94-0559-c cyscan as installers guide

194-0559-C

CYSCAN AS

Wärtsilä Guidance Marine Ltd,5 Tiber Way, Meridian Business Park, Leicester, LE19 1QP, UK

T: +44 116 229 2600 E: [email protected]

www.guidance.eu.comwww.marine.directwww.wartsila.com

INSTALLER’S GUIDE

294-0559-C

CyScan AS Installer’s GuideIssue Date: 25/02/2020Document No: 94-0559-C

Serial No:

Sensor Software Version: Client Software Version:

Date of Shipment from UK:

Copyright © Wärtsilä Guidance Marine Limited. All Rights Reserved.

Copyright in the whole and every part of this document belongs to Wärtsilä Guidance Marine Limited (the “Owner”) and may not be used, sold, transferred, copied or reproduced in whole or in part in any manner or form or in or on any media to any person other than in accordance with the terms of the Owner’s Agreement or otherwise without the prior written consent of the Owner. “CyScan” is a registered trademark of Wärtsilä Guidance Marine Ltd. All other brand and product names are trademarks of their respective companies or organisations.

Wärtsilä Guidance Marine Ltd,5 Tiber Way,Meridian Business Park,Leicester,LE19 1QPUK

T: +44 116 229 2600

UK Support: +44 116 229 2665(365 days a year; 08:00 - 20:00 UTC)

USA Support: +1 504 305-1120

Asia Support: +65 6734 6365

[email protected]

W: www.guidance.eu.com/customer-support

LASER 1M

Print Colour

Black

Print Colour

Yellow

SPECIFICATIONReference:

Material:

Size:

Colour:

260845

Self adhesive vinyl,

clear laminate

Print colour:

Text:

Yellow and black

“Caution Laser 1M”

DATE:PROOF:

18/09/171

100.00 mm

50.00mm

Scale 1:1

Material

White

White

50mm x 100mm

Class 1M Laser ProductComplies with EN 60825-1Complies with USA CFR 1040.10 & 1040.11 except for deviations pursuant to Laser Notice No 50

26 Jul 2001

TAA000026DCyScan AS

2812

394-0559-C

Document Number Changes Issue Date94-0559-A First release of CyScan AS Installer’s Guide 25/10/2017

94-0559-B Update on fuse recommendations, Vessel Parameters and minor typo changes 22/02/2018

94-0559-C GeoLock Section has been added 25/02/2020

Document History

494-0559-C

Table of Contents

Introduction1.Welcome

System Overview

What is Absolute Signature (AS)

6

87

5

1.11.21.3

Installing the Sensor Hardware2.Where to Mount the Sensor 13

12

2.1Sensor Dimensions and Mounting Template 142.2

Configuring the CyScan System5.Using the CyScan Service Interface 29

28

5.1

CyScan Sensor Part Names

Serial Numbers & Software Versions

91.41.5

Product Labels

Software Version Information

111111

Installing the Cables3.Cable Specifications 16

15

3.1UPS Specifications 173.2Legacy CyScan Sensor Connections 183.3

Legacy Client and DP Feed Connections - Ethernet Client, Serial DP 193.4Legacy Client and DP Feed Connections - Ethernet Client, Dual Serial DP 203.5Legacy Client and DP Feed Connections - Serial Client, Serial DP 213.6CyScan AS Sensor Connections 223.7

CyScan AS Client and DP Feed Connections - Ethernet Client, Serial DP 233.8

To Connect a Cable to the CyScan Sensor

Connecting the Power Cable1818


Connecting the Power Cable2222

CyScan AS Client and DP Feed Connections - Ethernet Client, Dual Serial 243.9CyScan AS Client and DP Feed Connections - Serial Client, Serial DP 253.10

Installing the Control PC4.Installing CyScan Client Software onto a Computer 27

26

4.1

Network Communication Settings

Vessel Parameters

5.25.3

Static Blanking Zones

DP Feed Configuration5.45.5 36

3230

35

System Parameters

GeoLock Settings5.65.7 40

38

Additional Information6.Target Types 42

41

6.1

Positioning and Mounting Targets

DP Message Types

6.26.3

CyScan AS Installation Checklist

Cable Routing Diagrams6.46.5 52

4443

51

Sensor Information Display - Error MessagesUpgrading the Sensor Software via the Remote Installer

6.66.7 59

57

NMEA0183R Format

NMEA0183P Format4444

ASCII17 Format

MDL Standard †4545

MDL Multi-Target †

Nautronix Standard †4545

Artemis Mk IV †

Kongsberg Standard †4545

MT Custom DP String 46Rolls-Royce Custom DP String

Kongsberg (Custom)4748

Upgrading the Sensor Software Directly6.8 60Remote Diagnostics

Index6.9

6.10 6261

NMEA Wärtsilä (Custom DP String) 49

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1. IntroductionWelcomeSystem Overview

What is Absolute Signature (AS)

6

87

1.11.21.3

CyScan Sensor Part Names

Serial Numbers & Software Versions 11

91.41.5

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Welcome

Welcome to the CyScan AS Installer’s Guide. It explains how to commission and install the CyScan system onto a vessel and how to install the CyScan Service Interface (CSI) and Dashboard. An on-screen version of this document can be opened from the About tab of the CSI. For Instructions on how to use CyScan, please see the CyScan AS Operator’s Guide (94-0560-C).

Introduction

Note: Installation of a CyScan system should be carried out by a suitably qualified and competent engineer.

11.1

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System Overview Introduction11.2

CyScan is a high accuracy relative position reference sensor. It provides positional information to a vessel’s DP system, allowing it to keep station relative to a target structure or another vessel.

CyScan AS Sensor

The CyScan AS system contains the following main parts:

• CyScan AS Sensor• CyScan Client Software• CyScan Targets

The CyScan AS sensor is a rotating laser scanner. It is mounted on the vessel’s superstructure; typically on the wheel-house.

The CyScan AS sensor can be installed in three ways:

• Ethernet Client, Single Serial DP (see page 19)• Ethernet Client, Dual Serial DP (see page 20)• Serial Client, Single Serial DP (see page 21)

CyScan Client SoftwareThe CyScan Service Interface (CSI) and CyScan Dashboard are software applications used to configure, control and monitor the CyScan system. They are installed on a marine-specification Type 3 Marine Processor or a computer running Microsoft WindowsTM, usually mounted on the bridge near to the controls of the vessel’s DP system.

The CyScan Service Interface is used for system configuration and replaces the Service Access mode of the Dashboard or Console seen in earlier versions of the CyScan system.

The Dashboard gives the DP operator control of the CyScan system and the data stream being fed to the DP system.

The Ethernet version of the Dashboard can run on multiple computers across a network, with one Dashboard in Command mode and the others in Monitoring mode.

CyScan TargetsOne or more retro-reflective CyScan targets are mounted on the target platform or vessel. The precise range and bearing of each target is used to calculate the exact position of the CyScan vessel relative to the target structure or vessel.

See on page 42 for more detail on CyScan targets.

The key elements of the CyScan system

PowerDPSystem

Client Software

Computer(s)

CyScan Sensor

CyScan Service Interface

CyScan Dashboard CyScan Rugged

Prism Target

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What is Absolute Signature (AS)? Introduction11.3

It is well known that laser Position Reference Sensors (PRS) cannot always distinguish between different types of reflector targets. Standard laser PRS, such as CyScan Mk4, will detect and track prisms and tube targets as well as all other reflective objects (known as false targets) in the vicinity. This includes reflective metallic items or high-vis jackets of workmen. The standard system cannot identify what type of target it is detecting or tracking.

This can have potentially dangerous consequences when a vessel is station keeping using Dynamic Positioning (DP). If a moving false target is being tracked by the laser PRS (such as a workman’s jacket or a toolbox) the DP system will respond to this and make adjustments to the position of the vessel which can result in a collision.

The patent protected Absolute Signature (AS) technology can completely eliminate the ambiguity. When a CyScan AS sensor is used in conjunction with an AS prism, the system can uniquely identify the AS prism target from all the clutter of other reflective objects in the scene. No other laser technology can do this.

Benefits of AS

The CyScan AS sensor can be used like a standard CyScan if no AS prism is available. CyScan AS sensor used with AS prism target only detects one laser reflection – it can uniquely identify the target:

AS prism targets work with all other laser sensors and perform like any other standard prism target.

How does AS work?The AS prism has a black tinted lens filter which gives it a unique signature that the CyScan AS sensor can exclusively identify as the AS prism target.

Unlike a standard laser sensor which only has one laser beam, the CyScan AS sensor sends out two lasers that have different wavelengths. The filter on the AS prism blocks one of these lasers, but allows the other laser to be reflected, the same way that your sunglasses block UV light, but let visible light through.

This means that only one reflected laser beam is detected by the AS sensor. All other reflective objects and targets reflect both laser signals.

