3e-2 Gyro Compass, Auto Pilot, Course Recorder

• TOKIMEC
GYROCOMPASS & AUTO P I LOT
PR-6262-E2-SS2
.'; .
'" SHIPYARD SHIN KURUSHIMA DOCKYARD Co.,Ltd.Esq.
SHIP'S NAME
HULL NO. 5070
GINGA HAWK
f*it~ti ~=F~Y:? LIST NO. 3E- ~
TOKIMEC INC. SHIN KURUSHIMA
DOCKYARD CO., LTD.
GYROCOMPASS & AUTO PI LOT
P R - 6 2. 6 2 - E 2 - S S 2
SHIPYARD SHIN KURUSHIMA DOCKYARD Co.,Ltd.Esq.
SHIP'S NAME
HULL NO. 5.070
TYPE OF VESSEL 12,000 GT

CLASSIFICATION -----------------------
NK
NATIONALITY -----------------------
PANAMA
2000-0028
DATE ISSUED
AUG. - 1 - 2000
APPROVED BY
~ I O.,s.v-q ,·
CHECKED BY
/)v, 1 0 s_~J I
PREPARED BY
_X,-Afl4Jc
Control Systems Divition
TOK I MEC INC.

CONTENTS
§ ;x
ITEM NO. N A ME DWG. NO. PAGE
m-s :g #.Ji ~IIDm-s /'\.-'9
LIST OF COMPONENTS
1 1
mm~J&~
BASIC SPECIFICATION
2 2
¥/.f:{±l~
INSTALLATION NOTES
3 3
~ 1ii\Lt 0) ;~ ~
INTER UNIT WIRING DIAGRAM 169902651 4-1

4
t!U~ Fs~ *5 ill,~ ~ 162579530 4-2
EXTERNAL FORM
5
j~ffi ~
STEERING STAND 113399970 5-1-1

( 1)
t~U'8 .::Z :9 ::.; ~ 113399741 5-1-2
TRANSFORMER BOX
(2) 113692362 5-2
1---S:J.::Zif\-v:?.::Z
REPEAT BACK UNIT 5-3
(3) 114399950
~Ut~ii:
GYRO COMPASS ACCESSORIES 5-4

(4) 101680202
'9 "\7 -{ 0 =:J :; I\ .::z {1 /j; ~
COURSE RECORDER FLUSH TYPE
(5) 120191370 5-5
* =:J - .::z [__, =:J - ::)l' i! i6 ~
(6)
(7)
(8)
(9)
SPARE PARTS BOX

( 10) 100389180 5-10
~1i~m
SPARE PARTS LIST

6 6
~ 1Jffi ~ lj .::z r-
* · · • OPTIONAL EXTRA
* · · · ~ 8U i1 X !;::: ct lJ 11 /j; 9 ~ u 0) 7a: ~ L- * 9 o
0
LIST OF COMPONENTS
m JJJG ~ 111: ~
NO. N A ME Q'TY MASS(Kg) COLOR REMARKS

:;:~ :g w 11l:ii: ~ -=
m ~ ~ fFm ~
STEERING STAND
1 1 165 7.5BG7/2
t~U'8 .::::z 9 :::; ~
2 TRANSFORMER BOX
2 20X2 N7.5
I---5::J.::::Z"'-v:7.::::Z *
REPEAT BACK UNIT
3 2 8.5X2 N7.5
J.§Hit~~ *
4 SPARE PARTS BOX CLEAR
1 3.0
.:Yfiiftafif§ fflt~~8J3 *
5
7
REPEATER COMPASS WITH PLUG x
8 4 4.5x4 N7.5
l..I~-9::J:::JI~.::::Z * W/0 PLUG x 4
REPEATER MOTOR FOR RADAR x
9 0.5
[..1~-9=£:-9 FOR D.F x
REPEATER STAND BH TYPE
10 2 24.4X2 5Y9/0.5
BH~Ll~-9.::::Z9::J~ *
11 REPEATER MOUNTING BB TYPE
1 6. 7 7.5BG7/2
B B~Ll~-91~~~
REPEATER MOUNTING MB TYPE
12 1 3.0 7.5BG7/2
M B~ [..! ~-91~¥-j~
DF JUNCTION BOX
13 0.6
151~ 11 *1'C m
AZIMUTH CIRCLE
14 1 2.2
15ffini
SHADOW PIN
15 :;-p~r)~:::;
1
BEARING REPEATER SCREEN FOR BB TYPE
16 1
~JLG~ BB~ffl
COURSE RECORDER FLUSH TYPE
17 1 22 7.5BG7/2
::J-.::::ZL!::J-:$1 i-'5.6~
18
19
20
21
22
23
NOTE
it~
PARTS WITH NO FIGURES ON "Q'TY" OF COMPONENTS LIST ARE NOT DELIVERED.
1
· mJJJG ~ 111: ~ (]) 111: ii mI<= ~a J.... -c n -c ~' 1d. c' =tJ (]) let 11 ~ -c n ~ tt 1v o
2
COLOR (MARKED *) IS TOKIMEC STANDARD COLOR.
. * ErJ (]) ~ ~ let ' 1--- .:f .)( 'V :7 (]) *~ ~ ~ C' 9 0
A UT 0 P I L0 T B AS I C S P E.C I F I C AT I 0 N
§ ~ • m & ~ ~ ~ tt •
GENERAL
m~
POWER SUPPLY AC440V 1cD. 60Hz. MAX. 250VA

~ilm DC24V. APPROX. 2.0A
VOLTAGE FLUCTUATION +10% rv -15%
~I±~~
FREQUENCY VARIATION +5% rv -5%

li!lli&:~~~
AMBIENT TEMPERATURE +55" c rv -20" c

li!ll!Hii~N.
PARTICULAR
~ ~
NUMBER OF PILOT SYSTEM TWO COMPLETELY INDEPENDENT SYSTEMS

I\-{ o -v 1--- *J"U~ ~~~~li2*J'U
STEERING METHOD AUTO(AUTOMATIC)-HAND(MANUAL)-NFU(NON-FOLLOW UP)

:t~U'B:D$ AUTO(§~)- HAND(~ih)- NFU (.J :JI.t\ 0)
ACTUATOR SYSTEM SOLENOID VALVE (24VDC) CONTROL SYSTEM

?::7'J-.:J.I-:9:D:ct: ~~ll# (24VDC) lfjlj fill 15 :ct:
AUTO STEERING SYSTEM P. I.D CONTROL(DUAL) (PROPORTIONAL, INTEGRAL, DIFFERENTIAL)

El ih 1~ ffi'B lfj!J fill :D :ct: P. I. D lfj!JiffO ctt f91J. fftB. 1Wx51) C2*J'U)
PILOT ADJUSTMENT RUDDER ANGLE ADJUSTMENT
(AT AUTOMATIC STEERING) ffi'B%3 tt~ffllM
------------------------------------------------------------------------
1\-{o-vt--~M RATE ADJUSTMENT
(El~t~ffi'BO)~) 3ffi'B~ffllM
------------------------------------------------------------------------
AUTO WEATHER ADJUSTMENT(WITH MANUAL ADJUSTMENT)
§ih?({l~~ffllM C~ih?(~~~ffllMi':t)
------------------------------------------------------------------------
PILOT WATCH (5" rv 15" )
fj~~~~ffllM
------------------------------------------------------------------------
RUDDER LIMIT (5" rv 35" )
ffi'B%3 IUIJ ~N~ M
GYRO COMPASS TYPE TG-6000
::; -?-{ 0 ::::J:; 1\.::::Z
DC24V STEP MOTOR TYPE

REPEATER COMPASS DC24V .::::Z-T-v-::1:C-:9:ct:
vt::-:9::::J:JI\.::::Z STANDARD REPEATER COMPASS & OPEN SCALE REPEATER COMPASS
:t~il v 1:::::-:9 ::::J:; 1\.::::Z S ct U:;t- -::1:; .::::Z -7- Jv v t::- :9 ::::J:; I \.::::Z
DISPLAY EQUIPMENT STEERING (PORT-STBD)
~~~ 1i ffi'8
PILOT POWER ON (STANDBY)
I\-{ 0 '.Y 1--- ~ imt
PILOT SYSTEM RUNNING (NO.1 SYSTEM- N0.2 SYSTEM)
1\-{D'.Y 1---Y.:::Z"Tb
STEERING MODE (AUTO - HAND - NFU)

:ti m-e =c- t-::
PILOT RUDDER LIMIT (RUD. LIMIT)
I\-{ d-v 1--- m-e ~ fljU ~N
SETTING COURSE
.~~ ~ ::::J-.:::Z
HELM ORDER
®:!pm'8~
OWN SHIP'S HEADING

ffiB§:Ofli
2 - 2
A LA R M S (VISUAL & AUDIBLE)
-~~ (QJ1Ja&.tJQJ~)
ALARM FACTOR GROUP IND. ALARM CODE INDI. DISPL Y REMARKS

-~~ll9 ~-El~~ -~=:J-~ f~8U~~:U 11m~
NO.1 PILOT POWER FAIL

----- 1-PWR F.
N0.1 /\-{0~ 1---~lffil:~~
N0.2 PILOT POWER FAIL
----- 2-PWR F.
N0.2 /\-10~ 1---~lffil:N~
AUTO UNIT MMA~PID COMM.ERROR
INDICATION FAIL MMA~PID ji{~I5-
E01. 1 INDICATE
AUTO .=1.= ~ 1---
~~~m EEPROM ERROR
EEPROM I 5 - CAUTION E01.2 INDICATE
RTC SRAM
RTC SRAM CAUTION E01.3 INDICATE
RTC BATTERY
RTC /\~:TIJ CAUTION E01. 4 INDICATE
MEMORY ACCESS
)(.:CIJ?:Jiz.:::Z CAUTION E01.5 INDICATE
WDT RESTART
WDT IJ .:::Z -!Y- 1--- CAUTION E01.6 INDICATE
S. 1/0-1 INPUT
C~Ni% 1/0-1 A.:t.J)
CAUTION E01. 7 INDICATE
S. 1/0-1 LOOP
C.JIJ:i'J~ I/0-1 J[.,- -:::1)
CAUTION E01.8 INDICATE
PILOT WATCH
/\-{0~ 1---r:J~-T
CAUTION E02. 1 PILOT W.
GYRO FAIL
::Jv-1o~m
AUTO FAIL E03. 1 GYRO
REPEATER POWER FAIL

vt:-:Y~ilfilN~
CAUTION E04. 1 REP. PWR
NO.1 SERVO LOOP FAIL(STBD)

NO.1 ij--~J[.,- JJ I-{}[., (fiffiZ) SYSTEM FAIL EOS. 1 1SG CNT
NO.1 SERVO LOOP FAIL (PORT)

NO.1 i:T-~Jv--:::t-::7 :c-1 J[., c:ttffiz) SYSTEM FAIL E05.2 1SG CNT
NO.1 CONTROL MOTOR FAIL ONLY FOR D TYPE

NO.1 =:J:J 1---0-J[.,.:C--!:l~"m' SYSTEM FAIL E05.3 1SG CNT DM/DW/DB ~O)ch-
NO.1 HYDRAULIC POWER UNIT OVERLOAD ONLY FOR L TYPE
NO.1 iE13EE/\r:J-.=L=~ t---:;t-J\-0- ~
SYSTEM FAIL E05.5 1SG CNT L~O)ch-
2- 3
li¥N~~ *~~l.R Ji¥&:::J-~ i~T.JU~l.RD {Fm~
NO.1 HYDRAULIC-POWER UNIT LOW PRESSURE ONLY FOR L TYPE

N0.1 iEI3EE/\I"J-.:::J..=-v 1--- o--:::tu;z SYSTEM FAIL E05.6 1SG CNT L~O)JJ.
NO. 1 HYDRAULIC POWER UNIT LOW LEVEL ONLY FOR L TYPE

N0.1 5El3EE/\I"J-.:::J..=-v 1--- 0-1./I'ZJ[.; SYSTEM FAIL E05. 7 1SG CNT L~O)JJ.
N0.2 SERVO LOOP FAIL(STBD)

N0.2 ij--;:KJ[.;--:::f:J::r:-11[.; C:tJii!Z) SYSTEM FAIL E06. 1 2SG CNT
••
N0.2 SERVO LOOP FAIL (PORT)
NO.2 ij"-;:KJ[.;--:::f:J ::r:-1 J[.; (J.Lffiz) SYSTEM FAIL E06.2 2SG CNT
N0.2 CONTROL MOTOR FAIL ONLY FOR D TYPE

NO.2 :::J::; 1--- O-J[.;::C-:9~m SYSTEM FIL E06.3 2SG CNT DM/DW/DB ~O)JJ.
N0.2 HYDRAULIC POWER UNIT OVERLOAD ONLY FOR L TYPE
N0.2 5El3EE/\f"J-.:::J..=-v 1---::t-/\-0- ~ SYSTEM FAIL E06.5 2SG CNT L~O)JJ.
N0.2 HYDRAULIC POWER UNIT LOW PRESSURE ONLY FOR L TYPE

NO.2 5El3EE/ \f"J- .:::J..= 'Y 1--- o--:::tu;z SYSTEM FAIL E06.6 2SG CNT L~O)JJ.
N0.2 HYDRAULIC POWER UNIT LOW LEVEL ONLY FOR L TYPE

N0.2 5El3EE/\f"J-.:::J..=-v 1--- 0-1./I'ZJ[.; SYSTEM FAIL E06.7 2SG CNT L~O)JJ.
RSA POWER FAIL

RSA ~iffii:~m SYSTEM FAIL E07. 1 HAND M.
PID~MMA COMM.ERROR
PID~MMA ~f~~m
AUTO FAIL E08. 1 AUTO M.
ORDER FAIL
:t~T.if~-s~m
AUTO FAIL E08.2 AUTO M.
PID HARDWARE FAIL

PID 1\- ~r:J::r:?~m AUTO FAIL E08.3 AUTO M.
ADPT~PID COMM. ERROR AUTO FAIL

ADPT~PID ~f~~m /CAUTION E08.4 AUTO M. OPTION
PID~ADPT COMM. ERROR AUTO FAIL

PID~ADPT ~f~~m /CAUTION E08.5 AUTO M. OPTION
NAV1~MMA COMM. ERROR

NAV1~MMA ~f~~m
CAUTION E09. 1 RC M. OPTION
NAV2~MMA. COMM ERROR

NAV2~MMA. ~f~~m
CAUTION E09.2 RC M. OPTION
NAV1 NOT READY

CAUTION E09.3 RC M. OPTION
NAV1 *11*7
2 - 4
-~~12'9 ~a~~ -~::J-~ f~l.ltl~~n f[ffl:g
NAV2 NOT READY
NAV2 $1im*7 CAUTION E09.4 RC M. OPTION
RC STEERING FAIL
RC t~9'8~m' CAUTION E09.5 RC M. OPTION
LOW SHIP SPEED

Wd~{ftT
CAUTION E1 0. 1 LOW SPD OPTION
DC POWER FAIL
11=m'~iffii:~m'
CAUTION E11. 1 DC PWR
STEERING WHEEL DISENGAGED (WHEEL OFF)

t~ 9'Blilti 1m~1.J ll~
C~UTION · E12. 1 WHL. OFF
PRESET COURSE INVALID

~/Effit ~g1m~1.J-~
CAUTION E13. 1 AUX OPTION
2 - 5
GYRO COMPASS BASIC SPECIFICATION
::5.J --\-7 --( D ~ :._./ / '\ 7-.. ¥ :;$:: 1'± ~~
-tr. ACCURACY
~ m.
IMO RECOMMENDATION AT ljJ :35 (Ex. TOKYO)
TG-6000
IMO it£ ~ 100: lJ.I : 35 C~IU?.J c OYMH§ 100:
SETTLING TIME WITHIN 6(SIX) Hours WITHIN 6(SIX) Hours WITHIN 2(TWO) Hours
D:IE~Fs~ 6 B~tmJ;JP":J 6~Fe\'ltJP":l 2~Fs~J;)P":J
SETTLE POINT ERROR LESS THAN 1 LESS THAN LESS THAN
±0. 75° X COS ljJ ±0.9° ±0. 3°
Dlt8~~ tXF ];) """F ];) """F
RMS VALUE OF THE LESS THAN 1 LESS THAN LESS THAN
DIFFERENCES 0. 25° x - 0. 3° 0. 1°
:tl§m.O)t~~~~ j;) """F cos ljJ ];) """F ];) """F
REPEATABILITY OF LESS THAN 1 LESS THAN LESS THAN
SETTLE POINT ERROR ±0. 25° x - ±0.3° ±0.2°
D ll:,¢.\ O)~IJH1 tXf cos ljJ ];) """F ];) """F
ERROR DUE TO THE
SHIP ROLLING, LESS THAN 1 LESS THAN LESS THAN
PITCHING AND YAWING ± 1. Oo X - ±1. 2° ±0.5°
j;) """F cos ljJ ];) """F ];) """F
jb:f!H~~·
SETTLE POINT ERROR
UNDER GENERAL LESS THAN 1 LESS THAN LESS THAN
CONDITIONS ± 1. Oo X - ± 1. 2° . ±0.5°
tXF cos ljJ ];) """F j;) """F
EU~~1t,I;:X19?.J~m.
ljJ :LATITUDE
ljJ : ~m.
*.GENERAL SPECIFICATION
-ffi~f±t*
FOLLOW-UP SPEED WITHIN
360° 115 SEC
~ftl:J*m. j;)P":J
GIMBAL FREEDOM FOR BOTH ROLLING AND PITCHING
±45°
:; ::; 1 \Jv~fi~ E! El3m. o-JvSJ:V't::>v:r:!=!.:
RANGE OF SPEED ERROR CORRECTION (AUTO I MANUAL)
AUTO -- IF 200 PULSE I NM. IS INPUTTED knots I LATITUDE
0-50 (0- 70°)
J*m.~~~IEiMII (§jb/=f.i!J) .) ':J "/~~m.
El j1J -- 200 1\ I~) I Y11~ )._}J~
0
MAIN POWER SUPPLY

AC 100 l 1Hl l gg€J:IJ, 1(p, :W#)OHz
:E ~ flm
POWER SUPPLY FOR ALARM AND BACK-UP FOR MASTER COMPASS
DC24V, 70W
~~ S J:V'~ 7-..-59- :::J::; I \7-..1\ ':J :Jy ':1 J~i!m
VOLTAGE FLUCTUATION
AC± 10%, DC -20% rv +30%
~ff~jb
FREQUENCY VARIATION
±5%
~;JJZ~~i!J
START WITHIN ORDINARY WITHIN
140VA 70VA
POWER CONSUMPTION ~jb~ j;)P":J )Ew.;~ ~P":l
REPEATER · WITHIN (9 REPEATERS)
;'[!:! J!l ~ 1J
j;)P":J 150VA (9 v t::: --5.9)
1/t:::--5.9
REPEATER TYPE STEP MOTOR TYPE(DC24V)
v t:::- -5.9 Tf~ Jt 7-.. 7 ':1 J::C-~rt (DC24V)
NUMBER OF REPEATER CONNECTIONS CIRCUITS
9
v t:::- -5.9 HU~~ [QJ~g
AMBIENT TEMPERATURE
-1 Oo Crv +50° C
~ IHI 51ffi m.
2- 6
INSTALLATION NOTES
1. In case of E2 type auto pilot, if the distance between wheel house and
steering. gear room will be more than 150m, the circuit which is indicated
by double line among ~ marked cable in wiring diagram.
To be arranged as parallel cabling.
2. Ship's supply 24VDC fed to an autopilot and a gyrocompass is used for

different purposes,namely,power failure alarm source for an autopilot
and emergency back-up power supply for a gyrocompass.
For such application, 24VDC power supply arrangement and short circuit
protection should be designed that the abnormality of that DC power supply
does not impair the other equipment.
3. Since the spring-pressure type terminal boards for the gyrocompass and
auto pilot are applied, do not connect plural wires to one terminal.
4. Be sure to install the recommended cables separated according to the

function of each cable, as shown in the inter unit wiring diagram.
5. Be sure to install all the equipment cable more than 5m away from radio
equipment feeders.
If impossible, install the cables as far from the feeders as possible.
6. Connect terminals marked with~to the ground terminals of the ship.

Shield end of shield cable is to be finished close to the terminal
board and connect to the ground terminals of the ship.
7. Unless otherwise designated, cable is not furnished with the equipment.
8. Since semiconductor elements are used in the equipment, do not use

a megger for any tests.
9. Any shipyard which installs this equipment for the first time shall be
given instructions by TOKIMEC service engineer.
3
rTB51--, (PILOT SIDE)
* ---- SUPPLIED
ru~ wr !!Utr-'
BY DOCKYARD
tr N0.9 ~----I.I.W.WN01..,__7_.~-. ~fJ~~

tr NO 10 ..
.NO 18 SHIP'S SUPPLY DC24V
;t';)l
ALARM CIRCUIT
(NORMAL CLOSE DRY CONTACT) ~No"'""1.,._l'9~L------------L-J
I*IQJM
N0.1 N0.2
* IIH~0d~ POWER UNTil * I H~d~ POWER UNIT~ l I
·~ ~ I I
)lljEEJiiJ -1: )lljEEJriJ -1: .,
RUDDER REPEAT BACK UNIT RUDDER REPEAT BACK UNIT IP~SI IP~S
~ ~
Ja 1! (R23) Ja ~ ~ 11 (R23) ,j l, d
*!Jeer±
ICO
---,
li'
rrr41_ _ N_o_.2-;1-~ TO HLA UNIT
NO .11
II
-
u
u
I
0
u
I
u
u
C\J ......
u
u
J
0
u
-I
C\J
u
u
I
.l 11~C2
_ _
JUNCTION BOX
:J
itJMi
22
NO.!i
* N0. - TO HLA UNIT
N0.6
rJccrt
IlCD
--l
I I. NO i;J
'[~~~---~
JUNCTION BOX
it !Xi!
~--------~No""-~.A.~....-_~,., N0.2 STEERING GEAR STARTER (RUN AT ON CONTACT)

NO. 2jE~1f:A9-9 <:e:ti~ON~fiKl
~----------------~-~~.7~ N0.1 STEERING GEAR STARTER (RUN AT ON CONTACT)

N0.1 N0.2
I NO. ljEJ!Y.J:A9-9 (im~~ONifiKl I
TRANSFORMER BOX TRANSFORMER BOX
~SJ:A ili•;'J:A ~SJ:A ili·,'J:A ~~·iliJJ(J.)2it.tt?JJ:I:fiiH,(J.):ft' < =HLAWI.=f~) l;t, A9-9DA~1'
{ J 9- 0 ., 'J 191.1;! 1:11' .tt ?JJ:I:ti tJ-r: ~ fJ. ~ \ J: '1:: l, "'( ""f ~ \,.
~~1~1~1 Inter locking circuits in motor sterters to be
prepared to inhibit steering gear pumps parallel
running. (NO HLA required)
NO 3
Nn 4 N0.2
No } TO STEERING GEAR POWER CIRCUIT AC440V 1~GoHz
* 1'!1(7)1-
TO SEE INSTALLATION NOTES
JJ~ li~HiJ:(J.)~:i! ~Jm
l1"'F \,. ~
1
'-'----------------~-......-· iS ~fl'lliiiQil!!t .t 'J
PR-6oo2-E2
CABLE NO. RECOMMENDATION CABLE NO. RECOMMENDATION CABLE NO. RECOMMENDATION CAUTION ~s INTER UNIT WIRING DIAGRAM
'J-7"'.1. NO.
NO. 1
*~1'- JJ~
660V-DPYC 2.0
'J-:t• J. NO. *~1- JJ~
N0.11 250V-TPYC-1.25
'J-:t•I. NO. *3tt- Jn
ND.21 250V-TPYC-1.25
1. DO NOT MEGGER SHIP'S CABLING WITH EQUIPMENT (PILOT SIDE)
NO. 2 660V-DPYC 2.0 ND.12 250V-TPYC-1.25 N0.22 25DV-TPYC-1.25 CONNECTED. ~~HaHs~~ ( li1 D., H~!l)
NO. 3 25DV-DPYC 1. 25 ND.13 ND.23 l: OJlr!li )l1J''ii\tl a l, 1 ti tl f> tH'.
NO. 4
NO. 5
250V-DPYC 1.25
250V TPYC-1 . 25
N0.14
NO.i5
N0.24
N0.25 2. IT IS ESSENTIAL THAT CONDUCTORS ARE GROUPED TOKIMEC INC.
NO. 6 250V-TPYC-1.25 ND.16 N0.26
NO. 7 250V DPYC 1. 25 N0.27 IN SEPARATE CABLES AS SHOWN.
NO. 8 25DV-DPYC 1. 25 ND.18 250V-DPYC-1.25 N0.28 ~t~t-~.t?t.~n~t~n~-r-Jn~••J:•r~•L1
-R NO. 9 250V-MPYC 16 NO. i9 250V-MPYC-5 N0.29
tr NO .10 250V MPYC-16 ND.20 N0.30 liL 1 <~ ~ ~~.
4 - 1
. ·.
... -. - : . . . .~...u.~-~_,_::
- .. ..
~.,~~-:\;- ~ :~ ·-
. . - ...... '. . . . ._' . -:- ~: ~ -· ·- -~- .. -- ;::-: .. __ ...... :
.,
r---------------------------------,
:
:
:
TERMINAL BOARD
-
·~T-
--~ 1 s1
:
r-1·
STEP MOTOR
l1nr"l<"'\.
~~~I
---l :
:
I -·
rs
2"----------,-"JL_ V V ~
I
:
I
r-, 2
r
·-·
3 s3
- ... ~ IIa,..........
uu .....
I
I ~-,4 ----•'ii(t--lf0'll-----•
I r +24V .. ,, "~ \IC I
1
I
·-·
--
5
1
'-----
J
1
: REPEATER MOTOR CONNECTION METHOD
I
1
[J t"- .91t~1JJ!
FOR ILLUMINATION )
1
~IYllQ!ifrJ!j
1
I ·----·
I
STEERING STAND (GYRO SIDE) ~---------------------------------~
~~A 9 ::J ~, (:Jv1Dil
* N0.10
GPS~ TNPUT
~ ----
(RSJ1"'"'~0183)
-
TB6
COURSE
RECORDER
J-Xl!J-9'
..
1~1~1-H~ ~H
TB5
1t N0.18
NO . R E P EAT E R ll t"- .9
~~lbll~~ .:1 -
1~ ~I~I~I~IL8Ifillf21~1tHICBI~Ifrll;"gi~BI a N0.17
8 COURSE RECORDER
l l l l l 8 IN MARSAT- 8 '--'---~N=O=.B---:._SHIP' S SUPPLY AC100V l~&~SOHz
16
NO . 2 RADAR 7 -~~
AUT 0 pI L0T l
'--'--'--'--'---------t--.. l"--------1r..;.;.N0~.=15_j-6-+-N-0.-1-R_A_D-AR------1
1r NO '
-
,l:d.];j it - ~ 1H 0 "J ~ ~--;I:;::r;::I::;I;JL,-,4TB~4L,....,r-r-r--r-.,...., NO 14
~--§~lffi~~~ffi~~~~~~~~~~~~~!~~~~~~il~r~Jj____________~F~I~~~~I~~~~-:~I~~~~~~ru~l~~~~~~~ll~~~~~~ll~~~~~r~l~r~l~r~~~~~ ~------+-:~No~:~13~-~,_~-~-~-:-~~-~-~~----~
L '~.l.....l.l.....l.l.....l.l.......-l
_______ 1r.;.;.;N0;..;.;.1=2 -t4 3 BH STAND
.:1 l......l......l......l.......l....__ _ _ _ _ _ _ _ _ .......,.a....:.N.;,;;;.O.;..:;.i.:.....ji '*' 2 BH STAND
* 1 AUTO PILOT
EMERGENCY SOURCE FOR SYSTEM DC24V
~C
N0.2
# I 1!l ~ ~ DC24V CIRCUIT
N0.1 SHIP'S SUPPLY AC 100 V 1~60Hz
j!}tli' ~
N0.3 _.. SPEED LOG SIGNAL 200PULSES/N.M. DRY CONTACT
ft i m~ 2 o o 1i J~ x/ -=< 1 . J~ i Ki. m~
1r IF NECESSARY TO BE INSTALLED. PR-6000
1r FP ClJ1- J JH;t ~~tJ ll!f~ li ij;H, -r <.c ~ \ l.
INTER UNIT WIRING DIAGRAM
CABLE NO. RECOMMENDATION CABLE NO. RECOMMENDATION (GYRO SIDE)
7-7•J.NO. tll1-JJ~ 7-J•l-NO. tl~J-JJ~ CAUTION ~ ~
-~idllSiJl~· ( :1 'f 1' 0 {qJ)
NO. 1 250V-DPYC 1. 25 1t NO. 11 250V MPYC-5 1. DO NOT MEGGER SHIP'S CABLING WITH EQUIPMENT
1t NO. 12 250V-MPYC 5
NO. 2
NO. 3
NO. 4
250V-DPYC 1. 25
250V DPYC-1. 25 * N0.13 /250V MPYC 5
1t NO .14' 250V-MPYC-5
CONNECTED.
l: ClJ ~lilt :1<11iUH l.. 1' Itt~ ; tH 1 • TOKIMEC INC.
DRAWN CHARGED · CHECKED APPROVED
NO. 5 1t NO . .15 250V-MPYC-5 2. IT IS ESSENTIAL THAT CONDUCTORS ARE GROUPED
NO. 6
NO. 7
1t NO; 16 _250V-MPYC-5
1t NO . 17 250V-MPYC-5
IN SEPARATE CABLES AS SHOWN
~t~t.tJ?t ~h-rt~ht7-J~~t•~~~r~•t.
;. ~ ~,m_,.o.f~ k"?- i ~ow~ ~ .OSWJ,.
1t NO. 8 250V-DPYC 1. 25 1t/ NO. 18 250V MPYC-5 SCALE DATE SIZE DRAWING NO.
.* -ciHil.. 1' <~ ~ v .
NO. 9
*
N0.19
N0.20 % SEP. 19 .• 97 B 1 6 2 5! 7 9 5 3 !O
4- 2
. - ,'-· .
• :0.. -~
'- ,• . -... ·:..~ ~ .- . - - -: ·::.·{1~;:.:

·S . ":. .. ·•
a
0
t.n
,........
·B
}-
'
""
(0
X
D
0:
Q_
Q_
<(
0
0
C\J
(T) (0 ...-1
0 LD
01 0
. ::=-.:---.:---.:-.:-.:-+.~.~------· ...-1
X
II 0
r a:
::
II '
~ Q_
Q_
II
I
;
il~ TERMINAL BOARD <(
II (GYRO)
::
II
:
1'1
MASTER COMPASS II
II I;'1
~
A
j_ $
II
~- ------r
r.! -------l------~
- A
1
TERMINAL BOARD(PILOT) 550 3 515
450 0 663
4-¢24 MOUNTING HOLES
0
CABLE ENTRANCE(PILOT&GYRO) PR-60 62

GROUNDING TERMINAL STEERING STAND
COLOR
(1/2)
FACIA PANEL : DARK GRAY TOKIMEC INC.
DRAWN CHARGED CHECKED APPROVED
A-A ARROW VIEW STAND 7 . s 86 7I 2
1/Jtr~-lr. /l, /L(d.~ /~f!tuiofi'l:
-$-'----- SCALE DATE SIZE DRAWIN NO.
MASS 16S Kg ~0 APR. 1B. '96 8 1 1 3 3: 9 9 9 7: 0
5-1- I
- <~; -··. - ..:· ,·,-
·. -~--~ ~-:_· ~ _- -<~:_ - ..· ·- . .. ~~--~_:.c.:_~·~.• -:.···~ _....' -•·- .... ~-:·
·:~·- ..:. . ,. ·-. ·-_ .· .~.. -----~~--..~?-
.-\ . '·, •••• ·.• '!"·-
:..
- .,')_ ,. ~ ..·..•~~ ~- .."' ..:-~--=: . .
~<; ••
-. ' ~--
-...,. --~:.· _:. . ':, ..

····.-·
_., ..-- ..
"":
POiiEil
IF!' ..
=-
SYRO-CO!f'ASS TB-6000
~=I
=lmlllll
='""'
'--·_ _____.
D D
~ ~ 1~1-l+lool ~
~ .._....n-e.DIItl'ellldt DIM
@ C ARROW VIEW
'l:!l!l!!i!li:l_ .....
·o 20
~~~-a II 0 I 0. ll 19
!Eim~ m 18 GYRO OPERATING PANEL
. . ..,.D 1[21
aiR£ . .
8 1
[!!]~ .
17 SYSTEM SELECTOR SWITCH
~~!CAIITDJO! 16 SYSTEM SELECTION UNIT
,,__Fill- Fl! II: 1011! 15 STEERING WHEEL
js ool!m Dill!""" •·I
Uii!Dfiii!L!ll ...... , 14 HELM UNIT
,...,_... !~[]![!;]
rn:JjtH. II'Fjc:=::::J
13 RUDDER ORDER IND.
12 REPEATER SWITCH
11 REPEATER SYNCHRONIZER
10 REPEATER UNIT
9 R.O.T & COURSE DEVIATION IND.
8
7 AUTO UNIT
6 COURSE SETTING KNOB
5 AUTO ADJUSTMENTS
4 NFU UNIT
3 NFU STEERING LEVER
SYSTEM 2. MODE SELECTION UNIT
'"CJ 1 MODE SELECTOR SWITCH
NO. N A ME
TOKIMEC INC.
DRAWN CHARGED
. B-B ARROW VIEW 7~
SCALE DATE
31'o APR .18. '96
5-1-2
(6-=--62)
..·
~· 0
\() CABLE ENTRY 130-<30
7-7)l!~AD
D
(\1
200
270 I 5 6
I
I
-l
EARTH TERMINAL
I~~JIRING
. M5 ~
DlAGRAM
~
I X1 T801 HI
II ,-----i::>,-0- - - - - , I
0 H2
2
H 440V
LOCATION STEERING ENGINE ROOM

0
co
ll)
MASS. (W: it> 20kg

COLOR(~ J N 7.5
X1 H1
TRANSFORMER BOX
220V
~7 / A_ ;t'\~ lJ 7:..
TOKIMEC INC. .
DRAWN APPROVED
SCALE DATE SIZE DRAWING NO.
_:>G' 7
· z o' 77 A 1 1 3 6 !q 2 3 6 ~ 2
1 OPERATIVE ANGLE
OF LEVER ,..,..- 4'8.2 HOLE
t./\•- f'F J.O lit Jk rN.
. 70deg
2 LEVER LENGTH
lA\"- dJ-['ft ~ !.1)
r-
r<)
::i'ofl (L) aa
LE~GTH II 4-'1'12 MOUNTING HOLES
a:
~~ (-:]" rK,
•
0 0
co ,_
....
TOKIMEC STANDARD
...___ 1-- :f.- j ~ ? ~~
284 20
324
15b
24 37
CABLE GLAND
f.Bffl~~if:il!I..~'F'Q
50
13
DETAIL .A
A iW ~~!'Ill
COLOR: N7.5 MASS 8.S.kg

@, W."i:
SCALE
REPEAT BACK UN IT
TOKIMEC INC. lli ~If:. ~ !l
DRAWN CHARGED CHECKED APPROVED DATE SIZE DRAWING NO. ,
f~~ FEB· 6 .'a 4 · A I I 4 3! 9 8 9 5l 0

