IM PT500A E 18th

a User’s PM208 Adaptive Autopilot Manual PT5O0A Series IM 80802-19E YOKOGAWA @ IM80B02-19E Yokogawa Denshikiki Co, Ltd. 18th EditionINTRODUCTION - SECTION 1. 1a 12 SECTION 2. 2a 22 SECTION 3. 3a 32 33 34 33 36 SECTION 4. im aos 196 4a 42 43 44 45 46 4 48 Introduction Standard model CONFIGURATION «++ eeterteeereeeee ‘Control stand Individual units and their functions 224 222 223 224 225 226 227 22.8 ‘AUTO STEERING UNIT(PB343) 336 KEY OPERATION ** Preparation for auto steering °** Course change during auto steering ** NAVI steering(optional) © **~"** Override steering(optional) ‘Safety functions for auto steering “Maneuvering for reading ship parameters. = Remte string RO(oponal) : Non follow-up steering. «+++ Switching to AUX. Compass ‘Switching the display ~~ ‘Setting the udder angle init ~ ‘Setting the off-course alarm ‘Setting the operation mode“ Setting the daft mode ° Setting the ship speed Course change conto mode selection Setting parameters 481 482 483 434 485 ‘Setting the dimmer and contrast Setting the of-heading alarm ‘Setting for heading monitor ‘Alarm cause display ‘Setting contro items 485.1 ltemswitching ~~ 48.5.2 Release of midship command 49 4a 412 413 415 437 418 418 419SECTION 5. Sa 52 33 SECTION 6. 61 62 63 SECTION 7. SECTION 8. 4.85.3 Release of counter rudder angle limit 4854 Setting the rough-seas steering mode 4855 Helm adjustment in steering made switching 485.6 Number of rudders ss 4.85.7 Course deviation limit function 4858 Steering gear deadband compensation 4859. Ship speed pulse rate : 485.10 Exponential smoothing time for ship speed 485.11 Gyrocompass moving average time 485.12 Auxiliary compass moving average time ~ 485.13 Type of rudder angle display 485.14 Selftesting command 4.8.6 Initial seting of control parameters 48.6.1 Item switching 48.6.2 Selting the cruising speed 48.63 Setting the hull length 48.64 Initial setting value of static gain 48.65. Seiting value of time constant 48.6.6 — Solting value of static gain 4.20 422 423 4.25 4.26 427 428 429 430 431 432 433 434 434 435 436 437 438 439 48.6.7 Setting the Karman filter noise covariance matcix multiplier » 4-40 4868 Setting differential gain multpl 48.69 Setting the proportional gain multiplier 4.86.10 Seting he esas computed fom ship particulars (stable shipfunstable ship) 4.86.11 Seng the parameter updated sate patna pdt) 486.12 Seting he ype esul(stbeshipnsabe ship) 486.13 Presetting parameters: 4.87 Automatic setting of control parameters for each draft mode: 488 Average value display : 489 Parameter update computations 41 443 448 445 446 47 450 431 489.1 Enabling parameter update computation andthe dlspay of results 48.92 Disabling parameter update computations 48.9.3 Initialize of identified parameters 48.9.4 Inhibiting parameter update computations 48.10. Setting the alarm limit of low ship speed ALARMS ssssneeeeeeeee ‘Alarm types: Annunciator pattern ‘Types of alarm displays 53.1 Emergency alarms 532 Caution alarms: BASIC AUTOPILOT ACTION ~ Sseering fr fe saving... minimum seeing frequeney and rudder ange Adaptive autopilot control algorithm ‘Changes in weather conditions and Adaptive Autopilot MAINTENANCE AND INSPECTION ~ ATTACHED FIGURES emnennenaennnennneine Sel 1 GI 62 ntsnensennmnnnnnes Tol ‘4 00802-196INTRODUCTION About This Manual Revision History sm a0802-196 ‘This manual describes the PTSOOA’s functions and their operations. Read this manual carefully, and become fully familiarized with the instrument before using them. ‘There isthe possibility that does not reach a setting value in a climate, the sea condition, ‘ship’s speed, loads, the drafts and other special condition, in the case that i is using rate of turn control or turning-radius control. ‘There isthe possibilty thatthe inaccurate ship's speed input does not become a correct ‘contol in the case that i is using turning-radius control. + The contents of this manual are subject to change without prior notice. * Ifyou have any questions or find any errors or information missing inthis manual, please inform Yokogawa Denshikiki or our sales office listed on the back cover ofthis manual. + All rights reserved. No part of this manual may be reproduced in any form without ‘Yokogawa’s writen permission, “August — 1996 1st “August 1997 2nd + April 1998 3rd + April 1999 4th “August — 1999 Sth August 2000 6th “October 2000 7th + March = -2001-8th “March 2001.-9th “December 2001 10th edition + June 2002 11th edition “October 2002 12th_ edition “February 2003 13th edition + Iuly 2003 14th edition = June 2004 15th ~ edition = October 2004 16th edition + May 2005 17th edition sAugust 2005 18th edition@ FOR SAFE OPERATION ‘This manual uses the following symbols to ensure safe operatic AX warnine: Indicates thatthe operator should take special care to avoid danger that may result in injury or the loss of life, or critical conditions in steering, AX caution: Indicates that the operator should be aware of actions which could cause damage tothe instrument or lead to difficulties in steering. AX WARNING A\ risk or exzormica. Hock “umf powe sup bet sarigtho ine IEMODE switch ‘= When snitching the stesring made to HAND or Remote, always set all the steering handles and remote dals tothe midship postion before changing the mod + If there is a large liference between the actual rudder angle and the angle dacted by the steering handles or remote dials, switching the mode causes ‘the rudder to tum greatly, and may involve some ‘danger. 1m Emergency alarm ‘fan Emergency alarm occurs, the control outputs. ‘set fo the midship poston, except forthe case of a ‘SERVO LOOP FAILURE. ‘Change the control ‘system or selact manwal steering or non follow-up Steering to restart steering, - AX CAUTION |NLNo megger tests except forthe on-board power supply terminals. A megger test may damage the instrument. |Win order to ward ofthe rudder pushes the mechanical stopper, operate the lever not reach more than 35, degrees of udder angle indication, ‘min an area where many ships ae sang, itis dangerous to change course using the overtide steering functon while ‘AUTO steering mode. Manual stering is prefereble in ‘such cases. 1m 0802-196 |11 12 GENERAL Introduction ‘The PTSOOA Adaptive Autopilot is a digitally controlled automatic steering unit which thas been developed on the basis of the Model PT200 Autopilot; the PT200 Autopilot has been highly evaluated by many customers. ‘The PTSOOA has separate steering functions for each unit to permit easy configuration of consoles, cockpits and ther types. The adoption of function keys ensures operability. A Fich variety of actuators are available to ensure combination with all stering gears. Standard model PT-S00A -5 (TWIN RUDDER) — Twin-usder system ‘Type of steering gear Style of control stand ' Stand J: Stand with bullin gyrocompass P: Bultin panel 1m 0802-196 12. CONFIGURATION 2.1 Control stand ‘The control stand of the PTS00 Autopilot is composed of units separated by function, Figure 2-1 illustrates the individual units and their functions. ‘The structure and function of each unit are described on the following pages: ‘CONTROL STAND |—Stand wit top panel—— AUTO STEERING UNIT (PB343) AUTO STEERING UNIT (P8345) .. Optional STEERING REPEATER COMPASS (MKRO61) ANNUNCIATOR UNIT (PH614) ‘SWITCH UNIT (PH718) SWITGH UNIT (PH720) ‘SWITCH UNIT (PH721).. Optional HAND STEERING UNIT (PB335) {Unis ini stand —p-TERMINAL UNIT (PN 026) MASTER COMPASS (MKMO022) STEERING REPEATER COMPASS (MKROS1) ANNUNGIATOR UNIT (PH614), AUTO STEERING UNIT (P5345) AUTO STEERING UNIT (P8344) ‘SWITCH UNIT (PH721) ‘SWITCH UNIT (PH720) ‘SWITCH UNIT (PH718) HAND STEERING [UNIT (P8336) Figure 2-1 tse e0802-1962.2 Individual units and their functions 2.2.1 AUTO STEERING UNIT (PB343) .... See Figure 2-2. ‘The Auto Steering Unit incorporates the functions required for auto steering, and is ‘composed of a CPU to control calculations and signal/data inpuv/output, and a man- ‘machine interface which supports setting and display functions, Need a sod mA ooooooo doco Foch © 3 > 566 @ ee Figure 2-2 22 ms 80B02-196 |mpo802-196 © Data display ‘The display of various set deta and alarm factors, calculations of hull parameters, and the display of results as well as other operations are provided by the operation of 16 key switches and course setting dials. Furthermore, the rudder angle and turn rate can be displayed in bar graphs by selection on the display screen. © Gyrocompass selection key ‘This key is used to select the gyrocompass. © Auxiliary compass selection key ‘This key is used to select the auxiliary compass. If the auxiliary compass is not connected, it cannot be selected, @ Buzzer stop key Pressing the buzzer stop key stops the buzzer in the event of an alarm and allows the alarm item to be checked. © Rudder limit setting key Pressing the rudder limit setting key sets the rudder angle to control auto steering rudder limit angle. ‘When the limit is reached, "¢ LIMIT" or "LIMIT +" appears on the data indicator. © Off-course alarm setting key ‘This key is used to set the deviation angle to detect an off-course alarm. Off-course alarm will be disabled if the Aux. compass is not connected. © OPN MODE selection key Select one of the following modes: ECONOMY: for auto steering with emphasis on fuel saving steering during ocean going. PRECISION 1: When seas become somewhat rough and yawing is excessive in “BCONOMY” mode during ocean travel. PRECISION2: for auto steering with emphasis on course keeping in cruising area where ships are converging, or in passage through narrow channels. © Draft mode selection key Select one of the following three modes: FULL: Full-load mode (80% to 100% of disigned full load draft) MIDDLE: Middle mode (55% to 80% of disigned full load draft) BALLAST: Ballast mode (less than 55% of designed full load draft) © Ship speed setting key ‘This key is used to select ship speed mode between the automatic input and manual input modes, and to set the ship speed in the manual mode. ® Parameter setting key This key is used to set the dimmer contrast, pilot control, hull parameter and so forth. @ Data up/down key Pressing this key allows switching of items and adjustment of values for setting. @ Data definition key This is used to define the set items and values, 2324 @ Course setting dial ‘The course can be set by turning the dial while pressing. One dial rotation changes the sot course by 25 degrees. Turing the dial ina clockwise direction increases the set ‘course angle, while turning it in a counterclockwise direction decreases it. Furthermore, pressing and turning the dial while pressing the [ENTER ] key during ‘normal display allows updating of the set course, including the numerals below the decimal point. (One dial rotation changes it by 2.5 degrees.) @ Course setting key Pressing the [> key increases the set course angle, while pressing the <] key decreases. it Simetanous