Kongsberg Maritime: Fanbeam 4.2, Combined Installation, Technical and Operations Manual

Kongsberg Maritime
Fanbeam 4.2, Combined

Installation, Technical and
Operations Manual
Supplier: Measurement Devices Limited

Reference:
Version: 10
179395/E
Fanbeam®4.2
Long Range Laser Radar System
WORLD LEADERS IN LASER MEASUREMENT TECHNOLOGY

CONTENTS PAGE
1 Fanbeam®4.2 User’s Manual 5
1.1 Dear Customer! .................................................................................................................... 6
1.2 Warranty Information ............................................................................................................ 7
1.3 Software License Agreement................................................................................................ 8
2 Short-form Description 9
2.1 Fanbeam®4.2....................................................................................................................... 9
3 System Description 11
3.1 Laser ................................................................................................................................... 11
3.1.1 Laser Principle of Operation................................................................................. 11
3.2 Optional AutoTilt Mechanism............................................................................................... 12
3.3 Scanner ............................................................................................................................... 12
3.4 Universal Control Unit (UCU)............................................................................................... 13
3.5 Power Supply ...................................................................................................................... 14
3.6 Optional Current Loop Converter......................................................................................... 14
4 System Technical Specifications 15
4.1 Laser ................................................................................................................................... 15
4.2 Optional AutoTilt Mechanism............................................................................................... 15
4.3 Scanner ............................................................................................................................... 15
4.4 Universal Control Unit (UCU)............................................................................................... 16
4.5 Power Supply ...................................................................................................................... 16
4.6 Laser Safety ........................................................................................................................ 17
4.7 Electromagnetic Compatibility ............................................................................................. 18
4.8 Electrical Safety................................................................................................................... 18
4.9 Environmental Compliance.................................................................................................. 19
4.10 Vibration .............................................................................................................................. 19
4.11 CE Approval ........................................................................................................................ 19
5 Installation 20
5.1 Mechanical Installation ........................................................................................................ 20
5.1.1 Scanner Locations ............................................................................................... 20
5.2 Mounting the Fanbeam®4.2 ................................................................................................ 21
5.2.1 Fanbeam®4.2 Alignment Calibration.................................................................... 25
5.2.2 28V PSU Installation ............................................................................................ 25
5.2.3 UCU Installation ................................................................................................... 27
5.2.4 Targets................................................................................................................. 29
5.3 Electrical Installation............................................................................................................ 30
5.3.1 Data/Deck Cable .................................................................................................. 30
5.3.2 DC Power Cable .................................................................................................. 31
© Copyright 1993-2007 Measurement Devices Limited
Issue 10 Copying of the materials in this document is prohibited 1
5.3.3 UCU Data Cable .................................................................................................. 31
6 Single Target Dynamic Positioning Software 32
6.1 Using the UCU2................................................................................................................... 32
6.1.1 Powering On and Off............................................................................................ 32
6.1.2 User Input............................................................................................................. 33
6.1.3 Dual Boot Option.................................................................................................. 33
6.2 STDP Software – The Main Display .................................................................................... 34
6.3 STDP Software Setup.......................................................................................................... 36
6.3.1 Data Output.......................................................................................................... 36
6.3.2 Data Output Formats............................................................................................ 37
6.3.3 Data Adjustment Parameters ............................................................................... 38
6.3.4 Alarms.................................................................................................................. 39
6.3.5 Colours................................................................................................................. 41
6.3.6 Vessel Outline ...................................................................................................... 42
6.4 Track ................................................................................................................................... 43
6.4.1 Target Acquisition ................................................................................................ 43
6.4.2 User Intervention.................................................................................................. 44
6.4.3 Selecting A Target................................................................................................ 45
6.4.4 Waiting For The System To Lock On ................................................................... 45
6.4.5 Tracking ............................................................................................................... 45
6.4.6 Target Loss .......................................................................................................... 47
6.4.7 Logical Events for Target Observations ............................................................... 48
6.5 Target Properties................................................................................................................. 49
6.6 Park ..................................................................................................................................... 50
6.7 Command – Fanbeam Setup And Offline Control................................................................ 51
6.7.1 The Fanbeam Settings......................................................................................... 51
6.7.2 The Fanbeam Controls......................................................................................... 52
6.7.3 The Gating Parameters........................................................................................ 52
7 Multi-Target Tracking Software 53
7.1 MTT Software – The Main Display....................................................................................... 53
7.2 MTT Software Setup............................................................................................................ 55
7.2.1 Data Output.......................................................................................................... 55
7.2.2 Data Output Formats............................................................................................ 56
7.2.3 Data Adjustment Parameters ............................................................................... 57
7.2.4 Colours................................................................................................................. 58
7.2.5 Vessel Outline ...................................................................................................... 59
7.2.6 Tracking Options .................................................................................................. 60
7.3 Target Files.......................................................................................................................... 61
7.3.1 Target Files – Edit ................................................................................................ 61
7.3.2 Target Files – New ............................................................................................... 63
7.3.3 Target Files – Open ............................................................................................. 64
7.3.4 Target Files – Save / Save As.............................................................................. 64
7.3.5 Target Files - Delete............................................................................................. 64
7.4 Track ................................................................................................................................... 64
7.4.1 The Gating Parameters........................................................................................ 66
7.4.2 Editing Target Files During Tracking .................................................................... 66
7.4.3 Manipulating the Graphic Display......................................................................... 67
7.5 Park ..................................................................................................................................... 67
7.6 Command – Fanbeam Setup And Offline Control................................................................ 67
2 Copying of the materials in this document is prohibited Issue 10
8 Maintenance & Servicing 68
8.1 Routine Maintenance........................................................................................................... 68
8.2 Servicing.............................................................................................................................. 68
9 Fault Finding 69
9.1 Basic Checklist .................................................................................................................... 69
9.2 Advanced Fault Finding ....................................................................................................... 70
9.2.1 Opening the Fanbeam.......................................................................................... 70
9.2.2 Power Related Problems...................................................................................... 71
9.2.3 Data Related Problems ........................................................................................ 72
9.2.4 Operational Problems........................................................................................... 72
9.2.5 Mechanical Problems........................................................................................... 73
9.2.6 Fanbeam Re-assembly ........................................................................................ 73
9.3 Board Layouts and Wiring Diagrams ................................................................................... 74
9.3.1 The Mother Board ................................................................................................ 74
9.3.2 Internal Connections for Fanbeam®4.2 Mother Board......................................... 75
9.3.3 The Stepper Board............................................................................................... 76
9.3.4 The Control Board................................................................................................ 77
10 Data Output Formats 80
10.1 Single Target Dynamic Positioning Software....................................................................... 81
10.1.1 MDL Standard ...................................................................................................... 81
10.1.2 MDL Single Target ............................................................................................... 81
10.1.3 Kongsberg SIMRAD Standard ............................................................................. 82
10.1.4 Kongsberg SIMRAD Legacy ................................................................................ 82
10.1.5 CEGELEC Standard............................................................................................. 83
10.1.6 CEGELEC Legacy................................................................................................ 83
10.1.7 Nautronix Standard .............................................................................................. 84
10.1.8 Nautronix Legacy ................................................................................................. 84
10.1.9 MDL Standard c/w Checksum.............................................................................. 85
10.2 Multi-Target Tracking Software............................................................................................ 85
10.2.1 MDL Standard ...................................................................................................... 85
10.2.2 MDL Standard with Relative B/R.......................................................................... 86
10.2.3 MDL Standard + C/S ............................................................................................ 87
10.2.4 MDL Standard + C/S with Relative B/R................................................................ 87
11 Exploded Diagrams 88
11.1 Fanbeam Exploded Diagram ............................................................................................... 88
11.2 UCU Exploded Diagram ...................................................................................................... 90
11.3 PSU Exploded Diagram and Parts....................................................................................... 92

Figures
Figure 1 – Equipment Configuration....................................................................................................... 20

Figure 2 – Mounting Plate Plan View with Dimensions .......................................................................... 22
Figure 3 – Mounting Side Elevation ....................................................................................................... 23
Figure 4 – Mounting with Clearance Dimensions ................................................................................... 24
Figure 5 – PSU Dimensions................................................................................................................... 26
Figure 6 – UCU2 Dimensions................................................................................................................. 28
Figure 7 – STDP Software Main Display................................................................................................ 34
Figure 8 – STDP Software Manual Sections.......................................................................................... 35
Figure 9 – Tracking Displays with Alarms .............................................................................................. 40
Figure 10 – Target Acquisition Display................................................................................................... 43
Figure 11 – Logical Events for Target Observations .............................................................................. 48
Figure 12 – Fanbeam in Park Position for Transit Case......................................................................... 50
Figure 13 – Fanbeam Command Dialog ................................................................................................ 51
Figure 14 – MTT Software Main Display ................................................................................................ 53
Figure 15 – MTT Software Manual Sections .......................................................................................... 54
Figure 16 – Editing a Target File............................................................................................................ 61
Figure 17 – Multi-Target Acquisition....................................................................................................... 63
Figure 18 – MTT Software Whilst Tracking ............................................................................................ 65
Figure 19 – The Mother Board ............................................................................................................... 74
Figure 20 – The Stepper Board.............................................................................................................. 76
Figure 21 – The Control Board............................................................................................................... 77
Figure 22 – Current Loop Driver Configuration ...................................................................................... 78
Figure 23 – Fanbeam® Exploded Diagram............................................................................................ 88
Figure 24 – UCU Exploded Diagram...................................................................................................... 90
Figure 25 – PSU Exploded Diagram ...................................................................................................... 92
Tables
Table 1 – Target Range / Fanbeam Speed Correlation ......................................................................... 45

Table 2 – Internal Connections for Fanbeam®4.2 Mother Board........................................................... 75

1 Fanbeam®4.2 User’s Manual
THIS MANUAL HAS BEEN COMPILED WITH CARE. HOWEVER, SHOULD YOU DISCOVER ANY ERROR,
WE WOULD BE GRATEFUL IF YOU COULD CONTACT THE MARKETING MANAGER DIRECT.
IT IS IMPORTANT THAT YOU READ THIS MANUAL CAREFULLY BEFORE USING THE SYSTEM.
Measurement Devices Ltd.

Silverburn Crescent
Bridge of Don Industrial Estate
Aberdeen AB23 8EW
Scotland UK
Tel: + 44 (0) 1224 246700
Fax: + 44 (0) 1224 824987
e-mail: marketing@mdl.co.uk
Internet: http://www.mdl.co.uk
©Copyright 2007 Measurement Devices Limited.

Reproduction in whole or in part, including utilisation in machines capable of reproduction or retrieval, without the
express written permission of MDL is prohibited. Reverse engineering is also prohibited.
Software Version 2.00 and above.

©Copyright 1988 – 2007 Measurement Devices Limited.
The programs that control this product are copyrighted and all rights are reserved. Reproduction, adaptation, or
translation of those programs without prior written consent of Measurement Devices Limited is prohibited.
The information in this manual is subject to change without notice.
Some names referred to within this document are trademarks.
Manual Revision History:
DATE SIGNATURE ISSUE

02/11/1999 KSP 01
10/08/2000 KSP 02
22/11/2000 KSP 03
26/06/2001 KSP/AJC 04
05/09/2001 KSP 05
11/03/2005 KSP/DSL/GG/SR 06
28/09/2005 KSP/GG 07
04/04/2007 KSP/GG/SC/SR 08
09/05/2007 KSP 09
20/08/2007 KSP 10

1.1 Dear Customer!
We congratulate you on the purchase of the Fanbeam®4.2. You are now the owner of a high quality laser radar
system. The system is easy to operate.
However we would ask you to take the time to carefully work through these operating instructions before
using the instrument and keep it with the instrument at all times.
If your system requires a service, contact us at:
Measurement Devices Ltd.

Silverburn Crescent
Bridge of Don Industrial Estate
Aberdeen AB23 8EW
Tel: + 44 (0) 1224 246700

Mob: +44 (0) 7803 087322
Fax: + 44 (0) 1224 824987
e-mail: support@mdl.co.uk
Internet: http://www.mdl.co.uk
24hr Support: +44 (0) 7803 087 322
Alternatively for information on your nearest Service & Support Centre visit our website: http://www.mdl.co.uk
For best service, please make a note of the serial number, which can be found, on the instrument. Thank
you!

1.2 Warranty Information
This product is manufactured by Measurement Devices Limited, Silverburn Crescent, Bridge of Don Industrial
Estate, Aberdeen, AB23 8EW, Scotland UK.
(a) Unless otherwise specified MDL warrants the equipment for a period of twelve months from the date of
receipt. This warranty is however given subject to the following conditions:-
(i) MDL shall be under no liability in respect of any defects in the equipment arising from any drawing,
design or specification supplied or modification requested by the customer.
(ii) MDL shall be under no liability in respect of defects arising from fair wear and tear, wilful damage,
negligence, abnormal working conditions, failure to follow MDL’s instructions (whether oral or in
writing), misuse or alteration or repair of the equipment without MDL’s approval.
(b) Claims in respect of defective equipment must be intimated by notice in writing to MDL and the equipment
must be retained by the customer pending written instructions from MDL.
(c) Following authorised return of the equipment, which must be made by the customer on a freight prepaid basis,
MDL will examine the equipment and if the claim is justified, at MDL’s option, will repair the defective
equipment or will make replacement without charge and MDL will have no further liability to the customer.
NOTE: IF THE SYSTEM’S ROUTINE MAINTENANCE IS NOT PERFORMED, THE WARRANTY MAY BE
INVALIDATED. SEE RELEVANT SECTION FOR MORE INFORMATION.