CyScan AS sensor used with any reflective target detects both laser reflections:

• Guaranteed ‘signature lock’ between the CyScan AS sensor and the AS prism target

• The likelihood of incidents due to false reflections is reduced to zero• The AS Dashboard user interface automatically identifies the AS Prism targets

which reduces the workload for the DPO in identifying and selecting the targets

Sensor AS Prism Standard Rugged Prism

Tube Target High-Visible Jacket

Other Reflective Objects

Standard Laser PRS

Cannot distinguish between the reflective targets. Will detect and track any reflective target.

CyScan AS Sensor

Uniquely identifies and tracks AS Prism

Standard targets and false reflections are distinguished fromthe AS Prism.

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CyScan Sensor Part Names Introduction11.4

The diagram below shows the key parts of the sensor unit and the various names that are used throughout this guide:

RotorRotor Window

Access Cover

Sensor Information Display

Cable Gland Plate

Power

DP Feed

Client Data

Base Plate

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CyScan Sensor Part Names (continued) Introduction11.4

PowerDP Feed 1

Client DataDP Feed 2

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Serial Numbers & Software Versions Introduction11.5

Serial numbers and Software Version Numbers are used to identify the hardware configuration and product revision of each CyScan unit. They will be requested by Wärtsilä Guidance Marine in the event of an application service support call to the company.

Product LabelThe Part Number and Serial Number can be found on the product label fixed to the CyScan unit, see right.

CyScan Sensor Product Label

CyScan Sensor Part Number

CyScan Sensor Serial Number

Software Version InformationThe About tab of the CyScan Service Interface displays software version information and the sensor serial number.

Software Version Information

CyScan SensorSerial Number

Installing the latest software updates will guarantee that they

have an up to date manual

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2. Installing the Sensor HardwareWhere to Mount the Sensor 132.1Sensor Dimensions and Mounting Template 142.2

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Where to Mount the Sensor

Sensor Mounting LocationsThe CyScan system is designed for permanent or semi-permanent installation on-board a vessel. Often, a custom-fabricated plinth is used to provide the optimum height and location for mounting the CyScan sensor.

On all types of vessel the sensor should be mounted:• With an unobstructed view in the expected direction of the target structure or vessel.• Well above sea level to prevent swamping or immersion.• On a flat, rigid, horizontal surface able to support 30kg and receive 4x M8 fixing bolts.• Allowing for easy access to the connector board and Sensor Information Display.• Clear of VHF emergency band antennae, S-band and X-band ship’s radars (5 meter minimum horizontal

separation from RF sources (VHF, S and X band) and ideally vertical separation of one deck).• Clear of likely emissions from exhausts or other particulate sources to reduce the need for cleaning the

optical windows.• The field of view off the vessel should be clear of retro-reflective material

Installing the Sensor Hardware22.1

Exhaust emissions contain particulates which will degrade the optics

The sensor should be mounted with the Access Cover facing towards the bow of the vessel available for easy maintenance (see page 9). Any deviation from the centre-line alignment must be corrected in the CyScan Service Interface.

A typical mounting position is above the wheelhouse for a vessel with a superstructure like that of a platform supply vessel.

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Sensor Dimensions and Mounting Template

Sensor ClearanceThe exact dimensions of the CyScan AS unit’s footprint are shown below.

Additional information shown on the right could be beneficial when mounting the CyScan unit. Please refer to Document No: 94-0062-4 CyScan Mounting Template to view the information in larger format.

Installing the Sensor Hardware22.2

300

150

150

705

857

150

47

405

360

327

190

80

407

4 x 9 THRU

Allow 300mm clearance at the access cover to manoeuvre internal assemblies in/out.

Allow 150mm clearance at either side of the unit for use of the lifting handles.

Allow 150mm clearance for access to the rotor screws.

NOT TO SCALEAll dimensions in mm

Ensure that the display screen is not obstructed when installed

Allow a sensor height of 563mm from the mounting plate, plus an additional 30mm clearance to remove the rotor from the shaft.

300

150

150

705

857

150

563

Mounting TemplateMount the base plate horizontally

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3. Installing the CablesCable Specifications 163.1UPS Specifications 173.2Legacy CyScan Sensor Connections 183.3Legacy Client and DP Feed Connections - Ethernet Client, Serial DP 193.4Legacy Client and DP Feed Connections - Ethernet Client, Dual Serial DP 203.5

CyScan AS Sensor Connections 223.7CyScan AS Client and DP Feed Connections - Ethernet Client, Serial DP 233.8CyScan AS Client and DP Feed Connections - Ethernet Client, Dual Serial DP 243.9CyScan AS Client and DP Feed Connections - Serial Client, Serial DP 253.10

Legacy Client and DP Feed Connections - Serial Client, Serial DP 213.6

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Cable Specifications

The CyScan system is usually supplied without the cables that are necessary to connect the sensor to the DP system and the Client Software computer(s). Guidance recommends that flexible multicore cables are used in all applications. Cables should meet the requirements of IEC 60228 Class 2 or Class 5. Cables must be supplied and fitted by the installer to match the particular requirements for each vessel. All cables should be properly secured.

The cable glands will fit cables from 7-13mm diameter.

All cables should be:

• External marine standard including UV and chemical resistance• 500V rated voltage• Diameter 7-13mm • Operate between -40°C to +80°C

Installing the Cables33.1

Note: Data cables should not be run across or next to power cables to avoid signal interference problems.

Cable Description Wärtsilä Guidance Marine Part Numbers (40m lengths)

Serial Signal Wiring to DP System

Minimum 5-core shielded data cable

30-0451-3

Serial Signal Wiring to Client Software Computer

Ethernet Connection to Client Software Computer

CAT 5e screened cable (maximum length 90m)

33-0124-3L45581-B42-K8 Leoni L Trailing Cable 4X2X0. 15

Power Cable 3 core power cable 33-0121-3Lapp Kabel Stuttgart Olflex Classic 400 CP 3G 1.0

Refer to the cable routing diagrams on pages 52 - 56 to determine which cables you require

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UPS Specifications

The power supply to the CyScan sensor and the computer(s) running the CyScan Service Interface and Dashboard must come directly from a Un-interruptible Power Supply (UPS), which will also act as the power disconnection point.

The CyScan system comprises the following components, the UPS system used must meet these minimum specifications:


The specifications given above apply when the UPS is connected to a CyScan system only

CyScan AS Sensor• The UPS must be Marine Type Approved• Input Power = 130W †• Voltage Range = 85-264 VAC• Peak Current draw at 110V = 1.6A • Nominal Current draw at 110V = 1.2A RMS• Peak Current draw at 230V = 0.7A • Nominal Current draw at 230V = 0.6A RMS

• Voltage Range = 100-240V• Frequency Range = 50-60Hz • Peak Current draw = 1.8A

Type 3 Marine Processor Power Adaptor

• Voltage Range = 115 & 230V• Frequency Range = 50-60Hz• Nominal Current draw at 115V = 0.52A RMS• Nominal Current draw at 230V = 0.26A RMS

Hatteland Panel PC

The CyScan UPS should be able to run on back-up power for at least the same duration as that specified for the DP System UPS.

The power cable to the CyScan Sensor must be rated to withstand the maximum current output of the UPS.

† Worst case power consumption when operated at -25°C

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Legacy CyScan Sensor Connections

1. Remove the 4 screws from the access cover and remove the plate from the sensor unit to expose the connector board. (See CyScan Sensor Part Names on page 9).

2. Remove the screw head from the appropriate watertight cable gland. See CyScan Sensor Part Names on page 9 to identify the correct cable gland.

3. Feed the cable through the screw head and gland.4. Connect the cable to the correct socket/terminal on the sensor connector board.5. When all the connections have been made, replace the access cover and tighten

all of the cable glands to ensure a watertight seal.



1. Having fed the cable through the watertight cable gland, use the key provided to open the ferrite and pass the cable through the centre of the ferrite.

2. Close the ferrite securely and ensure it is firmly attached to the inside of the CyScan casing to prevent excessive movement.

3. Strip 10mm of insulation from the end of each of the three cable cores.4. Connect the 3 cores to the appropriate terminals as labelled on the terminal block

(see right).5. When the connections to the terminal block have been made, use two cable ties

to secure the terminal block and cable together.6. Plug the terminal block securely in to the socket on the connector board as

shown on the right.

Connecting the Power Cable

Earth

Live

Neutral

Base of CyScan with the access cover removed to expose the connector board

Watertight cable gland

Ferrite and key

Power terminals on connector board

Terminal block with cable cores connected

Cable ties

BOW/STERN switch must be set to bow.

The bow/stern switch has been removed in favour of the bearing offset parameter in the CyScan Service

Interface.

To Connect Cables to Power/Serial Plugs:

1. Operation Lever-tool (part number: 190-0003-4) into slot above connector-hole in plug.

2. Whilst holding down lever, insert cable end into connector-hole.

3. Release and remove the lever-tool.

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Legacy Client and DP Feed Connections - Ethernet Client, Serial DP Installing the Cables33.4

For an Ethernet configuration sensor, connect the Ethernet cable to Ethernet 0 and DP serial cable to Serial 1:Connect Ethernet Port 0 to the Marine Processor and Serial Port 1 to the DP system. Configure the serial connections as shown below:

RS422 Link to Vessel’s DP System

Mains Power 85–264V AC45–65Hz 45W

Ethernet Link to Marine Processor

Ferrite Bead

Ethernet 1

Ethernet 0

Serial 0

Serial 1

PowerPower LED

VFD Screen

Fuses

Stern

Bow Service Connections

†Contact Wärtsilä Guidance Marine if alternative settings are required.


