Beruflich Dokumente
Kultur Dokumente
NMS6000
Dynamic Positioning System
Operations and Maintenance Manual
SHIPYARD
www.nautronix.com
Document No. 24006000TM-TBD Printed in the United States of America. Nautronix, Inc. 12131 Community Road Poway, CA 92064 Telephone: (858) 679-5500 Fax: (858) 679-5501 2006 Nautronix, Inc. All Rights Reserved
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TABLE OF CONTENTS
1. DP SYSTEM OVERVIEW ............................................................................................1-1 1.1 1.2 1.3 1.4 2. NMS6000 DP SYSTEM BASIC OVERVIEW ...............................................................1-1 DYNAMIC POSITIONING OPERATIONS OVERVIEW .....................................................1-5 GLOSSARY OF ABBREVIATIONS AND ACRONYMS......................................................1-6 MANUAL CONVENTIONS ..........................................................................................1-8
DP SYSTEM START AND SHUTDOWN.....................................................................2-1 2.1 NMS6000 DP SYSTEM START ...............................................................................2-1 2.2 DP SHUTDOWN ......................................................................................................2-3 2.2.1 Software Shutdown........................................................................................2-3 2.3 HARDWARE SHUTDOWN .........................................................................................2-4
3.
DP OPERATOR INTERFACE BASICS.......................................................................3-1 3.1 OPERATOR CONTROL PANEL ..................................................................................3-1 3.2 OPTIONAL CONTROL PANEL ...................................................................................3-2 3.2.1 Main Section and Select Switch Group..........................................................3-3 3.2.1.1 Sensor Select - Optional...........................................................................3-3 3.2.1.2 Function Select - Optional ........................................................................3-4 3.2.1.3 Display Select - Optional ..........................................................................3-4 3.2.1.4 Mode Select - Optional .............................................................................3-5 3.2.1.5 Thruster Select - Optional........................................................................3-5 3.2.1.6 Data Entry Keypad - Optional ...................................................................3-5 3.2.1.7 Operator Control Panel Switch Testing - Optional...................................3-6 3.2.2 Right Section..................................................................................................3-8 3.2.2.1 Cursor Control ..........................................................................................3-8 3.2.2.2 Lamp Intensity Knob .................................................................................3-9 3.2.3 Left Section ...................................................................................................3-9 3.2.3.1 Auxiliary Switch Group ...........................................................................3-10 3.3 TRACKBALL AND CURSOR CONTROL SWITCHES ....................................................3-10 3.3.1 Selecting - Left-clicking ................................................................................3-10 3.4 TOUCH SCREEN MONITOR ....................................................................................3-11 3.4.1 Monitor Power Switch Panel ........................................................................3-12 3.4.1.1 Display Illumination Adjustment Control .................................................3-12 3.4.2 On-screen Display (OSD) Menu Control Panel............................................3-13 3.4.2.1 Hotkey Assignment.................................................................................3-13 3.5 TOUCH SCREEN CALIBRATION ..............................................................................3-14 3.6 TOUCH SCREEN INTERFACING ..............................................................................3-16 3.6.1 Data Entry Fields .........................................................................................3-16 3.6.2 Option Buttons ............................................................................................3-17 3.6.3 Command Buttons ......................................................................................3-17 3.6.4 Screen Buttons Available / Unavailable for Change ....................................3-18 3.7 DP AUDIBLE ALARMS ...........................................................................................3-18 3.8 SOFT PLC OPERATION .........................................................................................3-19
4.