1.3 Software License Agreement
You have acquired a device (“FANBEAM”) that includes software licensed by Measurement Devices Limited from Microsoft
Licensing, GP or its affiliates (“MS”). Those installed software products of MS origin, as well as associated media, printed
materials, and “online” or electronic documentation (“SOFTWARE”) are protected by international intellectual property laws
and treaties. The SOFTWARE is licensed, not sold. All rights reserved.
IF YOU DO NOT AGREE TO THIS END USER LICENCE AGREEMENT (“EULA”), DO NOT USE THE FANBEAM OR
COPY THE SOFTWARE. INSTEAD, PROMPTLY CONTACT MEASUREMENT DEVICES LIMITED FOR INSTRUCTIONS
ON RETURN OF THE UNUSED DEVICE(S) FOR A REFUND. ANY USE OF THE SOFTWARE, INCLUDING BUT NOT
LIMITED TO USE ON THE FANBEAM, WILL CONSTITUTE YOUR AGREEMENT TO THIS EULA (OR RATIFICATION
OF ANY PREVIOUS CONSENT).
GRANT OF SOFTWARE LICENCE. This EULA grants you the following licence:
¾ You may use the SOFTWARE only on the FANBEAM.
¾ NOT FAULT TOLERANT. THE SOFTWARE IS NOT FAULT TOLERANT MEASUREMENT DEVICES LIMITED
HAS INDEPENDANTLY DETERMINED HOW TO USE THE SOFTWARE IN THE DEVICE, AND MS HAS RELIED
UPON MEASUREMENT DEVICES LIMITED TO CONDUCT SUFFICIENT TESTING TO DETERMINE THAT THE
SOFTWARE IS SUITABLE FOR SUCH USE.
¾ NO WARRANTIES FOR THE SOFTWARE. THE SOFTWARE is provided (AS IS) and with all faults. THE ENTIRE
RISK AS TO SATISFACTORY QUALITY, PERFORMANCE, ACCURACY, AND EFFORT (INCLUDING LACK OF
NEGLIGENCE) IS WITH YOU. ALSO, THERE IS NO WARRANTY AGAINST INTERFERANCE WITH YOUR
ENJOYMENT OF THE SOFTWARE OR AGAINST INFRINGEMENT. IF YOU HAVE RECEIVED ANY
WARRANTIES REGARDING THE FANBEAM OR THE SOFTWARE, THOSE WARRANTIES DO NOT
ORIGINATE FROM, AND ARE NOT BINDING ON, MS.
¾ No Liability for Certain Damages. EXCEPT AS PROHIBITED BY LAW, MS SHALL HAVE NO LIABILTY FOR
ANY INDIRECT, SPECIAL, CONSEQUENTIAL OR INCIDENTAL DAMAGES ARISING FROM OR IN
CONNECTION WITH THE USE OR PERFORMANCE OF THE SOFTWARE. THIS LIMITATION SHALL APPLY
EVEN IF ANY REMEDY FAILS OF ITS ESSENTAIL PURPOSE. IN NO EVENT SHALL MS BE LIABLE FOR
ANY AMOUNT IN EXCESS OF U.S. TWO HUNDRED FIFTY DOLLARS (U.S.$250.00).
¾ Limitations on Reverse Engineering, Decompilation, and Disassembly. You may not reverse engineer,
decompile, or disassemble the SOFTWARE, except and only to the extent that such activity is expressly permitted
by applicable law notwithstanding this limitation.
¾ SOFTWARE TRANSFER ALLOWED BUT WITH RESTRICTIONS. You may permanently transfer rights under
this EULA only as part of a permanent sale or transfer of the Device, and if only the recipient agrees to this EULA.
If the SOFTWARE is an upgrade, any transfer must also include all prior versions of the SOFTWARE.
¾ EXPORT RESTRICTIONS. You acknowledge that SOFTWARE is subject to U.S. export jurisdiction. You agree to
comply with all applicable international and national laws that apply to SOFTWARE, including the U.S. Export
Administration Regulations, as well as end-user, end-use and country destination restrictions issued by U.S. and
other governments. For additional information on exporting the SOFTWARE, see
http://www.microsoft.com/exporting/.

2 Short-form Description
2.1 Fanbeam®4.2
Precision Positioning and Tracking System
MDL's Fanbeam®4.2 is a laser radar system designed for repetitive, high accuracy positioning and tracking of
marine vessels, and static and semi-static anchored structures.
The system is primarily used to control or assist automatic docking of a vessel next to a platform, jetty or other
vessel. Traditionally, three sensors are employed onboard a vessel involved in dynamic positioning operations.
MDL's Fanbeam®4.2 compliments differential GPS (DGPS) and can assume a primary role when differential
signals are lost or become ineffective. The system is also widely used to position seismic vessels gun array floats
as the vessel surveys the latest oilfield prospects.
THE SYSTEM
The basic system consists of a laser-scanning unit mounted on a motorised yoke that can rotate 360º at up to 50º
per second. The Fanbeam®4.2 laser can measure to a range of 1,000m to within an accuracy of ±10cm using a
vertical 18º fan of pulsed light produced by a multiple element semiconductor laser diode in combination with
special optics.
Pulses reflected from a retro-reflector mounted on a rig or a vessels gun array, for example, is timed and
multiplied by the speed of light to give distance. At the time of the received return the electro optical encoder is
read to give bearing.
AUTOTILT MECHANISM OPTION
An autotilt mechanism incorporated into the yoke of the Fanbeam®4.2 allows the laser-scanning head to be
adjusted by ±15º giving a total beam range of -24º to +24º. This valuable option removes the need for the laser-
scanning head to be manually adjusted during critical operations where large variations in height occur between a
vessel and a rig or two vessels in different states of ballast. A rugged universal control unit (UCU) which features
a backlit keypad for night operations controls the Fanbeam®4.2 with the autotilt option.

SOFTWARE OPTIONS
Fanbeam®4.2 is supplied with MDL's Single Target DP PC software as standard. In addition to a large range of
configurable data output formats, MDL's Single Target DP software can be defined by the user to optimise the
systems performance according to the vessels current environment. The basic software displays range and
bearing information.
Alternatively, MDL can supply you with its Seismic Software, which has many valuable features and procedures.
The software has been designed to enable Fanbeam®4.2 to track up to twenty targets, add and modify target
windows on-line and calculate the separations between any pair of targets in real-time. Improved graphics all
packaged within user-friendly Windows environment makes MDL's Seismic Software a valuable tool for tracking
targets such as gun arrays or dyad tows.
The Fanbeam® is now in regular use on board FPSOs, drill rigs and ships, survey vessels, shuttle tankers, pipe
and cable-lay barges, repair vessels, stone dumpers and dredgers.
ADVANTAGES
MDL's Fanbeam®4.2 system has many advantages. Our customers tell us that the Fanbeam®4.2 is straight-
forward to set up, performs excellently during short range operations, high accuracy is achieved consistently, the
system utilises intrinsically safe targets, requires very little maintenance and is low cost compared to other
systems. This versatile laser system can be employed as a primary or backup system and is considered a
valuable alternative or complementary system to DGPS and other navigational aids
• Performs Excellently During Short-range Operations

• Achieves High Accuracy's Consistently
• Utilises Inexpensive Intrinsically Safe Targets
• Rugged Design
• State-of-the-art Technology
• Long Product Life
• Meets Needs of a Diverse Range of Applications
• All Weather Operation
• Valuable Alternative or Complementary to DGPS
• Excellent Standalone or Backup System

3 System Description
The following section aims to describe the Fanbeam laser radar system as supplied for dynamic positioning
applications.
3.1 Laser
The Fanbeam®4.2 laser is housed in a black anodised aluminium case. The unit is supported on the scanner by
means of a “U” shaped cradle assembly containing a motorised gearbox and encoder assembly, enabling the
laser head to be tilted ±15º from its standard position by remote control. The aluminium block on the front of the
laser houses the glass lens and window assembly. Looking at the lenses, the right hand lens is the transmitter.
The laser housing is shrouded by an aluminium heat shield, which is finished in white on the outside and matt
black on the inside. The shield is mounted on the laser with spacers, which allow the free circulation of air. The
complete laser assembly is sealed against the ingress of moisture.
3.1.1 Laser Principle of Operation
An electrical pulse generator drives the infrared semiconductor laser diode at a repetition rate of 7,500Hz. These
light impulses which are collimated and emitted by the transmitter lens, produce a vertically diverging and
horizontally parallel beam, via the receiver lens, part the echo signal reflected by the target, hits a photo diode
which in turn generates an electrical receiver signal. The time interval between the transmitted and received pulse
is measured and used to compute the range.
Note:
The vertical spread of the transmitted beam is 18° at the optics reducing over range due to dissipation.
The laser outputs the range information along with signal level and timing information to the scanner for further
processing. A 6-wire interface is used between the laser and the scanner.
The laser is controlled by the scanner and is free to run when speed of rotation is above 4 degrees per second.
Below this speed the laser transmitter is switched off. During rotation, whenever a valid target enters the field of
view, information is passed to the scanner.

3.2 Optional AutoTilt Mechanism
Until the development of the Fanbeam®4 in 1998, the only way to adjust the tilt angle was to loosen two screws
on the canopy and move the laser head by hand. In most installations this is very impractical as the instrument
may be mounted in an inaccessible location.
As a result of this limitation, MDL have developed

the “autotilt mechanism”. The auto tilt allows the
operator to adjust the tilt angle of the Fanbeam®4.2 Tilt +15º
head by remote control. Vertical tilt angles of-15º, -
10º, -5º, 0º, +5º, +10º and +15º are available. When Tilt 0º
the operator selects one of these angles a motor
situated with the laser cradle head drives the head to
the requested angle.
FANBEAM4
A result of the autotilt modifications is that the J LASER RADAR
canopy is now fixed to the laser cradle head and the
laser module tilts independently. Tilt -15º
3.3 Scanner
The scanner is housed in a rugged die-cast aluminium case finished in synthetic stove enamel and black hard
anodising with stainless steel fastenings. The laser cradle assembly mounts on top of a stainless steel shaft that
protrudes through a watertight seal. Two mounting brackets are fitted to the base of the unit for fixing of the
Fanbeam®4.2.
Connection to the Fanbeam®4.2 is via two connectors on the scanner; one for power and one for data I/0 to the
UCU. The complete assembly is sealed against the ingress of moisture.
A rotating table within the scanner is driven by a stepper motor through a reduction gear and a precision worm
and wheel, which results in a resolution of 0.01°. The angular position of the laser is measured by a high
accuracy optical encoder, which is mounted directly on the laser shaft, thereby avoiding any backlash problems,
which may be caused through gearing. This assembly allows measurement of horizontal angle to a resolution of
0.01° and an accuracy of better than 0.02°.
The laser shaft is fitted with a double seal and provision is made to lubricate the space between the seals via an
external grease nipple fitted in the upper part of the shaft.
Electrical connections between the laser and scanner are passed through slip-rings which are mounted within the
shaft, thus allowing for continuous rotation of the laser if required. The control and drive electronics are contained
on two plug-in cards housed within the scanner.
Power is fed to the system via the 2-way male cannon type connector.

The scanner is switched on via the data I/0 connector and is protected by a 3.15 amp fuse and over voltage
protector, mounted on the control card. Two further fuses on this card provide protection for the laser and data
output.
There are three PCB’s in the scanner, the motherboard, the stepper board and the control board.
3.4 Universal Control Unit (UCU)
The UCU is normally supplied with a Fanbeam®4.2 that

is destined for use as a dynamic positioning sensor. It
provides all the control functions and can be mounted
either beside the Fanbeam®4.2 (i.e. when the
Fanbeam®4.2 is tripod mounted) or several hundred
meters away (i.e. when the Fanbeam®4.2 is mounted
on board a ship and the control is required in the bridge
or computer room).
The UCU is housed in a die-cast aluminium housing. A

backlit keypad is provided on the front and three
connectors are fitted on the rear. The UCU is supplied
with a “U” shaped bracket for mounting the system to a
bulkhead or tripod.
Power is supplied to the unit via the Fanbeam®4.2, along with the bi-directional current loop data link and control
signals, via the 8-way male cannon type connector. All the control functions are carried out between the UCU and
Fanbeam®4.2 over the current loop data link.
If the system is required to connect customer’s equipment the serial connector on the UCU is utilised. This
connector is a bi-directional RS232 interface, which at the simplest level is set up to only output target information.
Several different output formats can be selected from the UCU software to provide easy interfacing to the
customer equipment.
The third connector is a standard 15 way ‘D’ type VGA connector, which provides connection to the monitor. The
UCU provides VGA graphics when connected to a monitor. A simple backlit membrane keypad and integrated
pointing device allow full control of the system. On and off buttons control the power supply to the UCU and the
Fanbeam®4.2.
The UCU may be supplied with one of several programmes depending on the application. This must be specified
at the time of ordering.

3.5 Power Supply
The PSU is housed in a rugged die-cast aluminium case finished in

white synthetic stove enamel. The unit is sealed against the ingress of
moisture. The PSU consists of a switched mode supply, which has
universal mains input capable of operating over the range of 85V to
264V AC at 47Hz to 400Hz. It supplies a DC output at up to 3.5 Amps.
The output is adjustable between 24V and 30V, and is supplied at an
output of 28.5 volts. The unit is set at this voltage to overcome the
voltage drop in the DC connecting cable between the PSU and the
Fanbeam®4.2. The operating voltage of the Fanbeam®4.2 is normally
28 volts but it can operate over the range of 22 volts to 30 volts.
3.6 Optional Current Loop Converter
The current loop interface box is an option which may be ordered if

a computer is required to be directly connected to the
Fanbeam®4.2. The box contains a bi-directional current loop
RS232 interface and an isolated power supply. The deck cable
plugs directly into the box and a short flying lead terminated with a 9
way ‘D’ type female connector provides connection to the computer.

