Eac 116408 01mu (B) DP Manual DP DP Rolls Royce (Thrustmaster)

Icon DP
Operating & Maintenance Manual
Vessel Name: CBO Guanabara

Yard/Hull: Alianca ETH-001
Project ID: 116408
Document No: EAC-116408-01MU
Revision: B
Date: 2021-12-19
Copyright © 2021 Thrustmaster of Texas, Inc.

The information in this document is the property of Thrustmaster of Texas, Inc. and may not be copied or
communicated to a third party, or used for any purpose other than that for which it is supplied without
the express written consent of Thrustmaster of Texas, Inc. This information is given in good faith based
upon the latest information available to Thrustmaster of Texas, Inc., no warranty or representation is given
concerning such information, which must not be taken as establishing any contractual or other commitment
binding upon Thrustmaster of Texas, Inc. or any of its subsidiary or associated companies.
[This page is intentionally left blank]
Front Matter Chapter 1: Revision History
Chapter 1 | Revision History
Revision Reason for revision Author Date v1 v2 Config

A First issue ØAD May 15, 2017 3.9.0 1.0.0 3355
B SW update, enabling functions KIA 2021-12-19 3.12.8 1.2.6 4872
Footprint and Motion Prediction.
COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 3

Front Matter Chapter 2: Chapter History
Chapter 2 | Chapter History
The following table shows the change history of all chapters in this manual.
• Last Changed shows in which revision of the manual the chapter was last changed. The
revision letters in this column correspond to those found in the table in Chapter 1 - Revision
History.
• Updated is marked for each chapter that has been changed in the current revision of the
manual.
Chapter Last Changed Updated

Revision History B X
Chapter History B X
Introduction B X
General Warnings A
Safety Messages A
Safety Instructions A
Disclaimer A
Description
General Description A
System Overview A
Manoeuvre Mode Selector B X
Operator Stations B X
Cabinets A
UPS System A
Technical Data B X
Environmental Data B X
Wiring Colours B X
Electrical Data A
Interfaces B X
Functional Description A
Estimation and Control B X
Signal Processing B X
Thrust Allocation B X


Class Notation Compliance A
Controller Redundancy A
Location of Manufacturing Data B X
Company Identification B X
Product Identification A
Operating Instructions
Controls and Indication A
Manoeuvre Mode Selector A
Input Device B X
Graphical User Interface B X
Operation and Functionality A
Command Philosophy A
System States A
System Activation and Deactivation A
Positioning B X
Rotation Point A
System View A
Dashboard A
Sensors A
Position Reference Systems B X
Thrusters B X
Speed A
Power B X
Consequence Analysis B X
Class Monitoring A
Capability Analysis B X
Motion Prediction B X
Footprint Analysis B X
Target Tracking A
Relaxed Control A
Trending B X
Values B X
Alerts A
Rebooting and Shutting Down System A
Trainer A
Activation A
Environment Control A
Failure Modes A
Power Control A


Playback A
Playback View B X
Playback Control Window A
Maintenance Instructions
Safety and Precautions B X
Electrostatic Discharge (ESD) A
Preventive Maintenance A
Periodic Maintenance B X
Routine Maintenance A
Corrective Maintenance A
Test and Verification after Corrective Maintenance A
Input Device A
Remote Display B X
Marine Controller A
Power Supply A
Network Switch A
Graphical User Interface Computer A
I/O Modules A
Printers A
Fuses A
Fault Finding
System Alerts B X
Thruster Group Alerts A
Sensor and Position Reference System Group Alerts A
Operation Group Alerts B X
Power System Group Alerts A
System Group Alerts B X
Controller Synchronization A
Touchscreen Calibration A
Service Access A
System Logs A
Serial Line Log A
Software Versions A
Spare Parts
Ordering Spare Parts B X
Ordering Spare Parts Separately A
Supplied Spare Parts A
Spare Parts List A
Recommended Spare Parts A


Preservation A
Tools
Recommended Tools A
Drawings
General A
References A
Sub-supplier Manuals
General A
References A
Contact List
Global 24 Hour Support B X
Training B X
Appendices * *
* History for Appendices is found in Part X - Appendices.

Front Matter Chapter 3: Contents
Contents
Front Matter 1
1 Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Chapter History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5 Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . 23
6 General Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1 Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7 Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Part I Description 31
1 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.1 System Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.2 Manoeuvre Mode Selector . . . . . . . . . . . . . . . . . . . . . . . 34
1.3 Operator Stations . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.3.1 Main Operator Station . . . . . . . . . . . . . . . . . . . . . 35
1.3.2 Main Display . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.3.3 Remote Display . . . . . . . . . . . . . . . . . . . . . . . . 35
1.3.4 Graphical User Interface Computer . . . . . . . . . . . . . . . . 36
1.3.5 Input Device . . . . . . . . . . . . . . . . . . . . . . . . . 37
1.3.6 Laser Printer . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.4 Cabinets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
1.4.1 Control Cabinet . . . . . . . . . . . . . . . . . . . . . . . . 39
1.4.2 I/O Cabinet . . . . . . . . . . . . . . . . . . . . . . . . . 41
1.5 UPS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
1.5.1 Transformer . . . . . . . . . . . . . . . . . . . . . . . . . 43
1.5.2 UPS unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1.5.3 EBM unit . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1.5.4 AC Distribution Cabinet. . . . . . . . . . . . . . . . . . . . . 45
2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.1 Environmental Data . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.2 Wiring Colours . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.3 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.4 Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2.4.1 Sensors and Position Reference Systems . . . . . . . . . . . . . . 50
2.4.2 Auxiliary Sensors. . . . . . . . . . . . . . . . . . . . . . . . 50
2.4.3 Thrusters. . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.4.4 Power System . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.4.5 Bridge Alarm System . . . . . . . . . . . . . . . . . . . . . . 52
2.4.6 Additional Interfaces . . . . . . . . . . . . . . . . . . . . . . 52
3 Functional Description. . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.1 Estimation and Control . . . . . . . . . . . . . . . . . . . . . . . . 53
3.1.1 Control System Components . . . . . . . . . . . . . . . . . . . 55
3.2 Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.2.1 Signal Processing Functions . . . . . . . . . . . . . . . . . . . 57
3.3 Thrust Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4 Class Notation Compliance. . . . . . . . . . . . . . . . . . . . . . . 62
3.5 Controller Redundancy . . . . . . . . . . . . . . . . . . . . . . . . 63
4 Location of Manufacturing Data . . . . . . . . . . . . . . . . . . . . . 65
4.1 Company Identification . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2 Product Identification . . . . . . . . . . . . . . . . . . . . . . . . . 65

Part II Operating Instructions 67

1 Controls and Indication . . . . . . . . . . . . . . . . . . . . . . . . . 69
1.1 Manoeuvre Mode Selector . . . . . . . . . . . . . . . . . . . . . . . 69
1.1.1 Mode Enabling . . . . . . . . . . . . . . . . . . . . . . . . 69
1.2 Input Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
1.2.1 Push buttons and Indicators . . . . . . . . . . . . . . . . . . . 71
1.3 Graphical User Interface . . . . . . . . . . . . . . . . . . . . . . . . 73
1.3.1 Philosophy and Interaction. . . . . . . . . . . . . . . . . . . . 73
1.3.2 Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
1.3.3 Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . 76
1.3.4 General Components . . . . . . . . . . . . . . . . . . . . . . 82
1.3.5 Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
1.3.6 Main View . . . . . . . . . . . . . . . . . . . . . . . . . . 92
1.3.7 Bottom Bar. . . . . . . . . . . . . . . . . . . . . . . . . . 96
1.3.8 Global Menu . . . . . . . . . . . . . . . . . . . . . . . . . 97
1.3.9 General Settings . . . . . . . . . . . . . . . . . . . . . . . . 100
2 Operation and Functionality . . . . . . . . . . . . . . . . . . . . . . . 103
2.1 Command Philosophy . . . . . . . . . . . . . . . . . . . . . . . . . 103
2.1.1 Command Control . . . . . . . . . . . . . . . . . . . . . . . 103
2.1.2 Command Transfer. . . . . . . . . . . . . . . . . . . . . . . 104
2.2 System States . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
2.2.1 Standby State . . . . . . . . . . . . . . . . . . . . . . . . . 106
2.2.2 Active State . . . . . . . . . . . . . . . . . . . . . . . . . 106
2.3 System Activation and Deactivation . . . . . . . . . . . . . . . . . . . 107
2.3.1 Preliminary Checklist . . . . . . . . . . . . . . . . . . . . . . 107
2.3.2 System Activation . . . . . . . . . . . . . . . . . . . . . . . 107
2.3.3 System Deactivation . . . . . . . . . . . . . . . . . . . . . . 108
2.4 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
2.4.1 Positioning Views . . . . . . . . . . . . . . . . . . . . . . . 110
2.4.2 Manual Control . . . . . . . . . . . . . . . . . . . . . . . . 112

2.4.3 Manual Position . . . . . . . . . . . . . . . . . . . . . . . . 114
2.4.4 Automatic Heading. . . . . . . . . . . . . . . . . . . . . . . 116
2.4.5 Automatic Position. . . . . . . . . . . . . . . . . . . . . . . 127
2.4.6 Mixed Surge and Sway Control . . . . . . . . . . . . . . . . . . 137
2.4.7 Startup Modes . . . . . . . . . . . . . . . . . . . . . . . . 138
2.4.8 Wind Compensation . . . . . . . . . . . . . . . . . . . . . . 139
2.5 Rotation Point. . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
2.6 System View . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
2.7 Dashboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
2.8 Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
2.8.1 Sensor Configuration . . . . . . . . . . . . . . . . . . . . . . 148
2.8.2 Sensor Enabling, Disabling and Blocking . . . . . . . . . . . . . . 148
2.8.3 Sensor Weighting . . . . . . . . . . . . . . . . . . . . . . . 150
2.8.4 Dead Reckoning Heading . . . . . . . . . . . . . . . . . . . . 152
2.9 Position Reference Systems . . . . . . . . . . . . . . . . . . . . . . 154
2.9.1 Position Reference Configuration . . . . . . . . . . . . . . . . . 154
2.9.2 Position Reference Enabling, Disabling and Blocking . . . . . . . . . 154
2.9.3 Position Reference Weighting . . . . . . . . . . . . . . . . . . 156
2.9.4 Position Reference Alignment . . . . . . . . . . . . . . . . . . 158
2.9.5 Position Reference Trending View . . . . . . . . . . . . . . . . . 160
2.9.6 Position Reference Details View . . . . . . . . . . . . . . . . . 161
2.9.7 Position Reference View - Large . . . . . . . . . . . . . . . . . 161
2.9.8 Dead Reckoning Position . . . . . . . . . . . . . . . . . . . . 164
2.10 Thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
2.10.1 Thrusters Vessel View . . . . . . . . . . . . . . . . . . . . . 166
2.10.2 Thrusters Table View . . . . . . . . . . . . . . . . . . . . . . 170
2.10.3 Thrusters Trending View . . . . . . . . . . . . . . . . . . . . 171
2.10.4 Thrust Device Details View . . . . . . . . . . . . . . . . . . . 172
2.10.5 Thruster Interface Failure/Detection Handling . . . . . . . . . . . . 173
2.10.6 Thruster Settings . . . . . . . . . . . . . . . . . . . . . . . 173

2.11 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
2.11.1 Speed View . . . . . . . . . . . . . . . . . . . . . . . . . . 176
2.11.2 Operation monitor - Standby. . . . . . . . . . . . . . . . . . . 177
2.12 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
2.12.1 Power Monitor . . . . . . . . . . . . . . . . . . . . . . . . 178
2.12.2 Power Table View . . . . . . . . . . . . . . . . . . . . . . . 180
2.12.3 Power Trending View . . . . . . . . . . . . . . . . . . . . . . 180
2.12.4 Power View Popup . . . . . . . . . . . . . . . . . . . . . . . 182
2.12.5 Power Limitation . . . . . . . . . . . . . . . . . . . . . . . 184
2.12.6 Power Interface Failure Detection/Handling . . . . . . . . . . . . . 184
2.12.7 Power Settings . . . . . . . . . . . . . . . . . . . . . . . . 185
2.13 Consequence Analysis . . . . . . . . . . . . . . . . . . . . . . . . . 186
2.13.1 Single Worst Case Failure Scenarios . . . . . . . . . . . . . . . . 186
2.13.2 Redundancy Groups . . . . . . . . . . . . . . . . . . . . . . 186
2.13.3 General . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
2.14 Class Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
2.15 Capability Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 191
2.15.1 Vessel Modes . . . . . . . . . . . . . . . . . . . . . . . . . 191
2.15.2 Conditions and Environment . . . . . . . . . . . . . . . . . . . 191
2.15.3 Plot scale . . . . . . . . . . . . . . . . . . . . . . . . . . 193
2.15.4 Report . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
2.16 Motion Prediction . . . . . . . . . . . . . . . . . . . . . . . . . . 195
2.16.1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
2.16.2 Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
2.16.3 Report . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
2.17 Footprint Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 200
2.17.1 DP Footprint Plot . . . . . . . . . . . . . . . . . . . . . . . 200
2.17.2 Footprint Analysis View . . . . . . . . . . . . . . . . . . . . . 200
2.18 Target Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
2.18.1 Target Tracking GUI . . . . . . . . . . . . . . . . . . . . . . 207

2.18.2 Single Target Mode . . . . . . . . . . . . . . . . . . . . . . 208
2.18.3 Composite Target Mode . . . . . . . . . . . . . . . . . . . . 213
2.18.4 Multitarget Modes . . . . . . . . . . . . . . . . . . . . . . . 215
2.18.5 Secondary System Modes . . . . . . . . . . . . . . . . . . . . 218
2.18.6 Failure Handling . . . . . . . . . . . . . . . . . . . . . . . . 220
2.18.7 Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
2.18.8 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
2.18.9 Effects of Common System Commands . . . . . . . . . . . . . . 225
2.19 Relaxed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
2.20 Trending . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
2.21 Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
2.22 Alerts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
2.23 Rebooting and Shutting Down System . . . . . . . . . . . . . . . . . . 240
2.23.1 Warm Reboot . . . . . . . . . . . . . . . . . . . . . . . . . 240
2.23.2 Cold Reboot . . . . . . . . . . . . . . . . . . . . . . . . . 241
3 Trainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
3.1 Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
3.2 Environment Control . . . . . . . . . . . . . . . . . . . . . . . . . 247
3.3 Failure Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
3.3.1 Freeze . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
3.3.2 Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
3.3.3 Dynamics: Oscillate & Noise . . . . . . . . . . . . . . . . . . . 252
3.3.4 Communication Failure . . . . . . . . . . . . . . . . . . . . . 253
3.3.5 Fail/Freeze Diff Link (GNSS only) . . . . . . . . . . . . . . . . 253
3.4 Power Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
4 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
4.1 Playback View. . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
4.1.1 Playback Download View . . . . . . . . . . . . . . . . . . . . 257
4.1.2 Playback Control View . . . . . . . . . . . . . . . . . . . . . 257
4.1.3 Playback Import View . . . . . . . . . . . . . . . . . . . . . 258

4.2 Playback Control Window . . . . . . . . . . . . . . . . . . . . . . . 261
Part III Maintenance Instructions 263

1 Safety and Precautions . . . . . . . . . . . . . . . . . . . . . . . . . 265
2 Electrostatic Discharge (ESD) . . . . . . . . . . . . . . . . . . . . . . 267
3 Preventive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 269
3.1 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 269
3.1.1 Monthly Maintenance. . . . . . . . . . . . . . . . . . . . . . 270
3.1.2 Yearly Maintenance . . . . . . . . . . . . . . . . . . . . . . 271
3.1.3 Five Year Maintenance . . . . . . . . . . . . . . . . . . . . . 271
3.1.4 Spare Parts Maintenance . . . . . . . . . . . . . . . . . . . . 271
3.2 Routine Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 272
3.2.1 Before Operation . . . . . . . . . . . . . . . . . . . . . . . 272
3.2.2 Clean Screen . . . . . . . . . . . . . . . . . . . . . . . . . 272
3.2.3 Input Device Calibration. . . . . . . . . . . . . . . . . . . . . 273
3.2.4 Position Reference Systems . . . . . . . . . . . . . . . . . . . 273
3.2.5 Wind Sensors . . . . . . . . . . . . . . . . . . . . . . . . . 273
4 Corrective Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 275
4.1 Test and Verification after Corrective Maintenance . . . . . . . . . . . . . 275
4.2 Input Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
4.3 Remote Display . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
4.4 Marine Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 280
4.5 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
4.6 Network Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
4.7 Graphical User Interface Computer . . . . . . . . . . . . . . . . . . . 283
4.8 I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
4.9 Printers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
4.9.1 IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . 286
4.10 Fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

Part IV Fault Finding 287

1 System Alerts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
1.1 Thruster Group Alerts. . . . . . . . . . . . . . . . . . . . . . . . . 291
1.2 Sensor and Position Reference System Group Alerts . . . . . . . . . . . . 296
1.3 Operation Group Alerts . . . . . . . . . . . . . . . . . . . . . . . . 301
1.3.1 Target Tracking Alerts . . . . . . . . . . . . . . . . . . . . . 304
1.4 Power System Group Alerts . . . . . . . . . . . . . . . . . . . . . . 308
1.4.1 Consequence Analysis Alerts . . . . . . . . . . . . . . . . . . . 311
1.5 System Group Alerts . . . . . . . . . . . . . . . . . . . . . . . . . 313
1.5.1 Controller Alerts . . . . . . . . . . . . . . . . . . . . . . . . 313
1.5.2 Cabinet Alerts. . . . . . . . . . . . . . . . . . . . . . . . . 318
1.5.3 Network Alerts . . . . . . . . . . . . . . . . . . . . . . . . 319
1.5.4 UPS Alerts . . . . . . . . . . . . . . . . . . . . . . . . . . 322
1.5.5 Printer Alerts . . . . . . . . . . . . . . . . . . . . . . . . . 324
1.5.6 Operator Station Alerts . . . . . . . . . . . . . . . . . . . . . 327
1.5.7 Manoeuvre Mode Selector Alerts . . . . . . . . . . . . . . . . . 330
2 Controller Synchronization . . . . . . . . . . . . . . . . . . . . . . . . 333
3 Touchscreen Calibration . . . . . . . . . . . . . . . . . . . . . . . . . 335
4 Service Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
5 System Logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
5.1 Serial Line Log . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
5.1.1 Controller and GUI system logs . . . . . . . . . . . . . . . . . . 341
5.1.2 Display memory log . . . . . . . . . . . . . . . . . . . . . . 343
5.1.3 Software version report . . . . . . . . . . . . . . . . . . . . . 343
5.1.4 Antenna position report . . . . . . . . . . . . . . . . . . . . . 344
6 Software Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
Part V Spare Parts 347

1 Ordering Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . 349
1.1 Ordering Spare Parts Separately . . . . . . . . . . . . . . . . . . . . 349

2 Supplied Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . 351
3 Spare Parts List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
4 Recommended Spare Parts. . . . . . . . . . . . . . . . . . . . . . . . 355
5 Preservation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Part VI Tools 359

1 Recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . 361
Part VII Drawings 363

1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
2 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Part VIII Sub-supplier Manuals 369

1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
2 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
Part IX Contact List 375

1 Global 24 Hour Support . . . . . . . . . . . . . . . . . . . . . . . . . 377
2 Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
Part X Appendices 379

A List of changes in Appendices . . . . . . . . . . . . . . . . . . . . . . 381
A.1 Test and Verification . . . . . . . . . . . . . . . . . . . . . . . . . 381
A.2 System Design Drawings . . . . . . . . . . . . . . . . . . . . . . . 381
A.3 Equipment Dimensional Drawings . . . . . . . . . . . . . . . . . . . . 381
A.4 Equipment Electrical Drawings . . . . . . . . . . . . . . . . . . . . . 382
A.5 Sub-suppliers Manuals . . . . . . . . . . . . . . . . . . . . . . . . 382

B Test and Verification . . . . . . . . . . . . . . . . . . . . . . . . . . 383
B.1 SAT Procedure - AAC-116408-01TS(A) . . . . . . . . . . . . . . . . . 385
B.2 FMEA Document - CAA-116408-01EF(B) . . . . . . . . . . . . . . . . 423
C System Design Drawings. . . . . . . . . . . . . . . . . . . . . . . . . 445
C.1 Main Item List - AAC-116408-01LI(21-12-18) MAIN ITEM LIST . . . . . . . 447
C.2 Cable Diagram - AAC-116408-01DC(G) CABLE DIAGRAM . . . . . . . . . 449
C.3 Layout Drawing - AAC-116408-01DL(A) . . . . . . . . . . . . . . . . . 453
C.4 Wiring Diagram - AAC-116408-01DW(H) WIRING DIAGRAM . . . . . . . . 455
C.5 Cable List - AAC-116408-01LC(21-12-18) CABLE LIST . . . . . . . . . . . 479
C.6 Fuse List - AAC-116408-01LF(21-12-18) FUSE LIST . . . . . . . . . . . . 483
D Equipment Dimensional Drawings . . . . . . . . . . . . . . . . . . . . 491
D.1 Marblemouse - AAC-411019-01DM(A) . . . . . . . . . . . . . . . . . . 493
D.2 OS Panel Plate - CAA-931043-51DM(B) . . . . . . . . . . . . . . . . . 495
D.3 TFT 24i/WIDE/TOUCH/24VDC/230VAC - AAC-414010-01DM(A) . . . . . . 497
D.4 DP2 CABINET, TRIPLE COMPUTER - AAC-315030-01DL(A). . . . . . . . 499
D.5 TRAINER, 6xTHR, 2xRSG, 2xSWBD - CAA-324005-01DL(A) . . . . . . . . 501
D.6 AC Distribution Cabinet - CAA-381003-01DL(E) . . . . . . . . . . . . . . 503
D.7 EBM module, 3kVA, UPS, 3kVA, network card - AAC-381004-01DL(C) . . . . 507
D.8 230V/230V - 3,6kVA - CAA-381007-01DL(D) . . . . . . . . . . . . . . . 509
D.9 12WDU25+4X12 WDK25 - CAA-391003-01DL(C) . . . . . . . . . . . . . 511
D.10 230VAC DISTR. - CAA-391004-01DL(D) . . . . . . . . . . . . . . . . . 513
D.11 120x120 JB w/8 Terminals - AAC-391023-01DL(B) . . . . . . . . . . . . 515
D.12 Joystick Device G2, IP22 - EAC-411006-01DL(G) DP AND JS DEVICE - LAYOUT

DRAWING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
D.13 TFT 19i/220VAC - CAA-414006-01DL(D) . . . . . . . . . . . . . . . . 521
D.14 Color Laser - AAC-416011-01DL(B) . . . . . . . . . . . . . . . . . . . 523
D.15 Service Interface ETH + 2xUSB - CAA-421001-01DL(C) . . . . . . . . . . 525
D.16 MMS mk1, JS-MAN-DP - CAA-482001-01DL(C) . . . . . . . . . . . . . 527
D.17 Articular arm w. box - CAA-483001-01DL(B) . . . . . . . . . . . . . . . 529
D.18 Computer, DP2 - AAC-492007-01DL(G) . . . . . . . . . . . . . . . . . 531
D.19 Computer, DP2 - AAC-492007-02DL(B) . . . . . . . . . . . . . . . . . 533

D.20 Veripos GNSS suite, 2xLIUD6-G - CAA-610024-01DL(B) . . . . . . . . . . 535
D.21 OMC-139 Black Line, FWD, OMC-139-D Black Line, AFT - CAA-652012-01DL(C)537
D.22 FT702LT V22 - CAA-652020-01DL(A) . . . . . . . . . . . . . . . . . . 539
E Equipment Electrical Drawings . . . . . . . . . . . . . . . . . . . . . . 541
E.1 DP2 CABINET, TRIPLE COMPUTER - AAC-315030-01DW(D) WIRING

DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
E.2 TRAINER, 6xTHR, 2xRSG, 2xSWBD - CAA-324005-01DW(G) . . . . . . . . 557
E.3 AC Distribution Cabinet - EAC-381003-01DW(R) . . . . . . . . . . . . . 571
E.4 EBM module, 3kVA, UPS, 3kVA, network card - AAC-381004-01DW(C) . . . . 575
E.5 Service Interface ETH + 2xUSB - CAA-421001-01DW(A) . . . . . . . . . . 577
E.6 Computer, DP2 - AAC-492007-01DW(H) . . . . . . . . . . . . . . . . . 579
E.7 Computer, DP2 - AAC-492007-02DW(B) . . . . . . . . . . . . . . . . . 583
F Sub-suppliers Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . 589

Front Matter Chapter 4: Introduction
Chapter 4 | Introduction
The purpose of the Operating & Maintenance Manual is to provide the necessary information to
plan and perform a safe and correct operation of the installed system as well as understanding the
basic functionality of the equipment. The manual covers both operational and technical aspects of
the system.
Personnel involved in using the system must have relevant experience and training with regards to
the use of such systems. The Operating & Maintenance Manual is primarily intended for the end
user of the system.
This Operating & Maintenance 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 Thrustmaster
of Texas, Inc. training courses.
Note!
Operating & Maintenance Manual may in some cases be referred to as User Manual. Both
terms are considered as equivalent to each other.

Front Matter Chapter 5: Terms and Abbreviations
Chapter 5 | Terms and Abbreviations
ABS American Bureau of Shipping
AC Alternating Current
BAMS Bridge Alarm Monitoring System
BIOS Basic Input/Output System
BNWAS Bridge Navigation Watch Alarm System
BV Bureau Veritas
CAN Controller Area Network
CB Circuit Breaker
CCP Common Control Platform
CG Centre of Gravity
CL Centre Line
CLF Common Look and Feel
CO Centre of Origin
COG Course Over Ground
CPU Central Processing Unit
CQA Consequence Analysis
CR Centre of Rotation
DC Direct Current
DGNSS Differential Global Navigation Satellite System
DNV Det Norske Veritas
DOF Degree of Freedom
DP Dynamic Positioning
DWL Design Water Line
EBM Extended Battery Module

EMC Electro Magnetic Compatibility
ESD Electrostatic Discharge
ETA Estimated Time of Arrival
FAT Factory Acceptance Test
FMEA Failure Mode and Effects Analysis
GL Germanischer Lloyd
GNSS Global Navigation Satellite System
GUI Graphical User Interface
HAT Harbour Acceptance Test
Helicon X3 Name of Kongsberg Maritime thruster control system
HEMOS Health and Monitoring System
HPR Hydroacoustic Position Reference
HUD Head-Up Display
I/O Input/Output
Icon Name of Thrustmaster of Texas, Inc. DP control system
IEC International Electrotechnical Commission
IMCA International Marine Contractors Association
IMO International Maritime Organization
IP Internet Protocol
IP Ingress Protection
JS Joystick System
LCD Liquid Crystal Display
LED Light Emitting Diode
LPP Length Between Perpendiculars
LR Lloyd’s Register
MBB Main Bus Bar
Mcon Name of Kongsberg Maritime propulsion, thruster and steering control system
MMS Manoeuvre Mode Selector
MSB Main Switchboard
NMEA 0183 Electrical interface and data protocol for communication between marine
instrumentation

OS Operator Station
PMS Power Management System
Poscon Name of Kongsberg Maritime JS control system
PSU Power Supply Unit
ROT Rate of Turn
ROV Remotely Operated Vehicle
RPM Revolutions Per Minute
RTC Remote Thruster Control
SAT Sea trial Acceptance Test
SOG Speed Over Ground
TMR Triple Modular Redundancy
UPS Uninterruptible Power Supply
USB Universal Serial Bus
VAC Voltage Alternating Current
VDC Voltage Direct Current
VDR Voyage Data Recorder
VRU Vertical Reference Unit
WOP Weather Optimal Positioning
XTE Cross Track Error

Front Matter Chapter 6: General Warnings
Chapter 6 | General Warnings
This chapter provides information regarding safety measures that must be taken to prevent injury
to people and damage of equipment. Whoever is responsible for the installation, operation or
maintenance of this Thrustmaster of Texas, Inc. system, is obliged to read this part and fully
understand its content before any installation, operation or maintenance of the system may take
place.
6.1 Safety Messages
Safety messages in this manual are always displayed as a safety alert box with description. The
safety alert box is used to alert the reader about a potential risk of personal injury or damage to the
equipment. The following types of safety messages are used within this manual:
Warning!
Indicates the presence of a hazard which could result in death or personal injury.
Caution!
Indicates the presence of a hazard which could result in damage to equipment or property and
seriously impact the function of the equipment.
Note!
Alerts the reader to relevant factors and conditions which may impact the function of the
equipment.

Front Matter Chapter 6: General Warnings
6.2 Safety Instructions
This Thrustmaster of Texas, Inc. system is a heading/position control system connected to the
propeller, rudder and thruster control systems on board a vessel. By operating the system, thrust
force will be generated at the different propulsion units. The operator must at all times be aware of:
• Consequences of operating the system to prevent injury to people, damage of equipment,

damage to the vessel operated and damage to the surroundings.
• That the system will set out an order signal to the propulsion unit if any position sensor signal
differs from the position set in the system.
Such an event will cause the propulsion units to generate thrust force. Special consideration must
be taken when the operator of the system is involved in other activities, such as communication,
operation of other systems or any other activities that might take the focus away from the operation
of the vessel.

Front Matter Chapter 7: Disclaimer
Chapter 7 | Disclaimer
Undertaking any work envisaged by this document may either directly or indirectly create risks to the
safety and health of the person undertaking the work or the product and/or its components while
the work is being performed.
It is the responsibility of the user to protect the health and safety of the persons undertaking the
work as well as risk to the product and/or its components. Therefore the user must ensure that
appropriate controls and precautions are identified and taken in relation to the work envisaged by
this document in accordance with the relevant statutory and legal and industrial requirements.
Neither this document, nor its use, in any way absolves the user from the responsibility to ensure
that the controls and precautions referred to above are implemented.
If any Thrustmaster of Texas, Inc. product design related features which could create risks to persons,
the product and/or its components are identified, Thrustmaster of Texas, Inc. should be contacted
immediately.
It is the user’s responsibility to make all relevant hazard identifications and risk assessments of all
the activities associated with the use of this document.
It is the user’s responsibility to design and implement safe systems of work and to supply safe equipment
(including, without limitation, safety equipment) and training (including, without limitation, health
and safety training) to anyone using this document to work on products to which it relates.
A user without relevant experience of working in accordance with this document, or with products
to which it relates, should seek appropriate advice to identify the health and safety controls and
precautions that needs to be taken while working.
Technical assistance can be sought from Thrustmaster of Texas, Inc. and will be subject to
Thrustmaster of Texas, Inc.’s terms and conditions.

Part I
Description
31
Part I Chapter 1: General Description
Chapter 1 | General Description
This chapter provides an overview of the Icon DP system and a brief technical description of the
main components. The figures, drawings and text in this chapter are general and may not comply to
the actual installation on the vessel. For details on the delivered equipment, see drawings in Part X,
Appendix C - System Design Drawings.
1.1 System Overview
The redundant Icon DP2 system is based on a triple redundant controller system with fibre-optic ring
network for internal data communication. Interfaces to sensors and position reference systems, power
system and thruster system are split into logical groups based on class requirements, vessel design and
user specific requirements. Interfaces to external systems are separated from DP network in order to
preserve segregation between the systems. The DP cabinets, Operator Stations, sensors and position
reference systems are powered from the redundant Uninterruptible Power Supply (UPS) system. A
typical Icon DP2 system configuration is illustrated in Figure 1.1. The figure describes communication
between the different system parts. See Part X, Appendix C - System Design Drawings for delivery
specific details. Key features in the DP2 system:
• A triple redundant control cabinet
• Fibre-optic ring network
• Two or more Operator Stations with:
– High-resolution colour LCD with touchscreen interface

– Input device
– Remote display (optional)
• Printer (for printing of alarms, trending etc.)
• Manoeuvring mode selector system
• Sensors
• Position reference systems
• UPS systems
• Interfaces to thruster devices, rudders and Main Switchboard (MSB) (I/O modules or Ethernet)

Figure 1.1: System overview
1.2 Manoeuvre Mode Selector
The control cabinet(s) comprises an interface to the Manoeuvre Mode Selector (MMS) switch.
The MMS switch is used for the selection of operational mode (Joystick/Manual/DP control), and is
located at the bridge in the MMS panel. The MMS switch can also be used for a fast disconnection
of the Icon DP in case of an emergency situation. A fast disconnection will cause the separate
thruster/rudder control systems to be enabled instead of the Icon DP system. For this vessel there is
only one MMS panel.

1.3 Operator Stations
Depending on class and/or customer requirements, the system may be delivered with several
Operator Stations. The configuration of the Operator Stations depends on operational and customer
requirements. Although all Operator Stations are online and available, there can only be one Operator
Station In command at the time. The Operator Station in command is able to set data and system
parameters in the control system. The operation can be monitored at any of the other Operator
Stations. Data input from all other Operator Stations except the station currently in command is
prohibited. The command can safely be transferred from one Operator Station to another during
any point in the operation, if necessary.
1.3.1 Main Operator Station
Each main Operator Station gives the user the possibility of fully controlling the system. Main
Operator Stations consist of:
• Main display
• Input device(s)
• GUI computer
• Remote display (optional)
• Printer (shared between Operator Stations)
The user interaction is done through a touchscreen display in combination with the input device.
Additional trackball is available as an option. The communication between the Operator Station and
the control system is done through a combination of CAN bus and a redundant Ethernet connection.
1.3.2 Main Display
The Main Display is a 19" widescreen display with touch capabilities. The Main Display presents
all necessary data for the user to operate the DP control system. The user can choose which data
to be presented at any time. This allows the user to adapt the User Interface to the specific vessel
operation. Figure 1.2 shows an example of a main display.
1.3.3 Remote Display
Depending on system specific set-up, one or more of the main Operator Stations may be set up with
an additional panel PC referred to as a remote display. The remote display is regarded an additional
non-critical feature to the system. The unit increases the usability of the system and gives the user
the possibility of higher flexibility in terms of monitoring and controlling the system. Figure 1.3
shows a Remote Display.

Figure 1.2: Main display
Figure 1.3: Remote Display
1.3.4 Graphical User Interface Computer
The GUI computer (Figure 1.4) is used to run Operator Station software for Graphical User Interface.
The computer is usually mounted inside the console close to the main display. Communication to
the control system is done by one or two network connections, depending on the system design and
configuration. The computer may in some cases have external interfaces to other equipment on the
bridge, by either serial line or USB. See system specific drawings in Part X, Appendix C - System
Design Drawings for more details.

Figure 1.4: GUI computer
1.3.5 Input Device
The input device is the main device for controlling the vessel movement with the Icon DP system. It
comprises a 3-axis lever, push buttons, LED indicators and an alarm buzzer. Figure 1.5 shows an
example of the input device.
Figure 1.5: Input device
1.3.6 Laser Printer
The control system is equipped with a high-resolution colour laser printer, for printing alarms,
trend-graphs and screen-shots from the Graphical User Interface. If alert printing is enabled for the
system, and the system is active, this printer will print one page with alarms every hour, or when the
alarm page is full. The operator can also force a printout by using the Print alarm queue button.
Figure 1.6 shows an example of a laser printer.

Figure 1.6: Laser printer

1.4 Cabinets
Equipment such as system controllers, network switches, I/O modules, power supplies and fuses are
normally placed inside the system cabinets. These cabinets are usually located either on the bridge
or in the instrument room. All cabinets are based on the Kongsberg Maritime Common Control
Platform (CCP) design philosophy to ensure that the variety of components are kept at a minimum.
For details of the DP2 cabinet(s), see the project specific drawings in Part X, Appendix E - Equipment
Electrical Drawings and Part X, Appendix D - Equipment Dimensional Drawings.
1.4.1 Control Cabinet
For Dynamic Positioning (DP) class 2 systems, at least one control cabinet and one Input/Output
(I/O) cabinet are required. All cabinets are based on the same Kongsberg Maritime CCP design.
Each control cabinet has six Marine Controllers with interfaces to Operator Stations, thruster devices,
power systems, position reference systems (GNSS, laser, radar, hydro-acoustic etc.) and different
sensors (gyrocompass, VRU, wind sensor etc.). Figure 1.7 shows a typical layout of the control
cabinet.

Key Function Description

A Main controllers Triple redundant control system
B I/O controllers Used for external interfaces (sensors,
thrusters etc.)
C I/O modules and terminals Used for external interfaces (sensors,
thrusters etc.)
D Network ring Internal DP network
E DC Distribution fuses Internal and external equipment
F Power supplies and intake fuses 230 VAC → 24 VDC
Figure 1.7: Control cabinet

1.4.2 I/O Cabinet
The I/O Cabinet includes Marine Controller, I/O-modules and terminals for interfacing switchboard
and rudders (if vessel has rudders). Figure 1.8 shows an example of an I/O cabinet.

Key Function Description

A Marine Controller I/O controller
B Terminals, fuses and patch box Power, CAN bus and Ethernet to
the I/O controller
C I/O modules For interfacing MSB and rudders
D Terminals MSB interface
E Terminals, relays and signal Rudder interface
converters
Figure 1.8: I/O Cabinet

1.5 UPS System
The UPS delivers filtered and stabilised uninterrupted power for the control system. In case of loss
of main supply, the UPS can provide power for the system for at least 30 minutes. The status of the
UPS is monitored by the control system. The number of UPS systems delivered with the control
system is depending on vessel design and technical requirements of the specific delivery. Each UPS
system consists of four separate units:
• Transformer
• UPS unit
• EBM unit
• AC distribution cabinet
1.5.1 Transformer
The transformer provides a galvanic separation between the DP system and the rest of the electric
installation on the vessel. Technical data:
Figure 1.9: Transformer
• Input voltage: 230 VAC
• Output voltage: 230 VAC
• Rating: 3600 VA

Figure 1.10: UPS unit
1.5.2 UPS unit
The UPS unit is a floor mounted tower unit with 3kVA capacity. The unit comes with vibration
dampers and an EMC-filter. The filter is normally mounted on the top of the unit.
1.5.3 EBM unit
The Extended Battery Module (EBM) unit provides additional backup time in case of a power input
loss. The number of EBM modules might change from one to five, depending on current consumption
of the equipment connected to the UPS system.
Figure 1.11: EBM unit

1.5.4 AC Distribution Cabinet
All consumers of the control system is supplied through the AC distribution cabinet. The main items
in the cabinet are:
• Fuses for all consumers
• Earth monitoring device (in front panel)
• Manual bypass switch inside the cabinet
Figure 1.12: AC distribution cabinet
Manual Bypass
The switch labeled Distribution shall normally be in UPS position. The user may, however, set the
switch to Bypass if needed. The control system will then be powered directly from the transformer
and will immediately lose power if a blackout occurs in the power supplied from MSB.
Figure 1.13: Manual bypass switch

Caution!
Setting the UPS to Manual Bypass during DP operation might be a direct conflict with
the class notation of the vessel. The user has full responsibility of setting the system up in
accordance to class requirements during operations.

Part I Chapter 2: Technical Data
Chapter 2 | Technical Data
This chapter gives an overview of the technical specifications for the Icon DP system. Detailed
drawings and interface descriptions are found in the delivery specific drawings, see drawings in Part X,
2.1 Environmental Data
The system components has been tested to function properly within certain ambient conditions.
Table 2.1 gives an outline of the recommended environmental data for the components.
Parameter Tolerance
Temperature 0 - 55 ℃
Humidity 0 - 97 %
Vibration Restricted in the 3 - 100 Hz frequency range
3 – 13.2 Hz, displacement limited to ±1.0 mm
13.2 – 100 Hz, acceleration limited to 0.7 G
EMC According to the rules of the classification societies and the
IEC 945 standard for electromagnetic compatibility
Enclosure IP22 (Control room, accommodation and bridge)
IP44 (Engine room)
Table 2.1: Environmental data

2.2 Wiring Colours
Figure 2.1 lists the wire colours and potential hazardous voltages for A&C products.
Figure 2.1: Wiring Colours for A&C Products
Warning!
Colours labelled with warning sign in Figure 2.1 are used for potentially hazard voltages.
Caution!
All wires shall be treated as a potential hazard (even if colour indicates a safe voltage potential).
Caution!
Electronic units and wires connected to external equipment may still be “live” after disconnection
of voltage supply.
Always check wires for hazardous voltages before performing maintenance on installed
equipment.

2.3 Electrical Data
All sub-components of the control system are powered via the main control cabinet, from a DC
distribution cabinet or directly from one of the UPS systems. Table 2.2 shows the output voltage
and frequency of the supply voltages used in the control systems.
Description Data
DC power supply 24 VDC
AC power supply 220-230 VAC, 50-60Hz
Table 2.2: Electrical data
Note!
Powering of units and system components must be done according to system design philosophy
and redundancy groups. See the system specific design drawings for required power details.
Note!
Some of the sub-supplier equipment may use other voltage levels. See system design drawings
for details.

2.4 Interfaces
The Icon DP system can acquire measurements from the power system, the thruster system, sensors
and position reference systems, and applies thrust setpoints to the thruster system. This chapter
provides an overview of the different types of interfaces. For detailed description of the interfaces,
see drawings in Part X, Appendix C - System Design Drawings.
2.4.1 Sensors and Position Reference Systems
The Icon DP system may be interfaced to various sensors and positioning reference systems. This
is usually done by means of serial connections. If nothing else is specified in the delivery specific
drawings, the sensors and position reference systems interface protocol is NMEA 0183 on a serial
line RS422 9600/8/N/1. See Part X, Appendix C - System Design Drawings for delivery specific
drawings. Details on delivered sensors and position reference systems are available in sub suppliers
manuals. The DP system can be connected (point-to-point) to most of sensors and positioning
reference systems with a standard type of interface. Types of position reference systems can be:
• DGNSS
• Radar based sensor
• Laser based sensor
• Hydro-acoustic based sensor
• Tautwire
Types of sensors might be:
• Gyrocompass
• Wind sensor
• VRU sensor
2.4.2 Auxiliary Sensors
The DP2 system can be interfaced to additional sensors by means of serial connections. The auxiliary
sensor data (if implemented) is presented on the display(s), but is usually not used in the control
loop input.
If applicable, the details will be found in the design drawings.

2.4.3 Thrusters
The thruster systems are interfaced by means of a set of signals. The signals are communicated to
the thruster systems in one of two ways, based on the Remote Thruster Control (RTC) type:
• Ethernet
• Discrete signals
Ethernet
This interface is used when the RTC is of type Kongsberg Maritime Helicon X3 or Kongsberg
Maritime Mcon. The interface to the thruster control system is based on network communication on
a dedicated network channel. This channel is connected from a controller located in the DP control
cabinet to the RTC, via a network switch belonging to the UPS group. Each UPS group has its own
thruster interface switch, and the connections to the RTCs are distributed among the switches.
Discrete I/O
Each signal has its dedicated pair of wires. All signals are galvanically isolated at the transmitting
end. The signals are interfaced between outstations and the thruster control system. The thruster
control system itself is interfaced towards main engines, switchboard, frequency drives etc. For each
thruster system, the interface may consist of the signals listed in Table 2.3:
Signal Type Direction Description

Order Pitch 4–20 mA or ±10 V RTC ← Icon Setpoint pitch: ±100 %
Feedback Pitch 4–20 mA or ±10 V RTC → Icon Feedback pitch: ±100 %
Order Dir. 4–20 mA or ±10 V RTC ← Icon Setpoint az. angle: ±180°
Feedback Dir. 4–20 mA or ±10 V RTC → Icon Feedback az. angle: ±180°
Order RPM 4–20 mA or ±10 V RTC ← Icon Setpoint RPM:0–100% or ±100 %
Feedback RPM 4–20 mA or ±10 V RTC → Icon Feedback RPM:0–100% or ±100 %
Order Rudder 4–20 mA or ±10 V RTC ← Icon Setpoint angle: ±35°, ±45°, ±70°
Feedback Rudder 4–20 mA or ±10 V RTC → Icon Feedback angle: ±35°, ±45°, ±70°
Thruster Avail. Pot. free contact RTC → Icon Thruster ready for Icon DP system
Thruster Req. Pot. free contact RTC ← Icon Thruster call from Icon DP system
Thruster Ackn. Pot. free contact RTC → Icon Thruster has accepted DP control
Pitch Reduced Pot. free contact RTC → Icon Pitch is reduced due to protection
or PMS power limitation
Clutch Engaged Pot. free contact RTC → Icon Clutch for propulsion unit is engaged
Table 2.3: Discrete I/O signals for thruster interface
For a detailed description of each thruster interface, please see delivery specific drawings.

2.4.4 Power System
The power system interface is used for monitoring the status of the applicable Circuit Breakers, bus
tie, and battery and generator loads. The data is used to calculate available and used power and
also to present a graphical view of the vessel. Interface signal specifications are found in Part X,
Signal Type Direction Description

Generator load 4–20 mA MSB → Icon Generator power load measurement
Generator breaker Pot. free MSB → Icon Closed = generator available
Open = generator unavailable
Bus tie Pot. free MSB → Icon Closed = connected
Open = disconnected
Thruster breaker Pot. free MSB → Icon Closed = thruster available
Open = thruster unavailable
Table 2.4: Discrete I/O signals for power interface
2.4.5 Bridge Alarm System
The Icon DP system may be interfaced to the Bridge Navigation Watch Alarm System (BNWAS)
or Bridge Alarm Monitoring System (BAMS). This interface comprises a potential-free contact
dedicated for reporting the status:
• Open contact: At least one critical alarm is active on the DP2 system
• Closed contact: The DP2 is not reporting any critical alarms
Optionally, a similar interface is given for the alarm buzzer from the DP2 system to the bridge alarm
system, and to mute the buzzer from the bridge alarm system.
2.4.6 Additional Interfaces
Possible additional interfaced may be implemented with the Icon DP system. These include interfaces
to the chart system, the winch system, the surveyor system, the Voyage Data Recorder (VDR) and
the Kongsberg Maritime Health and Monitoring System (HEMOS).

Part I Chapter 3: Functional Description
Chapter 3 | Functional Description
This chapter explains how the Thrustmaster of Texas, Inc. Icon DP system’s controller software is
built up. An introduction to the control loop is given, including the vessel model, signal processing
functions, the trajectory generator, feedback/feedforward control and thruster allocation. It also
provides a description on how system redundancy is ensured for controllers and network.
3.1 Estimation and Control
The operation of the Icon DP system is related to the fundamental axes of horizontal motion: Surge
(alongship), Sway (athwartship) and Yaw (rotation about the vertical axis), see Figure 3.1. For
low-speed applications, the system calculates the required thruster forces needed to control the vessel
in these three Degrees of Freedom in the horizontal plane. For high-speed applications, the system
controls the longitudinal motion and the Yaw motion.
The vessel also moves in pitch (rotation about the sway axis), roll (rotation about the surge axis)
and heave (vertical motion). These movements are not controlled directly by the Icon DP system.
Figure 3.1: Fundamental axes of horizontal motion

Note!
The system performance may be reduced if not all thrusters, sensors or position reference
systems are fully available and functioning properly.
Operator input such as heading setpoint, position setpoint, waypoint tracks etc. provides the system
with reference signals to be followed. Measurements from the propulsion system, power system,
sensors and position reference systems are used with a mathematical model of the vessel and the
environment to estimate the vessel motion.
Based on the environmental forces, estimated vessel motion and reference signals, the system
computes desired forces and moments in surge, sway and yaw in the controller.
The thrust allocation module distributes the forces and moments among the available thrusters, by
applying thrust setpoints to the propulsion system. In this way, the propulsion system is automatically
controlled to provide forces and moment to achieve the desired vessel motion towards a position, a
heading, or along a track.
The control loop of the Icon DP system is illustrated in Figure 3.2.
Thrust Device
Setpoints Measurements
Power
Limits
Thrust Allocation Signal Processing
Commanded
Thruster
Forces Control System
Feedback and Vessel Model

Estimated Vessel Motion
Feedforward (Filtering & Estimation)
Controller
Trajectory Generator
References
Operator Input
Figure 3.2: Control Loop

3.1.1 Control System Components
Detailed information on the signal processing module is found in Section 3.2. Thrust allocation is
described in Section 3.3.
Vessel Model
Heading, position, speed and Rate of Turn measurements are first processed in the signal processing
module. The measurements are then filtered, using a mathematical model of the vessel and the
environmental forces, to generate estimates of the low-frequency vessel motion. The vessel model
automatically adjusts to varying sea-states and operational conditions, using advanced adaptive
wave-filtering and estimation techniques. Oscillatory motion caused by waves will thus not be
compensated by the thrusters, main propellers and rudders in automatic heading and automatic
position control.
When there are no heading or position measurements available, the Icon DP system can operate in
Dead Reckoning mode where the vessel model computes the vessel motion without measurements
corrections (see Section 2.8.4 - Dead Reckoning Heading and Section 2.9.8 - Dead Reckoning
Position).
The estimated motion (vessel speed, Rate of Turn, position and heading) is used in the feedback
control of the vessel.
Trajectory Generator
During automatic heading change, position change and waypoint tracking operations, the internal
trajectory generator ensures a smooth change of the vessel heading and position. The operator
defined motion settings (maximum position change speed, and Rate of Turn) determines the vessel
motion. The startup and end phase of the movement are automatically adjusted according to the
capacity of the propulsion equipment installed.
Feedback and Feedforward Control
The feedback controller computes the required surge and sway forces and yawing moment to keep
the vessel on the desired position, heading or track in automatic control modes of operation. The
individual position and heading control gain settings influence how aggressive the system will respond
to deviations in position and heading. Automatic control modes also use reference feedforward
control action based on the trajectory generator, to speed up the response of the system in position
change and heading change operations. Wind measurements are used for wind compensation. I.e.
the wind force and moment acting on the vessel are derived from wind speed and direction, wind drag
coefficients and wind areas scaled by draught measurements. The corresponding wind feedforward
counter force and moment are commanded.

3.2 Signal Processing
All measurements to the Icon DP system have to pass several levels of testing and processing before
being used in the control of the vessel. The type of testing and processing functions used, is dependent
on the signal source, see Table 3.1. First, the signals are checked individually with respect to signal
quality. Second, the signal processing correlates the signals of redundant device/instrumentation to
check mutual signal anomalies. Alarms will be issued if the system detects any errors in the input
signals at any level.
Function Power Propulsion Wind VRU GyrocompassPosref

System System Sensor
Interface × × × × × ×
check
Device specific Consistency SB/FB Wind speed Output – Info quality
checks checks monitoring scaling smoothing evaluation
Range check × × × × × ×
Frozen signal – – × × × ×
check
Wild point – – × × × ×
check
Step check – – × × × ×
High variance – – × × × ×
check
High dynamics – – – – × ×
Position stan- – – – – – ×
dardization
Position – – – – – ×
alignment
Differ and – – × × × ×
voting reject
Weighting – – × × × ×
Manual scaling – – × × × ×
Table 3.1: Signal processing functions per device (SP = setpoint,

FB = feedback, ×= applied, – = not applied)

3.2.1 Signal Processing Functions
Interface Check
This function checks that the interface to all sub-systems and devices is working correctly. Loop and
range checks on signals are performed, as well as hardware and protocol checks for serial lines and
network communication. Possible interface errors will result in “Unavailable” status for the specific
device in the GUI.
Device Specific Checks
Device specific checks are performed on sub-systems and devices.
Range Check
Checks if all input signals to the system are within the system specified range, see Figure 3.3.
• “Out of range” status will result in auto disabling of sensors and position reference systems.
• “Out of range” status on power signals will cause the signal to be limited on max/min limit.
Figure 3.3: Range and frozen signal checks
Frozen Signal Check
Checks that the signals from sensors and position reference devices are not frozen. If a signal is
unchanged or changes very slowly for an abnormal long period of time, a “signal freeze” alarm is
issued.

Wild point Check
Checks the signals for wild points, i.e. single values that are unexpected and do not follow the “curve”
for the other values, see Figure 3.4. Signal wild points are replaced, and alarms issued in the GUI.
Figure 3.4: Wild point, step, dynamics and variance checks
Step Check
Checks the signals from the devices for unacceptable steps. If unacceptable steps are found, the
device will be disapproved until the signal becomes normal again. For large signal steps the device
will be automatically disabled.
High Variance Check
Checks if there are high variances in the output values from sensors and position reference devices.
If there are high variances, the device will be disapproved until the signal becomes normal again.
High Dynamics
Checks the signals for high dynamics. For abnormal signal dynamics the device will be disapproved
until the signal becomes normal again. For extreme signal dynamics the device will be automatically
disabled.
Position Standardisation
Performs checks on raw measurements, standardised measurements and aligned measurements for
position reference systems.
• “Out of range” and “Frozen signal” checks are performed on the raw measurements.
• The raw measurements are mapped to the standardised vessel position.
• The “Wild point”, “Step”, “High variance” and “High dynamics” checks are performed on
standardised positions.

Position Alignment
Function used to align the position reference systems to a common zero frame such that position
measurements have the same reference point, see Figure 3.5. Basically, each GNSS defines its own
zero point, and the local position references are aligned with the GNSS zero frame. I.e. the local
position reference, reflector or transponder, is given a latitude and longitude position in the earth
fixed reference frame based on the GNSS zero point. Then based on the range - bearing measurement
to the reflector / transponder, the local reference position is mapped into the Centre of Origin (CO)
position where differ and voting reject check is performed. And finally, a weighting among enabled
position references is performed to give a position output to the estimator.
A GNSS can also be aligned, for instance if its position deviates from another more reliable GNSS. If
all GNSS are aligned, the zero point will no longer be based directly on a measured GNSS position.
Hence, the position output used by the estimator will have an offset from the measured GNSS
position. Notice that if all GNSS have been re-aligned several times against each other, the output
position can have a large offset from the GNSS measured vessel position. Setting a GNSS back to
zero, will remove aligned offset and a new zero frame will be set.
Position references can be re-aligned when required, for instance if the local relative position reference
has drifted away from the GNSS reference frame, or two GNSS has drifted away from each other. If
there are no GNSSs available, one of the local position reference systems will define the zero frame.
If local position reference hasn’t been aligned against a GNSS, the zero frame will of course be set
to zero (0.0) latitude and longitude.
Figure 3.5: Position alignment

Differ and Voting Reject
Performs divergence checks on signals from similar devices, see Figure 3.6.
• “Differ” check is performed when two devices of the same type are enabled. If the difference
between the signals of the two devices exceeds a predefined limit, a “Differ” alarm is issued. If
one of the signals clearly moves away from the other, that device will be “Differ Rejected”.
• “Voting Reject” check is performed when three or more devices of the same type are enabled. If
the difference between the signals of one device compared with the others exceeds a predefined
limit, the device is rejected until the signals become normal again.
Divergence checks are also performed on disabled devices. The disabled devices are compared with
the enabled devices.
Figure 3.6: Divergence checks
Weighting
Automatically makes the output values from functional and enabled sensors and position reference
devices, affect the system in relation to the quality of the output signal. Weighted signals will only
be calculated for multiple devices of the same type.
Manual Scaling
The operator can manually control how much specific sensors and position reference devices affect
the system by assigning a value for scaling.

3.3 Thrust Allocation
Note!
A thrust device can be any propeller, thruster or rudder.
The force demands in surge and sway, and moment demand in yaw, from the controller have to
be distributed to each thruster as pitch and/or Revolutions Per Minute (RPM) setpoints and (if
applicable) directional setpoints. The thrust allocation module allows for separate thruster/rudder
dynamics, constraints and characteristics, power system constraints and control priorities.
The thrust allocation in the Icon DP system takes into account the following:
• Available power on each bus bar. The system will not enforce thruster action that exceeds the
available power.
• Optimal thruster utilization in normal operations.
• Turning rate of thrusters, pitch and RPM response. The direction of azimuthing thrusters can
either be variable (auto direction) or fixed in a set of pre-defined configurations.
• Grouping of thrusters. Two or more thrusters can be arranged to be working as a group. The
purpose is often to reduce changes in thruster direction. In cases where thrusters cannot
produce negative thruster force (reverse direction), this ensures that the thrust demand is
fulfilled without unnecessary turning of thruster direction.
• Fixed thruster direction configurations or variable thruster direction.
• Forbidden sectors for thruster direction.

3.4 Class Notation Compliance
The overall functionality and requirements for positioning systems are given by the rules of the
classification societies, international organizations and government bodies. The class notations
basically equal the equipment class definitions of International Maritime Organization (IMO). The
level of redundancy is specified for each equipment class. The Thrustmaster of Texas, Inc. positioning
product series are defined in compliance with the DP equipment class notations of the IMO and the
classification societies, see Table 3.2.
Product System type IMO DNV LR ABS BV GL

Poscon JS Single system DP (CM) DPS-0
Icon DP0 Single system Class 0 AUTS DP (AM) DPS-1 DYNAPOS

(DPS 0) SAM
Icon DP1 Single system Class 1 AUT DP (AM) DPS-1 DYNAPOS DP 1
(DPS 1) AM/AT
Icon DP2 Triple system Class 2 AUTR DP (AA) DPS-2 DYNAPOS DP 2
(DPS 2) AM/AT R
Icon DP3 Triple main + Class 3 AUTRO DP (AAA) DPS-3 DYNAPOS DP 3
single backup (DPS 3) AM/AT RS
Table 3.2: Thrustmaster of Texas, Inc. product definitions and

relevant class notations

3.5 Controller Redundancy
The DP control application on the Icon DP system executes on the DP controller(s). The DP
controller(s) communicates with the Operator Station(s), and gateways (DP 2 and DP 3) via the DP
network. The DP controller(s) exchange process data via gateways/fieldbuses/serial links (sensors,
position reference systems, thrusters and power system).
The Icon DP class 2 control system is designed such that the maximum effect of a single fault of
component in the DP control system solution, is one of the following:
• Loss of one redundant equipment group
• Loss of one thruster group
Single fault does not include fire or flooding in one compartment.
The standard redundant DP controller solution is based on a triple controller configuration, i.e. a
Triple Modular Redundancy (TMR) concept. The repairable system is based on 2-out-of-3 output
voting, denoted 2oo3. Graceful degrade and online repair yield enhanced system reliability and
availability.
All sensor, position reference and thrusters feedback data are synchronized between all three DP
controllers before each run of the DP control algorithm. Output from all three DP controller are
sent to the I/O controllers and to the Graphical User Interface controllers, where the 2oo3 voting
algorithm will select which data to use.
In case of divergence in the results from one DP controller, a voting alarm will be issued. If one
controller is either voted out or lost, the system will still work redundantly with the two remaining
controllers, but output voting will no longer be used. In case of divergence between the two controllers,
output from one of the controllers will be selected automatically. If one of these two controllers fails,
the last controller will continue to run, but the system will no longer be redundant.
In case of voting alarm or if one controller has been restarted during operation, it is possible to
synchronize the controller and get all three DP controllers online.
The main redundancy features for the DP triple controller solution are:
• Controller input data synchronization: The synchronization of input data ensures equal
input to the redundant DP controllers, from the I/O controllers and GUI. The input data
synchronization applies to all application input data. I.e. process measurements and operator
input.
• Output voting: Distributed majority output voting (2-out-of-3) of the triple redundant
controllers, is performed in the gateways (for each controller). If a controller differs, it will be
voting rejected.
• Graceful degrade: If one controller fails in triple configuration, the system will degrade to
dual work-by controller configuration. If another controller fails, the system degrades to a
single controller system and still has DP capability.

Part I Chapter 4: Location of Manufacturing Data
Chapter 4 | Location of Manufacturing

Data
Electrical cabinets and junction boxes are physically marked with a unique tag, and also on all
applicable drawings. The cabinets are marked with the Thrustmaster of Texas, Inc. logotype in the
upper left corner. Cables are marked with a cable tag in both ends.
4.1 Company Identification
The Thrustmaster of Texas, Inc. Company Identification label shows where the product has been
produced and is found on discrete places on all delivered items, e.g. on the inside of the cabinet
doors. The fields of the label are explained in table Table 4.1.
Field Description
TYPE NO Corresponding drawing number with the revision letter in closed brackets
SERIAL NO Production order number
INST. NO MPS number (part number)
Q.A. DATE Date and signature by responsible test engineer
Table 4.1: Company Identification Label
4.2 Product Identification
Each unit of the Icon DP system is marked with a unique product identification label, stating system
name and type, unit name and function, and tag number. See Figure 4.1 for an example label.
Figure 4.1: Product Identification Label

Part II
Operating Instructions
67
Part II Chapter 1: Controls and Indication
Chapter 1 | Controls and Indication
This chapter contains descriptions of the Manoeuvre Mode Selector (MMS), and how to operate the
Icon DP system using the input device and the Graphical User Interface. Detailed information of
both the MMS and the input device is given, followed by a thorough explanation on how the GUI is
built up.
1.1 Manoeuvre Mode Selector
The MMS panel is used to select desired manoeuvring mode, and is located at the bridge. The
modes which can be selected are:
• Manual mode: Thrusters are controlled by the manual thrust device levers
• Joystick mode: Thrusters are controlled by the independent Joystick System
• DP mode: Thrusters are controlled by the DP system
The MMS switch can also be used for a fast disconnection of the Icon DP system, in case of an
emergency situation. A fast disconnection will cause the separate thruster/rudder control systems to
be enabled instead of the Icon DP system. An example of a MMS panel is shown in Figure 1.1.
1.1.1 Mode Enabling
By switching control mode on the MMS, the operator enables the selected system for operation.
Notice the difference between enabling a system and activating it. The system activation has to be
done from the actual system. When the mode is switched, the associated indicator will be lit. The
DP control button has double deck to provide separated signals to both subsystems A and B in the
DP control cabinet.

