11-1236 SEAVANS AUTOPILOT PR-6000 STEERING STAND OPERATOR'S MANUAL 2001.7 TOKIMEC INC. CONTROL SYSTEMS DIVISIONSAFETY PRECAUTIONS 1. Safety symbol indications and definitions used in this manual and products are as follows. Indicates an imminently hazardous situation which, if not A DANGER cea, wit result in death or serious injury. Indicates a potentially hazardous situation which, if not AXWARNING sacs, cout out in death or serous injury Indicates a potentially hazardous situation which, if not ZX CAUTION avoided, may result in minor or moderate injury or property damage accident. aThe following warning label is attached to this system. (1) DANGER ZAWARNING _|Main power can cause electric| shock. Do not touch terminal boards, \(lete., even if unit power OF Attached position of the warning label in this system is as follows. (1) Steering stand [1-1] Warning label Steering stand (front view)4. Safety precautions, ete., described in this manual are summarized here (pages described are shown in parentheses.) (1)__Warning for use of this system (Refer to page 1-1.) Z\WARNING ‘@ Malfunctions caused by failure of this system and mis-operation caused by operators mistake may cause such disasters at sea as collision with other ship or stranding, resultant property damage and environmental contamination, and further hazardous situation resulted in death or serious injury. @Gireat care should be taken to use this system bei performances and characteristics of this system, and familiar with the operating method. well acquainted with limitations of (2) _ General items to be warned for the operating method (Refer to page 3-1.) A\ WARNING @Each steering mode of HAND, AUTO and remote (RC) has specific attention points for use. These are shown in the comesponding clauses with A\ CAUTION and AS WARNING, etc. Observe strictly these items Periodical repeated training for emergency steering should be performed to deal with smoothly in an emergency status from anywhere in the ship. (3)__Waming for emergency steering (Refer to page 3-2.) ZAWARNING ‘@imergency steering T When trouble or failure happens during the AUTO steering (gyro-compass or magnetic compass is being used) or the remote steering, take safety navigational means such as reducing the ship's speed, and then tum the mode selection switch [MODE ] to the [HAND] position, and turn the steering wheel manually to steer. @Emergency stecring 2 ‘When the hand steering is impossible, turn the system selection switch [SYSTEM ] to another system, and turn the steering wheel to steer in the same way. @Emergency steering 3 When the hand steering is impossible, turn the mode selection switch [MODE ]to the [NFU J position and steer with the non-follow up steering lever. @Emergency steering 4 ‘When the steering is still impossible, take a means such as ordering astern of the engine, etc.,.0 stop the ship safely. Then, make the emergency steering according to the instruction manual of the steering gear side.(4)__ Warning regarding system selection (Refer to page 3-2.) ZAWARNING ‘@For E type and D type, the steering gear control system is not switched even if the system selection switch [SYSTEM lis switched. The steering gear control system is activated by the operation signal of the steering system. It is required to switch the steering gear when the steering gear control system is failed (5) Waring when selecting steering mode (Refer to page 3-2.) ZAWARNING @Do nor use the auio steering until the gyro-compass has settled. If not, own ship does not set on the desired course and may cause collision or stranding. @Before switching the steering mode, be sure to set the rudder at the center, and then switch the mode selection switch [MODE]. If not, an unexpected large rudder may be taken. @lHold the mode selection switch surely with hand and turn it correctly to the mark Q which shows the correct position. Interrupting the selection on the way may cause malfunction. In this case, make sure that the steering mode is switched correctly with the steering mode display lamp ( [AUTO _], [HAND @Loosened play in fixing the knobs for the mode selection switch [MODE] , system selection switch and non-follow up lever [P&S] may cause wrong switching or operation. Retighten the two screws fixing the knob to the switch, or contact TOKIMEC service department. (6) Warning to set the maximum rudder angle (Refer to 3-6.) Z\WARNING Wien the rudder angle selection switch is installed, setting of the max rudder angle selection switch should be used only in the narrow rudder angle side other than when the steering is required a large rudder angle. Otherwise, an unexpected large rudder angle may be taken to cause a dangerous steering situation. @(7) Waring to use auto steering (Refer to page 3-7.) ZAWARNING @Do not use the auto steering in confined sea areas or narrow channels. In addition, do not switch to the auto steering too, Prompt avoidance is not in time and may cause collision or stranding. @When the rudder angle selection switch is