4 System Technical Specifications
The following section covers the technical specifications of the various components of the Fanbeam®4.2 system.
4.1 Laser
Type Semi-conducting Laser Diode 7.5KHz Rep Rate

Wavelength 905nm
Vertical Beam Divergence 18º
Horizontal Beam Divergence 3 milli-radians
Eye Safety Class 1*
Maximum Range 2000m
Accuracy 20cm (10cm possible depending upon target and scan speed)
* Fanbeam® Mk 4.2 is classified as a Class 1 Eye Safe Laser Product in compliance with the requirements of 21 CFR 1040.10 and 1040.11 (except for
deviations pursuant to LASER NOTICE No. 50, dated July 2001), with EN60825-1 2001 and with IEC 60825-1:2001.
4.2 Optional AutoTilt Mechanism
Gear Box Servo Driven Worm and Wheel

Range - 15º to +15º (5º increments)
4.3 Scanner
Construction Die-cast Aluminium with Marine Grade Paint

Dimensions (WxLxH) 200 x 300 x 290 mm
Weight 13.4 kgs
Operating Temperature -25ºC to +60ºC
Water and Dust Resistant IP66
Scan Speed Up to 50º / s
Optical Encoder 0º to 360º
Angular Resolution 0.01º
Angular Accuracy ±0.02°
Current Loop 20mA
Baud Rate 9600 bps

4.4 Universal Control Unit (UCU)
PC Specifications
CPU AMD LX800 500MHz
Memory 256Mb RAM
Storage 256Mb Compact Flash Module
Display 800 x 600 x 256 VGA
Sound 16 Bit Stereo
Operating System Windows XP Embedded
I/O 2 x 16550 UART RS232
User Input
Keyboard Custom Back-lit with numerics / cursors / DEL / . / ENT / ON / OFF
Mouse Micro-module Mini Joystick Two Button Mouse
Connectors
Fanbeam 8 Way PTO2A128P Deck Cable Male
Monitor 15 Way VGA Female D-Type
Data 9 Way RS232 Male D-Type
Housing
Type Die-Cast Aluminium Al Si 12
Dimensions (WxHxD) 240 x 160 x 67 mm
(not including connectors or bracket mounts)
Mount 250 x 100 x 48 mm U-Bracket
Environmental IP41 (Not designed for outside use)
Temperature Operating 0ºC to 40ºC
4.5 Power Supply
Universal Input 85V – 264V AC / 47 – 440Hz

Universal Output 28V DC 3.5 amps
Dimensions (WxLxH) 160 x 260 x 140 mm
Weight 6 kgs
Environmental IP66
Temperature Operating -25ºC to 60ºC

4.6 Laser Safety
The Fanbeam® MK4.2 is classified as a Class 1 eye safe

laser product in compliance with the requirements of 21 CFR
1040.10 and 1040.11 (except for deviations pursuant to
Laser Notice no. 50, dated July 2001), with EN60825-1:
2001 and with IEC 60825-1: 2001.
This product is intended for use in a locale where the emitted radiation is unlikely to be viewed with
optical instruments.
Nevertheless, we recommend that the instrument is not directly pointed at people’s eyes. Aligning the Laser with
the lenses of CCD-cameras or infrared night vision devices can result in damage to them and is therefore not
permitted.
CAUTION! Use of controls or adjustments, of performance of procedures other than those specified herein, may
result in hazardous radiation exposure.
Never open the instrument’s housing! Opening the laser unit may cause exposure to Class 3B radiation.
Do not operate evidently damaged instruments! If the instrument is handled incompetently, the manufacturers
absolve themselves from honouring any guarantee or insurance whatsoever.
DO NOT UNNECESSARILY LOOK INTO THE TRANSMITTER LENS OF THE LASER

4.7 Electromagnetic Compatibility
The Fanbeam® Mk4.2 has been tested and found to comply with the following electromagnetic standards:
Basic Standard Test

EN 60945 : 1997 Maritime Navigation and Radiocommunication equipment and systems – General
requirements – Methods of testing and required test results
Radiated Emissions
Conducted Emissions
Conducted low frequency interference
Power supply short term variation
Power supply failure
IEC 61000-4-2 Testing and measurement techniques
Section 2. Immunity to Electrostatic discharge
Section 3. Immunity to Radiated radio frequency electromagnetic
field
Section 4. Immunity to Electrical fast transient/burst
Section 5. Immunity to Surge
Section 6. Immunity to conducted disturbances induced by radio
frequency fields
4.8 Electrical Safety
The Fanbeam® Mk4.2 has been tested and found to comply with the following electrical safety standard:
EN 60950-1 : 2001 Information Technology Equipment

4.9 Environmental Compliance
The Fanbeam® Mk4.2 has been tested and found to comply with the following environmental standards:
BS EN 60945 : 1997
Clause Test
7.1 Extreme Power Supply (Operational check/s)
7.2 Excessive conditions
The above test clauses were conducted either during, before and after each test as per the test clause
instructions in the standard
8.2 Dry Heat temperature +70ºC
Test was conducted for 15 hours in the Park mode
Then 14 hours at +55ºC
8.3 Damp Heat temperature +40ºC and 93% rh
Test was conducted for 14 hours in the Park mode
8.4 Low Temperature Test –25ºC
Test was conducted for 15 hours not powered
8.8 Rain Test IP test
12.5mm nozzle, 100 Ltr/min for 30 minutes power off
Test conducted on Fanbeam and 28V PSU
11.2 Compass Safe Distance Test
Fluxgate magnetometer and a magnetic compass were placed 0.5 meters from the nearest
point of the system
System State Magnetometer Reading (uT) Compass Deflection
Off 0.01 0º
Park Mode 0.07 0º
Search Mode 0.03 0º
4.10 Vibration
The Fanbeam® Mk4.2 has been tested and found to comply with the following vibration standard:
DNV Standard for certification No. 24 April 2001, Section 3.6
4.11 CE Approval
Any changes or modifications to the standard equipment as supplied by Measurement Devices Ltd. may void the
CE approval for the system.
The Fanbeam®4.2, which meets the requirements of the European standards, will have a label attached to the
back panel of each instrument marked:

5 Installation
The Fanbeam®4.2 system is simple to install. However, there are some very important points in the following
section that should be observed before undertaking an installation.
Power is normally supplied to the Fanbeam®4.2 and UCU from the Fanbeam®4.2’s PSU which requires an AC
voltage between 85 and 265 volts. Connection between the Fanbeam®4.2 and UCU is by the deck cable normally
supplied with the system.
Power Cable AC Input

PSU
FANBEAM
J LASER RADAR
Deck
Cable
SVGA Monitor
UCU2
RS232
DATA OUT
Figure 1 – Equipment Configuration
5.1 Mechanical Installation
5.1.1 Scanner Locations
The location and mounting of the Fanbeam®4.2 on the vessel is an important consideration in any installation.
Before any work is carried out, due attention should be paid to the following issues:
• The Fanbeam®4.2 is an optical device and relies upon a clear line-of-sight to the area(s) where the target(s)
are to be installed. Avoid locations where other equipment could potentially obstruct the laser-beam and
hinder the Fanbeam®4.2’s performance. In many cases, it has been found that an ideal place to mount the
Fanbeam®4.2 is on the centre line, directly above the bridge.
• The location should be reasonably easy to access so the routine maintenance can be carried out regularly
and without risk. A mast installation may offer the best line of sight, but presents problems when the
Fanbeam®4.2 has to be removed for servicing.
• The mounting location should avoid areas of vibration or dirt, such as emissions from the vessel funnels that
may affect the lenses.

• The Fanbeam mounting location must allow space for 360º rotation of the head. A heavy obstacle could block
the movement and cause damage to the mechanical assembly.
5.2 Mounting the Fanbeam®4.2
The unit should be mounted on a heavy-duty steel plate welded in location as shown in the diagrams that follow in
this section. The mounting plate should be welded to a stable structure ensuring that it is level in both planes. The
holes for mounting Fanbeam®4.2 should be aligned carefully along the fore and aft axis of the vessel. Check the
plate for mechanical arching and fit shims as required. The Fanbeam base can be damaged if forced onto a
distorted plinth.
IMPORTANT: THE UNIT SHOULD BE MOUNTED WITH THE TWO EXTERNAL CANNON CONNECTORS
FACING THE FRONT OF THE VESSEL. THIS ALLIGNS THE FANBEAM 0º AXIS WITH THAT OF THE
VESSEL.
Always fit the supplied feet isolators and plastic washers to prevent galvanic earthing. Torque up the four M8 bolts
to 100-105 lbs/inches (11.9Nm). The bulkhead connectors should be lightly greased using the supplied silicone
grease before fitting the cables. Take care not to grease the pins. Use self-amalgamating tape to wrap both
connectors and protect from moisture ingress. Always leave service loops of cable for both power and data at the
Fanbeam. This allows for spare cable in the event of re-termination and helps to prevent moisture runs.
Once mounted, check that there are no obstructions, which will limit movement of the system’s head through
360°.
WARNING: ALWAYS WEAR THE APPROPRIATE PERSONAL PROTECTIVE EQUIPMENT (P.P.E.) WHEN
WORKING IN AREAS OF POTENTIAL HAZARD. IF WORKING AT HEIGHT, ALWAYS USE A SAFETY
HARNESS.
WARNING: DO NOT REMOVE THE FANBEAM®4.2 BASE WHEN INSTALLING THE SYSTEM. USE THE
DRAWING TEMPLATE IN FIGURE 2.
WARNING: NEVER ROTATE THE FANBEAM HEAD BY HAND. THE SYSTEM CAN ONLY BE ROTATED BY
COMMANDS FROM THE UCU ONCE POWER IS CONNECTED.
WARNING: PROTECT THE FANBEAM FROM ALL FORMS OF MECHANICAL DAMAGE AND SHOCK
WARNING: NEVER DIRECTLY CONNECT THE FANBEAM TO MAINS OR AC VOLTAGES

Figure 2 – Mounting Plate Plan View with Dimensions

TAPE UP AND
GREASE
CONNECTORS
DO NOT REMOVE UNIT’S BASE

PLATE WHEN INSTALLING THE
FANBEAM®4.2 – YOU WILL VOID
WARRANTY. USE DRAWING
TEMPLATE IN SECTION 6.1 FOR
INSTALLATION.
Figure 3 – Mounting Side Elevation

150mm dia
Figure 4 – Mounting with Clearance Dimensions

5.2.1 Fanbeam®4.2 Alignment Calibration
It is desirable to have the laser beam aligned to the ship’s heading so that when the laser is pointing directly
forwards to the vessel the horizontal angle will read 000.00°.
The optical path of the laser is aligned with a “zero index pulse” on the optical encoder during manufacture. The
encoder is directly mounted to the horizontal rotation axis of the laser. It is therefore unlikely that this basic
alignment will be lost. In order to correlate the relative angles measured by the Fanbeam®4.2, the zero position of
the instrument must be referenced to the ships heading.
A reflective target can be positioned on the centre line and the laser commanded to scan slowly over the sector
where the target lies. As the Fanbeam®4.2 can detect the centre of the target to within 0.02° the angle output
from the Fanbeam®4.2 need only be noted and the offset calculated. This offset can then be programmed into the
system.
NOTE: IF THE TARGET IS FORWARD OF THE LASER THE ANGLE SHOULD BE ZERO. IF, HOWEVER, IT
IS MORE FLEXIBLE TO POSITION THE TARGET AFT OF THE LASER THE ANGLE SHOULD BE 180°.
For greater accuracy in alignment, it may be desirable to use a longer baseline than is available on board. To
achieve this, the vessel is tied up to the quayside and a target is positioned at some distance away on the
quayside. The position of this target can then be measured and an angle relative to the ships heading calculated
using conventional survey techniques with a theodolite or EDM. The Fanbeam®4.2 is then commanded to scan
slowly over the sector and the returned angle is noted. An offset is then calculated and entered as before.
5.2.2 28V PSU Installation
The Fanbeam®4.2 28V PSU unit should be mounted in a secure location where mains voltage is available and
connected using the mains power cable supplied to an 85-265V AC supply. With the power off and lid removed,
secure the PSU using P/H screws or wood screws. If the PSU is mounted outside, ensure that the connectors are
greased and wrapped in self-amalgamating tape. Also, grease the lid copiously before re-fitting.
WARNING: THE PSU SUPPLY IS GREATER THAN 75V AC AND IS THEREFORE CLASSIFIED AS A
LETHAL VOLTAGE. IF CARRYING OUT WORK ON THE PSU ISOLATE SUPPLY BEFORE
REMOVING COVER.

Figure 5 – PSU Dimensions

5.2.3 UCU Installation
The Fanbeam®4.2 UCU and monitor should generally be installed in, or near the bridge console and should be
either built in to the console or secured accordingly, to ensure there is no possibility of movement during bad
weather. Mounting details are shown in the diagram that follows.
The UCU is supplied with a “U” shaped bracket, which allows the unit to pivot. The bracket may be secured to the
desired mounting position and the angle of the keypad and pointing device adjusted to suit. Alternatively, the
bracket may be removed and the two blind tapped holes either side of the UCU used to secure it as desired. MDL
recommend that the unit be installed at a normal working height to facilitate ease of use of the integrated pointing
device.

Figure 6 – UCU2 Dimensions

5.2.4 Targets
To achieve the best performance from the Fanbeam®4.2 it is important to use good quality targets mounted in the
most suitable locations. There are two main types of target, reflective tape and retro prisms.
• Reflective tape
Good quality reflective tape should be used. Standard tape will considerably reduce the Fanbeam®4.2’s
performance.
MDL Recommend: Diamond Grade White Reflective Tape
Targets made up from such reflective tape will generally give ranges up to 100m and possibly 150m depending on
conditions. At short ranges a simple strip of tape a few inches wide will suffice, but it is recommended that a
cylindrical target approximately 150mm in diameter and 1m long be used. This will allow for viewing from all
angles.
• Retro Prisms
Retro prisms are required at longer ranges to give a strong enough reflection to register a range. They are
designed to return any light received on a parallel path, and will normally do so over a spread of 30° either side of
the centre.
With targets where the laser may originate from any angle, a prism cluster is required for full 360° viewing. Six
prisms are the minimum, but eight are recommended to ensure there are no blind spots.
A single prism will register at ranges up to 500m and a cluster of six is good to 2km. With such a number of
prisms the weight of the target must be considered, and a suitable strong and stable mount used. Reflective foil of
the type mentioned put round the central tube can help to overcome potential blind spots between prisms at short
ranges.

