Document No.

E11-1233G

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
follow's.

Indicates an imminently hazardous situation which, if not

DANGER avoided, will result in death or serious injury.

Indicates a potentially hazardous situation which, if not

WARNING avoided, could result in death or serious injury.

Indicates a potentially hazardous situation which, if not

CAUTION avoided, may result in minor or moderate injury or property
damage accident.
2. The following xwarning label is attached to this system.

(1 ) DANGER

WARNING
Main power can cause electric shock.
Do not touch terminal boards, u, evenifpofwer iOFFt.

3. Attached position of the warning label in this system is as follows.

( 1) Steering stand

[1-1] Warnings label

Steering stand (front view)

4. Safety precautions, etc., described in this manual are summarized here (pages
described are shown in parentheses.)

(1) Warnings for use of this system (Refer to pap•e I- 1.)

WARNING
@Ma1functions 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 damag
@Great care should be taken to use this system being w elI acquainted with limitations of performances an

f2) General items to be warned for the operating• method (Refer to page 3-1.)

WARNING
REach steering mode of H.AND, AUTO and remote (RC) has specific attention points
for use. These are shown in the corresponding clauses withCAUTION and WARNING, etc. Observe str
RPeriodical repeated training for emergency steering should be performed to deal with smoothly in an em

(3) Warning for emergency steering (Refer to page 3-2.)

@Emergency steering• 1
When trouble or failure happens during the AUTO steering (gyro-compass or magnetic compass is bein_• u
HAND position. and turn the steerinp• wheel manually to steer. @Emergency steering 2
When the hand steering is impossible, turn the system selection sw'itch S STEM to another system. and
DEmerp•ency steering 3
When the hand steering is impossible. turn the mode selection switch ODE to the NQ position and st
flEmergency steering 4
When the steering is still impossible, take a means such as ordering astern of the engine, etc., to stop the sh
 (4) Warninp• regarding system selection (Refer to pap•e 3-2.)

! WARNING
DFor E type and D type, the steering gear control system is not switched even if the
(5) Warnings when selecting steering mode (Refer to page 3-2.)
system selection switch S STEM is switched.
The steering gear control system is activated by the operation signal of the steering
system.
@Do It not use the auto
is required steering
to switch the until the gear
steering gyro-compass has settled.
when the steering gearIfcontrol
not, own ship is
system does
not set on the desired course and may cause collision or stranding.
flBefore switching the steering mode, be sure to set the rudder at the center, and then switch the mode selectio
If not, an unexpected larp•e rudder may be taken.
flHold the mode selection switch surely with hand and turn it correctly to the mark which shows the correct p
Intemipting 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 ( UN
@Loosened play in fixing the knobs for the mode selection switch MODE . system selection switch S YST
Retighten the two screws fixing the knob to the switch, or contact TOKIMEC service department.

(6) Warning to set the maximum rudder angle IRefer to 3-6.)

RWhen the rudder angle selection switch is installed. setting of the max rudder angle
selection switch should bc used only in the narrow rudder angle side other than when the steering is required a
 (7) Warnings to use auto steering (Refer to page 3-7.)

2@WARNING
@Do not use the auto steering in confined sea areas or narrow channels. In addition,
do not switch to the auto steerinq• too,
Prompt avoidance is not in time and may cause collision or stranding.
RWhen the rudder angle selection switch is installed. select the maximum rudder
anp•le of 50‘ during auto steering.
If the 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.
MKeep 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 SJ 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.
RWhen 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 (1).

(8) Warning when switching auto steering (Refer to page 3-7.)

¿$\,WARNING
@While the ship's speed is low, when the mode is switched to the auto steering from the other steer
RMake sure of the safety around own ship before changing the course during auto steering.
GCourse changing during auto steering can be made to 359‘ of right or left direction by rotating the c
When a larger course changing than this is performed be any chance, monitor malfunctions and dang
 (9) Warning regarding remote autri steering (NAV) (Refer to page 3-9.)

@Do not use the remote auto steering (NAV) in confined sea areas or narrow channels as
a rule.
For using it by any chance in such areas, suitable navigational means such as securing safety around or reduc
@Keep a strict ”look out" (watch), in particular, during remote auto steering. Careless ”look out" (watchJ m
@If an alarm generated in the autopilot or gyro-compass, heading monitor (option), speed log (option) and tra

(10) Warning regarding remote hand steering (remote control) (Refer to page 3-11.)

WARNING
RDo not use the remote hand steering (RC) in confined sea areas or narrow channels. Prompt avoidance is no
RDuring the remote hand steering, always confirm the rudder angle and its direction displayed on the rudder a
@Set the remote control steering knob at the center before switching to the remote hand steering mode from t
@If an alarm generated in the autopilot or remote control unit side durin_• the remote hand steering, make su
(11) Warning while adjustment procedure of the auto steering (Refer to page 3-17.)

@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
 (12 i Warning regarding pre ‘ention of electric shock. etc., w'hen performing maintenance
(Refer to pag•e 5 1.)

RMake efforts to prevent danger, in particular. z lien 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 movinp• 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 (SYSTEhJ SWITCH) of this system is turned OFF.
Electric shock niav occur by touching• inside. Do not touch internal terminal boards, etc.
For PR-6QQQ-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 tciuching inside.
The following warning label is attached at the dangerous position inside stand.

t ,§\,WARNING
Main power can cause electric
shock.
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) Warning regarding autopilot maintenance (Refer to pag•e 5-1.)