pressing ofthese eye cases the numeral Below the desinal poi o ineeae. Tho sl course angle inching the numeral bow the dcimal pint hanged by presing the key or : Lights up when the actuator is moving in the right rudder direction, ‘nt 20800-196 252.2.3. STEERING REPEATER COMPASS (MKR0S1) ... See Figures 2-3 and 2-4. ‘The steering repeater compass receives serial signals from the master compass and drives ~ the repeater compass card to indicate the course of the vessel. The compass is provided with a vernier card that can be read in increments of 1/10 degree. ‘When the steering repeater compass is fed power from the master compass, the repeater compass card tums and adjusts to zer0 degree while the zero tracking LED is blinking. ‘The LED is lt after the indicator points to zero on the repeater compass card. In response to serial heading signals from the master compass, the repeater compass card tums and follows the heading. () Zero tracking switch Use this switch when the compass reading is out of alignment. @) Dimmer ‘The dimmer adjusts the brightness ofthe repeater card, error LED, and zero tracking LED. () Zero tracking LED (green) or LED (re) ‘This LED is normally it and blinks only when the Zac ackhglED (00) ero aching sen Ome repeater compass is performing zero adjustment. - ~ Figure 24 (@ Error LED (red) ‘This LED normally stays out, but i lit or blinks when the repeater compass detects an 2.2.4 SWITCH UNIT (PH720) .... See Figure 2-3. This is a switch to select the steering mode. ‘This has a cam switch to permit selection in four steps. ‘The following shows the symbols for the steering modes: NAVI... Steering controlled by external computer, ete AUTO...... Automatic steering HAND ..... Manval steering RC svnenon Remote control steering ‘These symbols are displayed on LEDs. The dimmer is used also by the PH718. LL 2.2.5 SWITCH UNIT (PH721) .... See Figure 2-3. (optional) ‘This is an auto steering unit selector switch when the digital PID auto steering unit (optional) is installed, The dimmer is used also by the PHT, 2.2.6 SWITCH UNIT (PH718) .... See Figure 2-3. ‘This unit is provided with a control system selector switch and non-follow-up steering lever. (Q)_ System selector switch This switch selects the control line in the pilot stand, The following steering control lines are provided: + OFF : Power off position + FU-I : System No.1 + FU-2 : System No.2 + NEU : Non-follow-up steering system 26 'm p0800-19(2) Non-follow-up steering lever ‘This self-returning lever switch is used for non-follow-up steering. Throwing this lever to the right or left starts steering, When itis released, the rubber stops at the present position. Non-follow-up steering can be used when the system switch is set to the NFU position, @) Dimmer ‘The dimmer adjusts the brightness of the LEDs which display the symbols on the plate. It is used for both the PH720 and PH721. 2.2.7 ANNUNCIATOR UNIT (PH614) .... See Figure 2-5. This unit indicates the operation status of the power supply, steering unit and auto steering unit, and issues an alarm in the event ofa failure. The alarm point changes depending on the steering gear to be combined, and the lamp arrangement changes accordingly. (1) Indicator lamps ‘The number of indicator lamps and indication items are different depending on the configuration of the autopilot and steering gear. The labeling and meanings of the indicators normally used are as follows: pe : 24 VDC (battery) power indicator lamp (green) ‘This lamp goes off if there is no 24 VDC power supply. PWRON — : 100 VAC power indicator lamp (green) PWR FAIL: 100 VAC no-voltage alarm lamp (red) ACTRUN : Actuator run indicator lamp (green) ACTBAIL : Actuator failure alarm lamp (red) Factors causing this alarm differ depending on the type of steering gear. AUTO FAIL : auto steering unit failure alarm (red) Lights up if the CPU of the auto steering unit has become faulty EMRG ALM : Emergency alarm lamp (red) ‘This alarm requires that the control system or steering mode be switched ‘over as soon as the alarm has occurred. See SECTION $ for details on the causes of these alarms CAUT ALM : Caution alarm lamp (red) ‘This alarm is designed to have marginal time to allow corrective action to be taken when the alarm has occurred. See SECTION 5 for details on the ‘cause ofthese alarms. OFFCRS — : Off-course alarm (red) (if the magnetic compass is connected) This alarin is issued ifthe preset course and heading based on the magnet. compass have exceeded the set limit for longer than a specified time. However, this alarm function is released during a course change. + IM 0802-19 a7Me Figure 2-5 (2) Buzzer stop key @ ‘The buzzer is stopped by pressing this key when an alarm has occurred. At the same time, the flickering alarm lamp is turned off or is continuously lit. @) Dimmer, lamp test keys ‘These keys are used to control the brightness of the indicators in the unit and to test the lamp and buzzer. Pressing the ¥ key increases the indicator brightness, while pressing @ decreases it. Simultaneous pressing of the two ¥ and @ keys will start the lamp test function; the indicator will licker and the buzzer will sound. 28 1 20802-192.2.8 TERMINAL UNIT (PNO026) .... See Figure 2-6. ‘The terminal unit provides input/output repeating and switching among the auto steering. unit, hand steering unit, switch unit, annunciator unit, steering repeater unit, control and power box, and other external equipment and the power line. (1) The unit converts the steering angle signal @ from the automatic steering unit into ‘current, and sends it to the control power box. (@) It converts the rudder angle feedback signal 1 from the control and power box, and sends it (othe auto steering unit ‘TERMINAL UNIT (PNO26) Figure 2-6 AX WARNING ZX CAUTION 4\ RISK OF ELECTRICAL SHOCK + No megger tests except for the on-board power Tuam etna poner sent peters sarang to wig stay ema map etay Sag e ‘ne 80602-196 293 OPERATION 3.1 3.1.1 Preparation Operation Prior to start-up, do the following: () Check thatthe steering gear is teady for operation, (2) Check that control & power box powter supply is on, Check also that the test mode switch ofthe control & power box is set to normal (8) Check thatthe annunciator units no. 1 and no. 2 [PWR ON] indicator lamps ar i. (4) Check that the steering repeater compass gives a correct heading. After a preliminary inspection has been completed, the switch can be operated from the control stand (5) Set the mode switch to the "HAND " positon. (6) Set the steering handle tothe midship position (7) Set the system switch to FU-1 (NO.1 SYSTEM) or FU-2 (NO.2 SYSTEM). ‘When the switch is set, the eaution alarm, the data display of the auto stering unit will indicate the following, and the buzzer will sound. PROGRAM START SOFTWARE VAR X_| x. denotes the program version Press the buzzer Stop button @ of the annunciator unit. Then press the key on auto steering unit. The display changes to the normal indication, making it possible to use automatic plot. Inthe normal display mode, the vessel speed and heading are indicated as illustrated below: SPD AUTO xx. x Kt HEADING-a_ yyy. y" vessel spood (indicated only when connected) ‘vessel heading a _.G: Gyrocompass heading et Reading @ “44; Magnatic compass. hoading (8) Selection between the two follow-up function systems is made with the system switch. 3.2 Hand steering If the mode switch is in the "HAND" position, follow-up steering can be done with the steering handle at any time. | e0B02196 ZS WARNING Sot th stoering handie tothe midship positon before changing the mode switch to HAND". If there i a large difference between the actual rudder angle and the angle directed by the steering hand, svitcing to the HAND stoering mode causes the rudder to tum groatly, and may involve danger. at3.3 Auto steering 3.3.1 Preparation for auto steering In the hand steering mode, take the following procedure to prepare for auto steering: () Defining the operation mode Select the operation mode according to the cruising area, weather and oceanographic conditions. ® The following currently set operation mode will be displayed on the essing the| OPERATION] Key in, al displa display unit by pressing the] P88 key in the normal display. aaaaaaa a..." denotes the currently set operation mode. ECONOMY : For auto stcering to ensure fuel saving during ocean navigation PRECISION 1: When seas become somewhat rough and yawing is excessive in "ECONOMY" mode during ocean travel. PRECISION 2: For auto steering with emphasis on course keeping in cruising area where ships are converging, or in passage through narrow channels (OPERATION @ Ifthe displayed operation mode is satisfactory, press the Mone | key again to get back to the normal display. ® To change the operation mode, press the [ENTER] key so that the change wait state is displayed. OP'N< aaaaaaa 'a.....a" denotes the operation mode to be set. ‘The displayed operation mode changes as below every time the [A+] or {7 —] key is pressed. ECONOMY < PRECISION1 < PRECISION2 ECONOMY ‘When the operation mode to be set is displayed, press the [ENTER] key to define the data. In this case, the data are displayed on the display unit as shown in ©. (2) Defining the draft mode Select the draft condition: © The following currently set draft mode will be displayed on the display unit by pressing the | DRAFT | Key in the normal display. MODE 32 twanso2-198DRAFT= — aaaaaaa a..." denotes the currently set draft mode. FULL:: Fulldoad mode (80 to 100% of designed full load draft) MIDDLE : Middle mode (55 to 80% of designed full load draft) BALLAST : Ballast mode (less than 55% of designed full load draft) Qt the displayed draft mode is satisfactory, press the | PRAFT] ey again to get back to MODE the normal display. @To change the draft mode, press the [ENTER] key so that the change wait state is displayed DRAFT< — aaaaaaa “a...a” denotes the draft mode to be set. Every time you press the or [Y=] key, the displayed draft mode changes between full, ‘middle and ballast. When the draft mode to be set is displayed, press the [ENTER] key to define the data. In this case, the data are displayed on the display as shown in (). @) Confirming the course in the AUTO mode While the steering mode is selected to manual mode "HAND", RC or "NFU"), the indicated value in set course display is always updated to present heading. ‘And when the steering mode is switched to "AUTO", the auto steering unit performs auto steering to maintain the current course. (The value below the decimal point of the setting course is rounded off. ) (4) Set course entry soo02 196 ‘There are three methods for setting the course. Use any of the appropriate methods according to the particular situation. ‘Entering the course via course setting dial ‘Turn the dial in a clockwise direction while pressing it, and the set course angle in the course is increased. Turning it in a counter clockwise direction decreases the set course angle. Course settings below the decimal point cannot be updated. Pressing and turning the dial while pressing the ey during normal display allows updating of the set course, inchiding the numerals below the decimal point. setting the course-by-course setting key ( [—EI][E] ) Pressing the [=I] key decreases the course angle on the display. Pressing the [E>] key increases it. Note that the set course below the decimal point cannot be updated. ‘Simultaneous pressing of these keys causes the numeral below the decimal point to change in the order of 0 — 1... -9 > 0. ‘The set course angle including the numeral below the decimal point is changed by pressing the [E] key or [=] key in the standard display while pressing the ENTER] key. @Entering the course via the heading set key [H/S| Pressing the [H/S| key transfers current gyrocompass heading into the set course display. Note that the digit below the decimal point will be rounded off. Also, the buzzer will sound when the display changes. This is a convenient method of setting the desired course while watching the steering repeater compass during hand steering. The set course angle on the set course display is retained even if the power supply is turned off. ‘This completes the preparation for auto steering. Set the mode switch to "AUTO". 