1. Put Operation Lever-tool into slot above connector-hole in plug.

2. Whilst holding down lever, insert cable end into connector-hole


Client Network Protocol:Ethernet

Default Ethernet Settings:†IP Address: 192.168.0.86Subnet Mask: 255.255.255.0

1 RX-2 RX+3 TX-4 TX+5 GND6 Test7 GND8 +24V

DP Feed *

Serial 1

*+24V output on pin 8 of both serial ports can be used to power a 100mA data converter, if required.

RS422 Link9600 baud8 bits1 stop bitNo parity

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Legacy Client and DP Feed Connections - Ethernet Client, Dual Serial DP Installing the Cables33.5

For an Ethernet configuration sensor, connect the Ethernet cable to Marine Processor and Two DP serial cables to Serial 1 & Serial 2:Connect Ethernet Port 0 to the Marine Processor, Serial Port 0 to DP System 1 and Serial Port 1 to DP system 2. Configure the serial connections as shown below:

RS422Link to DP System 2



Ferrite Bead

Ethernet 1

Ethernet 0

Serial 0

Serial 1

PowerPower LED

VFD Screen

Fuses

Stern










DP Feed 2 *

Serial 1




DP Feed 1

Serial 0

*


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RS422 Linkto Vessel’s DP System


Ferrite Bead

Ethernet 1

Ethernet 0

Serial 0

Serial 1

PowerPower LED

VFD Screen

Fuses

Stern


1 2 3 4 5

6 7 8 9

1 RX-2 RX+3 TX-4 TX+5 GND6 Test7 GND8 +24V*

CyScanSerial 0

Type 2 Marine Processor

COM6


RS422 Link to Marine Processor

1 2 3 4 56 7 8 9


CyScanSerial 0

HattelandPanel PC

COM2

RS422 Link38400 baud8 bits1 stopbit No parity

1 2 3 4 56 7 8 9


CyScanSerial 0


COM1..COM4


Legacy Client and DP Feed Connections - Serial Client, Serial DP Installing the Cables33.6

For a Serial configuration sensor, connect the Serial to the Marine Processor and Serial to the DP Feed:Connect Serial Port 0 to the Marine Processor and Serial Port 1 to the DP system. Configure the serial connections as shown below:






DP Feed *

Serial 1



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CyScan AS Sensor Connections

1. Remove the 4 screws from the access cover and remove the plate from the sensor unit to expose the connector board. (See CyScan Sensor Part Names on page 9).

2. Remove the screw head from the appropriate watertight cable gland. See CyScan Sensor Part Names on page 9 to identify the correct cable gland.

3. Feed the cable through the screw head and gland.4. Connect the cable to the correct socket/terminal on the sensor connector board.5. When all the connections have been made, replace the access cover and tighten

all of the cable glands to ensure a watertight seal.



1. Having fed the cable through the watertight cable gland, Strip 10mm of insulation from the end of each of the three cable cores.

2. Connect the 3 cores to the appropriate terminals as labelled on the terminal block (see right).

3. When the connections to the terminal block have been made, use two cable ties to secure the terminal block and cable together.

4. Plug the terminal block securely into the socket on the connector board as shown on the right.

Connecting the Power Cable

1 GND

1 RX+

1 RX-

1 TX-

1 TX+

1 GND

1 RX+

1 RX-

1 TX-

1 TX+

Earth

Live

Neutral

Base of CyScan AS with the access cover removed to expose the connector board

Watertight cable gland

Power terminals on connector board

Terminal block with cable cores connected

Cable ties


1. Operation Lever-tool (part number: 190-0003-4) into slot above connector-hole in plug.

2. Whilst holding down lever, insert cable end into connector-hole.


Please see Page 50 of the CyScan AS Operator’s Guide rev C for the fuse recommendations. This is of particular importance should the sensor be operated in a cold environment

The bow/stern switch has been removed in favour of the bearing offset parameter in the CyScan

Service Interface

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CyScan AS Client and DP Feed Connections - Ethernet Client, Serial DP Installing the Cables33.8

For an Ethernet configuration sensor, connect the Ethernet cable to Ethernet 0 and DP serial cable to Serial 1:Connect Ethernet Port 0 to the Marine Processor and Serial Port 1 to the DP system. Configure the serial connections as shown below:

1 GND

1 RX+

1 RX-

1 TX-

1 TX+

1 GND

1 RX+

1 RX-

1 TX-

1 TX+

RS422 Link to Vessel’s DP System



Ethernet 1

Ethernet 0

Serial 0

Serial 1

PowerPower LED

VFD Screen

Fuses

Service Connections



1. Operation Lever-tool into slot above connector-hole in plug.



DP Feed

Serial 1 Note: For a standard Ethernet configuration sensor either Serial 0 or Serial 1 can be used. The DP feed comes out of both ports




Note: The default IP address may need to be changed prior to installation through the CyScan Service Interface software (CSI)

Connect earth cable to earthing point.

10mm

6.6mm

19.6mm

4.1mm

1 GND2 RX+3 RX-4 TX-5 TX+

Note: The Ethernet and the Serial screen should be connected at the sensor only. Do not terminate at both ends.

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CyScan AS Client and DP Feed Connections - Ethernet Client, Dual Serial DP Installing the Cables33.9

For an Ethernet configuration sensor, connect the Ethernet cable to Marine Processor and Two DP serial cables to Serial 1 & Serial 2Connect Ethernet Port 0 to the Marine Processor, Serial Port 1 to DP System 1 and Serial Port 0 to DP system 2. Configure the serial connections as shown below:

1 GND

1 RX+

1 RX-

1 TX-

1 TX+

1 GND

1 RX+

1 RX-

1 TX-

1 TX+



Ethernet 1

Ethernet 0

Serial 0

Serial 1

PowerPower LED

VFD Screen

Fuses

Service Connections†Contact Wärtsilä Guidance Marine if alternative settings are required.





DP Feed 1

Serial 1





10mm

6.6mm

19.6mm

4.1mm 1 GND2 RX+3 RX-4 TX-5 TX+



DP Feed 2

Serial 0

1 GND2 RX+3 RX-4 TX-5 TX+

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1 GND

1 RX+

1 RX-

1 TX-

1 TX+

1 GND

1 RX+

1 RX-

1 TX-

1 TX+

RS422 Linkto Vessel’s DP System


Ethernet 1

Ethernet 0

Serial 0

Serial 1

PowerPower LED

VFD Screen

Fuses

Service Connections

1 2 3 4 56 7 8 9


CyScanSerial 0


COM6


RS422 Link to Marine Processor

1 2 3 4 56 7 8 9


CyScanSerial 0

HattelandPanel PC

COM2

RS422 Link38400 baud8 bits1 stopbit No parity

1 2 3 4 56 7 8 9


CyScanSerial 0


COM1..COM4


CyScan AS Client and DP Feed Connections - Serial Client, Serial DP Installing the Cables33.10

For a Serial configuration sensor, connect the Serial to the Marine Processor and Serial to the DP Feed:Connect Serial Port 0 to the Marine Processor and Serial Port 1 to the DP system. Configure the serial connections as shown below:





DP Feed Serial 1



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4. Installing the Control PCInstalling CyScan Client Software onto a Computer 274.1

For a Type 3 Marine Processor:

94-0465-4 Type 3 Marine Processor and Display Installation Sheet

For a Hatteland Panel PC:

94-0466-4 Hatteland Panel PC Installation Sheet

The following pages explain how to install the client software:

Installing CyScan Client Software onto a Computer (page 27)

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Installing CyScan Client Software onto a Computer Installing the Control PC44.1

This section explains how to install the CyScan client software onto computers running Windows 7 or later. If this Marine Processor has been supplied by Wärtsilä Guidance Marine, it will have been shipped with the client software already installed. If the client PC has not been supplied by Wärtsilä Guidance Marine, then the Guidance Prerequisites should be installed before installing any client software. Contact Wärtsilä Guidance Marine for instructions on how to acquire and complete the prerequisites installation. If you are upgrading to newer versions of the CyScan client software, first uninstall the existing versions in the usual way, following on-screen prompts.

To Install the CyScan Client Software1. Locate the files CyScanDashboardSetup.exe and CyScanServiceInterfaceSetup.exe on the USB memory stick on

which they were supplied.

2. Double-click on the CyScanDashboardSetup.exe file.

The Welcome screen is displayed.

3. Click on the Install button.

4. If required, change any of the settings from the default values shown (see below).

5. Click on the OK button

6. Click on the Close button on the CyScan Dashboard Setup window.

7. Repeat steps 2..6 for CyScanServiceInterfaceSetup.exe.

Configuration SettingsWhen installing the CyScan Dashboard, adjust the following settings or allow to default:

Communications Parameters

For an Ethernet CyScan System, ensure that Ethernet is selected and the sensor’s IP address is shown alongside.

