Konsberg K-DP Guide

AHTS. ARK CHARLY.
CONVERTEAM EQUIPMENT.
1

AHTS. ASD. JASCON 21 DP2 BHP 5200. 2

NOTE : PLEASE READ NOTE BELOW
RECORDS COMPILED BELOW CAN HELP NEW
FRIENDS WHO OPERATE KONGSBERG K.POS.
THESE RECORDS CAN HELPTO MORE EASLY
HOWTO OPERATE MENTIONED EQUIPMENT.
IF FOUND UNSATISFACTORY BEG
FORGIVENESS.
Capt. VictorTambelangi
3

5
Main DP Mode andOperating procedure.
1. Standby mode.
• - Calibrate the joystick
• - Select the required vessel rotation point.
• - Enable all sensor
• - Enable the required thruster, propeller and rudder.
2. Returning to standby mode / manual lever.
• - Press the standby button in the mode twice.
• - Disable all position reference systems
• - Disable all thruster, propeller and rudders.

 Joystick Mode.
1. Moving the joystick forward / back controls. ( surge )
2. Moving the joystick left / right ( sway )
3. Rotation the joystick command the vessel to rotate.
Standby to joystick.
1. Ensure that the required gyrocompasses are enabled.
2. Ensure that the required sensor are enabled.
3. Check if the has a switched or button to select be turn joystick and SDP
thruster control.
4. Ensure that the required thruster, propeller and rudder enabled.
5. Press the joystick button in the mode.
6. Enable the required position reference also position and heading
information
6

 Mixed Joystick to Auto Mode.
1. Select Jaw ( Heading control with joystick )
2. Select surge – sway ( Auto position )
3. Select jaw and surge ( Auto heading Automatic stabilisation)
4. Select jaw and sway ( Auto heading and Auto stabilisation )
 Common Procedure Available.
1. Joystick setting and environmental compensation
2. Thruster control mode
3. ROT ( rate ofTurn )
 Joystick mode with Automatic heading control.
 Selecting automatic heading control
1. Check that non of the status lamps for the surge, sway or jaw buttons in
the modes button group are lit.
2. Ensure that the required gyrocompasses are enabled
3. Press jaw button twice within four second.
8

 Common Procedures available as for joystick mode plus,
1. Controller mode and gain level selection
2. Changing the heading set point
3. Heading limit
4. Set ROT ( Rate OfTurn )
Returning to joystick heading control.
 Press the jaw button in the mode button group twice.
 Displaying the vessel in the view centre.
1. Click “ Centre Here “ on the Posplot “ Pop-Up” menu
2. On the posplot “ Pop-Up” menu click “View Control “ and select – true,
vessel on relative and vessel in the posplot dialog box mode.
9

 Selecting automatic stabilization.
1. Ensure that the required gyrocompasses on enabled
2. Ensure that at least one position reference system in active and enabled
3. Press jaw, the current vessel heading becomes the heading set point and
the system automatically keeps the vessel on this heading
4. Press surge or sway twice.
Common Procedure Available.
2. Changing the heading set point
3. Position limit
4. Heading limit
5. Setting the vessel speed
6. Setting ROT ( Rate OfTurn )
10

 From Joystick mode to Auto position mode.
1. Ensure that the required gyrocompasses are enabled
2. Ensure that at least one position reference system is active and enabled
3. Ensure that either high precision or relaxed is set on the selected controller
mode in gain dialog box.
4. Press jaw twice ( allow the vessel to stabilize on it’s present heading )
5. Hold the vessel as stationary as possible using joystick
6. Press the Auto Position button in the modes button group twice ( the status
lamps for the auto position, surge, sway and jaw buttons are lit )
Warning :
if green controller mode is desired, continue as follows ;
1. allow the vessel to stabilize in auto position mode for about 15 minutes to
attain optimal performance in the green controller mode.
2. Select green controller mode with the required are set in the gain dialog box.
3. The defined area as displayed in the posplot view the inner and outer area
are indicated with dashed circle, with green shading on the inner area.
11

4. The background of auto position in the status bar is shaded green.
5. The gain symbol in the status bar is changed to a green shaded box
indicating that green controller mode is active.
Warning ;
No changing in position or heading should be attempted during the first five
minutes after the auto position mode in order to allow the vessel model to
stabilize. For more critical DP operations or during more difficult weather /
current conditions, this limit should be prolonged to minimum 15 minutes.
12