38[NOTE] The value of set course display is recorded in Auto steering unit when the system is restarted. ‘Tum on the control stand after switching to HAND mode, because the rudder moves immediately if the course deviation is existing. 3.3.2 Course change during auto steering The course is changed by pressing the course setting dial or course setting key, and automatic ‘course change starts according to the new set course. The following three types of control ‘modes are available for automatic course change control: ()P-D controlled course change ... Automatic course change function to minimize the course change time normally used during ocean navigation (2)Constant rate of turn course change ... Constant rate of tum course change function effectively used in the narrow channel. Hull length and speed are used as parameters for control. (3)Constant radius course change ... Automatic course change to keep constant turning radius ‘when changing the course. Ship speed is used as a parameter for the control. ‘The course change mode is selected by pressing the [annus | key switch, (See section 4.7.) 3.3.3 NAVI-steering (optional) ‘The system receives the steering command signal from integrated navigation system (INS) when the steering mode switch is selected to [NAVI]. The course display of Auto steering unit indicates the course to steer from INS and the system starts automatic steering in accordance with the command from INS. (Caution!!) If the faulty course signal is maintained uncorrected for timeout limit, “NAVIGATOR” (timeout error) alarm is generated. ‘At that time, the present heading is read as the set course until changing MODE switch and the set course display changes as follows; eR eEse] the dng wen "NAVICATOR ae ra 3.3.4 Override steering (optional) If a temporary course change is required to avoid collision with other ships during auto steering, it is possible to change the course easily with the steering lever of the override switeh unit, Operation procedure + Starboard command ‘The ship will continue to tur to the starboard while the lever is turned to the right. OVERRIDE# HEADING -G 135. 6" ‘The course settings and are displayed alternately on the set course display. 2a) -Port command ‘The ship will continue to turn tothe port while the lever is turned tothe left. *HOVERRIDE HEADING -G 140. 2° ‘The data are displayed on the display unit as shown on the left 34 so802-10E‘The data are displayed on the display unit as shown on the left The course settings and [4c J are displayed alternately on the set course display. 2235) 2 aoa) When the lever is set in the neutral position, the auto steering unit makes control so that the current compass heading will be maintained. (The course display and ae displayed altematively onthe set course display.) ‘The auto steering unit produces a beep during override steering. To get back to the original course after override steering, press the Course Again switch CIA) at the bottom left of the lever. In this case, the set course is continuously displayed on the set course display unit, A\ CAUTION Tran area of ship congestion, itis dangerous to change course using the override steering ‘function while in the auto steering mode. Manual steering is preferable in such case. 3.3.5Safety functions for automatic steering, (1) Rudder limit The steering angle is limited during auto steering to ensure ship safety. The command steering angle having reached the preset steering angle limit is indicated on the upper part of the data display as follows: - LIMIT T# | wen the rudder iit on the starboard side has HEADING-G 135. 6 been reached @LINiT ‘When the rudder imit on the port side has been HEADING-G 135.6" | tached Rudder angle limit function + PD controlled course change ‘The rudder limit function is operated by the limit value set on the | HUDPER | key. * Constant rate of tun course change ‘The rudder limit function is operated by the limit value set on the RUDDER | key or the uM rate of turn value set on the | Rai, |key, whichever is greater. @) Course deviation alarm cancel When a course change of more than I degree is specified, the alarm action is cancelled. It returns to the original position if a course deviation of less than 3 degrees continues for more than 30 sec. ()_ Integral action limitation * When course change command is less than 10 degrees, the previous integral amount is retained, | ‘oace-196 363.3.6 36 Maneuvering for reading ship parameters ‘The inital set values for the adaptive control parameters are entered by our service engineers atthe time of installation based on the hull design dimensions, Hull movement parameters in conformity to the navigation conditions are set by maneuvering for reading, ship parameters inthe auto steering mode, and optimum adaptive control is carried out Notes, ————-—________- For reading ship parameters, the ship should be maneuvered in an area less affected by disturbances such as tidal currents under the conditions of the Beaufort scale of 3 (wave hneight: 0.5 m; wind velocity: 5 mvs) or less. ‘The draft mode should be Full Load (80 % to 100% of the intended toad). (1) Preparation a) Keep cruising speed constant. b) Operate the [Rtg | key to call out the Course Change Control mode, and select the, pe RADIUS, Constant Rate of Turn Course Change Control; then set the rate of turn to 5 deg. ft ©) Operate the [ADJUST ] key to call out the parameter update computation (ADJUST MODE 8) and set “enable” (2) Maneuvering for parameter reading Repeat course changes of 20 degrees or more as shown in Figure 3-1. Parameter ‘update computation will be completed 10 to 15 minutes after this maneuvering is started. Parameter update computation is executed for each course change. 10 t0 15 min. During a parameter reading, data display 2 will read as follows: IDENTIFICATION UPDATE X During parameter rang te csplayd character wit —! Acker. Fickarng wl stop when the parameter update ‘computation is over. Number of parameter iterations. —-} or [=] , SISU will (2) When the parameter update computation is completed, press the keys. The updated selection parameters wil then be displayed appear every time the [Y= | key is pressed 1m 00002-1961m 0002-196 (4) Press the [2] or [7] key to display UPDATE X; then press the key to display "DISABLE." ‘Then press the key, and the data display will read as follows: 1DENTIFICATION = DISABLE ‘When the above display is given, press the [ ADJUST ] key to complete the operation. Note: When parameter read maneuvering is completed, be sure to "DISABLE" parameter update computation. When the parameter has been updated by this maneuvering, the ship will thereafter be maneuvered according to the new parameter. Note: If satisfactory steering performance cannot be obtained by parameter read maneuvering, operate the [ADJUST ] key to call out the parameter update computation (Adjust Mode 8 Initialize), and cancel the updated data (initialize it. 373.4 Remote steering: RC (optional) Setting the mode switch to RC enables remote steering. Both portable and mounted steering units are available. If there are multiple steering positions, a steering position selector switch will be provided, so the steering position should be checked carefully, AX WARNING When switching the steering mode to HAND or remote, always set all the stoering handles and remote dials tothe midship postion before changing te mode, 3.5 Non-follow-up steering Setting the system switch to the NF position selects non-follow-up steering. The steering lever is on the right side of the hand steering unit. The steering lever has on-off action with a self-eturn. As long as the lever is held to one side, the rudder will turn to that side. ‘The helmsman should watch the rudder angle indicator while operating the lever. AX CAUTION Intder to ward off he rudder pushes the mechanical stopper, operate the lever not to reach ‘more than 35 degrees of rudder ange indication. 38 1m 50802-196|3.6 Switching to AUX. Compass ‘When switching from the gyrocompass to the AUX. compass and correcting the deviation angle of AUX. compass, do not perform auto steering with the auto steering unit (Correct the deviation angle by hand or NFU steering). (1) Press the key in the normal display mode as follows: SPD AUTO 20.0 kt HEAD ING—G 102. 0° | Ship speed and gyrocompass heading ‘Then the data display unit will prompt for a deviation angle as follows ROK COMP. CORR ang ge 20° 020 Obtain a deviation angle to be set from the following equation: Deviation angle = Gyrocompass heading - AUX. compass heading (For example, when the gyrocompass heading is 000 ®, the deviation angle is -10 ° for AUX. compass heading of 010°, and 10° for AUX. compass heading of 350°.) (2) Deviation angle data will increase/decrease every time the or [a] key is pressed. When the desired value is displayed, press the [ENTER ] key. The data splay unit willbe as follows: SPD AUTO 20.0 kt HEAD ING—A__1.04. 0° | Ship speed and AUX. compass heading, Note, Pressing the key for two seconds or more will switch the PTSOOA to the AUX. compass mode without setting a deviation angle. The PTSOOA will use the gyrocompass heading for auto steering until the key lamp is lit even ifthe is presed Lt when yrocompass boing sols = C@ore) Pressing tis key wil cause he data csay ‘nit o prompt for deviation data (Pressing the key fortwo seconds or moce will select the AUX. $3 compass heading and the last set value wil be used as the deviation angle) tryna cess Soma en ae rae “® wh e0p02-196 39 '4. KEY OPERAT ION 41 Display item (2) Display of ship speed and heading SPD AUTO Switching the display SPD MAN. (©) Display of rudder angle 12.5 kt HEADING-G 256. 