OPM DPSystem

K-Pos DP
Dynamic Positioning System

Operator Manual
Release 8.4
436094/D
June 2021 © Kongsberg Maritime AS
Document history
Document number: 436094 / Revision D

Rev. A December 2018 This version describes the operation of the K-Pos DP at basis software
release 8.4.0.
Rev. B August 2019 This version describes the operation of the K-Pos DP at basis software
release 8.4.0. Improved description of Numeric view
Rev. C March 2020 This version describes the operation of the K-Pos DP at basis software
release 8.4.2.
Rev. D June 2021 This version describes the operation of the K-Pos DP at basis software
release 8.4.3.
The reader
This Operator Manual is intended as a reference manual. The manual is based on the assumption that the
operator is experienced and has good understanding of basic principles of the system. If this is not the
case, then the operator should first attend the appropriate Kongsberg Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
You must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@km.kongsberg.com
For technical support issues, please contact km.support@km.kongsberg.com.
Kongsberg Maritime AS
www.kongsberg.com
Operator Manual
Table of contents
SYSTEM OVERVIEW ............................................................... 11

K-Pos DP .........................................................................................................................12
Forces and motions ..........................................................................................................13
System principles .............................................................................................................14
The Extended Kalman Filter ..................................................................................14
The controller .........................................................................................................16
Thrust allocation.....................................................................................................19
Redundant systems ..........................................................................................................20
Dual-redundant system...........................................................................................20
Triple-redundant system .........................................................................................21
GETTING TO KNOW YOUR OPERATOR STATION..................... 23
Operator station................................................................................................................24
Operator panel..................................................................................................................25
Buttons....................................................................................................................26
Joystick ...................................................................................................................27
Trackball.................................................................................................................27
Heading wheel ........................................................................................................28
Display layout ..................................................................................................................29
Top bar....................................................................................................................32
Dashboard layout....................................................................................................35
Side bar...................................................................................................................36
Working areas.........................................................................................................36
About dialog boxes ..........................................................................................................37
Selecting dialog boxes............................................................................................37
Entering values .......................................................................................................38
About display views.........................................................................................................39
Orientation of the operator station and effect on display views.............................39
Tooltip/hotspot cursor.............................................................................................39
Zooming and panning function ..............................................................................40
Selecting display views and panes .........................................................................41
View-control dialog boxes......................................................................................42
PREPARING FOR OPERATION ................................................ 43
Starting the system...........................................................................................................45
Taking command..............................................................................................................45
Enabling thrusters ............................................................................................................46
Enabling a gyrocompass ..................................................................................................46
Enabling a wind sensor ....................................................................................................47
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Enabling a vertical reference sensor ................................................................................48

Enabling the first position-reference system....................................................................49
Enabling other position reference systems ......................................................................50
Changing the reference origin ................................................................................51
Enabling a speed sensor ...................................................................................................51
Enabling and entering a manual speed value .........................................................52
Selecting the vessel draught.............................................................................................53
Enabling a rate-of-turn sensor..........................................................................................53
CONTROLLING THE VESSEL ................................................... 54
Controlling the vessel manually ......................................................................................56
Controlling the vessel heading automatically ..................................................................56
Controlling surge and sway automatically.......................................................................57
Stabilising the vessel........................................................................................................58
Controlling position and heading automatically ..............................................................59
Changing the vessel heading............................................................................................60
Changing the vessel heading using the heading wheel ..........................................60
Changing the vessel heading using the Posplot view.............................................62
Changing the vessel heading using the Change heading button ............................63
Changing the rate of turn........................................................................................63
Stopping a change of heading ..........................................................................................64
Stopping by using the Stop button .........................................................................64
Stopping by using the Present Heading button ......................................................65
Changing the vessel position ...........................................................................................65
Changing the vessel position using the Posplot view.............................................65
Changing the vessel position using the Change position button ............................66
Stopping a change of position..........................................................................................67
Stopping by using the Stop button .........................................................................68
Stopping by using the Present Position button.......................................................68
Monitoring the gangway ..................................................................................................69
SETTING SYSTEM PARAMETERS............................................. 70
Selecting the joystick thrust .............................................................................................72
Selecting joystick precision .............................................................................................72
Enabling wind compensation...........................................................................................72
Selecting the vessel rotation centre..................................................................................73
Setting heading limits ......................................................................................................75
Setting position limits ......................................................................................................76
Selecting the controller gain level....................................................................................77
Selecting minimum power heading .................................................................................77
Selecting the thrust allocation mode ................................................................................78
Setting date and time........................................................................................................79
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CUSTOMIZING PREFERENCES ................................................ 80

Selecting display palette ..................................................................................................81
Adjusting the panel light..................................................................................................81
Selecting presentation units .............................................................................................82
Preselecting sets of views ................................................................................................83
Printing system information.............................................................................................84
TRANSFERRING COMMAND ................................................... 85
Command control ............................................................................................................86
Taking command..............................................................................................................86
Giving command..............................................................................................................87
Requesting command.......................................................................................................88
SYSTEM SERVICE PROCEDURES............................................. 89
Testing the panel ..............................................................................................................90
Stopping and restarting the operator station ....................................................................90
Resetting controller process stations................................................................................91
Getting remote support ....................................................................................................93
Calibrating the joystick ....................................................................................................95
System architecture..........................................................................................................96
Operator stations.....................................................................................................96
Process stations.......................................................................................................97
IO system................................................................................................................98
System monitoring ...........................................................................................................98
Resetting a disabled serial line.......................................................................................100
MESSAGE SYSTEM ............................................................... 103
System diagnostics.........................................................................................................104
Operational checks.........................................................................................................104
Types of messages..........................................................................................................105
Presentation of messages ...............................................................................................106
Alarm states ..................................................................................................................107
Acknowledging messages..............................................................................................108
Acknowledging all messages in the Alert list view .............................................108
Acknowledging a selection of messages in the Alert list view ............................109
Silencing the audible signal..................................................................................109
Alarm lamps...................................................................................................................109
Messages on the printer ................................................................................................. 110
Message explanations - online help ............................................................................... 111
Operator pop-up messages............................................................................................. 112
Critical system messages ............................................................................................... 113
SENSOR ERROR SITUATIONS .............................................. 115
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Gyro error....................................................................................................................... 116

Rejected heading measurements .......................................................................... 116
Faulty gyrocompass.............................................................................................. 116
Heading dropout ................................................................................................... 117
Wind sensor error........................................................................................................... 117
Rejected wind measurements ............................................................................... 117
Faulty wind sensor................................................................................................ 118
VRS error ....................................................................................................................... 119
Position-reference system error .....................................................................................120
Position dropout ...................................................................................................120
POSITION INFORMATION.................................................... 121
Handling position information.......................................................................................122
Coordinate systems ........................................................................................................123
System datum.................................................................................................................123
Reference origin.............................................................................................................123
Tests on position measurements.....................................................................................124
Freeze test.............................................................................................................125
Variance test .........................................................................................................125
Prediction test .......................................................................................................126
Divergence test .....................................................................................................126
Median test ...........................................................................................................127
..............................................................................................................................128
MODE CHANGE CONFIRMATION .......................................... 130
Mode change confirmation ............................................................................................130
Confirming mode change...............................................................................................131
DP ONLINE CONSEQUENCE ANALYSIS ................................. 132
DP Online Consequence Analysis .................................................................................133
Status information..........................................................................................................134
Alert messages ...............................................................................................................134
POWER SYSTEM................................................................... 136
Power monitoring ..........................................................................................................137
Battery monitoring .........................................................................................................137
Power load monitoring and blackout prevention ...........................................................138
BUILT-IN TRAINER.............................................................. 140
Trainer functions ............................................................................................................141
Using the trainer.............................................................................................................141
Leaving the trainer .........................................................................................................142
DIALOG BOXES .................................................................... 144
About dialog box ...........................................................................................................147
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Acceleration/deceleration dialog box ............................................................................149

Alert limits dialog box ...................................................................................................151
Position page ........................................................................................................152
VRS page..............................................................................................................154
Allocation settings dialog box .......................................................................................155
Rudder/nozzle control ..........................................................................................156
Alongship force control dialog box ...............................................................................158
Barge moored dialog box...............................................................................................162
Cargo on deck dialog box ..............................................................................................164
Change User dialog box.................................................................................................165
Clutch settings dialog box..............................................................................................166
Command Control dialog box........................................................................................168
DP-OS page ..........................................................................................................171
Overview page......................................................................................................172
Give page..............................................................................................................173
Command groups .................................................................................................173
Connect dialog box ........................................................................................................175
Date and Time dialog box .............................................................................................176
Datum details dialog box ...............................................................................................177
DP class dialog box........................................................................................................178
EBL dialog box ..............................................................................................................179
Equipment dialog box ....................................................................................................180
PS page .................................................................................................................181
PS Redundancy page ............................................................................................183
OS/HS page ..........................................................................................................185
Event Printer page ................................................................................................187
Net Status page .....................................................................................................188
Event Printer dialog box ................................................................................................190
External force event dialog box .....................................................................................191
Export Log Files dialog box ..........................................................................................194
FW Manager dialog box ................................................................................................195
Gain dialog box..............................................................................................................196
Gain level for High Precision and Relaxed control mode....................................198
Gyro deviation dialog box .............................................................................................200
Heading dialog box ........................................................................................................202
Heading page ........................................................................................................203
Rate of turn page ..................................................................................................205
Heading (Setpoint) dialog box .......................................................................................206
Heading Setp. dialog box...............................................................................................207
IO Manager dialog box ..................................................................................................208
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IO Configurator page............................................................................................209
IO Point Browser dialog box ......................................................................................... 211
IO Terminal Block dialog box .......................................................................................214
Signal conditioning elements ...............................................................................218
Joystick Calibrate dialog box.........................................................................................220
Joystick dialog box ........................................................................................................221
Mode change confirmation dialog box ..........................................................................224
Local N/E properties dialog box ....................................................................................225
Numeric entry keypad dialog use dialog box ................................................................227
Panel Lamp Test dialog box...........................................................................................229
Panel Light Configuration dialog box............................................................................230
Position dialog box ........................................................................................................231
Inc page ................................................................................................................232
R/B page ...............................................................................................................234
Abs page ...............................................................................................................236
Speed page............................................................................................................238
Position inc dialog box ..................................................................................................239
Position R/B dialog box .................................................................................................240
Position presentation dialog box....................................................................................241
Position (Setpoint) dialog box .......................................................................................244
Power optimal allocation dialog box .............................................................................245
Preselect dialog box .......................................................................................................247
Presentation units dialog box .........................................................................................249
Print status dialog box....................................................................................................251
Properties - DpPs Serial port dialog box........................................................................252
SerPort page .........................................................................................................253
Disable status page ...............................................................................................255
Quick model dialog box.................................................................................................257
RBUS IO Image dialog box...........................................................................................260
Redundant Stations dialog box ......................................................................................264
Error objects .........................................................................................................267
Reference system dialog box .........................................................................................269
Enable page ..........................................................................................................270
Weight page ..........................................................................................................271
Validation page .....................................................................................................273
Reference system origin dialog box...............................................................................275
Reference system properties dialog box ........................................................................277
Reference system settings dialog box ............................................................................280
Reset controller PS dialog box.......................................................................................284
Rotation center dialog box .............................................................................................285
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Sensors dialog box .........................................................................................................288

Draught page ........................................................................................................289
Gyro page .............................................................................................................291
Rate of turn page ..................................................................................................293
Speed page............................................................................................................295
VRS page..............................................................................................................298
Winch page ...........................................................................................................300
Wind page.............................................................................................................303
Set System Date/Time dialog box..................................................................................306
Speed setpoint dialog box ..............................................................................................307
Station Explorer dialog box ...........................................................................................308
Stop/restart dialog box ................................................................................................... 311
Thrust allocation dialog box ..........................................................................................312
Thruster biasing dialog box ...........................................................................................316
Manual thruster biasing ........................................................................................317
Automatic thruster biasing ...................................................................................319
Thruster biasing function......................................................................................321
Thruster biasing - bias type ..................................................................................322
Thruster biasing - turn factor................................................................................325
Thruster biasing - angle factor..............................................................................326
Thruster biasing - inwards factor..........................................................................327
Thruster combinator control settings dialog box ...........................................................328
Thruster enable dialog box.............................................................................................330
Thruster run-in dialog box .............................................................................................332
Trainer settings dialog box.............................................................................................334
UTM properties dialog box............................................................................................335
Universal Transverse Mercator (UTM)................................................................336
DISPLAY VIEWS .................................................................. 338
Alert list view.................................................................................................................339
Diesel view.....................................................................................................................342
Gangway view ...............................................................................................................345
Joystick view..................................................................................................................347
LTW view ......................................................................................................................351
Light Taut Wire Plot view control........................................................................354
Numeric view.................................................................................................................356
Posplot view...................................................................................................................359
Posplot view control .............................................................................................365
Power view.....................................................................................................................371
Power plot view control .......................................................................................376
Power consumption view...............................................................................................378
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Reference system main view .........................................................................................380

Refsys view control ..............................................................................................384
Rotation center view ......................................................................................................388
Sensors view ..................................................................................................................389
Thruster forces view ......................................................................................................392
Thruster main view ........................................................................................................395
Thruster view - azimuth thruster ..........................................................................400
Thruster view - propeller/rudder ..........................................................................402
Thruster view - tunnel thruster .............................................................................404
Thruster Sub Plot view control.............................................................................406
Thruster setpoint feedback view ....................................................................................408
Trends view....................................................................................................................410
Trend Plot view control ........................................................................................412
DISPLAY PANES .................................................................. 413
Depth pane .....................................................................................................................415
Diesel trend pane............................................................................................................415
Gangway Local pane......................................................................................................416
Gangway Remote pane ..................................................................................................416
Gangway Status pane.....................................................................................................417
Heading pane .................................................................................................................418
Heave pane.....................................................................................................................420
Joystick pane..................................................................................................................421
Pitch and roll pane .........................................................................................................422
Pitch roll and heave pane ...............................................................................................423
Position deviation pane ..................................................................................................423
Power consumption pane ...............................................................................................424
Power trend pane............................................................................................................425
Reference systems pane .................................................................................................426
Residual trend pane........................................................................................................426
Rotation center position pane.........................................................................................427
Speed sensors pane ........................................................................................................428
Status pane .....................................................................................................................428
Thruster force bar pane ..................................................................................................429
Thruster force vector pane .............................................................................................430
Thruster resultant pane...................................................................................................431
Trends pane ....................................................................................................................431
Vessel speed pane...........................................................................................................432
Wind pane ......................................................................................................................433
Wind sensors pane .........................................................................................................434
Wind trend pane .............................................................................................................434
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System overview
System overview
Topics
K-Pos DP, page 12
K-Pos DP is a computerised system for automatic position and heading control of a vessel.
Forces and motions, page 13
A seagoing vessel is subjected to forces from wind, waves and current, as well as from forces and
moments generated by the vessel's propulsion system.
System principles, page 14
The system is designed to keep the vessel within specified position and heading limits, and to
minimise fuel consumption and wear and tear on the propulsion equipment. In addition, the
system tolerates transient errors in the measurement systems and acts appropriately if a fault
occurs in the thruster units.
Redundant systems, page 20
Redundancy increases the availability and reliability of K-Pos DP and ensures that positioning
can still be performed should a single fault occur in either K-Pos DP or the connected sensors and
position-reference systems.
436094/D 11
K-Pos DP Operator Manual
K-Pos DP
K-Pos DP is a computerised system for automatic position and heading control of
a vessel.
To control the vessel's heading, K-Pos DP uses data from one or more gyrocompasses,
while at least one position-reference system (for example, DGPS or hydroacoustics)
enables K-Pos DP to position the vessel.
Setpoints for heading and position are specified by the operator and are then processed
by K-Pos DP to provide thrust control signals to the vessel's thruster and main propeller
systems. K-Pos DP always allocates optimum thrust to whichever propulsion units
are in use.
Deviations from the desired heading or position are automatically detected and
appropriate adjustments are made by the system.
K-Pos DP also provides a manual joystick control which may be used for manual control
alone or for combined manual/auto control.
Without a position-reference system, K-Pos DP can provide automatic stabilization and
control of the vessel heading using the gyrocompass as the heading reference.
The system includes control strategies that will reduce fuel consumption and greenhouse
gases.
12 436094/D
System overview
Forces and motions

A seagoing vessel is subjected to forces from wind, waves and current, as well as from
forces and moments generated by the vessel's propulsion system.
The term “forces” includes both forces and yawing moments, unless otherwise stated.
The vessel's responses to these forces, i.e. its changes in position, heading and speed, are
measured by gyrocompasses, vertical reference sensors and position-reference systems.
Position-reference system readings are corrected for pitch and roll using readings from
the vertical reference sensor. Wind speed and direction are measured by the wind sensors.
The system calculates the forces that the thrusters must produce in order to control the
vessel's motion in the three degrees of freedom - surge, sway and yaw - in the horizontal
plane.
The vessel also moves in three vertical degrees of freedom: pitch, roll and heave.
The pitch and roll motions are not controlled by K-Pos DP. However, in order to allow
the position-reference system to correct for these motions, the control system must have
information about them. This information is received from vertical reference sensor.
K-Pos DP does not control or require information about the heave motion, but the
motion can be measured and shown.
436094/D 13
System principles
The system is designed to keep the vessel within specified position and heading limits,
and to minimise fuel consumption and wear and tear on the propulsion equipment. In
addition, the system tolerates transient errors in the measurement systems and acts
appropriately if a fault occurs in the thruster units.
The Extended Kalman Filter

The Extended Kalman Filter estimates the vessel's heading, position and velocity in each
of the three degrees of freedom - surge, sway and yaw. It also incorporates algorithms
for estimating the effect of sea current and waves.
The Extended Kalman Filter uses a vessel model which includes hydrodynamic
characteristics such as drag coefficients and virtual mass data. This model, called the
Mathematical Vessel Model, describes how the vessel responds to an applied force,
for example wind and thrusters. The mathematical model itself is never a 100 percent
accurate representation of the real vessel. However, by using the Extended Kalman
Filtering technique, the model can be continuously corrected.
The vessel's heading and position are measured using the gyrocompasses and
position-reference systems, and are used as input data to the control system. These
14 436094/D
System overview
measurements are compared with the predicted or estimated data produced by the
mathematical model, and the differences are then used to update the model.
The Extended Kalman Filter gives the following advantages:

• Optimal self-adaptive noise filtering of heading and position measurements according
to noise level and measurement-update rate.
• Optimal combination of data from the different position-reference systems. The
system calculates a variance for each position-reference system in use, and places
different weighting on their measurements according to each system's individual
quality.
• In the absence of position measurements, the model provides a “dead-reckoning”
mode. This means that the system is able to perform positioning for a limited period
of time without position updates from any position-reference system.
In the Extended Kalman Filter, the Mathematical Vessel Model's reliability and the noise
level of the position measurement are the basis for deciding how much to trust each
measurement. As time passes, the model reliability will increase through continuous
updates from the measured vessel response.
The process is adaptive. If, for example, the position-reference system is active and
it has a low update rate, the model reliability will decrease in the periods between
measurements. The vessel model will therefore be heavily updated with each
measurement.
436094/D 15
Offshore trials have verified that K-Pos DP principles give:

• Improved suppression of noise in position measurement with a better station-keeping
performance.
• Reduced power consumption and wear and tear on the thrusters due to the improved
suppression.
• A robust handling of combined high and low update rate position sensors, such as
DGPS and traditional Long Base-Line hydroacoustic positioning.
An extended Kalman Filter is also used for the heading information based on
measurement from the gyrocompass in use.
Additional advantages can be obtained by use of:
• Speed measurements
Speed measurements can be used as an addition to position measurements to improve
the vessel speed control, and to make calibration of position measurements faster
when sailing at high speed.
A combination of speed measurement and a position-reference system will be better
able to handle dropout of position measurements during sailing.
The speed measurement interface can be DGPS or Doppler Log.
• ROT measurements
ROT (rate of turn) measurements from ROT sensors can be used to improve the
heading control of the vessel. This is useful when very accurate heading control is
required during high-speed sailing, or when the vessel has a hull shape that makes it
difficult to control the heading.
The controller
The controller calculates the resulting force to be exerted by the thrusters/propellers in
order for the vessel to remain on station.
DP control strategy
In station-keeping operations, the controller can be working in one of the following
modes, all with special characteristics:
• High Precision
• Relaxed
• Green
High Precision control mode provides high accuracy station-keeping in any weather
condition at the expense of power consumption and exposure to wear and tear of
machinery and thrusters.
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System overview
Relaxed control mode uses the thrusters more smoothly, at the expense of station-keeping
accuracy. However, this type of control cannot guarantee that the vessel will stay within
its operational area, and is mainly applicable for calm weather conditions.
Green control mode uses a different control technology called non-linear Model
Predictive Control, which is optimized for precise area keeping with minimum power
consumption. Green control is applicable in all weather conditions.
The transition between control modes is bumpless.
High Precision and Relaxed control mode

• Excursion Feedback
The deviation between the operator-specified position/heading setpoints and the actual
position/heading data, and similar deviations related to the vessel's velocity/heading
rate, drive the excursion feedback. The differences are multiplied by gain factors
giving a force demand (restoring demand and damping demand) required to bring the
vessel back to its setpoint values while also slowing down its movements.
The main difference between High Precision control mode and Relaxed control mode
is the restoring characteristics of the two controller types:
(CD3320)
• Wind Feed-Forward
In order to counteract the wind forces as quickly as possible, the feed-forward
concept is used. This means that K-Pos DP will not allow the vessel to drift away
from the required position as it counteracts the wind-induced forces as soon as they
are detected.
• Current Feedback
The excursion feedback and wind feed-forward are not sufficient to bring the vessel
back to the desired setpoints due to unmeasured external forces (such as waves
and current). The system estimates these forces over time, and calculates the force
demand required to counteract them.
Green control mode

In the Green control mode, the system maintains the vessel within an allowed area with
minimum use of power.
436094/D 17
The controller design consists of two main parts, each giving its contribution to the
control:
• The Environment Compensator is designed to compensate for the average
environmental forces, which will maintain the required position under averaged
conditions.
• The Model Predictive Controller (MPC) uses a prediction (Position Predictor) of
the vessel movement as input for the control. When the operational boundaries are
predicted to be exceeded, the controller reacts to ensure that the vessel stays within
the operational area.
The very smooth control actions reduce wear and tear on mechanical parts of the power
and thruster system and reduce fuel consumption and greenhouse gases.
The non-linear Model Predictive Controller (MPC) is an online optimization function,
finding the best compromise between using thrust and predicted overstepping of
operational boundaries.
Due to its nature, the MPC will not instantaneously react to sudden changes in external
forces, such as wind gusts, unless the Position Predictor detects that actions must be
taken immediately. Unnecessary sudden use of thrust is therefore avoided.
The Position Predictor includes the mathematical model of the vessel used in the
extended Kalman filter of the DP. The predicted position and heading are found
step-by-step for the whole prediction horizon (1 to 2 minutes).
18 436094/D
System overview
Thrust allocation
The force demand in the surge and sway axes (the force setpoint), and in the yaw axis
(the turning moment setpoint), is distributed to the various thrusters and propellers by
the Thrust allocation function.
The controller continuously calculates the actual force requirements in the alongships
and athwartships directions (the force demand), and the required rotational moment
(the turning moment demand).
The Thrust allocation distributes these demands as pitch/rpm/force/load and azimuth
control signals to each thruster/propeller, thus obtaining the force and moment required
for the position and heading control.
If it is not possible to maintain both the turning moment and the force demand due
to insufficient available thrust, priority is normally set to obtain the turning moment
demand (heading).
If a thruster/propeller is out of service or deselected, the “lost” thrust is automatically
redistributed to the remaining thrusters/propellers.
436094/D 19
The magnitude of thrust allocated is reduced if the available power is too low to meet
the thrust demand. The allocated thrust will however still be correct with respect to the
direction of thrust. Heading (or position) priority is also kept in such a situation.
Power optimal allocation is the primary barrier for preventing blackouts and requires the
same information as that required for Power Load Monitoring and Blackout Prevention.
Redundant systems
Redundancy increases the availability and reliability of K-Pos DP and ensures that
positioning can still be performed should a single fault occur in either K-Pos DP or the
connected sensors and position-reference systems.
A dual-redundant system comprises a dual-redundant DP controller unit and two
identical operator stations (K-Pos OS). The controller unit and the operator stations
communicate via a dual high-speed data network. The controller cabinet contains two
controller process stations that operate with a master/slave relationship.
A triple-redundant system comprises a triple-redundant DP controller unit and three
identical operator stations. The controller unit and the operator stations communicate
via a dual high-speed data network. The controller cabinet contains three controller
process stations. The concept of majority voting is used to detect and isolate faults in the
sensors and in K-Pos DP itself.
Dual-redundant system
The process stations in a dual-redundant system operate in parallel, each receiving the
same input from the operator, sensors, position-reference systems and thrusters, and
each performing the same calculations.
However, only the Online (Master) PS can control the propulsion system. You can select
which PS is to be the Master. However, it is only possible to switch to a PS which is of
equal or better capability than the current Master. In the event of a deviation between the
two PSes, you can update the Offline PS with data from the Master PS.
Both control computers are continuously checked for hardware and software failures. If
a failure is detected, a warning or alarm is given.
Some advantages of redundancy:
• No single-point failure
The system is designed to avoid total system failure if a single failure occurs.
• Failure detection
The system will detect a failure, allowing corrective actions to be taken.
• Fault isolation
If one system component fails, the other components will not be affected.
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System overview
Automatic switch-over to the Offline PS

If a failure is detected in the Master PS, a switch-over to the Offline PS is activated
automatically and a message is shown, for example:
Redundancy group "DpMain": B Master
This automatic switching is allowed only once. Before any further automatic switching
can take place, the operator must have rectified the fault.
Triple-redundant system
In triple-redundant systems, each process station uses the same data from the operator,
sensors, and position-reference systems to calculate command signals to the propulsion
system (they are all Online).
Fault detection and isolation are achieved by a process of majority voting. Once the
voting has taken place, the failed (incorrect) computer will, if possible, correct itself
automatically, based on the values of the other computers. If the failed computer cannot
correct itself, the operator is informed and the faulty computer should be replaced.
Meanwhile, the two other computers continue working and perform dual-redundant
procedures in the same way as for a dual system. The system will automatically
reconfigure itself to a triple-redundant system as soon as the failed computer is replaced.
In triple redundant systems, all three PSes perform voting, but only the Master PS
communicates with the operator stations and outputs serial line information. You can
select the PS that is to be the Master. However, it is only possible to switch to a PS which
is of equal or better capability than the current Master.
If the present Master PS should fail, another PS will immediately take over the Master
responsibility.
Advantages of triple redundancy are:
• Voting of sensor input signals
The voting is performed between tightly synchronised computers to:
– Detect sensor errors such as compass drift and sensor breakdown.
– Ensure that all three computers use the same data as a basis for calculation of
command signals.
• Software Implemented Fault Tolerance (SIFT)
The Triple Modular Redundancy (TMR) detects an error in the processing elements
and corrects the error by employing voting algorithms. The system represents a
Software Implemented Fault Tolerance (SIFT) concept.
• Voting on command (output) signals
– DP-31: The thruster commands from the three control computers are compared by
the Master PS and the median command is selected to be the final output.
– DP-32: The voting of the thruster commands is performed in the thruster control
field station.
436094/D 21
• No single-point failure
The system is designed to avoid total system failure if single failure occurs.
• Failure detection
The system will detect a failure, allowing corrective action to be taken.
• Fault isolation
If one system component fails, the other components will not be affected.
• No standby unit, all computers are “hot”
If one DP control computer fails in a triple-redundant system, the two other computers
continue working and perform procedures in the same way as for dual-redundant
system. Should a second computer fail, there is an automatic switch-over to the
remaining computer.
• Hot repair
It is possible to replace a computer while the other computers continue the operation.
22 436094/D
Getting to know your operator station
Getting to know your

operator station
Topics
Operator station, page 24
The K-Pos DP operator station includes a high-resolution colour flat screen for monitoring and
operating the system, and an operator panel with buttons, lamps and joystick controls.
Operator panel, page 25
The panel is the main operator interface for K-Pos DP and is designed for fully automatic
operations as well as manual and semi-automatic joystick operations.
Display layout, page 29
The display interface uses standard Microsoft Windows operating features such as menus and
dialog boxes. The display is divided into a number of predefined areas.
About dialog boxes, page 37
You can enter data into the system using dialog boxes. They are opened using panel buttons,
selecting menu commands or by selecting graphical symbols in the views or icons on the top bar.
About display views, page 39
Display views present various information about the operation of the system.
436094/D 23
Operator station
The K-Pos DP operator station includes a high-resolution colour flat screen for
monitoring and operating the system, and an operator panel with buttons, lamps and
joystick controls.
The power switch and adjustment
controls for the screen are placed on
the right hand side of the screen. The
use of the power switch and adjustment
controls is described in the Hardware
Module Description for the screen.
Some systems are delivered with a
secondary screen which includes the
same display layout and information,
but the operator is allowed to select
panes also on the dashboard.
24 436094/D
Operator panel
The panel is the main operator interface for K-Pos DP and is designed for fully automatic
operations as well as manual and semi-automatic joystick operations.
The controls and indicators on the operator panel are divided into the following
functional groups:
A Main modes
B System functions
C Reference systems and sensors
D View selection
E Thrusters
F Command responsibility
G Alarms
H Heading wheel and buttons
I Keypad
J Trackball
K 3-axis joystick
436094/D 25
Buttons
Several buttons with status lamps are provided on the operator panel for activation of
main modes, position-reference systems, thrusters and functions. The accompanying
status lamps indicate activation of a particular function, mode or system.
Other frequently-used functions, such as selection of display views and dialog boxes,
may also have dedicated buttons on the operator panel.
The buttons are grouped according to their main function. For safety reasons, some of
the buttons must be pressed twice within four seconds to invoke action. These buttons
are indicated by a white line along the lower edge.
Examples of buttons:
Double press (TAKE button for taking command) and single press
(ACK button for acknowledging messages).
Note
The appearance of the buttons may vary from vessel to vessel.
Use the three buttons in the MODES button group to select individual axes for automatic
control. They are referred to as the SURGE, SWAY and YAW buttons throughout this
manual.
Button arrangement for an operator station where the operator looks in the alongships
direction while looking at the screen:
Button arrangement for an operator station where the operator looks in the athwartships
direction while looking at the screen:
The buttons on the keypad are used to enter values or text into dialog boxes.
26 436094/D
This button toggles between numeric and alphanumeric mode. Numeric mode
is the default. Press the button for one second to toggle. A short beep will
confirm the change. The lamp is lit green when the panel is in alphanumeric
mode (letters) and not lit when in numeric mode (numbers).
In alphanumeric mode this button toggles between non-capital and capital
letters. Non-capital letters is the default. Press the button for one second
to toggle.
This is the ENTER key. Pressing this key applies the value or text you have
written to the system (i.e. corresponds with clicking OK in a dialog box).
Joystick
In Joystick mode, the operator controls the positioning of the vessel using the three-axis
joystick (integrated joystick and rotate controller).
To move the vessel in the surge and sway axes (alongships and athwartships directions),
tilt the joystick. The direction in which the joystick is tilted determines the direction of
applied thruster force, and the tilting angle determines the amount of applied thruster
force.
To turn the vessel (the yaw axis), rotate the joystick. The direction in which the joystick is
rotated determines the direction of the rotational moment demand, and the angle through
which the joystick is rotated determines the amount of applied rotational moment.
Trackball
The trackball is used to position the cursor on the screen.
The three outer buttons are used as the buttons on a computer

mouse:
• The left button is used to click screen buttons, choose from
menus and select symbols.
• The right button is used to open a shortcut menu.
• The middle button is not used.
The four inner buttons are used as the arrow buttons on a
computer keyboard.
Note
Be careful when using the outer buttons so that you do not
press the inner Up button at the same time.
436094/D 27
Heading wheel
The heading wheel comprises one heading wheel and seven buttons. Three of these
buttons are located in front. The other four form a circle close to the heading wheel.
The heading setpoint can be changed by turning the heading wheel or by using the
decrease or increase buttons.
The functions that are available depend on the present mode.
28 436094/D
Display layout
The display interface uses standard Microsoft Windows operating features such as menus
and dialog boxes. The display is divided into a number of predefined areas.
In some deliveries other display sizes are used. The principles for dividing the display
into top bar, dashboard and working areas, as well as the principles of operation are
the same as for the display with an aspect ratio of 16:9. Example of display layout
for ratio 16:9:
436094/D 29
For displays with a ratio of 16:10 the difference from the standard layout is that the side
bar is not visible. The functions available on the side bar are accessible from the View
menu. Example of display layout for a ratio of 16:10:
30 436094/D
For displays with a ratio of 4:3 the difference from the standard layout is that there are
only six panes on the right-hand side working area instead of nine, and that the side bar
is not visible. The functions available on the side bar are accessible from the View menu.
Example of display layout for ratio 4:3:
436094/D 31
Top bar
The information on the top bar, presented by controls
and indicators, is grouped in different parts showing the
following:
• product name
• date and time
• operator station and user name
• drop-down menu for detailed system information
• operation mode
• controller PS group
• information about unacknowledged alerts
• menu buttons for accessing dialog boxes
32 436094/D
The system status provides information about the operator station and the user, in
addition to the product name and current date and time.
When the built-in simulator is in use the text SIMULATING replaces the name of the
user: . The text changes also when the remote support is running.
Clicking the extension button gives detailed system information such as delivery
name, system software version, etc.
You can close the information box by clicking the collapse button .
The indicator shows current operation mode.
When the operator station is in command the command group

button, for example ‘Main: DP’ is green. Pressing this button
opens the Command Control dialog box. If the thrusters are not
ready but the operator station is in command, the background
colour of the button is yellow
The alert presentation area shows the most recent emergency, alarm or warning message
that has not yet been acknowledged.
436094/D 33
The icon shows the priority of the alert:

• orange — second priority Warning (W)
• red — highest priority Alarm (A) and Emergency (E)
Clicking the icon acknowledges the alert. It disappears from the
top bar but can still be seen in the Alert list view.
Shows the time and date when the alert was generated.
Shows the tag name of the OS alert.
The icon is a shortcut to more information about the alert.

Clicking the icon activates the online help for system events.
The extension button shows the number of unacknowledged

alerts. Clicking the icon expands the list of alerts because only
two alerts are visible on the top bar at any time.
The colour of the extension button is the colour of the

unacknowledged alert with highest priority, e.g.:
or:
The menu buttons provide command menus allowing access to the respective dialog
boxes. Which menus are available depends on the configuration of the delivered system.
34 436094/D
Dashboard layout
The dashboard area shows important performance information to allow immediate
assessment of the situation.
On the operator station in command, the content of this area cannot be altered by the
operator, but changes automatically according to the selected main mode. On the
operator station not in command, you can change the panes that are shown, but as soon
as the operator station takes command, the layout of the dashboard goes back to default.
Several parts of the dashboard area are click-sensitive.
As the cursor changes when it is moved over a click-sensitive object, a tooltip is shown
for a few seconds. This text explains the use of the click-sensitive object.
Related topics
Vessel speed pane, page 432
Joystick pane, page 421
Position deviation pane, page 423
Heading pane, page 418
Rotation center position pane, page 427
Power consumption pane, page 424
436094/D 35
Side bar
The side bar contains buttons for quick access to functions related
to the display:
• changing the light and colours on the display (palettes)
• selecting special display views and display orientation
• defining and selecting combinations of display views and
panes in the two working areas
A check mark on the palette button shows which
option is selected.
N UP means North UP. All views in the working
area that show the vessel’s heading will be shown
in a fixed orientation (north up), while the heading
of the vessel symbol is shown as relative.
H REL means Heading RELative. All views in the
working area that show the vessel’s heading will
be shown relative to the vessel heading, while the
heading of the vessel symbol is fixed.
Note
The compass rose on the Heading pane will
always function as a compass and is not affected
by this button.
Working areas
The working areas show operator-selectable display views and panes.
The area on the left-hand side shows detailed views. The operator can select which
main views will be shown.
The area on the right-hand side is divided into panes which show different information.
The operator can select what information will be shown. In addition detailed views can
be shown replacing the nine panes with one view.
A predefined combination of display views and panes can be stored and opened by
Clicking a button once.
36 436094/D
About dialog boxes

You can enter data into the system using dialog boxes. They are opened using panel
buttons, selecting menu commands or by selecting graphical symbols in the views or
icons on the top bar.
Dialog boxes appear in the working area and you can move them as required.
When data has been modified in a dialog box, the message (Changed) is added to the
title bar.
Data entered in a dialog box is not used by the system until you confirm the input by
clicking Apply or OK.
• If you click OK, the changes that you have made are applied and the dialog box is
removed from the display. If any data errors are found, no changes are made and
the dialog box remains open.
• If you click Cancel, no changes are made and the dialog box is removed from the
display.
• If you click Apply, the changes that you have made are applied and the dialog box
remains open.
When you are not allowed to make changes to the data in a dialog box, both OK and
Apply will be unavailable (dimmed). This can occur for example when the operator
station is not in command or the system is not in an relevant mode.
Some dialog boxes have several pages which you access by clicking the page tab. For
this type of dialog box, both Apply and OK apply the changes that you have made on all
pages of the dialog box.
Click Cancel to close the dialog box without action. If a dialog box can be accessed
by pressing a panel button, pressing this panel button while the dialog box is opened
closes the dialog box without action.
Selecting dialog boxes

All dialog boxes can be selected by a command from the menus on the top bar.
Because some commands are relevant to specific modes, they are not available until the
relevant mode is selected:
436094/D 37
Some of the dialog boxes, usually the most used ones, can be selected by pressing a
dedicated button on the panel. This gives quicker and easier access to the dialog boxes.
Entering values
Numeric values can be entered into dialog boxes in different ways, depending on the
type of numeric input field used and the functionality available on the operator station.
There are two types of input boxes used for entering numeric values:
Text box:
This is a rectangular box in which you can type a value. If the
box already contains a value, you can select the value to be used
or delete it and enter in a new value.
Spin box:
This is a text box with up and down arrows. Clicking the arrows
increases or decreases the value by a fixed increment. A value
can also be entered directly in the box.
On an operator panel with a numeric keypad, the keypad represents the easiest way
to enter numeric values.
Alternatively, you can use the Enter Value dialog box. When enabled, this dialog box is
opened whenever you click a numeric field in a dialog box. This method is especially
suited to operator stations that have no numeric keypad or that have a touch screen. To
enable the Enter Value dialog box:
1 Click Tools→Numeric entry dialog.
The Numeric Entry Keypad Dialog Use dialog box is opened.
2 Select the Enable Numeric Entry Keypad Dialog check box.
3 Click OK.
Related topics
Numeric entry keypad dialog use dialog box, page 227
38 436094/D
About display views

Display views present various information about the operation of the system.
Orientation of the operator station and effect on display

views
Several of the display views show information relative to a diagram of the vessel. For
example thrusters are shown in the thruster views in their relative positions on the vessel
diagram. The orientation of the vessel diagram is configured to suit the orientation of the
operator station, so that it is easier to interpret what is seen on the screen. There are four
possible orientations which are generally used in the following situations:
• The operator is facing forward in the vessel when looking at the screen. The vessel
diagram is shown “bow up” on the display.
• The operator is facing to starboard in the vessel when looking at the screen. The
vessel diagram is shown “bow left” on the display.
• The operator is facing aft in the vessel when looking at the screen. The vessel diagram
is shown “bow down” on the display.
• The operator is facing to port in the vessel when looking at the screen. The vessel
diagram is shown “bow right” on the display.
In this manual, the example display views show the vessel diagram “bow up”. For other
orientations, the information in each view is the same, but it may be arranged differently.
Tooltip/hotspot cursor
In many of the display views, the standard cursor changes to a pointing hand (the hotspot
cursor) when it is moved over an area defined as click-sensitive. Typical examples
of such click-sensitive areas are:
• Buttons for zooming in and out.
• Numerical fields showing other related numerical values.
• Graphical fields showing a specific dialog box.
• Change of position setpoint.
• Opening another view related to the specific component.
• Opening the control dialog box for a specific plot, etc.
436094/D 39
As the cursor changes when it is moved over a

click-sensitive object, a tooltip is shown for a
few seconds. This text explains the use of the
click-sensitive object.
Zooming and panning function

To zoom a view that is shown in the working areas, click Zoom In on the shortcut menu.
The view is enlarged by approximately 60 %, centred on the cursor position when the
shortcut menu was opened.
A zoomed view can be panned or zoomed again. Place the cursor in the required area
and click the right trackball button. A variant of the following shortcut menus is opened:
Zoom In zooms the view again, centred on the cursor position when this menu was
opened.
Zoom Reset returns the view to its original scale.
Center Here selects a new position for the centre of the Posplot view.
The panning function is automatically switched off if the rotation centre is changed or
another centre point is selected on the Mode page of the Posplot view-control dialog box.
The panning function may be automatically switched on in Mixed Joystick mode,
dependent on the configuration of your vessel. If required, it can be switched off again
by clicking Center Reset.
Clicking Center Reset returns the centre of the view to its original position, i.e. the vessel
position or position setpoint, depending on the centre point selected on the Mode page of
the Posplot view-control dialog box. It also switches the panning function off.
40 436094/D
Selecting display views and panes

Display views can be shown in both working areas. Panes can only be shown in the
right-hand working area.
Selecting display views

To display views on the left-hand working area:
Press the relevant button in the VIEWS button group on the operator panel.
or
Place the cursor in the upper left corner of the working area so that the drop-down list
becomes visible. Click the arrow and select the view from the list.
The Posplot view is at the top of the list as it is the most used view, the rest of the views
are in alphabetical order.
To show views on the right-hand working area:
From a click-sensitive pane, when the cursor within a pane changes into a pointing hand
and the tooltip 'Detail view' appears, you can select and replace the nine panes with a
corresponding display view.
To return to the panes, click the cross in the upper right corner.
Selecting panes
Panes can be shown only on the right-hand working area.
Place the cursor in the upper left corner of any of the panes and click a name in the
drop-down menu to select the pane.
436094/D 41
View-control dialog boxes

Many of the views and panes have control dialog boxes for selecting the information
to be shown and controlling features. These dialog boxes are accessed via the shortcut
menu for the view or pane.
Right-click within the view or pane. If a view control is available, it will appear on
the shortcut menu.
42 436094/D
Preparing for operation
Topics
Starting the system, page 45
The DP controller cabinet and operator station are usually left with the power on and the system in
Standby mode.
Taking command, page 45
Although all available information about the system is provided at each operator station, operator
terminal and wing terminal, only one operator station, operator terminal or wing terminal can be
in command of the system at a time.
Enabling thrusters, page 46
All thrusters that are to be controlled by K-Pos DP must first be enabled. Only enabled thrusters
can be used by the system.
Enabling a gyrocompass, page 46
At least one gyrocompass should be enabled at all times to provide heading information to the
system for automatic heading control.
Enabling a wind sensor, page 47
At least one wind sensor should be enabled at all times to provide the system with wind speed
and direction information.
Enabling a vertical reference sensor, page 48
At least one vertical reference sensor (VRS) should be enabled at all times to provide the system
with pitch and roll information.
Enabling the first position-reference system, page 49
The reference point of the first position-reference system selected and accepted for use with the
system, becomes the reference origin. Position information from any other reference systems is
then calibrated according to this system.
Enabling other position reference systems, page 50
The other position-reference systems that are enabled can be in a monitoring state. This is
indicated on the Reference system main view, showing the status for these systems as Mon Online.
You can change the status from monitoring to enabled for any reference system.
Enabling a speed sensor, page 51
Speed measurements can be used in addition to position measurements to improve the vessel
speed control.
436094/D 43
Selecting the vessel draught, page 53

For optimal positioning performance, the system must have accurate information regarding
the vessel's draught at all times. The vessel draught can either be specified by the operator or
measured by a draught sensor.
Enabling a rate-of-turn sensor, page 53
Rate-of-turn (ROT) measurements can be used to improve the heading control of the vessel. This is
useful when a very accurate heading control is required during high-speed sailing, or when the
vessel has a hull shape that makes it difficult to control the heading.
44 436094/D
Starting the system

The DP controller cabinet and operator station are usually left with the power on and the
system in Standby mode.
Prerequisites
If the entire system has been shut down, use the start-up procedure given in the
Maintenance Manual for your vessel to start up the system.
Similarly, use the shut-down procedure given in the Maintenance Manual for your vessel
if the entire system has to be shut down.
Taking command
Although all available information about the system is provided at each operator station,
operator terminal and wing terminal, only one operator station, operator terminal or wing
terminal can be in command of the system at a time.
Prerequisites
The TAKE button on the operator station in command is lit. No buttons in the COMMAND
group are lit on any other operator stations.
Context
In the following example, both DP-OS1 and DP-OS2 are connected to the main
controller PS group. DP-OS1 currently has command of this group, and command
is to be transferred to DP-OS2.
Procedure
• On DP-OS2 press the TAKE button twice within four seconds.
Result
The TAKE button starts to flash and becomes steadily lit when the operator station has
taken command.
436094/D 45
Enabling thrusters
All thrusters that are to be controlled by K-Pos DP must first be enabled. Only enabled
thrusters can be used by the system.
Prerequisites
Before a thruster can be enabled, it must be running without faults and be available for
control from K-Pos DP. The Running and Ready status for all thrusters is shown in the
Thruster view and the Thruster enable dialog box.
Context
There are generally two criteria for a thruster Ready status:
• The thruster must be running without faults.
• The thruster must be available for control from K-Pos DP.
Changing from Standby to Joystick mode will automatically enable the thrusters provided
that they are ready.
If a thruster is enabled and it subsequently loses its Ready status, it is automatically
disabled.
The THRUSTERS button group contains buttons used to enable or disable each of the
available thruster units for K-Pos DP control. Each button has a status lamp which is
lit when the thruster is enabled.
You can also use the Thruster Enable dialog box.
Related topics
Thruster enable dialog box, page 330
Thruster main view, page 395
Enabling a gyrocompass
At least one gyrocompass should be enabled at all times to provide heading information
to the system for automatic heading control.
Context
Normally, all the available sensors are enabled for use. The system then receives
and compares the signals from all the sensors, but uses only one of them. You can
specify which sensor is preferred for use by the system. If no errors are detected in the
measurements, the system will always use the operator-preferred sensor (for which
Preference is selected in the dialog box).
46 436094/D
Procedure
1 Press the GYRO button to open the Sensors - Gyro dialog box.
Tip
You can also open the dialog box by clicking Sensors→Gyro.
2 Check that the OK check box for the gyrocompass is selected.