Key Function
A Joystick control mode indicator
B DP control mode indicator
C Switch to change control mode
D Wheel to dim MMS light
Figure 1.1: MMS panel

1.2 Input Device
The input device can be used to perform the most common operations on the Icon DP system. The
device has three axis that can be used for controlling surge, sway and yaw. It also has a number of
illuminated push buttons. The button lights are used to indicate different system modes and states.
The input device contains the following push buttons:
• System activate
• Alarm silence
• Take/Give command
• Auto/Manual heading
• Auto/Manual surge
• Auto/Manual sway
In addition, there are five buttons on the top of the device. These are used for changing setpoint
incrementally, and for accepting commands. Figure 1.2 shows the input device.
1.2.1 Push buttons and Indicators
All buttons, except the Alarm silence button, require a double-press to activate a function. Functions
can be disabled by either a double-press or a long press, depending on the function. To leave Auto
surge, Auto sway or Auto heading a long-press for 2 seconds on the corresponding button, is required.
All the push buttons on the input device are equipped with Light Emitting Diode (LED) indicators.
The System activate button is used for system activation/deactivation, and will be lit as long as
the system is activated. Once DP control mode is selected on the MMS the display indicator will
start blinking with the text “DP”. When the Icon DP control system is activated, the display indicator
will show the text “DP”. If the input device is shared between the Icon DP and the Poscon JS control
systems, the text will change to “JS” when the Poscon Joystick System is activated. When the
MMS indicates Manual control mode, nothing will be displayed on the display indicator.
The Auto heading, Auto surge and Auto sway buttons are lit when the corresponding system
modes are enabled. When an alarm is issued in the system, the LED indicator on the Alarm silence
button will flash red together with the alarm buzzer beeping in accordance with IEC 62288. I.e.
an active not acknowledge alarm will occur as 3 short audible signals repeated every 7 seconds.
While an active not acknowledge warning occurs as 2 short audible signals repeated every 5 minute.
The Alarm silence button can be pressed to mute the alarm, but the LED will continue to light
constantly as long as there are active alarms. After the alarm is muted, the button can be pressed
once more to acknowledge the alarm.
To give system command to another Operator Station, or to take system command on this Operator
Station, the Take/Give command button can be used. If give command has been issued from
the Operator Station in command, a flashing diode on the this button is lit. It stays lit until either
command is taken on another OS, or the signal times out.
The four buttons on the top of the device are used for incremental inputs, such as changing position
setpoint, track offsets, touch-down point etc. The Accept button is used to accept the inputs.

Key Function
A System activate button used to activate/deactivate system, and
indicate active system
B Alarm silence button to silence buzzer, acknowledge last alarm, and
indicate active alarm
C Take/Give command button, and indication of system in command
D Display indicator showing active control mode (DP or Joystick)
E Auto/Manual heading button for entering automatic or manual
heading mode, update the heading setpoint to present heading, and
indicate automatic heading control
F Auto/Manual sway button used for entering automatic or manual
sway control mode, update the sway position setpoint to present position,
and indicate sway control
G Auto/Manual surge button for entering automatic surge or Manual
control mode, update the surge position setpoint to present position,
and indicate surge control
H OK button used to accept new setpoints for position, heading or
advanced mode inputs
I Incremental input buttons used for incremental inputs, such as
changing position setpoint, track offsets, touch-down point etc.
J 3-axis joystick lever for operator inputs to the system in surge, sway
and yaw
Figure 1.2: Input device buttons and indicators

1.3 Graphical User Interface
An Operator Station (OS) consists of an input device and one or more displays and computers. Each
computer runs the Graphical User Interface (GUI) application which is shown on the corresponding
display. This section explains the GUI application, including the GUI philosophy, layout and navigation,
together with general descriptions of the GUI components, like symbols, soft buttons, lists and view
panels.
1.3.1 Philosophy and Interaction
The Icon DP Graphical User Interface (GUI) is designed to be a tool for monitoring and actively
controlling the system through intuitive presentation and touchscreen principles. The amount of
information presented on the display is restricted to the basics necessary for the operation of the
system. This helps the operator to focus on the most vital information.
Common Look and Feel
The Common Look and Feel (CLF) is an initiative to constitute a common platform for Kongsberg
Maritime GUI software, across applications and screen sizes. The platform defines guidelines for the
design of the Graphical User Interface, as well as principles for interaction and usability. Common
denominators ensure that Kongsberg Maritime applications are perceived as a family of products
with a common look and feel.
The overall design philosophy is to ensure that alarms and important information is clearly visible.
This includes restrictive use of colour. When used, colours represent the same specific states and
situations across all Kongsberg Maritime GUI applications. Colours of special importance are:
• Red: Alarm
• Yellow: Warning
• Green: OK/Running
• Blue/green: Command control
• Kongsberg Maritime blue: Global menu
The same philosophy applies to indication of alert symbols. To ensure a uniform presentation of alerts
in all Kongsberg Maritime GUI applications, the CLF includes a standard set of symbols for use in
alert lists and alert notifications boxes. These symbols are designed according to the IEC 62288 Ed.2
Maritime Navigation And Radiocommunication Equipment And Systems standard. See Figure 1.3
for details on icons.

Active Silenced Ack’ed Rectified
Emergency
Alarm
Warning
Caution
Information
Figure 1.3: Alert and notification symbols
To adjust the user interface to various light conditions, up to four different palettes are available:
• Day: Palette with a light background colour for bright daylight.
• Dusk: Palette with a darker background colour for dusk and dawn.
• Night: Palette with a darker background colour and lower brightness level than the dusk
mode.
• BacklightOff: Same colours as used for night palette. When choosing BacklightOff will the
displays on the workstation currently in command have the same brightness level as for night.
Displays in all other workstations will be dimmed to minimum allowed brightness level.
The number of available palette modes varies based on the vessel configuration. The palette mode
can either be controlled from the Icon DP system, from an external system, or from both. If the
configuration is set up with externally controlled palette only, the available palette modes is controlled
by an external system and can only be adjusted from here. If the palette mode can be selected from
both an external system and from the Icon DP system, the last updated palette mode either from
the external system or from the Icon DP will be the active palette mode for the Icon DP system.

1.3.2 Layout
The layout differs between main and remote displays. Both layouts are divided into areas, each
representing the different operational aspects of the system. Figure 1.4 shows the main display layout,
while Figure 1.5 shows the remote display layout.
Main Display
The main display layout consists of the following components:
• Monitoring bar: Shows vessel and system performance.
• Main view: Shows the vessel in its environment with setpoints, performance, target locations
and thruster feedback presented graphically.
• Bottom bar: Shows information on the current command state, DP class monitoring and
system alerts.
• View curtains: Access to different system functions and operations.
• Global menu: Access to common functions among different Kongsberg Maritime GUI
applications, such as service access, day/night palette, dimming, printing, rebooting system,
software information etc.
A more detailed information about the Global menu are described in Section 1.3.8. Figure 1.4 shows
the layout of a main display.
The view curtains are by default hidden, but can be pulled in over the main view by pressing the
view curtain handles. There are two separate views inside each curtain, and it is possible to navigate
through different types of views by using the view menu.
Monitoring bar
Global View panel Main view View panel

menu curtain curtain
Bottom bar
Figure 1.4: Main display layout

Remote Display
The remote display layout consists of the following components:
• Navigation bar: Access to changing between the available views.

• Main view: Shows the view currently chosen in the navigation bar.
• Bottom bar: Shows information on the current command state and system alerts.
• Global menu: Access to common functions among different Kongsberg Maritime GUI
applications, such as service access, day/night palette, dimming, printing, rebooting system,
software information etc.
Detailed information on the Global menu is found in Section 1.3.8.
Figure 1.5 shows the layout of a remote display.
Navigation bar
Global
menu Main view
Bottom bar
Figure 1.5: Remote display layout
1.3.3 Navigation
Navigation varies between the different screen sizes. For main displays, navigation is performed in
the views inside the view curtains. For the smaller remote displays, navigation is performed in the
navigation area in top of the screen.
Main Display Navigation
In each main display it is possible to show four (4) views at the same time by pressing the view
curtain handles in the main view. Each of these views has a navigation bar where navigation between
different view types can be performed.
The navigation bar consist of a menu button, a header and a varying number of top level view
buttons, depending on the content available in the view. See Figure 1.6 for reference.

Key Function
A Menu button
B Header
C Top level view buttons
Figure 1.6: View navigation bar
Pressing the Menu button opens the View menu. Here, all available views are represented by buttons.
The menu consists of 3 different pages; Favourites, Other views, and a Configuration page. The
user can switch between these 3 pages by pressing the buttons in the bottom, left and bottom, right
corners of the menu.
When opening the menu, the Favourites page is shown initially. See Figure 1.7. At first, this page
contains a default set of views, grouped in a default set of groups, but the views can be changed,
grouped and sorted as the user wishes. Changes can be stored as menu presets for later use. This
way, the Favourites page can be tailored to fit each operator’s wishes individually. (more on menu
presets and configuration of the Favourites page below)
The Other views page always contains all views which are not present among the current favourites.
These views are alphabetically sorted. See Figure 1.8.
Finally, the Configuration page is used to configure the Favourites page. This information is
stored in menu presets, which basically contains information about which views the Favourites page
contains and how they are grouped and sorted. In the Configuration page, the user can switch
between existing presets, create and save new presets (or overwrite existing ones), and delete presets.
Note that while in the Configuration page, visible view buttons only exists as a preview, and clicking
them will not navigate you to the respective view, but give you options to configure the menu instead.
To create/change a preset, use the buttons available in the menu preview. In the default preset,
the view buttons are organized in multiple groups. When creating a custom menu preset, the user
can chose whether to sort views in multiple groups or not, but the preset always needs to have at
least one group for its buttons. After the user has finished customizing the preset, press the Save
preset... button and type in a name. When confirming the name, the preset is stored and selected.
(this overwrites any preset which shares the entered name)
When saved, the new menu preset should be reflected in the Favourites page. Any views removed
from favourites can be found in the Other views page.
See Figure 1.9 and Figure 1.10 for more details on the configuration view.
Top level view buttons are used to navigate sideways in the navigation hierarchy. Most of the views
have several top level views like table view, plot view, settings view etc.
For some views it is also possible to navigate further down in the hierarchy. In tables this can be done
by pressing the cross link button. When navigating to the details level, the header of the navigation
bar will change text to inform the user of the current level. The top level navigation buttons will also

Key Function
A Button for the view currently selected, marked by a separate colour
B View button groups
C View buttons
D Navigates to the Configuration page
E Navigates to the Other views page
Figure 1.7: The menu page showing favourite views
be replaced with a Back button. Pressing this button navigates back to the top level. The cross
link button is further explained and illustrated in Cross Link Navigation.
Remote Display Navigation
Navigation of the remote display is performed in the navigation bar in top of the application. The
navigation bar consists of a Home button, and several Tab or Tab group buttons.
The Home view is the main view of the application and will be shown by default on startup. If
the user has navigated away from the home view, this can be reached again by pressing the Home
button. If several views are grouped under a tab button, this is indicated with an arrow pointing
downwards. Such button is referred to as a tab group button. When choosing a view from a tab
group button, the name of the selected view is shown underneath the tab group name.
See Figure 1.11 for reference.
Cross Link Navigation
Cross link navigation is used for navigating between different views and levels without using the
navigation bar. Cross link possibilities can be identified by the cross link arrow symbol. See Figure 1.12
for details.

Key Function
A View buttons for all non-favourite views
B Navigates back to the Favourites page
Figure 1.8: The menu page showing all non-favourite views
Cross link / go to - in tables:
Name Feedback Order Angle Status
Bow 1 1.2 t 1.2 t
Bow 2 1.1 t
Cross link / go to - in buttons:
Go to DP alert view
Figure 1.12: Cross link navigation

Key Function
A Displays the group name, press the textfield to change
B View buttons which have been added to the group, press to remove
from the group
C Press this button to delete the group
D Press this button to add a new view to the group
E This allows you to switch between previously stored menu presets
F Use this to save a menu preset. Pressing the button opens a keyboard
asking for a name. Confirm to save the menu preset with selected
name. If the name of an existing preset was entered, that preset will
be overwritten.
G Use this to delete presets. Note that the default preset can not be
deleted.
H Navigates back to the Favourites page
Figure 1.9: The menu configuration page

Key Function
A Use this to add a new group to the menu presets
Figure 1.10: The menu configuration page, scrolled down
Key Function
A Home button
B Tab group button
C Tab button
Figure 1.11: Remote display navigation bar

1.3.4 General Components
The Graphical User Interface is built around a series of building blocks from the CLF library.
Buttons
The Push button comes in different variations. The standard button is used where either an immediate
action (push button) or a change of state (toggle button) is needed. The popup button is used
where either double action or multiple selection is needed, and it is identified with an arrow in the
top right corner. Pressing this button opens a popup window. Commit buttons are used when the
user is committing a task, proceeding to the next step in a multi-step task, or cancelling a task. The
different button variations can be seen in Figure 1.13.
Standard button: Popup button: Commit button:
Button Button OK
OK
Figure 1.13: Standard buttons
The Dropdown button opens a list of choices when pressed, and the previous selected state is
indicated in the dropdown list highlighted and with a check mark. Textfield buttons are used mainly
in the setting views. Although not looking like a regular button, it opens a calculator/keyboard
window or a popup menu with multiple selections, when pressed.
See Figure 1.14 for both dropdown and textfield buttons.

Dropdown button: Textfield button:
Normal Dropdown Normal Label
Down Item
Item 2 Active Label
Item 1
Disabled Label
Item 2
Item 3
Figure 1.14: Dropdown and textfield buttons

Calculators and Keyboard
Calculators and keyboards are used to input numerical and text information to the system. See
Figure 1.15 for an overview of the most common configurations of calculators and keyboards.
The displays used in the calculators and keyboards have the same look as the textfield buttons, but
they will not open popup windows when pressed.
The calculator is used for numerical input and comes in various configurations depending on the task
it is to perform. It can be configured with buttons for changing the sign of the value and buttons for
increasing/decreasing the value in pre-defined steps. For Longitude/Latitude calculators, a button
for changing between degree, minute and second fields is available.
It is possible to use addition and subtraction operations for increasing/decreasing a value. When
such operation is started the OK button is temporarily replaced with an Equal [=] button. When
pressing the equal button the value is calculated, and if the result of the operation validates, the OK
button will be available and ready for confirming the value.
A yellow indicator underneath the display becomes visible if the value does not validate. This indicator
informs the user of the minimum and maximum limits which can be set. The OK button is disabled
until a legal value is entered.
For calculators with more than one display, the display focus can be changed by pressing inside the
desired display. The active display is indicated by a highlighted margin around the display. When
changing between different displays, the value inside the display will be selected automatically. For
keyboards and calculators with only one display, the display will be in focus by default and clicking
on the display simply selects the text.
Calculators and keyboards can be closed by either clicking the Close icon in the top right corner, or
simply by clicking outside the calculator/keyboard window.
Note!
It is possible to pin the calculator or keyboard by help of the Pin button, to prevent automatic
closing when pressing outside the calculator/keyboard window.
Cancelling input can be done by either clicking the Close icon in the top right corner, or by clicking
outside the keyboard or calculator. If the calculator is pinned, the input can be cancelled by pressing
the C button until the value is reset.

Calculator
(0.0)
0.0
North/East
(N 0.0)
7 8 9 N 360 m 7 8 9
Limits: 0 - 100 m
4 5 6 N S 4 5 6
(E 0.0)
1 2 3 E 0.0 m 1 2 3
OK OK
OK
0 C E W 0 C
Icon DP
Q W E R T Y U I O P
A S D F G H J K L
Caps Z X C V B N M
123 #&? Space OK

OK
Figure 1.15: Example of calculator and keyboard configurations

Spinner Button
Spinner buttons are used for quickly increasing/decreasing numerical values or changing between
multiple selections. When used for numerical values it is possible to open a calculator by pressing
the value area. In such cases the calculator is available when the textfield is in normal state only.
Normal 0
Output
only 0
Figure 1.16: Spinner button
Slider Button
Slider buttons are used for enabling and disabling devices. The button is used when a two-state
action is needed for enabling/disabling a device or similar. The button is used in tables as it gives a
clear indication whether a device is enabled or not. The slider button can hold three different states;
Enabled, Disabled or Blocked. See Figure 1.17 for further reference.
Enabled
Confirmation
pop-up open Confirm:
Disable Bow 1
Disable
Cancel
Disabled
Blocked Blocked
B l o c ke d
Figure 1.17: Slider button

Lists and Tables
Two types of lists/tables are used: Clickable tables and compact lists. See Figure 1.18, and Figure 1.19
for reference. Clickable tables are referred to as Tables, while compact read-only lists are referred to
as Lists.
Tables contain buttons for performing operations on the devices listed. If a device is not enabled in
the system, this is indicated with greyed out text. If the device is in an alert state, this is indicated
with the cell background colour being changed to a brighter colour and showing bold text to draw
attention. In addition, a red or yellow vertical bar, depending on severity, is shown on the left side of
the cell to further emphasize the alert state. If a cell is disabled, this is indicated by the text and the
cell background being greyed out.
Name Feedback Order Angle Status
Bow 1 1.2 t 1.2 t
Bow 2 1.1 t
Bow Az 2.3 t 2.3 t 180°
Port Mp 4.7 t 4.7 t
Stbd Mp 4.6 t 4.6 t
Figure 1.18: Standard table
Name Position Radius
Wp1 N67°12’13.4” / S23°30’34.9” 23.4m
Wp2 N67°13’13.4” / S23°31’34.9” 23.4m

Wp3 N67°14’13.4” / S23°32’34.9” 23.4m
Wp4 N67°15’13.4” / S23°33’34.9” 23.4m
Wp5 N67°16’13.4” / S23°34’34.9” 23.4m
Wp6 N67°17’13.4” / S23°35’34.9” 23.4m

Wp7 N67°18’13.4” / S23°36’34.9” 23.4m
Wp8 N67°19’13.4” / S23°37’34.9” 23.4m
Figure 1.19: Standard list - read only

Symbols and Tag Marks
Symbols are used to represent physical objects and equipment, and to indicate different states and
conditions. The colours and effects used to indicate the states are uniform across the application.
Clickability is indicated with a semi-transparent shadow around the symbol. See Figure 1.21 for
reference.
Tag marks are used to communicate various conditions or an active alert/warning state on symbols.
See Figure 1.20 for an overview.
Figure 1.20: Tag marks
Note that tag marks for alarms and warnings are only used to indicate that some part of the system
currently has an active alarm or warning state. For instance, an alarm tag on a thruster symbol
would indicate the thruster has at least one active alarm. It does not tell whether or not the alarm is
silenced or acknowledged and it does not tell the number of active alarms/warnings, it is only meant
as an indication that something is amiss. The alert list provides more details.
Thruster symbols are used where thrust order/feedback is visualised graphically. See Figure 1.21
for overview of the different thruster symbols. Setpoint for thrust is visualised with a needle shape,
while the feedback is visualised with the bargraph fill. Setpoint for direction is visualised with a filled
black arrow. Direction feedback is visualised by the pointed end of the bargraph. When feedback
equals order it will look like the bargraph is docked inside the setpoint arrow. See Figure 1.22 for
further reference.
Positive thrust feedback is visualised with green colour, while negative thrust is visualised by brown
colour. Traditionally negative thrust is visualised by red colour, but since red is reserved only for
alert situations brown is used to differentiate these states.

Key Function
A Shadow indicating symbol is clickable
B Filled bar indicating thrust feedback
C Needle indicating thrust order
D Arrow indicating direction setpoint order
E Arrow indicating direction setpoint feedback
Figure 1.21: Thruster symbols
On setpoint Off setpoint
Figure 1.22: Direction setpoint/feedback indication
Rudder symbols show the angle order and feedback. Positive rudder feedback is visualised with green
colour, while negative rudder feedback is visualised with brown colour. See Figure 1.23 for reference.

Figure 1.23: Rudder symbols
Filter Buttons
Filter buttons are used as a secondary filter mechanism for changing content inside a view, and is
placed at the bottom of the view. See Figure 1.24 and Figure 1.25 for further reference.
Filter view
Filter view 1 Filter view 2 Filter view 3
Figure 1.24: Filter buttons
Figure 1.25: Example of how filter buttons are used to change

view content
Polar Plots
The Polar plots found on the Kongsberg Maritime GUI applications add magnitude and direction
information to different views (see Figure 1.26).
Polar Plots - Overlay
All Polar plots have an overlay designed to aid the operator find the value of a specific point on a
plot (see Figure 1.27). The overlay consists of an indicator containing magnitude and direction labels
as well as a circle whose radius is the magnitude. It is made visible with the use of touch or mouse
inputs inside the plot area and hidden by clicking outside of the plot area. Dragging the indicator
can be used to better find the desired plot value.

Key Function
A Direction border area. Relative or absolute
B Magnitude scale grid
Figure 1.26: Examples of polar plots. Posref view and Capability

plot view
Key Function
A Current displayed magnitude circle
B Direction and magnitude indicator
Figure 1.27: Polar plot overlay

1.3.5 Monitors
The Monitors are placed on the top of the application view, and are presenting important information
about the vessel’s performance while in operation. Monitors are indicating both setpoint and feedback
for heading and positioning performances, together with information of the operational limits currently
set. Power grid and thrust forces are monitored in the same manner.
The general monitor layout consists of a header panel, an information panel and a pulldown panel.
Gain and unit information is placed in the upper right corner. Interaction control components,
like buttons and spinners, are placed inside the pulldown panel, which is accessible by pressing the
pulldown button in the lower right corner of the monitor.
If the monitor contains multiple pages of information, this is indicated by dots in the lower left corner
of the monitor. It is then possible to navigate between the different pages by clicking inside the
information area. Clicking on the left side of the monitor navigates backwards, and clicking on the
right side navigates forward.
See Figure 1.28 for reference on a default monitor layout.
M o n it o r
Monitor Unit Mo n it o r
Monitor Unit
Positioning
Figure 1.28: General layout for monitors
Monitors are grouped in the following pattern:
• Power: See Section 2.12 - Power for details.
• Order: See Section 2.4.2 - Manual Control for details.
• Heading deviation: See Section 2.4.4 - Automatic Heading for details.
• Position deviation: See Section 2.4.5 - Automatic Position for details.
• Operation: See Chapter 2 - Operation and Functionality for the operation specific variants.

1.3.6 Main View
The Main view presents the vessel within its environment, with performance indication, target
locations and other vital information presented in Head-Up Displays (HUDs) and in a 3D scene, see
Figure 1.29. Inside the vessel shape the thruster and rudder feedback can be monitored, together
with positioning performance feedback.
A HUD in the main view is used to show pieces of information grouped together. The HUDs are
grouped together based on information regarding; the present speed estimate of the vessel, set speed
limits, estimated vessel position and draught setting, and external forces currently acting on the
vessel. All the HUDs can be minimized or expanded by pressing the their headers. This can be
helpful if the operator prefers a more manageable amount of information in the main view. If view
curtains are pulled over the main view, the HUDs move their position in order to always be visible.
In the main view, the user can change the viewing angles and zoom level by camera control.
Controlling the camera is done from the main view navigation bar in the bottom of the view, see
Figure 1.30.
From the Main view settings, see Figure 1.31, the following settings can be set:
• Camera behaviour for...: Determines how the automatic camera control behaves for different
functions.
• General camera settings: A collection of options which can be set parallel to the camera
behaviour. These options include the orientation of the camera, whether the camera should
look at the rotation point, the vessel or the setpoint, and if the camera should tilt. Some of
these options may be greyed out and unavailable when certain camera behaviours are active.
E.g. when using the “Position references” behaviour, the camera always looks at the rotation
point where the position references are centred, and therefore it is not possible to change the
“Cam position”.
• Compass rose follows: Chooses if the compass rose should be centred around the rotation
point or the vessel.
• Grid type: Toggles between a square grid with straight lines and a circular grid centred on
the vessel.
• Grid range: This is not a setting, but information on the size of the large and small squares in
the square grid, or the space between the thick and thin lines respectively, in the circular grid.
• Grid heading: Changes the heading of the grid. This can be useful for aligning the grid lines
with objects. This setting has no practical effect on the circular grid.
• Enable position track plot: Enables plotting of vessel and target positions in the main view.
When this is enabled, the position of the vessel and/or targets will be traced by a line. This
section also has the option “Always enable track plot for vessel when in standby”. When this
option is enabled, as the name suggests, the vessel’s movement will automatically be traced
when the system goes to standby.

Key Function
A HUD showing speed estimates
B Heading performance indicator
C Thruster feedback indication
D Compass rose direction indicator
E Rest force direction and level indicator
F HUD showing rest forces and wind measurement
G HUD showing estimated vessel position and draught setting
H Wind direction and level indicator
I Position performance indicator
J View curtain handle right (only available on widescreen displays)
K Main view navigation bar (see Figure 1.30 for details)
L Relative Position reference (normal flag)
M View curtain handle left
N Target (pointed flag, only for systems with target tracking)
O HUD showing speed limits
Figure 1.29: Main view

Key Function
A Automatic camera control 3D view
B Camera control zoom 3D view
C Camera control rotate 3D view
D Calculator for changing heading and position
E Measure tool
F Main view settings
G Compass with rest force and wind arrows
Figure 1.30: Main view navigation bar
Figure 1.31: Main view settings

Camera can also be controlled by mouse input. Dragging the mouse while holding down the left
mouse button will move the camera position. Dragging the mouse while holding down the right
mouse button will rotate/tilt the 3D view. The scroll wheel changes the zoom level. If no manual
camera inputs have been made for more than 60 seconds, the camera position will change back to
automatic control. This is a safety measure to make sure the vessel is visible in the main view. The
camera will also reset to automatic control whenever a new heading or position is set to make sure
both the vessel and the new setpoint is visible.
See Figure 1.32 for position setpoint and vessel positioning performance. The vessel position,
specifically the rotation point, is indicated by a green circle with a blue outline. When fully zoomed
in the outline of a vessel inside the rotation point is also shown. This is to indicate the vessel’s
heading. The position setpoint’s alarm and warning limits are indicated by a thick, grey circle and
a weaker inner circle respectively. The centre of the setpoint is marked by a smaller, grey circle
matching the size of the rotation point indicator. When the vessel’s position has no deviation, the
rotation point will perfectly overlap the setpoint’s centre marker. When there is a deviation, the
shadow of the setpoint’s centre is poking out from underneath the rotation point. This makes even
small deviations easy to spot.
Note!
The position setpoint is always relative to the location of the vessel’s rotation point. For
instance, if the rotation point is changed from the default “Midship” to “Stern”, the position
setpoint now also relates to the stern and no longer the centre of the vessel. (see Section 2.5)
The colour of the rotation point indicator changes depending on the vessel’s positioning performance
according to the pattern described in Section 1.3.1 - Common Look and Feel.
Figure 1.32: Position setpoint and performance
Indication of the heading setpoint and vessel heading performance in the main view is shown in
Figure 1.33. The heading setpoint is incorporated into the compass rose circling the vessel. The
setpoint’s alarm and warning limits are indicated by a pair of outer grey lines and a weaker pair of
inner grey lines respectively. The present heading performance is indicated by an arrow at the bow of
the vessel and the colour of the arrow will change depending on the vessel’s heading performance
and heading mode. I.e. normal is green, warning is yellow and alarm is red. When in heading change
mode the arrow is grey.
Wind and rest forces are indicated by arrows circling around the compass rose. Reflectors and
transponders are indicated at their positions relative to the vessel with its position reference symbol
and a flag containing the device name and its status. If the reflector is used as a target in a target
tracking operation, this will be indicated by a pointed end on the right side of the position reference
flag. The target indication will also have an arrow indicating the target’s speed and movement
direction (if the target is moving). More details regarding target tracking is described in Section 2.18
- Target Tracking.

Figure 1.33: Heading setpoint and performance
1.3.7 Bottom Bar
The Bottom bar is common for all Kongsberg Maritime GUI applications, and contains the following
components:
• Global menu button to open the global menu.
• Current time and time zone.
• Command control status and functionality.
• Alert compartment showing the two last unacknowledged alerts, together with acknowledge
and silence buzzer buttons.
• Alert groups.
• Alert list button.
In addition to this, a DP class monitoring status button is shown for the DP main display application,
between the command control and alert compartment. See Figure 1.34 for bottom bar layout and
grouping. Figure 1.35 shows the graphical representation of the bottom bar. DP class monitoring
status is explained in Section 2.14 - Class Monitoring.
Note!
DP class monitoring and alert groups are available only for main displays. Alert groups are
only available for main displays with a resolution of 1920x1080, or higher.
Command control is further explained in Section 2.1 - Command Philosophy.
Alert handling is explained in Part IV, Chapter 1 - System Alerts.
RR-button Time and Command DP class Alert compartment Alert groups Alert list
(Opens global menu) time zone control monitoring button
Figure 1.34: Bottom bar layout

Figure 1.35: Bottom bar
1.3.8 Global Menu
The Global menu is a key trademark of the Kongsberg Maritime applications. It contains general
settings for the specific application and global settings common for all applications (i.e. palettes and
language). The menu is hidden underneath the main view, and is accessed by pressing the global
menu button in the bottom bar. Main view is slid to the right, and the global menu appears. See
Figure 1.36 for reference.
The content of the global menu will change depending on system type, configuration and type of
screen. In addition, the number of additional features will also determine the content of the menu.
The menu has two levels. Simple settings are accessed by expanding the menu item directly, while
the more complex settings are launched in windows on top of the main view. Expandable menus are
also used if a two-state action is required, or if several complex settings are grouped together.
Expandable menus look similar to dropdown buttons, and is identified with the arrow on the right
side. Menu buttons which launches new windows are identified by three dots following the button
text.
The following functions may be available from the global menu, depending on system setup:
• General settings: See Section 1.3.9 - General Settings
• Service access: See Part IV, Chapter 4 - Service Access
• DP trainer (main display only): See Chapter 3 - Trainer
• About: See Part IV, Chapter 6 - Software Versions
• Sync DP controllers: See Part IV, Chapter 2 - Controller Synchronization
• Language (present only if language support is enabled): See Section 1.3.8 - Language
• Palette: See Section 1.3.1 - Common Look and Feel
• Print: See Section 1.3.8 - Print
• Dimming (depends on display type): See Dimming
• Clean screen (optional): See Part III, Section 3.2.2 - Clean Screen
• Shut down: See Section 2.23 - Rebooting and Shutting Down System
• Auxiliary Control present only if display has auxiliary control connected): See Section 1.3.8 -
Auxiliary Control

Key Function
A Launch buttons
B Expandable menus (arrow on right side)
Figure 1.36: Global menu

Language
If language support feature is enabled, it is possible to change between a number of available

languages. A change of the language will effect all Operator Stations simultaneously. Change of
language is only possible from the Operator Station in command.
Note!
In order to make it easier to select correct language all menu buttons are displayed with flags.
Print
The print menu will be available only if a printer is configured. Pressing the Print menu button gives
the user the alternatives between printing a screenshot of the display, or printing the active alerts in
the alert list.
Dimming
The Dimming menu button opens the Dimming window, which gives access to dimming the screen’s
back-light. Notice that the system can be configured to allow global dimming of all screens from an
auxiliary system. If this is the case, the local dimming value entered will scale the global dimming
value in order to adjust the screen’s back-light to the desired level. Local dimming level will still
follow the global dimming value, but will be scaled accordingly.
Note!
Dimming adjustments will only have effect on the screen where the dimming commands are
performed.
Auxiliary Control
The Auxiliary Control menu button opens the Auxiliary Control Window, see Figure 1.37 for an
example setup of the view. The Auxiliary Control Window gives access to dropdown and push
buttons for switching auxiliary systems, such as Floodlights, Wipers and Whistle, ON and OFF.
Furthermore, if a microphone is connected to the auxiliary control system, a radio selection button is
also available in the view. Which buttons are available in the view, depends on what type of systems
that are connected to the auxiliary control system. A dropdown ON - OFF button in the menu,
will toggle the output between ON (set) and OFF (not set) state. While a push button, e.g. a
whistle button, will have an active (set) output as long as the button is pushed. A radio dropdown
selection button, will have selection between the radios connected to the auxiliary control system
and OFF. With a radio selected, the radio will be connected to the speaker and the microphone will
be connected to the selected radio when keyed.

Key Function
A Radio dropdown button, toggling active radio
B Floodlight dropdown button, toggling light ON - OFF
C Wiper dropdown button, toggling wipers ON - OFF
D Whistle push button, output active as long as button pushed
E Cargo pumps dropdown button, toggling common stop ON - OFF
Figure 1.37: Auxiliary control view
1.3.9 General Settings
The General settings window contains all the settings of the application. The settings are organized
in different categories. On the left side of the window the list of categories is displayed. When
selected, each one of these categories will present a settings table on the right side of the window.
Figure 1.38 shows an example of a settings table, namely the Heading settings.
When a setting value is pressed in the settings table, it becomes highlighted and a setting editor pops
up to its left. The kind of editor depends on the selected setting and can be of three different types:
• Dropdown button: Used to switch between a predefined set of options.
• Calculator: Used to change a numeric setting.
• Keyboard: Used to change a text setting.
Note!
Changing (most) settings is only allowed from the Operator Station in command.

Key Function
A Category list
B Selected category
C Settings name column
D Settings edit column
E Setting value
F Setting editor
Figure 1.38: General settings
Most of the settings in the general settings window can also be found throughout the different views
and popups in the GUI. For instance, the Thrusters settings are also accessible in the Thrusters
view. Some settings, however, can only be found in the General settings window:
• Units & formats: Choose how to display speed (meters per second or knots), distance (meters,
feet or yards) and many others.
• Time: Select time zone and how to view alert time stamps.
• Coordinate systems: Select datum and how to resolve UTM zones.

Part II Chapter 2: Operation and Functionality
Chapter 2 | Operation and Functionality
This chapter covers the range of functions included in the Icon DP system together with detailed
instructions on how to operate the system. The command control philosophy is also thoroughly
explained, including the different system states and modes.
2.1 Command Philosophy
2.1.1 Command Control
The Icon DP system allows for only one logical Operator Station, i.e. display(s) with corresponding
input device, to be in command at a given time. It is only possible to execute actions and operations on
the system from the OS which in command. This also includes changing settings, and acknowledging
and muting alarms. The other OSs are in a pure monitoring state showing all system information
and signals, but no actions on the system can be done from OSs not in command.
The Command control popup button on the GUI bottom bar will show information about the
current command state. The colour of the button can be either green or grey:
• Green colour: This Operator Station (display(s) and input device) is in command and
activated. Hence, the thrusters are currently controlled by this Operator Station.
• Grey colour: This Operator Station is not in control of the thrusters. Notice that the Icon
DP system can be activated and controlling the thrusters, but on a different Operator Station.
When no Operator Stations are in command, the Command control button will show the text
System in standby. When an OS is in command its Command control button will display OS
in Command, and on all other OSs the button will display OS X In Command (where X is
replaced with the index of the Operator Station currently in command). Notice than an OS can
be in command without being activated (standby mode, see Section 2.2.1). Figure 2.1 shows the
Command control button when the Icon DP is not activated and no OSs are in command, and
Figure 2.2 shows the button when the system is not activated, and this OS in command.
Note!
Even if an OS is in command and the system is activated, some thrusters can be disabled
for use by the Icon DP system. The Command control popup button will still be green, as
the MMS is enabled for Icon DP, but the disabled thrusters are steered by using the manual
thruster levers.

Figure 2.1: Command control button showing OS not in

command and in standby mode, and MMS either enabled or
disabled for Icon DP control
Figure 2.2: Command control button showing OS in command

and in standby mode, and MMS either enabled or disabled for
Icon DP control
2.1.2 Command Transfer
Command can be transferred between the different Operator Stations in a “Give-then-Take” manner.
This means that the OS in command must issue a “Give command” signal before another OS is
allowed to take command. There is however an exception to this rule: An OS defined as “Master”
(normally aft stations) does not require Give command to be able to take command. Such stations
can take command directly. A system may have one or more stations defined as “Master”. If no
station is in command, it is allowed to take command from any station directly (without a “Give”).
The system will keep its current state when transferring command from one OS to another. If
the system was activated on the first OS, it will continue to be activated on the other OS after a
command transfer.
Transferring command between Operator Stations is done in the following steps:
1. On the Operator Station currently in command, either press the Command control popup
button on the GUI bottom bar and select Give command, or double-press the Take/Give
command button on the input device. The “Give command” signal is now sent to all other
OSs. If the OS issuing the “Give” signal is not activated, the Command control button will
change to System in standby. If the OS issuing the command is activated, the button will
start toggling between System Active (Figure 2.4) and Give cmd enabled (Figure 2.3).
The button will remain green until another station takes command, as this OS is still in control
of the thrusters.
2. On the Operator Station where the command is to be taken, either press the Command
control popup button on the GUI bottom bar and select Take command, or double-press the
Take/Give command button on the input device. The Command control button changes
from Take command to OS in Command, indicating that the Operator Station is now in
command, and its colour changes to green.
3. On the Operator Station previously in command, the Command control popup button
changes to OS X In Command, where X is the number of the new OS that has taken
command, and its colour changes to grey.

Figure 2.3: Command control popup button on GUI when “Give

command” is issued
Note!
When the “Give command” signal is issued from an Operator Station which is activated,
command must be taken on another Operator Station within a certain time limit, otherwise
the signal will time out and the station currently in command will stay in command.
Note!
If a failure occurs in the Operator Station that is in command, the “Give command” signal is
automatically issued, and Give cmd enabled is shown on all Operator Stations. Hence, no
automatically command transfer will be performed.

2.2 System States
2.2.1 Standby State
Prior to activation, the Icon DP system is in Standby state, a monitoring state where it continuously
processes input data. On the Operator Station GUIs, the feedback and status signals from thrust
devices and power system will be shown, as well as sensors and position reference systems signals (if
these are available). However, the system has no control of the thrusters, main propellers or rudders,
and no output such as thruster action, is generated. It is possible to change the system settings in
the Standby state, but only from the OS in command.
When the system is in the Standby state the Command control popup button on the GUI bottom
bar will be grey as shown in Figure 2.1 and Figure 2.2. The GUI will also indicate that the Icon
DP system is not in control of the propulsion devices, by displaying the text “No control” in the
Heading deviation and Position deviation monitors.
Note!
Entering the Standby state from any other Icon DP system operation will immediately stop
any thruster action on thrusters used in the operation.
Note!
When the Icon DP system is in Standby, alarms will be shown on the Operator Station, but
audible alarms are automatically muted.
2.2.2 Active State
When the Icon DP system is activated it enters the Active state. In this state it is in control of the
thrusters, main propellers and rudders. Notice that a propulsion device might be deactivated from
active use, in which it is still available for the system, but is in idle state with neutral thrust order,
e.g. zero pitch. Actions and operations on the vessel can be executed from the OS which is currently
in command.
Note!
The MMS switch must be set to DP control to be able to activate the DP control system, see
Section 1.1 for details. The buttons on the input device , except the Take/Give command
button, are disabled until the MMS is enabled for this system.

2.3 System Activation and Deactivation
2.3.1 Preliminary Checklist
When the Icon DP system is in Standby (see Section 2.2.1) it will process data and display information
on the GUI which can be useful for the operator. Prior to activating the Icon DP system the operator
should take note of the following:
• No active alarms in the alarm list, which could impact the intended operation.
• The system has communication with sufficient amount of thrusters.
• Sufficient amount of sensors and position references available for the system.
• Enough power for the intended operation available for the system.
If some of these requirements are not fulfilled it can still be possible to activate the system, but some
functions might be unavailable. The system class monitor (Section 2.14) will provide an overview of
whether the system is in compliance with the class requirements.
2.3.2 System Activation
Activation of the Icon DP system is done the following way:
1. Press the DP control button on the MMS (see Section 1.1).
2. Double-press the System activate button on the input device of the desired Operator Station
to use.
3. The Icon DP system automatically enters Manual control i.e. manual heading and position
control (see Section 2.4.2) upon activation.
When the system has been activated the Command control popup button for the OS in command
will change to green colour and show the text System active and OS in Command, as shown
in Figure 2.4. On other OSs the Command control popup button will display the text OS X In
Command, where X is replaced with the name/index of the Operator Station currently in command.
The button will be in grey colour, to indicate that this station is currently not controlling the
thrusters. Figure 2.5 shows the signalling between the Icon DP system and the thrusters/rudders
when activating the system.
Figure 2.4: Command control popup button on GUI when OS is

in command and the system is activated

DP/JS ↔ Thruster/Rudder
DP/JS in standby
Enable request
MMS → DP/JS →
Thr/Rud
Thr available/
Rud pump 1&2 running
Thr/Rud → DP/JS No
Yes
Timeout
System enabled
Activation request
DP/JS → Thr/Rud
Acknowledge
Thr/Rud → DP/JS No
Yes
System activated
Thruster/Rudder
operated from DP/JS
Figure 2.5: Signalling between Icon DP system and

thrusters/rudders
2.3.3 System Deactivation
Deactivating the Icon DP system is done the following way:
1. Double-press the System activate button on the input device which is currently in command.
2. If the system is in Auto position, a popup box asking if system should switch to Standby will
appear on the GUI, as shown in Figure 2.6. The action needs to be confirmed by pressing the
OK button (the Accept button on the input device can also be used).
3. The Icon DP system enters Standby upon deactivation.
4. Use the MMS switch to change control mode, e.g. to “Manual”.

Figure 2.6: Switch to standby popup box

2.4 Positioning
2.4.1 Positioning Views
The Positioning view is used to access the different positioning modes available in the system,
which will be discussed in the following sections. These are:
• Manual control (all axes controlled by Icon DP joystick lever)
• Manual position (surge and sway axes controlled by Icon DP joystick lever)
• Automatic heading
• Automatic positioning
• Mixed surge and sway control
Figure 2.7 shows the Positioning control view, which is the default panel when selecting the
Positioning operation from the view menu. The popup buttons will display the current positioning
modes.
Figure 2.8 shows the Positioning table view, which can be used to change heading and position
setpoints relative to current vessel position, and also to monitor position setpoint in both geographic
(Latitude/Longitude) and UTM (Northings/Eastings) format.
Figure 2.9 shows the Positioning settings view, where settings regarding heading and position can
be changed.
Figure 2.9: Positioning settings view

Key Function
A Button for opening Positioning control view (currently open)
B Button for opening Positioning table view (see Figure 2.8)
C Button for opening Positioning trending view
D Button for opening Positioning settings view (see Figure 2.9)
E Popup button for heading control options
F Popup button for position control options
G Popup button for pause a heading/position change
H Popup button for selecting relaxed mode
I Popup button for refixing setpoint
J Popup button for selecting previous setpoint
K Popup button for selecting startup mode
L Checkbox for selecting whether auto heading is to be activated when
enabling system
Figure 2.7: Positioning control view

Key Function
A Textfield button for entering heading setpoint
B Textfield button for entering position setpoint in North/East format
C Textfield button for entering position setpoint in Forward/Starboard
format
D Textfield button for entering position setpoint in Range/ Absolute
Bearing format
E Textfield button for entering position setpoint in Range/Relative Bearing
format
F Textfield button for entering position setpoint in geographic coordinates
G Textfield showing current position setpoint’s UTM coordinates
Figure 2.8: Positioning table view
2.4.2 Manual Control
The default startup mode when activating the Icon DP system from the standby state is Manual
control. In this mode neither vessel heading nor vessel position is automatically controlled. The
vessel is steered by using the input device to generate direct surge/sway forces and yawing moment
on the thrust devices. The forces are directly related to the input device position. For surge and
sway forces the device can be manoeuvred forward, backward, port, starboard and diagonally, while
for yawing moment the device can be rotated.
The position control (surge and sway) can also be set to No Control in which relevant thrusters can
be steered with the manual thrust levers. This is done from the Thrust monitor pulldown panel, as
shown in Figure 2.11. Notice how the Startup mode changes between Normal, Heading fwd and
Heading & sway when setting surge and sway to No control. Startup modes are further explained
in Section 2.4.7.
Switching from another control mode to Manual control can be done the following ways:

• Input device: Provided that heading control is in Auto mode (and surge or sway control are
in Manual mode), press and hold down the Auto heading push button until the mode has
changed to Manual control. If surge and sway control are in Auto mode, see deactivation from
Auto position in Section 2.4.5.
• GUI: Open the Positioning control view and select Manual heading from the Heading
control popup button.
• GUI: Select Manual heading from the Thrust monitor pulldown panel (see Figure 2.11).
Manual control is indicated on both the input device and the GUI. On the input device neither
the Auto heading, the Auto surge nor the Auto sway button is lit. On the GUI the Heading
deviation and Position deviation monitors will display the text “Manual”, and the Heading
control and Position control buttons in the Positioning control view will show Manual heading
and Manual position respectively. The forces generated by the input device are shown in the
Thrust monitor (see Figure 2.10). The force orders are shown with grey arrows. The force feedbacks
are shown with blue arrows. (When the system is in auto position and auto heading the arrows will
be green).
Figure 2.11 shows the Thrust monitor pulldown panel. From this panel it is possible to change the
following:
• Joystick lever gain: How aggressive the system will respond when using the input device in
Manual heading or Manual position. Can be set to “Low”, “Medium” or “High”.
• Thrust bias: See Section 2.10.6
• Surge, Sway and Yaw control: The mode for which the different axes are controlled. I.e.
where the control of the different thrusters are located.
– Auto: The axes (and the relevant thrusters) are controlled automatically by the system.
– Manual: The axes (and the relevant thrusters) are controlled manually by the input
device.
– No control: The axes (and the relevant thrusters) are controlled by the manual thrust
levers. This mode is not available for the yaw axis.
Note!
Setting thrust bias to “High” will lead to more active use of thrusters, and hence higher fuel
consumption. It is therefore good practice keeping thrust bias in “Medium” or “Low” in good
weather conditions.

Key Function
A Position feedback size and direction
B Position order size and direction
C Joystick lever gain
D Thrust bias gain
E Force order unit
F Joystick force
G Surge force
H Sway force
I CQA thrust utilization bar (only available for DP2 and DP3 classes)
J Rotation order size and direction
K Rotating feedback size and direction
L Pulldown button for changing settings and axes control modes
Figure 2.10: Thrust monitor
2.4.3 Manual Position
In Manual position mode the position of the vessel, i.e. the surge and sway axes, are controlled with
the input device. The input device is used to generate direct surge/sway forces on the thrust devices
and the forces are directly related to the input device position.

Key Function
A Spinner button to change joystick lever gain
B Spinner button to change Thrust bias
C Popup buttons to set axes and heading control (Sway control button
pressed)
D Button to set sway in automatic control
E Button to set sway in Manual control
F Button to set sway control to manual thrust levers
Figure 2.11: Thrust monitor pulldown panel
Switching from another control mode to Manual position can be done the following ways:
• Input device: Provided that position and heading control are in Auto mode, press and hold
down the Auto surge and Auto sway push buttons until a popup box asking go to manual
position with an OK and a Cancel button appears. Selecting OK in the box or using the OK
button on the input device will change the mode to manual position.
• Input device: Provided that position control is in Auto mode and heading control is in Manual
mode, press and hold down the Auto surge and Auto sway push buttons until the mode has
changed to manual position.
• GUI: Open the Positioning control view and select Manual position from the Position
control popup button.
• GUI: Select Manual surge and Manual sway control from the Thrust monitor pulldown
panel (see Figure 2.11), which together results in Manual position.
Manual position is indicated on both the input device and the GUI. On the input device neither
the Auto surge nor the Auto sway button is lit. On the GUI the Position deviation monitor will
display the text “Manual”, and the Position control button in the Positioning control view will
show Manual position. The forces generated by the input device are shown in the Thrust monitor
as shown in Figure 2.10.

2.4.4 Automatic Heading
In Automatic heading (Auto heading for short), the heading of the vessel is controlled automatically
by the Icon DP system. In Auto heading the system will have specified a heading setpoint where the
vessel is to be kept, but can be in two different states: Either fixed at the setpoint (Fixed heading) or
moving towards a new setpoint (Change heading). In Auto heading mode, the position control can
either be in Manual position (see Section 2.4.3), Auto position (see Section 2.4.5), Mixed control
(see Section 2.4.6), or in No control, in which the position is steered with the manual thrust levers.
Before starting an Auto heading operation, it is important to set the correct vessel draught in the
Icon DP system. Setting the draught can be done at any time during an operation and it can be set
either from the Operation monitor pulldown panel, see Figure 2.12, or from the General settings
window by the following steps:
1. Open the global menu, as shown in Figure 1.36. Press General settings and choose the
category System.
2. Find the Manual draught row and enter the current vessel draught.
Figure 2.12: Operation monitor pulldown panel, with draught

and wind compensation settings
Note!
Wrong draught settings can lead to unstable heading control. The operator needs to manually
enter the correct draught on the Icon DP system prior to starting an Auto heading operation.
Note!
To be able to activate Auto heading, a reliable and accurate heading measurement is required,
usually from a gyrocompass.
Activation of Auto heading is done in one of the following ways:
• Input device: Provided that heading control is in Manual mode, double-press the Auto
heading push button on the input device, so it is lit.
• GUI: Press the Heading control popup button located in the Positioning control view and
select Auto heading.

Deactivation of Auto heading is very similar:
• Input device: Press and hold down the Auto heading push button and the heading mode
will change to manual after approx. 2-3 seconds. Note, if current positioning mode is Auto, a
popup box asking go to manual heading with an OK and a Cancel button appears. Selecting
OK in the box or using the OK button on the input device will change the mode to Manual
heading.
• Input device: Double-press the System activate push button. Note, if current positioning
mode is Auto, a popup box asking go to Standby with an OK and a Cancel button will
appear on the GUI. Selecting OK in the box or using the OK button on the input device will
deactivate the Icon DP system. Note that this will deactivate the Icon DP system and thruster
control will be given to manual thrust levers.
• GUI: Press the Heading control popup button located in the Positioning control view and
select Manual heading. Control mode changes to Auto position if current positioning mode
is Auto, or to Manual position and heading if current positioning mode is Manual.
When Auto heading is activated the vessel’s current heading is assigned to be the heading setpoint.
Auto heading is indicated on both the input device and the GUI. On the input device the Auto
heading button is lit. On the GUI the Heading deviation monitor will display the text “Auto”,
and the Heading control button in the Positioning control view will show Auto heading.
The Heading deviation monitor is devided in two panes:
• The default pane Performance (Figure 2.13) shows the setpoint, the current heading, the
deviation, the heading gain and the warning/alarm limits.
• The second pane Trend contains a plot of the last 60 seconds of heading deviation as well as
heading mode, heading setpoint and current heading deviation indicators. Following the last
60 seconds history of heading deviation, the plot area will be scaled automatically. In case the
deviation amplitude reaches warning or alarm limit levels, the limits will be indicated as seen
on Figure 2.14.
The navigation between panes is done by draging the heading monitor left or right.
From the Heading deviation monitor pulldown panel (Figure 2.15), it is possible to change heading
settings, as described in Section 2.4.4.
Fixed Heading
When Auto heading is activated, the system will enter the Fixed heading state. In this state the vessel
is kept automatically at a chosen heading setpoint. The deviation from the setpoint is continuously
monitored. Limits are specified in the system for when to issue a heading deviation warning or
heading deviation alarm. The warning limit is default set to 2.0 degrees and the alarm limit to 3.0
degrees. These limits can be changed from the Heading deviation monitor pulldown panel, see
Figure 2.15 or as described in Section 2.4.4.

Key Function
A Deviation from setpoint [degrees]
B Heading setpoint [degrees]
C Heading gain
D Heading unit
E Current pane indicator
F Heading mode
G Current heading [degrees]
H Warning and alarm limits [degrees]
I Pulldown button for changing heading settings
Figure 2.13: Heading deviation monitor - Perfomance
Heading Gain Setting
The Low, Medium or High gain setting adjusts how aggressive the system will respond to deviations
in heading. In addition, there is a Quick Modelling function and a Relaxed mode. The Quick
Modelling function will for a limited time increase, approximately double, the integral gain action.
An increased integral action will faster update the rest force estimation, and thereby reduce heading
deviation when external forces changes rapidly from one steady condition to another steady condition.
The function is typical used when environmental forces changes rapidly due to e.g. tidewater change
or similar. Notice, usage of the function can also have the opposite effect, i.e. increase deviation if
the change in external forces is just a peak. With the Relaxed mode enabled, the controller gains
in heading control will be decreased to approximately half of the Low gain setting and making the
system very relaxed in keeping the vessel’s heading.

Key Function
A Heading mode
B Heading setpoint [degrees]
C Deviation from setpoint [degrees]
D Heading gain
E Heading unit
F Current pane indicator
G Heading deviation trend
H Warning and alarm limits
I Pulldown button for changing heading settings
Figure 2.14: Heading deviation monitor - Deviation Trend pane
Key Function
A Spinner button to change heading warning limit
B Spinner button to change heading alarm limit
C Spinner button to change heading gain
D Spinner button to change Rate of Turn limit
E Button for starting or stopping quick model functionality
Figure 2.15: Heading deviation monitor pulldown panel

Refix Heading Setpoint
The heading setpoint can be refixed, which means it is set to the current heading of the vessel. This
can be done the following ways:
• Input device: Double-press the Auto heading push button.
• GUI: Press the Refix setpoint popup button in the Positioning control view. Select Refix
heading.
Previous Heading Setpoint
The heading setpoint can be set back to the previous setpoint. This is done by pressing the Previous
setpoint popup button in the Positioning control view. Select Previous heading. A dialogue box
opens where the new setpoint must be confirmed.

Change Heading
The Icon DP system can be used to change the vessel’s heading automatically. To make the vessel
rotate from the present heading towards a new heading setpoint, the system generates a reference
heading trajectory against the new heading setpoint. This is done to ensure a smooth and controlled
heading change operation within the maximum Rate of Turn limit. The limit can be changed from
the Heading deviation monitor pulldown panel (see Figure 2.15).
A Change heading operation can be initiated the following ways:
• Input device: Twist the input device in the desired direction. Acknowledge by pressing the
OK button.
• GUI: Press the Hdg & Pos button in the menu at the bottom of the main view. Two things
will happen when doing this: First, a combined Heading and position control window will
open. (see Figure 2.16) Second, two brown circles will appear on top of the vessel in the main
view, one in the centre and one at the tip of the bow of the vessel. (see Figure 2.17) A new
heading setpoint value can be entered in several ways:
– Make sure the heading value is selected (press it to select/highlight) and use the numerical
keyboard to specify the new setpoint directly.
– Using the arrow buttons below the heading value to increment/decrement the setpoint in
steps of one degree.
– Make sure the heading value is selected (press it to select/highlight) and use the plus
and minus buttons to add/subtract a certain value to the setpoint.
– Drag the brown heading control circle at the bow of the vessel to edit the heading setpoint
directly using touch input.
Whether having changed the setpoint directly by dragging the heading control point or by
entering a new number in the Heading and position control window, acknowledge by
pressing the OK button in the window.
• GUI: Open the Positioning table view (see Figure 2.8) and click on the Heading textfield
button. A calculator is opened where the new setpoint value can be entered several ways:
– Using the numerical keyboard to specify the new setpoint directly.

– Using the arrow buttons to increment/decrement the setpoint in steps of one degree.
– Using the plus and minus buttons to add/subtract a certain value to the setpoint.
Acknowledge by pressing the OK button on the calculator. The calculator is shown in

Figure 2.18.

Key Function
A New proposed setpoint
B Current setpoint
C Current position setpoint input mode
D Arrows to change the position setpoint input mode
E Change direction of the new setpoint value
F Increment/decrement setpoint value
G Add/subtract a value to the current setpoint
H Acknowledge new setpoint
I Refix heading and/or position setpoint
J Previous heading and/or position setpoint
K Select whether the current setpoint or the vessel (rotation point) is the
origin for new relative position changes
Figure 2.16: Calculator to change heading and position setpoint

Key Function
A Heading control point, drag to edit the heading setpoint
B Position control point, drag to edit the position setpoint
Figure 2.17: Heading and position control points

Key Function
A Current setpoint
B New proposed setpoint
C Increment/decrement setpoint value
D Add/subtract a value to the current setpoint
E Acknowledge new setpoint
Figure 2.18: Calculator to change heading setpoint
Whenever a new heading setpoint is defined, the new proposed heading is clearly displayed in the
GUI main view together with a yellow coloured vessel and a numeric presentation, as shown in
Figure 2.19. The vessel will not start moving until the operator has acknowledged the new setpoint.
Upon acknowledgement the new heading is displayed together with a grey coloured vessel in the
main view, as shown in Figure 2.20, and also indicated in the Heading deviation monitor with the
text “Changing Hdg” and arrows pointing towards the new setpoint, as is also shown in Figure 2.20.
In the main view it will sometimes also be possible to catch a glimpse of a light purple vessel behind
the blue one, which is the current heading reference point. Any time during a Change heading
operation a new heading setpoint can be entered.
Note!
In manoeuvring operations, the Icon DP system always turns the vessel in the direction that
makes the shortest turn. When turning the ship 180 degrees, the way the ship turns will be at
random and will not follow the way the heading wheel is turned.

Key Function
A Current heading displayed graphically
B Proposed heading displayed graphically
Figure 2.19: New proposed heading setpoint shown in the GUI

main view

Key Function
A Deviation to heading setpoint
B Current heading
C Heading setpoint
D Current heading displayed graphically
E Heading setpoint displayed graphically
Figure 2.20: Heading change shown in the GUI main view

Pause Heading Change
A Change heading operation can be paused by pressing the Pause movement popup button in the
Positioning control view. This makes the vessel slow down in a controlled manner until it stops,
and it will stay at the current heading until Pause is released. The Heading deviation monitor will
show the text “Paused”. When Pause is released the vessel will continue towards the new setpoint.
Heading Settings
The Icon DP system includes several settings related to heading, which are possible to change. These
are:
• Heading control gain: How aggressive the system will respond to deviations in heading. Can
be set to Low, Medium or High.
• Acceleration factor: How aggressive the vessel accelerates in Auto heading mode.
• Rate of Turn limit: Maximum speed that the vessel is allowed to rotate at in a Change
heading operation.
• Warning limit: Heading deviation before a warning is issued (must be smaller than or equal
to alarm limit).
• Alarm limit: Heading deviation before an alarm is issued (must be greater than or equal to
warning limit).
The settings can be changed the following ways:
• From the Positioning settings view, as shown in Figure 2.9.
• From the General settings window, accessible from the global menu shown in Figure 1.36.
• From the Heading deviation monitor pulldown panel, as shown in Figure 2.15. Notice that
the acceleration factor is not available from this panel.
2.4.5 Automatic Position
In Automatic positioning (Auto position for short), the position of the vessel, i.e. the surge and
sway axes, is controlled automatically by the Icon DP system. (Auto position is a actually the
combination of Auto surge and Auto sway, and these modes can be set individually, which is discussed
in Section 2.4.6.) The performance of the automatic positioning is determined by the environmental
conditions, the system control gain settings and the number of thrusters active. In Auto position the
system will have specified a position setpoint where the vessel is to be kept, but it can be in different
states: Either fixed at the setpoint (Fixed position) or moving towards a new setpoint (Change
position). A third state is also possible, namely Tracking used for target and waypoint tracking.
Tracking will not be discussed in this chapter.

Note!
To be able to activate Auto position, a reliable and accurate position measurement is required,
usually from satellite-based systems, laser-based systems, radar-based systems or hydro-acoustic
systems.
Activation of Auto position is done in one of the following ways:
• Input device: Provided that position control is in Manual mode, double-press both the Auto
surge and Auto sway push buttons on the input device, so they are lit.
• GUI: Press the Position control popup button located in the Positioning control view.
Select Auto position.
Deactivation of Auto position with heading in automatic control, is done in one of the following ways:
• Input device: Press and hold down the Auto surge and Auto sway push buttons until a
popup box asking go to manual position with an OK and a Cancel button appears. Selecting
OK in the box or using the OK button on the input device will change the mode to manual
position.
• Input device: Deactivate the Icon DP system by double-pressing the System activate push
button. A popup box asking go to Standby with an OK and a Cancel appears, and then
Selecting OK in the box or using the OK button on the input device will deactivate the system.
Note that control is given to manual thrust levers.
• GUI: Press the Position control popup button located in the Positioning control view and
select Manual position. Control mode changes to Auto heading.
Deactivation of Auto position with heading in Manual control is very similar, but there is no need for
the confirmation. I.e., no confirmation box will appear, and it will be as:
• Input device: Press and hold down the Auto surge and the Auto sway push button until
the control mode changes to Manual control. If only the Auto surge or the Auto sway
button is held down, only surge or sway will change to Manual control.
• Input device: Deactivate the Icon DP system by double-pressing the System activate push
button. Note that control is given to manual thrust levers.
• GUI: Press the Position control popup button located in the Positioning control view and
select Manual position. Control mode changes to Manual position and heading.
When Auto position is activated the vessel’s current position is assigned to be the position setpoint.
Auto position is indicated on both the input device and the GUI. On the input device both the Auto
surge and the Auto sway button is lit. On the GUI the Position deviation monitor will display
the text “Auto” for both Surge and Sway axis, and the Position control button in the Positioning
control view will show Auto position. The Position deviation monitor in the GUI, see Figure 2.21,
shows the setpoint, the current position, the deviation, the position gain and the warning/alarm
limits.
From the Position deviation monitor pulldown panel (Figure 2.22), it is possible to change the
position settings, as described in Section 2.4.5.