For a Serial CyScan system, ensure that Serial is selected and the COM port of your computer connected to the sensor is shown alongside.

In order to run the Dashboard in Emulator Mode, ensure that the Emulator option is selected.

Display

If the Enable Dashboard On-Screen Keyboard (OSK) box is ticked, the OSK will pop up when you focus on a text or numerical entry field (typically used on a system without a keyboard).

Logging

The Minimum Free Disk Space (MB) field defines an approximate amount of disk space that the Dashboard will leave free when writing log files.

Note: The CyScan Service Interface should only be installed onto one computer in the system. The Dashboard may be installed onto multiple computers.

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5. Configuring the CyScan SystemUsing the CyScan Service Interface 295.1Network Communication Settings 305.2Vessel Parameters 325.3Static Blanking Zones 355.4DP Feed Configuration 365.5System Parameters 385.6GeoLock Settings 405.7

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Using the CyScan Service Interface Configuring the CyScan System55.1

The CyScan Service Interface is a tool for configuring the CyScan system.

To open the CyScan Service Interface1. Ensure that the sensor is powered on and connected to the control

computer.

2. Double-click on the CyScan Service Interface icon:

(Alternatively, run from the Start menu:

Start > All Programs > Wärtsilä Guidance Marine Ltd > CyScan > CyScan Service Interface).

Screen Layout of the CyScan Service InterfaceThe upper part of the CyScan Service Interface window contains fields relating to communications, as follows:

Take Command / Relinquish Command – On an Ethernet system, this button allows the user to toggle the command mode of the CyScan Service Interface between In Command and Monitoring. On a Serial system, the button displays “Serial Connection” and is disabled.

Connect – Replaces the Take Command / Relinquish Command button when the CyScan Service Interface is disconnected from the sensor, allowing re-connection.

In Command Indicator – The red square in previous CyScan Service Interfaces has been replaced with the words (In Command) or (Monitoring) when connected.

Status Display – Indicates the current status of the system, e.g. “System Running Normally” or “System Suspended”.

Activity Wheel – A green rotating animation when the CyScan Service Interface is connected to the sensor; red and stationary when disconnected and/or there is an error condition.

The remainder of the CyScan Service Interface screen is occupied by one of several tab areas.

Screen Layout of the CyScan Service InterfaceThe Status tab gives an overview of the operational state of the system; it contains the following fields and control buttons:

Connected State - Whether the CyScan Service Interface is “Connected” to the sensor or “Disconnected”.

Sensor State - “Running” or “Suspended” when the CyScan Service Interface is connected; “Unknown” when not connected.

Sensor Address - Ethernet IP address of Serial Com Port of sensor.

Suspend / Resume button - Allows the sensor to be suspended when running or resumed when suspended; enabled only when the CyScan Service Interface is In Command. Displays “---“ when disconnected.

Sensor Type - “Standard” if the CyScan Service Interface is connected to a physical sensor, “Emulator” if connected to the CyScan Emulator application or “Unknown” if not yet connected.

Tracking State - “Not Tracking”, “Starting Tracking” or “Tracking”.

#Tracked Targets - How many reflectors are being tracked, including any that are missing due to filtering or obscuration.

Last Time Feedback Received - In hh:mm:ss format; updated once per second regardless of command mode and blank when disconnected.

Get Service History - Enabled when tracking is not in progress. When clicked, a Browse For Folder window allows you to choose a storage location. Clicking OK then causes the service history information to be written to an .xml file in the chosen location. The file, named ServiceHistory_<sensor serial number>.xml, can then be sent to Wärtsilä Guidance Marine for analysis as necessary.

Reboot Sensor - Enabled only when in command mode and not tracking.

Set Sensor Time - Sets sensor time to match client PC time.

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Network Communication Settings Configuring the CyScan System55.2

The Network Config tab of the CyScan Service Interface is used to view and amend the CyScan Service Interface’s definition of its communications link with the sensor, and to reconfigure the sensor’s own communications settings (e.g. from Serial to Ethernet mode).

To Modify the CyScan Service Interface’s Communications Settings1. Click on the Network Config tab of the CyScan Service Interface.

2. Click on the Disconnect button if the CyScan Service Interface is connected to the sensor.

3. Click on the Edit button.

4. Alter the settings as required.

5. Click on Apply to save the changes or on Cancel to discard.

To Modify the Dashboard’s Communications SettingsThe Dashboard’s communications settings are established during installation. In order to modify them:

1. Uninstall the Dashboard.

2. Install the Dashboard and amend the settings when they are presented.

See page 27 for details about uninstalling and installing the Dashboard.

To Modify the Sensor’s Communications SettingsOption 1There are two options to modify the network configuration on the sensor.

1. Click on the Take Command button if the CyScan Service Interface is not already In Command mode

2. Using the sensor’s existing network configuration, connect to the sensor by clicking the Connect button.

3. Under Sensor On-board Network Configuration, select the desired interface type.

4. If Ethernet is selected, ensure the correct IP address has been entered.

5. Click Apply.

6. You will be prompted to confirm your selection. Click on Yes to confirm.

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Network Communication Settings (continued) Configuring the CyScan System55.2

Option 2

7. You will be prompted with another window once the settings has been successfully applied, click OK to reboot the sensor.

8. Modify the CyScan Service Interface’s network settings to match the new sensor settings.

9. If configured for Serial, reinstall the Dashboard and select the correct COM port.

10. Leaving at least 30 seconds after step 7, click on the Connect button.

1. Contact Wärtsilä Guidance Marine and obtain a new sensor network configuration file (connect.ini).

2. Click on the Take Command button if the CyScan Service Interface is not already In Command mode.

3. Click on Browse.

4. Locate the connect.ini file within the Select a sensor network configuration file window and click on Open.

5. Click on Send to Sensor.

6. You will now be prompted to reboot the sensor so that the new configuration can be applied. Click on Yes in the File Sent Successfully window.

7. Modify the CyScan Service Interface’s and Dashboard’s communications settings if necessary to match the new sensor settings (see left side of page).

8. Leaving at least 30 seconds after step 6, click on the Connect button.

Note: The second option cannot be used to download the connect.ini file if you are connected to a serial sensor.

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Vessel Parameters Configuring the CyScan System55.3

Modifying Vessel Parameters

• Vessel Name: The name of your ship (displayed on the Dashboard).

• Vessel Length: The distance from the bow to the stern of the vessel in metres.

• Vessel Breadth: The width or beam of the vessel in metres.

• Bow Offset: Distance from the centre of the CyScan sensor to the vessel’s bow, in metres.

• Starboard Offset: Distance from the centre of the CyScan sensor to the vessel’s starboard side, in metres.

• Bearing Offset: This should be 0° if the CyScan sensor is mounted exactly parallel to the vessel’s centre-line running from bow to stern. If the sensor is at an angle to the centre-line, enter a Bearing Offset to compensate for this (see Bearing Offset on page 33).

• Default Vessel Orientation: The default direction of the vessel bow as displayed on the Bird’s Eye View of the Dashboard. Changing this setting rotates the whole BEV but does not affect the data sent to the DP system. Note that this setting can be overridden for the current Dashboard session via Advanced > Display Options > Screen Layout > Vessel Orientation, but the BEV reverts to the default orientation when the Dashboard is closed and re-opened.

In order to amend any of the above parameters:

1. Click on the Resume button if the sensor is supended

2. Click on the Take Command button if the CyScan Service Interface is not already in In Command mode.

3. Ensure that no target tracking is in progress

4. On the Vessel tab, click on the Edit button.

5. Amend the Vessel Parameters as required.


The Vessel tab allows you to define the dimensions of the vessel outline on the BEV, the name of the vessel and other items as follows:

The bearing/heading offsets specified in the CyScan Service Interface will affect the DP feed as well as the Dashboard display (the two should match).

The bow/starboard position offsets specified in the CyScan Service Interface won’t affect the DP feed and are solely used by the Dashboard so that it can render the sensor in the correct location on the vessel. CyScan always reports DP feed positions relative to its own position.

We would always expect the 3D translational offsets of the sensor on the vessel to be entered into the DP system so that it can correctly compensate for the 3D orientation of the vessel.

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Vessel Parameters (continued) Configuring the CyScan System55.3

Bearing OffsetEnter the correct Bearing Offset value on the Vessel tab

(See Vessel Parameters on page 32).

• If the sensor is facing directly Aft,

enter a 0° bearing offset.

• If the sensor is facing directly Forward,

enter a 180° bearing offset.

• If the sensor is pointing to Port,

enter a 90° bearing offset

• If the sensor is pointing to Starboard,

enter a 270° bearing offset

CyScan AS Sensor

Vessel Centre-line Operating Area

Sensor Facing AftConnection panel facing forward, Sensor parallel with vessel centre-line.

Bearing Offset = 0°

Sensor Facing ForwardConnection panel facing aft, Sensor parallel with vessel centre-line.


Sensor Facing PortConnection panel facing starboard,

Sensor perpendicular to vessel centre-line.


Sensor Facing StarboardConnection panel facing port, Sensor perpendicular to vessel centre-line.