3° 12.0 kt HEADING-A 256. 3° (©) Display of rate of turn «- R. 0. T. P2 0. 3Ymin (@) Display of course deviation CRS DEV'N tw 90802-196 4 Display of automaticaly entered ship speed ‘€ Display of gyroscope heading 4 Ship speed manual entry ‘4 Display of magnetic compass 4 Bar graph aispay of ruddor angle command 4 Dispiay of rudder angle command 4 Bar graph display of x angle € Display of y angle 4 Bar graph aisplay of rate of tum & Display of rate of tum 4 Bar graph display ofcourse deviation 4 Display of course deviation at(©) Display of operation mode (one of the following) COURSE CONTROL STEADY COURSE CONTROL ALTER RATE CONTROL 30° min RATE CONTROL 20° /t RADIUS CONTROL 1. 50nm = Maintaining the course 4= Changing the course in PD ‘contol modo “<= Changing the course with a fied rte of tum (30"min) + Changing the course with a ‘xed rato of turn (20°7) 4 Changing the course with a ‘xed radius (1.50 nm) (© Display of gyrocompass and AUX. headings (when the AUX. compass is connected only) += Gyrocompass heading = AUX compass heasing “$o Courseseting of AUX. Compass “Deviation angle rom the course soting ‘A deviation angle canbe obtained trom the following equation: ‘compass heading - Course seting "W" means the deviation <0, and “E" means the deviation >= 0. 4 Coursssoting of AUX. Compass HDG-GYRO 123. 4 HDG-AUX 124. 6 (g) Display of limit angle for off-course alarm (when the AUX. compass is connected and the off-course alarm is enabled only) CRS—AUX. 123. 5 DEV. £002. 4 Deviation angie = AUX CRS—AUX. 123.5 DEV. ----. = The above items are switched every time you press 42 “$= When the of course alarm is clsbled, the stering mode is ‘other than AUTO and NAVI, or the PTOOA is changing the course. ‘ s0802-1984.2 Setting the rudder angle limit ‘Set the maximum command rudder angle during auto steering. The command steering angle having reached the preset steering angle limit is indicated on the upper part of the data display as follows: ‘When the ruddar limit on the pot side has been \When tho ruddor limit onthe starboard side has tached: boon raachod: LiMit LIMI Te HEADING-G 123. 5° HEADING-~A 235. 6° It should be noted, however, that the limit function does not work for the integral control volume of the command rudder angle. (1) Press the| RUDDER | ,ey, and the data display unit will indicate the following: LIMIT. RUDDER LIMI T=1 0° |é Currently sot adder init value @) Ifthe displayed rudder angle limit is satisfactory, press the| RUDDER | poy again (to RUDDER LIMITS10° | sotngrange:2t095 Indicates the data walt state. (3) To change this value, press the rudder angle limit display unit will indicate the rudder angle limit set in (1). nt s0B02496 1 getback to the normal display). To change this value, press the [ENTER] key, aad the data change wait state wil be displayed onthe data display unit as follows: a key to adjust the display of the (@) If the displayed rudder angle limit is satisfactory, press the key. The data 434.3 Setting the off-course alarm Note: The off-course alarm will be disabled if the AUX. compass is not connected, In the Autopilot connected with the magnetic compass signal as an auxiliary compass, an off-course alarm can be detected by the magnetic compass heading during auto steering. “The magnetic compass detects whether the gyrocompass js faulty or the ship is not running on the set course, and an alarm is issued. Set the limit angle and detection time for this off-course alarm. (Ofcourse alarm mit angle =< == Sac rapt compass OFFCRS (1) Press the] Siar} and the following display will be given on the data display unit: OFF CRS ALARM ~& LIMIT ANGLE= 1 0* |¢curonty sot course deviation stam tit (2) Press the [AF] oc [=] key, and the following display wil be given on he data display unit: OFF CRS ALARM ¢% TIM 120s | curenty sat o-course alarm detection timo (3) Changing the off-course alarm limit @-1)_ Tochange the off-course alarm limit, press the key when the Ti displayed; the data change wait state will then be displayed. OFF CRS ALARM LIMIT ANGLE< 10° |e offcourse alarmtimitto be set Soting Range: 110 90 (3-2) The limit will be adjusted by pressing the | or [Y=] key. When the limit to be set is displayed, press the [ENTER ] key. The data display will indicate the off- course alarm limit angle set in (1) 44 im ane02-196(A) Changing the off-course detection time (4-1) To change the off-course detection time, press the key when the detection time is displayed; the data change wait state will then be displayed. CRS ALARM ° TIME< 1.2.0 5 | Ofcourse alarm detection tne to be set ‘Satting Range: tto 120 or [7 =] key. When (4-2) The detection time will be adjusted by pressing the. the detection time tobe sti displayed, press the key. The data display will indicate the off-course alarm detection time set in (2). BEE EM x5 ei ke FRA po 2 ‘a Bs be 2 3 2 Pe m3 2 ne 0802-198 454.4 Setting the operation mode 46 Select the operation mode according to the cruising area, weather and oceanographic conditions during navigation. (1) Press the [ OPERATION) .y uring nomal operation, and th curently se operation mode will be displayed on the data display as follows: oP N aaaaaaaaa denotes the currently set operation mode. ECONOMY: For auto steering to ensure fuel saving during ocean navigation PRECISION I: When seas become somewhat rough and yawing is excessive in "ECONOMY" mode during ocean travel. PRECISION 2: For auto steering with emphasis on course keeping. in cruising area where ships are conver, passage through narrow channels (2) tte day operon mode satsttry, pres te [OEERTION |p punto ‘get back to the normal display. (3) To change the operation mode, press the key so thatthe change wait state is displayed. OP’ N< aaaaaaaaaa "8..ut® denotes the operation mode to be set ‘The displayed operation mode changes as below every time the pressed. key is ECONOMY *= PRECISION 12sPRECISION 25 ECONOMY ‘When the operation mode to beset is displayed, press the key to define the data, In this case, the data ae displayed onthe display as shown in (1). AERO ARESG 338. fo = or ne eoanony a lor ws Precision: lor we _PRecision2| tm one02 1964.5 Setting the draft mode ‘ Im 90802-196 Select a draft condition of the ship. (Pes the{ DEAET key dvingnomal operation and th curenty se dat mode will be displayed on the data display as follows: ORAFT= aaaaaaa a" denotes the currently set draft mode. FULL: _ Fall-load mode (80% to 100% of designed full load draft) MIDDLE: Meddle mode (55% to 80% of designed full load draft) BALLAST: Ballast mode (less than 55% of designed full load draft) (Q) If the displayed draft mode is satisfactory, press the| Riemer | key again to get back to the normal display. (3) To change the draft mode, press the key so thatthe change wait state is displayed. DRAFT< aaaaaaa "ana denotes the draft mode to be set. ‘The displayed draft mode changes between full, meddle and ballast every time th or [V — ] key is pressed. FULL = MIDDLE = BALLAST =* FULL ‘When the draft mode tobe set is displayed, press the key to define the data. In this case, the data are displayed on the display as shown in (1). yb E REROtNGSo 358. 6 DRAFT< By 474.6 Setting the ship speed Set the speed manually ifthe ship speed signal cannot be entered from the speed log (1) Press the key in standard display, and the present input mode and ship speed will be displayed on the data display. SPD aaaa=xx. x kt a... a: present input mode AUTO: Automatic input mode MAN: Manual input mode (2) To switch the ship speed input mode, press the key and the data change weit state will appear. SPD aaaa CONTRAST= 5 |= Currently sot contrast contol value (8) To change the brightness contro value, press the [ENTER] key when (1) is spayed. DIMMER/CONTRAST DIMMER< 1.0 J Brightness conto value to be sot Soling Rangop: OFF, to 10 ‘The displayed adjustment value changes every time the or key is pressed. ‘When the adjustment value you want to set is displayed, press the enter key. ‘The brightness adjustment value will then be indicated on the data display as shown in (1) (4) To change the contrast control value, press the key when (2) is displayed. DIMMER/CONTRAST CONTRAST< 5 [4 Contrast control value tobe set ‘Setting Ranges 1 10, “The displayed adjustment value changes every time th cor [7] key is pressed. When the adjustment value you want to set i displayed, press the key. The ‘contrast brightness adjustment value will then be indicated on the data display as shown in Q). REROTMESS HE}. [o*Ba¥ AY BRPRATr*] (BI RMIERZeOnT RAS 3] cal : ea | a eA 2 eT, i TWAER7EOWT BRET oe (BIMWERZEORTRAST, *jamranciereT4.82 Setting the off-heading alarm im 20002496 Set the limit angle and detection time fora “off-heading alarm," which was previously called the "course deviation alarm’ and sends an alert ofa course deviation from the course settings during auto steering. (Off reading alarm lit angle Set course (a) Press he key when adjust mode 2 is indicated onthe data display, and the currently set limit angle is displayed on the data display as shown below: OFF—-HEADING ALM > LIMIT ANGLE = 10° |@eCurenty st oneading alarm limit angle oZ=] (2) The following will be displayed on the data display by pressing the key. F-HEADING ALM > ME= 10s” [4 Currently sot detection time fo of-heading alarm 9) Changing the off-heading alarm limit Gel) To change the off-headng alarm Timit, press the [ENTER] key when the limit is displayed. The data change wait state will then be indicated on the data display. OFF—HEADIN MIT ANGLE <_ 10° |@Orheading alarm imitto be set Sting range: 210 45° (3-2) The displayed limit changes every time the If key is pressed. When the limit you want to set is displayed, press the ey. The off-heading alarm limit angle will then be indicated on the data display as show in (1). (4) Changing the off-heading alarm detection time (4-1) To change the off-heading alarm detection time, press the ‘key when the detection time is displayed. The data change wait state will then be indicated on the data display. OFF—HEADING ALM oft neaing alam detcton ime tobe st I-hoading alarm detection time tobe s TIMES 10s |e Qfeadng darn deecton (4-2) The displayed detection time changes everytime the [A=] or [= key is pressed. When the detection time you want to set is displayed, press the | key. The off-heading alarm detection time will then be indicated on the data display unit as shown in (2). 