3 Select the Enable check box for the required gyrocompass.
4 Repeat steps 2 and 3 for any further gyrocompasses that are to be enabled.
5 Click Apply.
The selected gyrocompasses are enabled.
Result
You can examine the measured values from sensors in more detail in the Sensors view.
Related topics
Sensors dialog box - Gyro page, page 291
Sensors view, page 389
Enabling a wind sensor

At least one wind sensor should be enabled at all times to provide the system with wind
speed and direction information.
Context
The raw measurements of wind speed and direction are filtered internally (using a
Kalman filter with both low and high frequency parts), to estimate the most reasonable
speed and direction values to be used by the system.
There can be situations where you want to temporarily stop using the input from the wind
sensors, such as during helicopter operations or when operating close to another large
structure where there may be sudden disturbances of the measured wind. If you disable
all the wind sensors, the system continues to use the wind speed and direction values that
were measured just before the most recent wind sensor was disabled.
436094/D 47
Procedure
1 Press WIND to open the Sensors - Wind dialog box.
Tip
You can also open the dialog box by clicking Sensors→Wind.
2 Check that the OK check box for the wind sensor is selected.
3 Select the Enable check box for the required wind sensor.
4 Click Apply.
The wind sensor is enabled.
Result
Related topics
Sensors dialog box - Wind page, page 303
Enabling a vertical reference sensor

At least one vertical reference sensor (VRS) should be enabled at all times to provide the
system with pitch and roll information.
Context
Information from the VRS is used to adjust the measurements received from the
position-reference systems for the vessel's pitch and roll motions. If a VRS also has
a heave sensor, the heave information is used for monitoring purposes only. If VRS
information is lost, the system will be unable to compensate the received position
measurements for vessel motion. The positioning capability of the system can then be
severely degraded.
Procedure
1 Press the VRS button to open the Sensors - VRS dialog box.
48 436094/D
Tip
You can also open the dialog box by clicking Sensors→VRS.
2 Check that the OK check box for the VRS is selected.

3 Select the Enable check box for the required VRS.
4 Click Apply.
The VRS is enabled.
Result
Related topics
Sensors dialog box - VRS page, page 298
Enabling the first position-reference system

The reference point of the first position-reference system selected and accepted for use
with the system, becomes the reference origin. Position information from any other
reference systems is then calibrated according to this system.
Prerequisites
Before enabling the first position-reference system, ensure that the vessel speed is as
low as possible.
If the system has been in Joystick mode for more than a few minutes without an enabled
position-reference system, first go to Standby mode and then back to Joystick mode to
reset the vessel model.
Context
The position-reference system provides position measurements relative to a known
reference point. When the position-reference system is selected and accepted for use with
the system, it becomes the reference origin (the origin in the internal coordinate system).
Procedure
1 Press the button for the required position-reference system.
Tip
You can also use the Reference System dialog box to enable a system.
• An initial calibration of the position-reference system is performed.
436094/D 49
• The button for the selected position-reference system will flash during the
calibration process.
2 Check that the button for the selected position-reference system becomes steadily lit
to indicate that acceptable position measurements are being received.
3 Check that the following message is shown in the Alert list view:
Reference origin <system><vessel pos. north><vessel pos. east>
The origin of this position-reference system is now used as the reference origin.
Related topics
Reference system dialog box - Enable page, page 270
Presentation of messages, page 106
Enabling other position reference systems

The other position-reference systems that are enabled can be in a monitoring state. This
is indicated on the Reference system main view, showing the status for these systems as
Mon Online. You can change the status from monitoring to enabled for any reference
system.
Procedure
1 Press the button for the required position-reference system.
Tip
You can also use the Reference System dialog box to enable a system.
• The position measurements from the position-reference system are calibrated

against the reference origin.
• The button for the selected position-reference system will flash during the
calibration process.
2 Check that the button for the selected position-reference system becomes steadily
lit, and that the status shows Online in the Reference system main view, to indicate
that acceptable position measurements are being received.
Result
If the variation in the position measurements from an enabled position-reference system
is too high during the calibration process, the following message will be shown:
Calibration error <system><limit><variance>
This may be due to an error in the position-reference system or noise value that is
higher than expected. However, the system will continue trying to calibrate the
position-reference system until it is disabled.
50 436094/D
Continuous measurements of the vessel's position are essential for dynamic positioning
and it is therefore normal to use several different position-reference systems.
Related topics
Reference system main view, page 380
Changing the reference origin

The reference origin selected should be the one most appropriate to your operational
requirements. There may be situations when you need to change the reference origin if
the measurements provided by the position-reference system are disturbed or unreliable.
Procedure
1 Press the respective buttons to deselect all position-reference systems.
If one or both of the surge/sway axes have been enabled for automatic control, the
following message is shown:
No reference system enabled
2 In the Reference system main view wait until the Status field for all of the
position-reference systems changes to Offline.
3 Enable the position-reference system that is to provide the reference origin.
Related topics
Enabling a speed sensor

Speed measurements can be used in addition to position measurements to improve the
vessel speed control.
Context
The speed information may be received from two sources: Doppler Log and GPS
speed sensors. You can enable available speed sensors or enter a manual alongships
vessel speed value.
In high speed operations, all enabled speed sensors will normally be in use (unless a
sensor has failed) when speed measurements are used by the system. It is recommended
to also enable manual speed input since the manual value will be updated based on
the sensors in use. Should signals from all the sensors be lost, you will have an initial
manual value that reflects the real situation.
436094/D 51
Procedure
1 Click Sensors→Speed to open the Sensors dialog box.
2 Check that the OK check box for the speed sensor is selected.
3 Select the Enable check box for the required speed sensor.
4 Click Apply.
The speed sensor is enabled.
Result
Related topics
Sensors dialog box - Speed page, page 295
Enabling and entering a manual speed value

Prerequisites
If you want to use a manually entered speed value, you must disable the speed sensors.
Procedure
1 Click Sensors→Speed to open the Sensors dialog box.
2 Ensure that all speed sensors are disabled.
3 Select the Enable check box for manual speed.
4 Enter the value for the required speed.
5 Click Apply.
The manual speed sensor value is enabled.
When a high-speed operation is selected, the In Use check box is marked selected.
Related topics
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Selecting the vessel draught

For optimal positioning performance, the system must have accurate information
regarding the vessel's draught at all times. The vessel draught can either be specified by
the operator or measured by a draught sensor.
Procedure
1 Click Sensors→Draught to open the Draught page of the Sensors dialog box.
The content of this dialog box will vary according to the system configuration.
2 Select the draught sensor to be used or select a suitable fixed draught.
If the information from the draught sensors is correct and reliable, then this should
be used in preference to manually-entered or fixed values.
Related topics
Sensors dialog box - Draught page, page 289
Enabling a rate-of-turn sensor

Rate-of-turn (ROT) measurements can be used to improve the heading control of the
vessel. This is useful when a very accurate heading control is required during high-speed
sailing, or when the vessel has a hull shape that makes it difficult to control the heading.
Prerequisites
Measurements of the vessel's rate of turn are received from the gyrocompasses or a
dedicated rate-of-turn sensor. The dedicated rate-of-turn sensor should be enabled to
allow rate-of-turn information to be used by the system.
Procedure
1 Click Sensors→Rate of turn to open the Sensors dialog box.
2 Check that the OK check box for the rate-of-turn sensor is selected.
3 Select the Enable check box for the required rate-of-turn sensor.
4 Click Apply.
The rate-of-turn sensor is enabled.
Related topics
Sensors dialog box - Rate of turn page, page 293
436094/D 53
Controlling the vessel
Topics
Controlling the vessel manually, page 56
In Joystick mode you control the vessel using the three-axis joystick.
Controlling the vessel heading automatically, page 56
In Joystick mode with a gyrocompass enabled, you can select automatic heading control.
Controlling surge and sway automatically, page 57
In Joystick mode with a gyrocompass enabled, and a position-reference system enabled and
accepted, you can select automatic position control in both the surge and sway axes.
Stabilising the vessel, page 58
In Joystick mode with a gyrocompass enabled, and a position-reference system enabled and
accepted, you can select automatic stabilisation. This means that both the yaw and surge axes are
under automatic control while the sway axis remains under joystick control, or the yaw and sway
axes are under automatic control while the surge axis remains under joystick control.
Controlling position and heading automatically, page 59
In Auto Position mode, the system automatically maintains the heading and position of the vessel.
The actual number of active sensors required depends on the DP Class requirements for the
operation to be performed.
Changing the vessel heading, page 60
There are several ways to change the heading setpoint. The heading must be under automatic
control. You cannot use the different methods at the same time.
Stopping a change of heading, page 64
You can stop the rotation of the vessel during a change of heading either by changing the setpoint
to the present heading or, in some modes, by taking a pause (without changing the setpoint).
Changing the vessel position, page 65
There are several ways to change the position setpoint. The surge and sway must be under
automatic control. You cannot use the different methods at the same time.
Stopping a change of position, page 67
You can stop the movement of the vessel during change of position either by changing the setpoint
to the present position or, in some modes, by taking a pause (without changing the setpoint).
54 436094/D
Monitoring the gangway, page 69

The gangway system can consist of local and remote sensors that provide information of length,
azimuth and elevation and the connect status.
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Controlling the vessel manually

In Joystick mode you control the vessel using the three-axis joystick.
Prerequisites
• At least one gyrocompass is enabled.
• At least one wind sensor is enabled.
• At least one vertical reference sensor is enabled.
• Thrusters, main propulsion units and rudders are enabled.
Procedure
1 Ensure that the joystick is in the zero position in all three axes.
2 Press the JOYSTICK button twice within four seconds.
The JOYSTICK button starts to flash and then becomes steadily lit when the mode is
entered.
3 Use the joystick to control the thrusters in all three axes (surge, sway and yaw).
• To move the vessel in the surge and sway axes (alongships and athwartships
directions), tilt the joystick. The direction in which the joystick is tilted
determines the direction of applied thruster force, and the angle of tilt determines
the amount of applied thruster force.
• To turn the vessel (the yaw axis), rotate the joystick. The direction in which the
joystick is rotated determines the direction of the turning force setpoint, and the
angle through which the joystick is rotated determines the amount of applied
turning moment.
Controlling the vessel heading automatically

In Joystick mode with a gyrocompass enabled, you can select automatic heading control.
Prerequisites
Procedure
1 Check that none of the YAW, SURGE and SWAY buttons are lit.
2 Press the YAW button twice within four seconds.
The YAW button starts to flash. The system applies force to reduce the rate of turn
and when it is reduced to less than a predefined limit, automatic heading control
is enabled and the YAW and PRESENT HEADING buttons become steadily lit. The
56 436094/D
current vessel heading becomes the heading setpoint, and the system automatically
maintains this heading.
Result
The vessel rotation (rate of turn) starts to slow down in a controlled manner at a rate that
depends on the selected controller gain.
The deviation between the estimated heading and the heading setpoint is shown in the
Heading pane.
Related topics
Controlling surge and sway automatically

In Joystick mode with a gyrocompass enabled, and a position-reference system enabled
and accepted, you can select automatic position control in both the surge and sway axes.
Prerequisites
• At least one position-reference system is enabled and accepted.
Procedure
2 Press the SURGE and SWAY buttons twice within four seconds.
The SURGE and SWAY buttons start to flash.
Result
The vessel starts to slow down in the surge and sway axes in a controlled manner
at a rate that depends on the selected controller gain. When the vessel speed (in both
the surge and sway axes) is reduced to less than predefined limits, automatic position
control is enabled and the SURGE and SWAY buttons become steadily lit. The current
vessel position becomes the position setpoint, and the system automatically keeps the
vessel at this position.
The deviation between the estimated position and the position setpoint is shown in the
Position deviation pane.
Related topics
436094/D 57
Stabilising the vessel

In Joystick mode with a gyrocompass enabled, and a position-reference system enabled
and accepted, you can select automatic stabilisation. This means that both the yaw
and surge axes are under automatic control while the sway axis remains under joystick
control, or the yaw and sway axes are under automatic control while the surge axis
remains under joystick control.
Prerequisites
Procedure
2 Press the YAW button twice within four seconds.
The YAW button starts to flash. The vessel rotation (rate of turn) starts to slow down
in a controlled manner at a rate that depends on the selected controller gain.
When the rate of turn is reduced to less than a predefined limit, automatic heading
control is enabled and the YAW and PRESENT HEADING buttons become steadily
lit. The current vessel heading becomes the heading setpoint, and the system
automatically keeps the vessel on this heading.
3 Press either the SURGE or SWAY button twice within four seconds.
The SURGE or SWAY button starts to flash. The vessel starts to slow down in the
surge or sway axis in a controlled manner at a rate that depends on the selected
controller gain.
When the vessel speed (in the surge or sway axis) is reduced to less than a
predefined limit, automatic position control in the selected axis is enabled and the
SURGE or SWAY button becomes steadily lit. The current vessel position in the
selected axis becomes the position setpoint in that axis and the system automatically
keeps the vessel at this position.
4 Control the vessel movement in the unselected axis manually using the joystick.
Result
Heading pane.
Related topics
58 436094/D
Controlling position and heading

automatically
In Auto Position mode, the system automatically maintains the heading and position
of the vessel. The actual number of active sensors required depends on the DP Class
requirements for the operation to be performed.
Prerequisites
Context
The system is in Joystick mode.
Procedure
1 Check that none of the SURGE, SWAY and YAW buttons are lit.
2 Ensure that either High Precision or Relaxed (if configured) is set as the selected
Control Mode in the Gain dialog box.
3 Hold the vessel as stationary as possible by using the joystick to minimise vessel
motion and speed.
4 Press the AUTO button twice within four seconds.
The AUTO button starts to flash and then becomes steadily lit when the mode is
entered.
The SURGE, SWAY and YAW buttons start to flash.
The vessel rotation (rate of turn) starts to slow down in a controlled manner at a rate
that depends on the selected controller gain.
The vessel starts to slow down in the surge and sway axes in a controlled manner
at a rate that depends on the selected controller gain.
When the rate of turn is less than a predefined limit, automatic heading control
is enabled and theYAW and PRESENT HEADING buttons become steadily lit. The
current vessel heading becomes the heading setpoint, and the system automatically
maintains this heading.
When the vessel speed (in both the surge and sway axes) is reduced to less than
predefined limits, automatic position control is enabled and the SURGE and SWAY
buttons become steadily lit. The current vessel position becomes the position
setpoint, and the system automatically keeps the vessel at this position.
If Green control mode is desired, continue as follows:
5 Allow the vessel to stabilise in Auto Position mode for about 15 minutes to attain
optimal performance in Green control mode.
6 Press the CONTROL SETUP button to open the Gain dialog box.
436094/D 59
7 Select Green control mode and set the radius of the operational area.
The defined area is shown in the Posplot view. The outer operational area is
indicated by a dashed circle and the inner working area is indicated by a dashed
circle with green shading.
Result
Heading pane.
Note
No change in position or heading should be attempted during the first five minutes after
entering Auto Position mode in order to allow the vessel model to stabilise. For critical
DP operations or during difficult weather/current conditions, this initial time period
should be extended to at least 15 minutes.
Related topics
Gain dialog box, page 196
Posplot view, page 359
Changing the vessel heading

There are several ways to change the heading setpoint. The heading must be under
automatic control. You cannot use the different methods at the same time.
Changing the vessel heading using the heading wheel

When the vessel heading is under automatic control, you can change the heading setpoint
using the heading wheel together with the Heading setpoint dialog box.
Procedure
1 Press the Activate (heading wheel) button once.
• The heading wheel is activated.
• The Heading setpoint dialog box is opened.
2 Use the heading wheel to coarsely adjust the heading setpoint by rotating it
clockwise to increase the setpoint (to starboard) or counter-clockwise to decrease
the setpoint (to port).
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3 Use the increase or decrease button to finely adjust the heading setpoint by pressing
it one or more times.
The current vessel heading together with the heading deviation and the turning
direction of the vessel are shown in the Heading pane.
Result
The vessel starts to move immediately onto the new heading. The turn direction will
depend on the new heading setpoint – the shortest turn is always used.
Related topics
Heading Setp. dialog box, page 207
Heading wheel, page 28
436094/D 61
Changing the vessel heading using the Posplot view

With the Posplot view opened, you can change the heading by marking the new setpoint
with the trackball.
Prerequisites
The vessel’s heading must be under automatic control.
Procedure
1 Click the heading setpoint symbol in the Posplot view.

The Heading (Setpoint) dialog box is opened.
2 Move the setpoint symbol with the trackball.

The setpoint symbol moves along the edge of the Posplot view and the heading is
updated dynamically in the Heading dialog box.
3 Click again to fix the setpoint symbol at the required heading.
A temporary heading setpoint symbol is shown. The new setpoint and the difference
from the present setpoint are shown in the Heading dialog box.
4 Either click OK to accept the new heading setpoint, or Cancel to keep the existing
setpoint.
Related topics
Heading (Setpoint) dialog box, page 206
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Changing the vessel heading using the Change heading

button
Procedure
1 Press the CHANGE HEADING button to open the Heading dialog box.
2 Change the values.
A new (blue) heading setpoint symbol with a dotted line that indicates the location
of the new setpoint with respect to the vessel's heading, is shown.
The new (blue) setpoint symbol and line move relative to the vessel symbol in
response to value changes made in the dialog box.
3 Click OK or Apply.
The heading deviation of the vessel is shown in the Heading pane on the dashboard.
Related topics
Heading dialog box - Heading page, page 203
Changing the rate of turn

You can specify the speed at which the vessel should turn during a heading change.
Prerequisites
This rate of turn applies only when the yaw axis is under automatic control.
Context
As the vessel approaches the heading setpoint, the rate of turn is reduced to zero.
When the vessel rotation centre is at a position other than the centre of the vessel
(midships), the actual rate of turn may be less than the speed specified. This is because
436094/D 63
the speed of movement of the centre of the vessel is limited in proportion to the required
vessel speed and the distance of the rotation centre from the centre of the vessel.
Procedure
1 Click Settings→Rate Of Turn.
2 Enter the value or use the spin box to adjust the speed.
Note
The rate of turn can also be set from Positioning→Heading , Rate Of Turn tab. The
content of the two dialog boxes is the same and the changes made in one of them
is immediately replicated in the other.
Related topics
Heading dialog box - Rate of turn page, page 205
Stopping a change of heading

You can stop the rotation of the vessel during a change of heading either by changing the
setpoint to the present heading or, in some modes, by taking a pause (without changing
the setpoint).
Stopping by using the Stop button

Procedure
1 Press the STOP button twice within four seconds. The vessel starts to slow down in
a controlled manner at a rate that depends on the selected controller gain.
2 The YAW button is flashing and the text SLOWDOWN is shown in the Heading
pane on the dashboard.
3 When the vessel comes to a stop the YAW button becomes steadily lit. The text
STOPPED is shown in the Heading pane on the dashboard.
The heading setpoint has not changed and the PRESENT HEADING button is not lit.
4 Deselect the STOP button and the vessel will continue the rotation to the defined
heading setpoint.
If you want to keep the heading at the setpoint when the STOP button was pressed
(in stead of continuing the rotation) you can press the PRESENT HEADING button.
However, if you are changing both heading and position, this will also damp and stop the
movement at the present position.
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Stopping by using the Present Heading button

Procedure
• To interrupt a requested change of heading and set the vessel's present heading as
the heading setpoint, press the PRESENT HEADING button twice within four seconds.
Result
The PRESENT HEADING button starts to flash and becomes steadily lit when the vessel's
present heading is set as the heading setpoint.
Changing the vessel position

There are several ways to change the position setpoint. The surge and sway must be
under automatic control. You cannot use the different methods at the same time.
Changing the vessel position using the Posplot view

With the Posplot view opened, you can change the position by marking the new setpoint
with the trackball.
Prerequisites
The vessel position must be under automatic control.
Procedure
1 Click the position setpoint symbol in the Posplot view.

The Position (Setpoint) dialog box is opened.
436094/D 65
2 Move the setpoint symbol with the trackball.

The setpoint symbol moves on the display and the position coordinates are updated
dynamically in the Position dialog box.
3 Click again to fix the setpoint symbol at the required position.
A temporary position setpoint symbol is shown at the new position and the
coordinates, distance and both true and relative direction from the present position
setpoint are shown in the Position dialog box.
4 Either click OK to accept the new position setpoint, or Cancel to continue using the
existing setpoint.
Related topics
Position (Setpoint) dialog box, page 244
Changing the vessel position using the Change position

button
You can automatically change the vessel position (in one or both axes) while still
controlling the heading manually.
Prerequisites
A position reference system must be enabled and accepted in order to change the position
automatically.
Context
New position setpoints can be defined in different ways with respect to the vessel's
current position:
66 436094/D
• true to north/east/south/west
• relative to surge (fore/aft) and sway (port/starboard)
• relative to range and bearing
• absolute coordinates
Procedure
1 Press the CHANGE POSITION button to open the Position dialog box.
2 Select the required tab.
3 Change the values.
A new (blue) position setpoint symbol with a dotted line that indicates the location
of the new position setpoint with respect to the vessel's rotation centre, is shown.
The new (blue) position setpoint symbol and line move relative to the vessel symbol
in response to value changes made in the dialog box.
4 Click OK.
The position deviation of the vessel is shown in the Position pane on the dashboard.
Result
The vessel starts to move to the new position.
Related topics
Position dialog box, page 231
Stopping a change of position

You can stop the movement of the vessel during change of position either by changing
the setpoint to the present position or, in some modes, by taking a pause (without
changing the setpoint).
436094/D 67
Stopping by using the Stop button

Procedure
1 Press the STOP button twice within four seconds. The vessel starts to slow down in
a controlled manner at a rate that depends on the selected controller gain.
2 The SURGE and SWAY buttons are flashing and the text SLOWDOWN is shown
in the Heading pane on the dashboard.
The position setpoint has not changed and the PRESENT POSITION button is not lit.
3 When the vessel comes to a stop the SURGE and SWAY buttons become steadily lit.
The text STOPPED is shown in the Heading pane on the dashboard.
4 Deselect the STOP button and the vessel will continue the movement to the defined
position setpoint. The message STOP cancelled is shown.
If you want to keep the position at the setpoint when the STOP button was pressed
(in stead of continuing the movement) you can press the PRESENT POSITION button.
However, if you are changing both position and heading, this will also damp and stop the
rotation at the present heading.
Stopping by using the Present Position button

Procedure
• To set the vessel's present position as the position setpoint, press the PRESENT
POSITION button twice within four seconds.
Result
The PRESENT POSITION button starts to flash and then becomes steadily lit when the
vessel's present position is set as the position setpoint.
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Monitoring the gangway

The gangway system can consist of local and remote sensors that provide information
of length, azimuth and elevation and the connect status.
Context
Local sensors give length, azimuth and elevation measurements seen from the vessel
where the gangway is installed. The remote sensors give the same measurements seen
from the remote objects side. The length should be the same, but the azimuth and the
elevation angles will be different.
The gangway interface can also be used as a reference system. The remote sensors are
only used for monitoring.
The gangway implementation also have support for traffic control (walk/don’t walk) and
a general system status.
Procedure
1 On the operator panel press GANGWAY in the Sensors group.
2 On the Gangway view follow the changes of the gangway position and status.
Related topics
Gangway view, page 345
436094/D 69
Setting system parameters
Topics
Selecting the joystick thrust, page 72
There are two settings for joystick thrust: full and reduced. When full thrust is selected, the
maximum force available from all thrusters can be used. When reduced thrust is selected, the
maximum applied thruster force for axes that are under joystick control is limited to about 50 % of
the available force from all thrusters.
Selecting joystick precision, page 72
The applied thruster force for axes that are under joystick control can be scaled in various ways.
This scaling gives a different response to movement of the joystick, depending on the configuration
and operational requirements of the vessel.
Enabling wind compensation, page 72
Joystick control can be combined with wind compensation.
Selecting the vessel rotation centre, page 73
When the vessel is under Joystick or mixed Joystick/Auto control, it is possible to specify that
the vessel should rotate about the fore or aft part of the vessel instead of midships which is the
default. This feature can be useful when leaving or approaching another vessel or a fixed structure
such as a quay.
Setting heading limits, page 75
You can set warning and alarm limits for heading deviation.
Setting position limits, page 76
You can set warning and alarm limits for position deviation.
Selecting the controller gain level, page 77
There are three controller gain levels (low, medium and high) that can be set for automatic
heading and position control. The restoring force is proportional to the position/heading deviation
multiplied by the gain factor.
Selecting minimum power heading, page 77
When the heading is under automatic control, you can make the vessel move onto and maintain
a heading that requires the minimum power for the current environmental conditions (minimum
power heading).
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Selecting the thrust allocation mode, page 78

Thrust allocation can be performed in many different ways. The configuration and operational
requirements of the vessel determine the thrust allocation modes that are implemented in the
system, as well as the criteria for automatic mode changes.
Setting date and time, page 79
The date and time set for the system will be reflected in relevant places — alarms, views, status
reports, etc.
436094/D 71
Selecting the joystick thrust

There are two settings for joystick thrust: full and reduced. When full thrust is selected,
the maximum force available from all thrusters can be used. When reduced thrust is
selected, the maximum applied thruster force for axes that are under joystick control is
limited to about 50 % of the available force from all thrusters.
Procedure
1 To switch between the two joystick thrust settings, press the JOY. FULL THRUST
button twice within four seconds.
The button is steadily lit when full thrust is selected and unlit when reduced thrust is
selected.
or
2 Press the JOYSTICK SETUP button to open the Joystick dialog box.
3 Select full or reduced thrust as required.
Related topics
Joystick dialog box, page 221
Selecting joystick precision

The applied thruster force for axes that are under joystick control can be scaled in various
ways. This scaling gives a different response to movement of the joystick, depending on
the configuration and operational requirements of the vessel.
Procedure
2 Select high, general or low speed as required.
Related topics
Enabling wind compensation

Joystick control can be combined with wind compensation.
Context
When wind compensation is enabled, the system automatically compensates for the wind
forces acting on the vessel by providing the thrusters with the necessary extra thrust in
72 436094/D
the appropriate direction. The vessel will react much more quickly to sudden changes in
wind speed and direction.
When position-reference system measurements are available the system will calculate the
unknown forces, including sea current and wave forces, which are acting on the vessel
(collectively referred to as “current”). The system performs automatic compensation for
these calculated “current” forces.
“Current” is calculated while a position-reference system is accepted. The calculated
value will freeze when no position-reference system is accepted, and will be set to zero
in Standby mode.
Procedure
2 Select the required axes (surge, sway, yaw) for which the wind (environmental)
compensation should apply.
Related topics
Selecting the vessel rotation centre

When the vessel is under Joystick or mixed Joystick/Auto control, it is possible to specify
that the vessel should rotate about the fore or aft part of the vessel instead of midships
which is the default. This feature can be useful when leaving or approaching another
vessel or a fixed structure such as a quay.
Prerequisites
During Joystick mode you can change the rotation centre between fore, midships and
aft, i.e. the rotation centre is selected and in use. You can also select any of the other
predefined rotation centres, but they will only be in use when the position is under
automatic control.
During Auto Position mode you can change the rotation centre between all predefined
or manually entered rotation centres, but only when the position and heading modes
are PRESENT.
Context
The location of the Fore Pivot is calculated to be the point where aft thrusters are mainly
used to rotate the vessel. To fulfil this, the location of the Fore Pivot is dynamically
calculated with respect to the selected draught and the enabled thrusters. Similarly, the
Aft Pivot is calculated to be the point where bow thrusters are mainly used to rotate the
vessel. This means that the location of the Fore or Aft rotation centre might change if a
thruster is enabled or disabled.
436094/D 73
• With Fore Pivot selected, the rotation centre is located ahead of midships. Thrusters
located aft will be the significant contributors when turning the vessel. Note that
bow thrusters might be used to compensate for heading/position deviation in mixed
Joystick/Auto control.
• With Midships selected, the rotation centre is located midships on the vessel.
Thrusters fore and aft will be used to turn the vessel.
• With Aft Pivot selected, the rotation centre is located aft of midships. Thrusters
located at the bow will be the significant contributors when turning the vessel. Note
that aft thrusters might be used to compensate for heading/position deviation in mixed
Joystick/Auto control.
Note
In Joystick mode the vessel will not pivot accurately around the selected rotation centre,
since the system will not use data from the position-reference systems for the vessel
axes under joystick control.
Vessel movement with For example, when manoeuvring alongside a quay which
Fore Pivot rotation lies to starboard, you may want to move the stern of the
centre selected vessel towards the quay without the bow moving out, while
at the same time applying a small thrust to starboard. This
would be difficult when using the centre of the vessel as the
rotation centre. By selecting the fore of the vessel as the
rotation centre, you can easily use the joystick both to turn
the vessel counter-clockwise about the bow and to move
the vessel to starboard.
A suitable configuration of thrusters must be enabled. For
example, if you want the vessel to rotate about the aft of the
vessel, there must be at least one thruster enabled forward
of the vessel centre.
In Joystick mode you can select a rotation centre for use in
an automatic mode, but the selection will not be effective
until an automatic mode is selected.
If thrusters are disabled so that the selected rotation centre
no longer can be applied, the rotation centre in use will be
changed automatically.
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Vessel rotating around With mixed Joystick/Auto control the system will,
the position setpoint if possible, use the Fore, Centre (midships) or Aft
rotation centre, but the position setpoint will be
the operator-specified rotation centre. The position
controller may then force the vessel to rotate around the
operator-specified rotation centre.
For example, assume that the vessel is under Auto control
with an operator-specified rotation centre different from
Fore, Centre (midships) or Aft. The operator then disables
automatic yaw control and uses the joystick to command
the vessel to rotate counter-clockwise. The joystick control
in yaw will try to rotate the vessel around the centre of the
vessel, but the position control will work in such a way as
to keep the vessel at its position setpoint. The vessel may
then be forced to rotate around the position setpoint.
Procedure
1 Click Settings→(Control) Rotation Center.
2 Use the Rotation Center dialog box to select the required rotation centre.
Related topics
Rotation center dialog box, page 285
Setting heading limits

You can set warning and alarm limits for heading deviation.
Context
When the vessel's heading differs from the heading setpoint by more than the warning
limit, an audible signal is given and a warning message is shown. When the vessel's
heading differs from the heading setpoint by more than the alarm limit, an audible signal
is given and an alarm message is shown.
Warning and alarm limits for heading deviation are active only when the yaw axis is
under automatic control, i.e. the system is in a mode where automatic heading control is
possible.
When active, the heading limits are shown as black lines — dashed for warning limit
and solid for alarm limit — on the heading deviation shown in the heading area of the
display. When inactive, the heading limits are shown as grey lines.
The heading limits are inhibited during a requested change in heading, until it is
completed.
436094/D 75
Procedure
1 Click Alerts→Position and heading.
2 In the Alert limits dialog box enter the values for warning and alarm limits.
Related topics
Alert limits dialog box - Position page, page 152
Setting position limits

You can set warning and alarm limits for position deviation.
Context
When the vessel's position differs from the position setpoint by more than the warning
limit, an audible signal is given and a warning message is shown. When the vessel's
position differs from the position setpoint by more than the alarm limit, an audible signal
is given and an alarm message is shown.
Warning and alarm limits for position deviation are active only when the surge and/or
sway axis is under automatic control, i.e. the system is in a mode where automatic
position control is possible.
When active, the position limits are shown as black circles — dashed for warning limit
and solid for alarm limit — on the position deviation shown in the position area of the
display. When inactive, the position limits are shown as grey circles.
The position limits are inhibited during a requested change in position, until it is
completed.
Procedure
1 Click Alerts→Position and heading.
2 In the Alert limits dialog box enter the values for warning and alarm limits.
Related topics
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Selecting the controller gain level

There are three controller gain levels (low, medium and high) that can be set for
automatic heading and position control. The restoring force is proportional to the
position/heading deviation multiplied by the gain factor.
Prerequisites
The gain level cannot be changed if Green control mode is selected.
Procedure
1 Click Settings→(Control) Gain to open the Gain dialog box.
2 In the Gain Level group box select either one of the predefined high, medium or
low gain, or select Customized and give a required value for each of the surge,
sway and yaw directions.
Result
Medium gain level is the normal selection. Selecting a high gain level will cause more
vessel movement in order to keep the position.
Related topics
Selecting minimum power heading

When the heading is under automatic control, you can make the vessel move onto and
maintain a heading that requires the minimum power for the current environmental
conditions (minimum power heading).
Prerequisites
This function should be used with care as it may cause large changes of vessel heading
due to changing environmental conditions, such as wind and current.
Procedure
1 Click Positioning→Heading.
2 In the Heading dialog box select System Selected as Strategy.
Result
This heading will change continuously according to the prevailing environmental forces
acting on the vessel.
436094/D 77
Related topics
Selecting the thrust allocation mode

Thrust allocation can be performed in many different ways. The configuration and
operational requirements of the vessel determine the thrust allocation modes that are
implemented in the system, as well as the criteria for automatic mode changes.
Prerequisites
For some of the modes a sufficient number of thrusters must be enabled to select the
mode. The system will automatically switch back to the default thrust allocation mode
(normally VARIABLE mode), if you deselect thrusters or thrusters lose their READY
status.
Context
The configuration and operational requirements of the vessel determines the thrust
allocation modes that are implemented in the system, as well as the criteria for the
automatic mode switch. Details of the available thrust allocation modes are provided
with the configuration information for each vessel.
Depending on the operation mode, illegal thrust allocation modes are unavailable in
the Thrust Allocation dialog box.
Procedure
1 Click Thruster→Allocation mode to open the Thrust Allocation dialog box.
2 Select the required mode from the list of available options.
If you select MANUAL FIX mode, continue with defining the settings:
3 Click Thruster→Allocation settings to open the Allocation settings dialog box.
4 Enter the fix direction of azimuth thrusters/rudders.
Related topics
Thrust allocation dialog box, page 312
Allocation settings dialog box, page 155
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Setting date and time

The date and time set for the system will be reflected in relevant places — alarms, views,
status reports, etc.
Prerequisites
Setting the system date and time can only be performed by the “Chief” user.
Procedure
1 Click System→(Date/Time) Set Date/Time to open the Set System Date/Time dialog
box.
2 Enter the date and time or use the spin boxes to select a value.
Related topics
Set System Date/Time dialog box, page 306
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Customizing preferences
Topics
Selecting display palette, page 81
Three sets of display colours (palettes) are available for day or night use. The palette selection
from the operator station in command can be applied on all operator stations in the system, or the
palette selection can be set individually on each operator station.
Adjusting the panel light, page 81
You can set the required light intensity for the indicator (status) lamps on the operator panel, and
for the background lamps of the actual buttons.
Selecting presentation units, page 82
You can select which set of units to use for the display and entry of values. If configured for your
system, you can also specify presentation units other than those available in the list.
Preselecting sets of views, page 83
You can preselect sets of views and panes to be shown in the two working areas and link them
to buttons on the side bar.
Printing system information, page 84
You can print some system information for the purposes of reporting, logging, investigating, etc.
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Selecting display palette

Three sets of display colours (palettes) are available for day or night use. The palette
selection from the operator station in command can be applied on all operator stations in
the system, or the palette selection can be set individually on each operator station.
Prerequisites
In order to change the display palette simultaneously on all operator stations, the
Independent palette should be selected.
In order to change the display palette on a single operator station, the Independent palette
should not be selected.
Procedure
• Click View→(Palette) Day, Dusk or Night to choose the required palette.
or
On the side bar, Click Day, Dusk or Night to choose the required palette.
Adjusting the panel light

You can set the required light intensity for the indicator (status) lamps on the operator
panel, and for the background lamps of the actual buttons.
Procedure
1 Click View→(Panel) Light Configuration to open the Panel Light Configuration
dialog box.
2 Select the required light intensity for the indicator lamps and the background lamps
for the available palettes. Available light intensities are bright, normal, dimmed,
very dimmed and off.
Related topics
Panel Light Configuration dialog box, page 230
436094/D 81
Selecting presentation units

You can select which set of units to use for the display and entry of values. If configured
for your system, you can also specify presentation units other than those available in
the list.
Procedure
1 Click View→(Presentation) Units.
2 Click the Details button to open the extended version.
3 Use the scroll bar to the right to find the presentation unit type you want to edit
and select it.
It is possible to sort the unit list alphabetically by clicking the column heading.
Click once for ascending order, twice for descending order and three times to have
the default order (no alphabetical sorting) shown.
4 Select one of the predefined sets, for example metric or imperial, or click User
Definable to define a new set.
5 To define a new set click the Display Format column for the respective presentation
unit type.
A list box containing all the display formats for this type is opened.
6 Select the required display format from the options shown in the list box, and the
list box is closed.
7 Repeat steps 2 to 4 if you want to edit the display format for another presentation
unit type.
8 Click OK.
Related topics
Presentation units dialog box, page 249
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Preselecting sets of views

You can preselect sets of views and panes to be shown in the two working areas and link
them to buttons on the side bar.
Context
When you click one of these buttons, the preselected set of views and panes is shown.
Any settings defined in the respective view using the view-control dialog boxes will be
saved and viewed together with the predefined configuration of views and panes.
Procedure
1 From the side bar click Preselected→Settings to open the Preselect dialog box.
2 Select the views and panes in the two working areas.
3 Click one of the numbered buttons at the bottom to record the selection.
4 Click the Configure names button at the top to give a name to the new selection.
5 Click the Keyboard button and enter the new name.
6 Click OK, OK and Close.
The new name appears on the side bar.
Related topics
Preselect dialog box, page 247
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Printing system information