installed, select the maximum rudder angle of 50° during auto steering. Ifthe maximum rudder of 70° is set and used as is, own ship may overturn with a rudder of 70° caused by malfunction of auto course changing, @When the PID control mode is used, the auto steering adjusting knobs [RUDDER (ratio), RATE, WEATHER] should surely be readjusted if the load condition and the ship's speed are changed or weather and sea state vary The set course cannot be maintained when these knobs are set improperly or not being readjusted, and may cause collision of the ship or stranding. @Kcep a strict “look out" (watch), in particular, during auto steering. Careless "look out” (watch) may cause collision or stranding @When trouble happens on the gyro-compass, heading monitor (option) or the speed log (option), make sure the repeated condition of the bearing of the gyro-compass and the speed of the speed log (option). (Push the switch [ (SEL._] on the data display number of times, then make sure the bearing and the speed. For that method, refer to 3.2.12.) If these data are not correct, the auto steering may not operate properly. @When manual ship's speed input is selected and if ship's speed is not set correctly, the autopilot can not operate properly due to yawing etc,. Therefore, when manual ship's speed input is selected, set the ship's speed referring to 3.2.12 (), (8) Warning when switching auto steering (Refer to page 3-7.) ZAWARNING @While the ship's speed is low, when the mode is switched to the auto steering from the other steering modes, the set course may not be able to maintain. Steer under ‘monitoring the ship's motion. @Make sure of the safety around own ship before changing the course during auto steering. @Course changing during auto steering can be made to 359 of right o left direction by rotating the course setting knob. A large angle course changing, however. is dangerous , and a course changing within 45° should be made at a time and repeat that, if necessary, to deal with unexpected dangerous situation, When a larger course changing than this is performed by any chance, monitor malfunctions and dangerous conditions till completion of the course changing, and take a navigational safety means if necessary.(9) Warning regarding remote auto steering (NAV) (Refer to page 3-9.) ZAWARNING. “@Do not use the remote auto steering (NAV) in confined sea areas or narrow channels as arule. For using it by any chance in such areas, suitable navigational means such as securing safety around or reducing speed should be taken, If not, prompt action cannot be made, and may cause collision or strandin; @Keep a strict "look out" (watch), in particular, during remote auto steering. Careless “look out" (watch) may cause collision or stranding. @1f an alarm generated in the autopilot or gyro-compass, heading monitor (option) speed log (option) and tracking navigational equipment side during the remote auto steering, make sure at once of the content. When an abnormality affecting the steering is generating, switch at once to one of the other steering modes. (10) __ Warning regarding remote hand steering (remote control) (Refer to page 3-11.) Z\WARNING @Do not use the remote hand steering (RC) in confined sea areas or narrow channels. Prompt avoidance is not in time and may cause collision or stranding. During the remote hand steering, always confirm the rudder angle and its direction displayed on the rudder angle receiver (indicator). If not, when failure generated in the remote control steering line, discovering the failure may be delayed to cause collision or stranding. @Set the remote control steering knob at the center before switching to the remote hand steering mode from the other steering mode, If not, a large rudder may be taken after switching to cause collision or stranding. @1f an alarm generated in the autopilot or remote control unit side during the remote hand steering, make sure at once of the content. When an abnormality affecting the steering is generating, switch at once to the other steering mode. (11) Warming while adjustment procedure of the auto steering (Refer to page 3-17.) ZAWARNING ‘@This system has a function to specify the turn rate at the automatic course changing in the auto steering or remote auto steering (NAV), but sometimes the specified turn rate may not be attained due to weather, sea condition, ship speed, load, draft, trim, ship-motion character, and the amount of course changing, etc. In such case, always confirm surrounding safety whenever the auto steering is being steered in the auto steering or remote auto steering (NAV) because there is possibility that the actural course has changed from the expected one. In the event of failure to confirm the surrounding safety, it may cause collision of the ship or stranding. ©(12) Waring regarding prevention of electric shock, etc., when performing maintenance Refer to page 5-1.) ZAWARNING @Wiake efforis to prevent danger, in particular, when persons are arranged in the Steering gear