Functional Design Specification
Serial Line Interfaces
SHI 1674
Project: 29398
Product Integrated Control & Monitoring System
Synopsis: This document describes the scope and functions of the Kongsberg
Maritime Vessel Control system SVC as delivered to the specified
vessel. Functions within other systems are not described in this
document. This document when “as built” will serve also as
operator documentation together with KM standard SVC Operator
Manual.
Document number: 1034143 Revision: B
Customer doc number: Document version: 2.0
Contract number: Number of pages: 27
Rev. Date Reason for issue Made by Checked Approved
A 18.10.2007 First Issue L.E. O.H. O.H.
B 05.03.2008 Updated according to yard comment G.E.V.N O.H. O.H.
Kongsberg Maritime AS
Kongsberg Maritime AS
Table of contents
1 ABOUT THIS DOCUMENT ..................................................................................4
1.1 Document history ..................................................................................................4
1.2 References .............................................................................................................4
1.3 Definitions / Abbreviations ...................................................................................4
2 INTRODUCTION....................................................................................................6
2.1 Purpose ..................................................................................................................6
3 SERIAL INTERFACE ............................................................................................6
3.1 General...................................................................................................................6
3.1.1 General Profibus Info ................................................................................... 6
3.1.2 General MODBUS Info................................................................................ 7
3.1.3 General OPC Info ......................................................................................... 9
3.1.3.1 KM OPC Installation .......................................................................... 10
3.1.3.2 Setting Up AimOPC.ini...................................................................... 11
3.1.4 General NMEA Info ................................................................................... 13
3.2 Serial Line Distribution and Com. Setup.............................................................14
3.2.1 FS-43 .......................................................................................................... 14
3.2.1.1 OPC Communication to Load Calculator........................................... 14
3.2.2 FS-45 .......................................................................................................... 15
3.2.2.1 NMEA Communication to VDR ........................................................ 15
3.2.2.2 Modbus Communication to Remote Sounding System...................... 16
3.2.3 FS-46 .......................................................................................................... 17
3.2.3.1 Profibus Communication to HVAC Hull ........................................... 17
3.2.4 FS-47 .......................................................................................................... 19
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3.2.4.1 Profibus Communication to Drilling Control System (DCS)............. 19
3.2.4.2 Profibus communication to HVAC Topside ...................................... 23
3.2.4.3 Modbus Communication to Riser Management System .................... 25
3.2.5 FS-49 (F&G) .............................................................................................. 26
3.2.5.1 Modbus Communication to Fire Central Panel 1 ............................... 26
3.2.6 FS-50 (F&G) .............................................................................................. 27
3.2.6.1 Modbus Communication to Fire Central Panel 2 ............................... 27
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1 ABOUT THIS DOCUMENT
1.1 Document history
Revision Description of Change
A First Issue
B Updated according to yard comment
1.2 References
No Doc No Description
1 N/A Modicon Modbus Protocol Reference Guide
2
3
4
1.3 Definitions / Abbreviations
DCS Drilling Control System
ECR Engine Control Room
ESD Emergency Shutdown
FDS Functional design Specification
F&G Fire and Gas
FS Field Station (Cabinet with controller and/or RIO modules)
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IAS Integrated Automation System
I/O Input / Output
ICS Integrated Control System
KM Kongsberg Maritime
KFDD Kongsberg Functional Design Document
MCS Mud Control System
NMEA National Maritime Electro-technical Commission
OS Operator Station
PCU Process Control Unit
PMS Power Management System
PS Process Station, Process Control Cabinet
RCU Remote Controller Unit
RCS Remote Control System
RIO Remote Input Output Unit
SDP KM (Simrad) Dynamic Positioning
SVC Simrad Vessel Control System (Same as IAS)
VDU Video Display Unit
VDR Voyage Data Recorder (Maritime black box)
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2 INTRODUCTION
2.1 Purpose
This document describes the parameters and information needed for the serial line
communication for Kongsberg Maritime Vessel Control system SVC as delivered to the
specified vessel.
Note:
KM will always be the master regarding Modbus and Profibus serial line
communication.
3 SERIAL INTERFACE
3.1 General
3.1.1 General Profibus Info
The PROFIBUS protocol is positioned at level 1, 2 and 7 of the OSI model. The Process
Field Bus (PROFIBUS) standard (EN 50 170, Volume 2 PROFIBUS) defines the
physical and logical parameters of a bit-serial bus network. PROFIBUS has an interface
for high-speed communications with field devices, as well as exchange of complex data
between master stations. One objective of the standard is to create an open system that
enables networking of programmable logic controllers and field devices from different
vendors. This allows us to include in our system any device from another vendor as long
as the device conforms to the standard.