You can print some system information for the purposes of reporting, logging,
investigating, etc.
Context
There are three types of printouts:
• the current screen, including top bar, dashboard, side bar and both working areas
• system report, including major hardware unit
• status page, including system setup, thruster setup, reference systems, etc.
Procedure:
Printing a screen capture
You can print a hard copy of the current display picture. The whole screen picture is
printed on a general-purpose printer connected to an operator station.
• Press the HARDCOPY button.
If you want to change any printer options, the standard Microsoft Windows dialog box is
used:
• Click System→(Printer settings) Hardcopy printer.
Printing a status report
It is possible to produce a status page where vital data from major hardware units in the
system are listed. Only units that are running will be listed.
• Click Tools→System report.
The system report will appear in an Internet browser window.
Printing a status page
The status page is printed on an event printer and can be printed immediately or
cyclically.
• Click System→(Printer settings) Print status.
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Transferring command
Topics
Command control, page 86
The system can be controlled from any operator station, operator terminal or wing terminal
connected to the system.
Taking command, page 86
Although all available information about the system is provided at each operator station, operator
terminal and wing terminal, only one operator station, operator terminal or wing terminal can be
in command of the system at a time.
Giving command, page 87
An operator terminal or operator station that has command can offer to give command to an
operator station, an operator terminal or a wing terminal.
Requesting command, page 88
The procedure can only be used if allowed by the system configuration.
436094/D 85
Command control
The system can be controlled from any operator station, operator terminal or wing
terminal connected to the system.
After the system has been started and its application software has loaded, all connected
operator stations, operator terminals and wing terminals are automatically set in Standby
mode.
Operator terminals and operator stations have TAKE and GIVE buttons. Wing terminals
only have TAKE buttons. At the operator station, operator terminal or wing terminal
that is in command, the TAKE button is lit.
If an operator station is in command, then Main:DP is shown in the top bar on the display.
There are two methods for transferring command between the operator stations, operator
terminals and wing terminals that are connected to the same controller PS group:
• taking command
• giving command
An operator or terminal can always take command from an other station, remote terminal
or a wing terminal.
A wing terminal cannot take command. Command of a system can only be transferred to
a wing terminal using the give command.
Taking command
Although all available information about the system is provided at each operator station,
operator terminal and wing terminal, only one operator station, operator terminal or wing
terminal can be in command of the system at a time.
Prerequisites
The TAKE button on the operator station in command is lit. No buttons in the COMMAND
group are lit on any other operator stations.
Context
In the following example, both DP-OS1 and DP-OS2 are connected to the main
controller PS group. DP-OS1 currently has command of this group, and command
is to be transferred to DP-OS2.
Procedure
• On DP-OS2 press the TAKE button twice within four seconds.
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Result
The TAKE button starts to flash and becomes steadily lit when the operator station has
taken command.
Giving command
An operator terminal or operator station that has command can offer to give command to
an operator station, an operator terminal or a wing terminal.
Procedure
1 On the operator terminal or operator station that has command, press the GIVE
button.
• The message Giving Command is shown, an audible signal is given and the TAKE
button starts to flash.
• At all other terminals and stations, the message Receiving Command is shown, an
audible signal is given and the TAKE button starts to flash.
2 To accept command at the other operator terminal or operator station, press the
TAKE button twice within four seconds.
• Command is transferred to the other terminal or station, the message Command
obtained is shown, the audible signal is silenced and the TAKE button becomes
steadily lit.
• At the operator terminal or operator station from which command was given, the
message Not in Command any more is shown, the audible signal is silenced, and
the TAKE button stops flashing and becomes unlit.
• At all other terminals and stations, the message Command Ended is shown, the
audible signal is silenced, and the TAKE button stops flashing and becomes unlit.
3 If the TAKE button is pressed at the terminal or station, giving command, or the
“Give Command” times out, the message Giving Command Ended is shown, the
audible signal is silenced, and the TAKE button stops flashing and becomes steadily
lit. At all other terminals and stations, the message Receiving Command Ended
is shown, the audible signal is silenced, and the TAKE button stops flashing and
becomes unlit.
436094/D 87
Requesting command
The procedure can only be used if allowed by the system configuration.
Procedure
1 On the requesting operator station press the TAKE button.
The GIVE buttons on both the requesting operator station and the operator station
in command start to flash, and an audible signal is given on the operator station
in command.
2 On the operator station in command press the GIVE button. The command is
transferred.
If you press TAKE on the operator station in command, the request will be cancelled.
If no action is taken within 60 seconds, the request will be cancelled automatically.
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System service procedures
Topics
Testing the panel, page 90
The panel has a function for testing the buttons, indicators and the audible signal.
Stopping and restarting the operator station, page 90
Restart the operator station if the system is not performing as required, for example, if display
views are not updated (i.e. numerical values, heading and position do not change) or the operator
station does not respond to operator input.
Resetting controller process stations, page 91
You can reset a selected controller process station (PS) for example in the event of a software
problem. To retrieve the default settings, all controller process stations must be reset.
Getting remote support, page 93
K-Pos DP is prepared for the remote support service using a communication software package
installed in each operator station.
Calibrating the joystick, page 95
Calibration of the joystick ensures that a certain deflection of the joystick corresponds to a specific
thrust, depending on joystick settings.
System architecture, page 96
K-Pos DP consists of one or more operator stations (OS) and one or more process stations (PS).
A history station (HS) may also be included.
System monitoring, page 98
Functions are available for monitoring the status of the K-Pos DP operator stations, process
stations and IO system.
Resetting a disabled serial line, page 100
A serial port may be automatically disabled by the system to protect the controller from high traffic
caused by an excessively high number of interrupts. When this happens a timeout alarm is issued.
The message includes the relevant driver tag.
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Testing the panel

The panel has a function for testing the buttons, indicators and the audible signal.
Context
You can test the panel status lamps, alarm lamps and the audible signal at any time.
However, system operation is blocked while the panel test is in progress. It is therefore
recommended to perform the test in Standby mode or before taking command at the
operator terminal.
The panel test is automatically terminated if no buttons are pressed within a preset time
limit.
Procedure
1 Click View→(Panel) Lamp Test to open the Panel Lamp Test dialog box.
2 Click the Start Lamp Test button.
• The message The Lamp Test has started is shown (in the dialog box).
• All the panel button status lamps should be lit.
• All the lamps in the ALARMS button group should be lit.
• An audible signal should be given.
• The text on the Start Lamp Test button changes to End Lamp Test.
3 Press SILENCE to stop the audible signal.
4 Press, in turn, each button that has a status lamp.
Each status lamp should become unlit when its associated button is pressed.
5 To stop the test, Click the End Lamp Test button.
Related topics
Panel Lamp Test dialog box, page 229
Stopping and restarting the operator station

Restart the operator station if the system is not performing as required, for example,
if display views are not updated (i.e. numerical values, heading and position do not
change) or the operator station does not respond to operator input.
Prerequisites
Stopping/restarting should be performed on one operator station at a time to facilitate
operation and monitoring of K-Pos DP from other operator stations.
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Context
The K-Pos DP controller cabinet and operator stations are usually left with the power
on and with the system in Standby mode.
It is recommended to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new
operation. A sequential restart of all the units with an interval is also recommended.
Placement and naming of switches used in system start-up and shut-down procedures
will vary depending on the hardware installed.
If the system has been shut down, use the procedure in the System Maintenance
Information document for your vessel to restart the system.
Procedure
1 Click System→Stop/restart to open the Stop/Restart dialog box.
2 Select the required option.
Related topics
Stop/restart dialog box, page 311
Resetting controller process stations

You can reset a selected controller process station (PS) for example in the event of a
software problem. To retrieve the default settings, all controller process stations must
be reset.
Prerequisites
Before resetting the controller process station in a single-computer system, you must
ensure that K-Pos DP does not have control of the vessel’s propulsion system.
Before resetting a controller process station in redundant system you should ensure that
another controller process station is operational and is selected as the master computer.
Context
It is recommended to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new
operation. A sequential restart of all the units with an interval is also recommended.
If the vessel is not under control by K-Pos DP , you can reset all K-Pos DP controller
process stations simultaneously. During normal operation the K-Pos DP controller
process stations receive the same input from sensors, position-reference systems and
thrusters, and perform the same calculations.
436094/D 91
The best way to ensure that errors are deleted from the K-Pos DP controller process
stations is therefore to reset all of them. To retrieve the default settings, all K-Pos DP
controller process stations must be reset.
Procedure
1 Ensure that K-Pos DP is in Standby mode and that no thrusters are enabled.
2 Click System→Reset controller PS to open the dialog box.
3 Select all or individual controller process stations to be reset.
4 Click OK to confirm.
Result
• Until at least one controller process station is running, a dialog box containing the
following message is shown on all operator stations:
No network response from the DP Controller PS
• When at least one controller process station is running, a message is shown on all
operator stations:
The DP Controller PS is now responding
• K-Pos DP is in Standby mode with default settings.
Further requirements
Select the master controller process station using the Redundant Stations dialog box.
Related topics
Reset controller PS dialog box, page 284
Redundant Stations dialog box, page 264
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Getting remote support

K-Pos DP is prepared for the remote support service using a communication software
package installed in each operator station.
Prerequisites
You must be logged in as ‘Chief’ or ‘Service’ to be allowed to use remote support.
Context
Online support from Kongsberg Maritime is available through the Remote support
service using secure communication facilities. The service engineer at the Support
Centre can view the same operator station information as the operator on site. Log files
and databases can be transferred to the Support Centre for further analysis, and updates
may take place on the system on site with the restrictions imposed by the operational
guidelines and the classification authorities.
Procedure
1 When requested by the Support Centre to give them access to the operator station,
click Tools→Remote support to open the dialog box.
436094/D 93
2 Click I understand and wish to continue.

The next dialog box is open:
3 Click Connect and wait for connection
4 Click Open Chat and you can communicate with the service engineer in the chat
window.
Related topics
Change User dialog box, page 165
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Calibrating the joystick

Calibration of the joystick ensures that a certain deflection of the joystick corresponds to
a specific thrust, depending on joystick settings.
Prerequisites
Calibrating the joystick can only be performed by the “Chief” user, and only when
the system is in Standby mode.
Context
It may be necessary to calibrate the joystick when:
• New system hardware has been installed or parts of the system hardware have been
changed.
• New system software has been installed or the system software has been reinstalled.
Procedure
1 Click Tools→Calibrate joystick to open the Joystick Calibrate dialog box.
A figure indicating the joystick axes is shown in the dialog box.
2 Set the joystick in ZERO position and click the In Zero Position button.
A red mark appears in the zero position on the figure.
3 Move the joystick for MIN/MAX in the three axes to register joystick swing.
Black lines appear in the figure to indicate joystick swing in all three axes.
4 To change the joystick deadband, click the Deadband button.
The Deadband dialog box is opened.
5 Enter the required deadband in all three axes by entering values or by using the
up/down arrows and then click OK.
6 Click OK in the Joystick Calibrate dialog box to complete the calibration.
A message, stating that the new calibration values will be saved, is shown.
7 Click OK.
The joystick is calibrated.
Related topics
Joystick Calibrate dialog box, page 220
436094/D 95
System architecture
K-Pos DP consists of one or more operator stations (OS) and one or more process
stations (PS). A history station (HS) may also be included.
The K-Pos DP control software is implemented in one, two or three process stations
(DpPS) (the Main controller PS group) depending on the redundancy level of the
system. The process stations are implemented in computers located in the K-Pos DP
controller cabinet.
The DpPS in the main controller group are interconnected via a dedicated redundancy
net (RedNet).
Communication between operator stations, history stations and process stations is via
a single or dual communication net (Net A and Net B).
Communication with thrusters and sensors is performed by the IO system, which is
an integrated part of the DpPS. If additional IO is required for sensors or thrusters,
additional dedicated IO process stations can be implemented.
The process stations themselves provide no permanent storage of programs and data.
When a process station starts, all its programs and data are loaded from its PS servers,
which are located either on one or more operator stations or in the flash memory of
the process station itself.
Operator stations
The following standard names are used to identify the operator stations and history
stations in K-Pos DP:
OS name OS description
DP-OS1 Main Operator Station
DP-OS4 Fire Backup Operator Station
DP-OS6 Stand-alone Simulator Operator Station
DP-HS1 Main History Station
cPos-OS1 cPos Operator Station
cPos-OS2 cPos Operator Station
cJoy-OT1 cJoy Operator Terminal
cJoy-OT2 cJoy Operator Terminal
WT1 cJoy (cWing) Wing Terminal
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OS name OS description
Process stations
The process stations are implemented in Remote Control Units (RCU). The RCU unit
contains a real-time single board computer and IO interfaces in the same unit.
In single systems, the DP controller cabinet contains a single DpPS.
In dual systems, the DP controller cabinet contains two DpPSes which operate with
a master/slave relationship. Switching between master and slave can be performed
manually, or the switching can be performed automatically by the system.
In triple systems, the DP controller cabinet contains three DpPSes. The concept of
majority voting is used to detect and isolate faults in the sensors and in the system itself.
A WinPS is a Process station that runs on an operator station computer, as opposed to a
standard process station. A WinPS provides full PS functionality, except that it cannot
communicate with the IO system.
WinPSes are used for development purposes and in simulators.
The following standard names and numbers are used to identify process stations and
redundancy groups in K-Pos DP.
Redundancy Redundancy type PS description

group
DpMain Single, DpDual or Main Controller PS A
DpTriple Main Controller PS B
Main Controller PS C
DpM_Sim Single Main - Simulator (WinPS)
DpM_Vrm Single Main - Built-in Trainer - Vessel Reference
Model (WinPS)
DpFS_Vrm Single Field Simulator - Vessel Reference Model
(WinPS)
DpBackup Single Backup DP Controller PS A
DpB_Sim Single Backup - Simulator (WinPS)
DpB_Vrm Single Backup - Vessel Reference Model (WinPS)
The Vessel Reference Models run in WinPS and provide simulator and built-in trainer
functions.
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IO system
The IO system provides the communication interface for exchange of IO signals between
the field devices (thrusters and sensors) and the process station.
The main elements of the IO system are:
• IO drivers
IO drivers are responsible for the communication with the field device. The IO driver
provides conversion between field values and IO raw values.
The following driver types are supported:
– RBUS for discrete analog and digital IO
– NetIO for communication between process stations
– Dedicated sensor and interface drivers for serial line devices such as Artemis,
GPS, Fanbeam and HPR
– ComAs for generic serial line IO
• IO blocks
An IO block represents a group of identifiable IO signals from an IO device in the
field. For example:
– For IO cards belonging to the RBUS driver, an IO block represents an IO card in
the IO rack.
– For NetIO communication between process stations, an IO block may represent all
the signals related to a particular sensor or thruster.
• IO points
IO points are the connection points for IO signals. An IO point may provide signal
conditioning elements for conversion between the IO raw value on the driver side and
the engineering value on K-Pos DP side.
System monitoring
Functions are available for monitoring the status of the K-Pos DP operator stations,
process stations and IO system.
During normal operation you can view:
• the operational status of the operator stations, history stations and process stations
• information and status indications for every IO driver, IO block and IO point
configured in the system
The following monitoring functions are available:
• status for the operator stations, history stations and process stations in your system,
using the Equipment dialog box
• status for all process stations in the system, using the Station Explorer dialog box
98 436094/D
• overview for all IO drivers, IO blocks and IO points, using the IO Manager dialog box
• information for selected IO points using the IO Point Browser dialog box
• information for each IO block, related to each IO point and its contents, using the
IO Terminal Block dialog box
• information for selected DP PS serial ports using the Properties — DpPs Serial port
dialog box
Note
Many of the features provided by these dialog boxes are related to configuring the
system. These features require OS Configuration Mode and/or PS Configuration Mode
and therefore are not described in this manual. This manual only describes features that
are available in normal operation mode.
Related topics
Equipment dialog box, page 180
Station Explorer dialog box, page 308
IO Manager dialog box - IO Configurator page, page 209
IO Point Browser dialog box, page 211
IO Terminal Block dialog box, page 214
436094/D 99
Resetting a disabled serial line

A serial port may be automatically disabled by the system to protect the controller from
high traffic caused by an excessively high number of interrupts. When this happens a
timeout alarm is issued. The message includes the relevant driver tag.
Prerequisites
This procedure can be performed without restarting the controller computer.
Context
Serial lines are reset in the Driver Properties dialog box. This dialog box can be opened
in two different ways.
Procedure
Via Station Explorer dialog box:
1 Press the ALARM VIEW button to open the Alert list view — Dynamic alert page.
2 Right-click a relevant message and select Station Explorer from the shortcut menu.
This opens the Station Explorer dialog box for the serial line that has an error.
3 Click the driver icon for the required driver to open the Driver Properties dialog
box.
100 436094/D
Or via IO Manager dialog box:

4 Click System→Equipment to open the System Status dialog box.
5 Right-click within the dialog box and select IO Manager from the shortcut menu.
This opens the IO Manager dialog box.
6 In the IO Manager dialog box expand the Nmea folder.

7 Click on any Nmea drivers to open the required Driver Properties dialog box.
436094/D 101
When the Driver Properties dialog box is open:

8 Click the Driver operation tab to open the tabbed page.
9 Select the Reset disabled serial port check box and click OK.
The serial line is reset.
Related topics
Equipment dialog box - PS page, page 181
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Message system
Message system
Topics
System diagnostics, page 104
Operational checks, page 104

Types of messages, page 105

Alarm states , page 107
Acknowledging messages, page 108
Alarm lamps, page 109
Messages on the printer, page 110
Message explanations - online help, page 111
Operator pop-up messages, page 112
Critical system messages, page 113
436094/D 103
System diagnostics
The following methods are used for fault detection:
• Built-In System Test (BIST) that performs a comprehensive system test at power-on.
• Built-In Test Equipment (BITE) that continuously checks for internal system faults
when the system is running.
• Additional self-checking facilities for system components such as I/O units.
• Supervision of the controller computer fan and temperature.
• Comparison of data with preset maximum and minimum limits.
• Consistency checking of input measurements.
• Supervision of serial lines.
Any faults are reported.
Operational checks
The following checks are continuously carried out during system operation:
• Detection of possible degraded performance of the system (for example, thruster
not ready, insufficient thrust, demand reduced by blackout prevention, position out
of limits, etc.).
• Logical checking of information (for example, taut wire, difference between measured
and expected wire length).
• Comparison of data with preset maximum and minimum limits.
• Comparison of received data with expected values calculated by the mathematical
model.
• Comparison of thruster setpoint and feedback signals. Differences exceeding preset
limits are handled as a fault.
• Consistency checking between similar sensors.
In redundant systems, comparison checks are also done for the position/heading
setpoints and estimates, reference-system origin, used position-reference systems, target
transponders and other sensors.
Detected faults and differences are reported to the operator, enabling the appropriate
operational actions to be taken and, if necessary, initiation of relevant repair procedures.
All messages are presented as text in dedicated display areas. Audible signals and
flashing panel lights are used according to the message priority. The operator can select a
view showing all current messages in the system at any time. Audible signals may be
silenced without acknowledgement of the message. Unacknowledged messages have a
flashing marker in the display areas.
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Message system
Types of messages
There are four categories of messages, depending on their severity:
• emergency (audible signal and flashing light)
• alarm (audible signal and flashing light)
• warning (audible signal and flashing light)
• caution
Emergency, alarm and warning messages must be acknowledged by the operator.
• Emergency messages
Emergency messages are reported in response to critical system faults.
All emergency messages require immediate action by the bridge team. They indicate
immediate danger to human life or to the vessel and its machinery if no action is taken.
• Alarm messages
Alarm messages are reported when conditions are detected that critically affect the
capability or performance of the system.
All alarm messages require immediate attention and must be critically examined to
determine any necessary action by the bridge team.
• Warning messages
Warning messages are reported when conditions that are not immediately hazardous
but could become so if no forward-looking decision is made or action taken by the
bridge team.
• Caution messages
Caution messages are reported on conditions that does not warrant an emergency,
alarm or warning but still requires particular attention from (and special consideration
by) the bridge team. These conditions have no serious effect on the performance
of the system.
Emergency, alarm and warning messages are accompanied by the ALARM lamp in the
ALARMS button group flashing until you acknowledge the message.
Emergency, alarm and warning messages are accompanied by an audible signal

which continuously repeats until you acknowledge the message or the condition is
rectified/inactive. There are no audible signals associated with caution messages.
If the system tests do not report the same message within a timeout period (usually
20 seconds), the message becomes inactive. Inactive emergency, alarm and warning
messages must be acknowledged before they are removed from the top bar and the
Dynamic alert page. They will remain shown with the state “Normal” in the Historic
event and Dynamic event pages.
Explanations can be obtained for any of the messages generated by the controller process
stations.
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Related topics
Presentation of messages
System messages are colour coded:
• Emergency messages are shown on red background.
• Alarm messages are shown on red background.
• Warning messages are shown on orange background.
• Caution messages are shown on yellow background.
The messages are presented in two different displays: on the top bar and in the Alert list
view. The presentation of events is subjected to filtering. Only those events that match
all attributes specified in the filter are included in the presentation. System-defined
filters, which cannot be changed by the operator, are provided.
• The alert presentation on the top bar always shows the most recent emergency, alarm
or warning message that has not yet been acknowledged.
• The Alert list view contains a list of all the current system messages. Press the ALARM
VIEW button to open the Alert list view.
Related topics
Date and Time dialog box , page 176
Enabling the first position-reference system, page 49
Alert list view, page 339
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Message system
Alarm states
Digital alarms are either “Active” (the underlying condition is present) or “Inactive” (the
underlying condition is no longer present).
Inactive digital alarms are presented with the status “Normal” on all three pages of the
Alert list view. Inactive, acknowledged digital alarms are presented with the status
“Void” on the Dynamic event and the Historic event. Active digital alarms are presented
with the state “High” on all three pages of the Alert list view.
For alarms on analog terminals, however, the “Active” state is further refined by means
of alarm limits. The following diagram shows the relation between the alarm limits
and the validity of alarms states.
An analog alarm is in the Normal/Void state when the terminal value is within the High
and Low alarm limits. This means that the alarm is Inactive.
The alarm becomes Active when the terminal value exceeds the High/Low limits.
Any change in the alarm state is indicated in the Status cell for that message in the
Alert list view.
436094/D 107
Acknowledging messages
You can acknowledge either all visible messages or individual messages selected on
the Alert list view.
When a message has been acknowledged, and the message is reported as inactive by
all the controller process stations, it is removed from the message list. If this results in
“gaps” in the list shown in the Alert list view, you can remove these “gaps” by clicking
Refresh on the Alert list shortcut menu, by clicking the refresh button on the toolbar, or
by closing and reopening the Alert list view.
You can acknowledge messages in the following ways:
• Press the ACK button.
• Click the alert icon on the top bar.
• Click the button in the tool bar of the Alert list view.
• Place the cursor in the Alert list view, click the right trackball button to open the
following shortcut menu, and click Ack All.
You can acknowledge either all visible current messages in the Alert list view or a
selection of messages.
Acknowledging all messages in the Alert list view

Procedure
1 Press the ALARM VIEW panel button to open the Dynamic alert page of the Alert
list view.
2 Press the right trackball button to open the shortcut menu, and then click Select All.
The font of the message texts changes to bold.
3 Press the ACK button or click Ack on the shortcut menu.
All visible messages are acknowledged.
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Message system
Acknowledging a selection of messages in the Alert list view

Procedure
1 Press ALARM VIEW to open the Dynamic alert page of the Alert list.
2 Select a group of consecutive messages by dragging the cursor over the asterisks
in the left column.
The font of the message texts changes to bold.
3 Press the ACK button or click Ack on the shortcut menu.
The selected messages are acknowledged.
Silencing the audible signal

You can press the SILENCE button at any time to silence the audible signal (without
acknowledging the emergency or alarm message that caused it). The audible signal
will sound again after 30 seconds until the problem has been rectified or the alarm
acknowledged.
An audible signal can normally be silenced from any of the operator stations in question.
However, system alarms can only be silenced from the originating operator station.
For example, when an operator station becomes “not communicational” other operator
stations may detect the situation and notify it by means of an audible signal. The audible
signal must be silenced on every operator station that notifies the situation.
Alarm lamps
There are three alarm lamps:
• POWER
This lamp is lit green as long as the power supply to the operator panel is OK.
• FAULT
This lamp is lit red when the contact between the operator panel and the operator
station computer is lost, else it is off.
436094/D 109
Note
This lamp does not indicate failures in the controller process station(s). If the
operator station loses contact with the controller process station, a message is shown.
• ALARM
This lamp flashes in response to a software-generated emergency, alarm or warning

message from the operator station computer; for example, heading or position
deviation beyond limits or sensor error. These messages are generated by the
controller process station and do not indicate failures in the operator station. A
flashing lamp indicates unacknowledged messages. A steadily lit lamp indicates that
all messages are acknowledged. The lamp will become unlit three seconds after the
last emergency, alarm or warning status has been removed.
Indications of errors related to the ALARMS button group

Errors that are related to the ALARMS button group (and subsequently the indication of
system events) are indicated in the following ways:
• If the ALARMS button group stops functioning so that the lamps and audible signal do
not work, the message Operator panel error — No audible and visual Alarms Indicators
is shown. The dialog box is alternately shown (for three seconds) and hidden (for
seven seconds). The message will not be shown during the first minute after K-Pos
DP has been started.
• If the ALARMS button group loses its power, the lamps in the ALARMS group become
unlit, and an audible signal is given.
• If the ALARMS button group has power, but does not get contact with the OS computer
within four minutes after K-Pos DP has been started, an audible signal is given and
the FAULT and ALARM lamps will become lit.
• If the ALARMS button group loses contact with the operator station computer, an
audible signal is given and the FAULT and ALARM lamps will become lit.
Messages on the printer

When an emergency, alarm or warning message reported by the system becomes
inactive or is acknowledged, it is printed on the event printer connected to the operator
station. The print-out frequency depends on the installed printer solution (for example:
immediately, one message at a time, when a batch of messages fills a whole page, or on
request).
The format of the printed messages is the same as for the Alert list view, except that
each message is preceded by a sequence number. Each new message is given a new
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Message system
sequence number. Whenever a message changes state, it is printed again with the same
sequence number.
Related topics
Event Printer dialog box, page 190
Message explanations - online help

Using the Help system, explanations can be obtained for any of the messages generated
by the controller process stations. Explanations of command, equipment and internal
messages are not available.
The Help system can be opened in the following ways:
• When a message is not acknowledged and is shown on the top bar — click the .
• When a message is shown in the Alert list view, point to the message and press the
right trackball button. A shortcut menu is shown. Click Help on this menu. The
System Messages Help is opened with the relevant message explanation shown.
• Click System→Messages. The System Messages Help is opened. This Help system
allows you to select the required message from a list of Contents. You can also Search
for the required message by searching for words or phrases that are contained in
the message or the message explanation.
It may occur that the Help selection is not available on the shortcut menu which is shown
when you right-click the message in the Alert list view. In this case the explanation can
still be obtained by clicking System→Messages and locating the message using the
Contents list or using the Search facility.
436094/D 111
An example of an explanation:
Note
The Corrective actions in the message explanations provides only general advice. You
must evaluate the required action according to the current operational situation.
Operator pop-up messages

Operator pop-up messages are superimposed across the centre of the display.
These messages are shown in situation such as:
• a button is pressed when the operator station is not in command of the system
• an attempt is made to select a function that is not allowed in the current system mode
or with the currently opened dialog box
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Message system
There are three categories of operator pop-up messages, each indicated by an icon.
For example:
Illegal
Attention
Information
Critical system messages

If certain system errors are detected, a critical system message is superimposed across
the centre of the display.
These messages are shown, for example, when there is no network response from the
controller PS or for some reason an inconsistency in the system software parameters
has been detected.
Controller PS response
If there is no response from the controller PS because communication with the controller
PS is lost or it has a major hardware failure, the critical system message No network
response from DP Controller PS is shown.
It is normal for this message to be shown when the system is being started or restarted
after the controller PS has been switched off.
Assuming that the controller PS is serviceable, this message will be replaced by the
message The DP Controller PS is now responding when the system has been restarted and
the operator station establishes communication with the controller PS.
436094/D 113
After a preset time limit (when the Countdown: value reaches zero) this message is
removed from the display.
If the message No network response from DP Controller PS is not replaced by the message
The DP Controller PS is now responding within 2 minutes, you should try to solve the
problem using the fault finding flowchart in the Maintenance Manual for your system.
If this fails to find the cause of the problem, contact Kongsberg Maritime Customer
Support for help.
Software inconsistency
If a software inconsistency occurs due to an unauthorized change of the parameters in
a software configuration file, or for some reason the software has become corrupted, a
critical system message is shown.
If this message is shown, it may be unsafe to continue using the system. Therefore,
depending upon your system configuration, it is recommended to do one of the following:
• If your system has only one operator station, place the system in Standby mode (or
shut it down) and then contact the Kongsberg Maritime Customer Support department
for help.
• If your system has more that one operator station and/or terminal, transfer command
to another operator station or terminal and then contact Kongsberg Maritime
Customer department for help.
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Sensor error situations
Topics
Gyro error, page 116
Wind sensor error, page 117
VRS error, page 119
Position-reference system error, page 120
436094/D 115
Gyro error
Rejected heading measurements

Normally, all available gyrocompasses will be running and enabled for use. The system
then receives and compares the signals from all gyrocompasses, but uses only one of
them to calculate the vessel's heading. You can specify which gyrocompass is preferred
for use by the system:
• When two gyrocompasses are running and enabled, the system will normally use the
preferred gyrocompass. If the difference between the measured value read from
a gyrocompass and the model value exceeds a predefined limit, an alarm message
is shown; for example:
Gyro 1 prediction error
If this error is for the gyrocompass that is in use, the system will change automatically
to the other gyrocompass.
In the event of a prediction error, you should always check the values from the
gyrocompasses on the Sensor view and compare with an alternative source of heading
information to confirm which gyrocompass is faulty.
• When three gyrocompasses are running and enabled, the system will normally use the
preferred gyrocompass. If the difference between the measured value from one of the
gyrocompasses and the median value exceeds a predefined limit, the measurements
from this gyrocompass will be rejected and an alarm given. If required, the system
will change to another gyrocompass.
Faulty gyrocompass
If the measurements from a gyrocompass are not accepted by the system, a message is
shown with information about the failure; for example:
Gyro 1 not ready
Alternatively, it may indicate only that there is a difference between the measurements
from the available gyrocompasses. In the latter situation, you must try to find the faulty
compass by comparing the received measurements with an alternative source of heading
information.
In the following examples it is assumed that two gyrocompasses are available, that both
gyrocompasses are enabled and that Gyro 1 is in use:
• If there is a failure on Gyro 2 (the gyrocompass that is not in use), disable the signals
from Gyro 2 and rectify the fault.
• If a fault is detected on Gyro 1 (the gyrocompass that is in use), the system will
switch to Gyro 2 automatically if Gyro 2 is enabled. Disable the signals from Gyro
1 and rectify the fault.
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• If there is a failure on a gyrocompass and the system cannot detect which compass
is faulty, for example:
Gyro difference
perform the following:
1 Check the measured values from the gyrocompasses in the Sensors view and use
an alternative compass to find which gyrocompass is faulty.
2 Disable the faulty gyrocompass and rectify the fault.
After a faulty gyrocompass has been repaired and is ready for use, you should enable
it again.
Heading dropout
If the vessel heading that is estimated by the vessel model differs significantly from the
measured vessel heading, the following message is shown:
Heading prediction error
If this continues for more than two seconds, the system will assume that the information
from the gyrocompasses is unreliable and will stop updating the vessel model with the
measured heading. In this situation the following message is shown:
Heading dropout
The same message will be shown if no gyrocompasses are enabled, or if there is a total
gyrocompass malfunction.
It is not possible to operate with automatic heading or position control in a heading
dropout situation.
Go to Standby mode to reset the estimated heading from the vessel model to the
measured gyrocompass heading.
Check that the gyrocompasses are ready, whether the readings are drifting or if other
error messages indicate interface errors.
Wind sensor error
Rejected wind measurements

A fault causing jumps in readings from the wind sensor could lead to an unwanted
change in thrust force.
To avoid this, the system performs the following test:
• A wind speed measurement is rejected by the system if the wind speed is above
a predefined limit (for example 15 m/s) and increases by more than a predefined
value (for example 10 m/s).
436094/D 117
• A wind direction measurement is rejected by the system if the wind speed is above a
predefined limit (for example 10 m/s) and the wind direction changes by more than a
predefined value (for example 60 degrees).
The wind sensor will be rejected if more than a predefined number (for example 15) of
consecutive readings are rejected according to these limits. If this happens, the following
message is shown:
Wind 1 rejected <current speed/direction>
In order to adapt quickly to dynamic changes in wind, the input data to the test is the
difference between new measurements, and low-pass filtered speed data with a small
time constant (5 seconds).
The filter is reset:
• Continuously in Standby mode.
• When the sensor Enable changes from Off to On.
• If there is a long time (5 minutes) since a Ready signal was received from the wind
sensor.
Note
The wind sensor(s) will be rejected if speed is increasing with more than 10 m/s in
Trainer mode (and not in Standby mode). The situation is resolved by disabling/enabling
the rejected sensor.
There can be situations where you want to temporarily stop using the input from the wind
sensor, such as during helicopter operations or when operating close to another large
structure where there may be sudden disturbances of the measured wind. If you disable
the wind sensor, the system continues to use the wind speed and direction values that
were measured just before the wind sensor was disabled.
Faulty wind sensor

If the measurements from the wind sensor are not accepted by the system, a message is
shown with information about the failure, for example:
Wind 1 not ready
from the available sensors. The difference may be due to a faulty wind sensor. In
the latter situation, you must try to find the faulty sensor by comparing the received
measurements with an alternative source of wind information.
In any case you should use an alternative source of wind information to determine
which wind sensor is providing measurements that are the most representative for the
wind forces acting on the vessel.
In the following examples it is assumed that two wind sensors are available, both sensors
are enabled and Wind 1 is in use:
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• If there is a failure on Wind 2 (the sensor that is not in use), disable the signals from
Wind 2 and rectify the fault.
• If a fault is detected on Wind 1 (the sensor that is in use), the system will switch to
Wind 2 automatically. Disable the signals from Wind 1 and rectify the fault.
• If there is a failure on a wind sensor and the system cannot detect which sensor is
faulty; for example:
Wind difference
1 Check the measured values from the wind sensors on the Sensors view and use
an alternative source of wind information to find which sensor is faulty.
2 Disable the faulty sensor and rectify the fault.
Note
A wind measurement will be influenced by the location of the sensor. Differences
in measurements can arise naturally. It is important to use the sensor that is most
representative for the wind forces acting on the vessel.
When the wind sensor has been repaired and is ready for use, you should enable it again.
VRS error
If measurements from the vertical reference sensor (VRS) are not accepted by the
system, or if any of the channels for the VRS are faulty, a message is shown with
information about the failure, for example:
VRS 1 not ready
If VRS information is lost, the system will be unable to compensate the received position
measurements for vessel motion. The positioning capability of the system can then
be degraded.
When the VRS has been repaired and is ready for use, you should enable it again.
from the available vertical reference sensors. In the latter situation, you must try to find
the faulty sensor by comparing the received measurements with an alternative source of
VRS information.
In the following examples it is assumed that two vertical reference sensors are available,
that both are enabled, and that VRS 1 is in use:
• If there is a failure on VRS 2 (the VRS that is not in use), disable the signals from
VRS 2 and rectify the fault.
• If a fault is detected on VRS 1 (the VRS that is in use), the system will switch to VRS
2 automatically. Disable the signals from VRS 1 and rectify the fault.
436094/D 119
• If there is a failure on a VRS and the system cannot detect which VRS is faulty,
for example:
VRS difference
1 Check the measured values from the vertical reference sensors in the Sensor
view and use alternative VRS information to find which VRS is faulty.
2 Disable the faulty VRS and rectify the fault.
Position-reference system error
Position dropout
If the vessel position is under automatic control and all position-reference input is lost or
rejected, the following message is shown:
All reference systems rejected
After 30 seconds without reference input, the following alarm is given:
Position dropout
This means that the system is currently using only the estimated position from the vessel
model, and that this position has not been updated with measured positions for at least 30
seconds (“dead reckoning” mode).
When this message is generated, the position setpoint is set automatically to the current
estimated vessel position while the system tries to re-calibrate the position-reference
systems.
Once the position-reference systems are back online e.g. re-calibrated and accepted in
the DP model, the current vessel position will be used as set point.
You can remain in position dropout, but the following points must be noted:
• The shown vessel position is the estimated position from the vessel model. After a
few minutes, the vessel may begin to pick up speed in one direction.
• A calibration of the lost position-reference system may occur at any time. This will
have no immediate effect, but if the calibrated system is unreliable or drifting, the
vessel may begin to move.
The recommended action in position dropout (if operational circumstances allow) is:
1 Return the system to joystick control in all axes and use the joystick to manoeuvre
the vessel.
2 When at least one reliable position-reference system is successfully calibrated,
return to the required operation mode.
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Position information
Topics
Handling position information, page 122
Two dialog boxes are used to set up the required conditions for handling and conversion of position
information from the position-reference systems and to and from the display.
Coordinate systems, page 123
Position information from position-reference systems may be received by the system in many
different forms.
System datum, page 123
The controller PS always uses the internal geographic coordinate system with the WGS84 system
datum.
Reference origin, page 123
Each position-reference system provides position measurements relative to a known reference
point specific for that position-reference system.
Tests on position measurements, page 124
The system performs a series of tests on the position-reference system to check that its position
measurements are accurate enough for use.
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Handling position information

Two dialog boxes are used to set up the required conditions for handling and conversion
of position information from the position-reference systems and to and from the display.
The Position Presentation dialog box can be used to select the datum and coordinate
system for display of position information.
The Reference System Settings dialog box can be used to provide information about the
input position data from each reference system.
Related topics
Position presentation dialog box, page 241
Reference system properties dialog box, page 277
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Coordinate systems
Position information from position-reference systems may be received by the system
in many different forms.
• Global position-reference systems such as GPS provide position information as
latitude and longitude in a geodetic coordinate system. The applicable datum must be
known, for example, WGS84 and ED87.
• Some global position-reference systems provide positions in the UTM projection (a
flat surface projection, defined by a UTM zone and north and east distances from the
0 point of this zone). The applicable datum must be known, for example, WGS84
and ED87.
• Local position-reference systems such as HPR provide positions in local Cartesian
coordinates (defined by two-dimensional measurement of the north/south (X) and
east/west (Y) distances from a locally defined reference origin, such as the position
of a transponder).
Whatever types of position-reference systems are enabled, all position input is converted
into an internal geographic system that uses WGS84 as a “system datum”.
System datum
The controller PS always uses the internal geographic coordinate system with the
WGS84 system datum.
• All position information from global reference systems which use a different datum
are converted internally to WGS84.
• Position information in UTM format is converted to geographic coordinates.
Reference origin
Each position-reference system provides position measurements relative to a known
reference point specific for that position-reference system.
with the system, becomes the reference origin (the origin in the internal coordinate
system). Position information from any other reference systems is then calibrated
according to this coordinate system.
This coordinate system remains as the reference origin until all position-reference
systems are deselected and a new position-reference system is selected as the reference
origin.
436094/D 123
Selecting a particular position-reference system as the reference origin does not mean
that the system treats it as being better or more reliable than any other position-reference
system. It concerns only the location of the reference origin.
The reference origin selected should be the one most appropriate to your operational
requirements. For example, using a local position-reference system (e.g. Artemis)
to provide the reference origin will give you a local position whereas using a global
position-reference system (e.g. GPS) will give you a global position.
The position of the reference origin is indicated in the Posplot view (if within the range
of the view). The reference system defining the reference origin is marked with an
asterisk in the Reference system main view.
Tests on position measurements

The system performs a series of tests on the position-reference system to check that its
position measurements are accurate enough for use.
The following online tests are performed:
• A freeze test rejects repeated measurements. If the variation in the measured position
is less than a system-set limit over a given period of time, the position-reference
system is rejected.
• A variance test monitors the measurement variance and compares the variance value
with a calculated limit.
• A prediction test detects sudden jumps or large systematic deviations in the measured
position. The limit for the prediction test is a function of the estimated position in
the vessel model and the actual measurement accuracy.
• A divergence test gives a warning of systematic deviations and/or slow-drift (before
the system is rejected by the prediction test).
• A median test detects position measurements that differ from the median position
value by more than a predefined limit. This test, which requires a minimum of
three active position-reference systems, is mainly designed to detect slowly drifting
If the results of the variance and prediction tests suggest that the position measurements
from the reference system are not accurate, the measurements are not used.
The characteristics of the position-reference system (when active) are shown in the
Reference system main view.
Related topics
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Freeze test
If the position-reference system has an internal error causing the same measurements to
be continuously sent to the vessel model, the system could, if no precautions were taken,
mistake the data for accurate and stable measurements.
The freeze test rejects repeated measurements and the system treats repeated
reports of the same position from the position-reference system with caution. The
position-reference system is monitored and its input is rejected if the variation in its
position measurements is less than a predefined limit over a given time period. In such a
situation, the following message is shown:
Reference position frozen
You should disable the position-reference system.
Note
The freeze test is usually disabled for some position-reference systems (usually GPS
and/or Artemis) due to the resolution of the data from this type of position-reference
system.
Variance test
The system calculates a variance for the position-reference system when it is in use. It
then assigns a weighting factor to the position-reference system, based on its calculated
variance. In this way, the system is able to place more emphasis on the position-reference
systems that are providing the best measurements. The higher the system's variance, the
lower its weighting factor.
The following message is shown if the variance of the position-reference system exceeds
a system-set limit:
Reference high noise
The position-reference system is not rejected in this event, but the system places little
emphasis on the position-reference system in question.
The variance test detects if the variance in the measured values exceeds the rejection
limit. The variance reject limit is based on the expected variance of the position-reference
system. The following message is shown when the position-reference system is rejected
due to too high variance:
Reference high variance
You should disable the position-reference system if the event of high variance is
recurring. No corrective actions are necessary if the problem is intermittent only.
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Prediction test
The prediction test detects sudden jumps in the measured position, and immediately
rejects those that lie outside the limits. The test will also reject data that drift away from
the vessel model's predictions. The rejection limit for the prediction test is a function of
the actual measurement accuracy (calculated variance).
(CD3293)
If the prediction test limits are exceeded, the following message is shown:
Reference prediction error
When this message is shown, you should verify that the position-reference system is
rejected so that you can disable the position-reference system.
The prediction error limit of the most accurate position-reference system at any time,
called the Minimum Prediction Error Limit, is shown in the Reference system main view.
Irrespective of the accuracy of the position-reference system, the prediction error
limit is usually not set to less than 4 metres. This is done to avoid rejecting accurate
position-reference system data.
Divergence test
When two or more position-reference systems are in use, this slow drift test detects when
measurements from one position-reference system differ from the other(s). The limit is
taken as 70 % of the Minimum Prediction Error Limit.
The purpose of the test is to give an early indication of systematic errors before the
position-reference system is rejected by the prediction test. This test only warns the
operator, and does not automatically reject data. The following message is shown:
Reference high offset
When this message is shown, you should examine which position-reference
system is drifting using the Reference system main view. Recalibrate or disable the
position-reference system that causes the high offset warning.
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Median test
The median test can be performed when three or more position-reference systems
are in use. The median position is calculated from the filtered measurements that are
independent of the vessel model.
The median test is primarily intended to reject slowly drifting position-reference
systems. Unlike the prediction test, the median test is independent of the vessel
model. This implies that a position-reference system can be rejected even though its
measurements do not deviate from the vessel model, as can be the case with slowly
drifting position-reference systems.
When the median test is active, a blue circle with radius equal to the median test limit
and with centre at the median value of all positions given by the position-reference
systems, is shown in the Reference system main view. The median test limit is taken as
80 % of the Minimum Prediction Error Limit.
The following message is shown when a position-reference system is rejected:
Reference median rejected
When this message is shown, you should verify that the correct position-reference
system is rejected and the disable this position-reference system. If the reference system
is not disabled, this may lead to rejection of a potentially more accurate reference system
by the prediction test.
If measurements from more than one position-reference system are outside the median
test limit, only the system with the longest distance to the Median position is rejected.
This system will take part in the median testing in the next sample (unless it is disabled
by the operator).
In a situation with several drifting position-reference systems, disabling of a reference
system may lead to a sudden change in the median position.
436094/D 127
Position-reference systems A and C are outside the median test limits. C is rejected:
128 436094/D
C has been disabled by the operator and therefore does not take part in the test. This
causes median position to change. Position-reference system A is now outside the
median test limit. A is rejected:
436094/D 129
Mode change confirmation