413eS TRONS Fe ‘fora a a ies fie ff fprraneno ine py es) [oARAURY CURER, [AEROS HEF}. tne 0802-196 ana483. Setting for Heading monitor Note: “The Heading monitor will be displayed ifthe AUX. Compass is not connected. If the ship is required to carry two independent compass, set the limit angle and detection time for “Heading, ‘monitor”. (Heading monitor is installed 10 monitor the actual heading information from independent heading sources) AZo Heading information of other compass Heading information of select compass Limit angle of Heading monitor (()Press the [ENTER | key when "ADJUST MODE 3 $*is indicated on the data display, and the currently set limit angle value i displayed on the data display as shown below. HEADING MONITOR? LIMIT ANGLE= 16° | curently set imitange value (2) The following wll be displayed on the data display by pressing the [A] or [7 key. HEADING MONITOR? TIME= 19s ‘+= Currently set detection time for Heading monitor (3) Changing limit angle value for Heading monitor alarm (G-1) To change the limit angle value for Heading monitor, press the [ENTER | key when the limit is displayed. ‘The data change wait state will then be indicated on the data display. HEADING MONITOR? LIMIT ANGLE< 1a” — Limit angle value for Heading monitor to be set Setting Range: 1 to 15, 20, 25, 30, 35, 40, 45 (G-2) The displayed limit changes everytime the [Aa] or [7] key is pressed. When the limit you want to sets displayed, press the [ENTER ] key. The limit angle value for beading monitor alarm will then be indicated on the data display asshown in (1). (4) Changing detection time for Heading monitor (41) To change the detection time for Heading monitor, press the key when the detection time is displayed. The data change wait state will then be indicated on the data display. HEADING MONITORS TIME< 1G |= Heading monitor detection time tobe set Sesting Range: 1 10 20 (8-2) The displayed detection time changes everytime the [A] or [7 key is pressed. When the detection time you want to sets displayed, press the LENTER | key. The detection time for Heading monitor alarm will then be indicated on the data display as shown in @).. 1M 20802-195 4150 ATO 13. ke... HeADING-6 235." [°° wear oS ADIUST. MODE IMMER/CONTRAST AOLUST MODE HEADING WOH TOR” fHEADI NG wont TR, CIMT ANGLES 2° faEADI NG ONL TOR, [tiwiT ANGLEC. 3 faEADING wont TOR [LWT ANGLEC 4a" eo fuEaD1 no Wout TOR rine" ts fea0 Wont TOR rise ONS ret ro Wa on fae Loo Aone wo TRE a t a 416 ne 8062-194.8.4 Alarm cause display a 802-106 ‘When an alarm has occurred, this function is used to display the cause of the alarm on the data display. Note: If a new alarm occurs while the cause for an alarm is displayed, the display is automatically updated to indicate the cause of the new alarm, (1) Press the key when adjust mode 4 is indicated on the data display, and the following alarm will be displayed on the data display: ERROR aaaa~XX OOGOGOOGGAGGOVGG] + cause tor alarm “a.a" denotes the type of alarm. EMG: Emergency alarm AUT: Cautionary alarm XX: error code Ifthe error continues to be present, the following display will be given to distinguish it from the already recovered one. ERROR OOOOOOCOCGOGGOOD) cause for alarm For details on the causes of alarms and the symbols, see SECTION 5. (2)New causes for alarm will be indicated one after another everytime the ey is pressed. (2) Already recovered causes of alarms can be erased by pressing the key, (4) If there is no display at all, the following will be indicated on the data display unit: ERROR NON 474.8.5 Setting control items 485.1 Item switching ‘This function is used to set control items. The following shows the items which can be set: Release of midship command Release of counter rudder angle limit ‘Setting the rough-seas steering mode Helm adjustment in steering mode switching Number of rudders Course deviation limit function ‘Steering gear deadband compensation Ship speed pulse rate Exponential smoothing time for ship speed Gyrocompass moving average time Auxiliary compass moving average time ‘Type of rudder angle display Self-test command eeeee0e9000000 (1) Press the. key when adjust mode 5 is indicated on the data display, and the control item selection wait state will be displayed on the data display: @ Displayed items changes every time the key is pressed. oO RUDDER STATE 3 @|GEAR DEADBAND : = aaaaaaa COMPENSAT. =aaaa @ C-RUD. LIMIT > @|SPD PULSE RATE ¢ = aaaaaaa = aaaaaaaaaanaa @ ROUGH SEA > @|SPD EXP. SMOOTH. > = aaaaaa RESP. TIME= XXX @® HELM ADJUST : @|GYRO MOVING AVES = aaaaaaa AVE. TIME= XXX @®|NUMBER OF RUD. ¢$ @] AUX MOVING AVES = aaaaaa RUDDER AVE. TIME= XXX @®|COURSE DEV'N 3 @ ANGLE DISPLAY ¢ LIMIT FUNC. =aaaa =aaaaaaaaaaaaaaa ® lramokob/ABS test 418 ‘When the item you want to set is displayed, press the [ENTER ] key. Each item will then. be set and displayed. Im s0B02-1964.8.5.2 Release of Midship Command fan emergency alarm occurs(except for a servo-loop failure) midship command control is selected. ‘This setting is used to release midship command control () When the “RUDDER STATE" is displayed on the data display, press the [ENTER key. The following condition change wait state will then be displayed on the data display. RUDDER STATE < EEEEEES] Za denotes the condition to be set. MIDSHIP : Rudder midship command control valid BY-PASS : Rudder midship command control released (2) The displayed condition changes between MIDHIP and BY-PASS every time the [A +]or [V_-)key is pressed. When the condition you want to set is displayed, press the [ENTER ] key to define the condition NOTE ‘The rudder is maintained at the angle with Emergency alarm occurred when "BY-PASS" has been selected as RUDDER STATE. "MIDSHIP" is recommended to be selected during Heading Control. However, when Track Control in accordance with IEC62065 is installed, it should be to select "BY-PASS" by the rule requirement. SPD AUTO 13.5 kt HEADING-G 235. 8° ¥ ‘ADUST v ‘ADJUST MODE 1 $ DiMWER/CONTRAST” | - >: ‘ADIUST WOES = | CONTROL FUNCTION ame ¥ RUDDER STATE © = azaaaaa --->[ ENTER — RUDDER STATE << MIDsHIP, ¥v ~ RUDDER STATE < BY-PASS | 1 20802-106 4-194853 Release of counter rudder angle limit ‘When a large course change is executed with auto steering, the final stage of the course ‘change process turns the rudder opposite side to the direction of ship rotation (this is called counter-rudder). If limits are imposed on this rudder angle, this frequently results. in phenomena such as (1) overshoot increasing, and (2) course changes taking more time. ‘This code is used to release the rudder angle limits for counter-rudder on course changes. veadig | | ‘Counter rudder angie whan rudder imit function is released : _ P =— udder angle tint t udder angle O uuddor angle tit s| (1 Press ine key when the “C-RUD. LIMIT appears on the data display. The condition change wait state wil appear onthe data display a follows: C=RUD. LIMIT < aaaaaaa a..a: Condition to be set USE: Rudder limit function used NOT USE: Rudder limit function not used (2) The display will change between USE and NOT USE every time the ey is presse When the condition to be set appears ress te [ENTER] key to define the condition. 420 1 20602-196° ° Po z= 3 es or cOREREE PORETT of| 4-21 tm 0802-1964854 Setting the rough-seas steering mode ‘When the sea is very rough and the ship's speed must be reduced, ship control may become difficult against yawing even with frequent rudder operation. Such efforts may result in earlier wear ofthe steering gear. In this case, select the "rough-seas steering mode". This mode will help reduce the frequency of steering and minimize wear of the steering gear, though the course may not be kept very accurately (1) Press the key when ROUGH SEA appears on the data display. The condition change wait state will appear on the data display as follows: ROUGH SEA < aaaaaaa a....4: Condition to be set USE: __ Rough-seas mode function used NOT USE:Rough-seas mode function not used ‘@) The display will change between USE and NOT USE every time the key is pressed, When the condition to be set appears, press the LENTER ] key to define the condi AERO ESS | 358. Bh cORIRSE POREr Pomp” 4-22 ROUGH SEA use kJ ee me 8080219485.5 Helm adjustment in steering mode switching A dig course deviation may occur momentarily ifthe hand steering mode is switched over to the auto steering mode when there isa tidal current or wind from a certain direction during cruising. This isthe result of ignoring meeting the rudder before the auto steering ‘made is sclected, as illustrated below. This setting function is used to adjust a big course deviation which may occur when selecting the auto steering mode, MANUAL and AUTO adjustment methods are available. ‘This must be avoided. | vse = . Hand staring mode + - Auto staerng mode (1) Press the key when HELM ADJUST appears on the data display. The condition change wait state will appear on the data display as follows: HELM ADJUST < aaaaaa a...a: Condition to be set MANUAL: Manual mode AUTO: — Automatic mode (2) The display will change between MANUAL and AUTO every time the or key is pressed. When the mode to be set appears, press the key to define the mode (@) AUTO mode adjustment Press the key when AUTO is displayed on the data display, ‘The system then automatically computes the adjustment ofthe course deviation based on the rudder angle immediately before the hand steering mode is changed over to the auto steering mode. (4) MANUAL mode adjustment. Press the key when hand appears on the data display. Then the rudder angle adjustment change wait tate will appear onthe data display. HELM ADJUST < 2 _X" } setting Range: 8510010 °5 a: Direction for adjustment P: Adjustment on the port side 'S; Adjustment on the starboard side ' tmee0c2-196 4.23(5) The rudder adjustment angle will change everytime the pressed. When the data to be set appears, press the ‘The set value is automat auto steering mode, or key is key to define the data. [REROARESS HSE. EY [ptBakACBRPR Agr: [c8R#REE FORE foal 424 mt 0802-196485.6 Number of rudders ‘This Function is used to set a single- or twin-rudder ship. (1) Press the key when the numberof rudders is indicated onthe data display, and the following data change wait sate wil be indicated onthe data display: NUMBER OF RUD. <__aaaaaa RUDDER denotes the number of rudders to be set. SINGLE: single rudder TWIN: twin rudders (2) The display changes between SINGLE and TWIN every time the [AS] or [T=] key is pressed. When the number of rudders you want to set is displayed, press the Tey dein i cORTRSE POREs ok EOMTRGCE AlBoed | kt 90002-196 4-2548.5.7 Course deviation limit function (1) Press the [ENTER ] key when the "COURSE DEV'N LIMIT FUNC." appears on the data display. ‘Then the condition change wait state will appear on the data display as follows: COURSE DEV'N LIMIT FUNC. < 320 [ i ‘ Ct 4-28 Intgo802-198485.10, Exponential smoothing time for ship speed ‘This function is used to set exponential smoothing time constant for speed data, (1 Press the key when “SPD EXP, SMOOTH" is indicated onthe data display, and the following data change wait state will be indicated on the data display: SPD EXP. SMOOTH REST. TIME< XX Setting Range: 6 to 0 (2) The isplayed exponential smoothing ime changes every time the [A+] or [7 =] key