearly indicated with the symbol
in the statusbar.
Settings
From this tab system input signals are set according to the following sub-views:
• Environment (wind, current and wave speed and direction)
• Target (speed, direction, acceleration, turn rate etc.)
• Position reference systems (standard deviation, signal noise, differential limits etc.).
Reflectors
From this tab it is possible to set up laser reflectors used by the vessel. For each reflector,
the following parameters can be set:
• Which laser it is being used by
• Fixed or mobile (i.e. if it is placed on a vessel or not)
• Position (north, east, height)
• Active or inactive.
Trends
From this tab it is possible to monitor graphs for:
• Simulated environment conditions (wind, current and wave speed and direction)
• Target object values (speed and direction).

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2.12 Optional Functions
2.12.1 Target Tracking

Target tracking is a function that permits the DP vessel to track another object, a remote
operated vehicle or another vessel, in a fixed distance (range) and direction (bearing).
Relative position reference systems are used to measure relative distance to the tracked
object, typically laser or radar based systems for surface objects and hydro-acoustic
systems for sub-surface objects. The system defines the target by the measured reflector
(above surface) or transponder (sub-surface) distance and direction readings.
Single Mode
In single mode, one reflector/transponder is enabled and set as target. Heading and
global position measurements must be available, surge, sway and yaw must be
controllable. The system will enter auto track mode in surge and sway and auto heading
mode in yaw, regardless of previous modes.
Note: If only one target is available, the system will always enter ‘Single’ mode
when the tracking operation is started.
• If a reaction radius is used, the position setpoint will be updated only when the target
moves outside the pre-defined reaction radius. The heading setpoint is not dependent
on the target movement. During target tracking operation, the heading setpoint can be
changed by the operator.
Auto Heading
Bearing
DP Vessel
Distance
Reaction Radius
Target
Figure 8 Target Tracking with Reaction Radius

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• If no reaction radius is used (direct follow), the position setpoint will be continuously
updated as the target moves.
Auto Heading
Bearing
DP Vessel
Distance
Target
Figure 9 Target Tracking without Reaction Radius (Direct Follow)

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Note: During normal operation, the relative position and heading setpoints can
be changed at any time.
1. Select the ‘Posrefs’ panel, sub-view ‘Reflectors’.

2. Double-tap on the reflector/transponder to be used for the single mode operation
and select ‘Other’ and then ‘Target’. The symbol of the reflector/transponder will
change to a grey arrow, indicating that it is set as target but has yet not been
enabled.
3. Select the ‘Operation’ panel, sub-view ‘Target’.
4. Double-tap once again on the reflector/transponder and select ‘Enable’. The
symbol turns into a green arrow, indicating that the target reflector/transponder is
enabled and in use by the system.
5. Tap on the ‘Target Start’ button. The system will automatically enter single mode,
since only one target is used.
Note: Enabling the reflector/transponder can also be done from the ‘Posrefs’
panel, sub-view ‘Reflectors’.

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If a position reference system is measuring from two or more reflectors/transponders,

only one must be selected and enabled as target for single mode operation.
Note: If a position reference system is selected and enabled from the ‘Posrefs’
panel, sub-view ‘Posrefs’, all reflectors/transponders for that system will
automatically be set as target and enabled (i.e. if more than one target,
single mode operation is no longer available).
Multi Mode
In multi mode, two or more reflectors/transponders are enabled and set as target.
Heading and global position measurements must be available, surge, sway and yaw must
be controllable. The position and heading modes depend on the tracking mode:
• Follow position (Pos): position will be in auto track mode, i.e. when target moves the
DP vessel position setpoint depends on target movement (constant range to all used
targets). The heading setpoint is not dependent on the target movement.
1 2
DP Vessel DP Vessel
Auto Heading Auto Heading
Distance 1
Reflector 1
Distance 1 Distance 2 Distance 2
Target Object
Reflector 1 Reflector 2 Reflector 2
Target Object
Figure 10 Target Tracking, Multi Mode - Follow Position

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• Follow heading (Hdg): position may be in either auto or joystick, while heading
always will be in auto track mode, automatically changing DP vessel heading with
target orientation changes. In this mode, the distance to the target is not taken into
consideration.
Auto Follow Heading

1 2
DP Vessel DP Vessel
Auto Follow Heading
Distance 1 Distance 2
Distance 2
Reflector 1 Reflector 2 Distance 1
Target Object
Reflector 2
Reflector 1
Target Object
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Figure 11 Target Tracking, Multi Mode - Follow Heading
• Follow heading and follow position (Hdg & Pos): both position and heading of the
DP vessel tracks the movement and orientation changes of the tracked object.
1 2 Auto Follow Heading
DP Vessel DP Vessel
Auto Follow Heading
Distance 2
Distance 1 Distance 2 Distance 1
Reflector 2
Reflector 1 Reflector 2
Reflector 1
Target Object
Target Object
Figure 12 Target Tracking, Multi Mode - Follow Position & Heading

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Note: Target tracking can be set up with a reaction radius around each target or
without reaction radius (direct follow).
1. Select the ‘Posrefs’ panel, sub-view ‘Posrefs’.

2. Double-tap on the position reference system to be used for the multi mode
operation and select ‘Enable’. All available reflectors/transponders for the position
reference system are enabled and set as target. (This can be seen as green arrows in
the ‘Posrefs’ panel, sub-view ‘Reflectors’ or the ‘Operation’ panel, sub-view
‘Target’).
3. Select the ‘Operation’ panel, sub-view ‘Target’.
4. Tap to open the sub-menu to the right and choose tracking mode (‘Hdg’, ‘Pos’ or
‘Hdg & Pos’).
5. Tap on the ‘Target Start’ button. The system will enter multi mode operation,
according to chosen settings.
Important
The modes with reaction radius are designed to follow a target that occasionally moves
outside the specified circle, but mainly stays within it. If such mode is used to follow a
target that is moving close to constant speed, there will be a lag between the actual vessel
position and the setpoint. The reason for this is that the vessel should be able to stop at
the setpoint without overshoot if the target suddenly stops.
The vessel velocities (surge, sway, and rate of turn) will also be limited by the values set
by the operator in position and heading settings.
If a more aggressive following (without a constant lag between the actual position and
heading and the setpoints) is wanted, one of the direct following modes should be used.
In these modes, the vessel velocities will not be limited by the operator set values. The
system will do its best to go as fast as the target movement requires.
Failure Handling
Loss of Targets
Targets may become unavailable for the target tracking function due to either loss of
communication or generally poor measurement quality. If so, the target will be rejected
by the system. Such loss of targets may cause the following situations:
• Only one usable target (multi mode only): The system is uncapable to measure the
heading of the followed object and an alarm about loss of heading observability is
generated. The system will then assume that the object has a constant heading (the last
known value), and the positions of the unusable targets are predicted based on this
assumption. The targets are therefore still visible on the GUI, but will be blinking in
order to indicate that their positions are predicted and not measured
• No usable targets (both single and multi mode): The system will assume that all targets
have stopped at their last known positions and a target dead reckoning alarm will
sound. The targets are still visible on the GUI at their last known positions, but will be
blinking in order to indicate that their positions are predicted and not measured. The
system will pause both heading and position and do its best to stop the vessel. It is not
possible to initiate a new change of position or heading operation in this situation.

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• Communication to a target has been lost for a certain amaount of time (typically one
minute): In this case, the target tracking function stops predicting the target position
and “forgets” the target completely. As a consequence, the target becomes invisible on
the GUI. If the system is in a multi mode and now has only one usable target left, it will
automatically degrade to single mode.
Any target that has been lost/rejected may be re-enabled by the user if the measurement
gets approved by the system later on, and if the target has not been “forgotten” by the
target tracking function.
Note: A “forgotten” target may be re-enabled if the system is in multi mode and
already have two or more usable targets.
Loss of Global Position Reference System

The system enters position dead reckoning if all global position reference systems are
lost. The tracking operation will continue, but probably with reduced performance. It is
not possible to initiate a new change of position operation in this situation.
Loss of all Heading Measurements

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The system enters heading, position and target dead reckoning if all heading
measurements are lost. In this situation, the system will (based on predictions of vessel
heading and rate of turn, vessel positions and velocity and target positions) do its best to
stop the vessel. It is not possible to initiate a new change of position or heading operation
in this situation.
Handling of Large Deviations in Heading and Positions

In target tracking, an additional (light blue) vessel is shown on the GUI main view. This
vessel indicates where (position and heading) the system wants the vessel to be at any
particular point of time.
The position of this vessel might coincide with the setpoint vessel (grey), but doesn’t
necessarily do so, for example during a change operation. In target tracking, an alarm
will sound if the deviation (position or heading) from this vessel becomes larger than
certain limits. The size of these limits can be changed by the operator in the target
tracking settings menu.
2.12.2 Waypoint Tracking
Operation View
Waypoint tracking is a low speed tracking function that permits the vessel to
automatically move along a track defined by a list of pre-defined waypoints.
Each waypoint is associated with a set of data. The acceptance radius determines where
the vessel starts turning towards the next waypoint, also known as the wheel-over point.
This turn occurs on an inscribed circle. All waypoints are connected by straight track
legs. The waypoint track thus consists of inscribed circles in waypoints and straight lines
between them.
The radius of the inscribed circle is called turning radius. The turning radius is
determined by the acceptance radius and the previous and next waypoint. The
acceptance radius can be specified directly or the system can calculate it from the vessel
ROT and speed settings.

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The wheel-over point is where the waypoint track starts the turn towards the next
waypoint.
Acceptance
radius Track Leg
Wheel-over point
Turning
radius
Figure 13 Waypoint Tracking Definitions
Track
Original
A track without any offset.
Offset (relative/parallel)
The operator can offset the vessel a specified distance perpendicular to the left or right
of the track direction. This creates a new track parallel to the original track. Positive
values are to the right of the track (when following the waypoints in an ascending order).
This will increase or decrease the turning radius of each turn depending on turn direction
and sign of offset value.
Offset (geographic)
The entire track is moved a specified distance in a specified direction relative to North.
The geographical offset can also be specified in relative North/East distance. The new
track will be an exact copy of the original track.
Track validation)
All changes to a track are validated by the system to make sure that waypoints are
located sufficiently far away from each other. When a relative offset is selected, the
acceptance radius of each waypoint is checked to validate the new turning radius.
Activate Low-Speed Waypoint Tracking

To enter low-speed tracking heading must be fixed (Auto mode) and the yellow curve
must be shown on the 3D scene. After starting the tracking operation, surge and sway
will enter Change mode (regardless of previous modes). The rotation point must always
be at the centre while in tracking, so the system will automatically force it to (0, 0) when
the function is activated by the operator. (Note that a warning will be given if the system
changes the rotation point.)
Deactivate Low-Speed Waypoint Tracking

The vessel will stop at the last waypoint when it has completed the track. The DP system
will then enter Fixed Mode and will be positioned at this location until a new command
is given.
During operation, low-speed tracking is aborted by using the Exit button on the
Operation Panel or by selecting a new (or re-fix a) position control mode from control
mode menu in GUI or from control mode buttons on the Positioning Device twice. The
vessel will then go to the control mode selected, Fixed, Manual or Mixed.

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Managing the Waypoint Tracking Operation
Start tracking
Figure 14 Operation Panel – Waypoint View

From the Operation panel / Waypoint item on pull-down menu, the operator can manage
the low-speed waypoint tracking operation. The operator can see and change operation
modes and specify values. All changes are accepted by pressing the ‘Apply’ button in
the operation panel or by pressing the ‘Apply’ button on the positioning or joystick
device. All changes are cancelled by pressing the ‘Cancel’ button. Alternatively,
changes are automatically cancelled when the vessel crosses the wheel-over point.
Changes are also auto cancelled when edit is timed out as for normal change operations.
All values for waypoint operation settings can be specified using a calculator. Values
can be entered either using a numerical keyboard or incrementing/decrementing the
chosen value with an adjustable step size.
Relative Offset
The top, left panel displays the relative offset. The operator can specify the distance in
meters by clicking on the panel and enter the desired value in the calculator menu or the
arrows menu. Alternatively, the positioning device can be used to specify the offset
value.

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Figure 15 Offset Input using the Calculator menu
Figure 16 Offset Input using the Arrows menu

Geographic Offset
A copy of the current track can be moved by specifying a geographical offset, which is
displayed in the top, right panel. The geographical offset can be specified in relative
distance to the North and East, or by specifying a course and distance. The offset
changes are shown as the yellow curve on the 3D scene.
Offset Spd
The operator can specify the vessel speed normal to the track direction towards the new
offset track by using the calculator or using the Increase/Decrease buttons. Changes are
shown on the approach path from the present vessel position towards the new offset
track.
Heading
The operator can choose three different heading modes:
• Operator: The operator specifies the heading setpoint manually either by using the
calculator in the Operation view, the increment/decrement buttons in the Operation
panel, the heading wheel on the Positioning device, the increment/decrement buttons
on the Joystick device, or by twisting the joystick.

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• Table: The heading setpoint for each leg is specified in the waypoint table (the
waypoint the vessel is moving towards). The increment/decrement buttons and the
input devices are disabled in this mode.
• Tangential: The heading setpoint is calculated by the system as the track direction
between the previous and next waypoint. In tangential mode, it is also possible to
specify a heading offset. Positive to the right of the track direction. The offset value
might be adjusted using the same methods as for entering a new setpoint in operator
mode.
During operator mode the ‘Auto Heading’ button on the Positioning device can be
pressed twice to set the heading setpoint.
Heading Offset
WP1 WP2
Figure 17 Heading Offset
Speed
The operator can choose two different speed modes:
• Operator: The operator specifies the speed setpoint manually in the Operation view
either by using the calculator or the increase/decrease buttons in the Operation panel.
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• Table: The speed setpoint for each leg is specified in the waypoint table.
At the bottom of the Operation panel there are five buttons.
• Show Track: Before the waypoint tracking operation has begun, this button turns the
waypoint track (yellow curve) on and off on the 3D view. Note, the yellow curve has
to be visible to start tracking.
• Start/Exit Tracking: Startor exit the low-speed waypoint tracking operation. When
starting, the vessel will approach and pass the selected start waypoint and go all the
way to the given end waypoint. When exiting the waypoint tracking operation goes to
Fixed control mode.
• Forward/Reverse: At start (default) forward track mode is active and the vessel will
progress along the waypoint track against the selected end waypoint. Reverse tracking
can be activated after the selected start waypoint is passed, all edits are applied and the
vessel speed is zero. (Note: Vessel speed zero can be obtained either by activating
pause or set operator speed to zero). If Reverse mode is selected, the vessel will
progress along the waypoint track in reverse order (that is, move towards the selected
start waypoint). After Reverse track mode is selected, Forward track mode can be
selected if the same conditions are OK as for selecting Reverse tracking (i.e.: all edits
applied, zero vessel speed and between start and end point). Note: while in reverse
tracking, the way-point table is blocked for editing
• Cancel: Cancel all track and heading/speed setpoint changes. Will also cancel any
changes made in the waypoint table.
• Apply: Applies all track and heading/speed setpoint changes. The ‘Apply’ buttons on
the Positioning device and on the joystick can also be used as well. Will also apply any
changes made in the waypoint table.