This function is used as an additional safety barrier to prevent unintentional or accidental
mode changes that have direct influence on the DP control of the vessel.
The function is usually applicable for vessels staying in the same mode for a long period
of time, for example drilling vessels.
Depending on the configuration for each delivery it can have the following options:
• The function applies to only one system mode.
• The function applies to several predefined system modes.
• The function is constantly enabled.
• The operator can enable or disable the function.
When the function is enabled, this is indicated on the Heading pane:
130 436094/D
Confirming mode change

Procedure
1 Click Settings→(Modes) Mode change confirmation to open the dialog box.
2 Select the check box.
This activates the function and the text Mode change confirmation on is shown on
the dashboard.
3 If you try to change system mode (configured for this function) the following
message is shown, for example:
4 Click Yes.
Now the system mode is changed.
Note
The function is still active.
5 If you want to disable the function, deselect the check box.
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DP online consequence
analysis
Topics
DP Online Consequence Analysis, page 133
The DP Online Consequence Analysis function performs analyses to determine the vessel's ability
to maintain its position and heading after predefined worst-case single-equipment failures. The
analyses are called “online” because they consider the present environmental conditions, thruster
status and power consumption.
Status information, page 134
Information about the selected class and the status of the consequence analysis is indicated in the
lower part of the Rotation center position pane on the dashboard.
Alert messages, page 134
If an analysis detects that a given worst-case single-equipment failure will result in insufficient
thrust or power to maintain the vessel's position and heading, an alert message is shown.
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DP online consequence analysis
DP Online Consequence Analysis

The DP Online Consequence Analysis function performs analyses to determine
the vessel's ability to maintain its position and heading after predefined worst-case
single-equipment failures. The analyses are called “online” because they consider the
present environmental conditions, thruster status and power consumption.
This function satisfies the requirements of IMO Equipment Class 2 and Class 3. It also
satisfies the requirements for systems with enhanced reliability (Class ER).
The analysis checks whether the thrusters remaining in operation after a worst-case
single-equipment failure are able to generate the same resultant thruster force and
moment as required before the failure, and whether the remaining generators are able to
produce sufficient power. An alarm message is given if a failure would result in lack of
thrust or power, and subsequently drift-off.
The worst-case single-equipment failures that are simulated are predefined according
to the power and thruster configuration of the vessel. Typically, these failures will be
the loss of one complete switchboard, one engine room, or a group of thrusters that can
be affected by a single equipment failure.
The analysis includes calculation of the remaining battery life time for the worst-case
single-equipment failures for systems with batteries as part of the main power supply.
Name and time for the battery with the least remaining life time will be shown in the
Rotation center position pane.
Consequence analyses are performed cyclically, every minute, whenever the following
criteria are satisfied:
• The system is in Auto Position mode.
• The position setpoint status as displayed on the Position deviation pane of the
dashboard is PRESENT.
• The heading setpoint status as displayed on the Heading pane of the dashboard
is PRESENT.
• DP Class 2, Class 3 or Class ER is selected using the DP Class dialog box.
By default, the DP Online Consequence Analysis function is switched off. Prior to
engaging Class 2, Class 3 or Class ER operations, the corresponding class of operation
must be selected using the DP Class dialog box.
Related topics
DP class dialog box, page 178
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Status information
Information about the selected class and the status of the consequence analysis is
indicated in the lower part of the Rotation center position pane on the dashboard.
No DP class selected.
DP class selected and the consequence analysis is active.
DP class selected and the consequence analysis is inactive (waiting mode),

for example the vessel is changing position or the wrong system mode is
selected.
DP class selected and the consequence analysis is active. The orange colour
indicates that two consecutive failures are reported.
DP class selected and the consequence analysis is active. The red colour
indicated that three or more consecutive failures are reported.
When the DP Online Consequence Analysis function is activated, a message is shown,

for example:
Consequence analysis running class 2
When the system mode is changed from automatic control, or if you explicitly turn off
the function using the DP Class dialog box, the following message is shown:
Consequence analysis stopped
During a change of position or heading, the failure simulations are temporarily halted.
When the vessel reaches PRESENT position and PRESENT heading, the failure
simulations are restarted. No messages are given for this type of temporary halt.
Alert messages
If an analysis detects that a given worst-case single-equipment failure will result in
insufficient thrust or power to maintain the vessel's position and heading, an alert
message is shown.
For example:
Consequence analysis drift off warning
This message is followed by additional information that depends on the type of failure
simulated and whether insufficient thrust or insufficient power was detected. For
example:
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DP online consequence analysis
power critical if connect-swbd 1 lost

thrust critical if thrusters 1-4 lost
thrust critical if port diesel lost
If the message indicates that thrust is critical, you should enable more thrusters. If
the message indicates that power is critical, you should make more power available.
Alternatively, change to a more favourable heading.
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Power system
Topics
Power monitoring, page 137
K-Pos DP has no direct control over the vessel's electrical power system. This is administered by a
separate Power Management System (PMS).
Battery monitoring, page 137
Batteries are monitored on systems that have batteries as part of the main power supply.
Power load monitoring and blackout prevention, page 138
The Power Load Monitoring function monitors the total load on the connected switchboards and
checks for unbalanced load. It will also act upon input failures from equipment connected to the
power distribution network, for example generators.
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Power system
Power monitoring
K-Pos DP has no direct control over the vessel's electrical power system. This is
administered by a separate Power Management System (PMS).
Normally K-Pos DP receives information about:
• The power produced by each main generator.
• Which switchboard each generator is connected to.
• How the switchboards are connected.
• How the thrusters are connected to the switchboards.
This information is used by K-Pos DP for power overload control and is also shown
in the Power view.
Related topics
Power view, page 371
Battery monitoring
Batteries are monitored on systems that have batteries as part of the main power supply.
The K-Pos DP system will receive, calculate and present information about:
• The power inflow / outflow for each battery
• Which switchboard each battery is connected to.
• State of charge (SOC)
• State of health (SOH)
• Remaining life time
The K-Pos DP system monitors if a power segment is powered solely by batteries. In
this case a notification will be shown in the Power consumption pane. The remaining
battery life time is also displayed when it is less than a predefined minimum limit.
Related topics
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Power load monitoring and blackout

prevention
The Power Load Monitoring function monitors the total load on the connected
switchboards and checks for unbalanced load. It will also act upon input failures from
equipment connected to the power distribution network, for example generators.
Single failures will be handled in such way that Power Optimal Allocation and Blackout
Prevention will still work.
The Blackout Prevention function is the last barrier in K-Pos DP to prevent overload on
the connected switchboards. Some functions in K-Pos DP can add thrust to the resulting
thrust from the Power Optimal Allocation, which might lead to an overload situation if
not handled by the Blackout Prevention function.
The Blackout Prevention function will reduce the thrust demand if the estimated load
exceeds the nominal limit. The reduction is done as percentage-wise distribution of
phase back power according to the rated power for each thruster.
The Blackout Prevention function will only limit thruster commands to avoid a stable
power plant becoming overloaded. The function cannot prevent a potential blackout
caused by generator tripping.
The Power Load Monitoring and Blackout Prevention functions cover the following
standard power plant configurations:
• diesel generators supplying thruster/propeller drives
• shaft generators supplying thruster drives
• a combination of diesel generators and shaft generators
This function supplements the vessel's Power Management System (PMS). The
thruster/propeller setpoint reduction criteria during DP control are set at lower overload
levels than the load reduction initiated by the vessel's own PMS. The Power Load
Monitoring and Blackout Prevention functions are active in all operation modes.
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Power system
K-Pos DP requires the following information in order to perform blackout prevention:

• Generator power and breaker status
• Bus-tie breaker status
• Thruster breaker status (if more than one for each thruster)
The following functions are also available:
• Generator Load Limitation
Performs load limitation of the most loaded generator if a skew-load situation occurs
on the connect-switchboard. The overload protection is achieved by automatically
reducing the pitch/rpm/force/load on the thrusters/propellers connected to the
connect-switchboard until the most loaded generator operates within its nominal
capacity.
• Diesel Engine Load Limitation
Monitors the load on each diesel engine (fuel-rack monitoring) which drives both a
generator and a controllable-pitch propeller on the same shaft. Power load is reduced
by reducing the pitch setpoint on the connected propeller when the nominal engine
load is exceeded. Note that this function requires an interface to the diesel engine
fuel-rack reading.
• Diesel Engine Load Monitoring
Monitors the load on each diesel engine (fuel-rack monitoring) which drives a
controllable-pitch propeller. This function requires an interface to the diesel engine
fuel-rack reading. This function is for presentation purposes only, and does not
perform any load limitation.
• Thruster Load Monitoring (Current/Power)
Monitors the current/power load on each individual thruster/propeller motor. Note
that this function requires an interface for the motor current/power reading.
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Built-in trainer
Topics
Trainer functions, page 141
The built-in trainer provides functions for operator training based on a simulated system.
Simulations are performed at the system operator station with no additional equipment required.
Using the trainer, page 141
You can start the built-in trainer by connecting the operator station to the MainSimulator
controller process station (PS) group and you can also define the environmental settings for the
built-in trainer.
Leaving the trainer, page 142
Before leaving an operator station after a training session, it is strongly recommended that you
prepare the operator station for normal operation by connecting it to the Main controller PS or
other relevant controller PS group.
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Built-in trainer
Trainer functions
The built-in trainer provides functions for operator training based on a simulated system.
Simulations are performed at the system operator station with no additional equipment
required.
In DP systems with more than one operator station, the built-in trainer can be used at
one operator station at the same time as the other operator stations are used for normal
operation, without affecting the actual operation of the vessel. In this case the operator
stations are connected to different controller PS groups.
Using the trainer

You can start the built-in trainer by connecting the operator station to the MainSimulator
controller process station (PS) group and you can also define the environmental settings
for the built-in trainer.
Prerequisites
In order to use an operator station for training, it must be connected to the MainSimulator
controller PS group. When this condition is met, the text SIMULATING (or other
configuration-specific text) is shown flashing on the top bar after the name of the
operator station in use.
If an operator station is not in command of a controller PS group, you can connect it to
any available group (such as MainSimulator) at any time. However, if the operator
station has command of a controller PS group, the system must be in Standby mode
before you can connect the operator station to a different group.
Tip
When the chart background display has been configured, you can use the planning
function in the Posplot view to find the start position you want to use for the next trainer
session.
Procedure
1 Ensure that the vessel is controlled from the bridge or from another operator station.
For systems with only one station, the system must be in Standby mode.
2 Click System→Connect to open the Connect dialog box.
3 Click MainSimulator in the Connect dialog box.
4 Click OK or Apply in the Connect dialog box.
• The operator station is connected to the MainSimulator controller PS group.
• All other operator stations are still connected to the Main (or another relevant)
controller PS group(s).
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• While the operator station is connected to the MainSimulator controller PS

group, the text SIMULATING (or other configuration-specific text) is shown
flashing on the top bar.
5 Press the TAKE button twice within four seconds to take command of the
MainSimulator controller PS group.
The TAKE button on the operator panel becomes lit.
6 Click Tools→Trainer.
The Trainer Settings dialog box is opened.
The settings shown in this dialog box are the values that were in use when the
previous training session was stopped (provided that no stop or restart of the OS has
taken place in the meantime).
7 If required, enter the start position of the vessel from where you want to start the
simulation. You can select to move to this position whenever the system returns to
Standby mode by selecting the corresponding check box.
8 Enter the required Wind and Sea Current values to be used during the simulation.
9 Enter the vessel Draught to be used during the simulation.
10 Click OK or Apply.
Result
The system is now ready for simulation. Use the system as you would during normal
operation.
Related topics
Connect dialog box, page 175
Trainer settings dialog box, page 334
Leaving the trainer

Before leaving an operator station after a training session, it is strongly recommended
that you prepare the operator station for normal operation by connecting it to the Main
controller PS or other relevant controller PS group.
Procedure
1 Go to Standby mode.
2 Click System→Connect to open the Connect dialog box.
3 Click Main (or other relevant controller PS group) in the Connect dialog box.
4 Click OK or Apply in the Connect dialog box.
• The operator station is connected to the selected controller PS group.
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Built-in trainer
• The values defined in the Trainer Settings dialog box are saved for use as start-up
values in a future training session.
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Dialog boxes
Topics
About dialog box, page 147
Acceleration/deceleration dialog box, page 149
Alert limits dialog box, page 151

Alongship force control dialog box, page 158
Barge moored dialog box, page 162
Cargo on deck dialog box, page 164
Change User dialog box, page 165
Clutch settings dialog box, page 166
Command Control dialog box, page 168
Connect dialog box, page 175
Date and Time dialog box , page 176
Datum details dialog box, page 177
EBL dialog box, page 179
Equipment dialog box, page 180
Event Printer dialog box, page 190

External force event dialog box, page 191
Export Log Files dialog box, page 194
FW Manager dialog box, page 195

Gyro deviation dialog box, page 200
Heading dialog box, page 202
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Heading (Setpoint) dialog box, page 206
Heading Setp. dialog box, page 207
IO Manager dialog box, page 208
IO Point Browser dialog box, page 211
Joystick Calibrate dialog box, page 220
Mode change confirmation dialog box, page 224
Local N/E properties dialog box, page 225
Numeric entry keypad dialog use dialog box, page 227
Panel Lamp Test dialog box, page 229
Panel Light Configuration dialog box, page 230
Position dialog box, page 231
Position inc dialog box, page 239
Position R/B dialog box, page 240
Position (Setpoint) dialog box, page 244
Power optimal allocation dialog box, page 245
Preselect dialog box, page 247
Print status dialog box, page 251
Properties - DpPs Serial port dialog box, page 252
Quick model dialog box, page 257
RBUS IO Image dialog box, page 260
Redundant Stations dialog box, page 264
Reference system dialog box, page 269

Reference system origin dialog box, page 275
Reference system properties dialog box, page 277
Reference system settings dialog box, page 280
Reset controller PS dialog box, page 284
Sensors dialog box, page 288
Set System Date/Time dialog box, page 306

Speed setpoint dialog box, page 307
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Stop/restart dialog box, page 311
Thruster biasing dialog box, page 316
Thruster combinator control settings dialog box, page 328
Thruster enable dialog box, page 330
Thruster run-in dialog box, page 332
Trainer settings dialog box, page 334
UTM properties dialog box, page 335
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About dialog box

Use this dialog box to view vital system and file information. This information can be
useful when contacting Kongsberg Maritime for help in case of problems with K-Pos
DP. It contains an overview of basic software information for your K-Pos DP.
How to open
Click System→(Help) About.
Example
Clicking the EXE/DLLs button opens a list of .exe and .dll files in use and their
corresponding version numbers.
436094/D 147
Clicking the Overview button returns to the overview of software information.

Clicking the Details>> button opens a detailed list of which .exe files use which .dll files.
Clicking the Overview button returns to the overview of software information.

Clicking the Details<< button returns to the list of .exe and .dll files in use.
Details
Program (EXE)
Lists all the .exe files.
Using DLL
Lists a batch of all the .dll files used by each specific .exe file.
Version
Lists the version of the program (.exe file).
Modified
Lists the date each .dll and .exe file was last modified.
Size
Lists the file size for each .dll and .exe file.
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Acceleration/deceleration dialog box

Acceleration and deceleration factors in the surge, sway and yaw axes can be specified
for low-speed operation, and for operation in Relaxed control mode. Acceleration and
deceleration factors in the yaw axis can be specified for high-speed operation.
Prerequisites
In Auto Position mode with High Precision control mode selected, the Low Speed
acceleration/deceleration factors apply.
How to open
Click Settings→(Control) Acceleration.
Example
Description
Use the Acceleration/deceleration dialog box to:
• Specify the acceleration and deceleration factors for the vessel speed in surge and
sway axes at start and finish of a commanded change of position.
• Specify the acceleration and deceleration factors for the vessel's rate of turn at start
and finish of a commanded rotation.
Details
The options available in the Low speed and Relaxed control pages are identical.
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The acceleration/deceleration factors in the Low speed page are those that are used when
neither Relaxed control mode nor high speed apply.
The acceleration/deceleration factors on the Relaxed Control page are those that are used
when Relaxed control mode is selected.
Controller Reference
The acceleration and deceleration factors (Surge, Sway and Yaw) can be set
in the range 0.0 to 100 %, and represent a percentage of maximum available
acceleration/deceleration. The selections in the Low Speed and Relaxed control
pages are identical. In the High speed page only acceleration/deceleration factors in
the Yaw axis can be specified.
Acceleration factor
As the vessel starts a change of position, the vessel speed is increased to the
speed setpoint using the selected acceleration factors in the surge and sway
axes.
As the vessel starts a change of heading, the rate of turn is increased to the
rate of turn setpoint using the selected acceleration factor in the yaw axis.
Deceleration factor
As the vessel approaches the new position setpoint, the vessel speed is
decreased to zero using the selected deceleration factor in the surge and
sway axes.
As the vessel approaches the new heading setpoint, the rate of turn is
decreased to zero using the selected deceleration factor in the yaw axis.
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Alert limits dialog box

Use this dialog box to enter and enable necessary operational limits.
How to open
Click Alerts and then the respective menu option for the limits you want to enter.
This dialog box has several pages.
Related topics
Alert limits dialog box - VRS page, page 154
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Alert limits dialog box - Position page

Use this page to set the position and heading warning and alarm limits.
How to open
Click Alerts→Position and heading.
Example
Details
Position
Warning and alarm limits can be set for position deviation. When the vessel's
actual position differs from the position setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual position differs from the
position setpoint by more than the alarm limit, an audible signal is given and an
alarm message is shown.
When active, the position limits are shown as black circles — solid for alarm and
dashed for warning, in the Position Deviation pane. When inactive, the position
limits are shown as grey circles.
Note
In all modes, the position limits are inhibited until a requested change in position
is completed.
Heading
Warning and alarm limits can be set for heading deviation. When the vessel's
actual heading differs from the heading setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual heading differs from the
heading setpoint by more than the alarm limit, an audible signal is given and an
alarm message is shown.
The limits are active only when the yaw axis is under automatic control.
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When active, the heading limits are shown as black lines — solid for alarm and
dashed for warning, in the Posplot view. When inactive, the heading limits are
shown as grey lines.
Note
In all modes, the heading limits are inhibited until a requested change in heading
is completed.
Warning/Alarm
To change the limits, either enter new values directly in the text boxes, or use the
up and down arrow buttons to increase or decrease the current values. Warning
limits can never be set higher than the corresponding alarm limits.
Active
To activate the limits, select the Active check box. You can activate either the
alarm limit only, or both the warning and alarm limits. You cannot activate only a
warning limit. If you select the Active check box for warning, the corresponding
alarm limit is also activated.
Related topics
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Alert limits dialog box - VRS page

Use this page to set the position and heading warning and alarm limits.
How to open
Click Alerts→VRS.
Example
Description
The system monitors the pitch and roll motions of the vessel as measured by the vertical
reference sensors (VRS). If heave measurements are available from the VRS, the system
also monitors this motion. You can specify maximum alarm limits for each motion. If an
alarm limit is exceeded, an audible signal is given and an alarm message is given.
Details
Alarm
To change the limits, either enter new values directly in the text boxes, or use the
up and down arrow buttons to increase or decrease the current values.
Active
To activate the limits, select the check boxes.
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Allocation settings dialog box

Use this dialog box to set a fixed direction of azimuth thrusters/rudders and/or specify
rudder angle limits.
How to open
Click Thruster→Allocation settings.
Example
Details
Manual fix angles
The operator can set fixed direction of azimuth thrusters/rudders by entering the
required direction (in degrees) in the Value text boxes and selecting the In Use
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check boxes. An azimuthing unit which is not selected to have fixed angle, will be
rotated individually as required. The Thruster Main view shows which thrusters
and/or rudders are using fixed angle.
Note
Manual fix angles is only effective when the MANUAL FIX allocation mode is
selected.
Ignore forbidden azimuth zones

When this is selected, the operator may set fixed azimuth angles that
otherwise would be within forbidden azimuth zones. Ignore forbidden
azimuth zones affects only zones defined in the MANUAL FIX allocation
mode.
Thruster priority limits
When the Thruster priority function is configured for use with some of the thrust
allocation modes, the defined thrusters will be used first. When they reach the
limits set here, the other thrusters will be used.
Rudder limit
The operator can specify angle limits within which the rudders are allowed to
operate. When the In Use check box is selected, the system will not turn the rudders
beyond the specified limit. These limits are shown on the Thruster main view:
Related topics
Rudder/nozzle control
The rudder/nozzle control function uses the rudder/nozzle to generate sideways thrust,
either as an addition to stern thrusters or alone if no lateral stern thrusters are available.
This function is designed for operation with two main propellers and
individually-controlled rudders/nozzles. The rudders may be of a traditional or high
performance type.
For example, during station-keeping modes, one main propeller and rudder/nozzle are
used to generate forward directional thrust within the rudder/nozzle angle limits. The
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second rudder/nozzle is set in the neutral position, and the second propeller is used to
reverse and counteract any excess thrust generated alongships by the first propeller.
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Alongship force control dialog box

Use this dialog box to control manually the thruster force in the alongships direction.
Prerequisites
The function is available in the following modes: Autopilot, Auto Track and Auto
Position with Pipelaying mode selected. In all other modes (including normal Auto
Position) the function is unavailable.
How to open
Click Settings→(General) Alongship force.
Example
Details
Enable Alongship Force Control
Selecting this check box enables the Alongship Force Control function. When
this function is enabled, the selected source, Lever, Manual or Joystick, sets the
alongships force demand. When Alongship Force Control is not enabled, any other
settings in this dialog box will have no effect on the control of the vessel.
The function is available in the following modes: Autopilot, Auto Track and Auto
Position with Pipelaying mode selected. In all other modes (including normal Auto
Position) the check box is unavailable.
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Note
During pipelaying operation in Auto Position mode, when disabling this function
the vessel will attempt to move back to its original position setpoint in surge
direction. If the deviation shown in the Position deviation pane is significant, press
PRESENT POSITION before disabling this function.
Hide bars
If you need to reduce the size of the dialog box click this button to hide the bars.
The dialog box looks like this:
Max Scale
You can enter a maximum scale for the bar graphs shown in this dialog box. This
also determines the maximum value you are allowed to enter in the Manual text
box.
Manual Demand
When Enable Alongship Force Control is selected, the Manual Demand source
provides manual demand in the surge direction. Bumpless transfer when
enabling/disabling the Manual Demand function can also be achieved. This
function works in all system modes except for Standby mode, where it is disabled
for safety reasons.
Lever
With this option button selected, you can use a lever to control the manual
surge demand (value indicated both graphically and numerically to the
right). The maximum surge demand represented by the lever's outer position
is determined by the value you have entered in the Max Scale spin box.
Bumpless transfer when enabling/disabling Manual Demand can also be
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obtained. To obtain bumpless transfer, adjust the lever demand until it

reaches the same level as the thruster force marker (the small green arrow
positioned at the top of the bar graph field), and then enable/disable the
Manual Demand function by selecting/clearing the Enable Alongship Force
Control check box and clicking Apply.
Manual
With this option button selected, the manual surge demand is taken from the
value you have entered in the Manual text box. The value is also shown
graphically.
Joystick
Bumpless transfer when enabling/disabling Manual Demand can also be

obtained. To obtain bumpless transfer, adjust the joystick demand until it
reaches the same level as the thruster force marker (the small green arrow
positioned at the top of the bar graph field), and then enable/disable the
Manual Demand function by selecting/deselecting the Enable Alongship Force
Control check box and clicking Apply.
When this option button is selected, you can use the joystick to control the
manual surge demand (value indicated both graphically and numerically
to the right).
In Use
The selection indicated by a check mark is used by the DP system.

Thrusters
Horizontal bar graph and text box showing the actual alongships thruster
force (both graphically and numerically). This is the alongships thruster
force to be applied manually for making bumpless transfer when the Manual
Demand function is to be enabled or disabled. The thruster force markers
on the Lever, Manual and Joystick bar graphs move in accordance with the
Thrusters bar graph to indicate manual thruster force to be applied.
Force
In addition to the bar graphs indicating the alongships force, the numeric
values are shown.
DP Error Force
Shows the calculated unknown forces in the vessel model in alongships

direction (including the sea current and wave forces).
Step
You can change the step value of the manual force demand. Each time you
click the up or down arrow increases or decreases the Manual force demand
with the step value.
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Envir.Comp.
When enabled, the environmental forces from wind, sea current and waves
are used in addition to the forces set by the selected source, i.e. Lever,
Manual or Joystick.
External force
Filt Force
Shows the calculated sum of alongships tension force as a bar graph and a
numeric value (filtered values). This is for monitoring only.
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Barge moored dialog box

Use this dialog box to define the added mass of up to two objects connected to the hull of
the vessel, so that the model can compensate for the moored object when controlling
the vessel.
How to open
Click Settings→(General) Barge moored.
Example
Description
Enter all the corrected data of the connected object before selecting the Enable check box.
Details
Enable
This check box is used to enable/disable the Barge Moored function.

Ahead/PORT
Used to define center position of barge relative to vessel reference point.

Beam/Length/Height/Draught
Used to set the barge properties.
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Displacement
The displacement will be added to the displacement for the vessel.
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Cargo on deck dialog box

Use this dialog box to define the added mass of up to two objects loaded on deck, so that
the model can compensate for the moored object when controlling the vessel.
How to open
Click Settings→(General) Cargo on deck.
Example
Description
Enter all the corrected data of the cargo before selecting the Enable check box.
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Change User dialog box

Use this dialog box to select different users with different access for some operations.
How to open
Click System→(Access control) Change user.
Example
Description
There are three types of users defined for the system:
• Operator (for normal operational use)
When K-Pos DP is started, the user is set to Operator. This is the normal user of
K-Pos DP.
• Chief (for additional functions, requires a password)
The “Chief” can operate the system in the same way as the “Operator”. In addition
this user can set the system date and time and calibrate the joystick
• System (for Kongsberg Maritime personnel)
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Clutch settings dialog box

If the system loses control of one of the propellers, it has to compensate for the idle
force. In such situation the operator can specify when the system should clutch in and
out based on demand as a certain percentage of the idle force.
How to open
Click Thruster→Clutch settings.
Example
Details
Clutch strategy
Select the required strategy; Off, Demand limit or Continuous pulse.
Demand
Specify when the thrusters should clutch in and out based on demand as a certain
percentage of the idle force. These limits will be used when the clutch strategy
Demand limit is selected.
Clutch in limit
The clutch is activated when the demand reaches this limit (percentage of
the idle force).
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Clutch out limit
The clutch is deactivated when the demand falls below this limit (percentage
of the idle force).
Continuous pulse
Continuous pulse means cyclic operation of the clutch to achieve an average of

the allocated thrust.
Pulse period
The duration (in seconds) of each clutch pulse cycle.

Clutch active minimum
The minimum duration of time (in seconds) the clutch is activated for each
clutch pulse cycle. If the calculated clutch activation time is less than this
value, the thruster will not be clutched in. Increasing this value will reduce
the wear and tear of the clutch at the cost of position accuracy.
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Command Control dialog box

The dialog box shows the current command control status and is used to take or give
control of K-Pos DP.
How to open
Press the STATUS button.
Example
This dialog box has three pages, one page with the name of the operator station (in this
example DP-OS1), Overview and Give. The DP-OS1 page is referred to as “the DP-OS
page”.
Description
Note
It is recommended to use the operator panel buttons to take or give command control.
The information available from the Command Control dialog box is mainly intended for
operation of systems with several operator stations.
The dialog box is designed to correspond to the equivalent dialog box in the K-Chief
system where it is more frequently used. This has been done to improve the user
interface, especially on vessels with integrated automation systems on board.
Details
The controls at the bottom are present on all three pages. They are divided in three
groups, TAKE, GIVE and STATUS. Each group contains a lamp, a text field and a button.
Lamps
TAKE
• Lit on DP-OS1 when DP-OS1 is in command.

• Not lit on DP-OS1 when another OS is in command.
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• Flashes until DP-OS1 accepts when DP-OS1 is offered command, or during the
timeout period of one minute.
• Flashes while DP-OS1 is giving command to another operator station, until the
other operator station accepts, or during the timeout period of one minute.
GIVE
• Flashes while DP-OS1 is giving command to another operator station, until the
other operator station accepts, or during the timeout period of one minute.
Text fields and buttons
The text fields show the command-transfer action that will be performed when the you
click the related button.
TAKE
The TAKE button is unavailable when DP-OS1 is in command or when no

command group is selected for command transfer.
Messages that may appear in the text field:
• Take...
Default on the Give page. Click TAKE to show the DP-OS1 or Overview page,
depending on which was last used.
• Take
Appears above the TAKE button on the DP-OS page when an uncontrolled
command group or a command group currently under command of another
operator station is selected. Click TAKE to transfer the command to DP-OS1.
• Cancel Give...
Appears above the TAKE button when a Give request is initiated. Click TAKE
to cancel the Give request.
• Accept Give...
Appears above the TAKE button when a Give request is received. Click TAKE
to accept a Give request and transfers command to DP-OS1.
GIVE
Messages that may appear in the text field:

• Give...
Default on the DP-OS and Overview pages. Click GIVE to open the Give page.
• Give selected...
Appears above the GIVE button on the DP-OS and Overview pages when
“Giveable” command groups are selected. Click GIVE to open the Give page.
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• Start Give Transfer

Appears above the GIVE button on the Give page when “Giveable” command
groups are selected. Click GIVE to start a Give transfer of the selected command
groups.
• Reject Give
Appears above the GIVE button when a Give request is received. Click GIVE to
reject the Give request.
STATUS
For DP systems, message that may appear in the text field:

• Close
Default above the STATUS button on all three pages. Click STATUS to close
the dialog box.
Related topics
Command Control dialog box - DP-OS page, page 171
Command Control dialog box - Overview page, page 172
Command Control dialog box - Give page, page 173
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Command Control dialog box - DP-OS page

How to open
Example
Details
Command Group
All command groups are listed in this column. Only DP and DP(Sim) are relevant
to K-Pos DP.
Status
The text In Command in this column shows the command groups over which
this operator station has control.
Modified
Shows the time the command control state of the command groups was last
changed by this operator station.
Privileges
Shows the operator station's privileges for each command group. Takeable is the
only one relevant to K-Pos DP. Takeable means that an operator station can take
command of the command group in question without acceptance from the operator
station that was originally in command.
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Command Control dialog box - Overview page

How to open
Example
Details
Command Group
All command groups are listed in this column.
In Command
Shows the operator station that is in command.
Modified
Shows the time when the command control state was last changed by any operator
station. This may be different from the time shown for the same command group
on the DP-OS page as it shows the time the command control state was last changed
by the operator station that you are at.
Command Locations
Shows the operator stations that can take command of each command group. The
asterisk (*) means that the operator station can take command without acceptance.
This is usually the case for operator stations in K-Pos DP systems.
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Command Control dialog box - Give page

How to open
Example
Details
To OS Group:
Shows the operator station(s) to which command can be transferred.
Give Command of:
Clicking a DP-OS in the To OS Group list, causes a list of all the command groups
over which the operator station you are at (in this example DP-OS1) currently
has command, to be shown in this field.
Command groups
In IAS systems, the functionality is divided into command groups that reflect the way
in which the system will be operated. Each of these command groups will usually
represent a specific process area, for example, Ballast, Power, Propulsion, Propulsion
Simulation, etc.
All the available information about the command groups is available at all the connected
operator stations, but, for each command group, only one operator station can be in
command at any time.
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For DP purposes, DP and DP(Sim) are the relevant command groups, and “Take
Command”, “Request Command” and “Give Command” are the relevant command
transfer actions.
• DP — The operator station that controls this command group, controls the vessel's
propulsion system. All operator stations can take command of DP.
The operator station that controls this command group, controls the vessel's
propulsion system.
• DP(Sim) — A simulation session can be performed on the operator station that
controls this command group.
A training or simulation session can be performed on the operator station that controls
this command group (provided that the requirements for using the Built-in trainer
are met).
For DP operations only the DP and DP(Sim) command groups are of interest. You select
a command group by clicking its identifier in the Command Group list.
There is a folder icon for each command group. The folder icons are colour coded and
their presentation is changed to indicate the current status of each command group.
• Red, closed folder — uncontrolled, critical command group.
• White, closed folder — uncontrolled command group.
• Grey, closed folder — another operator station is in control of the command group.
• Green, open folder — this operator station (in this example DP-OS1) is in control
of the command group.
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Connect dialog box

Use this dialog box to connect the operator station to a controller PS group.
Prerequisites
If an operator station is not in command of a controller PS group, you can connect that
operator station to any available group at any time. However, if the operator station has
command of a controller PS group, the system on these controllers must be in Standby
mode before you can connect the operator station to a different group.
How to open
Click System→Connect.
Example
Description
An operator station can be connected to only one controller PS group at a time. Your
system configuration determines the controller PS groups to which each operator station
can connect.
Several operator stations can be connected simultaneously to a controller PS group, but
only one of these operator stations can be in command.
Details
A “controller PS group” is a group of one or more DP controller process stations. The
controller PS groups available depend on your system configuration:
• Main — the main controller PS group
• MainSim — the controller PS group for training and simulating sessions (optional)
Related topics
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Date and Time dialog box

Use this dialog box to define the time span for the events shown on the Historic event
page.
How to open
Click on the toolbar of the Alert list view (Historic event ).
Example
Details
Most recent time
The time span is defined relative to a specified date and time. The “most recent
time” is the reference. This group box contains controls for setting the most recent
time.
Now
Clicking this button sets the Most recent time to the current time.
Calendar, Hour, Min, Sec
You can specify a date and time by using the calendar, and entering the
required time in the Hour, Min and Sec text boxes.
And time span backwards
The time span is defined in days, hours, minutes and seconds backwards in time.
Enter the required values in the Days, Hours, Min and Sec text boxes.
Related topics
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Datum details dialog box

A datum describes the earth as an ellipsoid using two parameters: Semimajor Axis and
Flattening. This dialog box contains the values for Semimajor Axis and Flattening and
the datum transformation parameters for conversion from WGS84 to the selected datum.
How to open
Click Details on the Position presentation dialog box.
Example
Details
Translation
The required translation from WGS84 to the selected datum.
Rotation
The required rotation from WGS84 to the selected datum.
Scale
The required scaling from WGS84 to the selected datum.
Semimajor Axis
The semimajor axis of the earth ellipsoid for the selected datum.
Flattening
The inverse flattening of the earth ellipsoid for the selected datum.
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DP class dialog box

Use this dialog box to set the class of operation for the DP online consequence analysis
function.
How to open
Click Settings (General)→DP class.
Example
Description
If configured, the currently-selected DP class is indicated in the Rotation center position
pane on the dashboard.
Details
Time to next analysis
When the DP online consequence analysis is running, the time to the next sample
is counting down and shown in this box.
DP class
Class 2, Class 3 or Class ER must be selected to activate the DP online consequence

analysis.
Battery settings
Select the check box to include the batteries in the DP online consequence analysis.
Use the spin box to define the time for alarm limit of the batteries life time left.
The online consequence analysis calculates how long the batteries will last with
the current load and give an alarm when the time left is below the limit set here.
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EBL dialog box

Use the EBL (Electronic Bearing Line) function to view the geographic coordinates of
any position on the Posplot view, the distance of this position from the present position
of the vessel, and both the true and relative bearings to the position from the present
position of the vessel.
How to open
1 Click EBL on the Posplot view. The EBL dialog box is shown.
2 Move the trackball.
• A dotted line is shown from the present vessel position to the position indicated
with the trackball.
• The coordinates, range, and true and relative bearings of the indicated position
are shown on the EBL dialog box.
3 Click again to fix the indicated position.
The EBL dialog box is continuously updated with the relative range and bearing
from the vessel to the indicated position.
Example
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Equipment dialog box

This dialog box shows operational status information about the operator stations, history
stations and process stations in your system.
How to open
Click System→Equipment.
Description
In each line of each page, the background colour of certain fields are changed to indicate
alarm conditions.
When a system or process alarm condition occurs, the background of the field changes
colour and starts to flash. It will continue to flash until the applicable alarm is
acknowledged.
Related topics
Equipment dialog box - PS page, page 181
Equipment dialog box - PS Redundancy page, page 183
Equipment dialog box - OS/HS page, page 185
Equipment dialog box - Event Printer page, page 187
Equipment dialog box - Net Status page, page 188
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Equipment dialog box - PS page

This page shows the current status of all process stations defined in the system.
How to open
Example
Details
Station
Identification of the PS.

Group name
Shows the name of the redundancy group to which this station belongs.
(No column title)
Identification of the PS within the redundancy group. For example: Controller PS

A, B or C within the DpMain group.
Status
Shows the current status of the PS:

• Operational — PS is operational.
• Booting — PS is booting (loading configuration).
• Rebooting — PS is rebooting due to an error.
• Not Communicational — PS has reported a status, but no communication with
the PS is possible.
• Not Reported — PS has not reported any status.
• Halt — PS has stopped due to an error condition.
Spare Time
The available CPU capacity, expressed as a percentage of total CPU capacity.

Net State
Indicates the state of the A and B network interfaces:
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• OK — Both network interfaces are OK.

• A-ERROR — Error on network interface A.
• B-ERROR — Error on network interface B.
• AB-ERROR — Error on both network interfaces.
I/O Status
Shows the status of the IO system for this PS:

• OK — No errors reported.
• ERROR — Errors reported.
Serial Status
Not relevant for DP systems.

Other Status:
Shows the status of other sub-systems reported by this station (typically system
self-test and monitoring):
• OK — No errors reported.
• ERROR — Errors reported.
Free Memory
Available memory (or largest continuous block) in KB. (Not applicable for WinPS.)
Uptime
The accumulated uptime of the station. Shown as a number followed by a character

indicating the period. For example: 3.06 d indicates 3.06 days (m = minutes, h
= hours, d = days, y = years).
Started
Time stamp when the PS was started.

Format: day/month/year hour:min:sec
Last Reported
Time stamp of last communication.

Format: hour:min:sec
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Equipment dialog box - PS Redundancy page

This page shows redundancy information for all process stations.
How to open
Example
Details
Station
Identification of the PS.

Group name
Shows the name of the redundancy group to which this station belongs.
(No column title)
Identification of the PS within the redundancy group. For example: Controller PS

A, B or C within the DpMain group.
Status
Shows the current status of the PS:

• Operational — PS is operational.
• Booting — PS is booting (loading configuration).
• Rebooting — PS is rebooting due to an error.
• Not Communicational — PS has reported a status, but no communication with
the PS is possible.
• Not Reported — PS has not reported any status.
• Halt — PS has stopped due to an error condition.
Online
Shows whether the PS is online or not.

Master
Shows whether the PS is master or not.
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Capability
Shows the capability status, indicating to what extent the process station is
technically capable of fulfilling its intended purpose:
• OK — No errors.
• Common Error — Errors that are common to all process stations in the
redundancy group.
• Degraded — Errors that related to only this process station in the redundancy
group.
• Incapable — The process station is in a state where it should not be used as
the master or online computer.
Running mode
Shows the Running mode:

• Running — The process station is communicating and has finished all start-up
preparations.
• Starting — The process station is communicating, but more start-up preparation
is needed.
• Inactive — The process station is not communicating. It may be initializing or
loading, or not executing at all.
Type
Shows the redundancy type for the redundancy group.

For the DpMain and DpM_IO groups, the following types are relevant: Single,
DPDual and DPTriple.
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Equipment dialog box - OS/HS page

This page shows the status of the operator stations and history stations that are defined
in the system.
How to open
Example
Description
The OS/HS page has a shortcut menu. Right-click anywhere on the page to open the
following menu:
Details
Station
Identification of the OS or HS.
Status
Shows the current status of the OS or HS:
• Operational — OS or HS is operational.
• Not Communicational — OS or HS has reported a status, but no communication
with the OS or HS is possible.
• Not Reported — OS or HS has not reported any status.
• Stopped — OS or HS is not switched on.
Last Reported
Time stamp of last communication.