 Common Procedure Available.
2. Thruster control mode
3. Changing the position set point
4. Changing heading set point
5. Position limit
6. Heading limit
7. Setting the ROT ( rate OfTurn )
8. Rotation point for automatic control
9. Quick model up date
10. DP consequence analysis.
13

 Resetting after an automatic switch over .
1. Select system - Redundant stations.
2. User error objects in the Redundant stations dialog box to find out which
errors are present
3. Have error rectified
4. In the redundant stations dialog box, right click in the error objects are.
15

 The following shortcut menu is displayed :
5. Select UnlockAll
the locked error objects are reset to the normal state.
16
Permanent on
Permanent off
Unlock all

 Sensor Dialog Box.
 Select sensor gyro, Press gyro button.
 OK : the OK status for each gyro compass is shown in the matching OK
check box.
 Enable : each gyrocompass has an associated Enable check box.
 Preference : these option buttons allow you to specify which
gyrocompass is preferred for use by the system.
 In Use : the gyrocompass that is currently used by the system to calculate
the vessel’s heading is indicated in the In Use check box.
17

 Gyro heading : The measured heading from the gyrocompass.
 Added correction : this text box allows you to specify a gyrocompass
correction .
 Used heading :The measured heading from the gyrocompass with added
correction.
Gyro status lamp.
The gyro button has a status lamp which show the status of the
gyrocompass.
1. On : at least one gyrocompass is enabled and accepted by the system.
2. Flashing : the measurements from one of the enabled gyrocompass are
not accepted by the system.
3. Off : No gyrocompass are enabled.
18

 CHANGINGTHE POSITION SET POINT.
 This chapter contains the following section:
1. Stopping a change of position
2. Marking a new position set point on the posplot view
3. Position R/ B dialog ( Range and Bearing )
4. Position Inc dialog box ( incremental )
5. Position dialog box
6. Speed set point dialog box
7. Acceleration / retardation setting dialog box.
A. Stopping a change of position.
To set the vessel’s present position as the position set point, press the
Present Position button twice, this will interrupted a requested change
of position.
19

POSITION SET POINT ON THE POSPLOT
VIEW
20

B. Making a new position set point on the posplot view.
1. Click on the position set point symbol in the posplot view, the position
dialog box is displayed
2. Move the set point symbol with the track ball .
The set point symbol move on the display and the position
coordinates are up dated dynamically on the position dialog box
3. Click again to fix the set point symbol at the required position.
A temporary position set point is displayed at the new position and the
coordinate , distance and both true and relative direction from the
present position set point are displayed on the dialog box
4. Either click the OK..
Position R/ B dialog ( range and bearing )
The position R/ B dialog box is use full in operations that required frequent
changes of position set point.
21
Position R/ B
Range True bearing
-------- m ------------ º
OK Cancel Apply

POSITION DIALOG BOX
22
Inc (Incremental) : Port / Stbd/ Ahead/ Astern
R/B : Range / Bearing
Abs : Absolute coordinates

23
Thruster : 1- 2- 3- 4
Sensor : Gyro- Wind - VRS
Joystick- Manual - DP
GPS1- GPS2- Radius
Main Modes Command responsibility
3-axis joystick
View selection
System
functions
Trackball
OPERATOR - PANEL
Heading wheel

24
TRACKBALL
RightLeft
Middle
The trackball is used to position the cursor on the screen.
Left button is used to click on screen buttons, choose from menus and
select displayed symbols.
The right button is used to display a shortcut menu.
The middle button is not used.

25
HEADING WHEEL
The heading wheel comprises one heading wheel and seven buttons. Three
of these are located in front. The other four forms a circle close to the
heading wheel.
ROT
Heading wheel
Heading buttons
Set or activate buttons

26
DISPLAY LAYOUT
The display is divided into a number of predefined areas as shown in
the following figure. In addition to these, dialog boxes are displayed
whenever operator interaction is required.