@The steering gear connected to this autopilot may cause, although very rarely. hydro lock, etc., whic
@ Although main parts of the autopilot consist of electronic circuitry having high reliability, it cannot
Accordingly, it is absolutely necessary to c out check and maintenance described in this chapter to e
If not, detecting sig•n of failure delays and it yields failure of the system and may result in collision o
When trouble is discovered and cannot be recovered on board, contact TOKIMEC serv ice departmen
 (14) Warning for replacement of relay (Refer to page 5 7.)

WARNING
RMake sure the relay pin position and insert it correctly when ralay is replaced.
If not, ship's rudder does not operate properly.
Rlnsert 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 Warning in installation (Refer to page 5-10.)

@Do not hang down the steering stand by passing ropes, etc.. on the steering wheel or handle for moving the

(16) Caution in hand steering fRefer to page 3-4.)

CAUTION
RSet the pointer of the order rudder angle indicator on the helm unit at the center before
turning the system selection switch to Noel or No 2 to start the PR-6000, or before turning the mode selec
 f17) Caution when adjusting auto :steering knob (Refer to page 3-7.)

,t$gCAUTION
@During the auto steerintr• PID control mode is used. various knobs in the auto
steei'ing adjusting section should be 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.
RAlways collect, note and accumulate data for the adjusting positions of x arious
knobs of the PID control so that the optimum values can be set according to
variation of sailings conditions.
@Pay attention on the following points u hen selecting the auto steering ADPT
(Selecting OGP / CQ of ADPT / LEATHER 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 PIN
mode after course changing by 10‘ of port and starboard mo or three times in the
hand steering
2 If ueather becomes stormy durinp• using the OPN mode, switch to the
mode when the yawing width (half side) becomes more than 509a of the
pilot watch set value. as the standard.
3. When the yawing width is considered to be large (obserring for approx.
15 minutes), stop using the ADPT mode and steer with the PID control.
4. When yawinp is large in calm sea
When load condition is remarkably changed, yawing may become large at the
depaHure. In this case, steer as follou's.
• 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. l5
minutes.
• When the jawing still continues, su itch to the OPN mode, and perform auto
course changing by 10‘ of port and starboard to observe the state.
• When vawing does not settle yet, contact TOKIMEC service department.
OSwitchin,• between the PID mode fWEATHER) and the ADPT mode (OPN/CNF)
(options with the weather adjusting control during auto steering should be made
only while the course is keeping. Sz•itching in a large course changing may cause
trouble in operation of the auto steering.

(18) Caution regardinp• confirmation of non-follow up steering operation

(Refer tD page 3-1 .)
,/$\,CAUTION
@Perform non-follow up steering to confirm operation of the steering system at least
once every time when the operator changes.
OThe rudder is taken continuously during the lever is kept turned. Steer u hile seeing the rudder angle re

rt)
 (19) Caution in override steering (Refer to page 3-14)

CAUTION
RTaking a luge rudder is dangerous when switching to the external override unit. Pay
attention on such a thing to set the order knob (lever) at the neutral position. RConfirm safety around when s
RWhen switchinp• to the override steering during the auto steering or remote auto steering (NAV), and switc
When the ship is to be kept on the original course or on the new course, operate the course setting knob or sto
(20) Caution when alarm generates (Refer to page 4-1.)

CAUTION
RWhen the alarm p•enerated. confirm the content of the generating alarm at once and take
a suitable means according to the failure phenomena list.
RWhen failure generates, check and take a countermeasure at non-dangerous sea area
afier 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 rage 4-3.)

CAUTION
RTurn OFF the system selection switch, and the service switch located at the front panel
of the control unit before checkings and replacement of fuses, removing the unit of
equipment, connectors, printed wiring boards and terminal cables.
Remaining the switch at Oh position may cause electric shock and failure.
RCheck the autopilot stand inside by instructed procedures and do not touch other
sections than instructed. If not. mav cause electric shock.

(22) Caution for replacement of fuses and relays (Refer to page 5-6, 5-7.1
CAUTION
RDo not release hands from the facia panel till the panel is fixed with the two stoppers.
If not, may cause injury.
RDo 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.
 PREFACE

1. This manual provides detailed explanation 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 handlin* 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 actuallv handIin• equipment.
The sales mediator of this system such as an agenc› should deliver this manual to the
actual person handling this equipment.

(4) Replace manual at once if lost.

If the manual is lost, contact TOKIMEC or our sales a_ency. A replacement manual
can be supplied at charge.

3. ¥t'hen the warning labels become dirt y or come off. contact TOKIME C.
Replacement labels can be supplied at charge.
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 shown in [ ) .

Prohibition - - - - - Items must not do.

(1) Prohibition o1 miss use (miss operation) (Refer to page 3-23.)

(2) Prohibition of megger test (Refer PROHIBITION

to page 5-2.)
( l)Wetting the autopilot operation unit (facia panel) by water or drink may cause
growing mold or performance reduction.
PROHIBITION
Do not steer or operate with drinking water, etc.
Do
Wipe notoffuse a megger,
liquid at once etc.,
if thefor insulation
stand test of this system. USing a megger
is wetted.
can break internal electric parts. Always disconnect airings 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 pap•e 1 -1.)