Format: day/month/year hour:min:sec
Net State
Indicates the state of the A and B network interfaces:
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• OK — Both network interfaces are OK.

• A-ERROR — Error on network interface A.
• B-ERROR — Error on network interface B.
• AB-ERROR — Error on both network interfaces.
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Equipment dialog box - Event Printer page

This page shows the status of the event printers that are configured in the system.
How to open
Example
Description
The operator stations in K-Pos DP are grouped into Print Groups - usually either Main or
Backup - where each group has one event printer. Only one of the operator stations (the
Master) within a print group will send alert messages to the event printer. If the Master
operator station becomes inactive for any reason, the role of event printer Master passes
automatically to another active Master of the Print Group.
The Event Printer page has a shortcut menu. Right-click anywhere on the page to open
the following menu:
Details
Station
The address of the event printer.

Print Group
The name of the group of operator stations that can print to this printer.
Master
The current master operator station in this print group.

Members
The operator stations that are members of this print group. If an operator station is
not active, its name is shown in parentheses.
Printer Info
Information about the printer status such as Idle or Printing. This information is
provided by the printer interface.
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Equipment dialog box - Net Status page

This page shows the status of the communication network for all operator stations,
history stations and process stations.
How to open
Example
Description
This page contains a window that is divided into two panes. The left-hand pane lists all
stations in the communication network by means of icons and names. Click any icon or
name to open in the right-hand pane the status of the communication network as seen
from the receiving station in the left-hand pane.
If a red A, B or AB is shown superimposed over an icon, this indicates that the station
has a network communication error on net A, B or both.
The right-hand pane is static and once information has been shown it is not updated. You
can update the information either by reselecting the Net Status page or by right-clicking
anywhere on the page to open the following shortcut menu:
Click Print Image to print the content of the current page.

Click Update Statistics to update the statistical information for the selected station
in the right-hand pane.
Click Show only errors to filter the information shown in the right-hand pane so that only
the stations with lost messages are shown.
Details
Sending Station
Identification of the OS, HS or PS sending messages to the receiving station.
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Msg pr. 100 sec
The total number of messages received every 100 seconds on both networks.
Lost Msg Net A
The number of lost messages on network A.

Lost Msg Net B
The number of lost messages on network B.

IpAddress
The Internet Protocol (IP) address of the sending station.
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Event Printer dialog box

When the Event Printer is configured as a page printer, the emergency, alarm and
warning messages are not printed directly but are saved in a buffer. Use this dialog
box to print all the events in the buffer.
How to open
Click System→(Printer Settings) Event printer.
Example
Details
Printer name
The name of the event printer.

Printer type
The type of event printer.

Unprinted events
The number of unprinted messages in the event printer buffer.

Refresh
Use this button to update the information shown in the dialog box.
Flush
Use this button to print all unprinted events on the event printer.
Purge
Use this button to remove some or all unprinted events on the event printer.
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External force event dialog box

Use this dialog box to select failure strategy for events. These events are divided into
priority and origin, called ‘scenarios’. Each event scenario can be set to automatically
perform different DP control and force compensation for an unexpected event. The
content of the pages is the same.
How to open
Click Settings→(General) External force event.
Example
This dialog box has several pages – one for each event scenario.
Description
In order to respond faster to errors from tensioner / ARW system, you can select wanted
failure strategy for events.
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Possible event scenarios:
Emergency stop DP system receives an Emergency stop from the Tensioner

system. Emergency stop is a specific and deliberate signal from
Tensioner/ARW system.
System fail The Tensioner/ARW system is not responding or has any critical
fault resulting in unpredictable behaviour. Can either be of
loss of communication with Tensioner/ARW system, or DP
system receives a fault/illegal status signal from Tensioner/ARW
system.
Sensor fail This is an electrical/system failure of Load Cells, and might
cause the reading for Tension to be incorrect or missing. Sensor
fail is a specific signal from Tensioner/ARW system.
Tension high limit Alarm limits for high tension defined in the Alert limits dialog
box have been exceeded.
Tension low limit Alarm limits for low tension defined in the Alert limits dialog
Speed high limit Alarm limits for high speed defined in the Alert limits dialog
Speed high limit Alarm limits for low speed defined in the Alert limits dialog box
have been exceeded.
Manual mode If the operator has set the Tensioner/ARW system to Manual
(also called speed mode), DP system will treat this as an event
outside normal operation. Manual mode/Speed mode is a
specific signal from Tensioner/ARW system.
Transfer mode If the operator has set the Tensioner/ARW system to Transfer
mode, DP system will treat this as a scenario outside
normal operation. Transfer mode is a specific signal from
Tensioner/ARW system.
The priority is reflected in the order of events in the Automatic event handling pane.
Details
Control strategy
No action
No automatic action will be executed by DP system, all current control

settings are maintained. System will still report the event, with the message
No Auto action is shown.
Estop
If the system is running Pipelaying in Auto Track mode, Estop works as the
Stop on track function. If the system is running Pipelaying in Auto position
mode, it will work as the normal slow-down function.
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Slowdown
DP system will automatically slow down the vessel speed by a calculated

ramp down time to a full stop. If the vessel had zero speed as this event
occurs, or when the vessel reaches zero speed, normal auto position will be
maintained/activated as before the event.
The message Slowdown is shown. The STOP button becomes lit. The
operator can abort auto damp by double pressing the STOP button, and vessel
will return to previous state as before the auto action applied. This auto event
will only be executed once.
Static control
If this strategy is selected the vessel will go into mode where a constant force
is applied ahead on the thrusters to keep the tension up. The system utilizes
the alognship force function to do this and this mode can be deselected in
the Alongship force control dialog box. The thruster output in the surge axis
will be automatically calculated based on several factors to ensure that the
tension doesn’t drop too much.
Manual control
Similar to static control. However in this case the operator sets the manual
output manually in the Alongship force control dialog box.
External force strategy
Auto
This is the default setting. Estimated tension will be used upon the event.
The estimated tension depends on the kind of failure. The DP system can, for
example, choose to freeze the value, keep using the measurement or other
options depending on setup.. The message Use Auto tension input is shown.
Setpoint
If this strategy selected the tension feed forward to the DP system will be
changed to use the constant tension setpoint received from the tensioners..
The message Use tension setpoint is shown. If the setpoint for some reason
is not available or is also in fail (for example interface fault) the DP system
will automatically use the auto settings instead.
Manual
DP system will automatically change selected tension input to use Manual

tension selected in Sensors dialog box. The message Use Manual tension
input is shown. The operator can always choose another manual value input
used after the auto action has been applied, this must be done in the Sensors
dialog box.
Delay before activation
Defines the time from the event occurs until the action is activated.
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Export Log Files dialog box

It is possible to export messages sent from different logging systems, such as from the
panel driver, from the DP recorder and the process stations.
How to open
Click System→Export log files.
Example
Details
Select time span and file types
Each of the values can be increased or decreased by 1, after selecting the respective
field, for example hours, minutes, etc., or you can enter the value.
Select target for export
Logged data can be exported to the hard drive or to any removable drive. If you
cannot see all the available drives, click Refresh. You can change the drive, but the
folder name is always the same and that is why you are warned that the existing
files in this folder will be removed.
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FW Manager dialog box

The main purpose of the firmware manager is to detect and resolve firmware conflicts
in the installation.
Prerequisites
Caution
Use of this dialog box is not part of the normal operating procedures for the DP system.
It is implemented to facilitate service and installation work performed by trained
personnel from Kongsberg Maritime.
How to open
Click Tools→Firmware manager.
Example
Description
The tree-view shows an overview of the running system, redundancy groups, RCUs,
IO drivers and hardware modules. The detailed information shown depends on the
selected item.
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Gain dialog box

The content of this dialog box will vary according to system configuration. The dialog
box in the system installed on your vessel may show only some of the items shown in
this example.
How to open
Either press the CONTROL SETUP button on the panel or click Settings→(Control) Gain.
Example
Details
Control mode
Use the option buttons to select from High Precision, Relaxed and Green control
modes.
The In Use check boxes indicate which control mode is currently in use by the
system.
High precision
This is the default control mode. It is also the control mode setting if control
mode selection is not available in the DP system installed on your vessel.
Gain level and customised gain settings (if available) apply for this control
mode.
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Relaxed
This control mode is available in Auto Position and Mixed Joystick system
modes.
Select the radius using the arrow buttons or entering a value in the Outer
Radius text box. Gain level and customised gain settings (if available) apply
to this control mode.
If it is not possible to use Relaxed control mode when it is selected, the High
Precision control mode will be used.
With Relaxed control mode, the position gains are modified to vary within
the Relaxed control circle. This means that the force setpoint used to bring
the vessel back to the position setpoint is very low when close to the centre
of the control circle. It then increases up to the normal values when close to
the border of the area defined by the radius (the gain varies exponentially
within the area).
Note
The radius for Relaxed control mode is not a position limit, it is only the area
within which the controller gains are very low. If the vessel drifts outside this
area, the gains will increase. How far outside the vessel drifts depends on
the Gain Level settings (the high-medium-low predefined controller gain or
customised controller gain in surge, sway and yaw axes).
Green
This control mode is available in Auto Position mode.

Select the Outer radius and Inner radius using the arrow buttons or entering a
value in the text box.
If it is not possible to use Green when it is selected, the High precision
control mode will be used.
The Inner radius and Outer radius define the working area and the operational
area, respectively. When the inner radius is predicted to be exceeded,
additional thrust is added in a smoother way than if the outer radius is
predicted to be exceeded.
Note
When changing position and/or heading in Green control mode, the control
mode used is automatically temporarily switched to High Precision control
mode. During a heading change the position carrot is set to the present
vessel position. This prevents unnecessary vessel movement. The control
mode will switch back to Green control mode once position and heading
become “Present”. If system selected heading is chosen, the Green control
mode will not be in use.
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Gain level (High precision/Relaxed)
The gain level is applicable for High Precision and Relaxed control modes.
High/Medium/Low
Select the required controller gain level using the High/Medium/Low option
buttons. If available, the gain factors in use for each of the three gain levels
are shown in parentheses. The values in parentheses may vary depending on
vessel configuration.
Customised
This setting is optional. Select this option button when you want to perform
customized settings of the gain level. Selecting Customized will make the
High/Medium/Low option buttons unavailable (they will appear dimmed).
After you have selected Customized you can enter the customization setting
for gain factors in the Surge, Sway and Yaw axes using the arrow buttons
or entering a new gain factor in the corresponding text box. The currently
selected gain factors in the Surge, Sway and Yaw axes are shown graphically
above the numerical values.
Speed constraints (Green)
Speed Constraints are used in Green control mode to limit the vessel speed. You
can select Speed Constraints for the Surge and/or Sway axes. Speed constraints
should be used while operating within a large area.
Gain level for High Precision and Relaxed control mode

There are three predefined controller gain levels available; high, medium and low. The
selected gain level applies to any of the surge, sway and yaw axes when they are under
automatic control and High Precision or Relaxed control mode is used.
If configured, customized setting of the controller gain level can be performed, with
individual gain factor settings for the surge, sway and yaw axes.
Different gain factors for each of the three standard gain levels are defined to suit the
characteristics of the vessel. The deviations in position, speed, heading and rotation rate
are multiplied by the selected gain factor to obtain the required force setpoint.
The most suitable gain level depends on the vessel characteristics, the weather conditions
and the required positioning accuracy. Operational experience plays a large part in
determining the optimum gain level, but the following general points should also be
noted:
• High gain provides the quickest vessel response, the most accurate manoeuvring, and
the smallest positioning window.
• Medium gain provides a slower vessel response than the high gain.
• Low gain provides the slowest vessel response and the largest positioning window.
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For all three predefined controller gain levels, and also for the customized gain levels,
the gain factors are reduced when the position deviation is close to zero. Under ideal
conditions (optimal Vessel Model and constant environmental forces), there will be little
difference between the effect of the various gain levels since the position deviation
will be minimal.
Under less than ideal conditions there can be some variation in the vessel position, and
you should set the gain level to control the speed and extent of the variation according to
the general comments given previously.
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Gyro deviation dialog box

The data from each gyro can be monitored and evaluated using Gyro Deviation
Calculation.
How to open
Click Sensors→Gyro deviation.
Example
Description
This function is based on the fact that the vessel heading can be derived from the relative
positions between two GPS antennas. The error for each gyro is estimated from the
filtered difference between the GPS derived heading and the gyro data. Recommended
minimum antenna separation is 10 metres, and the accuracy of the calculated heading
increases with distance between the antennas.
When sailing at high speed, the used heading may deviate from the calculated heading
due to lack of speed/latitude compensation. After the vessel has stopped, the Correction
value may still be incorrect for some minutes.
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Note
Before correcting for error on the gyro, you should let the Correction value stabilise.
Details
Gyro deviation calculation
The deviation calculation uses the Used Heading values as input for the calculations.
Active
Select this check box to enable Gyro deviation calculation.

Filter time
The default value is the recommended minimum value for your vessel. The
shorter the distance between the GPS antennas, the longer the time required
for data filtering.
Calculated correction
Correction
For each gyro the difference between the calculated heading and the used
heading from the gyro is shown.
You can select to have the Calculated correction value shown as a trend plot
in the Sensors view and in the Trends view using the view-control dialog
boxes for these views.
STD DEV
The Standard Deviation for each estimate is displayed. If the Correction is

one degree or more, and the STD DEV is significantly smaller, you should
correct the error on the gyro.
Based on
This shows which GPSes the calculation is based on.
Related topics
Trends view, page 410
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Heading dialog box

Use this dialog box to define a new heading setpoint and select the strategy for changing
the heading. You can also set the rate of turn.
How to open
Either press the CHANGE HEADING button on the panel or click Positioning→Heading.
Related topics
Heading dialog box - Rate of turn page, page 205
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Heading dialog box - Heading page

Use this page to define the heading setpoint.
How to open
Either press the CHANGE HEADING button on the panel or click Positioning→Heading.
Example
Description
While entering data in the Heading page, before you click OK or Apply, a temporary
heading setpoint symbol is shown in the Posplot view indicating the proposed heading
setpoint.
Note
When changing the heading setpoint, the turn direction will depend on the new heading
setpoint. The shortest turn is always used.
Details
New setpoint
Shows the heading that will be used as the new heading setpoint when you click
OK or Apply. When Operator selected is selected under strategy, you can enter the
heading setpoint by typing the required heading or by increasing or decreasing the
value using the arrow buttons next to the New setpoint spin box.
A temporary heading setpoint symbol is shown in the Posplot view indicating
the proposed heading setpoint.
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Previous setpoint
Shows the previous heading setpoint. Click Use to enter this heading into
the New setpoint box. You can therefore use this feature to return the vessel
to a previous heading.
Offset from present setpoint
Shows the difference in heading between the new setpoint and the present
setpoint. This value is updated dynamically when you enter the new heading
setpoint.
Strategy
System selected
When System selected is selected as strategy, the chosen system-selected

heading is entered into the New setpoint box. When you click OK or Apply,
the system will continue to determine what the heading setpoint should be.
This function is available when the environmental conditions are above a
certain limit. When system heading is selected, the alarm limits are turned
off.
Operator selected
If you choose Operator selected, you can enter the heading setpoint using any
of the other methods described here.
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Heading dialog box - Rate of turn page

Use this page to define the speed at which the vessel should try to rotate during a change
of heading (the vessel's rate of turn).
How to open
Click Positioning→Heading.
Example
Description
As the vessel approaches the heading setpoint, the rate of turn is reduced to zero.
When the vessel rotation centre is at a position other than the centre of the vessel
(midships), the actual rate of turn may be less than the speed specified. This is because
the speed of movement of the centre of the vessel is limited in proportion to the required
vessel speed and the distance of the rotation centre from the centre of the vessel.
Details
New setpoint
Enter the required value in the New setpoint box, or use the arrow buttons to adjust
the setpoint.
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Heading (Setpoint) dialog box

Use this dialog box to change the heading setpoint directly on the Posplot view.
How to open
Click the heading setpoint symbol in the Posplot view.
Example
Description
The values change as you move the symbol on the Posplot view. Click the trackball to
fix the required values and then click OK.
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Heading Setp. dialog box

Use this dialog box to change the heading setpoint when the system is in a mode where
automatic heading control is possible.
How to open
Press the Activate (heading wheel) button once.
Example
Description
The value (in degrees) shown in the dialog is the heading setpoint from the heading
wheel, which changes immediately whenever the wheel is turned, or one of the + and -
buttons is pressed.
Turning the heading wheel to the right increases the value and turning it to the left
decreases the value. Pressing the + (increase) button steps the value up and pressing the -
(decrease) button steps the value down.
The dialog is closed by pressing the SET HEADING button. If the heading wheel is not
turned, or one of the + and - buttons is not pressed within a preset time limit, the dialog
is closed automatically.
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IO Manager dialog box

This dialog box has three pages, which give an overview of the IO interface system, but
only one page is used by the operator. The other two pages are intended for Kongsberg
Maritime personnel only.
How to open
1 Click System→Equipment.
2 In the System Status dialog box right-click anywhere on the PS or PS Redundancy
page.
3 On the shortcut menu click IO Manager.
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IO Manager dialog box - IO Configurator page

In the IO Manager dialog box - IO Configurator page, use the drop-down box to select
the PS for which you will show the IO drivers and IO blocks.
Example
Details
All IO blocks and devices
In the expandable tree view, the symbols are as follows:

1st level, lists the IO driver types ( )
2nd level, lists the IO drivers ( )
3rd level, lists the IO blocks in alphabetical order ( )
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If you click an IO driver name, the corresponding Driver Properties dialog box is
opened.
If you click an IO block name, the corresponding IO Terminal Block dialog box is
opened.
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IO Point Browser dialog box

Use this dialog box to search for IO points for a selected PS, and to show information
about them. This is intended as an aid to fault-finding in the IO system.
How to open
page.
3 On the shortcut menu click IO Point Browser.
Example
Description
If you right-click any IO point tag shown in the browser window, the following shortcut
menu is opened:
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Only some of the commands in the shortcut menu are available for the operator.
• Add Trend to previous popup
Adds a new trend to already created pop-up widow.
• Create Trend in new popup
Starts the procedure for creating a trend for the selected IO point.
• Resize Columns
Resizes the columns shown in the IO Point Browser dialog box to fit the content of
the columns.
• Show IO Block
Views the configuration information for the selected IO Block by viewing the
corresponding IO Terminal Block dialog box.
Details
Station
Use this drop-down list to select either all PSes, or the PS within which you want
to browse.
Tag
Browse Criteria
Use this text box to enter the browse criteria. Wildcard characters can be
used.
Match case
Use this check box to make the browse criteria case sensitive.
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Match whole tag
Use this check box if the browse criteria text is the entire name of the
required IO point.
Match initial tag segment
Use this check box if the browse criteria text is the beginning of the name of
the required IO points.
IO Status
Use these check boxes to restrict the search to IO points which have the specified
status:
• IO OK
• IO Manual
• IO Passive
• IO Error
• IO FailSafe
• IO Error Override
• IO Maintenance
Browse by IO Tag
Use this command button to search for IO points whose name satisfies the specified
browse criteria.
Browse by Module Tag

Details
Click Details to show or hide the sections IO Point Parameters and Eng. Signal
Conditioning in the lower part of the dialog box.
Browse results
The upper-left area shows information about the IO points that satisfy the search
criteria. This is the same information as shown in the IO Terminal Block dialog
box, with one additional column:
• PS — The name of the PS that contains the IO point.
Related topics
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IO Terminal Block dialog box

The dialog box shows information about a selected IO block and its IO points. This is
intended as an aid to fault-finding in the IO system.
How to open
2 In the System Status dialog box right-click on any DpPs line.
3 On the shortcut menu click Station Explorer.
4 Click the required PS from the drop-down list.
5 Expand the appropriate driver to locate the required IO block.
6 Either click the block icon ( ), or click the submenu symbol ( ) and then Show IO
Block from the submenu.
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Example
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Description
The content of this dialog box varies according to the IO driver.
If you right-click on any IO point tag, the following shortcut menu is shown:
Only one of the commands in the shortcut menu is available for the operator.
• Resize Columns
Resizes the columns shown in the IO Points area to fit the content of the columns.
Details
Station explorer
The upper-left area shows the selected IO block, filtered from the expandable tree
structure of the station explorer, and shows the driver, alarm status and the block
tag of the selected IO block.
Tag
The name of the selected IO block.

Description
Describes the selected IO block.

Task
Shows the scan rate for the selected IO block:

• Task 1 — Normal
• Task 2 — Quick
• Task 3 — Rapid
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Auto

Upper-right list box
The upper-right list box shows the IO block properties represented by parameters
and values. When you point at a parameter, a tooltip with additional information
is shown.
IO Points
This area shows information about the IO points for the selected IO block.
Direction
The direction of the data flow:

• Output data flow
• Input data flow
IO tag
The name of the IO signal.

(IO point parameter symbol)
Click this symbol to open the IO Point Parameters section in the lower
part of the dialog box.
Status
The status of the sensor value:

• OK
• Error
• SIM
Sensor value
The sensor value and its units.

(signal conditioning elements)
Symbols representing the signal conditioning elements used, in order of

execution.
Note
When the cursor is positioned over one of the bitmaps representing an IO
signal conditioning element, the name and parameters of the element are
shown in a tooltip.
Eng. value
The engineering value and its units.
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(Eng. status)
The status of the engineering value:

• OK
• Error
• SIM
Connection
For signals that are to be transferred between process stations, this box shows
the name of the NetIO tag that corresponds to this IO point.
Note
If you click a cell in the Connection column, the Connect/Disconnect Terminal
dialog box is opened for the selected IO point. This dialog box has no
function during normal operation.
Details
Click Details to show or hide the sections IO Point Parameters and Eng. Signal
Conditioning in the lower part of the dialog box.
Signal conditioning elements

Signal conditioning elements are used in the IO points of an IO block to parameterize
the input/output process signals and to scale the signals.
All signal conditioning elements are bidirectional, and may be used both on input and
output signals, but some elements are relevant to input signals only.
The symbols are shown between the Sensor value and Engineering value columns in
the IO Points area.
The signal conditioning includes elements for:
• Scaling
• Inversion
• Filtering
• Fail-safe value
• Compensation for wire resistance
The available signal conditioning elements are as follows:
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Icon Element Ana- Digital Input Output Description

name log
Scale X X X Sensor scale maximum
Sensor scale minimum
Sensor unit
Engineering scale maximum
Engineering scale minimum
Engineering unit
Multi scale X X X Number of points
(For each point) Sensor point
(For each point) Engineering point
Sensor unit
Engineering unit
PT 100 X X Wire resistance
Sensor unit
Engineering unit
Engineering X X X Engineering scale maximum
unit
Engineering scale minimum
Engineering unit
Fail-safe X X Fail-safe value
Freeze (check box):
Selected: Last usable value
Not selected: Fail-safe value
Filter X X Filter time (seconds)
Limit check X X X Gain

Bias
Use negative input value
Invert X X X None
Fail-safe X X Fail-safe value

Freeze (check box):
Selected: Last usable value
Not selected: Fail-safe value
Filter X X On delay (seconds)
Off delay (seconds)
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Joystick Calibrate dialog box

Calibration of the joystick ensures that a certain deflection of the joystick corresponds
to a specific thrust, depending on the joystick settings.
Prerequisites
Calibrating the joystick can only be performed by the “Chief” user, and only when
the system is in Standby mode.
How to open
Click Tools→Calibrate joystick.
Example
Description
Calibration is necessary to calibrate the joystick when:
• New hardware has been installed or parts of the hardware (for example the joystick)
have been changed.
• New software has been installed or software has been reinstalled from a disk.
The Joystick Calibrate dialog box contains a description of how to calibrate the joystick.
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Joystick dialog box

Use this dialog box to adjust the following settings: joystick thrust, joystick precision,
environmental compensation and current update.
How to open
Either press the JOYSTICK SETUP button on the panel or click Settings→(Modes) Joystick.
Example
Details
Thrust
You can select either full or reduced thrust.

Full
The maximum force available from all thrusters can be used. This increases
the vessel's response to movement of the joystick compared to the Reduced
option.
Reduced
The maximum applied thruster force for axes that are under joystick control
is limited to about 50% of the available force from all thrusters.
Power scale
The ramping scale of the maximum available power.
The joystick thrust setting can also be changed by pressing the JOY. FULL THRUST
button. The status for the joystick thrust setting will be dynamically updated in the
Joystick dialog box to reflect this change.
Precision
The applied thruster force for axes that are under joystick control can be scaled in
various ways. This scaling gives a different response to movement of the joystick,
depending on the configuration and operational requirements of the vessel. The
illustration shows thrust as a function of joystick deflection in the cases of full and
reduced thrust, with High speed, General or Low speed precision.
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High speed
For precise high-speed manoeuvring. At small movements of the joystick the

change in thruster force is large, but decreases with increasing movements.
General
Linear relationship between movement of the joystick and force exerted by

the thrusters. The precision is automatically changed from High speed to
General when changing from high speed to low speed manoeuvring (for
example from Autopilot mode to Joystick mode).
Low speed
For precise low-speed manoeuvring. Progressive relationship between

movement of the joystick and force applied by the thrusters. At small
movements of the joystick the change in thruster force is low, but increases
with increasing movements.
Exponent
This shows the exponent used in the calculation of thrust for the
currently-selected Precision option. This is for information only.
Envir. comp.
When wind compensation is enabled, the system automatically compensates for

the wind forces acting on the vessel by providing the thrusters with the necessary
extra thrust in the appropriate direction. The vessel will react much more quickly
to sudden changes in wind speed and direction.
When position-reference system measurements are available, the system will
calculate the unknown forces, including sea current and wave forces, which are
acting on the vessel (collectively referred to as “current”) and perform automatic
compensation for these forces.
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Environmental compensation is always performed when selected, but the

compensation due to “current” forces is zero if no position-reference system has
been accepted or if Current upd. is not selected.
Current upd.
Current update is enabled by default. You must deselect the required

Surge/Sway/Yaw check boxes if you do not want the system to compensate for the
calculated “current” forces for axes under joystick control.
Related topics
Joystick view, page 347
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Mode change confirmation dialog box

Use this dialog box to prevent accidental mode change.
How to open
Click Settings→(Modes) Mode change confirmation.
Example
Description
The check box is used to activate or deactivate the function.
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Local N/E properties dialog box

Use this dialog box to define the properties of the local north/east coordinate system
selected for the position presentation.
How to open
Click View→(Presentation) Position. Then on the Position presentation dialog box select
Local N/E coordinate system and then click the Local N/E properties option button.
Example
Details
Use reference system origin
Select between a system-selected or operator-specified position of origin. When

this check box is selected, the position data of the reference origin is subtracted
from the position information received by the system.
An operator-specified position of origin cannot differ from the actual position by
more than 20000 metres. If you try to enter a position of origin that is too far from
the actual position, a message is shown informing you about the error.
Datum and Position of origin are unavailable when the check box is selected. Leave
the check box unselected if you want to use an operator-specified position of origin.
Datum
Select the required datum for position of origin (in this dialog box only).
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Position of origin
Enter the coordinates of the position of the origin and select the format of the
position of origin (in this dialog box only).
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Numeric entry keypad dialog use dialog box

Use this dialog box to manually enter numeric values in dialog boxes.
How to open
Click Tools→Numeric entry dialog.
Example
Description
When the check box is selected the function is enabled and the Enter value dialog box is
opened whenever you click a numeric field in a dialog box. For example:
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If you want to test the function click inside the Enter a numeric valuetext box. The
Enter value dialog box is opened and you can use the trackball to enter values, move the
cursor inside the text box and delete digits.
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Panel Lamp Test dialog box

You can test the panel status lamps, alarm lamps and the audible signal at any time.
How to open
Click View→(Panel) Lamp test.
Example
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Panel Light Configuration dialog box

You can set the required light intensity for the status lamps on the operator panel, and for
the background lamps in the buttons themselves.
How to open
Click View→(Panel) Light configuration.
Example
Details
Palette
The asterisk (*) shows which display palette is currently in use.

Indicator Lights
From the drop-down list you can select the required light intensity for the indicator
lamps for the respective palettes. Available values are Bright, Normal, Dimmed,
Very Dimmed and Off.
Background lights
From the drop-down list you can select the required light intensity for the
background lamps for the respective palettes. Available values are Bright, Normal,
Dimmed, Very Dimmed and Off.
Lamp Test
Clicking the button starts the test.
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Position dialog box

Use this dialog box to define the new position setpoint in different ways: relative to
existing setpoint, using range and bearing or using absolute coordinates. You can also
specify the speed at which the vessel will try to move during a change of position.
Prerequisites
This dialog box is only available in Auto Position mode.
How to open
Either press the CHANGE POSITION button on the panel or click Positioning→Position.
Related topics
Position dialog box - Inc page, page 232
Position dialog box - R/B page, page 234
Position dialog box - Abs page, page 236
Position dialog box - Speed page, page 238
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Position dialog box - Inc page

Use this page to define the position setpoint relative to the existing setpoint.
Prerequisites
How to open
Example
Description
You can select relative or true increments. An increment value can be entered into the
increment spin box. Use the arrow buttons next to the increment spin box to adjust
the size of the increment.
Details
New setpoint
Shows the coordinates that will be used for the new position setpoint when you
click OK or Apply.
A temporary setpoint symbol is shown in the Posplot view indicating the position
of the new setpoint relative to the present setpoint.
Relative
This applies the increments in the directions Ahead/Astern/Port/Starboard.
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True
This applies the increments in the directions North/South/East/West.

Ahead/Astern/PORT/STBD
To add the selected increment in a particular direction to the new setpoint

coordinates, click Ahead/Astern/Port/Starboard or North/South/East/West as
appropriate. Each time you click one of these, the new setpoint coordinates
are adjusted and the temporary setpoint symbol in the Posplot view is moved
accordingly.
From present setpoint to new setpoint
Shows the range and true bearing from the present setpoint position to the new
setpoint position.
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Position dialog box - R/B page

Use this page to define the position setpoint using range and bearing.
Prerequisites
How to open
Example
Details
New setpoint
click OK or Apply.
To define a new position setpoint, enter the range and bearing in the Range and
Bearing text boxes.
Start position
Choose whether the new position setpoint is to be calculated relative to the present
setpoint or the present position by selecting the matching option button.
Bearing
Select either true or relative bearing by selecting the matching option button.
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setpoint position.
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Position dialog box - Abs page

Use this page to define the position setpoint using absolute coordinates.
Prerequisites
How to open
Press the CHANGE POSITION button or click Positioning→Position.
Example
Details
New setpoint
click OK or Apply.
You can enter new setpoint coordinates by entering the required coordinates
directly in the New setpoint boxes.
Previous setpoint
Shows the coordinates of the previous position setpoint. Clicking the Use button
writes these coordinates into the New setpoint text boxes. This feature can be used
to return the vessel to a previous position.
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setpoint position.
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Position dialog box - Speed page

Use this page to specify the speed at which the vessel should try to move during a
change of position.
Prerequisites
How to open
Example
Details
New setpoint
Enter the required value in the New setpoint spin box, or use the arrow buttons
to adjust the setpoint by the selected increment or decrement defined in the
Increase/Decrease speed step spin box.
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Position inc dialog box

Use this dialog box in operations that require frequent changes of position setpoint.
How to open
Click Positioning→Position increment.
Example
Description
An increment value can be entered into the increment spin box. Use the arrow buttons
next to the increment spin box to adjust the size of the increment.
Details
Ahead/Astern/PORT/STBD
To add the selected increment in a particular direction to the new setpoint

coordinates, click Ahead/Astern/Port/Starboard or North/South/East/West as
appropriate. Each time you click one of these, the new setpoint coordinates
are adjusted and the temporary setpoint symbol in the Posplot view is moved
accordingly.
Range
Shows the range from the present setpoint position to the new setpoint position.
True Bearing
Shows the true bearing from the present setpoint position to the new setpoint
position.
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Position R/B dialog box

Use this dialog box in operations that require frequent changes of position setpoint.
How to open
Click Positioning→Position range/bearing.
Example
Details
Range
Enter the range from the present setpoint to the new setpoint in this text box.
True bearing
Enter the true bearing from the present setpoint to the new setpoint in this text box.
A temporary setpoint symbol is shown in the Posplot view indicating the position of the
new setpoint relative to the present setpoint.
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Position presentation dialog box

Use this dialog box to select the display format for positions.
How to open
Click View→(Presentation) Position.
Example
This dialog box changes appearance according to the selected coordinate system.
Description
The most appropriate display presentation for position information depends on the
operational situation. For example, if you are using only a local position-reference
system such as HPR, then you will normally use a Local N/E presentation.
If UTM, Geographic or US state plane presentation is selected for position coordinates, a
presentation datum for the shown positions must be selected because a global position
must be related to a specific datum if it is to be unambiguous.
Position presentation in global coordinates may be inaccurate when a local
position-reference system is providing the reference origin.
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Details
Datum
The available datum formats can be selected from the drop-down list.
If Local datum is used, you must click the Details button to define all the required
transformation parameters.
Details
Click this button to open a dialog box which deals with definition of datum
transformation parameters.
Co-ordinate system
Select the coordinate system to be used for showing position information.

Local N/E
Displays positions in a local north/east coordinate system. The positions are

presented as north/east coordinates relative to the local origin point. If you
select this option you can (if configured) select between a system-selected or
operator-specified position of origin.
The length unit to be used is specified by the Length Unit option.
UTM
Shows positions in the Universal Transverse Mercator projection. Positions

are represented by north and east distance and UTM zone (with compensation
for false northing and false easting if appropriate). If you select this option,
you must also select the datum that is to be used for the conversion from the
internal coordinate system to these coordinates.
The length unit to be used is specified by the Length Unit option.
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Geographic
Shows positions in a global geographic coordinate system. Positions are

presented as latitude and longitude in the format specified by the Format
option. If you select this option, you must also select the datum that is to be
used for the conversion from the internal coordinate representation to these
coordinates.
US state plane
Shows positions in the US State Plane coordinate system. Positions are

represented by north and east distance to the origin of the State Plane zone.
If you select this option you must also select the datum that is to be used for
the conversion from the internal coordinate system to these coordinates.
State plane zone
If US state plane is used, the State plane zone drop-down list allows you to
select the relevant state plane zone to be used.
Length unit
The Length unit part of the dialog box changes according to the coordinate system
selected. For Local N/E, UTM and US state plane presentations, you can select the
length unit to be used. For Geographic presentation, you can select the display
format for latitude and longitude.
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Position (Setpoint) dialog box

Use this dialog box to change the position setpoint directly on the Posplot view.
How to open
Click the position setpoint symbol in the Posplot view.
Example
Description
The values change as you move the symbol on the Posplot view. Click the trackball to
fix the required values and then click OK.
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Power optimal allocation dialog box

Power optimal allocation is the primary barrier for preventing blackouts. Use this dialog
box to set the mode for the Power Optimal Allocation function.
How to open
Click Thruster→Power optimal allocation.
Example
Description
The power optimal allocation will first of all allocate thrust within the given power
limitations (denoted Normal mode).
For vessels with many separate switchboards it might be interesting to share the power
demand among them with respect to different optimization criteria.
Note
The available optimization criteria depend on the actual switchboard connections.
Insufficient thrust will result in automatic change to Normal mode.
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Details
Normal
In this mode the power optimal allocation will first of all allocate thrust within
the given power limitations.
Even load
In this mode the thrust is allocated so that the load is as even and as low as
possible on all connect-switchboards. The mode can also be used to prevent
unnecessary automatic standby start of generators and to give less wear and tear
on the generators.
Even load (with zero bus-tie current flow)
In this mode the thrust is allocated so that the current through the operator-defined
bus-tie is as low as possible. This functionality utilizes the interface for
heavy-consumer load (one per switchboard). The hotel load is assumed to be
shared equally on the switchboards in a connect-switchboard.
Reduced swbd load
In this mode the operator can specify wanted maximum power consumption on
one or more connect-switchboards. K-Pos DP will allocate thrust so that the limits
are normally not exceeded. The limits will be exceeded only to avoid insufficient
thrust, and will therefore not reduce the DP capability in any way. The mode
can be used to prevent automatic standby start of generators on operator-selected
connect-switchboards. It can also be used to increase load on not selected
connect-switchboards to “clean” the associated diesel engines.
Increased swbd load
In this mode the thrust is allocated in a way that will prioritize the usage of the
thrusters on one selected side of the power plant. This can improve the operation
of some generators in calm weather conditions, for example avoid low operational
temperature and sooting. The advantage with Increased swbd load compared to
biasing is that it will not have a big impact on the fuel consumption. Increased
swbd load is suitable to use in moderate weather conditions where the thrust
demand is sufficient to be reallocated.
Related topics
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Preselect dialog box

Use this dialog box to quickly access recorded view selections and record new view
selections.
How to open
From the side bar click Preselected→Settings.
Note
For systems without a side bar use View→Preselect and View→Use Preselect.
Example
Details
Inspect recorded view-selections:
You can inspect the set of display views currently linked to a number on the menu
by clicking the associated button. The display view titles are then shown in the
layout in the dialog box.
Record NEW view-selection:
While the Preselect dialog box is opened, select the required views in the display
areas, and then click the appropriate numbered button in the dialog box. When you
click Close, these views are linked to the respective button.
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These numbered buttons can also be preconfigured to be either

operator-programmable or not. All numbered buttons which are not
operator-programmable appear dimmed in the Preselect dialog box. The
views shown when a corresponding number on the side bar is selected, are all
preconfigured.
You can also give names to the sets of views using the Configure names button.
To enter a name, click Keyboard:
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Presentation units dialog box

You can select which set of units to use for the display and entry of values. If configured
for your system, you can also specify presentation units other than those available in
the list.
How to open
Click View→(Presentation) Units.
Description
Note
Only presentation sets for User Definable can be edited.
Whether the Presentation units dialog box is shown as a compact version or as an extended
version, depends on which version was shown the last time the dialog box was closed.
Example — vessel and sea current speed

This is applicable to the presentation sets User Definable 1 and User Definable 2.
For vessel and sea current speed there are two display formats for knots, either knots (1
decimal point accuracy) or knots (accurate) (2 decimal point accuracy).
For sea current speed there are also two display formats for meter/second, either
meter/second (1 decimal point accuracy) or meter/second (accurate) (2 decimal point
accuracy).
The rest of the speed units have only one display format.
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Example — wind, waves and sea current direction

This is applicable to the presentation sets User Definable 1 and User Definable 2.
For wind, waves and sea current, it is possible to specify whether the indicated directions
are to be interpreted as “comes from” or “goes to”.
When goes to is selected, the indicated directions in dialog boxes and views are shown
with “s.” in front of the unit. The “s” means “setting” (goes to).
In display views such as the Posplot view, the arrows indicating wind and current
directions point towards the plot when comes from is selected, and outwards when goes
to is selected.
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Print status dialog box

Use this dialog box to print the status page or to request repeated printouts.
How to open
Click System→(Printer settings) Print status.
Example
Description
You can print a predefined set of system status data on the event printer connected to
the operator station. You can either request an immediate printout or request repeated
printouts with a given time interval.
Details
Print status
Click this button to request an immediate printout of the status page.

Cyclic print control
Select Cyclic print if you want a cyclic printout to be made automatically after a
specified interval. This can only be selected from the operator station in command.
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Properties - DpPs Serial port dialog box

The information provided on the dialog box is intended primarily for Kongsberg
Maritime personnel.
How to open
2 In the System Status dialog box right-click on any DpPs line.
3 On the shortcut menu click Station Explorer.
4 Click the required PS from the drop-down list.
5 Expand IO Manager, ComAs and the required serial line to locate the serial port (in
the example Serial port 101).
6 Click the submenu symbol ( ) and then Properties from the submenu.
Related topics
Properties - DpPs Serial port dialog box - Disable status page, page 255
Properties - DpPs Serial port dialog box - SerPort page, page 253
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Properties - DpPs Serial port dialog box - SerPort page

Example
Details
Enable configuration
When selected, the configuration shown is enabled.

Baud rate
Shows the baud rate (110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400 baud).
Parity
Shows the parity (No, Even, Odd).

Number of data bits
Shows the number of data bits (5, 6, 7, 8 bit).

Number of stop bits
Shows the number of stop bits (1, 2 bit).

Protocol
Click the line to open the drop-down list with the available protocols.
EOR char. input
Shows the End of Record character input in hexadecimal.

EOR char. output
Shows the End of Record character output in hexadecimal.
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HW handshake
Shows the Hardware handshake (No, RTS@Send, RTS@Receive) - (RTS is short

for Request To Send).
HW selection
Shows the Hardware selection (Default, RS232, RS422, RS485).

Auto disable interrupts
To automatically disable interrupts, select this check box and click the OK or
Apply button.
Max. interrupt rate receive
Shows the highest recorded receive interrupt rate for this serial port (since startup
or reset).
Max. interrupt rate exception
Shows the highest recorded exception interrupt rate for this serial port (since
startup or reset).
Related topics
Properties - DpPs Serial port dialog box, page 252
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Properties - DpPs Serial port dialog box - Disable status page

Example
Details
Reset disabled serial port
To reset a disabled serial port, select this check box and click the OK or Apply
button.
Reset max. interrupt rate
To reset the displayed values for Max. receive interrupt rate and Max. exception
interrupt rate, select this check box and click the OK or Apply button.
Disabled due to high receive rate
Indicates whether the selected port is disabled due to high receive rate (0 =
enabled, 1 = disabled).
Disabled due to high exception rate
Indicates whether the selected port is disabled due to high exception rate (0 =
enabled, 1 = disabled).
Receive interrupt rate
Shows the current receive interrupt rate for this serial port.
Exception interrupt rate
Shows the current exception interrupt rate for this serial port.
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Max. receive interrupt rate
Shows the highest recorded receive interrupt rate for this serial port (since startup
or reset).
Max. exception interrupt rate
Shows the highest recorded exception interrupt rate for this serial port (since
startup or reset).
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Quick model dialog box

Use this dialog box to adjust the mathematical model to correct more quickly for a
persistent offset in position or heading.
Prerequisites
This function should only be used when the position and heading deviation is stable.
Do not enable this function if the position or heading deviation is oscillating around
the desired setpoint.
Description
All the forces acting on the vessel that are not measured directly, such as waves and sea
current, together with any errors in the measured forces, are calculated over a period of
time by the vessel model, and the appropriate thrust is applied to counteract them. These
unknown forces are presented for the operator as residual, either as current or force.
Under normal sea conditions, the major components of the residual force change only
slowly, and the best positioning performance is achieved by calculating them over a
long period of time.
During some operations, significant and rapid changes in residual forces can occur.
For example:
• When manoeuvring in channels, rivers, harbours or around breakwaters, or in areas
with loop current, there may be sudden changes in the current.
• When relatively large forces are not measured accurately, such as the pipe tension in a
pipe-laying operation, there may be sudden errors in the measured forces.
Such sudden changes in the residual forces would normally result in a position offset
which would then be slowly corrected. When selected by the operator, the Quick Model
Update function prepares the system for sudden changes in the residual forces by
adjusting the mathematical model accordingly and in this way ensures more accurate
positioning.
The reaction rate can be specified separately for each axis.
A timer is included so that the Quick Model Update function is automatically switched
off after a specified period.
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How to open
Click Settings→(General) Quick model.
Example
Details
Enable
Enable or disable the Quick Model Update function.