5.3 Electrical Installation
As can be seen from Figure 1, the Fanbeam system employs a simple cable structure. As with any marine cable
run, however, there are many good practices that should be followed to ensure a successful installation.
• All cables must be installed with regard to bend radius and entry angle.
• All cable runs should be protected as much as possible. Using REM clamps, plastic tie-wraps or steel cable
bands, the cables should be adequately secured and supported. This is to ensure there is no free movement
or damage to the cables.
• All cable runs should be separated from high voltage AC cables or unscreened data cables.
• Where there is enough cable, service loops should be left at both ends of each cable to allow for future work
and/or relocation.
5.3.1 Data/Deck Cable
The data or “deck” cable normally supplied with the Fanbeam®4.2 is a 7 core overall screen polyurethane sheath
cable, 50 metres long, terminated at each end with an 8 way cannon style connector as follows.
LASER UCU
CONNECTOR CONNECTOR
PT06A-12-8P PT06A-12-8S
(MALE) COLOUR FUNCTION (FEMALE)
A NO CONNECTION A
B RED 28V B
C BLUE DATA LASER -> UCU C/L HI C
D GREEN DATA LASER -> UCU C/L LO D
E YELLOW DATA UCU -> LASER C/L LO E
F WHITE DATA UCU -> LASER C/L HI F
G BLACK SWITCH (0V) G
H BROWN SWITCH (28V) H
The cable used is type DS3055 and the conductors are 0.75 SQmm (24/0.2) with a tinned copper wire braid (75%
coverage). The screen is connected at both ends to the connectors.
Other cable lengths may be supplied to order (up to a maximum of 300 metres).

5.3.2 DC Power Cable
The 28V PSU can be powered continuously and the Fanbeam®4.2 powered on and off from the UCU.
The cable normally supplied with the Fanbeam®4.2 is a three core screened type CY control cable. The
conductor size is 32/0.2 rated at 10 amps. The cable is terminated at each end with cannon style connectors as
below. The screen is connected at both ends of the connectors.
LASER CONNECTOR PSU

PT06A-10-2S CONNECTOR
(FEMALE) PT06A-12-3P (MALE)
COLOUR FUNCTION
A BLUE 0V C
B BROWN 28.5V A
SCREEN SCREEN B
Normally a 20-metre cable is supplied but other lengths may be ordered (up to a maximum of 80 metres). If longer
cables are required it is advised that the PSU be adjusted to ensure that 28V is available at the laser.
WARNING: THE PSU SUPPLY IS GREATER THAN 75V AC AND IS THEREFORE CLASSIFIED AS A
LETHAL VOLTAGE. IF CARRYING OUT WORK ON THE PSU ISOLATE SUPPLY BEFORE
REMOVING COVER.
5.3.3 UCU Data Cable
The cable supplied with the UCU is a 3 core screened cable terminated with a 9 way ‘D’ type female connector on
each end. Cable length is 2 metres.
Connections are as follows:
UCU CONNECTOR DATA CONNECTOR

9 WAY ‘D’ TYPE 9 WAY ‘D’ TYPE
(FEMALE) COLOUR FUNCTION (FEMALE)
2 GREEN / YELLOW DATA TO UCU 3

3 BROWN DATA FROM UCU 2
5 BLUE 0V 5
This cable is used for connection of the Fanbeam®4.2 system to the user’s equipment.

6 Single Target Dynamic Positioning Software
The following sections pertain to the operation of the UCU2 and detail the use of the software that is embedded
on the system. It is highly recommended that this be read by all users of the Fanbeam system (including existing
users of the original UCU) as it contains important information on how to gain the best performance from the
Fanbeam® Laser Radar system. Due to the optical nature of the sensor, there are a number of operational
parameters that can change on daily basis depending upon the weather and lighting conditions. These should be
fully understood before a user attempts to use the sensor in a DP situation.
Obviously, MDL strives to ensure that its manuals and instructions are as clear and concise as possible to all
concerned. If, however, you or any other user considers that the following sections could be worded differently or
more clearly, please do not hesitate to contact MDL using the details in section 1.1.
6.1 Using the UCU2
6.1.1 Powering On and Off
Power for the UCU is supplied via the Fanbeam through the deck cable. Before the UCU can be switched on, the
Fanbeam must be connected to the UCU and to an MDL 28V PSU, which is connected to mains power.
The UCU ON button should be held down for 1-2 seconds and after which the attached monitor should display the
BIOS start-up messages. The Fanbeam will also perform an initial 360º spin.
NOTE: Some monitors will not display an input signal if switched off when the signal is initially sent. Always
ensure the attached monitor is switched on before powering on the UCU.
Switching the UCU2 off is done by pressing and holding down the OFF button for five(5) seconds. The software
will terminate and the operating system will perform a full system shutdown. This action takes approximately 20
seconds to complete. This action is only effective if the software is at the MAIN MENU. Attempting to switch off
the UCU2 whilst tracking or acquiring targets will have no effect.
NOTE: Obviously, the UCU2 can be powered down by disconnecting its power source, the deck cable. Doing this
before a full shutdown has occurred can corrupt the software that is embedded in the UCU2 and lead to an
inoperable unit.
NOTE: After pressing the system shutdown, the screen will go blank. The UCU2 still requires approximately five
seconds to power down after this. If the user requires to switch the unit back on immediately, he/she must give it
time to switch off completely. The keyboard back light can be used as an indication of the power status.

6.1.2 User Input
The UCU2 has two forms of input available to the user. These are the keyboard and the integrated pointing device
(mouse). The keyboard has the following keys:
ON Used to activate the UCU and Fanbeam

OFF Used to de-activate the UCU and Fanbeam
Cursor UP Used to increase parameter values available in the software
Cursor DOWN Used to decrease parameter values available in the software
Cursor LEFT Used to move focus to next parameter available in the software
Cursor RIGHT Used to move focus to previous parameter available in the software
ENT Used to activate particular options in the software
0-9 Used to select target for tracking or options from the Menu Button Bar
DEL Used to initiate target re-acquisition or apply a tilt angle
. Used to stop acquisition or tracking and return to the main menu
The pointing device is the equivalent of a two-button mouse, allowing the user to move a cursor around the screen
and press software buttons by using the left mouse button. The right mouse button is only ever used to move the
graphics display.
For most purposes, the keyboard is the quickest way of interacting with the software and the shortcut keys should
be learned to facilitate most effective use of the UCU. More information on the shortcut keys is available
throughout the remainder of the software manual.
6.1.3 Dual Boot Option
Most UCUs are supplied with the Single Target Dynamic Positioning (STDP) software as the default software that
is run when the system is powered up. There are, however, two software packages available on the UCU as
follows:
• Single Target Dynamic Positioning Software v2.08 (see section 6.2)

• Multi-Target Tracking Software v1.00 (see section 7)
If both are used then the UCU is configured to “dual boot” at start-up. This configuration allows the user to select
the software to run every time the UCU is powered up.

6.2 STDP Software – The Main Display
Once the UCU has been powered on and has gone through the operating system boot up process, the Fanbeam
software will run and ask the user if he/she wishes to use default settings. If YES is clicked then default values for
the GATING PARAMETERS are loaded, otherwise the last used values are retained.
MENU BUTTON BAR
GRAPHIC
TOOLBAR
TARGET
READOUTS
GRAPHIC
DISPLAY
TRACKING &
GATING
PARAMETERS
STATUS BAR
Figure 7 – STDP Software Main Display
The screen display is separated into various sections as indicated above. These are:
• MENU BUTTON BAR

This area contains the buttons associated with the main functions of the software. Target acquisition and
tracking is done using these numbered buttons.
• TARGET READOUTS
Large, coloured text readouts of range, bearing, level and accuracy.
• GRAPHIC DISPLAY
Scaled plan view centred about the Fanbeam. Graphically presents targets, a vessel outline, scale
annotations and alarm limits.
• GRAPHIC TOOLBAR
Buttons to allow manual zooming or auto-scaling of the graphic display and colour scheme selection.
• TRACKING AND GATING PARAMETERS
Online parameters to aid with target acquisition and tracking.
• STATUS BAR
Displays data output, Fanbeam and software status.

The following section of the manual is split into four parts, which document the main functions of the software.
These functions are Setup (section 6.3), Track (section 6.4), Park (section 6.6) and Command (section 6.7).
NOTE: Whilst these sections deal mostly with interaction with the software, there are also some important
operational points relating to the configuration of the hardware.
Section 6.3 Section 6.4 Section 6.6 Section 6.7
Figure 8 – STDP Software Manual Sections

6.3 STDP Software Setup
There are a number of initial setup options, which can be configured in the software. To access these options,
click the Setup button from the MENU BUTTON BAR or press the 1 key. This action will display the setup dialog
at the bottom left of the display. There are four tabs each containing logical groupings of settings. These are as
follows:
NOTE: All setup options are saved to disk when accepted and so are retained after a restart.
6.3.1 Data Output
The data output tab contains all of the settings that pertain to data that is produced and output by the software.
• Enable Data Output

This checkbox toggles on and off the output of RS232 data from a secondary serial port.
• Data Format
Clicking this button takes the user to the data output format dialog (see section 10), which allows
selection of different data strings and baud rates for interfacing purposes.
• Data Output Port
Allows selection of a serial port for data output.
NOTE: This option is always set to COM2 for users of a UCU.
• Log Raw Data
This checkbox toggles on and off an ASCII log file of all target data coming from the Fanbeam. This
should only be used over short time periods as a diagnostic tool.
NOTE: This option is not available on a UCU.
• Log Output Data
This checkbox toggles on and off a log file of output data being sent from the software. This should only
be used over short time periods as a diagnostic tool.

6.3.2 Data Output Formats
The Single Target DP software was first implemented as a DOS program in the early 1990’s. Over the years, the
software has gone through various modifications and has been interfaced to many different DP consoles. The
result of this is that a variety data formats are available. The exact details of these formats can be found in
Section 10.
Selection of the required data format is done by means of a drop down list. The baud rate is also selectable from
standard speed between 1200bps and 57600bps. The normal baud rate for most of the formats is 9600bps.
NOTE: Users should contact the suppliers of their DP consoles before attempting to connect or interface a new
reference system. Some consoles are not capable of taking a Fanbeam input without hardware and/or software
modifications.

6.3.3 Data Adjustment Parameters
• Delta Height
This parameter is used to automatically reduce slope distances, accounting for a significant height
difference between the Fanbeam and the target. This need only be used where the measured range
needs to be accurate. Many DP situations do not require an exact range to the target, just a repeatable
one. Therefore, this parameter should only really be used when advised.
NOTE: If this parameter is non-zero, then the range is reduced before being displayed (i.e. the “raw”
range is manipulated).
OBSERVED RANGE = OR
DELTA
HEIGHT
= dH
REDUCED RANGE = 2 2
OR − dH
• Bearing Correction
This parameter is used to offset the bearings measured by
the Fanbeam. Every bearing observed by the Fanbeam is +ve
automatically incremented by the bearing correction value. BEARING
Most installations should have the Fanbeam mounted with its OBSERVED CORRECTION
zero angle parallel to the ships head, but a horizontal BEARING
adjustment can be implemented in the software using this CORRECTED
setting. BEARING
NOTE: If this parameter is non-zero, then the bearing is
offset before being displayed (i.e. the “raw” bearing is
manipulated).
• X Offset / Y Offset
These parameters are used to offset output data to reflect a
0º
different Fanbeam position to the actual one. This could be
used to align the range/bearing output data to another sensor X Offset
or location on the vessel where it is not possible to mount the
Fanbeam. +ve Y Y Offset
NOTE: These parameters only effect the output data and not
the on-screen or “raw” data. Assuming that the Fanbeam is
+ve X
mounted such that it’s 0º points to the bow of the vessel then
the following schematic applies: Output
Vector
Observed
Vector

6.3.4 Alarms
The alarms tab contains settings that allow users to select and configure audio alarms for target loss and specific
range/bearing arrays.
• Alarm Sound
Clicking the speaker button allows the user to select a .WAV file to be played when an alarm situation
arises. Users should be careful in their selection of .WAV files, not to choose too big or long a sound.
The default sound is a short beep. The green play button can be used to preview the selected sound.
NOTE: This option is not available on a UCU as the sound is restricted to the default one.
• Target Loss Sound
Clicking the speaker button allows the user to select a .WAV file to be played when the target is lost
during tracking. Users should be careful in their selection of .WAV files, not to choose too big or long a
sound. The default sound is a short laser bolt. The green play button can be used to preview the selected
sound.
NOTE: This option is not available on a UCU as the sound is restricted to the default one.
• Audio Alarm On Target Loss
This checkbox toggles on and off the playing of a audio alarm on target loss. Some users may find the
feature useful to have active as an early warning of possible problems.
• Minimum Range Alarm
When enabled, this will trigger an audio alarm when the target being tracked comes within the specified
range. The alarm sound will play and the display will change colour.
• Maximum Range Alarm
When enabled, this will trigger an audio alarm when the target being tracked goes out-with the specified
range. The alarm sound will play and the display will change colour.

• Bearing Alarms
When enabled, these will trigger an audio alarm when the target being tracked is clockwise of the
minimum bearing and counter-clockwise of the maximum bearing. The alarm sound will play and the
display will change colour. Bearings that overlap 0º are acceptable (e.g. from minimum of 315º to
maximum of 25º).
If all of the alarms are enabled, there is effectively a “safe” sector relative to the Fanbeam, which the target must
remain inside to avoid an alarm situation. The alarm parameters are shown graphically using the current alarm
sector colour.
Tracked target is within all alarm limits Tracked target has gone out-with bearing alarm limits.
Figure 9 – Tracking Displays with Alarms

6.3.5 Colours
The colours tab contains settings that allow the user to configure the colours of many of the user interface
components.
There are two colour schemes available for user customisation and buttons on the GRAPHICS TOOLBAR can
toggle these when tracking a target. The two schemes are called “Daylight” and “Night Time”.
The coloured components are divided into two groups:
• Text Readouts Tracking Text

Colour of readout text whilst tracking target
Tracking Background
Colour of readout background whilst tracking target
Lost Target Text
Colour of readout text whilst target is lost
Lost Target Background
Colour of readout background whilst target is lost
Alarm Text
Colour of readout text whilst tracking target and alarm is triggered
Alarm Background
Colour of readout background whilst tracking target and alarm is triggered
• Graphic Display Background
Colour of graphic display background
Polar Grid
Colour of graphic display grid
Annotations
Colour of scale text and vessel outline
Tracked Target
Colour of tracked target
Lost Target
Colour of lost target
Spurious Target
Colour of target that is out-with tracked target window
Alarm Sector
Colour of graphic alarm limits
Alarm
Colour of graphic alarm limits whilst alarm is triggered

6.3.6 Vessel Outline
The vessel outline settings tab allows the user to create a graphical representation of the vessel and position it
relative to the Fanbeam. It should be noted that this is a graphical tool only and has no relationship with the
offsets and corrections available in the data output tab.
• Display Vessel Outline

This checkbox toggles on and off a boat shape on the GRAPHIC DISPLAY, which is centred about the
Fanbeam.
• Length
This parameter is the length of the vessel outline (bow to aft) and should be approximately equal to the
length of the actual vessel.
• Width
• Fanbeam X / Fanbeam Y
These parameters are used to position the vessel outline relative to the Fanbeam, which is at the centre
of the outline when they are both zero. Normally the Fanbeam will be on the centre line and will only
have a Y offset. Positive X is towards the starboard and positive Y is towards the bow.
• Angular Offset
This parameter is used to rotate the outline around the Fanbeam. Normally the Fanbeam zero axis will
be parallel to the centre line and this value will be zero. Positive is clockwise.
The vessel outline is drawn to scale on the GRAPHIC DISPLAY so an accurate model will aid with target
identification.