room to watch the rudder operation for maintenance and check (pay attention not to be caught in high speed moving cylinders and tiller, or shout each other to call attention). ©The ship's main power is supplied to the distribution board in this system even when the main power supply switch (SYSTEM SWITCH) of this system is turned OFF, Electric shock may occur by touching inside, Do not touch intemal terminal boards, etc. For PR-6CICICI-E3 system, particularly pay attention to avoid such accident. For above system, turn OFF the main switch of the steering system. If not, electric shock may occur by touching inside. ‘The following warning label is attached at the dangerous position inside stand. Do not touch terminal boards, etc., even if unit power OFF. In addition, the following labels are attached to the main positions of this stand to call attention on electric shock. WARNING HIGH VOLTAGE ] or [_ WARNING ELECTRIC SHOCK | (13)_Waming regarding autopilot maintenance (Refer to page 5-1.) ZAWARNING ‘@The steering gear connected to this autopilot may cause, although very rarely, hydro lock, ete., which makes the rudder disabled to steer @Although main parts of the autopilot consist of electronic circuitry having high reliability, it cannot be said failure does not occur absolutely. Accordingly, it is absolutely necessary to carry out check and maintenance described in this chapter to exclude these dangers as long as possible and to maintain performance of this system. If not, detecting sign of failure delays and it yields failure of the system and may result in collision or stranding (refer to clauses regarding maintenance and check of the steering gear instruction manual). When trouble is discovered and cannot be recovered on board, contact TOKIMEC service department or its sales agency of your area. m(14) Warning for replacement of relay (Refer to page 5-7.) ZAWARNING (@Make sure the relay pin position and insert it correctly when ralay is replaced. If not, ship's rudder does not operate properly. @ insert the relay properly. If not, the relay may be loosen due to vibration and may ‘cause no operation of rudder. ©Do not give strong force for relay replacement. If not, the printed circuite board may be damaged. (15) Waming in installation (Refer to page 5-10.) ZAWARNING Do not hang down the steering stand by passing ropes. etc., on the steering wheel or handle for moving the steering stand in installation and so forth. The wheel or handle should be broken due to weight of the steering stand, and the stand may drop to cause injury (16) Caution in hand steering (Refer to page 3-4.) ZAXCAUTION ‘@Set the pointer of the order rudder angle indicator on the helm unit at the center before turning the system selection switch to [No.1 Jor [ No. 2 J to start the PR-6000, or before turning the mode selection switch to [HAND ] from the other mode. If not , taking a rudder may suddenly start and is dangerous. a(17) Caution when adjusting auto steering knob (Refer to page 3-7.) ZXCAUTION ‘During the auto steering PID control mode is used, various knobs in the auto steering adjusting section should he adjusted according to the ship's speed, load condition and weather, etc. Remaining at the initial settings as they are may cause sailing without optimum conditions. @Always collect, note and accumulate data for the adjusting positions of various knobs of the PID control so that the optimum values can be set according to variation of sailing conditions. @Pay attention on the following points when selecting the auto steering [ADPT (Selecting [OPN ]/ (ENF Jot [ADPT 7 WEATHER ] knob) (option). 1, When steering in which any turning force is generated with other equipment than rudder at a speed higher than 7 kt is performed, switch to the [OPN] mode after course changing by 10° of port and starboard two or three times in the hand steering. If weather becomes stormy during using the [OPN | mode, switch to the [CNF. mode when the yawing width (half side) becomes more than 50% of the pilot wateh set value, as the standard 3. When the yawing width is considered to be large (observing for approx. 15 minutes), stop using the ADPT mode and steer with the PID control. 4. When yawing is large in calm sea ‘When load condition is remarkably changed, yawing may become large at the departure, In this case, steer as follows. + Change course by 10° of port and starboard, two or three times with the hand steering. + Switch to the OPN mode of the auto steering and observe the state for approx. 