Key Function
A Deviation from setpoint
B Position setpoint
C Position gain
D Position unit
E Position modes for surge and sway
F Warning and alarm limits
G Pulldown button for changing position settings
Figure 2.21: Position deviation monitor
Key Function
A Spinner button to change position warning limit
B Spinner button to change position alarm limit
C Spinner button to change position gain
D Spinner button to change position speed limit
E Button for starting or stopping quick model functionality
Figure 2.22: Position deviation monitor pulldown panel

Fixed Position
When Auto position is activated, the system will enter the Fixed position state. In this state the vessel
is kept automatically at a chosen position setpoint. The deviation from the setpoint is continuously
monitored. Limits are specified in the system for when to issue a position deviation warning or
position deviation alarm. The warning limit is default set to 4.0 meters and the alarm limit to 5.0
meters.
Position Gain Setting
The Low, Medium or High gain setting adjusts how aggressive the system will respond to deviations
in position. In addition, there is a Quick Modelling function and a Relaxed mode. The Quick
Modelling function will for a limited time increase, approximately double, the integral gain action.
An increased integral action will faster update the rest force estimation, and thereby reduce position
deviation when external forces changes rapidly from one “steady” condition to another “steady”
condition. The function is typical used when environmental forces changes rapidly due to e.g.
tidewater change or similar. Notice, usage of the function can also have the opposite effect, i.e.
increase deviation if the change in external forces is just a peak. With the Relaxed mode enabled,
the controller gains in position control will be decreased to approximately half of the Low gain setting
and making the system very relaxed in keeping the vessel’s position.

Change Position
The Icon DP system can be used to change the vessel’s position automatically. To make the vessel
move from the present position towards a new position setpoint, the system generates a reference
position signal. This is done to ensure a smooth and controlled position change operation within the
maximum position speed limit.
A Change position operation can be initiated the following ways:
• Input device: Press the increment/decrement push buttons on top of the device. Acknowledge
by pressing the OK button.
• GUI: Press the Hdg & Pos button in the menu at the bottom of the main view. Two things
will happen when doing this: First, a combined Heading and position control window will
open. (see Figure 2.16) Second, two brown circles will appear on top of the vessel in the main
view, one in the centre and one at the tip of the bow of the vessel. (see Figure 2.17) A new
position setpoint value can be entered in several ways:
– Make sure one of the position values are selected (press it to select/highlight) and use
the numerical keyboard to specify the new setpoint directly.
– Using the arrow buttons below one of the position values to increment/decrement the
setpoint. (not available for lat/lon input)
– Make sure one of the position values are selected (press it to select/highlight) and use the
plus and minus buttons to add/subtract a certain value to the setpoint. (not available
for lat/lon input)
– Drag the brown position control circle at the centre of the vessel to edit the position
setpoint directly using touch input.
Whether having changed the setpoint directly by dragging the position control point or by
entering a new number in the Heading and position control window, acknowledge by
pressing the OK button in the window.
• GUI: Open the Positioning table view (see Figure 2.8) and click on any one of the textfield
buttons except Heading. A calculator is opened where the new setpoint value can be entered
several ways:
– Using the numerical keyboard to specify the new setpoint directly.

– Using the arrow buttons to increment/decrement the setpoint in steps of one meter.
– Using the plus and minus buttons to add/subtract a certain value to the setpoint.
Acknowledge by pressing the OK button. The calculator is shown in Figure 2.23.

Key Function
A Arrows to change the setpoint input mode
B Current setpoint input mode
C Change direction of the new setpoint value
D Increment/decrement setpoint value
E Add/subtract a value to the current setpoint
F Acknowledge new setpoint
Figure 2.23: Calculator to change position setpoint
Whenever a position setpoint is defined, the new proposed position is clearly displayed in the GUI Main
view as a yellow coloured vessel together with a numeric presentation, as shown in Figure 2.24. The
vessel will not start moving until the operator has acknowledged the new setpoint. The new position
setpoint is by default generated relative to the vessel’s alongship (forward/aft) and athwartship
(port/starboard) axes. When using the GUI calculator this can be changed to other modes by pressing
the arrows shown in Figure 2.23. The available modes are:
• Forward/Starboard: The new setpoint is given as distance in meters alongship (forward/aft)

and athwartship (starboard/port) relative to the present position.
• Range/Bearing: The new setpoint is given as distance in meters (range) and course in degrees
(bearing) relative to the present position. The bearing can be set either relative to current
heading or as an absolute value, i.e. course over ground.
• North/East: The new setpoint is given as distance in meters north/south and east/west relative
to the present position.
Upon acknowledgement the new position is displayed as a grey coloured vessel in the Main view, as
shown in Figure 2.25, and also indicated in the Position deviation monitor with the text “Changing

Pos” and a dashed line towards the new setpoint, as shown in Figure 2.25. In the Main view it
will sometimes also be possible to catch a glimpse of a light purple vessel behind the blue one,
which is the current position reference point. Information about the position change, such as Cross
Track Error (XTE) and Estimated Time of Arrival (ETA), is shown in the Operation monitor, see
Figure 2.25. Any time during a Change position operation a new position setpoint can be entered.
Key Function
A Current position displayed graphically
B Proposed position displayed graphically
Figure 2.24: New proposed position setpoint shown in the GUI

Main view
Note!
A Change position operation can be combined with a change heading operation at any time,
either stepwise or in a coupled operation.

Key Function
A Current position displayed graphically
B Position setpoint displayed graphically
Figure 2.25: Change position operation shown in the GUI Main

view. More detailed information about the position change is
displayed in the Position deviation monitor and in the Operation
monitor

Pause a Position Change
The change position operation can be paused by pressing the Pause movement popup button in
the Positioning control view. This makes the vessel slow down in a controlled manner until it stops,
and it will stay at the current position until Pause is released. The Position deviation monitor will
show the text “Paused”. When Pause is released the vessel will continue towards the new setpoint.
Refix Position Setpoint
The position setpoint can be refixed at any time during a Position Change or while in Fixed Position.
By refixing position setpoint, the current position of the vessel is set to as the new setpoint. Refix
can be done the following ways:
• Input device: Double-press the Auto surge or Auto sway push button.
• GUI: Press the Refix setpoint popup button in the Positioning control view. Select Refix
position or Refix Pos & Hdg.
• GUI: Press the Position control popup button located in the Positioning control view.
Select Auto position once again.
Previous Position Setpoint
The position setpoint can be set back to the previous setpoint. This is done by pressing the Previous
setpoint popup button in the Positioning control view. Select Previous position or Previous
Pos & Hdg. A dialogue box opens where the new setpoint(s) must be confirmed.

Position Settings
The Icon DP system includes several settings related to position, which are possible to change. These
are:
• Position control gain: How aggressive the system will respond to deviations in position. Can
be set to Low, Medium or High.
• Acceleration factor: How aggressive the vessel accelerates in Auto position mode.
• Speed limit: Maximum speed that the vessel is allowed to move at in a Change position
operation.
• Warning limit: Position deviation before a warning is issued (must be smaller than or equal
to alarm limit).
• Alarm limit: Position deviation before an alarm is issued (must be greater than or equal to
warning limit).
The settings can be changed the following ways:
• From the Positioning settings view, as shown in Figure 2.9.
• From the Position deviation monitor pulldown panel, as shown in Figure 2.22. Notice that
the acceleration factor is not available from this panel.

2.4.6 Mixed Surge and Sway Control
Sometimes it is useful to have the Icon DP system only controlling the surge or the sway axis, and not
the exact vessel position. This is possible by setting the position control to be either Auto surge or
Auto sway, instead of Auto position (where both axes are controlled). In Auto surge the vessel is kept
automatically in surge position and will aim to keep the vessel from moving forward or backwards. In
this mode the sway direction is not controlled automatically, and must be steered manually either
with the input device or manual thrust levers. In the same matter the vessel is automatically kept in
the sway position when only Auto sway is enabled, while surge must be manually controlled with the
input device. All the operations done in Auto position mode, like change setpoint, refix setpoint,
pause position change etc. can also be done in Auto surge or Auto sway.
The deviation limits are shown in the GUI Main view as lines athwart the vessel for surge control,
and alongside the vessel for sway control (the width between the lines depends on the deviation
limits). If the vessel moves outside the deviation limits, a warning or alarm is issued, just like in Auto
position. Figure 2.26 shows how Auto sway and Auto surge is displayed in the GUI.
Key Function
A Auto sway displayed textually and graphically in monitor
B Auto sway displayed graphically in main view
C Auto surge displayed textually and graphically in monitor
D Auto surge displayed graphically in main view
Figure 2.26: Auto sway and surge indication in the GUI Main
view and Position deviation monitor

Selecting Auto surge or Auto sway is done by using the Auto surge or the Auto sway push button
on the input device, see Section 1.2 and Section 2.4.5. Or by changing the control mode in the
Thrust monitor pulldown panel, see Figure 2.11.
If control mode is set to No control in the Thrust monitor pulldown panel, this will be indicated
with a yellow warning indicator to inform the user that the system is not in control of the axis.
Figure 2.27 shows how this is displayed in the GUI.
Figure 2.27: No control indication in Position deviation monitor
2.4.7 Startup Modes
It is possible to set different startup modes for the system. The chosen startup mode controls which
thrusters the system takes control of when activated. Thrusters which are not controlled by the
system are set to No control, meaning they are controlled by the manual thrust levers. There are
three pre-defined control modes: Normal, Heading fwd and Heading & sway, which can be used
for easy access to commonly used thruster combinations. Functionality equivalent to all these control
presets may be obtained by manually disabling/enabling thrusters and adjusting each of the surge,
sway and yaw control modes. Setting startup mode is done in the GUI Positioning control view
from the Startup mode popup button. The following startup modes are available:
• Normal: The system will by default be in control of all three Degrees of Freedom (either
joystick or automatically) and will use all available thrusters. This is the default startup mode.
• Heading fwd: The system automatically disables all rudders and thrusters aft of midship, and
sets the surge and sway control modes to No Control. Thus, only heading will be controlled
by the Icon DP (either automatically or by the Icon DP input device), while any surge and
sway manoeuvring must be done using manual thruster levers.
• Heading & sway: The system automatically disables any main propellers and rudders and
sets the surge control mode to No Control. Thus, sway and heading will be controlled either
by the input device or automatically by the Icon DP system, while any surge manoeuvring
must be done using the manual thruster levers.
It is possible to choose whether the system should be started with automatic heading control by help
of the Auto heading on startup checkbox. If the checkbox is checked prior to enabling the system,
it will be enabled with automatic heading control. By default the checkbox will be deselected when
system is disabled.

2.4.8 Wind Compensation
If wind speed and direction measurements are available, the resulting wind loads acting on the vessel
can be automatically compensated by the Icon DP system. This function is for rapid compensation
of variations in wind loads acting on the vessel. In most cases, the wind compensation feature will
enhance the positioning performance.
The wind compensation feature can be turned On or Off in the following places:
• In Operation monitor pulldown panel, see Figure 2.12.
• In the Positioning settings view.
• In the General Settings window, in category System.
Wind compensation status is indicated in the External forces HUD in the main view. Figure 2.28
shows HUD when wind compensation is turned on, and Figure 2.29 shows HUD when wind
compensation is turned off. If wind measurement is not available there will be no wind compensation
available. To avoid step in demanded thrust output when switching the wind compensation on or off,
the wind compensated force will automatically be added to and subtracted from the rest force when
the state is changed between on/off. However, an estimate of wind forces will be subtracted from
indicated rest force as long as there is an available and approved wind measurement.
Figure 2.28: Wind compensation turned on
Figure 2.29: Wind compensation turned off
Note!
Wind compensation is only available in automatically controlled modes.
Note!
As long as there is a wind sensor available and it has an approved measurement, an estimate
of wind forces are subtracted from the rest force indicated. I.e. the rest force indicated will
only contain wind forces when there are no available wind measurements and not due wind
compensation is turned ON or OFF.

Caution!
With poor/erroneous wind measurements, an active wind compensation can lead to degraded
(in worst case poor) heading/positioning keeping performance. This can especially be a
case where the wind sensor(s) is affected by different winds than the vessel itself. Wind
measurements should always be verified for its realism when the wind compensation is turned
on.

2.5 Rotation Point
The rotation point is the centre which the vessel rotates around. It is usually set in proximity to the
vessel’s Centre of Gravity (CG). However, the operator can change the rotation point depending
on the particular occasion and manoeuvre undertaken. This can be done either by using a set of
predefined rotation points, or by adding a custom rotation point. The actual vessel position, the
position setpoint and the Position deviation monitor are always related to the selected rotation
point.
Rotation point is changed from the Rotation point view (located under “More”). See Figure 2.30.
Key Function
A Popup button to select predefined (Midship, Bow, Stern) and custom
rotation points
B Menu for saving, deleting and renaming custom rotation points
C Buttons to change rotation point forward/aft
D Buttons to change rotation point starboard/port
E Rotation point shown related to vessel
F Button to apply a selected rotation point
G Button to cancel a selected rotation point
Figure 2.30: Rotation point view
Note!
The rotation point cannot be changed when the vessel is in a Change Heading operation.

There are three predefined rotation points, namely midship, bow and stern, where midship is the
default rotation point. It is not possible to delete these points. To set a custom rotation point use
the spinner buttons next to “Fwd” and “Stbd” to increment or decrement the rotation point in
meters related to the current rotation point. It is also possible to click on the “Fwd” and “Stbd”
fields. A calculator will appear where rotation points can be entered numerically. The list will show
the text “Free select” to indicate that a custom, unsaved rotation point is used. The rotation point
is not changed until the Apply button is clicked. To discard the rotation point click the Cancel
button. Figure 2.31 shows a new rotation point which has been entered, but not yet applied. To
save the rotation point click the Menu popup button and hit Save point. A keyboard will appear
where a name for the rotation point must be entered (maximum 16 characters). The rotation point
will then appear in the list together with the predefined points, and will be stored upon a system
reboot. Custom rotation points can be deleted or renamed from the Menu popup button. The list
of rotation points can contain up to eight points, including the predefined ones, but not including
“Free select”. If the list is full it is possible to enter a custom rotation point, but it cannot be saved
until at least one rotation point is deleted from the list.

Key Function
A Popup button showing “Free select” when new rotation point is entered
B Button to save custom rotation point
C New rotation point value forward/aft
D New rotation point value starboard/port
E Current rotation point shown related to vessel
F New rotation point shown related to vessel (not yet applied)
G Button to apply new rotation point
H Button to cancel new rotation point
Figure 2.31: Rotation point view with custom rotation point

entered, but not yet applied

2.6 System View
An overview of the system can be found in the System view (located under “More”). An example is
shown in Figure 2.32. This gives an indication of the current state of the different system groups.
Green colour means that all enabled devices in the group are working properly. Yellow colour indicates
a warning, and red colour an alarm.
For each device group there is a go-to button. When pressing this button a new view is opened with
details for each device in the device group. See Figure 2.33 for an example of a device group view.
For a reference on the different symbols available, see Figure 1.3 - Alert and notification symbols
and Figure 1.20 - Tag marks.
The System view can also be expanded to show an overview of the whole system with all device
groups. This is done by pressing the popup button in the upper right corner. Figure 2.34 shows the
expanded system view.
Note!
The figures shown are meant as illustrations, and the views are customised for each vessel
based on the installed equipment.
Key Function
A Popup button to open the expanded system view
B Go-to button to open the device group details
Figure 2.32: Example of a system view

Key Function
A Device is currently disabled
B Symbol indicating device available
C Button to go back to the system view
D Popup button to open the expanded system view
E Device is in active use, but has an alarm
F Symbol indicating alarm
G Device is in active use, but has a warning
H Symbol indicating warning
I Device is not in use and has an alarm
J Symbol indicating device unavailable
K Device working properly without any alarms or warnings
Figure 2.33: Example of device details view for the sensor group

Key Function
A Symbol indicating no data received
B Operator Station displays
C Network Switches
D DP Controllers
E I/O controllers
F Network ring 1
G Network ring 2
H Sensors and position references
I Thrusters
Figure 2.34: Example of an expanded system view

2.7 Dashboard
The Dashboard view gives access to all the propulsors, sensors and position references in one view.
By clicking on the different devices, a popup menu opens where they can be enabled and disabled.
The current state of each device is also shown, i.e. whether it is enabled or disabled, available or
unavailable, and has any alarms or warnings. Green colour indicates that the device is enabled and
working properly. See Figure 2.35 for an example.
Figure 2.35: System dashboard

2.8 Sensors
The Icon DP system may be interfaced to various sensor systems. Class rules regulate the minimum
system requirements. The system will be interfaced to at least a gyrocompass (vessel heading), a
wind sensor (relative wind speed and direction) and a Vertical Reference Unit (roll and pitch angle of
the vessel).
The Icon DP system can be connected to more than one sensor of the same type. When multiple
sensors are used, the system will do a weighting between the signals based on the signal quality. The
Icon DP system will automatically detect unacceptable deviations between sensors of same type, and
an alarm will be issued. If an error is detected in a sensor, the weighting function automatically
decreases the weight factor of that sensor, and the factors for the other sensors of the same type are
increased. The operator can also manually decrease/increase the weighting of the different sensors,
or disable a sensor completely and thereby stop it from being used.
2.8.1 Sensor Configuration
The Sensors view in the GUI, as shown in Figure 2.36, provides monitoring, enabling/disabling,
blocking/unblocking and manual weighting of sensor reference systems. Notice that the following
figures are only examples of how the views might look, all vessels will have customised views to
display the installed sensor systems.
Note!
A sensor in this context can be a gyrocompass (GUI: Gyro), a Vertical Reference Unit (GUI:
VRU) and a wind sensor (GUI: Wind).
2.8.2 Sensor Enabling, Disabling and Blocking
The state of a sensor can be changed from the table of devices, by using the slider button in the State
column (see Figure 2.37). The state can be set to Enabled, Disabled, Blocked or Unblocked.
The different states are described in Table 2.1.
State Effect
Enabled Device will contribute to the weighted output signal.
Signal quality is calculated.
Alert status is monitored and will appear in the Alerts list.
Disabled Device will not contribute to the weighted output signal.
Blocked Device will not contribute to the weighted output signal.
Signal quality is not calculated.
Alert status is not monitored and will not appear in the
Alerts list.
Table 2.1: State handling of sensors

Key Function
A Alert status indication
B Name that identifies the sensor
C Measured heading (gyro), pitch angle (VRU) or wind speed (wind
sensor)
D Measured Rate of Turn (gyro), roll angle (VRU) or true wind direction
(wind sensor)
E Measured heave (VRU) if available or relative wind direction (wind
sensor)
F Calculated quality of measured signal
G Current weight for device in percent [%] and manual scaling value in
bar graph (clickable)
H Buttons to change between different views
I Slider button to view and change device state
Figure 2.36: Example of a Sensors view

Figure 2.37: Example of Sensors view when

enabling/disabling/blocking devices
The user can also enable all sensors by pressing the Enable all button. This button is only visible
for sensors on Disabled state.
Note!
A sensor that is automatically disabled because it is lost or similar, must be manually re-enabled
when it becomes available again. It will never be re-enabled automatically.
2.8.3 Sensor Weighting
When more than one sensor of the same sensor type is enabled, the measured sensor value used by
the control system is based on a weighting between the enabled sensors. Calculation of the weight
factor of each sensor is based on a comparison of the signal quality for all enabled devices, together
with any manually scaling factor set on the devices. If a failure is detected on a device, the signal
quality will be set to zero for the device, and the weighting factor will automatically be decreased to
a minimum. For a description of what signal processing that is performed to calculate the sensor
quality value, see chapter Section 3.2 - Signal Processing.
In the Sensors view, the bar graph shown below the weight value displays whether manual scaling is
enabled or not, and how much it is set to for a device (see Figure 2.38). When the bar graph is
neutral, the weighting is purely automatic for the relevant device. If the device is manually scaled
down, a brown bar grows to the left. If the device is manually scaled up, a green bar grows to the
right. Adjust the manual scaling factor by pressing a sensor’s weight bar symbol, and the value can
be adjusted up and down in three (3) steps from the centre position.
If a sensor is manually weighted this will be indicated with a warning indicator in order to ensure the
user is aware that the automatic weighting is currently overridden. See Figure 2.39 for an example
on how this is presented for main displays, and Figure 2.40 for remote displays.

Figure 2.38: Sensor view with manual weight bar pressed
Figure 2.39: Manual weight indicator in main display
Figure 2.40: Manual weight indicator in remote display

2.8.4 Dead Reckoning Heading
Note!
When translating positioning measurements from antenna positions to a vessel zero frame, the
heading measurement is also used. Therefore, both Auto position and Auto heading operations
will enter dead reckoning when losing heading measurement.
If heading measurements are lost or disabled during an Auto heading operation, the control system
will switch to the Dead reckoning heading (and position) state (see notebox). When in dead reckoning
heading, the internal vessel model is used in prediction of the vessel yawing motion, as well as surge
and sway motion. Any change of heading or position not finished before entering dead reckoning, or
initiated after entering dead reckoning, will be performed with thrust command actions based on the
internal prediction of vessel motion in surge, sway and yaw.
Dead reckoning heading is indicated in the Heading deviation monitor, as shown in Figure 2.41.
Figure 2.41: Dead reckoning as shown in the Heading deviation

monitor
Recovery from Dead Reckoning
If the actual heading differs with more than 3 degrees from the setpoint when recovering from dead
reckoning heading, a popup window will appear on the display in command, see Figure 2.42. The
operator must make a decision on where to position the vessel, and press the Stay here or Previous
setpoint button, followed by OK in the popup window.
Note!
While in recovery mode, the heading control mode and the positioning control mode (if in
auto) will go into Pause mode until the selection between stay or go to previous setpoint
is made. Hence, if in a heading or positioning change when entering recovery the change
operation will stop.

Key Function
A Update setpoint to present heading
B Move back to the original heading setpoint
C Apply selection
Figure 2.42: Recovery from dead reckoning heading

2.9 Position Reference Systems
The Icon DP system may be interfaced to various position reference systems. Class rules regulate
the minimum system requirements. The system will be interfaced to accurate position measurement
system(s) (typically a differential GNSS reference system). For DP class 2 and 3 systems, relative
position reference systems are also required.
When multiple position reference systems are used, the system will do a weighting between the signals
based on the signal quality and/or distance to reflectors/transponders (for relative position reference
systems). The Icon DP system will automatically detect unacceptable deviations between the position
reference systems, and an alarm will be issued. If an error is detected in a position reference system,
the weighting function automatically decreases the weight factor of that system, and the factors for
the other systems are increased. The operator can also manually decrease/increase the weighting
of the different position reference systems, or disable a position reference system completely and
thereby stop it from being used.
Note!
When translating positioning measurements from antenna positions to a vessel zero frame,
the heading measurement is also used. Therefore, at least one gyrocompass must be enabled
before a position reference system can be enabled.
2.9.1 Position Reference Configuration
The Posrefs view in the GUI provides monitoring, aligning/zeroing, enabling/disabling,

blocking/unblocking and manual weighting of positioning reference systems (posrefs). The Posrefs
view consists of a table view and a plot view (see Section 1.3.4 - Polar Plots). In the table view the
position reference devices can be configured, as shown in Figure 2.43, and in the plot view they can
be monitored in a polar plot, see Figure 2.44. Notice that the following figures are only examples
of how the views might look, all vessels will have customised views to display the installed position
reference systems.
2.9.2 Position Reference Enabling, Disabling and Blocking
The state of a position reference can be changed by using the slider button in the State column
in either the table view or the plot view. This is shown in Figure 2.44. The state can be set to
Enabled, Disabled, Blocked or Unblocked. The different states are described in Table 2.2. A
relative position reference can also be configured to be a target, but this is only possible from the
Target Tracking view, see Section 2.18.
Note!
A position reference that is automatically disabled because it is lost or similar, must be manually
re-enabled when it becomes available again. It will never be re-enabled automatically.

Key Function
A Alert status indication
B Navigation button for opening details view
C Symbol and number “ID” that identifies the positioning reference or
the reflector/transponder
D Name that identifies the positioning reference or the
reflector/transponder
E Buttons to change between different views
F Expanded view popup button
G Slider button to view and change device state
H Difference between measured value and weighted output
I Calculated quality of measured signal
J Symbol displaying align status and used for aligning/zeroing device
(clickable)
K Current weight for device in percent [%] and manual scaling value in
bar graph (clickable)
Figure 2.43: Example of Position reference table view

Figure 2.44: Example of Position reference plot view with state

handling of position references
State Effect
Enabled Device will contribute to the weighted output signal.
Disabled Device will not contribute to the weighted output signal.
Blocked Device will not contribute to the weighted output signal.
Signal quality is not calculated.
Alert status is not monitored and will not appear in the
Alerts list.
Table 2.2: State handling of position references
2.9.3 Position Reference Weighting
When more than one position reference is enabled, the measured position value used by the control
system is based on a weighting between the enabled devices. Calculation of the weight factor for
each position reference device is based on a comparison of the signal quality for all enabled devices,
together with any manually scaling factor set on the devices. If a failure is detected on a device,
the signal quality will be set to zero for the device, and the weighting factor will automatically be
decreased to a minimum. For a description of what signal processing that is performed to calculate
the position reference quality value, see chapter Section 3.2 - Signal Processing.
In the Posrefs table view, the bar graph shown below the weight value displays whether manual
scaling is enabled or not, and how much it is set to for a device (see Figure 2.45). When the bar
graph is neutral, the weighting is purely automatic for the relevant device. If the device is manually
scaled down, a brown bar grows to the left. If the device is manually scaled up, a green bar grows to
the right. Adjusting the manual scaling factor is done by pressing the weight bar symbol for a device,
and the value can be adjusted up and down in three (3) steps from the centre position.

If a position reference is manually weighted this will be indicated with a warning indicator in order to
ensure the user is aware that the automatic weighting is currently overridden. See Figure 2.46 for an
example on how this is presented for main displays, and Figure 2.47 for remote displays.
Figure 2.45: Posrefs table view with manual weight bar pressed
Figure 2.46: Manual weight indicator in main display

Figure 2.47: Manual weight indicator in remote display
2.9.4 Position Reference Alignment
This function is used for alignment of the position reference systems, to provide a position measurement
which is referred to as a common zero frame. Basically, each GNSS defines its own zero point, and
the local position references are aligned with the GNSS zero frame. A GNSS can also be aligned if
its position deviates from another more reliable GNSS. The position references can be re-aligned
and GNSS’ set back to zero, when required. This is done by pressing the align symbol for the
relevant device, see Figure 2.48. If there are no GNSSs available, one of the local position reference
systems will define the zero frame. For a more detailed description of alignment and signal processing
generally, see chapter Section 3.2 - Signal Processing.

Key Function
A Symbol showing not aligned (unbiased) position reference (relative
posrefs)
B Symbol showing aligned (biased) position reference, symbol is blinking
while aligning
C Symbol showing zero reference (unbiased) position reference (GNSS)
D Button for aligning position reference
E Button for zeroing GNSS
Figure 2.48: Example of position reference view with align/zero

symbol pressed
The different alignment icon variations is described in detail in Figure 2.49
Zero reference Steady
Aligning Blinking
Aligned OK Steady
Not aligned Steady
Poor aligned Steady

Figure 2.49: Alignment icons

2.9.5 Position Reference Trending View
The Posrefs trending view presents trending of difference, quality and weight for each position
reference, as shown in Figure 2.50. It is also possible to trend specific information for the various
types of reference systems. For more details about navigation and interaction in the trending view,
see Section 2.20.
Key Function
A Plot view button
B Table view button
C Trending view button (selected)
D Settings Button
E Expanded view popup button
F Selected timestamp and toggle button for showing value label
G Timestamp for the newest data in the view
H Value at selected timestamp
I Data selection button
J Button for manual scaling value axis
K Value axis (click for auto scaling)
L Unit indication
M Time scale button
N Play button for toggling between real-time and pause mode
O Signals trended. Click to toggle between hide / unhide trend
Figure 2.50: Position reference trending view

2.9.6 Position Reference Details View
The Posrefs details view presents the details for the different position reference systems, and is
opened by help of the navigation button described in Section 2.9.1. See Figure 2.51 for an example
of how this view looks like for a GNSS unit.
Figure 2.51: Posrefs details view
2.9.7 Position Reference View - Large
An expanded version of the Posrefs view can be opened by pressing the popup button in its upper
right corner. This version gives the operator tools for monitoring and analyzing the performance of
each posref device individually by displaying their trackplot and statistics information. It contains most
of the functionality found on the regular Posref view, such as aligning/zeroing, enabling/disabling,
blocking/unblocking, manual weighting and posref details, with the exception of Position Reference
Trending View - see Section 2.9.5). The expanded view, as seen on Figure 2.52, adds:
• Enhanced polar plot with custom scaling and individual posref trackplot
• Difference trend
• Statistical information

Key Function
A Configuration buttons for plot scale and trackplot type / duration
B Posref table
C Enhenced polar plot
D Difference trend area
E Statistics area
Figure 2.52: Expanded Position Reference View
Enhanced polar plot
Besides ploting icons for posrefs, the enhanced polar plot (see Section 1.3.4 - Polar Plots) can display
a trackplot of each posref position over time. The visibility of a posref trackplot can be toggled with
the use of checkboxes from the posref table column Plot. Once visible the type and duration of the
trackplots can be configured using the Trackplot type and Trackplot duration buttons.
Thet trackplot type can be set to:
Scatter - Trackplot consists of dots representing the posref’s historical position over the duration
set by the Trackplot duration button. The dots are ploted at 1 per second rate. In addition, a
confidence ellipse of 95 % will be calculated from the distribution of dots and drawn on the polar
plot.
Line - A line drawn by connecting the historical position of the posref over the current set duration.
To represent the age of the position information along the line, the line color will fade from solid
(most recent position) to transparent (oldest position according to selected duration).
Heat map - The head map type displays the spatial concentration of one posref positions over the
current set duration.

Note!
When Heat map trackplot is selected, only one posref trackplot can be plotted.
Figure 2.53: Scatter, Line and Heatmap trackplot types
Difference trend
The Difference trend area contains trends of the difference between each posref position and the
vessels’ calculated position. All currently available posrefs, with the exception of blocked posrefs, have
their difference trend plotted. The vertical axis Difference represents the difference to calculated
position, in length units as defined in General Settings / Length unit. The horizontal axis
represents the duration defined at the Trackplot duration button. The visibility of a posref
difference trend can be toggled with the use of checkboxes from the posref table column Graph.
Key Function
A Difference axis
B Duration axis - As selected by the Trackplot duration button
Figure 2.54: Difference trend

Statistics
The Statistics area contains statistical information about each posrefs position distribution over the
duration selected at the Trackplot duration button. As long as a posref is not blocked, a small
panel will be visible with its name and standard deviations for latitude and longitude.
Figure 2.55: Statistics area
2.9.8 Dead Reckoning Position
If position measurements are lost or disabled during an Auto position operation, the control system
will switch to the Dead reckoning position state. When in dead reckoning position, an internal vessel
model is used to predict the vessel motion in surge and sway. Any position change not finished before
entering dead reckoning, or initiated after entering dead reckoning, will be performed with thrust
command actions based on the internal prediction of vessel motion in surge and sway.
Dead reckoning position is indicated in the Position deviation monitor, as shown in Figure 2.56
Figure 2.56: Dead reckoning as shown in the Position deviation

monitor
Recovery from Dead Reckoning
If the actual position differs with more than 3 meters from the setpoint when recovering from dead
reckoning position, a popup window will appear on the display in command, see Figure 2.57. The
operator must make a decision on where to position the vessel, and press the Stay here or Previous
setpoint button, followed by OK in the popup window.

Note!
While in recovery mode, the positioning control mode will go into Pause mode until the
selection between stay or go to previous setpoint is made. Hence, if in a positioning change
when entering recovery the change operation will stop.
Key Function
A Update setpoint to present position
B Move back to the original position setpoint
C Apply selection
Figure 2.57: Recovery from dead reckoning position

2.10 Thrusters
Activation of the Icon DP system from Standby, automatically enables all thrust devices for control
by the system. During operation a thrust device can be disabled and re-enabled. A disabled thrust
device is still available for the system, but is in idle state with neutral thrust order, e.g. zero
pitch. When disabled, the operator can control the thrust device using the dedicated thrust lever, in
combination with the enabled thrust devices actively controlled by the Icon DP system. The system
will automatically reconfigure the thruster usage to optimise the vessel operation at any combination
of enabled thrusters, propellers and rudders. If the requested mode of operation cannot be fulfilled
due to a reduced number of enabled thrust devices, an alarm will be issued. The alarm will however
not be issued for an axis set to No Control.
Note!
When the startup mode is set to another mode than Normal, the Icon DP control system will
enable only the thrust devices required for the selected startup mode. See Section 2.4.7 for
available startup modes.
Note!
Disabling thrust devices may reduce the performance of the Icon DP system.
From the Thrusters view in the GUI, thrust devices can be monitored and states and settings for
the devices are controlled. The available operations in the different thruster views are described in
detail in the following subsections.
See Section 1.3 - Graphical User Interface for detailed descriptions of GUI objects and state indications.
2.10.1 Thrusters Vessel View
The Thrusters vessel view displays the thrust devices as positioned on the vessel. See Figure 2.58 for
reference. Current thrust setpoint and feedback are displayed for each thruster, as well as direction
setpoint and feedback for azimuth thrusters and rudders.
There are two ways to disable and enable thrust devices from the Thrusters vessel view.
One way is to use the state slider button of the thrust device table item, as shown in Figure 2.59.
Clicking on the slider button opens a confirmation popup menu where the current state of the thrust
device can be changed. If the current thrust device’s state is Disabled, an extra button - Enable
all - will be available, allowing the user to enable all thrust devices at once. The action is cancelled
by clicking the Cancel button or by clicking outside the confirmation popup menu.
Another way of disabling and enabling a thrust device is to click on the device located on the vessel,
as shown in Figure 2.60. Clicking on the thrust device opens a confirmation popup menu next to the
device where its state can be changed. Cancel the action by using the Cancel button or by clicking
outside the confirmation popup menu.
The Go to details button in the confirmation popup menu opens the Thrust device details view.
This view is described in Section 2.10.4 - Thrust Device Details View. Another way of entering this
details view from the Thrusters vessel view is to click on the table item of a thrust device.

Key Function
A Thruster fixed direction
B Rudder setpoint and feedback indication
C Direction setpoint and feedback indication
D Thrust setpoint and feedback indication
E Thrusters vessel view button (active)
F Thrusters table view button
G Thrusters trending view button
H Thrusters settings view button
I Thrust device state slider button
Figure 2.58: Thrusters vessel view

Key Function
A Thrust device table item
B Thrust device state slider button
C Thrust device disable button
D Cancel action button
E Enable all thrust devices button
Figure 2.59: Disable and enable thrust device by using slider

button

Key Function
A Thrust device in vessel view
B Thrust device disable button
C Cancel action button
D Go to thrust device details button
Figure 2.60: Disable and enable thrust device in vessel view

2.10.2 Thrusters Table View
The Thrusters table view presents setpoint, feedback and state information for each thrust device
in a table format, as shown in Figure 2.61. The slider buttons are used to disable and enable thrust
devices, as shown in Figure 2.59.
Key Function
A Thrusters vessel view button
B Thrusters table view button (active)
C Thrusters trending view button
D Thrusters settings view button
E Go to thrust device details button
F Thrust setpoint and feedback indication
G Thrust feedback field [ton/kN/%]
H Direction setpoint field
I Direction feedback field
J State slider button
Figure 2.61: Thrusters table view

2.10.3 Thrusters Trending View
The Thrusters trending view presents trending of setpoint, feedback for (dependent on thruster
type); force in [ton], force in [%], pitch, RPM, angle and power for each thrust device, as shown in
Figure 2.62. For more details about navigation and interaction in the trending view, see Section 2.20.
Key Function
B Thrusters table view button
C Thrusters trending view button (selected)
D Thrusters settings view button
E Selected timestamp and toggle button for showing value label
F Timestamp for the newest data in the view
G Value at timestamp (Key E)
H Data selection button
I Button for manual scaling value axis
J Value axis (click for auto scaling)
K Unit indication
L Time scale button
M Play button for toggling between real-time and pause mode
N Signals trended. Click to toggle between hide/unhide trend
Figure 2.62: Thrusters trending view

2.10.4 Thrust Device Details View
Thrust device details, such as power consumption, thruster direction and pitch/RPM
setpoint/feedback, are presented in this view. The state of the thrust device can be changed
by clicking the status dropdown button and select the desired state. Go back to the previous view by
clicking the Back button on the top bar of the view.
Key Function
A Thrust device with indications
B Back to previous view button
C Status dropdown button
D Power consumption field
E Direction feedback field
F RPM setpoint/feedback field
Figure 2.63: Thrust device details view

2.10.5 Thruster Interface Failure/Detection Handling
The DP control system performs error checks on the thruster interface. Alarms are issued when
failures on the thruster system interface are detected. These includes:
• I/O link failures
• I/O unit failures
• Other communication failures
• General signal failures, e.g. out of range.
• Setpoint - feedback deviation
Thruster setpoint - feedback deviation have a warning level and a alarm level. If the deviation is
above the alarm level the thruster will automatically be disabled from the Icon DP system. All other
failures will automatically disable the thruster from the Icon DP system.
External Pitch/RPM Reduction
If the RTC gives an pitch or RPM reduction signal for a thruster to the Icon DP system, the order
out to RTC for the actual thruster will be reduced to the feedback for the thruster. The output
reduction will be held as long as the reduction signal is set to the Icon DP system. To indicate the
failure/reduction, an alarm “External Pitch/Rpm reduction Thr X” will be displayed on the Icon DP
system. In order to avoid on/off effects on the reduction signal, there is a few seconds delay on
reducing the output when the external reduction signal is set on and similar a delay before raising the
output again when external reduction signals goes off. Commanded thruster order will be reallocated
to other thruster devices if possible.
2.10.6 Thruster Settings
The thruster settings can be changed the following ways:
• From the Thrusters settings view, as shown in Figure 2.64.
Note!
As for other settings, only those settings which are possible to adjust will be present in the
view. Hence, the illustrations in this manual might show settings that are not applicable for
all Icon DP systems.

Key Function
B Thrusters table view button
C Thrusters trending view button
D Thrusters settings view button (active)
E Thrust bias state setting
F Rudder usage setting
G Max rudder angle setting
H Azimuth thruster fixed angle setting
I Main Azimuth Propulsion units fixed angle settings in pair
J Show thrust in [%] or in [ton/kN] in table view
Figure 2.64: Thrusters settings view
Thrust Bias
Thrust devices in a “bias” configuration individually produce a thrust force, however such that the
resultant force by all thrust devices in the configuration is zero. The advantage of using a bias
configuration is quicker response to required thrust changes, thus greater heading and positioning
stability of the vessel.
Enable or disable bias configuration by using the Thrust bias state setting. When thrust bias state
is enabled, the thrust bias setting controls the force produced by the individual thrust device in the
bias configuration. Choose between Low, Medium and High bias thrust.

Rudders
The preferred usage of rudders for heading and position control can be adjusted from the Rudder
usage setting. The usage of rudders can be set to Low, Medium or High.
Note!
Rudders will be used more actively for heading and position control when Rudder usage is
set to High. However, rudders will be used actively to keep the vessel in heading and position
when required, no matter which rudder usage setting is selected.
The Max rudder angle setting controls the maximum angle allowed for every rudder on the vessel.

2.11 Speed
2.11.1 Speed View
The Speed view shows estimated information for surge speed, sway speed at bow, sway speed at
stern and Rate of Turn (ROT). In addition, Speed Over Ground (SOG) and Course Over Ground
(COG) data from GNSS is displayed.
Figure 2.65: Speed view
The following indicators are placed according to panel’s vessel orientation.
• Surge speed
• Sway speed Fwd - Placed on bow
• Sway speed Aft - Placed on stern
• Speed Over Ground
• Course Over Ground
• Rate of Turn
Note!
The speed indicators unit follow the current vessel speed unit. To change the vessel speed
unit see Section 1.3.9 - General Settings

2.11.2 Operation monitor - Standby
When the DP control system is in standby mode, the Operation monitor will display SOG, ROT
and COG.
Figure 2.66: Speed information on Operation monitor

2.12 Power
In the Icon DP system, measurements from the power system together with thrust device feedback
and internal power models are used to estimate available power on each power bus for thrust devices
controlled by the system. The power system interface monitors the status of the applicable Circuit
Breakers, bus ties, batteries and generators. Interface signal specifications are found in the wiring
diagrams.
2.12.1 Power Monitor
The Power monitor, located to the far left in the GUI monitoring bar, provides an overview of
available and consumed power, see Figure 2.67. From here it is also possible to enable and disable
the power limitation function. For DP2 and DP3 class systems it is possible to adjust the CQA
warning and alert reserve limits, see Section 2.13 for details.

Key Function
A Power currently consumed on bus [%]
B Available power on bus [kW]
C Power consumed warning limit [%]
D Power consumed alarm limit [%]
E CQA power utilization bar (only available for DP2 and DP3 classes)
F Power limitation spinner button
G CQA warning reserve limit spinner button (only available for DP2 and
DP3 classes)
H CQA alarm reserve limit spinner button (only available for DP2 and
DP3 classes)
Figure 2.67: Power monitor

2.12.2 Power Table View
The Power table view gives an overview of available and consumed power, see Figure 2.68. It can
be found in the view menu.
Key Function
A Power table view button (active)
B Power trending view button
C Power settings view button
D Power view popup button
Figure 2.68: Power table view
2.12.3 Power Trending View
The Power trending view presents trending of consumed bus power, available bus power, total
consumed power and CQA utilization, as shown in Figure 2.69. For more details about navigation
and interaction in the trending, see Section 2.20.

Key Function
A Table view button
B Trending view button (active)
C Settings view button
E Selected timestamp and toggle button for showing value label
F Timestamp for the newest data in the view
G Value at selected timestamp
H Data selection button
I Time scale button
J Value axis (click for auto scaling)
K Unit indication
L Time scale button
M Play button for toggling between real-time and pause mode
N Signals trended. Click to toggle between hide/unhide trend
Figure 2.69: Power trending view

2.12.4 Power View Popup
The power view popup shown in Figure 2.70 provides a graphic visualisation of the power distribution
status. The popup can be reached from the Power view, see key D in Figure 2.68. Figure 2.71
shows an overview describing the symbols used in the power view popup.
Note!
The power configuration shown in Figure 2.70 is only an illustration of what a power view can
look like. Each individual vessel will have a power view that is customised to its specific power
and thruster setup.
Key Function
A Available and consumed power for bus [kW]
B Available and consumed power for bus shown as pie chart
C Bus bar
D Thrust device breaker
E Thrust device with consumed power [kW]
F Generator breaker
G Generator with produced power [kW]
H Bus breaker
Figure 2.70: Power view popup

Open Closed
Breaker:
Stopped Running Reversed
AFE drive:
Open Closed
Shaft Gear
clutch clutch
Shaft line:
Ducted Ducted Combined

Main main Azimuth azimuth Tunnel tunnel &
propeller propeller thruster thruster thruster azimuth
Thrusters:
Remaining
Charging charge
ESU/Battery:
LLC
transformer
LLC
switchboard:
Figure 2.71: Power view popup symbols

2.12.5 Power Limitation
The DP control system includes a Power limitation function. When the power limitation function is
activated, it computes the available power for DP operation and limits the thrust device action to
avoid power system overload.
To estimate available power on each power bus for thrust devices controlled by the system, power
system measurements, thrust device feedback and internal power models are used. In cases with
power limitation, i.e. insufficient available power to satisfy the commanded thrust, the thrust orders
are equally reduced. Hence, the thrust reduction ratio is equal for all thrusters on the bus(es) with
insufficient power. Power limitation alarms are submitted for the limited thrust devices, and limitation
status is clearly indicated on the Icon DP graphical display.
Note!
If desired, the system can be configured not to use all available power, in order to avoid
automatic startup of the generators by the power management system.
Note!
The setting for enabling or disabling the power limitation function can be reached directly
from the pulldown panel of the Power monitor, see Figure 2.67.
Note!
If problems with reading the power values occur, the system will issue an Inconsistent readings
alarm. When this happen, the operator should consider disabling the power limitation function.
2.12.6 Power Interface Failure Detection/Handling
The DP control system performs error checks on the power interface. Alarms are issued when failures
on the power system interface are detected. These include:
• I/O link failures
• I/O unit failures
• Other communication failures
If one or more of the I/O units fails or if any other power interface signal failure is detected, the
power limitation function is automatically disabled. The available and consumed power in the system
will still be calculated, but the calculations are most probably incorrect.

2.12.7 Power Settings
The power settings can be changed the following ways:
• From the Power settings view, as shown in Figure 2.72.
Key Function
A Power table view button
B Power trending view button
C Power settings view button (active)
E Power limitation On / Off button
G Consequence analysis warning reserve limit setting
H Consequence analysis alarm reserve limit setting
Figure 2.72: Power settings view

2.13 Consequence Analysis
The DP online Consequence Analysis (CQA) function is a class requirement for IMO DP class 2 and
DP class 3 operations. This function is disabled if the DP class is set to DP class 1.
2.13.1 Single Worst Case Failure Scenarios
Based on the prevailing environmental conditions, the power system configuration and the active
thrusters the function will run through possible single worst case failure scenarios. These scenarios
can be the loss of one of the Main Bus Bars or equivalent. For each failure scenario the function
will calculate the maximum thrust which can be generated in the direction of the prevailing thrust.
An alarm will be issued if the mean prevailing thrust adjusted with a dynamic reserve is larger than
the maximum available thrust after the worst single failure. The dynamic reserve warning limit and
alarm limit can be adjusted by the operator in the power settings, see Section 2.12.7.
The worst case failure design intent (WCFDI) scenarios which are considered by the consequence
analysis function are:
• Loss of a single I/O controller. (See Table 2.4 for distribution of thrusters on I/O controllers).
• Loss of a single bus bar and all other bus bars and equipment connected to these bus bars
(partial blackout, see Table 2.4). In the case of interconnected bus bars connected by bus tie
breakers approved by the class society to be of a selective type, these bus tie breakers will be
assumed to be automatically opened in the case of a failure on one of the connected bus bars.
(See drawing of power system for details on the power system.)
2.13.2 Redundancy Groups
The redundancy design intent is that no single failure shall lead to loss of more than one redundancy
group. See Table 2.4 for an overview of the project specific redundancy groups. Normal operation
before failure is: All redundancy groups operational. Operation after single failure is: Maximum one
redundancy group failed.
Redundancy Thrusters Bus 1 Bus 2 Bus 3 Bus 4

group
[1] Bow Thruster 1 X
[2] Bow Thruster 2 X
[1] Stern Thruster 1 X
[2] Stern Thruster 2 X
Port Main Propulsion
T hrusterBusM ap.get(5).toString()
Stbd Main Propulsion
T hrusterBusM ap.get(6).toString()
Table 2.4: Project specific redundancy groups.

2.13.3 General
The CQA alarms will inform if the maximum generated thrust after the failure is limited by the
thrusters or by the power generation capacity.
The results of the consequence analysis calculations are available as trends that can be found in power
trending view (see Section 2.12.3) and on Power and Thrust monitors as shown in Figure 2.73.
Key Function
A CQA dynamic reserve alarm
B CQA dynamic reserve warning
C Power bar
D Power utilization
E Thrust bar
F Thrust utilization
Figure 2.73: Power and thrust CQA utilization bars
Note!
Power and thrust CQA bars are not available for displays with resolutions lower than 1920 x
1080 and when the DP control system is operating at classes other than Class 2 and Class 3.

2.14 Class Monitoring
The operator can select the IMO DP class for which the system is supposed to be in compliance with.
Based on the selected class, the class monitoring function evaluates if the vessel currently fulfils the
requirements for the selected DP class based on the consequence analysis. The class monitoring will
provide a complete overview of the system configuration regarding:
• Sufficient sensors systems active
• Sufficient position reference systems active
• The power system and its configuration
• Sufficient thrust devices active
• DP system hardware components and data network status
• Result of the online consequence monitoring function if enabled.
The class monitor indicator is displayed in bottom bar. A popup button shows the current class
selected, and clearly indicates when the vessel is out of class. By pressing the button, a details
view is opened. The monitoring class level can be set from the opened detailed view or from the
General Settings in the sub-menu System. See Figure 2.74 and Figure 2.75 for examples of a
system operating within class and a system not operating within class.

Key Function
A Button and indication of Class monitoring level
B Detailed status of monitoring level for each sub-group
C Class monitor indication and popup button in bottom bar, currently
showing OK
D Enable and Disable hot standby (only for DP class 3)
Figure 2.74: Class monitoring button and details view, system

within class

Key Function
A Button and indication of Class monitoring level
B Detailed status of monitoring level not OK for sub-group
C Detailed status of monitoring level OK for sub-group
D Monitoring status of Backup DP station not OK (only for DP class 3)
E Class monitor indication and popup button in bottom bar, currently
showing not OK
F Enable and Disable hot standby (only for DP class 3)
Figure 2.75: Class monitoring button and details view, system

not within class

2.15 Capability Analysis
The Capability analysis provides an indication of what environmental conditions, i.e. wind, waves and
ocean current, the vessel can withstand given its current power and thruster configuration. Capability
is presented on the GUI in the Capability view, as a polar plot (see Section 1.3.4 - Polar Plots)
showing the maximum wind speed for all wind directions relative to the vessel (0-360 degrees). Prior
to the analysis the operator can select the following:
• Environmental conditions for wind, waves and ocean current
• Failure modes related to power system or thrusters
Figure 2.76 shows an example of a capability plot.
2.15.1 Vessel Modes
There are three vessel modes to choose from, which can be selected individually or all together. This
is done by ticking the corresponding checkboxes in the Capability plot view.
• All online: All thrusters are enabled. In addition the switchboard has everything connected and
has no errors.
• Current: Analysis based on the current state of the thrusters and switchboard. Any generator,
engine, thruster etc. which is disabled or has an error, will not be used for the analysis.
• Worst case / thruster: Analysis based on the current state of the vessel, where several failure
modes are analysed. The failure mode is analysed for every environmental angle and can be
different for the various angles. If class monitoring level is set to DP class 2 or higher. A
failure can be loss of a thruster, a generator or engine, one side of the switchboard, or an I/O
controller. If monitoring class is set to DP class 1 or lower. Worst case failure monitoring will
always be related to loss of the most important thruster.
2.15.2 Conditions and Environment
Environmental conditions are set from the Plot conditions dropdown menu. By selecting Prevailing
conditions from the Plot conditions dropdown list, the restoring force direction and magnitude will
be shown. If User-set conditions is selected, current speed and direction, together with wave height,
period and direction, will be displayed. In the Capability plot view the one-minute average wind
speed and direction is shown.
Prevailing Conditions
The prevailing condition has no user input, and uses the restoring force to calculate the vessel
capability. The restoring force is earth fixed, whereas the wind is rotated around the vessel for the
calculation.

Key Function
A Scale indicator
B Wind speed circle
C Plot view
D Wind direction indication
E Scale selector
F Environmental settings
G Update plot
H Report selector
I Vessel mode selection
Figure 2.76: Capability plot view

User-set Conditions
When user-set conditions are selected, it is possible to set a fixed current speed as well as a fixed wave
height and wave period. It is also possible to set initial wave and current directions different from
the wind direction. These will act as offsets to the wind direction when the environment is rotated
around the vessel. Rest force is not accounted for when this is selected. Custom conditions are set
from the Capability settings view, which is shown in Figure 2.77. All environmental parameters
are possible to adjust for a force plot. Note, if a new wave height is set a default corresponding
wave period will automatically be set. Hence, if a specific wave period is wanted it must be set after
selecting wave height.
Figure 2.77: Capability settings view
Wind Plot
This plot shows the maximum wind speed the vessel can withstand while still keeping position
and heading. Calculations are performed for all directions relative to the vessel (0-360 degrees).
The results are dependent on the conditions the operator has selected for the analysis; user-set or
prevailing.
2.15.3 Plot scale
Three plot scale modes are available for the user.
• Fixed scale: Default mode. Follows IMCA capability report guidelines.
• Auto scale: Used to fit the currently displayed plot.
• Custom scale: Plot can be scaled with the use of a value spinner.

Figure 2.78: Scale selector and custom scale spinner
Note!
Plot scale changes are only shown on user interface and do not affect the exported capability
report. The exported report follows the IMCA guidelines.
2.15.4 Report
When the analysis has been run, it is possible to send the report to the printer or save to a memory
stick. This is done through the Report selector popup. Press the Export report button. A popup
menu is displayed with four options:
• Combine reports: By default three reports are generated for each vessel modes (see
Section 2.15.1 - Vessel Modes). Using this options when generating a report will create,
instead, one report containing all three modes.
• Choose USB: Choose what connected USB device to be used for saving.
• Export to USB: The selected report is saved as a PDF file to a memory stick. The memory
stick must be inserted into the computer prior to saving the report.
• Send to printer: The selected report is printed. The printer must be available and ready.
Note!
In case of a wrong vessel name on the report, change it in the General settings in the global
menu.

2.16 Motion Prediction
Motion prediction analysis simulates the vessel’s drift trajectory in case of a total black-out. The
prediction is run on operator request and displayed on a polar plot (see Section 1.3.4 - Polar Plots).
Two modes of analysis are available; prevailing environment conditions and operator set environment
conditions.
Figure 2.79 shows an example of a motion prediction plot.
Key Function
A Watch circles
B Vessel’s drift trajectory
C Drift trajectory plot
D Environment direction arrow
E Plot view button
F Settings view button
G Analysis type
H Conditions panel
I Update plot
J Export report
Figure 2.79: Motion prediction plot view

2.16.1 Settings
The Analysis type button gives the operator the option between prevailing or user set environment
conditions.
Before running the motion prediction analysis make sure that the analysis is set up as desired. Open
the Settings view to adjust the settings.
Common Settings
This section describes settings common to both the prevailing and the user set analysis mode, as
shown in Figure 2.80.
Figure 2.80: Common settings and conditions type selection
The Trace interval setting defines the time interval between each vessel plotted in the motion
prediction plot.
The Offset distance and Offset direction settings can be used to define the vessel’s starting point
to be offset from the centre of the motion prediction plot. The offset distance is given as the relative
distance from the plot centre to the desired starting point, while the offset direction is given as the
absolute direction from north to the desired starting point. The offset distance is limited to be set
within the outermost watch circle distance.
The Circle distance settings define three distances relative to the centre of the plot. The points of
time at which each of these distances are crossed by the drifting vessel are presented after running
the analysis. Note that when defining an offset distance and direction, the vessel will cross each
watch circle either zero, one or two times depending on the offset and the environment conditions.
When a watch circle is crossed twice, the time of the last crossing is presented.

User Set Conditions
Choosing user set conditions enables the operator to specify additional settings for the vessel and
environment conditions. These settings are used by the motion prediction analysis to create an
analysis scenario as desired. The user set conditions are shown in Figure 2.81.
Figure 2.81: User set conditions
The initial heading of the vessel can be adjusted. The heading is given as absolute heading.
Wind, current and wave conditions are specified to create the desired environment conditions for the
analysis.
2.16.2 Analysis
The prevailing motion prediction analysis is available when both heading and position are controlled
and stable. The user set motion prediction analysis is always available. Press the Request button to
run the analysis, after having specified the desired settings.
After calculations have finished the results are displayed. Note that the calculation time depends on
the environment conditions together with the specified radius of the outermost watch circle. Calmer
weather conditions and a greater radius of the outermost watch circle requires longer calculation
time. The calculation time has an upper limit of one hour. When one hour of drift is analysed, the
calculation is interrupted and results are displayed, even though the outermost watch circle is still
not crossed.
The results of the motion prediction analysis is divided into two sections:
1. The vessel and environment conditions panel
2. The drift trajectory plot section

The Conditions panel displays the drift times at which the three specified watch circles are crossed.
It also shows the initial vessel heading and weather conditions used by the calculations to predict
the drift trajectory. Wind and rest force conditions are displayed when the analysis type is set to
prevailing. For user set analysis type, the displayed conditions are wind, current and wave. The
direction of these influencing forces are displayed with arrows of corresponding colours in the drift
trajectory plot.
The Drift trajectory plot section presents the predicted drift of the vessel. The vessel is plotted
with predicted heading and position at time intervals set by the operator.
Figure 2.82: Prevailing conditions analysis result
Figure 2.83: User set conditions analysis results
Figure 2.82 and Figure 2.83 are examples of the analysis results from respectively running a prevailing
conditions analysis and a user set conditions analysis.

Note!
In prevailing environment conditions analysis the actual heading and wind information are used.
Current and wave data are disabled.
2.16.3 Report
When the analysis has been run, it is possible to send the report to the printer or save to a memory
stick. This is done through the Report selector popup. Press the Export report button. A popup
menu is displayed with three options:
• Export to USB: The report currently in view is saved as a PDF file to a memory stick. The
memory stick must be inserted into the computer prior to saving the report.
• Send to printer: The report currently in view is printed. The printer must be available and
ready.
Note!
In case of a wrong vessel name on the report, change it in the General settings in the global
menu.

2.17 Footprint Analysis
IMCA and DNV have guidelines and recommended practices for documenting a vessel’s position
deviation from its defined setpoint during an auto position operation. Based on IMCA 182
(International Guidelines for The Safe Operation of Dynamically Positioned Offshore Supply Vessels)
and DNV-RP-E307 documents, the DP Footprint plot report can be created.
This chapter describes how the Footprint Analysis view can be used to analyse the vessel’s footprint
during current and past positioning operations as well as create a DP Footprint plot report.
2.17.1 DP Footprint Plot
DP Footprint Plots are not theoretical. They are actual measurements of the vessel’s DP station
keeping performance in the actual environmental conditions and thruster configuration at the time
the plot was taken. DP Footprint Plots should be taken whenever opportunities arise, such as during
standby periods, weather downtime or on arrival at the field. Plots should be taken for the thruster
configurations used in the DP Capability Plots, i.e. fully intact, loss of most effective thruster(s) and
after worst case failure.
DP Footprint Plots serve two main purposes.
• They provide a plot of vessel positions at regular intervals around the required set position
(this shows accuracy of station keeping)
• They also provide comparison points on the limiting wind speed envelope given in the theoretical
DP Capability Plots (this shows wind speeds at which it was seen that the vessel was unable
to maintainposition, thus validating or contradicting the theoretical DP Capability Plots for
the various thrusterconfigurations.)
DP Footprint Plots serve other purposes, including learning and familiarisation opportunities for DP
operators and in providing snapshots of vessel station keeping behaviour for specific locations and
activities. Theoretical DP Capability Plots and DP Footprint Plots combine together to enhance
knowledge and understanding of the vessel’s DP station keeping ability.
2.17.2 Footprint Analysis View
The Footprint Analysis view is divided in 4 areas: Heat map plot, Control, Environmental information
and Export.
The Heat map plot is a 360 degrees polar plot (see Section 1.3.4 - Polar Plots) whose centre is
the vessel’s current position setpoint. Around the setpoint the vessel’s real position can oscillate or
deviate depending on a number of factors. The heat map is used to depict the position deviation
over time. At the edge of the heat map plot, coloured arcs for wind, current and heading show their
range of direction deviation.
The Control area gives the user the option to choose between live or historical analysis and their
respective settings.

Key Function
A Heat map plot
B Control area
C Environmental & heading info
D Export
Figure 2.84: Footprint Analysis plot view
Key Function
A Heading deviation range arc and current heading needle*
B North indicator - Only visible on Vessel orientation
C Current direction range arc and direction arrow*
D Wind direction range arc and direction arrow*
Figure 2.85: Environmental and heading information - *Only

visible on Live Plot mode

The Environmental & heading info area displays range values for the coloured arcs found on the
plot view in addition to max and min values for heading deviation, wind force and current.
The Export button opens a popup menu that gives the option to generate a IMCA 182 compliant
DP Footprint plot and save it on a USB device or send to printer.
The heat map represents the vessel’s position over time. For any given point in the heat map, the
closer the colour is to orange, the more time the vessel has spent at that position (within a margin
of 20 cm). The threshold for each colour varies proportionally to the length of the plot.
Live Plot
When live plot is chosen the Footprint Analysis view will automatically collect the position data
from the last two hours of continuous auto position operation. The length of the currently displayed
footprint plot can be adjusted using the Show last button.
Figure 2.86: Show last button
Plot orientation can be selected as Vessel or North. If Vessel orientation is selected, the Operator
Station’s orientation will dictate whether the plot shows “Bow” up or down. When North is chosen
the plot will be shown with North up orientation.

Figure 2.87: Plot orientation. The left plot is shown on a Aft

oriented Operator Station (Bow down)
Historical Plot
During operation, the DP control system is constantly recording vessel position and heading deviations
as well as wind and current data. Every time the position setpoint is changed or re-fixed the current
recording is stopped and saved as a historical plot. At the Figure 2.88 a file tree explorer lists all
previous historical plots that are available for analysis. All such files can be found by pressing the
Load previous plots button and are organized in folders by month, week and day. The system will
store files for a maximum of 12 weeks and split files with duration larger than 6 hours.

Key Function
A Previous plot button
B Plot tree explorer
C Cancel & Open selected plot buttons
Figure 2.88: Previous plots selection popup
Note!
Footprint plot is only recorded on Positioning operation with no position change. During
position change and on other operations such as Target Tracking, Waypoint Tracking and
Weather Optimal Positioning, footprint recording is disabled. The current operation is displayed
on Operation monitor, see Section 1.3.5.
Once a historical plot is loaded its complete heat map is plotted on the polar plot view. The Load
previous plot button’s text states the start and end timestamps for the plot. Below the previous
plot selection button, a range slider with two timestamp control buttons, or thumbs, can be found.
Moving the start and end thumbs gives the user the ability to limit the plot’s length, changing the
heat map and environmental information accordingly.