5 -3
TYPE MB TYPE 88 NAME REPEATER STAND BH TYPE TYPE
NAME REPEATER MOUNTING M8 TYPE J:!'!ltl'~ NAME REPEATER MOUNTING 88 TYPE J:!'!lt4~ 'E!ltlfit BH
:t, ~ M8J:!'!{;t'-5l~!fro
MASS 3kg :t, fJi 88J:!'!{;t'-5l~ffr. MASS 8. 7k g ~~ss 24. 4kg
u 11::1
164 ~354
~420 NO. NAME
190 1 STAND IF.R.Pl ::\9)~'1F.R.Pl
2 HELMET IF. R. PI ""\JL\•, ~IF. R. PI

220
3 !REPEATER! IUr-91
4
5 REPEATER SWITCH vr-9::\{?f
6 CABLE GLAND 20b i lrt/II~UiiiU 20b
LD
0
["<)
NAME REPEATER TYPE RP-41-l i NAME AZIMUTH DWG NO 10050009(

CIRCLE [l!J'
'E!'it'ii=~ ii=
:t, MASS 4. 5 kg i MASS NOTE:PARTS WITH NO FIGURES ON
f\i {; L'-5l JUt !~ fli ?:t~H-9J~ 1!:1 2. 2 kg
'DELIVERED NO. PER VESSEL' OF
~246.3 COMPONENTS LIST ARE NOT
DELIVERED.
~ 13Atl!.J:ll!OJ J:tUII: reA.:! h 1\' tn• toJ 1:t.
'ft~:!hi'c!A,.
CABTIRE CABLE l. Bm
SUPPLIED BY TOKIMEC
hJ5l1t>'J-JJ~l. Bm ~1':\~9n
GYRO COMPASS ACCESSORIES
NO. NAME :fl fJi NO. NAME ~ ~

1 SYNCHRONIZING KNOB Fal1.1'1JJ 1 FINDER J ?{)']-
2 CASE(F.R.Pl 'J -."7. ( F RP l 2 MIRROR ; TOKIMEC INC.
3 RINC(BRONZEl 1) )'J ( fflil) 3 PRISM & LENS J IJA' ldl J:(} 1.1) A
4 COVER (F. R. Pl 1Jl\'- (FRPl 4 PRISM Ji)lf.:.
Ul
COLOR (~l: N7. 5 WITH BOX 288x300xl50

:!&lfi1l!}..
PANEL CUT
/\;t_ Jl,jJ 'Y 1-
WALL IO-M5
. 364 \): 250
I~
IS1
m
0 lO
(T) co
lll -q--
IS1
en
320
~
'
'l
--4--
JL1L1
I I +~I
IO-~tG.5 MOUNTING HOLES ¢13.2 90o C.S!NK
~ « ~ ~ ~
COURSE RECORDER
0
310 N
I
2SOV-Dt'YC-I.l5 -=- Z OV-MPYC-S
\ CABLE ENTRY
SHIP'S SUPPLY GYRO COMPASS 'J -7'Jv W.A.O
~Q REPEATER SIGNAL
AClOO~. :/i--{O:J~I~A [.,f:-5'~-ry-
-=§t¥6 OHz. r/J 1 TYPE CR 4
~i\:~-l} -
NO. NAME
®.ry Q, ft ~~ss 22kg
ZONE PEN
I '/-/'\/ LOCATION
~um~m
... 2 COURSE PEN
:J-;<:.'\/
j VERNlER COURSE RECORDER (FLUSH TYPE)
!?ill f\
4 RECORD PAPER :1-:;z t.,.:J-i (J1!Ub~)
8c ;i .~IX
5 DIMMER SWITCH
~ SJ'WHt::z. 1 •;t T
5 TOKIMEC INC.
DRAWN CHECKED
7
8 SCALE DATE
'/(_; JAN.30. '95
5 - 5
..
c:b·
"""'- 342 ~ 207
'- / '-
rr r
lO
lO
..-I
~
·'
,___ ...__,..., .,__ ---r
.
il
I
TYPE
~it·~
LOCATION
ttfliilnr
MASS SEE LIST OF COMPONENT
J!ti «~ JU'U~ ~ P.«
COLOR CLEAR
~ -~~sn
MATERIAL PLASTIC
ttl '17A.-=f·~7
6.
6. SPARE PARTS &c TOOLS BOX
6. 7 «« DO I"'
6.
MAR< EW DATE mlEI REVISION ~ SIGN
I 1M
DRAWN BY
5: :t
CHARGED BY
-1 00
CHECKED BY *
a BY
APPROVED
(lJ
SB-6.6
NOTE tt-f::t SIZE
A /{Jl
-~ 17 ) c/-,,bb. ~
Ill I DRAWING NO.
Cl-1~~~1
8 #t DATE
~ ~~JC,7 TOKIMEC INC. <ta ~

SCALE
NOV .24. '94 10 0 3 8 9 18 0
5- 10
Z-8A02
SETS PER
SHIP NO. SPARE PARTS LIST FOR u s E VESSEL .
STEERING STAND AUTO PILOT

1ttJ.1)~ §IJJttttii
QUANTITY REMARKS
ITEM NAME OF WORKING
OUTLINE
PER PER
NO. PART SET VESS. SPAR
PILOT SIDE
·.
)\ .-( 0 ·~ ~ ~ij
"I :!
FUSE 31.8 250V.3A
o. 7gx a
A-1
tl-1 6 I 4 4 8
100308630
A-2
FUSE
tl-1 6
31.8
I"I :! 2 2 4
250V 5A
100308650
0.7gx4
I~~ :!
FUSE 31.8 250V 8A
A-3·
tl-1 6 2 2 4
100308670
0. 7g X 4
76
~I
A-4 TOOL .
~I
1 1 1 2.25g
I~
]
236-332
tTl
N
>I
w
0
0
I MER'S NAME TOKIMEC INC. DRW.NO
0
tD
I
ADDRESS T144 16-46 MINAMI KAMATA 2-chome TELEPHONE 03 - 3737 - 8611 .
a:
0.. OHTA-KU TOKYO JAPAN TELEFAX 03 - 3737 - 8663
6-1
SETS PER
SHIP NO SPARE PARTS LIST FOR u s E
VESSEL
STEERING STAND AUTO PILOT(GYLOT TYPE)

t~ll'8.AJ/ r-· El !Jhlii!E~ ii ( :/ -v 1 0 ';I ~ ~)
ITEM NAME OF QUANTITY REMARKS

OUTLINE WORKING
PER pPARE
NO PART PER
SET VESS·
FOR MASTER COMPASS

7 .A J :J /1\ ;;z ffl
~I ;J
31.8 250V 15A
FUSE
1
tl-~ 6 I 1 1 2 0.7g_x 8
100386170.
FOR GYRO POWER
SUPPLY BOARD
~-v1o~;~m
125V 20A
2 FUSE
tl-~ 6
31.8
I~, :J 1 1 2
MF61NN20
.
r
---
0
0
3 FUSE
t l -;:: 6
31.8
. :!
I~, 1 1 2
250V 6.3A
0. 7g X 2
MF61NR6.3
0
0
FOR GYRO TERMINAL BOARD

~ -v 1 o J - ~ -t J[; ~ - r ffl
~t
20 125V 1A
FUSE ~,
4
t l-J:' 6 I
9 9 18 0.9g X 18
102209230
76
~
~,
5 TOOL 1 1 1
Z.25g
--~
I~
I
236-332
FOR GYRO TERMINAL BOARD
~ -v 1 o J - ~ -t ;[; t: - rm ~
~BO~
(,ACO)
1-----
----- -----
~-rul lJ "5-h12 125V 1A
6
~A. 6 ~r~: ~
0. 9g X 12 ·
----
MFR'S NAME TOKIMEC INC. DRW.NO. 101699082
T144 16-46 MINAMI-KAMATA 2-chome TELEPHONE 03-3737-8611
ADDRESS
OTA-KU. TOKYO, JAPAN TELEFAX 03-3737-8663
6 - 2
z - 4 co 2 BOX NO p
SHIP NO SPARE PARTS LIST FOR

I u 5 E ISEJS
Vt
~ER
·
SS~L
TRANSFOR tvlER BOX AUTO P JL OT

' -
r 7
....
/
--, _ ...
_,..._'I' 'Y ? :::Z ~
= ~ ~
~
lit.
.... .1-'-
~
=
~
QUANTITY R: MARV.S
~ ITEM NAME OF
OUTL ll~E WORKING
.. w
I·! 0 PART I
I
PER PER SPARE
SET YESS.
c... lO
38
ACSOOV 19 X 8
I
0 FUSE l I ~I
DC250V 3A
0
C-1 2 4 8
0_1
0
-·
.....
c:
(_
I
'-
L::.-A
[I 082030290
..
I
I
I.IFR Is llAI.!E I T 0 K I M E c l N C. IDRW. NO I
\I
---·· ··----
lF144 16-46 MINAMI--KAMATA 2-chorne 1 ELEPHOI~EI 03-3737-8611
ADORE SS r AX· I
OHTA-KU.TOKYO.JAPAN - 1ELE 03-3737-8663
6 - 3
Z-4H01 BOX NO . p
SETS PER
SHIP NO SPARE. PARTS LIST FOR u s E VESSEL
REPEAT BACK UN IT AUTO PILOT
)g 1ft ~ = =
lEL
!3 l1.J ~ fit :f±
'L'C lE!
QUANTITY REMARKS
C) ITEM NAME OF
w- OUTLINE WORKING
- PER PER SPARE
:::c
_j
- NO PART
SET YESS.
I
~
~rn
0
0
. 0 MICR 0 SWITCH 17.5 37g

"""""
I H-1 2 4 1
0::
a_ X"{'JD::Z{..,f 0
093019013
'
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.
0
1-
(f)
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co
0::
CL
(f)
LLJ
w
(f)
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..
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(f)
0
0
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I
MFR '5 NAME TOKIMEC IN c I
DRW. NO
. -
w ADDRESS lF144 16-46 MINAMI--KAlATA 2-chome TELEPHONE 03-3490-1961
OHTA-KU, TOKYO. JAPAN TELEFAX . 03-3490-1387
6·- 4
SETS PER
SHIP NO · SPARE PARTS LIST FOR u s E VESSEL
REPEATER COMPASS
~C:-7 :::J /1\J,.

OUTLINE WORKING
PER pPARE
NO PART PER
SET lvESS.
m
--= 45 -~
.......
-s. 45V5W E12/15
LAMP
1
7// ~ ) 2 10 0.5gx10
100043450
;.
MFA'S NAME TOKIMEC INC. DRW.NO. 101699060

T144 16-46 MINAMI-KAMATA 2-chome TELEPHONE 03.:..3737-8611
ADDRESS
OTA-KU, TOKYO, JAPAN TELEFAX 03-3737-8663
6 - 5
..
Z- 4TO 4 BOX HO . p
SETS PER
SHIP llO TOOLS LIST FOR u s E VESSEL
TOOLS AUTO PILOT
~
I ~ § ~ t~ At· :1±
::;:--.;
=
~
QUANTITY REMARKS
ITEM HAME OF'
OUTLINE
HO TOOL
0
w
.
II) I
··wRENCH- 1.5
:!:DI I ,. 2g
0
0
0
. T.:-1 HEXAGON 0 1
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a:
I
o 'f n? ~?"AI\t
45 I ll.s
I I
. 00690402.1
0.. ,_
WRENCH- 2
~n
23g
T-2 HEXAGON. 0 1
o., h 'J ~? 7-t\t I
50
I I I2
I I
00690 4 0 31
.. CL
-
dJiD e
Lf)
LLJ SPARE PARTS & m:m: l!ASS

LLJ
TOOLS BOX 3-0kg
IS} Lf)
=c 1
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w
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. I ORW. NO I
U1
0
0
iiFR Is II WE T 0 K I ME C r N·c I
-a.:
(_)
ADDRESS I Tl44 16-46 MINAMI -KA.MATA 2-chome
OHTA-KU, TOKYO, JAPAN
ITELEPHOHEI o3-i73t-·s 611
TELEFAX I 03-3737-8663
6-~.
Z-CR BOX N0. p
SETS PER
SHIP NO SPARE PARTS L 1ST FOR u s E VESSEL
COURSE RECORDER
::J - :::z 1--- ::J - ?t
QUANTITY REMARKS
lTEM NAME OF
OUTLINE WORKING
NO PART PER PER SPARE
SET YESS.
1
LAMP
7/7 CJ:hr 2 2 4
24V 3W 1.25g
8A9S/13
081019014
X4
2
ZONE PEN
',/ - .' / '\'./
I 5»2 j 1 1 2
120102951
. 2g X 2
1.5gx 2
3
COURSE PEN
:J-:::Z"\/ h 1 1 2
120102941
RECORDER 165
4 CHART I I ~ 1 1 5
3 2 Og X 5
~::J
aL.t ~* *~ I I!LD 120103570 r
31.8
. -.:t .·
FUSE I I ~I AC250V lA
5 1 1 2 OC250V o.7gx 2
t ~ --;;.: D==o I 082315014
0
0
.
<
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0
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w
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<
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I
c. MFR '5 NAME

(f')
0
I TOKIMEC INC.
I DRW. NO I
<
(_)
ADDRESS I TH4 16-46 MINA!H-KAllATA 2-chome
OHTA-KU. TOKYO. JAPAN
TELEPHONE!
TELEFAX I
03-3737-8611
03-3737-8663
SAFETY PRECAUTIONS
1. Safety-related designations used in this manual and products are as follows.
Indicates an imminently hazardous situation which, if not

~DANGER avoided, will result in death or serious injury.
J.\ WARNIN"G Indicates a potentially hazardous situation which, if not

~ avoided, could result in death or serious injury.
Indicates a potentially hazardous situation which, if not

&CAUTION avoided, may res.ult in minor or moderate injury or property
damage accident.
(1)
2. The following warning label is attached to this system.
(1) WARNING
£WARNING
Main power can cause electric
shock.
Do not touch terminal boards,
~tc., even if unit power OFF._.~
3. Attached position of warning label in this system is as follows.
[(1) WARNING] Warning label
I 0
. 0
0
I• ~ ~
rc:r:
I
I
I
.,.. ...
..... ... - Iii
•
.~ _.__. =
ll
•
-= ==;?.
e I
_j
·~ 0 ! o···
.. 0
[C~ . -
j
~ p .i!-111
~ c-1 . 1~1 . 1: ~
i ~ • •I
J 0 0
0 0 0 0 0
Control box (Bulkhead type) Control box (Flush type)
* For GLT type, the warning label is attached on the Autopilot stand.
Refer to the attached position mentioned in the OPERATOR'S MANUAL for Autopilot.
(2)
4. Safety-related precautions, etc., described in this manual are summarized as follows
(related page to each item is in parentheses).
(1) Warnings regarding general cautions for use of this system (See page 1-1.)
~WARNING
eimproper operations caused by failure of this system or malfunctions caused by
operator's misunderstanding may cause distress such as collision and grounding, and
may result in property damages and environmental polhitions. Further, death or
serious injury may happen.
eFull attention should be paid on use of this system by understanding limitations in
performance or characteristics of this system and by familiarizing with operating
methods.
(2) Warnings regarding operating method (See page 3-1.)
~WARNING
eThere are matters to be attended in starting of this system and operations during
running. These matters are described in each related item in this chapter with
CAUTION or WARNING, etc., which should always be observed.
eRead the operator's manual of the automatic steering system carefully preparing for
occurrence of trouble or alarm in this system, and the emergency steering method
should be well understood to treat such matters smoothly.
(3) Warning regarding maintenance • check (See page 5-1.)
~WARNING
eWhen carrying out maintenance and check, even if the main POWER switch of this
system is turned OFF, the ship's power is supplied to the system distribution board, and
touching internal parts may cause electric shock. Do not touch internal parts such as
internal terminal boards and the power supply unit, etc. Disconnect power supply to
this system from the distribution board if necessary.
The following warning label is attached to the dangerous position of this system.
~WARNING
shock.
~tc., even if unit power OFF.
(3)
(4) Warning regarding use of this system (See page 1-1.)
~CAUTION
eThis system displays gyro-compass bearing and outputs the bearing information to the
outside.
Although the safety design such as the alarm function against failure, etc., are
provided, there is no complete safety design at the present time.
In addition, as this ·system has many important functions, it is hard to say that anyone
can use this system without failure.
Failures or malfunctions of this system may cause distress, and full attention should be
paid on use of this system.
The user's responsibility and obligation in insuring safe navigation and the proper
exercise of navigational techniques is in no way reduced by the use of this equipment.
The following cautions should be observed.
1. Always perform daily check to maintain normal system condition.
2. When anomalies are detected in the result of daily check, investigate and repair at
once to recover to normal conditions and request advice of TOKIMEC service
engineer.
3. When the alarm system operates during use, always check to confirm the cause and
recover the troubled point.
(5) Warning regarding bearing signal output function (See page 1-2, 3-14.)
~CAUTION
eWhen alarms related to GPS (error code E-c or E-d) generates and the true bearing is
not determined the bearing signal having error may be output to the outside (repeater
signal and serial signal). Turn the automatic steering system steering mode to
[MANUAL] or [Non Follow Up] and determine the true bearing.
(6) Warning regarding repeater signal output function (See page 1-2, 4-7.)
~CAUTION
ein this system, repeaters cannot be operated with the emergency ship's supply.
Provided that the equipment having the repeater back up function by special
specification can operate up to three repeater circuits even in running with the
emergency power supply.
(7) Warning regarding package of components and delivery (See page 2-1.)
~CAUTION
eWhen this system is assembled in the automatic steering system stand (autopilot built-
in), the master compass and each unit of the control box are assembled in the steering
stand and the sensitive element only is separately packaged.
(4)
(8) Warning regarding operating method (See page 3-1.)
~CAUTION
eThe operating method and alarms shown in this chapter are described when this system
is combined with TOKIMEC PR-6000 autopilot and TOKIMEC TCA/TMC6
magnetic compass system.
(9) Warning regarding starting (See page 3-5.)
~CAUTION
eStart this system in other modes than [AUTO] of the automatic-steering system.
(10) Warning regarding latitude input • change (See page 3-6, 3-11.)
~CAUTION
echange of the latitude input system or a large change of latitude may cause a large
change of the true bearing. In automatic steering, to prevent a large course changing,
the steering mode should be changed to [MANUAL] or [NON-FOLLOW UP] steering
mode once. After confirming safety of surrounding of own ship turn [AUTO] steering-
ON again.
(11) Warning regarding latitude setting (See page 3-6.)
~CAUTION
ein automatic steering, beware that a large latitude change may cause a large change of
true course.
(12) Warning regarding bearing signal output function (See page 3-6, 3-7.)
~CAUTION
eWhen alarms related to GPS generate (error code E-c or E-d is displayed) the true
bearing should be defined as follows. Change the speed I latitude input system setting
and match the display item LED ® with the true bearing with the display switch (2)
and press the input switch ~ to fix the flashing bearing. The bearing having error is
output until the input switch (3) is pressed.
(13) Warning regarding automatic updat~ oflatitude (See page 3-7.)
~CAUTION
eWhen the latitude input system is in [GYRO], the latitude is automatically updated
with the ship's speed and true bearing. (Except when the speed input system is in
[MANUAL].)
Confirm that the own ship actual latitude coincides with the displayed latitude during
operation.
(5)
(14) Warning regarding completeness of setting (See page 3-7, 3-8, 3-9.)
~CAUTION
eAiways press the input switch (3) after completeness of setting. If the input switch (3)
is not pressed after completeness of setting, the changed setting cannot be received.
(15) Warning regarding ship's speed input change (See page 3-7, 3-12.)
&CAUTION
eChange of the ship's speed input system or a large change of ship's speed may cause a
large change of true bearing.
In automatic steering, to prevent a large angle course change the steering mode should
be changed to [MANUAL] or [NON-FOLLOW UP] steering mode once. After
confirming safety of surrounding of own ship, tum [AUTO] steering ON again.
(16) Warning regarding restarting (See page 3-7.)
~CAUTION
eThe speed input system is stored (when [MANUAL] the setting value, too), and the
speed system starts with the previously setting value when restarting.
When the ship's power is cut after stopping the ship, set the speed value at 0 knot before
cutting the power.
When the ship stops in [GPS] mode, restart the system after confirming that GPS is
normally operating.
(17) Warning regarding resetting master bearing (See page 3-9.)
~CAUTION
eWhen the master bearing is reset, the repeater display value and the true bearing of
serial signal change by the change angle of the master bearing.
In automatic steering, to prevent a large angle course change, the steering mode should
be changed to [MANUAL] once. After confinning safety of surrounding of own ship,
tum [AUTO] steering ON again.
(18) Warning regarding setting GPS signal format (See page 3-9.)
~CAUTION
eThe format for receiving GPS signal should be changed only when it is instructed by
the TOKIMEC service engineer and according to the means instructed.
(19) Warning regarding change of speed and latitude input (See page 3-11.)
&CAUTION
eChange of speed, latitude input systems and a large change of speed and latitude may cause
a large change of true bearing. In automatic steering, to prevent a large angle course
change, the steering mode should be changed to [MANUAL] steering mode once. After
(6)
(20) Warning regarding generating alarm (See page 3-12.)
~CAUfiON
ewhen the following alarms generate, bearing information from this system is not
output at all or has a large error.
All units operated by bearing information from this system (in particular, automatic
steering system) should be operated immediately according to each emergency
operating method.
(21) Warning regarding generated error code (See page 3-14.)
~CAUfiON
e When the error code E-E, F generate and the true course is not defined, the system outputs
bearing information before the alarms generate (repeater signal and serial signal).
Switch the automatic steering system steering mode to [MANUAL] or [NON-
FOLLOW UP] steering once, and define the true bearing.
TG-6000 bearing angle is output to the outside after determing the tnie course.
(22) Warning regarding change of true bearing angle (See page 3-14.)
~CAUfiON
eChange of the true bearing angle when generating E-E, F causes a large change of the
true bearing angle.
Beware that it may cause a large true bearing angle change in automatic steering.
(23) Warnings regarding trouble and countermeasures (See page 4-1.)
~CAUfiON
ewhen alarm (error) generates, confirm the generated alarm content at once and take
suitable measures according to [4.3 Countermeasures].
eFor check and taking countermeasures when trouble occurs, confirm safety of
surroundings and stop the ship as a rule in safe sea areas.
(24) Warning regarding trouble and countermeasures (See page 4-2.)
~CAUfiON
eTurn the POWER switch of the operating panel OFF and disconnect the power supply at
the main distribution board before check or replace of fuses, mounting or removing each
unit, connector, printed wiring board and terminal, etc.
Performing these with POWER ON as is may cause electric shock and failure.
(7)
(25) Warnings regarding trouble and countermeasures (See page 4-3.)
~CAUTION
e When internal settings of this system are changed, always request advice of TOKIMEC
service engineer.
eWhen failures other than described in the failure phenomena list occur or when the replaced
fuse blows again, request TOKIMEC service engineer after turning the operating panel
POWER switch OFF and disconnecting power supply at the main distribution board.
e When failure occurred and could not resolve the problem according to the procedures
described in the failure phenomena list, turn the operating panel POWER switch OFF and
request TOKIMEC service engineer to request repair in port. Even when failure could be
repaired, according to [4.3.2 Failure phenomena and countermeasures], also request
TOKIMEC service engineer to request check for the failure when returning to port.
(26) Warnings regarding maintenance • check (See page 4-3.)
~CAUTION
eBe fully careful of electric shock when checking the main power supply.
eTurn power [OFF] and disconnect the power supply at the distribution board, etc.
(27) Warning regarding checking fuse (See page 4-4.)
~CAUTION
eTurn power [OFF] when checking fuses.
(28) Warning regarding true bearing setting (See page 4-5.)
~CAUTION
eTrue bearing setting during error E-8 may cause a large change of the true bearing.
During auto steering, great care should be taken for a large change of the bearing.
(29) Warnings regarding maintenance • check (See page 5-1.)
~CAUTION
eMain units of this system consist of electronic circuits which have high reliability.
However, it is impossible to say that no failure should happen.
Accordingly, for removing failure risk as far as possible and maintaining the system
performance, check and maintenance described in this chapter should sincerely be
carried out. If not, detection of failure sign will be delayed and may cause distress
such as collision or grounding.
eRequest TOKIMEC service engineer when trouble is detected and cannot be recovered
on board.
(8)
PREFACE
1. This manual provides safety-related precautions and outline of this system, and
includes detailed information on specification, construction, operating method,
troubleshooting and countermeasures, etc.
(1) Ple~se use this system correctly with a full understanding.
(2) The readers (operators) of this manual are·assumed·to be qualified persons

according to Japanese governmental law for ship's officers (ships under Japanese
flag) or the corresponding laws.
(3) Only qualified persons described above (2) or persons under the supervision of the
qualified person can handle this system. Do not have other persons handle 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 manu;ll and it should thoroughly be read.
(2) Maintain this manual with care.

This manual is very important for handling this equipment. Keep it at hand for
reference whenever needed. Assign a person in charge of maintaining this manual
and fixed location.
Relevant drawing for finished plan of this system should be maintained together.
(3) This manual should be provided to the personal actually handling the equipment.
Distributors, etc should insure that these people receive this manual.
(4) Replace manual at once if lost

If the manual is lost, request TOKIMEC or our sales agency. A replacement manual
can be supplied at charge.
3. When the warning labels become dirty or detached, request TOKIMEC.

Replacement labels can be supplied at charge.
(9)
4. Prohibitions and notations for protection of the system (prevention from damage of
the product itself and maintenance of quality).
The following items should be observed for protection of this system. For details, see
corresponding pages of this manual.
Prohibitions - - - - - Item to be prohibited.
(1) Prohibition regarding insulation test (See page 5-1.)
PROHIBITION
Do not use insulation tester or other device to test system insulation as it will
damage internal electrical components.
Always disconnect wirings connected to this system before testing related power
distribution lines with such testers.
Notations ----- Items to be noted.
(1) Notation regarding storage (See page 5-7.)
NOTE
Observe the following items for storage.
(1) Turn all power switches of this system to OFF position to cut the power.
(2) Storage temperature should be between -20· - +55·c.
Avoid the place with high humidity as far as possible.
High humidity may cause rust.
(3) Prevent the storage place from generation of corrosive gas, breeding of
bacteria such as mold or intrusion of insects and small animals.
(4) Cover the system with a vinyl sheet, etc., when generation of dust is
considered.
When welding works, etc., are carried out near this system, be sure to mount
a suitable protection cover on the system to prevent damage caused by spark,
etc.
(10)
CONTENTS
SAFETY PRECAUTIONS......................................................................................... (1)

PREFACE................................................................................................................... (9)
CONTENTS ............................................................................................................... (11)
CHAPTER I GENERAL DESCRIPTION ········-····························-··-· .. ·············· 1-1

1.1 General....................................................................................................... 1-2
1.2 Display and Alarm .................................................. ~.................................. 1-2
1.3 Kind of Function........................................................................................ 1-2
1.3.1 Repeater signal output function...................................................... 1-2
1.3.2 Automatic steering function with this system................................ 1-3
1.3.3 Serial signal output function .......................................................... .1-3
1. 3.4 Turn rate signal output function ......... ... ... ....... ...... ...... .. .... ... ..... .. .. . 1-3
1.3.5 Automatic speed error correnction function................................... 1-3
1.4 Warranty .......................................... ~......................................................... 1-4
CHAPTER 2 SPECIFICATION AND CONSTRUCTION...................................... 2-1

2.1 General........................................................................................................ 2-1
2.2 Configuration............................................................................................. 2-1
2.3 Specification ................................. ............................................................. 2-1
2.4 Name and Function of Each Unit .............................................................. 2-1
2.5 Mounting Position of Each Unit ................................................... ;............ 2-2
2.6 Alarm List.................................................................................................. 2-3
CHAPTER 3 OPERATION ...................................................................................... 3-1

3.1 General ..........................................................·............................................. 3-1
3.2 Control Box Operating Panel and Master Compass Dimmer Switch ....... 3-1
3.2.1 Explanation of control box operating panel ................................... 3-1
3.2.2 Explanation of master compass dimmer switch............................. 3-3
3.3 Start • Stop Sequence................................................................................. 3-4 ·
3.4 Start • Running .......................................................................................... 3-5
3.4.1 Start ................................................................................................ 3-5
3.4.2 Monitoring in running.................................................................... 3-11
3.4.3 Alarm.............................................................................................. 3-12
3.5 Stop............................................................................................................ 3-15
CHAPTER 4 TROUBLESHOOTING ........ :............................................................. 4-1

4.1 General....................................................................................................... 4-1
4.2 Before Troubleshooting .............................................................. .-.............. 4-1
4.3 Countermeasures ....................................................................................... 4-2
4.3.1 Measures when alarm is generating............................................... 4-2
4.3.2 Failure phenomena countermeasures ............................................. 4-3
4.3.3 Replacement of fuse....................................................................... 4-8
4.4 Information Items to TOKIMEC Service Station...................................... 4-9
(11)
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 Spare Parts ................................................................................................. 5-6
5.5 Storage Method.......................................................................................... 5-7
5.6 Disposal Method........................................................................................ 5-7
CHAPTER6 GLOSSARY........................................................................................ 6-1
CHAPTER 7 ATTACHED DRAWINGS·········································--··-················ 7-1
Periodical check table [once a day] (original for copy)

Periodical check table [once a half year I a year] (original for copy)
INDEX
(12)
CHAPTER 1 GENERAL DESCRIPTION
~WARNING
eimproper operations caused by failure of this system or malfunctions caused by
operator's misunderstanding may cause distress such as collision and grounding, and
may result in property damages and environmental pollutions. Further, death or
serious injury may happen.
eFull attention should be paid on use of this system by understanding limitations in
performance or characteristics of this system and by- familiarizing with operating
methods.
~CAUTION
eThis system displays gyro-compass bearing and outputs the bearing information to the
outside.
Although the safety design such as the alarm function against failure, etc., are·
provided, there is no complete safety design at the present time.
In addition, as this system has many important functions, it is hard to say that anyone
can use this system without failure.
Failures or malfunctions of this system may cause distress, and full attention should be
paid on use of this system.
The user's responsibility and obligation in insuring safe navigation and the proper
exercise of navigational techniques is in no way reduced by the use of this equipment
The following cautions should be observed.
1. Always perform daily check to maintain normal system condition.
2. When anomalies are detected in the result of daily check, investigate and repair at
once to recover to normal conditions and request advice of TOKIMEC service
engineer.
3. When the alarm system operates during use, always check to confirm the cause and
recover the troubled point.
1- 1
1.1 General
The gyro-compass TG-6000 has been designed on the basis of the gyro-compass TG-5000
for medium and large ships which have been used on more than 5000 vessels for aiming at
further fullness of input-output signal lines and compactness.
It has the following features.
(1) Automatic speed error correction function
(2) Digital signal processing
(3) Long service life
(4) Low power consumption
(5) Comply with IMO standards
1.2 Display and Alarm

Considering safety of navigation, various display, indicators and alarm function necessary
for confirming operation of the system are incorporated.
These are concentrated and arranged on the operating panel.
1.3 Kind of Function
~CAUI10N
Refer to "CHAPTER 3 OPERATION 3.4.3 E-c, d Countermeasure when E-c, d error generates.
1.3.1 Repeater signal output function
~CAUI10N
In this system, all repeaters (standard 9 circuits, when additional circuits are connected up to
15 circuits, max 8A) are driven by the gyro-compass repeater signal.
When this system is combined with TOKIMEC magnetic compass system (TCA/TMC series)
and when the system is switched at the magnetic compass system side (for switching the system,
refer to the magnetic compass system instruction manual), operations are as follows.
[GYRO] is selected All repeaters are driven with the repeater signal
corresponding to the true bearing of the gyro-compass.
[TCA{fMC] is selected All repeaters are driven with the repeater signal corresponding
to the nue bearing of the magnetic compass system
I- 2
1.3.2 Automatic steering function with this system
Automatic steering can be made when this system is combined with TOKIMEC autopilot
PR-6000.
1.3.3 Serial signal output function

This system can output the following serial signals as options. See the finished plan
maintained by the ship·for details of serial signals.
(1) Output according to NMEA 0183.
(2) Output through RS422 (TOKIMEC specification)
When this system is combined with TOKIMEC magnetic compass system (TCA!fMC series)
and when the system is switched at the magnetic compass system side (for switching the system,
refer to the magnetic compass system operator's manual), operations are as follows.
[GYRO] is selected All repeaters are driven with the repeater signal
corre~ponding to the true bearing of the gyro-compass.
[TCA{fMC] is selected All repeaters are driven with the repeater signal corresponding
to the true bearing of the magnetic compass system.
1.3.4 Turn rate signal output function

This system can output analog signal of own ship angular velocity (tum rate) as an option.
For details of analog signal, see the finished plan maintained with the ship.
When this system is combined with TOKIMEC magnetic compass system (TCA{fMC
series) and when the system is switched at the magnetic compass system side (for switching
the system, refer to the magnetic compass system instruction manual), tum rate analog signal
cannot output.
1.3.5 Automatic speed error correction function

This system has a function which automatically calculates and corrects the gyro-compass
speed error.
Latitude and speed data necessary to calculates the speed error can be selected and input from
each system ([Gyro]/[GPS], [Log]/[GPS]/[Manual]). (For selecting latitude, speed input
system, operate according to CHAPTER 3 OPERATION 3.4.1 .Start (3) Setting latitude
input system, (6) Setting ship's speed input system.)
When the [GPS] is selected as the input system, this system receives serial signal according
to NMEA 0183.
When other than [MANUAL] is selected as the input system, the speed error can be corrected
in real time.
1-3
1.4 Warranty
Warranty period 12 months after delivery of this system.
Warranty Contents TOKIMEC will immediately undertake repair of system without

charge in the event of breakdown, failure or defect clearly due to
fault in 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 the maintenance, handling and

operation described in the manual.
2. Sections modified by user without TOKIMEC involvement and failure caused by
such modification.
3. Incidental or consequential damages caused by failure of this system.
4. Failure or damage arising from repair by service company not authorized by
TOKIMEC.
5. In case of force majeure (i.e. earth quake, fire, etc.)
Provided, however, that when other warranty provisions have been determined separately in
writing, those should have priority.
1-4
CHAPTER 2 SPECIFICATION AND CONSTRUCTION
2.1 General
In this chapter, configuration, specification and construction are explained.
For information on installation of this system is not described in this manual. See the
finished plan maintained with the ship.
2.2 Configuration
This system consists of following 2 units and a spare box.
Master compass 1
Controlbox 1
Spare parts box 1
For shipment, the sensitive element in the master compass is packaged separately.
~CAUTION
ewhen this system is assembled in the automatic steering system stand (autopilot built-
in), the master compass and each unit of the control box are assembled in the steering
stand and the sensitive element only is separately packaged.
2.3 Specification
See the finished plan maintained on the ship.
2.4 Name and Function of Each Unit
No. Name Remark