Duration
The duration of the function, after which it will be automatically switched off.
Time left
The timer starts when you select Enable and then click OK or Apply. The Time left
field shows the time remaining before the function will be automatically disabled.
Error gain modification factors
A gain modification factor can be specified for each axis. The factor is specified as
a percentage of the normal reaction to deviation in that axis caused by “current”
forces. A larger factor results in a larger reaction and thereby a shorter integration
time for the “current” forces.
Current angle filter
This funtion is optional. The current angle filter is used by vessels with drag table
who are experiencing oscillations in the heading.
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Note
Enabling this filter during other operations may cause reduced position
performance.
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RBUS IO Image dialog box

This dialog box provides a graphical view of the status of the RBUS IO cards. This is
intended as an aid to fault-finding in the IO system.
How to open
page.
3 On the shortcut menu click IO Manager.
4 Select the required PS from the drop-down list.
5 Expand the IO Manager to locate the RBUSDriver.
6 Click the sub-menu symbol and then Show RBUS IO Image.
Use the two buttons and to select between overview level or detailed level.
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Example
Overview level
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Detailed level
Description
The RBUS IO Image can be opened either in the overview level or the detailed level:
• When the overview level is selected, the display corresponds to the physical layout of
the IO cards as you see them in the IO cabinet.
• When the detailed level is selected, more detailed card and rack information is shown.
The detailed level is intended primarily for Kongsberg Maritime personnel.
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Details
The tool bar
Shows the overview level of the RBUS IO Image.
Shows the detailed level of the RBUS IO Image.
Shows “out-of-rack” cards. Not relevant during normal operation.
Use this drop-down list to select any other PSes .

Appears when an IO card is selected. Hides/shows the IO Terminal Block
dialog box for the selected IO card.
If you click an IO card, the IO Terminal Block dialog box is opened showing
information about the selected IO card and its IO channels.
If you right-click on an IO card, a shortcut menu is opened:
• Show IO Block opens the IO Terminal Block dialog box, showing information about
the selected IO card and its IO channels.
• If the IO card has an error condition, you can click System Events for Node or System
Events for Node and Subnodes to open the Alert list containing the relevant alarms.
Related topics
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Redundant Stations dialog box

In a redundant system you can monitor the status of each station and change the master
station if required by the situation.
How to open
Click System→Redundant stations.
Example
Dual system
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Triple system
Details
PS Groups
Select the target controller PS group for all commands and operational status of
the dialog box from this list.
Redundancy Status
Master
The current master PS is indicated in the appropriate check box. The master
PS is designated for specific tasks only done by a single PS on behalf of
the redundancy group.
You can click Set to select the corresponding process station as the master.
Online
The process station that contributes to control the process is online.

In a dual (or degraded triple) system only the Master PS may be online and
this is indicated in the relevant check box.
In a fully operational triple redundant system with redundancy voting, all
three process stations are online and this is indicated in the relevant check
boxes.
Capability
Shows the Capability status (i.e. to which extent the PS is technically capable
of fulfilling its intended purpose).
• OK — No errors.
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• Common Error — Errors that are common to all PSes in the controller
PS group.
• Degraded — Errors that are restricted to one of the PSes in the group.
• Incapable — The PS is in a state where it should not be used as the master
or online PS.
Mode
Running modes are defined to structure the start-up phase, before a PS is

ready to take control.
• Inactive — The PS is not communicating. It may be in the process of
initiating or loading, or not executing at all.
• Starting — The PS is communicating, but more preparation is needed. In
particular, it may be necessary to initiate IO devices and detect their state.
• Learning — The PS is communicating and has been initiated, but is in the
process of retrieving information from other PSes, which are in Running
mode. This mode can also be entered from Running mode in cases where
normal operation has been interrupted for a while.
• Running — The PS is communicating, and has finished all start-up
preparations.
Redundancy Control
Redundancy type
Shows the redundancy type for the selected controller PS group. Only
Single, Dual and Triple are relevant for DP purposes.
PS fault tolerance
This is the number of PSes that can fail without losing control of the system.
For a single system this number is 0, for a fully operational dual system it is
1, and for a fully operational triple system it is 2.
Update Offline
In the event of deviation between the two PSes in a dual (or degraded triple)
system, click Update Offline to update the offline PS.
Update Offline is unavailable for a fully operational triple redundant system.
If a failure is detected in PS A, B or C, the system continues operating
as a dual redundant system and the Update Offline functionality becomes
available.
If a failure is detected in PS A or B in a dual system (or in two of the three
PSes in a triple system), the Update Offline button on the dialog box becomes
unavailable. The system continues operating as a single system.
A message about the status of the last “Update Offline” is shown below the
Update Offline button, for example:
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Last update offline OK

Error Objects
Error objects are used to report the presence of failures that may lead to an
automatic switch from one PS to another.
If you right-click in the Error Objects area, the following shortcut menu is opened:
In Error
The PS(es) on which the failure is detected.
Overruled
It can be useful to be able to overrule the automatic detection of failures,
especially in cases of instability. This is done by right-clicking the relevant
error and clicking Permanent On (the error is regarded as being permanently
present) or Permanent Off (the error is regarded as being permanently absent)
on the shortcut menu.
Description
A list of the failures.
(Status field in the lower left corner)
Shows the current status of the selected controller PS group (Ready, Requesting
information, Request for configuration failed, Request for capability failed, Request
for state failed, Switching of Master failed or Error when changing permanent
settings).
Do not list error objects...
When the check box is not selected all error object will be listed in the Description
column. Select this check box if you want to reduce the list and show only error
objects in the state of “Overruled” or “In Error”.
PS Operation...
Not relevant during normal operation.
Refresh
Click this button to update the content of the dialog box with the current
operational status.
Error objects
A system surveillance function keeps track of the extent to which the controller PS and
its associated IO equipment is technically capable of fulfilling its intended purpose.
The IO drivers and different system health monitoring functions automatically register
“error objects”. Each error object is identified with a unique name and is used to
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report the presence or absence of errors. By communicating with other members of

the redundancy group, the system keeps track of which errors are shared between all
controller PSes in the group (common errors), which ones are exclusive to one controller
PS and which ones that make the PS incapable of controlling the process.
No weights are assigned to errors. Neither is the number of errors significant. What
makes a PS “more capable” than another is defined by the following list in the order of
falling capability:
• OK — A PS without errors
• Common error — A PS with only common errors
• Degraded — A PS with separate errors
• Incapable — An incapable, but running PS
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Reference system dialog box

How to open
Click Sensors→(Reference systems) Reference system.
Related topics
Reference system dialog box - Weight page, page 271
Reference system dialog box - Validation page, page 273
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Reference system dialog box - Enable page

How to open
Example
Description
The Monitor and Enable check boxes for each position-reference system are mutually
exclusive. If the Monitor check box of an enabled position-reference system is selected,
this position-reference system is disabled. If the Enable check box of a monitored
position-reference system is selected, Monitor is deselected for this system.
Details
Accepted
The check boxes show which position-reference systems are currently accepted.
Monitor
Check boxes for selecting position-reference systems to monitor.

A reference system enabled for monitoring will not influence the DP model and it
will not be included as an active reference system for the median test. Apart from
this all other tests are active.
Enable
Check boxes to enable or disable each of the available reference systems.
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Reference system dialog box - Weight page

How to open
Example
Details
Normal
Provides standard relative weight between the enabled position-reference systems,

i.e. all systems with equal estimated variance have equal weights.
Reduced GPS weight
Reduces the influence from the measured GPS positions relative to measurements
from other position-reference systems.
Reduced GPS weight is especially important if you have an oscillating GPS system,
as often will be the case in equatorial waters due to ionospheric degradation of
GPS. In this way a position-reference system with slow update rate, such as an
LBL system, will have greater influence on the model than a GPS system with
faster update rate.
Example showing typical relative weights when using 2 GPSes and 1 LBL with
similar accuracy levels:
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GPS-1 GPS-2 HPR

Normal 0.33 0.33 0.33
Reduced GPS 0.10 0.10 0.80
The relative weights used are shown in the Reference system main view.
Related topics
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Reference system dialog box - Validation page

How to open
Example
Details
Acceptance limits
The acceptance limit for the Prediction test and indirectly also the Median test can
be changed.
Narrow
Narrow limit. Corresponds to a minimum prediction error circle with a

small radius. The radius may still increase due to increased noise in the
position-reference system. Narrow is recommended when operating in calm
weather and with requirements for accurate station-keeping. If all available
(or the dominating) position reference exhibit an erroneous drift in position,
the system(s) will also be rejected at an early stage before the vessel is
significantly affected by the wrong measurements.
Normal
Medium limit. The same minimum prediction error limit as for Narrow is
used. There is an additional feedback mechanism where the actual deviation
from the model is used to increase the prediction error limit up to a maximum
of 2 to 3 times the smallest radius. Normal should be applied in situations
where there is a chance that the DP model does not follow the actual
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movement of the vessel. This is especially relevant when operating in rough

sea. It is also applicable for a vessel operating with another vessel alongside.
A negative side effect of this setting is that the system will, to a larger extent
than with the Narrow setting, tend to follow drifting position-reference
systems.
Wide
Wide limit. A minimum prediction error circle with an increased radius

compared to the other two settings is used. The same feedback mechanism
as for Normal is used, and the maximum value of the prediction error is also
increased. Wide is suitable, for example, for sailing at high speed.
Median test
The settings of the Median test can be changed.

Off
Turns off the median testing. This is indicated with the text OFF in the
Median test field in the Reference system main view, and by removal of the
median test limit circle from the plot in the Reference system main view.
Warning
Turns on the median testing. When selected, a deviation warning is given if

the difference between the position data from a specific position-reference
system and the median of all online reference systems exceeds a preset
warning limit.
Warning can be preferable compared to Warning and reject in some instances.
For example, when operating with two GPSes and one or two HPR systems,
and the GPSes have similar failures, Warning and reject could lead to
rejection of the HPR by the median test.
Warning and reject
Turns on the median testing. When selected, a reject warning is given if

combined warning and reject limit. The position-reference system is rejected.
The median test limit circle is shown on the plot in the Reference system
main view, together with the limit value in the Median Test field.
Related topics
Median test, page 127
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Reference system origin dialog box

You can change several parameters for each position-reference system in use to achieve
optimal positioning measurements.
How to open
Click Sensors→(Reference systems) Origin.
Example
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Details
Position properties
Select the required Datum for position presentation to be used in this dialog box.
Select the format of the position of origin, either Geographic, UTM or US state plane.
System origin
ID
Select the position sources to use for the required position-reference systems
from the drop-down lists.
Fix
The operator may choose to fix the reference origin of one or more reference
systems. A reference system with a fixed reference origin will not be
calibrated towards the model. Fixed reference origins can be specified by
typing the coordinates and selecting Fix. This is useful when the reference
origin is known, for example the position of an HPR or LBL transponder
relative to a BOP or an Artemis Fix antenna.
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Reference system properties dialog box

You can change several parameters for each position-reference system in use to achieve
optimal positioning measurements.
How to open
Click Sensors→(Reference systems) Properties.
Example
The dialog box with details shown:
Details
Weight
You can change the position-reference system’s relative weight.

Normal
Provides standard relative weight between the enabled position-reference

systems, i.e. all systems with equal estimated variance have equal weights.
Reduced GPS weight
Reduces the influence from the measured GPS positions relative to

measurements from other position-reference systems.
Reduced GPS weight is especially important if you have an oscillating GPS
system, as often will be the case in equatorial waters due to ionospheric
degradation of GPS. In this way a position-reference system with slow
update rate, such as an LBL system, will have greater influence on the model
than a GPS system with faster update rate.
Example showing typical relative weights when using 2 GPSes and 1 LBL
with similar accuracy levels:
GPS-1 GPS-2 HPR

Normal 0.33 0.33 0.33
Reduced GPS 0.10 0.10 0.80
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The relative weights used are shown in the Reference system main view.
Acceptance limits
The acceptance limit for the Prediction test and indirectly also the Median test can
be changed.
Narrow
Narrow limit. Corresponds to a minimum prediction error circle with a
small radius. The radius may still increase due to increased noise in the
position-reference system. Narrow is recommended when operating in calm
weather and with requirements for accurate station-keeping. If all available
(or the dominating) position reference exhibit an erroneous drift in position,
the system(s) will also be rejected at an early stage before the vessel is
significantly affected by the wrong measurements.
Normal
Medium limit. The same minimum prediction error limit as for Narrow is
used. There is an additional feedback mechanism where the actual deviation
from the model is used to increase the prediction error limit up to a maximum
of 2 to 3 times the smallest radius. Normal should be applied in situations
where there is a chance that the DP model does not follow the actual
movement of the vessel. This is especially relevant when operating in rough
sea. It is also applicable for a vessel operating with another vessel alongside.
A negative side effect of this setting is that the system will, to a larger extent
than with the Narrow setting, tend to follow drifting position-reference
systems.
Wide
Wide limit. A minimum prediction error circle with an increased radius
compared to the other two settings is used. The same feedback mechanism
as for Normal is used, and the maximum value of the prediction error is also
increased. Wide is suitable, for example, for sailing at high speed.
Median test
The settings of the Median test can be changed.
Off
Turns off the median testing. This is indicated with the text OFF in the
Median test field in the Reference system main view, and by removal of the
median test limit circle from the plot in the Reference system main view.
Warning
Turns on the median testing. When selected, a deviation warning is given if
warning limit.
Warning can be preferable compared to Warning and reject in some instances.
For example, when operating with two GPSes and one or two HPR systems,
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and the GPSes have similar failures, Warning and reject could lead to
rejection of the HPR by the median test.
Warning and reject
Turns on the median testing. When selected, a reject warning is given if

combined warning and reject limit. The position-reference system is rejected.
The median test limit circle is shown on the plot in the Reference system
main view, together with the limit value in the Median Test field.
Related topics
Datum details dialog box, page 177
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Reference system settings dialog box

Use this dialog box to change the characteristics, update period and accuracy of a
position-reference system.
How to open
Click Sensors→(Reference systems) Settings.
Example
Description
The characteristics of the position-reference system can only be defined when it is not
enabled for use or monitoring, whereas the update period and accuracy can be specified
while in operation.
The Reference system settings dialog box can be used to define the input conversion that
is required for each position-reference system:
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• For global reference systems, you must specify the datum that is used by that system
so that the position information can be converted to the selected system datum.
• For all reference systems, you can specify the offset from the antenna or sensor head
on the vessel to the vessel's midships position, so that the position information can be
adjusted for this offset.
Depending on the selected reference system the dialog box may have different
appearance.
Details
Reference system
Select the name of the reference system from the list. If you have changed the
properties of a reference system, and then selected another system from the list, a
dialog box is opened prompting you to save the changes.
TP NO
This is the transponder number for reference system with more than one
transponder.
TP ID
Each transponder for every reference system has a predefined ID name.

Datum
For a global reference system, the datum in which the position measurements are
received. If this datum is different from the selected system datum (WGS84),
conversion to the system datum will be performed.
If position information from a global reference system is based on a predefined
datum other than those present in the Datum drop-down list, you can select
Local-datum from this drop-down list. You must then use the Position presentation
dialog box and Datum details dialog box to define the required transformation
parameters.
System / TP mode
The Accepted check boxes show which position-reference systems and/or

individual position sources are currently enabled and accepted. The Monitor,
Enable and Disable option buttons are used for selecting position-reference systems
and individual position sources to monitor, enable and disable, respectively.
A reference system enabled for monitoring will not influence the DP model (zero
weight), and it will not be included as an active reference system for the median
test. Apart from this all other reference system checking is active.
For reference systems with mobile transponders there is an additional check box
Mobile, to define the transponder as mobile or not
Plot
You can select to show the trend plot on the Reference system main view with a
defined time span.
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Position
The coordinates of the selected references system.

TP coordinates
The coordinates of the selected transponder of the respective references system.

Raw position
The position of the selected references system relative to the vessel.

CG Offset
Specify the offset (Ahead, STBD and Down) from the vessel's centre of gravity
(Midships) to the antenna or sensor head on the vessel. The received position
information is then adjusted for this offset.
Note
Some position-reference systems have internal adjustments to centre of gravity.
For these systems, the received position information should not be adjusted by
the DP system.
Expected values
Specify an update period and an accuracy for the selected position-reference

system. The update period is mostly used for HPR systems. To avoid unnecessary
timeout warnings, you can extend the update period and thus the time before a
warning is issued. The accuracy value is used for calibration purposes and when
testing the accuracy of the position-reference system. If calibration fails, increase
the value to ease calibration of a position-reference system. Note that the higher
the value entered in the Accuracy text box, the wider the limits for the tests on
Error ellipse
The system calculates a variance of the measurements for each position-reference

system. Based on these calculations, the system places different weighting on
their measurements according to each system’s individual quality and gives
more emphasis on the position-reference systems that are providing the best
measurements. The higher the system’s variance, the lower its weighting factor.
In addition, an error ellipse may be used while calculating the accuracy of the
measurements - check box selected.
For some reference systems this error ellipse can be too large and pessimistic,
resulting in lower weighting of the reference system than necessary. Deselect
the check box to switch off the function for including the error ellipse in the
calculations.
To change the selection of the function, the reference system should be deselected
(the respective button on the panel unlit).
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Dialog boxes
Depending on the type of position-reference system and its internal settings, this
function can be permanently set to on or off and not available for the operator to
select it.
If the selected system is GPS, an additional group box is shown:
Quality filter actions
With a satellite navigation system selected, and the Details button in the Reference
System Properties dialog box opened to show the quality filter, a number of filter
parameters can be specified specifically for the selected system. For each filter
parameter, a quality filter action can be specified. It can be either None, Warning
(data used, warning given) or Alarm (data rejected, alarm given).
No differential correction
Select a filter action if no differential data is available/received. This is

considered to be an important parameter, and a warning or an alarm must
always be given. It is therefore not possible to select None as an action.
MIN number of satellites
Enter the minimum number of satellites in the corresponding text box to

select filter action. The number of satellites you enter must be larger than
or equal to the preconfigured number shown in the dialog box (3 in the
example shown).
MAX HDOP
Type a maximum value for the HDOP (Horizontal Dilution Of Precision)

in the text box to select filter action. The HDOP represents the quality of
the derived position and clock bias estimates. This number is based on the
geometry of the satellite constellation. The more spread out the satellite
positions are, the lower the HDOP becomes. A low number results in less
errors in position and clock bias.
Time freeze detection
Select a filter action for the UTC (Universal Time Coordinated, i.e. common
standard time) freeze detect function. This quality filter function only applies
when receiving telegrams containing clock data.
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Reset controller PS dialog box

Use this dialog box to reset a controller PS in the event of a software problem.
Prerequisites
Before resetting a controller PS in a dual-redundant or triple-redundant system using the
Reset controller PS dialog box, you should ensure that another controller PS is operational
and is selected as the master computer.
How to open
Click System→Reset controller PS.
Example
Description
To reset a controller PS, select the Controller PS to be reset and then click OK or Apply.
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Rotation center dialog box

This rotation centre is used when both the vessel heading and position is under automatic
control. The coordinates of the rotation centre can be either predefined or manually
entered. A manually entered rotation centre can be located anywhere, even outside
the vessel itself.
How to open
Click Settings→(Control) Rotation center.
Example
Description
Up to 20 rotation centres can be predefined for the vessel in fixed positions relative to the
midships position on the vessel.
A suitable configuration of thrusters must be enabled. For example, if you want the
vessel to rotate about the aft part of the vessel, there must be at least one thruster enabled
forward of the vessel centre.
If thrusters are disabled so that the selected rotation centre no longer can be applied, the
rotation centre in use will automatically be changed.
Midships is the default rotation centre and is used when the following message is shown:
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Details
Select rotation center
The available rotation centres are shown in the Select rotation center group box.
When a predefined rotation centre is selected, its coordinates are shown in the
Ahead and STBD boxes.
Requires surge and sway control
The rotation centres defined or selected here are active only during automatic
surge and sway control.
If Other is selected, the drop-down list, from which you can select a predefined
rotation centre, becomes available, and the dialog box is enlarged to show a
Preview display. The intersection of the horizontal and vertical lines in the Preview
in the Rotation center dialog box marks the midships position on the vessel.
When a rotation centre is selected in the drop-down list, its coordinates are shown
in the Ahead/Astern and STBD/PORT boxes and in the Preview display. All
coordinates are measured relative to the midships position.
If User Defined is selected in the drop-down list box, the coordinates of the required
rotation centre can be entered directly in the Ahead/Astern and STBD/PORT boxes.
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In use
The In Use boxes show the coordinates of the currently active rotation centre in the
Ahead/Astern and STBD/PORT axes.
An brown circle in the Preview shows the position of the currently-active rotation
centre (In Use). A blue circle shows the position of the proposed rotation centre
(Selected). When the selected rotation centre becomes in use, the two circles have
the same position:
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Sensors dialog box

This dialog box can have several pages depending on the sensors installed on the vessel.
How to open
Click Sensors and the name of the respective sensor.
Related topics
Sensors dialog box - Draught page, page 289
Sensors dialog box - Gyro page, page 291
Sensors dialog box - Rate of turn page, page 293
Sensors dialog box - VRS page, page 298
Sensors dialog box - Winch page, page 300
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Sensors dialog box - Draught page

Use this page to select and control the source of vessel draught information.
How to open
Click Sensors→Draught.
Example
Description
For optimal positioning performance, the system must have accurate information
regarding the vessel's draught at all times. The vessel draught can either be specified by
the operator or measured by a draught sensor.
If the information from the draught sensors is correct and reliable, then this should be
used in preference to manually-entered or fixed values.
box in the system installed on your vessel may display only some of the items shown in
this example.
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Details
Sensor
When Sensor is selected, you can specify the draught sensor that is to be used.
Each draught sensor has an associated Enable check box. Selecting this check box
enables the signals from this draught sensor for use by the system. If more than
one sensor is enabled, the system uses the average of all the enabled sensors. The
sensor currently used by the system is indicated in the In Use check box. If Sensor
is selected but no sensors are enabled, the manual value is used by the system.
Operational
When Operational is selected, the predefined operational draught value is used

by the system.
Transit
When Transit is selected, the predefined transit draught value is used by the system.
Manual
When Manual is selected, the draught value entered under Fixed draught is used
by the system. If you try to enter a value that is too high or too low, the value is
rejected by the system and a message about the legal range for draught is shown.
Used draught
Shows the draught value that is currently used by the system. This field is for
information only.
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Sensors dialog box - Gyro page

Use this page to select and control the source of gyro information.
How to open
Either press the Gyro button on the panel or click Sensors→Gyro.
Example
Details
OK
The OK status for each gyrocompass is shown in the corresponding OK check box.
The status for all channels from the gyrocompass must be OK for the check box to
be selected. This check box is for information only.
Enable
Each gyrocompass has an associated Enable check box. Selecting this check box
enables the signals from the gyrocompass. The system will automatically disable
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a gyrocompass if it is not OK. The Enable check box is deselected and made
unavailable.
Preference
Specify which gyrocompass is preferred for use by the system.

In use
The gyrocompass that is currently used by the system to calculate the vessel's
heading is indicated in the In use check box. If the gyrocompass is not OK or a
failure is detected, the check box is deselected and the system will automatically
switch to another gyrocompass enabled for use.
Gyro heading
The measured heading from the gyrocompass.

Added correction
Specify a gyrocompass correction to compensate for a possible offset of the

vessel’s gyrocompass for example compared with a surveyor's gyrocompass. The
text box is unavailable and appears dimmed when the corresponding gyrocompass
is enabled.
Note
To ensure consistent data for all users of a gyrocompass, it is recommended to
adjust the gyrocompass itself.
Used heading
The measured heading from the gyrocompass with added correction.

Note
The gyro deviation calculation uses the Used heading values as input for the
calculations.
Related topics
Gyro deviation dialog box, page 200
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Sensors dialog box - Rate of turn page

Use this page to select and control the source of rate of turn information.
How to open
Click Sensors→Rate of turn.
Example
Description
Rate of turn (ROT) measurements can be used to improve the heading control of the
vessel. This is useful when a very accurate heading control is required during high-speed
sailing, or when a vessel has a hull shape that makes it difficult to control the heading.
Measurements of the vessel's Rate Of Turn are received from the gyrocompasses, or a
dedicated ROT sensor. The ROT sensors should be enabled to allow this information to
be used by the DP system.
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Details
OK
The OK status for each sensor is shown in the corresponding OK check box. The
status for all channels from the sensor must be OK for the check box to be selected.
This check box is for information only.
Enable
Each sensor has an associated Enable check box. Selecting this check box enables
the signals from the sensor. The system will automatically disable a sensor if it is
not OK. The Enable check box is deselected and made unavailable.
Rate of turn
Shows the measured rate of turn in degrees per minute.
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Sensors dialog box - Speed page

Speed measurements can be used as an addition to position measurements to improve
the vessel speed control. Use this page to enable available speed sensors or to enter a
manual alongships speed value.
How to open
Click Sensors→Speed.
Example
Description
In high speed operations all enabled sensors will normally, unless a sensor has failed,
be used by the system. It is recommended also to enable manual speed input since the
manual value then will be updated based on the sensors in use. Should all sensors be
lost, an initial manual value will reflect the real situation.
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Details
Doppler log
Enable
Each sensor has an associated Enable check box. Selecting this check box
enables the signals from the sensor. The system will automatically disable
a sensor if it is not OK. The Enable check box is deselected and made
unavailable.
In use
The sensor that is currently used by the system is indicated in the In use
check box. If the sensor is not OK or a failure is detected, the check box
is deselected and the system will automatically switch to another sensor
enabled for use. This check box is for information only.
Along
Shows the measured alongships vessel speed.

Athwart
Shows the measured athwartships vessel speed.

The Doppler Log speed is marked with SOG or STW depending on the type
of speed output from the sensor:
• SOG — Speed over ground
• STW — Speed through water
GPS speed
Enable
Each sensor has an associated Enable check box. Selecting this check box
enables the signals from the sensor. The system will automatically disable
a sensor if it is not OK. The Enable check box is deselected and made
unavailable.
In use
The sensor that is currently used by the system is indicated in the In use
check box. If the sensor is not OK or a failure is detected, the check box
is deselected and the system will automatically switch to another sensor
enabled for use. This check box is for information only.
Speed
Shows the measured vessel speed.

Course
Shows the measured vessel course.
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Note
When a failure occurs in the GPS speed and/or course signals, the Speed and
Course boxes are marked with ‘- - - - - -’.
Manual speed
Enable
Select this check box to enable Manual speed. In high speed operations it is
recommended to enable Manual when using speed sensors to have an initial
Manual value that reflects the real situation.
In use
If the manual value is currently used by the system, it is indicated in the In

use check box. This check box is for information only.
Along
When no speed sensors are enabled, you can enter a value in this text box.
This box is not available when one or more sensors are enabled.
If you enter a value that is too high, a message about the legal range is
shown. You will have to change the input value to continue.
Used speed
Shows the vessel speed used by the system. This is an average, filtered value of the
combined measurements from the In use speed sensors or the manual input value.
Along
Shows the used alongships vessel speed.

Athwart
Shows the used athwartships vessel speed. This will be zero when no speed
sensors are enabled.
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Sensors dialog box - VRS page

Use this page to select and control the source of VRS information.
How to open
Either press the VRS button on the panel or click Sensors→VRS.
Example
Details
OK
Enable
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Preference
Specify which sensor is preferred for use by the system.
In use
The sensor that is currently used by the system is indicated in the In use check
box. If the sensor is not OK or a failure is detected, the check box is deselected
and the system will automatically switch to another sensor enabled for use. This
check box is for information only.
Pitch/Roll/Heave
Measurements from the VRS.
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Sensors dialog box - Winch page

How to open
Click Sensors→External force and select the Winch tab.
Example
Details
None
When this option button is selected, no measurements are selected.

Measured
If you want to use sensor readings, click this option button. The text box shows
the value of the measurements used.
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Manual
If you want to enter the value manually, click this option button and enter the
required value in the text box.
Estimated
If you want to use estimated tension, click this option button. The Force text box
shows the value of the tension used.
Details/Hide
Toggles the show/hide detailed part of the dialog box.
Scale
Additional sensor scaling can be entered as a percentage. (A value of 110% means
that the sensor measurement will increase.)
Bias
Additional sensor bias can be entered as a force value or as an angle. When a bias
or offset is added to the sensor measurement, it is done after the scale value is used.
The resulting sensor measurement scaling with a bias is as follows:
Used sensor value = measured value*Scale/100 + Bias
Max value
Measurements (after additional scaling) will be limited upwards to this value. To
avoid increasing tension until something breaks, the maximum value should be
set to a safe level. If the measurement is persistently above this value for some
time, a warning is given.
Min value
Measurements (after additional scaling) will be limited to this value. If the
measurement is persistently below this value for some time, a warning is given.
Filter time
You can enter the time constant for the low pass filter.
The corrected and minimum/maximum limited measured tension is low-pass
filtered before used in the DP estimator and controller to get a smoother signal. If
a tension input failure occurs (signalled by the received status byte) the tension
will not drop instantly, but slowly decrease to zero to obtain a soft transfer of
tension to sea current model.
Point of attack
You can enter values in the Along and Athwart text boxes to inform the system
about the position of the point at which the force due to pipe tension is acting
on the vessel.
Note
Be aware of the sign conventions which apply to the position values you enter
into the Along and Athwart text boxes.
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Related topics
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Sensors dialog box - Wind page

Use this page to select and control the source of wind information.
How to open
Either press the WIND button on the panel or click Sensors→Wind.
Example
Description
You can specify which wind sensor is preferred for use by the system. If no errors
are detected in the wind sensor measurements, the system will always use the
operator-preferred sensor (for which Preference is selected in the Sensors dialog box
Wind page).
The raw measurements of wind speed and direction are filtered internally (using a
Kalman filter with both low and high frequency parts), to estimate the most reasonable
speed and direction values to be used by the DP system.
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Details
OK
Enable
Preference
Specify which sensor is preferred for use by the system.
In use
The sensor that is currently used by the system is indicated in the In use check
box. If the sensor is not OK or a failure is detected, the check box is deselected
and the system will automatically switch to another sensor enabled for use. This
check box is for information only.
Relative speed
The shown wind speed is the measured wind speed relative to the vessel, not
corrected for vessel motion.
Relative dir.
The shown wind direction is the measured direction relative to the vessel heading,
not corrected for vessel motion.
Manual
You can manually enter the values for wind speed and wind direction which the
system should use to calculate the wind force acting on the vessel. To enter values,
disable all sensors and click Apply. The In use check box for Manual input will be
selected, the True speed and True dir text boxes will appear white, and you may
enter values using the keyboard or the Numeric entry keypad dialog box.
True speed, True dir.
Display the true wind speed and direction. The present mode and whether or not
one or more sensors are enabled, determine which values are shown in the text
boxes:
• In Standby mode with one or more wind sensor enabled, the True speed and True
dir. fields display the same values as Relative speed and Relative dir..
• In any mode other than Standby with one or more wind sensors enabled, the
True speed and True dir. boxes show the true wind speed and direction values
(filtered values).
• In any mode with no wind sensors enabled, the True speed and True dir. boxes
contain the manually-entered values for the true wind speed and direction.
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Spectrum
Specify the wind spectrum to be used in connection with the Extreme Motion and
Tension Prediction function.
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Set System Date/Time dialog box

Use this dialog box to change the date and time of the system clock.
Prerequisites
Setting the system date and time can only be performed by the “Chief” user.
How to open
Click System→(Date/time) Set date/time.
Example
Description
You can either enter the time and date values directly into the text boxes or you can use
the arrow buttons to select time and date values.
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Speed setpoint dialog box

This dialog box is useful in operations that require frequent changes of speed setpoint
as it allows you to specify the speed at which the vessel should try to move during a
change of position.
Prerequisites
This speed applies only when the surge and/or sway axes are under automatic control.
How to open
Click Settings→(Control) Speed.
Example
Description
Enter the required value in the Speed setpoint spin box, or use the arrow buttons to adjust
the setpoint by the selected increment or decrement defined in the Increase/decrease
speed step spin box.
As the vessel approaches the position setpoint, the speed setpoint is reduced to zero.
Note
If the speed setpoint is set to 0.0, the vessel will not change position.
If the speed setpoint is set to 0.0 and the vessel's rotation centre has been set to another
position than midships, it will not be possible to perform a change of heading. This is
because a heading change with a rotation centre other than midships implies a change of
position which requires a speed setpoint that is not zero.
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Station Explorer dialog box

This dialog box provides system status information for all system components in a
selected process station.
How to open
2 Right-click on a PS line.
3 Click Station Explorer on the shortcut menu.
Note
If the dialog box is empty, you have to select the required DpPs from the drop-down list.
Example
Description
The status information includes:
• For the basis system: applicable PS system information, self-tests and environment
checks (such as temperature check, fan alarm).
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• For the IO Manager: information about all nodes and subnodes of all configured
IO parts.
• For the network: information about the redundant networks - Net A and Net B.
All nodes in the process station are represented by graphical symbols showing their
current alarm status.
Details
(PS tree structure)
The dialog box provides a tree structure showing all the nodes and subnodes in the
PS. The tree structure can be expanded and collapsed, to show or hide information
details. Graphical symbols are shown to indicate the alarm status. Hotspot symbols
provide links to dialog boxes for showing further information about the IO system.
Alarm status indicators
The following alarm status indicators may be shown in the PS status view pane.
There is an error condition in this equipment node, and the alarm is not acknowledged.
When acknowledged, a red circle is shown .
The error condition in this equipment node is no longer present, but the alarm is not
acknowledged. When acknowledged, a green circle is shown (see below).
There is an error condition in this equipment node and the alarm is acknowledged.
The red arrow indicates that there is either an error or an unacknowledged alarm in one
or more equipment subnodes.
Node and all subequipment nodes are OK.
Hotspots
Hotspot symbols provide links to dialog boxes for further information about the IO
system:
Opens the Properties dialog box, which shows an overview of the software and
hardware status of the selected PS. This feature is intended only for Kongsberg
Maritime personnel.
Opens the IO Manager dialog box, which shows the status of the IO drivers and IO
blocks for the selected PS.
Opens the Driver Properties dialog box for the selected IO driver. This feature is
intended only for Kongsberg Maritime personnel.
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Opens a submenu:
• For an IO driver:
– Click Show RBUS IO Image to show a graphical view of the IO cards.
– Click Show IO Driver to open the Driver Properties dialog box for the selected IO
driver. This feature is intended only for Kongsberg Maritime personnel.
• For an IO block (IO card):

– Click Show IO Block to open the IO Terminal Block dialog box, which shows
information about the selected IO block and its IO points.
– Click Properties to open the Properties dialog box for the selected IO card. This
feature is intended only for Kongsberg Maritime personnel.
• For a serial port:
– Click Properties to open the Properties-DpPs Serial Port dialog box for the
selected serial port.
Opens the IO Terminal Block dialog box, which shows information about the selected
IO block and its IO points.
Related topics
RBUS IO Image dialog box, page 260
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Stop/restart dialog box

Use this dialog box to shut down/reboot the operator station if the system is not
performing as required, for example display views are not updated or the operator station
does not respond to operator input.
How to open
Click System→Stop/restart.
Example
Details
Shutdown
Stops the OS software, shuts down the Windows session and turns off the computer.
Reboot
Stops the OS software, restarts the Windows session and restarts the OS software.
Note
Avoid restarting the operator station by switching the power off and on. It may damage
the Windows file system.
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Thrust allocation dialog box

Thrust allocation can be performed in many different ways. The functions that are
available for the vessel are listed on the Thrust allocation dialog box.
Prerequisites
For some of the modes a sufficient number of thrusters must be enabled to select the
mode. The system will automatically switch back to the default thrust allocation mode
(normally VARIABLE mode), if you deselect thrusters or thrusters lose their READY
status.
How to open
Either press the ALLOC. SETUP button on the panel or click Thruster→Allocation mode.
Example
Description
The configuration and operational requirements of the vessel determines the thrust
allocation modes that are implemented in the system, as well as the criteria for the
automatic mode switch. Details of the available thrust allocation modes are provided
with the configuration information for each vessel.
Details
Mode
For the azimuth thrusters, you can choose between various thrust allocation modes.
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The currently-selected thrust allocation mode is shown both in the Thrust allocation
dialog box and in the Thruster main view.
Depending on the operation mode, illegal thrust allocation modes will be
unavailable.
Some azimuth thrust allocation modes can be configured to comprise thruster
biasing. Thruster biasing can also be available as a dedicated thrust allocation
mode with its own name. The following are some typical examples of azimuth
thrust allocation modes:
Variable
The system automatically changes the angle of the azimuth thrusters so that
the thrust is always angled in the optimum direction. In order to reduce wear
and tear on the azimuth thrusters due to continuous changes in the azimuth
thruster angles, a dead-band function is incorporated.
Use this thrust allocation mode when the environmental forces acting on the
vessel are large and are not constantly changing direction.
A set of forbidden zones for each thruster can be predefined to prevent a
particular thruster from interfering with other thrusters, the hull or other
equipment. What happens to the thrust when a thruster passes a forbidden
zone can be predefined for each zone (for example, the thrust can be reduced).
Fix
The system automatically selects a predefined fixed angle for each or some of
the azimuth thrusters. When the environmental force is small and constantly
changing direction, this mode can be used in order to avoid continuous
changes in the azimuth thruster angle.
If you disable and then re-enable a thruster that is running in this mode with
a negative pitch or rpm, the system will automatically turn the thruster 180
degrees.
Environ fix
A set of alternative, fixed angles are predefined for each azimuth thruster
from which the system automatically selects the optimum angles. The
system selects the angles for azimuth thrusters according to the directional
force setpoint when the operator selects this mode.
If you disable and then re-enable a thruster that is running in this mode with
a negative pitch or rpm, the system will automatically turn the thruster 180
degrees.
Fix weather PORT
The system automatically selects a fixed angle for each azimuth thruster,
suitable for counteracting environmental forces from the port side.
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Fix weather STBD
The system automatically selects a fixed angle for each azimuth thruster,
suitable for counteracting environmental forces from the starboard side.
Diving
This is identical to VARIABLE azimuth mode except that the two modes have
separate configuration of prohibited zones. It is used to activate dedicated
zones during diving operations to prevent the sending of thruster wash
towards the umbilical or diving bell.
This mode can also be used to protect other kinds of equipment, such as HPR
and LTW, and will then be named accordingly.
What happens to the thrust when a thruster passes a prohibited zone can be
predefined for each zone (for example, the thrust can be reduced).
Heave red
When using heave reduction, excessive thrust is applied to increase the

hydrodynamic damping of the vessel. This reduces the motion of the vessel
induced by wave forces. The effect can be used to reduce the motions when
particularly critical operations are to be carried out, for example crane
operations, transfer of personnel, etc.
The azimuth thrusters configured to participate in the motion reduction will
be at predefined azimuth angles, and they will as a minimum be run at a
predefined force limit, for example 50 % force. The thruster angles are
selected so that the resulting thrust is zero when there is no thrust demand.
Manual fix
In this mode the operator can freely set fixed azimuth angles of azimuth
thrusters and rudders/nozzles using the Allocation settings dialog box.
Control
The configuration and operational requirements of the vessel determine the

controls that are implemented in the DP system. Details of the available controls
are provided with the configuration information for the vessel.
The following are examples of thrust allocation controls:
Increased power
Allows the thrusters to be used at more than their nominal rating for a
limited period of time (if the thrusters are designed to handle this) in order to
survive an emergency situation. The increased power is predefined for each
thruster, typically 10 % to 20 %. Normally, this mode needs a ready signal
to be selected. When the time period has expired, the thruster utilisation is
automatically returned to nominal values.
Position priority
If both the rotational moment and directional force setpoint cannot both be
met due to insufficient available thrust, priority is normally set to obtain the
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rotational moment setpoint (heading priority). Clicking Position priority

changes the thrust allocation priority from heading to position.
Free run
Allows a greater maximum pitch/rpm to enable the vessel to reach full speed when
running in Autopilot or Auto Track (high speed) mode. When set to Automatic, free
run is automatically selected when Autopilot or Auto Track (high speed) mode is
entered. The on/off state for free run is also shown in the Thruster main view. The
contents of the Free Run group box may vary depending on vessel configuration.
Related topics
Thruster biasing dialog box, page 316
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Thruster biasing dialog box

box in the system installed on your vessel may show only some of the items depending
on the type of biasing — manual or automatic.
How to open
Click Thruster→Biasing.
Related topics
Thruster biasing dialog box - manual biasing, page 317
Thruster biasing dialog box - automatic biasing, page 319
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Thruster biasing dialog box - manual biasing

How to open
Example
Details
Group name
The predefined name of the thruster group. The thruster groups are shown
colour-coded on the small thruster force model in the Thruster main view
In use
Select this check box to turn on the Thruster Biasing function for this thruster
group. The check box is unavailable if Manual fix mode is selected in the Thruster
allocation dialog box and Manual fix angle is set for a thruster member of this group
in the Allocation settings dialog box.
Thrusters
Shows the number of the thrusters which counteract each other in each group. A
special situation is when there is only one thruster in a group. The text boxes for
this group then appear dimmed, with the thruster number shown only in the first text
box. With two or more thrusters in a group, you can define the thrusters to interact.
An error checking routine informs if:
• The same thruster number is specified twice in the same group.
• The same thruster number is specified in two different groups.
• An illegal thruster number is entered.
• An illegal thruster type is entered.
These checks only apply for thruster groups that have the In use check box selected.
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Bias
The minimum force to be used for each thruster when running the thrusters which
counteract each other.
Turn factor
The thrusters will work towards each other (when the Inwards check box selected)
until this force level is reached. When this level is reached, one thruster will turn,
and they will both work in the same direction.
Angle factor
Determines the relative priority of angle against force to satisfy the force demand.
Spin
If one thruster in this group is disabled and the other is not, and the demand to the
enabled thruster is less than the bias force, you can choose to spin the enabled
thruster.
Inwards
When two thrusters are counteracting each other, you can choose between running
them towards each other (Inwards check box selected), or away from each other
(Inwards check box not selected).
Related topics
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Dialog boxes
Thruster biasing dialog box - automatic biasing

How to open
Example
Details
Thrusters
Shows the thruster numbers to counteract each other in each group. With two or
more thrusters in a group, you can define the thrusters to interact when By operator
is selected.
Bias
The minimum force to be used for each thruster when running the thrusters to
counteract each other. You can enter a required bias value when By operator is
selected.
Thruster select
Set the system to change bias pairs automatically as a function of demand direction.
Automatic
When selected, the Thrusters and Bias columns become unavailable for
editing by the operator. The system selects thruster bias groups automatically
based on a predefined setting. The demand direction decides which group
setup is selected.
If a thruster becomes the only enabled thruster in a group, this thruster
can (based on certain criteria) join another group. The thrusters will then
436094/D 319
counteract each other so that the resulting thrust is zero for this “new” group.
When a thruster joins a group, the thruster number is shown below the text
Joined in the Thruster biasing dialog box, adjacent to the numbers of the
other thrusters in the group.
An example of thruster biasing where Thruster 4 has joined the group
containing thruster 7 and 8 because thruster 5 is disabled:
By operator
With Thruster select set to By operator, the operator can select the thrusters in
each group by typing the required thruster numbers, and enter Bias values or
select Total bias.
No bias
With Thruster select set to No bias, the system is still in thruster bias main
thrust allocation mode, but no bias is applied.
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Total bias
Use
When Use is selected, a total common bias can be entered. You can also
monitor the total applied bias in the dialog box.
Request
When the total bias is entered in this spin box, the bias value is distributed
to all of the bias groups. If the bias was initially equal for each group, the
total bias is distributed equally. If, however, the bias was initially unequal
for each group, the total will be distributed in the same proportion as the
initial proportions.
Applied
This text box shows the difference of the thrust before and after total bias
was applied.
Bias type
This group box only becomes available when running in FIX thrust allocation
mode. The frame appears dimmed in all other thrust allocation modes. By default
the Bias type is set to Both.
Thruster biasing function

Thruster biasing allows azimuth thrusters to counteract each other in groups so that
the resulting effect of the biasing is zero.
Each group can contain either two or three thrusters. Thruster biasing does not limit
the use of the thrusters since the counteraction will be reduced when the total demand
increases. The operator can specify the level of biasing.
Up to six thruster groups can be preconfigured.
This function is useful in the following situations:
• When an azimuth thruster cannot give zero thrust. Other azimuth thrusters or main
propellers can be used to compensate for this minimum force.
• When a higher power consumption is required (than what is actually needed for
positioning).
• When the weather is calm.
• When heave reduction is required combined with variable azimuth mode.
Depending on the vessel configuration, the Thruster Biasing function can also:
• Reduce the turning of azimuth thrusters when the force setpoint is changing, thereby
improving the effective thruster response and the positioning accuracy.
• Improve the damping of vessel motion.
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The Thruster Biasing dialog box can be configured to suit the individual needs of each
vessel, and the contents (number and configuration of thruster groups and columns)
will tend to vary from vessel to vessel.
Thruster biasing - bias type

Bias type can only be selected when the thrust allocation is set to fix. There are three bias
types: port, starboard and both. By default the bias type is set to both.
When running in FIX thrust allocation mode the DP system automatically selects a fixed
angle for each azimuth thruster, i.e. the azimuth thrusters cannot turn.
You can use the bias type settings on the Thruster biasing dialog box to work around
this restriction. Depending on the direction of applied thruster setpoint, removal of the
thruster biasing on specific thrusters in a group can be allowed. In this situation, the
thruster will run below its bias value, including negative values (e.g. pitch/rpm). The
thruster will not turn, but the thruster force will be in the opposite direction.
In the following examples thrusters 7 and 8 are set by the operator to be in group 3 (and
thus to counteract each other). The vessel is run in Joystick mode using the joystick to
control the thruster setpoint. The effects of the configured bias types Both, PORT and
STBD on thruster behaviour are described.
Bias type Both

When Bias Type is set to Both and thruster setpoint to starboard, a bias is applied on both
thruster 7 and 8. Thruster 7 cannot turn because it is in FIX thrust allocation mode. The
same will happen when you set the thruster setpoint to port. Thruster 8 will not turn.
None of the thrusters will go below the Bias value you have set for group 3.
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Thrust allocation FIX combined with bias type Both:
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Bias type PORT
Bias type set to PORT.