Key Function
A Selected previous plot - Button text shows the currently displayed plot
B Start time range slider thumb
C Start time indicator
D End time range slider thumb
E End time indicator
Figure 2.89: Historical plot control
Note!
Historical plots are available for 12 weeks. After that they are deleted and removed from the
historical plot menu.
Export Report
A DP Footprint plot report can be created from the displayed plot and sent to the printer or saved
to a memory stick. This is done through the Report selector popup. Press the Export report
button. A popup menu is displayed with three options:
• Export to USB: The report currently in view is saved as a PDF file to a memory stick. The
memory stick must be inserted into the computer prior to saving the report.
• Send to printer: The report currently in view is printed. The printer must be available and
ready.

Figure 2.90: DP Footprint Plot
Note!
In case of a wrong vessel name on the report, change it in the General settings view, found
in the global menu.

2.18 Target Tracking
Target tracking is a function that permits a DP operated vessel to track either another object,
a Remotely Operated Vehicle (ROV) or another vessel, in a fixed distance (range) and direction
(bearing). Relative position reference systems are used to measure relative distance to the tracked
object, typically laser or radar based systems for surface objects and hydro-acoustic systems for
sub-surface objects. The system defines a target as measured reflector (above surface) or transponder
(sub-surface) distance and direction readings. One or more targets can be tracked simultaneously.
Associated with each tracked target is a reaction circle. The position coordinates of these circles
relative to the vessel form the basis for position and heading control in the target tracking system
function. Tracked targets are allowed to move freely within the perimeters of their circles without
any repositioning action from the Icon DP control system. If one of the tracked targets crosses the
perimeter of its reaction circle, the position coordinates of all reaction circles are reset to the position
of their associated target. Depending on the selected target tracking system mode, this will result in
a change operation for the DP operated vessel in position and/or heading.
Sections 2.18.2–2.18.4 thoroughly explain the different target tracking modes available in the Icon
DP control system, including procedures for initiating target tracking operations. Terminating an
ongoing target tracking operation can be performed either from the Target tracking control view,
or from an input device according to the description in Section 2.18.9. In the following sections the
DP operated vessel will simply be called the “DP vessel”.
2.18.1 Target Tracking GUI
The target tracking function is controlled from the Target tracking views in the GUI, accessible
from the view menu. There are three different views available; Control view, Table view and
Settings view.
The tracking function is started and stopped from the Control view. This is also where the tracking
mode is changed both before commencing the operation and during a target tracking operation. See
Figure 2.91 for a description of the controls located in this view.
Adding and removing targets from the operation is done in the Table view, where the range and
bearing to each individual target can also be inspected. See Figure 2.92 for description of the fields
located in the table view.
When the tracking operation is active, the operation status can be seen in Operation monitor in
the upper right hand corner of the screen. This is always visible during the tracking operation, and is
a good place to monitor the tracking operation variables. See Figure 2.93.
The GUI Main view shows the position of the targets and the corresponding reaction circles relative
to the DP vessel. See Figure 2.94. Target information will be displayed in the Main view when
reflectors/transponders have been specified as targets and enabled in the Target tracking table
view.

Key Function
A Target tracking control view (this view)
B Target tracking table view
C Target tracking settings view
D Start/Stop tracking operation
E Dropdown menu for changing tracking mode
F Editable follow target position speed limit used for following object
G Editable DP position speed limit used for setpoint changes
H Miniature view of target configuration
Figure 2.91: Target tracking control view
2.18.2 Single Target Mode
In Single target mode, the system tracks the motion of a single target defined by one
reflector/transponder. In this mode, the vessel position setpoint is automatically updated based on
the target’s motion, while the heading setpoint is independent from such motion. The vessel position
setpoint is located at a fixed range/bearing relative to the centre of the reaction circle surrounding
the target, see Figure 2.95. The coordinates of the reaction circle centre, and in turn the vessel
position setpoint, is updated whenever the target position crosses the circle perimeter. The fixed
range/bearing governing the position setpoint can be adjusted (implicitly) by performing a setpoint
change according the procedures described in Section 2.4.5.

Key Function
A Target id and symbol
B Target name as received from Laser/HPR etc.
C Set as checked if you want to use this as a target instead of a position
reference
D Target range from DP vessel Centre of Rotation
E Bearing from DP vessel Centre of Rotation to target
F Slider button for enabling and disabling target from operation
G Dropdown menu for selecting target tracking mode when enabling
multiple targets
Figure 2.92: Target tracking table view
Starting a Single Target Operation
Initiating a tracking operation in Single target mode can be performed either while the target tracking
function is inactive, or from an ongoing operation in one of the other modes (see Section 2.18.3–
2.18.4).
• Initiating Single target mode, inactive tracking state:
Prerequisites: Vessel observability/controllability OK. Target tracking inactive.
1. Open Target tracking table view.

2. Ensure that the reflector/transponder that should be used in the tracking operation has
been specified as a target. No other reflectors/transponders should be enabled.
3. Enable the desired reflector/transponder.
4. After checking that the reflector/transponder has been initialized (green status), start
the operation by pressing the Start tracking button from the Target tracking control
view.

Key Function
A Current operation mode
B Estimated time until the vessel has reached both position and heading
setpoints
C Distance to position setpoint
D Bearing towards position setpoint
E Maximum speed vessel will use to keep up with the moving object
F Maximum speed for operator initiated position setpoint changes
G The instantaneous position of the tracked target(s) and the desired
relative range(s)/bearing(s) governing the vessel position setpoint(ref.
Section 2.18.2, 2.18.4) define the location of a virtual target. The
estimated speed of the virtual target is equal to that of the tracked object
in the Single Target and Composite Target modes. In the Multitarget
modes, the value is also influenced by object rotation according to rigid
body rotation.
H Estimated course of the virtual target. Equal to the course of the
tracked object in the Single target and Composite target modes.
Figure 2.93: Target tracking operation monitor

Key Function
A Target reaction circle
B Target symbol/id. Target’s position is represented on the centre of the
symbol.
C Target name and status indicator
Figure 2.94: GUI Main view

Auto Heading
Bearing
DP Vessel
Distance
Reaction Radius
Target
Figure 2.95: Target tracking, Single target mode
Note!
If only one target is available, the system will always enter Single target mode when the
tracking operation is started.
• Initiating Single target mode, ongoing operation:
Prerequisites: Target tracking active in any other other mode than Single target mode.
Vessel observability/controllability OK. Available measurements from one or more enabled
reflector/transponder.
There are two different methods for initiating the operation:
– If only one single reflector/transponder has available measurements, the mode can be
changed to Single target mode in the Target tracking control view.
– If two or more reflectors/transponders have available measurements, transferring to Single
target mode can be achieved by disabling the reflectors/transponders that should not be a
part of the Single target operation. This is done in the Target tracking table view. The
system will inform you that the mode will change to Single target mode upon disabling
the second to last reflector/transponder.
Note!
The latter of the two procedures described above cannot be done if current mode is Multitarget,
heading only, as disabling all but one reflector/transponder will result in exiting the target
tracking system function.

2.18.3 Composite Target Mode
In Composite target mode, two or more reflectors/transponders are treated as a single target, which
the system tracks according to the description of the Single target mode. The position of the composite
target is nominally calculated as the average position of the constituting reflectors/transponders with
available measurements, see Figure 2.96. Whenever measurements for one of the constituting targets
are lost or recovered, there will be a short transient phase where the system filters the resulting
step-change in average position.
Note!
Composite target mode is only suitable for reflectors/transponders in close proximity. When
attempting to enter Composite target mode or adding additional reflectors/transponders during
an ongoing operation, the system will perform checks to ensure that relative distances are
within the maximal allowed limit (10[m] by default)
Note!
The individual reflectors/transponders constituting the composite target will not be visible
in the 3D-scene while Composite target mode is active. They will instead be shown as one
combined composite target at the average position of the targets.
Figure 2.96: Target tracking, Composite target mode.

Starting a Composite Target Operation
Initiating a tracking operation in Composite target mode can be performed either while the target
tracking system function is inactive, or from an ongoing operation in Single target mode.
• Initiating Composite target mode, inactive tracking state:
Prerequisites: Vessel observability/controllability OK. Relative distances between

reflectors/transponders within maximum limits.

2. Ensure that all reflectors/transponders that should be included in the composite target
have been specified as targets. None of the reflectors/transponders should be enabled.
3. Enable one of the reflectors/transponders.
4. Enable another reflector/transponder. A mode-selection box will appear querying which
system mode should be activated once the new reflector/transponder is ready. Choose
Composite target mode. After the new reflector/transponder has been initialized, the
displayed system mode will transfer to Composite target mode. The position of the
composite target and associated reaction circle can be seen in the Main view.
5. Enable the remaining reflectors/transponders that should be part of the composite target.
6. After checking that all enabled transponders/reflectors have been initialized (green status),
start the tracking operation.
• Initiating Composite target mode, ongoing operation:
Prerequisites: In Single target mode. Current tracking operation OK. Vessel

observability/controllability OK. Relative distances between reflectors/transponders within
maximum limits.

2. Ensure that the new reflectors/transponders that should be included in the composite
target have been specified as targets.
3. Enable one of the new reflectors/transponders. A mode-selection box will appear. Choose
Composite target mode. After the new reflector/transponder has been initialized, the
system mode will change to Composite target mode.
4. If more reflectors/transponders are to be included in the composite target, enable them.
The reflectors/transponders will be added to the operation after being initialized.
While a Composite target operation is active, additional reflectors/transponders can be added to the
operation by enabling them in the Target tracking table view. Provided the status of the current
operation is OK and the positions of the new reflectors/transponders are sufficiently close to the
current set of reflectors/transponders, the new ones will be incorporated into the composite target.
When this happens, the position of the composite target and reaction circle is reset according to the
average position of the new set of constituting reflectors/transponders. The desired range/bearing
relative to the centre of the reaction circle is calculated such that there is no change to the coordinates
of the vessel position setpoint.

2.18.4 Multitarget Modes
In the Multitarget modes, the system tracks the motion of two or more targets, each corresponding
to a single reflector/transponder. Three different Multitarget modes are available in the system,
which differ by how target movement affects the vessel position and heading setpoint:
• Multitarget, position & heading
• Multitarget, position only
• Multitarget, heading only
Note!
The Multitarget modes are not suitable for reflectors/transponders in close proximity. When
attempting to enter one of the Multitarget modes or adding additional reflectors/transponders
during an ongoing operation, the system will perform checks to ensure that the relative
distances between each pair of targets are above the minimal allowed limit (10[m] by default).
Multitarget, Position & Heading Mode
To enter this mode, select Multitarget, pos & hdg from the Follow target mode dropdown
button. In this mode both the position and heading setpoint of the DP vessel is automatically
updated according to position and orientation changes of the tracked object. The position setpoint
is located at fixed ranges to the centre of all the used target’s reaction circles, while the heading
setpoint is given by a fixed relative bearing to the object orientation implied by the location of the
reaction circles. The location of the DP vessel setpoint and target reaction circles effectively form a
rigid-body relationship, as illustrated in Figure 2.97. The fixed ranges/bearing governing the position
and heading setpoints can be adjusted (implicitly) by performing a setpoint change according the
procedures described in Section 2.4.4 and 2.4.5.
1 2 Auto Follow Heading
DP Vessel DP Vessel
Auto Follow Heading
Distance 2
Distance 1 Distance 2 Distance 1
Reflector 2
Reflector 1 Reflector 2
Reflector 1
Target Object
Target Object
Figure 2.97: Target tracking, Multitarget, position & heading

mode.

Multitarget, Position Only Mode
To enter this mode, select Multitarget, position only from the Follow target mode dropdown
button. In this mode the DP vessel position setpoint is automatically updated according to movement
and orientation changes of the tracked object. The DP vessel heading setpoint is independent of
any target motion, and will only change through operator action. As in Multitarget, position &
heading mode, the vessel position setpoint is located at fixed ranges to the centre of all the used
target’s reaction circles, as shown in Figure 2.98. These fixed ranges can be adjusted (implicitly) by
performing a setpoint change according the procedures described in Section 2.4.5.
1 2
DP Vessel DP Vessel
Auto Heading Auto Heading
Distance 1
Reflector 1
Distance 1 Distance 2 Distance 2
Target Object
Reflector 1 Reflector 2 Reflector 2
Target Object
Figure 2.98: Target tracking, Multitarget, position only mode.
Multitarget, Heading Only Mode
To enter this mode, select Multitarget, heading only from the Follow target mode dropdown
button. In this mode the DP vessel heading setpoint is automatically updated according to orientation
changes of the tracked object, while the control of vessel position is independent of any target
motion. As in Multitarget, position & heading mode, the heading setpoint is given by a fixed relative
bearing to the object orientation implied by the location of the target reaction circles, as shown
in Figure 2.99. The desired relative bearing can be adjusted (implicitly) by performing a setpoint
change according the procedures described in Section 2.4.4.
In Multitarget, heading only mode, the vessel position can either be controlled automatically by the
system according to a fixed setpoint (Auto position), or manually using the input device (Manual
position), or even by using the manual thrust levers on units not controlled by the Icon DP control
system. Changing between manual and fixed position can be done at any time from the GUI or input
device, as described in Section 2.4.3 - Manual Position and Section 2.4.5 - Automatic Position.
Note!
Mixed surge/sway operation (Section 2.4.6) for the vessel position is not possible in Multitarget,
heading only mode. The vessel position is either automatically or manually controlled in both
surge and sway.

Auto Follow Heading

1 2
DP Vessel DP Vessel
Auto Follow Heading
Distance 1 Distance 2
Distance 2
Reflector 1 Reflector 2 Distance 1
Target Object
Reflector 2
Reflector 1
Target Object
Figure 2.99: Target tracking, Multitarget, heading only mode.
Starting a Multitarget Operation
Starting a tracking operation in one of the Multitarget modes can be performed either while the
target tracking system function is inactive, or from an ongoing operation in Single target mode. It is
also possible to switch between the Multitarget modes during an ongoing operation.
• Initiating a Multitarget operation, inactive tracking state:
Prerequisites: Vessel observability/controllability OK. Relative distances between

reflectors/transponders above minimum limits.

2. Ensure that all reflectors/transponders which should be included in the operation have
been specified as targets. None of the reflectors/transponders should be enabled.
3. Enable one of the reflectors/transponders.
4. Enable a second reflector/transponder. A mode-selection box will appear querying which
system mode should be activated once the new reflector/transponder is ready. Choose
the desired Multitarget mode. After the new reflector/transponder has been initialized,
the displayed system mode will change to the specified mode.
5. Enable the remaining reflectors/transponders that should be a part of the operation.
6. After checking that all enabled transponders/reflectors have been initialized (green status),
start the tracking operation.

• Initiating a Multitarget operation, ongoing Single target operation:
Prerequisites: In Single target mode. Current tracking operation OK. Vessel

observability/controllability OK. Relative distances between reflectors/transponders above
minimum limits.

2. Ensure that the new reflectors/transponders which should be included in the operation
have been specified as targets.
3. Enable one of the new reflectors/transponders. A mode-selection box will appear. Choose
the desired Multitarget mode. After the new reflector/transponder has been initialized,
the system mode will change to the specified mode.
4. Enable the remaining reflectors/transponders that should be a part of the operation. The
reflectors/transponders will be added to the operation after being initialized.
Switching between different Multitarget modes during an ongoing operation can be performed in the
Target tracking control view. The mode-selection dropdown box will display the transitions that are
possible at any given point in time. The prerequisites for switching between the modes are generally
that the status of the current operation is OK, including that the DP vessel is observable/controllable.
The exception is switching from Multitarget, pos & hdg to Multitarget, position only or
Multitarget, heading only, which can be performed at any time from the Target tracking control
view.
While target tracking is active in one of the Multitarget modes, additional reflectors/transponders can
be added to the operation by enabling them in the Target tracking table view. Provided the status
of the current operation is OK and the position of the newly enabled reflector/transponder satisfies
the minimum relative distance limits with respect to the current set of reflectors/transponders, the
new reflector/transponder will be incorporated into the operation after an initialization phase.
2.18.5 Secondary System Modes
Secondary system modes can be combined with any of the main system modes of Section 2.18.2–
2.18.4. Whereas the main modes govern how the DP vessel setpoints are updated with respect to
changes in position coordinates of the target reaction circles, the secondary modes determine how
the system plans the DP vessel’s approach towards new setpoints.
Semi-Stationary Mode
The Semi-Stationary mode is to be used for relative positioning to slowly-moving targets like FPSO
and semi-submersible rigs. The mode is designed to follow targets that occasionally move outside
their associated reaction circles, but mainly stay within them. Whenever this mode is enabled, the
system will plan move operations towards new setpoints such that the DP vessel always comes to
a complete stop upon arrival. This is similar to manual setpoint changes done in the positioning
system function (Section 2.4), except that new setpoints are applied automatically whenever one of
the tracked targets exits its reaction circle.

Note!
The radius of the reaction circles cannot be set smaller than one meter while in Semi-Stationary
mode.
Note!
If an object moving at approximately constant velocity is tracked in Semi-Stationary mode,
the DP vessel might start lagging behind due to the system-set requirement of coming to a
complete stop at the current setpoint. In such scenarios, the ROV Mode will provide improved
tracking performance.
The vessel speed during a setpoint change operation initiated by a tracked target exiting its reaction
circle, is limited by the Target tracking max speed setting. Any manual position changes by the
operator are added to the tracking operation. These changes are limited by the same speed setting
as in normal Auto position mode. Both settings are available under the Target tracking control
view. The vessel Rate of Turn during heading change operations is limited by the same setting as in
normal Auto heading mode.
The Semi-Stationary mode is activated from the Target tracking settings view.
ROV Mode
The ROV mode is intended for tracking objects moving with approximately constant speed, and
especially for ROV tracking operations. This mode should be used when tracking a continuously
moving target where the focus is on maintaining a given speed along a path, rather than keeping
range and bearing to an object which is mainly keeping still.
The main functionality is the same as for the Semi-Stationary mode, but when the target to be
followed gains speed, the vessel plans on arriving at new setpoints with the same speed as the target
has. By anticipating that by the time the vessel arrives at its setpoint, the target will already be
moving on outside its reaction circle again (in turn causing a new setpoint update), the vessel is able
to track the target without lagging too far behind.
If all target measurements are lost during an operation in ROV mode, the vessel will move towards
the last known setpoint. If the estimated target speed is high, the vessel will continue moving past
the setpoint in the same direction as the target had before the measurements were lost. See Section
2.18.6 on fault handling during Target dead reckoning.
The vessel tracking speed will be limited by the Target tracking max speed setting. This should
be set a little higher than the expected target max speed. Any manual position changes by the
operator are added to the tracking operation. These changes are limited by the same speed setting as
in normal Auto position mode. Both settings are available under the Target tracking control view.
In the ROV mode, the target circle radius is not limited to minimum one meter as in the Semi-
Stationary mode. A special mode of operation - Direct tracking - occurs when the reaction radius
is set to zero meters. The reaction circles will then be continuously reset to the associated target
positions, which in turn will result in continuous updates of the DP vessel position and/or heading
setpoints (in accordance with the main system mode). Moreover, the vessel will follow the tracked
object in a more aggressive manner, as a result of the setpoint speed (for position and/or heading,
depending on the main system mode) being added directly as a command to the DP vessel speed.

The ROV mode is activated from the Target tracking settings view.
Note!
• Direct Tracking in ROV mode should be used with care and only in open waters.
• It is recommended that Direct Tracking only is activated and used when the tracked
object travels at approximately constant velocity, as commanded velocities/positions
might be infeasible for the DP vessel to follow while the tracked object performs
manoeuvres involving significant acceleration/deceleration.
• The DP vessel speed will not be limited by the operator set limits during a Direct
Tracking operation in ROV Mode.
2.18.6 Failure Handling
Loss of Targets: Targets may become unavailable for the target tracking function due to either
loss of communication or generally poor measurement quality. If so, the target will be rejected by
the system. Such loss of targets may cause the following fault situations:
• Only one usable target (Multitarget modes only): The system has no means of measuring
the heading of the followed object and a warning about loss of target heading observability
is generated. The system will continue the operation by estimating the object heading. The
positions of unavailable targets are predicted based on the position of the available target and
the estimated object heading. The unavailable targets are still visible in the GUI, but will be
blinking in order to indicate that their positions are predicted and not measured.
Note!
When losing object heading observability, the system will nominally assume that the
object heading stays equal to the last measured value, effectively assuming negligible
object rotation. In Direct Tracking mode, however, the system will either assume that
the object rotation rate is constant, or it will stop the rotation smoothly, depending on
which action gives the least rate of change in the vessel position setpoint.
• No usable targets (for all modes): A target dead reckoning alarm will be displayed. If the
system is in one of the Multitarget modes, a warning about loss of target heading observability
will also be displayed. The targets are still visible on the GUI at their predicted positions, but
will be blinking in order to indicate that their positions are predicted and not measured. In
Semi-Stationary mode, the system will assume that all targets have stopped at their last known
positions and the vessel will continue to the last known setpoint and stop there. In ROV mode,
the vessel will move to the last known setpoint and, depending on the estimated velocity of the
virtual target (see Figure 2.93), continue the tracking operation by moving in a straight line
with the same speed and course as the virtual target had when the measurements were lost. In
both modes, the estimated virtual target speed/course can be monitored and changed in the
target tracking panel, see Figure 2.100. The vessel position setpoint and predicted positions of
the targets will be updated in accordance with the estimated speed/course set for the virtual
target.

Figure 2.100: Changing estimated speed and direction of virtual

target
Note!
In Multitarget, heading only mode, the position setpoint is independent of any target
movement, which implies that the virtual target speed always will be equal to zero. It is
not possible to adjust the estimated speed/bearing in this mode.
• Prolonged loss of communications: In case of prolonged loss of communications

with an active reflector/transponder (default threshold is 60[s]), the system will set the
reflector/transponder as inactive, effectively removing it from the ongoing operation. If the
number of remaining active reflectors/transponders is insufficient for the ongoing operation,
the system might take one of the following additional actions:
– Degrade to Single target mode: If a single active reflector/transponder remains while
operating in the Multitarget or Composite target modes, the system will attempt to
degrade the operation to Single target mode. If the prerequisites are met (see section
2.18.2), the system will perform the mode change.
– Exit of target tracking function: If there are no active reflectors/transponders left, or
if an attempt to automatically degrade to Single target mode fails while operating in one
of the Multitarget modes, the system will automatically exit the target tracking function.
When recovering from the failure situations “Only one usable target”, and “No usable targets”
described above, the system will check if the predicted positions of the previously lost targets have
drifted off significantly from the actual positions. If this is the case, the operator will be prompted
to choose whether the system should continue following the current setpoint relative to the targets
(choice concerns position and/or heading setpoint depending on system mode), or if the original
relative setpoint should be used. If there has not been any significant drift-off, the system will
continue tracking the original relative setpoint.
Loss of Global Position Reference System: The system enters position dead reckoning if all
global position reference systems are lost. The tracking operation will continue, but probably with
reduced performance. See Section 2.9.8 on positioning dead reckoning.

When vessel position measurements are recovered, the absolute geographic location of all available
targets and corresponding reaction circles will be updated, and the target tracking operation will
continue. If no targets are available (target dead reckoning), only the vessel position estimates will
be updated. In this case, provided there has been a significant drift-off between the estimated and
actual vessel position, the vessel position setpoint will be automatically moved in accordance with
the drift-off direction/magnitude, and the operator will be prompted with options to continue using
the newly set or previous setpoint. The same choice will be displayed if there has been significant
drift-off in Multitarget, heading only mode, where the position setpoint is independent of target
positions.
Loss of all Heading Measurements: The system enters heading, position and target dead
reckoning if all heading measurements are lost. The vessel will subsequently be controlled based on
estimated values for the vessel heading, Rate of Turn, position and velocity. The reason for entering
target dead reckoning is that even though the system still has the range/bearing measurements from
the targets, it has to estimate their positions due to the fact that we do not know the vessel heading
and hence the placement of the range/bearing sensors on-board the vessel.
When vessel heading measurements are recovered, the relevant estimated vessel states are updated
accordingly. Provided there has been a significant drift-off between the estimated and actual vessel
heading, the vessel heading setpoint will be automatically moved in accordance with the drift-off
magnitude, and the operator will be prompted with options to continue using the newly set or
previous setpoint. Subsequent recovery of position and target measurements may present similar
options regarding the vessel position setpoint.
Loss of Vessel Thrust Capacity: If the vessel thrust capacity becomes insufficient in surge or sway,
the system automatically enters Pause mode in position. Similarly, the system automatically enters
Pause mode in heading if the thrust capacity becomes insufficient in yaw. The result of entering
pause mode in position/heading is that the reference vessel position/heading (represented by the
light blue ship in the GUI Main view) gradually slows down to zero velocity and becomes stationary,
irrespective of subsequent target motion.
Upon recovering thrust capacity, the system will exit Pause mode. If the DP vessel has not
managed to track the reference vessel position/heading with sufficient accuracy while being paused
in position/heading, the position/heading setpoint will be reset to the vessel’s estimated values, and
the operator will be prompted with options to stay at the newly set setpoint or move towards the
original setpoint.
Relative Target Drift-Off: In the Composite target and Multitarget modes, it is assumed that the
utilized reflectors/transponders are installed on a common object (e.g. an FPSO, Semi-Submersible,
or ROV). This implies that the relative distance between all pairs of utilized reflectors/transponders
should be constant. The system continuously performs checks comparing the received reflector
positions to their expected configuration as stored upon operation initialization. Whenever there is a
significant difference between the received and expected relative positions, a warning is displayed. If the
system is able to detect which reflector/transponder is causing the problem, the reflector/transponder
will be automatically deactivated, and an alarm will be displayed. If the system is unable to identify
which reflectors/transponders are causing the problem, the consequence will depend upon the system
mode; For the Multitarget modes, all checked transponders/reflectors will be automatically disabled,
while none will be disabled in Composite target mode.

Note!
Targets that have been automatically disabled due to relative target drift-off can be re-enabled
in the Target tracking table view. This should only be done after assessing the quality of the
measurements received from the corresponding reflectors/transponders. Should the problem
persist despite satisfactory quality assessments, the relative position configuration for the
targets in question can be reset by sequentially removing and adding them to the operation
(provided the action of removing targets does not terminate the current operation).
2.18.7 Alarms
A complete overview and description of Target Tracking alarms can be found in Part IV, Section 1.3.1
- Target Tracking Alerts.
2.18.8 Settings
Figure 2.101: Target tracking settings view

Figure 2.101 shows the Target tracking settings view. These, and other settings relevant to the
target tracking function, are explained here:
• Plot target position: Turning this on will leave a trace where the targets move in the main
view. Located in the Target tracking settings view.
• Plot frequency: Changes the time between each time a marker is left when the Plot target
position setting is on. Located in the Target tracking settings view.
• Plot duration: Changes the time a marker in the target trace plot will show in the 3D scene
when the Plot target position setting is on. Located in the Target tracking settings view.
• Reaction radius: Adjusts the reaction radius used by the system. Located in the Target
tracking settings view.
Note!
Reducing the value of the Reaction radius setting during an ongoing operation may
result in one or more tracked targets being located outside the updated perimeters of
their associated circles. This will cause a reset of the position coordinates of all circles,
which in turn will result in a change of the DP vessels position and/or heading setpoint
(depending on the selected target tracking system mode).
Note!
When the Secondary Mode setting is set to Semi-Stationary, the Reaction Radius setting
cannot be set lower than one meter.
• Filtering percentage: Adjusts the degree of filtering applied to target signals when the
reaction radius is set to zero meters in the ROV mode (see Section 2.18.5).
Setting located in the Target tracking settings view.
Note!
The Filtering percentage setting is only used when the reaction radius is set to zero
meters.
• Secondary follow mode: Changes between the Semi-Stationary and ROV secondary modes
(see Section 2.18.5).
• Stop at current setpoint in reduced target configurations: If this setting is activated,

automatic updates of the vessel setpoints w.r.t. estimated/measured target movement will not
be performed while the operation has reduced status. This corresponds to having less than two
available (active) reflectors/transponders in one of the Multitarget modes (i.e. not possible to
measure tracked object heading), or having no available (active) reflectors/transponders in the
Single target or Composite target modes.
• Target tracking max speed: Determines speed limit for tracking target movement. This
setting has no effect when the reaction radius is set to zero meters in the ROV mode (there is
no tracking speed limit in this case), or when the system mode is set to Multitarget, heading
only.

Setting located in the Target tracking control view.
• Change setpoint speed limit: Determines the speed limit for performing position changes
relative to the targets in all modes where the DP vessel position tracks target motion, and
for performing (absolute) setpoint changes in modes where position control is independent of
target motion.
Setting located in the Target tracking control view
• ROT limit: Generally determines the absolute speed limit for turning the vessel during heading
change operations. The exception is when the reaction radius is set to zero meters in the ROV
secondary mode while being in the Multitarget, heading only or Multitarget, pos & hdg modes.
For these cases, the ROT limit setting determines how fast the vessel is allowed to change
heading setpoint relative to the tracked object heading.
Setting located in the Positioning settings view.
• Alarm/warning limits for position & heading: The alarm/warning limits for position and
heading deviations can be adjusted from several locations: In the Target tracking settings
view, in the Positioning settings view, and in the Heading deviation and Position deviation
monitors.
2.18.9 Effects of Common System Commands
User inputs from the Position and Heading pulldown menus or the input device will be handled in
a similar way when the system is active in the Target tracking operation as it is in a regular Auto
position operation. A few comments on these common system commands in target tracking follows.
Since it is not possible to run the target tracking function in a mixed-mode (i.e. where only surge or
sway is fixed), all surge or sway fix requests will result in a (re)fix position request. Similarly any
manual surge or manual sway request will result in a manual position request.

• Fix Position: A Fix Position command from the GUI or input device will set the position
setpoint to the current DP vessel position. Pause mode will be deactivated if previously active.
Automatic position control will be activated if position was controlled manually in Multitarget,
heading only mode.
Note!
A Fix Position command will not have any effect while the operator is prompted with a
choice between position setpoints due to recovery from applicable failure scenarios (see
section 2.18.6).
• Fix Heading: A Fix Heading command from the GUI or input device will set the heading
setpoint to the current DP vessel heading. Pause mode will be deactivated if previously active.
Note!
Fix heading commands will not have any effect while the operator is prompted with a
choice between heading setpoints due to recovery from applicable failure scenarios (see
section 2.18.6).
• Manual position: A Manual position command from the GUI or input device will request
that the DP vessel position be controlled manually from the input device. In the Multitarget,
position & heading mode, the command will simultaneously request a transfer to the Multitarget,
heading only mode.
Note!
Manual position control during a Target Tracking operation is only possible in the
Multitarget, heading only mode. For the Single target, Composite target, and Multitarget,
position only modes, a Manual position command will lead to an automatic exit of the
Target tracking system function.
• Manual heading: A Manual heading command from the GUI or input device will request
that the DP vessel heading be controlled manually from the input device. This request will
only be granted during a manual positioning operation in Multitarget, heading only mode, in
which case it will lead to an automatic exit of the target tracking system function.
• Pause On: A Pause On request will engage pause mode in position and heading if there
is an ongoing move-operation in either position or heading. This will gradually slow down
the vessel to a complete halt, irrespective of subsequent automatic/manual updates to the
position/heading setpoints (grey ship in Main view).
Note!
When an ongoing operation has reduced status, A Pause On request will always engage
pause mode in position and heading, irrespective of whether there is an ongoing move-
operation.
• Pause Off: If the vessel is in pause mode in position and/or heading due to operator action,
a Pause Off request will exit pause mode in position/heading. Exiting pause mode will resume
movement towards the current setpoint.

2.19 Relaxed Control
In operations where position deviations are tolerated, the Relaxed control function can be used.
With this function enabled, the controller gains in positioning and heading control will be decreased,
which will make the system less aggressive in keeping the vessel’s heading and position. This leads to
less dynamical use of thrusters and therefore reduced fuel consumption, which again means a more
economical and environmental friendly usage of the DP control system.

2.20 Trending
The GUI comes with a view for trending data. Both real-time and historical data can be monitored.
As well as displaying data values, the trend also presents warning and alarm limits for data signals
where such are applicable.
Real-time and historical data can be monitored in the Trending view (located under “Misc”).
Warning and alarm limits for data signals are shown in Figure 2.102
Push the bottom, right button to select which data to display in the Trending view. This opens the
menu shown in Figure 2.103. Data signals are grouped in categories at the left side of the menu.
Each category contains one or more collections of trend data displayed at the right side of the menu.
Select one of these data collections to change which signals are plotted in the Trending view.
Figure 2.103: Trending signals selection
The Play button is used to toggle between real-time mode and pause mode.
The horizontal time axis can be scaled to monitor larger or smaller time ranges and shifted to go
back and forth in time. Scaling is done by pushing the Time scale button and entering the desired
time range in the appearing calculator. Time shift is performed by sliding the trend view horizontally.
Push the Play button to go back to real-time mode after a shift back in time.
The vertical value axis can be manually or automatically scaled. Push either the Maximum limit
or Minimum limit button to open a popup where the value axis can be manually scaled. Go to
automatically scaled value axis by clicking the left side bar of the trend view, which opens the Auto
scale popup where automatic scaling can be selected, as shown in Figure 2.104.

Key Function
A Maximum limit button for manual scaling of value axis
B Value axis bar, click for auto scaling
C Minimum limit button for manual scaling of value axis
D The unit for the value axis
E Time scale button
F Play button for toggling between real-time and pause mode
G Colour coded legend for the trend view. Also works as buttons for
hiding and showing individual graphs
H Individual graphs for the different signals we are trending
I Labels showing the value for each graph at a specific point in time
J Open large Trending view button
K Button for showing and hiding the numerical data value labels. (see
Key F) Can be dragged horizontally to view values at different points
in time
L Timestamp for the latest data visible in the view
M Trend data selection button
Figure 2.102: Example of trending view

Figure 2.104: Push the left side bar of the trend view to enable
the Auto scale popup
The specific data values at different points in time can be monitored by pushing the Show values
button, see Figure 2.105. Slide the button horizontally to change at which time to display the data
values. The selected time is displayed in the button. Hide the values by pushing the Show values
button once more.
Figure 2.105: Monitoring data values

Large Trending view
A larger version of the trending view is avaiable for the operator. By pressing the open large
Trending view button, located on the trending view’s upper right corner, a separate window is
opened.
The opened window initially shows one larger version of a trend view that can be split into two
(vertical or horizontal) or four smaller trend views. Figure 2.106 shows an example of the Large
Trending view set to display four sub trend views.
Figure 2.106: Large Trending view

2.21 Values
The Values view shows a selection of user defined values with units which the user can choose to
display for monitoring purposes.
Figure 2.107: Values view
The displayed values can be changed by choosing the desired value from the menu appearing when
pressing the Select values button. A menu similar to the one shown in Figure 2.108 will appear when
clicking the Select values button.
Figure 2.108: Select values menu

The user can choose between values from the following categories:
• Performance
• Speed
• External forces
• Wind
• Sensors
• Thrusters
• Power
It is possible to select as many values as the size of the view panel allows, typically 18 values. When
exceeding this limit, it will no longer be possible to select any more values. By deselecting a previously
selected value the value will no longer be displayed in the values view. The selected values in each
values view will be saved and remembered when restarting the GUI application. When pressing the
Remove all values button, all selected values in the view will be removed after the user confirm the
removal of all values.
Note!
The units used by some of the values can be changed by adjusting the unit settings in the
General Settings view. To change units see Section 1.3.9 - General Settings

2.22 Alerts
This section provides a brief introduction of the different ways of accessing alerts in the Icon DP
system. An explanation of the alert symbols and the alert philosophy can be found in Section 1.3 -
Graphical User Interface.
An alert in the Icon DP system belongs to one of the following alert groups:
• Thrusters
• Posrefs
• Sensors
• Operation
• Power
• System
Figure 2.109 shows the Alert view which can be found in the View menu on main displays (see
Figure 1.7 in Section 1.3.3 - Navigation for reference).
A similar Alert view can be found in the DP Remote display by pressing the Alert list button, see
Figure 2.110.
On the main displays, operator may access the alert list by pushing either one of the Alert group
buttons or the Alert list button on the bottom bar. By pushing one of the Alert group buttons,
the alert list will be filtered and shows only alerts related to this specific group. These Alert group
buttons also indicates the most severe active alert in the group. If there is unacknowledged alerts in
the alert group this will be indicated by blinking. The Alert list button on the other hand accesses
all alerts regardless of which group they belong to. The active alerts are sorted by severity, state and
time. In both the group views and the full list, there is also a possibility to view the alert history, see
Figure 2.111. Notification history list is only accessible from the full alert list view.
Note!
Alert group buttons are not available for displays with resolution lower than 1920 x 1080.
For such displays will the status of the most severe active alert in the system be indicated in
the Alert list button.
The alert history view shows the alert history in order of time. The view can show either live
updated alert history from the controller, or historic alerts which have been saved to file.
The live updates view is able to show a maximum of 2000 alerts, and is automatically updated. It is
possible to filter the information in the view by using the search field. Pressing the search field will
open a input keyboard. The search field searches through all columns except the timestamp column.
If the search option is not in use will the search field issue the text “Search” with grey text colour. If
a search argument is specified will the text colour be changed to black to indicate that a search is
active. Search function can be reset by deleting the search argument by help of the input keyboard.
It is possible to export the current alert history to a memory stick by pressing the Export alert
history button. This will open a popup dialogue where it is possible to store the alert history, if such

Key Function
A Alert severity indication
B Timestamp (can be toggled between showing the time of an alert or
the time since an alert by pressing the arrows in the column header)
C Alert description
D Go to next alert page
E Acknowledge all alerts on the page
F Acknowledge individual alerts
Figure 2.109: Alert view
Figure 2.110: Alert view on DP remote display

Key Function
A Access active alerts (Default)
B Access the Alert history
E Access the Notifications list
D Alert compartment showing the two latest unacknowledged alerts
E Acknowledge the two latest alerts
F Silence buzzer
G Alert group buttons, with group alert state indicated
H Alert list button
I Acknowledge all alerts on the page
J Acknowledge individual alerts
Figure 2.111: Alert list

a device is connected to the system. All alerts currently displayed in the table view will be exported.
See Figure 2.112 for an example of the alert history view.
A similar alert history view can be found in the DP Remote displays. However in this display the
search field is placed in the top of the view instead of in the bottom. See Figure 2.115 for reference.
Key Function
A Change between live updates or historic alerts
B Export alert history to memory stick
C Filter content of history list
Figure 2.112: Alert history - Live updates - Main display
The historic alerts view presents the alert history for the last 12 weeks. This list is not automatically
updated. By pressing the Load all logs button will all logs available be presented in the table
view. It is also possible to specify a start and end time for which logs to load. This is done by first
checking the Load specified time window checkbox, setting start and end time and pressing the
Load specified logs button. Note that the text in the load button changes when the specified time
window checkbox is checked. See Figure 2.114 for reference. The timestamp of the oldest alert
logged is displayed in the tool window on the right side.
It is possible to export the alert history to a memory stick by pressing the Export all logs button.
All alerts available will be stored to the chosen memory stick. The exported file is saved in an easy
readable format (tab separated values - *.tsv) and then compressed to zip format. After extracting
the file on a personal computer it is possible to open it in a regular spreadsheet or text editor program.
If a specified time window is set will the text in the export button change to Export specified logs,
and only the alerts within this window will be exported to the memory stick. See Figure 2.114

Note!
The historic alert view option is only available when opening the full alert list on main displays.
In group alert views will only the live history be displayed.
Key Function
A Change between live updates or historic alerts
B Timestamp of the oldest alert available
C Enable the possibility of loading alerts from a specified time span
D Set the start and end time for logs to load
E Load the logs
F Clear the currently visible alerts
G Export alert history to memory stick
H Export alert history to printer
Figure 2.113: Alert history - Historic Alerts - Main display

Figure 2.114: Alert history - Historic Alerts - Specified time

window
Key Function
A Filter content of history list with search field
B Export alert history to memory stick
Figure 2.115: Alert history - Remote display

2.23 Rebooting and Shutting Down System
Rebooting the Icon DP system can be done in two ways:
• Warm reboot
• Cold reboot
2.23.1 Warm Reboot
Warm reboot is the recommended procedure for rebooting the system. It is only available when the
system is disabled and with none of the Operator Stations in command. The procedure is as follows:
1. Open Global Menu by pressing the global menu button in the bottom bar, see Section 1.3.8 -
Global Menu
2. Expand the Shut Down... menu.
3. Tap on Reboot system button. The Reboot displays or controllers window will appear.
4. Tick off the controller(s) or display to be rebooted and press the Reboot selected button.
Note!
Only the controllers that have network communication will be available for warm reboot.
Figure 2.116: Reboot Window
After being independently rebooted, a controller might need to be synchronized. See Part IV,
Chapter 2 - Controller Synchronization and Part I, Section 3.5 - Controller Redundancy for more info.

2.23.2 Cold Reboot
If the system is not responsive, a cold reboot (hardware reboot) can be performed as a last resort.
The procedure is as follows:
1. Disconnect input power supply for all Icon Control Cabinets by disabling the corresponding
fuses in the UPS Distribution Cabinets.
2. Wait 15 seconds then reconnect the fuses.

Part II Chapter 3: Trainer
Chapter 3 | Trainer
The Icon DP system comes with a built-in trainer. The purpose of the trainer is to provide operator
training and system familiarisation as an integrated part of the system.
The built-in trainer comprises a vessel simulator and a dedicated Graphical User Interface menu for
set-up of the simulated operational conditions. The simulator generates realistic dynamic behaviour
of environmental conditions, thrust devices, power system, and resulting vessel motion. The simulator
sends artificial measurements and feedback signals to the Icon DP system, that in real operations
are received from the sensor systems, position reference systems, power systems and thrust devices.
Based on these inputs, the system computes thrust device order signals. In training, these signals are
sent back to the vessel simulator, not the real thrust devices.
The built-in trainer can also be set up to simulate a specific environment or error condition.
The following sections will describe how to activate the trainer mode and how to set up the simulated
environment conditions. It will also explain the various equipment and system failures that can be
simulated and describe how to set up the simulated power system and simulated switchboard.
3.1 Activation
The trainer mode is enabled by the following steps:
1. Make sure the Icon DP control system is in Standby state.
2. Make sure the MMS switch is not in DP mode.
3. Open GlobalMenu by pressing the global menu button on the Graphical User Interface bottom
bar.
4. Click the DP trainer button.
5. Click Start trainer located under the Trainer control tab.
Figure 3.1 and Figure 3.2 show the Trainer control menu where trainer mode can be started and
stopped. The state of the trainer is also seen in the menu as either disabled or enabled.

Figure 3.1: Trainer disabled, button to start trainer clickable
Figure 3.2: Trainer enabled, button to stop trainer clickable
When the system is running in Trainer mode a yellow box with the text “Trainer ON” is shown in
the Operation monitor in the monitoring bar, as shown in Figure 3.3. The Command control
button will also indicate that system is enabled in Trainer mode. To activate the DP control system
press the System activate button on the input device, upon which the Command control button
will change to tell that system is active in Trainer mode. The input device can then be used to

Figure 3.3: Trainer activated shown in the monitoring bar
Figure 3.4: Command control button when trainer is enabled

(left) and activated (right).
generate forces in surge, sway and yaw, just as for normal (non-trainer) mode. Figure 3.4 shows the
Command Control button in Trainer mode.
In Trainer mode the DP control system is controlled exactly the same way as in normal mode,
but with simulated thrusters, sensors and position references. The Trainer mode indication in the
monitoring bar will always be shown as long as trainer is enabled. E.g. in a Change operation, the
Operation monitor will display distance to setpoint etc, but with the Trainer indication on. This is
shown in Figure 3.5.
Figure 3.5: Trainer activated shown in the monitoring bar
Note!
The built-in trainer can only be started when the Icon DP control system is in standby mode
and the MMS is not in DP mode.
Note!
In Trainer mode the MMS can be switched to DP mode at any time for a fast enabling of the
real DP control system. Trainer will be disabled when MMS is switched to DP mode.

Note!
When the trainer function is on, a yellow box in the top right corner of the monitoring bar is
shown. The Command control button also indicates Trainer mode.

3.2 Environment Control
The Environment control tab shows the current weather settings as well as vessel position and
heading. It is possible to change the environment settings and vessel position. Under the Vessel
tab, the vessel position can be entered in latitude and longitude degrees or as a UTM coordinates.
Click either the Latitude/Longitude or Northings/Eastings position under the settings column
to change position. The simulated vessel will move instantaneously to the new position and all vessel
motions and accelerations will be reset.
Similarly vessel heading and draught may be changed by entering the new value and clicking OK for
confirmation. Note that the vessel draught entered here is only draught used for simulating vessel
motion. It has no impact on the draught setting used by the mathematical model in the “real” Icon
DP control system, which should be changed manually on the system whenever draught conditions
changes (from the general settings menu, see Section 1.3.9). The functions for resetting transponders,
reflectors and tautwire weights will move them within range of the vessel. See Figure 3.6.
Figure 3.6: Trainer vessel control
Changing wind, current and wave settings will cause the environmental forces to change gradually
to the new setpoint. The time to change from current state to the new setpoint is decided by the
Change time field. To change the weather settings instantaneously, set the change time to zero.
See Figure 3.7.
The External forces tab is used to apply an external force, such as an anchor line or towing force, to
the vessel. A constant force with direction and attack point will be applied to the vessel simulation.
The direction can be given in True or Relative reference. A true force direction means that the
force is applied relative to the global coordinate system (i.e. a force direction of 90 degrees will be
directed towards east). A relative force direction reference will be applied relative to the vessel’s
own coordinate system (a 90 degree force direction will thus be directed towards starboard). The

Figure 3.7: Trainer wind control
coordinates of the force attack point is given from the vessel centre of moments with x positive
towards the bow, y positive towards starboard and z positive downwards. The force is ramped up or
down according to the given change time. To apply changes instantaneous, set the change time to
zero. See Figure 3.8.

Figure 3.8: Trainer external force

3.3 Failure Modes
Most of the measurements generated by the simulator can be modified with a range of different
failure modes. The Propulsor failures, Sensor failures, Posref failures and Power failures tabs
can set failure modes to the respective equipment. These failure modes change the measurement
readings from the device. “Drift”, “bias” and “dynamics” adds a false component to the correct
measurement. “Freeze” changes the signal value to a static value, while “delay” will add a time
delay from the device to the DP control loop.
Failure modes for all the equipment groups mentioned above can alter feedback signals. In addition
to altering the measurements, the Propulsor failures can set failure modes on the thruster order
signals. The DP control system gives an order to each thruster and the failure modes are added to
this signal before it is used as setpoints for thruster pitch, RPM and angle commands. Figure 3.9
shows the concept of how failure modes are applied to thrusters and sensors.
Figure 3.9: Adding failures to order and feedback
The following will explain each failure type in detail.
3.3.1 Freeze
Freeze the signal to its current value. The signal will keep its current value until the failure mode is
disabled. When the signal freeze is disabled, there may be a step to the true signal value depending
on how the true signal value developed while the signal was frozen. See Figure 3.10.
It is also possible to specify which value to freeze the signal on instead of just using the current
signal value.

Figure 3.10: Frozen signal
3.3.2 Bias
Signal bias will add a false component which drifts away from the true signal value. A signal bias
value and change time is given. The bias will be gradually added to the signal in the given change
time. After this time, the signal will show its true value with the bias added. When the bias is
disabled, the signal will have a step back to its true value. See Figure 3.11.
Figure 3.11: Signal bias

3.3.3 Dynamics: Oscillate & Noise
This option gives the possibility of adding additional noise to the signal. The added noise is zero-mean
noise with a given standard deviation. The standard deviation tells how much the signal will vary
around the true value. See Figure 3.12.
Figure 3.12: Signal noise
Instead of noise it is also possible to add an oscillating value to the signal. The added component
will be a sine wave with given amplitude and period. See Figure 3.13.
Figure 3.13: Signal oscillation

3.3.4 Communication Failure
By failing communication to a device it is possible to simulate a wire breakage or device power loss.
This failure mode will affect all signals from the selected device. All measurements from the device
will become unavailable. For laser/HPR systems, connection will be lost to all reflectors. Analogue
signals, like the load signal from a generator, will be set to a value outside the signal range. This is
to simulate that the signal voltage drops as it would do when the signal wire is disconnected.
3.3.5 Fail/Freeze Diff Link (GNSS only)
Enabling the Fail diff link setting will cause the simulated GNSS differential signal to fail. This will
trigger an alarm in the DP control system.

3.4 Power Control
The Power control tab gives an overview of the simulated power system, and is used to control
the state of breakers, clutches and additional loads on the bus. To close open or close a thruster
breaker or bus tie, click on it and select Open or Close. The symbols will change to the new state.
To add an additional load on a bus, click on the additional load box for the desired bus and enter
an additional load in kW. This load will then be added to the consumed load on the bus. See
Figure 3.14.
Figure 3.14: Trainer power control

Part II Chapter 4: Playback
Chapter 4 | Playback
The Icon DP system comes with a built-in data logger software on all main Operator Stations. This
data logger is used to log all data used by the GUI application on the Operator Station computers.
These logs can be used for playback showing the system’s state over a selected period of time. The
playback logs can also be sent to the Thrustmaster of Texas, Inc. technical support team, for analysis
or troubleshooting. To get in contact with Thrustmaster of Texas, Inc. technical support, see Part IX,
Chapter 1 - Global 24 Hour Support.
4.1 Playback View
The playback log functionality is operated from the Playback view in the Service Access window.
This view is used to navigate between the different operations used in connection with the playback
log functionality, Download, Control and Import. The different features of the view is shown in
Figure 4.1.

Key Function
A Playback tab in Service Access window.
B Menu for navigating between the different views for playback log
functionality.
C Area for presenting functionality dependent on choice in B. Login
required to see this.
Figure 4.1: Service access - Playback
Note!
Login to service access level Advanced user or above is required for access the Control and
Import views. Check out Service Access for more info about the access levels. When logged
in as Basic user only playback log download is possible, and the menu for selecting other
playback functions is removed.

4.1.1 Playback Download View
This view is used to download files from the data logger to USB drives for transfer or use on another
computer. Playback log files for a time period of interest have to be downloaded from this view
when submitting playback logs for troubleshooting or analysis to the Thrustmaster of Texas, Inc.
technical support team. An explanation of the Playback Download View is shown in Figure 4.2.
To download playback log files, first insert a formatted USB drive to the Operator Station computer
or an USB port on the service interface (if fitted to the system). Use the date and time pickers to
select start and end time for the log download and then press the Export playback log button.
This opens a popup where selection of export location and starting the export of data is performed.
The view will display important information about the user selections and any problems occuring.
Max length of a period for playback log download is 24 hours. For a period longer than 24 hours, the
user has to perform multiple downloads of several periods not longer than 24 hours each, covering
the entire time span.
4.1.2 Playback Control View
This view is used to start playback from data stored in the built-in data logger. The view also displays
status messages with regards to the loading, playing and unloading of playbacks. An explanation
of the Playback Control View is shown in Figure 4.3. The playback is useful when a review is
required after an operation has been performed or for troubleshooting. To start playing back data
from the data logger, the Icon DP system must be in standby and DP mode must be deselected
from the MMS. Use the date and time pickers to select the start and end time of the playback, then
press the button for loading playback. After pressing the button for loading playback, the playback
will start to load, or a message telling about any problems will appear. Loading the playback may
take some time depending on the length of the period selected. If the load is successful, a message
showing ready to play will be displayed, and the Playback Control Window will become visible.
Further control of the playback is performed in the Playback Control Window. If the playback
takes too long to load, use the button to clear loaded playback data, and try again with a shorter
period.
Note!
The Icon DP system must be in standby and DP mode must be deselected on the Manoeuvre
Mode Selector (MMS) before it possible to load a playback. This applies to loading playback
both from the Playback Control View and the Playback Import View. Switching from
DP mode to any other mode on the MMS will terminate any running playbacks immediately.
Note!
On standalone playback computers the date and time pickers for selecting start and end time
have been removed from this view, and playback must be loaded from the Playback Import
View.

Key Function
A Date and time picker for selecting start time for period to be exported.
B Date and time picker for selecting end time for period to be exported.
C Button for opening the Export to USB drive popup menu.
D Message label showing info about status of the data logger, USB drives
and selections made in the view.
E Popup menu shown when clicking button C, used for selecting export
location and starting export.
F Dropdown menu showing all available partitions on USB drives, used
to select storage location for playback logs to be exported. The menu
is blocked if no USB drives are present.
G Button for starting export of playback log. Will be blocked if data
logger is not running, no USB drive is selected or if selection of export
period is inconsistent.
Figure 4.2: Playback log - Download
4.1.3 Playback Import View
This view is used to load offline playback data exported to USB drives using the Playback Download
View. An explanation of the Playback Import View is shown in Figure 4.4. To start playing back
imported data from USB drives, the Icon DP system must be in standby and DP mode must be
deselected from the MMS. Insert the USB drive containing the playback data to an available USB
port on the Operator Station computer, or an USB port on the service interface (if fitted to the
system). Use the file explorer in the view to locate the exported playback files which are going to be
loaded to playback. The exported playback log data is stored in compressed format in files using the
extension *.tar. The file name also contains date and time for the beginning and end of the exported
period and number of files used for exporting this period. When selecting a file from a specified
period in the file explorer, use the add button to add the selected file to the play list. When pressing
the add button, the selected file and all other files belonging to the same time period will be added to

Key Function
A Date and time picker for selecting start time for period to be played.
B Date and time picker for selecting end time for period to be played.
C Button for loading or clearing playback data. The text in button will
vary depending on whether playback data has been loaded. When the
button is used to load playback, the Playback Control Window is
opened if loading of playback is successful.
D Message label showing info about status of the data logger, selections
made in the view and playback loading.
Figure 4.3: Playback log - Control
the list of files to be played. If a period added to the list should not be played, select a file from the
period in the file explorer, and press the remove button to remove the selected file and all other files
belonging to the same period from the play list. Alternatively, press the clear all button to remove
all items in the play list. Press the play button when the desired period has been added. The view
will automatically switch to the Playback Control View and the playback will start loading. An
information message will show up if any problems occurred. Loading of the playback may take some
time depending on the length of the period selected. If the load is successful, a message showing
ready to play will appear, and the Playback Control Window will become visible. Further control
of the playback will be taken care of by the Playback Control Window. If the playback takes too
long to load, use the button to clear loaded playback data.

Key Function
A File explorer tree for selecting files to be played.
B Selected file which can be added to the play list.
C Button for adding the selected file and all other files belonging to the
same export period to the play list.
D Button for removing selected file and all other files belonging to the
same export period to the list of files to be played.
E Message label showing info about status of the data logger, selections
made in the view and playback loading.
F Button for clearing all files from the play list.
G Button for starting playback of play list. When clicking this button
playback will start loading, view will switch to Playback Control View
and Playback Control Window opens if the playback data loaded
successfully.
Figure 4.4: Playback log - Import

4.2 Playback Control Window
When a playback has been successfully loaded, either from the Playback Control View or the
Playback Import View, a message showing the playback is ready to play is shown in the main view
of the GUI. See Figure 4.5 for reference. The Playback Control Window, shown in Figure 4.7,
becomes visible when the playback is ready to play. This window can be used to start and pause
playback, control play speed, skip forward or backward or jump to a specific time. While the playback
is playing, a message showing that playback is in progress is shown in the main view of the GUI.
See Figure 4.6 for reference. During playback, the clock in the bottom bar switches from showing
present time to showing the logged time for the data being played.
Figure 4.5: Message displayed in GUI main view when playback

is ready to play
Figure 4.6: Message displayed in GUI main view when playback

is in progress.

Key Function
A Bookmark indicators, shows the location of added bookmarks on the
time line. Number and location of bookmarks varies according to user
selections.
B Timeline showing progress and current play time of playback. Playback
jumps to other time if dragging the button along the time line or clicking
on any point along the line.
C End time of loaded playback.
D Window close button, ends playback and closes this window. Any
loaded playback is unloaded.
E Start time of loaded playback.
F Play speed button, opens popup for changing how fast the logged data
is being played.
G Skip backward button, skips a set time interval backwards or to the
previous bookmark.
H Play/Pause button, starts or pauses the playback.
I Skip forward button, skips a set time interval forwards or to the next
bookmark.
J Settings button, gives access to menu with additional controls.
K Menu to select whether the skip buttons jumps between bookmarks or
predefined time intervals.
L Add bookmark button, adds a bookmark at the current position on the
playback time line.
M Clear bookmarks button, removes all bookmarks.
N Exit playback mode button, ends playback and closes this window. Any
loaded playback data will be unloaded.
Figure 4.7: Playback log - Control window

Part III
Maintenance Instructions
263
Part III Chapter 1: Safety and Precautions
Chapter 1 | Safety and Precautions
Warning!
Risk of personal injury. Changes or modifications to the system not expressly approved by the
Thrustmaster of Texas, Inc. department responsible for compliance, could void the warranty or
the user’s ability to operate the equipment.
The following warnings and cautions are for your own safety, for the prevention of injury from electric
shock and for a safe operation of the equipment. For more information, see Front Matter, Chapter 6
- General Warnings.
• While performing maintenance tasks, always position the equipment (and yourself) on a stable
and safe surface.
• Ensure that all accessible cables cannot be walked on, tripped over or damaged by transportable
items.
• If a device is damaged or fails to function correctly, disconnect it from the power source. Refer
to the system drawings to locate the nearest fuse/Circuit Breaker (CB), see design specific
documentation.
• Do not attempt to repair any sub-component yourself – consult a qualified Thrustmaster of

Texas, Inc. service technician.
• A serious electrical shock hazard exists within the covers of some components (e.g. displays)
and on marked locations inside the cabinets (marked with 230 VAC or 24 VDC).
See Part I, Section 2.2 - Wiring Colours for information on wiring colours and potential
hazardous voltages in A&C products.

Part III Chapter 2: Electrostatic Discharge (ESD)
Chapter 2 | Electrostatic Discharge

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

Part III Chapter 3: Preventive Maintenance
Chapter 3 | Preventive Maintenance
This chapter describes important maintenance procedures that should be carried out to prevent errors
on the system. Please read the chapter carefully and follow all the advices given.
3.1 Periodic Maintenance
Periodic maintenance should be carried out at a regular interval. The maintenance procedures are
divided into sections based on how often they should be carried out.
Note!
The interval described in this chapter is only meant as a recommendation. Depending on usage
and environmental conditions, the user may have to perform the maintenance procedures more
frequently than described in this manual.
Note!
Sub-supplier equipment may have separate maintenance procedures from the manufacturer.
These procedures are found in Part X, Appendix F - Sub-suppliers Manuals.

3.1.1 Monthly Maintenance
Items Action
All electronic units Check connectors on installed connection points, carefully
clean as necessary.
All electronic units Check for any loose terminals due to vibration, fasten as
necessary.
Cabinets Ensure that the cabinet is properly fastened.
Cabinets Keep the exterior of the cabinet clean. If needed, carefully
clean with a soft antistatic cloth and a non-abrasive cleaning
agent.
Cabinets If needed, carefully clean the inside of the cabinet using a
soft antistatic cloth and a non-abrasive cleaning agent.
Cabinets Do not use vacuum cleaners nearby electronic components
due to the risk of Electrostatic Discharge. Use compressed
air to remove dust from electronic components.
Cabinets Cabinets can be equipped with a fan. When necessary,
carefully vacuum-clean the fan filter.
Cabinets Ensure that the cabinet doors are closed.
Cabinets Check the surrounding environmental conditions.
Cabinets Check component temperature by carefully touching the
surface of the PSU and controllers.
Operator Stations Ensure that the Operator Station is properly fastened.
Operator Stations Keep the exterior of the Operator Station clean. If needed,
carefully clean with a soft cloth and a non-abrasive cleaning
agent.
Operator Stations Operator Stations can be equipped with a fan. When
necessary, carefully vacuum-clean the fan filter.
Cables Check cables for wear and tear and physical damage. Take
necessary actions if a cable is damaged
Table 3.1: Monthly Maintenance
Note!
Components like PSU and CPU will normally have a significant higher temperature than
surrounding air. The user should however pay attention to drastic increase of temperature.

3.1.2 Yearly Maintenance
The vessel specific Sea trial Acceptance Test (SAT) contains tests to be performed during sea trial
of the system. Some of the tests may also be relevant for an annual re-testing. Recommended tests
for annual testing (if any) will be marked within the SAT procedure. The SAT procedure can be
found in Part X, Appendix B - Test and Verification.
Note!
Thrustmaster of Texas, Inc. are able to provide support to run the SAT if necessary. Contact
information can be found in Part IX - Contact List.
3.1.3 Five Year Maintenance
Thrustmaster of Texas, Inc. recommends to perform a complete system Health and Maintenance check
every fifth year. The Health and Maintenance check can only be performed by a trained Thrustmaster
of Texas, Inc. service engineer. Contact information for ordering a Health and Maintenance check
can be found in Part IX - Contact List.
3.1.4 Spare Parts Maintenance
Spare parts containing batteries must be powered up frequently to prevent complete discharge of the
internal batteries. It is recommended that all electronic units are powered up every six months to
ensure that batteries are charged and also to make sure that the unit power up normally. The units
should be powered up continuously for at least 24 hours before disconnecting and packed in original
packaging material for storage.

