Kongsberg cJoy OT Manuals

Kongsberg cJoy OT Manuals

Manuals and User Guides for Kongsberg cJoy OT. We have 1 Kongsberg cJoy OT manual available for free PDF download: Operator's Manual

Kongsberg cJoy OT Operator's Manual

Kongsberg cJoy OT Operator's Manual (208 pages)

Joystick System

Brand: Kongsberg | Category: Control Systems | Size: 3 MB

Table of Contents

Table of Contents
3
Glossary
8
System Overview
9
The Cjoy System
9
Basic Forces and Motions
9
System Principles
11
- The Kalman Filter
  12
- The Controller
  13
- Thruster Allocation
  14
User Interface
15
Cjoy OT Operator Terminal
15
Controls and Indicators
16
- Panel Buttons and Indicators
  16
- Heading Wheel and Buttons
  17
- Dialog Input Buttons
  17
- Input Dialog Selection Buttons
  18
- Colour Display
  18
- View Selection Buttons
  18
- Silence/Ack. Button and Alarm Indicator
  19
- Command Control Buttons
  19
- Operational Mode Buttons
  19
- Joystick Buttons
  20
- Three-Axis Joystick
  20
Display Layout
21
- Title Bar
  22
- Message Line
  23
- Heading Area
  23
- Position Area
  25
- View Area
  27
Operational Views
27
- View Selection
  27
- Main View
  28
- Position-Reference System View
  34
- Thruster View
  36
- Thruster Subviews
  37
- Sensor View
  38
- Power Consumption View
  39
Input Dialogs
40
- Available Input Dialogs
  40
- Dialog Selection
  41
- General Setup
  41
- Sensors
  42
- Thruster Setup
  47
- Alarm Limits
  50
- Pilot Setup
  52
- Heading Setpoint Pop-Up Dialog
  54
- Changing and Entering Input Dialog Parameter Values and Options
  55
- Closing Input Dialogs
  56
System Status Views and Input Dialogs
56
- View and Dialog Selection
  56
- Equipment View
  57
- System Setup Input Dialog
  58
- Software Upgrade and Restart Input Dialog
  59
- System Information View
  61
Message System
62
System Diagnostics
62
Operational Checks
62
- This Section Contains the Following Topics: System Diagnostics
  62
- Audible and Visual Indications
  63
Types of Message
63
Presentation of Messages
64
Acknowledging Messages
66
- Message Line
  66
- Message View
  67
Alarm Indicator
67
Operator Pop-Up Messages
68
Critical System Messages
69
- Controller PS Response
  69
- Software Inconsistency
  70
Starting Operations
71
System Start-Up
71
- Command Transfer
  71
- Taking Command
  72
- Giving Command
  72
Panel Test
73
Panel Dimming
74
Day and Night Palettes
77
System Date and Time
77
Display Units
77
Joystick Calibration
77
System Procedures
80
Shutting down the Operator Terminal
80
Restarting the Operator Terminal
81
Upgrading the Operator Terminal Software
82
Upgrading the Controller PS Software
82
Operating Modes
85
Standby Mode
85
- Returning to Standby Mode/Manual Levers
  86
Joystick Mode
86
Station Keeping Mode
91
- From Joystick Mode to Station Keeping Mode
  91
Autopilot Mode
92
- Entering the Autopilot Mode
  92
- Changing Heading
  93
- Leaving the Autopilot Mode
  93
Operating Procedures
94
Thrusters
94
- Displayed Thruster Information
  94
- Enabling Thrusters
  95
- Disabling Thrusters
  95
- Selecting the Thruster Allocation Mode
  95
- Setting the Minimum RPM
  96
- Selecting the Combinator Mode
  97
Gyrocompasses
98
- Rejection of Heading Measurements
  98
- Displayed Heading Information
  98
- Disabling a Gyrocompass
  99
- Faulty Gyrocompass
  99
- Heading Dropout
  99
Wind Sensor
99
- Displayed Wind Information
  100
- Enabling the Wind Sensor
  100
- Disabling the Wind Sensor