Thruster setpoint to starboard (illustrated by the joystick
symbol).
Starboard thruster (7) is allowed to go negative (i.e. no
bias on this thruster). It will only go negative if the force
setpoint is not fulfilled by the PORT thruster (8).
Bias type set to PORT.

Thruster setpoint to port (illustrated by the joystick
symbol).
Port thruster (8) stops at its bias value and is not allowed
to go negative.
Bias type STBD
Bias type set to STBD.

Thruster setpoint to starboard (illustrated by the joystick
symbol).
Starboard thruster (7) stops at its bias value and is not
allowed to go negative.
Bias type set to STBD.

Thruster setpoint to port (illustrated by the joystick
symbol).
PORT thruster (8) is allowed to go negative (i.e. no bias
on this thruster). It will only go negative if the force
setpoint is not fulfilled by the starboard thruster (7).
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Thruster biasing - turn factor

The turn factor determines when to turn a thruster within a group, instead of continuing
to counteract the other thruster.
In the examples below, the maximum force for each thruster is 10 tonnes and the idle
or bias force is 2 tonnes.
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Thruster biasing - angle factor

The angle factor determines the relative priority of angle against force to satisfy the
force setpoint.
In the examples below, the same 10 tonnes demand ahead is achieved, but more thrust
is used in example 1 (with a higher angle factor), than in example 3 (with a lower
angle factor).
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Thruster biasing - inwards factor

When two thrusters are counteracting each other, the inwards factor determines whether
they should be run towards each other or away from each other.
The examples below show various situations with Inwards both selected and not selected.
The specified setpoint is the force setpoint for this group.
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Thruster combinator control settings dialog

box
Combinator control of a thruster means that the system controls both pitch and RPM.
Pitch and RPM can be controlled individually and in different combinations.
How to open
Click Thruster→Combinator control settings.
Example
Details
Configuration
Minimum RPM %
For each of the listed thrusters, the operator can specify a minimum
percentage value for the RPM. The RPM will not fall below this limit when
Sequential or Stepwise Combinator control mode is selected.
Minimum RPM is not applicable for Full Combinator control mode and is
therefore unavailable (appears dimmed) when this mode is selected.
Combinator control mode
Sequential
The RPM is kept fixed at the minimum RPM limit for low force demands.
The RPM will only increase if the force demand is higher than what can be
dealt with by varying the pitch. The pitch setpoint will always be +100 % or
–100 % when the RPM setpoint is higher than the minimum RPM limit.
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Stepwise
The RPM will be stepped up (respective down) if the filtered pitch setpoint is
higher (respective lower) than a predefined limit. The RPM will never be
stepped below the minimum RPM limit.
This mode is designed with long term station-keeping in mind. In this mode
the thrusters will step the RPM automatically in varying weather conditions
in order to force the pitch setpoint into a desired working interval.
Full
The pitch and the RPM follows a predefined trace (combinator curve) with
regards to the force demand.
Full Combinator control mode is similar to the way pitch and RPM is
controlled in combinator mode during manual thruster lever control.
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Thruster enable dialog box

Thrusters can be enabled either by their respective buttons or from this dialog box.
How to open
Click Thruster→ Enable.
Example
Details
Thrusters
Enable/disable all
Selecting or deselecting this check box allows you to enable or disable all
thrusters and rudders for DP control simultaneously.
Running
These check boxes show whether the thrusters are running or not. When a
thruster status is set to Running, the DP system reads the feedback signal
from the thruster and calculates the resulting thruster force.
Under certain conditions, the operator can switch the thruster Running
signals on/off. The running status can be changed in this way only if all of
the following conditions are satisfied:
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• The running status is not interfaced directly from the thruster to the DP
system.
• The thruster is not ready.
• The system configuration allows manual setting of thruster running status.
Rdy
These check boxes show whether the thrusters are ready for DP control.
Enable
Enable or disable each of the thrusters for DP control. The system will
automatically disable a thruster if it is not ready, i.e. deselect the Enable
check box, and also make the check box unavailable, thus indicating that
before a thruster can be enabled, it must be ready.
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Thruster run-in dialog box

Use this dialog box to limit the maximum thruster setpoint of each individual thruster
configured with this functionality.
How to open
Click Thruster→Run-in.
Example
Details
Enable
Select a check box to turn on the Thruster run-in function for the corresponding
thruster.
MAX setpoint (%)
The maximum setpoint for the corresponding thruster in percent. The specified
value must be more than any required minimum setpoint for the thruster (such as
for minimum thrust or idle rpm) and must always be at least 20 %. This value is
valid for both the positive and negative directions.
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For thrusters with combined pitch/rpm control, the specified maximum setpoint
refers to either the pitch or the rpm setpoint, depending on the configuration.
The maximum setpoint zones are shown for each selected thruster in the Thruster
main view:
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Trainer settings dialog box

Use this dialog box to set the start position and simulated sensor values for the built-in
trainer function.
How to open
Click Tools→Trainer.
Example
Description
The values for Start position and heading and Simulated sensor values. shown in
this dialog box are the values that were in use when the previous training session was
stopped (provided that no stop or restart of the operator station has taken place in the
meantime). You can change the values for a new training session.
Related topics
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UTM properties dialog box

Use this dialog box to specify a fixed offset by selecting false easting and/or false
northing and defined options for the UTM zone.
How to open
1 Click View→(Presentation) Position.
2 On the Position presentation dialog box select UTM coordinate system
3 Click the UTM properties option button.
Example
Details
False easting
To avoid the presentation of negative coordinates, you can specify that a fixed
offset of 500 000 m is to be added to the east/west component of a UTM position
before it is shown.
False northing
Specifies that a fixed offset of 10 000 000 m is to be added to the north/south

component of a UTM position before it is shown (10 000 000 m is the approximate
distance from the equator to the North Pole in a UTM grid). This avoids the
presentation of negative coordinates for positions in the southern hemisphere.
False northing is normally only applicable in the southern hemisphere.
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Zone options
Automatic zone calculation
The UTM zone is calculated automatically from the geodetic position

measurements.
Zone
The required system UTM zone (not available if the UTM zone is calculated
automatically).
Zone offset
Applies a fixed offset to the received longitude degrees when calculating

the UTM zone of a position. You can offset the system UTM zone up to
±3 degrees.
Universal Transverse Mercator (UTM)

The Universal Transverse Mercator (UTM) is a cylindrical projection with the axis of the
cylinder passing through the centre of the earth. The earth sphere is divided in 60 zones:
Each zone is 6 degrees wide. In each zone, the central meridian divides the zone in two
equal halves. Because UTM is a grid system, there is a difference in direction between
grid north and true north. This difference is zero on the central meridian and increases
across the zone.
Within each zone eastings and northings (in metres) increase in the eastward and
northward direction, with zero values on the central meridian and on the Equator,
respectively.
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For UTM presentation, the system allows you to specify a fixed offset by selecting
false easting and/or false northing.
10 000 000 metres is the approximate distance from the Equator to the North Pole in
a UTM grid.
Without false northing, UTM positions in the southern hemisphere are presented with
zero at the Equator and approximately -10 000 000 m at the South Pole. With false
northing, UTM positions in the southern hemisphere are presented with 10 000 000
metres at the Equator and approximately zero at the South Pole.
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Display views
Topics
Alert list view, page 339
Diesel view, page 342
Joystick view, page 347
LTW view, page 351
Numeric view, page 356
Power consumption view, page 378

Rotation center view, page 388

Thruster forces view, page 392

Thruster setpoint feedback view, page 408
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Alert list view

The Alert list view provides a list of all currently active system messages.
How to open
Press the ALARM VIEW button.
Example
Details
(First column)
Identifies the acknowledge status of the message:

• An asterisk (*) with its background colour flashing is shown for an
unacknowledged message that is in a command group over which the operator
station has control.
• A vertical bar (|) is shown for an unacknowledged message that is in a command
group over which the operator station does not have control.
• An empty (blank) space is displayed in any other situation.
Time
Time and date when the message was first reported.
Originator
Identifies the redundancy group which is the originator (source) of the message.
The values depend on the delivery configuration.
Member
Members of the originator of the message (not relevant when the originator is an
operator station or terminal, or a controller PS group with only one member).
If the message is from a controller PS group with more than one process station, this
column identifies the members of the group. It may contain up to three characters,
depending on the redundancy level. For example, for a triple-redundant system:
ABC The message was reported by all three process stations and is still active.
C The message was reported only by process station C and is still active.
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–B The message was reported by process stations A and B. The message

from process station A is now inactive.
––– The message was reported by all three process stations and is now
inactive (but not yet acknowledged).
Tag
Identifies the originator (source) of system events (e.g. Command Control and
Equipment).
Priority
A Alarm
W Warning
C Caution
E Emergency
State
The event state for the message:
Normal The alarm or warning condition is no longer present

High Active digital alarm
Text
Message text.
Additional info
Up to three blocks of additional data may be included in the message. The meaning
of the additional data varies for each message.
(Event pages)
You can choose among the following event pages:
Dynamic alert
The Dynamic alert page shows a list of the most recent messages. The page has a
limited length; as the list is filled up, the oldest messages are pushed out while the
most recent ones are added to the top of the list. Messages where the underlying
condition is no longer present are shown with the state Normal.
Messages can be acknowledged on the Dynamic alert. Acknowledged messages
where the underlying condition is no longer present are removed from the page.
Use the Dynamic alert to get a survey of the current alarm situation.
Historic event
The Historic event page provides a log of all messages that occur. Within the
limits of the event database, you can define the time span to be covered by the
Historic event using the Date and Time dialog box. While a message can appear
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only once on the Dynamic alert, it appears as many times on the Historic event as
there are changes in its state.
Use the Historic event whenever you need to analyse the evolution of events. If
the list extends beyond the window area of the display, you can use the up/down
arrows in the tool bar.
Dynamic event
The Dynamic event page shows a list of the most recent messages. The page has a
limited length; as the list is filled up, the oldest messages are pushed out while the
most recent ones are added to the top of the list. While a message can appear only
once on the Dynamic alert, it appears as many times on the Dynamic event as there
are changes in its state. Acknowledged messages where the underlying condition
is no longer present remain shown with the state Void.
Use the Dynamic Event Page to get a survey of the current event situation.
Note
Messages cannot be acknowledged on the Historic event or on the Dynamic event.
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Diesel view
The Diesel view provides a simplified mimic display of the vessel's diesel engines and
fuel-rack system as seen from K-Pos DP.
How to open
Example
Description
The information presented in this view is based on the following signals received by
K-Pos DP:
• the power produced by each main diesel generator
• the fuel-rack reading
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• diesel clutched in or out

The main models for fuel-rack regulation in common use are:
• propeller with two diesel engines and two shaft generators
• propeller with one diesel engine, no shaft generator
• propeller with two diesel engines, no shaft generator
• propeller with one diesel engine, one shaft generator
The configuration shown in this example view consists of starboard and port propellers,
each driven by two diesel engines with fuel-rack regulation system. Each diesel engine
also drives a generator. Each diesel engine is connected to the propeller via a clutch
and gearbox.
Details
This is a generator symbol showing the produced power both as

a numerical value (above the symbol) and graphically (the line
in the symbol) as a percentage of the nominal power (where the
vertical axis is 100 %). The symbol is colour-coded:
• grey — the generator is not running
• green — the generator is OK and running
• orange — the generator has a warning status
(for details check the Alert list view)
• red — the generator has an alarm status
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These are numerical and graphical displays of the fuel-rack load

on the diesel engines. They have the same colour-coding as for
the generators.
Clutch symbol with the same colour-coding as for the generators.
These are numerical and graphical displays of propeller

pitch/rpm feedback. The green label indicates which system has
control of the thrusters.
The symbol is colour-coded:
• The colour of the bars changes to orange when the thrusters
pass the limit for percentage of available thrust (typically
80 %). This applies only to some modes (depending on your
system configuration, but usually in automatic modes).
• The colour of the bars changes to red when there is a signal
error from one of the propellers/rudders.
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Gangway view
This view contains all the information from the sensors necessary to monitor the
gangway.
How to open
Example
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Description
The average values and standard deviation values are calculated from the measurements
during the defined time span. If the time span is long, the difference between these
values and the current measurements will be bigger.
You can adjust the time span of the plot using the view-control dialog box.
The bars show both the instantaneous values (dark blue) and the maximum values (light
blue) recorded during the time span.
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Joystick view
The Joystick view shows the thrust setpoint and response, and the vessel speed in the
various axes, to assist during positioning with the joystick alone.
How to open
Example
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Details
Shows the axes that are under joystick control. In the example
shown, all three axes yaw, surge and sway are controlled by
the joystick.
This is a graphical display of the obtained rotational moment.

The rotational moment setpoint is marked by the brown line.
The numerical value of the obtained rotational moment is shown.
This is a graphical display of the obtained surge force. The surge

force setpoint is marked by the brown line. The numerical value
of the obtained surge force is shown.
This is a graphical display of the obtained sway force. The sway

force setpoint is marked by the brown line. The numerical value
of the obtained sway force is shown.
This is the estimated sway speed at the bow of the vessel. This
value is calculated from the vessel dimensions and the estimated
rate of turn.
This is the estimated sway speed at the stern of the vessel. This
value is calculated from the vessel dimensions and the estimated
rate of turn.
This shows the status of the speed estimates.

• Ok — The system is receiving acceptable position and
heading information, and at least one speed sensor is in use.
• Manual — Manual speed is in use.
• Model — No speed sensor or Manual speed is enabled, but at
least one position-reference system is accepted.
• Dropout — No speed sensors or position-reference systems
are enabled (text on red background).
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This is the estimated rate of turn.
This is the estimated surge and sway speed at the vessel's

midships position.
The resulting force and speed vectors are shown graphically.

The numeric values show the range of the display for both force
and speed.
This shows the present joystick thrust setting as selected on the

Joystick dialog box which can be either full thrust or reduced
thrust.
The present joystick precision setting as selected in the Joystick
dialog box is shown. The joystick precision setting can be either
high speed precision, general precision or low speed precision.
This shows the axes that are currently selected for environmental
compensation.
This shows the joystick demand as a percentage of the maximum

available demand in surge, sway and yaw axes.
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If this operator station is not in command a grey symbol on the

graphical presentation to the right shows the setpoint of the
local joystick.
A graphical display of the joystick setpoint is shown. If this

operator station is not in command, the graphical display shows
both the setpoint from this operator station (Local) and the
setpoint from the operator station that is in command.
This information can be used to ensure a bumpless transfer when
you change the command from one OS to another.
This information can also be used for checking that the joystick
is functioning. Consider whether the joystick is functioning by
comparing the displayed joystick setpoint to the actual joystick
deflection (surge and sway) and the degree of rotation (yaw).
Related topics
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LTW view
Use the LTW view to monitor the performance of a Light-weight Taut Wire (LTW)
position-reference system. The position of the depressor weight is shown relative to
the position of the gimbal head (the centre of the graphical display). The maximum
operational area is also shown.
How to open
Example
Description
The Light-weight Taut Wire (LTW) is based on measurements and calculations of the
vessel's position relative to a fixed point on the sea bed.
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A gimbal head on a boom over the side of the vessel is connected by a wire to a depressor
weight on the sea bed.
The vertical component of the wire length is measured when the depressor is lowered
onto the sea bed. The angles between the wire and the vertical, both in the alongships
and the athwartships axes, are measured as the vessel moves away from the point where
the depressor weight was deployed.
The position is calculated based on these data. The actual length of the wire is also
calculated and presented in the LTW view. Corrections are applied to allow for the offset
distance between the sensor on the gimbal head and the vessel's rotation centre.
The draught is measured, and the vertical component of the wire length is recalculated
whenever the draught changes. Changes of water depth due to turning of the tide are not
taken into account. In these circumstances the depressor weight must be lifted off the sea
bed and re-lowered to have the system record the change of wire length.
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Details
These are the gimbal head alongships and athwartships axes.

The intersection of the axes represents the gimbal head position
and is always at the centre of the display.
The symbol represents the position of the depressor weight

relative to the gimbal head.
This shows the maximum operational area.
The Range is the distance from centre to edge of the plot.

The button decreases the display range. The button
increases the display range.
The N symbol indicates the orientation of the heading as selected
by the buttons on the side bar — if H REL is selected the symbol
is tilted in the respective direction.
The Grid value is the spacing between grid lines or circles.
You can adjust the grid spacing using the view control
dialog box. The grid spacing is automatically adjusted when
decreasing/increasing the display range.
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This shows the status of the “Mooring on” signal from the LTW
system. This signal indicates when the depressor weight is on
the sea bed.
This shows the angle of the taut wire in the alongships and
athwartships directions as measured at the gimbal head.
The Along angle is positive when the gimbal head is forward
of the depressor weight.
The Athwart angle is positive when the gimbal head is to
starboard of the depressor weight.
This shows the position of the depressor weight relative to the

gimbal head.
The Along position is positive when the depressor weight is
forward of the gimbal head.
The Athwart position is positive when the depressor weight is to
starboard of the gimbal head.
This shows the wire length.

Total is the wire length measured by the gimbal head.
Vertical is the depth of the depressor weight relative to the
gimbal head, measured by the wire length when the depressor
weight was lowered onto the sea bed.
Light Taut Wire Plot view control

How to open
Right-click the view and click View control.
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Display views
Example
Details
Grid
Show
Show or hide the grid.
Spacing
The spacing (distance) between grid lines or circles. You can change the
grid spacing by clicking the down arrow and selecting a new value from the
drop-down list.
The grid spacing is automatically adjusted when decreasing/increasing the
display range.
Circular/Radial
The type of grid.
Light Taut Wire Graphics
Select the LTW system whose position information is to be shown in the main
graphical area of the view.
Range
Specify the display range explicitly by entering a value in the text box.
Incr. Range
Increase the display range in fixed steps.
Decr. Range
Decrease the display range in fixed steps.
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Numeric view
The Numeric view shows performance data in numerical form.
How to open
Example
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The position setpoint, present position and position deviation in

north (N) and east (E) direction are shown. For the deviation
of the present position to the setpoint the positive values
indicate north and east, negative values indicate south and west
direction. The range is the distance from the present position
to the setpoint.
The values for heading setpoint, present heading and heading

deviation.
The values for rate of turn setpoint and present rate of turn.
The values for vessel speed setpoint and present speed.
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The present direction of the vessel speed (present COG of the

vessel) and the direction of the present bearing from the vessel
to the setpoint. Both are shown relative to true north (N UP)
or to the vessel (H REL). The shown orientation is selected on
the side bar.
Thee warning and alarm limits for position and heading

deviation. Green indicates that the limits are currently active.
The calculated residual force (the sum of all the non-modelled

forces together with any errors in the modelling). The residual
force is shown with either true components (N and E) or relative
components (Surge and Sway), as selected in the Heading pane
on the dashboard. Moment is the rotation moment exerted on
the vessel.
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Posplot view
The Posplot view shows the vessel's position relative to the position and heading
setpoints and to other shown objects, such as the position of transponders. The prevailing
wind and current are also shown.
How to open
Example
Description
Using the Posplot view-control dialog box, you can:
• Select either a true or a relative display, with either the position setpoint or the present
vessel position at the centre of the display.
• Show or remove various features in the view.
436094/D 359
• Show or hide a chart in the Posplot view.

• Show or hide the grid, and select grid type and grid spacing.
Note
Grid display is only possible when the range is 10 000 metres or less. When the range
is larger than 10 000 metres, the grid disappears automatically. Maximum range is
3 000 kilometres.
• Specify the display range, i.e. distance from centre to edge of plot.
• Show or hide a trace line and trend symbols, and also specify the sample rate and the
extent of the trace line/trend symbols.
The EBL (Electronic Bearing Line) button can be used for measuring positions, distances
and bearings on the display.
Details
The compass rose is marked with degrees. The north/south and

east/west geographical axes are shown.
This is the vessel symbol that indicates the position of the

vessel, relative to known reference points and directions. The
vessel's midships position is marked with a small cross. The
currently-selected rotation centre is marked with a small circle.
The size of the vessel symbol is dynamically scaled according to
the selected display range. This vessel symbol is replaced by an
unscaled symbol at small and large range values.
Note
When changing the Posplot view to close range or long range,
the vessel symbol changes from showing the correct form and
dimensions of the vessel into a simplified shape with a constant
size.
This is the position setpoint symbol. Click and move this symbol
to change the position setpoint.
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Display views
The position carrot that regulates smooth vessel movement is

shown as a small asterisk. When the position setpoint is changed,
the position carrot moves towards the new setpoint. The speed
of the carrot's movement depends on the speed setpoint.
When relaxed control mode is in use (selected on the Gain dialog

box), the radius for relaxed control is shown as a shaded area
with the position setpoint as center. The area around this circle is
click-sensitive. You can easily adjust the relaxed control radius
by clicking this area to open the Gain dialog box to set a new
value. If you select to hide the setpoint from the Show page on
the Posplot view-control dialog box, the shaded area indicating
the relaxed control radius will also be hidden.
When Green control mode is in use (selected from the Gain

dialog box), the outer and inner control radii are indicated on the
Posplot view, with the position setpoint as centre. The inner
radius is indicated by a blue, shaded circle. The predicted
trajectory for the vessel is shown as a line pointing from the
rotation centre.
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This is the heading setpoint symbol. By clicking and moving

this symbol you can change the heading setpoint.
This is the present heading symbol.
The heading carrot that regulates smooth vessel movement is

shown as a small pointer. When the heading setpoint is changed,
the heading carrot moves towards the new setpoint. The speed
of the carrot's movement depends on the rate of turn setpoint.

The TM/RM toggle button (true/relative motion) changes the
orientation of the display (the same function as the Motion page
in the Posplot view control).
The EBL (Electronic Bearing Line) button. Use this feature to
view the coordinates of positions on the display.
This shows the wind arrow. The arrow rotates around

the compass rose to show the true wind direction (filtered
measurement from the wind sensor).
An arrow pointing towards the plot indicates “comes from”
direction, and an arrow pointing outwards from the plot indicates
“goes to” direction. The direction of the arrow depends on the
units setting for wind direction as selected in the Presentation
Units dialog box.
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Display views
This is the true wind speed and direction (filtered measurements

from the wind sensor).
An “s” in front of the degree symbol in the unit for wind
direction means “setting” (goes to) if selected in the Presentation
Units dialog box.
If the wind sensor is disabled or becomes unserviceable the last
known valid wind sensor measurement is used and the word
Freeze is shown on yellow background.
This shows the residual as current.

The arrow rotates around the compass rose to show the direction.
An arrow pointing toward the plot indicates “comes from”
direction, and an arrow pointing outwards from the plot indicates
“goes to” direction. The direction of the arrow depends on
the units setting for sea current direction as selected in the
Presentation Units dialog box.
In DP operations this is the residual shown as current speed and

true direction.
An “s” in front of the degree symbol in the unit for direction
means “setting” (goes to) if selected using the Presentation Units
dialog box.
These are position warning and alarm limit circles (centred on

the position setpoint). With automatic surge and sway control,
and with position limits enabled, these circles indicate the
warning and alarm limits for position deviation. When the vessel
reference point crosses the warning limit circle, a warning is
given. When the vessel reference point crosses the alarm limit
circle, an alarm is given.
The position warning and alarm limit circles are hidden when
the setpoint is hidden.
436094/D 363
The short lines, dashed and solid, are heading warning and alarm
limit markers (centred on the heading setpoint). With automatic
yaw control, and with heading limits enabled, these markers
indicate the warning and alarm limits for heading deviation.
When the vessel heading crosses the warning limit, a warning
is given. When the vessel heading crosses the alarm limit, an
alarm is given.
The heading warning and alarm limit markers are hidden when
the setpoint is hidden.
This shows a transponder symbol for a position-reference

system.
A circle around a transponder symbol indicates that this
transponder is the reference origin. An empty circle indicates
that the reference origin transponder has been deselected.
Related topics
EBL dialog box, page 179
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Display views
Posplot view control

Related topics
Posplot view control - Grid page, page 367
Posplot view control - Motion page, page 365
Posplot view control - Range page, page 368
Posplot view control - Show page, page 366
Posplot view control - Trace page, page 369
Posplot view control - Motion page
How to open
Example
Details
Plot Centerpoint
True Motion
True display centred on the position setpoint. The position setpoint (required
position) is placed at the centre of the display.
Relative Motion
Relative display centred on the current position. The symbol of the vessel
(present position) is placed at the centre of the display.
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Posplot view control - Show page
How to open
Example
Details
Show/Hide
Display or remove various features of the Posplot view. The choice of features
available is configured for each vessel.
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Display views
Posplot view control - Grid page
How to open
Example
Details
You can select the type of grid and whether the grid will be shown or hidden.
Show
Spacing
The spacing (distance) between grid lines or circles. You can change the grid
spacing by clicking the down arrow and selecting a new value from the drop-down
list.
The grid spacing is automatically adjusted when decreasing/increasing the display
range.
Circular/Radial
The type of grid.
Use UTM
UTM grid can be selected. The grid in the Posplot view is rotated with an angle
that corresponds with the meridian convergence shown.
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Posplot view control - Range page
How to open
Example
Details
Enter
Used to enter the Distance from center ...to edge of plot. Click Apply to use the
new range setting.
Increase range
Increases the shown range. This button has the same function as the ▲ button
in the upper right corner of the view.
Decrease range
Decreases the shown range. This button has the same function as the ▼ button
368 436094/D
Display views
Posplot view control - Trace page
How to open
Example
Details
Vessel Position/Heading History
Trace-line
It is possible to show or hide a trace line of the
vessel movements (Show) and specify the sample rate
(Sampling) and the extent of the trace (Memory) to be
stored. The trace line shows the path followed by the
currently-selected vessel rotation centre.
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Trend-symbols
It is possible to show or hide a series of vessel symbols
indicating vessel movement and position (Show) and
specify the sample rate (Sampling) and extent of the
trend symbols (Memory) to be stored.
Note
With the Posplot view at close range when the simplified
symbol is shown, the “trended” symbols are not shown.
Clear All
Clicking this button clears all the trend symbols permanently and the trace
line both in memory and in the Posplot view.
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Display views
Power view
The Power view is a simplified mimic display of the vessel's electrical power system
as seen from K-Pos DP.
How to open
Example
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Description
K-Pos DP receives information about:
• the power produced by each main generator
• which switchboard each generator is connected to
• how the switchboards are connected
• how the thrusters are connected to the switchboards
The thruster power consumption is either measured directly or calculated from the
thruster feedback.
Details
This is a generator symbol showing the produced power both as

a numerical value (above the symbol) and graphically (the line
in the symbol) as a percentage of the nominal power (where the
vertical axis is 100 %). The symbol is colour-coded:
• grey — the generator is not running
• green — the generator is OK and running
• orange — the generator has a warning status
• red — the generator has an alarm status
When the K-Pos system is integrated with K-Chief 700,

additional generator status is shown. The DP control system
receives generator state in order to be informed about possible
power reduction on a generator.
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Display views
The following states are defined:

• Normal: The generator is running as normal. No reduction
active. (The text is not shown.)
• Manual: The generator is in manual mode. The maximum
load is limited to a little above the max load given by PMS.
• Fixed: The generator is running in fixed mode. The maximum
load is limited to a little above the max load given by PMS.
• LoadUp: The generator is in load up mode (just connected).
The maximum load is limited to the max load given by PMS.
• LoadDown: The generator is in load-down mode (prepare
shutdown). The maximum load is limited to the max load
given by PMS.
• LoadControl: The generator is in load-control mode. No
reduction active.
• Synchronising: The generator is synchronizing on SWBD. No
reduction active.
• Standby: The generator is in standby mode. Not connected.
• TrackMode: A generator connected to a SWBD combined
with batteries is set to track-mode. No reduction active.
This is a battery symbol showing the produced power both

as a numerical value and graphically as a percentage of the
available power (where the vertical axis is 100 %). The symbol
is colour-coded:
• grey – the battery is not connected
• green – the battery is connected
• orange – the battery has a warning status
• red — the battery has an alarm status and the remaining
lifetime is shown in percentage and minutes
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This is the switchboard name (SWBD D in the example).

The number in brackets (2 in the example) indicates the
connect-switchboard that the switchboard is a part of. The
symbol is colour-coded:
• grey background — no generators are connected to this
switchboard
• green background — the switchboard is OK
• orange background — the switchboard has a warning status
• red background — the switchboard has an alarm status
The position of the symbol for generator breaker, thruster

breaker or bus-tie shows whether the generator is connected to
the switchboard or not.
A generator breaker or thruster breaker that has ‘ready for

change-over’ status is indicated with a diagonal line.
The symbol is colour-coded:

• grey frame – the breaker is open
• green frame – the breaker is closed
• orange frame – the bus-ties is selected for even distributed
load with zero current flow.
• red frame – there is an alarm status on the breaker
This is a thruster symbol showing the produced power both

as a numerical value and graphically as a percentage of
the nominal power (where the vertical axis is 100 %). The
symbol is colour-coded:
• grey – the thruster is not running
• green – the thruster is OK and running
• orange – the thruster has an warning status
• red — the thruster has a signal error on the load signal,
or the demand to this thruster is reduced by the blackout
prevention and it is not possible to distribute this demand
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Display views
to other thrusters, i.e. the DP system has insufficient thrust

The total available and consumed power from the generators

connected to each connect-switchboard or switchboard can
be shown using the Power plot view-control dialog box. The
Load/MAX values indicate: the consumed power — the first
value (27 or 22 in the examples) and the maximum load —
the second value (95 in the examples) shown in percentage.
If the value for maximum load is in brown colour, this
indicates that the respective connect-switchboard is selected
for Reduced swbd load.
The frame is colour-coded:

• orange — the switchboard has a warning status
• red — the switchboard has an alarm status
The text on yellow background indicates that the

connect-switchboard is solely powered by batteries.
The power optimal allocation can be defined to run in

different modes as selected in the Power Optimal Allocation
dialog box.
• In Normal mode the power optimal allocation will first of
all allocate thrust within the given power limitations.
• In Even Load mode the thrust is allocated so that the load is
as even and as low as possible on all connect-switchboards.
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• In Even Load with zero bus-tie current flow mode the thrust
is allocated so that the current through the operator-defined
bus-tie is as low as possible.
• In Reduced swbd load mode the operator can specify
required maximum power consumption on one or more
connect-switchboards.
A trend plot is shown. You can select the information to be shown using the Power plot
view-control dialog box.
Related topics
Power monitoring, page 137
Power optimal allocation dialog box, page 245
Power plot view control

How to open
Example
Details
Present
Selects whether to show information about Connect-switchboards or Switchboards.
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Display views
Show/Hide
If configured, selects whether or not to show the internal names (IO Tags) of the
generator breakers, bus-ties and thruster switches.
Plot
The trend plot to be shown.
Time span
The time span for the trend plot.
Range
Click this button to open the Y-Axis Range dialog box. Use the dialog box to select
automatic scaling or to manually set the upper and lower limits for the y-axis
plot scale.
Auto
Select this option to set the y-axis
range automatically.
Manual
Set the Upper and Lower scale limits
manually.
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Power consumption view

The Power consumption view shows the consumed power for each connect-switchboard
in numerical and graphical form as a percentage of available power, which
switchboards are included in each connect-switchboard and the available power for each
connect-switchboard in numerical form. The view is dynamically updated to always
show the current switchboard topology.
How to open
Example
378 436094/D
Display views
The consumed power for each connect-switchboard is shown

in graphical form as a percentage of available power for each
connect-switchboard.
The number of bar graphs shown will be automatically adjusted
to reflect the vessel's current connect-switchboard configuration,
i.e. when it changes due to bus-tie breakers being opened/closed.
Each bar graph has a blue bar and two predefined power
consumption limits (one for warning and one for alarm) that are
shown as dashed horizontal line for warning limit and solid line
for alarm limit. If the lower (warning) limit (typically 80 %) is
exceeded the colour of the bar becomes orange. If the upper
(alarm) limit (typically 95 %) is exceeded the colour of the bar
changes to red.
The consumed power for a switchboard group.
The maximum power for a switchboard group.
The switchboards that are included in each connect-switchboard

(Conn-SWBD1, Conn-SWBD2, etc.) are designated SWBD A,
SWBD B, etc.
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Reference system main view

The view shows the individual and resulting performance of the position-reference
systems that are currently enabled.
How to open
Example
380 436094/D
Display views
Details



The information symbol opens the legend:
This indicates the legends used for plotting. Colour-coding and

capital letters help to differentiate the various position-reference
systems.
The centre of the plot is the present vessel position. Using the
view-control dialog box, you can select either a true or a relative
display.
A colour-coded circle is shown with a radius equal to the
minimum prediction error limit and centred on the present vessel
position.
A colour-coded circle is shown with a radius equal to the median
test acceptance limit and centred on the median value.
When the Median test is inactive, the Median Test Limit will
show OFF and the circle will not be shown.
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This shows a zoomed-in view of the centre of the plot.

For each position-reference system, the capital letter with no
circle around it represents the last raw position measurement
for this system.
For each position-reference system, the small inner circle with a
capital letter inside represents the filtered position measurement
for this system.
For each position-reference system, the outer circle (dashed)
represents the standard deviation for this system.
An error ellipse is shown. There is a certain statistical confidence

(95 %) that the vessel's position is within the region that is
encircled by this ellipse. (The error region in this example has
the shape of a circle, but generally the region may have an oval
shape.)
A unique capital letter and colour code is assigned to each

reference system to make it easier to differentiate the various
systems in the plot.
Status indicators:
The reference system is not enabled.

The reference system is enabled but not in use.
The reference system is calibrating.
The reference system is enabled and in use.
The reference system is providing the reference origin.

There is an active alarm for this reference system.
There is an active warning for this reference system.

Normally the sample period from a reference system is
set to 1 second. If it is set to larger than 1 second, this
symbol is shown shortly to indicate a missing signal.
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Display views
This shows the status for each reference system or transponder:

Calibrating, Online, Relative, Offline or Lost. For reference
systems in monitoring state, the status text is shown with Mon
as prefix. If the measurements are acceptable, Calibrating and
Online are shown in green (if the last sample was received)
or in orange (if the last sample was not received). If a
position-reference system has a transponder that is defined and
enabled as mobile, then Relative is shown instead of Online,
provided that the optional Follow Target mode has been
previously selected (i.e. at least once).
If the measurements are lost, Offline is shown in red, however,
if the measurements are lost during calibration, Lost is shown
in red. When a reference system is turned off, the weight of
that system is set to zero, and Offline is shown in red before the
system is removed from the Reference system main view.
Numerical values and horizontal bars show the weighting

applied to the measurements from each reference system during
the last second. The sum of weights of reference systems
with Online status is always one hundred (100). If no new
update is received from a specific reference system during the
previous second, the weight for this system is set to zero (and
Online shown in orange). The horizontal bar is not shown
for position-reference systems that have an enabled mobile
transponder, i.e. those with a Relative status.
Shows the relative weight of the enabled position-reference

systems – normal or reduced, as defined in the Reference system
properties dialog box.
These are trend plots. The type of trend plot is selected using the
view-control dialog box. Note that colour-coding is used.
You can also select the Y-axis scale range (either auto or manual
scaling) and the time span.
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Refsys view control

Related topics
Refsys view control - Show page, page 385
Refsys view control - Grid page, page 386
Refsys view control - Range page, page 387
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Display views
Refsys view control - Show page
How to open
Example
Details
Mode
The Target option is used in some applications like Follow target or Offshore
loading mobile transponders/relative position-reference systems.
Plot
Select a trend plot to be shown in the Reference system main view. You can select
between the following options: Bias vector, Standard deviation, Weight.
Time span

Range
automatic or manual scaling for the y-axis plot scale.
436094/D 385
Refsys view control - Grid page
How to open
Example
Details
You can select the type of grid and whether the grid will be shown or hidden.
Show
Spacing
The spacing (distance) between grid lines or circles. You can change the grid
spacing by clicking the down arrow and selecting a new value from the drop-down
list.
The grid spacing is automatically adjusted when decreasing/increasing the display
range.
Circular/Radial
The type of grid.
386 436094/D
Display views
Refsys view control - Range page
How to open
Example
Details
Enter
Used to enter the Distance from center ...to edge of plot. Click Apply to use the
new range setting.
Increase range
Increases the shown range. This button has the same function as the ▲ button
Decrease range
Decreases the shown range. This button has the same function as the ▼ button
436094/D 387
Rotation center view

The Rotation center view shows the position of all the rotation centres that are available
when the vessel is under automatic control. The coordinates are relative to the Midships
rotation centre.
How to open
Example
Details
The position of the currently-active rotation centre (In Use) is shown in brown.
The position of the proposed rotation centre (Selected) is shown in blue.
388 436094/D
Display views
Sensors view
The Sensors view shows the performance and state of each of the vessel's sensors.
How to open
Example
This view may have several pages depending on the number and type of sensors installed
on the vessel. By clicking the left or right arrow (if present) you can show the next or
previous page.
436094/D 389
Details
Sensor status indications
The sensor is in use.
The sensor is enabled but not in use.
The sensor is not enabled.
There is an active warning for this sensor.
The readings from the sensor are not OK.