DP SYSTEM OPERATIONS........................................................................................4-1 4.1 OPERATIONAL THEORY...........................................................................................4-1 4.1.1 DP System Terminology ................................................................................4-2 4.1.2 Kalman Filter..................................................................................................4-4
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4.1.3 Measurement Update ....................................................................................4-4 4.1.4 Model Propagation.........................................................................................4-4 4.1.5 Station Keeping Control Law .........................................................................4-5 4.1.6 Setpoint Select...............................................................................................4-6 4.1.7 Dead Reckoning ............................................................................................4-6 4.1.8 Maneuver Process Overview .........................................................................4-6 4.1.9 Ship Axes Signing Conventions.....................................................................4-7 4.1.10 Earth Axes Signing Conventions ...................................................................4-8 4.1.11 Pitch, Roll, and Heave Signing Conventions .................................................4-9 4.1.12 Clockwise / Counterclockwise Signing Conventions......................................4-9 4.1.13 Position Reference Sensor Concepts ............................................................4-9 4.1.13.1 Sensor Noise ............................................................................................4-9 4.1.13.2 Noise Rejection Logic.............................................................................4-10 4.1.13.3 Median Testing .......................................................................................4-10 4.1.13.4 Origin Reference Sensor ........................................................................4-10 4.1.13.5 Sensor Weighting ...................................................................................4-12 4.1.13.6 Drift .........................................................................................................4-12 4.1.13.7 Sensor Jumping......................................................................................4-12 4.1.14 DP System Control Loop .............................................................................4-13 4.1.14.1 Comparator.............................................................................................4-14 4.1.14.2 Proportional, Integral, and Derivative (PID) Controller ...........................4-14 4.1.14.3 Actuator ..................................................................................................4-15 4.1.15 Position Sensor Blending.............................................................................4-15 4.1.16 Low-Pass Wave Filter ..................................................................................4-16 4.1.17 Notch Filter...................................................................................................4-16 4.1.18 Hold Heading ...............................................................................................4-16 4.1.19 Hold Position................................................................................................4-16 4.1.20 Low Speed Track Follow..............................................................................4-17 4.1.21 Manual Control.............................................................................................4-17 4.1.22 Hold Area Mode (HAM)................................................................................4-17 4.1.23 Remote Center of Rotation (COR)...............................................................4-17 4.1.24 Active Wind Compensation (AWC) ..............................................................4-17 4.1.25 Auto Heading for Minimum Thrust (AHMT)..................................................4-18 4.2 DP OPERATOR INTERFACE ...................................................................................4-19 4.2.1 DP Title Bar..................................................................................................4-20 4.2.2 Navigation Bar..............................................................................................4-20 4.2.3 Detailed Display Pages................................................................................4-21 4.2.4 Detailed Display Page Selection ..................................................................4-22 4.2.4.1 Display Page Selection - Backup ...........................................................4-22 4.2.5 Overview Page.............................................................................................4-24 4.2.5.1 Compass ................................................................................................4-25 4.2.5.2 Deviation Display Screen .......................................................................4-25 4.2.5.3 Additional Deviation Display Symbols ....................................................4-27 4.2.5.4 Position...................................................................................................4-28 4.3 MASTER / BACKUP OPERATOR PANELS .................................................................4-29 4.3.1 DPS 0 System Configuration ....................................................................4-29 4.3.2 DPS 1/2/3 DP System Configuration ........................................................4-29 4.3.3 Master/Backup(s) and Manual Independent Joystick ..................................4-31 4.3.4 Transfer Control Between Operator Control Panels ....................................4-32 4.3.5 DPS 1/2/3 Control Panel Synchronization ................................................4-32 4.3.6 Initializing Backup Control Panels DPS 2/3 ...........................................4-33 4.3.7 Manual Independent Backup Joystick Control Panel...................................4-34
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4.4 OPERATIONAL MODES AND AUTOMATIC MANEUVERS ............................................4-35 4.4.1 Manual Joystick (Transit) .............................................................................4-35 4.4.2 Hold Heading ...............................................................................................4-36 4.4.3 Hold Position................................................................................................4-37 4.4.4 Hold Position - Activation .............................................................................4-38 4.4.5 Low Speed Track Follow..............................................................................4-39 4.4.5.1 Low Speed Track Follow - Activation......................................................4-39 4.4.5.2 Track Display Selection and Monitoring .................................................4-40 4.4.5.3 Track and Waypoint Description.............................................................4-40 4.4.5.4 Passing Waypoints .................................................................................4-41 4.4.5.5 Stopping (LSTF Mode) ...........................................................................4-41 4.4.5.6 Track definition file format ......................................................................4-42 4.4.6 Active Wind Compensation (AWC) ..............................................................4-43 4.4.7 Active Wind Compensation Processing .......................................................4-43 4.4.8 Hold Area Mode (HAM)................................................................................4-44 4.4.9 Auto Heading Minimum Thrust (AHMT) .......................................................4-44 4.4.10 Remote Center of Rotation (COR) ...............................................................4-44 4.4.11 DP Simulation Mode ....................................................................................4-45 4.4.11.1 Simulation Control ..................................................................................4-46 4.5 DP SYSTEM DETAILED DISPLAY SCREEN PAGES ...................................................4-48 4.5.1 Setup Page 1 ...............................................................................................4-48 4.5.1.1 Deviation Display ....................................................................................4-49 4.5.1.2 Display....................................................................................................4-49 4.5.1.3 Vessel.....................................................................................................4-50 4.5.1.4 Transit Mode...........................................................................................4-50 