 THRUSTER MENU.
1. Enable
2. Automatic start
3. Allocation mode
4. Allocation setting
5. Biasing
6. Run in
1. Enable / Disable ALL
Selecting or clearing this check box allows you to enable or disable all
thruster and rudders for K- Pos DP.
2. Allocation mode.
Thruster allocation can be performed
in many different ways. That are available
for the vessel are listed on the thruster
allocation dialog box.
27
Thruster enable
√ Enable / disable ALL
Runnin
g
Rdy Enable
√ √ √ Tunnel 1
OK Cancel Apply
Thruster allocation
Mode Control
◙ Variable Increased power
Fix Position priority
Environ Fix
Diving
OK Cancel Apply

CALIBRATE THE DP JOYSTICK
 Ensure that the system in STANDBY mode
 Select “ Calibrate “ on the joystick menu ( See displayed )
1. Set joystick in “ ZERO “ position and press button
2. Move the joystick to it’s “ Min / Max “ position in the 3 axis a couple of
time.This will register joystick swing.
3. If needed, modify the “ dead band “ value ( Press Dead band )
4. Then press OK button to save calibrate value
5. Dead band
axis % of max swing
0 = 5
1 = 5
2 = 5
28

 Click joystick dialog box
◙ Trust Precision Envir. Comp
√ Reduced ◙ High speed √ Surge
√ General √ Sway
◙ Low speed √ jaw
OK Cancel Apply
 Alarm Limits.
Position / VRS
Active warning Active Alarm
Position √ 1.8 m √ 3.0 m
Heading √ 1.0 deg √ 3.0 deg
Cross √ 1.8 m √ 3.0 m
OK Cancel Apply
29

 VRS.
Position VRS
Active Alarm
Pitch √ 3.00 deg
Roll √ 3.00 deg
Heave √ 0.00
OK Cancel Apply
30

CALIBRATE BACKUP JOYSTICK
Calibrate of the backup joystick ensure that a certain deflection of the
joystick corresponds to a specific thruster force depending upon the
selected thrust (Full or reduced).
it is necessary to calibrate the joystick as follows;
1. Press each of the following four buttons once, in the sequence listed:
fore pivot – Present heading – joystick and aft pivot.
 The joystick calibration function is enabled
 The operation indicator starts flashing green /red
 Showing on the display;
31
X Y Z
1. Centre joystick
2. Press < Set >
3. ESC

2 Set joystick to the centre position and then Press the set button.
Showing on the display.
3 Move the joystick to it’s limit in the forward and back wards direction
(X), then in the left and right direction (Y) and then rotate in the
clockwise and counter clockwise direction (Z)
32
X Y Z
1. Pos joystick to all
extremities XYZ
2. Press < Set >

o The movement of the joystick in each direction is indicated by three
vertical bar graphs ( X –Y – Z ) showing in the display.
4 Press the Set buttons.
 The joystick is calibrated
 The joystick calibration function and calibration terminated
 The operation indicator change to steadily lit green.
33
ZYX
1. Pos joystick to all extremities XYZ
2. Press Set

Calibrate backup joystick showing
on the screen.
To calibrate the joystick , proceed as follow ;
1. Press , within 10 second, the Fore pivot, present heading, joystick and
aft pivot buttons in the same sequence as listed.
 The joystick calibration function is enabled
 The operation indicator starts flashing green / red
 The joystick calibration view is displayed in the view area of the display.
34
JOYSTICK CALIBRATION
Set joystick in ZERO position ( all 3 axis )
And press ENTER.

2 Set the joystick to the centre position and then Press the ENTER
button.
the following indicators are displayed on the joystick calibration view:
 A red joystick reference line at the top of the vertical ( X ) axes
 A red joystick movement, reference cross in the centre of the vertical
and horizontal ( X /Y ) axes
 Black maximum movement lines at the ends of the vertical and
horizontal ( X /Y ) axes.
3 Move the joystick to the maximum in the forward and back wards
direction (X), then in the left and right direction (Y) and then in the
clockwise and counter-clockwise rotate direction (Z)
 The movement of the joystick in the X andY direction is indicated by
horizontal and vertical lines in each quadrant of the joystick calibration
view
 The rotation of the joystick in the Z direction is indicated by a semicircle
in the upper two quadrant of the joystick calibration view.
 The current position of the joystick ( with respect to the centre position)
is indicated by the black cross
35

4 Press the ENTER button.
 The joystick is calibrated
 The joystick calibration function is disabled and calibration terminated
 The joystick calibration view is replaced by the original display view
 The operation indicator changes to steadily lit green
5 Check the joystick is functioning correctly by comparing :
 The rotation of the joystick with the movement of the joystick rotation
indicator ( upward pointing arrow on the upper two – directional bar)
 The tilt of the joystick with the movement of the joystick tilt indicator
(filled purple circle with a white outline and purple dashed coordinate
lines)
36
JOYSTICK CALIBRATION
Move joystick to MAX / MIN position (all 3 axis)
And press ENTER

