KHW019920 K-Pos Presentation Handout - RevC1

Presentation 2022
Kongsberg Maritime Training
K-Pos Maintenance Course
Presentation Handout
Presentation Handout
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Course Introduction
What is DP
Sensors & Position Reference Systems
The Operator Station
Course agenda The DPC Cabinet
Network Communication
Serial Communication
Assessment
System Backup and Restore
Summary
WORLD CLASS – Through people, technology and dedication KONGSBERG PROPRIETARY ‐ See Statement of Proprietary information
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 Course Introduction
Course Introduction
Timetable
TIME DAY 1 DAY 2 DAY 3 DAY 4
Team 1 Team 2
Course Introduction Team 1 Team 2
Sensors and Position Reference Systems Hardware ‐ The DP Hardware ‐ The DP
09:00 ‐ 09:45 Exercise (1.1) Control (DPC) Cabinet Control (DPC) Cabinet
DPC Cabinet cJOY System
What is DP System? Exercise (3.4) Exercise (3.6)
Exercise (1.7) Exercise (3.1)
09:45 ‐ 10:00 Break Break Break Break
What is DP System? Hardware ‐ The Operator Station Introduction Team 1 Team 2
10:00 ‐ 10:45 Hardware ‐ The Operator Station
Network Communication ‐ Introduction DPC Cabinet cJOY System
DP Principles & Six Degreed of Freedom Exercise (3.5) Exercise (3.6)
Exercise (1.3)
Team 1 Team 2 Team 1 Team 2
DP System Class
Hardware ‐ The Hardware ‐ The Network Network
11:00 ‐ 11:45 Operator Station Operator Station Communication Communication
Assessment ‐ Multiple Choice Test
K‐Pos Main Components
Exercise (1.4) Exercise (1.5) Exercise (3.2) Exercise (3.3)
11:45 ‐ 12:45 LUNCH LUNCH LUNCH LUNCH

Team 1 Team 2 Team 1 Team 2 Team 1 Team 2
Product Lifcycle Management
Hardware ‐ The Hardware ‐ The Network Network Troubleshooting K‐Pos Troubleshooting
12:45 ‐ 13:30 Human Machin Interface Operator Station Operator Station Communication Communication System cJOY System
(HMI) Exercise (1.5) Exercise (1.4) Exercise (3.3) Exercise (3.2) Exercise (3.8) Exercise (3.6)
Human Machin Interface Team 1 Team 2
Hardware ‐ The DP Control (DPC) Cabinet Serial Communication ‐ Introduction
(HMI) Troubleshooting Troubleshooting K‐Pos
13:45 ‐ 14:30 Software ‐ Operational Hardware ‐ The DPC Cabinet Independent Joystick System (cJOY) ‐ cJOY System System
Exercise (2.2) Exercise (1.6) Introduction Exercise (3.6) Exercise (3.8)
Team 1 Team 2
Software ‐ Operational Hardware ‐ The DP Control (DPC) Cabinet System Backup & Restore
14:45 ‐ 15:30 Exercise (2.2) Exercise (1.6)
cJOY System DPC Cabinet
Exercise (3.7)
Team 1 Team 2
Team 1 Team 2
Sensors and Position Reference Systems Hardware ‐ The DP Hardware ‐ The DP
15:30 ‐ 16:00 Introduction Control (DPC) Cabinet Control (DPC) Cabinet
cJOY System DPC Cabinet Summary, Diplomas & Evaluation
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Learning Objectives
Identify and exchange faulty units, with spares from onboard

stock, to bring the K‐Pos system back into operation
After the course, the

successful participant Perform correct periodic maintenance
can…
Communicate with Kongsberg Maritime service personnel when

assistance is needed
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K‐Chief K‐Master K‐Thrust
K‐Pos cJoy & cWing cPos

Kongsberg Maritime
Control Systems
www.kongsberg.com
K‐Bridge K‐Safe K‐Power
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Product Lifecycle Management
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DP Capability Plot
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Customer
Acceptance Test
– CAT
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Failure Modes & Effects Analysis ‐ FMEA
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Product Lifecycle Management Summary
FAT CAT FMEA
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Customer Support ‐ notifications
Technical Bulletin Safety Notice