4.5.1.5 DP Gains ................................................................................................4-51 4.5.2 Setup Page 2 ...............................................................................................4-52 4.5.2.1 GPS Reference Latitude / Longitude ......................................................4-53 4.5.2.2 Remote Center of Rotation .....................................................................4-53 4.5.3 Setup Page 3 ...............................................................................................4-54 4.5.3.1 Threshold................................................................................................4-55 4.5.3.2 Alert Radius ............................................................................................4-55 4.5.3.3 Compare .................................................................................................4-55 4.5.4 Sensor Page 1 .............................................................................................4-56 4.5.4.1 Heading ..................................................................................................4-57 4.5.4.2 Vertical Reference Section (VRS) ..........................................................4-57 4.5.4.3 Wind .......................................................................................................4-57 4.5.4.4 GPS ........................................................................................................4-58 4.5.5 Position Reference Page .............................................................................4-58 4.5.5.1 Position Reference Sensor Data Use .....................................................4-59 4.5.5.2 Position Reference Page Use ................................................................4-59 4.5.5.3 Charting Position Reference Sensor Data..............................................4-60 4.5.5.5 Position Reference Sensor Symbols......................................................4-61 4.5.6 Chart Page Screens.....................................................................................4-61 4.5.6.1 Pan and Zoom Control Buttons ..............................................................4-62 4.5.6.2 Configuration Buttons .............................................................................4-63 4.5.6.3 Chart Page Symbols...............................................................................4-65 4.5.7 Track Operation Page..................................................................................4-66 4.5.7.1 Track Control Summary..........................................................................4-67 4.5.7.2 Track Offsets ..........................................................................................4-67 4.5.7.3 Track Settings.........................................................................................4-68 4.5.8 Waypoint Page.............................................................................................4-70
TABLE OF CONTENTS
4.5.8.1 Display Window ......................................................................................4-71 4.5.8.2 Lat/Lon....................................................................................................4-72 4.5.8.3 N / E........................................................................................................4-72 4.5.8.4 Setup ......................................................................................................4-73 4.5.8.5 Route ......................................................................................................4-73 4.5.8.6 Waypoint ...................................................................................................4-75 4.5.8.7 Waypoint Edit Pop-up ...............................................................................4-77 4.5.9 Thruster Pages ............................................................................................4-78 4.5.9.1 Azimuthing Thruster Icon........................................................................4-79 4.5.9.2 Tunnel Thruster Icons.............................................................................4-80 4.5.9.3 Thrust Allocation Logic (TAL) Circle .......................................................4-80 4.5.9.4 Rudder Icons ..........................................................................................4-81 4.5.9.5 Text Box Thruster and Rudder ............................................................4-82 4.5.9.6 Requested and Total Forces % ..............................................................4-83 4.5.9.7 Total Forces % .......................................................................................4-83 4.5.9.8 DP System Thruster Modes ...................................................................4-84 4.5.9.9 Thruster Mode/Command Selection.......................................................4-84 4.5.9.10 Thrust Allocation Logic ...........................................................................4-85 4.5.10 Thruster Page 2 ...........................................................................................4-86 4.5.10.1 Status .....................................................................................................4-86 4.5.10.2 Mode.......................................................................................................4-86 4.5.10.3 RPM Cmnd .............................................................................................4-87 4.5.10.4 RPM Fdbk...............................................................................................4-87 4.5.10.5 Cmnd %..................................................................................................4-87 4.5.10.6 Fdbk % ...................................................................................................4-87 4.5.10.7 Rud Cmnd .............................................................................................4-87 4.5.10.8 Rud Fdbk...............................................................................................4-87 4.5.10.9 Thrust Alarm ...........................................................................................4-87 4.5.10.10 Rud Alarm...............................................................................................4-87 4.5.10.11 Requested Forces % ..............................................................................4-88 4.5.10.12 Total Forces % .......................................................................................4-88 4.5.11 Plot Page Screen .........................................................................................4-88 4.5.12 Holding Capability ........................................................................................4-91 4.5.12.1 Mode.......................................................................................................4-92 4.5.12.2 Thrusters / Rudders................................................................................4-92 4.5.12.3 Current....................................................................................................4-92 4.5.12.4 Wind .......................................................................................................4-92 4.5.13 Signal Input / Output Page Screens.............................................................4-93 4.5.13.1 Signal I/O Page: Serial Communications ...............................................4-93 4.5.14 Mode Function Page....................................................................................4-94 4.5.14.1 Mode Select............................................................................................4-95 4.5.14.2 Function Select.......................................................................................4-97 4.6 DP SYSTEM OPERATIONAL HINTS.......................................................................4-100 4.6.1 GPS Drift....................................................................................................4-100 4.6.2 Integral Windup..........................................................................................4-101 4.6.3 Integral Pre-Loading ..................................................................................4-101 4.6.4 Integral Transfers.......................................................................................4-102 4.7 DP SYSTEM ALARMS AND TROUBLESHOOTING ....................................................4-102 4.7.1 Alarm Conditions........................................................................................4-102 4.7.2 Alarm Notification.......................................................................................4-103 4.7.3 Color Coding of Alarms..............................................................................4-103 4.7.4 Acknowledging Alarms...............................................................................4-103
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4.8 5.