AUTOTRACK MODE.
In the Auto track mode, the vessel accurately follows a predefined track,
described by a set of waypoint.
Auto track mode , covers Low speed, High speed and Move-Up operations
using different strategies for speed and heading control..
37
1 2
4
Auto track operation ( Posplot View
1- 2- 3 and 4 is
number of waypoint

 Auto track with Low Speed mode, all the available thrusters are used to
provide full position and heading control.
 Auto track with High Speed mode, the rudders or azimuth thrusters are
used to control the vessel heading to minimize the cross track error while
maintaining the required speed.
 Auto track with Moving-Up mode, you can move the vessel a specified
distance a long the track.
 Low speed, High speed and Move-Up mode are selected from the auto
track setting dialog box.
Auto track set-up buttons in the control buttons group as follows;
 Setting General
 Setting Stop
 Setting Heading
 Setting Speed
 Setting Turn
 Setting Receive.
38

These general feature description are followed by ;
 Procedures describing the necessary preparations for auto track mode
 Procedures for running in low speed
 Procedures for running in high speed
 Procedures for running in move-up.
39
Waypoint No
Position
Leg length(m)
Leg l course(deg)
Turn Radius(m)
OK
Apply
Undo
Editing Mode
oMove
oInsert new
odelete
AUTO TRACK MENU.
On the auto track menu, select New, the waypoint
dialog box is displayed.
Number : number of the waypoints
Position : the position of the waypoint
Leg length : the length of the leg from the current
waypoint to the next
Leg course : the course of the leg
Turn radius : the turn radius of the vessel should use
when passing the waypoint.

Undo : deletes changes since you last clicked
Cancel : Discards all changes.
GraphicalTrack Editing.
New track To define a track.
1. On the auto track menu, select New.The waypoint dialog box is
displayed, and the cursor changes from an arrow to a pointing
hand.
2. Define the first waypoint by moving the cursor on the leg is
displayed on the posplot view . See picture.
3. When entering the last waypoint, double click to end the
definition of new waypoint.
4. Select apply or OK.
Defining a waypoint using graphical track editing. 40

MODIFYATRACK.
 Moving a waypoint.
1. On the auto track menu, select Modify, the waypoint dialog box is
displayed.
2. Select Move
3. Drag the required waypoint to the correct position using the cursor, click
once to confirm
4. Click OK or apply.
ADJUSTINGTHETURN RADIUS.
1. On the auto track menu, select modify.
2. Select Move
3. Click the require waypoint arc.A rubber band model, increase the turn
radius.
41
Turn Radius.

INSERTINGA NEWWAYPOINT.
 At the beginning of a track
 Between two waypoints
 At the end of track.
To insert a new waypoint.
1. On the auto track menu, select modify,
2. Select Insert new
3. Click the leg on which you wish to insert
4. Drag the new waypoint to new position and click again to confirm
5. If you want to insert a waypoint at the “ Beginning “ on the track, click
the first waypoint.Click and move the cursor as described above.
6. If you want to insert a waypoint at “The end of the track “, click the last
waypoint . Click and move the cursor as described above.
7. Click OK or apply
42

DELETINGWAYPOINT.
1. On the auto track menu, select modify.
2. Select delete
3. Click the waypoint that you want to delete
4. Click OK
WAYPOINTTABLE.
To display waypoint table, select “ Editor “ on auto track menu.
You can either load waypoint from an external system.
43

AUTOTRACK SETTING.
I GENERAL
 Tracking move : low speed
 Leg offset : 0,0 m
 Track direction : forward / stop /reverse
 Approach track : track leg
 Leg type : rhumb line
 Apply / OK
II STOP
 Stop on track : stay
 Reverse action : go astern
 Force : 50%
 Position dropout action : stop
 Apply / OK
44

III HEADING.
 Heading set point : system selected / operator
 Limit : only on high speed
 Offset : 0,0 deg
IV SPEED
 Along speed set point : Operator - 0,5 m/sec
 Across speed set point : 0,3 m / sec
 Waypoint speed strategy : slow down at waypoint ( 5m )
 Apply / OK
V TURN
 Turn radius for waypoint turn - automatic
 WOP warning - active (WOP = Wheel Over Point )
45