is pressed. When the exponential smoothing ime you want to sets displayed, press the [ENTER ] key to define it AMER BRP RAST =| cORTRSE ¥ERET Tok HEEFT: RESP EF suoo MEtooT Hy nt 0892-496 4-29485.1. Gyrocompass moving average time ‘This function is used to set the moving averaging time constant for gyrocompass heading data. (Press the key when "GYRO MOVING AVE." js indicated on the data display, and the following data change wait state will be indicated on the data display: GYRO MOVING AVE. AVE, TIME< XXX] cetingRango-OFF 11020 (2) The displayed time constant changes every ime the [A] or [7 =] key is pressed When the time constant you want to sti displayed, press the ey to define it. The time constant display will change between OFF and “I 30". In the “OFF™ state, a gyrocompass heading isnot provided with moving averaging otal ye RVRads® i cORIMET FORE: Toa: RVBO MPMERS AVE, ei ga RYE WME? “VE Int e0ece-196485.12. Auxiliary compass moving average time Note: ‘Setting will be disabled if the AUX. COMPASS is not connected. ‘This function is used to set the moving averaging time constant for auxiliary compass heading data. (2) Press the [ENTER ] key when the AUX MOVING AVE. is indicated on the data display, and the following data change wait state will be indicated on the data display: AUX MOVING AVE. AVE. TIME< XXX] sotingnange:OFF 11090 (2) The displayed time constant changes every time the or [7] key is pressed. ‘When the time constant you want to set is displayed, press the [ENTER ] key to define it The time constant display will change between OFF and "I 30", In the "OFF" state, an auxiliary compass heading is not provided with moving averaging, RUDDER STATE s] [AOE VOMELS AYER IM 20802-496 43148.13 Type of rudder angle display ‘This function is used to set either the RUDDER COMMAND or RUDDER FEEDBACK as the rudder angle indicated on the data display. The rudder command becomes the rudder command of the auto steering unit, while the rudder feedback becomes the rotary angle of the j transmitter. (1) Press the key when the "ANGLE DISPLAY" is indicated on the data display, and the following condition change wait state wil be indicated on the data display: ANGLE DISPLAY < aaaaaaaa a" denotes the condition to be set. ‘COMMAND: Rudder command FEEDBACK: Rudder feedback (2) The displayed condition changes between "RUDD-COM." and "RUDD-ANG." every time the [A + ] or[ V_— ] key is pressed. When the condition you want to set is displayed, press the key to define it. 4-32 Im 0802-108485.14 Self-testing command Self-testing monitoring is automatic. Command can be given by this setting. (Press the key when the “SELF-TEST is indicted on the data display, and the following data change wait state will be indicated on the data display: SEARTTEYENYER © Q) Self-testing is started by pressing the key, and the following self-testing display will be indicated on the data display: = SELF TESTING = | _isplay by fasting “SELF TEST" will be displayed upon completion of the self test. [ast REROARS2o Foe. Ek 1 ofRaPAyCURV Eads cORYRBL FOREr Tod nt s0B02.496 peeRbE ESTs ae fe x | Serato teRreatl™ = | for | = = se.r TestiNne -| dT4.8.6 Initial setting of control parameters ‘This function provides initial setting of control parameters used inside the auto steering unit, The following shows which items can be set Note: To change the initial setting of control parameters, first set the parameters according to section 4.8.6.13, "Presetting parameters.” This will enable parameter setting. (Cruising speed Hill length Initial setting value of static gain Setting value of time constant Setting value of static gain Karman filter noise covariance matrix multiplier Differential gain multiplier Proportional gain multiplier Stable/unstable results computed from ship particulars Parameter updated state (updated/not updated) Stable/unstable updated result Preset switch @e2e0e0000000 48.6.1 Item switching (1) Press the key when "ADJUST MODE 6" is indicated on the data display, and the control parameter initial set item selection wait state will be displayed on the data display: ([Z eey is pressed. (2) The display will change every time the DEODPADLOLOLOADPOHIDLOHODAOLOSD @[ PARAMETER SET ¢ @[_ PARAMETER SET Vs= XXKt Gig XX @®| PARAMETER SET ¢ @[ PARAMETER SET & Lees XXX_om G2= xX. Xx @| PARAMETER SET 3 @{ PARAMETER SET > Kis X. XX 1/s (NIT.= aaaaaaaa @[_ PARAMETER SET 3 @[ PARAMETER SET > Tvs XXX os (DENT=aaaaaaaaaa @[ PARAMETER SET < @[ PARAMETER SET + KV= XXX 1/s RESULT= aaaaaaaa @®[ PARAMETER SET 3 @{[ PARAMETER SET MQ= XX. XX PRESET SW @ | PARAMETER SFT ‘When the item you want to sets displayed, press the [ENTER] key. Each item will then 434 be set and displayed i 80802.19848.6.2. Setting the cruising speed Set the cruising speed. (1) Press the [ENTER] key when "Vs= isplayed on the data display. Then the data change wait state will appear on the data display as follows: PARAMETER SET Vs< XXKt (2) The data changes every time the Setting Range: 1 t0 65 or [Y= ] key is pressed. When the cruising speed to be set appears, press the [ENTER ] key to define the data. RERoMNGSo $38. b* DARUERT CBRPR AS T= PRARME TYROS EFF ns 80002196 yPRRAMETER rm x rf{erarawereR 43548.63 Setting the hull length Set the hull length. (1) Press the [ENTER | key when “Lpp=" is displayed on the data display. Then the data ‘change wait state will appear on the data display as follows: PARAMETER SET Lepe< XXX_M) soning Range: 10 to 360 (2) The data changes every time the jor key is pressed. When the hull length tobe set appears, press the key to define the data AEROANG! 38. bt oS oAMMERDCURP RAST | BRARSE THROES > Lb pee 436 ‘1M 0802-19648.64 Initial setting value of static gain (1) Press the key when "Ki=" is displayed on the data display. Then the data change wait state will appear on the data display as follows: PARAMETER SET Ki< XXX 1/s Sorting ange: 0.02 0 0.60, (2) The data changes every time the or key is pressed, When value of static gain (o be set appears, press the [ENTER ] key to define the data, AERoMNESo 238. Et AMAL RT CURR AST BRARMETER Ee? © PARAMETER SET G rk ARAMETER FST nF ORAME TER P5E im 0802-19 “3748.6.5 Setting value of time constant (W) Press the [ENTER] key when “TV="is displayed on the data display. Then the data change wait state will appear on the data display as follows: PARAMETER SET TV< XXX_6 Soting Range: 3 to 250 or| key is pressed. When the value of (2) The data changes every time the time constant tobe set appears, press the [ENTER ] key to define the data. eo az 4-38 1 29802-19848.6.6 Setting value of static gain (1) Pres the [ENTER] key when "KV~ is displayed on the data display. Then the data change wait state will appear on the data display as follows: PARAMETER SET Kv< XXX 1/s oMRMERZ CURP RAST BRARRE THROES = fe Setting Range: 0.20 t0 0.60 0602-196 ‘ VEARAMETER 8§ Ext Pe GSRAMETER E57 (2) The data changes every time the or ‘key is pressed. When the value of static gain to be set appears, press the key to define the data REROPNSSc' 38. Bh, 4-3948.6.7 Setting the Karman filter noise covariance matrix multiplier (1) Press the ey when "MQ=" is displayed on the data display. Then the data change wait state will appear on the data display as follows: METER SET MQ< XX. XX] setting Range: 0.02 to 50.00 (2) The data changes every time the or [7 = ] key is pressed. When the noise covariance matrix multiptiee to be sot appears, press tho| key to define the oe oe perro ey tt 4-40 1m 00802-19868 Setting differential gain multiplier Set the differential gain multiplier. (1) Press the [ENTER ] key when "G1=" is indicated on the data display, and the following data change wait state will be displayed on the data display: PARAMETER SET Gi< x. xX Sating Range: 0.21040 (2) The displayed data change every time the [A+ ] or [Y= ] key is pressed. When the PARAMETE 3] VPARAMETER SET XKE BERETS i BONSe ENE SBE Erepy? iBEhe¥eTEBubE Ere 44d Im s0802-196486.12 Setting the updated result (stable ship/anstable ship) (1) Press the [ENTER ] key when "RESULT=" is displayed on the data display. Then the data change wait state will appear on the data display as follows: PARAMETER SET RESULT< aaaaaaaa a...a: Result to be set STABLE: Update result - stable ship UNSTABLE: Update result - unstable ship (2) The data changes between “STABLE” and "UNSTABLE" every time the [A+ ] or key is pressed. When the result tobe st appears, press the Key to define the result AERO ANSSo 338. Bh x poast funar fom BRAXRETER EET =| VEARAMETER S§T 7 aESOCVE' ET SEL I 80802-198 4-4548.613 Presetting parameters ‘The parameters must be preset to enable the initial setting of control parameters. (1) Press the| key when "PRESET SW’ is indicated on the data display, and the following will be displayed on the data display: PARAMETER SET PRESET: [ENTER] (@) Displayed data changes between PRESET: (ENTER] and PRESET: (EXIT] every time the or key is pressed. ‘The set parameter will be preset by pressing the key when PRESET: [ENTER] is displayed BRARHETHEROS EF S| ARAMETER 8§ PABRESERR WET Th BABSYET TEN FER © PARAMETER SETS) SETS PARAVELER SRe™ |. 446 man002-1064.8.7 Automatic setting of control parameters for each draft mode ‘This setting is very infrequently made in a special ship or coal ship where the hull ‘movement characteristics (K, T) are subject to drastic changes due to load changes. This type of ship cannot meet control requirements even by switching the draft mode in conformity to load changes. To satisfy such requirements, special control parameters are st for each of the draft modes (Full, Middle and Ballast modes), thereby providing ‘optimum control. The optimum control parameters must be selected for each of the Full, Middle and Ballast modes. Note: ‘The best way to adjust this setting method is based on several cruising experiences. It is recommended that you proceed with the work by keeping in close contact with the manufacturer. (1) Press the: key when ADJUST MODE 7 is displayed on the data display. ‘Then the control parameters in the Full mode will appear on the data display as follows: Ifthe control parameters are already set, the content will be displayed, and "=IS NOT SET" will be displayed if the control parameters are not yet set. FULL = FULL = _XXXXXXXXXXX = 1S NOT SET or key is pressed, 0 (2) The display changes every time the @) Setting the parameter for each draft mode Pres the [ENTER] key when the draft mode tobe set is displayed on the data Gloplay. Ten the deat mode parameter wil best and the data wil appear onthe data Gipla a fllows aaaaaaa J] a..