3.2 Routine Maintenance
Some routine maintenance should be carried out prior to using the system, other parts are performed
when found necessary. While reading this section, take note of the recommendations of when the
different procedures should be carried out.
3.2.1 Before Operation
It is recommended to perform a visual inspection of the equipment before operation. Check points
are given in the following list (but not limited to):
• Cabinets: Doors closed, cooling fans are running, no physical damage, environmental conditions
• Sensors: Check for physical obstructions, no physical damage
• UPS: No alarm, estimated battery time > 30 minutes
• Operator Stations: No physical damage, no alarms, normal behaviour of equipment, clean

screen
3.2.2 Clean Screen
To avoid unintentional button presses on the GUI when cleaning a display, a Clean screen function is
available. Enabling the function is done by pressing the Clean screen button, which is found in the
global menu. The global menu is opened by clicking the global menu button in the lower left corner.
Once the Clean screen button is pressed, the GUI is temporarily disabled and blurred out. The
display can then be cleaned. After 30 seconds the GUI switches back to normal use.
Figure 3.1: GUI in clean screen mode

3.2.3 Input Device Calibration
The input device comes pre-calibrated from the factory and should not require recalibration during
its lifetime.
3.2.4 Position Reference Systems
Perform a visual inspection to make sure that equipment such as antennas and sensors are not
obstructed by anything before putting the system in operation. Some sensor heads have mechanical
moving parts which might get damaged if enabled before removing obstructing items such as snow
and ice.
3.2.5 Wind Sensors
Perform a visual inspection to make sure that there are no items obstructing the air flow towards the
sensor. Pay extra attention in cold weather in case of ice and snow covering the sensor.

Part III Chapter 4: Corrective Maintenance
Chapter 4 | Corrective Maintenance
This chapter gives detailed descriptions on how to replace different system parts. Follow the
procedures carefully to make sure all new parts are installed correctly.
Warning!
Risk of personal injury. Changes or modifications to the system not expressly approved by the
Thrustmaster of Texas, Inc. department responsible for compliance, could void the warranty
or the user’s ability to operate the equipment. Please read Part III, Chapter 1 - Safety and
Precautions before continuing. Contact information can be found in Part IX - Contact List.
4.1 Test and Verification after Corrective Maintenance
It is important to verify that system is functioning as normal after corrective maintenance has been
carried out. Verification procedures are described in the following subsections.

4.2 Input Device
To change an input device (Figure 4.1), proceed as follows:
• Remove mounting screws (A) from console panel (might require access from underneath the
unit, depending on console design), and carefully pull the input device straight out from the
position of where it is mounted.
• Unplug the CAN and power connectors (C) from the bottom of the input device.
• Set the addresses on the node address switches (D) on the new input device identical to the
device being replaced.
• Verify that the terminal resistors (B) are identical on the device being replaced.
• Mount the new input device in reverse order.
Verification after replacement:
• Navigate to alarm list on Operator Station’s display. Acknowledge old alarms.
• Verify that there are no active alarms.
• Enable the control system from the Operator Station of the replaced input device.
• Perform a functional test of the input device.
• Verify that there are no alarms or problems during testing.

Figure 4.1: Input Device

4.3 Remote Display
To change display (Figure 4.2), proceed as follows:
1. Disconnect the power supply to the display by removing the fuse in the control cabinet.
2. Verify that the unit is powered down.
3. Loosen the screws that holds the display in place and remove display. Be careful not to use
too much force if attached cables are short or stuck.
4. Open the cover (A) and remove the memory card.
5. Verify that all cables connected to the display are marked according to how they are connected.
6. Disconnect USB cable(s) (B), Ethernet cable(s) (C) and power plug (D).
7. Insert the compact flash memory in the new display.
8. Fit and connect the new display in reverse order.
• Power up the Remote Display.
• Wait until the unit has booted. Verify that "Connection Lost" does not appear.
• Navigate through menus to verify that touch is responding as expected.

Figure 4.2: 10" Remote Display
Note!
Panel computer software is stored on a memory card placed at (A) on the unit. If replacing
remote display, the memory card should be moved from the unit to replace to the new unit.
Please contact Thrustmaster of Texas, Inc. Support office for qualified support before replacing
the unit. For contact information see Part IX - Contact List.

4.4 Marine Controller
To replace the Marine Controller (see Figure 4.3), proceed as follows:
1. Disconnect the power supply cable (D).

2. Remove the CompactFlash memory (G).
3. Disconnect the alarm connector (F).
4. Disconnect the following connectors:
• CAN (E)
• Ethernet (A)
• RS422 (B)
• RS232 (C)
5. Loosen the 6 screws that hold the controller in place and remove the controller.
6. Insert the CompactFlash memory in the new controller unit.
7. Fit and connect the new controller in reverse order.
• Run a cold reboot of the system (see Part II, Section 2.23 - Rebooting and Shutting Down
System).
• Wait until the system has booted.
Figure 4.3: Marine Controller

4.5 Power Supply
To change a DC Power Supply (Figure 4.4), proceed as follows:
1. Release the fuse for the DC Power Supply.

2. Use a suitable multimeter to verify that there is no voltage on neither input or output terminals.
3. Disconnect power connections to the unit. 230 VAC (bottom) 24 VDC (top).
4. Remove the unit from the rail. It is locked with a clip at the bottom of the unit.
5. Fit a new unit in reverse order.
6. Adjust the output voltage by turning the potentiometer.
• Verify that output voltage is correct by using a multimeter.
Note!
The replaced unit shall have a label which indicates the adjusted voltage level. The replacement
unit shall be adjusted to the same level and marked with a new label to indicate voltage level
in case of future replacement or adjustment. The general rule is 26.5 V for PSU’s used as
main supply and 25.0 V if used as secondary supply (through diode bridge). Consult with
Thrustmaster of Texas, Inc. Technical Support if you are uncertain about what voltage level is
adequate for the PSU you are replacing.
Figure 4.4: Power Supply Unit (PSU)

4.6 Network Switch
Note!
The network switch must be preconfigured by qualified Thrustmaster of Texas, Inc. personnel
before being installed in the system.
To change the switch (Figure 4.5), proceed as following:
1. Disconnect the power by removing the corresponding fuse.

2. Remove the power supply connector (top).
3. Document all connections to the unit for later verification (Tip: Use a camera).
4. Remove the Ethernet cables and fibre-optic cables (if applicable).
5. Remove the switch from the rail.
6. Fit and connect a new preconfigured switch in reverse order.
• Verify that all cables are connected as before removal of old network switch.
• Run a cold reboot of the system (see Part II, Section 2.23 - Rebooting and Shutting Down
System).
• Wait until the system has booted.
Figure 4.5: Typical Network Switch

4.7 Graphical User Interface Computer
To replace the GUI computer (see Figure 4.6), proceed as follows:
1. Turn off the power on the computer (switch behind the front bezel).
2. Disconnect the power supply to the computer by removing the corresponding fuse (see Part X,
Appendix C - System Design Drawings for details).
3. Remove the 24 VDC power supply connector (A).
4. Remove connectors to:
(a) serial lines (RS422/RS232) (B)

(b) display (C)
(c) Ethernet (D)
(d) USB (E)
5. Loosen the four screws that hold the computer in place and remove the unit.
6. Remove the CFast memory card from the unit (card slot behind the front bezel).
7. Fit and connect the new computer in reverse order.
• Power up the computer.
• Wait until the unit has booted; there should not be any alerts regarding lost connection.
• Navigate through menus to verify that touch is responding as expected.

Figure 4.6: Graphical User Interface computer

4.8 I/O Modules
The CAN I/O module (Figure 4.7) is located in the Control Cabinet. To change the internal circuit
board, proceed as follows:
1. Disconnect the power and CAN connector (B), which is located in the front.
2. Disconnect the I/O connector (C).
3. Loosen the 3 screws (A) that hold the top cover of the CAN I/O module in place and remove
the top cover.
4. Remove the circuit board from the CAN I/O module by pulling it straight out from the housing.
5. Set the address (D) and jumpers (E) on the new CAN I/O module circuit board identical to
the one being replaced.
6. Fit and connect the CAN I/O module in reverse order.
Figure 4.7: CAN I/O Module

4.9 Printers
The system might be equipped with a network laser printer and/or an impact dot matrix printer.
Details on corrective maintenance such as paper jam, replacement of toner and refilling paper tray
is described in the appropriate sub-supplier manual found in Part X, Appendix F - Sub-suppliers
Manuals.
4.9.1 IP Address
The network laser printer might lose all settings if powered down for a long period. The printer
will then become unavailable for the control system due to loss of printer’s IP address. The default
printer IP address depends on index of the printer and on which network ring it is connected. Please
see table Table 4.1 for correct IP address.
Printer number Connected to Address

Printer 1 Network Ring 1 10.3.1.81
Table 4.1: Network laser printer IP adresses
4.10 Fuses
There are two general types of fuses, automatic and glass cartridge fuses.
• Automatic fuses are reset by pulling the fuse switch to open (lower) position, and then pulling
it up to closed (upper) position again. A red marker shows the blown automatic fuse.
• Glass cartridge fuses are changed by means of a plier or the protective cover around the fuse.
A lit green LED indicates that the glass cartridge fuse is OK. An extinguished LED indicates
that the fuse is blown.
Study the appropriate design drawings to find the fuse to reset or change. Replaceable fuses are
according to the Fuse List (see inside door on corresponding cabinet).

Part IV
Fault Finding
287
Part IV Chapter 1: System Alerts
Chapter 1 | System Alerts
Note!
The alert lists in the following sections contain all possible alerts for a Icon DP system. Hence,
some alerts listed may not be applicable for this specific system.
When an alert appears, the alert group indicator on the bottom bar is flashing, and the two latest alert
texts are clearly displayed in the Alert compartment to the left of those indicators. See Figure 1.3 in
Part II, Section 1.3.1 - Philosophy and Interaction to see the different alert and notification symbols,
and Figures 1.34 and 1.35 in Part II, Section 1.3.7 - Bottom Bar to see the layout.
The alert page(s) can be accessed by pushing one of the Alert group buttons or the Alert list
button on the bottom bar. In the alert page, all active alerts are sorted by time and severity, with
the latest and most severe on top. The operator has the ability to acknowledge one alert at the time,
or all alerts on the page simultaneously.
1. Tap one of the Alert group buttons or the Alert list button, alternatively navigate to the
Alert view. See Part II, Section 2.22 - Alerts.
2. Press the Ack button to the right of the alert to acknowledge it (or the Ack all button to
acknowledge all alerts on the page simultaneously).
3. See the following lists of alerts for a detailed description.
4. If possible, refer to Part III - Maintenance Instructions, and fix the problem.
Note!
Alerts can only be acknowledged from the Operator Station in command.
Note!
It is also possible to view alarm and warning history by selecting the Alert history filter in
the Alert view.
To read more about alert symbols and the philosophy behind the alert handling, please refer to
Part II, Section 1.3 - Graphical User Interface.
The diagnostics of errors are given by the issued alerts. The troubleshooting is based on the proposed
fault tracing and corrective actions given in the alert descriptions in the alert tables in the following
sections.

See Part X, Appendix C - System Design Drawings for wiring diagrams for the Icon DP system and
applicable cabinets.

1.1 Thruster Group Alerts
The following alerts will be issued for thruster system related faults. The term inside the angle
brackets < > is replaced by the name of the actual item, see the following complete and specific
alert text examples:
• Bow Tunnel 1: Power limitation
• Stbd Main Propeller: Direction setpoint / feedback deviation
Severity Alert text Cause, Effect and Action
Cause: The commanded thrust cannot be obtained due

<Thruster device name>: to insufficient available power on the power bus
Alarm
Power limitation that the thruster is connected to.
Effect: The system performance may be reduced.
Action: Start more generators or reduce other loads.
Cause: The reported breaker status is inconsistent with

<Thruster device name>: respect to the system setup.
Warning
Inconsistent breaker status
Effect: The system will continue as normal.
Action: Check connections and possible open circuits.
Cause: The rpm on the thruster is reduced by external

<Thruster device name>: system.
Alarm
External rpm reduction
Effect: The thruster will not give force as commanded.
Performance might be degraded.
Action: No action required. If the problem persists, try

to find out which system is the limiting part.
This might be either the thruster system or
power system.
Cause: The pitch on the thruster is reduced by external

<Thruster device name>: system.
Alarm
External pitch reduction
Effect: The thruster will not give force as commanded.
Action: No action required. If the problem persists, try

to find out which system is the limiting part.
This might be either the thruster system or
power system.

Cause: The feedback signal does not follow the

<Thruster device name>:
commanded setpoint.
Warning <rpm/pitch/direction>
setp/feedback deviation Effect: The thruster will not give force as commanded.
Action: Check if there are any failures reported on the

remote control system. Check the I/O modules
in the Outstation (if Outstations are used).
Consider disabling thruster.
<Thruster device name>: Cause: The feedback signal does not follow the
Large commanded setpoint.
Alarm
<rpm/pitch/direction>
setp/feedback deviation Effect: The thruster be will be automatically disabled
and is lost for DP. The system will continue as
normal.

Cause: A rudder which is not commanded by DP is out

<Rudder device name>:
of zero angle position.
Alarm Deviation from zero angle
pos Effect: Unwanted sway and yaw forces might be
generated.
Action: Manually set the rudder angle back to zero.
Cause: The system has lost connection with the unit

<Thruster device name>: (i.e. the communication is lost).
Alarm
Lost connection
Effect: The unit will not be available, and operations
may be limited.
Action: Check unit, connectors/wires and serial I/O.
Cause: Status signal is received in a wrong sequence

<Thruster device name>: (i.e. an error is detected in signal from remote
Alarm
Got ACK without request control system).
Effect: The remote control system will not be available

for control.


Cause: The system has not received an expected

activation of the Acknowledge signal from the
Alarm Timed out waiting for
remote control system.
ACK
for control.

Cause: A release of the Acknowledge signal is missing

from the remote control system.
Alarm Timed out waiting for
ACK to drop Effect: The remote control system will not be controlled
by DP control system. Status is set to idle.

Cause: The thruster is no longer available for the system

<Thruster device name>: (Acknowledge signal is lost).
Alarm
Lost for DP
Effect: The system performance may be reduced and
will not consider the actual thruster.

remote control systems. Change parameters for
the desired action.
Cause: An unexpected release of the Available signal

<Thruster device name>: from the remote control system.
Alarm
Became unavailable
for control.

Cause: The data received from the equipment indicates

<Thruster device name>: a malfunction, and the equipment is disabled
Alarm
Disabled automatically by the system.
Effect: The connected sub-system is not available to

the system, and a reduced performance may be
the result.
Action: Consider to adjust the unit settings, or revise

the selected operator selections.

Cause: Logical signals from the remote thruster control

<Thruster device name>: have behaved in an unexpected way.
Alarm
System internal logic error
Effect: The thruster could be lost for DP. The system
will continue as normal.

Cause: The reported feedback value is out of range (i.e.

the received value is not possible according to
Alarm <rpm/pitch/direction>
the system setup).
feedback out of range
Effect: The measurement will not be used, the system
will use the order signals vessel model and
estimate to predict the actual value.

If applicable, check if there are any failures
reported on the remote control system.
<Thruster device name>: Cause: A broken wire failure is detected

Broken wire:
Alarm Effect: Wrong data may have been received, and data
<rpm/pitch/direction>
order will not be used.
Action: Check signal, wires and connections. Most likely

a wire is not properly connected.
Cause: There are not enough thrusters available for the

<Surge/Sway/Yaw>:
system to perform the desired action.
Alarm Insufficient thruster
configuration Effect: The desired action will be terminated.

remote control systems. Change parameters
for the desired action. If possible, enable more
thrusters.
Cause: The system does not have enough thrust

Fixed azimuth angles capacity to keep position with fixed azimuth
Alarm
released automatically angles.
Effect: The azimuth angles are set to auto, and the

system will control the angle of the thruster
automatically.
Action: Try to enable more thrusters and then set

azimuth angles back to fixed, if needed.

Cause: One of the cabinet power supplies has failed.

Warning PSU 1 or 2 failure in Effect: Reduced redundancy.
outstation cabinet
Action: Check the unit, connectors/wires and
connection to cabinet IO module.
Table 1.1: Thruster Alerts
Note!
For a description of the Thruster CQA alert, please refer to Table 1.6 in Section 1.4.1.

1.2 Sensor and Position Reference System Group Alerts
The following alerts will be issued for sensor and position reference system related faults. The term
inside the angle brackets < > is replaced by the name of the actual item, see the following complete
and specific alert text examples:
• Gyro 1: Wild point in Rotation measurement
• Wind sensor 2: Wind speed measurement voting rejected
Cause: No time signal is available from any GNSS

No time signal available system.
Alarm
from any GPS
Effect: If problem persists, system time will drift away
from correct time.
Action: Check GNSS units.

<Sensor name>: Lost (i.e. the communication is lost).
Alarm
connection
may be limited.
Cause: Some wild points in the measurements are

<Sensor name>: Wild
detected.
Alarm point in <signal type>
measurement Effect: A quality error on the unit signal is detected.
The wild points will not be used.
Action: Check unit, connectors/wires and general I/O.

Verify applicable settings.
Cause: The measurements from the sensor has changed

<Sensor name>: Step in
in a step, and has then been stabilized. This
Alarm <signal type>
may indicate that a failure has occured in the
measurement
sensor.
Effect: The system will continue as normal. Unit will

be weighted down by the system.


Cause: The measurement difference between two

<Sensor name>: Large
sensors is critically high.
Alarm <signal type>
measurement differ Effect: The sensor will be Auto Disabled, and not longer
used by the system.
Action: Check unit. Verify applicable settings.
Cause: The measurement difference between two

<Sensor name>: <signal sensors is higher than expected.
Alarm
type> measurement differ
Action: Check unit.
Cause: More than two sensors/position reference

<Sensor name>: <signal
systems in use. The difference between this
Warning type> measurement
measurement average and the average between
voting pre-warning
the other sensor measurements is high.
Effect: The system performance may be reduced. The

unit will be weighted down by the system.
Action: Check unit.
Cause: More than two sensors/position reference

systems in use. The difference between this
Alarm name> Measurement
measurement average and the average between
voting rejected
the other sensor measurements is too high.
Effect: The sensor will be Auto Disabled, and not longer

used by the system.
Action: Check unit.
Cause: The measurements from the sensor has changed

<Sensor name>: Large
in a large step, and has then been stabilized.
Alarm step in <signal type>
This may indicate that a failure has occured in
measurement
the sensor.

used by the system.


Cause: Based on a linear regression (a straight line

<Sensor name>: High
through the received measurements in the last
Alarm dynamics in <signal
approx. 15 seconds) the measurement differ
type> measurement
from the expected range.

the selected operational selections.
Cause: Based on a linear regression (a straight line

<Sensor name>: Very
through the received measurements in the last
Alarm high dynamics in <signal
approx. 15 seconds) the measurement differ
type> measurement
from the expected values. This alarm is followed
by Auto Disable.

used by the system.

Cause: The data received from the equipment indicates

<Sensor name>: Disabled a malfunction, and the equipment is disabled
Alarm
automatically by the system.
Effect: The connected sub-system is not available to

the system, and a reduced performance may be
the result.

Cause: The received measurements are outside the

expected range for this kind of equipment.
Alarm type> measurement out
Indicates a malfunction in the connected
of range
equipment.
Effect: The system performance may be reduced. Unit

will be auto disabled.
Action: Check unit.

Cause: The measurements indicates that the sensor

has frozen (i.e. measurements are frozen for a
Alarm type> measurement
period of time). Readings from sensor / position
frozen
reference system have not changed for a period
of time.

Measurement from the affected sensor /
position reference system will be weighted down.
Action: Check unit.
Cause: The horizontal dilution of precision is high,

<Sensor name>: High which indicates a poor satellite configuration
Warning
HDOP for the GNSS system.

Cause: The differential signal available to the GNSS

<Sensor name>: Old system is old.
Warning
Differential signal
Effect: The accuracy of affected unit might be degraded.
Unit will gradually be weighted down by the
system.
Action: Change correction signal base, or enable the

backup correction signal system.
Cause: The GNSS system has no correction signals

<Sensor name>: No
Alarm Effect: The system performance may be reduced. The
differential signal available
DGPS system will be weighted down by the
system.
Action: Change correction signal base, or enable the

backup correction signal system.
Cause: The GNSS system does not have enough

<Sensor name>: No fix satellites to give position measurement.
Alarm
available
Effect: No position measurement will be available from
the affected unit.
Action: If problem persists, check unit, cabling, antenna.

Cause: Failure detected in the received NMEA telegram.

<Sensor name>: Invalid
Indicates a malfunction in connected equipment.
Alarm data received in NMEA
telegram Effect: The system performance may be reduced. Data
will not be used by the system.
Action: Verify the unit setup, power and cabling.
Cause: The measurements from the unit shows a higher

<Sensor name>: High
standard deviation than expected. It might be
Alarm variation in <signal type>
a unit malfunction.
measurement
Effect: The system will continue as normal


operational acceptable range for this kind of
Warning type> measurement out
equipment. Indicates working on limits of
of warning range
equipment.
Effect: The system will continue as normal
Action: The system performance may be reduced.
Table 1.2: Sensor and Position Reference System Alerts

1.3 Operation Group Alerts
The following alerts will be issued for operation related faults. The term inside the angle brackets
< > is replaced by the name of the actual item, see the following complete and specific alert text
examples:
• No heading measurement - dead reckoning
• Close to heading deviation limit
Cause: There are no valid measurements and these

No <signal type>
signals are lost during automatic control.
Alarm measurement - dead
reckoning Effect: The system will use the internal vessel model
and thrust estimates to predict the actual value.
Action: If possible, enable more position reference

systems to the system.
Cause: Heading deviation exceeds alarm limits, i.e. the

difference between actual heading and setpoint
Alarm Out of heading
heading is larger than the operator defined alarm
limit.
Effect: No effect - the system will attempt to decrease

the heading deviation.
Action: Increase the limits and adjust the operation

parameters.
Cause: Position deviation exceeds alarm limits, i.e. the

difference between actual position and setpoint
Alarm Out of position
position is larger than the operator defined alarm
limit.

the position deviation.

parameters.
Cause: The measurements indicates that the status is

Close to <signal type> close to the deviation limit.
Warning
deviation limit

parameters.

Cause: Remote access function is activated by external

system, i.e. someone has toggled the remote
Warning Remote access activated
access switch in the cabinet.
Effect: An external connection is activated and might

access data in the system.
Action: The DP should be in standby mode or else the

remote access function should be deactivated.
Cause: The system has detected an OFF signal from

System disabled while the Manoeuvring Mode Selector Switch during
Alarm
active operation.
Effect: If the readings are correct, all thrusters will be

lost for DP and the vessel will drift off. Thruster
control will be transferred to the levers.
Action: If the operation was not desired, check the I/O

modules in the Outstations (if Outstations are
used).
Cause: Traffic Light Yellow warning is activated by

DP alert status: Yellow external system.
Warning
alert
Effect: No effect on the DP system. The DP operator
should consider aborting the operation.
Action: Monitor external forces and consider aborting

the DP operation.
Cause: Traffic Light Red Alarm is activated by external

system.
Alarm DP alert status: Red alert
Effect: No effect on the DP system.
Action: The DP operator should abort the DP

operation.
Cause: The operation is not according to the

Operation does not meet requirements of the currently chosen DP class
Alarm
selected class requirements in the DP class monitor indicator.
Effect: The system has a lower redundancy level than

what is required for the selected DP class.
Action: Check the DP class monitor indicator view for

the reason why operation is not according to
DP class requirements and rectify. Alternatively
select a lower DP class setting.

Cause: Something has failed with the on-line capability

On-line capability stopped function.
Warning
working
Effect: On-line capability plot is no longer possible to
update. DP system heading and positioning
performance unaffected.
Action: Reboot computer / DP system. If this does not

help, contact DP support.
Table 1.3: Operation Alerts

1.3.1 Target Tracking Alerts
The following alerts will be issued for Target Tracking related faults. The term inside the angle
• Target tracking: Close to position deviation limit
• Target tracking: Active target automatically disabled
Cause: The deviation between the DP vessel position

Target tracking: Close to and and the position where the system expects
Warning
position deviation limit the vessel to be (light blue ship in Main
view) is larger than the warning limit. The
target tracking function uses the same warning
limit as in regular positioning (adjustable from
the Positioning or Target tracking settings
view).
Action: Increase the limits and/or adjust the operation

parameters.
Cause: The deviation between the DP vessel position

Target tracking: Out of and and the position where the system expects
Alarm
position the vessel to be (light blue ship in Main view) is
larger than the alarm limit. The target tracking
function uses the same alarm limit as in regular
positioning (adjustable from the Positioning
or Target tracking settings view).

the position deviation.

parameters.
Cause: The deviation between the DP vessel heading

Target tracking: Close to and where the system expects it to be (light
Warning
heading deviation limit blue ship in Main view) is larger than the
warning limit (adjustable from the Positioning
or Target tracking settings view).

parameters.

Cause: The deviation between the DP vessel heading

Target tracking: Out of and where the system expects it to be (light blue
Alarm
heading ship in Main view) is larger than the alarm limit
(adjustable from the Positioning or Target
tracking settings view).

the heading deviation.

parameters.
Cause: A relative target drift-off is detected, as

Target tracking: Target(s) described in Part II, Section 2.18.6.
Warning
fail rel. dist. Checks
Effect: Depending on tracking mode, the target(s)
may be rejected and disabled by the system.
See Part II, Section 2.18.6. If targets are
automatically disabled, a separate alarm will
be issued.
Action: Check target measurements and disable faulty

target from tracking operation.
Cause: The system has automatically disabled one or

Target tracking: Target more active targets due to relative target drift-
Alarm
auto-disabled off.
Effect: One or more targets are automatically disabled

by the system, and depending on tracking
mode and remaining number of targets, the
system may have to estimate target positions
to continue the tracking operation
Action: Check measurements from the disabled target(s)

and re-enable them when relative target drift-off
has stopped.
Target tracking: Unable Cause: This notification is given when the system
to add new target. Check automatically disables a target that is not yet
Info
mode and operating a part of the current tracking operation, e.g.
conditions due to a failed attempt to add the target to the
operation.
Effect: No new target is added to the operation.
Action: Check that all prerequesites for adding the target

to current operation is fulfilled. See Part II,
Section 2.18.3 and Section 2.18.4.

Cause: This alarm is given whenever the system

Target tracking:
automatically degrades to Single target mode
Alarm Auto-degraded to single
due to loss of target(s).
mode
Effect: The target tracking function continues in Single
target mode.
Action: Enable more targets to go back to previous

operational mode.
Target tracking: Cause: This notification is given whenever the system

Automatically degraded to automatically degrades to Single target mode
Info
single mode due to due to targets being disabled by the operator.
operator action
Effect: The target tracking function continues in Single
target mode.
Action: N/A
Cause: This alarm is given whenever the system

Target tracking: automatically exits the target tracking system
Alarm
Automatically exited function due to loss of target(s).
Effect: System transfers to AutoPos or AutoHdg

functions, depending on whether automatic or
manual position control was active prior to
exiting the target tracking system function.
Action: Start new target tracking operation.
Cause: This notification is given whenever the

Target tracking:
system automatically exits the target tracking
Info Automatically exited due
system function as a result of the operator
to operator action
manually disabling targets or using common
system commands as described in Part II,
Section 2.18.9.
Effect: System transfers to AutoPos or AutoHdg

functions, depending on whether automatic or
manual position control was active prior to
exiting the target tracking system function.
Action: N/A

Cause: This warning is given whenever the system is

Target tracking: Lost unable to measure the heading of the tracked
Warning
target hdg measurements object while being in one of the Multitarget
modes. This correspond to having less than two
active targets with available measurements.
Effect: The system will continue the operation by

estimating the object heading. In case
there is a single remaining target with
available measurements, the positions of
unavailable targets are predicted based on these
measurements and the estimated object heading.
The unavailable targets are still visible in the
GUI, but will be blinking in order to indicate that
their positions are predicted and not measured.
Action: Continue operation based on predicted target

positions while waiting for lost target(s) to
recover, or change to Single target mode
if there is a remaining target with available
measurements.
Cause: This alarm is given whenever none of the active

Target tracking: Target targets have available measurements and the
Alarm
dead reckoning system is estimating their positions.
Effect: The targets are still visible in the GUI at their

predicted positions, but will be blinking in order
to indicate that their positions are predicted and
not measured. In Semi-Stationary mode, the
system will assume that all targets have stopped
at their last known positions and the vessel will
continue to the last known setpoint and stop
there. In ROV mode, the vessel will move to
the last known setpoint and, depending on the
estimated target velocity, continue the tracking
operation by moving in a straight line with the
same speed as the tracked object had when the
measurements were lost.
Action: Manually adjust speed and direction of the

estimated target movement in the Target
tracking view to continue following the target
without any measurements.
Table 1.4: Target Tracking Alerts

1.4 Power System Group Alerts
The following alerts will be issued for power system related faults. The term inside the angle brackets
examples:
• MainBus2stbd: Power out of range
• Generator3Stbd: Inconsistent measurements
Cause: An error is detected on one or more of the IO

Power limitation disabled modules.
Alarm
due to signal errors
Effect: The power limitation function is disabled.
Available and consumed power will still be
calculated, but the values are most probably
incorrect.
Action: Check the unit, connectors/wires and general

I/O. Verify applicable settings.
Cause: Unexpected high load measurement measured

<Equipment name>: by the power management system.
Alarm
Power out of range
Effect: The power limitation function will estimate
the power consumption. The power limitation
function will be degraded.
Action: Check if there are any failures reported on one

of the remote control systems or the power
management system. Check the I/O modules
in the Outstations (if Outstations are used).
Cause: The received measurements are not consistent

<Equipment name>: with respect to the capabilities of the vessel.
Alarm
Inconsistent readings


Cause: The battery/ESU supplying the thrusters with

<Equipment name>: Less
power has less than 30 minutes remaining
Alarm than 30min remaining
capacity with current power consumption rate.
capacity
Effect: The thrusters will lose power from the
battery/ESU in less than 30 minutes. The
battery should not be regarded as part of the
power redundancy.
Action: Consider starting more generators if remaining

power after loss of battery is insufficient. Abort
operation if no more generators can be started,
and remaining power is insufficient.
Cause: This alarm is issued for a bustie breaker

<Bustie name>:
with multiple status measurements where the
Alarm Inconsistent breaker status
received measurements differ.
readings
Cause: An error is detected on one or more feedbacks

<Equipment name>:
from the power system.
Alarm Limitation disabled due to
signal errors Effect: The power limitation function is disabled.
Available and consumed power will still be
calculated, but the values are most probably
incorrect.


<Equipment name>: expected range for this kind of equipment.
Alarm
Load out of range
Effect: The system performance may be reduced. The
load signal will not be used by the system.

Cause: A failure or malfunction is detected on the I/O

Power IO Node <node module.
Alarm
ID>: Lost connection.
Effect: Loss of communication to connected equipment.
Action: Check module, connectors/wires and internal

I/O modules.

Cause:
<Generator name>: Less
Alarm than 30min remaining Effect:
capacity
Action:
Table 1.5: Power Alerts

1.4.1 Consequence Analysis Alerts
The following alerts will be issued for CQA related faults. The term inside the angle brackets < > is
replaced by the name of the actual item, see the following complete and specific alert text examples:
• CQA: Insufficient capability for worst failure
• CQA: Too few thrusters or generators available for worst failure
Cause: There are not enough thrusters or generators

CQA: Too few thr or gens available for the system to perform safely in
Alarm
available for worst failure case of a worst case failure.
Effect: In case of a single worst case failure (e.g.

blackout of one side), the vessel will most likely
drift off.
Action: If available, consider enabling more thrusters

and/or generators. If not, the system is
operating outside the normal limits and must
be watched carefully.
Cause: There is not enough power available after worst

CQA: Insufficient power failure to safely keep position.
Alarm
capacity for worst failure
Effect: The system performance may not be sufficient
with respect to the operational requirement. In
case of a single worst case failure, e.g. blackout
on one side, the vessel will most likely drift off.
Action: If available, consider enabling more power

generating capacity or consider changing to a
more favourable heading. If not, the system is
operating outside the normal limits and must
be watched carefully.
Cause: There is not enough thrust available after worst

CQA: Insufficient thrust failure to safely keep position.
Alarm
capacity for worst failure
Effect: The system performance may not be sufficient
with respect to the operational requirement. In
case of a single worst case failure, e.g. blackout
on one side, the vessel will most likely drift off.
Action: If available, consider enabling more thrusters or

consider changing to a more favourable heading.
If not, the system is operating outside the
normal limits and must be watched carefully.

Cause: There is close to not enough power capacity

CQA: Close to insufficient
available after worst failure to safely keep
Warning power capacity for worst
position.
failure.
Effect: No effect.
Action: No action required.
Cause: There is close to not enough thrust capacity

CQA: Close to insufficient
available after worst failure to safely keep
Warning thrust capacity for worst
position.
failure.
Effect: No effect.
Action: No action required.
Table 1.6: Consequence Analysis Alerts

1.5 System Group Alerts
The alerts in this chapter are issued for system related faults. System related faults are faults on the
Icon DP system itself, like controllers, network faults, cabinet faults, printer faults etc.
1.5.1 Controller Alerts
The following alerts will be issued for controller related faults. The term inside the angle brackets
examples:
• DP controller A: Failure
• IO_B1: Lost connection on Net 2
Cause: The controller has stopped or lost its network

DP controller <Name>: communication with the other DP controllers
Alarm
Lost connection
Effect: The DP controller is not a part of the control
system until the fault is fixed.
Action: Try to reboot the controller. Check network

connection.
Cause: The controller has failed to start or has lost

DP controller <Name>: its network communication with the other DP
Alarm
No contact controllers

system until the fault is fixed.

connection.
Cause: The controller is out of synchronization with

DP controller <Name>: the other controllers and has therefore been
Alarm
Failure commanded to a failure state.

system until it is synchronized with the online
controllers.
Action: Try to synchronize the controller. This is done

from the global menu. Remember that in order
to be able to synchronize the controller, the DP
system must be in standby mode.

Cause: The controller has lost network connection on

DP controller <Name>: Net 1
Alarm
Lost connection on Net 1
Effect: The DP controller is still online through Net
2 (unless of course the controller has lost
connection on this net too).
Action: Check network connection

DP controller <Name>: Net 2
Alarm
Lost connection on Net 2
Effect: The DP controller is still online through Net
Cause: The DP controller has lost connection to the

DP controller <Name>:
IO controller
Alarm Lost connection to <IO
controller name> Effect: The signals from the equipment connected to
the IO controller in question will be lost, i.e.
sensors, position references, cabinet I/O and
input devices.
Action: Check network connection. Try to reboot the

I/O controller.
Cause: The DP controller has failed to connect to the

IO controller.
Alarm No contact with <IO
controller name> Effect: The signals from the equipment connected to
the IO controller in question will be lost, i.e.
sensors, position references, cabinet I/O and
input devices.
Action: Check network connection. Try to reboot the

I/O controller.
Cause: The DP controller is out of synchronization with

respect to the other controllers.
Alarm Voted out by <IO
controller name> Effect: The DP controller is not a part of the control
system until it is synchronized with the online
controllers.
Action: Try to synchronize the controller. This is done

from the global menu. Remember that in order
to be able to synchronize the controller, the DP
system must be in standby mode.

Cause: The I/O controller has stopped or lost

IO <name>: Lost its network communication with the other
Alarm
connection controllers
Effect: The I/O connected to the controller will not be

reachable by the rest of the DP system.

connection.

IO <name>: Lost Net 1
Alarm
connection on Net 1
Effect: The I/O controller is still online through Net

IO <name>: Lost Net 2
Alarm
connection on Net 2
Effect: The I/O controller is still online through Net
Cause: The controller has lost network connection to

IO <name>: Lost
DpMain process on Net 1.
Alarm connection to DpMain on
Net 1 Effect: The I/O controller still has connection through
Net 2 (unless of course the controller has lost
Cause: The controller has lost network connection to

IO <name>: Lost
DpMain process on Net 2.
Alarm connection to DpMain on
Net 2 Effect: The I/O controller still has connection through
Net 1 (unless of course the controller has lost

Cause: One or more critical software components in

DpMain: A component the DP system has been suspended due to an
Alarm
has been suspended internal error.
Effect: The DP system will probably not function

properly, depending on which component that
is suspended.
Action: When the DP system is in standby, try rebooting

the DP system. If the problem persists, please
call DP support.
Cause: One or more software components on the IO

IO <name>: A
controller has been suspended due to an internal
Alarm component has been
error.
suspended
Effect: Depending on which component that is
suspended, there will be a loss of communication
to some of the equipment that is connected
through the IO controller.

call DP support.
Cause: The CPU load on the controller is above the

<ControllerName>: CPU recommended limits.
Alarm
load critically high
Effect: Running on a too high CPU load over a longer
period of time might degrade the performance
of the controller, or in extreme cases render it
useless.

call DP support.
Cause: The process with the web server used for service
<ControllerName>: Lost access has been suspended.
Warning
connection to web server
Effect: No effect on the DP system. There might be
some problems with the remote access.
Action: If DP support is going to access the system via

remote access, please notify DP support that
the web server is down.

Cause: The web server has been suspended.

<ControllerName>: The
Warning web server has been Effect: No effect on the DP system. There might be
suspended some problems with the remote access.

Cause: The control system failed to start the web server.

<ControllerName>: No
Warning Effect: No effect on the DP system. There might be
contact with web server
some problems with the remote access.

Cause: The CPU temperature on the controller is above

<ControllerName>: CPU the recommended limits.
Alarm
temperature critically high
Effect: Running on a too high CPU temperature over
a longer period of time might degrade the
performance of the controller, or in extreme
cases render it useless.
Action: Verify temperature in the DP control cabinet

and if possible cool down cabinet. When the
DP system is in standby, try rebooting the DP
system. If the problem persists, please call DP
support.
Table 1.7: Controller Alerts

1.5.2 Cabinet Alerts
The following alerts will be issued for control cabinet related faults. The term inside the angle
• Cabinet IO Card B: Lost connection

Cabinet <name>: Lost (i.e. the communication is lost).
Alarm
connection to cabinet IO
may be limited.
Action: Check the unit, connectors/wires and I/O.

Cabinet <name>: Lost
(i.e. the communication is lost).
Alarm connection to switchboard
IO Effect: Switchboard interface connected to this cabinet
will not be available, and operations may be
limited.
Action: Check the unit, connectors/wires and I/O.
Cause: The cabinet door is opened.

Cabinet <name>: Door
Warning Effect: This is an indication that someone may be
open
performing work inside the DP cabinet.
Action: Close cabinet door.
Cause: One of the cabinet power supplies has failed.

Cabinet <name>: PSU
Alarm Effect: Reduced redundancy.
<index> failure
Action: Check the unit, connectors/wires and
Table 1.8: Cabinet Alerts

1.5.3 Network Alerts
The following alerts will be issued for network related faults. The term inside the angle brackets
examples:
• Cabinet A: Ethernet switch 1 failure
• Switch 2: Network ring is down, switches reconfigured automatically to bus
Cause: A failure or malfunction is detected on the

Cabinet <name>: Switch mentioned switch.
Alarm
<name> failure
Effect: The unit may not be available, and operations
may be limited.
Action: Check unit and connectors/wires from switch

to cabinet IO module.
Cause: The switch may have a high load.

Switch <name>: Lost
Warning monitoring of network Effect: Detailed alarm monitoring of the switch is
switch reduced.
Action: Check the unit and the connectors/wires

to/from the unit.
Cause: Same as the alarm above.

Ethernet ring <index>
Alarm Effect: No effect.
broken
Action: Check the fiber cables and connectors to/from
the switch.
Cause: The warning limit is at 60 degrees celcius, while

Switch <name>: High
the alarm limit is at 75 degrees celsius.
Warning temperature in network
switch Effect: Overheated switches might shut down.
Action: Try to cool down the switch. If the problem

persists over time, contact support.
Cause: There is a failure in the DC1 power feed to the

Switch <name>: Error in
switch.
Alarm network switch power feed
DC1 Effect: No effect.
Action: Check the power supply and connectors of the

switch.

Cause: There is a failure in the DC2 power feed to the

Switch <name>: Error in
switch.
Alarm network switch power feed
DC2 Effect: No effect.
Action: Check the power supply and connectors of the

switch.
Cause: A failure or malfunction is detected on the

Cabinet <name>:
mentioned switch.
Alarm Thruster switch <name>
failure Effect: The thruster group connected to this switch
may not be available.
Action: Check unit and connectors/wires from switch

to cabinet IO module.
Cause: The transmitted network bandwidth load on Net

High transmitted network
<index> is above the recommended limits.
Alarm bandwidth load on Net
<index> Effect: Packets sent from controller might be lost. If
the network link is flooded, communication to
the affected controller will be lost.

the DP system. If the problem persists, contact
support. NB: If alert is received during a
controller synchronizing operation, it can be
ignored.
Cause: The received network bandwidth load on Net

High received network
Alarm bandwidth load on Net
<index> Effect: Packets sent to controller might be lost. If the
network link is flooded, communication to the
affected controller will be lost.

ignored.


DP Controller A: High Cause: The amount of transmitted network packets on
transmitted network Net <index> is above the recommended limits.
Alarm
packet load on Net
<index> Effect: Packets sent from controller might be lost. If
the network link is flooded, communication to
the affected controller will be lost.

ignored.
Cause: The amount of received network packets on Net

DP Controller A: High
Alarm received network packet
load on Net <index> Effect: Packets sent to controller might be lost. If the
network link is flooded, communication to the
affected controller will be lost.

ignored.
Table 1.9: Network Alerts

1.5.4 UPS Alerts
The following alerts will be issued for UPS related faults. The term inside the angle brackets < > is
• UPS A: Lost network connection
• UPS C: High temperature
Cause: Earth failure detected on UPS.

UPS <name>: Earth
Warning Effect: Connected equipment may not be properly
failure
protected.
Action: Check unit, connectors/wires and connected

equipment. Also check the Cabinet I/O.
Cause: The bypass mode is activated on the UPS

UPS <name>: Bypass
Alarm Effect: The UPS is offline (the battery is bypassed),
switch on
and the equipment connected to the UPS is no
longer protected from a power outage.
Action: Disable bypass mode on the UPS.
Cause: A failure is detected on the UPS.

UPS <name>: Common
Alarm Effect: The unit might not be available, and operations
alarm
may be limited.
Action: Check unit, connectors/wires and connected

equipment. Also check the Cabinet I/O.
Cause: The network connection to the UPS is lost.

UPS <name>: Lost
Alarm Effect: Alarm monitoring of the unit is reduced. The
network connection
unit might not be available, and operations may
be limited.
Action: Check unit and connectors/wires.
Cause: The UPS has reached an unhealthy high

UPS <name>: High temperature.
Alarm
temperature
Effect: An overheated UPS might experience a reduced
performance.
Action: Try to cool down the UPS. If the problem

persists over time, contact support.

Cause: The UPS is no longer being charged, and is now

UPS <name>: Running running on battery.
Alarm
on battery
Effect: Depending on the type of UPS, the UPS will
eventually, after 30 minutes or more, run out
of power and the connected equipment will no
longer have power available.
Action: Check the power connected to the UPS.
Cause: The bypass mode is activated on the UPS

UPS <name>: Running
Alarm Effect: The UPS is offline (the battery is bypassed),
in bypass mode
and the equipment connected to the UPS is no
longer protected from a power outage.
Action: Disable bypass mode on the UPS.
Cause: The UPS is running on battery and has less

UPS <name>: Low
than 10 minutes of power left.
Warning battery, 10 minutes to
shutdown Effect: The unit will shut down in 10 minutes, and the
connected equipment will no longer have power
available.
Action: Check the power connected to the UPS.
Cause: No connection with UPS though cabinet IO

UPS <name>: Lost card.
Alarm
cabinet IO connection
Effect: The unit might not be available, and operations
may be limited.
Action: Check cabinet IO connection to UPS.
Cause: Lost communication between main and backup

UPS <name>: Lost all
DP, and hence no info about UPS status.
Alarm communication. UPS
status unknown Effect: The unit might not be available, and operations
may be limited.
Action: Check backup DP and serial connection between

main and backup DP.
Table 1.10: UPS Alerts

1.5.5 Printer Alerts
The following alerts will be issued for printer related faults. The term inside the angle brackets < > is
• Printer 1: Lost network connection
• Printer 2: Black toner level low
Cause: Network connection on printer is lost.

Printer <index>: Lost
Alarm Effect: No alarms will be printed, the alarms will be
network connection
buffered by the computer
Action: Check unit and connectors/wires to the unit.
Cause: The printer is not available to the system.

Alarm Printer <index>: Offline Effect: No alarms will be printed, the alarms will be
Action: Enable the printer (Online/Select).
Cause: Printer is almost out of black toner.

Printer <index>: Black
Warning Effect: The printer will soon not be able to print in
toner level low
black anymore.
Action: Replace black toner cartridge with a new one.
Cause: Printer is almost out of cyan toner.

Printer <index>: Cyan
Warning Effect: The printer will soon not be able to print cyan
toner level low
colours anymore.
Action: Replace cyan toner cartridge with a new one.
Cause: Printer is almost out of magenta toner.

Printer <index>:
Warning Effect: The printer will soon not be able to print
Magenta toner level low
magenta colours anymore.
Action: Replace magenta toner cartridge with a new

one.
Cause: Printer is almost out of yellow toner.

Printer <index>: Yellow
Warning Effect: The printer will soon not be able to print yellow
toner level low
colours anymore.
Action: Replace yellow toner cartridge with a new one.

Cause: The printer is out of toner.

Printer <index>: Out of
toner
Action: Replace empty toner cartridges.
Cause: The printer reports of paper.

Printer <index>: Out of
paper
Action: Check printer status, refill paper if empty
Cause: A paper has jammed the printer

Printer <index>: Paper is
jammed
buffered by the computer.
Action: Examine the printer and try to extract the

jammed paper.
Cause: The printer reports that a door is open.

Printer <index>: A door
Warning Effect: No alarms will be printed, the alarms will be
on the printer is open
buffered by the computer.
Action: Check printer status, close all open doors on

the printer.
Cause: The input tray is missing from the printer

Printer <index>: Input
Warning Effect: Most likely, no alarms will be printed. The
tray missing
alarms will be buffered by the computer.
Action: Try to locate the input tray.
Cause: The output tray is missing from the printer

Printer <index>: Output
tray missing
Action: Try to locate the output tray
Cause: The output tray is full.

Printer <index>: Output
is full
Action: Remove paper from the output tray.

Cause: The ink cartridge is missing.

Printer <index>: Marker
supply is missing
Action: Replace the printer ink cartridge.
Cause: DP system is not able to connect to the dot

Printer <index>: Not matrix printer.
Alarm
connected
Effect: No alarms will be printed, the alarms will be
Action: Check dot matrix printer power and printer

connection.
Cause: DP system is not able to print to the dot matrix

Printer <index>: Not printer.
Alarm
ready
Effect: DP system is not able to print to the dot matrix
printer.
Action: Check dot matrix printer status.
Cause: There is an error on the dot matrix printer.

Printer <index>: General
error
Cause: DP system is not able to print to the dot matrix

Printer <index>: Not printer.
Alarm
responsive
Effect: DP system is not able to print to the dot matrix
printer.
Table 1.11: Printer Alerts

1.5.6 Operator Station Alerts
The following alerts will be issued for OS related faults. The term inside the angle brackets < > is
• OS1 Main: Lost connection to joystick input device
• OS2 Remote: Lost connection on Net 1

<OS name>: Lost
(i.e. the communication is lost)
Alarm connection to <device
name> Effect: The unit will not be available, and operations
may be limited.
Cause: The joystick has issued an order that is outside

<OS name>: <Device the expected range
Alarm
name> order out of range
Effect: The order from the joystick is not accepted by
the DP system
Action: Check device, connectors/wires and internal I/O

modules. Try scaling the joystick input device
again.
Cause: The system has lost connection with the GUI

<display name>: Lost application (i.e. the communication is lost)
Alarm
contact
may be limited.
Cause: The system has lost network connection with

<display name>: Network the unit (i.e. the communication is lost)
Alarm
link lost
may be limited.
Cause: The unit has lost network connection on Net 1

<display name>: Lost
Alarm Effect: If the unit is set up with two networks, net 2
connection on Net 1
will still have the unit connected to the system.
If not, the unit will have lost connection to the
system.

Cause: The unit has lost network connection on Net 2

<display name>: Lost
Alarm Effect: If Net 1 is working, the unit is still connected
connection on Net 2
to the system. If not, the unit will have lost
connection to the system
Cause: The alarm buzzer is disabled by the operator.

Warning Buzzer disabled Effect: No audible alarm will be presented to the
operator in case of a system alarm.
Action: Enable the buzzer in the system settings menu

or restart the DP control system.
Cause: The password for the service menu is disabled

Operator station password
Warning Effect: Unauthorized access into the service menu
disabled
might cause damage to the system.
Action: Reboot the DP control system.
Cause: The disk is full.

<display name>: Unable
Warning Effect: No more system logs will be written to disk.
to write log to disk
The DP system will continue as normal.
Action: Reboot the GUI computer. If this does not help,

contact DP support.
Cause: There is not enough memory left to write system

<display name>: Unable logs.
Warning
to write log to memory
Effect: No more system logs will be written to disk.
The DP system will continue as normal.

contact DP support.
Cause: Not all signals are logged.

<display name>:
Warning Effect: The logging functionality is reduced. Not all
Playback logger error
signals are logged to disk. The DP system will
continue as normal.

contact DP support.
Cause: The input device reports a failure state.

<OS name>: Internal
Alarm Effect: Input device may be non-operational.
error input device
Action: Check input device unit and connectors.

Cause: There is a serious error on all of the operator

Error on all operator stations. Either there is no contact with
Alarm
stations the Operator Station or the joystick, or IO
controller.
Effect: None of the operator stations will be able to

take command.
Action: Check connection to OS, input device and

controller.
Cause: The operator station is logged in with increased

<display name>: Logged
access to service menus.
Warning in as service/development
user Effect: Unauthorized access into the service menu
might cause damage to the system.
Action: Log out from service menu or reboot the DP

control system.
Cause: There is a failure in the power supply.

<display name>: Power
Alarm Effect: The unit will not be available, and operations
supply <index> failure
may be limited.
Action: Check the power supply to the display.
Cause: Signals are no longer logged on actual GUI

<display name>:
computer.
Warning Playback logger stopped
logging Effect: The logging functionality is reduced. No signals
are logged to disk on actual GUI Computer. The
DP system will continue as normal.

contact DP support.
Table 1.12: Operator Station Alerts

1.5.7 Manoeuvre Mode Selector Alerts
The following alerts will be issued for MMS related faults. The term inside the angle brackets < > is
Cause: Missing one reading from the DP button on the

System: Missing reading MMS
Alarm
A from MMS
Effect: No effect. It is still possible to take command
on DP
Action: A firm push on the MMS button the next time

might be required. Check MMS connectors.
Cause: Missing one reading from the DP button on the

System: Missing reading MMS
Alarm
B from MMS
on DP
Action: A firm push on the MMS button the next time

might be required. Check MMS connectors.
Cause: Reading A from the DP button on the MMS is

MMS reading A constant constant high
Alarm
high
on DP.
Action: Check MMS connectors.
Cause: Reading B from the DP button on the MMS is

MMS reading B constant constant high
Alarm
high
on DP.
Action: Check MMS connectors.
Cause: Command is transferred to another system

Command was taken by (joystick, backup DP etc).
Warning
<System type>
Effect: The other system has command.
Action: The proper way to transfer command is

to deactivate the DP system before taking
command on the Poscon joystick system.

Cause: The Manoeuvring Mode Selector Switch status

System: Different readings signals are different on system A and B.
Alarm
from MMS
Action: Check signal, wires and connections. Most likely

a wire is not properly connected.
Cause: Someone has pushed the Release to Manual

Release to manual button on the MMS.
Warning
activated
Effect: Thruster control is released to thruster levers.
Thrusters are no longer commanded by the DP
system.
Action: Take command of the thrusters on the thruster

levers.
Cause: The loop monitoring of the MMS switch has

Cabinet <name>: Lost detected a wire break.
Alarm
contact with MMS switch
Effect: It may not be possible to enable the system with
the MMS switch.
Action: Check MMS switch connectors/wires and

Table 1.13: MMS Alerts

Part IV Chapter 2: Controller Synchronization
Chapter 2 | Controller Synchronization
On systems with DP controller redundancy (all DP class 2 and DP class 3 systems) there are certain
scenarios where controllers need to be re-synchronized. See Section 3.5 - Controller Redundancy for
more info on controller redundancy.
DP controllers synchronization is done in the following steps:
1. Navigate to Global Menu.
2. Open Sync DP controllers dropdown menu.
3. Press the Synchronize button.
4. Repeat for each DP controller which needs to be synchronized.
Note!
The Synchronize button is only enabled when the DP control system is in standby mode and
a controller needs to be synchronized.
Figure 2.1: Sync DP controller menu with Synchronize button

disabled

Part IV Chapter 3: Touchscreen Calibration
Chapter 3 | Touchscreen Calibration
Touchscreen calibration should only be relevant for some old display types, if calibration is needed
please contact Thrustmaster of Texas, Inc. technical support, see Part IX - Contact List.

Part IV Chapter 4: Service Access
Chapter 4 | Service Access
Key Function
A Log in to “Advanced user”, “Service Engineer” or “Development” level
B View for downloading controller and display logs
C View for handling playback logs
D View for logging and configuring serial ports (currently selected)
Figure 4.1: Service access - Basic level

Part IV Chapter 4: Service Access
System information and settings for maintenance, troubleshooting or other service specific tasks, can
be found in the Service access window, shown in Figure 4.1. The various functions are organized
in tabs, and are presented to the user in accordance to the following access levels:
• Basic: This is the default level when first opening the Service access window. It requires no
password clearance and contains tabs for log download, playback and troubleshooting serial
ports.
• Advanced user: This level contains more sensitive settings and is therefore password protected.
These settings are normally not to be altered by the operator. However, in certain special cases
the password can be obtained from the Thrustmaster of Texas, Inc. technical support team,
see Part IX, Chapter 1 - Global 24 Hour Support.
• Service access: This level is strictly for Thrustmaster of Texas, Inc. service personnel.
• Development: This level is strictly for Thrustmaster of Texas, Inc. software developers.
Caution!
Unauthorized access to Advanced user, Service engineer or Development levels can result
in reduced system performance, or render the Icon DP system inoperable!

Part IV Chapter 5: System Logs
Chapter 5 | System Logs
It is possible to transfer the system log files to a USB memory stick. This usually has to be done in
situations where regular trouble shooting (managing issued alarms and taking appropriate measures,
phone support etc.) does not fix a problem. The log files can then be sent to Thrustmaster of Texas,
Inc. for further analysis. See Part IX - Contact List for contact information.
Note!
If an unexpected situation occurs on the Icon DP system, a system log download should always
be performed prior to any restart of the system!
Downloading system log files is done in the following steps:
1. Insert a USB memory stick to the USB port of the Operator Station computer or the remote
display.
2. Navigate to the Service Access window.
3. Open either the serial ports, logs or playback view
4. Choose type of log and export to memory stick
There are several types of system log files which is of interest if something fails:
• Serial line log
• Controller and display system logs
• Display memory log
• Software version report
• Antenna position report
• Playback log - see Chapter 4 - Playback for detailed explanation
See Figure 5.1 for how to find the different views in the service window basic level.
See Figure 5.3 for how to find the buttons for downloading controller and display system logs, display
memory log, software version report and antenna position report.

Key Function
A Log in to “Advanced user”, “Service Engineer” or “Development” level
B View for downloading controller and display system logs, memory logs
and software version report
C View for downloading playback logs
D View for downloading and monitoring serial port data (currently

selected)
Figure 5.1: Service access - Basic level

5.1 Serial Line Log
The Icon DP system receives external sensor and posref data through serial lines connected to one
or more of the system’s controllers. The data being received on each of these serial lines can be
monitored from the serial ports tab in the Service Access window. The log terminal is shown in
Figure 5.2, and includes the following choices:
• Select device: The Select device dropdown button contains all sensors interfaced to the
DP system. It is used to select which signal should be logged.
• Start: Pressing the Start button causes the log window to display data being received from
the sensor selected in the Select device dropdown button.
• Stop: Pressing the Stop button interrupts displaying the incoming data.
• Save log: The Save log button will be visible as long as an external USB memory stick is
connected to the Operator Station. Press the button to create a system log file on the USB
memory’s root folder, containing the data shown on the terminal window.
Figure 5.3: Logs view
5.1.1 Controller and GUI system logs
The system logs can be downloaded from the Logs view by pressing the Download controller and
gui logs button. The system logs will be downloaded to the chosen memory stick, and can then be
sent to Thrustmaster of Texas, Inc. for analysis.
The system logs contain information from the different applications running on the controllers and
displays, as well as information from the underlying operating systems. This information is valuable
when troubleshooting a faulty system.

Key Function
A Device selection button
B Start logging button
C Stop logging button
D Clear log window button
E Save log to USB memory
F Log window
Figure 5.2: Log terminal

5.1.2 Display memory log
The display memory log can be downloaded from the Logs view by pressing the Save heap dump
to file button. The system logs will be downloaded to the chosen memory stick, and can then be
sent to Thrustmaster of Texas, Inc. for analysis.
The display memory log contain information on the GUI application memory footprint, and gives
detailed information on how the application is utilizing its resources. This information together with
the system logs is valuable when troubleshooting a faulty system.
The memory log file is normally between 300-800MB, and is compressed automatically to *.zip
format in order to make it easier to transfer the file to Thrustmaster of Texas, Inc. for analysis. After
compression will the file size normally be between 40-100MB. This is still too much to send by e-mail.
Contact Thrustmaster of Texas, Inc. before sending in order to agree on how to transfer the file.
Note!
It is not possible to download heap dump on a display which is in command of any system.
The GUI application can freeze and stop while generating the memory file.
Note!
The live objects only checkbox should always be checked when exporting the memory log,
unless told otherwise by Thrustmaster of Texas, Inc.
Figure 5.4: Export heap dump dialogue
5.1.3 Software version report
The software version report can be downloaded or printed from the Logs view by pressing the Save
software version report button. The generated report can either be downloaded to the chosen
memory stick, or transferred to the system report printer.
This report contains information on which versions of application software, operating system,
middleware and BIOS the different main components in the system is currently running.

5.1.4 Antenna position report
The antenna position report can be downloaded or printed from the Logs view by pressing the Save
antenna position report button. The generated report can either be downloaded to the chosen
memory stick, or transferred to the system report printer.
This report contains information on the antenna positions for position references and wind sensors.
The reference point(origin) for the coordinate system is set in the midpoint of Length Between
Perpendiculars (LPP) along Centre Line (CL) on the Design Water Line (DWL). See Figure 5.5 for
reference on coordinate system.
• X coordinate - Positive value towards the bow
• Y coordinate - Positive value towards starboard
• Z coordinate - Positive value towards the keel
Figure 5.5: Coordinate system for antenna positions

Part IV Chapter 6: Software Versions
Chapter 6 | Software Versions
Information about software versions, operating systems and technical support contact are provided in
the About window, which is reached from the global menu button. For details of navigation to the
About window see Part II, Section 1.3.8 - Global Menu.
The About window is divided into following views, see figure 6.1:
• Version: The Version view displays the Graphical User Interface’s and the control system’s
software versions.
• Support: The Support view displays technical support contact information. For more contact
details, see Part IX - Contact List.
• Licenses: The Licenses view lists license information about third-party software libraries used
in the application.
• Details: The Details view displays information about the Operator Station’s hardware and
operating system related information.

Part IV Chapter 6: Software Versions
Figure 6.1: About window

Part V
Spare Parts
347
Part V Chapter 1: Ordering Spare Parts
Chapter 1 | Ordering Spare Parts
For ordering of spare parts, please contact Thrustmaster of Texas, Inc. support. Contact information
can be found in Part IX - Contact List.
There are two ways of ordering spare parts for the system:
• Components ordered separately
• Spare parts kits put together to match the various system configurations
1.1 Ordering Spare Parts Separately
To ensure that correct components are shipped, it is essential that each part is correctly
specified in the order. For part identification, please refer to the part’s ID in the
design drawing documentation in this manual. The part ID is identified as follows:
<EAC Project ID> <Unit No> <Item No>
• The EAC Project ID is found on the front page of the manual.

Example: EAC-116408 (i.e. EAC-116408-01MU is the Operating & Maintenance Manual).
• To identify the Unit No. refer to the Cable Diagram for the specific project. Example: +T001
(Main Control Cabinet).
• To identify the Item No. refer to the internal Wiring Diagram for the corresponding unit.
Example: EAC-32xxxx-01DW is the Wiring Diagram for the Main Control Cabinet. Item No:
-U24 is the CPU Controller.
Following the example above, the part number for the CPU Controller unit of this specific project
should read: EAC-116408+T001-U24. For more information, see Drawings, References - Chapter 2.
For parts in sensors and positioning reference systems, please check the corresponding sub supplier
manual in the end of this manual.

Part V Chapter 2: Supplied Spare Parts
Chapter 2 | Supplied Spare Parts
The system is typically delivered with a fuse kit including a variety of 5x20mm or 5x25mm fuses.
The current rating of the fuses reflects the equipment installed in the system. More parts can be
ordered from Thrustmaster of Texas, Inc., see Chapter 1.