1. Master compass The sensitive element is incorporated.
This is a unit to detect the ship's heading.
2. Control box This is a unit having display for true bearing, latitude, rate of
tum, ship's speed and alarm, etc.
3. Display All data indicating running condition of this system and
settings are displayed with 7 segments LED.
The display content is selected with the operating switch.
4. Operating switches All operations of this system are made with these switches.
5. Power switch This switch starts and stops the system.
2-1
2.5 Mounting Position of Each Unit
One example of the mounting position is shown below.
See the finished plan maintained on the ship.
• Mounting positions of master compass, operating panel, power supply unit and
external terminal board.
(In case ofTOKIMEC PR-6000 Autopilot)
Operating panel
Master compass
Power supply unit,

external terminal board
~~~:--------------~
~-~-----4 ~---____j.-~1 '
1.--~
2-2
2.6 Alarm List
Error Code Alarm content Possible cause

E-1 Main power is abnormal When the main power (AC power source)
is lost.
E-2 Power is abnormal Power supply unit in the control box
becomes over current or over voltage.
E-3 Inverter is abnormal Inverter in the master compass becomes
over current or over voltage.
E-4 Control power is abnormal Anomaly generates in the control unit
power voltage in the master compass.
E-5 Rotor current is abnormal Gyro .rotor. current is abnormal.
E-6 Rotor tilting angle is abnormal Gyro rotor tilts abnormally in the direction
of north and south.
E-7 Servo loop is abnormal Anomaly generates in azimuth and
horizontal servo loop.
E-8 Zero cross is abnormal Anomaly generates in the reference angle
sensor in the master compass azimuth.
E-9 Memory is abnormal The memory (nonvolatile) in the control
box is abnormal.
E-A Communication error (1) Communication in the master compass is
abnormal.
E-b Communication error (2) Communication in the control box is
abnormal.
E-c GPS communication off When GPS system is stopped or serial
signal from GPS is cut.
E-d GPS data abnormal Serial signal from GPS is abnormal.
E-E MAG communication off When operation of magnetic compass
system is stopped or serial signal from
magnetic compass system is cut.
E-F MAG data abnormal Serial signal from magnetic compass
system is abnormal.
2-3
2-4 (blank)
CHAPTER 3 OPERATION
~WARNING
eThere are matters to be attended in starting of this system and operations during
running. These matters are described in each related item in this chapter with
CAUTION or WARNING, etc., which should always be observed.
eRead the operator's manual of the automatic steering system carefully preparing for
occurrence of trouble or alarm in this system, and the emergency steering method
should be well understood to treat such matters smoothly.
~CAUTION
eThe operating method and alarms shown in this chapter are described when this system
is combined with TOKIMEC PR-6000 autopilot and TOKIMEC TCA/TMC6
magnetic compass system.
3.1 General
In this chapter, method of operation, start and stop of this system are explained.
Before operation, confirm that each unit of the master compass and control box are properly
installed.
For the automatic steering system, read separated volume instruction manuals which are
supplied by the manufacturer carefully, and preparing and handling before operation.
3.2 Control Box Operating Panel and Master Compass Dimmer Switch
For details of the control box operating panel, read explanation in this chapter by referring to
[CHAPTER 7 ATTACHED DRAWING Fig 7.1 Control Box and Operating Panel].
When this system is installed into automatic steering system or console system, comfirm the
position of operating panel by referring to the finished plan.
Also refer to [Fig 7.2 Master Compass] for master compass operating position.
3.2.1 Explanation of control box operating panel

CD Power Switch
Starts or stops this system.
When this is turned [ON], the system starts.
3- 1
~ DISP I switch
This switch selects display item and display data. By pressing this switch, the
display item LED ® and display data on the display scrolls as follow.
By pressing this I DISP Iswitch while pressing the I ENT I switch (3), the
display item LED ® and display data scrolls in reverse order.
TRUE bearing- COMPASS bearing-Ship's SPEED~

[
ALARM contents . LATITUDE TURN rate __j
Q) SET I switch
This switch is used to change display data and input system. Display data can be
changed at the following display items.
Master bearing I Ship's SPEED I LATITUDE
Input system can be changed at the following display items.
Ship's SPEED (Log I GPS I Manual)
LATITUDE (Gyro I GPS)
@ [:±], CJ Ci DIM !)switch
This switch is used to change display data and to select input system and setting.
During other than setting, this switch is used to adjust illumination for the display.
+ : Brightens illumination.
- : Darkens illumination.
(3) I ENT Iswitch
This switch is used to fix the display data or input system when display data or input
system is changed.
@ I LAMP TEST Iswitch
This switch is used to check all indicating functions. By pressing this switch, all
indicators on operating panel light, buzzer sounds and alarm signal turned on.
(!) I ALARM STOP Iswitch
This switch is used to stop the buzzer sound when alarm generates.
® I ALARM I LED
This indicator shows alarm status as follows. When alarm generats, this LED
flashes. After pressed the I ALARM STOP I switch, this LED goes off if alarm is
released but if not, this LED goes ON.
® [Display]
This display indicates the following data on to 4-digits 7 segment displays.
(1) TRUE bearing Display the bearing with error from the master compass
bearing corrected (this bearing is output to repeater.) *1>
(2) COMPASS bearing : Displays reading of the master compass.
(3) Ship's SPEED Displays ship's speed and system using for speed error
correction.
(4) Rate of TURN Displays current ship's rate of tum.
(5) LATITUDE Displays latitude of current position.
(6) ALARM contents Displays alarm contents generated in the gyro-compass
with error code.
3-2
@ Display item LED
LED to indicate contents of data indicated on the display.
([j) Mode LED
LEDs to indicate the master compass running status.
RUNNING lighting :Display running condition.
STANDBY lighting : Display standby condition.
STANDBY flashing :Indicates the rotor is being braked.
*1) When this system is connected with magnetic compass system TCA(I'MC-6,
the TRUE bearing of the TCA(I'MC-6 is displayed if [TCA(I'MC] is selected
at the TCA(I'MC-6 system. (This bearing outputs to repeater and serial signal.)
At this time, true bearing display LED flashes and displayed true bearing with 3-digits.
When system has been selected at the TCNIMC-6, buzzer sounds three times shortly.
For system selection, refer to instruction manual of TCA(I'MC-6.
3.2.2 ··Explanation of master compass dimmer switch

CD Dimmer switch
Switch for illumination adjustment of the card indication. Provided at the lower part
of the master compass.
Switch positions are [Bright], [Oft] and [Dark].
3-3
3.3 Start • Stop Sequence
The TG-6000 gyro-compass operates in the sequence shown below.
For each operating method, refer to [3.4 Start • Running] and [3.5 Stop] of this section.
Start The display is " 0.0 " * 2 l and the decimal point flashes.
POWER switch
* 2 > When the offset for fixed error correction is input to
master bearing, the offset value is displayed.
Rotor brake activates (max. for 4 minutes).

Rotating [STANDBY] LED flashes.
Stop
[STANDBY] LED comes on.
Initial setting of last The card turns by 360" with decreasing reading.
azimuth bearing system
Output to repeater start.
Set
lNo~t Starting with the

card reading
Press the ENT
switch
Setting desired bearing
After confirming the display
item LED is not lighting, set
the desired bearing, and
After 3 minutes press the ENT switch.
Rotor starts rotating

(for 2 minutes)
[RUNNING] LED comes on.
ISetting latitude I Confirm setting of the input system and latitude display.
Set latitude if necessary.
IRepeater synchronization I Synchronize each repeater.
Settling
Setting ship's speed Confirm setting of the input ststem and ship's speed display.
Set ship's speed if necessary.
I Confirmation of master bearing I Master bearing display can be corrected.

However, it is cleared when power is turned off
Stop or passed through near 165" (reference angle
POWER switch [OFF] detection point).
3-4
3.4 Start • Running
3.4.1 Start
~CAUTION
eStart this system in other modes than [AUTO] of the automatic steering system.
(1) POWER turned ON

Turn [ON] the POWER switch CD on the operating panel. At that time, if the rotor
is stopping, the [STANDBY] LED of Mode LED q]) comes on.
When the rotor is rotating, the [STANDBY] LED of Mode-LED @ · fla5hes ·and
stops the rotor once (for max. 4 minutes).
At this time, when the LEDs SPEED I LATITUDE of display item LED @ flash,
set the speed first then set the latitude secondly referring to [3.4.1 Start, (3) Setting
the latitude input system, (6) Setting the ship's speed input system] in this section.
After the POWER turned ON and confirming the rotor stop, the card turns by 360"
with decreasing reading.
(2) Setting the start bearing

After the card turns by 360" with decreasing reading, set the start bearing.
1. Confirm that all display item LED ® are not lighting. *3)
2. Press the I SET I switch Q) , set the desired start bearing *4) with the data
change switch @ CG, 0 [DIM]) during the display data are flashing.
3. Press the I ENT I switch <3) and set it
At this time, the display item LED lights at the true bearing position. After that,
the sys~em enters the leveling mode (erecting operation).
*3) When any of the display item LEDs @ is lighting, press the I DISP I switch (Z)
until all display item LEDs go out, then set the start bearing.
* 4
) When starting with the bearing displayed in the display ® after turning the card by
360" with decreasing reading, setting the start bearing is not necessary. Press,
however, the I ENT I switch <3) .
If the I ENT I switch is not pressed, the system automatically moves to the next
sequence after 3 minutes.
After three minutes from setting of the start bearing, the system starts follow-up
operation.
At this time, [RUNNING] of the mode LED @ comes on.
3-5
(3) Setting the latitude input system
~CAUTION
eChange of the latitude input system or a large change of latitude may cause a large
mode once. After confirming safety of surrounding of own ship tum [AUTO] steering
ON again.
1. Press the I DISP I switch ~ to set the display item LED,.,@) at the LATITIJDE.
2. Press the I SET I switch (] .
3. Select [GPS] or [GYRO] with the data change switch @ *5) •.
4. Press I ENT I switch (1) and set it.
5. When the [GYRO] is selected, the numeric value is displayed in the display. Set
the latitude with the data change switch @ and press the I ENT I switch again.
The latitude is displayed by [degree, minute], and the decimal point flashes for the
south latitude.
*5) Display when the latitude input system is set.

When the latitude input system is set, indications of the display are as follow.
[GPS]
(The latitude obtained by GPS is displayed after fixing it)

[GYRO] : ~ 0=8 U @
(The value flashes after fixing it. Set the latitude with the data change switch @
and press the I ENT I switch again. After that the latitude calculated with the
ship's speed and true bearing is displayed.)
When no input from GPS and the latitude input system is set at GPS, the alarm and
error code E-c (refer to 3.4.3 Alarm in this section) generate.
~CAUTION
ein automatic steering, beware that a large latitude change may cause a large change of
true course.
~CAUTION
and press the input switch G) to fix the flashing bearing. The bearing having error is
3-6
~CAUTION
eWhen the latitude input system is in [GYRO], the latitude is automatically updated
with the ship's speed and true bearing. (Except when the speed input system is in
[MANUAL].)
Conf'mn that the own ship actual latitude coincides with the displayed latitude during
operation.
~CAUTION
eAlways press the input switch G) after completeness of setting.... If the input switch. (5)
(4) Synchronization of repeater compass

The repeater signal is output after finishing the last azimuth (bearing system initial setting).
Set each repeater reading at the true bearing value [1RUE] and ttnn on the repeater switch.
(5) Setting
The gyro-compass will settle in approx. 2 hours when starting with the deviatiop.
angle of within s·.
Even with a large deviation angle, it will settle within 4 hours.
(6) Setting the ship's speed input system
~CAUTION
echange of the ship's speed input system or a large change of ship's speed may cause a
~CAUTION
and press the input switch G) to fix the flashing bearing. The bearing having error is
~CAUTION
eThe speed input system is stored (when [MANUAL] the setting value, too), and the
speed system starts with the previously setting value when restarting.
When the ship's power is cut after stopping the ship, set the speed value at 0 knot before
cutting the power.
When the ship stops in [GPS] mode, restart the system after confirming that GPS is
normally operating.
3-7
~CAUTION
eAlways press the input switch (3) after completeness of setting. If the input switch (3)
I. Press the display switch ~ to set the display item LED @ at the [SPEED].
2. Press the I SET I switch Q) and select [LOG], [GPS] or [MANUAL] with the
data ·change switch @ .*6)
3. Press l ENT I switch (3) and fix it. *7)
4. When selecting [MANUAL] *8), the numeric value is displayed in the display.
Set the ship's speed with the data change switch @ and.fix .the data by pressing
the I ENT I switch (3) again.
When no input from GPS and the latitude input system is set a [GPS], the alarm and
error code E-c (refer to 3.4.3 Alarm in this section) generate.
When no input from LOG and the latitude input system is set at [LOG], the ship's
speed data are treated as 0 knot.
*6) Display when the ship's speed input system is set

When setting the ship's speed input system, indication of the display are as follow.
[LOG]
[GPS]
[MANUAL]
*7) Indications after setting the ship's speed input system

Indications of the display after setting the ship's speed input system are as follow.
[LOG] l ( !E.!B
(Ship's speed calculated from the Log signal is displayed.)
[GPS]
[o ~ !B.f8
(Ship's speed obtained by GPS is displayed.)
*8) Indication after setting [MANUAL] of the ship's speed input system
[MANUAL]
The display flashes under this condition, set the ship's speed with the data change
switch @ , and press the I ENT I switch (3) again to fix the value.
3-8
(7) Setting the rate of turn· filter constant
~CAUTION
eAlways press the input switch G) after completeness of setting. If the input switch ~
1. Press the display switch ~ to set the display item LED ® at [TURN].
2. When the filter constant of the displayed value is to be changed, press the I SET
switch Q) and the data change switch @ to· set the filter constant at the desired value.
3. Press the I ENT I switch (3) to fix the value.
The filter constant can be set from 2 to 10 sec at 2 sec interval.
This setting is only for display and analog output signal, and can not be set for
serial output.
(8) Confirmation of master bearing (COMPASS bearing)
~CAUTION
eWhen the master bearing is reset, the repeater display value and the true bearing of
serial signal change by the change angle of the master bearing.
In automatic steering, to prevent a large angle course change, the steering mode should
be changed to [MANUAL] once. After confirming safety of surrounding of own ship,
turn [AUTO] steering ON again.
Make sure of lighting [RUNNING] of the mode LED QD and press the display switch
~ to set the display LED @ at the [COMPASS]. Make sure that the reading of the
master compass card coincides with the bearing indicated in the display.
When the card reading is different from the data on the display, press the I DISP I
switch ~ to set the display LED @ at [COMPASS] and set the displayed value using
data change switch @ at the card reading after pressed the I SET Iswitch Q) .
After that, press the I ENT I switch G) to fix the value.
However, it is cleared when power is turned off or passed through near 165°
(reference angle detection point).
(9) Display of true bearing

After fixed the each value, press the I DISP I switch (b) to set the display item
LED @ at the [TRUE]. ([TRUE] in the display item LED @ lights).
Even when the display item LED is other than [TRUE] and no switch is operated for
30sec, the display automatically becomes the [TRUE] bearing.
(1 0) Setting the GPS receiving signal format

This system coincides the format with the connected GPS signal format.
,&CAUTION
eThe format for receiving GPS signal should be changed only when it is instructed by
the TOKIMEC service engineer and according to the means instructed.
3-9
The presettable formats for GPS receiving signal are data length, parity bit and stop
bit and preset or not for checksum.
Each format is displayed at the display as follow.
• Data length 8bit
7bit
6bit
5bit
• Parity bit No parity bit
Odd parity
Even parity
• Stop bit Stop bit 1 bit
Stop bit 1.5 bit
Stop bit 2.0 bit
• Check sum check Check sum is not checked
Check sum is checked
Setting method
1. Press the =n=Is=p---.,1 switch ~ , LAMP TEST switch @ and
.--I I I
I ALARM STOP I switch (J) of the operating panel simultaneously.

2. Press the I DISP I switch (Z) and set it to desired format display.
3. Set the data with the data change switch @.
4. Fix the data with I ENT I switch (3).
5. Repeat 2. to 4. for other format is required.
6. To finish the setting, press the I DISP I switch (2), I LAMP TEST I switch @
and I ALARM STOP I switch G) simultaneously again.
3 -10
3.4.2 Monitoring in running
ih.CAUTION
echange of speed, latitude input systems and a large change of speed and latitude may
cause a large change of true bearing. In automatic steering, to prevent a large angle
course change, the steering mode should be changed to [MANUAL] steering mode
once. After confirming safety of surrounding of own ship, tum [AUTO] steering ON
again.
Perform monitoring in running as follows.

( 1) Confirmation of start
Make sure that the [RUNNING] of the mode LED Qj) on the operating panel is
lighting. When the [RUNNING] does not come on even after 10 minutes have
elapsed from the power turned ON, tum the POWER switch [OFF] once, and tum
ON again after a while.
(2) Confirmation of alarm status

Make sure that the I ALARM I LED ® on the operating panel is off. When abnor-
mality occurs in the system, the I ALARM I LED ® flashes and the buzzer sounds.
Confirm the error code indicated in the display and press the I ALARM STOP I
switch (f) to stop the buzzer. When the I ALARM I LED continues lighting even
after pressing the I ALARM STOP I switch, the abnormality continues (when the
abnormality is instant, the I ALARM I LED ® goes off at the same time when
pressing the I ALARM STOP I switch.). Take suitable actions according to [3.4.3
ALARM] in this section.
(3) Confirmation of master bearing

Make sure that the [COMPASS] display value coincides with the master compass
card reading.
When a deviation generates between the [COMPASS] display value and the card
reading, correct the deviation according to [3.4.1 Start (8) Confirmation of master
bearing] in this section.
(4) Confirmation of latitude
ih.CAUTION.
eChange of the latitude input system or a large change of latitude may cause a large
mode once. After confirming safety of surrounding of own ship tum [AUTO] steering
ON again.
3-11
When [GPS] in the latirude input system is selected, the latirude obtained by GPS is displayed.
Make sure that the value displayed in GPS coincides with the value displayed in the TG-6000.
When [GYRO] in the latitude input system is selected and the ship's speed signal is
input from external equipment ([GPS] or [LOG] in the ship's speed input system is
selected), the displayed latitude value is automatically updated.
In this case, make sure of the displayed value in every period on the berth or at the
interval of within 4 hours during navigation, and if there is a difference between the
displayed value and the actual own ship latitude, reset the latitude value according to
[3.4.1 Start (3) Setting the latitude input system] in this section.
When [MANUAL] in the ship's speed input system is selected, the displayed latitude
value is not automatically updated.
Input the actual own ship latitude in every period of berth or at the internal of within
4 hours during navigation.
(5) Confinnation of ship's speed
~CAUTION
eChange of the ship's speed input system or a large change of ship's speed may cause a
confirming safety of surrounding of own ship, turn [AUTO] ·steering ON again.
The gyro-compass generates error according to the ship's speed. The TG-6000
calculates error, and transmits and displays the corrected repeater signal.
Make sure that the displayed ship's speed value at the interval of within 4 hours
coincides with the actual own ship speed, and if there is a difference between the
displayed value and the actual own ship speed, reset the value according to [3.4.1
Start (6) Setting the ship's speed input system] in this section.
The error based on ship's speed and latitude can be known from attached [Fig 7.3
Speed Error Graph].
3.4.3 Alarm
~CAUTION
ewhen the following alarms generate, bearing information from this system is not
output at all or has a large error.
All units operated by bearing information from this system (in particular, automatic
steering system) should be operated immediately according to each emergency
operating method.
The TG-6000 alarms abnormality generated in the system with the buzzer sound and error
code display.
3- 12
• When the alarm generates, press the I ALARM STOP I switch (f) after
confirming the error code.
• When the alarm is instant, the I ALARM I LED QP goes off by pressing the
I ALARM STOP I switch (!) . When the I ALARM I LED @ is lighting
even after pressing the I ALARM STOP I switch (/) , it shows the alarm
condition continues.
• When the alarm condition continues, confirm the error code and take suitable actions
according to the error code table shown below.
• When plural abnormalities occur at the same time, all of them are recorded. These
are displayed on the display in order of generation from last below like.
E ~~3.
However number of error codes abled to be displayed at one time is 3.
When the decimal point of the unit digit is not lighting, it shows further alarms are
generating. At this time, the error code not displayed can be confirmed by pressing
the[+] key of data change switch ® . Press the[-] key of data change switch ®
to return to the previous display.
Press [+] key
Press [-] key

Alarm List
Error Code Alarm content Possible cause
E-1 Main power is abnormal When the main power (AC power source)
is lost.
E-2 Power is abnormal Power supply unit in the control box
becomes over current or over voltage.
E-3 Inverter is abnormal Inverter in the master compass becomes
over current or over voltage.
E-4 Control power is abnormal Anomaly generates in the control unit
power voltage in the master compass.
E-5 Rotor current is abnormal Gyro rotor current is abnormal.
E-6 Rotor tilting angle is abnormal Gyro rotor tilts abnormally in the direction
of north and south.
E-7 Servo loop is abnormal Anomaly generates in azimuth and
horizontal servo loop.
E-8 Zero cross is abnormal Anomaly generates in the reference angle
sensor in the master compass azimuth.
E-9 Memory is abnormal The memory (nonvolatile) in the control
box is abnormal.
E-A Communication error (1) Communication in the master compass is
abnormal.
E-b Communication error (2) Communication in the control box is
abnormal.
E-c GPS communication off When GPS system is stopped or serial
signal from GPS is cut.
E-d GPS data abnormal Serial signal from GPS is abnormal.
E-E MAG communication off When operation of magnetic compass
system is stopped or serial signal from
magnetic compass system is cut.
E-F MAG data abnormal Serial signal from magnetic compass
system is abnormal.
3-13
Counter measures when E-c, d error generates
Lt. CAUTION
When the abnormals regarding GPS generates, ship's [SPEED] and [LATITUDE] of
display item LED @ flashes as follow.
Case 1. When GPS is selected for speed and latitude input system, both [SPEED]
and [LATIT(JDE] LEDs of display item LED @ flash. Select other than
GPS for ship's speed input system first, then select other than GPS for
latitude input system.
Case 2. When GPS is selected only for ship's speed input system, both [SPEED] and
[LATITUDE] LEDs of display item LED @ flash. Select other than
GPS for ship's speed input system first, then set latitude input system.
Case 3. When GPS is selected only for latitude input system, [LATITUDE] LED of
display item LED ® flashes.
Select other than GPS for latitude input system.
Note : When ship's speed input system and latitude input system are changed.
select [TRUE] by pressing display switch ez>.
Confirm the flashing true bearing and fix it by pressing I ENT I switch (1) .
Countermeasures when E-E, F error generates
Lt. CAUTION
eWhen the error code E-E, F generate and the true course is not defined, the system
outputs bearing information before the alarms generate (repeater signal and serial
signal).
Switch the automatic steering system steering mode to [MANUAL] or [NON-
FOLLOW UP] steering once, and define the true bearing.
TG-6000 bearing angle is output to the outside after determine the true course.
When the abnormal regarding magnetic compass system generates, select [TRUE] by
pressing display switch (f) and confirm the flashing true bearing (TG-6000 bearing).
Then set the true bearing by pressing I ENT I switch (3) .
Lt. CAUTION
eChange of the true bearing angle when generating E-E, F causes a large change of the
true bearing angle.
Beware that it may cause a large true bearing angle change in automatic steering.
3- 14
3.5 Stop
(1) Tum [OFF] each repeater switch.
(2) Tum [OFF] the POWER switch.
3-15
CHAPTER 4 TROUBLESHOOTING
~CAUTION
.eWhen alarm (error) generates, confirm the generated alarm content at once and take
suitable measures according to [4.3 Countermeasures].
eFor check and taking countermeasures when troubleo_c~u.rs.' confirm safety of
surroundings and stop the ship as a rule in safe sea areas.
4.1 · General
Phenomena occurred when failure generates in this system or in the external equipment
connected to this system are as follows.
(1) Alarm is displayed on this system.
(2) Anomaly generates in a part of function or all functions of this system.
4.2 Before troubleshooting

(1) First, secure safety of the ship according to the emergency steering method of the
automatic steering system.
Next, it is necessary to ascertain whether trouble cause is in this system or in the
external equipment.
eHow to find the failured side

Confirm alarm details based on CHAPTER 3 OPERATION 3.4.3 Alarm.
When the following alarms are displayed, When the following alarms are
problem is in the external equipment or in displayed, problem is in this
connection lines. system.
• E-c • E-1 • E-7

• E-d • E-2 • E-8
• E-E • E-3 • E-9
• E-F • E-4 • E-A
• E-5 • E-b
• E-6
(2) Tools necessary for check (measuring instrument)

• General tools
• A circuit tester
4-1
4.3 Countermeasures
~CAUfiON
eTurn the POWER switch of the operating panel OFF and disconnect the power supply at
the main distribution board before check or replace of fuses, mounting or removing each
unit, connector, printed wiring board and terminal, etc.
Perfonning·these with POWER ON as is may cause electric soock-aHd failure.
4.3.1 Measures when alarm is generating

(1) When the buzzer sounds to inform alarm (error) generation, confirm flashing the
ALARM indicator and the alarm content displayed on the display.
After that press the I ALARM STOP I switch to stop the buzzer sound.
(2) After pressing the I ALARM STOP 1· switch, when the ALARM indicator goes off,
the alarm condition has already been recovered.
In this case, watch the state for a while whether the alann generates repeatedly or .
not, and take a suitable action from the result. Note settings, data and various
conditions related to the alarm including sea state, etc.
(3) After pressing the I ALARM STOP I switch, when the ALARM indicator changes
to lighting steady from flashing, the alann condition continues.
In this case, confirm number of alarms generating and alann contents with the
display [refer to CHAPTER 3 OPERATION 3.4.3 Alarm], and take suitable
measures according to [4.3.2 Failure phenomena and countermeasures] in this
section.
4-2
4.3.2 Failure phenomena and countermeasures
When failure occurs, take measures shown below.
When the failure cannot be recovered, request TOKIMEC service station or agency referring
to lists in this manual.
.&CAUTION
eWhen internal settings of this system are changed, always request.advice ofTOKIMEC
service engineer.
e When failures other than described in the failure phenomena list occur or when· the replaced
fuse blows again, request TOKIMEC service engineer after turning the operating panel
POWER switch OFF and disconnecting power supply at the main distribution board. ·
eWhen failure occurred and could not resolve the problem according to the procedures
described in the failure phenomena list, turn the operating panel POWER switch OFF and
request TOKIMEC service engineer to request repair in port. Even when failure could be
repaired, according to [4.3.2 Failure phenomena and countermeasures], also request
TOKIMEC service engineer to request check for the failure when returning to port.
(1) Main power is abnormal (error code E-1)
ihCAUITON
eBe fully careful of electric shock when checking the main power supply.
eTurn power [OFF] and disconnect the power supply at the distribution board, etc.
1. Confirm the main power supply condition.

Main power connected terminal (external connection board [TERM PWB] TB2
ACI-AC2)
Main power AC100/220V within ±10%
50/ 60Hz within± 5%
2. Confirm the connecting cables between main braker in the ship's distribution
board and external connection board in this system and main braker it self.
(from main braker to external connection board [TERM PWB] TB2 ACI and
AC2)
3. When above I. and 2. are normal, turned off the main power and check the fuse in
this system. The fuse is provided in left hand side of power supply PWB. Check
the fuse have blown or not.
Fl - - - - - 6.3A
4. After checked above items 1. to 3. actions and trouble cannot be recovered, re-
quest nearest TOKIMEC service engineer immediately.
4-3
F 1
F2
Fig 4.1
(2) Power is abnormal (error code E-2)

1. Set the mode switch of the automatic steering system to other than [AUTO].
2. Turn this system to [OFF] once and after about 20sec, turn this system to [ON]
again.
3. When alarm does not generate by above item 2. action, restart this system refer-
ring to [CHAPTER 3 OPERATION 3.4.1 Start] in this manual.
4. When alarm generates again by above item 2. action, turn OFF the power switch
immediately and request nearest TOKIMEC service engineer.
(3) Inverter is abnormal (error code E-3)
~CAU110N
eTurn power [OFF] when checking fuses.
again.
3. When alarm does not generate by above item 2. action, restart this system refer-
ring to [CHAPTER 3 OPERATION 3.4.1 Start] in this manual.
4. When alarm generate again by above item 2. action, check the fuse for invert.er
installed lower side of the master compass. (refer to Fig 7.2 2 fuse, lower side of
card dimmer switch).
After above, turn OFF the power switch immediately and request nearest
TOKIMEC service engineer.
F1 ----- 8A
4-4
(4) Control power is abnormal (error code E-4)
(5) Rotor current is abnormal (error code E-5)
(6) Rotor tilting angle is abnormal (error code E-6)
(7) Servo loop is abnormal (error code E-7)

Note: When above errors (4) Control power is abnormal, (5) Rotor current is
abnormal, (6) Rotor tilting angle is abnormal and (7) Servo loop is abnormal
are generated, perform following operations.
I. Set the mode switch of the automatic steering system to other than [AUTO].
again.
3. When alarm does not generate by above item 2. action, restart this system
referring to [CHAPTER 3 OPERATION 3.4.1 Start] in this manual.
4. When alarm generate again by above item 2. action, turn OFF the power switch
(8) Zero cross is abnormal (error code E-8)
ihCAUfiON
eTrue bearing setting during error E-8 may cause a large change of the true bearing.
During auto steering, great care should be taken for a large change of the bearing.
2. Set the flashing true bearing (display) following below.
a. Press display switch <bl and set the display item LED ® to true bearing.
b. Set it by pressing enter switch G) .
3. Even if the Zero cross error is corrected by above action, immediately request
TOKIMEC service engineer.
(9) Memory is abnormal (error code E-9)

again.
4. The system can be operate even if alarm generated by above item 2. action. Be
sure to indication of the value of true bearing at this operation.
If large angle error generates after setting the system, turn OFF the power switch
4-5
(10) Communication error (1) (error code E-A)
again.
4. When alarm generate again by above item 2. action, turn [OFF] the power switch
and·-also tum OFF the main power to·this system. -Confirm the connections of
external tenninal board TB1 TXH/L and tenninal board ([TERM PWB] TB3
TXH/L) in master compass.
5. After above items 2. - 4. actions, request nearest TOKIMEC.service engineer.
(11) Communication error (2) (error code E-B)

1. Set the mode switch of the automatic steering system to other than [AUTO] ..
again.
4. When alarm generate again by above item 2. action, tum [OFF] the power switch
and also turn OFF the main power to this system. Confinn the connections of
external tenninal board TB1 RXH/L and tenninal board ([TERM PWB] TB3
RXH/L)·in master compass.
5. After above items 2.- 4. actions, request nearest TOKIMEC service engineer.
(12) GPS communication off (error code E-c) or GPS data abnonnal (error code E-d)
I. Make sure that the GPS is operating properly. If not, operate the GPS referring to
the instruction manual for GPS.
2. Make sure that the setting of format for GPS is set properly referring to [CHAPTER 3
OPERATION 3.4.1 (10) Setting GPS receiving signal fonnat] in this manual. If
not, request TOKIMEC service engineer and follow to the instruction.
3. When error cannot be recovered by above items I. and 2. actions, change the input
system referring to [CHAPTER 3 OPERATION 3.4.3 Alarm, countermeasures
when E-c, d error generates] in this manual.
(13) MAG communication off (error code E-E) or MAG data abnonnal (error code E-F)
1. Make sure that the magnetic compass system is operating properly.
If not, operate the magnetic compass system referring to the instruction manual
· for it.
2. When error cannot be recovered by above items 1. and 2. actions, operate
referring to [CHAPTER 3 OPERATION 3.4.3 Alarm, countenneasures when
E-E, F error generates] in this manual.
4-6
(14) The gyro-compass does not operate even when power switch of the control panel is
turned [ON].
1. Confirm the main and emergency power supply condition.
Main power supply AC 100/220V within±lO%
50/ 60Hz within± 5%
Emergency power supply 24VDC within +30%- -20%
2. If specified ship's power main and emergency are supplied, disconnect the both
ship's powers at distribution board· and check-the ·fuses·have blown or not.
The fuses are located at left hand side and center of the power supply unit.
Fl - - - - - 6.3A
F2-----20A (Fig4.1)
(15) Repeater does not operate
~CAUITON
1. A fuse is provided in each repeater circuit in the external terminal board.

Check the fuses (Fl - F9) have blown or not.
Fl - 9 - - - - - lA (Fig 4.2)
2. When additional repeater circuits are installed based on the special specification,
check each fuses (FlO- F22) on the ADD PWB of the external terminal board.
FlO- 22-- -- - lA
Optional ADD PWB
To Repeaters (optional)
(ADD)
F10-F22 : lA (ADD)
Fl-F9: lA
To Repeaters
Fig4.2
4-7
(16) Alann generates at the same time when the power turned ON.
I. When the error code E-3 and E-A generate at the same time, turn [OFF] the power
once and tum [ON] again after approx. 1 minute.
2. When the status does not change by the action of above 1, check the fuse for the
inverter located at the lower part of the master compass (refer to Fig 7.2 2 under
the card dimmer switch).
Fl-----8A
(17) Others
When failures or alanns other than above generate, and when replaced fuses blow
again, tum [OFF] the POWER switch in the operating panel and cut the main power
supply and the emergency power supply at the main distribution board, etc.
Then request TOKIMEC service engineer immediately.
In this case, faster service action is available when the alarm code is informed.
4.3.3 Replacement of fuse

When fuses have blown, replace them. Confirm that the power switch of the operating panel
is turned OFF and disconnect the power supplied to this system at the main distribution
board, etc.
Investigate the cause when a fuse has blown. Unless the cause is removed, it will occur
again even when it is replaced with the same capacity fuse. Consider, however, there is
some dispersion in characteristics of the same capacity fuse.
(1) Confirm that the ship's power is not supplied to this system (Confirm that the voltage
between terminal ACI - AC2, B+- B-on the external distribution board TB2 is
OV.)
(2) Power supply unit (fuses Fl and F2 for PWB, fuses Fl -9 and FlO -22 for repeat-
ers)
1. These fuses are glass and open type.
To remove the fuse, pull up from holder carefully. Do not handle with strong
. force or hard tool to prevent break them.
2. To insert the fuse, push in the fuse to holder carefully.
Keep space about lmm between holder and fuse and keep level.
(3) Master compass (fuse Fl for inverter)

Fuse Fl is located in the fuse holder ai front of master compass. To open the fuse
holder, press and tum the fuse holder edge counterclockwise with a screw driver.
After replacement with an new fuse, press and tum the driver clockwise to close the
fuse holder.
4-8
4.4 Information Items to TOKIMEC Service Station
When troubles cannot be recovered by countermeasures described in this manual on board,
contact immediately the nearest TOKIMEC service station or its dealer I agency in your area
to request advice with the following items informed.
(1) Ship'-s·name and owner

(2) Name of type and. serial no.
(3) Where is the ship now?
(4) Symptoms of trouble
(5) When did it occur ? year, month, day, hour.
(6) Where did it occur? sea area channel
(7) Does it continue now ? continues sometimes occurs
(8) Does it reappear? yes sometimes no
(9) Results of check
(10) Other noticed points
4-9
CHAPTER 5 MAINTENANCE • CHECK
ihWARNING
ewhen carrying out maintenance and check, even if the main POWER switch of this
system is turned OFF, the ship's power is supplied to the system distribution board, and
touching internal parts may cause electric shock. Do not touch internal parts such as
internal terminal boards and the power supply unit, etc. Disconnect power supply to
this system from the distribution board if necessary.
The following warning label is attached to the dangerous position of this system.
ihWARNING
shock.
~tc., even if unit power OFF. _~
ihCAUTION
eMain units of this system consist of electronic circuits which have high reliability.
However, it is impossible to say that no failure should happen.
Accordingly, for removing failure risk as far as possible and maintaining the system
performance, check and maintenance described in this chapter should sincerely be
carried out. If not, detection of failure sign will be delayed and may cause distress
such as collision or grounding.
eRequest TOKIMEC service engineer when trouble is detected and cannot be recovered
on board.
PROHIBITION
Do not use insulation tester or other device to test system insulation as it will
damage internal electrical components.
Always disconnect wirings connected to this system before testing related power
distribution lines with such testers.
5- 1
5.1 General
This system uses carefully selected parts based on safety design, however, periodical check
(operation check) and maintenance described in the next section must be performed for a
long term satisfactory operation.
Main purpose of maintenance and check is to catch signs of equipment trouble at an early
stage through continuous suitable check and maintenance. By repairing on call at port based
on results of the check, occurrence of unexpected situations and troubles in sailing will be
prevented to a minimum.
For maintenance and check for connected to this system of the automatic steering system,
magnetic compass system, etc., refer to each separate instruction manual. Note contents of
performed maintenance • check on the log book, etc.
In this chapter, maintenance and check methods for this system only are explained.
General precaution points are as follows.
(1) Assign a person in charge of maintenance and check for this system and perform
those under his responsibility.
(2) Mechanical parts in connecting and fixing sections of this system such as case and
panel may be loosened due to body shock and resonance vibration. Check and
retighten screws as necessary.
(3) Most parts used in main sections of this system are electronic (electric) parts.
Generation of trouble of electronic parts themselves is very rare, and troubles in
mounting sections of electronic (electric) parts, being near cutting of connecting
wires at the roots and lead wires of electric parts are easy to occur due to hull body
shock and resonance vibration.
Check these points. Refix parts, retighten fixing screws, reinsert connectors, refix
the mounting parts, repair cables and lead wires as necessary.
(4) If there are strange motions, smells, sounds and heat generations, etc., different from
those in normal operations, note them on the log book and request TOKIMEC
service station to repair at early stages.
(5) Has this system check by TOKIMEC service engineers or qualified engineers at least
once a year, and make them evaluate checked items of the check table and log book,
etc. Pick up and repair troubled points at the same time as necessary.
5-2
5.2 Periodical Check
Use the periodical check table for check.
Frequencies of checks are (1) items to be performed once a day, (2) once a half year I once a
year. Checked items are judged as normal or not by comparing with values as the standard
at the time of installation of this system on the ship.
5-3
(1) Periodical check table (including operation check) [once a day] (Copy and use a
form in the end of this manual when this tables becomes full, and file them.)
Check mark 0 : Normal
~ :Normal after rework or repair
(Example of note)
Date of check lnstallatJ.on
'97.05.01
Inspector TOKIMEC
service eng. name
Check items
a. Confirm that the value of each
repeater coincides with the 0
displayed true bearing on the
operating panel.
b. Confirm that the displayed

latitude on the operating panel 0
coincides with the current
latitude.
c. Confirm the error measured

with observation if possible. 0
d. Confirm that the ship's power

is steady and within 0
specifications.
e. Confirm that all displays and

LEDs on the operating panel 0
light and buzzer sound when
lamp test switch is pressed.