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Using Input Devices for Waypoint Tracking Operations

During low-speed waypoint tracking operations the operator can change settings by
using the Positioning input device.
Changes in the Operation panel can be accepted by pressing the ‘Apply’ button on both
input devices. This includes changed heading and speed modes, new offset, heading and
heading offset, and speed setpoints.
Changing Relative Offset
The parallel/relative offset can be changed with the position lever on the Positioning
device. Moving the lever to the right (or left) shifts the new offset track to the right (or
left) of the track.
Changing Heading
When in operator heading mode, the heading setpoint can be specified directly using the
heading wheel on the Positioning device, the increment/decrement buttons on the
Joystick device or by twisting the joystick (as for normal auto heading operations).
When in tangential heading mode, the heading wheel specifies the heading offset.
Pause
The pause button works as for a normal change operation. The vessel speed setpoint will
be set to zero and stop the vessel. When zero speed is obtained, the current position will
be kept.
Table View
The Table view is where the operator can find the most detailed information about the
waypoint track. From here the operator can make changes to values for each specific
waypoint. It is also possible to save/load tracks from/to file, rename the tracks or load
new tracks from a chart system.
The Table view is enabled by clicking on the ‘Operation’ button in the toolbar (for a
descripion of the toolbar, see section 3 GUI).
Figure 18 Waypoint Tracking Table

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Buttons
Below the table there are five buttons.
• The ‘Track’ button will display a pop-up when pressed. This pop-up has three options:
Save/Load: The ‘Save/Load’ option will open up the ‘Track Organizer’ window. From
this window the operator can save or load tracks.
Chart link On/Off: The ‘Chart link On/Off’ will toggle the link to the chart system.
(if there is one). If toggled on, the operator will receive waypoint data from that system.
These data will overwrite the waypoints currently populating the table (if any).
Rename: The ‘Rename’ option enables the operator to give the track a new name. This
name is only used to identify the track if the operator decides to save it to a file.
• The ‘Position’ button is used to toggle between ‘Position’ mode and ‘Dist/Crse’ mode.
Position: When in ‘Position’ mode the table displays latitude and longitude
coordinates for every waypoint.
Dist/Crse: When in ‘Dist/Crse’ mode the table displays coordinates as distance and
course to every waypoint. Note: Dist/Course is relative to the previous waypoint in the
table (always read top down, no matter which way the vessel are running).
• The ‘Edit’ button is used to edit the cells in the table, or to insert new waypoints if the
table is unpopulated. The edit button will only work if there is a valid selection in the
table, or if the table is empty.
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• The ‘Cancel’ button will discard any changes made to the track since it was opened or
since the last time any changes were applied.
• The ‘Apply’ button will accept any changes made to the track since it was opened or
since the last time any changes were applied.
Selection
In this table the user can select either single cells, multiple cells, entire rows, entire
columns or the entire table.
• To select a single cell, click or press on that cell.
• To select multiple cells: Click and hold or press on a cell, then drag it to the desired
spot and release the click/remove your finger.
• To select an entire column, click or press on the header on top of the desired column.
• To select an entire row, click or press on the header to the left of the desired row. Drag
up or down to select several rows at a time.
• To select the entire table, click or press on the upper left corner that connects the row
header and the column header.

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Editing
There are two ways to open editors in the table. The first method is by clicking or
pressing the ‘Edit’ button while there is a valid selection. The other method is simply by
double-clicking a cell in the table. Nothing that is edited will take effect until the ‘Apply’
button is pressed. Below is a list of possible edits in the table.
Inserting new waypoints
To insert a new waypoint in the table a row must be selected, then either double-click
that row’s header or click the ‘Edit’ button while the row is selected. After that there is
an option of inserting a new waypoint either above or below the one selected in the table.
Type in distance and course from the selected waypoint, Followed by ‘Enter’. A new
waypoint can also be inserted in an empty table. Simply press the ‘Edit’ button without
having anything selected.
Deleting waypoints
Deleting an existing waypoint is the same procedure as when inserting a new one. Select
a row and double-click it or press the ‘Edit’ button. Select the ‘Delete’ option. It is
possible to select multiple rows or even the entire table before pressing the ‘Edit’ button.
If then the ‘Delete’ option is selected, all selected rows will be removed from the table.
Renaming waypoints
A waypoint is renamed by selecting the cell and double-click on it or press the ‘Edit’
button. Enter the desired name when the keyboard pops up and then press the ‘Use’
button. For practical reasons it is not possible to rename multiple waypoints at the same
time.
Setting start point and end point
The operator can set/change which waypoint in a table to be used as start point and
which one to be used as end point. This is done by selecting the desired waypoint cell in
the ‘Progress’ column and double-click on it or press the ‘Edit’ button. Then select either
‘Start point’ or ‘End point’.
Editing waypoint positions
Select the desired cell in the latitude or longitude column (these two columns will
always be selected in pairs). Double-click or press the ‘Edit’ button. There is a combo
box in the top of the calculator that appears, allowing the operator to switch between
relative north/east positioning or absolute latitude/longitude or UTM coordinates. To
enter lat/long select ‘Lat/Long’ from the combo box and enter desired latitude and/or
longitude coordinates. It is possible to open the calculator when having several
waypoints selected, but doing so allows the operator only to move the waypoints
relatively north or east and not to specify latitude and longitude or UTM coordinates. If
the ‘Dist/Crse’ view has been selected, the operator will get a calculator for entering
distance and course instead. ‘Dist/Course’ is relative to the previous waypoint in the
table (always read top down, no matter which way the vessel is running).
Editing radius, speed and heading
Select the value(s) to be changeed and double-click or press ‘Edit’. Enter the desired
value and press ‘Enter’.

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The “Applied” column
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Figure 19 Markers in the Applied Column
The column to the right is called ‘Applied’. Normally this column is blank, but when-
ever a change has been made to a waypoint a yellow marker will appear. If the change
made resulted in an invalid track, the marker will turn to red instead of yellow. When
the operator press ‘Apply’ to accept or ‘Cancel’ to discard the changes, these markers
will disappear. It is not possible to accept changes showing any red markers.
There is one more symbol to be observant of during waypoint tracking. The last way-
point the vessel passes will be marked with a lock symbol. This means that it is no longer
allowed to edit that particular waypoint. Also, any changes made to earlier waypoints in
the table will not be validated with a red marker. This is because they have no relevance
for the remaining portion of the track.
In the picture above the WP2 has been modified, which is shown by the yellow marker
to the right. WP3 and WP4 are invalid because the radius of WP4 has been set to 75
meters, which means that the radius of WP3 will overlap the radius of WP4. These way-
points are invalid, shown by the red marker.
Track Organizer Window

The track organizer window is mainly used to save current track to a file, or to load
stored tracks.

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Figure 20 The Track Organizer Window
Location
The Track Organizer is enabled by clicking the ‘Track’ button in the waypoint table
view, and then selecting the ‘Save/Load’ option.
Navigating the file tree

To the left in the view is the tree structure showing available files and folders. When a
folder is clicked or pressed the folder will expand if closed, or close if expanded. This
works the same way as navigating through the files and folders in Windows®.
Saving a track
There are two ways to save a track, “Save” and “Save as”.
• The ‘Save as’ button will prompt the operator to enter a name for the track, storing the
track in a file with that name. If a folder selected in the file tree, the track will be stored
in that folder. If another track is selected, the new track will be stored in the same folder
as the selected track.
• The ‘Save’ button will store the track without prompting for a track name. If a folder
is selected when ‘Save’ is pressed, the track will be saved in that folder and the file will
be named after the track name (which can be changed in the table view if desired). If
another file is selected, the operator will be asked if that file shall be overwritten. If the
operator select ‘Yes’, the selected file will be overwritten with your current track.

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Opening or appending a track

To load a stored track, press the ‘Open’ or ‘Append’ buttons.
• The ‘Open’ button will open the selected track, replacing the current track.
• The ‘Append’ button will append the selected track to the end of the current track.
If a folder is selected while pressing ‘Open’ or ‘Append’ the operator will simply be
asked to select a track first.
Below the file tree is a horizontal bar. This bar is a loading bar, and will visualize the
time it takes for the operator station to read a track file and send it down to the controller
for validation. While loading small track the operator probably won’t notice the bar, but
while loading larger tracks it might take a few seconds. Even when the bar is full, the
track won’t show in the table or 3D scene right away. The controller will also need a
short amount of time to validate the track it has received and send it back to the operator
station.
Other options
The ‘Edit’ button has a popup with five choices: “Rename”, “Delete”, “Copy”, “Paste”
and “Create folder”.
• ‘Rename’ allows the operator to rename both folders and files. Select the folder or file
to rename, click the ‘Rename’ button and type in the desired name.
• ‘Delete’ allows the operator to delete both folders and files. Select the folder or file to
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delete and click the ‘Delete’ button. The operator will then be asked for confirmation,
to avoid accidentally deleting anything. Deleting a folder will also delete all its
contents!
• ‘Copy’ will copy any file or folder currently selected.
• ‘Paste’ will allow the operator to paste anything copied into currently selected folder.
If a file is selected, the content will be pasted into the same folder as the file is in.
• ‘Create folder’ allows the operator to create a new folder. If a folder is selected, the
new folder will appear inside this one. If a file is selected, the new folder will appear
inside the same folder as that file. When clicking the ‘Create folder’ button the operator
will be prompted to enter a folder name. Type in the desired name and click ‘Use’.
Loading tracks from a memory stick

If a USB memory stick is inserted, a new folder representing the memory stick will
appear in the file tree. The operator can browse the folders on the stick in the same way
as described above. Find the file containing the track to be loaded from the memory stick
and select ‘Open’ or ‘Append’.
Waypoint Tracking File Format

The waypoint tracking files that is stored or opened need to have a certain format for the
system to be able to read and understand them. When using the save or save as function,
the system will automatically generate a compatible file with all the waypoint data.
As long as the system only tries to open files the Icon DP has generated, the operator
doesn’t really need to know how this works beneath the surface. However, if it is a self-
made list of waypoints, or an acquired one elsewhere, it might need a couple of small
changes.
Below is an explanation of how the file format works.

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Using the default file format

For the listing of waypoints, standard text files (.txt) are used. Below is an example of
the content in such a track file.
#elementSeparator = ":" waypointSeparator ="\n" #waypointElements = "name, lat, lon,
radius, speed, heading" WP1:62.70091:7.03552:20.0:0.51:11.0
WP2:62.70314:7.03552:30.0:0.52:12.0 WP3:62.70314:7.03804:35.0:0.53:13.0
WP4:62.70224:7.03804:35.0:0.54:14.0 WP5:62.70224:7.03552:20.0:0.55:15.0
WP6:62.70091:7.03806:20.0:0.56:16.0 WP7:62.70091:7.03916:20.0:0.57:17.0
The example above uses the default format for listing waypoint data.
The first two lines starting with a "#" is the header, explaining how the data will be
listed.
• The “elementSeparator” field tells which symbol is used to separate the different
waypoint data values. “:” (colon) is used as default.
• The “waypointSeparator” field tells which symbol is used to separate the different
waypoints. “/n” (new line) is used as default.
• The “waypointElements” field tells in which order the different waypoint data are
listed. “name, lat, lon, radius, speed, heading” is the default order.
After the header the listing of waypoints follows. Every data field is separated with a
colon (as specified in the header), and each waypoint is separated by a new line.
(specified in the header as “\n”). The order the data fields for each waypoint is listed
needs to match with the header.
Changing the format to fit other needs

If a text file, listing several waypoints, has been obtained from somewhere else and shall
be loaded into the system, it can in most cases be changed to be compatible with the DP
system quite easily by adding a header which specifies any needed information.
The DP system can read the name, latitude, longitude, radius, speed and heading for
every waypoint, but it does not need all that information. Below is an example of a list
of waypoints where no speed, radius or heading are specified. In addition, the waypoints
are separated by other symbols than what is normally used (default) by the system.
WP1,62.70091,7.03552;WP2,62.70314,7.03552;WP3,62.70314,7.03804;WP4,62.702
24,7.03804;WP5,62.70224,7.03552;WP6,62.70091,7.03806;WP7,62.70091,7.03916
A list similar to the one above, can still be read by the system by adding the needed
information in the header.
In the example above each data element is separated by a comma, and every waypoint
is separated by a semicolon. In addition, the waypoints only contain data about name,
latitude and longitude values. To make the system able to understand it, the following
lines must be added at the top of the file:
#elementSeparator = "," waypointSeparator =";" #waypointElements = "name, lat, lon"
The system now knows how to separate the different fields and waypoints, and it knows
how many data fields to look for per waypoint and the order of them. The header and the
content together for this example would be:
#elementSeparator = "," waypointSeparator =";" #waypointElements = "name, lat, lon"

WP1,62.70091,7.03552;WP2,62.70314,7.03552;WP3,62.70314,7.03804;WP4,62.702
24,7.03804;WP5,62.70224,7.03552;WP6,62.70091,7.03806;WP7,62.70091,7.03916

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3D Scene HUDs
In the top right corner of the 3D scene three HUDs are displaying useful information
about the waypoint tracking operation. These three HUDs will only appear while in
tracking mode.
Track deviation HUD (XTE HUD)

The track deviation HUD is an easy way to keep track of the XTE (Cross Track Error).
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3
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Figure 21 XTE HUD – Track Deviation HUB
Pos. Description
1 XTE value (in meters)
2 Alarm limit (in meters) 6
3 Position gain (low/medium/high)
• The rectangle with the blue cross in the middle is a visualization of the vessels XTE.
The blue cross represents the vessel and the black stippled line represents the center of
the “highway” the vessel is supposed to follow. As long as the vessel keeps within the
set warning limits, the rectangle will be colored green. The darker green color
represents the warning limit and the lighter green color represents the alarm limit.
When the vessel moves perpendicular to the highway the rectangle will start moving
left or right, revealing first the alarm limit color, and then becoming blank if the vessel
moves even further. If the vessel passes the warning- or alarm limit the colors of the
rectangle will change to yellow/green or red respectively.
The XTE can be monitored as a trend under the ‘Trends’ tab in the ‘Monitoring’
window. Select ‘Deviation’ in the left combo box and then ‘XTE’ in the right combo
box.

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Track progress HUD

The track progress HUD provides a visualization of how far into the track the vessel has
advanced.
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2 3
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Figure 22 Track Progress HUD
Pos. Description
1 Vessel
2 Progress line
3 Waypoint
4 Waypoint label
• Each waypoint is displayed as a label containing the waypoint’s name with an arrow
pointing down to where it belongs on the progress line. To the left and right of each
waypoint is a vertical stippled line representing the WOP (wheel over point) in and out
of the waypoint.
• To the left of the waypoint label is a number indicating the distance in metres to the
WOP.
• To the right of the waypoint label there might be a green symbol. This symbol indicates
wether the waypoint is the start point (SP) or the end point (EP) of the track.
• Right below the progress line are two more numbers for each waypoint (one below the
leg and one below the turn). These numbers represents the speed the vessel is able to
keep during the leg and the turn respectively. If the vessel needs to slow down to make
the next turn, the turn will be marked yellow instead of grey on the progress line.
• If reverse tracking is activated, a yellow reverse symbol will appear to the bottom right.
Offset HUD
The Offset HUD provides information about the currently used offset.
Figure 23 Offset HUD

• The “Track” text means the “normal” offset currently used. To the right is the value,
to the left there is an icon visualizing to which side of the track the offset is.
• If the operator gives the entire track an offset either north or east, this will show below
the “Track” offset. There are the values north and east, and an icon visualizing the
direction of the offset to the left of the text.