VESSEL SPECIFIC DISPLAY SCREENS...................................................................5-1 5.1 SETUP MENU ........................................................................................................5-1 5.1.1 Setup Page 1 .................................................................................................5-2 5.1.2 Setup Page 2 .................................................................................................5-3 5.1.3 Setup Page 3 .................................................................................................5-4 5.1.4 Mode Function ...............................................................................................5-5 5.1.5 DP Simulation Page.......................................................................................5-6 5.2 SENSOR MENU.......................................................................................................5-7 Sensor Page 1 ...............................................................................................5-8 5.2.1 5.2.2 Sensor Page 2 ...............................................................................................5-9 5.2.3 Position Reference 1....................................................................................5-10 5.2.4 Position Reference 2....................................................................................5-11 5.3 PROPULSION MENU ..............................................................................................5-12 5.3.1. Thruster Page 1 ...........................................................................................5-13 5.3.2 Thrust Page 2 ..............................................................................................5-14 5.4 PLOT MENU .........................................................................................................5-15 5.4.1 Holding Capability ........................................................................................5-16 5.4.2 Chart ............................................................................................................5-17 5.4.3 Track Operation ...........................................................................................5-18 5.4.4 Waypoint ......................................................................................................5-19
6.
SYSTEM MAINTENANCE AND TEST PROCEDURES..............................................6-1 GENERAL TOOLS AND TEST EQUIPMENT ................................................................6-1 6.1 6.2 ELECTROSTATIC DISCHARGE PRECAUTIONS...........................................................6-1 6.2.1 ESD-Sensitive Devices ..................................................................................6-2 6.2.2 Protective Procedures....................................................................................6-2 6.2.3 ESD Guidelines for Replacing Circuit Card Assemblies .......................... (CCA) 6-2 6.3 MONTHLY MECHANICAL INSPECTION .......................................................................6-3 6.4 MONTHLY OPERATOR CONTROL PANEL AIR FILTER SERVICE ..................................6-3 6.5 MONTHLY SIGNAL PROCESSOR UNIT AIR FILTER SERVICE.......................................6-4 6.6 POWER SUPPLY VOLTAGE CHECK ..........................................................................6-4 6.6.1 Operator Control Panel Test Point Values/Adjustments ................................6-5 6.6.2 Keyboard Test Point Values/Adjustments......................................................6-6 6.6.3 Signal Processor Unit Test Points/Values......................................................6-6 6.6.3.1 Signal Processor Unit (SPU) 1 .................................................................6-6 6.6.3.2 Signal Processor Unit (SPU) 2 (Optional)..............................................6-7 6.7 CMOS BATTERY REPLACEMENT - (2 YEARS) ..........................................................6-8 6.8 SIGNAL MAINTENANCE AND TROUBLESHOOTING......................................................6-8 6.8.1 RS232 ............................................................................................................6-8 6.8.2 RS422/RS485 ................................................................................................6-9 6.8.3 Programmable Logic Controller (PLC) ...........................................................6-9 6.8.4 System Reset and Corrective Action ...........................................................6-10 6.8.5 Flex I/O Modules ..........................................................................................6-10 6.8.6 Analog and Digital I/Os ................................................................................6-11 6.8.7 Switch Interface Controller ...........................................................................6-11 6.8.8 Circuit Card Jumper Configurations .............................................................6-12 6.8.8.1 Central Processor Unit (CPU).................................................................6-12 6.8.8.2 Gyrocompass .........................................................................................6-12 6.8.8.3 Switch Interface Controller .....................................................................6-12