Specific to your HW/SW General ‐ forwarded by others
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Kongsberg Maritime – Customer Support

Follow the sun
Full 24/7 Support

Global Support Network
“Follow the Sun”
24hr Support for all KM Products

Commissioning, Modifications
+47 33 03 24 07
and Upgrades
km.support@kongsberg.com
Product and System Training

On‐board Training and Assistance
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What is DP?
Dynamic Positioning In Nature Picture
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What is a Dynamic Positioning Vessel
“a unit or a vessel which

automatically maintains its position
(fixed location or predetermined
track) exclusively by means of
thruster force.”
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What is a Dynamic Positioning System
“the complete installation necessary for

dynamically positioning a vessel comprising of
the following sub‐systems”
DP‐Control
Power System Thrusters
System
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Who Uses KM Dynamic Positioning?
Supply Vessels
Tankers
Pipe/Cable Layers
Semisubs / FPSO
Cruise Ships
Dive Support Vessels
Anchor Handlers
Accommodation Vessels
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Functions
Cruise ships Area positioning, Anchor Watch, Green DP
Offshore Loading Approach, Weather Vane, Connect, Loading
Green DP More efficient DP
RAM Riser Angle Monitoring
RMS Riser Management System
PM / DPM Systems for position moored vessels
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DP Functions
Cruise ships Offshore Loading Drilling Mooring
Area positioning, Approach, Weather

RAM – Riser Angle DPM – Dynamic
Anchor Watch, Vane, Connect,
Monitoring Position Mooring
Green DP Loading
RMS – Riser
Management
System
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Main Components Summary

Human Machine Interface
PC
Display Panel
Operator Panel
Sensors Position Reference Systems

Compass DGNSS
Wind Acoustic
Vertical Reference Laser
Other Microwave
Tautwire
Thrusters DP Cabinet
Azimuth (DPC) Power Management
Tunnel System
Prop/Rudder
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System Naming Convention
Redundancy
1. Single Controller
2. Dual Controller
3. Triple Controller
System DP X X (i.e. K‐Pos DP 21)
Topology
1. Standalone
2. Integrated
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K‐Pos DP‐11
IMO Class
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K‐Pos DP‐12
IMO Class
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What is Redundancy?
“Redundancy means ability of a component or

system to maintain or restore its function, when
a single failure has occurred”
“Redundancy can be achieved for instance by

installation of multiple components, systems or
alternative means of performing a function”
“Ability of a component or system to maintain or

restore its function, when a single failure has
occurred. Redundancy can be achieved for instance
by installation of multiple components, systems or
alternative means of performing a function.”
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K‐Pos DP‐21
IMO Class
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K‐Pos DP‐31
IMO Class
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K‐Pos DP‐21 & 11

IMO Class
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K‐Pos DP‐22 & 12
IMO Class
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Independent Joystick
IMO Class
1,2,3
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IMO Equipment Class – Summary
DP • Single System
class 1 • Independent Joystick
DP • Redundant System
class 2 • Independent Joystick
• Redundant Main System

DP • Backup System
class 3 •
•
Fire & Flooding
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DP System Requirements
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Manual
MAIN DP Backup DP
Position Control
Control System Control System
System (IJS)
Mode selector
A60 Compartment
IJS Pilot
DP Manual Manual
Thruster
DP in Command
Control (Lever)
IJS in Command
Auto Pilot in Command

Manual in Command
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Utility Panel
DP IJS PILOT Manual
Utility Panel Take Utility Panel

DP IJS PILOT Manual DP IJS PILOT Manual
Take Take
MSC ‐2
Mode Selector
System DP in Command
IJS in Command
Auto Pilot in Command

Normal Override Manual in Command
• Dual Controller
• Digital I/O Modules
• Relays
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Software – HMI
Operational
Human Machine Interface (HMI)
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Human Machine Interface (Buttons)
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K‐Pos Standby Mode
Standby
 No output to thrusters Auto
Standby Joystick
Position
 Default software settings
 Sensor input monitor
 Built‐in‐trainer (if applicable)
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K‐Pos Joystick Mode
Joystick
Auto
 Thrusters automatically enabled Standby Joystick
Position
(if applicable)
 PRS not necessary Auto Auto Auto
Surge Sway Heading
 Full Joystick control
 Double Press
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K‐Pos Auto Position Mode
Auto Position
Auto
 Fully Automatic Control Standby Joystick
Position
Auto Auto Auto