- - - - - - Dashes replace the measurement values.
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Display views
Additional sensor information

If there is a symbol next to the sensor name, clicking it will open a Sensor description
dialog box containing details about this type of sensor, for example:
Trend plot
The plot for each sensor has a different colour. You can change the settings for the
information to be shown using the History settings and Range settings view controls.
Used measurements
For some of the sensor types (such as Wind, GPS speed, Doppler speed, Rotation speed,
Draught, Water depth, etc.) the value currently used by the system is shown.
436094/D 391
Thruster forces view

The Thruster forces view shows the resultant thruster forces and the “real” location of
the thrusters.
How to open
Example
392 436094/D
Display views
Details
These are the resultant thruster force and direction, and the
resultant turning moment and direction.
These are numerical values and bar graphs showing the thruster
force for each thruster unit. The bar graphs show the percentage
of the maximum available thrust and are scaled individually.
The numerical values are all based on feedback signals from
the thrusters.
The status boxes show the running, ready and enabled status of
each thruster unit.
Individual thrust vectors (thruster force feedback) for each

thruster are shown. The vectors change colour according to the
change of colour on the corresponding bar graphs (when passing
limit values for percentage of available thrust).
The resultant thruster force vector (starting from the vessel's

midships position) is shown. A graphical indication of turning
moment is also shown. The turning moment has a maximum
sector range of ±180 degrees°.
436094/D 393
The colour of the bars, the background colour of the values and the force vectors change
to orange when the thrusters pass the limit for percentage of available thrust (typically
80 %). This applies only in some modes (depending on your system configuration, but
usually in automatic modes). The colour changes to red when there is a signal error
from one of the thrusters. For example:
394 436094/D
Display views
Thruster main view

The Thruster main view shows the performance and status of all the thrusters.
How to open
You can also press the THR button (Thruster) on the operator panel.
Example
You can toggle the amount of information shown in the view by clicking Show detail /
Hide detail. When the details are hidden, the values always indicate the force in percent.
436094/D 395
Details
Allocation mode shows the currently-selected thrust allocation

mode. Click this area to open the Thrust Allocation dialog box.
Priority shows either HDG (heading) or POS (position).
Free run shows either ON or OFF.
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Display views
The following information is presented:

• a numerical presentation of the resulting turning moment and
direction, a curved bar graph represents the value
• individual thrust vectors for each thruster
• a numerical presentation of the resulting force and direction,
all values are based on feedback signals from the thrusters
The colour of the force vectors changes to orange when the

thrusters pass the limit for percentage of available thrust
(typically 80 %). This applies only in some modes (depending
on your system configuration, but usually automatic modes).
The colour of the force vectors changes to red when there is a

signal error from one of the thrusters.
When using the thruster force bias function, the thrusters are
colour-coded to identify the thruster bias groups.
436094/D 397
These are numerical values and bar graphs showing the thruster
force for each thruster unit. The bar graphs show the percentage
of the maximum available thrust and are scaled individually.
The numerical values are all based on feedback signals from
the thrusters.
The status boxes show the running, ready and enabled status of
each thruster unit.
The colour of the bar and the background colour of the value
change to orange when a thruster passes the limit for percentage
of available thrust (typically 80 %). This applies only in some
modes (depending on your system configuration, but usually in
automatic modes).
The colour of the bar and the background colour of the value
change to red when there is a signal error from the associated
thruster.
When details are shown: numerical and graphical presentation

of pitch/rpm and power feedback for the tunnel thruster. The
green label indicates which system has control of the thrusters.
When details are hidden: numerical and graphical presentation
of the force in percent.

of thruster azimuth and pitch/rpm feedback for each azimuth
thruster. The force direction relative to the thruster is indicated
by the arrow. The green label indicates which system has control
of the thrusters.
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Display views
The brown text FIX is shown for thrusters that use fixed angles.
The green label indicates which system has control of the
thrusters.

of propeller pitch/rpm feedback.
A rudder symbol with numerical and graphical presentation of
rudder angle is shown. Depending on the present mode, the
sector is defined by the maximum rudder angle or maximum
turn-angle for steering rudder/azimuth thruster.
The green labels indicate which system has control of the
thrusters.
For all thruster symbols:

• The colour of the bars changes to orange when the thrusters pass the limit for
percentage of available thrust (typically 80 %). This applies only in some modes
(depending on your system configuration, but usually in automatic modes).
• The colour of the bars changes to red when there is a signal error from one of the
propellers/rudders.
• Click the thruster symbol to show a more detailed view of the thruster.
Related topics
Thruster view - azimuth thruster, page 400
Thruster view - propeller/rudder, page 402
Thruster view - tunnel thruster, page 404
Thruster Sub Plot view control, page 406
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Thruster view - azimuth thruster

The Azimuth thruster view shows the operational state of an azimuth thruster.
How to open
Click the thruster symbol to show a more detailed view of the thruster.
Example
400 436094/D
Display views
Details
A trend plot is shown. You can select the information to be

shown using the Thruster Sub Plot view-control dialog box.
Numerical and graphical presentation of thruster azimuth and

pitch/rpm feedback.
The shaded arcs indicate the forbidden zones.
Status:
• Running — the thruster is running.
• Ready — the thruster is available for control by K-Pos DP.
• Enabled — the thruster is enabled for control by K-Pos DP.
Numerical value and a bar graph showing the thruster force. The
numerical value is based on a feedback signal from the thruster.
The bar graph shows the percentage of the maximum available
thrust. The setpoint force is indicated by an brown line. The bar
graph changes colour to red when the thruster force exceeds the
limit value for percentage of available thrust (typically 80 %).
This is a numerical presentation of the pitch, rpm and azimuth

setpoint and feedback, and the difference between them, shown
as a percentage of the maximum.
The graphical presentation indicates the difference between the
setpoint and feedback (with zero at the centre of the scale).
The arrow changes colour to red to indicate an error.
Use the left or right arrow (if present) to show the subview for
the previous or next thruster unit. Use the up arrow to go back to
the thruster main view.
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Thruster view - propeller/rudder

The Propeller/rudder view shows the operational state of a main propeller and, if
applicable, its associated rudder.
How to open
Example
Details

402 436094/D
Display views
Numerical and graphical presentation of propeller pitch/rpm

feedback are shown.
Numerical and graphical presentation of rudder azimuth
feedback are shown.
A rudder symbol with numerical and graphical presentation of
rudder angle is shown. Depending on the present mode, the
sector is defined by the maximum rudder angle or maximum
turn-angle for steering rudder/azimuth thruster.
Status:

Note that only rpm and azimuth are configured in this example.
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Thruster view - tunnel thruster

The Tunnel thruster view shows the operational state of a tunnel thruster.
How to open
Example
404 436094/D
Display views
Details

Numerical and graphical presentation of thruster pitch/rpm and

power feedback.
Status:

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Thruster Sub Plot view control

How to open
Example
Details
Plot
The trend plot to be shown. The following trend plots are available:
• Thr Pitch
Pitch setpoint and feedback for this thruster.
• Thr RPM
RPM setpoint and feedback for this thruster.
• Thr Azim
Azimuth setpoint and feedback for this thruster.
• Thr Load
Load setpoint and feedback for this thruster.
Time span
Range
plot scale.
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Display views
Auto
Manual
manually.
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Thruster setpoint feedback view

The Thruster setpoint feedback view shows setpoint and feedback data for all the
thrusters.
How to open
Example
408 436094/D
Display views
Details
Indicates the colour coding used on bar graphs and numerical

values for setpoint, feedback and the difference between them.
Status:
These are numerical and graphical presentation of the thruster

azimuth or rudder angle setpoint and feedback, and the
difference between them (in degrees).
These are numerical values and bar graphs of the thruster load
as a percentage of maximum.
These are numerical values and bar graphs of the pitch setpoint
and feedback, and the difference between them, shown as a
percentage of maximum.
These are numerical values and bar graphs of the rpm setpoint
These are numerical values and bar graphs of the force setpoint
436094/D 409
Trends view
The Trends view provides dynamic presentation (trend plots) and numerical values for
trended curves showing the history over a specified period for selected information,
such as wind, sea current, position and heading deviation, thruster forces and power
consumption.
How to open
Example
Description
Using the Trend Plot view-control dialog box you can select the trend plots to be shown.
Up to three different trend plots can be shown simultaneously.
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Display views
Details
The header indicates the name of the variable type for which
you have selected to show the trend plot.
Depending on the type of variable you have selected, one or

several different trend curves will be shown in the same trend
plot. Each curve will have its own specific name shown together
with a unique colour code.
This is a trend plot for the selected variable using colour coding to identify and
differentiate the various variable curves being plotted. The plot has Time span along the
x-axis and measured values along the y-axis. You should note that the most recent values
are plotted to the far right, i.e. that the curves move from right to left on the trend plot.
Each trend plot has its own button. Click this button to open the Trend Numeric
dialog box.
The Trend Numeric dialog box presents a range of numerical properties for all curves
in the trend plot. Values for the following numerical properties can be calculated and
shown: Average, Minimum, Maximum and STD DEV. The values for the numerical
properties are calculated over the Time span over which you have selected to show the
specific trend plot.
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Trend Plot view control

How to open
Example
Details
Plot
The trend plots to be shown. Click the down arrow to the far right of the Plot list
box to open a list from which you can select the variable type to be shown.
Time span
The time span for the trend plots.
Range
plot scale.
Auto
Manual
manually.
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Display panes
Topics
Depth pane, page 415
Diesel trend pane, page 415
Gangway Local pane, page 416
Gangway Remote pane, page 416
Gangway Status pane, page 417
Heave pane, page 420
Joystick pane, page 421
Pitch and roll pane, page 422
Pitch roll and heave pane, page 423
Power trend pane, page 425
Reference systems pane, page 426

Residual trend pane, page 426
Speed sensors pane, page 428

Status pane, page 428
Thruster force bar pane, page 429

Thruster force vector pane, page 430
Thruster resultant pane, page 431

Trends pane, page 431
Vessel speed pane, page 432
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Wind pane, page 433
Wind sensors pane, page 434
Wind trend pane, page 434
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Display panes
Depth pane
This pane shows a trend plot of the water depth below the keel.
You can adjust the time span and the y-axis range of the plot using the view-control
dialog box.
Clicking the plot area opens the Trends view showing a more detailed trend plot for
the Depth Sensor.
Related topics
Diesel trend pane

This pane shows a trend plot of the fuel-rack load on the diesel engines.
When you place the cursor over the plot area, arrows are displayed that allow you to
select another generator.
Clicking the plot area opens the Trends view showing the trend plots for Diesel Fuel
Rack and Power Generation Production.
436094/D 415
Related topics
Gangway Local pane

This pane shows the length, azimuth and elevation measurements for the gangway (local).
The bars show both the instantaneous values and the maximum values recorded during
the time span.
Clicking anywhere in this pane opens the Gangway view.
Related topics
Gangway Remote pane

This pane shows the length, azimuth and elevation measurements for the gangway
(remote).
416 436094/D
Display panes
the time span.
Related topics
Gangway Status pane

This pane shows the traffic control (walk/don’t walk) and the general system status for
the gangway.
Related topics
436094/D 417
Heading pane
This pane shows numerical and graphical information relevant to manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.
The title area also indicates the mode in which the heading is
controlled.
These are graphical indications of the axes that are under

automatic control or damping control.
The descriptions of the surge and sway axes apply to a system
with the vessel diagram shown “bow up”.
The surge axis is under automatic or damping control.
The sway axis is under automatic or damping control.
The yaw axis is under automatic or damping control.
When automatic heading control is selected, the heading

deviation is shown. Heading deviation is indicated by a
two-directional bar that represents the deviation from the
heading setpoint. If the deviation exceeds the available display
range, a plus (+) sign is shown in the bar. The range of the bar
is according to alarm limits. The colour of the bar changes
according to the heading warning and alarm limits:
• orange — warning limit exceeded
• red — alarm limit exceeded
Clicking this bar opens the Alert limits dialog box.
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Display panes
When the system is under joystick heading control in Joystick

mode, the turning force setpoint and the resulting vessel response
are represented by a bar and a numeric value.
The rotation of the joystick is indicated by a dark grey triangle.
The turning force setpoint is indicated by the brown line and a
light grey triangle.
The obtained turning moment is indicated by a numeric value
(in percent port or starboard). With full thrust selected, the range
is 100 % port to 100 % starboard whereas with reduced thrust
selected, the range is typically 50 % port to 50 % starboard.
Clicking this bar opens the Joystick dialog box.
The vessel heading (either as estimated by the vessel model, or

from the gyrocompass in use) is shown graphically against a
rotating compass rose and as a numeric value.
The heading setpoint is shown graphically on the compass rose
as a brown triangle. The current heading is a blue triangle.
When the system is in Joystick mode (with or without automatic
heading control selected) or Auto Position mode, the shown
vessel heading is as estimated by the vessel model. This is
indicated by the text Model shown under the numeric value.
Clicking this area shows the setpoint values in brown colour.
Shows the selected control strategy for station-keeping

operations, and the gain level (applicable for High Precision and
Relaxed modes).
Clicking this area opens the Gain dialog box.
The vessel's rate of turn (ROT) is shown numerically in degrees

per minute to port or starboard.
Clicking this area shows the setpoint value in brown colour.
If no gyrocompasses are available or the vessel's rate of turn

value is faulty, the ROT value is shown as dashes (- - . -) on
red background.
436094/D 419
Shows the status of the gyro compasses: enabled and in use (in
this example gyro 1), enabled, but not in use (in this example
gyro 2 and 3) and not enabled (in this example gyro 4 and 5).
Clicking this area opens the Sensors dialog box.
Related topics
Heave pane
This pane shows a trend plot of the vessel’s heave motion.
Clicking the plot area opens the Trends view showing the trend plot for VRS Heave.
Related topics
420 436094/D
Display panes
Joystick pane
This pane shows joystick-related information during Joystick mode.
The joystick setpoint is indicated by the brown line and is shown as two percentage
values (ahead or astern for surge and port or starboard for sway). The obtained response
(feedback) is indicated by the blue bar.
The tilt of the joystick is indicated by the filled grey circle and dashed coordinate lines
that are positioned relative to the centre of the cross formation (zero tilt).
Note
The joystick setpoint relative to the joystick tilt depends on the joystick thrust and the
active joystick precision settings.
Clicking this area opens the Joystick dialog box.

In Mixed Joystick/Auto modes, the bars for the surge or sway axis in automatic control
are replaced by a position deviation bar graph.
The joystick setpoint and response for the axis in joystick control is indicated as
described for the Joystick mode.
The direction of the joystick tilt in the axis under joystick control is indicated by the
position of the filled grey circle.
Position deviation in the axis under automatic control is indicated by a single

bidirectional bar which represents the deviation from the position setpoint. The colour of
the bar changes according to the position warning and alarm limits:
436094/D 421

Related topics
Pitch and roll pane

This pane shows a trend plot of the vessel’s pitch and roll motions.
Clicking anywhere in this pane opens the Trends view showing VRS Roll Angles and
VRS Pitch Angles.
Related topics
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Pitch roll and heave pane

This pane shows the vessel’s pitch, roll and heave motion.
the time span.
Clicking anywhere in this pane opens the Sensors view.
Related topics
Position deviation pane

This pane shows position deviation in Auto Position mode.
The position deviation is shown both graphically and numerically. An arrow symbol
shows whether the estimated position is moving towards (green colour, decreasing
deviation) or away from (pink colour, increasing deviation) the position setpoint.
Clicking this area opens the Alert limits dialog box.
436094/D 423
The position deviation is indicated by a filled circle whose radius represents the deviation
from the position setpoint. The colour of the circle changes in relation to the position
warning and alarm limits (if active):
• grey — within the limits
Related topics
Power consumption pane

The consumed power for each connect-switchboard is shown in graphical form as a
percentage of available power for each connect-switchboard.
The number of bar graphs shown will be automatically adjusted to reflect the vessel's
current connect-switchboard configuration, i.e. when it changes due to bus-tie breakers
being opened/closed.
Each bar graph has a blue bar and two predefined power consumption limits (one for
warning and one for alarm) that are shown as dashed horizontal line for warning limit
and solid line for alarm limit. If the lower (warning) limit (typically 80 %) is exceeded
the colour of the bar becomes orange. If the upper (alarm) limit (typically 95 %) is
exceeded the colour of the bar changes to red.
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Display panes
Clicking this area opens the Power view.
If any power section is solely supplied by batteries, this is

indicated by the text on the yellow background.
The text on the red background indicates the time left of the
batteries lifetime when this time is less than the alarm limit.
Related topics
Power trend pane

This pane shows a trend plot of the connect switchboard power consumption as
percentage of nominal.
When you place the cursor over the plot area, arrows are displayed that allow to select
another switchboard, if appropriate.
Clicking the plot area opens the Trends view showing the trend plots for Power Generator
Production and Connect-swbd Consumption/Nominal.
Related topics
436094/D 425
Reference systems pane

This pane shows the position information from all active references systems relative to
the vessel’s estimated position (the centre of the pane).
You can adjust the range of the plot using the view-control dialog box.
Clicking the plot area opens the Reference system main view.
Related topics
Residual trend pane

This pane shows a trend plot of the residual force as current speed and direction.
select between Residual speed and Residual direction.
dialog box.
Clicking the plot area opens the Trends view showing the trend plots for Residual
Moment and Residual Force.
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Related topics
Rotation center position pane

This pane shows the position of the vessel’s rotation centre in the current coordinate
system.
with the system, becomes the reference origin (the origin in the internal coordinate
system). Position information from any other reference systems is then calibrated
according to this coordinate system.
Clicking the coordinates displays the position setpoint in brown text.
Clicking the vessel symbol opens the Rotation Center dialog box.
Clicking the name of the reference origin opens the Reference System Settings dialog box.
Clicking the area indicating the DP class opens the DP Class dialog box.
During position drop-out the background changes to red to

indicate the error situation.
This part of the pane is used during the DP Online Consequence

Analysis function. It indicates which DP class is selected, the
time to the next analysis, the name and time of the battery
with the least lifetime of the batteries in case of worst single
failure (WSF). The background changes to red when this time is
less than the alarm limit. This is not visible if no batteries are
connected to the switchboard.
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Related topics
Reference system settings dialog box, page 280
Speed sensors pane

This pane shows information from the speed sensors.
The names of the sensors and the colour coding for the sensor status are the same as
on the Sensor view.
Clicking anywhere in this pane opens the Sensor view.
Related topics
Status pane
This pane shows the status of reference systems, sensors, generators, thrusters and
batteries.
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Display panes
When you place the cursor over this pane, arrows are displayed that allow you to move
between the available pages of status information.
Clicking anywhere in this pane opens the corresponding view.
Thruster force bar pane

This pane shows the thruster force for each thruster as percentage of nominal.
Clicking within the force bars opens the Thruster main view.
436094/D 429
Related topics
Thruster force vector pane

This pane shows the thruster force and direction from all the thrusters.
Allocation mode
Shows the currently-selected thrust allocation mode. Clicking this area opens the
Thrust Allocation dialog box.
Moment
Shows the resulting turning moment. This is also indicated in the curved bar graph.
Resultant force
Shows the combined resultant force from all the thrusters, based on feedback
signals from the thrusters.
Resultant dir
Shows the direction of the combined resultant from all the thrusters.
Individual thrust vectors show the force and direction for each thruster. A larger arrow
shows the combined force and direction from all the thrusters.
The colour of the force vectors changes to orange when the thrusters pass the limit
for percentage of available thrust (typically 80 %). This applies only in some modes
(depending on your system configuration, but usually automatic modes).
The colour of the force vectors changes to red when there is a signal error from one of
the thrusters.
When using the thruster force bias function, the thrusters are colour-coded to identify
the thruster bias groups.
Clicking the vessel diagram in this pane opens the Thruster main view.
430 436094/D
Display panes
Related topics
Thruster resultant pane

This pane shows a trace of the resultant thruster force and direction.
Clicking the plot area opens the Trends view showing the Thruster Resultant Force, the
Thruster Resultant Force Dir and the Thruster Resultant Moment.
Related topics
Trends pane
This pane allows you to select and display various trend plots
When you select this pane it opens with the trend plot that was last displayed in this
pane. For example:
436094/D 431
You can select the plot to be displayed, the time-span of the plot, and the range of the
plot, using the view-control dialog box.
Clicking the plot area opens the Trends view showing the corresponding detailed trend
plot.
Vessel speed pane

This pane shows the vessel speed and direction
The vessel's speed is shown in the top right-hand corner of the pane.
SOG/STW: The indicator next to the reading for speed tells you
whether speed over ground (SOG) or speed through water (STW) is
shown.
The name of the sensor measuring the speed is usually shown. If the
vessel speed is input manually, this is indicated by the text Manual on
yellow background. If it is calculated by the system, it is indicated by
the text Model on yellow background.
Clicking this area shows the setpoint values in brown colour.
The blue pointer indicates the course over ground together with the
value in degrees.
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Display panes
Forward/reverse speed: The value of the speed forward or in reverse is

shown in the centre of the fixed ship symbol, where it appears beneath
the arrow indicating forwards (green) or reverse (pink).
Clicking this area opens the Speed Setpoint dialog box.
Transverse speed: Transverse speeds at the stern and at the bow are
also shown; green arrow to starboard, pink arrow to port.
Related topics
Speed setpoint dialog box, page 307
Wind pane
This pane shows the current wind speed and direction and a trace of the recent history
as measured by the wind sensor that is currently in use.
You can adjust the time span and the range of the plot using the view-control dialog box.
Clicking the plot area opens the Sensors view showing more information for the wind
sensors.
If the wind sensor is disabled or becomes unserviceable the last known valid wind
sensor measurement is used and the sensor name is replaced by the word Freeze on
yellow background.
Related topics
436094/D 433
Wind sensors pane

This pane shows the measured wind speed and direction from each of the wind sensors.
Clicking a sensor symbol opens the Sensors dialog box (Wind page).
Clicking elsewhere on this pane opens the Sensors view showing more information
for the wind sensors.
Related topics
Wind trend pane

This pane shows a trend plot of the wind speed and direction as measured by the wind
sensor that is currently in use.
select wind speed or wind direction.
dialog box.
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Display panes
Clicking the plot area opens the Trends view showing the trend plots for Environmental
Dir True and Environmental Speed.
Related topics
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Index
A C
About dialog box ......................................... 147 calibrating the joystick ..................................... 95
Acceleration/deceleration dialog box .................. 149 Cargo on deck dialog box................................ 164
ACK button.......................................... 108–109 CHANGE HEADING button ............................. 63
acknowledge CHANGE POSITION button ............................. 66
alarm..................................................... 108 Change User dialog box ................................. 165
message ................................................. 108 changing heading ........................................... 60
alarm changing position ........................................... 65
acknowledging ......................................... 108 Clutch settings dialog box ............................... 166
lamps combinator control........................................ 328
ALARM........................................ 105, 109 command
FAULT ............................................... 109 requesting ................................................. 88
POWER .............................................. 109 taking ............................................. 45, 86–87
states ..................................................... 107 Command Control dialog box........................... 168
ALARM lamp ............................................. 105 DP-OS ................................................... 171
alarm limit Give...................................................... 173
heading .................................................... 75 Overview................................................ 172
position .................................................... 76 command groups.......................................... 173
ALARM VIEW button............................. 108–109 command transfer........................................... 86
ALARMS button group .................................. 109 Connect dialog box ....................................... 175
Alert limits dialog box ................................... 151 consequence analysis
Position.................................................. 152 alert messages .......................................... 134
VRS...................................................... 154 DP........................................................ 133
Alert list view ............................................. 339 status information...................................... 134
allocation mode status messages......................................... 134
setting ..................................................... 78 controller gain ............................................... 77
Allocation settings dialog box .......................... 155 coordinate systems........................................ 123
Alongship force control dialog box .................... 158 critical system messages ................................. 113
angle factor ................................................ 326
AUTO POSITION button ................................. 59
Auto Position mode ........................................ 59 D
dashboard .................................................... 35
date and time
B setting ..................................................... 79
Barge moored dialog box ................................ 162 Date and Time dialog box ............................... 176
bias type.................................................... 322 datum ....................................................... 123
blackout prevention....................................... 138 Datum details dialog box ................................ 177
buttons........................................................ 26 degrees of freedom ......................................... 13
ACK ............................................... 108–109 Depth pane................................................. 415
ALARM VIEW .................................. 108–109 dialog boxes ............................................... 144
AUTO POSITION ....................................... 59 About .................................................... 147
CHANGE HEADING................................... 63 Acceleration/deceleration............................. 149
CHANGE POSITION................................... 66 Alert limits.............................................. 151
GIVE ................................................. 86–87 Position............................................... 152
HARDCOPY ............................................. 84 VRS................................................... 154
JOY. FULL THRUST ................................... 72 Allocation settings ..................................... 155
JOYSTICK ............................................... 56 Alongship force control ............................... 158
JOYSTICK SETUP ..................................... 72 Barge moored .......................................... 162
PRESENT HEADING ............................. 56, 65 Cargo on deck .......................................... 164
PRESENT POSITION .................................. 68 Change User ............................................ 165
SET HEADING........................................ 207 Clutch settings.......................................... 166
SILENCE ............................................... 109 Command Control ..................................... 168
STOP ................................................. 64, 68 DP-OS ................................................ 171
SURGE............................................... 57–58 Give................................................... 173
SWAY ................................................ 57–58 Overview............................................. 172
TAKE................................................. 45, 86 Connect.................................................. 175
YAW .................................................. 56, 58 Date and Time.......................................... 176
Datum details........................................... 177
DP class ................................................. 178
EBL ...................................................... 179
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Index
Enter Value ............................................... 38 Range ................................................. 387

Equipment .............................................. 180 Show.................................................. 385
Event Printer......................................... 187 Reset controller PS .................................... 284
Net Status ............................................ 188 Rotation center ......................................... 285
OS/HS ................................................ 185 Sensors .................................................. 288
PS Redundancy ..................................... 183 Draught............................................... 289
EquipmentPS ........................................... 181 Gyro .................................................. 291
Event Printer............................................ 190 Rate of turn .......................................... 293
Export Log Files ....................................... 194 Speed ................................................. 295
External force event ................................... 191 VRS................................................... 298
FW Manager............................................ 195 Winch................................................. 300
Gain...................................................... 196 Wind .................................................. 303
Gyro deviation ......................................... 200 Set System Date/Time................................. 306
Heading ................................................. 202 Speed setpoint .......................................... 307
Heading .............................................. 203 Station Explorer........................................ 308
Rate of turn .......................................... 205 Stop/restart.............................................. 311
Heading (Setpoint)..................................... 206 Thrust allocation ....................................... 312
Heading Setp............................................ 207 Thruster biasing ........................................ 316
IO Manager ............................................. 208 Thruster combinator control settings................ 328
IO Configurator ..................................... 209 Thruster enable......................................... 330
IO Point Browser ...................................... 211 Thruster Enable .......................................... 46
IO Terminal Block ..................................... 214 Thruster run-in ......................................... 332
Joystick.................................................. 221 Thruster Sub Plot ...................................... 406
Joystick Calibrate ...................................... 220 Trainer settings ......................................... 334
Light Taut Wire Plot................................... 354 Trend Plot ............................................... 412
Local N/E properties .................................. 225 UTM properties ........................................ 335
Mode change confirmation ........................... 224 Diesel trend pane.......................................... 415
Numeric entry keypad dialog use.................... 227 Diesel view ................................................ 342
Panel Lamp Test ....................................... 229 display layout................................................ 29
Panel Light Configuration ............................ 230 dashboard ................................................. 35
Position.................................................. 231 side bar .................................................... 36
Abs.................................................... 236 top bar ..................................................... 32
Inc..................................................... 232 working areas............................................. 36
R/B.................................................... 234 display palette ............................................... 81
Speed ................................................. 238 divergence test ............................................ 124
Position (Setpoint) ..................................... 244 DP class dialog box....................................... 178
Position inc ............................................. 239 draught
Position presentation .................................. 241 selecting ................................................... 53
Position R/B ............................................ 240
Posplot .................................................. 365
Grid ................................................... 367 E
Motion................................................ 365 EBL dialog box ........................................... 179
Range ................................................. 368 Enter Value dialog box ..................................... 38
Show.................................................. 366 Equipment dialog box .................................... 180
Trace.................................................. 369 Event Printer............................................ 187
Power optimal allocation ............................. 245 Net Status ............................................... 188
Power plot .............................................. 376 OS/HS ................................................... 185
Preselect................................................. 247 PS ........................................................ 181
Presentation units ...................................... 249 PS Redundancy ........................................ 183
Print status .............................................. 251 Event Printer dialog box ................................. 190
Properties - DpPs Serial port ......................... 252 Export Log Files dialog box............................. 194
Disable status........................................ 255 External force event dialog box......................... 191
SerPort ............................................... 253
Quick model ............................................ 257
RBUS IO Image........................................ 260 F
Redundant Stations .................................... 264
Reference system ...................................... 269 freeze test .................................................. 124
Enable ................................................ 270 FW Manager dialog box ................................. 195
Validation ............................................ 273
Weight ................................................ 271
Reference system origin .............................. 275 G
Reference system properties.......................... 277 gain
Reference system settings ............................ 280 selecting level ............................................ 77
Refsys ................................................... 384 Gain dialog box ........................................... 196
Grid ................................................... 386
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gain level................................................... 198 L

Gangway Local pane ..................................... 416
Light Taut Wire Plot dialog box ........................ 354
gangway monitoring........................................ 69
limits
Gangway Remote pane................................... 416
heading .................................................... 75
Gangway Status pane..................................... 417
position .................................................... 76
Gangway view ............................................ 345
Local N/E properties dialog box ........................ 225
GIVE button ............................................ 86–87
LTW view.................................................. 351
giving command ............................................ 86
green control mode ......................................... 16
Gyro deviation dialog box ............................... 200 M
gyrocompass
enabling ................................................... 46 median test................................................. 124
heading dropout ........................................ 117 message system ........................................... 103
prediction error................................... 116–117 operational checks ..................................... 104
rejected measurements ................................ 116 system diagnostics ..................................... 104
messages
acknowledging ......................................... 108
H explanations ............................................ 111
printed ................................................... 110
handling position information........................... 122
minimum power heading .................................. 77
HARDCOPY button........................................ 84
Mode change confirmation dialog box................. 224
heading
modes
changing................................................... 60
Auto Position ............................................. 59
dropout .................................................. 117
Joystick.................................................... 56
limits....................................................... 75
monitoring ................................................... 98
prediction error......................................... 117
Heading (Setpoint) dialog box .......................... 206
Heading dialog box ....................................... 202 N
Heading ................................................. 203
Rate of turn ............................................. 205 Numeric entry keypad dialog use dialog box ......... 227
Heading pane .............................................. 418 Numeric view ............................................. 356
Heading Setp. dialog box................................ 207
heading wheel .......................................... 28, 60
Heave pane ................................................ 420 O
help system ................................................ 111 operator panel ............................................... 25
High Precision controll mode ............................. 16 buttons..................................................... 26
heading wheel ............................................ 28
joystick .................................................... 27
I trackball ................................................... 27
inwards factor ............................................. 327 operator pop-up messages ............................... 112
IO Manager dialog box .................................. 208 operator station.............................................. 24
IO Configurator ........................................ 209 restarting .................................................. 90
IO Point Browser dialog box ............................ 211
IO Terminal Block dialog box .......................... 214
P
panel
J testing ..................................................... 90
JOY. FULL THRUST button.............................. 72 Panel Lamp Test dialog box ............................. 229
joystick ....................................................... 27 panel light.................................................... 81
calibration................................................. 95 Panel Light Configuration dialog box.................. 230
precision................................................... 72 panes
thrust setting .............................................. 72 Depth .................................................... 415
JOYSTICK button .......................................... 56 Diesel trend ............................................. 415
Joystick Calibrate dialog box ........................... 220 Gangway Local ........................................ 416
Joystick dialog box ....................................... 221 Gangway Remote ...................................... 416
Joystick mode ............................................... 56 Gangway Status ........................................ 417
Joystick pane .............................................. 421 Heading ................................................. 418
JOYSTICK SETUP button ................................ 72 Heave .................................................... 420
Joystick view .............................................. 347 Joystick.................................................. 421
Pitch and roll ........................................... 422
Pitch roll and heave.................................... 423
K Position deviation...................................... 423
Power consumption.................................... 424
Kalman Filter................................................ 14
438 436094/D
Index
Power trend ............................................. 425 Print status dialog box.................................... 251

Reference systems ..................................... 426 printing
Residual trend .......................................... 426 display picture............................................ 84
Rotation center position............................... 427 status page ................................................ 84
Speed sensors........................................... 428 system messages ....................................... 110
Status .................................................... 428 system report ............................................. 84
Thruster force bar ...................................... 429 process station
Thruster force vector .................................. 430 resetting ................................................... 91
Thruster resultant ...................................... 431 Properties - DpPs Serial port dialog box............... 252
Trends ................................................... 431 Disable status........................................... 255
Vessel speed ............................................ 432 SerPort .................................................. 253
Wind ..................................................... 433
Wind sensors ........................................... 434
Wind trend .............................................. 434 Q
panning views ............................................... 40 Quick model dialog box ................................. 257
Pitch and roll pane ........................................ 422
Pitch roll and heave pane ................................ 423
position R
changing................................................... 65
dropout .................................................. 120 rate of turn ................................................... 63
limits....................................................... 76 rate-of-turn sensor
Position (Setpoint) dialog box .......................... 244 enabling ................................................... 53
Position deviation pane .................................. 423 RBUS IO Image dialog box ............................. 260
Position dialog box ....................................... 231 redundancy................................................... 20
Abs....................................................... 236 Redundant Stations dialog box.......................... 264
Inc........................................................ 232 redundant system
R/B....................................................... 234 dual ........................................................ 20
Speed .................................................... 238 error objects ............................................ 267
Position inc dialog box................................... 239 triple ....................................................... 21
position information reference origin ............................................. 49
handling ................................................. 122 changing................................................... 51
Position presentation dialog box........................ 241 description .............................................. 123
Position R/B dialog box.................................. 240 Reference system dialog box............................ 269
position-reference system Enable ................................................... 270
divergence test ......................................... 124 Validation ............................................... 273
enabling .............................................. 49–50 Weight ................................................... 271
freeze test ............................................... 124 Reference system main view ............................ 380
median test.............................................. 124 Reference system origin dialog box .................... 275
position dropout........................................ 120 Reference system properties dialog box ............... 277
prediction test .......................................... 124 Reference system settings dialog box .................. 280
reference origin .......................................... 49 Reference systems pane.................................. 426
variance test ............................................ 124 Refsys dialog box ................................... 384–387
Posplot dialog box ........................................ 365 Relaxed controll model .................................... 16
Grid ...................................................... 367 remote support .............................................. 93
Motion................................................... 365 requesting command ....................................... 88
Range .................................................... 368 Reset controller PS dialog box .......................... 284
Show..................................................... 366 resetting controller PS...................................... 91
Trace..................................................... 369 Residual trend pane....................................... 426
Posplot view ............................................... 359 ROT .......................................................... 63
power Rotation center dialog box............................... 285
blackout prevention.................................... 138 Rotation center position pane ........................... 427
monitoring ........................................ 137–138 Rotation center view...................................... 388
Power consumption pane ................................ 424 rotation centre
Power consumption view ................................ 378 selecting ................................................... 73
Power optimal allocation dialog box ................... 245 rudder/nozzle control..................................... 156
Power plot dialog box .................................... 376
Power trend pane.......................................... 425
Power view ................................................ 371 S
prediction test ............................................. 124 sensor errors ............................................... 115
Preselect dialog box ...................................... 247 Sensors dialog box........................................ 288
preselecting views .......................................... 83 Draught.................................................. 289
PRESENT HEADING button........................ 56, 65 Gyro ..................................................... 291
PRESENT POSITION button............................. 68 Rate of turn ............................................. 293
presentation units ........................................... 82 Speed .................................................... 295
Presentation units dialog box............................ 249
436094/D 439
VRS...................................................... 298 U
Winch.................................................... 300
UTM properties dialog box.............................. 335
Wind ..................................................... 303
Sensors view............................................... 389
SET HEADING button .................................. 207 V
Set System Date/Time dialog box ...................... 306
side bar ....................................................... 36 variance test ............................................... 124
signal conditioning elements ............................ 218 vertical reference sensor
SILENCE button.......................................... 109 enabling ................................................... 48
speed sensor errors..................................................... 119
enabling ................................................... 51 vessel draught ............................................... 53
Speed sensors pane ....................................... 428 Vessel speed pane ......................................... 432
Speed setpoint dialog box ............................... 307 view controls
Station Explorer dialog box ............................. 308 Light Taut Wire Plot................................... 354
Status pane................................................. 428 Posplot .................................................. 365
STOP button............................................ 64, 68 Grid ................................................... 367
Stop/restart dialog box ................................... 311 Motion................................................ 365
SURGE button ......................................... 57–58 Range ................................................. 368
SWAY button ........................................... 57–58 Show.................................................. 366
system architecture ......................................... 96 Trace.................................................. 369
system datum .............................................. 123 Power plot .............................................. 376
Refsys ................................................... 384
Grid ................................................... 386
T Range ................................................. 387
TAKE button ........................................... 45, 86 Show.................................................. 385
taking command ................................... 45, 86–87 Thruster Sub Plot ...................................... 406
testing the panel ............................................. 90 Trend Plot ............................................... 412
Thrust allocation ............................................ 19 view-control dialog boxes ................................. 42
Thrust allocation dialog box............................. 312 views
thruster biasing Alert list ................................................. 339
angle factor ............................................. 326 Azimuth thruster ....................................... 400
automatic biasing ...................................... 319 Diesel .................................................... 342
bias type................................................. 322 Gangway ................................................ 345
inwards factor .......................................... 327 Joystick.................................................. 347
manual biasing ......................................... 317 LTW ..................................................... 351
turn factor ............................................... 325 Numeric ................................................. 356
Thruster biasing dialog box ............................. 316 Posplot .................................................. 359
Thruster combinator control settings dialog Power consumption.................................... 378
box ........................................................ 328 Power view ............................................. 371
Thruster enable dialog box .............................. 330 preselecting ............................................... 83
Thruster Enable dialog box................................ 46 Propeller/rudder ........................................ 402
Thruster force bar pane .................................. 429 Reference system main................................ 380
Thruster force vector pane............................... 430 Rotation center ......................................... 388
Thruster forces view...................................... 392 Sensors .................................................. 389
Thruster main view ....................................... 395 Thruster forces ......................................... 392
Thruster resultant pane ................................... 431 Thruster main........................................... 395
Thruster run-in dialog box............................... 332 Thruster setpoint feedback............................ 408
Thruster setpoint feedback view ........................ 408 Trends ................................................... 410
Thruster Sub Plot dialog box ............................ 406 Tunnel thruster ......................................... 404
Thruster view
Azimuth thruster ....................................... 400
W
Propeller/rudder ........................................ 402
Tunnel thruster ......................................... 404 warning limit
thrusters heading .................................................... 75
allocation mode .......................................... 78 position .................................................... 76
enabling ................................................... 46 warning messages
top bar ........................................................ 32 explanations ............................................ 111
trackball ...................................................... 27 wind compensation ......................................... 72
trainer................................................. 140–141 Wind pane.................................................. 433
Trainer settings dialog box .............................. 334 wind sensor
transferring command ...................................... 86 enabling ................................................... 47
Trend Plot dialog box .................................... 412 errors..................................................... 117
Trends pane ................................................ 431 Wind sensors pane ........................................ 434
Trends view................................................ 410 Wind trend pane........................................... 434
turn factor .................................................. 325 working areas................................................ 36
440 436094/D
Index
Y
YAW button ............................................ 56, 58
Z
zooming views .............................................. 40
436094/D 441
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K-Pos DP

Dynamic Positioning System

Document number: 436094 / Revision D

SYSTEM OVERVIEW ............................................................... 11

Enabling a vertical reference sensor ................................................................................48

CUSTOMIZING PREFERENCES ................................................ 80

Gyro error....................................................................................................................... 116

Acceleration/deceleration dialog box ............................................................................149

Sensors dialog box .........................................................................................................288

Reference system main view .........................................................................................380

Forces and motions

The Extended Kalman Filter

The Extended Kalman Filter gives the following advantages:

Offshore trials have verified that K-Pos DP principles give:

High Precision and Relaxed control mode

Green control mode

Automatic switch-over to the Offline PS

Getting to know your

The three outer buttons are used as the buttons on a computer

When the operator station is in command the command group

The icon shows the priority of the alert:

Shows the tag name of the OS alert.

The icon is a shortcut to more information about the alert.

The extension button shows the number of unacknowledged

The colour of the extension button is the colour of the

About dialog boxes

Selecting dialog boxes

About display views

Orientation of the operator station and effect on display

As the cursor changes when it is moved over a

Zooming and panning function

Selecting display views and panes

Selecting display views

View-control dialog boxes

Preparing for operation

Selecting the vessel draught, page 53

Starting the system

2 Check that the OK check box for the gyrocompass is selected.

Enabling a wind sensor

Enabling a vertical reference sensor

2 Check that the OK check box for the VRS is selected.

Enabling the first position-reference system

• An initial calibration of the position-reference system is performed.

Enabling other position reference systems

• The position measurements from the position-reference system are calibrated

Changing the reference origin

Enabling a speed sensor

Enabling and entering a manual speed value

Selecting the vessel draught

Enabling a rate-of-turn sensor

Controlling the vessel

Monitoring the gangway, page 69

Controlling the vessel manually

Controlling the vessel heading automatically

Controlling surge and sway automatically

Stabilising the vessel

Controlling position and heading

Changing the vessel heading

Changing the vessel heading using the heading wheel

Changing the vessel heading using the Posplot view

1 Click the heading setpoint symbol in the Posplot view.

2 Move the setpoint symbol with the trackball.

Changing the vessel heading using the Change heading

Changing the rate of turn