f. Items to be dealt with.

Items to be informed. 0
Table 5-1 Periodical check table (1)
5-4
(2) Periodical check table (including operation check) [once a half year I once a year] (Copy and
use a form in the end of this manual when this table becomes full, and file them).
For [Clause e.] below, request TOKIMEC service engineer to measure.
D. : Normal after rework or repair
(Example of note)
Date of check lnstallatton
'97.05.01
Inspector TOKTh1EC
service eng. name
Check items
a. Confirm looseness of fixing
screws in mechanical sections
and connecting screws in
terminal boards. 0
(Retighten if they have been
loosened.)
b. Confirm connecting and wire

wearing conditions at
connecting wire mounting 0
points and wire bases.
c. Confirm operating condition of

switches. Also confirm
display condition of LED and 0
the display.
d. Confirm that warning label and

other indication labels are not
dirty or detached. Clean if 0
they become dirty.
e. Power supply voltage for +24.2V

control. +5.1V
+12.2V
-12.1V
True bearing error ± 0.8° or less

Items to be informed.
5-5
5.3 Warning Label Check
Always check and clean warning labels to read with ease.
When warning labels became dirty or detached, request TOKIMEC.
5.4 Spare Parts

Spare parts shown in Table 5-3 are attached to this system.
BOXNO P
SETS PER
VESSEL
TG-6000
GYRO COMPASS 1
'!/?1'0:::1/1'\,A

OUTLINE WORKING
NO PART PER PER :sPARE
SET f/ESS.
1 FUSE
t~--:t. 6
Jl.e
I., ~~ ~: 1 1 2
250V BA
082315020 .
i~~
u.: rr~
2 FUSE
t~--:t. 6
31 e
I., ~~ ~: 1 1 2
125V 20A
MF61NN20
CD-<
UJZIII!
f-
a.>-.
~-
FUSE 31.8 250V 6.3A ~-
oa.
3
t~--:t. 6 I 'I :1 1 1 2
MF61NR6.3
u..=l
en
125V 1A ~
20 <
FUSE
4
t~--:t. 6 1"1, 9 9 18
102209230
. 0
CD
_.1
<
....%
z
Ill!
•
1+-
76
.I c: ••
~
w
5 TOOL 1 1 1 f-
c:
>to:
I~
]
236-332 0
u.
Iiiii
125V 1A
FUSE 20
c:~~
6
t~-;j 6 1"1, 6 6 12
102209230
~II
<m~
....l.
20 250V 2A 0
FUSE c:
7
t~-;j 6 1"1, 1 2 4
MF51NR2
<
0
CD
en
Ill!
,.._
I
'IE,
20 125V 1A a.
••>
8 FUSE
t~-;j 6 iJ, 1 2 4
102209230
0
c:
0
u.
tn
(11
FOR A REPEATER COMPASS

t-e-1181:?~
45
-
a>
45V 5W E12/15
w
"6
9 LAMP 2
=j''/1 ) 100043450
MFR' s NftMEIIRQOOJ~OC ~~c DRW. NO
Table S-3 Spare parts table

5-6
5.5 Storage Method
NOTE
(1) Turn all power switches of this system to OFF position to cut the power.
(2) Storage temperature should be between -20" - +55"C.
A void the place with high humidity as far as possible.
(3) Prevent the ·storage place from generation of corrosive gas, breeding of
considered.
When welding works, etc., are carried out near this system, be sure to mount
a suitable protection cover on the system to prevent damage caused by spark,
etc.
5.6 Disposal Method

Dispose of this system in proper manner treating it as an industrial waste product in
accordance with the law and regulations.
5-7
5-8 (blank)
CHAPTER 6 GLOSSARY
[Alphabet]
Fixed error ....... ~ ............................. Error between this system and keel line depending on the
installation.
Last azimuth .................................. This system can set and detect the stopped azimuth of
last time. According to this operation, the setting time
of the system can decrease when turn on the system
again.
Leveling operation ........................ Operation to keep the sencer to horizontal.
Magnetic compass system ............. The bearing detector is mounted on the magnetic
compass and detected bearing signal from the bearing
detector is send out as repeater signal and serial signal.
This system is one of TOKIMEC products. Refer to
instruction manual for more details.
Rate of turn .................................... Speed of the turning of the ship.
Rate of turn filter constant ............. Time constant value to keep steady of rate of tum signal
for display and analog signal output
Sensitive element .......................... This element detects north of own ships.
Speed error correction ................... Gyro-compass generates error from north depending on
to the speed and position of ship's sailing. This system
can calculate and correct such error using speed and
position data automatically.
6-1
CHAPTER 7 ATTACHEDDRAWINGS
Fig 7.1 Control Box and Operating Panel

Fig 7.2 Master Compass
Fig 7.3 . Speed.Error Graph
7-1
fo ol
( l
0
0
Qperat i ng Pane 1---+-_,~~ 8 !=-
_ r--,j
~---· 0
0
oc:::::::J
01111 J,D
D 0
Control Box Operating Panel
c =•llAI I
c :=. urrn.a::
c =• RITE
------ -·- - .
Q) Power Sw i t c h ® Lamp Test Switch

0 D i s P I ay Sw·i t c h 0 Alarm Stop Switch
@Setting Switch @Alarm LED
@ Data/Display/Dimmer ® D i SP I ay
Change Switch ® Display Item LED.
@ Enter Switch ({} Mode LED
Fig 7.1 Control Box and Operating Panel
7-3/7-4
D
CD D i mm e r switch
0 Fuse holder
Fig 7.2 Master Compass
7-5/7-6
* How to obtain speed er::or
speed error (example 1.5.) can be obtained at the point where the speed error graduation line intersects with the
line which is extended from the ship's speed (example 16 knots) across the intersection of the line between the
course (example 30") and latitude (example 40") with the slanted solid line.
Accordingly, the true bearing is 30"-1.15"= 28.9". Ship' s heading {degrees)
(See Notes) 0
~---(-)
6
~---(+)
I
0.2
0.4
- C/)
+>
0
0.6
0.8
(/)
Q.)
Q)
s....
c:: 1. 0 bO
.Y:. Q.)
'U .
"0 --- }. 2
Q)
Q)
---- --- --- --- I
1-4
s....
0
--- ----
Q. I
s....
C/) I
I 1. 6 s....
Q.)
(/) l
I
I · 1. a "0
0. Q)
I
Q.)
...c I
I 2.0 a.
(j) (f)
12 I
I
I
I
10 I 2.4
I
I
a I
I
I
I
6 I
I
I
I
4 I
I
I
I
2 l
I
0
80 70 60 5(J 40 30 20 10 0
90
Latitude (degr.ees)
Note : I. When the course is 270" - o· - 90", the true heading is the value of the compass heading from which
the speed error is subtracted.
2. When the course is 90"- 180"- 27", the true heading is the value of the compass heading to which
the speed error is added.
Fig 7.3 Speed Error Graph
. 7-7/7-8
( 1) Periodical check table [once a day]

..1 :Normal after rework or repair
Date of check
Inspector
Check items
a. Confirm that the value of each
repeater coincides with the
displayed true bearing on the
operating panel.
b. Confirm that the displayed

latitude on the operating panel
coincides with the current
-latitude.
c. Confirm the error measured

with observation if possible.
d. Confirm that the ship's power

is steady and within
specifications.
e. Confirm that all displays and

LEDs on the operating panel
light and buzzer sound when
lamp test switch is pressed.

(2) Periodical check table [once a half year I once a year]

6. :Normal after rework or repair
Date of check
Inspector
. ' ...
Check items
a. Confirm looseness of fixing
screws in mechanical sections
and connecting screws in
terminal boards.
(Retighten if they have been
loosened.)
b. Confirm connecting and wire

wearing conditions at
connecting wire mounting
points and wire bases.
c. Confirm operating condition of

switches. Also confirm
display condition of LED and
the display.
d. Confirm that warning label and

other indication labels are not
dirty or detached. Clean if
they become dirty.
e. Power supply voltage for

control.
True bearing error

TG-6000
INDEX
page
[Alphabet]
Alarm ........................................................................................................................... 3-12
Alarm list ......... ··········································-····················-··--·-·--···················· 2-3, 3-13
Attached dr:awings ....................... ;................................................................................. 7-1
Attached position of warning label ................................................................................ (2)
Automatic steering function with this system ............................................................... 1-3
Configuration ................................................................................................................ 2-1

Contents ........................................................................................................................ (11)
Control box .................................................................................................................... 2-1
Countermeasures ........................................................ ;.................................................. 4-2
Disposal method ............................................................................................................ 5-7
Fixed error .............................................................................................................. 3-4, 6-1
General description ....................................................................................................... 1-1

Glossary ......................................................................................................................... 6-1
Information items to TOKI.MEC service station ........................................................... 4-9

Items to be observed with respect to the manual ........................................................... (9)
Last azimuth ........................................................................................................... 3-4, 6-1

Leveling ......................................................................................................................... 3-4
Leveling operation ........................................................................................................ 3-4
Magnetic compass system .............................................................................. 1-2,2-3, 3-1

Maintenance • Check .................................................................................................... 5-1
Measures when alann is generating .............................................................................. 4-2
Monitoring in running ................................................................................................. 3-11
Mounting position of each unit .......................... ~ .......................................................... 2-2
N arne and function of each unit .................................................................................... 2-1
Operation ....................................................................................................................... 3-1
(i)
page
Periodical check ............................................................................................................ 5-3

Preface ............................................................................................................................ (9)
Rate of turn ..................... ;.............................................................................................. 3-9

Repeater signal output function .................................................................................... 1-2
Replacement of fuse ...................................................................................................... 4-8
Safety PRECAUTION ................................................................................................... (1)

Serial signal output function ......................................................................................... 1-3
Sensitive element :......................................................................................................... 2-1
Setting of rate of turn filter constant ............................................................................. 3-9
Setting the GPS receiving signal format ....................................................................... 3-9
Setting the latitude input system .................. ~ ................................................................ 3-6
Setting the ship's speed input system ............................................................................ 3-7
Setting the start bearing ................................................................................................. 3-4.
Spare parts ..................................................................................................................... 5-6
Specification .................................................................................................................. 2-1
Speed error correction ................................................................................................... 1-3
Start ............................................................................................................................... 3-5
Storage method .............................................................................................................. 5-7
Synchronization of repeater compass ............................................................................ 3-7
Tools necessary for check ............................................................................................. 4-1

Troubleshooting ............................................................................................................ 4-1
Warning label check ...................................................................................................... 5-6
(ii)
SAFETY PRECAUTIONS
1. Safety symbol indications and definitions used in this manual and products are as
follows.
Indicates an imminently hazardous situation which, if not

~DANGER avoided, will result in death or serious injury.
~ WARNJ:N"G Indicates a potentially hazardous situation which, if not

Lll 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.
(1)
2. The following warning label is attached to this system.
(1) DANGER
1-1
ib.WARNING
shock.
,etc., even if unit power OFF.
3. Attached position of the warning label in this system is as follows.
(1) Steering stand
0.---
1 I
[1-1] Warning label
0 0
Steering stand (front view)
(2)
4. Safety precautions, etc., described in this manual are summarized here (pages
described are shown in parentheses.)
( 1) Warning for use of this system (Refer to page 1-1.)
~WARNING
eMalfunctions caused by failure of this system and mis-operation caused by operator's
mistake may cause such disasters at sea as collision with other ship or stranding,
resultant property damage and environmental contamination, and further hazardous
situation resulted in death or serious injury.
eGreat care should be taken to use this system being well acquainted with limitations of
performances and characteristics of this system, and familiar with the operating
method.
(2) General items to be warned for the operating method (Refer to page 3-1.)
~WARNING
eEach steering mode of HAND, AUTO and remote (RC) has specific attention points
for use. These are shown in the corresponding clauses with ~ CAUTION and ~
WARNING, etc. Observe strictly these items.
ePeriodical repeated training for emergency steering should be performed to deal with
smoothly in an emergency status from anywhere in the ship.
(3) Warning for emergency steering (Refer to page 3-2.)
~WARNING
eEmergency steering 1
When trouble or failure happens during the AUTO steering (gyro-compass or magnetic
compass is being used) or the remote steering, take safety navigational means such as
reducing the ship's speed, and then turn the mode selection switch I MODE I to the
I HAND I position, and turn the steering wheel manually to steer.
eEmergency steering 2 .
When the hand steering is impossible, turn the system selection switch I SYSTEM Ito
another system, and tum the steering wheel to steer in the same way.
When the hand steering is impossible, tum the mode selection switch I MODE Ito the
I NFU Iposition and steer with the non-follow up steering lever.
When the steering is still impossible, take a means such as ordering astern of the
engine, etc., to stop the ship safely. Then, make the emergency steering according to
the instruction man~al of the steering gear side.
(3)
(4) Warning when selecting steering mode (Refer to page 3-2.)
.&.WARNING
eDo not use the auto steenng until the gyro-compass has settled. It not, own s 1p does
not set on the desired course and may cause collision or stranding.
eBefore switching the steering mode, be sure to set the rudder at the center, and then
switch the mode selection switch I MODE I.
If not, an unexpected large rudder may be taken.
eHold the mode selection switch surely with hand and tum it correctly to the mark 0
which shows the correct position.
Interrupting the selection on the way may cause malfunction.
In this case, make sure that the steering mode is switched correctly with the steering
mode display lamp (I AUTO I, I HAND I , I NFU I, I RC I ).
eLoosened play in fixing the knobs for the mode selection switch I MODE I ' system
selection switch I SYSTEM I and non-follow up lever I P<=>S I may cause wrong
switching or operation.
Retighten the two screws fixing the knob to the switch, or contact TOKIMEC service
department.
(5) Warning to set the maximum rudder angle (Refer to 3-6.)
.&.wARNING
ewhen the rudder angle selection switch is installed, set the maximum rudder angle
selection switch at 50° unless the steering with a larger rudder is needed. If not, an
unexpected large rudder may be taken to cause a dangerous steering.
(6) Warning to use auto steering (Refer to page 3-7.)
.&.WARNING
eDo not use the auto steering in confined sea areas or narrow channels. In addition, do
not switch to the auto steering too.
Prompt avoidance is not in time and may cause collision or stranding.
ewhen the rudder angle selection switch is installed, select the maximum rudder angle
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.
eWhen 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.
eKeep a strict "look out" (watch), in particular, during auto steering. Careless "look
out" (watch) may cause collision or stranding.
ewhen 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 I <l SEL. I 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.
eWhen 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).
(4)
(7) Warning when switching auto steering (Refer to page 3-7.)
~WARNING
eWhile the ship's speed is low, when the mode is switched to the auto steering from the
other steering modes, the set course may not be able to maintain. Steer under
monitoring the ship's motion.
eMake sure of the safety around own ship before changing the course during auto
steering.
ecourse changing during auto steering can be made to 359° of right or left direction by
rotating the course setting knob. A large angle course changing, however, is
dangerous , and a course changing within 45 ° should be made at a time and repeat that,
if necessary, to deal with unexpected dangerous situation.
When a larger course changing than this is performed by any chance, monitor
malfunctions and dangerous conditions til1 completion of the course changing, and
take a navigational safety means if necessary.
(8) Warning regarding remote auto steering (NAV) (Refer to page 3-9.)
~WARNING
eDo 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 reducing speed should be taken. If not, prompt action cannot be
made, and may cause collision or stranding.
eKeep a strict "look out" (watch), in particular, during remote auto steering. Careless
"look out" (watch) may cause collision or stranding.
elf an alarm generated in the autopilot or gyro-compass, heading monitor (option)~
speed log (option) and tracking navigational equipment side during the remote auto
steering, make sure at once of the content. When an abnormality affecting the steering
is generating, switch at once to one of the other steering modes.
(9) Warning regarding remote hand steering (remote control) (Refer to page 3-11.)
~WARNING
eno not use the remote hand steering (RC) in confined sea areas or narrow channels.
enuring the remote hand steering, always confirm the rudder angle and its direction
displayed on the rudder angle receiver (indicator). If not, when failure generated in the
remote control steering line, discovering the failure may be delayed to cause collision
or stranding.
eset the remote control steering knob at the center before switching to the remote hand
steering mode from the other steering mode. If not, a large rudder may be taken after
switching to cause collision or stranding.
elf an alarm generated in the autopilot or remote control unit side during the remote
hand steering, make sure at once of the content. When an abnormality affecting the
steering is generating, switch at once to the other steering mode.
(5)
(10) Warning regarding prevention of electric shock, etc., when performing maintenance
(Refer to page 5-1.)
eMake efforts to prevent danger, in particular, when persons are arranged in the steering
gear room to watch the rudder operation for maintenance and check (pay attention not
to be caught in high speed moving cylinders and tiller, or shout each other to call
attention).
eThe ship's main power is supplied to the distribution board in this system even when the
main power supply switch (SYSTEM SWITCH) of this system is turned OFF. Electric
shock may occur by touching inside. Do not touch internal terminal boards, etc.
For PR-6DDD-E3 system, particularly pay attention to avoid such accident.
For above system, turn OFF the main switch of the steering system. If not, electric
shock may occur by touching inside.
The following warning label is attached at the dangerous position inside stand.
/
~WARNING
shock.
~tc., 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.
II WARNING HIGH VOLTAGE II or II WARNING ELECTRIC SHOCK II
( 11) Warning regarding autopilot maintenance (Refer to page 5-1.)
£WARNING
eThe steering gear connected to this autopilot may cause, although very rarely, hydro
lock, etc., which makes the rudder disabled to steer.
eAlthough main parts of the autopilot consist of electronic circuitry having high
reliability, it cannot be said failure does not occur absolutely.
Accordingly, it is absolutely necessary to carry out check and maintenance described
in this chapter to exclude these dangers as long as possible and to maintain
performance of this system.
If not, detecting sign of failure delays and it yields failure of the system and may result
in collision or stranding (refer to clauses regarding maintenance and check of the
steering gear instruction manual).
When trouble is discovered and cannot be recovered on board, contact TOKIMEC
service department or its sales agency of your area.
(6)
(12) Warning for replacement of relay (Refer to page 5-7.)
~WARNING
eMake sure the relay pin position and insert it correctly when ralay is replaced.
If not, ship's rudder does not operate properly.
elnsert the relay properly. If not, the relay may be loosen due to vibration and may
cause no operation of rudder.
eDo not give strong force for relay replacement. If not, the printed circuite board may
be damaged.
(13) Warning in installation (Refer to page 5-8.)
eDo not hang down the steering stand by passing ropes, etc., on the steering wheel or handle
for moving the steering stand in installation and so forth. The wheel or handle should be
broken due to weight of the steering stand, and the stand may drop to cause injury.
(14) Caution in hand steering (Refer to page 3-4.)
~CAUTION
eset the pointer of the order rudder angle indicator on the helm unit at the center before
turning the system selection switch to I No. 1 Ior I No. 2 I to start the PR-6000, or
before turning the mode selection switch to I HAND I from the other mode. If not ,
taking a rudder may suddenly start and is dangerous.
(7)
(15) Caution when adjusting auto steering knob (Refer to page 3-7.)
Lb.CAUTION
enuring the auto steering PID control mode is used, various knobs in the auto steering
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.
eAlways collect, note and accumulate data for the adjusting positions of various knobs
of the PID control so that the optimum values can be set according to variation of
sailing conditions.
ePay attention on the following points when selecting the auto steering I ADPT I
(Selecting I OPN II I CNF lof I ADPT I WEATHER Iknob) (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 I OPN I mode
after course changing by 10° of port and starboard two or three times in the hand
steering.
2. If weather becomes stormy during using the I OPN Imode, switch to the I CNF I
mode when the yawing width (half side) becomes more than 50% of the pilot
watch set value, as the standard.
3. When the yawing width is considered to be large (observing for approx. 15
minutes), stop using the ADPT mode and steer with the PID control.
4. When yawing is large in calm sea
When load condition is remarkably changed, yawing may become large at the
departure. In this case, steer as follows.
• Change course by 10° of port and starboard, two or three times with the hand
steering.
• Switch to the OPN mode of the auto steering and observe the state for approx. 15
minutes.
• When the yawing still continues, switch to the OPN mode, and perform auto
course changing by 10° of port and starboard to observe the state.
• When yawing does not settle yet, contact TOKIMEC service department.
eswitching between the PID mode (WEATHER) and the ADPT mode (OPNICNF)
(option) with the weather adjusting control during auto steering should be made only
while the course is keeping. Switching in a large course changing may cause trouble in
operation of the auto steering.
(16) Caution regarding confirmation of non-follow up steering operation

(Refer to page 3-13.)
ihCAUTION
ePerform non-follow up steering to confirm operation of the steering system at least
once every time when the operator changes.
eThe rudder is taken continuously during the lever is kept turned. Steer while seeing the
rudder angle receiver (indicator). A smaller or larger rudder angle than an expected
value may cause trouble in steering and may result in collision or stranding.
(8)
(17) Caution in override steering (Refer to page 3-14)
~CAUTION
•Takmg a large rudder IS dangerous when switchmg to the external ovemde umt. Pay
attention on such a thing to set the order knob (lever) at the neutral position.
econfirm safety around when steering with the override unit.
ewhen switching to the override steering during the auto steering or remote auto
steering (NA V), and switching again to the auto steering or remote auto steering from
the override steering after a while, a quick turning of the ship may occur. Before
switching to the auto steering, set the ship's heading at that time as the set course for
keeping the course, and make the original set course and NAV course invalid.
When the ship is to be kept on the original course or on the new course, operate the
course setting knob or stop the remote auto steering once and switch to the NA V
steering again. The preset course invalid alarm is indicated till this operation is
oerformed (ootion ).
(18) Caution when alarm generates (Refer to page 4-1.)
~CAUTION
•When the alarm generated, conhrrn the content ot the generatmg alarm at once and take
a suitable means according to the failure phenomena list.
eWhen failure generates, check and take a countermeasure at non-dangerous sea area
after confirming safety around, and with the ship stopped as a rule (Refer to page 3-5
clause 3.2.4 Emergency steering method).
(9)
(19) Caution in troubleshooting (Refer to page 4-3.)
~CAUTION
eTum OFF the system selection switch, and the service switch located at the· front panel
of the control unit before checking and replacement of fuses, removing the unit of
equipment, connectors, printed wiring boards and terminal cables.
Remaining the switch at ON position may cause electric shock and failure.
echeck the autopilot stand inside by instructed procedures and do not touch other
sections than instructed. If not, may cause electric shock.
(20) Caution for replacement of fuses and relays (Refer to page 5-6,.)
~CAUTION
eDo not release hands from the facia panel till the panel is fixed with the two stoppers.
If not, may cause injury.
eDo not give the facia panel subject to strong vibration or shock when it is fixed with the
stopper.
Dropping the facia panel due to loosing the stopper may cause failure of equipment or
injury.
(10)
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 handling this equipment. Keep it at hand for
reference whenever needed. Assign a person in charge of maintaining this manual
and fixed location.
Relevant drawing for finished plan of this system should be maintained together.
(3) This manual should be delivered to the person actually handling equipment.
The sales mediator of this system such as an agency should deliver this manual to the
actual person handling this equipment.
(4) Replace manual at once if lost.

If the manual is lost, contact TOKIMEC or our sales agency. A replacement manual
can be supplied at charge.
3. When the warning labels become dirty or come off, contact TOKIMEC.
Replacement labels can be supplied at charge.
(11)
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 of miss use (miss operation) (Refer to page 3-21.)
PROHffiiTION
(l)Wetting the autopilot operation unit (facia panel) by water or drink may cause
growing mold or performance reduction.
Do not steer or operate with drinking water, etc.
Wipe off liquid at once if the stand is wetted.
(2) Prohibition of megger test (Refer to page 5-l.)
PROIDBITION
Do not use a megger, etc., for insulation test of this system. Using a megger can
break internal electric parts. Always disconnect wirings to this system before
testing related power distribution lines with a megger.
(12)
Note ----- Items on which attention should be paid.
(1) General note for using autopilot (Refer to page 1-1.)
NOTE
This system is an extremely important navigational equipment which controls the
rudder to determine the advancing course of the ship.
Although safety designs such as providing alarm functions for failure and miss
operation, etc., are considered, a complete safety equipment is not available at
present.
In addition, because this system has a lot of important functions (multi functional
equipment), anyone cannot always use this system without failure.
Failure or miss handling of this system may cause disasters at sea. Accordingly,
full attention should be paid on use of this system.
And for safety navigation, execution of navigational technology and cautions are
user's obligation which are not reduced or exempted at all by using this equipment.
In particular, the "look out" (watch) is indispensable for steering in any steering
mode of the autopilot.
In addition, observe the following notes.
1. Be sure to perform daily check to keep equipment condition normal.
2. When abnormality is discovered as the result of daily check, investigate and
repair it at once to recover it to the normal condition. If necessary, request an
advice of TOKIMEC service engineer.
3. The steering modes of this system are AUTO steering, HAND steering,
REMOTE steering and NON-FOLLOW UP steering. Be familiar with and
skilled in every steering modes.
4. Be skilled in the emergency steering method to keep quite cool in emergency
situation.
5. When the alarm system operates, be sure to check it to confirm the cause, and
repair the troubled point.
(13)
(2) Note for storage of autopilot (Refer to page 5-7.)
NOTE
(1) Turn all power switches of this system to OFF position, and cut the alarm
power (DC 24V) supplied to the autopilot stand.
(2) Storage temperature should be between -20°- +55°C.
Avoid the place with high humidity as far as possible.
(4) · Cover the system with a vinyl sheet, etc., when generation of dust is
considered.
When welding works, etc., are carried out near this system, be sure to mount a
suitable protection cover on the steering stand to prevent damage caused by
spark, etc.
(14)
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 (option)............................... 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 of AUTO unit............................................... 3-18
3.2.13 Operating method when alarm generated....................................... 3-19
3.3 Misuse (Mis-operation) and Countermesures............................................ 3-21
(15)
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-6000-EO 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
(16)
CHAPTER 1 GENERAL DESCRIPTION
~WARNING
eMalfunctions caused by failure of this system and mis-operation caused by operator's
mistake may cause such disasters at sea as collision with other ship or stranding,
resultant property damage and environmental contamination, and further hazardous
situation resulted in death or serious injury.
eGreat care should be taken to use this system being well acquainted with limitations of
performances and characteristics of this system, and familiar with the operating
method.
NOTE
This system is an extremely important navigational equipment which controls the
rudder to determine the advancing course of the ship.
Although safety designs such as providing alarm functions for failure and miss
operation, etc., are considered, a complete safety equipment is not available at
present.
In addition, because this system has a lot of important functions (multi functional
equipment), anyone cannot always use this system without failure.
Failure or miss handling of this system may cause disasters at sea. Accordingly,
full attention should be paid on use of this system.
And for safety navigation, execution of navigational technology and cautions are
user's obligation which are not reduced or exempted at all by using this equipment.
In particular, the "look out" (watch) is indispensable for steering in any steering
mode of the autopilot.
In addition, observe the following notes.
1. Be sure to perform daily check to keep equipment condition normal.
2. When abnormality is discovered as the result of daily check, investigate and
repair it at once to recover it to the normal condition. If necessary, request an
advice of TOKIMEC service engineer.
3. The steering modes of this system are AUTO steering, HAND steering,
REMOTE steering and NON-FOLLOW UP steering. Be familiar with and
skilled in every steering modes.
4. Be skilled in the emergency steering method to keep quite cool in emergency
situation.
5. When the alarm system operates, be sure to check it to confirm the cause, and
repair the troubled point.
1- 1
1.1 General
1.1.1 Autopilot
The autopilot PR-6000 is the system which controls the rudder to keep or change the ship's
course.
This system mainly consists of a steering stand installed in the wheel house and equipment
installed in the steering gear room (steering gear control system).
These two units are connected with cables and two lines of all control circuitry and steering
control systems except for rudder are provided as the standard (user can select to adopt or not
to adopt a part of circuitry).
As two complete systems are provided, accordingly, even if a failure occurs in operating
system, the steering function can be secured by switching to the other.
This operator's manual describes mainly the steering stand of the system. For other
equipment, separate volumes of instruction manuals are provided.
The equipment type is described as follows according to the configuration. The PR-6000 it
self is a generic name of each type and does not give a specific type name.
The equipment type installed on the ship is given by the name plate attached to the equipment
or by the finished plan of that system.
Please understand functions of the corresponding type.
[Explanation of equipment type]
PR-6000-00-000- (S-000)
I I I I I I I I I I
CDCV® ® ®®CV ®
<D Auto steering control type

• One of the following 5 combinations is available based on the purpose of use.
TOKIMEC recommends the ADPT and I 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
(2) 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 1 set
8: TG-6000 2 sets (dual)
1-2
Q) Type of steering stand
• Shows the steering stand type. The gylot type contains the gyro-compass in it.
1 : Stand type (stand alone type without a built-in gyro-compass)
2: Gylot 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)
5 : Console type (collective table type without a built-in gyro-compass)
7: Gylot type (stand alone type with dual built-in gyro-compasses)
8 : Console type (collective table type with dual built-in gyro-compasses)
9 : Unit type (unit assembled in type with dual built-in gyro-compasses)
@ Type of steering gear control unit
• Shows the type of steering gear control unit combined.
Note: PR-6000 output signal is shown in ( ).
DM : Single loop steering gear made by MITSUBISHI HEAVY IND. and
IDTACHI SHIP BUILD.
(Torque motor rotation control signal)
DW : Single loop steering gear made by KAWASAKI HEAVY IND.
(Torque motor rotation control signal)
DT Single loop steering gear made by HATLAPA.
(Proportional solenoid valve control signal)
DB : Single loop steering gear made in Russia.
(Megger torque motor rotation control signal)
ED : Solenoid valve control type (Solenoid valve control signal)
EO : Dry contact point only (potential free)
El : llOVAC ON • OFF signal
E2 : 24VDC ON • OFF signal
E3 : llOVDC ON • OFF signal - - - Power should be supplied by steering
gear maker.
LD : 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 with 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 limit switch - - - for LR rule
1-3
C3) Rudder control type - - - - Steering gear rudder angle
s : 35°
y: 40°
W: 45°
F : 60°
H : 70°
V : 25- 105° (VECTWIN)
® Rudder control type---- Number of rudder
S : Single rudder
T : Twin rudder (independent type)
D: Twin rudder (rod connected type)
(]) Rudder control type---- Number of steering gear pumps (number of single rudders
forT type)
1 1 (Note for ED type only)
2 2 (Note for ED type, DO type only)
3 3 (Note for DO type only)
4 4 (Note for PO type, DO 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.
1-4
1.1.2 Kinds of steering functions
Steering functions of this autopilot are classified to the four modes ; auto steering, hand
steering, remote steering and non-follow up steering.
These steering functions are selected with the mode selection switch I MODE I on the facia
panel of the steering stand.
In the three steering modes except for the non-follow up steering, the rudder order signal.is
applied to the steering gear control system through the rudder servo amplifier. The rudder
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 I AUTO Imode
Course is automatically kept with course setting.
The auto steering has two kinds of controls ; PID (proportional, integral, differential)
control* and ADPT (adaptive) control*.
a. PID control
(a) Auto steering by the PID control
In the PID control, the dual gain control method * is used for weather adjust-
ment function. The control is the weather adjustment (WEATHER, scale 0 - 10).
(b) In the PID control, the rudder ratio control (RUDDER ; taking rudder angle
ratio 0.3 - 2.0, the scale 4 corresponds to the rudder ratio 1.) and the rate control
(RATE; scale 1 - 9) are adjusted.
(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
(b) The ADPT control is selected by setting the ADPTIWEATHER knob in the
AUTO unit at I OPN Ior I CNF 1. Both are course keeping modes, and the
I OPN I is used for sailing in open sea in which the economic condition is preferred
to the course keeping capability, and the I CNF I is used when the course keeping
capability is preferred. When changing a course, the steering mode is automati-
cally switched to the course changing mode, and the ship turns most efficiently
and keeps the steady course within the ranges of the set rudder limit and the set
rate angle of 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.
1-5
(2) Hand steering I HAND I 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 I RC I mode (option)

There are two kinds of remote steering modes: The hand remote steering mode in
which the rudder follows up to the set order rudder angle by turning the remote dial
knob.
The remote auto steering mode in which the ship navigates along the pre-planned
course by the order from the external navigational equipment (NAV mode).
* Refer to Glossary in CHAPTER 7.
2. Non-follow up steering (Non-follow up control)
(1) Non-follow up steering I NFU I
The solenoid valves or control motors of the steering gear control system are directly
operated by throwing the NFU steering lever to the right or left.
Throwing the steering lever to the desired direction operates the rudder, and releasing
the lever stops the rudder motion when the rudder reaches the desired rudder angle.
(the rudder to be also returned to the previous angle by NFU)
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 gyro-compass is built in the stand.
Provided, only the width of the gylot stand with two TG-6000 gyro-compasses is double the
width of the stand with one gyro-compass (PR-6087).
1-6
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 thoroughly.
(1) Steering gear instruction manual.

(2) Instruction manual of gyro-compass connected.
(3) Instruction manual of external steering system or external navigational system
connected.
(4) Documents of autopilot finished plan.
1.3 Warranty
Warranty period 12 months after delivery of this system.
Warranty Contents TOKIMEC will immediately 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.
3. 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 earth quake, fire, etc.
Provided, however, that when other warranty provisions have been determined separately in
writing, those should have priority.
1-7
(){Irn{q) 8 - 1
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 steering 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 DMtype Installed in steering gear
room.
3. Control box 2 For DM type single loop autopilot ~
4. Control motor unit 2 TM 60 (made by TOKIMEC) ~
(2) PR-6000-DW (for single loop steering gear made by KAWASAKI HEAVY IN-
DUSTRY, torque motor control)

2. Repeat back unit 2 DWtype Installed in steering
gear room.
3. Control box 2 For DW type single loop autopilot ~
(3) PR-6000-DT (for single loop steering gear made by HATLAPA, proportional valve
control.)

2. Repeat back unit 2 DTtype Installed in steering gear
room
3. Control box 2 For DT type single loop autopilot ~
2-1
(4) PR-6000-ED (Other company's solenoid valve control)

2. Repeat back unit 2 E type or E wide angle type Installed in steering
gear room
3. Transformer box 2 ~
(5) PR-6000-LD (Electro hydraulic type, mechanical stroke)

2. Starter 2 Installed in steering gear
room
3. Hydraulic power 2 Ltype ~
unit
4. Cylinder and 2 ~
repeat back unit
(6) PR-6000-PD (Electric motor • mechanical stroke control made by MITSUBISHI

HEAVY INDUSTRY)

2. Power unit 1 P type floating lever control Installed in steering
gear room
3. Transformer box 2 ~
2.3 Specification
Refer to the autopilot PR-6000 finished plan kept in the ship.
2-2
2.4 Name and Function of Each Part
(1) Steering stand
r-------
1
CD I I
:_______ _JT1----t----@ I
I_------ _J
0 0
Fig. 2-1 Steering stand (front view, right side view)
NO Name Explanation Remark

1 Steering stand Contains electric circuitry and Printed
circuit boards, etc., for control and display.
DC power, connection terminal boards
are also included.
2 Facia panel Various panel units such as operation • Details are in the next
control and display, etc., are mounted. page, refer to (2).
3 Master compass Main body of gyro-compass when it is For details, refer to the
(option) built in. gyro-compass operator's
manual.
4 Gyro operation Panel for control • display of Ditto
panel (option) gyro-compass
2-3
(2) Facia panel
®
0 ®
(J)
~~~---Jill-®
G)
-1--+--CD
Fig. 2-2 Facia panel