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3D Scene
2 Start tracking
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2010.02.21
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Figure 24 Waypoint Tracking – 3D Scene
Pos. Description
1 Start Waypoint tracking
2 ‘Show track’ button
In the example above a track of five waypoints has been loaded to the controller and is
shown on the GUI 3D scene. The yellow curve represents the predicted path of the vessel
centre of rotation (CR). The waypoint function may now be activated using the start
button found in operation view (bottom left of above picture). Notice that it is not
possible to start waypoint tracking if the predicted path is not visible (start button will
be disabled). The yellow curve visibility status may be toggled when not in way-point
tracking, using the ‘Show track’ button in operation view.
2010.02.21
Figure 25 Waypoint Tracking Activated

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When waypoint tracking is activated, “Waypoint Trk.” will be displayed in the status
line and a grey curve called “highway” replaces the yellow curve that was visible prior
to activation. The green box located at the centre of the vessel, visualizes the cross track
error (XTE).
Figure 26 Waypoint Tracking Close-Up View

In general, the operator may edit any waypoint data at any time. The only exceptions
being the system auto cancels, and restrictions related to the previous waypoint. The 3D
scene is used to visualize any not yet accepted changes made by the operator. In the
above figure, the operator has changed heading mode from “operator” to “tangential”,
and the yellow coloured vessel shows the new vessel heading. In Figure 27 and Figure
28, the operator has initiated an offset change, and the yellow curve has become visible
to show the new predicted path. Note that the numerical offset value is displayed both
in operation view and in the offset HUD.
2010.02.21
Figure 27 Waypoint Tracking – Offset Change

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Figure 28 Offset Change Close-Up View

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If the operator enters an offset value larger than what is physically possible, it will not
be possible to press ‘Apply’, the predicted vessel CR path curve will become red, and
the waypoint table will tell the operator what waypoint(s) that doesn't validate. This will
also be the case if any of the acceptance radiuses is too large. An example of the invalid
offset situation is shown in Figure 29 and Figure 30.
2010.02.21
Figure 29 Waypoint Tracking – Invalid Offset Situation

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Figure 30 Waypoint Tracking Table – Invalid Offset Situation

Figure 31 and Figure 32 show a situation in which “WP 2” has been moved some meters
to the north. This is clearly indicated in the 3D scene, where “WP 2” no longer is placed
at the currently accepted path (the grey highway), and the yellow curve has also become
visible to show the new path. There are yellow boxes next to “WP 2” and “WP 3” in the
waypoint table to indicate that moving “WP 2” will influence both waypoints (course
and distance for “WP 3” will change).
2010.02.21
Figure 31 Waypoint Tracking – Modofied Track

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Figure 32 Waypoint Tracking Table – Modified Track
Various Function Handling 6

Speed
The system offers two different modes for specifying the desired vessel speed limit:
Operator and Table. If table mode is chosen, the speed values given in the waypoint
table will be applied. Hence, if 1.0 knot is entered for a waypoint, the desired speed
setpoint on the leg towards this waypoint will be 1.0 knot. In operator mode, the system
operator can specify the speed from the operation view (+/- buttons or calculator).
Note that these limits are maximum values, and that the internal setpoint might be set
lower by the system if necessary. This might, for example, be the case for short legs and
when turning towards the next waypoint. Vessel speed will always be constant
(tangential to the path) during a turn and will not exceed the minimum of the velocities
given for the previous and the next leg (but it may be lower).
Maximum turning speed is calculated by the system in advance of the actual turn, and
any speed increments initiated by the operator while in a turn will not take effect before
leaving the acceptance circle on the next leg. Speed will also be automatically adjusted
in order to be able to finish a heading change at a waypoint. (Hence, a low rate of turn
setpoint may cause a lower translational speed while turning towards a new waypoint.)
Offset speed
The offset speed (adjustable from the operation view) is the desired speed setpoint
normal to the track direction when going out on (or coming in from) an offset. As for the
tangential speed setting, this value represents only the maximum speed limit, and the
system may use a lower setpoint internally if needed.
Heading
The heading might be operated in three different modes: Operator, Table and
Tangential. As for the speed setting, if table mode is selected, the waypoint table values
will be used, In operator mode, the heading is adjustable from operation view, the
joystick device increment/decrement buttons, the joystick (by twisting it), and the
heading wheel. If tangential mode is chosen, the vessel will keep a heading equal to the
current leg direction.

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Note that it is possible to add an offset (slip) angle using the operation view or joystick
device (same buttons as is used for operator mode).
Desired rate of turn (ROT) might be set using the standard settings menu. This is only
an upward limit for the ROT and a lower setpoint might be used internally. It might, for
instance, be necessary to reduce the ROT setpoint to keep the desired heading during a
turn when in tangential heading mode.
Notice also that, when entering the waypoint tracking function, the vessel will not start
moving along the track before the heading has reached the desired leg heading setpoint.
If in tangential mode, this heading equals the direction between the first two waypoints
(unless any offset is used). Thus, it will not be equal to the direction from the vessel to
the first waypoint.
Auto cancel
To ensure a predictable behavior of the vessel at all times, any edits (for example speed
and offset changes) that haven’t been applied by the time the vessel reaches a wheel over
point (WOP) will then be automatically cancelled by the system. Any edits made while
within the WOP of the selected end waypoint will also be auto cancelled.
Maximum number of waypoints

The maximum number of waypoints is set to 500 waypoints.
Start/and waypoints
The operator may select any of the waypoints in the table as start and end waypoint. The
system will automatically generate an additional approach track from the vessel to the
start waypoint which will be dependent on both vessel speed and the distance to the
waypoint. In most cases, however, the approach will be created such that it ends up
going straight through the start waypoint (no change of path direction when passing the
waypoint).
Settings
There are no special settings for waypoint tracking, but some settings in “Settings/
Position” have a slightly different meaning:
• The Speed limit is not used while in waypoint tracking.
• Alarm and Warning limits are for cross track error (XTE) monitoring.
Alarms and Warnings

There are three alarms/warnings given especially for waypoint tracking:
• Way Point tracking: Large cross track error (XTE). Given when deviation normal
to track direction (cross track error) is larger than alarm limit set in position settings.
• Rotation point was automatically set to center. Given because pivot (rotation) point
is automatically set to vessel center if it is at another position when waypoint tracking
is started.
• Way Point tracking: Edit was auto canceled. An edit that is not finished (accepted
or canceled) before wheel over point (WOP) for towards waypoint is passed, (i.e.
changed waypoint towards), is auto canceled by the system when passing WOP.
Other alarms as for normal station keeping, e.g.: heading deviation, thruster alarms,
power, etc.

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Dead Reckoning, Loss of Gyros or Loss of Thrusters

The waypoint tracking will go into a fault state if one of the following conditions occurs:
• Losing all position references (i.e. going into dead reckoning).
• Losing all heading (yaw) sensors (i.e. gyros), will also give dead reckoning.
• Losing thruster forces in a control direction, i.e. in surge, sway or yaw.
When going into a fault state, the controller will try to stop the vessel. Where “try”
means that speed set points are set to zero and when zero speed (model estimated speed)
is reached controller will try to keep that model estimated position. Notice that model
estimated position/speed is used and this is not always equal to real position and speed.
Also notice that with lost thruster forces, it will not be physical possible to stop the
vessel.
When recovered from a fault state (i.e. position references, heading sensors and thruster
force in all directions are all OK) and the vessel has drifted of more than 3 meter from
last known position on track (or more than 3 degrees in heading when all gyros lost), a
dialog box “CRITICAL CHOICE” will pop up with two selections, continue or exit
tracking. See Figure 33. The yellow curve will appear and show how the route back to
track will be (normally shortest way back to current leg direction).
Note: Alarms/warnings, e.g. dead reckoning, lost thruster(s), etc. are similar to 6
normal station keeping operation.

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2010.02.21
Figure 33 Dialogue Box “CHRITICAL CHOISE”

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2.12.3 Towing
During a towing operation, the operator can add a bias force in the forward direction to
compensate a near constant load. The joystick lever can be used in combination with the
constant bias force to adjust the total surge force order, i.e. the constant bias force can
then be neutralized by moving the joystick in negative surge position.
In the 'Operation' panel, 'Towing' sub-view, the settings available for towing operations
are:
• A bias force can be entered either numerically (reached from the 'Menu' button), or
incrementally up and down from the GUI.
Note: It is only possible to set a bias surge force when the surge control mode
is set to 'Joystick', see section 2.9.3 Mixed Surge and Sway Control. The
bias force will automatically be set to zero by the system if the 'Joystick'
mode is exited.

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3 GUI
From the graphical user interface, most of the settings and operating procedures for the
Icon system can be initiated.
3.1 Main View
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11
2
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1
Figure 34 GUI Main View, Split-Screen View

Pos. Description
1 Wind direction and resulting force
2 Vessel position
3 Stack of Panels
4 Vessel speed and rotation
5 Order indicator
6 Heading indicator
7 Position indicator
8 Class monitoring visualisation
9 Power visualisation
10 Toolbar
11 Alarm message area
12 Statusbar

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3.2 Indicators
3.2.1 Heading Indicator

The heading indicator presents:
• Actual vessel heading and heading setpoint (numerically and visualised)
• Heading deviation and heading deviation alarm limit
• Setting symbols
Figure 35 shows the heading indicator.
1 2 3
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7 6 5 8 4
Figure 35 Heading Indicator

Pos Indication
1 Actual vessel heading (symbol)
2 Vessel is turning towards a new heading setpoint
3 Heading setpoint (degrees)
4 Heading control gain indication (symbol) (low/medium/high)
5 Heading deviation

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Pos Indication
6 Actual vessel heading (degrees)
7 Heading deviation alarm limit
8 Heading setpoint (symbol)
The colours of the heading indicator (see Figure 35) symbolizes the heading deviation
as follows:
Grey New heading setpoint. Vessel is
turning automatically towards a
new heading setpoint.
Green Vessel heading is within alarm and
warning limits.
Yellow Vessel heading is within alarm
limit, but is exceeding warning
limit.
Red Vessel is out of heading.
By selecting the ‘Settings’ panel from the Stack of panels, a sub-menu will open where
the operator can change settings and options for the heading operation.

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3.2.2 Order Indicator

The order indicator presents:
• Visualisation of thruster force order and feedback (magnitude and direction relative to
midship)
• Visualisation of thruster moment order and feedback (magnitude relative to midship)
• Settings symbols.
The order indicator is shown in Figure 36.
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2
6
6
5
Figure 36 Order Indicator

Pos Indication
1 Joystick lever order (in %)
2 Force order (outlined) and feedback (solid) visualisation
3 Surge force in ton/kN (user defined)
4 Sway force in ton/kN (user defined)
5 Joystick lever sensitivity indication (low, medium, high)
6 Moment order (outlined) and feedback (solid) visualisation

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3.2.3 Position Indicator

The position indicator shows the vessel position in relation to position setpoints,
estimated time of arrival to setpoint, and some setting status regarding positioning.
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1
Figure 37 Position Indicator(during change position)

Pos Indication
1 Direction of vessels bow
2 Pivot centre, position relative to setpoint.
3 Deviation distance between actual position and position setpoint.
4 XTE, Cross Track Error, closest distance to the calculated bearing to
the new position setpoint.
5 Position deviation alarm limit
6 Position gain indicator (low, medium, high)
7 ETA, Estimated Time of Arrival, time left until new position setpoint is
reached. (Visible only in automatic change position operations.)

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3.2.4 Class Monitor Indicator

The class monitor shows how the system complies with selected DP class. Status symbol
are shown for:
• Thrusters
• Power
• Capability (a result of the online consequence monitoring function)
• Position reference systems
• Sensors
• System.
Note: If any sub-system does not comply with the class, DP operations for the
selected class may not be carried out. Demands on different class types
vary, depending on the classification society.
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Figure 38 Class Monitor (example)

1 Selected DP class.
2 List of sub-system compliance with the selected class. See section 4.1
Basic Status Symbols for symbol descriptions.

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3.2.5 Power Indicator

This indicator shows the power consumption and the available power. For further
information on power distribution, see section 3.5.5 DP System.
Figure 39 Power Indicator

1 Total available power
2 Power consumption visualisation
3 Power consumption in figures

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3.2.6 Speed Indicator

This indicator shows the vessel speed in all horizontal axes.
Figure 40 Speed indicator

1 Surge speed – forward (positive values, green colour) and
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aft (negative values, orange colour).
2 Sway speed – towards starboard (positive values, green colour) and
towards port (negative values, orange colour).
3 Rotational speed – CW (positive values, green colour) and
CCW (negative values, orange colour).
Note: The values for ‘Speed lim’ and ‘Rot lim’ are set in the Settings panel.
3.2.7 Vessel Position Indicator

This indicator shows the midship position of the vessel in latitudes and longitudes.
1
2
Figure 41 Current Pos

1 Vessel latitude position
2 Vessel longitude position

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3.2.8 Wind/Resulting Force Indicator

This indicator shows the wind speed and direction and the resulting force and its
direction needed to compensate the wind and current forces that affects the vessel’s
position.
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2
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Figure 42 Wind/Resulting Force Indicator

1 Wind speed and visualisation of direction.
2 Wind direction.
3 Resulting force direction (in degrees).
4 Resulting force and visualisation of direction.

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3.3 Statusbar
The statusbar displays some vital information about current settings and status of the
Icon system. It also contains a couple of buttons.
FIX LOW
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Figure 43 The GUI Statusbar (example)
Pos. Description
1 System Active/Inactive status
2 In command/Not in command status
3 Axes control visualisation – surge, sway and yaw.
4 Position reference systems and sensor status visualisation.
5 Rotation point indication.
6 Wind compensation visualisation.
7
8
Current camera view
Current operational function active
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9 Vessel draft (draught).
10 Manual weighting of sensors and positioning reference systems enabled,
otherwise blank.
11 Power limitation is off, otherwise blank.
12 Fixed thruster direction on azimuthing thrusters enabled, otherwise blank.
13 Low rpm setting, otherwise blank.
14 Number of active alarms.
15 Alarm indicator.
3.3.1 System Status

The statusbar displays the Icon system status (1). The following table shows the possible
system states.
Symbol Meaning
System active
System inactive, DP switch enabled
System unavailable, DP switch disabled

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3.3.2 In Command/Give Command

The system provides means for transfer of command control between the different
operator stations. Only one operator station can be in command at a given time.
Indicator (2) shows the operator station status.
Symbol Meaning
Operator station is in command
Operator station is not in command
3.3.3 Axes Control

controlled, see section 2.9 Positioning Functions for details about how to change the
settings.
The following table shows control symbols. In general, manual control applies when the
arrows point outwards, automatic control when the arrows point inwards and no control
when arrowheads are missing.
Symbol Meaning (control mode)
Surge Sway Yaw
Joystick Joystick Joystick
Joystick Joystick Auto
Auto Joystick Auto
Joystick Auto Auto
Auto Auto Auto
No ctrl No ctrl Auto
Note: The table shows just one of the possible control mode combinations
including ‘No cntrl’, but ‘No cntrl’ can occur in various combinations with
‘Joystick’ and ‘Auto’.

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3.3.4 Position Reference System

Indicators (4) shows the status of the sensors in the position reference system, they are
displayed as groups:
• GPS, one symbol for each sensor.
• Rel, relative position reference system status, i.e. radar and laser based (surface
systems) or hydro-acoustic based (sub-surface systems).
• Gyro compass status, one symbol for each gyro.
For more details about the sensors status symbols see section 4.1 Basic Status Symbols.
3.3.5 Wind Compensation

Indicator (6) showing if the wind compensation is activated or not, see section 3.3.5
Wind Compensation for more details.
Symbol Meaning (Wind compensation)
Blocked, off
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Active, on
3.3.6 Current Camera View

Indicator (7) shows the settings of how the vessel orientation in the grid net is visualised
in the main view. See section 3.5.3 Camera Control for details about changing the
settings.
Below are different examples of camera settings.
Symbol Setting
Hdg: Vessel Centre of view is fixed to the the centre of the vessel and the
Pos: Vessel orientation is fixed to the vessel's heading. The bow or stern is
up, depending on the physical operator station orientation on
the bridge.
Hdg: North Centre of view is fixed to the the centre of the vessel and the
Pos: Vessel orientation is fixed to earth (North up).
Hdg: Vessel Centre of view is fixed to the position setpoint and the
Pos: Setpoint orientation is fixed to the vessel's heading. The bow or stern is
up, depending on the physical operator station orientation on
the bridge.
Hdg: North Centre of view is fixed to the position setpoint and the
Pos: Setpoint orientation is fixed to earth (North up).