NOTE
This system is an extremely important nav›‘ational equipment which controls
the rudder to determine the advancing course of the ship.
Although safety desip•ns such as providing alarm functions i'or failurc 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 am ays 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 s3•stem.
And for safety navigation, execution cf 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 followings notes.
1. Be sure to perform daily check to keep equipment condition normal.
2. When abnormality is discovered as the result of daily checl, investigate
and repair it at once to recover it to the normal condition. If necessary,
request an advice of TOKhMEC 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 e›cry steering modes.
Be skilled in the emergency steering method to keep quite cool in emergency
situation.
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 pa_•e 5—9. i

NOTE
ems for storage.
ches of this system to OFF position, and cut the alarm power (DC 24V) supplied to the autopilot stand.
uld be between —20‘ - +55’C. Avoid the place with high humidity as far as possible. High humidity may cause rust.
ce from generation of corrosive gas, breeding of bacteria such as mold or intrusion of insects and small animals.
vinyl sheet. etc., when generation of dust is considered.
c., are carried out near this system, be sure to mount a suitable protection cover on the steering stand to prevent damage c
 CONTENTS

SAFETY PRECAUTIONS ................... . (1)

PREFACE.......................................................................................................................(11)
CONTENTS ................. (15)

CHAPTER 1 GENERAL DESCRIPTION ........ 1-1

1.1 General............................................................................................................1-2
1.1.1 Autopilot .............................................. 1-2
1.1.2 Kinds of steering• functions ............. 1-5
1.1.3 Display and alarm ....... 1-6
1.1.4 Gyro-compass connected and shape of stand......................................1-6
1.2 Relevant Instruction Manual . . ....... . 1-7
1.3 Warranty..........................................................................................................1-7

CHAPTER 2 SPECIFICATION AND CONFIGURATION..........................................2-1

2.1 General............................................................................................................2-1
2.2 Configuration...................................................................................................2-1
2.3 Specification ... ....... . . 2-2
2.4 Name and Function of Each Unit ......................... 2-3
2.5 System Configuration....................................................................................2-13

CHAPTER 3 OPERATING METHOD .............................. 3-1

3.1 General............................................................................................................3-1
3.2 Operating Method of Steering• System.............................................................3-2
3.2.1 Preparation before start . ............... 3-3
3.2.2 Start ............... ........... . . 3-4
3.2.3 Stop (including emergency stop) ............. 3-5
3.2.4 Emergency steering method ........................................................... 3-5
3.2.5 Hand steering method ........................................ 3-6
3.2.6 Auto steering method ......................................... . ................... . 3-7
3.2.7 Remote auto steering (NAV) method toption) ............................... 3-9
3.2.8 Remote hand steering (RC : Remote Control) method (option) .... 3 11
3.2.9 Non-follow up steering (NFU) method .......................................... 3-13
3.2.10 Override steering method (option) .. .............................................. 3-14
3.2.11 Adjusting method for auto steering ................................................ 3-14
3.2.12 Data display method o1 ALSO unit ............................. . 3-18
3.2.13 Operating method when alarm p•enerated....................................... 3-19
3.2.14 Setting Procedure of Gyro log interface ......................................... 3-21
3.3 misuse (Mis-operation) and Countermesure.s ............................................ 3-23
CHAPTER 4 TROUBLESHOOTING ....................................................................., 4-1
4.1 General.............................................................................................................4-1
4.2 Before troubleshooting....................................................................................4-1
4.3 Troubleshooting...............................................................................................4-3
4.4 Countermeasure Table.....................................................................................4-7
4.5 Voltage Table of Each Point....................................................,.......................4-25
4.6 Information Items to TOKIMEC Service Agency........................................4-26

CHAPTER 5 MAINTENANCE • CHECK ............................................................... 5-1

5.1 General....................................................................................................... 5-2
5.2 Periodical Check ........................................................................................ 5-3
5.3 Warning Label Check ............................................................................... 5-6
5.4 Replacement Method of Fuse .................................................................... 5-6
5.5 Replacement Method of Relay (PR-6fi fi fi-E0 type) ............................. 5-7
5.6 Spare Parts ... ... .. 5-9
5.7 Storage Method ............................................ 5-9
5.8 Disposal Method ........................................................................................ 5-9
5.9 Precautions in Installation (Exceraction ................................................... 5-10

CHAPTER 6 PRINCIPLE OF OPERATION ........................................................... 6-1

6.1 General ....................................................................................................... 6-1
6.2 Principle of Operation of PR-6000 ............................................................ 6-2
6.3 AUTO-ADPT Operation (Auto Steering, Adaptive Control) (option)...... 6-3
6.4 AUTO-PID Operation (Auto Steering, PID Countrol) .............................. 6-6
6.5 HAND operation (Steering Wheel Steering) ............................................. 6-7
6.6 Non-Follow Up Control Operation (NFU Lever Steering) ....................... 6-7

CHAPTER 7 GLOSSARY ........................................................................................ 7-1

 CHAPTER 1 GENERAL DESCRIPTION

WARNING
DMalfunctions caused by failure of this system and mrs-operation caused by operator's
mistake may cause such disasters at sea as collision with other ship or stranding, resultant property damag
RGreat care should be taken to use this system being well acquainted with limitations of pcrformances an

NOTE
This system is an extremely imponant 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 ax'ailab1e 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 handlinp• of this system may cause disasters at sea.
Accordinp•ly, full attention should be paid on use of this system.
And for safety navigation, execution of navigational technology and cautions are
user's obligation w'hich are not reduced or exempted at all by using this
equipment. In particular, the ”look out” t w'atch) 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 NOT -FOLLOW UP steering. Be familiar with and
skilled in every steering modes.
4, Be skilled in the emergency steering method to keep qulte 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 u hich 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 systems.
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 steerinp• stand of the system. For other
equipment, separate volumes of instruction manuals are provided.