180°

270°

90°

0°

Key

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Vessel Parameters (continued) Configuring the CyScan System55.3

Bow and Starboard OffsetsThe Bow Offset is the distance from the sensor to the vessel’s bow. The Starboard Offset is the distance from the sensor to the starboard edge of the vessel.

Bow Offset

Starboard Offset

Reset, Import and Export of Vessel CalibrationThe Vessel Calibration can be reset to factory defaults, imported from an XML or exported to an XML file.

To Reset to Factory Defaults:1. Click on the Resume button if the sensor is suspended.

2. Ensure that no target tracking is in progress.


4. On the Vessel tab, click on the Defaults button.

To Import Vessel Calibration from a File:1. Click on the Resume button if the sensor is suspended.



4. On the Vessel tab, click on the Import button.

5. Browse to locate the required .xml file in the Specify a calibration file window.

6. Click on the Open button.

To Export Vessel Calibration to a File:1. Click on the Resume button if the sensor is suspended.



4. On the Vessel tab, click on the Export button.

5. Specify a destination and file name in the Specify a calibration file window.

6. Click on the Save button.

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Static Blanking Zones Configuring the CyScan System55.4

Viewing the Static Blanking Zones

Blanking Zones are used to mask segments of the scan rotation that are obscured by the vessel’s superstructure. While the scanner passes through a blanking zone, the laser is switched off to prevent unwanted reflections from interfering with the target data.

Two types of blanking zone can be configured on a CyScan system:

• Dynamic Blanking Zone – This is a single sector that can be amended in the Dashboard when the system is running, even during target tracking. See the Blanking Zone section of the CyScan Operator’s Guide for further information.

• Static Blanking Zones – Up to four additional blanking zones may also be configured. This is done using the CyScan Service Interface and the static blanking zones cannot be amended via the Dashboard.

The Blanking tab of the CyScan Service Interface displays each of the configured zones and their Start and Stop angles in degrees. In order to distinguish one zone from another, clicking on a Show Zone n button will cause the corresponding zone to be displayed in a different colour, along with the button itself.

Modifying the Static Blanking Zones1. Click on the Resume button if the sensor is suspended.



4. On the Blanking tab, click on the Edit button.

5. Amend the blanking zone Start and Stop fields as necessary (if you wish to delete a zone, set Start and Stop to the same value).


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DP Feed Configuration Configuring the CyScan System55.5

Modifying the DP Configuration

The CyScan system provides positional data messages to your vessel’s DP (Dynamic Positioning) system and the format and behaviour of this output stream needs to meet the requirements of the DP system.

The current DP configuration settings are displayed on the DP Config tab of the CyScan Service Interface, along with the most recent message emitted. See DP Message Types on page 44-50 for details of each available message format and DP Feed Behaviour on page 37) for the function of the Keep Feed Enabled and Allow Zero Strings tick-boxes.

1. Click on the Resume button if the sensor is suspended.



4. On the DP Config tab, click on the Edit button.

5. Amend the settings as required.


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DP Feed Configuraion (continued) Configuring the CyScan System55.5

DP Feed BehaviourThe DP Feed Behaviour options are two tick-boxes on the DP Config tab of the CyScan Service Interface:

• Keep Feed Enabled

• Allow Zero Strings

These determine what data is sent to the DP system if a target is lost.

The DP Feed Behaviour settings must be set correctly for the vessel’s DP system. Incorrect settings can cause serious problems. Refer to the vessel’s DP system supplier for the precise configuration.

The following behaviour applies while target tracking:For a DP Feed format that does not contain status flags:

Keep Feed Enabled

Allow Zero Strongs

Output if Target is Lost

Null data (gaps in data string)


Stale Data (with zeroed ID field if applicable)

Stale Data (with zeroed ID field if applicable)

For a DP Feed format that does contain status flags:

Keep Feed Enabled

Allow Zero Strongs


Flag indicates stale data; data is stale indefinitely




The following behaviour applies when no target tracking is in progress:For a DP Feed format that does not contain status flags:

Keep Feed Enabled

Allow Zero Strongs




Zero data (coordinates are set to zero)


For a DP Feed format that does contain status flags:

Keep Feed Enabled

Allow Zero Strongs



Zero data (flag indicates void data)

Zero data (flag indicates void data)


Note: the DP Message Types section and contact Guidance if more information is required.

X

X

X

X

X

X X

X

X

XX

X

X

X X

X

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System Parameters Configuring the CyScan System55.6

To Edit System Parameters

When the CyScan Service Interface is in command mode, the Parameters tab displays a large number of settings and variables which define how the system behaves and describe its current state. They are arranged in groups (General, Sensor, Power Control, etc) and some of the parameters can be edited from the CyScan Service Interface. When in monitoring mode, a restricted group of parameters can be viewed but not edited.

1. Click on the Resume button if the sensor is suspended.



4. On the Parameters tab, click on the Edit button.

5. Change parameter values as necessary.

Note the colour coding of the Value field:

Green - An editable parameter that has not been changed

Yellow - Changed to a valid value

Red – Changed to an invalid value

Grey – Parameter cannot be edited

6. Click on Apply to save and effect the changes or on Cancel to discard.

Note: The second option cannot be used to download the connect.ini file if you are connected to a serial sensor.

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System Parameters (continued) Configuring the CyScan System55.6

To Edit System ParametersThe System Parameters can be reset to factory defaults, imported from an XML file or exported to an XML file.

To Reset to Factory Defaults:1. Click on the Resume button if the sensor is suspended.



4. On the Parameters tab, click on the Defaults button.

To Import System Parameters from a File:1. Click on the Resume button if the sensor is suspended.



4. On the Parameters tab, click on the Import button.

5. Browse to locate the required .xml file in the Specify a parameter file window.

6. Click on the Open button.

To Export Vessel Calibration to a File:1. Click on the Resume button if the sensor is suspended.



4. On the Vessel tab, click on the Export button.

5. Specify a destination and file name in the Specify a parameter file window.

6. Click on the Save button.

Alarms Tab:The Alarm tab display a list of alarms that have been raised by the sensor. Active alarms will have their type set to “Started”.

While the Alarm tab on the dashboard filters out the alarms that have a severity set to “info”, the CSI displays all alarms.

About Tab:The About tab shows the software versions both on the client side and also on the sensor side. The About tab also displays the sensor serial number and the up to date customer service contact details in case further support is required.

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GeoLock Settings Configuring the CyScan System55.7

To Enable GeoLock:1. Click on the Resume button if the sensor is suspended.



4. On the GeoLock Settings tab, click on the Edit button.

5. Tick GeoLock Enabled to enable GeoLock.

6. Enter the GPS device IP address and port details in the fields provided. The sensor will accept NMEA GPGGA and GPZDA datagrams from the GPS device. The sensor issues its own NMEA GPGGA datagrams containing its own position measurements on port 7601 (TCP) by default. The default port number can be changed (if necessary) by changing the associated parameter value.

7. Click on the Apply button.

To Configure GeoLock:1. Click on the Resume button if the sensor is suspended.



4. Click on Edit button.

5. In the Sensor Offsets section, enter the sensor offsets from the vessel’s datum point in the fields provided.

6. Click on Add Constellation.

7. Modify the Name field to give the constellation a meaningful name.

8. In the Reference Position section, enter the latitude, longitude coordinates, and the height of the reference position (this can be one of the targets in the cluster) into the relevant fields.

9. In the Target Details section, click on Add Target.

10. Enter the northing and eastings values, relative to the reference point in the fields provided. Note: values must be entered in WGS84 UTM coordinate system. Enter the targets height into the Height field.

11. Repeat steps 9 and 10 for all the targets in the cluster.

12. Additional constellations can be created by repeating steps 6 – 11.

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6. Additional InformationTarget Types 426.1Positioning and Mounting Targets 436.2DP Message Types 446.3CyScan AS Installation Checklist 516.4Cable Routing Diagrams 526.5Sensor Information Display - Error Messages 576.6Upgrading the Sensor Software via the Remote Installer 596.7Upgrading the Sensor Software Directly 606.8Remote Diagnostics 616.9Index 626.10

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Target Types Additional Information66.1

CyScan can operate successfully with flat, cylindrical or prism targets. Targets can be bought online from www.marine.direct.

Cylindrical TargetsCylindrical targets can be used up to approximately 300 metres. They can be hung over the side of the structure/vessel and secured at either end.

Part number: 20-0078-0-B1.9m cylindrical reflector)

Prism TargetsPrism clusters with multiple 6cm elements for extended range operations. Variable configurations allow for optimisation of the visible reflection, visible reflection level or reflected power. A fixed layout rugged version includes a robust housing, brightly-coloured for easy identification.

Part number: 20-0197-2

Absolute Signature PrismAS Prism with multiple 6cm elements for extended range operations. A fixed layout AS Prism includes a robust housing, brightly-coloured for easy identification. The AS prism has a black tinted lens filter which gives it a unique signature that the CyScan AS sensor can exclusively identify as the AS prism target.