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3.4 Stack of Panels

The stack of panels are, together with the joystick device and the positioning device, the
main tools for the operation of the Icon system. They are displayed, two at the time, on
the remote control display and on the main DP operator station display when set to split-
screen view.
All panels are built-up in the same way, with access to different sub-views. The sub-
views are tailored to the operational mode by enabling buttons for the most common/
important operations for the specific mode.
3.4.1 Working with Panels

The procedure for changing an operational function is logically the same in all panels.
The interface is intuitive, straight-forward, and easy to understand.
Two examples of panels (Sensor and Settings) are shown in Figure 44.
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2
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1 7 7
Figure 44 Sensor and Settings Panel, Overview Presentation

Pos. Description
1 Weight button, applicable for the Sensor and PosRef panels. Adjusts manual weight
for selected row incrementally.
2 List of available selections, different for each sub-view. Double-tap on a row or
‘command’ to change the parameter for that row. By tapping once and sliding finger
over a number of rows, it is possible to select multiple rows.
3 Name list.
4 Drop-down menu, for the selection of another sub-view.
5 Drop-down menu, for the selection of another panel.
6 Scrollbar
7 Button, in most cases a short-cut to a sub-menu. If the current setting requires a
numerical input, this button will open a “calculator” instead. Effects selected row(s).
By double tapping on a row in the list, the operator gets access to a sub-menu (specific
for each panel) where a specific value or setting can be changed. Multiple row selections
for changes can be done by a tap-and-slide with the finger over the desired rows.

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3.4.2 The Change Panel

The ‘Change’ panel is used for changing of position heading values.
Figure 45 Change Panel (example)

Pos Function
1 Position setpoint values
2 Heading setpoint value
3 Button for editing setpoint(s) for selected value(s)
Parameter Description
Hdg New heading setpoint.
North/East New position (North/East).
Fwd/Stbd New position (Forward/Starboard).
Dist/Crse New position (Distance/Course).
Lat/Long New position (Latitude/Longitude).
Nrts/Ests New position (Norths/Easts).

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3.4.3 The PosRefs Panel

The ‘PosRefs’ panel is used for monitoring, enabling/disabling, blocking/unblocking,
aligning and zeroing of sensors and positioning reference systems. The list shows Status,
Sensor (name), Weight and Manual weight for each sensor. The graphic output in the
panel are the signals from the sensors, the scales on the axes in the graph can be changed
by double-tapping on the graph.
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4
3 6
1 7
Figure 46 Posrefs Panel, sub-view Posrefs and Reflectors respectively (example)

Pos Function
1 Button for manual weighting of selected position reference system.
2 Graph displaying the trended measurements of the different position reference
systems.
3 List of installed and connected position reference systems.
4 Name list.
5 Drop-down meny to select display of posrefs or reflectors.
6 List of connected position reflectors.
7 Button with submenu for handling of selected position reference system. or reflector.

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Sensors Parameter Description

All Position Enable/Disable Enables/disables the selected position
Reference reference system.
Systems
Block/Unblock Block/Unblock the signal from the selected
position reference system.
Align Aligns the signal values to the weighted signal
of all position reference systems, see section
4.2 Align Status Symbols.
Weight Adjusts manual weight for selected row
incrementally
Absolute Zero Resets the signal of the selected signal to its

Position (e.g. default state.
DGPS)
Relative Fixed Sets the selected position reference system to

Position (e.g.
Cyscan/Radar)
Target
be fixed, i.e. its absolute position does not
differ.
Sets the selected position reference system to
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be target during tracking operations.

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3.4.4 The Sensors Panel

The ‘Sensor’ panel is used for monitoring, enabling/disabling and blocking/unblocking
of sensors. The list shows Status, Sensor (name), Weight and Manual weight for each
sensor.
1 2
Figure 47 Sensor Panel (example)

Pos Function
1 Button for manual weighting of selected sensor.
2 Button for enabling/disabling or blocking/unblocking of selected sensor
The following parameters are possible to adjust for each sensor.

Parameter Description
Enable/Disable Enables/disables the selected position
reference system.
Block/Unblock Block/Unblock the signal from the selected
position reference system.
Weight Adjusts manual weight for selected row
incrementally

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3.4.5 The Thrust Panel

The ‘Thrust’ panel is used for monitoring and enabling/disabling of thrust devices.
There are two types of visualisation, list and graphical view.
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1
4
Figure 48 Trust Panel (example ‘List’ view)

Pos Indication
1 Thrust device
2 Toggle between List and graphical view
3 Toggle between Overview/Pitch/Rpm/Dir
4 Thrust feedback visualisation (green bar)
5 Direction order (degrees)
6 Button for enabling/disabling selected thrust device

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1
2 1
Figure 49 Thrust Panel (example ‘View’ view)

Pos Function
1 Thrust feedback (calculated) (in ton or kN)
2 Thrust force order visualisation (blue line)
3 Thrust feedback visualisation (green bar)
4 Direction order (blue triangle) visualisation
5 Toggle between List and graphical view
By selecting List view on the screen, a sub-menu will open where the operator can
change settings and options for each thrust device..
Sub-view Parameter Description
List Any thrust device.
Overview Enable/Disable Enables/disables selected thruster device. Shows the numerical
thrust power and direction, and a visualisation of it.
Pitch Enable/Disable Enables/disables selected thruster device. Shows percentage
values for pitch order and feedback.
Rpm Enable/Disable Enables/disables selected thruster device. Shows percentage
values of thruster rpm (both order and feedback).
Dir Enable/Disable Enables/disables selected thruster device. Shows numerical
values of the thruster power direction (both order and feedback).
View A graphical visualisation of all thrust devices showing Order,
Direction and Feedback for each device.

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3.4.6 The Control Panel

The ‘Control’ panel is used for changing of operational functions and modes. The list
shows control mode for horizontal axis, and also if wind compensation is enabled.
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4
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5
Figure 50 Control Panel (example)
Pos Function
1 Button for wind compensation function.
2 Button for preset control modes.
3 List of control modes for the three horizontal axes.
4 Menu button for display of options for selected list item.
5 Button for pausing change and tracking operations.

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The following table shows the parameter descriptions for the ‘Control’ panel.
Axis Parameter Description
Surge No cntrl/Joystick/Auto Control in surge axis.
Sway No cntrl/Joystick/Auto Control in sway axis.
Yaw No cntrl/Joystick/Auto Control in yaw axis.
Preset mode Normal/HDG/HDG & Sway Predefined control combinations.
Normal: Means that control (‘Joystick’ or

‘Auto’) is enabled for all three axes.
HDG: Means that control (‘Joystick’ or ‘Auto’)

is enabled only for the yaw axis.
HDG & Sway: Means that control (‘Joystick’

or ‘Auto’) is enabled for the yaw and sway
axes.
Wind comp Windcomp On/Windcomp Off Enables/Disables wind compensation for the
system.
Pause Pause Off/Pause On Pause change and tracking operations.

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3.4.7 The Settings Panel

The ‘Settings’ panel is used for changing of different system (operational) settings. The
list shows Symbol, Name, Value and Unit when applicable.
The example below shows the settings panel with the drop-down sub-menu open.
Figure 51 Settings Panel (example)
Pos Function
1 Drop-down sub menu
2 Function/Setting names and values
3 Menu button with the options/values for the selected function/setting

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The following table shows parameter descriptions for each sub-view.

Position Pos gain Position control gain.
Surge Acc Factor Surge Acceleration Factor.
Sway Acc Factor Sway Acceleration Factor.
Speed Limit Maximum surge and sway speed.
Warning Limit Position deviation warning limit.
Alarm Limit Position deviation alarm limit.
Heading Hdg gain Heading control gain.

Acc Factor Acceleration factor.
Max Rot speed Maximum rotational speed of the vessel.
Warning Limit Heading deviation warning limit.
Alarm Limit Heading deviation alarm limit.
Allocation Joystick (High/Medium/Low) Joystick sensitivity.

Rudder usage (when applicable) High/Medium/Low
Max Rudder (when applicable) Maximum rudder angle.
Thrust bias (when applicable) High/Medium/Low
Bow Az angle (when applicable) Auto / ↑ ↓ → ←
Aft Az angle (when applicable) Auto / ↑ ↓ → ←
System DP Class DP system class.

Power Lim Power limitation
CQA warn reserve How much system capability to be left
when a warning is issued.
CQA alarm reserve How much system capability to be left
when an alarm is issued.
Manual Draft Vessel draught.
Vessel name The name of the ship.
Display Theme Display theme options.

Trackplot vessel If the vessel track shall be plotted in the
grid.
Trackplot freq Plot density.
Trackplot duration How long the sliding window of historic
plots are.
Show flag - posrefs View posrefs flags in the grid.
Show flag - TP/REF View TP/REF flags in the grid.
Autozoom, new SP Autozoom when panning for a new pos.
setpoint.
Units & Default speed unit Knots (kt) or meters per second (m/s)
Formats Default force unit ton or kilo newton (kN)
Default lat/long format DDD°MM’SS,S” or DDD°MM,MMM
D=Degrees, M=Minutes, S=Seconds

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Target Tracking Target Filtering Lowering this value will make the system
to act more aggressive.
Radius Target reaction radius.
Trackplot target If the target track shall be plotted in the
grid.
Trackplot freq Plot densityl
Trackplot duration How long the plot function is enabled.
Pos Warn Limit Position deviation warning limit.
Pos Alarm Limit Position deviation alarm limit.
Hdg Warn Limit Heading deviation warning limit.
Hdg Alarm Limit Heading deviation alarm limit.
Pivot Free select/Midship/Bow/Stern Rotation centre point

Fwd [m] Range to rotation point
Stbd [m] Range to rotation point
Change Display Theme

By default, the display theme settings are set to day, which means that light colors will
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be used in the GUI. But when operating in darkness, this setting can be too bright. To
change display theme, proceed as follows:
1. Select the ‘Settings’ panel.
2. Select the sub-menu ‘Display’ and then double-tap on the ‘Theme’ row.
A pop-up dialogue appears.
3. Select ‘Day’ or ‘Night’ depending on the time of day.
A change in display theme applies to all operator stations of the system.

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3.4.8 The Operation Panel

The ‘Operation’ panel is used change/start operational function. There are three sub-
views in the drop-down list of the ‘Operation’ panel; Target, Waypoint and Towing.
Figure 52 Drop-down Menu in the Operation Panel

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Target Tracking Operation
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Figure 53 Operation Panel – Target Tracking View

Pos Function
1 List of available targets.
2 Type of tracking: “Reaction Radius” or “Follow Direct”).
3 Start/stop of the target tracking function.
4 Type of tracking mode: “Single”, “Hdg”, ”Pos” or “Hdg & Pos”.

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Waypoint Tracking Operation
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11
7
6 12
Start tracking
4 3 2 1
Figure 54 Operation Panel – Waypoint Tracking View
Pos Function
1 Applies all track and heading/speed setpoint changes (the apply button on the input
devices can also be used). Will also apply any changes made in the waypoint table.
2 Cancel all track and heading/speed setpoint changes. Will also cancel any changes
made in the waypoint table.
3 Forward/Reverse tracking operation.
4 Start/Exit the low-speed waypoint trackingoperation.
5 Turns the waypoint track (yellow curne) onandoff on the 3D view.Note: The track has
to be visible to start tracking.
6 Speed setpoint can be set in two ways: - Manually by the operator using the
calculator, the increase/decrease buttons or the increment/decrement buttons on the
Positioning device. - The speed setpoint for each leg is specified in the waypoint table.

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Pos Function
7 The heading setpoint can be set in three ways:-The heading setpoint for each leg is
specified in the waypointtable.-Manually by the operator using the calculator, the
increase/decreasebuttons,the heading wheel on the Positioning device, the
increment/decrementbuttonson the Joystick device or by twisting the joystick.-
Tangential,the heading setpoint is calculated by the system asthe track
directionbetween the previous and next setpoint.
8 The operator can specify the vessel speed normal to the track direction towards the
new offset track by using the calculator or the increase/decrease buttons.
9 Relative offset in meters, specified by theoperatorusing a calculator or the Positioning
device.
10 Geographical offset, specified by the operator in relative distance to the North/East
(in meters) or Distance/Course (in meters and degrees).
11 Choice of input mode for the heading setpoint: Table / Operator / Tangential.
12 Choice of input mode for the speed setpoint: Table or Operator.
Towing Operation
3
6
4
2
Figure 55 Operation Panel, Towing view (example)

Pos Function
1 Alongforce, adjustable constant bias force.
2 Wind compensation for the whole system on or off.
3 Start/Stop towing operation
4 Pause towing operation

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3.4.9 The Performace Panel (Remote Control Display)

The ‘Performance’ panel shows information related to heading control, speed and rate-
of-turn, thruster force and moment order.
Figure 56 Performance Panel (example)

Pos. Description
1 Heading indicator
2 Speed indicator
3 Order indicator

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3.5 Toolbar
The toolbar contains buttons for the operator to alter the look of the GUI, choose which
sub-menus to be shown and change the operational settings of the system.
From the toolbar it is possible to reach all Icon functions and settings. The toolbar also
consists of buttons for short-cuts to frequently used functions of the Icon system.
1
2
3
4
5
6
7
6
8
9
10
11
12
13
14
2010.02.21
Figure 57 Toolbar
Pos Function
1 System active / inactive status
2 In command / Give command status
3 Toggles between splitscreen and fullscreen
4 Camera zoom out
5 Camera reset
6 Camera zoom in

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Pos Function
7 Opens the ‘Cam cntrl’ page, from where it is possible to control the
camera view of the vessel relative to the surroundings. It is possible to
pan, rotate and zoom the vessel in the grid. It is also possible to tilt the
grid to achieve a 3D visualisation effect.
8 Opens the ‘Alarms’ tab of the ‘Monitoring’ page
9 Opens the ‘DP System’ page
10 Opens the ‘Power’ page
11 Opens the ‘Monitoring’ page
12 Opens the ‘Operation’ pages
13 Prints a screenshot of the current display screen
14 UPS time and date
3.5.1 Views
The ‘Split’ button, toggles between the following views:
• Splitscreen view – all main areas of the GUI are displayed on the same screen.
• Fullscreen view – the panels are not displayed in the main view.
3.5.2 Zoom
With the zoom (4, 6) buttons, the operator can zoom the visualisation in the main area
of the screen in or out respectively.
The ‘Reset cam’ button resets the camera to its default state.
3.5.3 Camera Control

By means of the ‘Cam cntrl’ (7) setting, the operator have full control on how the vessel
position in the grid net is visualised in the main area of the display.
There are two main ways to manage the camera control, ‘Auto’ and ‘Manual’ control.
• Auto: Hdg – the visualisation in the main area is from either vessel or from a north
view.
• Auto: Pos – the visualisation in the main area is from either vessel or from a setpoint
view.
• Auto: Top, Tilt1, 2, 3,4 – the visualisation in the main area can be tilted in predefined
3D-views.
• Manual: – the visualisation in the main area can be tilted in a 3D-view, it is also
possible to pan the vessel on the grid, as well as to rotate it. See Figure 58 Camera
Control.

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om
Zo
Tilt
Pan
Rotate
Figure 58 Camera Control
3.5.4 Alarms
In the alarms page (8), all active alarms are listed chronologically with the latest alarm
on top. The operator has the ability to acknowledge one alarm at the time, or all alarms
on the page simultaneously. There is also a separate ‘Alarm history’ page, containing all
6
(old) alarms, see section 4.4 Alarm Status Symbols and section 4.5 Alarm Handling.
3.5.5 DP System
The DP System pages presents an overview of the status of:
• The Icon system itself
• Sensors – The operator has the ability to enable/disable any sensor. (This can also be
done from the ‘Sensor’ panel.)
• Position reference systems – The operator has the ability to enable/disable any position
reference system. (This can also be done from the ‘PosRef’ panel.)
• Thruster devices – The operator has the ability to enable/disable any thruster device.
(This can also be done from the ‘Thrust’ panel.)
By tapping the ‘DP System’ (9) button in the toolbar on the screen, the DP System
display appears. From this page, the operator can:
• View the system status
• View measurements values for sensors, position reference systems and thrusters (for
sensors and posrefs extended information compared to corresponding view panels)
• Enable/Disable sensors, position reference systems and thrusters
• Calibrate the joystick
• Reboot the DP controller or the display
• Reset all settings to their default values.

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1 2 3
Figure 59 DP System Page (example, DP2 system)
Pos Part of system

1 DP system B
2 DP system C
3 DP system A
4 Icon operator stations
5 Controllers
6 Sensors and positioning reference systems
7 Thrust devices
For more information about DP system configuration, see chapter 3 System

Description.