The equipment type is described as follows accordintr‘ 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 ODD OO— ODD (S ,OOD,)

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 ot” steering stand
• Show•s the steerinp• stand type. The gylot type contains the gyro-compass in it.
1 : Stand type (stand alone type without a btIllt-in pyro-compass)
2
: Gvlot type (stand alone type with a built-in gyro-compass)
3
: Console type (collective table type with a built-in gyro-compass)
4 : Unit type (unit assembled type without a built-in gyro-compass)
: Console type (collective table type without a built-in pyro-compass)
7 : Gylot type (stand alone type with dual built-in gyro-compasses)
8 : Console type (collective table type with dual built-in 3yro-compasses
9 : Unit type (unit assembled in type with dual built-in gyro-compasses)
4
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 signals
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 control signal)
EN : Solenoid valve control type (Solenoid val› e control signal)
E0 : Dry contact point only (potential free)
El : 1 l0VAC ON • OFF signal
E2 : 24VDC ON • OFF signal
E3 : 110VDC ON • OFF signal - - - Power should be supplied by steering
gear maker.
LV : Electro hydraulic type (Cylinder reciprocating signal - - - mechanical stroke)
Note : Uses vane pumps.
LS : L type standard
LL : L type with the Low level alarm
LP L type with the Low pressure alarm - - - for LR
rule LF L type w'ith the Low level and Low pressure
alarms
PO : Electric type steering gear made by MITUBISHI HEAVY IND. (Piston
reciprocating signal - - - mechanical stroke)
PS P type standard
PL P type with linfit sn'itch - - - for LR rule
 Rudder control type-------Steering gear rudder angle
S : 35'
Y : 40"
W : 45‘
F 60‘
H 70'
V 25 - 105‘ (VECTWIN)
O› Rudder control type-------Number of rudder
S : Single rudder
T : Twin rudder (independent type)
D : Twin rudder (rod connected type)
Rudder contra I type - - - - Number of steering gear pumps number of sinp•le
rudders for T type)
1 l (Note for EN type only)
2 : 2 (Note for EO type, DC type only)
3 : 3 (Note for DC type only)
4 : 4 (Note for PM type, DM/DW type, E0 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
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 steerintr.
These steerinp• fUllCtlons are selected with the mode selection switch MOOD 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 throup•h the rudder servo amplifier. The
rudder’ angle 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 internal rudder servo amplifier (non-
follow up steering).

1. Follow up steering (Follow up control)

(1) Auto steering ATO mode
Cowse 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.
(c) 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
fb) The ADPT control is selected by setting the ADPT/WEATHER knob in the
AUTO unit at OGP or CQ . Both are course keeping modes, and the
OPEN is used for sailing in open sea in w'hich the economic condition is preferred
to the course keeping capability, and the CLF is used when the course keeping
capability is preferred. When changing a course. the steering mode is automati-
callv 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 anq•1e of turn.
(c) 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 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 an ie 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) f1) Non-follow up steering NQ
The solenoid valves or control motors of the steerinp• 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 ang•le by NFU)

1.1.3 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 p•yro-compass is built in the stand.
Provided. only the width of the gylot stand with two TG-600f1 gyro-compasses is double
the width of the stand with one gyro-compass (PR-6Q87).
1.2 Relevant Instruction Manual
There are various equipment which are used together with the autopilot PR-6000.
Instruction manuals of these system are provided separately. Read them thoroug•lily.

(1) Steering gear instruction manual.

i2’) Instruction manual of gyro-compass connected.
(3) Instruction manual of external steering system or external navigational system
connected.
f4 Documents of autopilot finished plan.

1.3 Warranty
Warranty period : 12 months after delivery of this system.

Warranty Contents TOKIMEC will inunediately undertake to repair this system without
charge in the event of breakdown, failure or defect caused clearly
by TOKIMEC's design. manufacturing or materials supplied by
TOKIMEC.

Items to which warranty is not applied : Warranty is not applied to the following items

1. Failure or damage caused by misuse contrary to maintenance, handling and operation

described in the manual.
2. Sections modified by user without relation to TOKIMEC and failure caused by that
modification.
Successive or indirect loss caused by failure of this system.
4. Failure or damage caused by repair by service company not specified by TOKIMEC.
5. In case of force majeure such as each quake. fire, etc.

Provided. ho ever, that whcn other warranty provlsions have been determined separately in
writing, those should have priority.