While PROFIBUS includes FMS and DP protocols, there is a universal set of standard
physical parameters for PROFIBUS network, as listed in table 2.1:
Features Parameters
Access mode Token passing with underlying master/slave
Transmission rate 9,6 Kbaud to 12 Mbaud
Transmission medium Electrical network: shielded two-wire cable
Optical network: fibre-optic cable (glass or plastic
Maximum number of devices per segment 32 stations per segments
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Maximum number of station addresses per 126 (including repeaters)
network
Cable length per network (dependent on 10km for copper cable, more for fibre-optic cable
cable length and type).
Topology Electrical network: line, tree
Optical network: ring, line, star
Protocols PROFIBUS-DP
PROFIBUS-FMS
Data size that can be transmitted in one 1 to 244 bytes
message
Table 2.1
The PROFIBUS DP is the version for factory automation and the transmission
technologies used for DP is RS-485. This version will be used between SVC and the
rest of the slave system where the PROFIBUS will be used.
For more details see the Aim User Guide.
3.1.2 General MODBUS Info
MODBUS is an application layer messaging protocol, positioned at level 7 of the OSI
model that provides client/server communication between devices connected on
different types of buses or networks.
The Modbus protocol defines a message structure that controllers will recognize and
use, regardless of the type of networks over which they communicate. It describes the
process a controller uses to request access to another device, how it will respond to
requests from the other devices, and how errors will be detected and reported. It
establishes a common format for the layout and contents of message fields.
The nature of the Modbus protocol is such that it eliminates the need for time-
consuming telegram definition/message layout which normally must be done by the
computer manufacturer. The RTU protocol must be used.
The Modbus protocol provides for one master and up to 247 PLC slaves on a common
communication channel. Although the protocol supports up to 247 slaves, certain device
restrictions may limit the number of slaves to a number less than 247.
The control system i.e. IAS is defined to be the master.
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The following Modbus functions can be used:
READ COIL STATUS Function 01
READ INPUT STATUS Function 02
READ HOLDING Function 03
REGISTERS
READ INPUT REGISTERS Function 04
FORCE SINGLE COIL Function 05
PRE- SET SINGLE Function 06
REGISTER
LOOP BACK TEST Function 08 Diagnostic code 00
FORCE MULTIPLE COILS Function 15
PRE-SET MULTIPLE Function 16 Non-standard
REGISTERS implementation.
In addition, a number of “Exception Response” messages are implemented to handle the
following function codes:
CODE 01 “Illegal function”
CODE 02 “Illegal data address”
CODE 03 “Illegal data value”
CODE 04 “Failure in associated device”
CODE 05 “Acknowledge”
CODE 06 “Busy, message rejected”
CODE 07 “NAK, negative acknowledge”
The Modbus has been implemented as AIM 1000 special modules.
Module name Covers function Max. Signals per module Remarks
MBBYTIN Function 01 16
Read Coil Status
MBBYTIN Function 02 16 Start address
Read Input Status 10000>
MBANAIN Function 03 16 Start address
Read Holding Registers 40000>
MBANAIN Function 04 16 Start address
Read Input Registers 30000>
MBDIGOUT Function 05 8
Force Single Coil
MBDIGOUT Function 15 8
Force Multiple Coils
MBANAOUT Function 06 8
Preset Single Register
MBANAOUT Function 16 8
Preset Multiple Registers
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Module name Covers function Max. Signals per module Remarks
MBSPRVSR Supervisory for each
(Supervisor) MODBUS unit,
handles “Exception
Response” messages
and Function 08
MBREAD Functions 01,02,03,04 1 data buffer of max. 250 bytes.
Reads data from Modbus slave unit,
communicates via standard Modicon
Modbus protocol.
MBWRITE Function 16 1 data buffer of max. 250 bytes. .
Writes data to Modbus slave unit,
communicates via standard Modicon
Modbus protocol
MBDIEXT Supported by 2000 digital status values.
MBREAD functions Reads data from a Modbus buffer.
1&2 Converts data to digital status values.
MBAIEXT Supported by 125 register values (based upon 16
MBREAD functions integer value)
3&4 Reads data from a Modbus buffer.
Converts and scales to analogue register
values.