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3.5.6 Power
The power page (10) shows a graphic visualisation of the machine power distribution
status.
3 4
Figure 60 Example of Power Page

Pos Part of system 6
1 Bustie
2 Thruster
3 Generator
4 Generator breaker

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3.5.7 Monitoring
The monitoring pages presents an overview of all monitored items with respect to the
chosen DP class.
By tapping the ‘Monitoring’ (11) button in the toolbar on the screen, the system
monitoring display appears. From this page, the operator can:
• View the alarm list and the alarm history
• Acknowledge alarms
• View trends for sensors, position reference systems, thrust devices and available/
consumed power
• Download system log files to a USB memory for further analysis, see chapter
8 Trouble Shooting
• View/print system status reports
• Start the hyper terminal.
Figure 61 Monitoring Display, Trends Page

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3.5.8 Operation Pages

By tapping the ‘Operation’ (12) button in the toolbar on the screen, the Operation page
appears. From this page, the operator have access to the waypoint tracking table (see
section 2.12.2 Waypoint Tracking for details), a capability page (see below) and the
built-in trainer (see section 2.11.5 Built-in Trainer for details), which comprise a vessel
simulator and a dedicated graphical user interface for set-up of the simulated operational
conditions.
Capability Page
9 10 11
1 6
2
8
3
7 6 5 4
Figure 62 Capability Page – Plot View
Pos Function
1 Wind information (present wind)
2 Sea current settings (by means of a Calculator)
3 Wave settings (by means of a Calculator)
4 Plot type (Wind plot/Force plot)
5 Worst case (on/off)
6 Present state (on/off)
7 All online (on/off)
8 Wind direction and speed
9 Bow indicator
10 Current direction
11 Plot unit

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12
13
16 15 14
Figure 63 Capability Page – Report View
Pos Function
12 Thrust vessel
13 Report info
14 ‘Save’ button
15 ‘Print’ button
16 Select plot state (All online/Present state/Worst case)
Plot types
Use the ‘Plot type’ button (4) to select type. When selecting a new type, all active states
are recalculated:
• Wind plot – Calculates the maximum wind speed the vessel can still remain in
position. The wind is rotated around the vessel and calculated for each angle. The
envelope displays the max wind speed in which the vessel can stay in position. The
envelope is dependent on the selected plot state.
• Force plot – Calculates the amount of thrust the vessel is able to produce for each angle
around the vessel. The amount of available thrust displayed is dependent on the plot
state selected.

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Plot states
Each plot state has its own button where they can be turned on and off:
• All online (7) – Based on the full configuration of the vessel. In this state all thrusters
are used and power system is without faults or errors.
• Present state (6) – Based on the current state of the vessel. Used in this calculation are
the current thrusters in use by the system, and the current state of the power system.
• Worst case (5) – This is the calculation of the single worst case failure based on the
present state of the system. For each calculated angle several errors are taken into
account e.g. loss of starboard or port power system, or any single thruster or propeller.
The single failure which produces the lowest capability is presented for every angle.
The worst case can be different for different attacking angles so this is a compound of
several worst case failures.
Environmental forces
For each plot state environmental forces are taken into account when calculating
maximum wind speeds for the wind plot, and the instantaneous force for the force plot.
• Wind (1) – The wind is not possible to change. The displayed wind is the actual wind
acting on the vessel. For the calculation of the wind plot, an internal wind velocity is
used. This is ramped up until there is a static balance between the external forces acting
on the vessel and the available forces from the thrusters and the power system. 6
• Sea current (2) – The sea current has two parameters; direction and speed. The
direction of the sea current is relative to the vessel. When calculating the wind plot the
direction is used as an offset to the wind. The offset to the wind direction is kept
constant when rotating the wind direction.
• Wave (3) – The wave setting has three parameters, height, direction and period. The
direction setting works in the same way as the sea current. Height and period are used
to increase or decrease the wave forces on the vessel.
• Rest force – Rest forces are taken into account when calculating the capability. If the
user hasn’t entered any current and wave parameters the rest force is used, as is, from
the system. The rest force is not rotated for the calculations – the force will always be
applied from the same direction. When the user enters wave and current parameters,
the forces generated from this will not come in addition to the rest force. An “internal
rest force” is calculated based on the relative directions of wave and current, the current
speed and wave height and period. Assume a DP rest force of 7 tons in sway and a
combined current and wave force in sway of 5 tons, the “internal rest force” will be 2
tons. This rest force will be kept with a static direction relative to the vessel, whereas
the waves and current will be rotated.
• Thrust force plot – The force plot tells the user how much thrust reserve there is. This
is based on the current wind velocity, the user selected current and wave parameters
and the rest forces. Based on this the instantaneous forces acting on the vessel is
calculated for every angle. Also, the maximum thrust force available is also calculated
for every angle. The plot shows the difference between maximum forces and the
instantaneous external forces acting on the vessel.

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Report
• Thrust vessel (12) – Displays the current active thrusters. ‘All online’ will always have
all thrusters active. The present state will show the current active thrusters when the
report was generated. Worst case does not show the thrust vessel; this is because the
worst case is a compound of several worst case failures (see Plot states – Worst case).
• Info panel (13) – Displays the environmental forces used when the report was
generated. When displaying wind plot there is an additional field, “Minimum
capability”. Minimum capability is the minimum wind speed found when calculating.
This can apply to several angles.
• Save (14) – The report can be saved to a memory stick. The output format is a PDF
file. To save a report a memory stick must be inserted into to display prior to saving the
report.
• Print (15) – Prints the selected state report.
• Vessel name – The vessel name can be changed, so that the capability report shows
the correct vessel name. This setting can be found in ‘Settings’ panel ->’System
settings’ view. The name will appear in the top of the capability report (printed or
PDF).
3.5.9 Printers
The Icon system can be equipped with various printers.
Icon DP 1 System
An Icon DP 1 system is equipped with the following printer:
• An impact dot matrix printer with roll paper stand, for printing of alarms. This printer
continuously prints all alarms as they get active, are being acknowledged and reset.
In addition, an Icon DP 1 system can also be equipped with a high-resolution colour
laser printer, for printing of trendings and screen-shots of the GUI.
Icon DP 2 system
Normally, an Icon DP 2 system is equipped with the following network printer:
• A high-resolution colour laser printer, for printing of alarms and screen-shots of the
GUI. When the system is active, this printer will print one page with alarms every eight
hour or when an alarm page is full. The operator can also force a printout by means of
the ‘Print Alarm queue’ button.
In addition, an Icon DP 2 system can also be equipped with an impact dot matrix printer
for printing of alarms. This printer continuously prints all alarms as they get active, are
being acknowledged and reset. When this printer is installed, the laser printer will not
be used for alarm printouts.

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4 Status Symbols and Alarm Handling
4.1 Basic Status Symbols

The following common status symbols (for thrust devices, sensors, position reference
systems, etc.) are used by the Icon system.
Symbol Colour Meaning
White Not available by system.
Grey Available, but disabled by operator.
Green Available and enabled.
! Yellow Warning 6
Red Error
? Red No data – connection lost.
Grey Blocked
4.2 Align Status Symbols

The following symbols are used by the Icon system when aligning any position
reference system.
Red Not aligned / Could not align.
Yellow Aligning (estimating bias).
! Yellow Aligning with predicted position.
Green Aligned (biased).

Revision: E
Green Zero reference (unbiased).
! Yellow Bad aligned (uncertain bias estimate).
4.3 Additional Status Symbols

Symbol Color Meaning
Yellow One or more posrefs or sensors is manual

weighted
Yellow Towing is enabled
Yellow Thrusters are in fixed angles mode

FIX
Yellow Low RPM is enabled

LOW
Yellow Power limitation is off
White Trainer is on

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4.4 Alarm Status Symbols

Any failures detected on operator stations, or loss of communication between the control
cabinets and the operator stations, will result in an alarm. In addition, a special status
menu will appear on the display informing the operator on the type of failure (loss of
communication or internal operator station failure).
Note: If a failure occurs in the operator station that is in command, the system
will automatically set the command transfer to ‘Give Command’ (cf.
section 2.7 Transfer of Command Between Operator Stations).
If there is no other operator station ready to take command, the Icon
system will still have command of the thrust devices. Use the
Manoeuvring Mode Selector Switch (or the MMS Operator panel) to release
to manual lever command.
The following alarm status symbols are used by the Icon system.
Alarms:
6
Red Unacknowledged alarm (UA) – is in alarm state but has not
been acknowledged by the operator.
Red Acknowledged alarm (AA) – is in alarm state and has been

acknowledged by the operator.
Blue Cleared alarm (CA) – an alarm was present but is no longer in

alarm state, was not acknowledged by the operator.
Warnings:
! Yellow Unacknowledged warning – is in warning state but has not been

! Yellow Acknowledged warning – is in warning state and has been

! Blue Cleared warning – a warning was present but is no longer in

warning state, was not acknowledged by the operator.

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4.5 Alarm Handling

When an alarm appears, the alarm indicator is flashing and an alarm text is clearly
displayed on the screen.
The alarms page is accessed from the statusbar in the main display area:
1. Tap the ‘Alarm’ button or the ‘Menu’ button in the statusbar to open the alarms
page. If using the ‘Menu’ button, the ‘Alarm’ button in the appearing ‘Monitoring’
window may be needed to tap.
2. Select an alarm in the alarms list and press the ‘Ack’ button to acknowledge the
alarm (or the ‘Ack all’ button to acknowledge all alarms on the page
simultaneously).
Note: Alarms can only be acknowledged from the operator station in command.
3. Refer to chapter 8 Trouble Shooting for a detailed description of the alarm text.
4. If possible, refer to chapter 7 Maintenance Instructions and fix the problem.
Note: It is also possible to view an alarm and warning history, by selecting the
‘Alarm history’ tab in the ‘Monitoring’ window.

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Maintenance Instructions
1 Safety and Precautions ............................................................................7-3

2 Electrostatic Discharge (ESD) .................................................................7-3
3 Routine Maintenance ...............................................................................7-4
3.1.1 Lamp Test .......................................................................................7-4
3.2 Operator Devices ........................................................................................7-4
3.2.1 Joystick Calibration .........................................................................7-4
4 Periodic Maintenance ...............................................................................7-4
4.1 General .......................................................................................................7-4
4.2 Cabinets .....................................................................................................7-5
4.4 Sensors / Positioning Reference Systems .................................................7-5
5 Troubleshooting .......................................................................................7-5
6 Corrective Maintenance ...........................................................................7-6
6.1 General .......................................................................................................7-6
6.2
6.3
Operator Devices ........................................................................................7-6
10,4” Display ...............................................................................................7-7 7
6.3.1 Fan Filter .........................................................................................7-7
6.4 19” Display ..................................................................................................7-8
6.5 DC Power Supply .......................................................................................7-9
6.6 Fuses ..........................................................................................................7-9
6.7 Printer .......................................................................................................7-10
6.8 UPS ..........................................................................................................7-10
6.9 Switch .......................................................................................................7-10
6.10 Marine Controller ......................................................................................7-11
6.11 Operator Station Computer ......................................................................7-12
6.12 CAN I/O Module .......................................................................................7-13
6.13 Signal Isolation Amplifier ..........................................................................7-14
6.14 Sensors ....................................................................................................7-14

express written consent of Rolls-Royce plc. Revision: D
Revision: D
1 Safety and Precautions
Warning: Risk of personal injury.

Changes or modifications to the system not expressly approved by the
Rolls-Royce department responsible for compliance, could void the
warranty or the user's ability to operate the equipment.
The following warnings and cautions are for your safety, for the prevention of injury
from electric shock and for a safe operation of the equipment. Also see chapter 2 Safety.
• While performing maintenance tasks, always position the equipment (and yourself) on
a stable and safe surface.
• Ensure that all accessible cables cannot be walked on, tripped over or damaged by
transportable items.
• If a device is damaged or fails to function correctly, disconnect it from the power
source. Refer to the system drawings to locate the nearest fuse/circuit breaker, see
• Do not attempt to repair any sub-component yourself – consult a qualified Rolls-Royce
service technician.
• A serious electrical shock hazard exists within the covers of some components (i.e.
displays) and on marked locations inside the cabinets (marked with 220 VAC or
24 VDC).
7
2 Electrostatic Discharge (ESD)
Caution: It is very important that you are connected to ground before touching any
electronic components or printed circuit boards.
The life span of electronics can be affected by damage caused by electrostatic discharge.
This can happen if a charged tool or person touches a component. Therefore it is very
important that all tools and personnel are discharged by touching a grounded point
before the printed circuit board or any of the components are touched. It is equally
important to discharge the package with the new component before opening it.
A person walking on a carpet can be charged with up to fifteen thousand volt (15000 V).
In worst case, some sensitive components can be destroyed when discharged with about
100 V.

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3 Routine Maintenance
3.1.1 Lamp Test
Note: The lamp test function is not available when the operator station is in
command.
1. Press the ‘Lamp control’ push-button on the joystick device for approximately
2 seconds.
All indicators on the joystick device should lit and the alarm buzzer should sound
for 10 seconds.
3.2 Operator Devices
3.2.1 Joystick Calibration
Note: A joystick calibration must be performed whenever an operator device has

been replaced or if it does not seem to function properly.
1. Tap on the ‘DP System’ button in the toolbar to the right to open the ‘System’ page.
2. Tap on the ‘System’ icon to the left and then on the ‘Joystick calibration’ tab.
3. Follow the on-screen instructions to perform a calibration of both operator devices.
4 Periodic Maintenance
4.1 General
• Check connectors on installed connection points, carefully clean as necessary.
• Check for any loose terminals due to vibration, fasten as necessary.

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4.2 Cabinets
• Ensure that the cabinet is properly fastened.
• Keep the exterior of the cabinet clean. If needed, carefully clean with a soft anti static
cloth and a non-abrasive cleaning agent.
• Keep the interior of the cabinet clean.
• If needed, carefully clean the inside the cabinet using a soft anti static cloth and a non-
abrasive cleaning agent.
• When necessary, carefully vacuum-clean the inside of the cabinet avoiding to touch
any components.
• Cabinets can be equipped with a fan. When necesary, carefully vacum-clean the fan
filter.
• Ensure that the cabinet doors are closed.

• Ensure that the operator station is properly fastened.
• Check connectors on installed connection points, carefully clean as necessary.
• Keep the exterior of the operator station clean. If needed, carefully clean with a soft
cloth and a non-abrasive cleaning agent.
• Operator stations can be equipped with a fan. When necesary, carefully vacum-clean
the fan filter. 7
4.4 Sensors / Positioning Reference Systems
Please refer to the corresponding subsupplier’s manual for details, see chapter
14 Subsuppliers Manuals.
5 Troubleshooting
The diagnostics of errors are given by the issued alarms. The troubleshooting is based
on the proposed error tracing and corrective actions given in the alarm list and
description. For details, see chapter 8 Trouble Shooting.

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6 Corrective Maintenance
6.1 General
The main tasks of corrective maintenance to be covered in this manual, are replacing
parts/units inside cabinets or on operator stations and, if applicable, tuning and set-up of
a new unit.
6.2 Operator Devices
2 3
1 1
４５６４５６
２３
７８
２３
７８
９０１９０１
4
Figure 1 Operator Device
To change an operator device, proceed as follows:
1. Remove the rubber protection plugs (1) that cover the screw heads on the top side
of the operator device.
2. Loosen the screws.
3. Carefully pull the operator device straight up from the top of where it is mounted.
4. Unplug the CAN and power connector (2) from the bottom of the operator device.
5. Set the addresses on the node address switches (4) on the new operator device
identical to the device, being replaced.
6. Verify that the terminal resistors (3) are identical on the device being replaced.
7. Mount the new operator device in reverse order.
8. Calibrate all operator devices on the operator station where the operator device has
been replaced, see 3.2.1 Joystick Calibration.