Surge Sway Heading
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K‐Pos Auto Modes
Auto Track
Follow Target
Auto Position Mode
Auto Pilot
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6 Degrees of Freedom
Summary
SURGE Controlled by: SWAY YAW

Controlled by:
Thrusters
Thrusters
Measured by:
Measured by:
Position Reference Systems
Gyrocompass
PITCH ROLL HEAVE
L E
Measured by: Motion Reference Unit
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Forces
Azimuths
Wind Propellers
Waves Rudders
Current Tunnel
Thrusters
Surge
Sway
Yaw
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Vessel Model Calculations
Measured Pos Estimate Pos Present Pos
Difference Between Estimate and Measured = Residual (Kongsberg Current)

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Sensors & Position
Reference Systems
Sensors
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Position Reference Systems
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Fibre‐optic gyro compass – MGC®

Ring Laser Gyros from Kongsberg Seatex
Power/ Data Cable
MGC Serial RS‐422 NMEA

Junction
(THS Telegram )
Box
24V DC
From DPC DPC Cabinet
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Why Gyro Compass is so
important?
Position Calculation
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Sensors – Motion Reference Unit

VRU/VRS
X axis (towards BOW)
RS‐422 EM3000 to HiPAP

Y axis
Power & Data 24vdc Power from PSU
Digital Input Ready Signal

MRU/
Analogue Input Pitch ±10vdc
MGC
OR Junction Analogue Input Roll ±10vdc
Box
Analogue Input *Heave 0…10vdc
RS‐422 NMEA (optional)
MGC MRU
* Model dependant
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MRU Recalirbration
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Sensors ‐ Wind
Heating Option (24V DC)

Junction Box
Power/Data
Power/Data
UPS 230V AC RS‐422 NMEA Serial Line Data
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Sensors
Wind Sensors Heading Sensors Motion Sensor
Ultrasonic Mechanical Gyrosphere Fibre optic GNSS Based MRU (VRS/VRU)
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Position Reference Systems ‐ DGNSS

Differential Global Navigation Satellite System
GPS IALA
GLONASS Antenna
Antenna
RS‐422 NMEA Serial Line Data
DPS
Gyro
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• The corrections are
broadcasted using
longwave radio
A ground‐based reference station is frequencies
installed to broadcast the • Up to 200 km range
difference between the positions
indicated by the GPS system and
the known fixed position.
Local Corrections ‐ IALA
Inmarsat
Correction data • The corrections are

broadcasted using
satellite
Reference
Station
communication
(Network)
Correction data
system.
• Up to 2000 km
range
Regional Corrections ‐ Inmarsat
Laser Systems
Fanbeam CyScan SpotTrack
Monitor
Laser Unit Computer VGA
Monitor Laser Unit

Monitor Laser Unit Power/
Ethernet Cable
Premade Network/
I/O Cable Serial Data
Power/ UPS 230V AC
SpotTrack
VGA Junction Box Ethernet Cable
VGA UCU
PC Console
Premade
PWR Cable Targets
UPS 230V AC
UPS 230V AC
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Radar Systems
RADius XPR Artemis
Targets
Interrogator
RS‐422
230V AC
Ethernet &
24V DC
48V DC Network Ethernet Process Unit

Junction
Box
Process Unit UPS 230V AC
230V AC
Network
Junction
Box
Power Supply
Process Unit 24V DC In order to track:
Power Supply 48V DC Antenna ID# (01‐ 99)

Need TID (Transponder ID) in order Need TID (Transponder ID) in order
to track Frequency Pair (1,2,3)
to track
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Position Reference Systems – LTW

