Verifying the communication with the motion reference unit (MRU)
The information from a motion reference unit (MRU) (normally heave, roll and pitch information) is imported into the CS90 to increase the accuracy of the echo data. The communication with the sensor is tested.
Prerequisites
This procedure assumes that:
•  The sensor is connected to the CS90. It is switched on and in normal operation.
•  The interface port is set up with the correct communication parameters.
•  You are familiar with NMEA and other relevant datagram formats.
•  You know how to set up the parameters for serial and local area network (LAN) communication.
•  The vessel is berthed or at sea.
•  All relevant vessel drawings, installation reports and/or measurement results are available.
•  The CS90 is turned on, and it is working normally.
Neither tools nor instruments are required.
Context
A motion reference unit (MRU) measures the vessel’s pitch and roll movements in the sea. The information provided by the motion sensor is used by the CS90 to stabilize the beams and the echo presentation.
Procedure
1 Open the Setup menu.
2 On the Setup menu, select Installation.
Image
Observe that the Installation dialog box opens. This dialog box contains a number of pages selected from the menu on the left side.
3 On the left side of the Installation dialog box, select Motion Reference Unit.
a If you use the motion sensor in the Motor Control Unit on the hull unit, make sure that LAN is selected.
The sensor uses a local area network (LAN) port on your Processor Unit. A message on the page verifies that it is connected to the CS90 beamformer application.
b If you use an external motion reference unit (MRU), make sure that a COM port is selected, and that the correct parameters are provided.
4 On the left side of the Installation dialog box, select Installation Parameters to open the page.
a Open the MRU (Motion Reference Unit) page.
b Make sure that the installation parameters for the motion sensor (offset and rotation) are correct.
The physical location of the sensor (X, Y and Z offsets) must be extracted from the detailed vessel drawings, or from the reports provided by the personnel that did the actual installation. The information about the installation angles must be extracted from the reports provided by the personnel that did or measured up the actual installation.
5 Close the Installation dialog box without making any changes.
6 Observe the top bar.
7 Make sure that the information from the sensor is displayed.
If necessary, enable the read-out in the Display Options dialog box.
Note
In order to read the motion compensation values, the CS90 must be "pinging".
8 If possible, use another instrument to verify that the information provided by the CS90 is correct.
9 Fill in the result tables.
Result
Port Baud rate Protocol
 

   
X Offset Y Offset Z Offset
 

   
Rotation Around X Rotation Around Y Rotation Around Z
 

   
Requirements Results
Motion compensation is operational.  
The compensated values are shown.  
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