Part V Chapter 3: Spare Parts List
Chapter 3 | Spare Parts List
The complete list of spare parts can be found in the delivery specific information found in Part X,

Part V Chapter 4: Recommended Spare Parts
Chapter 4 | Recommended Spare Parts
Apart from some types of reference systems, the system does not have any parts that are subject to
wear due to normal operation. The spare parts kit comprises essential parts, that in case of a failure
may put the system out of operation until the faulty part is replaced. The system spare parts kit is
recommended to be carried on board vessels that are offshore for long periods of time. Table 4.1
shows the recommended spare parts.
Qty. Spare part Comment
1 Marine Controller
1 AC/DC Power Supply
1 Managed fibre-optic network switch
1 Fibre-optic Ethernet cable
1 Fuse kit
1 Input device(s)
1 Serial line converter RS232/RS422 Only if applicable
1 I/O module RRAIO16
1 I/O module RRDIO15
1 Isolation amplifier, programmable Only if applicable
1 Relay
1 Panel PC Only if applicable
Table 4.1: Recommended spare parts
Note!
Some of the listed parts may need a special configuration/set-up procedure, depending on
where the part is being used. This must be taken care of by a certified maintenance engineer.

Part V Chapter 5: Preservation
Chapter 5 | Preservation
Spare parts containing batteries must be powered up frequently to prevent complete discharge of the
internal batteries. It’s recommended that all electronic units are powered up every six months to
ensure that batteries are charged. The units should be powered up continuously for at least 24 hours.

Part VI
Tools
359
Part VI Chapter 1: Recommended Tools
Chapter 1 | Recommended Tools
The following tools are recommended for the installation and maintenance of a Icon DP system:
• Standard network technician tools
• Standard electrician tools
• Optic fibre termination tools (if applicable)
Caution!
Always use appropriate tools for all maintenance tasks. Use of inappropriate tools may lead to
system malfunction.

Part VII
Drawings
363
Part VII Chapter 1: General
Chapter 1 | General
Drawings are included in Part X - Appendices.
• System design drawings can be found in Appendix C - System Design Drawings.
• Dimensional drawings of equipment can be found in Appendix D - Equipment Dimensional

Drawings.
• Electrical drawings of equipment can be found in Appendix E - Equipment Electrical Drawings.
Documents are given names according to type of document. All documents starting with EAC-116408-
are project specific documentation. Documents starting with another identification number are
generic documents used for standard items and units.

Part VII Chapter 2: References
Chapter 2 | References
References to delivery specific documents are only shown as suffices in this document. The document
ID syntax is: EAC-116408-<Suffix>. Document type can be identified by checking the suffix of the
document ID:

Part VII Chapter 2: References
Type Suffix Description
Drawings xxDB Block Diagram
xxDC Cable Diagram
xxDW Wiring Diagram
xxDM Mechanical Drawing
xxDL Layout Drawing
Listings xxLI Main Item List
xxLC Cable List
xxLF Fuse List
xxLT Cable Termination List
xxLP Parts List
xxLD List of Drawings
Documents xxTQ Software Quality Plan
xxTS Sea trial Acceptance Test
xxTF Factory Acceptance Test
xxTH Harbour Acceptance Test
xxEC Capability Report
xxEF FMEA Report
xxME Engineering Manual
xxMI Installation Manual
xxMU Operating & Maintenance Manual
xxMC Class Manual
xxMX Common document for manuals
Table 2.1: Document suffices

Part VIII
Sub-supplier Manuals
369
Part VIII Chapter 1: General
Chapter 1 | General
Some of the delivered equipment require separate sub-supplier manuals. The sub-supplier manuals
typically include vital information such as installation guidance, drawings, safety warnings, maintenance
procedures, operation procedures etc. Sub-suppliers manuals can be found in Part X, Appendix F -
Sub-suppliers Manuals.

Part VIII Chapter 2: References
Chapter 2 | References
References to delivery specific documents are only shown as suffices in this document. The document
ID syntax is: EAC-116408-<Suffix>. Document type can be identified by checking the suffix of the
document ID listed in Part VII Drawings, Chapter 2 - References.

Part IX
Contact List
375
Part IX Chapter 1: Global 24 Hour Support
Chapter 1 | Global 24 Hour Support
For technical support or questions regarding the Thrustmaster of Texas, Inc. systems, please contact:
E-mail: services@thrustmastertexas.com
Phone: +1 713-937-6295
Contacting this e-mail address or phone number will put you through to our global 24 hour support
team.
Note!
For an updated list of contact information, please visit:
https://www.thrustmaster.net/contact-us/
Chapter 2 | Training
For information regarding training courses, please visit the web page:
https://www.thrustmaster.net/service-request/

Part X
Appendices
379
Part X Appendix A: List of changes in Appendices
Appendix A | List of changes in

Appendices
This chapter gives a summary of which files has been revised or added since previous revision of this
manual.
A.1 Test and Verification
"SAT Procedure - AAC-116408-01TS(A)" has been added to the manual.
"FMEA Document - CAA-116408-01EF(B)" has been added to the manual.
A.2 System Design Drawings
"Main Item List - AAC-116408-01LI" has been updated from revision 17-04-19 to revision 21-12-18
"Cable Diagram - AAC-116408-01DC" has been updated from revision C to revision G
"Wiring Diagram - AAC-116408-01DW" has been updated from revision B to revision H
"Cable List - AAC-116408-01LC" has been updated from revision 17-05-15 to revision 21-12-18
"Fuse List - AAC-116408-01LF" has been updated from revision 17-05-12 to revision 21-12-18
A.3 Equipment Dimensional Drawings
"DP2 CABINET, TRIPLE COMPUTER - AAC-315030-01DL(A)" has been added to the manual.
"Joystick Device G2, IP22 - EAC-411006-01DL(G) DP AND JS DEVICE - LAYOUT DRAWING"

has been added to the manual.
"Color Laser - AAC-416011-01DL" has been updated from revision A to revision B
"Computer, DP2 - AAC-492007-02DL(B)" has been added to the manual.
"Veripos GNSS suite, 2xLIUD6-G - CAA-610024-01DL" has been updated from revision A to revision
B

Part X Appendix A.5: Sub-suppliers Manuals
A.4 Equipment Electrical Drawings
"DP2 CABINET, TRIPLE COMPUTER - AAC-315030-01DW(D) WIRING DIAGRAM" has been

added to the manual.
"EBM module, 3kVA, UPS, 3kVA, network card - AAC-381004-01DW" has been updated from
revision B to revision C
"Computer, DP2 - AAC-492007-02DW(B)" has been added to the manual.
A.5 Sub-suppliers Manuals
No changes in this chapter.

Part X Appendix B: Test and Verification
Appendix B | Test and Verification

Part X Appendix B.1: SAT Procedure - AAC-116408-01TS(A)
Sea Trial Acceptance Test

Icon DP 2
Dynamic Positioning System Class 2
Yard Hull / Vessel Name: Alianca ETH-001 / CBO Guanabara

Document No.(Revision): AAC-116408-01TS(A)
Sea Trial Acceptance Test conformance

Part Company / Organization Representative Name Signature
Owner
Customer /
Yard
Classification DNV
Society
Service Rolls-Royce Marine AS
Engineer Automation & Control
Test Location Test Date (dd.mm.yyyy)
Rolls-Royce Marine Project Identification

AAC ID: ERP ID:
116408 LO0401298
Approval (mark the actual approval status)
Approved
Approved with findings (see List of Findings at last page)
Not Approved (see List of Findings at last page)
Approval no:

Document No: Sea Trial Acceptance Test

AAC-116408-01TS (A) Icon DP 2
Contact Information
Marine Service Operations - Automation and Control
Address: Rolls-Royce Marine AS

Marine Service Operations – Automation and Control
Postal address:
P.O. Box 1522
N-6025 Aalesund
Norway
Visiting address:
Borgundveien 340
N-6009 Aalesund
Norway
E-mail: dpsupport@rolls-royce.com
Duty service phone: +47 99 11 62 72
Note!
For an updated list of contact information, please visit:
http://www.rolls-royce.com/marine/contacts
Security Classification: UNCLASSIFIED Page 1 of 37

©2017 Rolls-Royce Marine AS, Automation & Control
The information in this document is the property of Rolls-Royce Marine AS, Automation & Control and may not be
copied, or communicated to a third party, or used, for any purpose other than that for which it is supplied without the
express written consent of Rolls-Royce Marine AS, Automation & Control.


CONTENTS
1 REVISION HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 INTRODUCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.2 Yearly Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.3 Test Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.4 Test Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3 SYSTEM TEST CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . 5

3.1 Software Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4 COMMISSIONING AND TUNING CHECKLISTS . . . . . . . . . . . . . . . . 6

4.1 Quay Side Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4.2 Tuning and Verification at Sea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
5 SEA TRIAL ACCEPTANCE TESTS . . . . . . . . . . . . . . . . . . . . . . . . 13

5.1 System Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.2 System Activation, Deactivation and Command Transfer . . . . . . . . . . . . . . . 16
5.3 Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.4 Power Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.5 Consequence Analysis – Reduced Number of Thrusters . . . . . . . . . . . . . . . . 22
5.6 Functional test Position Reference System . . . . . . . . . . . . . . . . . . . . . . 23
5.7 Failures in Position Reference System . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.8 Failures in Sensor System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.9 Failures in Thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.10 Failure in DP 2 Control System Redundancy . . . . . . . . . . . . . . . . . . . . . 33
5.11 Failures in UPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6 LIST OF FINDINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Terms and Abbreviations

RRM Rolls-Royce Marine



1 REVISION HISTORY
Revision Reason for revision Author Date RR v1 RR v2 RR rev
A First issue ØAD Apr 20, 2017 3.9.0 1.0.0 -
2 INTRODUCTION
2.1 Purpose
This document contains the sea trial acceptance test for the Rolls-Royce Marine Icon DP control
system. The sea trial acceptance test includes test and verification activities performed at sea. The
sea trial acceptance test covers the classification society requirements.
2.2 Yearly Testing
Besides being a sea trial acceptance test document, the document is also recommended to use
for yearly testing of the Icon DP control system. A yearly testing is not recommend only as a
good maintenance practice to verify that things are still working as intended, but also to familiarise
operators of the Icon DP control system with its functionality and failure handling. All tests that are
recommended to be performed yearly are in the chapter Sea Trial Acceptance Tests. And if a test is
recommended to be performed yearly it is marked with a (Y), under the test number.
Note!
It is not recommended to disconnect anything when performing a yearly testing, i.e., only tests
that can be performed by switching on/off, enabling/disabling and similar are recommended
to be performed.
2.3 Test Overview
Sea trial acceptance test pre-requisites:
- The Factory Acceptance Test (FAT), document AAC-116408- 01TF, of the Icon DP system
has been performed at Rolls-Royce Marine.
- The Rolls-Royce Marine service engineer has completed the Icon DP system quayside
commissioning activities, see section Quay Side Commissioning.
- The main propulsion and tests are completed.
- The Rolls-Royce Marine service engineer has completed Tuning and Verification at Sea and
signed out all fields in the chapter Commissioning and Tuning Checklists


2.4 Test Procedure
Perform tests according to test procedure in chapter Sea Trial Acceptance Tests. The classification
society representative and the Rolls-Royce Marine service engineer shall verify each test. It is preferred
that also representatives from the vessel owner and the customer/yard take part in the verifications
of the tests.
Findings & Signing

Findings and corrective actions shall be noted in the chapter List of Findings, a more detailed
description of a finding may be noted in the comments field after the actual test section.
Finally, the representatives shall sign and fill in the corresponding fields on the front page.
2.5 References
References to delivery specific documents are only shown as suffixes in this document. The document
ID syntax is: AAC-116408-<Suffix>. See Table 2.1 for listing of document suffixes.
Type Suffix Description

Drawings 01DC Cable Diagram
01DW Wiring Diagram
01DM Mechanical Drawing
01DL Layout Drawing
Listings 01LI Item List
01LC Cable List
01LF Fuse List
Documents 01TQ Software Quality Plan
01TS Sea Trial Acceptance Test
01TF Factory Acceptance Test
01EF Failure Mode and Effect Analysis
01MI Installation Manual
01MU User Manual
01MC Class Manual
01MX Common document for manuals
Table 2.1: Document suffixes



3 SYSTEM TEST CONFIGURATION

The main system components and interfaces that are subject for testing are shown in the Cable
Diagram, document AAC-116408-01DC.
All installed propulsion and thruster systems interfaced to the Icon DP 2 system, shall be available
during the test. For sensors and position reference systems at least enough devices to satisfy class
requirements shall be available simultaneously. All devices interfaced to the Icon DP 2 system is
to be tested and must be available at some part of the test. Hence, a reflector/transponder must
available for testing relative position references installed. For system of type Dynamic Positioning
System Class 2 , main switchboard shall be set up in a mode approved for the DP class notation.
3.1 Software Versions
During the sea trial acceptance test, the following software versions are used:
Computer module Software version

RR Icon DP 2 Application software
RR Graphical User Interface software
RR Common Application Framework version
Bios version, DP controller
Java version: GUI computer
Operating System (Linux): GUI computer
Operating System (build date): GUI computer
Java version: Panel PC
Operating System (Linux): Panel PC
Operating System (Linux Image ID): Panel PC
Input device software
Network switch software



4 COMMISSIONING AND TUNING CHECKLISTS

4.1 Quay Side Commissioning
The following activities are to be performed and signed by presented Rolls-Royce Marine Service
Engineer at quayside/yard, before the sea trial starts.
4.1.1 Quayside check list

# Verification description Signature
.1 Power supply
- Power supply (230VAC) for Rolls-Royce Marine DP equipment is available
from correct power source and has satisfactory quality. Separation of power
supplies are according to a DP2/3 class society requirement.
- Power and grounding connectors are correctly terminated.
- Internal power units (24VDC) are working correctly and have satisfactory
quality.
.2 Icon DP LAN
- Ethernet network is correctly installed and terminated.
- Network switches has correct SW version and configuration.
- The network is correctly configured with addresses on all units (operator
stations, controller(s), printer ).
- Communication works correctly for all units connected.
.3 Controllers
- Correct SW version is loaded on all controllers (base SW, application SW).
- Configuration parameters are installed.
- Controllers are up and running with no errors. Remember to check message
logs in web interface.
- Controller redundancy is fully functional.
.4 Operator stations
- Correct SW version is loaded (base SW, application SW).
- Configuration parameters are installed.
- Operator station is up and running with no errors. Remember to check
message logs in web interface.
- Communication works properly.
- Operator devices works properly.
- USB service connection is up working and it is possible to download logs.
.5 Thruster LAN
- Ethernet network to thrusters, main propellers are installed and terminated
correctly.
- Thruster interface switches has correct SW version and configuration.
- The network addresses are correctly configured on all units.



.6 Discrete IO units
- All IO units are correctly strapped and configured.
- IO signals are correctly terminated and loop test performed.
- All channels are correctly configured (signal -type, -scaling, -zero, -limits).
- Perform failure tests on Power system interfaces.
- Communication failures are detected on all signals and alarms are issued.
.7 NMEA serial interfaces
- All serial interfaces are correctly terminated.
- All serial interfaces are correctly configured and telegram quality is verified
in hyper terminal.
- Failure test for all sensors and position references performed.
4.2 Tuning and Verification at Sea
For the following activities the vessel is assigned for Rolls-Royce Marine Icon DP tuning and verification
in open sea, or at sufficient large area in a fjord. The activity is to be performed and signed by
presented Rolls-Royce Marine Service Engineer, before the Sea Trial Acceptance Tests is started. No
interfering activities should take place during the tuning and verification activities.
4.2.1 At sea check list for sensors

.1 Gyro signals verification
- Log gyro signals for heading and turning rate.
- Verify correct presentation on graphical user interface.
- Analyse signals and verify quality.
- Check communication failure detection functions and alarms.
- Update Rolls-Royce Marine DP configuration/tuning parameters.
.2 VRU signals verification
- Log signals for vessel pitch, roll and heave angles.
- Analyse signals and verify quality
.3 Wind sensor signals verification
- Log signals for wind-speed and direction.



4.2.2 At sea check list for position references

.1 GNSS signals verification
- Log position measurement signals and other signals from GNSSes.
.2 Laser/radar, position reference signals verification
- Log position measurement signals.
.3 Hydroacustic position reference signals verification
- Log position measurement signals.



4.2.3 At sea check list for thrusters and propulsion

Repeat the identification procedures until the system has the satisfactory performance in
manual joystick mode with:
- all thrust devices active
- reduced number of thrust devices active
- thrust devices in fixed direction configurations
.1 For each thrust device (thruster/propeller):
- Verify request and acknowledge signal interface to the remote propulsion
control systems.
- Log setpoint and feedback signals (i.e. applicable signals for rpm, pitch and
azimuth angle).
- Command stepwise changes in setpoints for applicable setpoints in rpm,
pitch and azimuth angle (one by one).
- If required, update remote propulsion controllers or variable speed drive
settings.
- Analyse signals, verify signal quality and identify thruster
characteristics/dynamics.
- Check communication failure detections and alarms.
- Check feedback setpoint monitoring functionality and corresponding alarms.
- Update Rolls-Royce Marine DP configuration/tuning.
.2 Thrust device identification (perform joystick manoeuvres)
- Set the propulsion system in pre-defined configurations.
- Check the maximum force settings against 100% joystick commands (positive
and negative directions) for decoupled surge, sway and yaw joystick inputs.
- Check the maximum force settings against 100% joystick commands (positive
and negative directions) for coupled surge, sway and yaw joystick inputs.
- Command force in sway direction only, verify the force balance between the
different thrust device fore and aft of midship.
- Verify/tune positive and negative thrust force in surge direction.
- Monitor feedback signals for thrust and generator power load signals.
- Verify correct presentation of power signals on graphical user interface.
- Analyse signals, identify thruster force characteristics, verify thruster power
characteristics and generator load signals.



4.2.4 Check list for performance tuning

Repeat until satisfactory system performance is obtained:
.1 Auto heading, manual positioning
Perform operations, as change heading, manoeuvre manual in surge and sway,
and verify the performance:
- with different gain settings
- with different rate of turn settings
- with different thrust configurations
- with step disturbance
- with wind compensation enable and disabled
- in heading dead reckoning
Update Rolls-Royce Marine DP tuning parameters until all control function

has satisfactory performance.
.2 Auto positioning and heading
Perform operations, as positioning change in surge and sway in decoupled
and coupled moves, combined change in position and heading, and verify the
performance:
- with different gain settings
- with different speed settings
- with different thrust configurations (and with different pitch/rpm rates if
applicable)
- with step disturbance
- with wind compensation enable and disabled
- with rotation point in bow or stern
- in positioning dead reckoning
- in positioning and heading dead reckoning
Update Rolls-Royce Marine DP tuning parameters until all control function

has satisfactory performance.



4.2.5 Commissioning check list for functional tests

Verify that system functionality is according to the functional descriptions, including:
.1 Manoeuvre Mode Selector (MMS/ “DP switch”)
- In DP mode switch over to Manual → thrust devices not available for DP.
- In Manual mode switch over to JS → thrust devices available for JS.
- In JS mode switch over to Manual → thrust devices not available for DP.
- In Manual mode switch over to DP → thrust devices available for DP.
- In DP mode press the Release to Manual button (if available),
then operate the vessel with thruster levers (all thrusters should have been
released to manual lever mode).
- DP and JS system can not be in command of thrusters simultaneously.
.2 System activation and deactivation
- MMS has to be in DP mode to be able to activate system.
- System goes in command at station where activation is performed. Remote
Thruster Control operator station follows DP in command station if there
are thrust levers presence at the DP in command station (RTC index check).
- When deactivating DP system, thrusters fall back to correct Remote Thruster
Control operator station (RTC index check).
.3 Command transfer
- Master stations are correctly defined and can take command directly.
- Slave stations need give before command can be taken.
- Serious failure on operator station triggers give command.
.4 Start-up modes and enabling/disabling thrust devices
- Correct thrusters are activated in accordance to start-up modes.
- When deactivating the system, start-up mode goes back to default mode.
- Operator disabled thrusters go to manual levers if levers present at work
station, else they are kept with zero order (RTC index check).
.5 Graphical User Interface (GUI)
- System functions according to vessel specification/configuration.
- Orientation of displayed information according to physical orientation.
- Correct alarm indication, alarm buzzer, alarm list.
- Correct presentation in system log.
- Operator stations not in command are disabled for system input.
- DP class monitoring correctly presented.
- Password protection enabled for the service menu.



4.2.5 Commissioning check list for functional tests

Verify that system functionality is according to the functional descriptions, including:
.6 Power limitation and external reductions
- Adjust power limitation limits and verify alarms and warnings.
- Manoeuvre rough in DP Manual mode and verify that power limitation limits
are adequate.
- Let remote thrust control simulate external pitch/rpm reduction signal to
DP system, and verify that that external pitch/rpm reduction gives alarm
and that thrusters are not thrown out because of external reductions.
.7 DP class monitoring
- Verify position references class monitoring.
- Verify sensors class monitoring.
- Verify CQA class monitoring.
- Verify system class monitoring.
.8 Verify functionality of capability analyse function:
- User settings, different plot types.
- Heading and north indication are presented correctly.
- Printing of capability report.
- Saving report to USB device.
.9 Verify trainer functionality:
- System performance of trainer.
- FMEA functions.
- Enable and disable the trainer, trainer should be blocked from enabling when
DP system is active.
- Enabling DP mode on MMS turns trainer off.
.10 Verify functionality and performance of target tracking
- Verify enabling/disabling relative position references as target.
- If possible, enable two targets and test all target tracking modes.



5 SEA TRIAL ACCEPTANCE TESTS

Pre-requisites for all tests in this chapter:
- The vessel is assigned for Icon DP acceptance testing in open sea or at a sufficient large area
in a fjord.
- All thrusters are available for Icon DP system testing.
- Enough power is available to run all thrust units with maximum load.
- Switchboard configured to satisfy class notation.
- Vessel draught should be according to normal operation draught.
- No interfering activities should take place during the test.
The Icon DP system is configured to have the initial settings at start-up as defined in Table 5.1. Fill
in any changes from the standard Icon DP values due to owner request, in the “New value” field.
Type Description Value New value

General Rotation point mid ship
Speed unit knots
Force unit Tons
Heading Rate of turn limit 20 °/min
Control gain medium
Alarm limit 3°
Warning limit 2°
Positioning Speed limit 0.5 knot
Control gain medium
Alarm limit 5 meter
Warning limit 4 meter
Allocation Thrust bias medium
Azimuth angle Auto
Joystick sensitivity medium
Table 5.1: Default settings
Fill in environmental and vessel specific conditions in Table 5.2.



Type Description Value

Wind Speed
Direction
Wave Hight
Direction
Vessel Draught Fwd
Aft
Table 5.2: Environmental and vessel Conditions



5.1 System Reliability
5.1.1 System bootup and duration

# Test description Verified result V
.1 Cold bootup
(Y) The complete automatic system, The complete automatic system shall come up
i.e. the DP control cabinet(s) and and be ready for enabling without any further
operator station(s), shall be action needed.
powered down and then be
powered up.
.2 System duration
(Y) A duration test shall be carried out All failures shall be recorded and analysed to be
for at least 8 hours with the acceptable.
complete automatic system in
operation.
Recorded failures:
Note!
The time spent on DP functional tests, FMEA tests or other tests performed where DP is
active, can be deducted from the time required for the duration test.



5.2 System Activation, Deactivation and Command Transfer
5.2.1 Manoeuvre Mode Selector

.1 MMS in OFF Mode
(Y) Try to activate the DP system “System in standby” is indicated in the GUI
when no mode is selected on the bottom bar.
MMS. Double-press the System
activate button on an input Not possible to activate the DP system.
device.
.2 MMS in DP mode
(Y) Activate DP mode on the MMS. Thrusters become available for DP .
Do no further action.
.3 Activate DP system
(Y) Activate the DP system by When the DP system is activated, available
double-pressing the System thrusters become enabled. Manual position and
activate button on the input heading mode is entered1 . The vessel can be
device. manoeuvred by using the joystick lever.
All thrusters are controlled by the DP system.
.4 Deactivate DP system
(Y) Deactivate the DP system by The DP system is deactivated and thrusters are
double-pressing the System ready for Manual control.
activate button on the input
device.
Comments:
1
If another startup mode than Normal is selected, i.e. Hdg - Forward or Hdg & Sway, selected Startup mode
will be entered.


5.3 Control Functions
5.3.1 Control functions Auto Heading mode

Test to be repeated/distributed among operator stations:
- Buttons and axes on input device are to be tested on all Operator Stations.
- Wind compensation function to be in off mode.
.1 Auto Heading
(Y) Activate DP mode and then Heading control mode changes to Auto Heading
activate Auto Heading by pressing mode with current heading as setpoint.
the Auto heading button (twice) In Auto heading mode the heading of the vessel
on the input device. is kept automatically at the present heading
setpoint.
Manoeuvre the vessel sideways Surge and sway axes are controlled manually by
versus port and starboard the joystick.
respectively with the joystick lever. The vessel moves in the desired direction and
Manoeuvre the vessel forwards and heading is kept at setpoint.
aft respectively with the joystick Possible heading deviation should be within
lever. reasonable limits according to prevailing
conditions1 .
The vessel speed indication in the GUI is
presented correctly.
Move the joystick lever to 50% The thruster action is changed according to the
port or starboard. Change the joystick sensitivity setting.
joystick sensitivity settings to Low, High Gain shall result in higher thruster usage in
Medium and High, respectively. the different directions.
Set the Heading control gain to Correct gain settings is indicated in the GUI and
‘High’, ‘Medium’ or ‘Low’ from the yaw forces increases/decreases due to the gain
GUI. setting.
Change warning and alarm Heading warning and alarm limits displayed in
deviation limits for heading control. the GUI are changed.
Out of Heading warning/alarm is issued when
the limit is exceeded.
.2 Auto Heading Re-Fix
(Y) When in Auto Heading, press the The heading setpoint is set to be the current
Auto heading button (twice) on heading when the button is activated.
the input device.
.3 Auto Heading Disabling
(Y) When in Auto Heading mode, hold The heading mode is changed to Manual.
the Auto heading button on the
input device for at least 3 seconds.



5.3.2 Control Functions Change Heading Mode

.4 Change Heading
(Y) Activate Auto Heading from the The new Heading setpoint is clearly indicated in
GUI and change the heading the GUI.
setpoint in port and starboard
direction by: The vessel automatically turns from the present
a) twisting the Joystick lever and heading towards the new heading setpoint.
then press the OK button on top
of the lever.
b) set a new Heading setpoint from
the GUI.
While in Change Heading mode, Surge and sway axes are controlled manually by
manoeuvre the vessel in port and the joystick.
starboard direction with the
joystick lever. The vessel moves in the desired direction and
heading is turning against the setpoint.
Comments:
1
The acceptance criteria for heading deviation must be evaluated against the environmental conditions during
the sea trial. Wind, wave and current may cause the heading to exceed the deviation limit for some time while
manoeuvring the vessel. Similar, the limit may also be exceeded if the thrusters are used extensively.


5.3.2 Control Functions Auto Position Mode

Repeat/distribute test so that buttons and axes are tested on all input devices.
Wind compensation function shall be turned off.
.1 Fixed Position
(Y) With position in Manual mode and The vessel is kept automatically at a fixed
heading in Fixed, calm down the position with small excursions from the position
vessel motion with the joystick setpoint. Dependent on the entrance speed a
lever and then activate Auto controlled position overshoot can occur when
position from display. entering fixed position.
Joystick lever position has no influence on the

thrusters’ action. Note, twisting joystick will give
a new heading setpoint.
Change the rotation point to Bow Desired position of the vessel is related to the
or Stern, and set a new heading selected rotation point. The heading change is
setpoint 90 ° to port or starboard. performed according to selected rotation point.
Change positioning Alarm and Position alarm and warning limits displayed in
Warning limits. the display(s) are updated. Out of Position alarm
/ warning is issued when the limits are exceeded.
Set the Positioning control gain to Correct gain settings is indicated in the GUI and
High, Medium and Low from the surge/sway forces increases/decreases due to the
GUI. gain setting.
Change the rotation point back to Change of rotation point is disabled when
Midship. heading isn’t in Fixed mode.
.2 Fixed Position Re-Fix
(Y) With position in Auto mode, press The position setpoint is set to be the current
the Auto surge or the Auto sway position of the vessel when one of these buttons
button (twice) on the input device. is double-pressed.
.3 Change Position
(Y) With position in Auto mode, The new position setpoint is clearly indicated in
change the position setpoint in the GUI.
surge and sway direction by:
a) using the arrow buttons on top When OK is pushed, the vessel automatically
of the Joystick lever and then press starts moving from the present position towards
the OK button on top of the lever. the new position setpoint.
b) set a new position setpoint from
the GUI.



5.3.2 Control Functions Auto Position Mode

Repeat/distribute test so that buttons and axes are tested on all input devices.
Wind compensation function shall be turned off.
.4 Wind Compensation
(Y) With position settle at setpoint, There will be additional dynamic surge and sway
enable the wind compensation forces in auto position modes when wind
function and then after minimum 2 compensation is active. The auto heading and
minutes, disable the wind positioning function is not affected and there are
compensation function. no sudden changes in thruster usage when wind
compensation function is enabled or disabled.
.5 Mixed Position I
(Y) With position in Auto mode, hold A popup with OK or Cancel appears in GUI.
the Auto surge (or the Auto
sway) button on the input device
for at least 3 seconds and then: a) The Auto surge (or the Auto sway) mode
a) select Cancel in the popup in is kept in Auto.
the GUI. b) The Auto surge (or the Auto sway) mode
b) select OK on top of joystick is changed to Manual.
lever or in the popup in the GUI.
.6 Mixed Position II
(Y) With Surge (or Sway) in Auto The mode that is in Manual is controlled by the
mode and the other in Manual joystick lever and a new setpoint can be set in
mode, try to manoeuvre the vessel the axis that is in Auto mode either from the
sideways and along ships with the GUI or by using the arrow buttons on top of the
joystick lever and change the joystick lever.
position setpoint either from the
GUI or by using the arrow buttons
on top of the joystick lever.
.7 Mixed Position III
(Y) With Surge (or Sway) in Auto The current vessel position is set as setpoint in
mode and the other in Manual the mode that is in Auto.
mode, press the button (twice) for
the mode that is in Auto.
.8 Mixed Position IV
(Y) With Surge (or Sway) in Auto The Manual mode is changed to Auto and the
mode and the other in Manual current vessel position is set as setpoint.
mode, press the button (twice) for
the mode that is in Manual.
Comments:



5.4 Power Limitation
5.4.1 Power limitation

.1 Thrust Power Limitation On
(Y) Reduce the available power for When the available power for thrusting is less
thrusting by: than the commanded thruster power, thruster
a) Degrade number of online power limitation is automatically performed:
generators, or - Thruster power limitation alarms are issued.
b) manipulating the tuning - The commanded surge and sway forces and
parameters for reserved power from yawing moment of the controller cannot be
the service menu1 . satisfied.
- The heading and position keeping performance
Manoeuvre the vessel heavily in are reduced.
Mixed or Manual mode such that - The vessel may drift off.
the power consumption hits the
power limitation2 . Power limitation in the DP system should be
triggered before any Power Management System
limitation is activated.
.2 Power Limitation Off mode
(Y) Switch the Power Limitation A warning “Power limitation disabled” appears in
function Off in the DP system, by the alert list and Power limitation OFF mode is
change the power limitation setting clearly indicated in the GUI.
to Off mode.
Switch the Power Limitation The warning “Power limitation disabled” and the
function On. indication in the GUI disappears.
.3 Thrust Power Limitation Off
(Y) Reduce power consumption. When enough power is available:
- The thruster power limitation alarms are
If tuning parameters for reserved deactivated.
power was changed, set them back - The commanded surge and sway forces and
to the original settings. yawing moment are satisfied.
- The heading and position keeping performance
is regained.
Comments:
1
The service menu tool is not available in normal operation.
2
Consumption of power can be manipulated by transfer command of thruster(s) to the remote thruster control
system, and then apply thrust manually on the thruster(s). Let the Icon DP stabilize the vessel such that the vessel
motion is calmed down and an increased amount of power is used.


5.5 Consequence Analysis – Reduced Number of Thrusters
Pre-requisites for these tests are:

- System active and operating in Auto Position and Auto Heading control.
- All thrust devices are available for operation.
- High precision position measurements are available.
- Power system in correct configuration for DP Class 2.
- DP 2 Class is selected on the graphical user interface and the DP Class is satisfied.
(If numbers of sensors and pos.refs. is not satisfying the Class notation this can be ignored.)
5.5.1 Consequence Analysis

.1 Initial
Let the vessel stabilize at the No Consequence Analysis alarm is active if the
present location in Auto Heading vessel is within the operational envelope.
and Auto Position with all thrust
devices enabled.
.2 Disable port-side
Disable port-side powered thrust Consequence analysis alarm issued when there is
devices one by one until insufficient thrust generation capacity on port
Consequence Analysis alarm is side. The DP system automatically reconfigures
issued. to a reduced thrust configuration. No sudden
changes in thrust device setpoints are registered,
and the heading and position is maintained.
.3 Disable starboard-side
Disable all starboard-side powered The vessel drifts away.
thrust devices.
.4 Re-enable port-side
Re-enable all port-side thrust Sufficient thrust generation capacity is obtained
devices. on port side, and the vessel moves slowly
towards the heading and position setpoints.
.5 Re-enable starboard-side
Re-enable all starboard-side thrust The Consequence Analysis alarm is deactivated.
devices.
Comments:



5.6 Functional test Position Reference System

- High precision satellite position measurements are available.
- Auto weighting function is selected for position reference system.



5.6.1 Position References Alignment Test

.1 GNSS Alignment
(Y) Let two (2) GNSS systems be active There shall be no large deviation between
and aligned. Rotate the vessel the two (2) GNSS.
slowly first at least 90°stbd (CW)
and then port (CCW), or make
a 360°turn in stbd (CW) or port
(CCW) direction.
.2 Laser/Radar Alignment
(Y) Let all GNSS systems be active Relative position reference systems are
and enable the relative position aligned with the global position reference
reference systems. Align all enabled systems and global Longitude / Latitude
position reference systems. Make a measurements are produced. No large differ
position / heading change. between the GNSS position and the relative
position reference occur when changing
position / heading.
.3 Laser/Radar Blind zone
Let the reflector/transponder for There shall be no large deviation between
(Y) the relative position reference the relative and the global position reference
system be in centred bearing when systems. Make a note of the angles when the
starting the test. Rotate the vessel reflector/transponder for the relative position
slowly first stbd (CW) and then reference are lost due to shadow from the
port (CCW) until all relative superstructure in the table below.
position reference systems are lost
due to shadow from the Device Stbd xxx° Port xxx°
superstructure.
RB-device 1:
.4 HPR Alignment
(Y) Let all GNSS systems be active and Relative
enable the HPR position reference position reference systems are aligned with
systems. Align all enabled position the global position reference systems and
reference systems. global longitude/latitude measurements are
produced.
Rotate the vessel slowly first at There shall be no large deviation between
least 90° stbd (CW) and then port the relative and the global position reference
(CCW), or make a 360° turn in stbd systems.
(CW) or port (CCW) direction.
Comments:



5.6.2 Performance test GNSS Position References system

.1 GNSS, 10x10m box-in test
Disable all position reference The DP system can operate with only the
systems except the GNSS that is GNSS that is enabled. The initial position
tested, and perform a 10x10m coincide inside acceptable limits with the final
box-in test manoeuvre. position. Make a note of the vessel positions
before and after performing the test in the
a) Write down the initial position. table below.
b) Change the position:

- 10m starboard,
- 10m astern,
- 10m port, Test results box-in test GNSS 1:
- and finally 10m forward. Position Northings/Lat Easting/Lon
Initial:
c) Write down the position when
the vessel has settled at the final Final:
setpoint.
Test results box-in test GNSS 2:

Position Northings/Lat Easting/Lon
Initial:
Final:
Comments:



5.6.3 Performance test Laser/Radar Position References system

.1 Laser/Radar, 10x10m box-in
test
systems except the Laser/Radar Laser/Radar that is enabled. The initial
that is tested, and perform a position coincide inside acceptable limits with
10x10m box-in test manoeuvre. the final position. Make a note of the vessel
positions before and after performing the test
a) Write down the initial position. in the table below.

- 10m starboard,
- 10m astern,
- 10m port, Test results box-in test Laser/Radar 1:
Initial:
setpoint.
Comments:
5.6.4 Performance test HPR Position References system

.1 HPR, 10x10m box-in test
systems except the HPR that is HPR that is enabled. The initial position
tested, and perform a 10x10m coincide inside acceptable limits with the final
box-in test manoeuvre. position. Make a note of the vessel positions
before and after performing the test in the
a) Write down the initial position. table below.

- 10m starboard,
- 10m astern,
- 10m port, Test results box-in test HPR 1:
Initial:
setpoint.
Comments:



5.6.6 Position References Combination Test

.1 GNSS vs RB device
(Y) Let two (2) GNSS systems and the The transition to degraded number of position
Range Bearing device be active and references is handled in a controlled manner.
aligned. Make a position change
and disable one of the position
references while in the position
change.
Enable (align if necessary) the The transition to degraded number of position
position references that was references is handled in a controlled manner.
disabled and repeat the above test
by disabling one of the other
position references.
.2 GNSS vs HPR device
(Y) Let two (2) GNSS systems and the The transition to degraded number of position
HPR device be active and aligned. references is handled in a controlled manner.
Make a position change and disable
one of the position references while
in the position change.
Enable (align if necessary) the The transition to degraded number of position
position references that was references is handled in a controlled manner.
disabled and repeat the above test
by disabling one of the other
position references.
Comments:



5.7 Failures in Position Reference System

- High precision satellite position measurements are available.
- Auto weighting function is selected for position reference system.
5.7.1 Failures in GNSS Position References

Relative position references can be disabled for this test.
.1 Position Measurement
Disconnect the serial line from the No measurement available on the DP system
GNSS (1) device to the DP system. for GNSS (1) and alarms are issued on
operator station(s).
Disconnect the serial line from the No measurement available on the DP system
GNSS (2) device to the DP system. for GNSS (2) and alarms are issued on
operator station(s).
”Dead Reckoning” is indicated in the GUI and
the system is using vessel model predicted
motion in surge and sway.
No sudden changes in the auto positioning
operation.
Reconnect serial line and enable If the vessel has drifted more than 3 meter
device when it becomes available. out of position, a popup with selection
between stay at current position or go back
to previous setpoint appears in the GUI.
The vessel moves back to previous position
If drifted, write down drift result in setpoint.
meters in table and select go back
to previous setpoint.
Test results position drift:
Drift Distance (meters)
Position:
Comments:



5.7.1 Failures in GNSS Position References

Relative position references can be disabled for this test.
# Test description Verified result 1 2
.2 Differential Correction
Disable the differential correction An alarm is issued. The accuracy of the
signal to GNSS system 1-2, one at position measurements from this position
time and observe. reference system is reduced. If other
position reference systems are active, the
automatic weighting function will reduce
the influence of the GNSS system without
correction signals to a minimum.
5.7.2 Failures in Range Bearing Position References

Disconnect the serial line from the No measurement available on the DP system for
Range Bearing device to the DP the Range Bearing device and alarms are issued
system, one at time. on operator station(s).
The transition to degraded number of position

references is handled in a controlled manner.
5.7.3 Failures in Hydro Accustic Position References

Disconnect the serial line from the No measurement available on the DP system for
HPR device to the DP system, one the HPR device and alarms are issued on
at time. operator station(s).
The transition to degraded number of position

references is handled in a controlled manner.
Comments:



5.8 Failures in Sensor System

- Wind compensation is turned “On”.
- DP 2 class is selected on the graphical user interface and the DP class is satisfied.
(If pos.refs are not satisfying the class notation, this can be ignored.)
5.8.1 Failures in Communication with Sensors

.1 Gyros
Disconnect serial line for all gyro An alarm is issued on operator station(s)
devices one by one to the DP for each disconnected gyro device and no
system. heading measurement is available on the DP
system.
”Dead Reckoning” heading and positioning is

indicated in the GUI and the system is using
vessel model predicted motion in surge, sway
and yaw.
No sudden changes in the auto heading and

positioning operation.
Reconnect the serial line and If the vessel has drifted more than 3 degrees
wait minimum 2 minutes before out of heading or 3 meter out of position,
enabling the device when it becomes a popup box with selection between stay
available. at current heading/position or go back to
previous setpoint, appears in the GUI.
If drifted, write down drift result in The vessel turns/moves back to previous
degrees and meters in table and heading/position in controlled manner.
select stay at previous
heading/position. Test results heading/position drift:
Drift Distance (degrees/meters)
Heading:
Position:



.2 VRUs
Disconnect serial lines from VRU No measurement available on DP system and
devices one by one to the DP alarms are issued on operator station(s).
system. The accuracy of positioning can be reduced
due to loss of roll and pitch compensation of
position measurement.
.3 Wind Sensors
Disconnect serial lines from the wind No measurement available on DP system and
sensor devices one by one to the DP alarms are issued on operator station(s).
system. The wind compensation function is
automatically disabled. No sudden change in
thruster action is registered and the heading
and the positioning control are not affected
significantly when this function is enabled or
disabled.
Comments:



5.9 Failures in Thrusters

- All thrust devices are available for operation.
- DP 2 Class is selected on the graphical user interface and the DP Class is satisfied (sensors
or pos.refs not satisfying the Class notation can be ignored).
5.9.1 Thrust Device Failure Handling

Test to be repeated or distributed among thrusters
.1 Communication failure
Disconnect Ethernet connection Communication to all remote thrust control
from DP system to the Remote systems for that thruster group is lost. Thrust
Thrust control systems. devices are controlled by levers and not actively
used by the DP system.
Dependent on Remote Thrust Control system

type the thrust output will freeze or go to zero.
If thruster is of azimuth type, the rotation shall
freeze if the thrust output doesn’t go to zero.
.2 Loss of acknowledge signal
(Y) Enable emergency control on one The DP system does no longer receive
of the remote thruster control acknowledge signal from the thrust device. DP
systems. system alarm is issued. The thrust device is not
actively used by the DP system.
.3 Thrust device failure
(Y) Generate a serious failure in one An alarm is issued and the thrust device is no
thrust device by stopping the longer actively used by the DP system.
thruster, activate local control or
similar.
.4 Order/Feedback alarm
On one thruster, generate a Order / feedback alarm is issued when the
deviation between the order and system detects a significant deviation between
feedback signal. order and feedback.
Comments:



5.10 Failure in DP 2 Control System Redundancy

- All thrust devices are available for operation
- DP 2 Class is selected on the graphical user interface and the DP Class is satisfied
5.10.1 Failure Operator Station (OS).

Test to be repeated for all operator stations
# Test description Verified result 1 2
.1 Loss Power OS
(Y) Power down GUI computer or input Alarm issued on operator station(s)
device on the operator station that - Operator station powered down is out of
is “In Command”. operation
- No automatic transfer of command
- DP system control performance is
unaffected.
.2 Command transfer
(Y) Take command on another The DP system is operated from the
operator station. selected operator station.
.3 Regain Power OS
(Y) Reconnect power to operator Operator station becomes operative.
station Operator station “In Command” remains
“In command”.
Alarms are cleared.
Comments:



5.10.2 Failure DP system group A-B-C.

Test to be repeated for all UPS groups.
# Test description Verified result A B
.1 Loss Power Controller cabinet
(Y) Power down the DP system UPS Alarms are issued on operator stations
group “x” controller cabinet. - Loss of operator station for system group
- Loss of communication with equipment
connected to DP system group. I.e. sensors,
position reference systems, thrust devices,
power system, and other instrumentation
- Reduced thrust capability
- Degraded power limitation
- Degraded to dual DP controllers
- DP LAN 1/2 reconfigured from ring to
bus.
- DP system keeps heading and position on
remaining thrust devices, sensors and
position reference systems.
.2 Regained Power Controller
cabinet
(Y) Reconnect power to DP system DP system “x” and corresponding
group. equipment are powered up and running.
-DP remains in dual controller mode
- Communication with equipment connected
to DP system “x” is regained, and the
sensors, position reference systems, thrust
devices can be enabled.
- Operator station up running and becomes
available.
Comments:
1
If cabinet type is of four (4) split type, only one ring will reconfigure to bus while the other LAN 1/2 remains as
a ring.


5.11 Failures in UPS

- Power system in correct configuration for DP class 2.
- System initially operating according to DP class 2.
(If sensors or pos.refs are not satisfying class notation, this can be ignored.)
Note!
Consider performing UPS battery capacity tests (loss of power supply) during the vessel’s
FMEA tests. Necessary battery recharging must be done before the UPS is ready for a second
test.
5.11.1 Failures in UPSs

# Test description Verified result A B
.1 Earth Failure
(Y) Simulate earth failure on a UPS. Alert is issued on operator station(s).
.2 Manually Bypassed
(Y) Set switch for UPS mode in Bypass Alarm is issued on operator station(s).
mode.
.3 Loss of power supply
(Y) Switch of power supply to UPS. Alarm is issued on operator station(s).
UPS is automatically changed over to
battery.
Power available for at least 30 minutes.
Comments:



6 LIST OF FINDINGS
The test representatives shall categorise each finding during the test. Dependant of the severity
grade, the findings will be treated as punches to be closed for obtaining the classification certificate
and/or as guidelines to increase product quality and performance. In some cases RRM may disagree
with the severity grade in this document, in such case the official RRM statements will be stated as
a part of the follow-up letters. The Severity grades are defined in Table 6.2.
Severity Description To be closed

grade1 (dd.mm.yyyy)
The findings represent non-conformity - i.e. the function is not in

A
compliance with classification requirements.
The findings represent requirements for functional or system

improvements. The functionality may be in compliance with
B classification requirements, but deviation from documentation,
functional description, or intended use requires
actions/improvements.
Nice to have - recommendation for improvement in functionality,

C
documentation, or operational procedures.
Table 6.2: Severity grade definition
1
From the RRM point of view, the final acceptance of the finding severity is a RR Project Manager responsibility.
The document will be distributed after this approval. See the front page for sign-off field.


List of Findings
Test ref. Finding description Severity
x.x.x.x A B C


Part X Appendix B.2: FMEA Document - CAA-116408-01EF(B)
Icon DP2 Failure Mode and Effect Analysis

AAC-116408-01EF(B)
November 18, 2021

AAC-116408-01EF (B) Icon DP2 Failure Mode and Effect Analysis

November 18, 2021
Contents
1 Change History 4
2 General Information 5
3 System Description 5
4 Acceptance criteria 9
5 System boundary 9
6 Conclusion 9
A FMEA worksheets 10
A.1 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
A.2 Global Navigation Satellite System (GNSS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
A.3 Laser Position Reference System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
A.4 Radar Position Reference System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
A.5 Hydroacoustic Position Reference System (HPR) . . . . . . . . . . . . . . . . . . . . . . . . . . 14
A.6 Rudder IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
A.7 Thruster network IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
A.8 Cabinet IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
A.9 DP Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
A.10 IO Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
A.11 LAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
A.12 Operator Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
A.13 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Thrustmaster of Texas, Inc. R ESTRICTED Page 2 of 22
©2019 Thrustmaster of Texas, Inc.

The information in this document is the property of Thrustmaster of Texas, Inc. and may not be copied, or communicated to a third
party, or used, for any purpose other than that for which it is supplied without the express written consent of Thrustmaster of Texas,
Inc.


November 18, 2021
List of Tables
3-1 Overview of distribution of equipment and crossovers . . . . . . . . . . . . . . . . . . . . . . . 7
List of Figures
3-1 System Overview of a standard Icon DP2 system. System boudnaries are indicated with a
green dashed line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
References
[DNV RP-D102] DNV. 2012 Failure Mode And Effect Analysis (FMEA) of Redundant Systems
[SAT AAC-116408-01TS] Thrustmaster of Texas, Inc. Seatrial Acceptance Test
[FAT AAC-116408-01TF] Thrustmaster of Texas, Inc. Factory Acceptance Test

Inc.


November 18, 2021
1 Change History
Issue Reason for Issue Author Date

Kristian
A First Issue 2010-02-16
Kleiveland
B FMEA updated to 3.x version FB 2017-03-29

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November 18, 2021
2 General Information
This document describes a Failure Mode Effect Analysis (FMEA) for the Alianca ETH-001 project. This analy-
sis is prepared for DP operations where the vessel is set up to fullfill the requirements given in the DNV AUTR
notation.
The analysis performed is based on [DNV RP-D102].
3 System Description

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November 18, 2021
The Thrustmaster of Texas, Inc. Icon dynamic positioning control system is built up around the principle
of redundancy groups (see table 3-1). Powering for the redundancy groups are provided by two UPSs which
power one 24V power supply in each redundancy group. Changeover between powering from the two UPSs
is provided by one diode bridge in each redundancy group. A failure in one redundancy group shall not
cause equipment in another redundancy group to fail. In general sensor inputs, position reference inputs,
thruster feedback, power system feedback and operator inputs are collected by the IO controller in each
redundancy group. The collected data is sent to the DP controllers in all redundancy groups where the data
is synchronized. When the data is synchronized or the time limit is exceeded the DP control time step is
performed. In this time step all data processing is performed. Input data is checked for errors. Sensor
and position reference data is assigned weights and assembled to mean values. Thrust feedback is verified to
follow thrust orders. Estimation and control is performed which in turn give necessary thrust orders to maintain
the planned trajectory.
Orders for each propulsor is sent from the DP controllers to the IO controller in the redundancy group where
the propulsor belong. Voting is performed by the IO controller on the data received from all DP controllers. If
data from one DP controller differs from the two others, this DP controller will be voted out.
Figure 3-1: System Overview of a standard Icon DP2 system. System boudnaries are indicated with a green
dashed line

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November 18, 2021
Table 3-1: Overview of distribution of equipment and crossovers
Group A Group B Group C Crossovers

Powering
UPS A UPS B
24V Supply A1 24V Supply B1
24V Supply B2 24V Supply A2
24V Supply C1 24V Supply C2
Diode bridge A Diode bridge B Diode Bridge C Diode Bridge A, B and C
Fuse card A Fuse card B Fuse card C
Sensors
Gyro 1 Gyro 2 Gyro 3
VRU 1 VRU 2 VRU 3
Wind sensor 1 Wind sensor 2 Wind sensor 3
DGNSS1
DGNSS2
CyScan
RADius
Ranger2
Power IO
Power IO A Power IO B Power IO C
Thruster Interface
Thruster LAN A Thruster LAN B
Thruster Switch A Thruster Switch B
Bow Thruster 1 Net Bow Thruster 2 Net
Stern Thruster 1 Net Stern Thruster 2 Net
Port Main Propulsion Net Stbd Main Propulsion Net
Port rudder IO Stbd rudder IO
Network
LAN 1 Switch A LAN 2 Switch A LAN 1 Fiber ring
LAN 1 Switch B LAN 2 Switch B LAN 2 Fiber ring
DP A LAN 1 DP A LAN 2
DP B LAN 1 DP B LAN 2
DP C LAN 1 DP C LAN 2
IO A1 LAN 1 IO A1 LAN 2
IO B1 LAN 1 IO B1 LAN 2
IO C1 LAN 1 IO C1 LAN 2
OS 1 LAN 1 OS 1 LAN 2
OS 2 LAN 1 OS 2 LAN 2
UPS A LAN 2 UPS B LAN 2

DP control system
DP A DP B DP C
IO A1 IO B1 IO C1

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4 Acceptance criteria
The redundancy design intent is that no single failure shall lead to loss of more than one redundancy group.
See table 3-1 for distribution of equipment in redundancy groups.
Normal operation before failure is:
All redundancy groups operational (1)
Operation after single failure is:
Maximum one redundancy group failed (2)
5 System boundary
The boundary of this analysis is considered the DP control system. See figure 3-1 where the dashed green
boundary indicates the boundary subject to analysis.
6 Conclusion
The result of the FMEA for the DP class 2 configuration is documented in detail in the FMEA worksheets in the
appendixes A. Based on the detailed analysis the conclusion is that no single failure in the DP control system
or at the boundaries of the DP control system will lead to loss of more than one redundancy group. See table
3-1 for distribution of equipment.
Tests to support this conclusion will be done during factory testing according to tests described in section
Failure Modes in the [FAT AAC-116408-01TF] document and during sea trials according to tests described in
section Failure Modes in the [SAT AAC-116408-01TS] document.

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A FMEA worksheets
A.1 Sensors
Ref Item Failure Mode Failure Cause Local Effect End Effect Detetction Compensating
measure
1 Gyro Loss of signal Electrial fault Loss of gyro Reduced number of Alarm
compass output available gyros
2 Gyro Erratic signal Mechanical Gyro rejected by Reduced number of Alarm
compass output fault in gyro DP control system available gyros
3 VRU Loss of signal Electrial fault Loss of VRU Reduced number of Alarm
output available VRUs
4 VRU Erratic signal Electrial fault VRU rejected by DP Reduced number of Alarm
output control sytem available VRUs
5 Wind Loss of signal Electrial fault Loss of wind sensor Reduced number of Alarm
sensor output available wind sensors
6 Wind Erratic signal Wind Wind sensor Reduced number of Alarm
sensor output obstructions / rejected by DP available wind sensors
Exhaust control system

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November 18, 2021
A.2 Global Navigation Satellite System (GNSS)
measure
1 GNSS Loss of output Electrical fault Loss of input from Reduced redundancy in Alarm Increase num-
GNSS. position references. ber of position
Possibly reduced accuracy references.
in positioning.
2 GNSS Poor accuracy Loss of Weight of GNSS Reduced redundancy in Alarm Increase num-
differential reduced. Reduced position references. ber of position
correction accuracy of position Possibly reduced accuracy references.
signal. used by DP control in positioning.
system.
3 GNSS Position drift Loss of satelite GNSS rejected by Reduced redundancy in Alarm Increase num-
signals and DP control system. position references. ber of position
differential Possibly reduced accuracy references.
correction in positioning.
signal.

Inc.


November 18, 2021
A.3 Laser Position Reference System
measure
1 Laser Loss of output Electrical fault Loss of input from Reduced redundancy in Alarm Increase num-
laser. position references. ber of position
in positioning.
2 Laser Position drift Laser picks up Laser rejected by Reduced redundancy in Alarm Increase num-
wrong target. DP control system. position references. ber of position
of positioning.
3 Laser Erratic output Software fault. Laser rejected by Reduced redundancy in Alarm Increase num-
DP control system. position references. ber of position
in positioning.

Inc.


November 18, 2021
A.4 Radar Position Reference System
measure
1 Radar Loss of output Electrical fault Loss of input from Reduced redundancy in Alarm Increase num-
radar. position references. ber of position
in positioning.
2 Radar Position drift Target moving. Radar rejected by Reduced redundancy in Alarm Increase num-
of positioning.
3 Radar Erratic output Software fault. Radar rejected by Reduced redundancy in Alarm Increase num-
in positioning.

Inc.


November 18, 2021
A.5 Hydroacoustic Position Reference System (HPR)
measure
1 HPR Loss of output Electrical fault Loss of input from Reduced redundancy in Alarm Increase num-
HPR. position references. ber of position
in positioning.
2 HPR Position drift Loss of VRU HPR rejected by Reduced redundancy in Alarm Increase num-
input to HPR. DP control system. position references. ber of position
of positioning.
3 HPR Erratic output Accoustic noise HPR rejected by Reduced redundancy in Alarm Increase num-
/ air boubles in DP control system. position references. ber of position
the water. Possibly reduced accuracy references.
in positioning.

Inc.


November 18, 2021
A.6 Rudder IO
measure
1 IO card Loss of output Electrical fault Loss of interface to Rudder lost for DP control. Alarm
rudder Possible reduced
performance
2 Request Loss of signal Loose Rudder released to Rudder lost for DP control. Alarm
signal connector manual control. Possible reduced
performance
3 Rudder ac- Loss of signal Loose Rudder released to Rudder lost for DP control. Alarm
knowledge connector manual control. Possible reduced
signal performance
4 Rudder Loss of signal Loose Loss of rudder No effect. Observation
pump connector pump running
status signal. Reduced
signal 1 or rudder rate
2 estimate in DP
control system.
5 Rudder Loss of signal Loose Rudder rejected by Rudder lost for DP control. Alarm
direction connector DP control system. Possible reduced
feedback performance
signal
6 Rudder Loss of signal Loose Rudder rejected by Rudder lost for DP control. Alarm
direction connector DP control system. Possible reduced
order signal performance
7 Feedback Loss of signal Loose Rudder rejected by Rudder lost for DP control. Alarm
level signal connector DP control system. Possible reduced
1/2 performance

Inc.


November 18, 2021
A.7 Thruster network IO
measure
1 Thruster Loss of output Electrical failure Loss of connection Thrusters in redundancy Alarm
interface to thrusters in group lost for DP control.
switch redundancy group. Possibly reduced
performance

Inc.


November 18, 2021
A.8 Cabinet IO
measure
1 MMS DP Loss of input Loose No reading when None. Dual reading. Alarm on next
input signal connector MMS button activation of
pushed. MMS DP push
button.
2 MMS DP Loss of output Loose Lost DP indication None. Signal also from Operator
indicator signal connector on MMS panel. other IO group. Missing observation on
output indication on second failure. second failure.
3 Switch LAN Loss of input Loose Normally closed Inncorrect broken network Alarm.
1 / 2 Input signal connector contact. Will ring alarm. Inspection in
signal indicate error on cabinet to find
broken wire. root cause.
4 UPS input Loss of input Loose Normally closed Inncorrect loss of input Alarm.
power signal connector contact. Will power to UPS alarm. Inspection to
status indicate error on find root cause.
signal broken wire.
5 UPS earth Loss of input Loose Normally closed Inncorrect earth fault alarm. Alarm.
fault status signal connector contact. Will Inspection to
signal indicate error on find root cause.
broken wire.
6 Power Loss of input Loose Normally closed Inncorrect power supply Alarm.
supply signal connector contact. Will failure alarm. Inspection to
monitoring indicate error on find root cause.
broken wire.

Inc.


November 18, 2021
A.9 DP Controller
measure
1 Power Loss of input Electrical failure DP controller stop. Reduced redundancy. Alarm
connector power
2 Controller Erratic Memory failure Controller voted Reduced redundancy. Alarm
behaviour in controller. out.
3 Ethernet Loss of Loose Lost connection to Reduced redundancy in Alarm
connector A connection connector. LAN 1 connection to DP network.
connector B connection connector. LAN 2 connection to DP network.

Inc.


November 18, 2021
A.10 IO Controller
measure
1 Power Loss of input Loose IO controller stop. Loss of equipment in Alarm Transfer com-
connector power connector. redundancy group. Possibly mand to avail-
reduced performace. able operator
station.
2 Controller Erratic Memory fault in IO control system Loss of equipment in Alarm Transfer com-
behaviour controller. stop. redundancy group. Possibly mand to avail-
reduced performace. able operator
station.
3 CAN Loss of Loose Loss of IO to input Reduced number of Alarm Transfer com-
connector 1 connection connector. devices for OS’s in available operator stations. mand to avail-
redundancy group able operator
station.
4 CAN Loss of Loose Loss of Cabinet IO, Loss of functionality Alarm
connector 2 connection connector. loss of switch board associated with cabinet IO
readings from in redundancy group. Loss
redundancy group, of power limitation
loss of functionality. Connected
communication with rudder lost for DP.
connected rudder, Connected thrusters lost for
loss of DP. Possibly reduced thrust
communication with capacity and performance.
connected
thrusters.
5 CAN Loss of Loose Lost connection to All CAN interfaced thrusters Alarm
connector 3 connection connector. connected thrusters / rudders in redundancy
/4 / rudders. group lost for DP. Possibly
reduced thrust capacity and
performace.
connector A connection connector. LAN 1. connection to DP network.
connector B connection connector. LAN 2. connection to DP network.
9 Ethernet Loss of Loose Lost connection to All network interfaced Alarm
connector connection connector. connected thrusters thrusters in redundancy
C group lost for DP. Possibly
reduced thrust capacity and
performace.
9 COM 1 - 5 Loss of Loose Lost connection to Reduced redundancy in Alarm
connection connector. connected sensor / sensors / position
position reference references.

Inc.


November 18, 2021
A.11 LAN
measure
1 Switch A Loss of Electrical fault Loss of ring Reduced network Alarm
LAN 1 communication functionality for redundancy..
LAN 1. Loss of LAN
1 connection
connected
equipment.
2 Switch B Loss of Electrical fault Loss of ring Reduced network Alarm
LAN 1 communication functionality for redundancy.
LAN 1. Loss of LAN
1 connection
connected
equipment.
3 Swich A Loss of Electrical fault Loss of ring Reduced network Alarm
LAN 2 communication functionality for redundancy
LAN 2. Loss of LAN
2 connection
connected
equipment.
4 Switch B Loss of Electrical fault Loss of ring Reduced network Alarm
LAN 2 communication functionality for redundancy.
LAN 2. Loss of LAN
2 connection
connected
equipment.
5 LAN 1 Loss of Fiber connector Loss of ring Reduced network Alarm
Switch A - communication failure functionality for redundancy.
B OR B - A LAN 1.
Fiber
connection
6 LAN 2 Loss of Fiber connector Loss of ring Reduced network Alarm
Switch A - communication failure functionality for redundancy.
B OR B - A LAN 2.
Fiber
connection

Inc.


