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Dredging Specific Drivers

On this page:

Please refer to the Drivers & Interfacing Manual for further information on all these drivers.

Some of these drivers use XML files that are user-configurable. Items in the XML file should match those defined in the PLC software.
Slot identifiers in Qinsy must match field indentifiers used in the PLC.  

TSHD/CSD

Honeywell PLC

Driver for decoding a Honeywell PLC Output string. This is a format which can be expected on dredging hopper vessels, using a Honeywell PLC.

The ASCII data string contains, among other things, a tide value, draft sensor values, depth sensor values and a geographical position.

Besides decoding these observation types, the driver is capable of calculating a pitch angle for the underwater pipe object, using the values of the two depth sensors. Of course, these sensors should be mounted on the pipe object.

Honeywell Output to Qinsy

  • Tide+100cm

  • Fwd/Aft draft pressure

  • Draghead Wire Payout (cm)

  • Gymbal Wire Payout (cm)

  • Draghead Water Depth+100cm

  • Gymbal Water Depth+100cm

  • Draghead wire encoder vertical angle in degrees 90=vertical

  • Gymbal wire encoder vertical angle in degrees 90=vertical

  • Dredge status 1=dredging, 2=sailing, 3=dumping, 4=bucket

  • Latitude/Longitude (DDMM N/S / DDDMM E/W)

Notes:

  1. Driver automatically converts the 'tide+100cm' value to survey units.

  2. Driver automatically converts the 'depth+100cm' to survey units.

  3. For calculated pitch use the Slot number field to fill in the distance between the two depth sensors on the pipe object in cm's

  4. Normally Pitch convention is set to 'Positive bow down'

  5. Add dredging status translation table in Dredging System definition.

The following systems are usually added to a CSD/TSHD setup:

System

Description

Observations

Slot

Factor

Position Navigation System

Draghead Position

Lat/Long 



Underwater sensor

Draft

Draft Fore/Aft/Mean

FWD/AFT/MEAN

Automatic 

Dredging Sensor

Dredging Status

Status



Underwater sensor

ROV Depth

Draghead/Gymbal Depth

DRAGHEAD/GYMBAL

Automatic 

Pitch Roll Heave Sensor

Calculated Pitch

Pitch 

Dist. in cm btwn fore/aft draft sensors

Positve bow down

Tide

Tide



Automatic 

Miscellaneous System

Payout and angles

Draghead payout
Gymbal payout
Draghead vert. angle
Gymbal vert. angle

DDDD
EEEE
HHHH
llll 

1
1
1
1 

Network - IHC Dredging

This driver is used to exchange information with the IHC IMS dredging computer as found on board Hopper/Cutter dredgers (TSHD/CSD).

The output system is capable of outputting a large number of parameters as specified below.

Qinsy Output to Cutter IMS (50111)

Cutter IMS Output to Qinsy (50112)

  • Tide, Tide Status, 

  • Antenna E/N/Height, 

  • DGPS Quality, 

  • Antenna XYZ Offsets, 

  • Cutter E/N, Heading, 

  • Spud Pole dAlong/dAcross, 

  • Mainline Begin E/N/KP, 

  • Mainline End E/N/KP, 

  • Emergency Hoist, 

  • Cut Height, 

  • Cut Volume, 

  • Left Anchor E/N, 

  • Right Anchor E/N.

  • Cutter Depth/Width

  • Ship's Length

  • Trunnion Depth

  • Spud X/Y/Z position

  • Pitch/Roll

  • Tide Value/Status

  • Heading

  • Density/Velocity

  • Center Cutter X/Y/Z

  • Ladder Angle

  • Profile Point X/Y/Z

  • User Value 1-10

  • Cutter Depth WaterLevel

Notes:

  1. Output node position may be selected in Controller

  2. DGPS quality convention: 0=Unknown, 1=GPS, 2=DGPS, 4=LRK, 5=EDGPS,

  3. User should set up quality translation table as found in file 'DrvOutIhcUdp.xml'

  4. The source field in this table the positioning mode of the original Positioning System.

  5. 'DrvOutIhcUdp.xml' located in C:\Program Files (x86)\QPS\Qinsy\Drivers\Settings.