6.4 Track
To initiate the dynamic positioning of a particular target with the Fanbeam, click the track button from the MENU
BUTTON BAR or press 2.
There are four steps to be taken before single target tracking can be achieved:
1. Perform 360º acquisition sweeps to find all visible targets.

2. User intervention until the desired target is visible during a sweep.
3. User selection of the desired target using its assigned number.
4. Wait for system to lock onto the desired target.
6.4.1 Target Acquisition
Before any target can be tracked, the system must perform at least one 360 º acquisition sweep. During a sweep,
the software will display all targets that do not infringe the Gating Parameters and assign each one a number. A
list of targets and their associated range, bearing, level and accuracy is displayed on the right of the graphical
display. Up to ten targets can be displayed in this manner.
Figure 10 – Target Acquisition Display
The system will continue to perform these sweeps until either a target is selected for tracking or the back button is
pressed to return to the main menu.

6.4.2 User Intervention
During the acquisition sweeps, the user can do a number of things to ensure that the correct target is found:
• Edit the Gating Parameters

Every time a target is observed by the Fanbeam, its measured range, bearing, level and accuracy are
sent to the software. These observations can be filtered using the software’s built in gating parameters,
which can be modified at any time (see section 6.7.3
for more details). If, during a sweep, one of the
gating parameters turns red, this means that a target
has been observed, but has been rejected by the
software. When this happens, the user can adjust the
relevant parameter to make the target acceptable to
the software. By contrast, the Fanbeam may be
seeing many targets and the desired one may not be
assigned a number below 10. In this case, the user
should adjust the gating parameters to filter out the
unwanted reflections.
NOTE: The desired target should be the best
reflector in the vicinity. It is recommended to use
MDL approved targets.
• Tilt the Laser

A vertical separation between the
Fanbeam and the target can result in the
target not being visible to the laser. If the Tilt +15º
system incorporates a Fanbeam®4.2
AutoTilt unit, then the laser can be tilted Tilt 0º
up or down between acquisition sweeps.
This is done by means of the tilt button
that becomes available from the MENU
BUTTON BAR when a tilt angle that is
different from the actual angle is selected. FANBEAM4
J LASER RADAR
This is indicated by the tilt angle
becoming yellow. Clicking the tilt button
Tilt -15º
or pressing DEL on a UCU2 applies the
new tilt angle.

6.4.3 Selecting A Target
Once the desired target has been observed by the Fanbeam during an acquisition sweep, it will appear on the
GRAPHIC DISPLAY as a box with a number and also in the list of range, bearing, level and accuracy readings on
the right.
Tracking can be initiated in one of three ways:

1. Press the numeric key that corresponds to the desired target number.
2. Click on the appropriate numbered button from the MENU BUTTON BAR.
3. Click on the graphical image of the desired target. Moving the mouse over the GRAPHIC DISPLAY will
highlight each target one by one.
6.4.4 Waiting For The System To Lock On
The Fanbeam must complete its 360º sweep before tracking can begin. Therefore, it can take anywhere from 2 –
15 seconds to find the target once selected. If, for any reason, the system does not manage to lock onto the
target, the user can initiate acquisition sweeps again by clicking the re-acquire button from the MENU BUTTON
BAR or by pressing DEL on a UCU.
6.4.5 Tracking
Once the system has successfully locked onto the desired target, the readings should update between 2 to 5
times per second. The software automatically adjusts the scan speed of the Fanbeam depending upon the target
range according to the following look-up table:
Target Range Fanbeam Speed

<100m 50º/s
100 – 250m 30º/s
250 – 500m 15º/s
500 1400m 10º/s
>1400m 5º/s
Table 1 – Target Range / Fanbeam Speed Correlation
This optimises the Fanbeam scan rate whilst still allowing for a reasonable amount of angular target movement.
Ideally, once tracking, there should be very little user intervention required. This, however, does not mean that the
user cannot do anything further. In track mode, the following functions are available:
• Gating Parameters
These can still be manipulated to filter out unwanted reflections or to ensure that the system continues to
accept the desired target. Automatic Level Tracking can be a useful option at this stage. Activating this
configures the software to automatically reduce the level gate so as to remain below that of the tracked
target. Changing weather and lighting conditions can reduce target level values.
NOTE: Any gating infringement is indicated by the corresponding gating value turning red on the main
display. This acts to inform the user that, whilst a target is not being displayed, it is being seen by the
Fanbeam.

• Window Size
Once locked on, the GRAPHICS DISPLAY shows the tracked target with a segment shaped window
round it. This “target window” is used to stop the system from locking onto other targets, which are close
to the desired one. Even when the target is lost, all other observations that do not infringe the gating
parameters are displayed as spurious targets if the lie out-with the target window. Defined in terms of
range and bearing, the target window is centred about the last target observation. The user can resize
the window in both range and bearing at any time during tracking.
NOTE: These values should not be too small to avoid target loss resulting from inter-observation
movement.
• Manipulate the Graphic Display

The software normally scales the GRAPHIC DISPLAY to accommodate the target being tracked and its
associated window. Using the buttons in the GRAPHIC TOOLBAR, users can customise the display as
required.
The buttons are (from left to right) as follows:
• Zoom In
Allows users to manually select a more detailed scale for the GRAPHIC DISPLAY.
• Zoom Out
Allows users to manually select a less detailed scale for the GRAPHIC DISPLAY.
• Dynamic Display Scale
Toggles on and off automatic display scaling. When this is on, the zoom buttons are
unavailable.
• Centre Display
Re-centres the GRAPHIC DISPLAY. Users can move the display by right clicking and dragging
on it with the pointer.
• Daylight Colour Scheme
Sets the colours to the Daylight Scheme.
• Night Time Colour Scheme
• Re-Acquire Target
If, for any reason, the system loses the desired target, the user can instigate the target acquisition by
clicking the Acquire button or pressing DEL on the UCU2.
• Stop Tracking
When the Fanbeam system is no longer required to track, return to the main menu by clicking the Back
button or pressing the period button on a UCU2.

6.4.6 Target Loss
The software incorporates an algorithm to attempt target recovery once the target has been lost. It behaves as
follows:
Target Loss
• Continue to scan in the same location for three sweeps. This should instantly recover an unmoved target that
has been briefly obscured.
• After three scans, increase the scan size by 1.5. Designed to recover a target that has moved a little more
than expected.
• After five scans, begin to gradually increase the scan size and window size to relocate the target.
• Eventually, the scan size will max out at 180º. At this stage, user intervention is required to reacquire the
target or stop tracking altogether.
The above algorithm is designed to automatically reacquire lost targets that have been obscured and have not
moved significantly, whilst not locking onto any other targets in the immediate vicinity. Only in situations where
there are no other (potentially) reflective objects near to the desired target should the target window size be set
particularly large.

6.4.7 Logical Events for Target Observations
Fanbeam Detects RBLA Data Sent R = Range

Laser Reflection To PC B = Bearing
L = Level
A = Accuracy
Gating
Infringement
R > Max Range? YES
Target Discarded
NO
Gating
Infringement
R < Min Range? YES
Target Discarded
Gating NO
Parameters
Gating
Infringement
L < Min YES
Level?
Target Discarded
NO
Gating
Infringement
A < Min YES
Accuracy?
Target Discarded
NO
Spurious Target
R / B Inside NO
Displayed & Not
Target Window?
Tracked
YES
Desired Target Alarm

R < Min YES
Displayed with Trigger Audio &
Range Alarm?
Window & Output Visual Alarms
Data
NO
Alarm
Position Alarm R > Max YES
Parameters Trigger Audio &
Range Alarm?
Visual Alarms
NO
Alarm
B <> Bearing YES

Trigger Audio &
Array Alarm? Visual Alarms
Figure 11 – Logical Events for Target Observations

6.5 Target Properties
One of the most important factors in the performance of the system as a whole is the target that is to be tracked.
There are a number of target properties that will help greatly with target acquisition and tracking.
• Target Quality
MDL recommend the use of diamond grade white reflective tape for tube style targets. Other reflective
tapes can vary greatly in quality. A poor quality reflector is much less visible to the Fanbeam from longer
distances and in bad weather conditions. Poor reflectors are harder to track because their signal level
may become confused with background returns. This makes target gating harder and increases the
chance of picking up spurious targets such as life jackets or other reflective surfaces.
• Target Size
The Fanbeam system is essentially a 2D system. The vertical fan-shaped laser beam is designed to find
targets even when the Fanbeam is pitching and rolling quite significantly. The tube style of target is good
for short-range work as it presents a long vertical reflective surface for the moving beam to hit. Tube
targets should be at least one meter in length and the diameter should never exceed 25cm. Care should
be taken to mount these targets in as vertical a position as possible. If multiple prisms are used, they
must be stacked vertically.
• Target Position
The target position is the most important of any of the target properties. A Fanbeam target should be
positioned:
• As far away from any other (potentially) reflective objects (such as lifejackets or lifeboats) as is
practically possible. This reduces the chance of spurious reflections and eases the gating and
acquisition procedures.
• As near to the same height as the Fanbeam as is practically possible. This reduces the chance of
having to tilt the laser to find the target and helps with short-range work.
• Further from the Fanbeam rather than too close to it. A target at 15m may be highly reflective, but
one at 40m will be a good reflector, can be seen despite a height difference and is less likely to go
out-with the beam when significant pitch / roll motions affect the Fanbeam.
• Away from locations where it can become obscured by moving objects such as a crane jib.
2 1
2
Fanbeam

6.6 Park
When the Fanbeam head is positioned at 180º, we call this the “Park” position. The Fanbeam can be left in this
position when not in use or switched off and can be useful for lens cleaning. Most importantly, however, is the fact
that the Fanbeam must be put into the park position before being removed and put in its transit case for shipping.
Users must take care to remember that the Fanbeam will not fit in its transit case otherwise and cannot be rotated
manually.
Fanbeam must be in “Park” position before transit.
Figure 12 – Fanbeam in Park Position for Transit Case

6.7 Command – Fanbeam Setup And Offline Control
The Fanbeam settings must be configured once the system is installed to tell the software how the hardware is
interconnected.
Clicking on the Command button on the MENU BUTTON BAR or pressing 4 displays the following dialog:
FANBEAM
CONTROLS
DATA
DISPLAY
OBSERVED
TARGETS
FANBEAM
SETTINGS
GATING
PARAMETERS
Figure 13 – Fanbeam Command Dialog
6.7.1 The Fanbeam Settings
• Fanbeam Port
RS232 port to be used for communication with the Fanbeam must be different to the data output port
(see section 6.4.1).
NOTE: This option is disabled on a UCU2.
• Tilt
If an AUTOTILT Fanbeam is used, the user can tilt the head of the laser up or down in 5º increments
between +15º and –15º.
• Park Angle
This option allows the user to specify the “Park” angle. Users should note, however, that for shipping
purposes, the 180º option must be used.
• Speed
Sets the rotational speed of the Fanbeam in degrees per second.
Once happy with the FANBEAM SETTINGS the user should be able to use the FANBEAM CONTROLS to
manipulate the instrument.

6.7.2 The Fanbeam Controls
• The plan view circle depicts a plan view of the Fanbeam in a white circle. The
mouse can be moved over this circle to select a bearing to move the Fanbeam to or
scan between. Once the desired bearing is shown on the display below the circle,
left click to move the Fanbeam to that bearing, or right click to start scanning
between the chosen bearing and the current bearing.
• The run buttons allow the user to set the Fanbeam running continuously in a
clockwise or counter-clockwise direction.
• The stop button cancels any of the above commands.
• The park button moves the Fanbeam to the 180º position that is used for shipping
the instrument.
Once the Fanbeam is moving, any information for targets that is observed will appear in the OBSERVED
TARGETS area and the DATA DISPLAY. Some targets may be ignored if they infringe the GATING
PARAMETERS.
6.7.3 The Gating Parameters
These parameters are replicated on the main display and can be modified at any time. See section 6.5 for more
information on how and when to use these settings.
Fanbeam
• Minimum Range
Any targets with a range lower than this value are ignored Valid Ranges Invalid Ranges
by the software.
• Maximum Range
Any targets with a range higher than this value are ignored
by the software.
• Minimum Level
Any targets with a level lower than this value are ignored by the software.
• Minimum Accuracy
Any targets with an accuracy lower than this value are ignored by the software.
• Auto Level Tracking
A target’s level is dependant on many outside factors such as weather conditions and visibility. If this
option is checked the level gate will remain lower than any observed target level.
• Apply Gating Parameters
This control allows the user to toggle on and off all of the gating parameters. When this option is
unchecked, all observations will be considered as real targets. With this option checked, any
observations that fall out-with the gating parameters will cause an “infringement”. The coloured status
indicators next to each gating parameter show gating infringements. The values shown are counts of
each infringement since the scan began. These indicators will let the user know if the gating parameters
are set too high.