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6.8.9 Joystick Calibration ......................................................................................6-12 6.9 MODULE AND COMPONENT REPLACEMENT ...........................................................6-14 NMS6000 DP System Control Panel Modules and ......................................Components 6-14 6.9.1 Keyboard Switch Blocks ..............................................................................6-14 6.9.2 Switch Interface Controller...........................................................................6-14 6.9.3 Voltage Regulator ........................................................................................6-15 6.9.4 Switch Interface Extender Board .................................................................6-15 6.9.5 Central Processor Unit (CPU)......................................................................6-15 6.9.6 SPU Modules and Components...................................................................6-16 6.9.6.1 Intelligent Communication Modules........................................................6-16 6.9.6.2 Flex I\O Modules ....................................................................................6-16 6.9.6.3 Flex I\O Terminal Bases .........................................................................6-17 6.9.6.4 Remote I/O Adapter................................................................................6-18 6.9.6.5 Optical Communications Modem (OCM)................................................6-18 6.9.6.6 Ethernet Hub ..........................................................................................6-18 6.9.6.7 NMS6000 DP System Uninterruptible Power Supply (UPS) ..................6-18 6.9.6.8 SPU Uninterruptible Power Supply (UPS)..............................................6-19 6.9.6.9 UPS Battery............................................................................................6-19 6.9.6.10 SPU Power Supply .................................................................................6-19 6.9.6.11 SPU Exhaust Fan ...................................................................................6-19 6.9.7 Sensors........................................................................................................6-20 6.9.7.1 Motion Reference Unit (MRU) ................................................................6-20 6.9.7.2 Global Positioning System (GPS)...........................................................6-20 6.9.7.3 Vertical Reference Unit (VRU)................................................................6-20 6.10 RECOMMENDED SPARE OR REPLACEMENT PARTS ................................................6-21 6.11 SERVICE LOCATIONS ............................................................................................6-21 6.12 FIELD SERVICE ORDER INFORMATION ...................................................................6-22 6.13 ORDERING NEW PARTS ........................................................................................6-22 6.14 RETURNING ITEMS ...............................................................................................6-23 7. 8. APPENDIX - DPS ALARM MESSAGES....................................................................7-1 7.1 DPS ALARM MESSAGES .........................................................................................7-1 INDEX ..........................................................................................................................8-1
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LIST OF FIGURES AND TABLES FIGURE 4-25. AUXILIARY SWITCH GROUP INIT BACK-UP SWITCH........................................................ 4-33 FIGURE 4-26. HOLD HEADING ILLUSTRATION ....................................................................................... 4-36 FIGURE 4-27. HOLD POSITION ILLUSTRATION ....................................................................................... 4-37 FIGURE 4-28. TRACK AND WAYPOINTS ................................................................................................. 4-40 FIGURE 4-28A. DP SIMULATION PAGE ................................................................................................. 4-45 FIGURE 4-29. SETUP PAGE 1 .............................................................................................................. 4-48 FIGURE 4-30. CONTROL AXES ............................................................................................................. 4-51 FIGURE 4-31. SETUP PAGE 2 .............................................................................................................. 4-52 FIGURE 4-32. SETUP PAGE 3 .............................................................................................................. 4-54 FIGURE 4-33 SENSOR PAGE 1 ............................................................................................................. 4-56 FIGURE 4-34. POSITION REFERENCE PAGE .......................................................................................... 4-59 FIGURE 4-35. CHART PAGE SENS DISP BUTTON ................................................................................ 4-61 FIGURE 4-36. CHART PAGE ................................................................................................................. 4-62 FIGURE 4-37. PAN AND ZOOM CONTROL BUTTONS ............................................................................... 4-62 FIGURE 4-38. CONFIGURATION BUTTONS ............................................................................................. 4-63 FIGURE 4-39. LOW SPEED TRACK FOLLOW TRACK AND WAY-POINTS.................................................. 4-64 FIGURE 4-40. TRACK OPERATION ........................................................................................................ 4-66 FIGURE 4-41. NORTH/EAST TRACK OFFSET ......................................................................................... 4-68 FIGURE 4-42. CROSS TRACK OFFSET .................................................................................................. 4-68 FIGURE 4-43. WAYPOINT PAGE ............................................................................................................ 4-71 FIGURE 4-44. SELECT TRACK TYPE POP-UP ......................................................................................... 