  6. The cutter position is the center of the dredging model

  7. The spud pole node is selected in the parameters of the dredging system

  8. All distances and coordinates assume a survey unit set to meters

  9. Tide field is only filled when dredge result are valid and a tide value was used in computation.

Notes:

  1. All distances and coordinates assume a survey unit set to meters

  2. Depths convention: +=above CD & -=below CD

  3. Pitch convention: +=bow down, -=bow up

  4. Roll convention: +=stbd up, -=stbd down

  5. Status convention: 0=invalid, 1=valid

  6. Only roll & pitch fields of PRH system filled in.

  7. Pitch ladder = pitch pontoon + ladder angle, Roll ladder = roll pontoon

  8. Only Y-field of USBL observation is filled in

  9. HdgPontoon & HdgLadder are duplicates and will contain the same data

Qinsy Output to Hopper IMS (50202)

Hopper IMS Output to Qinsy (50201)

  • Starboard/Port Dredge Head Depth

  • Starboard/Port Set Point

  • Starboard/Port DTM Depth

  • Starboard/Port DTM Depth + 10m

  • Starboard/Port DTM Depth + 20m

  • Starboard/Port DTM Depth + 30m

  • Starboard/Port DTM Depth + 40m

  • Starboard/Port DTM Depth + 50m

  • Starboard/Port Dredge Head Speed

  • Starboard/Port dAcross/dAlong

  • Starboard/Port E/N

  • Tide Value

  • Starboard/Port Emergency Hoist

  • Starboard Dredge Head X/Y/Z

  • Port Dredge Head X/Y/Z

  • Starboard/Port Dredge Depth

  • List (roll)

  • Trim (pitch)

  • Heading

  • Actual Tide

  • Dredge Status

  • Draft Fore/Center/Aft

Notes:

  1. All distances and coordinates assume a survey unit set to meters

  2. All speeds are in knots

  3. Tide field is only filled when dredge result are valid and a tide value was used in computation.

Notes:

  1. All distances and coordinates assume a survey unit set to meters

  2. Dredge status convention: 0=Unknown, 1=Trailing, 2=Sailing Loaded, 3=Dumping, 4=Discharging, 5=Sailing Empty.

The following systems are usually added to a CSD setup:

System

Description

Observations

Slot

Factor

Output System

Position Output




Underwater sensor

Draft Trunnion

Trunnion

Trunnion

-1

Dredging Sensor

IHC sensors 1

Density, Velocity

Density,Velocity


USBL System

Cutpoint


CutPoint

Positive Upward

USBL System

Spud


Spud


Pitch Roll Heave Sensor

Pontoon


VruPontoon


Pitch Roll Heave Sensor

VRU Ladder


VruLadder


Underwater Sensor

rov depth

ROV depth

CutDepthWL

-1

Miscellaneous System

Spud Carrier


Spud


The following systems are usually added to a TSHD setup:

System

Description

Observations

Slot

Factor

Output System

Position Output




Underwater sensor

Draft

Draft Aft , Draft Fore

DraftAft , DraftFore

1

Dredging Sensor

Dredge Status

Status

Status


USBL System

Port side


UsblPort

Positive Upward

USBL System

Starboard side


UsblStbd

Positive Upward

Pitch Roll Heave Sensor

IHC VRU


VruHopper


Underwater Sensor

Depth SB

ROV depth

DepthStbd

-1

Underwater Sensor

Depth PS

ROV depth

DepthPort

-1

IHC Dredging Triangles

Driver to output a number of TIN triangles of the currently selected dredging design. A request for a number of TIN triangles is made by the IHC dredging computer via a TCP/IP connection.
The driver fetches the triangles from the design (manual, DTM/pro or Grid) and sends them to the IHC computer.
The driver selects the triangles that are located in an area around the last node position.