-a: Draft mode to be sot PARAM. SW WAS SET FULL, MIDDLE, BALLAST G-1) Press the| key when the above display is given. Then the set parameter will appear on the data display. aaaaaaa a...a: Draft mode tobe set = XXXXXXXXXXX FULL, MIDDLE, BALLAST (4) Clearing the set parameter Press the key when SW IN NVRAM CLEAR is displayed on the data display. “Then the parameters foreach draft mode wil be cleared, andthe data wil appear on the data display as follows: SW IN NVRAM CLEAR FINISH Im 60802-106 447[RERoTHEa Fal. otha AT BRPR AS PARAMS WHRRS feo + BS) Fama bh was ser] [oe xR ooo S exxkkkboc [WER I eo & (OS) fe aaknOBhEwas set] of VIRR ccc EAR ARLox HOE} paR elas se ae BERET cx far co 1 i 3 ARR =H Ol GVeAN PANE} G an Fann WARE FETE, @ & = ¥ XK *a..a" is any one of HighSpd-1, LowSpd, or HighSpd-2. Ce Upsets esut | parameter Updated State > suits Computed rom Ship Parteuars ‘Proportional Gain Mutiptior (__ itteranial Gain Mutipior \_____+ Karman Fitor Noise Covariance Matrix Mltipior L____ Value of Static Gain > Value of Time Constant 4-48 1m 90802-108‘Correspondence Between Parameter Displays and Their Values ‘The following table shows each parameter setting (y's), which corresponds to X's displayed in the lower figure on page 4-48. Gang a Lang ie WaT veal | emt peas Remi [Parameter | Uptod ine | satan |SerComian| Gan tro ‘Speed sate can)iaconinal an) [Campion] updated State | Ress vert) | uppim) | «| | kv | ma | ot | ce | inn went |_resuer Xl Xv yo ye yn 79 vy | yore | _oonnnnny | rv © 1[0 10}0 o02/0 3] o02{0 o2lo o2]o o2|o UNstaBLe [o WoMPLETE [0 UNSTABLE! 1 2|1 20] 1 003|1 5]7 0031 005|1 o4|1 o4|1 staBLE|1 COMPLETE |1 STABLE 2 3|2 902 oos/2 7/2 00/2 o10|2 os|2 o5| 3 4|3 40/2 0053 10/3 005|9 o20|2 o6|3 os| 4 5/4 80/4 006|% 15/4 005/4 0.0/4 o7|4 o7| 5 6|5 65 097|5 20)5 07/5 050|5 08|5 oa| 6 7/6 7\6 008|6 25)6 008/56 o7o|6 os|6 o9| 7 al7 e|7 o0s|7 2|7 o09|7 100|7 10/7 10 2 s|e |e o10/8 95/8 o10/e@ 1s0la sila 11 2 w]9 wol9 ole 4/9 o11/9 200fa 12/9 121 A fa s0]A o12]a s0/A o12]a aol tala ta B le 20/8 013 |8 60/8 013/68 so0|e 16/8 16) c s3]e 19] o14/c Jc ors)c 700\c 18|c 18) dD 14/0 140|o 0160 #|0 016|D 1000/0 20/0 20 E ssle 150 /e o18 |e 100e o18/€ zoole sole 30 F s6[F 160 |F 020\F 120/F 020|F sooo|F 40|F 40) a la 170\/a 020\a 150/a 020 H s8]H 160 | 040|H 200|H 040 1 slr 190 |1 080) 250|7 0.50 js 20s 200 |y 080 jJ_060 k alk 210 iL 22|t 220 2am 200 N 24|N 240 0 2/0 250 Pp 26|P 260 a 2a 20 Rn 2\R 280 s 2/8 290 T 0/7 200 uoaju ato vo aly 320 w oa|w 220 x 34x 340 y 35|¥ 350 x 36x 360 a 37 9 6 1m e0602-196 4-494.8.8 Average value display 4-50 Each of the evaluation indices (J= Ag* 28%) to evaluate controllability during steering can be displayed. The following describes the items to be displayed: © Average course deviation (for one minute) © Average rudder angle (for one minute) © Average evaluation index (for one minute) © Average evaluation index (for 30 minutes) (1) Press the | key when ADJUST MODE 8 is displayed on the data display. ‘Then the average course deviation (for one minute) will appear on the data display as follows: AVG. VALUE DISPS CRS DEV’ N=Xx. X * (2) The display changes every time the or RERANSS0 Fok. Bh, oan ar = i oRMPRTCBAPR A | 5 i AGB" Y SAL UEP Seo key is pressed. + a a a A (3) Press the [ADJUST ] key and the standard display will be given. ne poB024964.8.9 Parameter update computations Ships parameter update computations are made. © Disabling parameter update computations ® Enabling parameter update computations and the display of results © Initializing ship's parameter computations (1) Press the key when ADJUST MODE 9 is displayed on the data display. ‘Then the parameter update computation wait state will appear on the data display as follows: IDENTIFICATION 3 D1 SABLE |e ttomdispiayes (2) The display changes between DISABLE and EXIT every time the key is pressed. Press the key when "= DISABLE" is displayed on the data display. Then the item to be displayed will appear on the data display as follows: Press the or[ Y — ] key to select the item to be operated. ress the| ‘ey to operate each item. IDENTIFICATION < DISABLE L ft At v- L t IDENTIFICATION ENABLE t At ve ¥ UDENTIFICATION INITIALIZE t Ad v- (3) Press the key during the above operation and the standard display wall appear. Im o0e02-19 451489.1 Enabling parameter update computations and the display of results “This function is used for parameter update computations ofthe ship's parameters after parameter-read maneuvering. For the parameter-read maneuvering procedures, see section 3.3.6. (1) Press the key when "ENABLE" is displayed on the data display. Then the following display will appear on the data display to indicat the current process of the parameter update computations IDENTIFICATION ¢ =UPDATE 0 4 Display of the number of update times, '— Flickers during update computations (2) When parameter update computations are completed, the UPDATE flickering stops and the number of update times increases by one and then the flickering display appears. IDENTIFICATION ¢ =UPDATE 1 Creer RERoANS2o B38. bt}. otRubarcBRPR ALT? | of i } ABENET EVERE 1 Bue] i oe Pear LETT ma fay ie RENTTFTSRT ERE tf ona) Cae fa Cs 2OeNT TATOTARY conor (=a sooonasoe 4-52(3) Further, press the be displayed in seq or [ZT] key andthe ship's parameters (TK, S/US) will =" s— IDENTIFICATION . UPDATE X L t a4 ve IDENTIFICATION & Tv= XXX. XXXs — At v- ra z IDENTIFICATION ¢ KV= _X. XXXX1/s Jy At v= —— at ve ET ENTS ISA SER TS} [ni] —> SBENFTEMERF 1 On> am At ve v = (@) After the above procedure is completed, press the key to select DISABLE when "=UPDATE" is displayed. For subsequent operations, see section 4.8.9.2 (5) Press the [ADJUST ] key during the above procedure to return to the standard display. 4-53 in 90602-10648.92 Disabling parameter update computations ‘This function is used to disable parameter update computations. (1) When "= UPDATE X" is displayed, press the key to display the item to be operated. Press the’ [ZT key to select the item to be operated. Press the [ENTER ] key top item operation. —1 ae IDENTIFICATION J< UPDATE X L t At v- L tr IDENTIFICATION < DISABLE J t Ad Vv L ft IDENTIFICATION < INITIALIZE L t At v a Ce (2) When DISABLE is displayed on the data display, press the [ENTER ] key. Then the following display will appear on the data display to indicate disabled computation. IDENTIFICATION = = OISABLE (3) When the above display is given, press the [ADJUST ] key to return to the standard, display. oARMPA HRP Rady @o TEETER Ba} 454 fore} (Dis ta) Cama TE (nae, IRFYTAEL ETERS Ine 0302-19848.93 Initialize of identified parameters ‘This function is used to initialize ship's parameters updated by parameter-read ‘maneuvering. (1) Press the key when INITIALIZE is displayed on the data display. Then the following display will appear on the display to indicate thatthe ship's parameters are completed. IDENTIFICATION INITIALIZE END (@) When the above display is given, press the key to return to the standard display. 48.9.4 Inhibiting parameter update computations This function allows only the ship's parameters tobe initialized when the control parameters are set for each draft mode. (1) Press the key when ADJUST MODE 9 is displayed on the data display. ‘Then the following display will appear on the data display to indicate that parameter update computations are inhibited. IDENTIFICATION ¢ = UNH 1B IT] tom splayed (2) The display changes between INHIBIT and EXIT every time the or key is pressed. Press the key when "= INHIBIT" is displayed on the data display. Then the item to be displayed will appear on the data display as follows: Press the [\ + ] or {7 — ] key to select the item to be operated ‘When te item to be operated is displayed, press the ey to operate each item IDENTIFICATION INHIBIT, — i v- _t TIFICATION INITIALIZE T 7 v- (G) Press the [ADJUST] key during the above operation and the standard display will be given. ‘m p0B02-196 455[EERO it es) (oTRMPAScHRPRATs= ee ABET ERE Bn] 4-56 i ENT TF LSRLAGE F] ae _|pemmtrall [OeMT FIER “oa (TRAVTAC Ea Int 90802-19848.10 Setting the alarm limit of low ship speed mt e080e-196 | Set the lower limit value of ship speed for which an alarm is issued. When the ship speed. (obtained by exponentially smoothing the speed data from the log's ship speed pulse, which is displayed on the data display unit as well as used for the PTSO0A's internal control computations) stays lower than the limit value for approximately 10 seconds, an alarm occurs (1) Press the ey when ADUST MODE 10 is displayed on the data display. ‘Then the current alarm limit setting will appear on the data display. PEED ALARM * | sstalamimitotiowsh TSPD= XX kt] “Suptaambntct tow en (@)To change the alarm limit seting, press the [ENTER] key whi being displayed to get the data display unit to prompt for data. the current setting is LOW SPEED ALARM 4 Now alarm tit soting LIMIT SPD< XXkt]| “Sonaunge sia Alarm limit data will increase/decrease every time the (= key is pressed. When the desired values displayed, ress the [ENTER] ke. The pay as shown in step (1) will appear with the new alarm OTIS WDE T = loiumet/cowreast” ys (Low SPEED ALAR a BHT MBE TOF tia sro ee reed ALA : To eed ACA ae Tso te an SES ALA Tatts eae ow SEED a wa ~ yor SS ACh} JeimiT $eD¢” Sake Low SPEED ALAR [LiMiT SPD! ae a 4575. ALARMS ‘The PTSOOA autopilot is provided with many monitoring functions to ensure steering safety. 5.1. Alarm types ‘The following tree alarm types are available to make a quick and proper judgment if an abnormal condition is found (DIndividual alarms ‘These alarms are completely independent for each cause of an alarm. Their lamps are ‘mounted on the ANNUNCIATOR UNIT. Alarms are processed also on the ANNUNCIATOR UNIT. For details on these alarms, See Section 2.2.7. (2)Bmergency alarms These alarms require an immediate switchover to the control system, hand steering or tonollowsapseerng when they have been ssed, When an emergency sar oes, the [EM | mp onthe ANNUNCIATOR UNIT begins to ash andthe buzzer Sounds At the aT ime, the eanse of the alarm is shown of the data display ofthe AUTO STEERING UNIT. (See Section 5.3.1 for details on the alarm.) To_stop the buzzer, press the key on the ANNUNCIATOR UNIT and ©) ey ontte AUTO STEERING UNTT: [NOTE] Confirm the own Autopilot specification because the rudder status differs according to the setting of "Release of midship command’ function when the “emergency alarm" has occurred (See Section 5.8.5.2 for details on "Release of midship command") n.case of "MIDSHIP" setting : The emergency alarm except "Servo-loop failure" has been occurred, Auto steering unit outputs MIDSHIP command, n-case of "BY-PASS" setting : The emergency alarm except "Servo-oop failure” has been occurred, ‘Auto steering unit maintains the rudder command. Autopilot is a pat of Track contol system or the vessel is DNV clas ‘The midship command has to be released (set to BY-PASS). Also when "Servo-oop failure" has occurred, the rudder is maintained at the position the alarm occurred. ZX CAUTION Emergency alarm fan emergency alarm occurs, control output is set to the midship position or maintained at present rudder angle. Change the control system or select HAND steering or Non-follow-up steering to restart steering. maoa02-19€ 54(3)Caution alarms: ‘These las are desiqned to have marginal time o allow cometive ation to he aken when an alarm has occured, When a cation alam occurs, the [CAUT | lam amp ofthe ANNUNCIATOR UNIT begins to flash and the buzzer sounds. At the same time, the cause of the alarm will be indicated on the data display of AUTO STEERING UNIT. (See Section 5.3.1 fords on te alarm) To_stop the buzzer, press the CB sey on the ANNUNCIATOR UNIT and key on the AUTO STEERING UNIT. Switch the control mode or steering mode according to the display. 