1 Mode selection Panel unit having mode selection switch. I AUTO IIHANDI
unit I NFU liRe I
2 Mode selection Selects steering mode.
switch
3 Non-follow up Panel unit having NFU lever. I PORT II STBD I
unit
4 Non-follow up Steering lever used for non-follow up
steering lever (NFU) steering.
2-4
5 Auto steering Panel unit having controls for rate, PID :WEATHER,
control knobs rudder ratio and weather, etc., for RUDDER, RATE
auto steering ADPT: Course
keeping mode
(OPN, CNF) (option)
6 AUTO unit Unit having indicators for ship's heading
course, set course, operation mode,
and course setting knob, etc.
7 Course setting For auto steering course setting.
knob
8 Remote control Unit having remote steering selection
steering selection switch, etc.
unit (option)
9 Repeater unit Heading display unit of gyro-compass.
10 Repeater Knob to synchronize repeater reading
synchronizing with gyro azimuth.
knob
11 Repeater switch ON-OFF switch of repeater power.
12 Helm unit Unit having steering wheel, etc. Steering wheel, order
rudder angle indicator
13 Steering wheel Handle for hand control
14 System selection Panel unit having system selection
unit switch
15 System selection Switch for system selection No.1, No.2
switch
16 Order rudder For hand steering.
angle indicator
17 PS display Display lamps for taking rudder
lamps direction of steering control signal.
2-5
Complementary explanation of each panel unit function (The same numbers as those in the
figure are used.)
CD MODE selection unit

By switching the mode selection switch (2) , 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 I RC Imode, the HAND mode indicator lights and the
HAND steering continues until the remote steering location or the remote control
system (RC submode) is selected.
(3) Non-follow up unit

When the MODE selection switch is the non-follow up mode I NFU I, the steering
is possible with the non-follow up lever @ .
G) Auto steering control knobs

These are the knobs for steering control in AUTO I Remote auto steering (NAV
mode). There are No.1 system (right side) and No.2 system (left side).
ADPT I WEATHER :
• ADPT-AUTO [When adaptive I 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
I ADPT I and I CNF I, I OPN I display lamps light.
When the PID hand weather adjustment 0 - 10 is selected, the mode becomes to
PID control mode and the I PID I 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 between ADPT control and
PID control by this knob.
• PID-AUTO [When adaptive I 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 J
[ the boundary point of deviation angle for dual gain switching is automatically set
based on the current yawing 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 tum) control in PID-AUTO.
PILOT WATCH: Knob for setting the pilot watch alarm (5°-15°, common use in
ADPT IPID.)
RUDDER LIMIT: Knob for setting the rudder limit (5-35°, common use in ADPT I
PID)
2-6
® AUTOunit
When the MODE selection switch is switched to I AUTO I, 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 I AUTO I mode.
The course changing is made by pressing and rotating the COURSE SET. knob (j)
and the setting course is fixed when the knob is released. After that, the ship'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 for 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
lighting of one of LEDs on the bar graph.
The bar graph indicating the deviation disappears when the ship enters the setting
course.
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 I bar graph display
Course deviation CO.DEV: Displays COURSE DEVIATION or R.O.T. :
RATE OF TURN.
The course deviation shows the difference between the setting course and
ship's heading. The R.O.T. shows the turning angular velocity (rate of tum) in
turning of the ship.
The R.O.T. is selected when R.O.T. in the data selection indicator is selected,
and other than that the CO. DEV is selected.
When the deviation exceeds 30° in the CO. DEV display, or the rate of tum
exceeds 30° I min in the R.O.T. display, the lamp in the right end or left end blinks.
b. Data type display I data display

Every pressing the I <l SEL. I switch displays the following in that order.
Ship's heading I HDG 1- rate of tum I R.O.T. 1- alarm detail number
I ERR 1- ship's speed I SPD 1- no display (blank) - ship's heading ---.
For other displays than I HDG I in these, the setting values can be changed by
pressing I -o I or I +@ I switch while pressing DATA I CHANGE I switch
located at the lower right of the AUTO unit. (The currently setting contents are
displayed by pressing the I CHANGE I switch only.) The specified rate of
tum can be changed in the I R.O.T. I and the rate of tum in turning in the auto
steering mode can be specified. (Provided, it cannot be changed in the auto
steering mode and the remote auto steering mode (NAV), and in the latter, the
rate of tum specified with the autopilot becomes invalid.) In the I ERR I ,
currently generating alarm detail number can be called up in order. And, in
the I SPD I , the ship's speed input signal can be selected. As this display is
optional, however, it is not displayed if not attached.
In addition, when the mode selection switch is switched, the ship's heading is
automatically displayed.
2-7
graph display
Bar graph selection indicator Data selection indicator Data display

Steering mode indicator
No.1 ADPT/PID
HAND No.2 ADPT/PID

AUTO II RC
IR'II Individual alarm
white AUTO unit display area

No.1 SET.
COURSE
display No.I AUTO

SET. COURSE display
N M M I I I B I ' I I DC PWR I
00 Group alarm Control mode indicator
12 SG CNTIIlsG CNT II HAND M .]
indicator COURSE
SET. Rudder angle limit indicator
I GYRO I~ILOT w.IIAuTo M .I
DATA
IREP.PWRI~I RC M. I
lwHL OFF II LOW SPDI

DIMMER
Individual
alarm indicator
AOPT/ FOR PID PI.LOT RUDDER ~ ~ ADPT/ I FOR PID 1'-------, PILOT RUDDER
I WEA'I'HBR RUDDER. RA~B I HATCH )-IHI'r w Ll.Jl WEATIIER RUDDER RATE I WATCH LIMIT
c··~uv··~uv ~uv··\] vc· ~uv

_.- ao~~. 'a((j~~\)-· .. 'ar(j)~~~ ,~~a·a·_.~~:.ao·~~;.
·, · 10 1 :.· . _9 l ~ 'S . .. l! s . _ l s
Fig. 2-3 PR-6000 AUTO unit detailed drawing

c. Display I alarm display (Refer to Table 2-1.)
The steering mode display lamps I HAND I, I AUTO I, I NFU I and I RC
are located at the upper right. The system display lamps I 1-SYS. I, I 2-SYS. I
and the power supply display lamps I 1-PWR I , I 2-PWR are located at the J
upper left.
The adaptive control display lamp ADPT PID control display lamp PID I,
J J , J
control mode display lamps such as course keeping preferred mode display
lamp CNF and open sea navigation (economic condition preferred) mode
J J
I,
display lamp OPN and the rudder limit display lamp RUD. LIM.\ are
J I
located at the right middle area.
The group alarm lamps are S-Y-S-.-FA-IL----.,1, AUTO FAIL Iand I CAUTION
r-J J I
, and are located at the left middle area.
Others are No.1 and No.2 power failure alarm lamps I 1-PWR F I, I 2-PWR F J
and DC power failure alarm lamp DC PWR I I·

In addition, as the individual alarm display lamps, No.1 and No.2 steering gear
control aJ.arm lamps J lSG CNT J, 2SG CNT I
and hand steering modeI,
failure alarm lamp AUTO M. remote steering failure alarm lamp I RC M.
J J , J,
gyro failure alarm lamp I GYRO pilot watch alarm lamp PILOT W. I,
J , J
repeater power failure alarm lamp J REP. PWR J, AUTO unit display area
failure alarm lamp I INDICATE I , etc., are located at the left middle area.
d. Switches
Switches for lamp test I LAMP TEST J, alarm acknowledgment I ALARM
ACK I , dimmer I --o
I ~ , data CHANGE II J --o
I I +@ I are located at
the lower right, and the I <l SEL. I 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
J RC mode such as : Port Wing (P/W), Starboard Wing (S/W), Wheel House (W/H)
J
can be selected, and external navigation systems such as NAV, etc., can be selected
for the remote auto steering.
After turning the mode selection switch to the I RC I mode (all lamps of RC submode
blink), when the 8 (enable) switch and the switch to be selected (above 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 display lamp only
lights continuously (during blinking, the mode is I HAND 1.)
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 steering system side is provided, submode
can not be selected if the ready lamp located at the left side of the submode switch is not·
lighting.
2-9
@ 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 provided. The repeater synchronizing
knob ® used for repeater synchronization and the repeater switch @ are provided
on the panel.
For synchronization of the repeater card with the gyro bearing, tum OFF the repeater
switch and synchronize while pressing and rotating the synchronizing knob ® .
© Helm unit
When the mode selection switch is in I HAND I, the steering can be made with the
steering wheel @ , and the mode selection switch is in I RC I and the RC submode
is not selected yet (the HAND mode display lamp is lighting and the I RC I mode
display lamp is blinking), the steering 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 @ 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 switch @ 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
f'\larrn
Name of Cause of alarm Alarm Group alann display Remark
N"o individual detail SYSTE AUTO CAUTim
alarm display FAIL FAIL
(display name)
1 !AUTO unit MMA ---+PID EOl.l - - (U)
~isplay area communication is invalid
s abnormal MMA EEPROM error E01.2
Hard- RTCSRAM E01.3
ware is RTC battery E01.4 - - 0
abnormal Memory- E01.5
access OV
WDT restart E01.6
S. 110-1 input E01.7
(INDICATE) S. 110-1 Loop E01.8
2 PILOT Off course during course E02.1 - - 0
WATCH keeping in AUTO/ NAV
(PILOTW.) mode
2- 10
~arm Name of Cause of alarm Alarm Group alann display Remark
No individual detail SYSTE AUTO CAUTIO~
(display name)
3 GYRO GYRO---+PID E03.1 - u -
FAIL Communication is invalid
(GYRO) GYRO bearing is invalid E03.2
GYRO failure E03.3
GYRO bearing has E03.4 - - 0
large error
4 REP POWER gyro repeater power E04.1 - - u
FAIL failure
(REP. PWR)
5 No.1 Servo loop (starboard) E05.1 Except DM, DW
S/GCONT. Servo loop (port) E05.2 0 - - Option for twin rudders
FAIL ExceptDM, DW
Control motor failure E05.3 D type only
Overload (OL) E05.5 L type only

Low pressure (LP) E05.6 L type option
Low level (LL) E05.7 L type option
(lSG CNT) Open phase (OP) E05.8 L type o_I>_tion
6 No.2 Servo loop (starboard) E06.1 Except DM, DW
S/GCONT. Servo loop (port) E06.2 0 - - Option for twin rudders
FAIL Except DM, DW
Control motor failure E06.3 D type only
Overload (OL) E06.5 L type only

Low pressure (LP) E06.6 L type option
Low level (LL) E06.7 L type option
(2SG CNT) Open phase (OP) E06.8 L type option
7 HAND RSA power failure E07.1 u - -
MODE
I(HANDM.)
8 AUTO PID---+MMA E08.1
MODE Communication is invalid.
Order is abnonnal (D/A, AID E08.2 - 0 -
loop check is abnormal)
PID hardware is abnormal E08.3
ADPT---+PID E08.4 - 0 0 *1: When ADPT is
Communication is invalid. *1 *2 selected.
PID ---+ADPT E08.5 *2 : When ADPT is
(AUTOM.) Communication is invalid. not selected.
Option
9 RCMODE External 1 ---+ MMA E09.1 Option
Communication is invalid.
External 2 ---+ MMA E09.2
Communication is invalid. - - 0
External 1 Not Ready E09.3
External2 Not Ready E09.4
(RCM.) RC steering is abnormal. E09.5
2- 11
~am Name of Cause of alarm Alarm Group alann display Remark
No individual detail SYSTE MAUTO CAUTION

(display name)
10 LOW SHIP Ship's speed down ElO.l - - 0 Option
SPEED (When AUTO ADPT only)
(LOW SPD)
11 DC POWER DC power (battery) Ell.l - - 0 Including heading
FAIL failure monitor (option)
(DCPWR) •power fail
12 STEERING Steering wheel steering E12.1 - - 0
WHEEL, disengaged alarm
DISENGAGED
ICWHLOFF)
13 AUXFAIL Setting course invalid E13.1 - - 0 Option
(AUX) alarm
External alarm 1 El3.2 0 - -
External alarm 2 E13.3
External alarm 3 E13.4 - - 0
External alarm 4 El3.5
S. I/0-2 input abnormal E13.6
S. I/0-2 Loop abnormal El3.7
No.1 Servo loop (starboard) E05.1 0 - - ForDM,DW
No.1 Servo loop (port) E05.2
No.2 Servo loop (starboard) E06.1
No.2 Servo loop (port) E06.2
14 OPTION Option alarm 1 E14.1 0 - - Option
ALARM O__gtion alarm 2 E14.2
O__gtion alarm 3 El4.3
O__gtion alarm 4 El4.4
Option alarm 5 El4.5
Option alarm 6 El4.6
Option alarm 7 El4.7 - - 0
Option alarm 8 E14.8
Option alarm 9 E14.9 0 - -
Option alarm 10 E14.A
Option alarm 11 EI4.B - - 0
Option alarm 12 E14.C
- N0.1 N0.1 power no voltage - - - - Operates with DC power
POWER alarm
FAIL
(1-PWR. F)
- N0.2 N0.2 power no voltage - - - - Ditto
POWER alarm
FAIL
(2-PWR. F)
2- 12
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 configurations.
Autopilot Feed back

stand rudder anglo
signal
TG-6000
gyrocompass
Can be built in )
( autopilot stand Alarm power
DC24V
,.. - - - - - .... Speed signal

l _:;~ ~~
0
200 pulseJNM : Dial for remote I
(option)
1 ~a~c:_s.!_~ri~g_J
(option)
Wheelhouse
Example - - hydraulic circuit I mechanical link
----? power I analog signal
==::::) digital signal I drycontact point signal, etc.
Fig. 2-4(1) PR-60 0 0 -DM

PR-6000-DW type block diagram
r - - - - - - - - - Setting course
1 Auto navigation system
Autopilot Food back
stand rudder angle
signal
Steering
gear control
sigrLal
Steering gear room

Can be built in)
( autopilot stand Alarm power
DC24V
,..------Speed signal
I Speed log :=;::;:::::=,::::;:;:;.J. : Dial for remote I
'(oPti;n)- 200 pulse/NM
1~a~~S!_e:_ri~g_ J
(option)
Wheelhouse
Fig. 2-4(2) PR-60 0 0 -DT block diagram
2-13
AC100/110/115/220/440V 3¢
Autopilot
Feed back
stand rudder angle
,-----,Sigl"'al
~---+--l-~====:::!.._-----j
Steering
gear control
TG-6000 signal
Alarm power AC100/110/115/220/440V 3¢

DC24V
r----- ~Speed signal

I Speed log
I Dial for remote I Steering gear room
L (oPfi;n)- 200 pulse!NM
: ~a~~s!_~ri~g- J
(option)
Wheelhouse
Fig. 2-4(3) PR-6000-ED type block diagram
r--------~ Setting course

1 Auto navigation system
... - {0Pi[~)--- Autopilot Feed back
stand rudder angle
, - - - - - , sigl"'al
Stoonng
gear control
TG~O signal
Alarm power
DC24V
r---- --Speed signal

I Speed log
I Dial for remote I
L (oPfi;;-n}- 200 pulse/NM
: ~a~~s!_e:_ri~g_ J
(option)
Wheelhouse
Fig. 2-4(4) PR-6000-LD block diagram
AC100/110/115/220/440V 3¢
TG-6000
3¢
steering gear room

Alarm power
DC24V
r - - - - - - Speed signal
I Speed log
: Dial for remote :
L (oPfi;;-n} - 200 pulse/NM
1~a~~~e:_ri~g- J
(option)
Wheelhouse
Fig. 2-4(5) PR-60 0 0 -PO block diagram

2- 14
CHAPTER 3 OPERATING METHOD
~WARNING
eEach steering mode of HAND, AUTO and remote (RC) has specific attention points
for use. These are shown in the corresponding clauses with ~CAUTION and .&.
WARNING, etc. Observe strictly these items.
ePeriodical repeated training for emergency steering should be performed to deal with
smoothly in an emergency status from anywhere in the ship.
3.1 General
The operating method of the autopilot PR-6000 is described.
Proper operation of this system is possible when the steering gear driving the rudder and the
gyro-compass for bearing signal sensor are in running condition.
The gyro-compass, in particular, takes a certain time from its start to its settling due to its
characteristics.
Do not forget preparation before departure.
Read thoroughly separate instruction manuals supplied by each maker for own ship steering
gear (system) and gyro-compass, and carry out proper preparation and handling before
operation.
The autopilot PR-6000 can be operated at the steering stand except for the emergency
steering. The emergency steering to be carried out in the steering gear room should be made
in accordance with the instruction manual supplied by the steering gear maker.
3-1
3.2 Operating Method of Steering System
~WARNING
When trouble or failure happens during the AUTO steering (gyro-compass or magnetic
compass is being used) or the remote steering, take safety navigational means such as
reducing the ship's speed, and then tum the mode selection switch I MODE Ito the
I HAND I position, and tum the steering wheel manually to steer.
When the hand ·steering is impossible, tum the system selection switch I SYSTEM I to
another system, and tum the steering wheel to steer in the same way.
When the hand steering is impossible, tum the mode selection switch I MODE I to the
I NFU Iposition and steer with the non-follow up steering lever.
When the steering is still impossible, take a means such as ordering astern of the
engine, etc., to stop the ship safely. Then, make the emergency steering according to
the instruction manual of the steering gear side.
~WARNING
eDo not use the auto steering until the gyro-compass has settled. If not, own ship does
not set on the desired course and may cause collision or stranding.
eBefore switching the steering mode, be sure to set the steering knob at the center, and
then switch the mode selection switch I MODE I.
If not, an unexpected large rudder may be taken.
eHold the mode selection switch surely with hand and tum it correctly to the mark 0
which shows the correct position.
Interrupting the selection on the way may cause malfunction.
In this case, make sure that the steering mode is switched correctly with the steering
mode display lamp (I AUTO I, I HAND I , I NFU I, I RC I).
eLoosened play in fixing the knobs for the mode selection switch I MODE I ' system
selection switch ISYSTEM I and non-follow up lever I P<=>S I may cause wrong
switching or operation.
Retighten the two screws fixing the knob to the switch, or contact TOKIMEC service
department.
3-2
3.2.1 Preparation before start
(1) Steering stand (wheel house)
a. Make sure that the gyro-compass points to the true north.
b. Make sure that the compass repeater of the steering stand coincides with the
gyro-compass reading. When there is a difference between them , turn OFF the
repeater switch, and press and turn the repeater synchronizing knob to coincide the
reading. Then, tum ON the repeater switch.
c. Make sure that the system selection switch r--1_S_Y_S_T_E_M----.,1 is OFF and the power is
OFF.
d. Make sure that the mode selection switch I MODE I is in the I HAND I (manual)
position.
e. Tum the steering wheel of the helm unit to set the pointer of the order rudder angle
indicator at the center.
Repeater switch Compass repeater
Repeater
synchronizing
knob
dr
~----·-··
0
Order rudder
angle indicator
System selection switch

Helm unit steering wheel
Fig. 3-1 Facia panel (preparation before start)
3-3
(2) Steering gear (steering gear room)
Before start of the steering gear side, carry out all preparation works described in the
separate instruction manual supplied by the steering gear maker.
After finishing these, start both two steering gears.
3.2.2 Start
(1) The power is supplied to this system by turning the system selection switch
I SYSTEM I to I NO.I I or I N0.2 I position.
Make sure that the power indicator on the AUTO unit ( J 1-SYS J or J 2-SYS J)
lights.
I
~~--~·-··-· . '
''
!I SYSTEM
OFF
No.2 Nn. 1
il
() /
/
I
:1
(
/
i
!
!I \
Fig. 3-2 System selection switch (Facia panel partial drawing)
(2) Each illumination, steering mode indicator, data display, etc., light. For No.I or
No.2 setting course display, the selected side only lights.
(3) The steering mode at this time is I HAND I because the mode selection switch has
been set at I HAND I in the preparation before start. If the steering mode has been
set at the RC steering mode by any chance when the power switched ON, the steer-
ing mode indicator HAND I lights and the RC display lamp bli:nks to inform
J J J
that the RC submode is not selected. Until the RC submode is selected,

I HAND I function activates and the steering other than I HAND I cannot be mode.
(4) To switch the system during operation, turn the system selection switch SYSTEM J J
from No.I to No.2 or No.2 to No.1. Then the system is turned to the selected
system.
Lb.CAUTION
eset the pointer of the order rudder angle indicator on the helm unit at the center before
turning the system selection switch to No. 1 or No. 2 I to start the PR-6000, or
J J J
before turning the mode selection switch to HAND from the other mode. If not ,
J J
taking a rudder may suddenly start and is dangerous.
. 3-4
3.2.3 Stop (including emergency stop)
(1) Tum the steering wheel to set the pointer of the rudder angle indicator at the center.
(2) Tum the mode selection switch I MODE I to I HAND I .
(3) Tum the system selection switch I SYSTEM I to I OFF I and tum OFF the power.
(4) Make sure that various illuminations and displays go off.
(5) Then, perform operation for ending at the steering gear side and operation for
confirming ending, as necessary.
(6) Perform (1)- (3) in the same way for emergency stop.
3.2.4 Emergency steering method

If trouble happens during steering, perform the following emergency steering.
(1) Emergency steering 1.

a. When trouble or failure happens during the AUTO steering (gyro-compass or
magnetic compass is being used), remote auto steering or remote hand steering, take
navigational safety means first such as reducing the ship's speed.
b. Tum the mode selection switch I MODE I to I HAND I (hand steering), and tum
the steering wheel to steer.
(2) Emergency steering 2

a. When the hand steering (emergency steering in (1) b.) is impossible, tum the system
selection switch I SYSTEM I to another system.
b. Tum the steering wheel manually to steer.

a. When the hand steering with the both systems N0.1 and N0.2 are impossible, tum
the mode selection switch to I NFU I (non-follow up steering).
b. Steer with the non-follow up steering lever.

a. When the non-follow up steering with one system is impossible, select another
system by turning the system selection switch.
b. Steer with the non-follow up steering lever.

a. When steering by procedures (1)- (4) is impossible, take a means such as ordering
astern of the engine, etc., to stop the ship safely.
b. Then, make the emergency steering according to the instruction manual of the
steering gear.
3-5
/
3.2.5 Hand steering method
~WARNING
ewhen the rudder angle selection switch is installed, set the maximum rudder angle
selection switch at 50° unless the steering with a larger rudder is needed. If not, an
unexpected large rudder may be taken to cause a dangerous steering.
(1) When turning the mode selection switch to the I HAND I position, the system enters
the hand steering and the steering mode indicator I HAND /lights.
(2) [----]is shown in the AUTO SET. COURSE display.
(3) Tum the steering wheel to steer while seeing the order rudder angle pointer of the
order rudder angle indicator on the helm unit.
Confirm the rudder tiller rotating angle with the rudder angle receiver (indicator).
(4) In other steering modes than the auto steering and remote auto steering modes, the
course setting display can be used as a course memory. For using this course
memory, switch it to the course memory display by pressing the course setting knob.
The course memory display value can be changed by pressing and turning the course
setting knob at the same time. The decimal point blinks to show this is different
from the setting course in the auto steering.
(No.2 AUTO
SET. COURSE
display)
(No.I AUTO
SET. COURSE
Order rudder
display)
angle indicator
Order rudder
angle pointer Course setting
knob
System selection Mode selection

switch switch
Fig. 3-3 Hand steering

3-6
3.2.6 Auto steering method
Refer to 3.2.11 for adjustment of auto steering control knobs, etc., used for auto steering.
~WARNING
eDo not use the auto steering in confined sea areas or narrow channels. In addition, do
not switch to the auto steering too.
eWhen the rudder angle selection switch is installed, select the maximum rudder angle
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.
eWhen 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.
eKeep a strict "look out" (watch), in particular, during auto steering. Careless "look
out" (watch) may cause collision or stranding.
eWhen 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 I <J SEL. I 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.
eWhen 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).
~WARNING
eWhile the ship's speed is low, when the mode is switched to the auto steering from the
other steering modes, the set course may not be able to maintain. Steer under
monitoring the ship's motion.
eMake sure of the safety around own ship before changing the course during auto
steering.
ecourse changing during auto steering can be made to 359° of right or left direction by
rotating the course setting knob. A large angle course changing, however, is
dangerous , and a course changing within 45 ° should be made at a time and repeat that,
if necessary, to deal with unexpected dangerous situation.
When a larger course changing than this is performed by any chance, monitor
malfunctions and dangerous conditions till completion of the course changing, and
take a navigational safety means if necessary.
~CAUTION
enuring the auto steering PID control mode is used, various knobs in the auto steering
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.
3-7
eAlways collect, note and accumulate data for the adjusting positions of various knobs
of the PID control so that the optimum values can be set according to variation of
sailing conditions.
ePay attention on the following points when selecting the auto steering I ADPT I
(Selecting I OPN I /I CNF Iof I ADPT I WEATHER I 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 I OPN I mode
after course changing by 10° of port and starboard two or three times in the hand
steering.
2. If weather becomes stormy during using the I OPN I mode, switch to the I CNF I
mode when the yawing width (half side) becomes more than 50% of the pilot
watch set value, as the standard.
3. When the yawing width is considered to be large (observing for approx. 15
minutes), stop using the ADPT mode and steer with the PID control.
4. When yawing is large in calm sea
When load condition is remarkably changed, yawing may become large at the
departure. In this case, steer as follows.
• Change course by 1Oo of port and starboard, two or three times with the hand
steering.
• Switch to the OPN mode of the auto steering and observe the state for approx. 15
minutes.
• When the yawing still continues, switch to the OPN mode, and perform auto
course changing by 10° of port and starboard to observe the state.
• When yawing does not settle yet, contact TOKIMEC service department.
eSwitching between the PID mode (WEATHER) and the ADPT mode (OPN/CNF) with
the weather adjusting control during auto steering should be made only when the
course is keeping. Switching in a large course changing may cause trouble in
operation of the auto steering.
(1) Tum the mode selection switch to the I AUTO I position, and the setting course is
shown in the SET. COURSE display.
The initial value of the setting course when switching is the ship's heading at that
time (accordingly, a sudden turning does not occur even switching to the I AUTO
position).
Provided, in hand steering, NFU steering or remote handing (option), when the
course setting display is used as the course memory, the course memory value can be
used for the setting course. While pressing the course setting knob when the mode
selection switch I MODE I is turned to I AUTO I position, the course memory
display value becomes the setting course as it is. Make sure that the setting course
is correct before releasing the hand from the knob because course changing starts
when releasing the knob.
(2) Tum the course setting knob while pressing it to match the No.1 or No.2 setting
course display value with the desired course. The setting course can be set at
0-359° in 1° increment and the ship turns to the direction of the knob turning direction
even when the course changing exceeds 180°. Provided, repeat a course changing
within 45° for a large angle course changing to prevent dangerous situations.
(3) When changing the course during auto steering (auto course changing), press and rotate the
course setting knob at the same time to set the pointer at the desired course and release the
knob (the value is shown in the SET. COURSE display of the system side selected). After
that, the rudder is taken automatically and the ship turns to the new course.
3-8
• At this time, when the course deviation (CO. DEV: COURSE DEVIATION) of
the bar-graph selection indicator of the AUTO unit is lighting, the deviation is
shown in the bar-graph indicator, and the course deviation reduces with the
turning and goes off when the ship is on the new course.
• The R. 0. T. (rate of tum) in the ship's turning is controlled within the specified
value other than when OFF is specified for the specified turning rate.
(4) Auto steering with magnetic compass (When the bearing sensor is a magnetic compass.)
a. Confirm the magnetic compass variation
b. Tum the ship's heading by hand steering to the desired course.
Confirm that the ship sails along the desired course.
c. Confirm the setting positions of various adjusting controls for auto steering.
d. Tum the mode selection switch I MODE I to the I AUTO I position.
The ship goes straight along the set course (course keeping).
e. Auto course changing
For course changing during auto steering, tum the course setting knob of the AUTO
unit to input the desired magnetic course bearing into the SET. COURSE display,
and the rudder is automatically taken for the ship to turn, and the ship enters the new
course (when the variation has been corrected at the magnetic compass side, input
the true heading).
(5) Refer to 3.2.11 for adjusting method of the auto unit adjusting controls for auto
steering.
3.2. 7 Remote auto steering (NA V) method (option)

On the remote auto steering (NAV) method, two methods are included and AUTO-NAY
which is controlled with setting course or RC-NAV which is controlled with order rudder
angle can be selected.
On the AUTO-NA V which is controlled with setting course, the ship's rudder is controlled
with the received data for automatic steering from external navigation equipment
automatically.
On the RC-NAV which is controlled with order rudder angle, the ship's rudder is controlled
with the received order rudder angle signal from external navigation equipment directly.
The operation of both method is almost same then operation for AUTO-NAY is explained in
this section. Also some differed ports of RC-NA V are included.
~WARNING
eDo not use the remote auto steering (NA V) 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 reducing speed should be taken. If not, prompt action cannot be
made, and may cause collision or stranding.
eKeep a strict "look out" (watch), in particular, during remote auto steering. Careless
"look out" (watch) may cause collision or stranding.
elf an alarm generated in the autopilot or gyro-compass, heading monitor (option),
speed log (option) and tracking navigational equipment side during the remote auto
steering, make sure at once of the content. When an abnormality affecting the steering
is generating, switch at once to one of the other steering modes.
3-9
(1) When the data for the remote auto steering (NAY) (Ready signal for RC-NAY) are
received from external navigational' equipment, the NAY-Ready lamp comes on.
RC Selection
Remote control
selection unit
NAY-Ready lamp
~~~~ RC Selection Unit
MODE
HAND
AUTO
0 NFU
0 Mode selection switch
~~~~ Mode Selection Unit
Fig. 3-5 Remote control selection unit (facia panel partial drawing)
(2) When the mode selection switch I MODE I is turned to I RC I, the mode becomes
the RC mode not selected condition (in this condition, the hand control is possible).
At this time, pressing I NAY Iand 8 simultaneously makes the mode the
remote auto steering mode, and the NAY mode indicator comes on. And the steering
mode indicator I RC I becomes continuous lighting from blinking.
At this time, the setting course received from the external navigational equipment is
displayed on the setting course display (On the RC-NAY, no setting course signal is
included then no displayed).
When the NAY-Ready lamp is off, switching to this mode is impossible.
(3) For switching to the other mode in the remote control selection unit, press the mode
switch and ~ switch at the same time.
(4) For switching to the other mode than I RC I , operate the mode selection switch
I MODE I.
(5) According to the specification of the connected navigation equipment, the RUDDER
LIMIT on just course change is ignored on the some systems.
3- 10
3.2.8 Remote hand steering (RC: Remote Control) method (option)
~WARNING
~Do not use the remote hand steering (RC) in confined sea areas or narrow channels.
Prompt avoidance is not in time and may cause collision or stranding .
• During the remote hand steering, always confirm the rudder angle and its direction
displayed on the rudder angle receiver (indicator). If not, when failure generates in the
remote control steering line, discovering the failure may be delayed to cause collision
or stranding.
eset the remote control steering knob at the center before switching to the remote hand
steering mode from the other steering mode. If not, a large rudder may be taken after
switching to cause collision or stranding.
elf an alarm generated in the autopilot or remote control unit side during the remote
hand steering, make sure at once of the content. When an abnormality affecting the
steering is generating, switch at once to the other steering mode.
( 1) For the specification in which confirmation action at the remote hand steering location is
not determined.
a. When the mode selection switch I MODE I is turned to I RC I , the mode becomes
the RC mode not selected condition. (The steering mode indicator I RC I blinks.
The hand steering is possible.)
At this time, pressing the 8 switch of the remote selection unit while pressing the
steering location switch moves the mode to the remote steering mode and the lamp of
the steering location comes on. The steering mode indicator I RC I becomes
continuous lighting from blinking.
b. Tum the remote control steering knob to steer.
3- 11
Steering mode
indicator
__,__......- Steering location
selection switch
= (P/W, W/H, S/W)
NA V entry switch
0
q.J"iilC8CJ1£1 IIC Select~on Unit. Remote control
selection unit
NFU
PORT STBD
9-J VOICiWl8C I N r U Un u
MODE
Steering mode
selection switch
Remote control
steering (optional
9-J~I un~t.
!'lode Selection
function) position
Facia panel
Fig. 3-6 Remote control steering
(2) For the specification in which confirmation action at the remote hand steering location is
determined.
a. When the mode selection switch I MODE I is turned to I RC I , the mode becomes
the RC mode not selected condition.
(The steering mode indicator I RC I blinks. The hand steering is possible.) At
this time, pressing the steering location switch while pressing the switch of the 8
remote control selection unit moves the mode to the confirmation action waiting
condition at the remote control steering location, and the steering location display
lamp only blinks. Then, press the confirmation switch at the remote control
steering location. The mode then moves to the remote control steering mode, and
the steering location indicator lights continuously, and the steering mode indicator
also becomes continuous lighting.
3- 12
(3) For the specification in which the steering selection switch is in the remote hand
steering location (the location where the remote control is connected).
a. When the steering mode selection switch of the facia panel has been in I RC I , press
the steering selection switch in the remote control steering location, and the buzzer
sounds and the selection indicator blinks. When pressing the steering selection
switch continuously till the indicator lights, the remote control at that location
becomes possible. When pressing the steering selection switch at the other location
or changing the steering location at the remote control selection unit of the facia
panel or turning the mode selection switch to the other positions than I RC I , the
buzzer sounds again and the selection indicator goes off, and the remote control at
that location becomes impossible.
3.2.9 Non-follow up steering (NFU) method
A cAUTION
ePerform non-follow up steering to confirm operation of the steering system at least
once every time when the operator changes.
eThe rudder is taken continuously during the lever is kept turned. Steer while seeing the
rudder angle receiver (indicator). A smaller or larger rudder angle than an expected
value may cause trouble in steering and may result in collision or stranding.
(1) Turn the steering mode selection switch to the non-follow up position I NFU 1.
The steering mode becomes the non-follow up steering and the steering mode
indicator I NFU I lights.
(2) Throwing the non-follow up steering lever in one direction moves the rudder in the
same direction. The rudder is taken during turning the lever, and the rudder stops
motion when the lever is returned to the neutral position.
(3) To return the rudder to the center, tum the lever in the reverse direction till the rudder
returns to the center while seeing the rudder angle receiver (indicator).
3- 13
3.2.10 Override steering method (option)
~CAUTION
eTaking a large 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.
econfirm safety around when steering with the override unit.
eWhen switching to the override steering during the auto steering or remote auto
steering (NA V), and switching again to the auto steering or remote auto steering from
the override steering after a while, a quick turning of the ship may occur. Before
switching to the auto steering, set the ship's heading at that time as the set course for
keeping the course, and make the original set course and NA V course invalid.
When the ship is to be kept on the original course or on the new course, operate the
course setting knob or stop the remote auto steering once and switch to the NAY
steering again. The preset course invalid alarm is indicated till this operation is
performed (option).
(1) The override steering (interrupt steering) is used, as a rule, in other modes than the
non-follow up steering or hand steering. For example, in the auto steering, external
equipment interrupts temporarily in the steering.
(2) When the selection operation is performed at the external override unit, the control
right moves to the override unit temporarily.
(3) Releasing operation of the override steering at the override unit returns ~he control
right to the original steering mode.
(4) During override steering in the auto steering, the pilot watch setting (PILOT
WATCH) or the rudder limit (RUDDER LIMIT) becomes invalid.
3.2.11 Adjusting method for auto steering