  100
- Faulty Wind Sensor
  100
- Rejection of Faulty Wind Data
  100
- Operating Without Wind Sensor Input
  101
Vertical Reference Sensor
101
- Displayed VRS Information
  102
- Enabling the VRS
  102
- Disabling the VRS
  102
- Faulty VRS
  102
Speed Sensors
102
- Displayed Speed Information
  103
- Enabling a Speed Sensor
  103
- Disabling a Speed Sensor
  103
- Entering and Enabling a Manual Speed Value
  103
- Disabling a Manual Speed Value
  104
Position-Reference System
104
- System Datum
  104
- Reference Origin
  104
- Tests on Position Measurements
  104
- Enabling the Position-Reference System
  106
- Disabling the Position-Reference System
  107
- Position Dropout
  107
Selecting the Vessel Draught
108
Joystick Settings
109
- Setting the Joystick Thrust
  109
- Environmental Compensation
  110
- Selecting the Vessel Rotation Centre
  111
Controlling the Vessel Heading
112
- Changing the Heading Setpoint
  112
- Stopping a Change of Heading
  113
- Selecting the Controller Gain Level
  113
- Setting the Rate of Turn
  114
Controlling the Vessel Position
114
- Selecting the Controller Gain Level
  114
- Changing the Vessel Position Using the Joystick
  114
Setting Heading and Position Limits
115
- Position Deviation
  116
Autopilot Setup
117
- Selecting the Autopilot Gain Level
  117
- Setting the Counter Rudder Gain
  117
- Setting the Auto Trim Gain
  118
- Enabling Weather Compensation
  119
- Disabling Weather Compensation
  119
- Setting the Autopilot Rate of Turn
  119
- Setting the Maximum Rudder Angle for Automatic Heading Control
  119
  - Appendix A - Message Explanations
    129
  - This Appendix Contains (in Alphabetical Order) an Explanation of the Error Messages that
    129
- Absolute Reference System Not Active
  129
- All Reference Systems Rejected
  129
- Ascreate Already Done
  129
- Astern Thrust Required
  129
- Auxiliary Timer/Interrupt Error
  129
- Azimuth [#] Input Error Pitch
  130
- Azimuth [#] Not Ready
  130
- Azimuth [#] Prediction Error Pitch
  130
- Azimuth [#] Triangle Pot Error
  130
- Bad Terminal IO Connections
  130
- Block Parameter Is Not Available
  130
- Block Status Is Not Available
  131
- Block Type Is Not Available
  131
- Calibration Error
  131
- Calibration Offset
  131
- Calibration OK
  132
- Checksum Error (See Message)
  132
- Clock Failure
  132
- Code Checksum Difference
  132
- Communication Port Reservation Error
  133
- Configuration Error
  133
- Demand Reduced on Swbd [#]
  133
- Demand Reduced Thruster [#] by Ext System
  134
- Diesel Shaft [#] Overload
  134
- Disk Limit Exceeded
  134
- Draught Limit Reached
  135
- Draught Not Ready
  135
- Draught Input Updated
  135
- Draught Not Enabled
  135
- Draught [#] Sensor Rejected
  136
- Driver Configuration Is Not Available
  136
- Driver Operation Is Not Available
  136
- Driver Status Is Not Available
  136
- Driver Task Creation Error
  137
- DSP Error (See Message)
  137
- Dual Connection Generator [#]
  137
- ECC Is Disabled (See Message)
  137
- Enable Thrusters in Bow
  138
- Erroneous Quality Data
  138
- Erroneous Telegram Type
  138
- Error Net a
  139
- Error Net B
  139
- Estimator ROT Limit Exceeded
  139
- Estimator Acceleration Limit Exceeded
  139
- Estimator Velocity Limit Exceeded
  140
- Event Limit Exceeded
  140
- External Clock: Communication Error
  140
- External Clock: Limit Exceeded
  140
- External Speed Receive Error
  141