1—7
 CHAPTER 2 SPECIFICATION AND CONFIGURATION

2.1 General
In this chapter, the configuration, specification and construction, etc., are explained.
This manual does not describe items related to installation of this system. For installation,
refer to the separate autopilot finished plan (documents) kept in the ship.

2.2 Configuration
The system is configured as shown in the tables below according to each type.
(1) PR-6000-DM (for single loop steerinp• gear made by MITSUBISHI HEAVY
IN- DUSTRY and HITACHI SHIP BUILDING, torque motor control)
NO Name Q‘ty Explanation Remark
1. Steering stand 1 Steering control, display stand Installed in wheel house.
2. Repeat back unit 2 DM type Installed in steering• p•ear
room.
Control box 2 For DM type single loop autopilot '
4. Control motor unit 2 TM 60 (made by TOKIMEC) '
Contfol selection bOx 1 Power supply / Sip•nal selection It is provided when
?-4 pumps are used.

(2) PR-6000-DW (for single loop steering year made by KAWASAKI HEA4’Y
IN- DUSTRY. torque motor control)
NO Name Q'ty Explanation Remark
1 | Steering control. display stand Installed in z heel house.
’ Steering stand
2. Repeat back unit 2 DW type Installed in steering
gear room.
3. Control box ' 2 For DW type single loop autopilot '
4. Control selection box 1 , Power supply / Signal selection It is provided when
3-4 pumps are used.

(3) PR-6000-DT (for single loop steering gear madc by HATLAPA, proportional
valve control.I
NO Name Q'ty Explanation Remark
1. Steering stand 1 Steering• control, display stand Installed in wheel house.
Repeat back unit 2 DT type Installed in steering gear

3. Control box 2 For DT type sing•Ie loop autopilot

 PR-6000-EN (Other company's solenoid valve control)

NO Name Q'ty Explanation Remark

Steering• stand 1 Steering control, display stand Installed in wheel house.
2. Repeat back unit 2 E type or E wide angle type Installed in steering
gear room
3 Transformer box 2 '
4 Control selection box 2 Power supply selection It is provided when
4 pumps are used for
E0 type.

(5) PR-6000-LV (Electro hydraulic type, mechanical stroke)

NO Name Q'ty Explanation Remark

1. Steering stand 1 Steering control, display stand Installed in wheel house.
2. Starter 2 Installed in steering gear

3. Hydraulic power 2 L type

unit
4. Cylinder and 2
repeat back unit

(6) PR-6000-PQ (Electric motor • mechanical stroke control made by MITSUBISHI

HEAVY INDUSTRY)

NO Name Q'ty Explanation Remark

1. Steering stand 1 Steering control, display stand Installed in wheel house.
2. Power unit 1 P type noating lever control Installed in steering
gear room
Transformer box' 2 '

2.3 Specification
Refer to the autopilot PR-6000 finished plan kept in the ship.
2.4 Name and Function of Each Part

( l) Steerinp• stand

Fig. 2-1 Steering stand ffront view, right side view)

NO Name Explanation Remark

Steerinp• stand Contains electric circuitry and Printed !
circuit boards, etc.. for control and display.
DC power, connection terminal boards
are also included.
Facia panel Various panel units such as operation • Details are in the next
control and display, etc., are mounted. pag•e. refer to (2J.
3 Master compass Main body of p•yro-compass when it is For details. refer to the
(OQt1OR) built in. gyro-coinpas. operatOf'S
manual.
4 Gyro operation Panel for control • display of’ Ditto
panel (option) gyro compass
-s
(2) Facia panel

Fig. 2-2 Facia panel

NO Name Explanation Remark

1 Mode selection Panel unit having mode selection switch. ATO HAND
unit NQF
2 Mode selection Switch to select a steering mode.
switch
3 Non-follow up Panel unit having NFU lever. PORT STBD
unit
4 Non-follow' up Steering lever used for non-follow up
steering lever (NFU) steering.
 NO Name Explanation ‘ Remark
5 Auto steerinp• i Panel unit having controls for rate, PID : WEATHER.
control knobs rudder ratio and weather, etc., for RUDDER, RATE
auto steerin*. ADPT : Course
keeping mode
(OPN, Chr) (option)
6 ALSO unit Unit having indicators for ship's heading
course, set course, operation mode,
and course setting Lnob, etc.
7 Course setting For auto steering course setting
knob
8 Remote control nit having remote steering selection
steering selectionswitch. etc.
unit (option)
9 Repeater unit Heading display unit of gyro-compass.
10 Repeater Knob to synchronize repeater readinp•
synchronizing with gyro azimuth.
pknob
1 1 Repeater switch ON-OFF switch of repeate ower
12 Helm unit Unit having steering wheel, etc Steering wheel, order
J rudder ang•le indicator
13 Steerine wheel Handle for hand control.
14 System selection Panel unit having system selection
unit switch.
15 S ystem selection Switch for system selection. No1lo2
switch
16 Order rudder For hand steering.
angle indicator t
17 PS display Display lamps for taking rudder
lamps direction of steering control signal.
18 Option alarm unit Indication of 4 poz'er supply circuits For 3-4 pumps system.
and their power failures.
19 i\/1ax mdder angle Panel unit having• the max rudder anp•Ie Switchinp• of 70°/ 50',
selection unit selection sz itch. Switchinp• of 45°/ 35°. etc.
(Optional)
20 Max rudder angle Swiich to select a max rudder angle. (Optional)
selection switch
Supplementary explanation
Option alarm unit (Displayed contents depend on its specifications.)
The power supply indication lamps for the total 4 powder supplies of the steering p•ear,
P1ER , P2ER . 3 PWR and 4 PWR . are located in the upper side, and the power failure
alarm lamps for them, P1DF , P2Q . P3OW F and PDF , in the lower side.
When the model of the steering g•ear control system is DM/DW, the control motor failed
alarm lamps of C1 R M F , C2LF . C3LF and CRM F are located in
the lower side.
The alarm lamp test in the option alarm unit and the adjustment for alarm acknowledge
and dimmer are done by using LAMP TEST . AL AC K and switches in
the AUTO unit.
Complementary explanation of each panel unit function (The same numbers as those in the
figure are used.)