(1) For the PID, the auto steering adjusting control knobs are weather control (AUTO/
0-10), rudder ratio (1-9), rate of tum (1-9), pilot watch (5-15°) and rudder angle
limit (5-35°).
(2) For the ADPT (option), as either of ADPT or PID steering can be selected, the ad-
justing control knobs are ADPT course keeping mode (OPN/CNF) I PID manual
weather control (0-10), rudder ratio (1-9), rate ofturn (1-9), pilot watch (5-15°) and
rudder angle limit(5-35°).
And selection of ADPT/PID is made by setting ADPT course keeping mode I PID
manual weather adjustment.
In the PID or ADPT steering mode, these control knobs perform adjustments (selections)
shown in Table 3-1.
3- 14
PID ADPT
(option)
Rate of turn (RATE) u -
Rudder ratio (RUDDER) 0 -
Weather adjustment (WEATHER)--- Manual only with ADPT 0 -
Course keeping mode selection (OPN/CNF) - 0

Pilot watch setting (PILOT WATCH) 0 0
Rudder angle limit setting (RUDDER LIMIT) 0 0
Note: - shows no function.
(3) Although these controls have correctly been adjusted by TOKIMEC service engineers in
the trial run at the shipyard, the proper values may vary depending on the ship load
condition and sea state. Readjust these controls in the procedures shown below.
ADPT course keeping mode (OPN/CNF) (option)

PID weather adjustment (WEATHER) Rudder angle limit
Rate of turn (RUDDER LIMIT)
. ·-· !
PILOT
. --~f:.?; __ .l WATCH
---- ---- --- - - - -----------------'
Rudder angle limit Pilot watch

Rudder ratio
(RUDDER LIMIT) (PILOT WATCH)
(RUDDER)
No.2 System No.1 System
Fig. 3-7 Auto steering adjusting section (AUTO unit)
a. Rate of turn (RATE)

The optimum value of rate of turn changes depending on the load condition.
• Set the RATE knob at the optimum value till now (if unknown, set at [4].).
• Set the RUDDER at the optimum value till now (if unknown, set at [4].).
• Set the WEATHER at [0].
Go the ship straight in about 10 minutes and observe the yawing.
Change the RATE by 1-2 graduation and observe the yawing width in about 10
minutes again.
Change the RATE value gradually, and set it at the position where the yawing width
becomes minimum.
3- 15
b. Rudder angle ratio (RUDDER)
The optimum value of rudder ratio changes depending on the ship's speed.
• Set the RUDDER knob at the optimum position till now (if unknown, set at [4].).
• Set the RATE at the optimum position.
• Set the WEATHER at [0].
In the same way as the RATE adjustment, change the RUDDER by 1-2 graduation
under observing the yawing width in the straight going, and set the RUDDER at the
position where the yawing width becomes minimum.
c. Weather adjustment (WEATHER)

The weather adjustment becomes necessary when weather or sea state changes. It is
a desirable condition that the ship goes straight with a rudder angle as small as
possible (a lower angle than 5° is desirable.) and a less number of rudder operations
(less than 6 times a minute is desirable.).
• The course keeping capability becomes better with [ a smaller value ] than the optimum
value, but the number of rudder takings with a large rudder angle becomes more than
necessity.
• When sea state is very stormy, set the WEATHER at the same value as the yawing
width.
• When sea state is calm, set it at [0].
• When sea state becomes stormy, set it a [larger] value.
• Setting at a [larger] value than the optimum value makes the rudder angle and
number of rudder takings less , but the course keeping capability becomes worse
and the yawing width becomes large.
d. Course keeping mode selection [OPN, CNF---- OPEN (open sea sailing),
(economic condition is preferred), CONFINED (course keeping is preferred)]
For selecting the ADPT control mode, tum the ADPT I course keeping mode I PID
knob weather adjustment (WEATHER) knob to the [OPN or CNF] position. When
the ADPT control is selected, the weather adjustment is automatically made and
manual adjustment becomes unnecessary. However, switching from the PID to the
ADPT should be limited in the course keeping mode only. When this switching is
selected during a large course changing, troubles may occur in operations of the auto
steering.
And, if the ADPT steering control circuitry becomes abnormal during selecting the
ADPT steering, the mode is automatically changed to the PID steering. (Refer to the
troubleshoot number TS-12 in Table 4.2 countermeasure table.)
<Remark> OPN, CNF have the following meanings.
OPN: When economic condition is preferred in course keeping with the least necessary
steering even with permitting a little meandering such as in sailing in open sea.
CNF: The course keeping accuracy of going the ship straight is preferred even with
taking a large rudder.
3- 16
e. Pilot watch, (PILOT WATCH)
During auto steering, when the course deviation exceeds the value set at the pilot
watch, the alarm generates.
The adjusting range is 5-15°. This becomes invalid during the override steering.
When test is performed during anchoring, select auto steering with minimum set pilot
watch and set setting course at over 5° from ship's heading.
After about 15 sec, alarm will be generated.
After tested, reset the pilot watch to the previous value.
f. Rudder limit (RUDDER LIMIT)

This is the adjustment to limit the rudder motion to the least necessary rudder angle
during [AUTO] steering, and a value between 5°-15° can be set.
The set value of 15° is sufficient for usual course keeping and course changing.
When the ordder rudder angle reaches the set limited angle, the rudder limit indicator
lights.
The limit angle is based on the integral rudder, and a difference in PORT and STBD
directions related to the rudder center may occur based on sea state or the ship's
shape. This becomes invalid during the override steering.
According to the specification of the connected navigation equipment and during
[AUTO-NAV], the RUDDER LIMIT on just course change is ignored on the some
systems.
(4) Designation of turning angular velocity (I R.O.T. I rate of tum)

Pressing the AUTO unit I <l SEL. I switch a number of times lights the data selection
indicator I R.O.T. I and shows the rate of tum (unit deg/min). At this time,
pressing the DATA I CHANGE I switch located at the lower right shows the
designated rate of tum and the displayed value can be changed by pressing I -o I or
I+@ I while pressing DATA I CHANGE I.
This value becomes the designated rate of tum. The setting, however, cannot be changed
during auto turning and remote auto steering with setting course (AUTO-NAV) (option).
When this setting is OFF, the ship does not tum at the constant rate of tum. The
I R.O.T. I display blinks during turning at the designated rate of tum in auto turning.
The order turning angalar velocity from external navigation equipment is displayed
when auto steering with setting course (AUTO-NAV) is selected.
However OFF is displayed when no order turning angular velocity type equipment is
used.
3- 17
Data indicator
I <J SEL. I switch

Set. course
display (No.2) AUTO unit
Set. course
dispaly (No.1)
~--;:;;~~~====t- Course setting
knob
I --o II +@ Iswitch
CHANGE
switch
Mode selection
switch
Fig. 3-8 AUTO unit data display
3.2.12 Data display method of AUTO unit

(1) Ship's speed display
The I SPD I of the data selection indicator lights when pressing the I <J SEL.
switch number of times, and the ship's speed (unit kt) is displayed. The souce of
input ship's speed signal can be selected by pressing I --o I or I +@ I while pressing
the DATA I CHANGE I switch. When the hand ship's speed is selected [initial
character [ ], reset that if the ship's speed changes.
Ship's speed input signal Example of ordinary Example of display when

display operating CHANGE switch.
1 Auto ship's speed
20.5 P-Lc
2 Hand ship's speed
[ 15.0 p Oc,_PYOc
(0-40kt)
3 Gyro (via) ship's speed
18.5
or
Ciooc
[ 1'1.0 (00 is set at gyro side.)
( 1 or 3 is not included according to the specification.)
3- 18
(2) Alarm detail display (ERR display)
The I ERR I of the data selection indicator lights when pressing the I <J SEL.
switch number of times, and the alarm detail number is displayed. When plural
alarms generate, the other alarm detail number is displayed by pressing I -o I or
I +@ I while pressing the DATA I CHANGE I switch. Refer to 4.3 the
troubleshooting countermeasure table for the meanings and countermeasures.
(3) Rate of tum (R.O.T.) display

The I R.O.T. I of the data selection indicator lights when pressing the I <J SEL.
switch number of times, and the turning angular velocity (R.O.T.) (unit deg/min) is
displayed. The R.O.T. can be designated when the R.O.T. is displayed. For that
method, refer to 3.2.11 (4).
(4) Ship's heading (HDG) display

The I HDG I of the data selection indicator lights when pressing the I <J SEL. I switch
number of times, and ship's heading (unit deg) is displayed in the data indicator.
(5) All display lamps light by pressing the I LAMP TEST I switch and the buzzer
sounds. At this time, the dimmer is released and all lamps light with the highest
illumination.
(6) Dimmer (DIMMER)

illumination of display lamps, etc., darkens by pressing the I -o Iswitch and brightens
by pressing the I +@ I switch. Adjust it to match brightness around.
3.2.13 Operating method when alarm generated

(1) Operation when alarm is generating
After confirming the name of the blinking indicator lamp in the AUTO unit, press the
I ALARM ACK I switch to stop the buzzer sound. The group alarm indicator
changes from blinking to continuous lighting. Lighting of the invidual alarm indicator
shows continuation of the alarm condition, and not lighting of the individual alarm
indicator shows recovery of the alarm condition.
(2) Confirmation of generating alarm detail number

When the generating alarm detailed content is to be known for check and maintenance,
press the I <J SEL. I switch number of times to display the I ERR I. Further, by
pressing I -o I or I +@ I while pressing the DATA I CHANGE I switch, the other
alarm detail number can be called up.
Every pressing the I +@ I switch displays the alarm generated after currently
displayed alarm, and every pressing the I -o I switch displays the alarm generated
before currently displayed alarm.
3- 19
(3) Operation when group alarm indicator are lighting
a. When the I SYS. FAIL I alarm indicator is lighting, switch the system selection
switch to another system currently not operating (from No.1 to No.2 or from No.2 to
No.1).
b. When the I SYS. FAIL I alarm indicator is not lighting and the I AUTO FAIL I
alarm indicator or the I CAUTION I alarm indicator is lighting, switch the system
selection switch to another system currently not operating (from No.1 to No.2 from
No.2 to No.1), or switch the steering mode selection switch to the hand steering
I HAND I to steer with the steering wheel.
3-20
3.3 Misuse (Mis-operation) and Countermeasures
PROHffiiTION
(l)Wetting the autopilot operation unit (facia panel) by water or drink may cause
growing mold or performance reduction.
Do not steer or operate with drinking water, etc.
Wipe off liquid at once if the stand is wetted.
Proper use of this system gives full functions of the system.

The following phenomena (operation), however, will occur by miss use or miss handling for
other than the original purpose, which TOKIMEC can foresee.
NO Phenomena (operation) in misuse Countermeasure

1 When operating the steering mode CD Be sure to confirm that when the steering
selection switch instead of the system mode selection switch or the system
selection switch or vice versa by mistake. selection switch is operated, the steering
mode indicator or the system indicator
is changed over.
(2) Understand the difference between the
steering mode selection switch and the
system selection switch by each position
of the left and right, shapes of knobs and
length of switching sound.
2 Course does not change even by turning The course does not change by turning the
the course setting knob. knob only to prevent malfunction.
Tum the course setting knob while pressing the
knob.
3 The display of the SET. COURSE display Stop turning and release the hand from the
changes during turning the course setting knob. The system recognizes completion of
knob, but the course does not change. the course setting, and the ship starts course
changing.
4 Adjusted values do not change even by Use control knobs (5 pes) located at the right side
turning knobs of the auto steering when No.1 system is selected with the (pilot)
adjusting section. system selection switch, and knobs located at the
left side (5 pes) when No.2 system is selected.
3-21
5 Yawing width in the auto-steering or When the ADPT control is selected, the rudder
overshoot amplitude in auto course ratio and the rate of tum are automatically
changing does not change even by turning adjusted and these knobs are not used. For
knobs of RUDDER and RATE at the auto adjustment of the ADPT yawing width, etc.,
steering adjusting section during lighting refer to 3.2.6 .& CAUTION of this manual.
the I ADPT I indicator of the control
mode indicators.
6 The data selection indicator I R.O.T. I When the rate of tum is displayed in the data
blinks, and the rate of tum in the auto indicator by pressing the I <J SEL. I switch until
course changing is too large (small). only the I R.O.T. I display lamp blinks
(lights), the rate of tum set value in the auto
course changing is displayed by pressing the
I CHANGE I switch. When the rate of tum
reaches this value, the I R.O.T. I indicator
blinks. When this set value is not suitable,
reset it according to 3.2.11 (4) of this manual.
7 Some display lamps do not light in the The following lamps are for optional specification.
lamp test. When the option is not installed in own ship,
the lamp does not light in the lamp test.
(Refer to Fig. 3-9.)
CD a) I RC Ilamp of steering mode indicator.
b) I RC. M Ialannindicatorofindividual
alarm [This indicator lights only when
there is RC (remote control) position
in steering mode selection switch].
Q) a) I PID I lamp of control mode indicator.
b) I ADPT I lamp of control mode
indicator.
c) I CNF I lamp of control mode indicator.
d) I OPN I lamp of control mode indicator.
.e) I SPD Ilamp of control mode indicator.
f) I LOW SPD I alarm indicator of
individual alarm (lights only when
ADPT control is attached.)
(3) 1.-A--=-=ux~l alarm indicator of individual alarm
(lights only when the optional alarm is
attached.)
3-22
8 The compass repeater cannot be Synchronize the repeater after turning the
synchronized. (The repeater repeater switch located at the lower left repeater
synchronizing knob is too heavy to turn.)
unit to OFF.
The compass repeater does not follow-up Be sure to return the repeater switch to ON
the gyro bearing. after synchronizing the repeater.
9 The dimmer (illumination adjustment) for The dimmer for the compass repeater or the
the compass repeater or the order rudder order rudder angle indicator is independently
angle indicator is inoperative. adjusted. Adjust with the adjusting knob in
each unit.
10 The I WHL OFF I alarm generates in In the steering mode without using the steering
other modes than the hand steering wheel, be sure to position the steering wheel at
(HAND) mode when turning the steering the center. For details of this alarm, refer to
wheel. TS-14 in Table 4.2 of this manual.
11 The ship's speed indicator (option) of the When pressing the I <l SEL. I switch until the
data indicator is not correct. I SPD I indicator the data selection indicator
lights, the ship's speed input setting is displayed
by pressing the I CHANGE I switch.
When this setting is manual, change the set
value to match the current ship's speed. For
other setting, select the input signal source
according to 3.2.12 (1) of this manual.
12 The I RC Iof the steering mode indicator When the remote steering can be performed in
lamp blinks only and the remote steering plural locations or methods, one location or
cannot be performed even by turning the method must be selected.
steering mode selection switch to the Select that according to 3.3.7 and 3.2.8 of this
RC position (option). manual and perform the remote steering.
Until this selection is made, the steering can be
performed with the steering wheel in the same
way as the hand steering.
3-23
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0
CHAPTER 4 TROUBLESHOOTING
~CAUTION
eWhen the alarm generated, confirm the content of the generating alarm at once and take
a suitable means according to the failure phenomena list.
eWhen failure generates, check and take a countermeasure at non-dangerous sea area
after confirming safety around, and with the ship stopped as a rule (Refer to page 3-5
clause 3.2.4 Emergency steering method).
4.1 General
The following phenomena are considered to occur when failures generate in the system or the
steering gear and other external equipment connected to this system.
( 1) The alarm is displayed on the autopilot stand.
(2) The rudder does not move as ordered or the rudder motion is improper.
(3) There are abnormalities in functions, partial or all, of this system.
When these phenomena occur, discover causes of failure, and performance reduction of this
system and the steering gear control system at an early stage and then take suitable
countermeasures.
4.2 Before Troubleshooting

(1) Secure the ship's safety first according to 3.2.4 Emergency steering Method.
Next, it is necessary to find whether the cause of failure is in the autopilot side or in
such external equipment side as the steering gear, etc.
(This can be determined by the alarm currently generated and phenomenon. Suit-
able countermeasures, however, should be taken after confirming that the cause is
almost in the autopilot side.)
How to find the side failured.

eSwitch to the NFU steering at the autopilot stand and move the NFU lever to the right
and left.
eGood (the rudder moves.) eNo good (the rudder does not move.)
Check the pilot stand side and Check the steering gear side, etc.
take a countermeasure according Provided, when the P or S display lamp
to the next clauses 4.3. does not light during throwing the lever,
check the pilot stand side because the
failure cause may be in the pilot side.
For PR-6000-EO, check the relay unit
in the pilot stand because the failure cause
may be the relay unit even if the P or S is
displayed.
Note) For PR-6000-:00, NFU PSis not
displayed even normal operation.
4-1
(2) Tools (measuring equipment) necessary for check
• Minus head screw driver (large type) and general tools.
• Circuit tester
(3) Cautions in check