- Extra Timer/Interrupt Error
  141
- Fatal Error in Task
  141
- Fatal Internal Error in Memory/Ram/Flash or PCI (See Message)
  142
- Fix Disabled
  142
- Flash Download Failed
  142
- Flash Formatting Failed
  142
- Flash Uploading Failed
  143
- Floating-Point Exception (See Message)
  143
- FOST: Channel Restored Failed
  143
- FOST: Illegal Channel Config
  144
- FOST: Passive Side Error
  144
- FOST: PDU Residual Voltage
  144
- FOST: PDU Restore Failed
  144
- FOST: PDU Stuck
  144
- FOST: Shutdown Test Failed
  145
- Framing Error
  145
- Framing/Overrun Error
  145
- Generator [#] Connect and Load Inconsistency
  145
- GPS [#] Invalid
  146
- GPS [#] Invalid Pos Received
  146
- GPS [#] no Diff Data Received
  147
- Gyro [#] Not Ready
  147
- Gyro [#] Power Failure
  147
- Gyro [#] Prediction Error
  147
- Gyro [#] Rejected
  147
- Gyro Difference
  147
- Gyro Not Enabled
  148
- Heading Dropout
  148
- Heading Monitor Requires 2Nd Source
  148
- Heading out of Limits
  148
- Heading Prediction Error
  149
- Illegal Buffer Size
  149
- Illegal Channel Specified
  149
- Illegal Protocol
  149
- Initialisation Error on RIO Module (See Message with Details)
  149
- Insufficient Memory in DP PS
  150
- Insufficient Thrust
  150
- Internal Voltage Test Circuit Error (See Message)
  151
- Invalid External Connections
  151
- Invalid Internal Connections
  151
- IO Block Linking Failed
  151
- IO Config Error
  152
- IO Error
  152
- IO Input Error
  152
- IO MAX no Signal Exceeded
  152
- IO MAX no Vote Signal Exceeded
  153
- IO Point Linking Failed
  153
- Joystick Electrical Failure
  153
- Manual Thrust Not Active
  154
- Manual Thrust off
  154
- Manual Thrust on
  154
- Manual Thrust Stopped
  154
- Maximum Number of Drivers Are Reached
  155
- Message Receive Error or no Read/Write Func
  155
- Midships as Rotation Center
  155
- Module Group Table Overflow
  155
- Monitor VRS out of Limits Heave/Pitch/Roll
  155
- NB! Bad Terminal IO Connections Are Accepted
  156
- NB! Unconnected IO Blocks Are Accepted
  156
- NB! Unconnected IO Modules Are Accepted
  156
- Net Invalid Message Received
  157
- Net Storm Detected on Net a
  157
- Net Storm Detected on Net B
  157
- Net Storm Protection Activated on Net a
  157
- Net Storm Protection Activated on Net B
  158
- Net Transmit Failure
  158
- Net Unknown Address
  158
- New Model or Gain Updated from ASCII
  159
- No Defined Protocol in Asprotocol
  159
- No Draught Sensor Accepted
  159
- No Memory for System Buffers
  159
- No Minimum Demand on Force Thruster
  159
- No Ready Rudder or Steer Thruster
  160
- No Reference System Enabled
  160
- Not Enough Receive Buffers
  160
- On-Board Reference Voltage Error
  161
- Origin Calibration Error
  161
- Overrun Error
  161
- Parity Error
  162
- Parity/Framing Error
  162
- Parity/Framing/Overrun Error
  162
- Parity/Overrun Error
  163
- PCI: Failure in Devices on Internal PCI Bus (See Message)
  163
- PCU Stopped by Watchdog
  163
- Position Dropout
  163
- Position out of Limits
  164
- Position Presentation Invalid
  164
- Position Status Error
  165
- Position Status Invalid
  165
- Power 24V Failed
  165
- Power Failure Backupgyro
  165
- Power Failure Backup UPS
  166
- Power Limits Reached on Swbd [#]
  166
- Power out of Range on Swbd [#]
  166
- Power out of Range on Generator [#]
  167
- Power Unbalanced Load on Swbd [#]
  167
- Power Unbalanced Load on Thruster [#]
  168