7 Multi-Target Tracking Software
7.1 MTT Software – The Main Display
Once the UCU has been powered on and has gone through the operating system boot up process, the Fanbeam
software will run and produce the following display:
MENU BUTTON BAR
GRAPHIC
TOOLBAR
TARGET
READOUTS
GRAPHIC
DISPLAY
TRACKING &
GATING
PARAMETERS
STATUS BAR
Figure 14 – MTT Software Main Display
The screen display is separated into various sections as indicated above. These are:
• MENU BUTTON BAR

This area contains the buttons associated with the main functions of the software. Target File manipulation
and tracking is done using these numbered buttons.
• TARGET READOUTS
Large, coloured text readouts of range, bearing, level, accuracy and age.
• GRAPHIC DISPLAY
Scaled plan view centred about the Fanbeam. Graphically presents targets, a vessel outline, scale
annotations and a target vessel outline.
• GRAPHIC TOOLBAR
Buttons to allow manual zooming or auto-scaling of the graphic display and colour scheme selection. Also
displays Target File name.
• TRACKING AND GATING PARAMETERS
Online parameters to aid with target acquisition and tracking.
• STATUS BAR
Displays data output, Fanbeam status and Target File name.

The following section of the manual is split into four parts, which document the main functions of the software.
These functions are Setup (section 7.2), Track (section 7.4), Park (section 7.5), Command (section 7.6) and File
(section 7.3).
NOTE: Whilst these sections deal mostly with interaction with the software, there are also some important
operational points relating to the configuration of the hardware.
Section 7.2 Section 7.4 Section 7.5 Section 7.6 Section 7.3
Figure 15 – MTT Software Manual Sections

7.2 MTT Software Setup
There are a number of initial setup options that are configured in the software. To access these options, click the
Setup button from the MENU BUTTON BAR or press the 1 key. This action will display the setup dialog at the
bottom left of the display. There are four tabs which each contain logical groupings of settings. These are as
follows:
NOTE: All setup options are saved to disk when accepted and so are retained after a restart.
7.2.1 Data Output
The data output tab contains all of the settings that pertain to data that is produced and output by the software.
• Enable Data Output

This checkbox toggles on and off the output of RS232 data from a secondary serial port.
• Data Format
Clicking this button takes the user to the data output format dialog (see section 10), which allows
selection of different data strings and baud rates for interfacing purposes.
• Data Output Port
Allows selection of a serial port for data output.
NOTE: This option is always set to COM2 for users of a UCU.
• Log Raw Data
This checkbox toggles on and off an ASCII log file of all target data coming from the Fanbeam. This
should only be used over short time periods as a diagnostic tool.
• Log Output Data
This checkbox toggles on and off a log file of output data being sent from the software. This should only
be used over short time periods as a diagnostic tool.

7.2.2 Data Output Formats
The Single Target DP software was first implemented as a DOS program in the early 1990’s. Over the years, the
software has gone through various modifications and has been interfaced to many different DP consoles. The
result of this is that a variety data formats are available. The exact details of these formats can be found in
Section 10.
Selection of the required data format is done by means of a drop down list. The baud rate is also selectable from
standard speed between 1200bps and 57600bps. The normal baud rate for most of the formats is 9600bps.
NOTE: Users should contact the suppliers of their DP consoles before attempting to connect or interface a new
reference system. Some consoles are not capable of taking a Fanbeam® input without hardware and/or software
modifications.

7.2.3 Data Adjustment Parameters
• Delta Height
This parameter is used to automatically reduce slope distances, accounting for a significant height
difference between the Fanbeam and the target. This need only be used where the measured range
needs to be accurate. Many DP situations do not require an exact range to the target, just a repeatable
one. Therefore, this parameter should only really be used when advised.
NOTE: If this parameter is non-zero, then the range is reduced before being displayed (i.e. the “raw”
range is manipulated).
OBSERVED RANGE = OR
DELTA
HEIGHT
= dH
REDUCED RANGE = 2 2
OR − dH
• Bearing Correction
This parameter is used to offset the bearings measured by
the Fanbeam. Every bearing observed by the Fanbeam is +ve
automatically incremented by the bearing correction value. BEARING
Most installations should have the Fanbeam mounted with its OBSERVED CORRECTION
zero angle parallel to the ships head, but a horizontal BEARING
adjustment can be implemented in the software using this CORRECTED
setting. BEARING
NOTE: If this parameter is non-zero, then the bearing is
offset before being displayed (i.e. the “raw” bearing is
manipulated).
• X Offset / Y Offset
These parameters are used to offset output data to reflect a
0º
different Fanbeam position to the actual one. This could be
used to align the range/bearing output data to another sensor X Offset
or location on the vessel where it is not possible to mount the
Fanbeam. +ve Y Y Offset
NOTE: These parameters only effect the output data and not
the on-screen or “raw” data. Assuming that the Fanbeam is
+ve X
mounted such that it’s 0º points to the bow of the vessel then
the following schematic applies: Output
Vector
Observed
Vector

7.2.4 Colours
The colours tab contains settings that allow the user to configure the colours of many of the user interface
components.
There are two colour schemes available for user customisation, which can be toggled by buttons on the
GRAPHICS TOOLBAR when tracking a target. The two schemes are called “Daylight” and “Night Time”.
• Background
Colour of Graphics Display and Readout Text background.
• Polar Grid
Colour of Graphics Display grid.
• Scale Annotations
Colour of scale text and vessel outlines.
• Scan Sector
Colour of scan sector.
• Spurious Target
Colour of target that is out-with any target window.
• Default Target
Colour of normal target & window.
• Select Target
Colour of last observed target & window.
• Disabled Target
Colour of disabled target & window.
• Expired Target
Colour of expired target & window.
• Highlighted Target
Colour of user selected target & window.

7.2.5 Vessel Outline
The vessel outline settings tab allows the user to create a graphical representation of the vessel and position it
relative to the Fanbeam. It should be noted that this is a graphical tool only and has no relationship with the
offsets and corrections available in the data output tab.
• Display Vessel Outline

This checkbox toggles on and off a boat shape on the GRAPHIC DISPLAY, which is centred about the
Fanbeam.
• Length
• Width
This parameter is the width of the vessel outline (port to starboard) and should be approximately equal to
the length of the actual vessel.
• Fanbeam X / Fanbeam Y
These parameters are used to position the vessel outline relative to the Fanbeam, which is at the centre
of the outline when they are both zero. Normally the Fanbeam will be on the centre line and will only
have a Y offset. Positive X is towards the starboard and positive Y is towards the bow.
• Angular Offset
This parameter is used to rotate the outline around the Fanbeam. Normally the Fanbeam zero axis will
be parallel to the centre line and this value will be zero. Positive is clockwise.
The vessel outline is drawn to scale on the GRAPHIC DISPLAY so an accurate model will aid with target
identification.

7.2.6 Tracking Options
This page of the Setup Dialog contains parameters related to the acquisition and tracking of multiple targets.
• Nudge Size
This control allows the user to specify the angle that the scan sector can be “nudged” by when tracking. A
small value is recommended to allow for fine adjustment.
• Scan Sector Overflow

This value defines the angle that is added onto either end of an automatically generated SCAN SECTOR.
See the following example for more details:
• Two targets with bearings of 90º and 110º respectively are found.
• They both have a bearing Tolerance of 5º.
• This would define a SCAN SECTOR of 85º to 115º.
• With the Scan Sector Overflow set to 10º the SCAN SECTOR becomes 75º to 125º.
This parameter is used to create a “generous” SCAN SECTOR when acquiring thus providing room for the
targets to move within the area being scanned by the Fanbeam®.
• Default Target Window Size

These parameters are used when automatically creating targets to define the window around the target.
The user can modify these values for each target individually by editing the TARGET FILE.

7.3 Target Files
Before tracking can be initiated, a “Target File” must be loaded if one is not already. To access the functions that
relate to the Target File, click the File button from the MENU BUTTON BAR or press the 5 key. This will display
the FILE MENU BUTTONS, which appear as below:
The back button returns the user to the Main Menu.
The various file functions are explained below:
7.3.1 Target Files – Edit
Clicking the Edit button or pressing the 1 key when in the File Menu displays the following dialog:
TARGET
PARAMETERS
SCAN SECTOR
Figure 16 – Editing a Target File
The TARGET FILE edit dialog allows the user to manipulate almost all of the parameters that relate to a given
configuration of targets. A maximum of four (4) targets can be stored in a TARGET FILE, each with unique
TARGET PARAMETERS as follows:

• ID
Name for the target to aid in user target recognition.
• Range
Starting range of the target from the Fanbeam®.
• Range Tol±
Defines the size of the window in the range axis (polar).
• Bearing
Starting bearing of the target from the Fanbeam®.
• Bearing Tol±
Defines the size of the window in the bearing axis (polar).
• Track This Target
This option allows the user to disable a target without renumbering the others.
• Dynamic Window
The Range and Bearing tolerances define a window around the target. If this option is set, the window
will follow the target as it moves, alternatively, the window will remain static and centred about the start
range and bearing.
• Update Expiry
Unless this value is set to zero, the associated target will be deemed expired if it is not observed for a
time period greater that the value in seconds. If a target expires, it will turn red and will NOT be included
in the data output.
• Alarm On Update Expiry
If this option is set, then an audio alarm will be played when the associated target expires.
There are also buttons to allow the user to ADD and DELETE targets. To add a new target, simply click the ADD
button and a keyboard dialog will appear, allowing the user to input a target ID using the pointer input device (the
UCU has only numeric keys).
Deleting a target will re-number all targets having an ID number higher than that of the deleted one.
The TARGET FILE also contains further information as follows:

SCAN SECTOR:
• Scan CW From
The starting angle for the scan sector of the Fanbeam®.
• To
The second angle that the Fanbeam® will scan between.
• Automatically Calculate Scan Sector
If enabled, this option allows the software to calculate a scan sector such that all targets are included.
All of the above values can be edited whilst tracking, allowing great flexibility.

7.3.2 Target Files – New
Every new docking or loading position will require it’s own TARGET FILE. These files can then be re-used at a
later time by loading them back from disk.
On clicking the NEW button or pressing the 2 key will display the keyboard dialog as above, allowing the user to
input a filename for the new TARGET FILE. Once this is accepted, a save dialog will appear with the filename
entered. If the file already exists the user will be prompted before the file is overwritten.
Once the filename has been accepted, the software will prompt the user to scan for targets. If the user selects
Yes, the Fanbeam® will then perform a 360º sweep and any targets which are observed and do not infringe the
gating parameters (see section 6.7.3) will be displayed.
Figure 17 – Multi-Target Acquisition
If the targets required are found, then the user can select them and they will be added to the TARGET FILE. If the
targets are not seen, the user can adjust the GATING PARAMETERS, and/or tilt the Fanbeam® then reacquire to
see if the required targets can be observed. Once the targets are selected, a scan sector is automatically
generated and the software will offer to start tracking straight away.
If, after creation, the acquire option is skipped, then the Edit dialog is displayed to allow the user to modify and
confirm the settings. These are then saved to disk.

7.3.3 Target Files – Open
The open button is used to load a TARGET FILE from disk. If no file is loaded, then tracking cannot commence.
On clicking this button, an open dialog appears, displaying a list of existing TARGET FILES and the user can then
select one to load. It should be noted that the default directory for TARGET FILES is C:\MDL_DATA.
7.3.4 Target Files – Save / Save As
Once a TARGET FILE has been modified using the edit feature, the changes should be saved to disk for easy
recall at a later time. The Save button is only enabled when the current file has been modified, and clicking it will
write the file to disk using the current filename.
If the user wishes to create a copy of an existing TARGET FILE using a different filename, the Save As button
should be used. This will save the current file using the filename entered into the keyboard dialog.
7.3.5 Target Files - Delete
As there is only a finite amount of disk space available on the UCU, it may be necessary to free up space from
time to time by deleting old or obsolete data files. Press 6 from the File menu and the user will be prompted to
select a TARGET FILE for deletion. The user must confirm the selection before the file is erased completely.
If the disk is running low on space (<0.5Mb) then a warning will appear each time a TARGET FILE is created or
saved.
7.4 Track
To initiate the tracking of a particular set of targets with the Fanbeam, click the
track button from the MENU BUTTON BAR or press 2.
There are two conditions to be satisfied before target tracking can be achieved:
1. A valid TARGET FILE must be loaded.

To find out how to load a target file, please refer to section 7.3.
2. The scan sector must be set such that the bounding values are not equal.
To find out how to set the scan sector, please refer to section 7.3.1.

Assuming that these conditions are met, clicking the Track button will have the following result:
• The Fanbeam® shall be moved to the most counter-clockwise limit of the scan sector and begin
scanning back and forth at the speed specified in the TARGET FILE.
• As targets are seen by the Fanbeam®, they will be displayed and information on screen shall be
updated.
• Data from the target observations shall be sent to the tertiary system using the RS232 format selected in
the setup.
The display will then look something like this:
Figure 18 – MTT Software Whilst Tracking
Whilst tracking, the software will display target information textually and graphically to allow the user to quickly
and easily see what is happening. The last seen target will be highlighted in green (or whatever colour is chosen
for Select Target in the setup).
The most obvious feature, once tracking, is the TARGET VESSEL OUTLINE, which is displayed on the
GRAPHICAL DISPLAY in its position relative to the vessel with the Fanbeam®. This feature will move on the
display, relative to the Fanbeam as the targets move, thus giving a real-time perception of the two vessels’ relative
position.
NOTE: If only two targets are being used then this feature is disabled.

Once tracking, the system should require little intervention (assuming the parameters have been set appropriately
for the given situation). The following options are, however, available during tracking:
1. Manipulate the GATING PARAMETERS.

2. Edit TARGET FILE.
3. Manipulating the GRAPHICS DISPLAY.
4. Back – allowing the user to stop the Fanbeam® from tracking and return to the MAIN MENU.
7.4.1 The Gating Parameters
The gating parameters are always available to the user on the main display:
These values can be used to “filter” out any unwanted targets at any time.
Please refer to section 6.7.3 for more information.
7.4.2 Editing Target Files During Tracking
Please refer to section 7.3 before reading the rest of this section.
WARNING:
Although this function is available, it is not recommended to edit target parameters during tracking as invalid
values could cause a loss of targets and therefore position.
For most purposes, the user should not have to edit target parameters whilst the system is tracking. This function
is present to allow quick access to these values in the event of a target loss of some change in the settings during
tracking.
WARNING:
Caution should be taken when editing TARGET FILE values whilst tracking.
The Edit Target File dialog allows the user access to almost all of the parameters whilst tracking. The following
are exceptions to this:
• Scan Sector – Once tracking, the Fanbeam® must be stopped to change the scan sector.
• Delete Targets – Targets cannot be removed (but can be deselected using Track This Target).