November 18, 2021
A.12 Operator Station
measure
1 OS PC Loss of Electrical fault Loss of operator Reduced number of Alarm Transfer com-
response station operability operator stations available mand to other
operator station
2 OS display Loss of output Electrical fault Loss of operator Reduced number of Observation Transfer com-
station operability operator stations available mand to other
operator station
3 OS display Loss of touch Loose Loss of touch input Reduced usability of Observation Use mouse for
ouput. connector. to operator station. operator station. operator inputs.
4 Input Loss CAN to Electrical fault Loss of operator Reduced number of Alarm Transfer com-
device input device station operability operator stations available mand to other
operator station
5 Input Loss of input Electrical fault Loss of operator Reduced number of Alarm Transfer com-
device device station operability operator stations available mand to other
operator station
6 Input Erratic Electrical fault Loss of operator Reduced number of Alarm Transfer com-
device behaviour station operability operator stations available mand to other
operator station
7 Printer Loss of Electrical fault Loss of alarm No alarm printer available Alarm
response printing

Inc.


November 18, 2021
A.13 Power Supply
measure
1 UPS A OR Loss of input Blackout on Loss of charging to No effect before at least 30 Alarm
B power busbar UPS battery. After minutes. When ouput power
supplying UPS more than 30 from UPS lost, loss of 220V
minutes, loss of powered position
output power from references powered directly
UPS. from UPS A OR B. Loss of
output power from 24V
supplies powered from UPS
A OR B. Loss of printer
powered from UPS A or B.
2 UPS A OR Loss of output Electrical failure Loss of power to Loss of 220V powered Alarm
B power in UPS. 24V supply A OR B. position references
powered directly from UPS
A OR B. Loss of output
power from 24V supplies
powered from UPS A OR B.
Loss of printer powered
from UPS A or B.
3 Cabinet Loss of output Electrical failure Loss of power from Loss of 24 input power to Alarm
24V supply power 24V supply A1, B1, diode bridge. Power load
A1, B1, C1 C1 or D1 (if transferred to other 24V
or D1 (if installed). supply powering diode
installed) bridge.
4 Cabinet Loss of output Electrical failure Loss of power from Loss of 24 input power to Alarm
24V supply power 24V supply A2, B2, diode bridge. Power load
A2, B2, C2 C2 or D2 (if transferred to other 24V
or D1 (if installed) . supply powering diode
installed) bridge.
5 Diode Short circuit Electrical failure Loss of output Failure in 24V supply A1 Alarm
bridge A or power from diode and A2 or B1 and B2
B bridge to fuse card Possibly blown fuse on
A or B. 220V supply from UPS to
24V supply A1 and A2 or B1
and B2. Loss of equipment
powered from fuse card.
6 Diode Short circuit Electrical failure Loss of output Failure in 24V supply C1 Alarm
bridge C power from diode and C2 Possibly blown fuse
bridge to fuse card on 220V supply from UPS
C. to 24V supply C1 and C2.
Loss of equipment powered
from fuse card.
7 Diode Short circuit Electrical failure Loss of output Failure in 24V supply D1 Alarm
bridge D (If power from diode and D2 Possibly blown fuse
installed) bridge. on 220V supply from UPS
to 24V supply D1 and D2.
Loss of equipment powered
from diode bridge.

Inc.

Part X Appendix C: System Design Drawings
Appendix C | System Design Drawings

1 2 3 4 5 6 AAC - 116408 - 01LI
COMPANY SHARED
Part X
E E
Appendix C.1: Main Item List - AAC-116408-01LI(21-12-18) MAIN ITEM LIST

D D
C C
B B
Alianca ETH-001, Icon DP2 retrofit Icon DP2 System Plant:

=DP
Alianca ETH-001 Location:
+
A Original: Repl. for: Repl. by: Size:
A3
MAIN ITEM LIST
A
Eng. Verified: Approved: Scale:
447
OAD 170323 OAD Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
Dept. Control - Aalesund
Reference: P.O.Box 826 - Sentrum, N-6001 Ålesund, Norway AAC- 116408 - 01LI 21-12-18 1 2
Information contained herein is the property of Rolls-Royce Marine AS and may not be copied, or communicated to a third party,
TBA or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LI
COMPANY SHARED
Part X
E E
Appendix C.1: Main Item List - AAC-116408-01LI(21-12-18) MAIN ITEM LIST

D D
C C
B B

=DP
+
A3
MAIN ITEM LIST
A
448
Reference: P.O.Box 826 - Sentrum, N-6001 Ålesund, Norway AAC- 116408 - 01LI 21-12-18 2 2
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DC
CABLE TAGS/DESIGNATION
COMPANY SHARED
Part X
SYSTEM ACRONYMS: - The complete identification/designation of a cable: =DP-Wxx
THR Thruster and main propellers (including steering gear) =DP; not shown in electrical diagrams (see cable list for complete tag).
E JS Jostick control system -W; cable identificator E
DP Dynamic positioning system xxx; unique sequence number for each cable
MMS Manouvering mode system (e.g. dp-switch) - All cables shall be marked in both ends according to cable list
MSB/SWBD Main switch board/Switchboard - In case of different cable-tag in other documentation regarding DP-interfaced
TCS Thruster control system systems,
RCS Rudder control system Both names shall be marked physically on each cable
SHIP Ship integrated systems
(e.g. main switchboard, power managment system, gyro etc.) LOCATION OF CABINETS
Verify that the maximum cable length of the network cables (cat5/6/7) not exceeds
EQUIPMENT LOCATION: 90m.
=DP:
+T0xx Controller and network cabinets CABLE SCREEN AND GROUNDING
+T1xx Operator stations and panel connection points/docking points - See diagram for cable screen termination
+T2xx Thruster and main propeller interface equipment (Outstations) - Use earth rail in cabinets or consoles for grounding of cables and condutors.
Appendix C.2: Cable Diagram - AAC-116408-01DC(G) CABLE DIAGRAM

D +T3xx Rudder steering gear interface equipment D
+T4xx not used CONDUCTORS
+T5xx Power and main switch board interface equipment - Unused conductors shall be grounded in same end as cable screen
- Minimum conductor-length (unused conductors) is 1.5 meter
+T6xx Sensors
+T7xx Position reference systems - Use shortest possible conductor length inside cabinet for best emc protection.
+T8xx Power supply equipment (e.g. UPS)
+T9xx Auxilliary equipment CABLE TYPES
- manouver switch (manouver mode switch/dp switch) - Cable types are to be selected according to the requirements set by the
- chair interface (for interfacing remote control of wipers, radios etc. classification society.
- Signal cables:
EQUIPMENT NOT COVERED BY THE SYSTEM DELIVERY: STP Shielded twisted pairs; used on discrete i/o and serial communication
=THR; (note this tags will not be visible at the physical equipment) - Digital/analog signals (potfree, -10V/+10V, 0-10V, 4-20mA)
+T2xx Thruster equipment - Serial communication (e.g.: RS422)
+T3xx Rudder steering gear equipment CAN Shielded CAN cable according to the CAN-bus requirements
=SHIP; (note this tags will not be visible at the physical equipment) CAT5 Shielded network cable. according to classification
C +T9xx Alarm systems CAT6 or higher may also be used C
+T5xx Main switch board and power managment systems - Power cables
+T6xx Sensor and position reference systems Shielded cable - see Cable List for number of conductors and wire gauge
+DC/+AC: Power supply For power distribution and supply
Cables marked with '(*)' in schematics in reports is a part of the system delivery.
B B
A 170409 First issue OAD EAC
FUNCTION
UNIT TYPE Alianca ETH-001 Location:

MULTI LEVEL ASSIGNMENT IS USED FOR SYSTEM AND LOCATION: Original: Repl. for: Repl. by: Size:
A '=' SYSTEM/SUB-SYSTEM, A3 GENERAL NOTES A
CONTINIOUS FRAME: '+' LOCATION/UNIT, CABLE DIAGRAM
PART OF DELIVERY Eng. Verified: Approved: Scale:
'<' TOP-LEVEL, OTHERWISE SEE; OAD 170323 Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
449
OAD
BOUNDRY FRAME: Dept. Control - Aalesund
NOT PART OF DELIVERY
=<SYSTEM>' AND +<LOCATION>
IN THE TITLE FIELD
Reference: AAC- 116408 - 01DC G 4
1 2 3 4 5 6 7
AAC - 116408 - 01DC
<+PR11 5 PR11/2: RECEIVERS MOUNTED IN COMMON RACK 5 <+PR12 5

<+SS31 <+SS32 <+SS33 +A1 +A2 +A3 +D1 +C1 +A1 +A2 +A3 +D1 +C1
COMPANY SHARED
Part X
<=SHIP <=SHIP Wind 1 +A1 Wind 2 +A1 Wind 3 +A1 GNSS 1 GNSS 1 GNSS 1 GNSS 1 GNSS 1 GNSS 2 GNSS 2 GNSS 2 GNSS 2 GNSS 2
+SS11 +SS12 Wind sensor system Wind sensor system Wind sensor system L1/L2/G Ant. L-Band & MF UHF Ant. Trackball Display L1/L2/G Ant. L-Band & MF UHF Ant. Trackball Display
Wind Sensor 1 Wind Sensor 2 Wind Sensor 3
Gyro 1 Gyro 2 Sensor, Wind Sensor, Wind Sensor, Wind
(*)
(*)
(*)
(*)
(*)
(*)
1/2 inch coaxial, 30m

(*)
(*)
(*)
(*)
(*)
(*)
(*)
2x2x0.5q, STP
2x2x0.5q, STP
-W70202
-W70203
-W70208
-W70206
-W70205
3x2x0.34q, STP (2m)
-W70102
-W70103
-W70108
-W70106
-W70105
-W70201
-W70101
VGA, 1.8m
VGA, 1.8m
USB, 1.8m
USB, 1.8m
;GYRO2-COM -W70207
;GYRO1-COM -W70107
2x1.5q+E
2x1.5q+E
3x2x0.34q, STP
3x2x0.34q, STP
+B1 +B1
-W61201
-W61301
Rack Rack
-W61101
GNSS 1 GNSS 2
Receiver Receiver
+B1 +JB +JB +B1 +JB
+AC +AC
2x2x0.5q, STP
2x2x0.5q, STP
Wind Display 1 Junction Box 1 Junction Box 2 Wind Display 3 Junction Box 3
-W00207
-W00208
Wind Display Junction Box Junction Box Wind Display Junction Box GNSS 1 GNSS 2
Terminal List Terminal List
2x2x0.5q,STP
-W70204
-W70104
-W70110
/2
/2
2x1.5q+E
2x1.5q+E
<=JS
<=JS
<+CU01
Joystick VRU3 replaced by MCG
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
Poscon
F F
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
-W00144
-W00143
-W00148
-W00149
F
-W00102
-W00107
-W61302
-W00153
-W00114
-W61102
-W00101
-W00115
-DP314
2x2.5q+E
2x2.5q+E
2x2.5q+E
-DP311

;GYRO1-COM
/2
2x1.5q
2x1.5q
;UPS1-AC06 ;GYRO2-COM ;MGC-GNSS1 ;MGC-GNSS2 ;UPS2-AC06
/3 /2 /3 /3 /3
+CU01
MAIN
*Control Cabinet
<=SHIP <=JS AFT
+AP <+CU01
Gyro3 replaced by MCG
LPR
Alarm Plant Poscon Joystick 1
F
2x2x0.5q,STP
Control cabinet
-W00154
MMS
JS OS +OS22 DP OS1 +OS31 JS OS +OS21
DP OS2 +OS32
<=SHIP
CAN
4x2x0.5q, STP
JS OS1 +OS31
2x2x0.75q, CAN
<+PR21
4x2x0.5q, STP
-W90003 3
2x2.5q+SCR
2x0.5q,STP
-W00118
-W00171
-W90002
-W90001
-W00191
CyScan MK IV
2x1.5q+E
Posref System
<=JS
<=JS
<=JS
613002
+MS01
JS OS +OS11
MMS
Control Panel
;UPS1-AC07
-MPR1_025 IO
-MPR2_025 IO
-BTT2_024
-STT2_024
-BTT1_024
-STT1_024
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
/3
-W90120
-W90119
FWD
+OS31 +OS32
<=THR <=JS
+K2 +K1 +D1 +P1 <+OS31+D1 +P1 +D1
+BT1+UN1 +ST1+UN1 +MP1+UN1 +RFB1 +RSG1 OS1 KVM RX OS1 KVM TX DP OS1 DP OS1 2 Unicon OS 1 DP OS2 DP OS2
4 KVM Switch KVM Switch Display OS Device Panel Computer OS Device Display
MSB Bow1 Stern1 PortMP PortR PortR +JB01 414010-01 411006 414011 411006 414010-01
RFB STG
Port Switcboard JB
Connection Box
MSB
(*)
(*)
(*)
(*)
(*)
(*)
(*)
RS232, DB9-M-F, 1.8m
RS232, DB9-M-F, 1.8m

+BT2+UN1 +ST2+UN1 +MP2+UN1 +RFB2 +RSG2
4x2x0.5q, CAT5
Stbd Bow2 Stern2 StbdMP StbdR StbdR
CAN
CAN
USB (M-M), 1.8m
USB (M-M), 1.8m

2x2x0.75q, CAN
2x2x0.75q, CAN
RFB STG
-W00139
-W10172
-W10117
-W10116
-W10171
10x2x0.5q,STP
10x2x0.5q,STP
2x2.5q+SCR
2x2.5q+SCR
2x2.5q+SCR
2x2.5q+SCR
-W13204
-W00163
-W13205
-W13202
-W13203
-W13104
-W13102
-W13103
-W13105
-W00161
-W13201
-W13101
-W50002
DVI, 1.8m
DVI, 1.8m
-W50001
2x1.5q
2x1.5q
DC
DVI
DVI
2x2.5q+SCR
-W13101
<=SHIP <=SHIP <=VI
7x2x0.5q,STP
2x2x0.5q,STP
7x2x0.5q,STP
2x2x0.5q,STP
<+SS21 <+SS22
<=JS
IU01 <=UMAS
-W00214
-W00212
-W00213
-W00211
+PU01
VRU 1 VRU 2 ConCon +UN900 +C1 <=JS +IU91 +C1
Network
VI UMAS V Printer <+OS31+R1
Interface Interface DP OS1 Service DP OS2
OS Unit PC JS 1 Interface OS Unit
+IU01 492007 Terminal rail 492007
IO
I/O Cabinet
4x2x0.5q, Cat5e
;UPS2-AC08
4x2x0.5q, CAT5
2x2x0.5q, STP
VRU 2
4x2x0.5q, CAT5e
NET
VRU 1
;UPS2-AC04
-W00124
;UPS2-AC05
-W00176
4x2x0.5q, CAT6
4x2x0.5q, CAT6
4x2x0.5q, CAT5
4x2x0.5q, CAT6
4x2x0.5q, CAT6
;UPS1-AC04
2x2x0.75q, STP
2x2x0.75q, STP
;UPS1-AC05
-WG002
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.5q, CAT5
2x2x0.75q, CAN
2x2x0.75q, CAN
-MPR2_024
-BTT2_026
-STT2_026
-MPR1_024
-BTT1_026
-STT1_026
-W00174
-W00122
-W00123
-W10414
-W00136
-W00132
-W00175
2x2x0.5q,STP
2x2x0.5q,STP
;SI-USB1
-W10514
-W00121
-W00131
/2 ;W10414
/2 ;W10514
<=VI
2x2.5q+SCR
2x2.5q+SCR
-W00142
-W00147
-W00134
-W00164
-W00106
-W00103
-W00109
-W00133
-W00162
USB, 5m
USB, 5m
-W00117
-W00111
2x2.5q+E
2x2.5q+E
2x2.5q+E
/3
/3
/3
/3
/3
;W10414 ;W10514
+CU01 /2
MAIN
*Control Cabinet
315030
NOTE! Icon DP2 System Plant:

=DP
POSCON JS SHIP SUPPLY RESERVED/FEATURE Alianca ETH-001, Icon DP2 retrofit
(1) part of RRM Poscon JS scope of supply Remote Panel PC +OS31+D is shared Alianca ETH-001 Location:
with Poscon JS. See AAC-116409-01DC/DW for connections. <=JS <=SHIP <=SHIP <=SHIP +
450
Original: Repl. for: Repl. by: Size:

(2) DP/JS Operator device +OS31+ is shared with Poscon JS system. <+CU01 <+AC1 <+AC2 <+DC <+T A3 MAIN SYSTEM
Joystick Supply Supply Supply SPARE Eng. Verified: Approved: Scale: CABLE DIAGRAM CABLE PLAN PAGE 1/2
( ) Please see bridge layout drawings for detailed locations of equipment on bridge. OAD 170323 OAD Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
Poscon 16A@230VAC 16A@230VAC 24VDC Dept. Control - Aalesund
(4) For JB01 - see sheet 04 for additional cables. Reference: AAC- 116408 - 01DC G 2 4
AAC - 116408 - 01DC
COMPANY SHARED
Part X
<+T731
RADius 1000 +C2 +A1 +A2
Posref System
RADius RADius RADius
Keyboard w/Trackball Interrogator Unit Interrogator Unit
+C1 (*)
RADius
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
2x2x0.5q,STP
Display +B1
-W75104
-W75102
-W75103
-W75101
RADius
Contoller Unit
-W75112
(*)-W75113
-W75116
-W75117
VGA, 1.8m
2x1.5q+E
2x1.5q+E
2x1.5q+E
+AC
RADius
Terminal List
2x2x0.5q,STP

-W00150
Changed cable number
;UPS2-AC07
G
+CU01
MAIN
*Control Cabinet
315030
<+MGC
MGC <=SHIP
Sensor, Gyro, VRU <+PR41
RANGER USBL
+A1 Posref System
MGC 612003
2x2x0.5q,STP
2x2x0.5q,STP
-W00152
-W00116
-W00151
2x2.5q+E
(*)
2x2x0.5q,STP
+B1
-W62301
2x2x0.5q,STP
-W00155
MGC JB7
;UPS1-AC10
;UPS1-AC11
HPR
2x2x0.5q,STP
-W00145
;MGC-GNSS1
/2
;MGC-GNSS2
/3
/3
/2
+CU01
MAIN
*Control Cabinet
315030
<+PD01 <+PD02
UPS1 +C1 +C2 UPS2 +C1 +C2
Power System Power System
UPS1 UPS1 UPS2 UPS2
UPS System EBM UPS System EBM
(*)
(*)
PWR
PWR
PWR
PWR
PWR
PWR
PWR
PWR
PWR
PWR
PWR
PWR
NET
NET
4x2x0.5q, CAT5
4x2x0.5q, CAT5
4x2x0.75q STP
4x2x0.75q STP
EBM Cable, Xm
EBM Cable, Xm
IO
IO
4x2x0.5q, STP
4x2x0.5q, STP
-W80202
-W80203
-W80214
-W00125
-W00135
-W00172
-W80102
-W80103
-W80213
-W80215
-W80216
-W00173
-W80201
-W80114
-W80113
-W80115
-W80116
-W80101
2x2.5q+E
2x2.5q+E
2x2.5q+E
2x2.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
<=SHIP <=SHIP
+B1 <+AC1 +B1 <+AC2
UPS1 Supply UPS2 Supply
Distribution Cabinet 16A@230VAC Distribution Cabinet 16A@230VAC
+T1 +T1
;UPS2-AC04 -W80204
;UPS2-AC05 -W80205
;UPS2-AC06 -W80206
;UPS2-AC07 -W80207
;UPS2-AC08 -W80208
-W80200
;UPS1-AC04 -W80104
;UPS1-AC05 -W80105
;UPS1-AC06 -W80106
;UPS1-AC07 -W80107
-W80100
-W80212
;UPS1-AC10 -W80110
-W80112
UPS1 UPS2
;UPS1-AC11 -W80111
2x2.5q+E
2x2.5q+E
2x2.5q+E
2x2.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
2x1.5q+E
Isolation Transformer Isolation Transformer

/3
/3
/3
/2
/2
/2
/2
/2
/2
/2
/2

=DP
+
451

A3 MAIN SYSTEM
Eng. Verified: Approved: Scale: CABLE DIAGRAM CABLE PLAN PAGE 2/2
Reference: AAC- 116408 - 01DC G 3 4
1 2 3 4 5 6 AAC - 116408 - 01DC
<+JB01
COMPANY SHARED
Part X
Switcboard JB
Connection Box
E 391003 E

SWBD
SWBD
SWBD
SWBD
SWBD
SWBD
SWBD
SWBD
D D
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
4x2x0.5q, STP
-W50024
-W50022
-W50023
-W50014
-W50012
-W50013
-W50021
-W50011
<=SHIP
<+MS440
+12
+3 +4 +6 +11 AxG2
AxG1 SG1 BTT1/ STT1 MBB SG2 BTT2/ STT2 AXG2
C C
6Q1
3Q1 4Q1 11Q1 12Q1
B 501 502 1001 1002 B
AxG1 SG1 SM1 BM1 SM2 BM2 SG2 AxG2

=DP
+
A A3 SWITCHBOARD A
Eng. Verified: Approved: Scale: CABLE DIAGRAM CABLE PLAN
OAD 170323 Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
452
OAD
Reference: AAC- 116408 - 01DC G 4 4
1 2 3 4 5 6 7
Part X Appendix C.3: Layout Drawing - AAC-116408-01DL(A)
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
NOTES: DRAWING SYMBOLS
DIAGRAM: AO ANALOGUE OUTPUT SIGNAL
E CONTENTS:
E
GALVANIC ISOLATED
STATES THE DETAIL EXTERNAL WIRE CONNECTIONS BASED ON THE CABLE ROUTING GIVEN IN THE CABLE DIAGRAM.
FOR DETAILS REGARDING CABLE ROUTING, CABLE TYPE AND SPECIFICATION, SEE SYSTEM CABLE DIAGRAM AND CABLE LIST.
AI ANALOGUE INPUT SIGNAL
PURPOSE: REQUIRES GALVANIC ISOLATED OUTPUTS AT TRANSMITTING EQUIPMENT
ENSURE CORRECT WIRE TERMINATION AND SHOW SOME INTERNAL DETAILS TO INDICATE THE BASIC SYSTEM DESIGN.
DO DIGITAL OUTPUT SIGNAL
WORKMANSHIP: POTENTIAL FREE CONTACT
GROUNDING OF THE EQUIPMENT AND CABINETS
MAIN EARTHING CONDUCTOR SHALL BE INSTALLED BETWEEN EACH CABINET'S EARTH BAR AND THE MAIN EARTH (MAIN DI DIGITAL INPUT SIGNALS
REQUIRES POTENTIAL FREE CONTACTS AT TRANSMITTING EQUIPMENT
Appendix C.4: Wiring Diagram - AAC-116408-01DW(H) WIRING DIAGRAM

STRUCTURE/METAL HULL) - SEE ALSO CABLE DIAGRAM FOR GROUNDING REQUIREMENTS.
CABLE SCREEN AND GROUNDING EXTERNAL CHASSIS GROUNDING (HULL)

D - IF NOTHING ELSE SPECIFIED; ALL CABLES SHALL BE SCREENED IN ONE END ONLY. D
- SEE DIAGRAM FOR CABLE SCREEN TERMINATION
- USE EARTH RAIL IN CABINETS OR CONSOLES FOR GROUNDING OF CABLES AND CONDUTORS. INTERNAL CHASSIS GROUNDING (CABINET)
CONDUCTORS
- UNUSED CONDUCTORS SHALL BE GROUNDED IN SAME END AS CABLE SCREEN FIBER OPTIC INTERFACE
- MINIMUM CONDUCTOR-LENGTH (UNUSED CONDUCTORS) IS 1.5 METER
- USE SHORTEST POSSIBLE CONDUCTOR LENGTH INSIDE CABINET FOR BEST EMC PROTECTION.
RJ45 INTERFACE FOR NETWORK EQUIPMENT
REQUIRES GALVANIC ISOLATION AT BOTH END
IN CASE OF EXTERNAL (NON-JS) EQUIPMENT
SERIAL COMMUNICATION CHANNEL (EITHER CAN, RS232 OR RS422)
REQUIRES GALVANIC ISOLATED OUTPUTS AT TRANSMITTING EQUIPMENT
CABLES:
C C
CABLE CORES IN CABLE
CABLE SHIELD/SCREEN
OPEN/UN-TERMINATED CABLE SCREEN
INDICATES TWISTED PAIR

<CABLE-TAG>
1 2
COMPLETE CABLE TAG: =DP-Wxxx
'=DP' IS NOT SHOWN IN DIAGRAMS (SEE TITLE FIELD)
GROUNDED/TERMINATED CABLE SCREEN

B H 211218 Reassigned some fuses. Changed a couple of cable numbers. KIA B
G 211117 Added RADius interface - Added MGC replacing Gyro3 and VRU3 ØAD EAC
EARTH SYMBOL INDICATES TERMINATED SCREEN TO F 210712 Added VI interface VKB ØAD
EITHER CABINET'S EARTH BAR OR INDICATED TERMINAL E 180212 Corrected gyro1 input port on GNSS receiver. sheet 20. ØAD EAC
D 180208 Corrected gyro input ports on GNSS receivers. sheets 20 and 21. ØAD EAC
PD2 170704 Corrected misc tags and terminals. See revision clouds. ØAD
PD1 190616 Preliminary as built. Corrected Rudder interface and MMS interface. ØAD
C 170531 Corrected MMS interface to thrusters, sheet 23 ØAD EAC
B 170511 Multiple corrections to terminals etc. ØAD EAC
<=SYSTEM REF.
A 170407 First issue OAD
<+UNIT REFERENCE Rev. Date Description Sign. Appr.
FUNCTION SYSTEM AND LOCATION Alianca ETH-001, Icon DP2 retrofit Icon DP2 System Plant:
=
UNIT TYPE Alianca ETH-001 Location:
<CAA-NO.> MULTI LEVEL ASSIGNMENT IS USED FOR SYSTEM AND LOCATION: +
'=' SYSTEM/SUB-SYSTEM, Original: Repl. for: Repl. by: Size:
A '+' LOCATION/UNIT, A3 GENERAL NOTES A
CONTINIOUS FRAME: WIRING DIAGRAM
PART OF DELIVERY '<' TOP-LEVEL, OTHERWISE SEE; Eng. Verified: Approved: Scale:
455
=<SYSTEM>' AND +<LOCATION> OAD

BOUNDRY FRAME: Dept. Control - Aalesund
NOT PART OF DELIVERY IN THE TITLE FIELD Reference: AAC- 116408 - 01DW H 1 24
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
<=SHIP
<+AC1 +C2 +C1
COMPANY SHARED
Part X
Supply SUPPLY FROM UPS1 UPS1
16A@230VAC EBM UPS System
E SWITCHBOARD 381004 381004 E
220-230V, 50/60HZ
BATTERY CONNECTOR BATTERY CONNECTOR UPS OUTPUT UPS INPUT
L2
L1
ROC 25 ROC 25 -U3 IEC 16A IEC 16A
E
-AC 96VDC 96VDC 2-PH 230V 2-PH 230V
NETWORK CARD
RJ45 CONNECTOR
L2
L2
L1
L1
-
-
+
+
E
E
+
+
-
-
E
-TB -TB -AC2 -AC1
-W80100
-W80116
MARINE FILTER
+T1 1 2 E SCR
PE
L2
L1

UPS1 PE -OUTPUT
2V 1V
2U 1U
EBM
Isolation Transformer
-TB
PE
L2
381007
L1
D -INPUT D
-TB
CONNECTED TO
-W80114
UPS ALARM
-W80112
-W80113
-W80115
MAIN CABINET
NETWORK EARTH FAILURE

UPS ALARM
1 2 SCR ON MANUAL BYPASS 1 2 3 4 SCR 1 2 E SCR 1 2 E SCR
+B1
UPS1 -U2 -U3
Distribution Cabinet
4
2
3
4
2
5
6
1
381003 -X2 -X1 -X2 -X2

2
3
6
2
3
6
1
1
4
4
2
2
-F01 -F02 -F03 -F04 -F05 -F06 -F07 -F08 -F09 -F10 -F11
C 4A 4A 4A 4A 4A 4A 4A 4A 4A 6A 6A C
1
1
3
3
-W80104
-W80102
-W80103
-W80105
-W80106
10mm2
-W80101
-W80110
SPARE SPARE
-W80111
-W80107
1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR
<=SHIP 1 2 SCR <=SHIP <=SHIP
<+CU01 <+OS31+C1 <+OS32+C1 <+PR11+B1 <+PR21 <+PR41 <+PR41
L2
L2
L2
L1
L1
L1
L2
L2
L2
-AC -AC -AC

L1
L1
L1
4
2
2
B -F21 6.3A -F41 6.3A -F61 6.3A -F01 4A -F02 4A -F01 4A
B
MAIN DP OS1 DP OS2 GNSS 1 CyScan MK IV RANGER USBL RANGER USBL

*Control Cabinet OS Unit OS Unit Receiver Posref System Posref System Posref System
315030 492007 492007 613002 612003 612003
6mm2
6mm2
6mm2
6mm2
6mm2
6mm2
6mm2
=DP
+PD01
A A3 AC POWER DISTR. A
Eng. Verified: Approved: Scale: WIRING DIAGRAM UPS1
Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
456
OAD 170323 OAD

Reference: AAC- 116408 - 01DW H 2 24
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
<=SHIP
<+AC2 +C2 +C1
COMPANY SHARED
Part X
Supply SUPPLY FROM UPS2 UPS2
16A@230VAC EBM UPS System
E SWITCHBOARD 381004 381004 E
220-230V, 50/60HZ
BATTERY CONNECTOR BATTERY CONNECTOR UPS OUTPUT UPS INPUT
L2
L1
ROC 25 ROC 25 -U3 IEC 16A IEC 16A
E
-AC 96VDC 96VDC 2-PH 230V 2-PH 230V
NETWORK CARD
RJ45 CONNECTOR
L2
L2
L1
L1
-
-
+
+
E
E
+
+
-
-
E
-TB -TB -AC2 -AC1
-W80200
-W80216
MARINE FILTER
+T1 1 2 E SCR
PE
L2
L1

UPS2 PE -OUTPUT
2V 1V
2U 1U
EBM
Isolation Transformer
-TB
PE
L2
381007
L1
D -INPUT D
-TB
CONNECTED TO
-W80214
-W80212
-W80213
-W80215
MAIN CABINET UPS ALARM
NETWORK EARTH FAILURE

UPS ALARM
1 2 SCR ON MANUAL BYPASS 1 2 3 4 SCR 1 2 E SCR 1 2 E SCR
+B1
UPS2 -U2 -U3
Distribution Cabinet
4
2
3
4
2
5
6
1
381003 -X2 -X1 -X2 -X2

2
3
6
2
3
6
1
1
4
4
2
2
-F01 -F02 -F03 -F04 -F05 -F06 -F07 -F08 -F09 -F10 -F11
C 4A 4A 4A 4A 4A 4A 4A 4A 4A 6A 6A C
3
3
1
1
10mm2
SPARE SPARE SPARE

-W80204
-W80202
-W80203
-W80205
-W80206
-W80207
-W80208
-W80201
1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR

<+CU01 <+OS31+C1 <+OS32+C1 <+PR12+B1 <+T731+AC <+PU01
L2
L2
L2
L1
L1
L1
L2
L2
L2
-AC -AC -AC

L1
L1
L1
4
2
B -F22 6.3A -F42 6.3A -F62 6.3A -F02 4A -F01 4A

B
MAIN DP OS1 DP OS2 GNSS 2 RADius Network

*Control Cabinet OS Unit OS Unit Receiver Terminal List Printer
315030 492007 492007 391004 416011
6mm2
6mm2
6mm2
6mm2
6mm2
6mm2
=DP
+PD02
A A3 AC POWER DISTR. A
Eng. Verified: Approved: Scale: WIRING DIAGRAM UPS2
457
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
E E
CABINET
MAIN
*Control Cabinet
315030
INTERNAL FUSES
-U23-F01 2A -U23-F02 2A -U23-F03 2A -U23-F04 2A -U23-F05 2A -U23-F06 2A -F100 2A

+
-
+
-
+
-
+
-
+
-
+
-
+
-

-U24 -U25 -U33 -U26 -U47 -U253 -U29 -U100
D DP Controller I/O Controller Field I/O Lynx switch Lynx switch Serial Line Splitter THR switch Cabinet door fan
D
-U23-F07 6.3A -U23-F08 6.3A -U23-F09 6.3A -U23-F10 6.3A
+
-
+
-
+
-
+
-
C C
Updated cable number
-W00104
-W00103
-W00102
-W00101
6mm2
1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR
<=SHIP
<+SS31+JB <+SS21 N <+IU01 <+SS31+B1
N
2
L
1
1
-TB -PWR -X22 -PWR
B B
Junction Box 1 VRU 1 IO Wind Display 1
Junction Box I/O Cabinet Wind Display
391023 324005 652012
Moved to available fuse Moved to available fuse
H H
6mm2
6mm2
6mm2
6mm2
=DP
+CU01
A A3 DC POWER DISTR. (A) A
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM A
OAD Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
458
170323 OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
E E
CABINET
MAIN
*Control Cabinet
315030
INTERNAL FUSES
-U43-F01 2A -U43-F02 2A -U43-F03 2A -U43-F04 2A -U43-F05 2A -U43-F06 2A -F200 2A

+
-
+
-
+
-
+
-
+
-
+
-
+
-

-U44 -U45 -U53 -U46 -U47 -U453 -U49 -U200
D DP Controller I/O Controller Field I/O Lynx switch Lynx switch Serial Line Splitter THR switch Cabinet door fan
D
-U43-F07 6.3A -U43-F08 6.3A -U43-F09 6.3A -U43-F10 6.3A
+
-
+
-
+
-
+
-
C C
-W00107 <+T
-W00106
SPARE SPARE
6mm2
Removed W00108 previously used for Wind Display 2
H
1 2 SCR 1 2 SCR
<=SHIP
<+SS32+JB <+SS22 N
2
L
1
-TB -PWR
B B
Junction Box 2 VRU 2
Junction Box
391023
Moved to available fuse

6mm2
6mm2

=DP
+CU01
A A3 DC POWER DISTR. (B) A
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM B
459
170323 OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
E E
CABINET
MAIN
*Control Cabinet
315030
INTERNAL FUSES
-U63-F01 2A -U63-F02 2A -U63-F03 2A -U63-F04 2A -U63-F05 2A

+
-
+
-
+
-
+
-
+
-

-U44 -U45 -U53 -U46 -XX
D DP Controller I/O Controller Field I/O Lynx switch SPARE D

-U63-F06 6.3A -U63-F07 6.3A -U63-F08 6.3A -U63-F09 6.3A -U63-F10 6.3A
+
-
+
-
+
-
+
-
+
-
C C
6mm2
-W00114
-W00115
-W00116
-W00117
-W00118
1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR
<+SS33+JB <+SS33+B1 <+MGC <+IU01 <+MS01

F4
F3
N
2
2
1
1
-TB -PWR -PWR -X42 -X90
B Junction Box 3 Wind Display 3 MGC IO MMS
B
Junction Box Wind Display Sensor, Gyro, VRU I/O Cabinet Control Panel
391023 652012 324005 482001
6mm2
6mm2
6mm2
6mm2
6mm2
=DP
+CU01
A A3 DC POWER DISTR. (C) A
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM C
460
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
CABINET
COMPANY SHARED
Part X
MAIN Connected to
*Control Cabinet U23-F06
E 315030 E
24V A
24V B
0V A
0V B
PS2 24V
PS1 24V
PS2 0V
PS1 0V
-U29

Weidmüller IE-SW-BL05T-5TX
D 1 2 3 4 5 D
-W291
4x2x0.5q, CAT5, STRAIGHT -W294
+U25 4x2x0.5q, CAT5, STRAIGHT
Controller
-W293
4x2x0.5q, CAT5, STRAIGHT
LAN-C -W292
THRUSTER THRUSTER THRUSTER
C NET A NET B NET B NET A NET B NET NET NET C

TP TP TP TP TP TP TP TP
-U267 -U277 -U278 -U268 -U279 -U302 -U303 -U304
2
3
6
2
3
6
2
3
6
2
3
6
1
-MPR1_024
-BTT1_026
-STT1_026
-W00124
-W00123
-W00125
1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR
B <=JS <=THR <=THR <=THR B

<+OS31+C1 <+OS31+R1 <+PU01 <+PD01+B1 <+BT1 <+ST1 <+MP1
+UN1 +UN1 +UN1

-X7 -X6 -X4 -ETH -U2 -NET3 -NET3 -NET3
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
1
1
DP OS1 PC JS Network UPS1
OS Unit Terminal rail Printer Distribution Cabinet
492007 416011 381003

A A3 NETWORK A
461
OAD
Reference: AAC- 116408 - 01DW H 24
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
CABINET
COMPANY SHARED
Part X
MAIN
*Control Cabinet
E 315030 E
+U65
Controller
LAN-C

D D
NET A NET B NET A NET B NET B NET B

TP TP TP TP TP TP
-U467 -U477 -U468 -U478 -U479 -U479 -U651
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
1
1
C C
-W00134
-W00132
-W00133
-W00135
-W00136
-W00131
-WG002
<=VI
1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR
<=VI
<+OS32+C1 <+IU01 <+IU01 <+PD02+B1 <+IU91 <+IU01
TX+
TX-
RX+
RX-
=VI
-X7 -X6 -U411 -U412 -U2 -U1 -X002
B B
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
2
3
6
1
1
DP OS2 IO IO UPS2 Service
OS Unit I/O Cabinet I/O Cabinet Distribution Cabinet Interface
492007 324005 324005 381003 421001

=DP
+CU01
A A3 NETWORK A
462
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
CABINET
COMPANY SHARED
Part X
MAIN Connected to U43-F6
*Control Cabinet
315030
E E
24V A
24V B
0V A
0V B
PS2 24V
PS1 24V
PS2 0V
PS1 0V
-U49

Weidmüller IE-SW-BL05T-5TX
D 1 2 3 4 5 D
-W474
-W471 -W473
4x2x0.5q, CAT5, STRAIGHT 4x2x0.5q, CAT5, STRAIGHT
+U45 -W472
Controller 4x2x0.5q, CAT5, STRAIGHT
THRUSTER THRUSTER THRUSTER
C NET NET NET C

TP TP TP
LAN-C -U502 -U503 -U504
2
3
6
2
3
6
2
3
6
1
-MPR2_024
-BTT2_026
-STT2_026
1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR
B <=THR <=THR <=THR B

<+BT2+UN1 <+ST2+UN1 <+MP2+UN1
-NET3 -NET3 -NET3
2
3
6
2
3
6
2
3
6
1
1
Bow2 Stern2 StbdMP

A A3 NETWORK A
463
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
CABINET
MAIN
E *Control Cabinet E
315030
COM COM COM COM COM

RS422 RS422 RS422 RS422 RS232
-U25-COM1 -U25-COM2 -U25-COM3 CONNECTED TO -U25-COM4 -U25-COM5
MAIN CABINET
4
4
3
3
DC POWER
RxD+(A)
RxD-(B)
-U255
CONV.

-U253
(TX-)
(TX+)
(RX+)
(RX-)
NMEA SPLITTER
-
+
+
-
D -Tx6 D
24VDC A
RxD+(A)
RxD-(B)
UPC-3002, SERIAL LINE SPLITTER
RxD+(A)
RxD+(A)
RxD+(A)
RxD-(B)
RxD-(B)
RxD-(B)
INPUT A
+
-
+
-
A Tx1
-R
200 ohm
<+MGC
MGC
Sensor, Gyro, VRU
C C
-W00144
-W00142
-W00143
-W00145
-W00141
-W61102
22
21
-J1
1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR
-W00155
<=SHIP <=SHIP <=SHIP 1 2 SCR
<+SS11 <+SS21 <+SS31+JB <+SS31+B1 <+PR11+B1 <+PR41
Black Box
RxD+
RxD-
RS232->422 on P1
TxD+
TxD-
B -VRUin B
4
4
3
7
8
7
2
x
x
-X -P2 -TB -TB -COM5 -DP
Gyro 1 VRU 1 Junction Box 1 Wind Display 1 GNSS 1 RANGER USBL

Junction Box Wind Display Receiver Posref System
391023 652012 612003

=DP
+CU01
A A3 SENSOR GROUP (SERIAL) A
464
OAD 170323 OAD

1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
CABINET
MAIN
315030
COM COM COM COM
RS422 RS422 COM RS422 RS232
RS422
-U45-COM1 -U45-COM2 -U45-COM3 CONNECTED TO -U45-COM4 -U45-COM5
4
MAIN CABINET
2
3
2
3
2
3
2
3
2
3
1
1
DC POWER
RxD+(A)
RxD-(B)

-U453
NMEA SPLITTER
-
+
D -Tx6 D
+
-
-U255
UPC-3002 CONV.
24VDC A
INPUT A SERIAL LINE SPLITTER
(TX-)
(TX+)
(RX+)
(RX-)
RxD+(A)
RxD+(A)
RxD+(A)
RxD-(B)
RxD-(B)
RxD-(B)
+
-
+
-
A Tx1
-R
200 ohm
C C
-W00146
-W00147
-W00148
-W00149
-W00150
Changed cable number
H
1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR 1 2 SCR
<=SHIP <=SHIP
<+SS12 <+SS22 <+SS32+JB <+PR12+B1 <+T731+B1
Black Box
RS232->422 on P1
TxD+
TxD-
B B
4
4
3
7
2
3
7
-X -P2 -TB -COM5 -COM6
RADius
Gyro 2 VRU 2 Junction Box 2 GNSS 2 Contoller Unit
Junction Box Receiver
391023

=DP
+CU01
465
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
CABINET
E E
COM COM COM
RS422 RS422 COM RS422
RS422
-U65-COM1 -U65-COM2 -U65-COM3 CONNECTED TO -U65-COM4

4
4
2
3
2
3
2
3
2
3
MAIN CABINET
1
1
DC POWER
RxD+(A)
RxD-(B)

-U653
NMEA SPLITTER
-
+
D -Tx6 D
+
-
UPC-3002
24VDC A
INPUT A SERIAL LINE SPLITTER
RxD+(A)
RxD+(A)
RxD-(B)
RxD-(B)
+
-
+
-
+
-
A Tx1 -Tx2
TxD+(Y)
RxD+(A)
TxD-(Z)
RxD-(B)
-R
MAIN
*Control Cabinet
315030 200 ohm
C C
-W00154
-W00152
-W00153
-W61302
-W00151
1 2 SCR 1 2 3 4 SCR 1 2 SCR 1 2 SCR 1 2 SCR
<=SHIP
<+MGC <+MGC <+SS33+JB <+SS33+B1 <+PR21
TxD+
TxD-
Rx-
Rx+
Tx+
Tx-
B B
4
3
7
8
x
x
-X -TBA -TB -TB -DP
12
16
17
CyScan MK IV
11
-J1 -J1 Junction Box 3 Wind Display 3 Posref System

Junction Box Wind Display 613002
MGC MGC 391023 652012
Sensor, Gyro, VRU Sensor, Gyro, VRU
Gyro signal VRU signal

=DP
+CU01
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM C
466
170323 OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
MAIN
315030
CAN CAN
-U45-CAN1
GND
1C+
1C-
4
4
3
5
6
5
6
-X22 -X42

D D
-W00164
-W00162
-W00163
C 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR C
CAN HIGH
CAN HIGH
CAN HIGH
CAN LOW
CAN LOW
CAN LOW
CAN GND
CAN GND
CAN GND
CAN GND
CAN GND
CAN GND
<+OS31+P1 <+IU01 <+OS32+P1 <+IU01
3 (CAN H)
4 (CAN L)
5 (CAN G)
-U1
H
4
L
2
1
1
-U280 -MAIN A -U480
PE
B DP OS1 IO DP OS2 IO B
OS Device -x1 I/O Cabinet OS Device I/O Cabinet
411006 324005 411006 324005
DETAILS FOR CAN CONNECTIONS:

CONNECTION SUBCON CAN CONNECTOR CAN CABLE STRIPPING LENGTHS

A 6 34 5
A3 OP.DEV AND IO (CAN-BUS) A
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM A, B & C
467
OAD
6 24 5 TBA or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
CABINET
E MAIN
*Control Cabinet INTERNAL
E
315030 PS1 PS2 DP-A IO-A1 ETH-A PS1 PS2 DP-B IO-B1 ETH-B PS1 PS2 DP-C IO-C1 ETH-C
A 33 33 33 33 33
B 53 53 53 53 53
C 73 73 73 73 73
DI DI DI DI DI DI DI DI DI DI DI DI DI DI DI
24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V 24V
04
04
04
03
05
03
05
03
05
06
07
06
07
06
07
-U21 -U22 -U24 -U25 -U26 -U41 -U42 -U44 -U45 -U46 -U61 -U62 -U64 -U65 -U66

D 33
DI
53
DI
33
DI
33
DI
53
DI
53
DI
33
DI
33
DI
53
DI
53
DI D
24V 24V 24V 24V 24V 24V 24V 24V 24V 24V
5 11
5 11
1 10
1 10
3 10
9 10
3 10
9 10
7 12
7 12
10
10
4
4
2
8
-X24 -X44 -X24 -X24 -X44 -X44 -X24 -X24 -X44 -X44
-W00174
-W00172
-W00173
-W00175
-W00171
C C
1 2 3 4 SCR 1 2 1 2 SCR 1 2 1 2 SCR 1 2 3 4 SCR 1 2 3 4 SCR
ENABLE DP A
SUPPLY 2 OK
SUPPLY 2 OK
ENABLE DP B
UPS BYPASS
UPS BYPASS
SUPPLY 1 OK
SUPPLY 1 OK
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
MAINS OK
MAINS OK
<+MS01 <+PD01+B1 <+PD02+B1 <+OS31+C1 <+OS32+C1
B B
40
37
38
39
4
5
2
3
2
3
3
1
1
-X90 -X90 -X2 -X2 -X2 -X2 -X1 -X1 -X1 -X1
MMS UPS1 UPS2 DP OS1 DP OS2
Control Panel Distribution Cabinet Distribution Cabinet OS Unit OS Unit
482001 381003 381003 492007 492007

=DP
+CU01
A3
WIRING DIAGRAM
MODES/STATUS SIGNALS
SUB SYSTEM A, B & C
A
468
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
E +K2 E
OS1 KVM RX 1. ICON OS1 output to HDMI (display clone).
1-19
KVM Switch
1
-HDMI OUT
ETHERNET
24VRTN
PICTURE
24VDC
-W00139
-W00117
-W10171

<=JS
+D1 <+IU91 +P1 <+OS31+D1
DP OS1 Service DP OS1 Unicon OS
D Display Interface OS Device Panel Computer D
3 (CAN-H)
4 (CAN-L)
5 (CAN-G)
3 (CAN-H)
4 (CAN-L)
5 (CAN-G)
1 (24VDC)
1 (24VDC)
414010-01 C1-22+SCR 1-8+SCR 1 2 SCR 421001 411006 414011
2 (0VDC)
2 (0VDC)
+K1
-USB
1-22
1-8
-USB -RS232 -DVI -MAIN A -MAIN B
2
1
-DC -DVI OUT -ETH
-DVI IN OS1 KVM TX
2
1-22
1
KVM Switch -X01
PICTURE
24VRTN
24VDC
-W10171
-W10116
-W13104
-W13103
-W13102
-W10001
-W13105
C Connected to Connected to
C
C1-22+SCR SCR
1 2 SCR 1-9+SCR 1-4+SCR 1-4+SCR 1 2 SCR
+C1
+
-
+
-
1-22
-F12 -F13
-F13 <=JS
-USB1 -COM1 -DVI -USB3
<+OS31+R1
PC JS
Terminal rail
4
-U61 -U51
2
-RJ45
4
2
3
1
B DP OS1 -F01 -F02 -X05 -X3 B

OS Unit
492007
Connected to Connected to Connected to Connected to Connected to

2

A A3 OPERATOR STATION, OS1 A
469
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
E E
+D1 <+IU91 +P1

DP OS2 Service DP OS2
Display Interface OS Device
3 (CAN-H)
4 (CAN-L)
5 (CAN-G)
3 (CAN-H)
4 (CAN-L)
5 (CAN-G)
1 (24VDC)
1 (24VDC)
414010-01 421001 411006
2 (0VDC)
2 (0VDC)
-USB
-USB -DVI -RS232 -MAIN A -MAIN B
2
1
-DC

D D
-W13204
-W13203
-W13202
-W10002
-W13205
-W13201
1 2 SCR 1-9+SCR 1-15+SCR 1-4+SCR 1-4+SCR 1 2 SCR
+C1
DP OS2
OS Unit
Connected to
+
-
+
-
492007
C -F12 -F13 C
-USB1 -DVI -COM1 -USB3
4
-U61 -U51
2
4
2
3
1
-F01 -F02 -X05
B B
Connected to Connected to Connected to 1 Connected to 1

A A3 OPERATOR STATION, OS2 A
470
OAD 170323 OAD

1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
<+IU01
COMPANY SHARED
Part X
IO 51 51 51 51 51 51 51 52 52 52 52 52 52
I/O Cabinet AI DI AI DI DI DI DI DI DI AI DI AI DI
324005 4-20mA 24V 4..20mA 24V 24V 24V 24V 24V 24V 4-20mA 24V 4-20mA 24V
E E
3 04
3 04
1 03
5 05
5 05
1 03
3 10
3 10
1 09
7 06
9 07
7 06
1 09
10
4
4
2
2
-X512 -X514 -X512 -X514 -X514 -X514 -X524 -X522 -X524 -X522 -X524
-W50002
-W50001

1 2 3 4 5 6 7 8 9 10 11 12 SCR 13 14 3 4 5 6 7 8 9 10 11 12 SCR 13 14
D <+JB01
D
Switcboard JB
Connection Box X X
391003
10
10
4
4
2
5
6
7
8
7
8
5
6
3
1
1
-X2 -X3 -X2 -X3 -X3 -X3 -X5 -X4 -X5 -X4 -X5
-W50024
-W50022
-W50023
-W50014
-W50012
-W50013
-W50011
C C
1 2 SCR 3 4 1 2 SCR 3 4 1 2 3 4 SCR 1 2 SCR 1 2 3 4 5 1 2 SCR 3 4 1 2 SCR 3 4
BREAKER STATUS
BREAKER STATUS
BREAKER STATUS
BREAKER STATUS
BREAKER STATUS
BREAKER STATUS
BREAKER STATUS
BREAKER STATUS
SG1 ON MBB
GEN. LOAD
GEN. LOAD
GEN. LOAD
GEN. LOAD
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
COMMON
SCR
SCR
SCR
SCR
<=SHIP
<+MS440
+12
+3 +4 +6 +11 AxG2
17
18
19
15
16
15
16
15
16
17
18
19
15
16
4
4
5
6
5
6
1
1
3X2? 4X2 4X3 -4X5 X -6X2 X -11X5 X 11X2 11X3 12X2?
B 4-20mA 4-20mA STT1 BTT1 STT2 BTT2 4-20mA 4-20mA B
320 kW 1280 kW 590 kW 590 kW 590 kW 590 kW 1600 kVA 320 kVA
AxG1 3Q1 SG1 4Q1 501 502 6Q1 1001 1002 SG2 11Q1 AxG2 12Q1
6Q1
3Q1 4Q1 11Q1 12Q1

=DP
501 502 1001 1002 Alianca ETH-001 Location:
A A3 Switchboard interface A
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM A/B
471
170323 OAD
AxG1 SG1 SM1 BM1 SM2 BM2 SG2 AxG2 Reference: AAC- 116408 - 01DW H 17 24
1 2 3 4 5 6 7
1 2 3 4 5 6
COMPANY SHARED
Part X
E E
<+SS31 <+SS32
MAST BRIDGE MAST BRIDGE

+A1 +B1 +A1 +B1
SENSOR DISPLAY SENSOR DISPLAY
Wind Sensor 1 Wind Display 1 Wind Sensor 2
Sensor, Wind Wind Display Sensor, Wind
652020 652012 652020
N
2
7
8
7
8
1
1
-Pwr -RS422 IN -Pwr -RS422 IN

D D
TX-DATA-
TX-DATA+
TX-DATA-
TX-DATA+
TX-DATA-
TX-DATA+
TX-DATA-
TX-DATA+
24V DC
24V DC
24V DC
24V DC
0V DC
0V DC
0V DC
0V DC
SCR
SCR
SCR
SCR
SEE SENSOR GROUP (SERIAL) SHEETS

SERIAL COM. FROM MAIN CABINET

SERIAL COM. TO MAIN CABINET

C C
SEE DC POWER DISTR. SHEETS

24V DC FROM MAIN CABINET

DISTRIBUTION CABINET
24V DC FROM UPS1
24V DC FROM UPS2

B B

=DP
+SS3x
A A3 OBSERVATOR A
Eng. Verified: Approved: Scale: WIRING DIAGRAM WIND SENSOR AND DISPLAY
472
170323 OAD
1 2 3 4 5 6 7
1 2 3 4 5 6
COMPANY SHARED
Part X
E E
<+SS33
MAST BRIDGE BRIDGE

+A1 +B1 +B2
SENSOR DISPLAY DISPLAY
Wind Sensor 3 Wind Display 3
Sensor, Wind Wind Display
652020 652012
N
2
7
8
7
8
1
-Pwr -RS422 IN -Pwr -RS422 IN

D D
TX-DATA-
TX-DATA+
TX-DATA-
TX-DATA+
TX-DATA-
TX-DATA+
24V DC
24V DC
24V DC
0V DC
0V DC
0V DC
SCR
SCR
SCR


C C


24V DC FROM UPS1
B B

=DP
+SS3x
A A3 OBSERVATOR A
Eng. Verified: Approved: Scale: WIRING DIAGRAM WIND SENSOR AND DISPLAY
473
170323 OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
+A1 +A2 +A3
GNSS GNSS 1 GNSS 1 GNSS 1
COMPANY SHARED
Part X
Posref System L1/L2/G Ant. L-Band & MF UHF Ant.
610024 CONNECTED TO UPS1
E V460 V86
+PD01 E
TNC-F N-Type-F N-Type-F
TNC-M N-Type-M N-Type-M
N-Type-M N-Type-M
N-Type-M
+AC +C1
L2
-W70102
-W70103
L1
-W70101
GNSS 1 GNSS 1
E
LMR400, 30m
LMR400, 30m
LMR400, 30m
Terminal List Display
391004 414006

coax coax coax
D -AC -DVI
D
L2
L2
N-Type-F
L1
L1
E
1-15
N-Type-M
N-Type-M
-W70104
-W70106
N-Type-F
N-Type-F N-Type-M
-W70105
1-2+E
COAX
SPLITTER KBD+MOUSE
N-Type-F RACK MOUNTED 1-2+E VGA
N-Type-F N-Type-F
+B1 N-Type-M N-Type-M N-Type-M
Rack
Receiver
N-Typ
C C
TNC
TNC
BNC
GNSS 1 -USB -AC -VGA
Receiver -GNSS -L-BAND -MF -UHF
COM6 COM10 COM11
RS422 RS422 RS422
5 7 2 4 2 4
RJ45/DB9-F RJ45/DB9-F RJ45/DB9-F NOTE THAT GNSS RECEIVERS T701+B1
DB9-M DB9-M DB9-M -USB AND T702+B1 ARE MOUNTED IN COMMON
4mm2
RACK
3 8 7 2 7 2
-W70107
-W70120
-W70108
B B
<=SHIP 1 2 SCR <=JS 1 2 SCR USB
NOTE: <+SS11 <+CU01 +D1
SETTINGS FOR L-BAND DEMODULATOR:
Tx+
Tx-
SPOTBEAM: ANT POWER ON CONNECTED TO GNSS 1

4
3
Trackball
INMARSAT: ANT POWER OFF -TBA -U24-COM2 +CU01
DEMODULATOR CABLES: Gyro 1

Joystick
Run power cabling to the LD6 demodulators up the opposite side of the rack from that used Poscon
for coaxial cables.
Data cables should not be run next to the power cables.
ANTENNA CABLES:
=DP
Antenna cables should not cross or run parallel with any single phase or three phase mains Alianca ETH-001 Location:
+PR11
A cable (110 VAC, 220 VAC or 440 VAC) or any high power RF cables leading to transmitting Original: Repl. for: Repl. by: Size:
A3
WIRING DIAGRAM
GNSS POSREF
VERIPOS DUAL LID6
A
devices such as Inmarsat B and VSAT domes. Eng. Verified: Approved: Scale:
474
RACK OAD 170323 OAD Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
Rack should be grounded to ship's earth system by means of (highly conductive) conductor with Reference: AAC- 116408 - 01DW H 20 24
wide surface area rather than large cross section. Absolute minimum is 4mm2 wire. TBA
or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
+A1 +A2 +A3
GNSS 2 GNSS 2 GNSS 2
COMPANY SHARED
Part X
L1/L2/G Ant. L-Band & MF UHF Ant.
CONNECTED TO UPS2
E V460 V86
+PD02 E
TNC-F N-Type-F N-Type-F
TNC-M N-Type-M N-Type-M
N-Type-M N-Type-M
N-Type-M
+AC +C1
-W70202
-W70203
L2
-W70201
L1
GNSS 2 GNSS 2
E
LMR400, 30m
LMR400, 30m
LMR400, 30m
Terminal List Display
391004 414006

coax coax coax
D -AC -DVI
D
L2
L2
N-Type-F
L1
L1
E
1-15
N-Type-M
N-Type-M
-W70204
-W70206
N-Type-F
N-Type-F N-Type-M
-W70205
1-2+E
COAX
SPLITTER KBD+MOUSE
N-Type-F RACK MOUNTED 1-2+E VGA
N-Type-F N-Type-F
+B1 N-Type-M N-Type-M N-Type-M
Rack
Receiver
N-Typ
C C
TNC
TNC
BNC
GNSS 2 -USB -AC -VGA
Receiver -GNSS -L-BAND -MF -UHF
COM7 COM10
RS422 RS422
5 7 2 4
RJ45/DB9-F RJ45/DB9-F NOTE THAT GNSS RECEIVERS T701+B1
3
8
-COM3
DB9-M DB9-M -USB AND T702+B1 ARE MOUNTED IN COMMON
4mm2
RACK
3 8 7 2
-W70207
-W70208
B B
-W00208
<=SHIP 1 2 SCR USB

<+SS12 +D1
Tx+
Tx-
CONNECTED TO GNSS 2
1 2 SCR Trackball
<+MGC -TBA +CU01
4
3
-J1 Gyro 2
MGC
Sensor, Gyro, VRU Alianca ETH-001, Icon DP2 retrofit Icon DP2 System Plant:
=DP
+PR12
A3
WIRING DIAGRAM
GNSS POSREF
VERIPOS DUAL LID6
A
475
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
+A1 +A2
COMPANY SHARED
Part X
RADius RADius
Interrogator Unit Interrogator Unit
E E
POWER DATA POWER DATA
4
3
3
5
3
5
1
1
7
6
2
2
+48VDC
+48VDC
+48VDC
+48VDC
0VDC
0VDC
0VDC
0VDC
CONNECTED TO
TX+
TX-
RX+
RX-
TX+
TX-
RX+
RX-
MAIN CABINET

-W75104
-W75102
-W75103
-W75101
D D
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
+C1 +B1
RADius RADius
Display Contoller Unit
414006 Computer Pwr/conn shelf
COM8
3
7
4
2
3
2
3
2
3
2
3
5
1
1
-PWR -LAN -PWR -LAN
C -AC1 -VGA -VGA -PS2 -AC -AC1 C

1-4
1-3
1-15
1-15
1-3
1-3
-W75112
-W75113
-W75116
-W75117
1-3 1-15 1-3 1-3
+C2
CONNECTED TO UPS RADius
Keyboard w/Trackball
B B
+AC
RADius
Terminal List
L2
L2
L2
L2
L1
L1
L1
L1
E
E
391004

=DP
+T731
A3
WIRING DIAGRAM
RADAR POSREF
RADIUS
A
476
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
COMPANY SHARED
Part X
<+IU01
CABINET
E IO
E
I/O Cabinet
324005
31 31 31 31 31 31 32 32 32 32 32 32
AI AO DI DI DI POT.FREE AI AO DI DI DI POT.FREE
-10..10V -10..10V 24V 24V 24V 24V -10..10V -10..10V 24V 24V 24V 24V
04
04
05
05
11/13
01
11/13
01
06
06
09/15/16
09/15/16

D D
4
4
2
5
6
5
6
5
1
1
-X312 -X313 -X314 -X315 -X322 -X323 -X324 -X325
-W00214
-W00212
-W00213
-W00211
1 2 3 4 SCR 1 2 3 4 5 6 7 8 9 10 SCR 1 2 3 4 SCR 1 2 3 4 5 6 7 8 9 10 SCR
C C
MID POINT 10VDC
MID POINT 10VDC

AVALIABLE1 P2
AVALIABLE1 P2
ACKNOWLEDGE1
ACKNOWLEDGE1
AVALIABLE1 P1
AVALIABLE1 P1
DIR FEEDBACK
DIR FEEDBACK
REQUEST1 R
REQUEST1 R
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
COMMON(+)
ORDER1(-)
REQUEST1
ORDER1(-)
REQUEST1
ORDER1
ORDER1
20VDC
20VDC
0VDC
0VDC
<=THR <=THR <=THR <=THR
<+RFB1 <+RSG1 <+RFB2 <+RSG2
B B
POT POT
4
4
5
6
7
6
7
-X2 -X2
CCW W CW M -X10 -U11 -U11 -U1-X2 -U2-X2 -X10 CCW W CW M -X10 -U11 -U11 -U1-X2 -U2-X2 -X10
PortR PortR 1 13 7 8 20 21 20 21 3 4 StbdR StbdR 1 13 7 8 20 21 20 21 3 4
RFB STG RFB STG
Feedback unit 1 Control system 1 Feedback unit 3 Control system 2