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6.3 10,4” Display
1 3
2 2
Figure 2 10,4” Display
To change display, proceed as follows:
1. Disconnect the power supply to the display, by removing the fuse for the operator
station.
2. Remove the CompactFlash memory from the display. It is hidden behind a
cover (1) on the left side of the display. 7
3. Loosen the 4 screws that hold the display in place, and remove the display.
4. Unplug the following:
• Ethernet cable(s) (2)
• 24 VDC power supply connector (3)
5. Insert the CompactFlash memory in the new display.
6. Fit and connect the new display in reverse order.
6.3.1 Fan Filter

When necessary, clean display fan filter (4) with vacuum cleaner.
If necessary, change fan filter for 10,4” display by ripping the old filter off. It is fitted
with velcro. Fit a new fan filter in place.

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6.4 19” Display
Back side
1 2 3 4
Bottom side
Figure 3 19” Display

To change display, proceed as follows:
1. Disconnect the power supply to the display by removing the fuse on the operator
station.
2. Disconnect the following:
• 24 VDC power supply (2)
• serial cable (9-pins D-SUB) (1)
• DVI (3) or VGA (4) cable
3. Loosen the screws that hold the display in place, and remove the display.
4. Fit and connect the new display in reverse order.

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6.5 DC Power Supply
Output DC DC
OK
Adjust
DC OK
powerb
ox ®
Figure 4 DC Power Supply

To change a DC Power Supply, proceed as follows: 7
1. Release the fuse for the DC Power Supply, see chapter 12 Design Drawings for
details.
2. Unplug the power connections to the unit. 220 VAC (bottom) 24 VDC (top).
3. Remove the unit from the rail. It is locked with a clip at the bottom of the unit
4. Fit a new unit in reverse order.
5. Adjust the output voltage to 26 VDC for the primary unit and to 25 VDC for the
secondary unit (if installed).
6.6 Fuses
There are two general types of fuses, automatic and glass cartridge fuses.
• Automatic fuses are reset by pulling the fuse switch to open (lower) position, and then
pulling it up to closed (upper) position again. A red marker shows the blown automatic
fuse.
• Glass cartridge fuses are changed by means of a plier or the protective cover around
the fuse. A lit green LED indicates that the glass cartridge fuse is OK. An extinguished
LED indicates that the fuse is blown.
Study the appropriate design drawings to find the fuse to reset or change, see chapter
12 Design Drawings for details.
Replaceable fuses are according to the fuse list (see inside door on corresponding
cabinet).

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6.7 Printer
To change toner, ink cartridges, toner tapes, or a complete printer, see chapter
14 Subsuppliers Manuals for instructions.
6.8 UPS
The fan filter on the UPS must be changed periodically. For instructions on when and
how to change UPS fan filters, see chapter 14 Subsuppliers Manuals.
6.9 Switch
Note: The new switch must be readily configured.
To change the switch, proceed as follows:

1. Disconnect the power by removing the corresponding fuse.
2. Remove the power supply connector (top).
3. Remove the Ethernet cables and optical fiber cables (if applicable).
4. Remove the switch from the rail.
5. Fit and connect a new switch in reverse order.

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6.10 Marine Controller
5 6
4 3
Figure 5 Marine Controller
To replace the controller (Rolls-Royce Marine Controller), proceed as follows:
7
1. Disconnect the power supply cable (1).
2. Remove the CompactFlash memory (2).
3. Disconnect the alarm connector (3).
4. Disconnect the following connectors:
• CAN (4)
• Ethernet (5)
• RS 422 (6)
5. Loosen the 6 screws that hold the controller in place, and remove the controller.
6. Insert the CompactFlash memory in the new controller unit.
7. Fit and connect the new controller in reverse order.

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6.11 Operator Station Computer
Front side
2 3
4 5
Back side
6 7
Figure 6 Operator Station Computer
To change the operator station, proceed as follows:
1. Turn off the power on the computer (switch at the front).
2. Disconnect the power supply to the computer by removing the fuse on the operator
station.
See chapter 12 Design Drawings for details.
3. Remove the 24 VDC power supply connector (2).
4. Remove connectors to:
• display (VGA) (5) or DVI (6)
• touch control (7)
• mouse (1)
• keyboard (3)
• Ethernet (4).
• Possible other serial port connected devices (7)
5. Loosen the 4 screws that hold the computer in place and remove the unit.
6. Fit and connect the new computer in reverse order.

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6.12 CAN I/O Module
Front
1
2 3
4
Circuit Board
5 5
Figure 7 CAN I/O Module
The CAN I/O module is located in the Control Cabinet. To change the internal circuit
board, proceed as follows:
1. Disconnect the power and CAN connector (2), which is located in the front.
2. Disconnect the I/O connector (3).
3. Loosen the 3 screws (1) that hold the top cover of the CAN I/O module in place
and remove the top cover.
4. Remove the circuit board from the CAN I/O module by pulling it staight out from
the housing.
5. Set the address (4) and jumpers (5) on the new CAN I/O module circuit board
identical to the one being replaced.
6. Fit and connect the CAN I/O module in reverse order.

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6.13 Signal Isolation Amplifier

When replacing a galvanic insulated amplifier, the DIP-switch must be correctly set.
Compare with the DIP-switch on the replaced amplifier and adjust as necessary.
All other I/O-modules can be replaced “as is” and do not need further measures.
6.14 Sensors
Please refer to the corresponding subsupplier’s manual for details, see chapter
14 Subsuppliers Manuals.

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Trouble Shooting
1 General ......................................................................................................8-3
2 System Log Download .............................................................................8-3
3 Alarms .......................................................................................................8-6
3.1 General .......................................................................................................8-6
3.2 Cabinet Alarms ...........................................................................................8-6
3.3 Consequence Analysis Alarms ...................................................................8-7
3.4 Control System Alarms ...............................................................................8-8
3.5 Operator Station Alarms ...........................................................................8-10
3.6 Power System Alarms ..............................................................................8-11
3.7 Sensor and Position Reference System Alarms .......................................8-13
3.8 Thruster System Alarms ...........................................................................8-17
3.9 UPS Alarms ..............................................................................................8-20
3.10 Target Tracking Alarms ...........................................................................8-20

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Trouble Shooting
1 General
The aim for the troubleshooting chapter is to be of assistance to the operator during fault
tracing of the Icon system. The main parts of the chapter are:
• System Log Download - this section describes how the operator can, after fault tracing
using the alarm list, download the system log to a USB memory, and send it for further
analysis to Rolls-Royce.
• Alarms - this section contains a list with all typical alarms including alarm text, and
possible cause, effect and proposed action for each alarm.
2 System Log Download
Note: A system log download should always be performed prior to any restart of
the system.
When regular trouble shooting (managing issued alarms and taking appropriate
measures, phone support etc.) does not fix the problem, it is possible to transfer system
log files to a USB memory. These files can then be sent to Rolls-Royce for further
analysis.
This section consists of an instruction on how to download the system log files to a USB
memory.
1. Insert the USB memory to the USB port of the operator station computer or the
remote control display.
2. Tap the ‘Monitoring’ button on the toolbar to open the ‘Monitoring’ page.
8
3. To download a complete set of system log files:
3.1. Select ‘Util’ in the ‘Monitoring’ page.

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Trouble Shooting
Figure 1 Monitoring page (System log view)
3.2. Tap on the ‘System log’ tab.

3.3. Tap on the ‘Download log’ button.
The complete system log consists of the following files:
• One health log file for each main operator station. (This information is used
for the GUI software. Contains data for the last 24 hours or since the last
reboot.)
• One status log file for each controller in the control cabinet(s). (Contains
data for the last 24 hours or since the last reboot.)
• An alarm log file from the display where the log is being downloaded.
• A playback log file for the last hour.
Note: There is a maximum file size for the log files. If there has been a substantial
activity/many alarms, the history may be shortened.
4. To download a playback log for a specific operator station and a specific single
hour during the last four weeks:
4.1. Select ‘Util’ in the ‘Monitoring’ page.
4.2. Tap on the ‘Playback log’ tab.

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Trouble Shooting
Figure 2 Monitoring page (Playback log view)
4.3. Select a specific hour from the list.

4.4. Choose operator station in the drop-down menu at the bottom of the page.
4.5. Tap on the ‘Download’ button.

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Trouble Shooting
3 Alarms
3.1 General
The diagnostics of errors are given by the issued alarms. The troubleshooting is based
on the proposed fault tracing and corrective actions given in the alarm descriptions.
See chapter 12 Design Drawings for wiring diagrams for the Icon system and applicable
cabinets.
3.2 Cabinet Alarms

The following alarms will be issued for control cabinet related faults. The term inside
the angle brackets < > is replaced by the name of the actual item, see the following
complete and specific alarm text examples:
• Cabinet: Failure in IO module A
• IO controller B1: Lost connection
No. Alarm Text Cause, Effect and Action
1 Cabinet: Failure in IO bus Cause:
<I/O bus name> A failure has occurred on the I/O bus.
Effect:
Connected equipment to the I/O bus will not be available to the system.
Action:
Check the I/O bus cables/wiring. Ensure that all connectors are in place
for each connected module. Verify that the CAN-bus termination (60
Ohm between the data signals).
2 Cabinet: Failure in IO module Cause:
<I/O module name> An failure or malfunction is detected on the I/O module.
Effect:
Dependant of failure the system may be disabled for operation until the
failure is fixed.
Action:
Check module, connectors/wires and internal I/O Modules.
3 Cabinet: HW failure in Cause:
<Equipment name> A hardware signal indicates a failure in the unit.
Effect:
Dependant of failure the unit may be disabled for operation until the
failure is fixed.
Action:
Check status on the unit, connectors/wires and mains power supply.
4 <I/O controller name>: Lost Cause:
connection The system has lost connection with the unit (i.e. the communication is
lost).
Effect:
The unit will not be available, and operations may be limited.
Action:
Check unit, connectors/wires and serial I/O.

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Trouble Shooting

5 Cabinet: Lost connection to Cause:
<I/O module> The system has lost connection with the unit (i.e. the communication is
lost).
Effect:
Action:
3.3 Consequence Analysis Alarms

6 CQA: Insufficient capabillity for Cause:
worst failure There are not enough capability for the system to perform safely in
case of a worst case failure.
Effect:
The system performance may not be sufficient with respect to the
operational requirement. In case of a single worst case failure,
e.g. blackout on one side, the vessel will most likely drift off.
Action:
If available, consider to enable more power (thrust or effect) into
the system. Otherwise the system is operating outside the normal
limits and must be watched carefully.
7 CQA:Too few thrusters available Cause:
for worst failure There are not enough thrusters available for the system to perform
safely in case of a worst case failure.
Effect:
In case of a single worst case failure (e.g. blackout of one side) the
vessel will most likely drift off.
Action:
If available, consider enabling more thrusters. If not, the system is
operating outside the normal limits and must be watched carefully. 8

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Trouble Shooting
3.4 Control System Alarms

The following alarms will be issued for control system related faults. The term inside
the angle brackets < > is replaced by the name of the actual item or movement, see the
following complete and specific alarm text examples:
• DP controller A Timed out
• Insufficient thruster configuration in Yaw
8 Different readings from DP switch Cause:
The Manoeuvring Mode Selector Switch status signals is different
on system A and B.
Effect:
The system will continue as normal.
Action:
Check signal, wires and connections. Most likely a wire is not
properly connected.
9 DP controller <Name> Timed out Cause:
The controller (DPC) has stopped or lost its network
communication with the other controllers (DPC).
Effect:
The DPC is not a part of the control system until the system is
restarted.
Action:
Reset the system to enable all controllers , Check network
connection.
10 DP controller <Name> Voted out Cause:
The controller (DPC) is out of synchronisation with respect to the
other controllers.
Effect:
The DPC is not a part of the control system until the system is
restarted.
Action:
Reset the system to enable synchronisation of all controllers.
11 Insufficient thruster configuration Cause:
in <Axis of horizontal movement> There are not enough thrusters available for the system to perform
the desired action.
Effect:
The desired action will be terminated.
Action:
Check if there are any failures reported on the remote control
systems. Change parameters for the desired action. If possible,
enable more thrusters.
12 Large cross track error Cause:
In waypoint tracking function, the vessel has a large deviation from
the desired track.
Effect:
No effect - the system will attempt to decrease the cross track
deviation.
Action:
Increase the limits, adjust the operation parameters.

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13 Out of heading Cause:
Heading deviation exceeds alarm limits, i.e. the difference
between actual heading and set point heading is larger than the
operator defined alarm limit.
Effect:
No effect - the system will attempt to decrease the heading
deviation.
Action:
Increase the limits and adjust the operation parameters.
14 Out of position Cause:
Position deviation exceeds alarm limits, i.e. the difference between
actual position and set point position is larger than the operator
defined alarm limit.
Effect:
No effect - the system will attempt to decrease the position
deviation.
Action:
Increase the limits, adjust the operation parameters.
15 System was disabled while active Cause:
The system has detected a OFF signal from the Manoeuvring
Mode Selector Switch during operation.
Effect:
If the readings are correct, all thrusters will be lost for DP and the
vessel will drift off. Thruster control will be transferred to the levers.
Action:
If the operation was not desired, check the I/O modules in the
Outstations (if Outstations are used).
16 System: Buzzer disabled Cause:
The alarm buzzer is disabled by the operator.
Effect:
No audible alarm will be presented to the operator in case of a
8
system alarm.
Action:
Enable the Buzzer in the system settings menu.
17 Warning: Close to deviation limit Cause:
The measurements indicates that the status is close to the
deviation limit.
Effect:
Action:
Check unit, connectors/wires and general I/O. Verify applicable
settings.

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3.5 Operator Station Alarms

The following alarms will be issued for operator station related faults. The term inside
the angle brackets < > is replaced by the name of the actual item, see the following
complete and specific alarm text examples:
• OS 2: HW failure in Main Power Supply
• OS 1: Lost connection to Joystick Device
18 <Station name>: Alarm printer is Cause:
not connected The printer is not available to the system.
Effect:
No alarms will be printed, the alarms will be buffered by the
computer.
Action:
Verify power to printer. Enable the Printer ("Online"/"Select") ,
Check cable to printer.
19 <Station name>: Alarm printer is Cause:
not ready The printer is not available to the system.
Effect:
computer.
Action:
Enable the Printer ("Online"/"Select").
20 <Station name>: Alarm printer out Cause:
of paper The printer reports out of paper.
Effect:
computer.
Action:
Check printer status, refill paper if empty.
21 <Station name>: HW failure in Cause:
<Power supply name> A hardware signal indicates a failure in the unit.
Effect:
Dependant of the failure the unit may be disabled for operation
until the failure is fixed.
Action:
Check status on the unit, connectors/wires and main power supply.
22 <Station name>: Lost connection Cause:
The system has lost connection with the unit (i.e. the
communication is lost).
Effect:
Action:
23 <Station name>: Lost connection Cause:
to <Device name> The system has lost connection with the unit (i.e. the
Effect:
Action:

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Trouble Shooting

24 <Station name>: <Device name> Cause:
order out of range The received order is outside the expected range.
Effect:
The device will not available for operation.
Action:
Check device, connectors/wires and internal I/O Modules.
25 Failure on all OS Cause:
All of the Operator Stations reports one or several failures.
Effect:
Proper operator interaction with the system may be difficult.
Action:
Check unit, connectors/wires and communication I/O.
3.6 Power System Alarms

The following alarms will be issued for power system related faults. The term inside the
angle brackets < > is replaced by the name of the actual item, see the following complete
and specific alarm text examples:
• MainBus2Stbd: Power out of range
• Generator3Stbd: Inconsistent measurements
26 <Equipment name>: Inconsistent Cause:
measurements The received measurements are not consistent with respect to the
vessel’s capabilities.
Effect:
Action:
8
settings.
27 <Equipment name>: Limitation Cause:
frozen due to signal errors An error is detected on one or more feedbacks from the power
system.
Effect:
The power limitation function will estimate the power consumption.
The power limitation function will be degraded.
Action:
settings.
28 <Equipment name>: Load out of Cause:
range The received measurements are outside the expected range for
this kind of equipment.
Effect:
The system performance may be reduced. The Load signal will not
be used by the system.
Action:
settings.