3.1.3 General OPC Info
Used to move real-time data from PLCs and other control devices to HMIs and other
display clients. The Data Access 3 specification is now a Release Candidate. It
leverages earlier versions while improving the browsing capabilities and incorporating
XML-DA Schema.
Specification Type Industry Standard Specification
Functional Design
Title: Date: March 4, 2003
Specification
Version: 3.0 Soft MS-Word
Source: Opcda30_cust
Author: Status: Released
For a technical overview of OPC and downloadable OPC specifications, see
http://www.opcfoundation.org/ and select “Downloads and Specifications”.
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3.1.3.1 KM OPC Installation
AimOPCServer is installed on SVC-OS-31 connected to the process network. The OPC
Server should always be running even when no OPC Clients are connected to it. To start
the OPC Server automatically, OPC is added as a Station Type parameter to the startup-
script (StartAim.bat) like this example:
AIM-OS OS31 0 %AIM_LEV% NOPANEL NOPANEL OS+OPC R
NOTE: If the machine hosting AimOPCServer should run with the minimum
configuration (without AIM-OS), AimOPCServer.exe must be started manually.
Minimum configuration of the machine hosting the OPC Server:
· Dual Network Server
· Message Bus Server
· Osk Server (minimum configuration):
· Aim Apio Server
· Command Control Server
· Equipment System Server
· AimOpcServer (registered as a COM Server, e.g. by AIMConfigure)
· OPC Proxy/Stub DLLs installed (Performed by AIM installation)
· OPC Remote Server Browser Object installed (Performed by AIM installation)
Distributed COM (DCOM) is enabled and configured properly. See the
document “Setting up DCOM and NT Security” for help about this.
Minimum configuration of the machine hosting the OPC Client:
· OPC Proxy/Stub DLLs installed
· OPC Client installed.
A free OPC client, “Matrikon OPC Explorer”, is available at the common release area.
This OPC client installs all the necessarily DLLs.
The OPC variable file, AimOPC.ini is containing the Server Address Space (all the
variables you want to make available by OPC). How to set up AimOPC.ini is described
in chapter 3.1.3.2. A sample version of AimOPC.ini is located in
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%AIM_BASE%\AimNT\AimSys\cfg\ini. The real AimOPC.ini is located in
%AIM_LEV%\Config\ini\AimOpc.ini.
3.1.3.1.1 Update speed
AimOPCServer uses an internal AIM mechanism called VDS (Variable Distribution
System). The update interval of VDS is limited to the scan frequency of the display task
on the PCU. However, the update interval can not be less than 1 second.
3.1.3.1.2 Performance
Initializing and maintenance of OPC subscriptions influence the memory usage and
CPU load for both the operator station and the process stations. The increase in memory
usage for both OS and PCU is approximately proportional with the number of variables
in the subscription. The CPU load is affected by the number of variables in the
subscription, the frequency of write operations (initiated by the OPC Client) and the
frequency of variable updates (a change in the variable value force an update of the
variable). Deadband for analogue values is configured to 0.0001.
3.1.3.1.3 Reducing risks
To reduce the risks of problems:
Do not subscribe more than a few hundred variables from the same PCU.
If the number of variables in the subscription is large (>>1000), it may be smart to
divide the OS load between two Operator Stations.
3.1.3.2 Setting Up AimOPC.ini
AimOpc.ini contain the address space (i.e. the variables available) accessible from
AimOPCServer. There is one line for each variable, and each line consists of three
fields: the variable name, the data type and the access rights.
VARIABLE NAMES:
The variable name syntax is as follows:
MOD.ID1/ID2/ID3
Where the "." and "/" is delimiters.
PREFIX:
----------------------------------------------
- MOD. (The module subsystem)
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ID1:
----------------------------------------------
- tagname: Modules tag
ID2:
----------------------------------------------
- name: Terminal name or named parameter
- #PAR : Parameter offset value (see ID3)
- #MOD : Keyword telling that info from module struct is requested
ID3:
-----------------------------------------------
- PRIM : Used for the values of terminals or named parameters
- #ALGNO : Module algorithm, (ID2=#MOD)
- #MODST : Array of module state information (ID2=#MOD)
- #OFxx : Variable with offset "xx" (bytes) in module parameter struct
(ID2=#PAR)
The module state information (ID2 = #MOD) and (ID3 = #MODST) consist of an array
of 3 elements:
-----------------------------------------------
- Element 1 : module struct member statmod
- Element 2 : module struct member binstat2
- Element 3 : the highest non-suppressed alarm priority for this module
SAMPLES:
---------------------------------
Module terminal values : MOD.Tag1/Meas/PRIM
Named parameters values : MOD.Tag1/pMeas/PRIM
Offset parameters values : MOD.Tag1/#PAR/#OFdd
Module state : MOD.Tag1/#MOD/#MODST
Algorithm number : MOD.Tag1/#MOD/#ALGNO
DATA TYPE:
The data type syntax is as follows:
%type,
where type is either d, f or s.