15 minutes * When the yawing still continues, switch to the OPN mode, and perform auto course changing by 10° of port and starboard to observe the state. + When yawing does not settle yet, contact TOKIMEC service department. @Switching between the PID mode (WEATHER) and the ADPT mode (OPN/CNF) (option) with the weather adjusting control during auto steering should be made only while the course is keeping. Switching in a large course changing may cause trouble in operation of the auto steering. (48) Caution Refer to pas garding confirmation of non-follow up steering operation 3-13.) ZAXCAUTION @Perform non-follow up steering to confirm operation of the steering system ai least once every time when the operator changes. ©The rudder is taken continuously during the lever is kept tured. Steer while seeing the rudder angle receiver (indicator). A smaller or larger rudder angle than an expected value may cause trouble in steering and may result in collision or stranding, 19)(19) Caution in override steering (Refer to page 3-14) AXCAUTION ‘Taking a large rudder is dangerous when switching to the external overtide unit. Pay attention on such a thing to set the order knob (lever) at the neutral position. Confirm safety around when steering with the override unit. @When switching to the override steering during the auto steering or remote auto steering (NAV), and switching again to the auto steering or remote auto steering from the override steering after a while, a quick turning of the ship may occur. Before switching to the auto steering, set the ship's heading at that time as the set course for keeping the course, and make the original set course and NAV course invalid. When the ship is to be kept on the original course or on the new course, operate the course setting knob or stop the remote auto steering once and switch to the NAV steering again. ‘The preset course invalid alarm is indicated till this operation is. performed (option), (20) Caution when alarm generates (Refer to page 4-1.) Z\CAUTION ‘@When the alarm generated, confirm the content of the generating alarm at once and take 2 suitable means according to the failure phenomena list. @When failure generates, check and take a countermeasure at non-dangerous sea area after confirming safety around, and with the ship stopped as a rule (Refer to page 3-5 clause 3.2.4 Emergency steering method). (21) Caution in troubleshooting (Refer to page 4-3.) Z\CAUTION [@ Tum OFF the system selection switch, and the service switch located at the front panel of the control unit before checking and replacement of fuses, removing the unit of ‘equipment, connectors, printed wiring boards and terminal cables. Remaining the switch at ON position may cause electric shock and failure. J@Check the autopilot stand inside by instructed procedures and do not touch other sections than instructed, If not, may cause electric shock. (22) Caution for replacement of fuses and relays (Refer to page 5-6, 5-7.) ZXCAUTION [@Do not release hands from the facia panel till the panel is fixed with the two Stoppers I not, may cause injury. }@Do not give the facia panel subject to strong vibration or shock when it is fixed with the stopper. Dropping the facia panel due to loosing the stopper may cause failure of equipment or injury. (10)This manual provides detailed explanat yn for safety precautions, general description, specification, construction, operating method and troubleshooting of the autopilot PR-6000. (1) Please use this system correctly with a full understanding. (2) The readers of this manual are presumed qualified persons according to Japanese governmental law for ship's officers (ship under Japanese colors) or the corresponding laws. (3) Only qualified persons described above or persons under the supervision of the qualified person can operate this system. Do not have other persons handled this, system, 2. Items to be observed with respect to the manual. Items to be observed with respect to the manual are as follows. (1) Please read this manual carefully, Important items are described in this manual and it should thoroughly be read. (2) Maintain this manual with care. This manual is very important for handling this equipment. Keep it at hand for reference whenever needed. Assign a person in charge of maintaining this manual and fixed location. Relevant drawing for finished plan of this system should be maintained together (3) This manual should be delivered to the person actually handling equipment, The sales mediator of this system such as an agency should deliver this manual to the actual person handling this equipment. (4) Replace manual at once if Jost. If the manual is lost, contact TOKIMEC or our sales agency. A replacement manual can be supplied at charge. 