MODE selection unit

By switching the mode selection switch O , the selected mode steering becomes
possible and the steering mode indicator lights (refer to the clause of the
steering mode indicator).
In addition in the optional RAC mode, the HAND mode indicator lights and the
HAND steering continues until the remote steering location or the remote control
system (RC submode) is selected.

Non-follow up unit
When the MODE selection switch is the non-follow up mode U , the
steering is possible with the non-follow up leverQ .

Auto steering control knobs

These are the knobs for steering control in AUTO / Remote auto steering (NAV
mode). There are No.1 system (right side) and No.2 system (left side).
ADPT / WEATHER
• ADPT-AUTO [When adaptive / ADPT control (option) is
attached.] Adjusting range - - CNF : CONFINED, OPN : OPEN
PID hand weather adjustment 0 - 10.
When CNF or OPN is selected, the mode becomes ADPT control mode, and
ADP and , OPN display lamps light.
When the PID hand weather adjustment 0 - 10 is selected, the mode becomes to
PID control mode and the PIED indicator lights. The knob position is the
boundary point of deviation angle for dual gain switching (refer to Glossary).
The buzzer sounds with "P-” when every switching bet* een ADPT control and
PID control by this knob.
• PID-AUTO [When adaptive / ADPT control (option) is not attached.]
Adjusting range - - - Auto weather adjustment AUTO, Hand weather adjustment
0 - 10.
When AUTO is selected, the adjustment becomes auto weather adjustment, and
the boundary point of deviation angle for dual plain switching is automatically
set based on the current yawin• width.
RUDDER : Knob for rudder ratio control (0.3-2.0. the scale 4 corresponds to the
rudder ratio 1.0) in PID-AUTO.
RATE : Knob for rate (rate of turn) control in PID-AUTO.
PILOT WATCH : Knob for setting the pilot watch alarm (3’-15 , common use in
ADPT / PID.)
RUDDER LIMIT : Knob for setting the rudder lI mit (5-35 , common use in ADPT /
AUTO unit
When the MODE selection switch 1s switched to AUTO , the auto steering which
keeps the ship's actual heading at that time as the set course is carried out. Because
of this, a sudden course changing or taking a large rudder can be prevented when
switched to the JT mode.
The course changing is made by pressing and rotating the COURSE SET. knob
and the setting course is fixed when the knob is released. After that, the shlp's
heading automatically follows up the fixed course.
The set course is displayed in the SET. COURSE display, and the SET. COURSE
display can be used tor course memory in other modes than the auto steering and the
remote auto steering. Refer to 3.2.5 (4) for its using method.
‘
One revolution of the knob is 60’, and a course changing greater than 180 is also
possible. The course deviation (setting course—ship's heading) is displayed by
liphtin of one of LEDs on the bar graph.
The bar graph indicatinq• the deviation disappears when the ship enters the setting
cowse.
Various display lamps and switches for setting are provided on the AUTO unit.
Details of the PR-6000 AUTO unit are shown in Fig. 2-3.
a. Bar-graph selection indicator / Bar-graph indicator
Bar-graph selection indicator displays the following data.
CO. DEV : COURSE DEVIATION - Difference between actual heading
and set heading in automatic steering mode.
R.O.T. : RATE OF TURN Rate of turn while turning
- R.A.I. : RUDDER ANGLE INDICATOR (optional specifications)
Rudder angle from the following transmitter.
Bar-graph indicator displays corresponding to the bar-graph selection indicator
according to the table ”b. Data type indicator / Data indicator".
Also the right end lamp or the left end lamp is flashinn when displayed data
exceed 30 degrees.

b. Data type indicator / Data indicator

Data indicator is switched to one of five pes data at maximum, including
optional specifications, according to the following table on every pushing
of
%j . switch. In the followinp• table. optional specifications item
is skipped when it was not set.
Also the data indicator automatically returns to HDG when switched the mode
selection switch.
Data type Displayed contents Bar-graph Displayed contents Remarks
Indicator in Data indicator Selection in Bar-graph
Indicator Indicator
1 Heading CO.DEV. Course deviation
HDG
1 Rate of turn R.O.T Rate of turn
R.O.T. (deg./ min.)
i Error code CO.DEV. Course deviation
ERR
i Set value of ship CO.DEV. Course deviation Optional specs.
(SPD) speed and its source
Optional specs.
— ” is displayed
1 Rudder angle Blank Rate of turn when the rudder anp•1e
(blank) ( Ofi d) is in PORT. (Sign is not
dis- played when rudder
angle exceeds 100
degrees like Beck-twin
system.)
1 Blank Blank Course deviation
Blank

When data display is other than heading, setting value can be changed by push-
inp• or + switch with holding to push DATA CHANGE switch lo-
cated in the right bottom of the AUTO unit. (If only CHANGE switch is
pushed, current setting value i.s displayed.) Details oi’this chanp•e and its
display for each data are as follows.