When Manual design is used the driver sends two triangles that represent an area of 500x500 survey units around the node position.
When DTM/pro file is selected the actual triangles as defined by the user in TerraModel are retrieved from the file.
When Grid file is used as input then the grid points are triangulated inside the driver and sent to the IHC computer.

Notes:

  1. Optional Session Setup-Dredging-Clipping Depth is not applied to the triangles.

  2. The appropriate output node is selected after going Online with the Controller for the first time; select the Output system in the Computation Setup and select the appropriate dredge head node.

Network - IHC Dredge Monitoring (PIHC)

Driver to decode the suction head position (X, Y and Z) from the IHC Dredge Monitoring message as USBL values.
This driver can also compute the Tons Dry Solid (TDS) figure representing the load of the dredger using the generally accepted "Rijkswaterstaat" of the Netherlands - TDS formula.
Therefore it requires the hopper volume and current displacement from the IHC String as well as some user-defined fields. 

Hopper IMS Output to Qinsy

  • Hopper Name

  • Dredging Status

  • Dredgehead Position (pseudo USBL X/Y/Z

  • Displacement

  • Draft Fore/Aft

  • Hopper Level 1-6

  • Hopper Volume

  • Density/Velocity

  • Pressure before/after dredge pump

  • PMO Status

  • Trimtank 0, 1, 2

  • Dredge Pump On/Off

  • Valve Open/Closed

  • Ballast Volume

  • TDS

Notes:

  1. For the 'At Node' you may select the reference node of the vessel.

  2. When Online the user must define a KP versus water density / solid density table and the empty hopper displacement.

  3. Dredge status convention: 0=Unknown, 1=Sailing Empty, 2= Dredging, 3=Sailing Full, 4=Dumping, 5=Pumping Ashore.

The following systems are usually added:

System

Description

Observations

Slot

Factor

Miscellaneous System


TDS
Used Water Density
Used Solid Density
Trimtank total 

 1
2
3
TRIM 


Underwater sensor

Draft

Draft Aft
Draft Fore

AFT
FRONT


Dredging Sensor

Dredge Status

Mixture Velocity
Mixture Density
Weight (displacement)
Volume
Hopper Level (1-6)
Status
Flag 

Status
Not required
Not required
Not required
1-6
Not required
e.g. PMO 


USBL System

Relative position of dredgehead

X/Y/Z 


Positive Upward

Backhoe/Crane

Crane Tool vdLeun (Network or serial)

The Crane Tool VanDerLeun Driver decodes #QATT, #QXYZ, QTIDE, QDREDGE, QGENERIC and / or #QD messages from the Van Der Leun dredging computer that is mounted o/b cranes used for dredging.

The dredging computer delivers relative position (pseudo-USBL), attitude and heading of one or more boom segments and the grab. 

Two versions of the driver are available: a serial version and a Network version (UDP). The internal workings of the drivers are the same except for the data reception.

Crane PLC Output to Qinsy

  • Pitch, Pitch Sign, Pitch Mode (T=True, E=Error)

  • Roll, Roll Sign, Roll Mode (T=True, E=Error)

  • Heading, Heading Mode (T=True, R=Relative to field 03, E=Error)

  • Realtive Position (pseudo USBL X/Y/Z

  • Depth

  • Tide

  • MIxture Velocity

  • Mixture Density

  • Weight (displacement)

  • Volume

  • Hopper Level

  • Status

  • Flag

  • Miscellaneous, e.g. Temperature, Wind Speed etc..

Notes:

  1. All strings contain a slot number. For the Heading, USBL and Draft system enter a slot number in Database Setup

  2. The driver has a user-interface for assigning the VRU systems to the slot information

  3. P-R-H slot numbers entered Online when the Controller is started with the U/I of the drive

  4. The relationships VRU system - slot number are stored in the registry and are automatically retrieved when the driver starts.