Part number: 20-0232-3

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Positioning and Mounting Targets 6.2

Key to the operation of the CyScan system is the correct installation of targets. Please follow the guidelines given below when installing targets on the structure/vessel.

Once the targets are installed, their relative positions can be automatically surveyed by the system.

Target Installation

• Targets should be placed in positions where the sensor can see them while the vessel is within the expected working area. Consider vertical position as well as horizontal. The targets should ideally be mounted at the same height as the sensor.

• Cylindrical targets can be viewed from any angle equally well.

Installation Tips

• Targets should be positioned with unequal spacing between them – this helps the system to distinguish between specific targets. For example, with a typical mooring distance of 40-80m using three targets, suitable spacing between the targets would be 10m and 20m – giving a total spread of 30m.

• Targets should be placed no closer than 5m together. Ideally they should be placed 10m or more apart.

Optimum Spacing for Multiple Targets

45 o45 o

VIEWABLEANGLE

VIEWABLEANGLE

0

Additional Information6

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DP Messages Types 6.3

A 42-character string:

$RLS,±AAA.AA,±BBB.BB,S1,XXX.XXX,S2,HHHH*CC<CR><LF>

Where:

• $RLS message header

• AAA.AA resolved raw position in A axis [metres]

• BBB.BB resolved raw position in B axis [metres]

• S1 status of position data in A and B axis, A - available; V - void

• XXX.XXX resolved bearing of vessel with respect to A axis [degrees]

• S2 status of bearing data, A - available; V - void

• HHHH status word in hexadecimal. Up to 16 bits defined by Wärtsilä Guidance Marine in a separate specifications document

• CC computed checksum in hex

• <CR> Carriage return (ASCII 0D hex)

• <LF> Line feed (ASCII 0A hex)

NMEA0183R FormatA 42 character string:

$RLS,±AAA.AA,±BBB.BB,S1,XXX.XXX,S2,HHHH*CC<CR><LF>

Where:

• $RLS message header

• AAA.AA resolved primary position in A axis [metres]

• BBB.BB resolved primary position in B axis [metres]

• S1 status of position data in A and B axis, A - available; V - void

• XXX.XXX resolved bearing of vessel with respect to A axis [degrees]

• S2 status of bearing data, A - available; V - void

• HHHH status word in hexadecimal. Up to 16 bits defined by Wärtsilä Guidance Marine in a separate specifications document.

• CC computed checksum in hex

• <CR> Carriage return (ASCII 0D hex)

• <LF> Line feed (ASCII 0A hex)

NMEA0183P Format

When the targets are installed on a fixed platform and theirco-ordinates are entered in Northings and Eastings, AAA.AA and BBB.BB will also be in Northings and Eastings and XXX.XXX will be true vessel heading.


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DP Messages Types (continued) 6.3

A 17 character string delimited only by <CR> and <LF> with bearing measured bow clockwise.Character Index Description Format0-5 Range (metres x 10) nnnnnn6 Space (0x20h) X7-12 Bearing (degrees x 1000) nnnnnn13 Space (0x20h) X14 Status Flag (0 = invalid, 1 = valid) N15 carriage return (0x0Dh) X16 line feed (0x0Ah) X

ASCII17 Format

A 19 character string delimited only by <CR> and <LF> with bearing measured bow clockwise.Character Index Description Format 0-1 ID nn2 Space (0x20h) X3-9 Range (m) nnnn.nn10 Space (0x20h) X11-16 Bearing (degrees) nnn.nn17 carriage return (0x0Dh) X18 line feed (0x0Ah) X

MDL Standard †

A 22 character string delimited only by <CR> and <LF> with bearing measured bow clockwise.Character Index Description Format 0-1 ID nn2 Space (0x20h) X3-9 Range (m) nnnn.nn10 Space (0x20h) X11-16 Bearing (degrees) nnn.nn17 Space (0x20h) X18-19 NMEA style checksum in hex CC20 carriage return (0x0Dh) X21 line feed (0x0Ah) X

MDL Multi-Target †

A 14 character string delimited only by <CR> and <LF> with bearing measured bow clockwise.Character Index Description Format 0-1 ID nn2-6 Bearing (degrees x 100) nnnnn7-11 Range (m x 10) nnnnn12 carriage return (0x0Dh) X13 line feed (0x0Ah) X

Nautronix Standard †

A 17 character string delimited only by <CR> and <LF> with bearing measured bow clockwise.Character Index Description Format 0-5 Range (metres x 10) nnnnnn6 Space (0x20h) X7-12 Bearing (degrees x 1000) nnnnnn13 Space (0x20h) X14 ID N15 carriage return (0x0Dh) X16 line feed (0x0Ah) X

Artemis Mk IV †

A 9 character string in BCD format.Character Index Description Format 0-2 Bearing (degrees x 1000) in BCD ddd3-5 Range (metres x 10) in BCD ddd6 Zero (0x00h) X7 Zero (0x00h) X8 Delimiter (0xFFh) X

Kongsberg Standard †

† When multi-target tracking, multiple messages are emitted per rotor revolution: one for each target in the tracking group.


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The MT Custom DP String adopts NMEA0183 conventions with a minimum length of 63 and maximum length of 80 characters. When multi-target tracking, multiple messages are emitted per rotor revolution: one for each target in the tracking group.

$PGNMT,T,HH˽MM˽SS.SSS,[NNNN]N,E,[IIII]I,S,[RRR]R.RR,ZR.ZRZR,[BB]B.BB,ZB.ZBZB,[Q]Q,[AAA]A,XXXX*CC<CR><LF>

MT Custom DP String

Where:• $PGNMT Proprietary header 6 chars• T Type field for CyScan [C] 1 char• HH_MM_SS.SSS Real-time clock time at message transmission to DP 12 chars• [NNNN]N 16-bit revolution counter in decimal 1–5 chars• E Sequence identifier 1 char• [IIII]I CyScan Reflector ID [0] or RadaScan 16 bit Responder ID 1–5 chars• S Status [V]oid or [N]avigating 1 char• [RRR]R.RR Range in metres 4–7 chars• ZR.ZRZR Range standard deviation in metres 4 chars• [BB]B.BB Bearing in degrees (clockwise from bow) 4–6 chars• ZB.ZBZB Bearing standard deviation in degrees 4 chars• [Q]Q Target brightness [%] 1–2 chars• [AAA]A† Age of measurement in ms 1–4 chars• XXXX Reserved – 16 bit flags in hex 4 chars• * Delimiter 1 char• CC Checksum 2 chars• <CR><LF> Carriage return and line feed 2 chars

† The ‘age’ is the accumulated time in milliseconds from the moment the measurement was made until the moment the message string is constructed, prior to being transmitted to the DP system. It effectively gauges the lag through the system, which may not be constant. Having a value for the lag allows for subsequent correction of the measurement.


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The Rolls-Royce Custom DP String adopts NMEA0183 conventions with a minimum length of of 82 characters. When multi-target tracking, multiple messages are emitted per rotor revolution: one for each target in the tracking group.

$PGNRR,T,YYYYMMDD,HHMMSS.SSS,…N,…I,S,…R.RR,ZR.ZRZR,…B.BB,ZB.ZBZB,…Q,±…r.r,±…p.p,…A,XXXX*CC<CR><LF>

Rolls-Royce Custom DP String

Where:• $PGNRR Proprietary header 6 chars• T Type field for CyScan [C] 1 char• YYYY MM DD Real-time clock date at message transmission to DP [1-9] 10 chars• HH MM SS.SSS Real-time clock time at message transmission to DP 12 chars• [NNNN]N 16-bit revolution counter in decimal 1–5 chars• [IIII]I CyScan Reflector ID or RadaScan 16 bit Responder ID 1–5 chars• S Status [V]oid or [N]avigating 1 char• [RRR]R.RR Range in metres 4–7 chars• ZR.ZRZR Range standard deviation in metres 4 chars• [BB]B.BB Bearing in degrees (clockwise from bow) 4–6 chars• ZB.ZBZB Bearing standard deviation in degrees 4 chars• [Q]Q Target brightness [%] 1–2 chars• ±[r]r.r Sensor roll in degrees at time of measurement 4–5 chars• ±[p]p.p Sensor pitch in degrees at time of measurement 4–5 chars• [AAA]A† Age of measurement in ms at transmission time 1–4 chars• XXXX Reserved – 16 bit flags in hex 4 chars• * Delimiter 1 chars• CC Checksum 2 chars• <CR><LF> Carriage return and line feed 2 chars

† The ‘age’ is the accumulated time in milliseconds from the moment the measurement was made until the moment the message string is constructed, prior to being transmitted to the DP system. It effectively gauges the lag through the system, which may not be constant. Having a value for the lag allows for subsequent correction of the measurement.


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The Kongsberg Custom DP string adopts NMEA0183 conventions and has a length of 40 characters. When multi-target tracking, multiple messages are emitted per rotor revolution: one for each target in the tracking group.