7.4.3 Manipulating the Graphic Display
The software normally scales the GRAPHIC DISPLAY to accommodate the target being tracked and its
associated window. Using the buttons in the GRAPHIC TOOLBAR, users can customise the display as required.
The buttons are (from left to right) as follows:
• Zoom In
Allows users to manually select a more detailed scale for the GRAPHIC DISPLAY.
• Zoom Out
Allows users to manually select a less detailed scale for the GRAPHIC DISPLAY.
• Dynamic Display Scale

Toggles on and off automatic display scaling. When this is on, the zoom buttons are unavailable.
• Centre Display
Re-centres the GRAPHIC DISPLAY. Users can move the display by right clicking and dragging on it with
the pointer.
• Daylight Colour Scheme

• Night Time Colour Scheme

7.5 Park
Please refer to section 6.6 for more information.
7.6 Command – Fanbeam Setup And Offline Control
Please refer to section 6.7 for more information.

8 Maintenance & Servicing
The Fanbeam® 4.2 system is mechanical in construction and therefore will require some maintenance. Also, due
to the optical nature of the system, it is recommended that some cleaning be done to ensure that deposits on the
lens assembly do not compromise the quality of the received laser light.
8.1 Routine Maintenance
The scanning head should be inspected for cracks and corrosion at regular intervals and kept clean by washing
with fresh water and a mild detergent. The laser’s lenses should be cleaned using a proprietary lens cloth.
The Fanbeam connectors should be checked for corrosion or moisture ingress. Silicon grease and self-
amalgamating tape (both supplied in Spares Kit 1) must be re-applied as required. Connectors may be removed
and re-fitted to facilitate this preventative maintenance.
MDL used to recommend that the shaft seals were greased every three months, but this is no longer the case.
Due to a design modification and many instances of over-greasing, MDL now recommend the following as a
greasing procedure:
The shaft seals are greased during manufacture and during every service at MDL or its approved service centre.
This grease should be enough to last for two years for a Fanbeam under normal usage. Therefore, MDL
recommends that the end user does not grease the shaft seals, unless the system has not been serviced for two
years.
NOTE: The grease nipple present on the adaptor plate between the tilt yoke and rotary shaft is for the
purpose of greasing the shaft seals only. It is not a means for adding grease to the internal gearbox. If a
gearbox is making an abnormal sound when rotating, contact your local MDL representative for technical
support.
If the user does have to grease the shaft seals, then the following procedure should be followed:
This task is best done by two people, one outside with the grease gun and the other on the bridge controlling the
Fanbeam. Use a radio to communicate where required.
1. Locate the MDL grease gun that was supplied with the system. Do not use a high-pressure grease gun
as this will damage the seals and potentially lead to water ingress.
2. Using the COMMAND dialog in the software on the UCU, set the Fanbeam to 0º.
3. Apply the grease gun to the grease nipple on the shaft and give two pumps of the gun. (You may want to
check that the gun is flowing freely before this is done).
4. Using the circular control in the software, rotate the Fanbeam to 90º and repeat step 3.
5. Repeat step 4 for 180º and 270º.
8.2 Servicing and Calibration

MDL recommends that Fanbeam systems are serviced and calibrated once a year after the first year of
operation.
MDL operates service facilities for Fanbeam® and other products at its offices in Aberdeen, Scotland, Houston,
USA and Singapore.
There are also approved third party service centres at strategic locations around the world. Please visit
http://www.mdl.co.uk or contact MDL for details of your local service agent.
More details on contact information can be found on the support insert in this manual.
9 Fault Finding
In the event of a problem that impedes or prevents the performance of the Fanbeam system, this section is
designed to help users diagnose faults and, in some cases, rectify them.
9.1 Basic Checklist
A reliable method of localising the cause of an apparent fault is to utilise a logical process of elimination until the
problem is isolated. There follows a basic checklist, which may be used as a guide through such a process:
• The PSU requires an AC input of 85-264V AC. The output should be 28.5V DC between pins A-C on and off
load. The Fanbeam end of the power cable should have 28V DC between pins A-B. A supply that drops on
load will cause the failure of the laser and erratic movement or operation.
• When powered up the scanning head automatically rotates through 360° to initialise the encoder. In order to
power up the Fanbeam®4.2 the 28 volts must be connected, and the UCU must also be connected. When
the “on” key is pressed on the UCU the power relay in the Fanbeam®4.2 is activated thus supplying power to
the whole system. If the scanning head rotates when the UCU is powered up this confirms that power
distribution and regulation within the system are in order. It also confirms that the stepper drive card and
associated micro controllers are in order.
• When a move or run command is sent from the UCU, the Fanbeam should respond accordingly. If it does, it
can be assumed that the data link from the UCU to the Fanbeam is in order. If the UCU display updates when
the Fanbeam stops, it can also be assumed that the data link from the Fanbeam to the UCU is in order.
• The laser can be checked by setting up a target in the line of sight of the Fanbeam (between the minimum of
3m and the recommended maximum range for the target type). Set the Fanbeam to scan across the target at
more than 4º/s. Each time the laser passes the target, the UCU display should update.
• Check the Fanbeam for obstructions and clean the lenses, which can become dirty over time, leading to
reduced performance. Carrying out routine maintenance of the Fanbeam will help to reduce this problem.

• Check that the targets(s) are clean and have not become obscured by other equipment. The reflective
capability of prism tape will reduce with a build up of dirt/salt and contamination caused by prolonged
exposure to the environment. Storing tube targets in a clean storage facility when they are not in use will
reduce this.
• The UCU software has a number of configuration options including many different data output formats. The
correct data format must be used to send target information to a tertiary system (such as a DP console). If
this is not correct, the data will most probably be rejected or ignored.
9.2 Advanced Fault Finding
WARNING: IN CASES WHERE THE MDL OR SUPPLIERS’ WARRANTY HAS NOT EXPIRED, THE
CUSTOMER SHOULD NOT OPEN THE SCANNER UNIT. THIS WILL INVALIDATE THE WARRANTY. IN THE
EVENT OF A PROBLEM THAT CANNOT BE RECTIFIED BY THE BASIC FAULTFINDING, THE USER
SHOULD PRIMARILY CONTACT THEIR SUPPLIER TO SEEK ADVICE. IF THIS IS NOT POSSIBLE, THEN
CONTACT MDL.
9.2.1 Opening the Fanbeam
Appropriate care and the correct tools should always be used to open this equipment. In the even that an end
user requires access to the base of the Fanbeam in order to change a fuse, opto-isolator or some other part, the
following procedure should be followed.
1. If the unit is still under warranty, then permission should be granted from the supplier or MDL before
attempting to open the unit.
2. The Fanbeam unit should be completely disconnected and removed from its mounting location and taken
to clean, dry workshop.
3. Turn the Fanbeam upside-down and sit it on the canopy.
4. Use an appropriate flat-head screwdriver to loosen the four corner screws on the base lid. These screws
are part of the enclosure and so do not completely separate from the box.
5. Locate the TORX TX30 bit in Spares Kit 1. Attach this to a hex driver and use to remove the three TORX
anti-tamper screws located near the centre of the base on the black foot assembly. Take care not to
misplace the small o-rings present on these screws. If you cannot locate a TORX TX30 bit, then contact
MDL who will supply one.
6. The base lid should now open by hand. Never attempt to lever open using a foreign object in the join of
the box as this may damage the seal and render the base weak to water ingress.
7. Please refer to section 9.2.6 for re-sealing instructions.

9.2.2 Power Related Problems
There are a number of conditions that can lead to power supply failure. If the Fanbeam won’t switch on, refer to
the electrical installation (section 5.3) and use the following checklist:
Check 1 Ensure that PSU is connected to 85-264V AC correctly.

Corrective Action Connect to appropriate mains supply and activate
Check 2 Ensure that the PSU output voltage is 28.5V DC between pins A-C on and off
load.
Corrective Action Replace PSU PCB
NOTE: THE PSU CONTAINS LETHAL VOLTAGES. ALWAYS ISOLATE BEFORE OPENING.
Check 3 Ensure that a DC voltage is present at Fanbeam end of power cable between pins
A-B.
Corrective Action Carry out continuity and insulation test replace power cable.
Check 4 Ensure that at least 28V DC is present at Fanbeam end of power cable between
pins A-B.
Corrective Action 1 Tweak PSU gain potentiometer.
Corrective Action 2 Relocate PSU and shorten power cable run.
Check 5 Short pins G-H of the data connector on the Fanbeam. The laser head should
perform a 360º spin.
Corrective Action 1 Check the three fuses on the control board. Replacement fuses can be found in
the spares kit. Refer to the board layouts later in this section.
Corrective Action 2 Check the 20V DC and 5V DC supplies on and off load from the stepper board
voltage regulators. Replace stepper board.
Corrective Action 3 Check clock output (controller PCB, IC1, Pin 14) from control board to stepper
card whilst switching on power. If a burst of pulses is not observed, replace the
stepper card, otherwise, replace the control board.
Check 6 Ensure that Deck Cable has no open circuit or short circuits.
Corrective Action 1 Carry out continuity checks on the deck cable using wiring diagram in section
5.3.1.
Corrective Action 2 Replace Cable

9.2.3 Data Related Problems
The two-way data interface between the Fanbeam and UCU is based upon 20mA current loop drivers. The data
from the UCU to a tertiary system is RS232.
Check 1 Ensure that Fanbeam responds to commands from the UCU.

Corrective Action 1 Replace the opto coupler on the Fanbeam control board.
Corrective Action 2 Replace deck cable.
Corrective Action 3 Replace UCU.
Check 2 Ensure that UCU display updates when Fanbeam stops.

Corrective Action 1 Replace deck cable.
Corrective Action 2 Replace the opto coupler in the UCU
Corrective Action 3 Replace Fanbeam control board.
Corrective Action 4 Replace UCU.
Check 3 Ensure that data is received and understood by tertiary system.

Corrective Action 1 Select correct data format in UCU software.
Corrective Action 2 Carry out continuity checks on UCU data cable.
Corrective Action 3 Replace UCU data cable
Corrective Action 4 Replace UCU
9.2.4 Operational Problems
Check 1 Ensure that UCU display updates with range and bearing when Fanbeam
observes target during normal operation.
Corrective Action 1 Set scan speed to >10º/s.
Corrective Action 2 Place clean reflective target within line of sight and range of Fanbeam.
Corrective Action 3 Clean lenses.
Corrective Action 4 Check 20V supply to laser (refer to board layouts). If it is not present then check
fuse F2.
Corrective Action 5 Replace control board.
Corrective Action 6 Carry out continuity checks between the motherboard and laser via slip rings.
Corrective Action 7 Replace encoder.
Check 2 Ensure that angle for stationary target does not vary by a significant amount or
drift over time.
Corrective Action 1 Replace encoder
Check 3 Ensure that target angle does not jump between two values
Corrective Action 1 Make sure target is not too wide or that another is not too close.
Corrective Action 2 Check Fanbeam head for backlash and replace gearbox if loose.

9.2.5 Mechanical Problems
A motor and gearbox assembly facilitates the horizontal rotation of the Fanbeam.
Check 1 Ensure that Fanbeam head rotates smoothly and completes 360º rotation at
power up
Corrective Action 1 Check for backlash or looseness. Replace gearbox
Corrective Action 2 Check for any erratic movement when Fanbeam rotates. Replace gearbox.
Corrective Action 3 Replace motor.
Check 2 Ensure that AutoTilt function responds correctly.

Corrective Action 1 Check that Fanbeam has AutoTilt option fitted. Set software option to disable
autotilt option.
Corrective Action 2 Change tilt motor control PCB.
Corrective Action 3 Change tilt motor.
9.2.6 Fanbeam Re-assembly
The Fanbeam is designed to withstand most environmental conditions. If the housing has been opened for any
kind of work, the following guide must be observed when re-assembling the housing. Failure to do so will result in
a housing that may allow moisture ingress, which leads to complete failure.
Before re-sealing a Fanbeam base, please do the following:
• Inspect the base rubber seal for damage and replace as required.
• Embed the rubber seal into the seal cavity using silicone grease.
• Apply copious quantities of silicone grease along the entire length of the rubber seal on the lower
half and the mating surface on the upper half of the base unit.
• Apply grease to the securing screws and the threaded holes.
• Making sure that no wires or foreign objects are trapped between the base halves, check the base for
alignment and then reassemble.
• Torque the four bolts to 56lbs/inch (6.4Nm).
• Torque the three tamper-proof screws to 43.25lbs/inch (5.0Nm).
• Apply silicone grease over the bolts to isolate from moisture.