3. When the warning labels become dirty or come off, contact TOKIMEC. Replacement labels can be supplied at charge. an4 Prohibitions and notes for protection of the system (protecting equipment itself from damage, maintaining the quality.) Observe the following for protection of the system. For details, refer to corresponding pages of this operator's manual. Corresponding pages are shownin{ — ]. Prohibition - -~-- Items must not do. (1) Prohibition of miss use (miss operation) (Refer to page 3-23.) PROHIBITION (1)Wetting the autopilot operation unit (facia panel) by water or drink may cause growing mold or performance reduction. Do not steer or operate with drinking water, etc. Wipe off liquid at once if the stand is wetted. (2) Prohibition of megger test (Refer to page 5-2.) PROHIBITION Do not use a megger, ete., for insulation test of this system. Using a megger can break internal electric parts. Always disconnect wirings to this system before testing related power distribution lines with a megger.Note ---~~ Items on which attention should be paid. (1) General note for using autopilot (Refer to page 1-1.) NOTE This system is an extremely important navigational equipment which controls the rudder to determine the advancing course of the ship. Although safety designs such as providing alarm functions for failure and miss operation, etc., are considered, a complete safety equipment is not available at present, In addition, because this system has a lot of important functions (multi functional equipment), anyone cannot always use this system without failure. Failure or miss handling of this system may cause disasters at sea. Accordingly, full attention should be paid on use of this system. And for safety navigation, execution of navigational technology and cautions are user's obligation which are not reduced or exempted at all by using this equipment. In particular, the “look out" (watch) is indispensable for steering in any steering mode of the autopilot. In addition, observe the following notes. 1, Be sure to perform daily check to keep equipment condition normal, 2. When abnormality is discovered as the result of daily check, investigate and repair it at once to recover it to the normal condition. If necessary, request an advice of TOKIMEC service engineer. 3. The steering modes of this system are AUTO steering, HAND steering, REMOTE steering and NON-FOLLOW UP steering. Be familiar with and skilled in every steering modes. 4, Be skilled in the emergency steering method to keep quite cool in emergency situation. 5. When the alarm system operates, be sure to check it to confirm the cause, and repair the troubled point.(2) Note for storage of autopilot (Refer to page 5-9.) OTE Observe the following items for storage. (1) Turn all power switches of this system to OFF position, and cut the alarm power (DC 24V) supplied to the autopilot stand. (2) Storage temperature should be between ~20" ~ +55°C. Avoid the place with high humidity as far as possible. High humidity may cause rust. (3) Prevent the storage place from generation of corrosive gas, breeding of bacteria such as mold or intrusion of insects and small animals. (4) Cover the system with a vinyl sheet, etc., when generation of dust is considered. ‘When welding works, etc., are carried out near this system, be sure to mount a suitable protection cover on the steering stand to prevent damage caused by spark, ete aayCONTENTS. SAFETY PRECAUTIONS a PREFACE... ay CONTENTS (is) CHAPTER | GENERAL DESCRIPTION .. 1 LL General 1 LILA Autopilot 1-2 L112. Kinds of steering funetions . 15 1.1.3. Display and alarm .. 16 1.14 Gyro-compass connected and shape of stand 16 1.2. Relevant Instruction Manual .. 17 1.3. Warranty 17 CHAPTER 2 SPECIFICATION AND CONFIGURATION ... 24 2.1 General. 21 2.2. Configuration 24 3. Specification 22 2.4 Name and Function of Each Unit 2.5. System Configuration .. CHAPTER 3 OPERATING METHOD .... 34 3.1 General i 3-1 3.2. Operating Method of Steering System ... 32 Preparation before start. 33 Stan. a4 Stop (including emergency stop) .. 35 Emergency steering method ... 3-5 Hand steering method .... 3-6 Auto steering method ...... 37 Remote auto steering (NAV) method (option), 39 Remote hand steering (RC : Remote Control) method (option)... 3-11 Non-follow up stecring (NFU) method .. 313 2.10 Override steering method (option) 314 3.2.11 Adjusting method for auto steeris 34 3.2.12 Data display method of AUTO unit 3-18 .13 Operating method when alarm generated 319 3.2.14 Setting Procedure of Gyro log interface 3.21 3.3. Misuse (Mis-operation) and Countermesures...... 3-23 us)CHAPTER 4 TROUBLESHOOTING... 4d 4.1 General... 41 4.2. Before troubleshooting 41 43 Troubleshooting... 43 4.4. Countermeasure Table 47 4.5. Voltage Table of Each Point : 4.25 4.6 Information Items to TOKIMEC Service Agene 426 CHAPTER 5 MAINTENANCE + CHECK...... 5-1 5.1 General... 5: 5.2 Periodical Check... 53 5.3 Warning Label Chec! 56 5.4. Replacement Method of Fuse 5-6 5.5 Replacement Method of Relay (PR-6 1010-1 EO type). 57 5.6 Spare Parts... 5.7 Storage Method .. 5.8. Disposal Method... 5.9 Precautions in Installation (Exceraction).. CHAPTER 6 PRINCIPLE OF OPERATION . 61 6.1 General... 6-1 6.2 Principle of Operation of PR-6000 . 62 6.3 AUTO-ADPT Operation (Auto Steering, Adaptive Control) (option)... 6-3 6.4 AUTO-PID Operation (Auto Steering, PID Countrol) 66 6.5 HAND operation (Steering Wheel Steering)...» senme 6T 6.6 Non-Follow Up Control Operation (NFU Lever Steering) ... 