  5. If the VRU system is not selected in the User Interface then it will not decode any VRU data!

The following systems can be defined:

System

Description

Observations

Slot

Factor

Pseudo-USBL

Relative position

X/Y/Z 

 Per input 

Positive Upward

Pitch Roll Heave

Attitude of any object

Pitch Roll Heave

 Per input


Gyro Compass

Heading of any object

Heading

 Per input


Tide Gauge

Water Level

Tide

 Per input 


Miscellaneous

Almost any generic observation

e.g. wind speed, temperature, etc.

 Per input 


Underwater sensor

Depth from surface

Draft, ROV Depth

 Per input 


Dredging Sensor


Mixture Velocity
Mixture Density
Weight (displacement)
Volume
Hopper Level (1-6)
Status
Flag 

 Per input 


Hitachi Sumitomo Wire Crane (Grab Open-Close)

Driver to decode the wire lengths and boom angle from the PLC of an Hitachi Sumitomo wire crane.
The driver will calculate the corrected vertical distances from the forward sheave to the grab's upper and lower table and to the tips of the grab shell and output them as USBL observations.
It contains user interface that enables the user to set up the calculation and to perform the calibration of the wire length measurements.

The driver can decode the raw miscellaneous observations, various USBL observations that can be used to position the grab, the grab angle as a pitch observation and a flag observation that indicates if the grab is open or closed.

The driver automatically creates a grab definition XML file (named "GrabDefinitions.xml") in the support subfolder of the current project folder.
This file is used to store one or multiple grab definitions. The different grab types can be selected by the user in the setup page.
The grab definition is used in the calibration and calculation so it is important to select the correct grab.

The following XML tags are used in the xml file:

Description

This is the name that will appear in the combo box in the driver.

UpperTablePivot_To_ShellPivot

(K) The length of the long arm that connects the upper table with the shell.

LowerTablePivot_To_ShellPivot

(L) The short distance between pivot on lower table around which shell rotates and the pivot which connects the long arm to the upper table.

UpperTable_To_LowerTable_Closed

(Mc) Distance from upper to lower table when grab is closed.

UpperTable_To_LowerTable_Open

(Mo) Distance from upper to lower table when grab is fully opened (Not on image).

LowerTablePivot_To_ShellBottom

(N) Vertical distance between lower table pivot and shell tip when grab is closed.

Grab_Opening_Angle_Threshold

[Degrees] Used for the open close flag. If calculated grab angles become lower than this value, the flag observation will become closed else open.

LowerTable_Pivot_Separation

(O) Horizontal distance between lower table pivot points (used for tip positioning).


PLC Output to Qinsy

  • Boom Angle

  • Real wire length displacement of front drum

  • Real wire length displacement of rear drum

Notes:

  1. Wire length sign convention: when wire is unwound (reeling out, hook lowered) the value becomes more POSITIVE and reeling in, more NEGATIVE.

  2. The driver shows a message status box that shows the communication progress and a grid control with a variable content depending on which page is selected.

  3. The wires can be rigged to the grab or bucket in various ways. In principle the following combinations are possible:

    • Both hoisting.
      The average wire length for both winches is used to calculate the upper table. Lower table will be same as upper, grab angle not calculated.

    • One hoisting, one open/close.
      The upper table will be positioned with the shortest wire length of the two wire length measurements. The lower table will depend on the difference between the wire measurements. The grab angle is derived via cosine rule from the difference between upper and lower table.

    • One hoisting, other not used.
      The upper table will be positioned with the selected wire measurement. Lower table will be equal to upper table. Grab angle is not used.