9.3 Board Layouts and Wiring Diagrams
9.3.1 The Mother Board
There are no components on this PCB. Its only function is to provide connection between all the wiring and
interconnection between the other plug-in cards.
Figure 19 – The Mother Board

9.3.2 Internal Connections for Fanbeam®4.2 Mother Board
30 ORANGE
29 WHITE/GREEN
28 GREEN
MOTOR 27 WHITE/BLACK STEPPER
26 BLACK MOTOR
25 WHITE/RED
24 WHITE
23 RED
22 BLACK NO CONNECTION A
21 VIOLET CURRENT LOOP LO I/P E
20 ORANGE CURRENT LOOP HI I/P F 8 WAY FEMALE
DATA I/O 19 BLUE CURRENT LOOP LO O/P D CANNON
18 YELLOW 20 VOLT FUSED O/P C
17 WHITE SWITCH (28 VOLTS) H
16 GREY SWITCH (0 VOLTS) G
15 RED 28 VOLTS B
14 BLACK 0 VOLTS
13 YELLOW LASER SAFETY LOCK
LASER 12 GREEN DATA IN FROM LASER SLIP RINGS
11 ORANGE DATA OUT TO LASER
10 BROWN SYNC
9 RED 20 VOLTS
8 WHITE 0.5mm 0 VOLTS
7 GREY A
ENCODER 6 BROWN B ENCODER
5 RED C
4 BROWN 0.5mm 5 VOLTS
3 WHITE/BROWN 0.5mm SCREEN
POWER 2 BLACK 0 VOLTS A 2 WAY MALE
IN 1 RED 28 VOLTS B CANNON
Table 2 – Internal Connections for Fanbeam®4.2 Mother Board

9.3.3 The Stepper Board
The board is in two halves. The first is a dual switch mode regulator, which converts the input voltage (28 V DC),
to the voltages required by the system. These are 5 V DC for all the logic circuitry and 20 V DC for the laser. The
second half of this board contains the driver for the stepper motor. It is fed by two signals from the control board,
namely clock and direction, and translates them into 4 wire, 2 phase signals. Current limiting and circuitry to
improve step response are included on this board.
Figure 20 – The Stepper Board

9.3.4 The Control Board
Like the stepper board the control board is also in two halves. The first consists of 3 protection fuses, F1 20V /
20mA current loop Tx circuit for communication with UCU, F2 20V laser power supply and F3 28V Fanbeam
power supply. Normally the interface is configured for 20mA digital current loop. The current loop is capable of
driving several hundred meters of cable. If required this interface may be reconfigured to RS232 Tx/Rx.
Figure 21 – The Control Board

The configuration of the current loop drivers and receivers are as follows: -
+20V
Figure 22 – Current Loop Driver Configuration
The second half of the board contains four micro controllers, which interface to and control all the parts of the
Fanbeam®4.2 namely the laser, the stepper drive card, the encoder and the communications between the
Fanbeam®4.2 and the UCU.
The first micro receives commands from the UCU in serial format at 9600 baud. These commands are deciphered
and transferred via a parallel interface to a second micro, which looks after the acceleration, deceleration, step
count and direction of the stepper motor providing two signals (clock and direction) to the stepper drive card.
A third micro looks after the incremental encoder and keeps track of the horizontal angle and zero point at all
times. The micro communicates with the forth micro via a parallel interface providing angular information on
demand.
The fourth micro controller reads the laser, combines laser data with angular data from the encoder micro and
finally transmits the target information in serial format at 9600 baud to the UCU. As mentioned earlier, the laser
transmitter is only on when the velocity is above 3 degrees per second. This control is provided by the third micro
from information provided by the encoder.

The high accuracy of the horizontal angle is achieved by detecting every echo from the laser and reading an angle
for each echo. Once the laser has passed over the target the angles are averaged providing the angle to the
centre of the target. This means that the angular accuracy is not dependent on target size. The echo signals from
the laser are averaged increasing the range accuracy. To achieve an accuracy of ±20cm at least five echoes are
required from the target. If there are nine or more echoes the accuracy is improved to ±10cm. The number of
echoes from the laser is output in the range data string to the UCU.
Note: Only one digit for the number of echoes is sent to the UCU/display, therefore the maximum number
displayed is nine although there may have been many more echoes. An accuracy of nine will normally indicate a
valid MDL target.

10 Data Output Formats
MDL’s single target software has a variety of data output formats available. This section documents the format of
each of these and their corresponding line settings: -
The formats are described using the following criteria: -
NAME Title of the format

DESCRIPTION Brief description of the format
PROTOCOL RS232 line settings
TABULAR DESCRIPTION Tabulated field by field description of the format
EXAMPLE Sample output for given range and bearing
Please note the EXAMPLES will use sample values of
Range = 1098.7m Bearing = 123.45º
To illustrate what the actual data will look like.
Where non-printable ASCII characters are used, the appropriate ASCII code will be represented in curly brackets.
For example, a carriage return character will be shown as {013}. Also, the space character will be shown as a box
like this: .
The first character in each format is at position 1.

10.1 Single Target Dynamic Positioning Software
10.1.1 MDL Standard
NAME MDL Standard

ALTERNATE NAMES MDL
DESCRIPTION Used to interface to various consoles
PROTOCOL 9600 Baud, No Parity, 8 Data Bits, 1 Stop Bit
Description Form Byte Positions

Target Number NN 1..2
Space Character 3..3
Range RRRR.RR 4..10
Bearing BBB.BB 12..17
Carriage Return & Line Feed {013}{010} 18..19
Characters
EXAMPLE (Range=1098.7m Bearing=123.45º)

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
Form N N R R R R . R R B B B . B B {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 {013 010}
10.1.2 MDL Single Target
NAME MDL Single Target

ALTERNATE NAMES None
DESCRIPTION Used as a diagnostic format by MDL

Comma Character , 3..3
Range RRRR.R 4..9
Level LLL 18..20
Accuracy A 22..22
Time HH:MM:SS 24..31
Characters
EXAMPLE
(Range=1098.7m Bearing=123.45º Level=123 Accuracy=9 Time=12:34:56)
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3 3 3
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3
Form N N , R R R R . R , B B B . B B , L L L , A , H H : M M : S S {013 010}
Expl 0 1 , 1 0 9 8 . 7 , 1 2 3 . 4 5 , 1 2 3 , 9 , 1 2 : 3 4 : 5 6 {013 010}

10.1.3 Kongsberg SIMRAD Standard
NAME Kongsberg SIMRAD standard

DESCRIPTION Used to interface to certain Kongsberg DP consoles

Bearing * 1000 in packed BCD BBB 1..3
Range * 10 in packed BCD RRR 4..6
Two Character Zeros 00 7..8
Character 255 acting as {255} 9..9
Terminator
Char 0 0 0 0 0 0 0 0 0
Posn 1 2 3 4 5 6 7 8 9
Form B B B R R R 0 0 {255}
Expl {018 052 080 001 009 137 000 000 255} DECIMAL
Expl { 12 34 50 1 9 87 0 0 FF} HEX
10.1.4 Kongsberg SIMRAD Legacy
NAME Kongsberg SIMRAD legacy

DESCRIPTION Used to interface to older Kongsberg DP consoles

Bearing * 1000 in packed BCD BBB 1..3
Range * 10 in packed BCD RRR 4..6
Character 255 acting as {255} 7..7
Terminator
Char 0 0 0 0 0 0 0
Posn 1 2 3 4 5 6 7
Form B B B R R R {255}
Expl {018 052 080 001 009 137 255} DECIMAL
Expl { 12 34 50 1 9 87 FF} HEX

10.1.5 CEGELEC Standard
NAME CEGELEC Standard

ALTERNATE NAMES Artemis Mk.IV on older UCU / UDU
DESCRIPTION Used to interface to certain Cegelec DP consoles

Range * 10 RRRRRR 1..6
Bearing * 1000 BBBBBB 8..13
Target Number N 15..15
Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7
Form R R R R R R B B B B B B N {013 010}
Expl 0 1 0 9 8 7 1 2 3 4 5 0 1 {013 010}
10.1.6 CEGELEC Legacy
NAME CEGELEC Legacy

ALTERNATE NAMES Artemis Short Bearing
DESCRIPTION Used to interface to certain older Cegelec DP consoles

Range * 10 RRRRRR 1..6
Bearing * 100 BBBBB 8..12
Target Number N 14..14
Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6
Form R R R R R R B B B B B N {013 010}
Expl 0 1 0 9 8 7 1 2 3 4 5 1 {013 010}

10.1.7 Nautronix Standard
NAME Nautronix Standard

ALTERNATE NAMES Nautronix Global Pioneer
DESCRIPTION Used to interface to Nautronix DP consoles

Target Identifier TT 1..2
Range * 10 RRRRR 8..12
Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4
Form T T B B B B B R R R R R {013 010}
Expl 0 0 1 2 3 4 5 1 0 9 8 7 {013 010}
10.1.8 Nautronix Legacy
NAME Nautronix Legacy

ALTERNATE NAMES Nautronix
DESCRIPTION Used to interface to older Nautronix DP consoles

Target Identifier TT 1..2
Range * 10 RRRR 8..11
Characters
Char 0 0 0 0 0 0 0 0 0 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3
Form T T B B B B B R R R R {013 010}
Expl 0 1 1 2 3 4 5 1 0 9 8 {013 010}

10.1.9 MDL Standard c/w Checksum
NAME MDL Standard c/w Checksum

DESCRIPTION Added June 2002 to interface to Kongsberg Simrad consoles running
Follow FPSO function.

Range RRRR.RR 4..10
Checksum CC 19..20
Characters
The Checksum is obtained by taking the XOR of all characters from 01..18. The checksum is expressed as a two
digit alphanumeric HEX value.

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2
Form N N R R R R . R R B B B . B B C C {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 1 7 {013 010}
10.2 Multi-Target Tracking Software
10.2.1 MDL Standard
NAME MDL Standard

ALTERNATE NAMES MDL
DESCRIPTION Used to interface to various consoles

Range RRRR.RR 4..10
Characters

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
Form N N R R R R . R R B B B . B B {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 {013 010}

10.2.2 MDL Standard with Relative B/R
NAME MDL Standard with Relative B/R

DESCRIPTION Used in Multi-Target Tracking software to transmit relative bearing and ranges
This format consists of two strings. The first that is output is described in section 10.2.1 and the second is detailed
below.

B B 1..1
Target ID N 3..3
Target ID N 5..5
Relative Bearing BBB.BB 7..12
Target Separation RRR.RR 14..19
Checksum CC 21..22
Characters

char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4
Form B N N B B B . B B R R R . R R C C {013 010}
Expl B 1 2 1 2 3 . 4 5 0 9 8 . 7 0 6 6 {013 010}

10.2.3 MDL Standard + C/S
NAME MDL Standard + C/S

DESCRIPTION Same as MDL Standard (Sect 5.1) but with Checksum

Range RRRR.RR 4..10
Checksum CC 19..20
Characters
The Checksum is obtained by taking the XOR of all characters from 01..18. The checksum is expressed as a two
digit alphanumeric HEX value.

Char 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 2 2 2
Posn 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2
Form N N R R R R . R R B B B . B B C C {013 010}
Expl 0 1 1 0 9 8 . 7 0 1 2 3 . 4 5 1 7 {013 010}
10.2.4 MDL Standard + C/S with Relative B/R
NAME MDL Standard + C/S with Relative B/R

DESCRIPTION Used in Multi-Target Tracking software to transmit relative bearing and
ranges
This format consists of two strings. The first that is output is described in section 10.2.3 and the second is detailed
in section 10.2.2.

11 Exploded Diagrams
11.1 Fanbeam Exploded Diagram
Figure 23 – Fanbeam® Exploded Diagram

Fanbeam® Parts
1 Weather Canopy
2 Laser Module (TX = Transmit Lens / RX = Receive Lens)
3 Laser Tilt Yoke
4 Shaft to Yoke Adaptor Plate
5 Shaft Seal Clamp
6 Main Housing
7 PCB Mounting Plate and Motherboard PCB
8 Stepper / Regulator PCB
9 Gearbox Rotary Table
10 Base Housing Lid
11 Controller PCB

11.2 UCU Exploded Diagram
Figure 24 – UCU Exploded Diagram

Universal Control Unit Parts
1 Pointing Device Cover
2 Pointing Device
3 Front Cover
4 UCU Power / Interface PCB
5 Single Board Computer
6 PCB Mounting Plate
7 U-bracket Adjustable Bolts
8 Back Cover
9 U-bracket Plastic Spacers
10 U-bracket
11 Speaker
12 Speaker Mount
13 Back-lit keypad

11.3 PSU Exploded Diagram and Parts
Figure 25 – PSU Exploded Diagram
Power Supply Unit Parts

1 PSU Cover incorporating Handles and Label
2 PSU PCB
3 PCB Mounting Plate
4 Cable Connector
5 PSU Housing


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Fanbeam 4.2, Combined

Supplier: Measurement Devices Limited

WORLD LEADERS IN LASER MEASUREMENT TECHNOLOGY

© Copyright 1993-2007 Measurement Devices Limited

Figure 1 – Equipment Configuration....................................................................................................... 20

Table 1 – Target Range / Fanbeam Speed Correlation ......................................................................... 45

© Copyright 1993-2007 Measurement Devices Limited

Measurement Devices Ltd.

©Copyright 2007 Measurement Devices Limited.

Software Version 2.00 and above.

The information in this manual is subject to change without notice.

Some names referred to within this document are trademarks.

Manual Revision History:

DATE SIGNATURE ISSUE

© Copyright 1993-2007 Measurement Devices Limited

If your system requires a service, contact us at:

Measurement Devices Ltd.

Tel: + 44 (0) 1224 246700

24hr Support: +44 (0) 7803 087 322

© Copyright 1993-2007 Measurement Devices Limited

© Copyright 1993-2007 Measurement Devices Limited

¾ You may use the SOFTWARE only on the FANBEAM.

© Copyright 1993-2007 Measurement Devices Limited

Precision Positioning and Tracking System

AUTOTILT MECHANISM OPTION

© Copyright 1993-2007 Measurement Devices Limited

• Performs Excellently During Short-range Operations

© Copyright 1993-2007 Measurement Devices Limited

3.1.1 Laser Principle of Operation

© Copyright 1993-2007 Measurement Devices Limited

As a result of this limitation, MDL have developed

© Copyright 1993-2007 Measurement Devices Limited

3.4 Universal Control Unit (UCU)

The UCU is normally supplied with a Fanbeam®4.2 that

The UCU is housed in a die-cast aluminium housing. A

© Copyright 1993-2007 Measurement Devices Limited

The PSU is housed in a rugged die-cast aluminium case finished in

3.6 Optional Current Loop Converter

The current loop interface box is an option which may be ordered if

© Copyright 1993-2007 Measurement Devices Limited

Type Semi-conducting Laser Diode 7.5KHz Rep Rate

4.2 Optional AutoTilt Mechanism

Gear Box Servo Driven Worm and Wheel

Construction Die-cast Aluminium with Marine Grade Paint

© Copyright 1993-2007 Measurement Devices Limited

4.5 Power Supply

Universal Input 85V – 264V AC / 47 – 440Hz

© Copyright 1993-2007 Measurement Devices Limited

The Fanbeam® MK4.2 is classified as a Class 1 eye safe

DO NOT UNNECESSARILY LOOK INTO THE TRANSMITTER LENS OF THE LASER

© Copyright 1993-2007 Measurement Devices Limited

Basic Standard Test

4.8 Electrical Safety

EN 60950-1 : 2001 Information Technology Equipment

© Copyright 1993-2007 Measurement Devices Limited

DNV Standard for certification No. 24 April 2001, Section 3.6

© Copyright 1993-2007 Measurement Devices Limited

Power Cable AC Input