2. Annuncator pattern (A)The buzzer period differs depending on the type of alarm. “Type of alarm ‘Buzzer characteristics | Alarm lamp flashing rate Tndividual alarm, ‘Continuous 1H Intermittent Emergency alarm Short interval, 10H ie Intermittent Caution alarm ‘Long interval, 2Hz. tHe (2)Annunciator pattern Erroneous input | Buzzer vom ioo [flit (nh l ou l : Lamp test 52 ‘a0802-1965.3 Types of alarm displays ‘When a typical alarm has occurred, the cause of the alarm is indicated in symbols on the data display. The following explains the alarm displays: 5.3.1 Emergency alarms (1/2) NO. Alarm displays on data display Description EMERGENCY-81 (CPU ERROR o ePU Compatioa between input and ouput values by predefined computation executed by arihmetic 1 o ENERGENCY-@2 MEMORY (RAM) ERROR MEMORY CRAM > Checks RAM writing and reading, EMERGENCY-3 03 MEMORY ROM? MM cuecis Wont costo SENOVCO AUTO OUTPUT ERROR of EMERGENCY 84 ‘Checks to see that the difference between the manual terminal AUTO GUTPUT unit DAC output value and the ADC input value is within the reference vale of 10.1¥(2 40 bit). RO OUTPUT INPUT ERROR os EMERGENCY -05 Tisclectgyrocompass for autopilot heading sensor, issues an GYRO COMPASS alarm if a gyrocompass signal input failure continues for 2 teoonds ox enge. ENERGENCY-6 AUK COMPASS INPUT ERROR ot o6 | [u CoMPASS tn airman ular comps igual nat lr cones foe rseconds or ooge. ‘imaoeo2-19€ 53Emergency alarms (2/2) 0. [Alam days on data dl Desrnon SEOTOOF LTE SE Tissue ee tiers yvene tier tr EMERGEHCY—H mi eibat nl me Sane! cee noe an wiSoetpuceacrae malumnass cowards ‘The monitor setting of Servo loop failure can be carried out using the maintenance menu, and setting the minimum & ‘maximum commanded angle and the minimum & maximum ‘delay time can be adjusted as shown inthe following table. C1 104 control system Sea ren wou | parauier_] Sve Se a Sales me Ss 0 2 to se Te 0 mee ‘SW: Single pump operation and Wide rudder angle PW: Parallel pump operation and Wide rudder angle ‘SN: Single pump oporation and Normal rudder angle PN: Parallel pump operation and Normal rudder angle 'S :Single pump operation Parallel pump operation N :Normal rudder angle W Wide rudder angle ENERGENCY—11 DATA LINK MASTER UNIT ERROR u LINK-MASTER ‘Issues an alarm if the data transmission master unit is ~ ~ faulty, 2 EMERGENCY—Xx DATA LINK SLAVE ERROR fo LINK-SLAVE Issues an alarm when the currently operating manual 15 + ‘terminal unit has been disabled. 1 to 4 control system STEERING MODE SWITCH ERROR 16 EMERGENCY—16 Issues an alarm if two or more steering modes have STEERING MODE Su ‘been specified or no command is given for 2 seconds or longer. RUDDER ERRONEOUS (for DNV NAUT-AW) In parallel operation of Steering gear(N,Y.KT,S or T type), the deviation between rudder deviation signals | [EMERGENCY-17 from No.1 and No.2 Control & power box is more than RUD. ERRONEOUS preset value for N seconds. The preset value and delay time can be set by maintenance mode. L Default setting: limit value=S deg., delay tume=Ss. B4 goen2-1965.3.2 Caution alarms (1/3) NO. | Alarm displays on data display Deseription NAVIGATE INPUT DATA ERROR CAUTION-@1 Checks the input data and issues an alarm if no normal HAUIGATE input is given for n seconds because of a signal or other flue. -('n"=Timeout limi) When autopilot isa par of TCS with FURUNO ECDIS, CAUTION-81 checks the input data and issues an alarm if no normal ol CHANGE TO ALTO input is given for n seconds because of a signal or other failure. (‘n"=Timeout limit) ‘When autopilot isa par of TCS with FURUNO ECDIS, TAUTION-B1 checks the input data and issues an alarm if 0 normal HAUL COMPL. TURN impot is given for n seconds because of a signal or ater falure during turning contol. (°n"=Timeou imi) After turning contl, the alarm message changes to “CHANGE to AUTO". SYSTEM MODE SWITCH ERROR o | [eaurion-e2 Issues an alarm if two oF more system changeover EVSTEM MODE Sul switches are specified or no switch is specified for 2 seconds or longer. = OVERRIDE SWITCH ERROR of EROS Issues an alarm if the override switch is kept pressed for 10 minutes or longer. i COURSE SETTING DIAL ERROR oe Seal su Issues an alarm ifthe course setng dal remain on fr = ‘one minute or longer. , 3 COMPASS SELECT KEY ERROR CAUTI a5. it 05 cf Issues am alarm ifthe compass selection key remains on COMPA: SEL.KEY for eight seconds or longer. oc | [enuTTON-es ALARM STOP KEY ERROR Tar KI Issues an alarm if the buzzer stop Key remains on for ALARM STOP KEY cipht seconds or longer. CAUTION-oF COURSE SET KEY ERROR 0 i Issues an alarm when the couse setting key is kept on HEADING SET KEY aig warm when 7 5 HEADING SET KEY ERROR 08 Feapine Ser Key Issues an alarm if the heading set key remains on for S KI ciight seconds or longer. IT -a9 OPERATION KEY ERROR: 0 | RRO EP ey Issues an alarm if the operation Key remains on freight at seconds or longer. ‘mgoon2-196Caution alarms (2/3) NO. | Alarm displays on data display Description = DATA UP/DOWN KEY ERROR 10 Bere Un veGuN KEW Issues an alarm if the data UP/DOWN key remains on c for two minutes or longer. OFF COURSE ALARM caUTION=il Issues an alarm if the course and heading set by the i magnetic compass remain over the set limit valve for n OFF COURSE ALARM ‘n-seconds or longer. The detection time n can be set witha key operation (Please refer to Section 4.3) ‘COURSE DEVIATION ALARM CAUTION=12 Issues an alarm if the set course and heading remain 2] [ERS Deu N-ALARM over the set limit for about n-seconds or longer. The detection time n can be set with a key operation. (Please refer to Section 4.8.2) rs | [SRUETON AS PNTnes an lam if all opeatonsigmis fom th SI Issues an alarm if all operation signals from the PUMP ALL RESET control/power box are off (rest). CAUTION=14 BACKUP BATTERY ERROR 4 | lEReKUP BATT. EMP. Isues an alarm if the RAM back Batery voltage i 1s | [eaution=me DATA LINK SLAVE ERROR © | |CTNR-SLAUE Issues an alarm if the unused manual terminal unit is 18 disabled. 1104: manual terminal wil nmber PROGRAM START PROGRAM START 19 | [SOFTWEAR VER.3 Issues an alarm to notify that CPU operation has started Vee when the power is turned on. LOG FAIL ALARM yo | |PRUTION-28 {Issues an alarm if not normally input, LOG FAIL ALARM Note) Not issues an alarm when select manual speed setting. ai CAUTION~21 LOW SPEED ALARM LOW SPEED ALARM Issues an alarm if the ship’s speed blow the set limit value for n-seconds or longer. ‘moop02-106‘Caution alarms (3/3) NO. Alarm displays on data display Description REMOTE CONTROLER ERROR ay | [CAUTION-22 When the optional digital remote controller (PT162) is REMOTE CONTROLER installed, issues an alarm if the signal from Digital remote controller isnot normally input. PARAMETER RESET 3 | [CAUTION-23 In checking at power “ON”, it was judged that the PARAMETER RESET content of the back up memory was destroyed, and was executed reset of various parameters. HEADING MONITOR If two independent compass connect to autopilot, issues CAUTION-24 an alarm ifthe difference heading Value of use compass 24 | |HEADING MONITOR and second compass remain over the set limit value for SS about n-seconds or longer. ‘The detection time n can be set with a key operation, (Please refer to Section 4.8.3) GYRO COMPASS INPUT ERROR as | [GAUTION-2S If select aux. compass for auoplo’s heading senor, GYRO COMPASS issues an alarm ifthe gyrocompass heading signal isnot normally input. ‘AUX. COMPASS INPUT ERROR a6 | [CAUTION-26 If select gyrocompass for autopilot’s heading sensor, AUX. COMPASS issues an alarm if the aux. compass heading signal is not normally input. s0802-196 576. BASIC AUTOPILOT ACTION Fig. 6-1 shows an overview of adaptive control 6.1 Steering for fuel saving .... minimum steering frequency and rudder angle The basics of uel saving in steering is to minimize sea water reaction when the rudder is activated. When rudder movement occurs, the increased reaction of ea water results in an increase in the load on the engine, causing the engine speed to drop. The governor prevents the engine speed from decreasing, thereby ensuring constant control. This results in increased fuel consumption. To put it another way, the ship speed decreases when the reaction increases. These facts indicate that economical steering of the ship is ensured by navigation along the set course with minimal rudder movement. Each ship has its own dynamic characteristics. The response time of a ship varies depending on these characteristics. ‘The ship will not respond if the rudder is moved uickly beyond its capacity limit, This limit is called the response limit ofa ship. The dynamic characteristics vary with the load, trim and ship speed. This requires compensation based on correct information of these factors Yawing detected by the gyroscope is caused by two factors: the dynamic characteristics of the ship and the noise from waves or the like, From a fuel-saving viewpoint, it is not recommended that the rudder be activated in response to high-frequency noise in excess of the response limit of the ship. Furthermore, itis not recommended that the rudder be ‘moved resulting in great changes in rudder angle control. 6.2 Adaptive autopilot control algorithm @) Karman filter ‘ne 80802-19| Fuel saving is ensured by the effective removal of noise and minimized rudder movement based on correct information on the dynamic characteristics of the ship, as discussed above. ‘The PTSOOA Adaptive Autopilot is provided with a built-in extended Karman filter and optimum controller. Statistic concepts are extensively used for more accurate extraction of information ‘obtained from the input containing irregular noise. Recently, Karman filters have come to be used to pick up information on the dynamic characteristics of a ship from its yawing detected by a gyrocompass. The Karman filter is used to estimate the rate of turn resulting from operation of the ‘rudder to some extent by effective removal of the included noise from the gyrocompass output. ‘The Karman filter has dynamic characteristics incorporated as a model. ‘This model is turned when the actual rudder angle is given. Operation of this model and the rate of turn ‘measured by the gyrocompass are different. This difference is statistically processed to estimate the rate of turn of the ship caused by rudder movement et

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