- Process Net Disconnected
  168
- Propeller [#] Input Error Pitch
  168
- Propeller [#] Not Ready
  168
- Propeller [#] Prediction Error Pitch
  168
- PS [#] Updated by Online
  168
- PS Degraded
  169
- PS Incapable
  169
- PS-File Inconsistent with PS a
  169
- RAM Test Error (See Message)
  169
- RBUS: Conflict between Configured and Connected RIO Module Type
  170
- RBUS: Initial Configuration and Scan Sequence Failed
  170
- RBUS: IO Scan Mail Box Failure. Scan Not Running
  170
- RBUS: Memory Allocation Failure. Scan Not Running
  170
- RBUS: RIO Configuration Check Disabled
  171
- RBUS: RIO Module Set in Maintenance Mode. (See Code in Separate Column)
  171
- RBUS: Unknown Error Index (See Code in Separate Column or Message)
  171
- RBUS: Unrecognized Error: %D
  171
- Reduced Thruster Alloc Capability
  172
- Reference High Noise
  172
- Reference High Offset
  173
- Reference High Variance
  173
- Reference Median Deviation
  173
- Reference Median Rejected
  174
- Reference Origin
  174
- Reference Position Frozen
  174
- Reference Prediction Error
  175
- Relative Reference System Not Active
  175
- Reserved Power on Swbd [#]
  175
- RIO: AO Not Calibrated
  175
- RIO: Configuration CRC Error
  176
- RIO: Critical Temperature (Restart Required)
  176
- RIO: Current Feedback Outside Tolerance
  176
- RIO: Error in Readback of AO Test Value (Reset Required)
  176
- RIO: Function (Opcode) Is Not in this Revision/Release
  176
- RIO: FW a Version Is Less than Minimum
  177
- RIO: FW P Is Less than Minimum
  177
- RIO: Ground Monitoring Error
  177
- RIO: Ground Monitoring Error, Lower Voltage Limit Exceeded
  177
- RIO: Ground Monitoring Error, Upper Voltage Limit Exceeded
  178
- RIO: Ground Monitoring Error, (Iso1) Lower Voltage Limit Exceeded
  178
- RIO: Ground Monitoring Error, (Iso1) Upper Voltage Limit Exceeded
  178
- RIO: Ground Monitoring Error, (Iso2) Lower Voltage Limit Exceeded
  178
- RIO: Ground Monitoring Error, (Iso2) Upper Voltage Limit Exceeded
  179
- RIO: Ground Monitoring Error, Lower Current Limit Exceeded
  179
- RIO: Ground Monitoring Error, Upper Current Limit Exceeded
  179
- RIO: High Temperature
  179
- RIO: Highside Drivers Are off
  179
- RIO: Highside Driver Blocked on
  180
- RIO: Illegal Direction Configuration
  180
- RIO: Illegal Loop Monitoring Type
  180
- RIO: Illegal Signal or Range Type
  180
- RIO: Loop Mon. Error 4
  181
- RIO: Loop Mon. Error 5
  181
- RIO: Loop Power Error
  181
- RIO: Loop Stuck
  181
- RIO: Module Configuration Error
  181
- RIO: Not in Normal IO Mode. Automatically Set to Normal
  182
- RIO: On-Board Reference Voltage Error (Reset Required)
  182
- RIO: On-Board Reference Voltage Error (Restart Required)
  182
- RIO: On-Board Voltage Error. GND1 (Reset Required)
  182
- RIO: On-Board Voltage Error. GND2 (Reset Required)
  182
- RIO: On-Board Voltage Error. PWR2 (Reset Required)
  183
- RIO: On-Board Voltage Error. PWR3 (Reset Required)
  183
- RIO: On-Board Voltage Error. PWR4 (Reset Required)
  183
- RIO: On-Board Voltage Error. REF1 (Reset Required)
  183
- RIO: On-Board Voltage Error. REF2 (Reset Required)
  184
- RIO: On-Board Voltage Error. Vital CPU Voltage PWR1 (Reset Required)
  184
- RIO: On-Board Voltage Error. Vital CPU Voltage PWR1 (Restart Required)
  184
- RIO: Open Loop/Cable Break
  184
- RIO: Overload Protection Activated (Reset Required)
  184
- RIO: PDU Turned off (Reset Required)
  185