  4. The calibration procedure is pretty straightforward.


The following systems are possible:

System

Description

Observations

Slot

Factor

Pseudo-USBL

Relative position

From front sheave to upper table (only Z)
From front sheave to lower table (only Z)
From front sheave to forward tip (only Y,Z)
From front sheave to aft tip (only Y,Z)
From front sheave to bottom of grab (only Z) 

UPPER
LOWER
TIP_FORE
TIP_AFT
BOTTOM 


Pitch Roll Heave

Pitch angles

Pitch angle of boom
Pitch angle of tool 

BOOM
GRAB 


Miscellaneous


Boom Angle
Front Winch wire Length
Rear Winch wire Length 

BOOM_ANGLE
FW_LENGTH
BW-LENGTH 


Dredging Sensor

Grab Open/Close 

Flag 



Liebherr Wire Crane (Grab Open-Close)

Driver to decode the wire lengths, boom angle and any other variable (e.g. joystick buttons) from the PLC of a Liebherr wire crane.
The driver calculates the corrected vertical distances from the forward sheave to the grab's upper and lower table and to the tips of the grab shell and output them as USBL observations.
It contains user interface that enables the operator to set up the calculation and to perform the calibration of the wire length measurements.

The driver can decode raw miscellaneous observations, various USBL observations that can be used to position the grab, the grab angle as a pitch observation and a flag observation that indicates if the grab is open or closed.

The driver automatically creates a grab definition XML file (named "GrabDefinitions.xml") in the Support subfolder of the current project folder.
This file is used to store one or multiple grab definitions. The different grab types can be selected by the user in the setup page.
The grab definition is used in the calibration and calculation so it is important to select the correct grab.

The following XML tags are used in the xml file:

Description

This is the name that will appear in the combo box in the driver.

UpperTablePivot_To_ShellPivot

(K) The length of the long arm that connects the upper table with the shell.

LowerTablePivot_To_ShellPivot

(L) The short distance between pivot on lower table around which shell rotates and the pivot which connects the long arm to the upper table.

UpperTable_To_LowerTable_Closed

(Mc) Distance from upper to lower table when grab is closed.

UpperTable_To_LowerTable_Open

(Mo) Distance from upper to lower table when grab is fully opened (Not on image).

LowerTablePivot_To_ShellBottom

(N) Vertical distance between lower table pivot and shell tip when grab is closed.

Grab_Opening_Angle_Threshold

[Degrees] Used for the open close flag. If calculated grab angles become lower than this value, the flag observation will become closed else open.

LowerTable_Pivot_Separation

(O) Horizontal distance between lower table pivot points (used for tip positioning).


PLC Output to Qinsy

  • Boom Angle

  • Real wire length displacement of front drum

  • Real wire length displacement of rear drum

Notes:

  1. Wire length sign convention: when wire is unwound (reeling out, hook lowered) the value becomes more POSITIVE and reeling in, more NEGATIVE.

  2. The driver shows a message status box that shows the communication progress and a grid control with a variable content depending on which page is selected.

  3. The wires can be rigged to the grab or bucket in various ways. In principle the following combinations are possible:

    • Both hoisting.
      The average wire length for both winches is used to calculate the upper table. Lower table will be same as upper, grab angle not calculated.

    • One hoisting, one open/close.
      The upper table will be positioned with the shortest wire length of the two wire length measurements. The lower table will depend on the difference between the wire measurements. The grab angle is derived via cosine rule from the difference between upper and lower table.

    • One hoisting, other not used.
      The upper table will be positioned with the selected wire measurement. Lower table will be equal to upper table. Grab angle is not used.

  4. The calibration procedure is pretty straightforward.

  5. Add a flag observation; it can be used for the grab open close switch required for the grab dredging system. The observation is "0" when the grab is closed and "1" when the grab is opened, the grab angle is larger than the defined threshold. Slot String should be "OPEN".