67 CHAPTER 7 GLOSSARY Fl (16)CHAPTER 1 GENERAL DESCRIPTION ZX WARNING ‘@ Malfunctions caused by failure of this system and mis-operation caused by operator's, mistake may cause such disasters at sea as collision with other ship or stranding, resultant property damage and environmental contamination, and further hazardous situation resulted in death or serious injury. @Great care should be taken to use this system being well acquainted with limitations of performances and characteristics of this system, and familiar with the operating method. NOTE This system is an extremely important navigational equipment which controls the rudder to determine the advancing course of the ship. Although safety designs such as providing alarm functions for failure and miss, operation, etc., are considered, a complete safety equipment is not available at present. In addition, because this system has a lot of important functions (multi functional equipment), anyone cannot always use this system without failure. Failure or miss handling of this system may cause disasters at sca. Accordingly, full attention should be paid on use of this system. And for safety navigation, execution of navigational technology and cautions are user's obligation which are not reduced or exempted at all by using this equipment. In particular, the "look out" (watch) is indispensable for steering in any steering mode of the autopilot In addition, observe the following notes. 1. Be sure to perform daily check to keep equipment condition normal. 2. When abnormality is discovered as the result of daily check, investigate and repair it at once to recover it to the normal condition. If necessary, request an advice of TOKIMEC service engineer. 3. The steering modes of this system are AUTO steering, HAND steering, REMOTE steering and NON-FOLLOW UP steering. Be familiar with and skilled in every steering modes. 4, Be skilled in the emergency steering method to keep quite cool in emergency situation, 5. When the alarm system operates, be sure to check it to confirm the cause, and repair the troubled point.1.1 General 1.1.1 Autopilot The autopilot PR-6000 is the system which controls the rudder to keep or change the ship's course. ‘This system mainly consists of a steering stand installed in the wheel house and equipment installed in the steering gear room (steering gear control system). ‘These two units are connected with cables and two lines of all control circuitry and steering control systems except for rudder are provided as the standard (user can select to adopt or not to adopt a part of circuitry). As two complete systems are provided, accordingly. even if a failure occurs in operating system, the steering function can be secured by switching to the other. This operator's manual describes mainly the steering stand of the system. For other equipment, separate volumes of instruction manuals are provided. ‘The equipment type is described as follows according to the configuration. The PR-6000 it self is a generic name of each type and does not give a specific type name. ‘The equipment type installed on the ship is given by the name plate attached to the equipment or by the finished plan of that system. Please understand functions of the corresponding type. [Explanation of equipment type] PR-6 —O0-n00- (s- ) 7 2®O ® ea— a— e— @ ® Auto steering control type + One of the following 5 combinations is available based on the purpose of use. TOKIMEC recommends the ADPT and / or PID dual systems 1: PID single (without ADPT) 2: PID dual (without ADPT) 3: ADPT single + PID single 4: ADPT single + PID dual 5: ADPT dual + PID dual @ Type of gyro-compass connectable + The gyro-compass azimuth signal is to be serial. TOKIMEC TG-6000 gyro-compass outputs serial signal. 6: TG-6000 I set 8: TG-6000 2 sets (dual)@ __ Type of steering stand ® Shows the steering stand type. ‘The gylot type contains the gyro-compass in it. Stand type (stand alone type without a built-in gyro-compass) Gylot type (stand alone type with a built-in gyro-compass) Console type (collective table type with a built-in gyro-compass) Unit type (unit assembled type without a built-in gyro-compass) + Console type (collective table type without a built-in gyro-compass) Gylot type (stand alone type with dual built-in gyro-compasses) : Console type (collective table type with dual built-in gyro-compasses) 9: Unit type (unit assembled in type with dual built-in gyro-compasses) ‘Type of steering gear control system ‘Shows the type of steering gear control system combined, Note : PR-6000 output signal is shown in (), DM : Single loop steering gear made by MITSUBISHI HEAVY IND. and HITACHI SHIP BUILD. (Torque motor rotation control signal) DW: Single loop steering gear made by KAWASAKI HEAVY IND. (Torque motor rotation control signal) DT : Single loop steering gear made by HATLAPA. (Proportional solenoid valve control signal) DB : Single loop steering gear made in Russia. (Megger torque motor rotation contro! signal) EC]: Solenoid valve control type (Solenoid valve control signal) EO: Dry contact point only (potential free) El: 110VAC ON « OFF signal £2: 24VDC ON + OFF signal E3: 110VDC ON + OFF signal - - - Power should be supplied by steering gear maker. we mechanical stroke) LOI: Electro hydraulic type (Cylinder