BANDAK AS
A.Input Wire Length 4‐20mA
A.Input Along Ship ±10vdc
A.Input Beam ±10vdc
A.Input Tension ±10vdc
D.Input Mooring Signal
D.Input Status Signal
D.Input Alarm Signal
D.Input Control Signal
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Position Reference Systems – (HiPAP)
Targets ‐ Transponders
Network A&B
RS‐422 Serial Line
VRS DGPS (Optional)
Targets
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Transducers
HiPAP 502 HiPAP 452 HiPAP 352 HiPAP 102
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Positioning principles
SSBL POSITIONING LBL POSITIONING COMBINED SSBL AND LBL POSITIONING
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Sensors (PRS) Position Reference Systems

TASK:
Fill in the empty boxes. Compass Taut Wire
VRS (MRU) Wind GNSS Fanbeam CyScan SpotTrack RADius Artemis XPR HiPAP
(MGC) (LTW)
MAIN PURPOSE ON BOARD
Geographical PRS, Local PRS
Roll, Pitch & Wind Speed & Geographical
(range/bearing), Wind Heading Local PRS Local PRS Local PRS Local PRS Local PRS Local PRS Local PRS Local PRS
Heave Direction PRS
Speed&Direction,
Roll/Pitch/Heave, Heading
INTERFACE TYPE TO Serial RS‐422 Analogue &

Serial RS‐422 &
DP K‐POS & Digital* Digital /
Digital/
Serial (RS‐232/RS‐422), Serial RS‐422 Serial RS‐422 Serial RS‐232 Serial RS‐422 Serial RS‐422 Serial RS‐422 Serial RS‐422 Serial RS‐422 Network* Network
Analogue &
Analogue, *in case of HDT *in case of LTW
Digital
Digital, Network telegram Computer
300 /
MAX THEORETICAL RANGE
1 ‐ 10 000 m
N/A N/A N/A N/A 1 000 2 500 1 500 550 5 000 10 000 500 (with LTW 4000
computer)
TARGET TYPE
Reflector/Prism,
Transponder, Mechanical,
N/A N/A N/A Satellites Reflector/ Prism Reflector/Prism Reflector/Prism Transponder Fixed Station Fixed Station Mechanical Transponder
Satellites, Fixed Station
TARGET TYPICAL LOCATION Landbased, on Landbased, on Landbased, on Landbased, on Landbased, on Landbased, on

Landbased, In water, Space, N/A N/A N/A Space board/fixed board/fixed board/fixed board/fixed board/fixed board/fixed In water In water
On board/ Fixed Structure structure structure structure structure structure structure
INPUT POWER TO TARGET

Battery/ Fixed Battery/ Fixed Battery/ Fixed Battery/ Fixed
No Power, Battery, Fixed N/A N/A N/A N/A No Power No Power No Power
Power Power Power
No Power
Power
Power (AC/DC)
COMMUNICATION TYPE
WITH TARGET
Radar Radar Radar
Laser, Mechanical, Radar N/A N/A N/A N/A Laser Laser Laser
(Microwaves) (Microwaves) (Microwaves)
Mechanical Hydroacoustic
(Microwaves),
Hydroacoustic

KM05 K‐Pos OS‐650, Slim Line (SL) / Deep Line (DL)
Single Dual Triple
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Exercise 1.3 ‐ Panels
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Exercise 1.3 ‐ PC
 MP8300 (XP/WIN7)
 MP5810 (XP/WIN7/WIN10)
 MC330 (Windows 10)
 MC340 (Windows 10)
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Exercise 1.4
Network In case of Operator Station 1

Switch A
Patch
230V AC Panel A
B
VGA/DVI/Display Port/ HDMI
C Admin Network
24V DC
USB PC
Analogue UPS
Main
TB Input Panel
Switch (S1)
Network
Main
Switch Monitor ALC
(Q2)
BU
Service Joystick
Socket
Heading
24V DC wheel
PSU
TB
Keyboard
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The DPC Cabinet
The DP Cabinet
SINGLE DPC‐1 DUAL DPC‐2 TRIPLE DPC‐3
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The DP Cabinet
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The DP Cabinet
Exercise 1.6
 RCU502 (R‐Bus)
 RCU502i (R‐Bus + more flash memory)
 RCU602 (R‐Bus) Latest
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The DP Cabinet
Exercise 1.6
RHUB RSER RMP