4-73 FIGURE 4-45. OPEN DIALOG BOX ........................................................................................................ 4-74 FIGURE 4-46. SAVE AS - DIALOG BOX .................................................................................................. 4-75 FIGURE 4-47. WAYPOINT EDIT POP-UP ................................................................................................ 4-75 FIGURE 4-48. TYPICAL THRUSTER PAGE SCREEN ................................................................................ 4-79 FIGURE 4-49. AZIMUTHING THRUSTER ICONS ....................................................................................... 4-79 FIGURE 4-50. TYPICAL PORT TUNNEL THRUSTER ICON ......................................................................... 4-80 FIGURE 4-51. TYPICAL STARBOARD TUNNEL THRUSTER ICON ............................................................... 4-80 FIGURE 4-52. TAL CIRCLE .................................................................................................................. 4-81 FIGURE 4-53. RUDDER ICONS .............................................................................................................. 4-82 FIGURE 4-54. TEXT BOX- THRUSTER AND RUDDER ............................................................................... 4-82 FIGURE 4-55. TYPICAL THRUSTER POP-UP DIALOG BOX ...................................................................... 4-85 FIGURE 4-56. TYPICAL THRUST PAGE 2 .............................................................................................. 4-86 FIGURE 4-57. TYPICAL PLOT PAGE 1................................................................................................... 4-89 FIGURE 4-58. POINT CONFIGURATION POP-UP ..................................................................................... 4-90 FIGURE 4-59. HOLDING CAPABILITY..................................................................................................... 4-91 FIGURE 4-60. SIGNAL I/O PAGE: SERIAL COMMUNICATIONS ................................................................. 4-93 FIGURE 4-61. MODE FUNCTION PAGE ................................................................................................. 4-94 FIGURE 4-62. HEADING SETPOINT SELECTION: CURRENT HEADING POP-UP .......................................... 4-98 FIGURE 4-63. POSITION SETPOINT SELECTION : CURRENT POSITION POP-UP ....................................... 4-99 FIGURE 4-64. ALARM SUMMARY WINDOW.......................................................................................... 4-103 FIGURE 5-1. SETUP PAGE 1 .................................................................................................................. 5-2 FIGURE 5-2. SETUP PAGE 2 .................................................................................................................. 5-3 FIGURE 5-3. SETUP PAGE 3 .................................................................................................................. 5-4 FIGURE 5-4. MODE FUNCTION ............................................................................................................... 5-5 FIGURE 5-5. SIMULATION PAGE ............................................................................................................. 5-6 FIGURE 5-6. SENSOR PAGE 1 ............................................................................................................... 5-8 FIGURE 5-7. SENSOR PAGE 2............................................................................................................... 5-9 FIGURE 5-8. POSITION REFERENCE 1 ................................................................................................. 5-10 FIGURE 5-9. POSITION REFERENCE 2. ................................................................................................. 5-11 FIGURE 5-10. THRUSTER PAGE 1 ........................................................................................................ 5-13 FIGURE 5-11. THRUSTER PAGE 2 ........................................................................................................ 5-14 FIGURE 5-12. HOLDING CAPABILITY..................................................................................................... 5-16 FIGURE 5-13. CHART .......................................................................................................................... 5-17 FIGURE 5-14. TRACK OPERATION ........................................................................................................ 5-18 FIGURE 5-15. WAYPOINT ..................................................................................................................... 5-19 TABLE 6-1. GENERAL TOOLS AND TEST EQUIPMENT ............................................................................... 6-1
LIST OF FIGURES AND TABLES TABLE 6-2. POWER SUPPLY VOLTAGES (NOMINAL AND TOLERANCE).....................................................6-5 FIGURE 6-1. CORRECT WAVEFORM .......................................................................................................6-9 FIGURE 6-2. FLEX I/O MODULES AND TEST POINTS ..............................................................................6-11 FIGURE 6-3. SWITCH INTERFACE CONTROLLER ....................................................................................6-14
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DP SYSTEM OVERVIEW
This operations and maintenance manual describes the hardware, software, and operational capabilities of the Nautronix, Inc. Marine System Model 6000, (NMS6000), Dynamic Positioning (DP) System. The manual provides instructions for using the system and any associated sub-systems, such as sensors, computers, and signal processing equipment. Additionally, the manual provides information on system casualty troubleshooting, and corrective actions, and system test and maintenance procedures.