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Trouble Shooting

29 <Equipment name>: Power out of Cause:
range Unexpected high load measurement measured by the power
management system.
Effect:
Action:
Check if there are any failures reported on one of the remote
control systems or the power management system. Check the I/O
modules in the Outstations (if Outstations are used).
30 Power limitation: frozen due to Cause:
signal errors An error is detected on one or more feedbacks from the power
system.
Effect:
Action:
settings.
31 Power signals error: consider Cause:
disabling power limitation An error is detected on one or more feedbacks from the power
system.
Effect:
Erronous signals will be estimated. The power limitation function
might be degraded.
Action:
settings.

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Trouble Shooting
3.7 Sensor and Position Reference System Alarms

The following alarms will be issued for sensor and position reference system related
faults. The terms inside the angle brackets < > are replaced by the name of the actual
item or the signal type, see the following complete and specific alarm text examples:
• Gyro 1: Wild point in Rotation measurement
• Wind sensor 2: Wind speed measurement voting rejected
32 <Sensor name>: Disabled Cause:
automatically The data received from the equipment indicates a malfunction,
and the equipment is disabled by the system.
Effect:
The connected sub-system is not available to the system, and a
reduced performance may be the result.
Action:
Consider to adjust the unit settings, or revise the selected
operational selections.
33 <Sensor name>: High dynamics Cause:
in <Signal type> measurement Based on a linear regression (a straight line through the received
measurements in the last approx. 15 seconds) the measurement
differ from the expected range.
Effect:
Action:
34 <Sensor name>: High HDOP Cause:
The horizontal dilution of precision is high, which indicates a poor
satellite configuration for the GNSS system.
Effect:
8
Action:
35 <Sensor name>: High variation in Cause:
<Signal type> measurement The measurements from the unit shows a higher standard
deviation than expected. It might be a unit malfunction.
Effect:
Action:
36 <Sensor name>: Invalid data Cause:
received in NMEA telegram Failure detected in the received NMEA telegram. Indicates a
malfunction in connected equipment.
Effect:
The system performance may be reduced. Data will not be used
by the system.
Action:
Verify the unit setup, power and cabling.

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Trouble Shooting

37 <Sensor name>: Large <Signal Cause:
type> measurement differ The measurement difference between two sensors is critically
high.
Effect:
The sensor will be Auto Disabled, and not longer used by the
system.
Action:
Check unit. Verify applicable settings.
38 <Sensor name>: Large step in Cause:
<Signal type> measurement The measurements from the sensor has changed in a large step,
and then been stabilized. This indicates that a failure has occurred
in the sensor.
Effect:
The sensor will be Auto Disabled, and not longer be used by the
system.
Action:
settings.
39 <Sensor name>: Lost connection Cause:
The system has lost connection with the unit (i.e. the
Effect:
Action:
40 <Sensor name>: Measurement Cause:
<Signal type> differ The measurement difference between two sensors is higher than
expected.
Effect:
The system performance may be reduced.
Action:
Check unit.
<Signal type> frozen The measurements indicates that the sensor has frozen (i.e.
measurements is frozen for a period of time). Readings from
sensor / position reference system have not changed for a period
of time.
Effect:
The system performance may be reduced. Measurement from the
affected sensor / position reference system will be weighted down.
Action:
Check unit.
<Signal type> out of range The received measurements are outside the expected range for
this kind of equipment. Indicates a malfunction in the connected
equipment.
Effect:
The system performance may be reduced. Unit will be auto
disabled.
Action:
Check unit.

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Trouble Shooting

<Signal type> voting pre-warning More than two sensors/position reference systems in use. The
difference between this measurement average and the average
between the other sensor measurements is high.
Effect:
The system performance may be reduced. The unit will be
weighted down by the system.
Action:
Check unit.
<Signal type> voting rejected More than two sensors/position reference systems in use. The
difference between this measurement average and the average
between the other sensor measurements is too high.
Effect:
Followed by Auto Disabled - and the unit is not available to the
system.
Action:
Check unit.
45 <Sensor name>: No Differential Cause:
signal available The GNSS system has no correction signals.
Effect:
The system performance may be reduced. DPGS system will be
weighted down by the system.
Action:
Change correction signal base, or enable the backup correction
signal system.
46 <Sensor name>: No fix available Cause:
The GNSS system does not have enough satellites to give position
measurement.
Effect:
No positon measurement will be available from the affected unit.
8
Action:
If problem persists, check unit, cabling, antenna.
47 <Sensor name>: Old Differential Cause:
signal The differential signal available to the GNSS system is old.
Effect:
The accuracy of affected unit might be degraded. Unit will
gradually be weighted down by system.
Action:
Change correction signal base, or enable the backup correction
signal system.
48 <Sensor name>: Step in <Signal Cause:
type> measurement The measurements from the sensor has changed in a step, and
then been stabilized. This may indicate that a failure has occurred
in the sensor.
Effect:
The system will continue as normal. Unit will be weighted down by
the system.
Action:
settings.

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Trouble Shooting

49 <Sensor name>: Very high Cause:
dynamics in <Signal type> Based on a linear regression (a straight line through the received
measurement measurements in the last approx. 15 seconds) the measurement
differ from the expected values. This alarm is followed by "Auto
Disable".
Effect:
The sensor will be Auto Disabled, and not longer be used by the
system.
Action:
settings.
50 <Sensor name>: Wild point in Cause:
<Signal type> measurement Some wild points in the measurements are detected.
Effect:
A quality error on the unit signal is detected. The wild points will
not be used.
Action:
settings.
51 No <Signal type> measurement - Cause:
Dead reckoning There are no valid measurements and these signals are lost
during automatic control.
Effect:
The system will use the internal vessel model and thrust estimates
to predict the actual value.
Action:
If possible, enable more position reference systems to the system.
52 No time signal available from any Cause:
GPS No time signal is available from and GNSS system.
Effect:
If problem persists, system time will drift away from correct time.
Action:
Check GNSS units.

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Trouble Shooting
3.8 Thruster System Alarms

The following alarms will be issued for thruster system related faults. The terms inside
the angle brackets < > is replaced by the name of the actual item or the signal type, see
the following complete and specific alarm text examples:
• Port rudder: Broken wire or overflow in Direction order
• PortAz: Pitch setpoint / feedback deviation
53 <Thruster device name>: Became Cause:
unavailable An unexpected release of the Available signal from the remote
control system.
Effect:
The remote control system will not be available for control.
Action:
system. Check the I/O modules in the Outstation (if Outstations are
used).
54 <Thruster device name>: Broken Cause:
wire or overflow in <Signal type> A broken wire failure or a signal overflow is detected.
Effect:
Wrong data may have been received, and data will not be used.
Action:
properly connected.
55 <Thruster device name>: Cause:
Disabled automatically The data received from the equipment indicates an malfunction,
and the equipment is disabled by the system.
Effect:
The connected sub-system is not available to the system, and a
reduced performance may be the result.
8
Action:
56 <Thruster device name>: <Signal Cause:
type> feedback out of range The reported feedback value is out of range (i.e. the received
value is not possible according to the system setup).
Effect:
The measurement will not be used, the system will use the order
signals vessel model and estimates to predict the actual value.
Action:
Check unit, connectors/wires and serial I/O. If applicable, check if
there are any failures reported on the remote control system.
57 <Thruster device name>: Got Cause:
ACK without request Status signal is received in a wrong sequence (i.e. an error is
detected in signal from remote control system).
Effect:
The remote control system is not be available for control.
Action:
used).

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Trouble Shooting

58 <Thruster device name>: Cause:
Inconsistent breaker status The reported breaker status is inconsistent with respect to the
system setup.
Effect:
Action:
Check connections and possible open circuits.
59 <Thruster device name>: IO Cause:
module Failure The I/O Module reports a malfunction.
Effect:
The I/O Module status will not be available to the system.
Action:
Verify the unit setup, power and cabling.
60 <Generator>: Load out of range Cause:
The received measurements are outside the expected range for
this kind of equipment.
Effect:
The system performance may be reduced. The Load signal will not
be used by the system.
Action:
settings.
61 <Thruster device name>: Lost Cause:
connection The system has lost connection with the unit (i.e. the
Effect:
Action:
62 <Thruster device name>: Lost for Cause:
DP The thruster is no longer available for the system (Acknowledge
signal is lost).
Effect:
The system performance may be reduced and will not consider the
actual thruster.
Action:
systems. Change parameters for the desired action.
63 <Thruster device name>: Power Cause:
limitation The commanded thrust cannot be obtained due to insufficient
available power on the power bus that the thruster is connected to.
Effect:
The system performance may be reduced.
Action:
Start more generators or reduce other loads.

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Trouble Shooting

64 <Thruster device name>: <Signal Cause:
type> setpoint / feedback The feedback signal does not follow the commanded set point.
deviation Effect:
The thruster will not give force as commanded. Performance might
be degraded.
Action:
used). Consider disabling thruster.
65 <Thruster device name>: System Cause:
internal logic error Logical signals from the remote thruster control have behaved in
an unexpected way.
Effect:
The thruster could be lost for DP. The system will continue as
normal.
Action:
Check if there are any failures reported on one of the remote
control systems or the power management system. Check the I/O
modules in the Outstation (if Outstations are used).
66 <Thruster device name>: Timed Cause:
out waiting for ACK The system has not received an expected activation of the
Acknowledge signal from the remote control system.
Effect:
The remote control system will not be available for control.
Action:
used).
67 <Thruster device name>: Timed Cause:
out waiting for ACK to drop A release of the Acknowledge signal is missing from the remote
control system.
8
Effect:
The remote control system will not be controlled by DPPoscon
System. Status is set to Idle.
Action:
used).
68 <Thruster device name>: Broken Cause:
Wire or overflow in <Signal type> A broken wire failure or a signal overflow is detected.
Effect:
Wrong data may have been received, and data will not be used.
Action:
properly connected.

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Trouble Shooting
3.9 UPS Alarms

The following alarm will be issued for UPS related faults. The term inside the angle
brackets < > is replaced by the name of the actual power supply.
69 HW failure in <Power supply Cause:
name> A hardware signal indicates a failure in the unit.
Effect:
Dependant of failure the unit may be disabled for operation until
the failure is fixed.
Action:
Check status on the unit, connectors/wires and mains power
supply.
3.10 Target Tracking Alarms

The following alarms will be issued for faults related to target tracking operations. All
mentioned deviation limits are specified in the target tracking settings of the Icon
system.
70 Target tracking: close to heading Cause:
deviation limit. The heading deviation is larger than the warning limits.
Effect:
deviation.
Action:
71 Target tracking: out of heading. Cause:
The heading deviation is larger than the alarm limits.
Effect:
deviation.
Action:
72 Target tracking: close to position Cause:
deviation limit. The position deviation is larger than the warning limits.
Effect:
deviation.
Action:
73 Target tracking: out of position. Cause:
The position deviation is larger than the alarm limits.
Effect:
deviation.
Action:

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Trouble Shooting

74 Target tracking: automatically Cause:
degraded to single mode. The system automatically degraded from one of the multi modes to
single mode. This happens if the system recieves measurements
from only one target for a certain amount of time.
Effect:
Multi mode functionality is unavailable.
Action:
Exit the single mode function and start the multi mode function
from the beginning again.
75 Target tracking: lost hdg observa- Cause:
bility. This alarm is only relevant for the multi modes and will sound if
only one target is visible/approved by the system (i.e. it is not
possible to calculate the target heading with only one visible
target).
Effect:
The system will assume that the target has a constant heading and
the position of the lost target(s) will be prdicted.
Action:
Try to re-enable any lost target if the measurements get approved
by the system later on.
76 Target tracking: target dead Cause:
reckoning. Target measurements are not being received or approved (i.e. the
system is not able to determine where the target is).
Effect:
The system assumes that all targets have stopped at their last
known positions, enters pause in both heading and position, and
will do its best to stop the vessel.
Action:
Try to re-enable any lost target if the measurements get approved
77 Target tracking: automatically

by the system later on.
Cause:
8
exited. The system automatically exited the target tracking function and
entered basic function. This happens in all modes if the system
has lost connection to all targets for a certain amount of time (after
the dead reckoning phase).
Effect:
Target tracking is unavailable.
Action:
Start the target tracking function from the beginning again.

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Trouble Shooting

Revision: C
Contact Information
1 Contact Information .................................................................................9-3

1.1 Rolls-Royce Marine, Control – Aalesund ....................................................9-3
1.2 World-Wide Support Organisation ..............................................................9-3

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Contact List
1 Contact Information
Note: For an updated list of contact information, please refer to our homepage:
http://www.rolls-royce.com/marine/contacts
1.1 Rolls-Royce Marine, Control – Aalesund

For technical support or questions regarding the Rolls-Royce system, please contact:
E-mail: dpsupport@rolls-royce.com
Postal address: Rolls-Royce Marine AS
Control – Aalesund
Service Box 22
N-6025 Ålesund
Norway
Visiting address: Rolls-Royce Marine AS
Control – Aalesund
Parkgata 3
3rd floor
Ålesund, Norway
Tel: +47 81 52 00 70
Fax: +47 70 10 37 01
After market service support: +47 81 52 00 75
24 hrs service phone: +47 90 01 09 97
1.2 World-Wide Support Organisation

NORTHERN EUROPE
DENMARK
Aalborg (Service) Tel: +45 99 30 36 00 Fax: +45 99 30 36 01 9
FINLAND
Rauma (Propulsion/Deck Tel: +35 82 83 791 Fax: +35 82 83 79 48 04
machinery)
FRANCE
Rungis (Service) Tel: +33 14 68 62 811 Fax: +33 14 68 79 398
GERMANY
Norderstedt (Service) Tel: +49 40 52 87 360 Fax: +49 40 52 31 580
THE NETHERLANDS
Rotterdam, Pernis Tel: +31 10 40 90 920 Fax: +31 10 40 90 921
NORWAY
Aalesund (Ship design) Tel: +47 81 52 00 70 Fax: +47 70 10 37 01
Longva (Automation) Tel: +47 81 52 00 70 Fax: +47 70 20 83 51
Oslo (Repr. office) Tel: +47 81 52 00 70 Fax: +47 23 31 04 99
Ulsteinvik (Ship design) Tel: +47 81 52 00 70 Fax: +47 70 01 40 13
Ulsteinvik (Propulsion) Tel: +47 81 52 00 70 Fax: +47 70 01 40 14

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Contact List
NORTHERN EUROPE
SWEDEN
Kristinehamn (Propulsion) Tel: +46 55 08 40 00 Fax: +46 55 01 81 90
UNITED KINGDOM
Dunfermline (Motion Control) Tel: +44 13 83 82 31 88 Fax: +44 13 83 82 40 38
Portsmouth (Marine Electrical Tel: +44 23 92 31 00 00 Fax: +44 23 92 31 00 01
Systems)
SOUTHERN EUROPE
ITALY
Genova Tel: +39 01 05 72 191 Fax: +39 01 05 72 19 50
CROATIA
Rijeka Tel: +38 55 15 00 100 Fax: +38 55 15 00 101
GREECE
Piraeus Tel: +30 21 04 59 96 88 Fax: +30 21 04 59 96 87
SPAIN
Madrid Tel: +34 91 73 50 010 Fax: +34 91 73 50 728
Tarragona Tel: +34 97 72 96 444 Fax: +34 97 72 96 450
MIDDLE EAST
UNITED ARAB EMIRATES
Dubai Tel: +67 14 88 33 881 Fax: +67 14 88 33 882
ASIA PACIFIC
AUSTRALIA
Melbourne Tel: +61 39 87 30 988 Fax: +61 39 87 30 866
Perth Tel: +61 89 33 67 910 Fax: +61 89 33 67 920
CHINA
Beijing (Merchant) Tel: +86 41 18 23 05 198 Fax: +86 41 18 23 08 448
Shanghai Tel: +86 21 63 87 88 08 Fax: +86 21 53 82 57 93
INDIA
Mumbai Tel: +91 22 56 40 38 38 Fax: +91 22 56 40 38 18
SINGAPORE
Singapore Tel: +65 68 62 19 01 Fax: +65 68 63 21 65
NEW ZEALAND
Christchurch Tel: +64 39 62 12 30 Fax: +64 39 62 12 31
NORTHEAST ASIA
JAPAN
Tokyo Tel: +81 33 23 76 861 Fax: +81 33 23 76 846
REPUBLIC OF KOREA
Busan Tel: +82 51 83 14 100 Fax: +82 51 83 14 101