In this system, independent two lines (systems) of No.1 system and No.2 system are
assembled, and each system has various steering modes of AUTO/HAND/NFU/RC
(option). Investigate the range of location in No.1/No.2 systems and each steering
mode in which the failure occurs, and when the failure occurs in the particular range,
the location of the failure can be found quickly by checking the operation compared
with the normal side operation.
4-2
4.3 Troubleshooting
Lh.CAUTION
eTum OFF the system selection switch, and the service switch located at the front panel
of the control unit before checking and replacement of fuses, removing the unit of
equipment, connectors, printed wiring boards and terminal cables.
Remaining the switch at ON position may cause electric shock and failure.
echeck the autopilot stand inside by instructed procedures and do not touch other
sections than instructed. If not, may cause electric shock.
Stand
Service switch
Control unit
Dlc:::::::JI.
~
I
I
System selection switch 0 0 I 0
-1
IIIII II --
(;)
'r1 k
. ~
J lo
• r- •
~ Is m
l-
No.1
e l>
~
e
.I e
f-
1-
0
0 0'
- = liED
~~~ System Selection Unit
D
! Ill
Cill
--0 =
c:::::J . till
El a:;r;:E §
Facia panel (partial drawing) Stand tront v1ew (with the panel opened)
Fig. 4-1 System selection switch, service switch
4-3
(1) Action to be taken when alarm generates
a. When the buzzer sounds to inform alarm generation, check which group alarm
indicator (name) or individual alarm indicator (name) in the AUTO unit blinks.
After that, press the I ALARM ACK I switch to stop the buzzer sound and to con-
firm the alarm.
b. After confirming the alarm, when the alarm lamp goes off, the alarm condition has
already been recovered.
In this case, watch the state for a while whether the alarm generates repeatedly or
not, and take a suitable action from the result. Note date and time of the alarm
generation and settings and data, various conditions related to the alarm including sea
state, etc.
c. When the alarm lamp changes to continuous lighting from blinking, the alarm condi-
tion continues. In this case, press the I <] SEL. I switch till the I ERR I of the data
selection indicator in the AUTO unit lights to display detail of the alarm condition on
the data display. Check the alarm with the failure phenomena list based on the
alarm detail number.
When plural alarms generate, the latest alarm detail number is displayed in the data
display. When the alarm detail number before this alarm is to be known, press the
I -o I switch while pressing the I CHANGE I switch (the alarm detail number in
order of generation or in reverse order generation can be displayed by every pressing
the I -o I switch or the I +@ I switch while pressing the I CHANGE I switch).
4-4
(2) Failure phenomena list
When failure occurs, select the troubleshoot number of the closest phenomena in the
[failure phenomena list] shown in Table 4-1, and take the countermeasure of the
same number as in the countermeasure table 4-2.
When the failure cannot be recovered, contact TOKIMEC service station or the
agency of your area.
Table 4-1 Failure phenomena list
Trouble-
shoot Phenomena
No.
TS-01 Power failure indicator 1-PWR F. I or I 2-PWR F. I lights
TS-02 Group alarm indicator SYS. FAIL I lights
TS-03 Group alarm indicator AUTO FAILj lights
TS-04 Group alarm indicator CAUTION I lights
TS-05 Individual alarm indicator INDICATE Jlights
[Simultaneously group alarm indicator I CAUTION I lights]
TS-06 Individual alarm indicator I PILOT W. Jlights
TS-07 Individual alarm indicator I GYRO I lights
[Simultaneously group alarm indicator J AUTO FAIL Jlights]
TS-08 Individual alarm indicator J REP. PWR !lights
[Simultaneously group alarm indicator I CAUTION Jlights]
TS-09 Individual alarm indicator I 1SG CNT I lights
[Simultaneously group alarm indicator J SYS. FAIL I lights]
TS-10 Individual alarm indicator I 2SG CNT I lights
[Simultaneously group alarm indicator I SYS. FAIL I lights]
TS-11 Individual alarm indicator J HAND M.J lights
[Simultaneously group alarm indicator J SYS. FAIL I lights]
TS-12 Individual alarm indicator J AUTO M.l lights
[Simultaneously group alarm indicator I AUTO FAIL I
or J CAUTION Jlights]
TS-13 Individual alarm indicator J DC PWR Jlights
TS-14 Individual alarm indicator I WHL OFF I lights
TS-15 Individual alarm indicator J LOW SPD I lights (option)
TS-16 Individual alarm indicator I RC M. I lights (option)
TS-17 Individual alarm indicator I AUX I lights (option)
[Simultaneously group alarm indicator I SYS. FAIL I or
J CAUTION Jlights]
TS-18 Rudder moves abnormally (in non-follow up steering)
TS-19 Rudder moves abnormally (in hand steering)
TS-20 Rudder moves abnormally (in auto steering)
4-5
Trouble-
shoot Phenomena
No.
TS-21 Rudder limit is invalid (in auto steering)
TS-22 Rudder motion is fast/slow
TS-23 Yawing is large (in auto steering)
TS-24 Ship sails on the deviated course from the set course (in auto steering)
TS-25 Course cannot be set in auto steering
TS-26 No data on the data display
TS-27 Some display lamps or alarm indicators do not light in the lamp test
TS-28 Steering mode cannot be switched
TS-29 Bar graph display is strange
TS-30 Ship's speed display is strange
TS-31 Steering repeater is abnormal
TS-32 Illumination is too bright I dark
TS-33 SET. course display does not light
TS-34 Other than the set course is displayed in the SET. course display
TS-35 I R.O.T. I of the data selection indicator blinks
TS-36 Rate of tum in auto course changing is too large I small
TS-37 I ADPT Iof the control mode indicator blinks
TS-38 Power failure indicator in the ALARM UNIT (option) lights.
Display of power failure indicator in the ALARM UNIT (option) is depended on
to the specification. Refer to PR-6000 Finished Plan.
TS-39 Individual alarm indicator in the ALARM UNIT (option) lights.
[Group alarm indicator I SYS. FAIL I or .=1_C_A_U_T_IO-N----,1 ]
Display of individual alarm indicator in the ALARM UNIT (option) is depended
on to the specification. Refer to PR-6000 Finished Plan.
4-6
4.4 Countermeasure Table
Table 4-2 Countermeasure table

Trouble- Phenomena Check procedure and action to be
shoot (contents) taken Remark
No.
TS-0 1 Power failure indicator CD When I 1-PWR F. I lights during When the power
I 1-PWRF. I No.1 is selected with the system failure indicator
(No.1 no voltage) selection switch or when lights, the
or I 2-PWR-F. I lights during No.2 corresponding
I 2-PWRF. I is selected, turn the system selection power indicator
(No.2 no voltage) swtich to another system at once. ( I 1-PWR II CI.:=
lights. PWR I ) goes off.
Alarms when pilot
power for No.1 (2) When both No.1 I No.2 power
system or No.2 failure indicator light, steer at once
system is not according to the emergency steering
supplied. method of the steering gear.
When 11 OV AC is not supplied

between lACl I lAC2 (TBl, No.1
side) or 2AC1 I 2AC2 (TB3, No.2
side), check the following points.
• Motor starter in steering gear
room. (L type)
• Transformer box in steering gear
room. (E-D type, P type)
• Control box in steering gear room
(DM I DW I DT type)
TS-02 Group alarm indicator CD Tum the system selection switch Confirm the
I SYS. FAIL I to another system at once. generating alarm
lights. with the individual
(System is abnormal) alarm indicator.
Shows that the alarm
having a possibility of (2) When I SYS. FAILS I in both
steering inability systems light, use the steering
generates in the system mode in which the rudder operates
side in use. normally in the hand (HAND)
steering mode or in the non-follow
up (NFU) steering mode of both
systems. When steering trouble
occurs in use, switch to one of the
other steering modes.
4-7
No.
(3) All steering modes in both systems
are abnormal, steer according to
the emergency steering method
of the steering gear.
@ Check items related to the lighting

individual alarm indicator.
TS-03 Group alarm indicator CD When operating auto steering, Confirm the
I AUTO FAIL I switch the steering mode to hand generating alarm
lights. steering. with the individual
(Auto steering is Do not use auto steering when this alarm indicator.
abnormal.) alarm indicator is lighting.
Shows that the alarm
having a possibility (Z) If the alarm is recovered to normal
of steering inability by switching the system, use that
generates in the system system side.
side in use.
Q) Check items related to the lighting
individual alarm indicator.
TS-04 Group alarm indicator CD Confirm the alarm generated with

I CAUTION I the individual alarm indicator and
lights. (caution) check related items.
Shows that alarms Provided, when alarm generates in
generate in display • remote steering (RC) mode (option),
operation section, check whether any abnormality in
steering function operation exists or not, and switch
currently not used to one of the other steering modes
or optional function. at once if there is any abnormality.
TS-05 Individual alarm indicator CD When alarm detail is displayed in Note the code
I INDICATE I the data display by pressing the because it is not
lights. (AUTO unit I <l SEL. I switch, note the display redisplayed after
display section is code (EOl. 0). recovering.
abnormal.)
Alarms when (2) Turn OFF the system selection
abnormalities are switch for approx. 1 second and
discovered in AUTO reselect the system used till now.
unit display section and When the alarm condition is recovered
control circuitry. to normal, use it as is and see if the
phenomenon reappears, for a while.
4-8
No.
(3) When alarm does not generate in
No. I system or in No.2 system,
use that system side.
Request to repair the system side
in which the alarm is generated.
@ When alarm generates in both

systems No. I I No.2 and the other
failure also occurs, check these.
Request to repair after taking
following actions bassed on the
alarm detail number displayed.
Alarm Action to be taken Alarm detailed

detail for each no. contents
no.
EO I. I Auto steering with setting course Hardware of
(AUTO-NAY) mode (option) AUTO unit display
cannot be used. is abnormal.
Use auto steering mode.
E01.2 When single alarm detail Memory of AUTO
E01.3 number only is displayed, unit display is
E01.4 there is no problem in abnormal.
E01.5 functions and steerings
because it is covered with
redundant circuitry.
E01.6 Auto steering with setting course Control sections of
(AUTO-NAY) mode (option) AUTO unit display
cannot be used. are abnormal.
Use auto steering mode.
When AUTO unit display is i.
inoperative, group alann indicator

is displayed in SET. course
display with characters. (For
detail refer to TS-34.)
Refer to below for other displays.
Heading ; steering repeater.
Steering mode ; steering mode
selection switch position.
Pilot system ; system selection
switch position.
Control mode ; auto control section.
(Option) ADPT/ WEATHER
setting.
4-9
No.
no.
E01.7 Some parts of alarm functions Input and output of
E01.8 may not operate. AUTO unit display
Use the system with paying full are abnormal.
attention on steering.
TS-06 fudividual alarm indicator CD Confirm that the pilot watch Refer to 3.2.11 (3)
I PILOT W. jlights setting is overs·, check ship's e for alarm test
(pilot watch) heading display and setting course during anchoring.
Alarms when course display then confirm that the
deviation exceeds the course deviation is larger than the
setting deviation due setting value.
to failure of steering (2) When yawing is large due to sea
gear or autopilot. condition, reduce the yawing width
Alarm detail number or set the pilot watch setting value
E02.1 at a larger value.
Q) When rudder motion is not normal or
other failure occurs, check than point
@ When there is no abnormality in
pilot side, check the steering gear side.
TS-07 IIndividual alarm mdicator CD When alarm does not generate in
IGYRO I lights. either of No.1 system or No.2
(Gyro is abnormal.) system, use that system side.
Alarms when ship's Request to repair the system side
heading digital in which the alarm is _g_enerated.
signal cannot be (2) When alarms generate in both
received or receives sides of No.1 and No.2 system,
abnormal data. auto steering I AUTO I and
remote auto steering I NA V I
(option) cannot be used.
Use hand steering I HAND I,
non-follow up steering I NFU I
or remote hand steering mode.
(3) The alarm detail no. E03.4 may be When operation is
generated when gyro bearing signal recovered to
error is detected within 5 deg. normal, alarm status
Auto steering may be continued but for E03.2 and E03.3
note for error on continuous auto are continued until
steering. mode other than
AUTO/NAV is set.
4- 10
No.
no.
E03.1 Same as above (2) Ship's heading
receiving is abnormal.
E03.2 Ditto Gyro bearing is
abnormal.
E03.3 Ditto Gyro failure.
E03.4 Same as above ® Gyro bearing has
error.
TS-08 fudividual alarm indicator CD When other repeaters than in pilot

I REP. PWR. Ilights. stand is installed, check those to
(Steering repeater confirm range of failure. Check
power is cut.) gyro-compass side if plural gyro
Alarms when power J repeaters are abnormal. (Refer to the
s not supplie~ to step k--l2g>1_yr~o~-c~o~m~p~as~s~in~s~tru~c~tio~n7:m:=an:::::u:=:al?.)c__f---------j
[ motor of steenng (2) Check whether voltage of G5/G4
epeater. (TB6) of external terminal board
Detail alarm no. E04.1 is normal or not (+24VDC for
TOKIMEC TG-6000), and check
gyro-comoass side if it is abnormal.
TS-09 fudividual alarm indicator CD Press I <J SEL. Iswitch to display alarm
I 1SG. CNT Ilights. detail on data display, and note display
(No.1 steering gear code [E05.D (TS-09 or E06.0
control is abnormal.) (TS-10)], and check according to the
table in the next page after recovering
TS-10 I 2SG. CNT I lights. steering to normal.
(No.2 steering gear (2) If the alarm recovers and rudder
control is abnormal.) motion becomes normal by
switching the system selection
Alarms when failure switch to another (from No.1 to
of No.1 or No.2 No.2 or from No.2 to No.1), use
steering gear itself, the system under that condition.
or circuitry controlling (3) In case of system configuration When two or more
steering gear, is which the steering gear is not steering gears are
detected. changed even by switching the running in parallel,
system selection switch, stop No.1 operate one by one
(TS-09) or No.2 (TS-1 0) steering and if the alarm
gear, and use the other steering gear. recovers and rudder
motion becomes
normal, use the
system under that
condition.
4- 11
. shoot (contents) taken Remark
No.
If the alarm recovers and rudder In this case, be
motion becomes normal, use the careful that taking
system under that condition. rudder speed
reduces than that
before stopping.
@ If rudder motion is still abnormal even

by the above procedures, switch the
steering mode selection switch to
non-follow up I NFU 1.
When rudder motion becomes
normal with one of I No.I I or
I No.2 I of system selection
switch, steer under that condition.
<3) If rudder motion does not recover

in procedures ~ - @ , steer at
once according to the emergency
steering method of the steering
gear.
Table attached to procedure CD

Upper row for TS-09, lower row for
TS-10.
~
detail for each no. content
no.
E05.1 Recover steering by Rudder follow up is
E06.1 procedures (2) - G) . abnormal.
(Starboard side for
(Except DM, DW) twin rudders.)
E05.2 Ditto (Except DM, DW) Rudder follow up is
E06.2 (option) abnormal.
(Port side for twin
rudders.)
E05.3 Check according to the control No.1 or No.2 control
E06.3 box (installed in steering gear motor is abnormal.
room) instruction manual.
(D type only)
4- 12
No.
no.
E05.5 Check cause of overload No.1 orNo.2
E06.5 according to the hydraulic power hydraulic power
unit (installed in steering gear unit motor
room) instruction manual. overloads.
(L type only)
E05.6 Check cause of hydraulic No.1 or No.2
E06.6 pressure drop according to the hydraulic power
hydraulic power unit (installed in unit pressure drops.
steering gear room) instruction
manual. (L type option)
E05.7 Check cause of oil level drop No.1 orNo.2
E06.7 according to the hydraulic power hydraulic power
unit (installed in steering gear unit oil level drops.
room) instruction manual.
(L type option)
E05.8 Check cause of electric power No.1 orNo.2
E06.8 open phase according to the hydraulic power
hydraulic power unit (installed unit electric motor
in steering gear room) power phase opens.
instruction manual.
(L type option)
TS-11 Individual alarm indicator CD If the alarm recovers and rudder If hand steering is
I HAND. M I lights. motion becomes normal by abnormal, auto
(Hand steering mode switching the system selection steering also
is abnormal.) switch to another (from No.1 to becomes abnormal.
[Al=swhen
abno~al~ty i~ ha~d
J No.2 or from No.2 to No.1), use
the system under that condition.
Take the same
action during auto
steenng ctrcmtry IS steering, too.
detected. (2) If rudder motion is still abnormal
even by the above procedure,
switch the steering mode selection
switch to non-follow up I NFU l
When rudder motion becomes
normal with one of I No.1 I or
I No. 2 I of system selection
switch, steer under that condition.
4-13
No.
Q) If rudder motion does not recover
by procedures CD - (2) , steer at
once according the the emergency
steering method of steering gear.

no.
E07.1 Described above in (3) . Rudder servo
amplifier power is
abnormal.
TS-12 Individual alarm indicator CD If the alarm recovers and rudder

I AUTO M. I lights. motion becomes normal by
(Auto steering mode switching the system selection
is abnormal.) switch to another (from No.1 to
[Alarms when No.2 or from No.2 to No.1), use
abno:rnal~ty i~ au~o the system under that condition.
steenng c1rcmtry IS
detected. JC2) When rudder motion is abnormal When adaptive
even by the above procedure, and control indicator
adaptive control indicator I ADPT I is
I ADPT I in AUTO unit is blinking and PID
lighting, switch to PID steering by control indicator
setting weather adjustment knob of I PID I is lighting,
course keeping mode selection I that shows the
weather adjustment to 0- 10. mode has been
switched to PID
(3) If rudder motion is still abnormal steering from
even by the above procedure, switch ADPT steering
the steering mode selection switch to automatically.
hand steering I HAND I or At this time, if PID
non-follow up steering I NFU 1- steering is set by
When rudder motion becomes operations
normal with one of I No.1 I or described in the left
I No.2 I of system selection switch, column, I ADPT I
steer under that condition. indicator goes off.
@ If rudder motion does not recover

by procedures CD - (3) , steer at
4- 14
No.
no.
E08.1 Recover steering by Auto steering
- E08.3 procedures CD - @. control circuitry is
abnormal.
E08.4 Described above. ADPT steering
- E08.5 control circuitry is
abnormal.
TS-13 fudividual alarm indicator CD Check ship's power supply side When heading
J DC PWR !lights. when 24V DC between PBS+ I monitor (option) is
[DC power (battery) PBS- of external terminal board equipped, heading
is abnormal.] (TB6) is not supplied. monitor (option)
[Alarms when ship's

power 24V DC used
J power fail is
including.
for power failure alarm (2) When 24V DC is normal in proce-
etc., is not supplied. dure CD , check whether service
switch located at upper left of
control unit in the steering stand is
OFF, or fuse F6 at upper right of
the same unit has blown.
(j) If there is no abnormality in proce-
dure (2) , confirm light I no light of
light emitting diodes D13 and D23
on SCV PWB (inserted to the most
right side slot) in control unit, and
request repair.
no.
Ell.l Described above. DC power (battery)
is abnormal.
TS-14 fudividual alarm indicator CD Alarm generates to show that
I WHL OFF Jlights. steering wheel cannot be used in
(Steering wheel the current steering mode when
steering is invalid.) the hand steering mode indicator
In the steering modes [HAND] is not lighting and
without using steering steering wheel is turned rightward
wheel , alarm generates or leftward. In this case, return
when steering wheel is steering wheel to the neutral
turned rightward or position.
leftward.
4- 15
No.
no.
E12.1 Described above. Rudder position is
not neutral in other
steering modes than
steering wheel
steering.
TS-15 Individual alarm indicator CD Continue auto steering as it is if This alarm does not
I LOW SPD I lights. normal auto steering is performed inform that auto
(Ship's speed is low.) even when ship's speed is low. steering is
Alarms when ship's (2) Reset ship's speed manually when impossible due to
speed reduces less ship's speed value displayed on the low ship's speed,
than half of service data display of AUTO unit is but informs a
speed during ADPT different from actual ship's speed. possibility of strong
steering (auto steering) When ship's speed from gyro-compass influence by wind
mode. is used, check gyro-compass side. and wave due to
And, when automatic speed is weak rudder
used, check speed log side, and effectiveness
change to manually input ship's caused by low
speed if necessary. ship's speed.
Q) When ship's speed input circuit is
abnormal, the condition becomes
normal by switching the system.
Alarm Action to be taken

detail for each no.
no. Alarm detailed
El0.1 Described above. content
TS-16 Individual alarm indicator CD Switch at once to one of the other Ship's speed is low.
I RC M. !lights. steering modes.
(Remote steering Q) Press I <l SEL. I switch of AUTO
mode is abnormal.) unit to display alarm detail on the
Alarms when data display, and check according
abnormality in remote to table below.
steering mode is
detected. Alarm Action to be taken Alarm detailed
no.
E09.1 Check external unit 1 side. External unit 1
(Alarm recovers by switching to communication is
one of the other steering modes.) abnormal.
E09.2 Check external unit 2 side. External unit 2
(Alarm recovers by switching to communication is
one of the other steering modes.) abnormal.
4- 16
No.

no.
E09.3 Check external unit I side. External unit 1 is
(Alarm recovers by switching to not ready yet.
one of the other steering modes.)
E09.4 Check external unit 2 side. External unit 2 is
(Alarm recovers by switching to not ready yet.
one of the other steering modes.)
E09.5 When steering is abnormal, Remote steering
switch at once to one of the control circuitry is
other steering modes. abnormal.
TS-17 Alarm display indicator CD Press I <I SEL. I switch of AUTO

I AUX !lights. unit to display alarm detail on the
(optional alarm) data display, and check according
to table below.
no.
El3.1 Release alarm by operations Set course invalid
below (auto steering only). alarm (option).
CD Press SET. knob to confirm When override
current set course, or reset asteering during autc
new course. steering is finished,
(2) Switch to the other steering this alarm is
mode. provided to notify
the set course is no
longer valid.
E13.2 Action to be taken according to External alarm.
E13.3 the PR-6000 Finish Plan and the Depended on to the
E13.4 instruction manuals for external specification.
E13.5 units.
E13.6 Check and operate the steering ALARM UNIT
E13.7 carfully because some alarms (option) or contact
may not operate. output signals.
Input and output
are abnormal.
E05.1 Perform action (2) to G) in Rudder follow up
E06.1 TS-09,10 and recover steering. failure.
(Starboard side on
i_DM, DW only) twin rudder.)
E05.2 Same as above (DM, DW only) Rudder follow up
E06.2 (option) failure.
(Port side on twin
rudder.)
4- 17
No.
TS-18 Strange rudder motion CD Switch the system selection switch
in non-follow up to another (from No.1 to No.2 or
steering mode. from No.2 to No.1).
(2) In case of system configuration When two or more

which the steering gear is not steering gears are
changed by switching the system running in parallel,
selection switch, stop currently steer only with the
running steering gear and use the steering gears
other steering gear. running normally.
When alarm recovers and rudder In this case, be
motion becomes normal, use the careful that rudder
system under that condition. motion speed is
reduced.
Q) If rudder motion does not recover

by procedures .<D - (2) , steer at
@ When both PS indicators of the

helm unit are lighting, check
whether fuses F7/F8 located at
upper right of control unit in
steering stand have blown.
TS-19 Strange rudder motion CD When alarm generates, take

in hand steering actions according to contents of
the alarm troubleshoot number.
(2) When alarm does not generate, or

the action above <D is not
sufficient, take actions according
to the troubleshoot number TS-11.
TS-20 Strange rudder motion Take actions according to the

in auto steering troubleshoot number TS-12.
TS-21 Rudder limit is CD When PID steering is used, switch See next page.
inoperative in auto the system selection switch to
steering another.
4- 18
No.
(2) When ADPT steering is used, According to the
check ship's speed on the data specification of the
display by pressing the switch of connected navigation
AUTO unit. Rudder limit change equipment and
as shown below according the during [AUTO-
ship's speed. NAV], the
Vo
RUDDER LIMIT
() R L = () ORL X - - on just course
v change is ignored
where V : Current ship's speed on the some
V0 : Service speed systems.
8 R L : Rudder limit at ship's speed V For the specification
iJ oRL : Rudder limit setting value of the connected
If ship's speed is abnormal, take the navigation
action according to the troubleshoot equipment, ask to
number TS-15 procedure (2). the supplier.
In other cases, switch system selection
switch to another, or use PID steering.
TS-22 Rudder motion is CD Switch the steering line to one of

fast I slow. the others if the ship has other
steering gears,
(2) Check the rudder according to the

instruction manual of steering gear
control system or steering gear side.
TS-23 Yawing or CD When alarm generates, take

overshootring is large actions according to contents of
(in auto steering). the alarm troubleshoot number.
(2) When alarm does not generate,

adjust knobs according to contents
of3.2.6 or 3.2.11.
TS-24 Ship sails deviated CD When alarm generates, take

from set course actions according to contents of
(in auto steering). the alarm troubleshoot number.
(2) When external disturbances such Bearing deviation

as current and wind are large and gradually becomes
bearing deviation becomes smaller by the
gradually small, see the state as it is. integral rudder.
4-19
No.
TS-25 Course setting in auto CD Switch the system to another when Setting course can
steering cannot be done. the SET. course display does not be changed only in
change even by turning of coruse auto steering.
setting knob .
TS-26 No data is displayed in CD It is not abnormal if pressing the Every pressing the
the data display. I <J SEL. I switch displays data. 1 <J SEL. 1 switch
changes data.
(2) When alarm generates, take No display (blank)
actions according to contents of is included as one
the alarm troubleshoot number. of the display.
Q) When lighting normally by the

lamp test, raise illumination by
pressing the I +@ Iswitch.
TS-27 Some display lamps CD Some lamps are for optional

or alann indicators do not specification.
light by the lamp test. When the option is not installed on
own ship, the lamps do not light by
the lamp test.
Refer to chapter 3, 3.3 No.7 for
details.
(2) When alarm generates, take

actions according to contents of
Q) When lamps do not light even by

strong pressing the I LAMP TEST I
switch, check for display lamps by
positions of switches and control
knobs, or for alann indicators by alann
detail display of the data display.
TS-28 Steering mode cannot CD Use by switching the system to

be changed over. another.
(2) If the steering mode selection

switch stops at the middle position
between each steering mode, turn
the switch to the correct position.
4-20
No.
TS-29 Strange bar graph CD When I CO. DEV Iof bar graph When the I R.O.T.I
display selection indicator is lighting, lights, ordinary bar
only one light emitting diode graph is displayed.
lights.
It is not abnormal.
Q) Only one lighting of emitting

diode in both ends shows the
bearing deviation exceeds 31 ° or
rate of tum exceeds 31 ° I min.
These are not abnormal.
TS-30 Strange ship's speed Take actions in troubleshoot number

display TS-15 procedure Q) or (3) .
TS-31 Steering repeater is CD When alarm generates, take

abnormal. actions according to contents of
(2) If the repeater switch is OFF, tum

it ON.
Q) When synchronization deviates,

resynchronize according to 3.2.1
(1) b.
TS-32 Display is too bright/ CD Adjust with I +@ I , I -o I

dark. switches.
Q) When the system selection switch

is in OFF position, I 1-PWR I,
I 2-PWR I' 11-PWR F. I'
I 2-PWR F. I are highest
illumination and I +@ I , I -o I
switches are ineffective. These
are not abnormal.
TS-33 SET. course display CD This dispaly becomes 1-1-1-1 Shows that the
does not light. in other modes than auto steering setting course is not
(AUTO) and remote auto steering in use.
(NAV). This is not abnormal.
4-21
No.
TS-34 Display other than the CD When the AUTO unit display
setting course is section is abnormal and during
indicated on the SET. generating alarm characters corre-
course dispaly. sponding to group alarm are
displayed on the SET. course
display alternatively with the
setting course, and buzzer sounds
intermittently for approx. 10
seconds.
At this time, characters displayed
mean as follows.
Characters Meanings Countermeasure

displayed
Alarm that the group alarm Take actions
5Y5 indicator I SYS. FAIL I is
to be lit is generating.
according to the
troubleshoot no.
TS-02.
Alarm that the group alarm Take actions
RUI indicator I AUTO FAIL I according to the
is to be lit is generating. troubleshoot no.
TS-03.
Alarm that the group alarm Check abnormality
CRU indicator I CAUTION I is in steering, and if

to be lit is generating. there is any
abnormality, switch
at once to one of
the other steering
modes.
TS-35 I R.O.T. I of the data CD When the rate of tum reaches the Refer to 3.2.11 (4)
selection indicator setting value in auto course for changing the
blinks. changing, I R.O.T.I blinks to setting value.
show that the ship is turning at the
setting rate of tum.
TS-36 Rate of tum in auto CD Ditto Ditto

course changing is too
large (small). (2) Readjust the rudder limit setting
value when it is too large (small).
4-22
No.
TS-37 I ADPT I of control CD Even when ADPT steering is WhenADPT
mode indicator blinks. selected, if abnormality occurs in steering is to be
ADPT steering circuitry, the mode switched for check,
is automatically switched to PID etc., select PID
steering. At this time, I ADPT I steering once and
blinks and I PID I lights. then select ADPT
In this case switch to one of the steering again.
other systems or use PID steering
mode.
TS-38 Power failure indicator Display of power failure indicator in When the power
in the ALARM UNIT the ALARM UNIT (option) is failure indicator
(option) lights. depended on the specification. lights, the
corresponding
power indicator
goes off.
Power failureAction to be taken for Alarm detailed

indicator each failurre contents
11-PW. F I Check the transbox (ED Power failed for
12-PW.F I type) in the steering gear No.1-No.4 control
13-PW.F I room and the controlbox box or No.1-No.4
14-PW.F I (DM/DW/DT type) in steering gears.
the steering gear room.
(3 or 4 in parallel option)
I S1-PW. F I Ditto Power failed for
I S2-PW. F I (Twin rudder option) control box or
I P1-PW. F I steering gears to
I P2-PW. F I . starboard No.1, No.2,
Port No.1, No.2
TS-39 Individual alarm Display of power failure indicator in

indicator in the the ALARM UNIT (option) is
ALARM UNIT (option) depended on to the specification.
lights.
Individual Action to be taken for Alarm detailed
alann indicator each failure contents
I1SGCNT I Check the control box No.1-No.4 control
I2SGCNT I (in the steering gear motor is abnormal.
I3SGCNT I room) according to the
I4SGCNT I instruction manual.
(For D type, 3 and 4 are
option)
4-23
No.
Individual Action to be taken for Alarm detailed

alann indicator each failure contents
I SlSGCNTI Ditto Starboard No.1, No.2,
I S2SGCNTI (Twin rudder for D type Port No.1, No.2
I PlSGCNTI option) control motor is
I P2SGCNTI abnormal.
Il-L. LVL I Check cause of oil level No.1 or No.2

I 2-L. LVL I drop according to the hydraulic power
hydraulic power unit unit oil level drops.
(installed in steering gear
room) instruction
manual.
(L type option)
Il-L. PRS I Check cause of hydraulic No.1 orNo.2
I 2-L. PRS I pressure drop according hydraulic power
to the hydraulic power unit pressure drops.
unit (installed in steering
gear room) instruction
manual.
(L type option)
ll-0. PHA I Check cause of electric No.1 or No.2
12-0. PHA I power open phase hydraulic power
according to the hydraulic unit electric motor
power unit (installed in power phase opens.
steering gear room)
instruction manual.
(L type option)
11-0.LOAD I Check cause of overload No.1 orNo.2
12-0.LOAD I according to the hydraulic power
hydraulic power unit unit motor
(installed in steering gear overloads.
room) instruction
manual.
(L type option)
Alarm detailed The causality between alarm detailed

No. El4.1 - E14.C No. and individual alarm display is
depended on to the specification.
The action to be taken for each failure
shall be follow to each individual alarm
display.
4-24
4.5 Voltage table of Each Point
Table 4-3 Voltage table
Unit Test point or terminal Rated value Remark

External terminal Between lACl - 1AC2 11 OVAC, 60Hz No.1 system pilot power input
Between 2AC1 - 2AC2 11 OVAC, 60Hz No.2 system pilot power input
Between lLNl - 1LN2 8VAC, 400Hz Linear synchro exciting voltage
of No.1 system for rudder angle
feed back.
Between 2LN1 - 2LN2 8VAC, 400Hz Linear synchro exciting voltage
of No.2 system for rudder angle
feed back.
Between G5 - G4 +24VDC Steering repeater power.
Between PBS+ - PBS- +24VDC Ship's power supply (battery)
Control unit Between SRI +1- + 12VDC ±0.5V No.1 system internal stabilized
power output.
Between SR2 +1- +12VDC ±0.5V No.2 system internal stabilized
power output.
Between SR3 +1- +12VDC ±0.5V Common power internal stabilized
power output.
SCVPWB Between TPl - TP2 + 12VDC ±0.5V Internal stabilized power output fo
power failure indicator, etc.
Between TP4 - TP3 +5VDC±0.2V Power for No.1 system gyro input
signal
Between TP5 - TP3 +5VDC±0.2V Power for No.2 system gyro input
signal
RSAPWB Between TPl - TP2 +15VDC ±0.5V Power for No.1/No.2 system
Between TP3 - TP2 -15VDC ±0.5V servo amplifier
AUTO unit Between TP14- TP15 +12VDC±1V Internal stabilized power input for
1power failure indicator, etc.
Between TP16- TP15 +5VDC±0.2V +5V power for power failure indicator etc.
Between TP8 - TP9 +12VDC±1V No.1 system internal stabilized
I power input
Between TP6 - TP9 +5VDC±0.2V No.1 system auto steering circuitry
Between TP7 - TP9 +15VDC ±0.5V power
Between TPlO - TP9 -15VDC ±0.5V
Between TPl - TP2 +12VDC±1V No.2 system internal stabilized
power input
Between TP3 - TP2 +5VDC±0.2V No.2 system auto steering circuitry
Between TP5 - TP2 + 15VDC ±0.5V power
Between TP4 - TP2 -15VDC ±0.5V
Between TP12- TP13 +12VDC±1V Common power internal stabilized
power input
Between TPll - TP13 +5VDC±0.2V Display operation circuitry power
4-25
4.6 Information Items to TOKIMEC Service Agency
When troubles cannot be recovered by countermeasures described in this manual on board,
contact immediately our service agency of your area to request advices with the following
items informed.
(1) Ship's name

(2) Name of type PR-6000-00
(3) Where is the ship now ?
(4) Symptoms of failure
(5) When did it occur ? year, month, day, hour.
(6) Where did it ocuur? sea area channel
(7) Does it continue now ? continues sometimes occurs
(8) Does it reappear ? yes sometimes no
(9) Results of check
(1 0) Other noticed points
4-26
CHAPTER 5 MAINTENANCE • CHECK
~WARNING
eMake efforts to prevent danger, in particular, when persons are arranged in the steering
gear room to watch the rudder operation for maintenance and check (pay attention not
to be caught in high speed moving cylinders and tiller, or shout each other to call
attention).
eThe ship's main power is supplied to the distribution board in this system even when the
main power supply switch (SYSTEM SWITCH) of this system is turned OFF. Electric
shock may occur by touching inside. Do not touch internal terminal boards, etc.
For PR-6DDD-E3 system, particularly pay attention to avoid such accident.
For above system, turn OFF the main .switch of the steering system. If not, electric
shock may occur by touching inside.
The following warning label is attached at the dangerous position inside stand.
~WARNING
shock.
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.
II WARNING HIGH VOLTAGE II or II WARNING ELECTRIC SHOCK 11
eThe steering gear connected to this autopilot may cause, although very rarely, hydro
lock, etc., which makes the rudder disabled to steer.
eAlthough main parts of the autopilot consist of electronic circuitry having high
reliability, it cannot be said failure does not occur absolutely.
Accordingly, it is absolutely necessary to carry out check and maintenance described
in this chapter to exclude these dangers as long as possible and to maintain
performance of this system.
If not, detecting sign of failure delays and it yields failure of the system and may result
in collision or stranding (refer to clauses regarding maintenance and check of the
steering gear instruction manual).
When trouble is discovered and cannot be recovered on board, contact TOKIMEC
service department or its sales agency of your area.
5-l
PROHffiiTION
Do not use a megger, etc., for insulation test of this system. Using a megger can
break internal electric parts. Always disconnect wirings to this system before
testing related power distribution lines with a megger.
5.1 General
This system uses carefully selected parts based on safety design, however, periodical check
(operation check) and maintenance described in the next clause must be performed for a long
term satisfactory operation.
Main purpose of maintenance and check is to catch signs of equipment failure at an early
stage through continuous suitable check and maintenance. By repairing on call at port based
on results of the check, occurence of unexpected situations and troubles in sailing will be
prevented to a minimum.
For maintenance and check of the connected steering gear (steering control system) in this
system, refer to each separate instruction manual, and for power converter, refer to end of this
manual. Note contents of performed maintenance • check on the log book, etc.
In this chapter, maintenance and check methods for the autopilot only are explained.
General precaution points are as follows.
( 1) Assign a person in charge of maintenance and check for this system and perform
those under his responsibility.
(2) Mechanical parts in connecting and fixing sections of this system such as stands and
panels may be loosened due to body shock and resonance vibration. Check and
retighten screws as necessary.
(3) Most parts used in main sections of the autopilot including the repeat back unit as the
rudder angle sensor are electronic (electric) parts except for a part of steering gear
control system. Generation of trouble of electronic parts themselves is very rare,
and troubles in mounting sections of electronic (electric) parts, being near cutting of
connecting wires at the roots and lead wires of electric parts are easy to occur due to
hull body shock and reso1:1ance vibration.
Check these points. Refix parts, retighten fixing screws, reinsert connectors, refix
the mounting parts, repair cables and lead wires as necessary.
(4) High voltage electronic (electric) parts, in particular, transformers (insulation) dete-
riorate gradually. Heat generations increase and burnt smell generates as nearing to
their life ends. If you feel any abnormalities, note them on the log book and request
TOK.IMEC service department to repair at early stages.
(5) If there are strange motions, smells, sounds and heat generations, etc., different from
those in normal operations, note them on the log book and request TOKIMEC ser-
vice department to repair at early stages.
5-2
(6) Confirm operations in each steering mode both for No.1 and No.2 systems once a
day. Confirm also that the each steering mode is always in the STANDBY
condition.
(7) Confirm that display lamps and alarm systems operate normally responding to each
steering mode operation [in(6)].
(8) Has this system checked by TOKIMEC service engineers or qualified engineers at
least once a year, and make them evaluate checked items of the check table and log
book etc. Pick up and repair troubled points at the same time as necessary.
5.2 Periodical Check

Use the periodical check table for check.
Frequencies of checks are (1) items to be performed once a day, (2) once a half year I once a
year. Checked items are judged as normal or not by comparing with values as the standard
at the time of installation of this system on own ship.
5-3
(1) Periodical check table (including operation check) [once a day] (Copy and form in
the end of this manual when this tables becomes full and file them.)
Check mark -1 : Normal
(Example of note) 1l · Normal after rework or repair
Date of check Installation
'97.05.01
Inspector TOKIMEC
service
0000
Check items
!No. I No.2
ystem system
a. I HAND I mode
Steering wheel PSio·
Rudder angle receiver (indicator) -1 -1
indication (P, S 10•)
Indicator! HAND ION. -1 -,)
System selection and display -1 -,)
b. I NFU I mode,
Operate steering lever leftward and
rightward
Rudder angle indication moves in -,) -1
the direction above
Rudder motion stops with lever at center -1 -1
Indicator! NFU I ON. -1 -1
c. I AUTO Imode, setting course
Press and tum lmob leftward and rightward.
Setting course display changes. -,) -1
Heading deviation bar graph display changes. -1 -1
Auto course changing function -,) -,)
Indicator I AUTO I ON. ...J -,)
d. ~mode (option)
Turn RC knob leftward, center, rightward
Rudder angle indication moves in the -1 -1
direction above.
Rudder angle 0 with knob at center -,) -1
Indicator [KJ ON.
e. I LAMP TEST I
Press switch
All display lamps and alarm lamps ON. -1 -,)
Buzzer sounds. -1 -,)
f. PIS indicator ON.
Helm unit
In the direction of order rudder angle, -1 -,)
Green (STBD) or
Red (PORT) ON
g. Warning labels corning off, dirtiness
(facia panel, remote control, inside stand)
h. Items to be dealt with none
Items to be informed
Table 5-l Periodical check table (1)

5-4
(2) Periodical check table [once a half year I once a year] (Copy and use a form in the
end of this manual when this table becomes full and file them).
Check mark ...J : Normal
~ : Normal after rework or repair
(Example of note)
Date of check
'97.05.01
Inspector
0000
Check item
No.1 No.2
system l;vstem
a. Fixing screws in mechanical sections
Connecting screws in terminal boards
Check and retighten loosing parts ...; ...;
Electronic (electric) parts mounting condition ...; ...;
b. Connecting wires inside
Root of mounting (being near cutting)
c. Control knobs
Loosened play in fixings ...; ...;
Retighten loosened parts
d. Switches
Conditions of motion ...; ...;
e. Repeater unit
Open scale
Loosened play in driving gears
Loosened play yes or no ...; ...;
Wearing yes or no ...; ...;
f .. Taking rudder time
(Read rudder angle indicator indication)
HAND mode
o - P30• (sec) 12 12
P3o·--+ 0 (sec) 12 12
o - S3o· (sec) 12 12
S30• --+ 0 (sec) 12 12
NFUmode
o - P3o· (sec) 10 10
P3o· - 0 (sec) 10 10
o - S3o· (sec) 11 11
S3o·--+ 0 (sec) 11 11
g. Warning labels (all labels)
(Cleanliness, coming off, dirtiness) ...; ...;
h. Items to be dealt with
5-5
5.3 Warning Label Check
Always check and clean warning labels to read with ease. Care should be taken, in
particular, on warning labels attached to the facia panel and remote controller, and do not
remain them in coming off.
When warning labels come off or became dirty, contact TOKIMEC.
5.4 Replacement Method of Fuse

When fuses have blown, replace them.
Make sure that the system selection switch in the pilot stand is OFF before replacement.
For PR-6000-E3 type, make sure that the power supply for steering gear system is turned
OFF carefully.
Investigate the cause when a fuse has blown.
Unless the cause is removed, it will occur again even when it is replaced with the same
capacity fuse.
Consider, however, there is some dispersion in characteristics of the same capacity fuses.
Replace-fuse in the procedures below.

(1) Make sure that power is not supplied to the steering stand. (The steering stand does
not operate when the system switchs No.1 and No.2 are turned ON. When the stand
operates, tum OFF the ship's main switch.)
(2) Remove the front door by loosening four screws of the front door at the lower part of
the pilot stand.
(3) Remove one screw at the lower center of the facia panel front section.
(4) Lift up whole facia panel gradually until the opening becomes approx. 70. by hands
on the hollow of the facia panel front section.
(5) Remove the facia panel stoppers in the pilot stand, and insert the front edge hole of
the stopper into the facia panel to fix the both stoppers.
Observe the contents of .& CAUTION in this clause.
~CAUTION
eDo not release hands from the facia panel till the panel is fixed with the two stoppers.
eDo not give strong vibration or shock to the facia panel when it is fixed with the
stopper.
injury.
(6) Turn OFF the service switch located at the upper left of the control unit mounted in
the pilot stand. (Refer to Fig. 4-1.)
(7) Pull out the fuse from the fuse holder at the upper left bottom of the control unit.
(8) Restore the pilot stand in reverse procedures from (6)- (1) described above.
5-6
5.5 Replacement Method of Relay (PR-6000-EO type)
.&.wARNING
eMake sure the relay pin position and insert it correctly when ralay is replaced.
If not, ship's rudder does not operate properly.
einsert the relay properly. If not, the relay may be loosen due to vibration and may
cause no operation of rudder.
eDo not give strong force for relay replacement. If not, the printed circuite board may
be damaged.
Make sure that the system selection switch in the pilot stand is OFF before relay replacement.
Also make sure that the power supply for steering gear system is OFF.
For PR-6000-EO type, the relay unit for steering gear control signal output is installed to
inside of the pilot stand.
The relay unit has eight (8) relays but four (4) relays (K5 - K8) installed fore side are spare
relays.
Replace the relays Kl - K4 to the relays K5 - K8 if needed.
Replace relay in the procedures below.

(1) Make.sure that power is not supplied to the steering stand. (The steering stand does
not operate when the system switchs No.1 and No.2 are turned ON. When the stand
operates, turn OFF the ship's main switch.)
(2) Remove the front door by loosening four screws of the front door at the lower part of
the pilot stand.
(3) Remove one screw at the lower center of the facia panel front section.
(4) Lift up whole facia panel gradmilly until the opening becomes approx. 70° by hands
on the hollow of the facia panel front section.
(5) Remove the facia panel stoppers in the pilot stand, and insert the front edge hole of
the stopper into the facia panel to fix the both stoppers.
Observe the contents of £CAUTION in this clause .
.&.CAUTION
eno not release hands from the facia panel till the panel is fixed with the two stoppers.
eDo not give strong vibration or shock to the facia panel when it is fixed with the
stopper.
injury.
5-7
(6) Cut the tieton for replace relay and remove the relay from relay unit installed left
and fore side of control unit.
Replace the relay to spare one.
Please note following points when replace the relay.
• When remove the relay, pull out it with even force perpendicularly and do not
bend the pin of relay.
• The positions of relay and socket are fixed.
Refer to drawing and insert it correctly.
• When insert the relay, insert it perpendicularly and do not bend the pin of relay.
• Do not give strong force for relay replacement.
(7) Restore the pilot stand in reverse procedures from (5) - ( 1) described above.
Relay
Relay Position (printed)
5-8
5.6 Spare Parts
Spare parts shown in Table 5-3 are attached to this autopilot.
Q'ty
PO EO
Name Part no. External view LO E2 E3 DO Remark
E1
(1) Fuse
.,~ For protection of power
o I
100308630 31.8 8 4 12 8
250V, 3A ~ load short circuit.
(2) Fuse
250V, 5A
100308650
o I ., ~31.8
~
8 4 4 0 Ditto
o ., ~
(3) Fuse 100308670 31.8 0 4 0 0 Ditto
250V, 8A I ~
(4) Tool 36-332 1 1 1 1 Accessory for external
~~ -2__ ~~ cable connection.
Table 5-3
5.7 Storage Method
NOTE
( 1) Turn all power switches of this system to OFF position, and cut the alarm
power (24VDC) supplied to the autopilot stand.
(2) Storage temperature should be between -20° - +55°C.
A void the place with high humidity as far as possible.
considered.
When welding works, etc., are carried out near this system, be sure to mount a
suitable protection cover on the steering stand to prevent damage caused by
spark, etc.
5.8 Disposal Method

Dispose of this system in proper manner treating it as an industrial waste product in
accordance with the law and regulations.
5-9
5.9 Precautions in Installation (Extraction)
ihWARNING
eDo not hang down the steering stand by passing ropes, etc., on the steering wheel or
handle for moving the steering stand in installation and so forth. The wheel or handle
should be broken due to weight of the steering stand, and the stand may drop to cause
injury.
In this clause, precautions in installation (extraction) are described for reference of

maintenance and check.
For details, refer to drawings for work or documents for finished plan.
Precautions in installation (extraction)

(1) The steering wheel or handles may be broken if the autopilot stand is lift up by
passing ropes, etc., on the steering wheel or handles at both ends of the stand. Do
not do such things.
(2) Install the autopilot stand so that the stand front rear direction is in parallel with the
ship's fore and aft line, and spaces necessary for service are secured.
(3) In the E-V2 type pilot when the distance between the wheel house and the steering
gear room exceeds 150m, cables shown with the mark* in the inter unit wiring
diagram (circuits shown with double lines) should be wired in parallel.
(4) Pressed (spring bite) type terminal boards are used for connection of input output
cables at external terminal boards. Be sure to use the attached tool and connect
cables in the procedures below. Do not connect plural lines to one terminal
(refer to Fig 5-1).
CD Remove connected cable covering by approx. 6mm.
(2) Twist front edge of core lines (conductor) not to be scattered.
(j) Press the tool as shown in the figure and press the spring, and insert the core line
to the opening. Remove the tool to clamp the core line (the core line is pressed
down and mounted).
@ Make sure that connected ends are not slipped up or down, cable covering are not
clamped, core line does not short-circuit with other line, etc.
ttr
Fig. 5-1 Terminal board and connecting tool
5-10
(5) Cables separately written in the inter unit wiring diagram must be wired separately
for functions, and recommended cables must be used for installation.
(6) All cables connected to this system should be wired more than 5m away from the
wireless radio feeder. If not possible, wire as away from the feeder as possible.
(7) Be sure to earth terminal (with mark G) at the lower section of autopilot stand by
using a copper plate or a braided wire.
(8) Input/output cables are taken in from the bottom of the autopilot stand. Install
cables so that water, etc., do not enter the stand.
(9) Do not use a megger for test because this system uses semiconductors.
(10) Unless otherwise specified, cables are not included in this system.
( 11) The shipyard which will install this system for the first item, should receive technical
instruction by TOKIMEC service engineer before installation.
5- 11
CHAPTER 6 PRINCIPLE OF OPERATION
6.1 General
This system controls the rudder to determine the advancing course of the ship.
There are two rudder controlling methods, follow up control which gives the order rudder
angle and the rudder automatically follows up, and non-follow up control in which the
steering operator directly controls the rudder angle motion.