TRACK OFFSET.
Click offset on the AutoTrack menu.
Using this dialog box ;
 You can select from the strategy “ Parallel-Geography- Present leg- No
offset.
 Specify the Distance for the track.
 Specify the Direction for the track offset
 When running inAutoTrack mode, track offset can only be performed if
you have selected “ALWAYS ALLOWED “
46
Auto track Offset
◙ Parallel ◙ Present leg
◙ Geography ◙ No offset
Distance --------- Direction ---------
OK Cancel Apply

SELECTEDTRACK UPDATE STRATEGY
Click “ Update Strategy “ on the dialog box.
 Always allowed : All waypoints on a track
 Not on present leg : using track definition functionalities all waypoints
on the track can be updated. Except for the two waypoints describing the
present leg.
 Not in the Auto track mode : no waypoints can updated.
 Note : When the turn radius is displayed, present leg starts at the
waypoint turn’s starting point as illustrated in.
47

AUTOTRACK SETTING.
1. General
2. Stop
3. Heading
4. Speed
5. Turn
6. Receive
48

AUTOTRACK SETTINGGENERAL.
1. Specify how the vessel should approach the track when starting a track
2. Specify the start waypoint for the track operation
3. Select the tracking mode ( Move-Up – Low speed or High speed)
4. Specify the direction in which the track is to be followed, either forward
or reverse
5. Specify the default leg type : either Rhumbline, Great Circle or UTM
straight line.
49

AUTOTRACK SETTING STOP
1. Specify the action to take when stopping on the track.: either to Slow
down, Stop and Stay : or to Slow down, Stop and Go back also specify
the force that is to be used for stopping the vessel on the track
2. Specify the action to take when reversing course: whether or not to
turn: and if so, to port or starboard.
3. Specify whether to stop at the waypoint or continue to a locally
generated waypoint.
4. Specify the action to take in event of position dropout.
50

STOP ONTRACK
Defines the strategy for stopping on the track either as a result of pressing
the STOPPINGONTRACK buttons twice or when changing theTrack
Direction
STAY : The vessel slows down, stops and stay at this position.
Go Back : The vessel slow down, stops and goes back to the position it had
when the stop action was initiated.
FORCE : The percentage of the maximum available force to be used for
stopping on the track.
POSITION DROPOUTACTION.
You can select the action to be taken in the event of the system losing
acceptable position reference information in the Auto track mode.
STOP : The vessel stops.
DEAD RECKONING :The system continues calculating the position based on
the last measurements and calculations, and the vessel continues traversing 51

AUTOTRACK SETTING – HEADING.
 In slow speed and move-up mode, specify how the vessel heading is to
be control.
1) By specifying a fixed heading which will be used irrespective of the track
course and the environmental conditions
2) Using the heading defined in the waypoint table for each track leg
3) Using the heading which required the minimum power to maintain,
calculated according to the environmental force and vessel speed
4) By setting the heading to be always towards the next waypoint
In low speed and move up mode, you can also deselected the JAW axis ( so
that the vessel heading is no longer controlled automatically), and use
the joystick to control the vessel heading.
 In high speed mode , the vessel heading is continuously updated to
return the vessel to the track if it should drift of track. If required, you
can specify limits for turning the rudders or azimuth thruster when
running in high speed mode.
52

AUTOTRACK SETTING – SPEED.
Clicking the setting on the AutoTrack menu, or press the track setup button
in the controls button group.
Using this dialog box, you can ;
 Specify how the vessel’s speed along the track is to be set.
1) Using the speed defined in the waypoint table for each track leg
2) By manually specifying a speed which will be used for all track leg.
 Specify the across speed set point that is used to determine the
component of the vessel speed that is perpendicular to the track
direction.
 In the move-up and low speed modes, specify the speed strategy to be
used for passing waypoints:
1) Slowing down at each waypoint before continuing to the next
2) Passing the waypoint at constant speed, following an arc of a circle
between the two track legs.
53

PREPARATION FOR AUTOTRACK MODE.
1. Ensure that the required Gyrocompasses are enabled. high speed mode
at least two gyrocompasses must be enabled.
2. Ensure that the required wind sensor andVRS are enabled.
3. Ensure that the required position reference system are enabled
4. Ensure that the required thruster, propellers and rudders are enabled
5. Ensure that the waypoint table is correct.
6. Use the Auto track settings dialog box.
7. If required, you can set warning and alarm limits for cross track deviation
8. For move-up mode, use joystick or auto position mode to position the
vessel accurately on the track
54