---------------------------------
- d: Digital (Boolean, short, long)
- f: Floating point (float, double)
- s: String (Size = MEDTX (16))
NOTE: For the module state variable (Id2 = #MOD and Id3 = #MODST), the data type
is ad3 (array of 3 digital values)
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ACCESS RIGHTS:
The access rights syntax is as follows:
- R : Read only
- W : Read and write
NOTE: All variables can have write access except for the variables module status and
algorithm number that are read only. However, there is usually not a good idea to write
to an out terminal because this value will be re-written by the module itself at the next
scan.
AimOPC.ini example:
---------------------------------
MOD.LIAH-203102/Meas1/PRIM %f R
MOD.LIAH-203103/Meas1/PRIM %f R
MOD.LIWI-203102/ProMeas/PRIM %f W
MOD.LIWI-203103/ProMeas/PRIM %f W
3.1.4 General NMEA Info
The communication principle is a one-way communication with one talker and
possibility for multiple listeners. The amount of output signals can be in the range of
200-300, and due to the functionality these signals are collected on the actual FS which
has the VDR NMEA output line. The telegrams are ASCII sentences.
Method used:
· All signals from each FS are packed into one or several pack modules, in order
to optimise the data transfer.
· The process terminals are connected to corresponding unpack modules on the FS
with VDR output line.
· The IO-file related to VDR output is updated with new io driver and new io
blocks.
For more technical overview of VDR NMEA interface can be found in KM doc
1018864.
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3.2 Serial Line Distribution and Com. Setup
3.2.1 FS-43
3.2.1.1 OPC Communication to Load Calculator
General Information:
The Load and Stability Calculator computer (SVC-OS-40) is located in Wheelhouse. The Load and Stability Calculator is
communicating by use of OPC on the IAS C-net and SVC-OS-31 is setup as the OPC server.
OPC Performance and Settings:
HW selection IAS C-Net.
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3.2.2 FS-45
3.2.2.1 NMEA Communication to VDR
NMEA Performance and Settings:
Serial channel (1-15) 1
No. of data bit (5/6/7/8) 8
Baud rate (1200-38400) 19200
No. of stop bit (1/2) 1
Parity (odd/even/no-1/2/3) 3
Protocol (RTU/ASCII) (0/1) 1
Master/Slave (0/1) 0
Slave No. 1
Handshake: No
HW selection Single drop by use of Ships Serial Line cable with KM cable no. W-9560
RCU No 45
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3.2.2.2 Modbus Communication to Remote Sounding System
General Information:
The communication between IAS and the tank monitoring system communication unit type TA3840C is done by us of
communication protocol Modbus RTU. IAS will operate as master, while the TA3840C communication unit operates as slave: IAS
asks a question to the TA3840C, which answers with required data. The dialog frames are composed of words of 10 bits each:
· 1 start bit
· 8 data bits (no parity)
· 1 stop bit
Modbus Performance and Settings:
Serial channel (1-15) 1
No. of data bit (5/6/7/8) 8
Baud rate (1200-38400) 19200
No. of stop bit (1/2) 1
Parity (odd/even/no-1/2/3) 3
Protocol (RTU/ASCII) (0/1) 0
Master/Slave (0/1) 0
Slave No. 1
HW selection RS485 single drop by use of Ships Serial Line cable with KM cable no. W-9561.
RCU No: 45
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3.2.3 FS-46
3.2.3.1 Profibus Communication to HVAC Hull
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HVAC Hull Performance and Settings:
Description Type Remarks
Profibus DP GSD file
DP adr HVAC 30 Slave
DP adr IAS 3 Master
Transmission rate HVAC 1500kpbs
Transmission rate IAS 500 kpbs
DP/DP-coupler N/A
OLM HVAC N/A
OLM IAS N/A
HW Selection RS-485 Ships serial line cable with KM cable no. W-9562
RCU No. 46
Data
Description Type Remarks
Digital input
Integer input
Digital output
Byte Integer output
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3.2.4 FS-47
3.2.4.1 Profibus Communication to Drilling Control System (DCS)
General information:
As long as both MCS and IAS has to be setup to be master a DP/DP coupler is used for connecting the two physically independent
PROFIBUS DP networks, and transmits data from the master of one network to the master of the other.