reciprocating signal Note : Uses vane pumps. LS: L type standard LL: Ltype with the Low level alarm LP : Ltype with the Low pressure alarm - - - for LR rule LF : L type with the Low level and Low pressure alarms Electric type steering gear made by MITUBISHI HEAVY IND. (Piston reciprocating signal - - - mechanical stroke) PO PS: P type standard PL: P ype with limit switch -- - for LR ruleRudder control type - 8:35" Y: 40° W: 45° F : 60° H: 70° V 2 25 ~ 105° (VECTWIN) Rudder control type - - - - Number of rudder S : Single rudder T : Twin rudder (independent type) D: Twin rudder (rod connected type) Rudder control type - for T type) 1: 1 (Note for EL) type only) 2: 2 (Note for EL] type, DL type only) 3: 3 (Note for DL type only) 4: 4 (Note for PL] type, DM/DW type, EO type only) Note: * Single or parallel running is not shown at the pilot side. + Hydro-lock alarm (HLA) should be provided by steering gear maker. Reference number such as options Steering gear rudder angle Number of steering gear pumps (number of single rudders Note : Is not shown.1.1.2 Kinds of steering functions Steering functions of this autopilot are classified to the four modes ; auto steering, hand steering, remote steering and non-follow up steering ‘These steering functions are selected with the mode selection switch [ MODE | on the facia panel of the steering stand. In the three steering modes except for the non-follow up steering, the rudder order signal is applied to the steering gear control system through the rudder servo amplifier. The rudder angie signal is fed back to compose the feed back loop and the rudder automatically follows to the order rudder angle (follow up steering). In the non-follow up steering mode, the NFU steering lever switching signal is directly sent to the steering gear control system bypassing the intemal rudder servo amplifier (non-follow up steering). 1. Follow up steering (Follow up control) (1) Auto steering [AUTO ]mode Course is automatically kept with course setting, ‘The auto steering has two kinds of controls ; PID (proportional, integral, differential) control* and ADPT (adaptive) control*. a. PID control (a) Auto steering by the PID control In the PID control, the dual gain control method * is used for weather adjust- ment function. The control is the weather adjustment (WEATHER, scale 0 ~ 10). (b) In the PID control, the rudder ratio control (RUDDER ; taking rudder angle ratio 0.3 ~ 2.0, the scale 4 corresponds to the rudder ratio 1.) and the rate control (RATE ; scale 1 ~ 9) are adjusted. (©) The pilot watch alarm (PILOT WATCH ; scale 5 ~ 15") and the rudder limit (RUDDER LIMIT ; scale 5 ~ 35°) can be set. b. ADPT control (when optional ADPT control is attached.) (a) Auto steering by the adaptive control (b) The ADPT control is selected by setting the ADPT/WEATHER knob in the AUTO unit at | OPN |or| CNF |. Both are course keeping modes, and the ‘OPN J is used for sailing in open sea in which the economic condition is preferred to the course keeping capability, and the [ CNF | is used when the course keeping capability is preferred. When changing a course, the steering mode is automati- cally switched to the course changing mode, and the ship turns most efficiently and keeps the steady course within the ranges of the set rudder limit and the set rate angle of tum. (©) The pilot watch alarm and the rudder limit can be set in the same way as those in the PID control. * Refer to Glossary in CHAPTER 7.(2) Hand steering HAND | mode ‘This is a steering mode in which the rudder follows up to the order rudder angle by turning the steering wheel of the steering stand. (follow up control - - - - keeps the set rudder angle). (3) Remote steering [RC] mode (option) ‘There are two kinds of remote steering modes: The hand remote steering mode in which the rudder follows up to the set order rudder angle by turning the remote dial knob. ‘The remote auto steering mode in which the ship navigates along the pre-planned course by the order from the external navigational equipment (NAV mode). * Refer to Glossary in CHAPTER 7. 2. Non-follow up steering (Non-follow up control) (1) Non-follow up steering [NFU The solenoid valves or control motors of the steering gear control system are directly operated by throwing the NFU steering lever to the right or left. ‘Throwing the steering lever to the desired direction operates the rudder. and releasing the lever stops the rudder motion when the rudder reaches the desired rudder angle, (the rudder to be also returned to the previous angle by NFU) 3 Display and alarm For safety of navigation, various displays, indicating lamps and alarm system necessary to confirm operations of this system are provided. These are all arranged on the facia panel. 1.1.4 Gyro-compass connected and shape of stand The shape of stand is not changed even when the gyro-compass is built in the stand. Provided, only the width of the gylot stand with two TG-6000 gyro-compasses is double the Width of the stand with one gyro-compass (PR-6(_187).