RECOMMENDED START POSITION (LOW SPEEDAND HIGH SPPED)
If you choose approachTrack – track leg (rather than approach track-
waypoint), you must ensure that your vessel is “ Past “ the previous
waypoint before you enter AutoTrack mode. See picture below.
WP7 is chosen as the start waypoint and track leg is chosen as the approach
strategy. In this situation you might expect the vessel to approach the
track leg between WP6 andWP7. However , the vessel start position is
not “Past”WPT6. In this situation, the start waypoint is changed
automatically toWP6 and the vessel will approach the track legWP5 –
WP6.
55

RUNNING INAUTOTRACK (LOW SPEED) MODE.
1. Ensure that the procedures described in preparation for auto track mode
have been carried out.
2. Press the AutoTrack button in the modes button group twice.
 The Auto track lamp becomes lit
 The position set point to the selected start waypoint
 The heading set point is set to the present heading.
 The vessel begins to approach the track maintaining the present
heading
3 If a heading other than the present heading is required, use the Auto
track setting – heading dialog box to select the required heading
4 The vessel follows the track defined in the waypoint table
5 The vessel stop at the last waypoint or continues to locally generated
waypoint away from the last waypoint.
6 The system remains inAuto track mode until changed to another mode.
56

JOYSTICK HEADING CONTROL.
In the low speed mode, you can deselect the Jaw axis for automatic control
and use the joystick to control the vessel heading.
1. Press the JAW button in the modes button group twice within four
seconds, and the jaw status lamp becomes unlit.
2. Control the vessel’s heading manually using the joystick.
3. To return to automatic heading control, press JAW button twice within
four seconds again, the Jaw lamp is lit and the heading set point is set to
the present heading.
STOPPINGONTHETRACK.
1. Press the STOP on the track button in the control button group twice ,
stop on track lamp becomes lit.
2. The vessel will slow down and stop, and then either stay at this position.
57

CHANGINGTRACK DIRECTION (LOW SPEED MODE).
To change the direction in which the track is being followed in AutoTrack
(Low Speed) mode, change the Track Direction setting (Forward or
Reverse) on the AutoTrack Setting – General dialog box and click OK or
Apply.
1. The status lamp of the Stop onTrack button in the Controls button group
becomes lit
2. The vessel will slow down and stop, and then either stay at this position
or go back to the position it had when the change of direction was
requested (depending on the selected STOP ONTRACK STRATEGY)
Note : The vessel will not turn 180º when changing track direction in Auto
Track (low speed) mode. If moving forward before changing track
direction, the vessel will go astern afterwards. If moving backwards
before changing track direction, the vessel will go forward afterwards.
58

RUNNING INAUTOTRACK (HIGH SPEED) MODE.
1. Ensure that the procedures described in preparation for AutoTrack
mode. (at least two gyro compasses must be carried out)
2. Use the steering dialog box to set the required steering parameters :
 Rudder/azimuth limit and steering mode
 Steering gain
3 Press the Auto track button in the modes button group twice within four
second
 The auto track lamp becomes lit
 The position set point is set to the selected start waypoint
 The heading is controlled to minimize the cross track error while
maintaining the wanted speed
 The vessel begins to approach the track
4 The vessel follows the track defined in the waypoint table
5 When the vessel reaches the last waypoint, it continues at the same
speed on the extension of the final track leg
6 The system remains in auto track mode until you change to another
mode. 59

JOYSTICK SPEEDCONTROL.
 Press the Surge button in the modes button group twice (surge lamp
become unlit)
 Control the vessel’s speed manually using the joystick
 To return to automatic speed control, press the surge button twice (the
surge status lamp is lit)
STOPPINGONTHETRACK.
 Press the stop on track button in the controls button group twice (the
stop on track lamp be comes lit
 The vessel will slow down and stop, and then either stay at this position
or go back to the position it had when the stop on track button was
pressed twice.
60

CALIBRATE DP JOYSTICK.
1. Ensure that in the standby mode
2. Click joystick calibrate dialog box
 Set joystick in zero position and then click “ IN ZERO POSITION” (on the
screen displayed)
 Red mark appears on the zero position in the figure
3. Move joystick for max/ min in the three axis to register joystick swing,
black line will appear in the figure indicating joystick swing in all three
axis.
4. You may change the joystick “ Dead band”, click dead band dialog box.
5. Press Enter or OK
61

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