Revision: C
Contact List
AMERICAS
BRAZIL
Rio de Janeiro Tel: +55 21 38 60 87 87 Fax: +55 21 38 60 44 10
CANADA
Halifax Tel: +1 90 24 68 28 83 Fax: +1 90 24 68 27 59
Vancouver (Propulsion) Tel: +1 60 49 42 11 00 Fax: +1 60 49 42 11 25
USA
Houston Tel: +1 71 32 73 77 00 Fax: +1 71 32 73 77 76
Miramar Tel: +1 95 44 36 71 00 Fax: +1 95 44 36 71 01
New Orleans Tel: +1 50 44 64 45 61 Fax: +1 50 44 64 45 65
Seattle Tel: +1 20 67 82 91 90 Fax: +1 20 67 82 01 76

Revision: C
Contact List

Revision: C
Spare Parts
1 Ordering Spare Parts .............................................................................10-3

1.1 Ordering Spare Parts Separately .............................................................10-3
1.2 Ordering Spare Parts Kit ..........................................................................10-4
1.2.1 Parts Included in Spare Parts Kit ..................................................10-4
2 Supplied Spare Parts .............................................................................10-4
3 Preservation and Handling ....................................................................10-5
3.1 Electrostatic Discharge .............................................................................10-5
3.2 Delivery Check .........................................................................................10-5
10

Revision: B
Spare Parts
1 Ordering Spare Parts

For ordering of spare parts, please contact:
Rolls-Royce Marine AS
Dept. Propulsion, Ulsteinvik
After Market Offshore
E-mail: spares.ulstein@rolls-royce.com
Phone: +47 81 52 00 75
Fax: +47 70 01 40 12
24 hrs service phone: +47 90 01 09 97
There are two ways of ordering spare parts for the Icon system:
• components ordered separately
• spare parts kits put together to match the various system configuration.
1.1 Ordering Spare Parts Separately

To ensure that correct components are shipped, it is essential that each part is correctly
specified in the order. For part identification, please refer to the parts ID in the design
drawing documentation in chapter 12 of this manual.
The part ID is identified as follows:
<CAA Project ID><Unit No><Item No>
• The CAA Project ID is found on the front page of the manual.
Example: CAA-110xxx (i.e. CAA-110xxx-MU is the User Manual).
• To identify the Unit No. refer to the cable diagram for the specific project.
Example: +T001 (Main Control Cabinet).
• To identify the Item No. refer to the internal wiring diagram for the corresponding unit.
Example: CAA-321xxx-01DW is the wiring diagram for the Main Control Cabinet.
Item No: -U11 is the CPU Controller.
Following the example above, the part number for the CPU Controller unit of this
specific project should read: CAA-110xxx +T001 -U11.
For parts in sensors and positioning reference systems, please check the corresponding
manual in chapter 14 Subsuppliers Manuals. 10

Revision: B
Spare Parts
1.2 Ordering Spare Parts Kit

Apart from some types of reference systems, the Icon system does not have any parts
that are subject to wear due to normal operation. The spare parts kit comprises essential
parts, that in case of a failure may put the system out of operation until the faulty part is
replaced.
The Icon spare parts kit is recommended to be carried onboard vessels that are offshore
for long periods of time.
1.2.1 Parts Included in Spare Parts Kit

Spare part Qty
Marine Controller 1
AC/DC power supply 1
Fibre-optic Network switch 1
Fuse kit 1
Joystick device 1
Positioning device 1
Serial line converter RS232/422 1
I/O Module RRAIO16 1
I/O Module RRDIO15 1
Isolation amplifier, programmable 1
Relay 1
For operator stations integrated in Operator’s Chair or for additional operator station of
limited equipped type:
10.4” Remote control display 1
Note: Some of the listed parts may need a special configuration/set-up

procedure, depending on where the part is beeing used. This must be
taken care of by a certified maintenance engineer (AMS).
2 Supplied Spare Parts

A fuse kit, with 10 pcs of 5x20 mm 6.3 A fuses is included an a standard Icon delivery.

Revision: B
Spare Parts
3 Preservation and Handling
3.1 Electrostatic Discharge

The life span of electronics can be affected by damage caused by electrostatic discharge.
This can happen if a charged tool or person touches a component. Therefore it is very
important that all tools and personnel are discharged by touching ground before the
printed circuit board or any of the components are touched. It is equally important to
discharge the package with the new component before opening it.
A person walking on a carpet can be charged with up to fifteen thousand volt (15000 V).
In worst case, some sensitive components can be destroyed when discharged with about
100 V.
Note: It is very important that you are connected to ground before touching any
electronic components or printed circuit boards.
3.2 Delivery Check

Upon arrival of spare parts at the destination, all items must be inspected. The following
steps are to be taken:
• Compare the shipment to the list of contents attached to the shipment and/or the
packing list. If there is any discrepancy, Rolls-Royce must be informed immediately.
• Inspect for damage caused during transportation.
A visual check must be performed on all parts of the shipment; pallets, cardboard boxes
and wooden boxes. If there is any damage (i.e. signs of water immersion, dropping or
other mishandling), the crates must be opened for inspection.
Note: A representative for the vessel should be present during the inspection. If
any damage is found the vessel representative must, if not present at the
inspection, be informed.
A damage report, listing damages found and possibly including pictures of the damaged 10
parts, should be produced. The report must then be sent to Rolls-Royce immediately.

Revision: B
Spare Parts

Revision: B
Tools
1 General ....................................................................................................11-3
2 Tools ........................................................................................................11-3
2.1 Recommended Tools ...............................................................................11-3
2.2 Special Tools ............................................................................................11-3
11

Revision: C
Tools
1 General
This chapter lists required and recommended tools for installation and maintenance
purposes.
Note: Tools required for maintaining subsuppliers equipment are not listed in
this chapter. Please refer to chapter 14 Subsuppliers Manuals for details.
For maintenance and/or replacement of the sensors and position reference systems, the
separate manual from each manufacturer must be used.
Note: For maintenance on electronic equipment, the use of electrostatic

discharge protection such as a wrist-band connected to a grounding point
is mandatory. A grounded surface is also recommended for such tasks.
2 Tools
2.1 Recommended Tools
The following tools are recommended for the installation and maintenance of a Poscon
or an Icon system:
• Standard network technician tools
• Standard electrician tools
• Optic fibre termination tools (if applicable).
Caution: Always use appropriate tools for all maintenance tasks. Use of
inappropriate tools can lead to system malfunction.
2.2 Special Tools

No special tools are required for the installation and maintenance of a Poscon or an Icon
system.
11

Revision: C
Tools

Revision: C
Design Drawings
1 General ....................................................................................................12-3
12

Revision: B
Design Drawings
1 General
This chapter comprises the following types of design drawings (see the Main Item List
for a complete listing):
Suffix Name Description
01LI Main Item List The part list consists of material used in the delivery.
01LC Cable List Cable list to be used as guidelines for connecting the
different parts of the delivered system, and to connect the
system to any external system.
All analogue signal cables are to be galvanically insulated

in the transmitting end, and all discrete signal cables are to
be of potentially-free contact types, if not otherwise stated
in the drawings.
01LN Network List List to be used as guidelines for connecting the different
parts of the delivered system to the internal Ethernet
network.
01DC Cable Diagram System drawing gives an overview of the specific system
installation.
0xDW Wiring Diagram Drawings consisting of wiring details and, if applicable, a
table of contents.
01DM Mechanical Drawing Drawing consists of mechanical details (usually not
attached as a part of this manual).
01DL Layout Drawing The drawing shows the physical size of the different
components in the delivery.
12

Revision: B
Design Drawings

Revision: B
Revision
1 Revision History .....................................................................................13-3
13
used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine plc.
Revision: A
13
Revision: A used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine plc.
Revision
1 Revision History
This chapter specifies the complete compilation of documents and their revision for this
manual. It also contains the document number and revision of the complete manual. This
information is also found on the first page of this manual.
An Installation Manual comprise the following type of documents:
Suffix Title
01MI Introduction
02MX Safety
03MX System Description
04MX Delivery Specification
05MX Technical Data
06MI Handling and Preservation
07MI Installation
08MI Commissioning
09MX Contact List
10MI Final Inspection
11MX Tools
12MX Design Drawings
13MX Revision
14MX Subsuppliers Manuals
A User Manual comprise the following type of documents:

Suffix Title
01MU Introduction
02MX Safety
03MX System Description
04MX Delivery Specification
05MX Technical Data
06MU Operating Instructions
07MU Maintenance Instructions
08MU Trouble Shooting
09MX Contact List
10MU Spare Parts
11MX Tools
12MX Design Drawings
13MX Revision
14MX Subsuppliers Manuals
For descriptions of this manual’s contents, see chapter 1 Introduction.
13
Revision: A
Revision
13
Revision: A
Document Revisions
Chapter/Title Document ID Curr.Rev Prev.Rev

1 Introduction
Introduction CAA-021001-01MU C
2 Safety
Safety CAA-000001-02MX A
3 System Description
System Description CAA-022001-03MX F
4 Delivery Specification
Delivery Specification CAA-000001-04MX B
5 Technical Data
Technical Data CAA-021001-05MX B
6 Operating Instruction
Operating Instruction CAA-021001-06MU E
7 Maintenance Instructions
Maintenance Instructions CAA-021001-07MU D
8 Trouble Shooting
Trouble Shooting CAA-021001-08MU C
9 Contact List
Contact List CAA-000001-09MX C
10 Spare parts
Spare parts CAA-021001-10MU B
11 Tools
Tools CAA-000001-11MX C
12 Design drawings
Design drawings CAA-000001-12MX B
Main Item List CAA-111220-01LI 13-09-30
Cable Diagram CAA-111220-01DC E
Cable List CAA-111220-01LC 13-12-07
Wiring Diagram CAA-111220-00DW 13-07-02
Wiring Diagram CAA-111220-01DW E
Fuse List CAA-111220-01LF 13-09-16
Layout Drawing CAA-111220-01DL A
DP2 CABINET, TRIPLE COMPUTER CAA-321007-01DL C
TRAINER, 2xPMS CAA-324001-01DL A
Distribution Cabinet CAA-381003-01DL D
3kVA Tower, relay card CAA-381004-01DL A
Battery Module, 3 KVA CAA-381004-01DL A
230V/230V - 3,6kVA CAA-381007-01DL C
12WDU25+4X12 WDK25 CAA-391003-01DL C
230VAC DISTR. CAA-391004-01DL C
TFT 15i/220VAC CAA-414006-01DL C
TFT 23i/TOUCH/24VDC CAA-414006-01DL C
Service Interface ETH + 2xUSB CAA-421001-01DL B
DP Console (2xIPD,TRB) CAA-452012-01DL E
MMS mk1, JS-MAN-DP CAA-482001-01DL C
Computer, DP2 CAA-492003-01DL K
Veripos GNSS suite, GG1/G2 CAA-610024-01DL A
CyScan MK IV CAA-613002-01DL A
Rolls Royce Marine AS

Control-Aalesund
RadaScan, Complete System CAA-614001-01DL C
MRU D COMPLETE 5th Gen CAA-651004-01DL A
DEIF, WSDI-2 FWD CAA-652007-01DL C
DEIF, WSDI-2 AFT CAA-652007-01DL C
DP2 CABINET, TRIPLE COMPUTER CAA-321007-01DW R
TRAINER, 2xPMS CAA-324001-01DW G
Distribution Cabinet CAA-381003-01DW N
3kVA Tower, relay card CAA-381004-01DW A
Battery Module, 3 KVA CAA-381004-01DW A
Service Interface ETH + 2xUSB CAA-421001-01DW A
DP Console (2xIPD,TRB) CAA-452012-01DW C
Computer, DP2 CAA-492003-01DW M
13 Revision
Revision CAA-000001-13MX A
Document revisions CAA-111220-01LR A
CD Subsuppliers manuals
3kVA Tower, relay card CAA-381004-01MU B
Battery Module, 3 KVA CAA-381004-01MU B
TFT 15i/220VAC CAA-414006-01MU B
TFT 23i/TOUCH/24VDC CAA-414006-01MU B
Color Laser CAA-416007-01MU A
Veripos GNSS suite, GG1/G2 CAA-610024-01MU B
CyScan MK IV CAA-613002-01MU A
RadaScan, Complete System CAA-614001-01MU A
MRU D COMPLETE 5th Gen CAA-651004-01MU A
DEIF, WSDI-2 FWD CAA-652007-01MU B
DEIF, WSDI-2 AFT CAA-652007-01MU B
DEIF, WSS CAA-652008-01MU B
DEIF, JB CAA-652008-01MU B
Rolls Royce Marine AS

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1 Introduction

Copyright © 2013 Rolls-Royce plc

Copyright © 2008 Rolls-Royce plc

Doc. No.: CAA-021001-01MU Copyright © 2008 Rolls-Royce plc Page 1-3 of 6

4 Terms and Abbreviations

Abbreviation or term Description

Page 1-4 of 6 Copyright © 2008 Rolls-Royce plc Doc. No.: CAA-021001-01MU

Pitch is also used as denomination for the angle of the propeller

Listings 01LI Main Item List

Doc. No.: CAA-021001-01MU Copyright © 2008 Rolls-Royce plc Page 1-5 of 6

Type Suffix Description

Documents 01TS Sea Trial Acceptance Test (SAT)

Page 1-6 of 6 Copyright © 2008 Rolls-Royce plc Doc. No.: CAA-021001-01MU

Copyright © 2006 Rolls-Royce plc

Doc. No.: CAA-000001-02MX Copyright © 2006 Rolls-Royce plc

Doc. No.: CAA-000001-02MX Copyright © 2006 Rolls-Royce plc Page 2-3 of 4

Caution: Indicates the presence of a hazard which could result in damage to

Page 2-4 of 4 Copyright © 2006 Rolls-Royce plc Doc. No.: CAA-000001-02MX

Copyright © 2011 Rolls-Royce plc

2.1 Main Components

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 3 of 38

Sensor and Position

Figure 1 Illustration of an Icon DP System Class 2 Configuration

Page 4 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

Operator Station 1 Operator Station 2

Figure 2 Illustration of an RR Icon DP System Class 2 – 220 VAC Power Distribution

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 5 of 38

Thrust Allocation Signal Processing

Feedback and Vessel Model

Figure 3 Icon System Control Loop

Page 6 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

2.2 Thrust Allocation

Note: A thrust device can be any propeller, thruster or rudder.

2.3 Signal Processing

2.4 Vessel Model (Filtering and Estimation)

2.5 Trajectory Generator

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 7 of 38

2.6 Feedback and Feedforward Control

Page 8 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

3.1 Manoeuvre Mode Selector

Figure 4 Example of a Manoeuvring Mode Selector Switch

S1/H1 S4/H4 S2/H2 R1

Figure 5 Example of a MMS Operator Panel

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 9 of 38

3.2 Operator Station

Figure 6 Example of Icon Operator Station

3.2.1 Graphical Display(s)

Page 10 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

Remote Control Display (Optional)

3.2.2 Operator Station Computer 3

3.2.3 Joystick Device

Figure 7 Joystick Device

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 11 of 38

3.2.4 Positioning Device

Figure 8 Positioning Device

Page 12 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

3.4 Additional Operator Station (Optional)

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 13 of 38

3.5 Control Cabinets

Figure 9 Example of an Icon Control Cabinet’s Layout

Page 14 of 38 Copyright © 2011 Rolls-Royce plc Doc. No.: CAA-022001-03MX

DP-A DP-C DP-B

Doc. No.: CAA-022001-03MX Copyright © 2011 Rolls-Royce plc Page 15 of 38