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DCS Performance and Settings:
Description Type Remarks
Profibus DP GSD file SI018070.GSE
DP adr DCS 48 Master, Node A03-48
DP adr IAS 3 Master
Transmission rate DCS 1500kpbs
Transmission rate IAS 500 kpbs
DP/DP-coupler Siemens 6ES7 158-0AD00-0XA0 Delivered by DCS
OLM DCS SiemensG12 Delivered by DCS
OLM IAS SiemensG12 Delivered by IAS and placed in FS-47
HW Selection RS-485 Fibre optic cable with KM cable no. W-9532
RCU No. 47
Data Transmission configuration DCS Interface PLC:
Slot DP ID Order Number / Designation Remarks I Address Q Address
1 128 32 Bytes Output consistent 700…731
2 128 32 Bytes Output consistent 732…763
3 128 32 Bytes Output consistent 764…795
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4 128 32 Bytes Output consistent 796…727
5 128 32 Bytes Output consistent 828…859
6 64 32 Bytes Input consistent 700…731
7 64 32 Bytes Input consistent 732…763
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3.2.4.2 Profibus communication to HVAC Topside
General information:
As long as both HVAC Topside and IAS has to be setup to be master a DP/DP coupler is used for connecting the two physically
independent PROFIBUS DP networks, and transmits data from the master of one network to the master of the other
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HVAC Topside Performance and Settings:
Description Type Remarks
Profibus DP GSD file
DP adr HVAC 30 Slave
DP adr IAS 13 Master
Transmission rate HVAC 1500kpbs
Transmission rate IAS 500 kpbs
DP/DP-coupler Siemens 6ES7 158-0AD00-0XA0
OLM HVAC SiemensG12 Delivered by HVAC vendor
OLM IAS SiemensG12 Delivered by IAS and placed in FS-47
HW Selection RS-485 bre optic cable with KM cable no. W-9531
RCU No. 47
Data
Description Type Remarks
Digital input
Integer input
Digital output
Byte Integer output
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3.2.4.3 Modbus Communication to Riser Management System
General Information:
The communication between IAS and the Riser Management system is done by us of communication protocol Modbus RTU. IAS
will operate as master, while the RMS communication unit operates as slave: IAS asks a question to the RMS, which answers with
required data. The dialog frames are composed of words of 10 bits each:
· 1 start bit
· 8 data bits (no parity)
· 1 stop bit
Modbus Performance and Settings:
Serial channel (1-15) 1
No. of data bit (5/6/7/8) 8
Baud rate (1200-38400) 19200
No. of stop bit (1/2) 1
Parity (odd/even/no-1/2/3) 3
Protocol (RTU/ASCII) (0/1) 0
Master/Slave (0/1) 0
Slave No. 1
HW selection RS485 single drop by use of Ships Serial Line cable with KM cable no. W-2803.
RCU No: 47
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3.2.5 FS-49 (F&G)
3.2.5.1 Modbus Communication to Fire Central Panel 1
Modbus Performance and Settings:
Serial channel (1-15) 1
No. of data bit (5/6/7/8) 8
Baud rate (1200-38400) 19200
No. of stop bit (1/2) 1
Parity (odd/even/no-1/2/3) 3
Protocol (RTU/ASCII) (0/1) 0
Master/Slave (0/1) 1
Master No. 1
Slave No. 1
HW selection RS485 redundant by use of Ships Serial Line cables with KM cable no.W-9533 to
the master RCU and W-9534 to the slave RCU.
RCU No. 49
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3.2.6 FS-50 (F&G)
3.2.6.1 Modbus Communication to Fire Central Panel 2
Modbus Performance and Settings:
Serial channel (1-15) 1
No. of data bit (5/6/7/8) 8
Baud rate (1200-38400) 19200
No. of stop bit (1/2) 1
Parity (odd/even/no-1/2/3) 3
Protocol (RTU/ASCII) (0/1) 0
Master/Slave (0/1) 1
Master No. 2
Slave No. 2
HW selection RS485 redundant by use of Ships Serial Line cables with KM cable no.W-9535 to
the master RCU and W-9536 to the slave RCU.
RCU No. 50
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