Displayed Items to be or displayed Remxks

contents changed
R.O.T. Order value of . While in the automatic steering mode or the
R.O.T remote automatic steering (NAV) mode, it
cannot be changed. In NAV mode. this order
value becomes invalid.
ERR Details of generated error numbers If error is not generated. the display is extin-
are displayed successively. guished.
SPD Input signal of ship Speed | Optional specs (Refe to 3.2.12.)
. r
Rudder For the twin rudder system. rudder | For the single rudder, nothing is displayed
angle angle to be displayed displayed is because this operation is invalid.
selected. (Initial value is
starboard.)
Displayed in "Sbd Poi”.

-S
ill urm indicator —— —-— ——
c. Display / alarm display (Refer to Table 2-1.)
The steering mode display lamps HAND . AUTO , and RQ
are located at the upper right. The system display lamps S1AYS ,
S2AYS and the power supply display lamps l PWR , 2 PWR are
located at the upper left.
The adaptive control display lamp NPT . PID control display lamp PIED .
control mode display lamps such as course keeping preferred mode display
lamp CQ and open sea navigation (econonMc condition preferred) mode
display lamp OPN, and the rudder limit display lamp DRC L are
located at the right middle area.
The group alarm lamps are SYS. , A O A and CAUTIO
, and are located at the left middle
area.
Others are No.l and No.2 power failure alami lamps PD1 F , P Q2
and DC power failure alarm lamp DC PWR .
In addition, as the individual alarm display lamps, No.l and No.2 steering gear
control alarm lamps ISG CNT , 2SG C T , and hand steering mode
failure alarm lamp ATO M , remote steering failure alarm lamp RC M
, gyro failure alarm lamp GPO , pilot watch alarm lamp OUT ,
repeater power failure alarm lamp PHP , AUTO unit display area
failure alarm lamp DILATE , etc., are located at the left middle area.

d. Switches
Switches for lamp test P EL T ST , alarm acknow1edp•ment AQ
ACK , dimmer . data CHANGE are located
at the lower right, and the is at the right
next to the data type display.

Remote control selection unit (option)

The remote control submode indicating the order rudder angle input locations in the
mode such as : Port Wing (P/W), Starboard Wing (S/W). Wheel House (W/H)
can be selected, and external navigation systems such as NAV, etc., can be selected
for the rcmote auto steering.
After turning the mode selection su•itch to the mode (all lamps of RC submode
blink), when the (enable) switch and the switch to be selected (abo›•e described RC
rudder angle input locations, or NAV) in the remote control selection unit are pressed at
the same time, the mode is changed to that mode. The changed mode di.spla$flamp
only lights continuously (during blinkinq•. the mode is HAND .)
Kinds and names of the submodes in the remote control selection unit are changed
according to the customer's specification. And. when the ready lamp indicating
completion of preparation in the remote steerintr• system side is provided, submode
can not be selected if the rcady lamp located at the left side of the submode su itch is not
lighting.
 Repeater unit
The repeaters are driven by the bearing signal from the gyro-compass. The
repeater cards of 1 time and 12 times (open scale) are pro 'ided. The repeater
synchronizing knob Rio used for repeater synchronization and the repeater switch
@ are provided on the panel.
For synchronization of the repeater card with the gyro bearing, turn OFF the repeater
switch and synchronize while pressing and rotating the synchronizing knob @

Helm unit
When the mode selection switch is in HAND , the steering can be made with
the steering wheel @ , and the mode selection switch is in RAC and the
RC submode is not selected yet (the HAND mode display lamp is lighting and the
RAC mode display lamp is blinking), the steerinp• can be made with the steering
wheel in the same way. Coincide the order rudder angle with the scale of the
rudder angle indi- cator . When turning the steering wheel, the
taking rudder order is output to the steering gear and the P or S display lamp Q
lights according to the taking rudder direction.

System selection unit

The power to the steering stand is supplied through the No.1 system or No.2 system
selected with the system selection swQitch and the steering can be made.
And the selected system display lamp lights. When switching the system, the buzzer
sounds with the individual alarm circuit.

The alarm list is shown in Table 2-1.