The following systems are possible:

System

Description

Observations

Slot

Factor

Pseudo-USBL

Relative position

From front sheave to upper table (only Z)
From front sheave to lower table (only Z)
From front sheave to forward tip (only Y,Z)
From front sheave to aft tip (only Y,Z)
From front sheave to bottom of grab (only Z) 

UPPER
LOWER
TIP_FORE
TIP_AFT
BOTTOM 


Pitch Roll Heave

Pitch angles

Pitch angle of boom
Pitch angle of tool 

BOOM
GRAB 


Miscellaneous

Any variable from the PLC

Boom Angle
Front Winch wire Length
Rear Winch wire Length 

BOOM_ANGLE
FW_LENGTH
BW-LENGTH 


Dredging Sensor

Grab Open/Close 
Joystick button as 'flag' observation 

Flag 

OPEN



Variable

Description

IX1.67.6

Left joystick push button at the top right

MD1.39

Winch 1 (rear), absolute value in meters

MD1.43

Winch 1 (rear), relative (screen display) value in meters

MD1.40

Winch 2 (front), absolute value in meters

MD1.44

Winch 2 (front), relative (screen display) value in meters

MD1.36

Actual boom height value in meters

MD1.35

Actual load radius value in meters

MD1.32

Actual boom angle value in degrees

MD1.29

Actual utilization value in percent

MD1.37

Reeving of the hook value in hg1

MD1.34

Maximum load value in tons

MD1.30

Actual load value in tons

MD4.2

Actual tared load (screen display) value in tons

Manual Switch

This driver can be used to read the status of up to three toggle switches, push button switches, or relays via the serial port handshake lines. The driver monitors the handshake lines and if a switch change is detected an observation is generated. On top of that every second the status of the switches is read in order to get a continuously updating observation.
The switches that are used should be of type on-on, that is it should have three contacts; the center contact makes a connection to either outer contacts. So a switch with only two contacts is not suitable!
It is possible to create your own status switch box with the wire scheme provided in the Drivers & interfacing Manual.

Typical usage of this box is for cranes that are utilized for dredging operations. The operator can press a switch to excavate the sounding grid or to perform a backfill on the grid.

When the electrical scheme as presented below is implemented the the flag observation will be '0' when not pushed and become '1' when pushed. The behavior of the flag observation can be inverted by adding a minus sign ('-) in front of the slot string. When inverted the observation will be '1' when not pushed and '0' when pushed.

Use the slot to indicate which pins on the serial port are to be used.

Possible slots are:

  • CTS

  • DSR

  • DCD

  • -CTS (inverted action)

  • -DSR (inverted action)

  • -DCD (inverted action)


Praxis Mega-Guard

The Praxis protocol ('PAT DX - TCP 3-4_R1.doc' ) is TCP based and completely configurable.
The driver automatically creates definition XML files as follows:

Hopper dredger with one suction head

DrvPraxisHopper1.xml

Hopper dredger with two suction heads

DrvPraxisHopper2.xml

Splitbarge

DrvPraxisSplitBarge.xml

Spreader pontoon

DrvPraxisSpreaderPontoon.xml

Rock dumper

DrvPraxisRockDumper.xml

Grab 

DrvPraxisGrab.xml

Back Hoe 

DrvPraxisBackHoe.xml

Default

DrvPraxisDefault.xml

Notes:

  1. Files are likely to be changed by the user.

  2. Currently these files are located here: C:\\Program Files (x86)\QPS\Qinsy 8.xx\Drivers\Settings.

  3. Which file is loaded depends on the type of dredging system which is defined in the database.

Available observations:

Praxis Output to Qinsy (hard-coded)

  • USBL X and Y

  • Depth (WL)

  • Depth (CD)

  • Pitch and Roll

  • Heading

  • Tide

  • Draft fore and aft

  • Draft trunnion

  • Density and Velocity

  • Hopper level aft 1 & 2

  • Hopper level fore 1 & 2

  • Trunnion vertical and horizontal angle

  • Cardan (universal joint) vertical and horizontal angle

The following systems are available:

System

Description

Observations

Slot

Factor

Pseudo-USBL

Relative position

X and Y 



Pitch Roll Heave

Pitch angles

Pitch and Roll 



Underwater Sensor


Depth (WL)
Depth (CD) 



Gyro

Heading

Heading



Tide


Tide



Underwater Sensor

Draft

Draft Fore
Draft Aft
Draft Trunnion 

D13
D15 


Dredging Sensor


Mixture Velocity
Mixture Density 
Hopper Level Aft 1
Hopper Level Aft 2
Hopper Level Fore 1 
Hopper Level Fore 2 
Status 