$PGNKM,II,RRRR.R,ZR.ZR,BBB.B,ZB.ZB,HHHH*CC<LF><CR>

Kongsberg Custom DP String

Where:• $PGNKM Proprietary header 6 chars• II Target ID 2 chars• RRRR.R Range in meters 6 chars• ZR.ZR† Range Standard Deviation in meters 3 chars• BBB.B‡ Bearing in degrees 5 chars• ZB.ZB† Bearing Standard Deviation in degrees 3 chars• HHHH Status (16 bit code) 4 chars• * Delimiter 1 char• CC Checksum 2 chars• <LF> Line feed (0x0d) 1 char• <CR> Carriage return (0x0a) 1 char

† The Range and Bearing Standard Deviations are calculated from the set of measurements available in the current rev and do not include data from previous revs. A value of 0.0 may indicate that not enough laser pulses were returned from the target to enable a meaningful standard deviation calculation to be performed.

‡ Bearing is clockwise from nominal bow (which depends on correct sensor installation and configuration of the Bow/Stern switch).


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The NMEA Wartsila custom DP string adopts NMEA0183 conventions and has a length of 109 characters.

$RLSX,±AAA.AA,±BBB.BB,S1,XXX.XXX,S2,GGHH.MMMMMMM,N,PPPQQ.RRRRRRR,T,S3,D.DD,E.EE,F.FF,±.JJJ,±.KKK,±.LLL,HHHH*CC<CR><LF>

NMEA Wärtsilä Custom DP String

Where:• $RLSX Message Header 5 chars• ±AAA.AA Resolved raw position in A axis [metres] 7 chars• ±BBB.BB Resolved raw position in B axis [metres] 7 chars• S1 Status of position data in A and B axis, A - available; V - void 1 char• XXX.XXX Resolved heading of vessel with respect to A axis [degrees] 7 chars• S2 Status of bearing data, A - available; V – void 1 char• GG Latitude Degrees of the primary position 2 chars• HH Latitude integer minutes of the primary position 2 chars• MMMMMMM Latitude fractional minutes of the primary position 7 chars• N North or south hemisphere (N – north or S - south) 1 char• PPP Longitude Degrees of the primary position 3 chars• QQ Longitude integer minutes of the primary position 2 chars• RRRRRRR Longitude fractional minutes of the primary position 7 chars• T East or west of the Greenwich Meridian (E - east or W - west) 1 char• S3 Status of Lat Long data, A - available; V – void 1 char• D.DD Standard deviation of A position [metres] 4 chars• E.EE Standard deviation of B position [metres] 4 chars• F.FF Standard deviation of heading [degrees] 4 chars• ±.JJJ Correlation between A position and B position [dimensionless] 5 chars• ±.KKK Correlation between A position and heading [dimensionless] 5 chars• ±.LLL Correlation between B position and heading [dimensionless] 5 chars• HHHH Status word in hexadecimal. Up to 16 bits defined by Wärtsilä Guidance Marine in a separate specifications document. 4 chars• * Delimiter 1 char• CC Computed checksum in hex 2 chars• <CR> Carriage return (ASCII 0D hex) 1 char• <LF> Line feed (ASCII 0A hex) 1 char


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NMEA Wärtsilä Custom DP String


This message supplies the position and heading of the reflector constellation relative to sensor. This can also be interpreted as the position and heading of the sensor relative to the reflector constellation if we adopt the appropriate frame of reference and sign convention. The position and heading are a “single epoch solution” which means that they are calculated entirely from reflections received during the most recent revolution of the sensor. This makes them suitable as an input to a cascaded Kalman filter. In that case the measurement noise covariance can be set to:

where σx is the standard deviation of A position

σy is the standard deviation of B position

σψ is the standard deviation of heading

ρxy is the correlation between A position and B position

ρxψ is the correlation between A position and heading

ρyψ is the correlation between B position and heading

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CyScan AS Installation Checklist 6.4

Vessel Name: ...................................................... CyScan unit s/n: ...................................................... Computer s/n: ..................................

Check Requirement Checked (Initial)

Notes / Record Setting

Mechanical

Sensor Line of sight to expected target positions

Required space around the sensor

All external connections secure and waterproofed

Display visible

Front plate correctly sealed and tightened

Interface box correctly sealed and tightened (if fitted)

Sensor correctly secured to mounting

Client(s) Correctly located and fastened

Cables correctly installed and fastened

Correctly installed, routed to avoid power cabling

Cables Cables fastened correctly

Cables have service loops

Electrical

Sensor Supplied by UPS (85-264VAC 47-63Hz)

DP feed correctly wired

Client(s) correctly wired

Client(s) Supplied by UPS (85-264VAC 47-63Hz)

Client(s) correctly wired

Cables Serial - capable of 38400 baud

Ethernet - capable of 10Mbit/sec

System System powers up and powers down correctly

Check Requirement Checked (Initial)

Notes / Record Setting

Sensor Details / Vessel Calibration

DP string as required by DP supplier Supplier:

DP feed behaviour: Zero strings? Keep DP feed?

Vessel name

Length

Breadth

Bow offset

Starboard offset

Bearing offset

Sensor Serial number correct

Function and Acceptance

System operation confirmed with 1 or 2 targets

CyScan system enabled in the DP system and operational to the satisfaction of the Captain

Ship’s crew introduced to the basic operation of the system and the Operators Guide

Crew made aware of operational cleanliness of the sensor window and the targets

Printed: ........................................... Signature: ...............................

Date: ............................

Installation checked and approved by:


5294-0559-C

Cable Routing Diagrams 6.5

Ethernet Client, Serial DP

Note: The Ethernet cable connecting the CyScan Sensor to the Type 3 Marine Processor should not exceed 90 metres in length.

Please contact Wärtsilä Guidance Marine if longer distances are required.

Emergency Breaker Box

DP Instrument Room Bridge Mast

Ethernet

Sensor Power

RS-422 Data

Power CableP/N 33-0121-3 (40m)

Data CableP/N 33-0451-3 (40m)

Ethernet CableP/N 33-0124-3 (40m)

16A

5A

5A

DP System UPS

DP System Interface Cabinet

CyScan AS Sensor

Link CableCyScan Client

DP Feed

Power

CyScan Monitor

Monitor Power Cable

Monitor Cable

CyScan Client Computer

Marine Processor Power Cable

Power Adaptor

See page 56 for processor and monitor options


5394-0559-C

Cable Routing Diagrams (continued) 6.5

Ethernet Client, Serial DP, Separate Connection Box





Ethernet

Sensor Power

RS-422 Data




16A

5A

5A

DP System UPS


CyScan AS Sensor


DP Feed

Power

CyScan Monitor

Monitor Power Cable

Monitor Cable



Power Adaptor


Connection Box


5494-0559-C


Ethernet Client, Dual DP





Ethernet

Sensor Power

RS-422 Data




16A

5A

5A

DP System UPS

DP System 1 Interface Cabinet

CyScan AS Sensor


DP Feed

Power

CyScan Monitor

Monitor Power Cable

Monitor Cable



Power Adaptor


RS-422 DataData CableP/N 33-0451-3 (40m)

DP System 2 Interface Cabinet


5594-0559-C


Ethernet Client, Serial DP, Separate Connection Box

Note: The serial port for client communications on the Type 3 Marine Processor is COM6



RS-422 Data

Sensor Power

RS-422 Data




16A

5A

5A

DP System UPS


CyScan AS Sensor


DP Feed

Power

CyScan Monitor

Monitor Power Cable

Monitor Cable



Power Adaptor


Connection Box


5694-0559-C


Alternative Processor and Monitor Options

Any of the following configurations may be used (see pages 52-55).


CyScan Monitor

Monitor Power Cable

Monitor Cable

Power Adaptor


Hatteland Touchscreen

Monitor

Power Cable

Hatteland Panel PC

Processor: Type 3 Marine Processor (Part Number 20-0254)

Monitor: KME 15” Desktop Monitor (Part Number 20-0115-1)


Monitor Power Cable

Monitor Cable

Power Adaptor


Processor: or Type 3 Marine Processor (Part Number 20-0254)

Monitor: Hatteland Marine Touchscreen Monitor (Part Number 20-0211-4)

Optional brackets: Hatteland Mounting Bracket (Part Number 24-0259-4)

Hatteland VESA Bracket for Wall or Ceiling (Part Number 24-0258-4)

Processor and Monitor: HattelandPanel PC (Integrated PC and Touchscreen Monitor, Part Number 20-0182-1)

Optional brackets: Hatteland Mounting Bracket (Part Number 24-0259-4)

Hatteland VESA Bracket for Wall or Ceiling (Part Number 24-0258-4)

Note: In the first two configurations, a Type 3 Marine Processor may be used instead of a Type 2 Marine Processor

Note: The Client Communications port on the Hatteland Panel PC is COM2

Note: The client communications port on the Type 3 Marine Processor is any of COM1..COM4


5794-0559-C

Display Screen Message Description

Checkingcomponents Checking the system components.

ReinstallSensorIP:xxx.xxx.xxx.xxx

The controller application has not been programmed (software is missing). The remote installer can be used with the displayed IP address

CTRLBOOTWtgcmdV1.5.0.0

This message is displayed when the system begins booting.

Diagnosticexitwaitingforreboot

The system has exited the diagnostic mode and is waiting for the sensor to reboot.