Table 2-1 Alarm List
Name of Cause of alarm Alam Group alarm display Remark
No individual detail s sar AUTO GAc*iOfl
alarm display rAi£ rAtL
(display name)
1 AUTO unit MMA PID E0l.1 —
display area communication is invali
is abnormal MMA EEPROM error | E01.2
Hard- RTC SRAM | E01.3
ware is RTC battery E01.4
abnormal Memory- EOI.5
access 0V
WDT restart E01.6
S. I/O-1 input E01.7
(INDICATE) S. IfO-1 Loop | E01.S
2 PILOT Off course during course ‘ E02. 1
WATCH keeping in AUTO/ NAV
(PILOT Vv’.) mode
 Name of Aliifm Group alarm display Remark
dual detail
display i FAIL
(display name)
3 GâfRO 'GYRO PID E03.1
FAIL Communication is invalid
(GYRO) GYRO bearin is invalid E03.2
GYRO L i I ure E03.3
GYRO bearing has E03.4
large error
4 REP POWER gyro repsater power “E04.1
FAIL failure
(REP PWR)
5 No.1 Servo loop (starboard) E05.1 Except DM, DW
S/G CONT. Servo loop E05.2 — Option for twin
(port) FAIL rudders Except DN4,
— DW
Control motor failure E05.3 DM/DW-052 type only

Overload (OU E05.5 L type only

Low pressure (LPG E05.6 L type option
Low level QLL) E05.7 L type option
(ISG CNT) |Open phase (OP) | E05.8 L type option
6 No.2 Servo loo fstarboard) E0d.l Exce t DM D
S/G CONT. Servo loop (port) E06.2 — — ' Option for twin
rudders FAIL Except DM, DW
Control motor failure E06.3 DM/DW-HS2 type onl;

Overload (OL! E06.5 L type only

Low pressure (LPj E06.d ! ' L type oplion
Low level (LL) E06.7 L type option
1(2SG CNT) Open phase fOPl E06.8 L type option
7 HAND RSA power failure E07.1
— MODE
fHAND M.)
8 AUTO PID MMA E08. 1
MODE Communication is invalid.
W:der’isabnormal (D/K A/D E08.2
loo check is abnormal)
PID hardware is abnormal' E08.3
ADPT PID E08.4 * l : When ADPT is
Communication is invalid. selected.
PID ADPT E08.!°• ' 2 : When ADPT is
(AUTO M.) Communication is invalid. not selected.

9 RC MODE E l MMA E09.1 Option

Communication is in›
alid.
Extcrnal 2 MMA E09.2
Communication is ln› aJid
— External I Not Read
E09 3
nil e Rcady E09.4
(RC M.) RC stcerin* is abnc+aval. E09.fi
 Name of Cause ot alarm A1dft11 Group aiarni display Remark
NO individual det:U1 s AUTO cnm0N
alarm di› !d\ S+Ec PAL
I display name) FAL
10 LOW SHIP Ship's speed don.'n E10. 1 — Option
SPEED (Wfien ALTO ADPT only)
(LOW SPD)
DC POWER DC pov’er (battery) EII.I — — pT Inc1adinp• heading
FAIL fa ilure monitor (option)
(DC PWR) power fail
12 STEERING Steering wheel sieerin •_ E12 1 —
WHEEL. disengaged atau
DISENGAGED
tWHL OFFS
AUX FAIL Setting course inx alid E13. I Option
(AUX)
External alarm 1 El3.2
External alarm 2 |E13.3
External alarm 3 E13.4
External alarm 4 E13.5
S. VO-2 input abnormal | E13.6
S. 1/0-2 Loop abnormal | E13.7
No.1 Servo loop (starboard)} E05.1 For DM. DW
No.1 Servo loop tponi | E05.2
No.2 Servo loop (starboard) E06.I
No.2 Servo loop(pony E06.2
l4 OPT1Oh Option alarm I E14 I Option
ALARM Option alarm 2 |El4.2
Option alarm 3 |El4.3
Option alarm 4 E14.4
Option alarm 5 | E14.5
Option alarm 6 E14.6
Option alarm 7 E14.7
O tion alarm 8 E14.8
Option alarm 9 E14.9
O tion alarm 10 E14.A
Option alarm 11 E14.B
Option alarm 12 |E t4.C
NO.1 NO.1 power no voltage Operates with DC power
POWER
FAIL
( -PM'R. F)
NO.2 NO.2 power no ›'oha•e — — — — Ditto
POWER
-AtL
(2-PWR. F›
2.5 System Configuration
The block diagrams of the PR-6000 system configurations are shown in Fig. 2-4.
This system consists of equipment in the wheel house and in the steering gear room, and
equipment in the wheel house are the same in all system configufations.

-- ——— Ftepea\ bart ' unn

ACZZ0/440V 3 $ ””

{''' Hudder
. No.2

ACZ2O/440V 3$

Steering gear room

Wheel house
Example — • •ai‹ u«t w•••••i

—— power / analog signal

digital agnal / dryconact pa.m signal, etc.

Fig. 2-4(1) PR-6 -DM

PR-6 -DW type block diagram (Excluding 3-4 pumps)

, P ” AC228 OV 3 § IAC220/440V 3 p
'

No.2’ N 2
comroi Ooh
' Rudder

N 4

AC22'0/eoV
ACZ20/a40V 3§ nepeai bark

Steering gear room

Wheel house

Fig. 2-4(2) PR-6 -DM

PR-6 -DV' type block diagram (Pumps 3-4)
Wheel house

Fig. 2-4(3) PR-6 O -DT bloch AC22O/4

diagram40v

Steering gear room

7 G 6000 Rudoer

Can oeount‹n
*CdJ'0U5'Q207A0V J#

,Sgceg*›guz;
5p*eoiog - _
----- Nma
Steering gear rqqm

Wheel house

Fig. 2•4(4) PR-6 -EN type block diagram

(Excluding E0 type o ilh 4 puntps)