(Internal) (I/O) (I/O)
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RedNet
RSER200‐4 Module:
Handles serial lines
• RS‐232
• RS‐422
• RS‐485
Net A • NMEA
SER 1 – 6 (RS‐422)
Net B
RHUB200‐5 Module:
RBus B RMP201‐8 Module:

RBus B Handles Digital & Analog
• Resistance
RBus A • Voltage
RHUB200‐5 Module: • Current
RBus A
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RHUB200‐5 (Internal links)
RHUB200‐5
A
RMP201‐8 Modules
RBUS‐B
RHUB200‐5
RBUS‐A
B
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The DP Cabinet
Exercise 1.6 ‐ RHUB
 RHUB
‐ 5x R‐Bus channels
 4x R‐Bus channels (for internal links)
 1x R‐Bus channel (for external)
‐ Takes only 24V DC from R‐Bus
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The DP Cabinet
Exercise 1.6 ‐ RSER
 RSER
‐ 4x Channels IN/OUT (RS‐232/ RS‐422/
RS‐485)
‐ Channels invidiually galvanically
isolated
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The DP Cabinet
Exercise 1.6 ‐ RMP
 RMP
‐ 8x Channels IN/OUT:
 2x Channels galvanically isolated
 6x Channels with common ground
‐ Handle Digital&Analogue interfaces
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Exercise 1.7
Answers – page 1
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Network
Communication
Hardware Solution and Topology
for Standalone Systems
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Hardware Solution and Topology for Integrated

Systems
K‐Thrust
DP 22
OS 31 OS/HS DPOS 1 DPOS 2
Net A
Net B
DPC 22
FS 31 FS 42
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Network Distribution Unit
Fiber Optic Patch Panel
Ethernet Network Switch
Ethernet Network Patch

Panel
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Hardware Solution and

Topology for Integrated
Systems
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Transmission Types
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Testing – Cable Tester or Cable Analyser
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Network Names
IP AAA.BBB.CCC.DDD Station Number:

A Controller (DpPs01)
B Controller (DpPs11)
= 172 C Controller (DpPs21)
Operator Station 1 (DpOS1)
4 Networks
Network A = 21 Equipment Type
Network B = 22
Network C = 20 = 101
______________ =1
Network AB = 23
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Example
NETWORK A NETWORK B Network AB MAC

Address
A Controller (DpPs01) 172.21.1.1 172.22.1.1 172.23.1.1 101
B Controller (DpPs11) 172.21.1.11 172.22.1.11 172.23.1.11 10B
C Controller (DpPs21) 172.21.1.21 172.22.1.21 172.23.1.21 115
Operator St# (DpOS1) 172.21.101.1 172.22.101.1 172.23.101.1
Operator St# (DpOS2) 172.21.101.2 172.22.101.2 172.23.101.2
Operator St# (DpOS3) 172.21.101.3 172.22.101.3 172.23.101.3
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Why Network C?
Administrative network
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Vessel Insight
Kongsberg Information Management System
APPLICATIONS & TOOLS

The solution provides vessel‐to‐cloud data
infrastructure ensuring that customers can
capture and aggregate quality data from their
fleet in a cost effective and secure way.
Hardware Vessel dashboards Fleet View
Fleet View provides an

Vessel Insight consists of hardware, an edge box, overview of both
installed on the vessel and software delivered as a connected vessels as well
service. The edge box gathers data from the onboard as non‐connected vessels
control systems and applies state of the art encryption using the Vessel Insight
before initiating secure data transfer to the cloud AIS data service
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K‐IMS
Kongsberg Information
Management System
Kongsberg Information Management System (K‐IMS)
Global System Tools

•Dashboards
•Alarms and events
•Reports
•Export Data
•Trends
•Documents
Management and accomodation

•Fleet‐wide personnel register
•Work hours
•Cabin administration
•Emergency prepardness
Improve Maintenance
•Engine condition monitoring
•Engine startup times
•Motor monitor
•Valve activity
Remote Support
•System software support
Malware Protection
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Serial vs. Parallel
1010 1010 1010 1110 0111

Serial
0101010101
0101010101
0101010101
0101010101
Parallel 0101010101
0101010101
0101010101
0101010101
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Thruster Control Alarms/Data