- RIO: Power a Failure
  185
- RIO: Power a Failure (Restart Required)
  185
- RIO: Power B Failure
  185
- RIO: Power B Failure (Restart Required)
  186
- RIO: Probable Short-Circuit
  186
- RIO: RBUS Cables Are Crossed
  186
- RIO: Relay or Relay Driver Fault
  186
- RIO: Reversed Polarity
  186
- RIO: Scheduler Stopped (Restart Required)
  187
- RIO: Selftest Current Error
  187
- RIO: Self-Test Error (Restart Required)
  187
- RIO: Selftest Voltage Error
  187
- RIO: Short-Circuit
  188
- RIO: Test Channel Error
  188
- RIO: too Low Feedback While PDU=1
  188
- RIO: too Slow Signal Transition
  188
- RIO: Voltage Feedback Outside Tolerance
  188
- Rudder [#] Input Error
  189
- Rudder [#] Not Zero
  189
- Rudder [#] Prediction Error
  189
- Rudder [#] Triangle Pot Error
  189
- Rudder in Azimuth Limits
  189
- Save PS Error (See Message)
  189
- SBC Fan Stopped
  189
- SBC High Temperature
  190
- Sensor [#] Not Ready
  190
- Sensor [#] Prediction Error
  190
- Sensor [#] Rejected
  190
- Sensor Difference
  191
- Sensor Not Enabled
  191
- Sensor Prediction Error
  191
- Seismic Ext ROT Speed Limit
  192
- Seismic Ext Speed Limit
  192
- Seismic Offset Exceeds Limit
  192
- Seismic Track Direction Limit
  192
- Speed GPS [#] High Noise
  193
- Speed GPS [#] Prediction Error
  193
- Speed Log [#] Not Ready
  193
- Speed Log [#] Prediction Error
  193
- Speed Sensor Dropout
  193
- Stack [#] Read Error
  193
- Stack Overflow (See Message)
  194
- Swbd/Generator/Thruster/Reserved Connection Failure
  194
- System File Decode Error
  194
- System File Decode OK
  195
- System File Flash Copy Error
  195
- System File Flash Copy OK
  195
- System File Parameter Inconsistency
  195
- System File Read Error
  195
- System File Write Error
  196
- System File Write Error Wrong no of Bytes
  196
- System File Write OK
  196
- System Selected Heading Not Possible
  196
- Systick Timer/Interrupt Error
  196
- Telegram Checksum Error
  197
- Telegram Timeout
  197
- Thruster [#] Input Error Pitch
  197
- Thruster [#] Not Ready
  198
- Thruster [#] Prediction Error
  198
- Thruster [#] Ready Running Conflict
  198
- Thruster [#] Triangle Pot Error
  198
- Thruster in Azimuth Limits
  198
- Thruster/Rudder [#] Input Error
  198
- Thruster/Rudder [#] Not Ready
  199
- Thruster/Rudder [#] Prediction Error
  199
- Thruster/Rudder [#] Ready
  199
- Thruster/Rudder [#] RPM Feedb Failure
  199
- Thruster/Rudder [#] Triangle Pot Error
  200
- Thruster/Rudder in Azimuth Limits
  200
- Thrusters Not Ready
  200
- Too Many Messages
  201
- Too Many Tasks Registered
  201
- Transmission Timeout
  201
- Tunnel [#] Input Error Pitch
  202
- Tunnel [#] Not Ready
  202
- Tunnel [#] Prediction Error Pitch
  202
- Unconnected IO Blocks
  202
- Unconnected IO Modules
  202
- Unknown Error (See Message)
  202
- UPS Earth Failure
  203
- UPS Failure
  203
- UTM Zone Offset
  203
- VRS [#] Not Ready
  203
- VRS [#] Prediction Error
  204
- VRS [#] Rejected
  204
- VRS Difference
  204
- VRS Not Enabled
  204
- Watchdog Limit Exceeded
  204
- Watchdog: Timer/Interrupt Error
  205
- Wind [#] Not Ready
  205
- Wind [#] Rejected
  205
- Wind Difference
  206
- Wind Not Enabled
  206
- Wind Sensor Height Inconsistency
  206
- Zero Pointer Usage (See Message)
  206

Advertisement

Advertisement

Related Products

Kongsberg Categories

Marine Equipment Sonar Marine Radio Transceiver Autopilot System

More Kongsberg Manuals