Downloadtimedout The link between the system and boot loader has failed.

Errwritingswevent There was an error writing a period software event to the system.

Failed Programming failed.

FailedtoinitReceiver The receiver failed to start correctly.

Failedtostartrotor The rotor motor could not be started.

Failedtosuspendrotor The rotor could not be suspended.

Goingtorunning Preparing to resume the sensor.

Goingtosuspend Preparing to suspend the sensor.

LowTemperature Warmingupsystem

The sensor’s temperature is currently below the normal operating temperature and it has entered an automatic warm-up state. This state prevents the rotor from turning until the system reaches a safe operating temperature.

-NN°Cpleasewait... The system is warming up and the temperature has reached NN degrees °C.

PowerFail A low voltage supply has been detected.

Programming CtrlApp Programming has been started.

Sensor Information Display - Error Messages 6.6

The Sensor Information Display shows the status of the sensor and its internal system throughout each period of operation.

Sensor Information Display DetailsBelow is a list of the messages that may appear if a problem occurs during operation, with descriptions of their meaning:

SensorInformation Display


5894-0559-C

Display Screen Message Description

Programmingcomplete Programming of the CtrlApp was successful.

ReceiverFataError The receiver has generated a fatal alarm and cannot start.

Running The sensor is in the normal running state.

StartingApplication The main sensor is starting.

StartingMotor The rotor motor is about to start.

StartingReceiver The receiver is about to start.

Suspend The sensor is suspended.

UpdatingBlankingZn A new blanking zone has been sent to the receiver, which is updating accordingly.

UpdatingReceiver New parameters have been sent to the receiver, which is updating accordingly.

Sensor Information Display - Error Messages (continued) 6.6

Sensor Information Display Details (continued)Below is a list of the messages that may appear if a problem occurs during operation, with descriptions of their meaning:


5994-0559-C

Upgrading the Sensor Software via the Remote Installer 6.7

To Upgrade the Sensor Software via the Remote Installer:

Where possible any upgrades to the sensor software should be done via the Remote Installer. This utility takes the form of a CyScan.Installer.Remote.exe file supplied by Wärtsilä Guidance Marine.

1. Ensure that the CyScan Service Interface and Dashboard applications are not running.

2. Locate the file CyScan.Installer.Remote.exe on the USB memory stick on which the CyScan software was supplied.

3. Double-click on the CyScan.Installer.Remote.exe file.

4. In the CyScan Installation Configuration window, select the Connection Type (“Ethernet” or “Serial”) from the drop-down list.

5. Either enter the sensor’s IP Address (for an Ethernet connection)

Or enter the Serial Port of your client that is connected to the sensor.

6. Click on the OK button. A stream of progress messages is then output, along with any error messages that may be applicable.


6094-0559-C

Upgrading the Sensor Software Directly 6.8

To Upgrade the Sensor Software Directly:

If it is not possible to use the Remote Installer you can upgrade the sensor software directly using a USB upgrade key.

Before you begin the upgrade process you will need to ensure all of the upgrade files are saved into a subdirectory named ‘upgrade’ in the root directory of a USB upgrade key. Obtain the upgrade software from Wärtsilä Guidance Marine Customer Services. This will come as a .zip file. Navigate to \USB\Application inside this zip file. Copy the Upgrade directory to the root, or top level, directory of the USB stick.

1. Insert the upgrade key into USB0.

2. Power cycle the sensor.

3. The upgrade will then begin and the system will transfer all the required files to the sensor. The Sensor Information Display will output progress messages and any error messages that may be applicable.

4. When the upgrade is complete the Sensor Information Display will prompt you to remove the USB key and power cycle the sensor.

5. After the sensor restarts it will go into normal running mode.

USB0

Sensor Information

Display

Note: The USB upgrade key should be formatted to a FAT or FAT32 file system. You cannot use a USB upgrade key that is formatted to NTFS.


6194-0559-C

Remote Diagnostics 6.9

Remote Diagnostic Protocol

An Ethernet CyScan system provides a remote diagnostics facility. The sensor autonomously emits diagnostic telegrams triggered by internal events and/or at configured periods.

The diagnostic telegram is of variable length, up to a maximum of 1000 characters. Its format is as follows:

\s:NNNNNNNNNN*KK\$PGNMD,T,YYYY˽YY˽YY,HH˽HH˽HH.HHH,[D]D=[V]V*CC<CR><LF>

Where “\”, “s:”, “PGNMD”, and “=” are fixed values

“*”,“$”, and “,” are Reserved Field Delimiters

“˽” denotes a space character (ASCII 0x20)

“.” is a fixed value used within the Real-time Clock Time field

“<CR>” denotes a carriage return character (ASCII 0x0D)

“<LF>” denotes a line feed character (ASCII 0x0A)

NNNNNNNNNN Sensor Serial Number 10 alphanumeric characters

KK First Checksum Checksum with first “\” as the start character

T Sensor Type “C” representing CyScan

YYYY˽YY˽TT Date Numeric characters divided by spaces representing Year, Month, and Day; in this order

HH˽HH˽HH.HHH Real-time Clock Time Numeric characters divided by spaces and decimal point representing Hours, Minutes, Seconds, and Milliseconds; in this order

[D]D Diagnostic Telegram Identifier 1 to 8 alphanumeric or underscore characters

[V]V Diagnostic Telegram Value 1 to 936 alphanumeric characters that are not Reserved Field Delimiters

CC Second Checksum Checksum with “$”as the start character

Identifier Description Values

STATUS Sensor Serial NumberINIT - System initialisingREADY - System ReadyWARN - System Ready, with Warnings and/or ErrorsFAILED - System Failed

SVC_VER Service History Version Block

XML FragmentSVC_CMP Service history component

SVC_STAT Current Service history statistics

SVC_EVTS Service History event

FATAL Fatal alarms 4 digit number (0000 to 9999) followed by space and:

SET - Alarm raisedCLR - Alarm clearedEVT - Stateless Alarm (Event)

WARN Warning alarms

ERR Error alarms

INFO Informational alarms

The following identifiers are currently supported:

The diagnostic telegrams are delivered by means of UDP/IP through the same Ethernet port as the client data. If no event-triggered telegrams are emitted during a period of time defaulting to 60 minutes, a General Status telegram is emitted.


6294-0559-C

Index 6.10 Additional Information6

A

Absolute Signature (AS) 8Absolute Signature Prism (AS) 8, 42Access Cover 9, 14, 18, 22Artemis Mk IV 45ASCII17 45

B

Base Plate 9, 14Bearing Offset 22, 32, 33, 34, 51Bow / Stern Switch 22Bow and Starboard Offsets 32, 33, 34, 51

C

Cable 16Installations 15Routing Diagrams 52Specifications 16

ConnectionsDiagrams 52Ethernet Sensor 19Power 22Sensor 22Serial Sensor 21

CTRLAPP 57Custom DP String

MT 46Rolls-Royce 47Kongsberg 48Wärtsilä 49

Cylindrical Targets 8, 42CyScan

Sensor 8, 14, 17, 32, 51Sensor Part Names 9Targets 8, 42Display Screen Messages 57

CyScan Dashboard 27, 35CyScan Service Interface 11, 29 - 40

D

Data Cable Serial 16, 51, 52, 53, 54, 55

Diagnostic exit 57Diagnostics 61 DP Feed 9, 10, 15, 36, 51DP Message

Types 44, 45, 46, 47, 48Dual Serial DP 20, 24, 54, 55, 56

E

Error Messages 57Ethernet Sensor

Connections 17,19, 20, 23, 24, 27, 29, 30Cable 16, 51Installation 59

F

Failed 57, 61Ferrite 18, 19, 20, 21

G

GeoLock 40

K

Kongsberg 48

M

MDLMulti-Target 45Standard 45

MountingLocations 13Template 14Targets 42

MT Custom DP String 46

N

NautronixStandard 45

Network Communication Settings 30NMEA0183P 44NMEA0183R 44

O

Optical (Rotor) Window 8, 13

P

Part Numbers 11, 42, 56Absolute Signature Target 42Cylindrical Target 42Prism Target 42

Power 7, 45 - 56Cable 16Connections 18Supply (UPS) 17

Prism 42Product Label 11

R

Remote Diagnostics 61Remote Installer 59Rolls-Royce Custom DP String 47Rotor 9

S

SensorClearance 14Connections 18, 22Dimensions 14Part Names 9Upgrade 59

Sensor Information Display 9, 13, 60Error Messages 57

6394-0559-C

Index (continued) 6.10 Additional Information6

Serial Data Cable 16, 52Serial Numbers 11Serial Sensor

Connections 21, 25, 52, 53, 54Software Versions 11Static Blanking Zones 35‘Suspended’ 29, 35System Parameters 38

T

TargetAbsolute Signature (AS) 42Cylindrical 42Positioning and Mounting 43Prism 42

Types 42

U

UpgradeSensor 59

UPS Specifications 17UV 8

V

Version 11, 39Vessel Parameters 32, 33, 34

W

Wärtsilä Custom DP 49

94-0559-c cyscan as installers guide

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