Loggers
RSER 200‐4
Gyro Wind DGNSS
Radius MRU CyScan

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RS ‐ 232
Receive (Rx) Transmit (Tx)
Transmit (Tx) Receive (Rx)
Signal Ground Reference (GND)
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1 0 1 0 0 0 0 0 1 0 1 1
+1
2v
+3v
RS‐232
Idle Star b0 b1 b2 b3 b4 b5 b6 b7 Stop Idle
t LSD MS
‐3v D
Tx Rx
‐12v
Max Cable Length = 15m
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RS ‐ 422
Receive + (Rx+) Transmit + (Tx+)

Receive ‐ (Rx‐) Transmit ‐ (Tx‐)
Transmit + (Tx+) Receive + (Rx+)

Transmit ‐ (Tx‐) Receive ‐ (Rx‐)
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1 0 1 0 0 0 0 0 1 0 1 1
+5v
Tx+ Rx+
RS‐422 (for NMEA) Idle Start b0 b1 b2 b3 b4 b5 b6 b7 Stop Idle

LSD MSD
Tx‐ Rx‐
0v
Max Cable Length = 1200m
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Binary Code – ASCII
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NMEA 0183 Sentence
Talker ID Sentence Type ID
$GP – Global Positioning GGA – GPS

GGL ‐ GLONASS
$HE – Heading
HDT – Heading True
$WI/$WC – Wind MWV ‐ Wind Speed & Angle
RAD – Radius
$PSX ‐ Propietary FBEAM ‐ Fanbeam
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System ‐ cJoy
cJoy
 Which joystick is in control?
 How to transfer the command?
Main DP system Independent Joystick System (IJS)
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Example: Main DP
System (DP‐2)
cJOY solution
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Example: Independent
Joystick System
cJOY solution
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cJoy
as Independent Joystick System (IJS)
• Thrusters are interfaced via separate wiring than K‐Pos DP System

• As minimum required IJS provides Auto‐Heading mode only
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Presentation 2022

Kongsberg Maritime Training

K-Pos Maintenance Course

Sensors & Position Reference Systems

The Operator Station

Course agenda The DPC Cabinet

System Backup and Restore

11:45 ‐ 12:45 LUNCH LUNCH LUNCH LUNCH

Identify and exchange faulty units, with spares from onboard

After the course, the

Communicate with Kongsberg Maritime service personnel when

K‐Pos cJoy & cWing cPos

K‐Bridge K‐Safe K‐Power

Product Lifecycle Management

Product Lifecycle Management Summary

FAT CAT FMEA

Technical Bulletin Safety Notice

Kongsberg Maritime – Customer Support

Full 24/7 Support

24hr Support for all KM Products

Product and System Training

Dynamic Positioning In Nature Picture

“a unit or a vessel which

What is a Dynamic Positioning System

“the complete installation necessary for

Dive Support Vessels

Cruise ships Area positioning, Anchor Watch, Green DP

Offshore Loading Approach, Weather Vane, Connect, Loading

Green DP More efficient DP

RAM Riser Angle Monitoring

RMS Riser Management System

PM / DPM Systems for position moored vessels

Cruise ships Offshore Loading Drilling Mooring

Area positioning, Approach, Weather

Main Components Summary

Sensors Position Reference Systems

System DP X X (i.e. K‐Pos DP 21)

“Redundancy means ability of a component or

“Redundancy can be achieved for instance by

“Ability of a component or system to maintain or

K‐Pos DP‐21 & 11

• Redundant Main System

Auto Pilot in Command

Utility Panel Take Utility Panel

Auto Pilot in Command

Human Machine Interface (HMI)

K‐Pos Standby Mode

K‐Pos Auto Position Mode

Auto Auto Auto

Auto Position Mode

SURGE Controlled by: SWAY YAW

PITCH ROLL HEAVE

Measured by: Motion Reference Unit

Vessel Model Calculations

Measured Pos Estimate Pos Present Pos

Difference Between Estimate and Measured = Residual (Kongsberg Current)

Fibre‐optic gyro compass – MGC®

Power/ Data Cable

MGC Serial RS‐422 NMEA

Sensors – Motion Reference Unit

X axis (towards BOW)

RS‐422 EM3000 to HiPAP

Power & Data 24vdc Power from PSU