=DP
A A3 STEERING GEAR, PORT/STDB A
Eng. Verified: Approved: Scale: WIRING DIAGRAM SUB SYSTEM A/B
477

1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01DW
<=JS
COMPANY SHARED
Part X
<+CU01
Joystick
E Poscon E
14
-U282
14
CONNECTED TO MAIN CABINET -U283
SEE DP-A SEE DP-B
-W0112

1 2 SCR
D D
UNIT
MMS
Control Panel
482001
17
18
-X90
24
34
22
23
25
26
27
28
29
30
32
33
35
36
21
31
-X90
14
10
12
13
15
16
11
4
2
5
6
7
8
9
1
-X90
C C
-BTT2_024
-STT2_024
-MPR2_025
-BTT1_024
-STT1_024
-MPR1_025
-W90120
-W90119
1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR 1 2 3 4 SCR
DP ENABLE
DP ENABLE
DP ENABLE
DP ENABLE
DP ENABLE
DP ENABLE
DP ENABLE
DP ENABLE
JS ENABLE
JS ENABLE
JS ENABLE
JS ENABLE
JS ENABLE
JS ENABLE
JS ENABLE
JS ENABLE
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
<=THR
B B
<+BT1+UN1 <+BT2+UN1 <+ST1+UN1 <+ST2+UN1 <+MP1+UN1 <+MP2+UN1 <+RSG1 <+RSG2
12
12
12
12
12
12
11
11
11
11
11
11
-M21 -M21 -M21 -M21 -M21 -M21
12 (+)
12 (+)
12 (+)
12 (+)
12 (+)
12 (+)
11 (+)
11 (+)
11 (+)
11 (+)
11 (+)
11 (+)
5
6
5
6
2
1
1
-X10 -X10
-PM21 -PM21 -PM21 -PM21 -PM21 -PM21
PortR StbdR
Bow1 Bow2 Stern1 Stern2 PortMP StbdMP STG STG

=DP
+MS01
A A3 MMS PANEL A
Eng. Verified: Approved: Scale: WIRING DIAGRAM MMS PANEL
478
OAD
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LC
CABLE CONNECTION 1 CONNECTION 2
FUNCTION SHEET (*) = CABLE PART OF
COMPANY SHARED
Part X
DESIGNATION DIMENSION/CABLE TYPE SYSTEM UNIT NO. UNIT NAME SYSTEM UNIT NO. UNIT NAME SYSTEM DELIVERY
E =DP-BTT1_024 2x2x0.5q,STP =DP +MS01 MMS =THR=+BT1 +UN1 Bow1 IO /2 E
=DP-BTT1_026 4x2x0.5q, CAT5 =DP +CU01 MAIN =THR=+BT1 +UN1 Bow1 NET /2
=DP-BTT2_024 2x2x0.5q,STP =DP +MS01 MMS =THR=+BT2 +UN1 Bow2 IO /2
=DP-BTT2_026 4x2x0.5q, CAT5 =DP +CU01 MAIN =THR=+BT2 +UN1 Bow2 NET /2
=DP-DP311 2x2x0.5q,STP =DP +CU01 MAIN =SHIP +SS11 Gyro 1 COM /2
=DP-DP314 2x2x0.5q,STP =DP +CU01 MAIN =SHIP +SS12 Gyro 2 COM /2
=DP-MPR1_024 4x2x0.5q, CAT5 =DP +CU01 MAIN =THR=+MP1 +UN1 PortMP NET /2
=DP-MPR1_025 2x2x0.5q,STP =DP +MS01 MMS =THR=+MP1 +UN1 PortMP IO /2
=DP-MPR2_024 4x2x0.5q, CAT5 =DP +CU01 MAIN =THR=+MP2 +UN1 StbdMP NET /2
=DP-MPR2_025 2x2x0.5q,STP =DP +MS01 MMS =THR=+MP2 +UN1 StbdMP IO /2
=DP-STT1_024 2x2x0.5q,STP =DP +MS01 MMS =THR=+ST1 +UN1 Stern1 IO /2
=DP-STT1_026 4x2x0.5q, CAT5 =DP +CU01 MAIN =THR=+ST1 +UN1 Stern1 NET /2
D =DP-STT2_024 2x2x0.5q,STP =DP +MS01 MMS =THR=+ST2 +UN1 Stern2 IO /2 D
=DP-STT2_026 4x2x0.5q, CAT5 =DP +CU01 MAIN =THR=+ST2 +UN1 Stern2 NET /2
Appendix C.5: Cable List - AAC-116408-01LC(21-12-18) CABLE LIST

=DP-W00101 2x2.5q+E =DP +CU01 MAIN =DP +SS31+JB Junction Box 1 DC /2
=DP-W00102 2x1.5q =DP +CU01 MAIN =DP +SS31+B1 Wind Display 1 DC /2

=DP-W00103 2x2.5q+E =DP +CU01 MAIN =DP +IU01 IO PWR1 /2
=DP-W00106 2x2.5q+SCR =DP +CU01 MAIN =SHIP +SS21 VRU 1 DC /2
=DP-W00109 2x2.5q+E =DP +CU01 MAIN =DP +IU01 IO PWR2 /2
=DP-W00111 2x2.5q+SCR =DP +CU01 MAIN =SHIP +SS22 VRU 2 DC /2
=DP-W00115 2x1.5q =DP +CU01 MAIN =DP +SS33+B1 Wind Display 3 DC /2
=DP-W00116 2x2.5q+E =DP +CU01 MAIN =DP +MGC+B1 MGC JB7 DC /3
C =DP-W00117 2x2.5q+E =DP +CU01 MAIN =DP +IU01 IO PWR3 /2 C
=DP-W00118 2x2.5q+SCR =DP +CU01 MAIN =DP +MS01 MMS PWR /2
=DP-W00121 4x2x0.5q, CAT6 =DP +CU01 MAIN =DP +OS31+C1 DP OS1 NET /2
=DP-W00123 4x2x0.5q, CAT5e =DP +CU01 MAIN =JS +OS31+R1 PC JS NET /2
=DP-W00124 4x2x0.5q, CAT5 =DP +CU01 MAIN =DP +PU01 Network NET /2
=DP-W00125 4x2x0.5q, CAT5 =DP +CU01 MAIN =DP +PD01+B1 UPS1 NET /3
=DP-W00133 4x2x0.5q, CAT5 =DP +CU01 MAIN =DP +IU01 IO NET /2
=DP-W00134 4x2x0.5q, CAT5 =DP +CU01 MAIN =DP +IU01 IO NET /2
=DP-W00135 4x2x0.5q, CAT5 =DP +CU01 MAIN =DP +PD02+B1 UPS2 NET /3
B =DP-W00136 4x2x0.5q, CAT5 =DP +CU01 MAIN =DP +IU91 Service NET /2 B
=DP-W00139 4x2x0.5q, CAT5 =DP +OS31+K1 OS1 KVM TX =DP +OS31+K2 OS1 KVM RX NET /2
=DP-W00142 2x2x0.5q,STP =DP +CU01 MAIN =SHIP +SS21 VRU 1 COM /2
=DP-W00143 4x2x0.5q, STP =DP +CU01 MAIN =DP +SS31+JB Junction Box 1 COM /2
=DP-W00144 2x2x0.5q,STP =DP +CU01 MAIN =DP +PR11+B1 GNSS 1 COM /2
=DP-W00145 2x2x0.5q,STP =DP +CU01 MAIN =SHIP +PR41 RANGER USBL COM /3
=DP-W00147 2x2x0.5q,STP =DP +CU01 MAIN =SHIP +SS22 VRU 2 COM /2
=DP-W00149 2x2x0.5q,STP =DP +CU01 MAIN =DP +PR12+B1 GNSS 2 COM /2
=DP-W00150 2x2x0.5q,STP =DP +CU01 MAIN =DP +T731+B1 RADius COM /3
=
+
A3
CABLE LIST
A
479
Reference: P.O.Box 826 - Sentrum, N-6001 Ålesund, Norway AAC- 116408 - 01LC 21-12-18 1 4
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LC
COMPANY SHARED
Part X
E =DP-W00151 2x2x0.5q,STP =DP +CU01 MAIN =DP +MGC+B1 MGC JB7 COM /3 E
=DP-W00152 2x2x0.5q,STP =DP +CU01 MAIN =DP +MGC+B1 MGC JB7 COM /3
=DP-W00154 2x2x0.5q,STP =DP +CU01 MAIN =SHIP +PR21 CyScan MK IV COM /2
=DP-W00155 2x2x0.5q,STP =DP +MGC+B1 MGC JB7 =SHIP +PR41 RANGER USBL COM /3
=DP-W00161 2x2x0.75q, CAN =DP +CU01 MAIN =DP +OS31+P1 DP OS1 CAN /2
=DP-W00162 2x2x0.75q, CAN =DP +CU01 MAIN =DP +IU01 IO CAN1 /2
=DP-W00163 2x2x0.75q, CAN =DP +CU01 MAIN =DP +OS32+P1 DP OS2 CAN /2
=DP-W00164 2x2x0.75q, CAN =DP +CU01 MAIN =DP +IU01 IO CAN2 /2
=DP-W00171 4x2x0.5q, STP =DP +CU01 MAIN =DP +MS01 MMS IO A/B /2
=DP-W00172 4x2x0.5q, STP =DP +CU01 MAIN =DP +PD01+B1 UPS1 IO /3
=DP-W00173 4x2x0.5q, STP =DP +CU01 MAIN =DP +PD02+B1 UPS2 IO /3
D =DP-W00174 2x2x0.75q, STP =DP +CU01 MAIN =DP +OS31+C1 DP OS1 IO /2 D
=DP-W00175 2x2x0.75q, STP =DP +CU01 MAIN =DP +OS32+C1 DP OS2 IO /2

=DP-W00176 2x2x0.5q, STP =DP +CU01 MAIN =UMAS +UN900 UMAS V Serial -Alarm /2
=DP-W00207 2x2x0.5q, STP =DP +MGC+B1 MGC JB7 =DP +PR12+B1 GNSS 2 IO /3
=DP-W00208 2x2x0.5q, STP =DP +MGC+B1 MGC JB7 =DP +PR12+B1 GNSS 2 IO /3
=DP-W00211 7x2x0.5q,STP =DP +IU01 IO =THR +RFB1 PortR IO /2
=DP-W00212 2x2x0.5q,STP =DP +IU01 IO =THR +RSG1 PortR IO /2
=DP-W00213 7x2x0.5q,STP =DP +IU01 IO =THR +RFB2 StbdR IO /2
=DP-W00214 2x2x0.5q,STP =DP +IU01 IO =THR +RSG2 StbdR IO /2
=DP-W10116 2x1.5q =DP +OS31+C1 DP OS1 =DP +OS31+K1 OS1 KVM TX DC /2
=DP-W10117 2x1.5q =DP +OS31+K1 OS1 KVM TX =DP +OS31+K2 OS1 KVM RX DC /2
=DP-W10171 DVI =DP +OS31+C1 DP OS1 =DP +OS31+K1 OS1 KVM TX DVI /2 (*)
C =DP-W10414 USB, 5m =DP +IU91 Service =DP +OS31+C1 DP OS1 USB /2 C
=DP-W10514 USB, 5m =DP +IU91 Service =DP +OS32+C1 DP OS2 USB /2
=DP-W13101 DVI, 1.8m =DP +OS31+C1 DP OS1 =DP +OS31+D1 DP OS1 DVI /2 (*)
=DP-W13102 RS232, DB9-M-F, 1.8m =DP +OS31+C1 DP OS1 =DP +OS31+D1 DP OS1 COM /2 (*)
=DP-W13103 USB (M-M), 1.8m =DP +OS31+C1 DP OS1 =DP +OS31+D1 DP OS1 TOUCH /2 (*)
=DP-W13104 2x2.5q+SCR =DP +OS31+C1 DP OS1 =DP +OS31+D1 DP OS1 DC /2
=DP-W13105 2x2.5q+SCR =DP +OS31+C1 DP OS1 =DP +OS31+P1 DP OS1 DC /2
=DP-W13201 DVI, 1.8m =DP +OS32+C1 DP OS2 =DP +OS32+D1 DP OS2 DVI /2 (*)
=DP-W13202 RS232, DB9-M-F, 1.8m =DP +OS32+C1 DP OS2 =DP +OS32+D1 DP OS2 COM /2 (*)
=DP-W13203 USB (M-M), 1.8m =DP +OS32+C1 DP OS2 =DP +OS32+D1 DP OS2 TOUCH /2 (*)
=DP-W13204 2x2.5q+SCR =DP +OS32+C1 DP OS2 =DP +OS32+D1 DP OS2 DC /2
=DP-W13205 2x2.5q+SCR =DP +OS32+C1 DP OS2 =DP +OS32+P1 DP OS2 DC /2
B =DP-W50001 10x2x0.5q,STP =DP +IU01 IO =DP +JB01 Switcboard JB IO /2 B
=DP-W50002 10x2x0.5q,STP =DP +IU01 IO =DP +JB01 Switcboard JB IO /2
=DP-W50011 4x2x0.5q, STP =DP +JB01 Switcboard JB =SHIP +MS440+3 AxG1 IO /4
=DP-W50012 4x2x0.5q, STP =DP +JB01 Switcboard JB =SHIP +MS440+4 SG1 IO /4
=DP-W50014 4x2x0.5q, STP =DP +JB01 Switcboard JB =SHIP +MS440+6 MBB IO /4
=DP-W50021 4x2x0.5q, STP =DP +JB01 Switcboard JB =SHIP +MS440+6 MBB IO /4
=DP-W50024 4x2x0.5q, STP =DP +JB01 Switcboard JB =SHIP +MS440+12 AXG2 IO /4
=
+
A3
CABLE LIST
A
480
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LC
COMPANY SHARED
Part X
E =DP-W61101 3x2x0.34q, STP =DP +SS31+A1 =DP +SS31+JB Junction Box 1 COM, DC /2 (*) E
=DP-W61102 2x2x0.5q,STP =DP +CU01 MAIN =DP +SS31+B1 Wind Display 1 COM /2
=DP-W61201 3x2x0.34q, STP =DP +SS32+A1 Wind Sensor 2 =DP +SS32+JB Junction Box 2 COM, DC /2 (*)
=DP-W61301 3x2x0.34q, STP (2m) =DP +SS33+A1 Wind Sensor 3 =DP +SS33+JB Junction Box 3 COM, DC /2 (*)
=DP-W61302 2x2x0.5q,STP =DP +CU01 MAIN =DP +SS33+B1 Wind Display 3 COM /2
=DP-W62301 2x2x0.5q,STP =DP +MGC+A1 MGC =DP +MGC+B1 MGC JB7 COM /3 (*)
=DP-W70101 1/2 inch coaxial, 30m =DP +PR11+A1 GNSS 1 =DP +PR11+B1 GNSS 1 ANT /2 (*)
=DP-W70104 2x1.5q+E =DP +PR11+AC GNSS 1 =DP +PR11+B1 GNSS 1 AC /2
=DP-W70105 2x1.5q+E =DP +PR11+AC GNSS 1 =DP +PR11+C1 GNSS 1 AC /2
=DP-W70106 VGA, 1.8m =DP +PR11+B1 GNSS 1 =DP +PR11+C1 GNSS 1 VGA /2 (*)
D =DP-W70107 2x2x0.5q, STP =DP +PR11+B1 GNSS 1 =SHIP +SS11 Gyro 1 COM /2 D
=DP-W70108 USB, 1.8m =DP +PR11+B1 GNSS 1 =DP +PR11+D1 GNSS 1 USB /2 (*)

=DP-W70204 2x1.5q+E =DP +PR12+AC GNSS 2 =DP +PR12+B1 GNSS 2 AC /2
=DP-W70205 2x1.5q+E =DP +PR12+AC GNSS 2 =DP +PR12+C1 GNSS 2 AC /2
=DP-W70206 VGA, 1.8m =DP +PR12+B1 GNSS 2 =DP +PR12+C1 GNSS 2 VGA /2 (*)
=DP-W70207 2x2x0.5q, STP =DP +PR12+B1 GNSS 2 =SHIP +SS12 Gyro 2 COM /2
=DP-W70208 USB, 1.8m =DP +PR12+B1 GNSS 2 =DP +PR12+D1 GNSS 2 USB /2
=DP-W75101 2x2x0.5q,STP =DP +T731+A1 RADius =DP +T731+B1 RADius DC /3
=DP-W75102 2x2x0.5q,STP =DP +T731+A1 RADius =DP +T731+B1 RADius COM /3
C =DP-W75103 2x2x0.5q,STP =DP +T731+A2 RADius =DP +T731+B1 RADius DC /3 C
=DP-W75104 2x2x0.5q,STP =DP +T731+A2 RADius =DP +T731+B1 RADius COM /3
=DP-W75112 2x1.5q+E =DP +T731+AC RADius =DP +T731+C1 RADius AC /3
=DP-W75113 VGA, 1.8m =DP +T731+B1 RADius =DP +T731+C1 RADius VGA /3
=DP-W75116 2x1.5q+E =DP +T731+AC RADius =DP +T731+B1 RADius AC /3
=DP-W75117 2x1.5q+E =DP +T731+AC RADius =DP +T731+B1 RADius AC /3
=DP-W80100 2x2.5q+E =SHIP +AC1 Supply =DP +PD01+T1 UPS1 PWR /3
=DP-W80101 2x1.5q+E =DP +CU01 MAIN =DP +PD01+B1 UPS1 PWR /3
=DP-W80104 2x1.5q+E =DP +OS31+C1 DP OS1 =DP +PD01+B1 UPS1 PWR /2
B =DP-W80106 2x1.5q+E =DP +PD01+B1 UPS1 =DP +PR11+AC GNSS 1 PWR /3 B
=DP-W80107 2x1.5q+E =DP +PD01+B1 UPS1 =SHIP +PR21 CyScan MK IV PWR /3
=DP-W80110 2x1.5q+E =DP +PD01+B1 UPS1 =SHIP +PR41 RANGER USBL PWR /3
=DP-W80111 2x1.5q+E =DP +PD01+B1 UPS1 =SHIP +PR41 RANGER USBL PWR /3
=DP-W80112 2x2.5q+E =DP +PD01+B1 UPS1 =DP +PD01+T1 UPS1 PWR /3
=DP-W80113 4x2x0.75q STP =DP +PD01+B1 UPS1 =DP +PD01+C1 UPS1 NET /3
=DP-W80114 2x2.5q+E =DP +PD01+B1 UPS1 =DP +PD01+C1 UPS1 PWR /3
=DP-W80116 EBM Cable, Xm =DP +PD01+C1 UPS1 =DP +PD01+C2 UPS1 PWR /3 (*)
=DP-W80200 2x2.5q+E =SHIP +AC2 Supply =DP +PD02+T1 UPS2 PWR /3
=
+
A3
CABLE LIST
A
481
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LC
COMPANY SHARED
Part X
E =DP-W80201 2x1.5q+E =DP +CU01 MAIN =DP +PD02+B1 UPS2 PWR /3 E
=DP-W80206 2x1.5q+E =DP +PD02+B1 UPS2 =DP +PR12+AC GNSS 2 PWR /3
=DP-W80207 2x1.5q+E =DP +PD02+B1 UPS2 =DP +T731+AC RADius PWR /3
=DP-W80208 2x1.5q+E =DP +PD02+B1 UPS2 =DP +PU01 Network PWR /3
=DP-W80212 2x2.5q+E =DP +PD02+B1 UPS2 =DP +PD02+T1 UPS2 PWR /3
=DP-W80213 4x2x0.75q STP =DP +PD02+B1 UPS2 =DP +PD02+C1 UPS2 NET /3
D =DP-W80216 EBM Cable, Xm =DP +PD02+C1 UPS2 =DP +PD02+C2 UPS2 PWR /3 (*) D
=DP-W90003 2x0.5q,STP =SHIP +AP Alarm Plant =DP +MS01 MMS IO /2

=DP-W90119 2x2x0.5q,STP =DP +MS01 MMS =THR +RSG1 PortR IO /2
=DP-W90120 2x2x0.5q,STP =DP +MS01 MMS =THR +RSG2 StbdR IO /2

=JS-W00191 2x2x0.75q, CAN =JS +CU01 Joystick =DP +OS31+P1 DP OS1 CAN /2
=JS-W13101 2x2.5q+SCR =DP +OS31+P1 DP OS1 =JS +OS31+R1 PC JS DC /2
=JS-W70110 2x2x0.5q,STP =JS +CU01 Joystick =DP +PR11+B1 GNSS 1 COM /2
=JS-W90001 2x1.5q+E =JS +CU01 Joystick =DP +MS01 MMS PWR /2
=JS-W90002 4x2x0.5q, STP =JS +CU01 Joystick =DP +MS01 MMS IO /2
=VI-WG002 4x2x0.5q, Cat5e =DP +CU01 MAIN =VI +IU01 VI NET /2
C C
B B

=
+
A3
CABLE LIST
A
482
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
E DESIGNATION ELECTRICAL DATA UNIT TERMINAL SIGNAL EXTERNAL CABLE E
-F100 + 2A +CU01 MAIN Cabinet door fan -U100 + 24VDC
-F100 - 2A +CU01 MAIN Cabinet door fan -U100 - 24VRET
-F200 + 2A +CU01 MAIN Cabinet door fan -U200 + 24VDC
-F200 - 2A +CU01 MAIN Cabinet door fan -U200 - 24VRET
-F21 L1 6.3A +PD01+B1 UPS1 -F01 1 L1 =DP-W80101 1
-F21 L2 6.3A +PD01+B1 UPS1 -F01 3 L2 =DP-W80101 2
-F22 L1 6.3A +PD02+B1 UPS2 -F01 1 L1 =DP-W80201 1
D -F22 L2 6.3A +PD02+B1 UPS2 -F01 3 L2 =DP-W80201 2 D
-F41 L1 6.3A +PD01+B1 UPS1 -F02 1 L1 =DP-W80102 1
-F41 L2 6.3A +PD01+B1 UPS1 -F02 3 L2 =DP-W80102 2
Appendix C.6: Fuse List - AAC-116408-01LF(21-12-18) FUSE LIST

-F42 L1 6.3A +PD02+B1 UPS2 -F02 1 L1 =DP-W80202 1
-F42 L2 6.3A +PD02+B1 UPS2 -F02 3 L2 =DP-W80202 2
-F61 L1 6.3A +PD01+B1 UPS1 -F03 1 L1 =DP-W80103 1
-F61 L2 6.3A +PD01+B1 UPS1 -F03 3 L2 =DP-W80103 2
-F62 L1 6.3A +PD02+B1 UPS2 -F03 1 L1 =DP-W80203 1
C -F62 L2 6.3A +PD02+B1 UPS2 -F03 3 L2 =DP-W80203 2 C
-U23-F01 + 2A +CU01 MAIN DP Controller -U24 + 24VDC
-U23-F01 - 2A +CU01 MAIN DP Controller -U24 - 24VRET
-U23-F02 + 2A +CU01 MAIN I/O Controller -U25 + 24VDC
-U23-F02 - 2A +CU01 MAIN I/O Controller -U25 - 24VRET
-U23-F03 + 2A +CU01 MAIN Field I/O -U33 + 24VDC
-U23-F03 - 2A +CU01 MAIN Field I/O -U33 - 24VRET
-U23-F04 + 2A +CU01 MAIN Lynx switch -U47 + 24VDC
B -U23-F04 - 2A +CU01 MAIN Lynx switch -U47 - B
-U23-F04 - 2A +CU01 MAIN Lynx switch -U26 - 24VRET
-U23-F05 + 2A +CU01 MAIN Serial Line Splitter -U253 + 24VDC
-U23-F05 - 2A +CU01 MAIN Serial Line Splitter -U253 - 24VRET
-U23-F06 + 2A +CU01 MAIN THR switch -U29 + 24VDC
-U23-F06 - 2A +CU01 MAIN THR switch -U29 - 24VRET
=DP
+CU01
A THIS SHEET IS TO BE ATTACHED TO THE RESPECTIVE CABINET Original: Repl. for: Repl. by: Size:
A3 A
AS A PART OF THE INSTALLATION. Eng. Verified: Approved: Scale: FUSE LIST
483
Reference: P.O.Box 826 - Sentrum, N-6001 Ålesund, Norway AAC- 116408 - 01LF 21-12-18 1 8
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
-U23-F07 + 6.3A +SS31+JB Junction Box 1 -TB 1 24VDC =DP-W00101 1
-U23-F07 - 6.3A +SS31+JB Junction Box 1 -TB 2 24VRET =DP-W00101 2
-U23-F08 + 6.3A +SS21 VRU 1 -PWR L 24VDC =DP-W00102 1
-U23-F08 - 6.3A +SS21 VRU 1 -PWR N 24VRET =DP-W00102 2
-U23-F09 + 6.3A +IU01 IO -X22 1 24VDC =DP-W00103 1
-U23-F09 - 6.3A +IU01 IO -X22 2 24VRET =DP-W00103 2
-U23-F10 + 6.3A +SS31+B1 Wind Display 1 -PWR L 24VDC =DP-W00102 1
D -U23-F10 - 6.3A +SS31+B1 Wind Display 1 -PWR N 24VRET =DP-W00102 2 D

C -U43-F04 - 2A +CU01 MAIN Lynx switch -U46 - 24VRET C
-U43-F04 - 2A +CU01 MAIN Lynx switch -U47 -
-U43-F05 + 2A +CU01 MAIN Serial Line Splitter -U453 + 24VDC
-U43-F05 - 2A +CU01 MAIN Serial Line Splitter -U453 - 24VRET
-U43-F06 + 2A +CU01 MAIN THR switch -U49 + 24VDC
-U43-F06 - 2A +CU01 MAIN THR switch -U49 - 24VRET
B -U43-F07 - 6.3A +SS32+JB Junction Box 2 -TB 2 24VRET =DP-W00101 2 B
-U43-F08 + 6.3A +SS22 VRU 2 -PWR L 24VDC =DP-W00102 1
-U43-F08 - 6.3A +SS22 VRU 2 -PWR N 24VRET =DP-W00102 2
-U43-F09 + 6.3A +T SPARE -A01
-U43-F09 - 6.3A +T SPARE -A01
-U43-F10 + 6.3A +T SPARE -A01
-U43-F10 - 6.3A +T SPARE -A01
=DP
+CU01
A3 A
484
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
D -U63-F04 - 2A +CU01 MAIN Lynx switch -U46 - 24VRET D
-U63-F05 + 2A +CU01 MAIN SPARE -XX + 24VDC
-U63-F05 - 2A +CU01 MAIN SPARE -XX - 24VRET

-U63-F06 - 6.3A +SS33+JB Junction Box 3 -TB 2 24VRET =DP-W00101 2
-U63-F07 + 6.3A +SS33+B1 Wind Display 3 -PWR L 24VDC =DP-W00102 1
-U63-F07 - 6.3A +SS33+B1 Wind Display 3 -PWR N 24VRET =DP-W00102 2
-U63-F08 + 6.3A +MGC MGC -PWR F3 24VDC =DP-W00103 1
C -U63-F08 - 6.3A +MGC MGC -PWR F4 24VRET =DP-W00103 2 C
-U63-F09 + 6.3A +IU01 IO -X42 1 24VDC =DP-W00103 1
-U63-F09 - 6.3A +IU01 IO -X42 2 24VRET =DP-W00103 2
-U63-F10 + 6.3A +MS01 MMS -X90 1 24VDC =DP-W00105 1
-U63-F10 - 6.3A +MS01 MMS -X90 2 24VRET =DP-W00105 2
B B

=DP
+CU01
A3 A
485
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
-F01 2 4A +PD01+B1 UPS1 -F04 1 L1 =DP-W80104 1
-F01 4 4A +PD01+B1 UPS1 -F04 3 L2 =DP-W80104 2
-F02 2 4A +PD02+B1 UPS2 -F04 1 L1 =DP-W80204 1
-F02 4 4A +PD02+B1 UPS2 -F04 3 L2 =DP-W80204 2
-F12 + +OS31+D1 DP OS1 -DC 1 24VDC =DP-W13104 1
-F12 - +OS31+D1 DP OS1 -DC 2 0VDC =DP-W13104 2
-F13 + +OS31+P1 DP OS1 -MAIN A 1(24VDC) =DP-W13105 1
D -F13 - +OS31+P1 DP OS1 -MAIN A 2(0VDC) =DP-W13105 2 D

C C
B B

=DP
+OS31+C1
A3 A
486
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
-F01 2 4A +PD02+B1 UPS2 -F05 1 L1 =DP-W80205 1
-F01 4 4A +PD02+B1 UPS2 -F05 3 L2 =DP-W80205 2
-F02 2 4A +PD01+B1 UPS1 -F05 1 L1 =DP-W80105 1
-F02 4 4A +PD01+B1 UPS1 -F05 3 L2 =DP-W80105 2
-F12 + +OS32+D1 DP OS2 -DC 1 24VDC =DP-W13204 1
-F12 - +OS32+D1 DP OS2 -DC 2 0VDC =DP-W13204 2
-F13 + +OS32+P1 DP OS2 -MAIN A 1(24VDC) =DP-W13205 1
D -F13 - +OS32+P1 DP OS2 -MAIN A 2(0VDC) =DP-W13205 2 D

C C
B B

=DP
+OS32+C1
A3 A
487
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
-F01 1 4A +CU01 MAIN -F21 L1 L1 =DP-W80101 1
-F01 3 4A +CU01 MAIN -F21 L2 L2 =DP-W80101 2
-F02 1 4A +CU01 MAIN -F41 L1 L1 =DP-W80102 1
-F02 3 4A +CU01 MAIN -F41 L2 L2 =DP-W80102 2
-F03 1 4A +CU01 MAIN -F61 L1 L1 =DP-W80103 1
-F03 3 4A +CU01 MAIN -F61 L2 L2 =DP-W80103 2
-F04 1 4A +OS31+C1 DP OS1 -F01 2 L1 =DP-W80104 1
D -F04 3 4A +OS31+C1 DP OS1 -F01 4 L2 =DP-W80104 2 D
-F05 1 4A +OS32+C1 DP OS2 -F02 2 L1 =DP-W80105 1
-F05 3 4A +OS32+C1 DP OS2 -F02 4 L2 =DP-W80105 2

-F06 1 4A +PR11+B1 GNSS 1 -AC L1 L1 =DP-W80106 1
-F07 1 4A +PR21 CyScan MK IV -F01 2 L1 =DP-W80205 1
-F07 3 4A +PR21 CyScan MK IV -F01 4 L2 =DP-W80205 2
-F08 1 4A +T SPARE -A01
C -F08 3 4A +T SPARE -A01 C
-F09 1 4A +T SPARE -A01
-F09 3 4A +T SPARE -A01
-F10 1 6A +PR41 RANGER USBL -AC L1 L1 =DP-W80109 1
-F12 1 4A +PD01+B1 UPS1 Earth Failure Monitor -U1 L1 L1
B -F12 3 4A +PD01+B1 UPS1 Earth Failure Monitor -U1 L2 L2 B

=DP
+PD01+B1
A3 A
488
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
-F01 1 4A +CU01 MAIN -F22 L1 L1 =DP-W80201 1
-F01 3 4A +CU01 MAIN -F22 L2 L2 =DP-W80201 2
-F02 1 4A +CU01 MAIN -F42 L1 L1 =DP-W80202 1
-F02 3 4A +CU01 MAIN -F42 L2 L2 =DP-W80202 2
-F03 1 4A +CU01 MAIN -F62 L1 L1 =DP-W80203 1
-F03 3 4A +CU01 MAIN -F62 L2 L2 =DP-W80203 2
-F04 1 4A +OS31+C1 DP OS1 -F02 2 L1 =DP-W80204 1
D -F04 3 4A +OS31+C1 DP OS1 -F02 4 L2 =DP-W80204 2 D
-F05 1 4A +OS32+C1 DP OS2 -F01 2 L1 =DP-W80205 1
-F05 3 4A +OS32+C1 DP OS2 -F01 4 L2 =DP-W80205 2

-F07 1 4A +T731+AC RADius -AC L1 L1 =DP-W80107 1
-F07 3 4A +T731+AC RADius -AC L2 L2 =DP-W80107 2
-F08 1 4A +PU01 Network -AC L1 L1 =DP-W80206 1
C -F08 3 4A +PU01 Network -AC L2 L2 =DP-W80206 2 C
-F09 1 4A +T SPARE -A01
-F09 3 4A +T SPARE -A01
-F10 1 6A +T SPARE -A01
-F10 3 6A +T SPARE -A01
-F11 1 6A +T SPARE -A01
-F11 3 6A +T SPARE -A01
-F12 1 4A +PD02+B1 UPS2 Earth Failure Monitor -U1 L1 L1
B -F12 3 4A +PD02+B1 UPS2 Earth Failure Monitor -U1 L2 L2 B

=DP
+PD02+B1
A3 A
489
1 2 3 4 5 6 7
1 2 3 4 5 6 AAC - 116408 - 01LF
FUSE CONNECTED TO
COMPANY SHARED
Part X
-F01 2 4A +PD01+B1 UPS1 -F07 1 L1 =DP-W80205 1
-F01 4 4A +PD01+B1 UPS1 -F07 3 L2 =DP-W80205 2
D D

C C
B B

=SHIP
+PR21
A3 A
490
1 2 3 4 5 6 7
Part X Appendix D: Equipment Dimensional Drawings
Appendix D | Equipment Dimensional

Drawings

Part X Appendix D.1: Marblemouse - AAC-411019-01DM(A)
COMPANY SHARED
Part X
470
430
5
X
12
,80
137
215
280
3 Notice changes;
M welding and gaps should be hidden
0X under position of screen
d1
ea
thr
tric
23
13
3
Me
10°
Appendix D.2: OS Panel Plate - CAA-931043-51DM(B)

13 90,30 155 132,50 66,20 64,50 110,50 65 20
13
444
124 s Material 2-3 mm ST
rew
insc Colour RAL 9005
3P Powder Coating Type: Polyester
4 XM
Texture: Sharp Surface / SK-3
Gloss: Matt 6%.±2
Corrosion class: C4
Referance: DuPont Texture & gloss sample.
124
240
Surface Roughness: ISO 1302 Ra 1,6µm

Sharp edges broken: 0,2-0,5mm x45°
Tolerance: NS-ISO 2768 1 M
Draw. IMGU 17.07.14 Refrence: C:\svnbis\branches\

Poscon\451026 (Poscon Portable)\
B 16.07.14 Pinscrews to M3, cut frames, threaded holes M3 , moved connection of plates under screen, changed
bend in front to get rid of gap between screen and plate, screenmounting similar to Poscon Retrofit Panel.
Contr. 931043 (Poscon portable panel plate)
Rev. Date Description Draw. Appr. Appr.

There is not enough Scale
space for welding 1:5
Eur. proj.
A3 Poscon Portable panel plate
outside this frames Draw. Rev. Item no.
Cut-out is 390X250 mm Rolls-Royce Marine AS
P.O. Box 1522, no.
CAA-931043-51DM B 000115939
495
N-6025 Aalesund,
Dept. Automation - Longva Norway
Information contained herein is the property of Rolls-Royce Marine AS and may not be copied or communicated to any third party,
or used for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
Part X Appendix D.3: TFT 24i/WIDE/TOUCH/24VDC/230VAC - AAC-414010-01DM(A)
Part X Appendix D.4: DP2 CABINET, TRIPLE COMPUTER - AAC-315030-01DL(A)
Part X Appendix D.5: TRAINER, 6xTHR, 2xRSG, 2xSWBD - CAA-324005-01DL(A)
Part X Appendix D.6: AC Distribution Cabinet - CAA-381003-01DL(E)
Part X Appendix D.7: EBM module, 3kVA, UPS, 3kVA, network card - AAC-381004-01DL(C)
Part X Appendix D.8: 230V/230V - 3,6kVA - CAA-381007-01DL(D)
Part X Appendix D.9: 12WDU25+4X12 WDK25 - CAA-391003-01DL(C)
Part X Appendix D.10: 230VAC DISTR. - CAA-391004-01DL(D)
Part X Appendix D.11: 120x120 JB w/8 Terminals - AAC-391023-01DL(B)
1 2 3 4 5 6 7 8
COMPANY SHARED
Part XAppendix D.12: Joystick Device G2, IP22 - EAC-411006-01DL(G) DP AND JS DEVICE - LAYOUT DRAW
F F
SYMBOL DESCRIPTION
System Activation
Reset Alarm Buzzer
(option)
Alarm LED
E Give Command Button E
152
Take Command Button

Display (Char 1-8)
Auto Heading
Auto Sway
Auto Surge
D D
27
114
144 BUS CONNECTION DETAILS

24V DC
Node Wheel 0V
CAN-H
C CAN-L C
CAN-GND
MAIN_A MAIN_B END RESISTOR SETTING

CAN1 CAN2 End Resistor Off
144
End Resistor On
Technical Specification:
Weight: 2.4 kg
Power Input: L1: 24V (18...32V DC) NODE WHEEL / STATUS LED
B Power Consumption: L1: 7W (NC) / 4W (BC) Error LED (Red)
B
Run LED (Green)
Environmental Specification: Node Adress CAN1
9 0 1 9 0 1
7 8
2 3
7 8
2 3
Temperature: -25°C < 70°C High Bit | Low Bit
4 5 6 4 5 6
Humidity: Up to 100% Node Adress CAN2

9 0 1 9 0 1
7 8
2 3
7 8
2 3
Vibration: 13.2...100Hz: 0.7g High Bit | Low Bit
4 5 6 4 5 6
EMC: All locations including Bridge and Open Deck Run LED (Green)
Enclosure: IP20 (bottom), IP56 (top) Error LED (Red)
F Updated look of drawings to match other lever drawings. 2020.07.10 MIR KIA Format: Scale: Joystick Device Plant: Location:
A E
D
Added IP56 version info.
Updated Joystick dimensions, added power consumption data
141010
140902
KIA
OOT
A3
Originated by:
1:2
Dual electronics Sheet description:
A
C Added detailed mounting instructions 140528 OOT SOR DP and JS device DP and JS device
B Added mounting instructions and cover plate dimensions 140523 OOT 140211 LAYOUT DRAWING Layout
517
G Corrected terminal refs. 2021.01.25 MIR KIA References: Document number: Document code: Revision: Sheet number:
000114968/
Rev. Revision description Rev. date Sign. Check.
000117387 CAA-411006 01DL G 1 of 3
KONGSBERG PROPRIETARY. This document and its accompanying elements contain KONGSBERG information which is proprietary and confidential.
CoE: Automation & Control Checked: Approved: System Eng: Any disclosure, copying, distribution or use is prohibited if not otherwise explicitly agreed with KONGSBERG in writing.
EAC-411006-01DL(G) SOR SOR Any authorized reproduction, in whole or in part, must include this legend. © 2019 KONGS BE R G - All rights reserved.
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
COMPANY SHARED
F Mounting Instructions Cut-out in desk F
When mounting on the console top When mounting on the console top
NOTE1:
For mounting lever on console top, a Cover Plate is required. 92.15
Ref. Main Item List (01LI) to see if this is provided for the delivery.
20
4xM4 NOTE 2:
E The depth of the various levers varies, refer to each separate Lever E
Drawing for detailed dimensions.
142.0 45°
124.0
142.0
92.15
D D
35
.25
∅4.20
124.0
Cover plate (000113195)

C C
Panel Top
160x160mm
B B
Panel Top
A A3
Originated by:
A
SOR DP and JS device DP and JS device
140211 LAYOUT DRAWING Layout
518
References: Document number: Document code: Revision: Sheet number:

000114968/
000117387 CAA-411006 01DL G 2 of 3
1 2 3 4 5 6 7 8
1 2 3 4 5 6 7 8
COMPANY SHARED
F Mounting Instructions Cut-out in desk F
When mounting from underneath of the console When mounting from underneath of the console
NOTE1: See NOTE1
There are two solutions for flush mounting of levers:
1: The 4 crosses in Cut-out field above to the right to be M4 holes.
M4 screws (yard delivery) w/nut should be used to fasten the lever.
(note that head of screw will be visible above panel)
E 2: 4 pcs. M4 bolts (yard delivery) to be welded solid beneath panel top in
E
a 90 degree angle. Lever to be mounted from beneath, and fastened with
nuts.
NOTE 2:
For flush mounting of Lever, panel top must be exact 5mm thick.
124.0
Panel Top
NOTE 3: ∅13
7 .3
The depth of the various levers varies, refer to each separate Lever
Drawing for detailed dimensions.
D D
5
124.0
Minimum space below top plate

C C
Panel Top
5.00
150
B B
150
A A3
Originated by:
A
SOR DP and JS device DP and JS device
140211 LAYOUT DRAWING Layout
519
References: Document number: Document code: Revision: Sheet number:

000114968/
000117387 CAA-411006 01DL G 3 of 3
1 2 3 4 5 6 7 8
Part X Appendix D.13: TFT 19i/220VAC - CAA-414006-01DL(D)
Part X Appendix D.14: Color Laser - AAC-416011-01DL(B)
Part X Appendix D.15: Service Interface ETH + 2xUSB - CAA-421001-01DL(C)
Part X Appendix D.16: MMS mk1, JS-MAN-DP - CAA-482001-01DL(C)
Part X Appendix D.17: Articular arm w. box - CAA-483001-01DL(B)
Part X Appendix D.18: Computer, DP2 - AAC-492007-01DL(G)
Part X Appendix D.19: Computer, DP2 - AAC-492007-02DL(B)
1 2 3 4 5 6 CAA - 610024 - 01DL
COMPANY SHARED
Part X
6U RACK LD6 RECEVIERS
E Technical Specification: Environmental Specification: E
Weight: 22kg + receivers weight Temperature:
Power Input: 230 VAC Humidity: 95% non condensing
Power Consumption: ... W Vibration: ...g
EMC: IEC 60945
Enclosure: IP22
FRONT VIEW BOTTOM VIEW Weight 10 kg max (single receiver)
Power Consumption 100W max, 65W typical (single rec.)
Power Input 100-240 VAC
Appendix D.20: Veripos GNSS suite, 2xLIUD6-G - CAA-610024-01DL(B)

D D
NARDA COUPLER
450
Environmental Specification:
Temperature:
553 Humidity: ...%
Vibration: ...g
EMC: IEC 60945
C SIDE VIEW Enclosure: IP53 C
8.5
558 Weight ...kg
Power Consumption 75W
Power Input ...
387
ANTI VIBRATION MOUNTINGS SIDE VIEW
ANTI VIBRATION MOUNTINGS TOP VIEW

B B
600
DETAIL DATA AVAILABLE IN THE INSTALLATION MANUAL.

SEE THE INSTALLATION AND USER MANUALS FOR DETAILED INFORMATION REGARDING
- PHYSICAL DIMENTIONS Plant:
VERIPOS GNSS LD6 POSREF. SYSTEM =
- INSTALLATION DETAILS (HOW TO DO'S) DGPS Location:
+
A3
LAYOUT DRAWING
6U RACK & RECEIVERS
ENVIRONMENTAL SPEC
A
535

SOR 120913 SOR 1:10 Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
B 170905 Updated dimensional drawings MME
Reference: P.O.Box 826 - Sentrum CAA - 610024 - 01DL B 1 2
A 120913 First Issue SOR or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7
1 2 3 4 5 6 CAA - 610024 - 01DL
STANDARD ANTENNAS
COMPANY SHARED
Part X
E E
V460 L1/L2 GPS & GLONASS, L-BAND SIDE VIEW TOP VIEW BOTTOM VIEW
80.6
48.2
5
190.
Temperature:
Humidity: ...%
TNC - FR
Vibration: ...g CONNECTOR 5/8-11 UNC-2B ADAPTER
EMC: IEC 60945 PERMANENTLY INSTALLED
Enclosure: IP...
Weight 0.73 kg
Appendix D.20: Veripos GNSS suite, 2xLIUD6-G - CAA-610024-01DL(B)

D D
V86 L-BAND / IALA SIDE VIEW BOTTOM VIEW
21.3
Temperature:
123.4
Humidity: ...%
183
Vibration: ...g 5/8-11 UNC-2B
EMC: IEC 60945
Enclosure: IP... 26.9
Weight ..kg
C C
OPTIONAL ANTENNA - CHECK SYSTEM DRAWINGS

FUC/6, UHF SCALED OVERVIEW
Temperature:
Humidity: ...%
Vibration: ...g
B EMC: ... B
Enclosure: Hermetically sealed
Weight 3 kg
457 2500
DETAIL DATA AVAILABLE IN THE INSTALLATION MANUAL.

SEE THE INSTALLATION AND USER MANUALS FOR DETAILED INFORMATION REGARDING
- PHYSICAL DIMENTIONS Plant:
VERIPOS GNSS LD6 POSREF. SYSTEM =
- INSTALLATION DETAILS (HOW TO DO'S) DGPS Location:
+
A3
LAYOUT DRAWING
ANTENNA
ENVIRONMENTAL SPEC
A
536

SOR 120913 SOR 1:10 Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
Reference: P.O.Box 826 - Sentrum CAA - 610024 - 01DL B 2 2
1 2 3 4 5 6 7
1 2 3 4 5 6 CAA - 652012 - 01DL
COMPANY SHARED
Part XAppendix D.21: OMC-139 Black Line, FWD, OMC-139-D Black Line, AFT - CAA-652012-01DL(C)
E E
+B1
DISPLAY OMC-139 WINDSENSOR DISPLAY
WIND SENSOR
ENVIRONMENTAL SPECIFICATIONS
TEMPERATURE -30 - 60 degrees
ENCLOSURE (IP) IP40
VIBRATION -
EMC -
HUMIDITY -
POWER CONSUMPTION -
WEIGHT 0.8 kg
D D
C C
230V AC, 115V AC, 24V DC SERIAL

or 12V DC SUPPLY TO COMMUNICATION
DISPLAY
B B
FOR COMPLETE DRAWINGS OF LAYOUT SEE CORRESPONDING INSTALLATION OR USER MANUAL (CAA-652012-01MI OR CAA-652012-01MU)
Plant:
Observator OMC-139 SENSOR SYSTEM =
WIND Location:
+
A3
LAYOUT DRAWING
BLOCK DIAGRAM
ENVIRONMENTAL SPEC.
A
C 170414 Added dimensional drawing MME
537

HSL 131216 HSL Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
B 140325 Updated serial line text. KIA Dept. Control - Aalesund
A 131216 First Issue HSL
Reference: P.O.Box 826 - Sentrum CAA - 652012 - 01DL C 1 2
Rev. Date Description Sign. Appr. 000111884/000111885 or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7
1 2 3 4 5 6 CAA - 652012 - 01DL
COMPANY SHARED
Part XAppendix D.21: OMC-139 Black Line, FWD, OMC-139-D Black Line, AFT - CAA-652012-01DL(C)
E E
144 94
D D
144
C C
CUTOUT HOLE 137 x 137

B B
FOR INSTALLATION DETAILS SEE CORRESPONDING INSTALLATION OR USER MANUAL (CAA-652012-01MI OR CAA-652012-01MU)
Plant:
Observator OMC-139 SENSOR SYSTEM =
WIND Location:
+
A3
LAYOUT DRAWING
LAYOUT DRAWING
WIND DISPLAY
A
538

HSL 131216 HSL 1:1 Rolls-Royce Marine AS Drawing no: Rev. Sheet: Total:
Reference: P.O.Box 826 - Sentrum CAA - 652012 - 01DL C 2 2
000111884/000111885 or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7
Part X Appendix D.22: FT702LT V22 - CAA-652020-01DL(A)
Part X Appendix D.22: FT702LT V22 - CAA-652020-01DL(A)
Part X Appendix E: Equipment Electrical Drawings
Appendix E | Equipment Electrical

Drawings

Part XAppendix E.1: DP2 CABINET, TRIPLE COMPUTER - AAC-315030-01DW(D) WIRING DIAGRAM
Part X Appendix E.2: TRAINER, 6xTHR, 2xRSG, 2xSWBD - CAA-324005-01DW(G)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Layout valid for item 000105585

COMPANY SHARED
Part X
F
449x470
SIGN1 SIGN2 CABLE TRAY 40 x 60
-F9 -F10 -F11 -F12
4A
iC60H
6A
DISTRIBUTION
iC60H
E
Off
6A
UPS Bypass
iC60H
-U1
4A
CABLE TRAY 60 x 60
iC60H
-S1
-F8
4A
Appendix E.3: AC Distribution Cabinet - EAC-381003-01DW(R)

Note:
iC60H
Fixed mounting
-F7
4A
iC60H
D
CABLE TRAY 60 x 60
-F6
4A
iC60H
-X1 -X2 -U2-U3
-F5
4A
iC60H
-F4
4A
iC60H
-F3
4A
C
iC60H
1 2 PE 3 4 PE 5 6 PE PE
UPPER. 8 9 10 11 12 13 14
-F2
4A
LOWER. 1 2 3 4 5 6 7
iC60H
4A
-F1
iC60H
RITTAL AE1050.500 Note!
B
500x500x210 Mounting plate to be connected on the grounding point in the cabinet, use
Item: 51029 10mm² size cable for the connection.
-U4 & F13 is optional and only installed if needed due to system configuration.
UPS Distribution
Tray and Rail Lengths:
01DW
Wiring diagram 500x500x210
1 x Cable Tray 40x60mm: 225mm R 170406 Updated layout for 00123164. Added cooling. MCA
Sheet description: Origin. / Date: Scale: Format: Sheet:
A 1 x Cable Tray 60x60mm: 255mm Component layout
381003
Q 170331 PSU 250W -> 480W MCA EAC 121208 - A3 1 of 4
1 x Cable Tray 60x60mm: 380mm
571
P 160323 Updated PSU, made new item for cabinet with PSU MCA Plant: Location: Drawing no: Revision:
1 x DIN TS 35X7,5 6,2MM: 470mm O 140730 Added F13. Updated PSU layout. Exteded DIN rails. KIA Rolls-Royce Marine AS Reference:
2 x DIN TS 35X7,5 6,2MM: 255mm N 131212 Changed terminal arrangement DBA Control Aalesund 000105585/000123164 0003-3769 R
AAC
Rev. Date Description Sign or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Layout valid for item 000123164.

COMPANY SHARED
Part X
F
449x470
SIGN2 CABLE TRAY 40 x 60
-F9 -F10 -F11 -F12
4A
iC60H
SIGN1
6A
DISTRIBUTION
iC60H
E
Off
6A
UPS Bypass
iC60H
4A
CABLE TRAY 60 x 60
iC60H
-S1
-F8
4A

R
Note:
iC60H
Fixed mounting
-F7
4A
iC60H
D
CABLE TRAY 60 x 60
-F6
4A
Q
iC60H
-F13
-X1 -X2 -U2-U3
-F5
4A
iC60H
iC60H 10A
-F4
4A
iC60H
-F3
4A
C
iC60H
1 2 PE 3 4 PE 5 6 PE PE
UPPER. 8 9 10 11 12 13 14
-F2
4A
LOWER. 1 2 3 4 5 6 7
iC60H
4A
-F1
iC60H
RITTAL AE1050.500 Note!
B
500x500x210 Mounting plate to be connected on the grounding point in the cabinet, use
Item: 51029 10mm² size cable for the connection.
-U4 & F13 is optional and only installed if needed due to system configuration.
UPS Distribution
Tray and Rail Lengths:
01DW
Wiring diagram 500x500x210
1 x Cable Tray 40x60mm: 225mm Sheet description: Origin. / Date: Scale: Format: Sheet:
A 1 x Cable Tray 60x60mm: 255mm Component layout
381003
EAC 121208 - A3 2 of 4
1 x Cable Tray 60x60mm: 380mm
572
Plant: Location: Drawing no: Revision:
1 x DIN TS 35X7,5 6,2MM: 470mm Rolls-Royce Marine AS Reference:

2 x DIN TS 35X7,5 6,2MM: 255mm Control Aalesund 000105585/000123164 0003-3769 R
AAC
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
COMPANY SHARED
Part X
102
101
0
-F1
C4A
13
14 1 2
F 15
0
3 4
5
6
7
0
-F2
C4A
9
10 1 2
3
11
1
0
3 4
1 -F12
2 C4A
2
3
4
0
-F3
BYPASS
C4A
1 2
A0
3 4
L2
A1
L2
-U1 -U4
L1
L1
OFF
E
BENDER - IR1575H PSU -F4
C4A
UPS
Alarm 2 relay Alarm 1 relay
K2 K1 20A R 1 2
-S1 3 4
KE
24V
24V
0V
0V
14
21
12
24
11
KE
PE
22
-F5
C4A

1 2
3 4
-F6
D C4A
1 2
3 4
-F7
C4A
1 2
3
3 4
1
-F13 -F200 2A
PE
PE
PE
14
10
12
13
11
4
4
3
5
6
2
3
5
6
7
8
9
1
-X2 -X2 -X2 -X1 C10A -F8
4
2
C4A
1 2
C 24VDC 0VDC 3 4
-U200 -F9
C4A
1 2
3 4
CABINET DOOR
-F10
B6A
PE ground rail
1 2
VALID FOR ITEM 000123164
3 4
B
-F11
B6A
R 1 2
3 4
-U3 TIA-568-B
UPS ETH ALARM CARD
-U2 TIA-568-B
DP CAB: ALARM FROM UPS
01DW
NOTE! Sheet description: Origin. / Date: Scale: Format: Sheet:
A Internal cable sizes: 1 3 4 2
Internal Wiring
381003
-Power distribution: 10mm² 5 8 6 EAC 121208 - A3 3 of 4
-IO signals: 0,5mm²

573
9 11 12 10 Plant: Location: Drawing no: Revision:
13 16 14 Rolls-Royce Marine AS Reference:

Control Aalesund 000105585/000123164 0003-3769 R
AAC
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Alarm configuration Diagram menu structure Display

COMPANY SHARED
Part X
*** IT_SYSTEM ***
F
R > 5.0MΩ
*** IT_SYSTEM *** MENU *** IT_SYSTEM ***
Press ENTER R > 5.0MΩ
R > 5.0MΩ
1. EXIT
2. ISO SETUP Select 'ISO SETUP'
.... 1. EXIT
2. ISO SETUP
Press ENTER 3. PASSWORD
4. LANGUAGE
E 1. EXIT 5. SERVICE
6. INFO
TEST RESET MENU 1 2
2. Alarm1: Select 'Alarm1:'
3. Alarm2:
....
1 2 3 4 5
Press ENTER 1. TEST: self test / menu up

2. RESET: reset alarms / menu down

Alarm1: 40 kΩ Set value 'Alarm1: 40 kΩ' 3. MENU: activate menu / ENTER key
4. ALARM LED 1: insulation fault / first warning level reached
5. ALARM LED 2: insulation fault / second warning level
Press ENTER reached or system fault
D
1. EXIT
2. Alarm1: 40 kΩ Select 'Alarm2:'
3. Alarm2:
.... ISO SETUP PASSWORD LANGUAGE SERVICE INFO
Press ENTER
Alarm2: 40 kΩ Set value 'Alarm2: 40 kΩ'

C
Press ENTER
1. EXIT 1. EXIT 1. EXIT Insert Service 1. EXIT
1. EXIT 2. Alarm1: 40 kΩ 2. Password: XXX 2. Text: English Password: XXX BENDER GRUENBERG
.... Select 'K2:N.O Test' 3. Alarm2: 40 kΩ 3. Status: off IR1575H
5. K2: N.O Test 4. K1: N.O --FIRMWARE--
6. Memory: off 5. K2: N.C Test XXXX VX.X
6. Memory: off
Press ENTER
B K2:N.C Test Set value Select 'K2:N.C

Test'
Press ENTER
1. EXIT Select 'EXIT'

2. Alarm1: 40 kΩ
3. Alarm2: 40 kΩ
....
BENDER IR1575H
01DW
Press ENTER Sheet description: Origin. / Date: Scale: Format: Sheet:
A Internal Wiring
381003
EAC 121208 - A3 4 of 4
1. EXIT
574
Plant: Location: Drawing no: Revision:

2. ISO SETUP Select 'EXIT'
.... Rolls-Royce Marine AS Reference:
Control Aalesund 000105585/000123164 0003-3769 R
AAC
Press ENTER or used, for any purpose other than that for which it is supplied without the express written consent of Rolls-Royce Marine AS.
Part X Appendix E.4: EBM module, 3kVA, UPS, 3kVA, network card - AAC-381004-01DW(C)
Part X Appendix E.5: Service Interface ETH + 2xUSB - CAA-421001-01DW(A)
Part X Appendix E.6: Computer, DP2 - AAC-492007-01DW(H)
Part X Appendix E.7: Computer, DP2 - AAC-492007-02DW(B)
Part X Appendix F: Sub-suppliers Manuals
Appendix F | Sub-suppliers Manuals
The content listed below is only distributed digitally either on a CD or a USB stick.
• Remote Access Description - AAC-036001-01MX(A)
• EBM module, 3kVA, UPS, 3kVA, network card - CAA-381004-01MU(B)
• Color Laser - AAC-416011-01MU(A)
• Veripos GNSS suite, 2xLIUD6-G - AAC-610024-01MU(D)
• OMC-139 Black Line, FWD, OMC-139-D Black Line, AFT - CAA-652012-01MU(A)
• FT702LT V22 - CAA-652020-01MU(A)
• TFT 24i/WIDE/TOUCH/24VDC/230VAC - CAA-414010-01MU(A)

Eac 116408 01mu (B) DP Manual DP DP Rolls Royce (Thrustmaster)

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Eac 116408 01mu (B) DP Manual DP DP Rolls Royce (Thrustmaster)

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Operating & Maintenance Manual

Vessel Name: CBO Guanabara

Copyright © 2021 Thrustmaster of Texas, Inc.

Chapter 1 | Revision History

Revision Reason for revision Author Date v1 v2 Config

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 3

Chapter 2 | Chapter History

Chapter Last Changed Updated

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 5

Chapter Last Changed Updated

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 6

Chapter Last Changed Updated

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 7

Chapter Last Changed Updated

* History for Appendices is found in Part X - Appendices.

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 8

5 Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . 23

6.1 Safety Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.2 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.1 System Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . 33

1.2 Manoeuvre Mode Selector . . . . . . . . . . . . . . . . . . . . . . . 34

1.3 Operator Stations . . . . . . . . . . . . . . . . . . . . . . . . . . 35

1.3.1 Main Operator Station . . . . . . . . . . . . . . . . . . . . . 35

1.3.2 Main Display . . . . . . . . . . . . . . . . . . . . . . . . . 35

1.3.3 Remote Display . . . . . . . . . . . . . . . . . . . . . . . . 35

1.3.4 Graphical User Interface Computer . . . . . . . . . . . . . . . . 36

1.3.5 Input Device . . . . . . . . . . . . . . . . . . . . . . . . . 37

1.3.6 Laser Printer . . . . . . . . . . . . . . . . . . . . . . . . . 37

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 9

1.4.1 Control Cabinet . . . . . . . . . . . . . . . . . . . . . . . . 39

1.4.2 I/O Cabinet . . . . . . . . . . . . . . . . . . . . . . . . . 41

1.5 UPS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

1.5.2 UPS unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

1.5.3 EBM unit . . . . . . . . . . . . . . . . . . . . . . . . . . 44

1.5.4 AC Distribution Cabinet. . . . . . . . . . . . . . . . . . . . . 45

2.1 Environmental Data . . . . . . . . . . . . . . . . . . . . . . . . . 47

2.2 Wiring Colours . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

2.3 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

2.4.1 Sensors and Position Reference Systems . . . . . . . . . . . . . . 50

2.4.2 Auxiliary Sensors. . . . . . . . . . . . . . . . . . . . . . . . 50

2.4.4 Power System . . . . . . . . . . . . . . . . . . . . . . . . . 52

2.4.5 Bridge Alarm System . . . . . . . . . . . . . . . . . . . . . . 52

2.4.6 Additional Interfaces . . . . . . . . . . . . . . . . . . . . . . 52

3.1 Estimation and Control . . . . . . . . . . . . . . . . . . . . . . . . 53

3.1.1 Control System Components . . . . . . . . . . . . . . . . . . . 55

3.2 Signal Processing . . . . . . . . . . . . . . . . . . . . . . . . . . 56

3.2.1 Signal Processing Functions . . . . . . . . . . . . . . . . . . . 57

3.3 Thrust Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . 61

3.4 Class Notation Compliance. . . . . . . . . . . . . . . . . . . . . . . 62

3.5 Controller Redundancy . . . . . . . . . . . . . . . . . . . . . . . . 63

4 Location of Manufacturing Data . . . . . . . . . . . . . . . . . . . . . 65

4.1 Company Identification . . . . . . . . . . . . . . . . . . . . . . . . 65

4.2 Product Identification . . . . . . . . . . . . . . . . . . . . . . . . . 65

COMPANY SHARED Copyright © 2021 Thrustmaster of Texas, Inc. 10

Part II Operating Instructions 67

1.1 Manoeuvre Mode Selector . . . . . . . . . . . . . . . . . . . . . . . 69

1.1.1 Mode Enabling . . . . . . . . . . . . . . . . . . . . . . . . 69

1.2 Input Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

1.2.1 Push buttons and Indicators . . . . . . . . . . . . . . . . . . . 71

1.3 Graphical User Interface . . . . . . . . . . . . . . . . . . . . . . . . 73

1.3.1 Philosophy and Interaction. . . . . . . . . . . . . . . . . . . . 73

1.3.4 General Components . . . . . . . . . . . . . . . . . . . . . . 82