W0


Rotation Angle Sensor


Trunnion Vertical Angle (X axis)
Trunnion Horizontal Angle (Z axis)
Cardan (Universal joint) Vertical Angle (X axis)
Cardan (Universal joint) Horizontal Angle (Z axis)



OPC InterfaceOPC Interface (dX dY dZ) — USBL System

Driver that can be used to decode various data from any OPC (Ole for Process Control) server. The driver connects over TCP/IP to an OPC DA 2.05 or DA 3.0 compliant data server program. A server will always publish a number of OPC items ( the data fields), all of them identified by a unique name and OLE data type. The driver can decode from this list one or more items as defined in an XML file DrvOpcClient.xml, located in the C:\Program Files\QPS\Qinsy\Drivers\Settings folder.

Using slot names it is possible to link the data items to the systems in the template. Data can be decoded as a Pitch/Roll sensor, USBL system, Gyro Compass, Surface Navigation System, Underwater sensor, Dredging sensor or Miscellaneous system. Driver will only read data, it will not transmit any data.

The data communication is handled in accordance with the OPC standards.

USBL only: If either the Usbl X,Y or Z value becomes higher than 99999.9 or smaller than -99999.9 then the observation will no longer be decoded!!

Default DrvOpcClient.xml fields:

Description

Slot Identifier


Description

Slot Identifier

Boom Pitch

BOOM


Flag 1

FLAG1

Error Boom Pitch

ERROR_BOOM


Error Boom Pitch

ERROR_BOOM

Grab Opening Angle

GRAB


Error Stick Pitch

ER_STICK

Spare

SPARE1


Error Grab Opening Angle

ER_GRAB

Crane Pitch

CRANE_MRU


Error Spare

ER_SPARE1

Crane Roll

CRANE_MRU


Error Crane Pitch

ER_CRANE_P

Lummel Stick Pitch

LUMMEL


Error Crane Roll

ER_CRANE_R

Lummel Stick Roll

LUMMEL


Error Lummel Stick Pitch

ER_LUMMEL_PITCH

Encoder 1

ENCODER1


Error Lummel Stick Roll

ER_LUMMEL_ROLL

Encoder 2

ENCODER2


Global Error Code

ER_GLOBAL


Warning

Slot identifiers entered in Qinsy must match those in the DrvOpcClient.xml file.


CSD/TSHD or Backhoe/Crane

Generic Serial Input

The IO Driver Editor can be used for:

  • Creation of a user-defined input driver

    • This data string connection can be through standard RS232 format or through network UDP

  • Creation and/or editing of generic drivers for ASCII input

  • Decoding of multiple systems from a single string

  • Decoding of multiple strings on a single COM port

    • For each string that needs to be decoded, a separate driver needs to be created

Slot identifiers used depend on format of incoming string(s).

The following systems can be defined:

System

Description

Observations

Slot

Factor

Singlebeam Echosounder

 Depth to bottom

Depth



Pseudo-USBL

Relative position of dredgehead

X/Y/Z 


Positive Upward

Pitch Roll Heave

Attitude of any object

Pitch Roll Heave



Gyro Compass

Heading of any object

Heading



Surface Navigation


Range, Angle, Bearing (true), Vert. angle



Position Navigation


E/N/Ht., Lat/Long/Ht.



Tide Gauge

Water Level

Tide



Miscellaneous


Almost any observation



Speed Log


Doppler angle, speed, vertical speed



Underwater sensor

Depth from surface

Draft, ROV Depth, ROV Altitude,
Pressure, Sound Velocity, Revolution 



Magnetometer


Field Observation



Dredging Sensor


Mixture Velocity
Mixture Density
Weight (displacement)
Volume
Hopper Level (1-6)
Status
Flag 



Rotation Angle Sensor


Rotation around X, Y, and Z axes.



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