In the follow up control, there are the following modes : The hand steering I HAND I mode
in which the steering wheel of the steering stand indicates the rudder angle, and the auto
steering I AUTO I mode in which the setting course is indicated with the course setting
knob. In addition, there is the remote steering I RC I mode (option) in which the rudder
angle or the setting course is indicated from other external remote steering system than the
stand [remote control dial: remote hand steering and external navigational equipment (NAV,
ECDIS, etc.) :remote auto steering].
The I AUTO I mode has the PID control mode which can manually control the steering
characteristics such as weather adjustment, etc., and the I ADPT I mode (option) which can
automatically control these characteristics.
Auto pilot
Steering gear
control system
d?g.-sig-na-1-'--~v----
External navigational
equipment
NFUievern _ _ _ _ _ _ _ _____,
Gyrocompass, etc.
Q (Non-follow up control)
~------------------------------~
Fig. 6-1 PR-6000 autopilot block diagram
6- 1
6.2 Principle of Operation of PR-6000
( 1) Follow up control
In the I AUTO Imode, the order rudder angle is calculated so that the ship's heading
coincides with the setting course to keep the course. The automatic processing unit
in the PID control has controls to be able to obtain the optimal steering by adjustment
of these controls (WEATHER, RATE, RUDDER, etc.). Further, the optional
ADPT control is added, and when it is selected, the adaptive control (ADPT) which
automatically controls these adjustments becomes possible.
In the I HAND I mode, the direct order rudder angle signal is supplied to the rudder
servo amplifier to drive the steering gear control system, and the rudder angle fol-
lows up the order rudder angle.
In the I RC I mode (option), the rudder is moved with the order signal from the
remote steering system (remote control) and other external navigational system than
the pilot stand. In the NAV steering mode (option) in the 00 mode, the ship is
automatically controlled to sail on the pre-planned course on the chart, and is also
called the route tracking sailing.
(2) Non-follow up control

In the I NFU I mode, the NFU lever sends the direct driving signal to the steering
gear control system. Because the signal is sent without passing through any processing
circuits and servo amplifier, it can be said the mode in which minimum unexpected
situations such as failure should occur. The rudder moves during the lever is kept
turned to P or S, and turnning the lever reversely is needed to return the rudder to the
original position because of non-follow up.
Operations of main units of this system are described in the following.
6-2
6.3 AUTO-ADPT Operation (Auto Steering, Adaptive Control) (option)
.... ~
/ ''
I
/
/
' \
Ship's heading 't'
I
I l \
I
+ Q,R
_i Optimal Kalman lilterunit
I Gyrocompass I I I rudder of 1 I sea state I

tum calculation1 estimation ] Adaptive Kalman _.!:
filter
j
Actual rate of tum
t 'i' -),_~
I
+ '-" ~
'l'o
I
Speed Jog J Ship's speed V
I
Hull dynamic characteristics
I Estimate function I
,---- + estimation unit

----------------. r---- _2p.!!_m~c.£!l~l~~ _ --
course~ I 'I' 'i' I I
r-1
I Steering I I
1 ~ Optimal gain I
£;:r
I Hull dynamic 1
calculation
[ charactortstics I:
NAV/AUTO 1
lJReferred model f4 + estrmation
Model error
1
I :o.~
keeping
Y
Jj-
1
I [ - I 1 (OPN/CFN Order rudder
HAND 1
Gaincontrol I IKP.To angle calculation I
I : I :K· 1 Course changing
I I ~ ~~~~ _9~N!~!:_L~Rl_ _ ---

I Setting wheel I I I
[ ____ - - J~~C~)____ - - - - _ I Order rudder angle
+
I Rudder angle RIB
-
I :
I gear
Steering II
v
1
control11
system II
~ : Estimated shl>'s heacing KP, To: FSgain
\Rudder
servo
amplifier
o/ : Estimated rate of ll.Jm K. : Integral rudder
~e : Estimated course deviaOOn Q R : Noise covariance
Fig. 6-2 Automatic processing unit (ADPT mode) block diagram
The automatic processing unit block diagram in the ADPT mode is shown in Fig. 6-2. As
shown in the block diagram, the control algorithm is divided to three units of the estimation
unit (estimates hull dynamic characteristics), optimal control unit and adaptive Kalman filter
unit. Function of each unit will be explained as follows.
( 1) Estimation unit
Generally speaking, the ship's hull dynamic characteristics are remarkably changed
by load condition, ship's speed, water depth and external disturbances such as wind
and wave, etc. In conventional autopilots using PID control, the operator has
trouble that he must change and adjust the PID parameters] to obtain the adaptive
steering every time when ship's dynamic characteristics changes.
In the AUTO-ADPT mode of this system, the estimation algorithm is incorporated to
eliminate all the above described trouble and always be able to obtain the optimal steering.
This algorithm is based on the so called MRACS (Model Reference Adaptive Control
System). The MRACS gives desirable specifications for the control system (including
ship's hull and autopilot) as the mathematical model (called reference model), and per-
forms the gain adjustment (adjustments of KP, TD, KI) to coincide the output of math-
ematical model with the actual output of the control system.
At the same time, it estimates the ship's hull dynamic characteristics.
In this system, this method is applied on course changing in the AUTO-ADPT mode. In
other modes than AUTO, the hull dynamic characteristics are also estimated in the
reverse method described above. That is, the mathematical model indicating the ship's
response is incorporated in the autopilot, and the dynamic characteristics are estimated by
changing parameters of the mathematical model so that the mathmatical model output
(rate of tum) correspoinding to the rudder angle coincides with the ship's response (that
is, variables are automatically adjusted in the automatic processing unit).
6-3
(2) Optimal control unit (OPTIMAL CONTROLLER)
The otimal control unit consists of the optimal gain calculation unit and the order
rudder angle calculation unit. The optimal gain calculation unit calculates the
optimal gain based on the estimated results of the hull dynamic characteristics calcu-
lated by the MARCS, the ship's speed signal and the estimate function.
The order rudder angle calculation unit calculates the optimal order rudder angle
based on the estimated course deviation and the estimated rate of tum output from
the adaptive Kalman filter. This optimal order rudder angle signal is sent to the
rudder servo amplifier after the rudder signal has been limited with the rudder limit
adjustment.
~-----------------------------,
Adaptive Kalman filter 1
I
1 Course 1
Estimate function - - - - - - ,
1 deviation - , - - Rate of
l _ _ _ _ _ _ _ _ _ _ _ _ _ --r-------------
turn i
r-------- ----------------- -,r-----~
Ship's speed signal----i--1___,..fi---;O~p:;t;:im:::a-;-:1g=a:;:in:-1[ I

Order rudder angle I i Optimal order rudder angle
calculation unit 1 lcalculation unit 1 1
1
Estimated hull I
dynamic characteristics i Optimal control unit
I
1
~-----------------------------------J
Fig. 6-3 Optimal control unit block diagram
The AUTO-ADPT steering method of this system has the [course keeping mode] and
the [course changing mode].
In the course keeping mode, there are the OPEN SEA (OPN) mode in which eco-
nomic is preferred for course keeping with the least necessary steering even if per-
mitting a little meandering such as in sailing in open sea, and the CONFINED (CNF)
mode in which the course keeping accuracy of going the ship straight is preferred
even by taking a large rudder angle.
The optimal gain calculation unit calculates each optimal gain for the OPEN SEA
mode and CONFINED mode.
Switching between the OPEN SEA mode and CONFINED mode can be made with
the course keeping mode knob (ADPT/WEATHER) on the AUTO control unit.
By ordering course changing in the AUTO-ADPT steering, the mode is automatically
moved to the course changing mode. The MRACS is used in the course changing
control algorithm, and the ideal course changing matched with own ship dynamic
characteristics can be performed. Features of course changing with this autopilot
are the course changing with a contstant rate of tum, and the speed reduction can be
made to a minimum without taking a large rudder angle, defferent from conventional
autopilots.
(3) Adaptive kalman filter unit.

Sailing ships in open sea always receive influences of external disturbances, and
causes of the ship's head yawing includes various components. Generally, in course
keeping in calm sea (calm weather), the ship's hull maneuvering system including
autopilot is mainly affected by low frequency components determined by ship's hull
6-4
and autopilot, and in rough sea (stormy weather) it is affected by high frequency
components induced by waves.
Steering each time for high frequency components of the ship's head yawing not only
becomes "ineffective rudder " but increases the inertial resistance by steering and
drives the steering gear hard unnecessarily. In conventional autopilots, linear filters
and weather adjustment such as non-linear elements have been provided for
removing this kind of high frequency components of ship's head yawing. For general
non-linear elements, backlash, dead band and dual gain, etc., have been used,
however, these have been not always sufficient for removing only high frequency
components which cannot be suppressed by steering.
Thus, in the AUTO-ADPT mode of this system, the kalman filter is used by which
true weather adjustment is possible instead of the weather adjustment by non-linear
elements.
Conception of the Kalman filter is shown in Fig. 6-4.
External disturbances
J l
Rudder
angle
' I
Hull
-------------------
I
,------- -------------,
I
I
I Comparison
I correction Filter output
Model ship
f
External
disturbance
Kalman filter
_________________________________________ 1
!
I settino I
Fig. 6-4 Conception of Kalman filter
As shown in Fig. 6-4, the Kalman filter has a model of hull (model ship), and the
same rudder angle as that of the actual ship is input to this model. The actual ship
hull receives various external distuabances together with the a rudder angle signal,
and sails with continuous strong yawing. On the contrary, no external disturbances
is input to the model ship in the kalman filter, and the model ship always takes
motions of sailing in calm sea. The Kalman filter seeks for the most probable ship's
motion by comparing and correcting with these two signals successively. As the
results, high frequency components which are induced by waves and cannot be
suppressed by steering are scarcely appears in the output of Kalman filter.
In addition, the Kalman filter has a unit to set amplitude of external disturbanses.
Even by the Kalman filter, however, all conditions from calm sea to rough sea cannot
be covered by constant external disturbance settings. The external disturbance
settings should be changed according to sea state. In this system external distur-
bances are automatically set.
6-5
To be considered here is as follows. Influence of sea state giving to the ship's
steering system is not proportional to the Beaufort scale, and directions of waves and
swells affects remarkably on the ship's steering system.
As are well known even in the same Beaufort scale, influence giving to the ship's
steering system is large when the swell direction is from slanting back, and when the
direction is from front, the influence is small.
This fact shows that sea state for the autopilot is remarkably different from the Beaufort
scale.
In this system, the rate of tum is used as the parameter to estimate sea state for the
autopilot.
In these ways, as the Kalman filter of this system uses the estimated results of the
ship's dynamic characteristics calculated by the MRACS for the model ship
characteristics, and the adaptive Kalman filter is used to set external diturbances
automatically according to the rate of tum, the stable filter output can be obtained
even in calm sea (calm weather) and in rough sea (stormy weather).
6.4 AUTO-PID Operation (Auto Steering, PID Control)

The deviation signal in the auto steering generates under the following conditions.
( 1) The ship deviated from the setting course.
(2) When the setting course was changed with the course setting knob.
In both cases, the ship's heading signal and the setting course signal are input to the CPU
(microprocessor) which processes PID operation. The CPU calculates the rudder angle to
order (proportinal, differential integral) based on the deviation signal, the setting values on
the PID unit (weather adjustment, rudder ratio adjustment, rate of tum adjustment and rudder
angle limit and the specified rate of tum), and sends the order rudder angle signal to the
control unit.
In this processing, all the following functions are included.
The proportional control (P control) function which adjustes the rudder amplitude (rudder
angle ratio) for the deviation signal, the differential control (D control) function which
performs the so called [Check helm] (rate of tum) and the integral control (I control) function
which automatically corrects the deviation to the setting course when the deviation has
generated by receiving fixed external disturbances due to wind and tidal current, etc.
The filter function for wind and wave is also included in this system. This function operates
as follows.
Taking rudder for a short time responding to external disturbances of short period generated
by wind and wave becomes ineffective, because the ship does not response to this rudder at
all due to large inertia of the ship's hull. In addition, this kind of taking rudder drives the
steering gear, etc., hard and is not desirable for their service life.
Because of this, the system provides the filter function which cuts the high frequency
external disturbances sharply, and the optimal filter characteristic can automatically be
selected according to the ship's size.
6-6
Next, the system is so designed that the high economic sailing can be performed. Generally,
when comparing energy loss by route extension due to meandering and energy loss due to
steering, it is said the latter loss is large. Considering this point, this system adopts the so
called dual gain method, that is , the ship is entered the setting course by taking a small rudder
angle with less energy loss against various small external disturbances in sea state which
cannot be removed by the filter function for wind and wave, and takes a large rudder against
.only large external disturbances which generate from time to time. As the amplitude of
external disturbance by which the gain is switched can optionally be set (hand or auto), and
the optimal steering considering both the course keeping capability and economic condition
can be performed.
6.5 HAND Operation (Steering Wheel Steering)

The hand control (HAND steering) is the steering method which orders the rudder angle with
the steering wheel, and the actural rudder angle follows up the order rudder angle through the
servo system. The control is, in particular, effective for sailing in ports for departure and
arriving or in nallow channels.
In the servo system, when the steering wheel is turned to the desired direction, the signal
corresponding to the order angle generates in the angle sensor connected to the steering
wheel. The signal is input to the rudder servo amplifier to make the deviation between the
order angle and the actual rudder angle zero.
6.6 Non-Follow Up Control Operation (NFU Lever Steering)

The non-follow steering control (NFU steering) is the control method (operation) by turning
the NFU lever rightward or leftward. In this control, the rudder is controlled, for example,
by direct exciting the solenoid valve in the power unit bypassing the control amplifier in the
steering stand. In this steering mode, ·the NFU lever has to be turned kept to P or S while
seeing the rudder angle indicator.
In this control mode, howevers, even when the other control lines in the autopilot become
failure, the steering is possible as far as the ship has AC power for the steering gear and the
steering gear is operating, because this mode bypasses the amplifier.
6-7
CHAPTER 7 GLOSSARY
[Alphabet]
Adaptive control ............................ (ADPT control)
A steering control method in which weather adjustment,
etc., are automatically controlled in the course keeping
mode and course changing mode during auto steering
(optional function).
The main algorithm consists of the estimation unit
(estimation of ship's hull dynamic characteristics), the
adaptive Kalman filter unit and the optimal control unit,
and the micro-processor is used to process input signals
including external disturbances, and the optimal control
can be perfonTI.ed without regard to sailing in calm sea or
in rough rea.
In the PR-6000, the steering mode enters this mode with
the ADPTIWEATHER control knob set at OPN or CNF.
(Refer to CHAPTER 6 PRINCIPLE OF OPERATION.)
ADPT control (ADPTIVE) ........... Refer to adaptive control.
Auto course changing .................... Operation to set the next desired course by pressing and
turning the course setting knob. The ship turns
gradually and automatically to the desired course set in
the setting course display.
Autopilot ....................................... Steering equipment having the function which is capable
of sailing with keeping the setting course. Consists of
the steering stand, steering gear control system, etc.
Auto steering ................................. I AUTO Imode. The steering method which keeps a
desired course by taking rudder automatically when the
course is set at the setting course display by pressing and
turning the course setting knob. In this mode, there are
PID control and ADPT control (option).
In the PID control, various controls are set manually, and
in the ADPT control, those controls are set automatically,
for straight going of the ship by reducing influences of sea
state and wind.
Block diagram ............................... The drawing in which main functional blocks are shown
devided and connected each other for easy
understanding of the autopilot functions. This is used to
explain operations, etc.
7- 1
Console .......................................... The same designed stand in which navigational
equipment such as autopilot, engine remote controller,
radar, gyro and others are built in for saving space,
resources, and for raising operational capability and
design. (A trademark of TOKIMEC)
Course setting knob ....................... Knob for setting own ship desired course in the auto
steering. The knob is circular and to be used by
pressing and turning at the same time. The setting
course is displayed on the setting course dispaly.
DANGER, WARNING, CAUTION
....................................................... Contents to be observed or avoided to use this system
safely and effectively and if not avoided, serious results
described in Safety symbol indications and definitions
[page (1)] will occur.
Differential rudder ......................... RATE
Functions in the auto steering. Corresponds to D
(Differentiation) of the PID control. This is the rudder
to control inertial force of ship's motion, that is, a large
rudder is taken when the ship deviates from the desired
course with a fast angular velocity (rate of turn) and a
small rudder when the ship's deviates with a low angular
velocity.
The rudder returns to zero when the angular velocity
becomes zero. This is adjusted by the [RATE] control,
and is set at a small value with a light ship's load, and at a
large value with a heavy ship's load.
Documents for finished plan ......... The standard installation drawings cannot be used for
pilots, because installation conditions are different for
most ships and some special specifications (options) are
requested. These are special drawings for each ship
(drawings for note).
Dual gain control method .............. When sea state and wind are changed by weather
condition at sea, responding the rudder to these change
every time may be ineffective, and may cause
mechanical and electrical wears and worse fuel cost due
to frequent operations of the steering gear.
Because of this, in the auto steering this method provides
dual gain modes, Low Gain Mode (LGM) and High
Gain Mode (HGM) to take rudder angles for the
amplitude of the deviation angle (the difference between
the desired course and the ship's heading). Practically,
7-2
the deviation angle of the boundary point of LGM and
HGM is changed with the [WEATHER] knob. For
example, the rudder takes a small angle for a small
deviation angle.
The mode during course changing is always HGM.
Emergency steering ....................... Steering in the steering gear room when this system is in
failure, etc. For details, refer to the steering gear
instruction manual.
Feed back loop .............................. Automatic control system always has a return portion
(feed back portion) and makes a loop.
In the follow up steering of the PR-6000, the control
signal is supplied to the hydraulic steering gear from the
rudder servo amplifier to move the rudder, and the
rudder angle signal is returned to the amplifier (feed
back signal) from the rudder angle transmitting unit
(repeat back unit). The amplifier sends the output
signal till the signal subtracting the feed back signal from
the order rudder angle signal becomes zero (till the feed
back has been completed). This one round of the signal
is called feed back loop.
Follow up control .......................... Follow up servo control system in which the rudder stops
when the actual rudder angle is matched with the order
rudder angle. This system is called follow up control
because the actual rudder following up the order rudder
angle is always taken. The auto I hand I remote
steerings are this control systems.
Group alarm .................................. There are three kinds of group alarms (SYS. FAIL I
AUTO FAIL I CAUTION) in the PR-6000 and are
displayed on the AUTO unit. These are displayed when
there is a possibility of steering failure, auto steering
failure, and when alarm is generating in the other
functions and options.
Gylot.. ............................................ United equipment of autopilot and gyro-compass which
is a sensor of bearing signal. Practically, the gyro-
compass is built in the pilot stand (a trademark of
TOKIMEC).
7-3
Hand steering ................................ I HAND I mode. The steering method with the
steering wheel which controls the ship's course by taking
the rudder by turning the steering wheel rightward
(starboard) or leftward (port).
Helm unit.. ..................................... A panel unit to which the steering wheel for the hand
steering is attached.
HGM ............................................. High Gain Mode. The mode in which the rudder is
taken with the high rudder ratio for deviation angle
(difference between desired course and ship's heading)
in the auto steering. The ranges of HGM and LGM are
changed by the setting value of the weather adjustment
(WEATHER).
Fox example, when the [WEATHER] is set at [3], LMG
is applied for the deviation angle between 0 - 3 ° and
HGM at the larger angles than 3 °. See the diagram
below.
Individual alarm ....... ,.................... There are 11 kinds of alarms in the PR-6000. Alarms
troubled circuits, etc.
Integral rudder ............................... Functions in the auto steering. Corresponds to I
(Integration) of the PID control. The rudder is taken
automatically corresponding to affecting forces by
estimating influences of sea state and wind, etc. During
the integral rudder is operating, the ship' heading
coincides with the setting course and some rudder angle
is being taken.
LGM .............................................. Low Gain Mode. The mode in which the rudder in
taken with the low rudder ratio for deviation angle
(difference between desired course and ship's heading)
in the auto steering mode. The ranges of HGM and
LGM are changed by the setting value of the weather
adjustment (WEATHER).
Fox example, when the WEATHER is set at [3], LGM is
applied for the deviation angle between 0-3° and HGM
at the larger angles than 3 °.
+ Rudder angle
i
+
- Deviation angle
HGM LGM HGM
7-4
Linear synchro ............................... Linear Synchro transmitter
Non-contact synchro transmitter which outputs electric
signal corresponding to the turning angle. No
maintenance is needed because of non-contact (point).
This is installed in the repeat back unit and feeds back
the pilot rudder angle follow up signal to the amplifier in
the steering stand.
Look out (watch) ........................... The regulations for Preventing Collisions at Sea
obligates for each ship to carry out adequate "look out"
(watch) regardless of navigation or anchorage at any
time.
Motor power open phase ............... Alarms when 1 phase, 2 phases or 3 phases of the ship's
power (AC 3 phase power) are not supplied to the motor
which drives the steering gear (SG) hydraulic pump.
Non-follow up control ................... The control method in which the order rudder angle is
not defined quantitatively and the actual rudder angle is
not fed back. Steering, then, should be made while
seeing the rudder angle receiver (indicator) for the actual
rudder angle. The NFU steering is this control method.
Non-follow up steering ................. Steering by turning the lever rightward or leftward to
make the switch ON or OFF. This is used when the auto
I hand I remote steering cannot be used caused by failure
of the amplifier, etc., in the steering stand.
NOTE ............................................ Cautions to be observed to use this system safely and
effectively.
Override control ............................ The control which interrupts the steering from the other
places than the steering stand in other steering modes
than the non-follow up, NFU. The override steering can
be performed when the steering mode selection switch is
in any other positions than NFU (optional function).
Periodical check ............................ Check and maintenance works performed periodically
once approx. a day or a half I a year. Works necessary
for maintaining a long term performance, and for safe
and effective use.
7-5
PID control .................................... The control method used in the auto control system.
This control is used in the PR-6000 for the auto steering.
P indicates the proportional rudder (RUDDER) motion
which takes the rudder angle in proportion to the
deviation angle, and I indicates the integral rudder
motion which takes the rudder angle corresponding to
the integrated value of external disturbances, and D
indicates the rudder motion (RATE) which takes the
rudder angle corresponding to the yawing rate of turn
(Differentiation, angular velocity).
PROHIBITION ............................. Prohibited items to use this system safely and effectively
or to protect this system.
Proportional rudder ....................... RUDDER
Functions in the auto steering. Corresponds to P
(Proportion) of the PID control.
The rudder angle in proportion to the deviation angle
from the setting course (deviation angle of ship's
heading) is taken. This rudder is set with the [rudder
ratio] (RUDDER).
Proportional solenoid valve ........... Controls pressed oil flow rate in proportion to the driving
current, different from ordinary solenoid valves.
Qualified person ............................ A person having the certificate issued by the
corresponding authorities of each country through the
qualification test, etc. For example a mate or a radio
operator.
Remote auto steering ..................... Auto steering by receiving the setting course or pre-
planned course from external navigational equipment.
This mode is selected by I RC I first and then by I NAV I
(option) of the submode.
Remote hand steering .................... The same steering as the steering wheel steering is
performed at a remote location.
The steering should be always performed while seeing
the rudder angle indicator. This mode is selected by
I RC I (option) , and the steering location is selected by
the submode.
Repeat back unit ............................ The transmitter connected to the tiller with the
connecting bar which transmits the tiller turning angle
signal to the steering stand and rudder angle indicator.
Rudder angle receiver (indicator) .. Receives and indicates the angle of tiller motion. This
is installed in the wheel house.
7-6
Rudder servo amplifier .................. (Follow up amplifier)
Amplifier for follow up control. The taking rudder
signal is output till the differential signal subtracting the
feed back signal of the rudder angle sensor from the
order rudder angle signal becomes zero (till the feed
back has been completed).
Safety precautions .................... ,.... Contents to be observed or avoided to use this system
safely and effectively are described. These are
summarized at the beginning of this operators manual.
Ship's officers (Qualified marine offices)
....................................................... Persons executing duties of captain, mate, chif engineer,
engineer, chief operator and operator.
Solenoid valve ............................... Flow directional control valve of hydraulic circuit. The
motive power is produced in the electric magnets
attached to the right and left sides. The pressed oil
direction is switched by ON-OFF.
Steady course ................................ Condition under which the the setting course coincides
with the ship's heading.
Unit type ........................................ The type that each unit of the PR-6000 steering stand is
delivered to shipyard separately, and is assembled at the
shipyard in the console installed on the ship's hull.
Warning label ................................ Labels noting safety precautions for operating this
system, and is attached to necessary points.
Explanation for each label is also given in the operator's
manual.
Those are attached where, if not observed, serious results
described in Safety symbol indications and definitions
[page ( 1)] will occur.
Weather adjustment ....................... WEATHER
This functions in the auto steering mode in the PID
mode. This is adjusted to prevent from taking
ineffective rudder responding to weather conditions.
The weather adjustment has 0 -10 scales and in the
lower area than the setting value is LGM (Low Gain
Mode) and in the higher area is HGM (High Gain Mode).
Then, the range ofLGM is ±0.5°- ±10°. In the ADPT
control mode, the weather condition is automatically
estimated for steering.
Warranty ........................................ Standard guaranteed contents of TOKIMEC for
autopilots.
SEAvANs AUTOPILOT
PR-6000
STEERING STAND
e OPERATOR'S MANUAL [Document No. E11-1233D]
Jan. 18, 2000 5th Edition
1
• (•)~@1(4 TOKIMEC INC.
2-16-46, MINAMI-KAMATA, OTA-KU,
TOKYO 144-8551, JAPAN
CONTROL SYSTEMS DIVISION
Tel. (81) 3-3737-8631
Fax. (81) 3-3737-8663
Notice This operator's manual must not be copied or reproduced without expressed written
permission of TOKIMEC.
TYPE E
REPEAT BACK UNIT

.OPERATOR'S MANUAL
TOKIMEC INC.
CONTENTS
Page
1. Repeat Back Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1 .1 Follow-Up Linear Synchro . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1. 2 Outside Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Check and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2.1 R e peat Back U nit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3. Replacement of Parts of Repeat Back Unit . . . . . . . . . . . . . 4

3 .1 Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3. 2 Follow-Up Linear Synchro... . . . . . . . . . . . . . . . . . . . . . . . . 4
4. Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
4.1 Repeat Back lTnit . . . . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . . . 5
APPENDIX 1
APPENDIX 2
1 Repeat Back Unit
The repeat back unit is connected with the cylinder by a link

mechanism above mentioned, and transmits feedback signals to the
steering control stand. This device has a follow-up lenear
synchro and buffer amplifier for the system, limit switches and cams for
stopping at b.oth hard over positions, two condensers and a resistor for
noise quenching of solenoid valve in a water-proof plastic case.
Buffer·amplifier
Case
Terminal board
/ C a b l e gland
Cam
Linear synchro
Fixed '
screw Condenser
Limit switch
Fig. 1
- 1 -
1.1 Follow-Up Linear Synchro
The follow-up linear synchro is installed on the shaft and is
turned directly.
!Adjustment!
The zero point can be adjusted by following methods.
With the rudder angle at zero, unfasten the three fixed screws of
the linear synchro and turn its case until the arrow mark of the
case agrees with the dot mark on the top of the linear synchro
shaft. Then tighten the three fixed screws.
1. 2 Outside Limit Switch
Outside limit switches are provided for the purpose of opening

the electric circuit of the solenoid valve slightly before the
piston reaches the maximum travel, thereby protecting the steering
gear. The contacts of these limit switches are always in a closed
state, and are connected in series to the electromagnetic circuit
of the solenoid valve. The switches are installed inside the
unit, and controlled by means of the cam on the follow-up
potentiometer shaft.
By adjusting the cam position relative to the shaft, the angular
position of the helm that actuates the limit switches can be obtain-
ed.
- 2 -
2. Check and Maintenance
2.1 Repeat Back Unit
MAINTENANCE
Frequency Procedure
1 Every six Apply a small amount of,grease to the
months shaft and the bearings of the link
mechanism of the repeat back unit.
- 3 -
3. Replacement of Parts of Repeat Back Unit
3 .1 Limit switch
Disconnect the wire connected to the limit switch, and unscrew

the screws that hold the limit switch.
Pull off the fitting screws in the limit switch, replace it with
a new one, and install it in position in the reverse manner.
Then, do the wiring. Move the piston rod from the midship
position of the rudder, and see at which position the limit
switch is actuated.
Re-adjust the cam position so that it follows the given movement
of the piston. (This adjustment must be carried out when the
ship is at anchor, and be sure not to do it while the rudder is
being steered.)
· 3. 2 Follow-up Linear Synchro

Unscrew the three fixed screws for the synchro case and two
set screws for synchro shaft to detach the linear synchro.
Assemble it in the reverse manner.
In reinstalling it, the neutral position of it must be set to the
center position of the rudder. With the rudder angle at zero, turn
the synchro case until the arrow mark of the case agree with the
dot mark of the synchro shaft. Then tighten the three fixed
screws.
- 4 -
4. Spare Parts
Name Number Number

Parts No. Rating Remarks
of use of spare
---
Limit switch 4 2 093019013 For Repeat Back Unit

I
- 5 -
REPEAT QUANIITY
NAME BACK UNIT «sr t 2
~~ WEIGHT
~~iE J!! a: ~.-
8.5 kg
DWG. NO. LOCATION S~£.~~~J.l~
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HOLES
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R -= 400 mm
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REPEAT BACK UNIT
TOKIMEC INC.
DRAWN !CHARGED APPROVt:.O jDATE: ::·::, /flRliWINGNC
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WIDE RUDDER ANGLE
REPEAT BACK UNIT
-OPERATOR'S MANUAL
\
TOKIMEC INC.
CONTENTS.
Page
1 Repeat Back Unit ............................................................ 1
1.1 Follow-Up Linear Synchro ................................................ 1
1.2 Outside Lmit Switch ••··•·•····•··••••••·•··••••··••·••·······•·••··•······•· 1
2 Check and Maintenance •·· ••· ··· ·•· ••· ··· •·· ••· ·•· •·· ··· ·•• ··· •·• •·· •·· ·•· ··· 1
2.1 Rapeate Back Unit ·•· ··· ·•· ·•· ·•· ·•· ••· ••• •·· ·•· ••• ·•· ••· ·•· •·• •·• •·· •·· ·•· ·•· 1
3 Replacement of Parts of Repeat Back Unit 2
3.1 Limit Switch .........................................., ........................ 3
3.2 Follow- Up Linear Synchro··· ··• ·•· ••• ••• ••• ••• ••• ·•· ••• ••· ••· ••• ••· ··• ••· •·· 3
4 Spare Parts ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· ··· 3
APPENDIX 1
APPENDIX 2
1 Repeat Back Unit
The repeat back unit is connected with the tiller by a link mechanism
above mentioned, and transmits feedback signals to the steering control
stand. This device has a follow-up linear synchro and buffer amplifier
for the system, limit switches and cams for stopping at both hard over
positions, two condensors and resistor for noise_quenching of solenoid
valve in a water-proof case.
This device is wide rudder angle type of 70 - 70degrees.
The follow-up linear synchro 1s installed on the shaft and is turned

directly.
The follow-up linear synchro is of a half revolution type of rudder
angle.
Adjustment I
The zero point can be adjusted by following methods.
With the rudder angle at zero, loosen the three fixed screws of the
linear synchro and turn its case until the arrow mark of the case
·agrees with the dot mark on the top of the linear synchro shaft.
Then tighten the three fixed screws.
1.2 Outside Limit Switch
Outside limit switches are .provided fdr the purpose·of de-energizing

the electric circuit of the solenoid valve.slightly before the piston
reaches the maximum travel, thereby protecting the steering gear.
The contacts of these limit switches are always in a closed state,
and a connected in series to the electromagnetic circuit of the
solenoid valve.
The switches are installed inside the unit, and controlled by means of
the cam on the follow-up detection shaft.
The maximum rudder angle is selected at the steerin~ control stand, and
outside limit switches. can be setting one side rudder limit of
70 degrees or 50 degrees with an optional rudder angle selectable.
By adjusting the cam position relative to the shaft, the angular

position of the rudder that actuates the limit switches can be obtained.
2. Check and Maintenance
MAINTENANCE
! Frequency Procedure
Every six Apply a small amount of grease to the shaft , and

I1 months the· bearings of the link mechanism oi ~he repeat
I back unit.
I
I ! l
-1-
3. Replancement of Parts of Repeat Back Unit
3.1 Limit Switch
Disconnect the wire connected to the limit switch, and unscrew the
screws that hold the limit switch.
Pull off the fitting screws in the limit switch, replace it with a new
one, and install it in position in ·the reversed manner.
Then do the wiring. Move the piston rod from the midship position of
the rudder, and see at which position the limit switch is actuated.
Re-adjust the cam position so that it follows the given movement of
the piston. (This adjustment must be done when the ship is at anchor,
and be sure not to do it while the rudder is being steered.)
Rmove an external terminal board.

Loosen screws of coupling between the sensor ax1s and an internal ass'y
and keep the coupling with the sensor axis.
Loosen five screws of the internal ass'y and take it out.
Loosen a· set screw of th~ gear of the synchro motor axis and take it ou~.
Remove three screws for .the fixing asynchro motor case.
For assembing~ do vice versa as explaind above.
Do "iero" adjusting of the synchro motor with the rudder center (midship)~
4. Spare Parts
iI Name
Number
of use
Number
of spare .
I!
par t s No. Rating Remarks
I Limit switch I 4 1
I 093019013 AC250V BA For Repeat
Back Unit
-2-
TYPE SPECIFICATIONS CABLE GLAND
¢8. 2 HOLE MAX.150
0
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COLOR(~): N7. 5
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6 - - REPEAT BACK UNIT
6 - - ){! t:t ~ I
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MARK 00 DATE ~ REVISION ~ SIGN
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PR-6000 OPERATOR'S MANUAL
INDEX
[Alphabet] page
Adaptive control ............................................................................................. 1-5,2-6,7-1
Adjusting method for auto steering ............................................................................. 3-14
ADPT ....................................................................................... :.................................... 2-6
ADPT control (ADAPTIVE) ................................................................................. 2-6, 7-1
Alarm List ................................................................................................................... 2-11
AUTO-ADPT operation ................................................................................................ 6-3
Auto course changing .................................................................................................... 3-9
AUTO-PID operation .................................................................................................... 6-6
Autopilot ................................................................................................................ 1-2, 7-1
Auto steering .......................................................................................................... 1-2, 7-1
Auto steering method .................................................................................................... 3-7
Before Troubleshooting ................................................................................................ 4-1

Block diagram ...................................................................................................... 2-13, 7-2
Configuration ................................................................................................................ 2-1

Console ................................................................................................................... 1-3, 7-2
Countermeasure ............................................................................................................. 4-7

Course setting knob ....................................................................................................... 2-5
DANGER, WARNING, CAUTION ...................................................................... (1), 7-2

Data-display method of AUTO unit.. .......................................................................... 3-18
Differential rudder (RATE) .................................................................................... 2-6, 7-3
Display and Alarm ........................................................................................................ 1-6
Disposal Method ........................................................................................................... 5-7
Documents for finished plan .................................................................................. 1-7, 7-2
Dual gain control method ....................................................................................... 1-5, 7-2
Emergency steering method .......................................................................................... 3-5

Emergency stop method ................................................................................................ 3-5
Failure phenomena list .................................................................................................. 4-5

Feed back loop ....................................................................................................... 1-5, 7-3
Follow up control ................................................................................................... 1-5, 7-3
(i)
page
General .......................................................................................................................... 1-2
GENERAL DESCRIPTION ......................................................................................... 1-1
GLOSSARY .................................................................................................................. 7-1
Group alarm .....................·...................................................................................... 2-8, 7-3
Gylot ....................................................................................................................... 1-3, 7-3
Gyro-compass connected and shape of stand ................................................................ 1-6
HAND operation ........................................................................................................... 6-7

Hand steering ......................................................................................................... 1-6, 7-4
Hand steering method ................................................................................................... 3-6
Helm unit ................................................................................................................ 2-5, 7-4
HGM ............................................................................................................................. 7-4
Individual alarm ............................................................................................................ 2-8

Information Items to TOKIMEC Service Agency ...................................................... 4-25
Integral rudder ...................................................................................................... 3-17, 7-4
Kinds of steering functions ........................................................................................... 1-5
LGM .............................................................................................................................. 7-4

Linear synchro ............................................................................................................... 7-5
Look out (watch) .................................................................................................... 1-1, 7-5
MAINTENANCE • CHECK ........................................................................................ 5-1

Misuse (Mis-operation) and Countermeasures ........................................................... 3-21
Motor power open phase ...................................................................................... 4-13, 7-5
Multi functional equipment ........................................................................................... 1-1
Name and Function of Each Unit .................................................................................. 2-3

Non-follow up control ............................................................................................ 1-6, 7-5
Non-follow up control operation ................................................................................... 6-7
Non-follow up (NFU) steering ............................................................................... 1-6, 7-5
Non-follow up steering method .................................................................................. 3-13
NOTE ........................................................................................................................... (13)
OPERATING METHOD .......................................................... :................................... 3-1

Operating Method of Steering System .......................................................................... 3-2
Operating method when alarm generated ................................................................... 3-19
Override control ................................................................................................... 3-14, 7-5
Override steering method ............................................................................................ 3-14
(ii)
page
Periodical check ..................................................................................................... 5-3, 7-5
PID control ............................................................................................................. 2-6, 7-6
Precautions in Installation (Extraction) ......................................................................... 5-8
PREFACE .................................................................................................................... (11)
Preparation before start ................................................................................................. 3-3
PRINCIPLE OF OPERATION ..................................................................................... 6-1
Principle of Operation of PR-6000 ............................................................................... 6-2
PROIDBITION .................................................................................................... (12), 7-6
Proportional rudder (RUDDER) ............................................................................ 2-6, 7-6
Proportional solenoid valve .................................................................................... 1-3, 7-6
Qualified person ................................................................................................... (11), 7-6
Relevant Instruction Manual ......................................................................................... 1-7

Remote auto steering .............................................................................................. 3-9, 7-6
Remote auto steering method ........................................................................................ 3-9
Remote hand steering ........................................................................................... 3-11, 7-6
Remote hand steering method ..................................................................................... 3-11
Repeat back unit ..................................................................................................... 2-1, 7-6
Replacement Method of Fuse ........................................................................................ 5-6
Rudder angle receiver (indicator) ................................................................................ 3-13
Rudder servo amplifier ........................................................................................... 6-2, 7-7
Safety equipment ........................................................................................................... 1-1

SAFETY PRECAUTIONS .................................................................................... (1), 7-7
Ship's officer ........................................................................................................ (11), 7-7
Solenoid valve ........................................................................................................ 1-3, 7-7
Start ............................................................................................................................... 3-4
Steady course ......................................................................................................... 1-5, 7-7
Stop ............................................................................................................................... 3-5
Storage Method ............................................................................................................. 5-7
Spare Parts ..................................................................................................................... 5-7
Specification .................................................................................................................. 2-2
SPECIFICATION AND CONFIGURATION .............................................................. 2-1
TROUBLESHOOTING ................................................................................................ 4-1
Unit type ................................................................................................................. 1-3, 7-7
Voltage Table of Each Point ...................................................................................... 4-24
(iii)
page
W aming Label ........................................................................................................ (2), 7-7
W aming Label Check ................................................................................................... 5-6
Warranty ................................................................................................................. 1-7, 7-7
Weather adjustrnent ................................................................................................ l-5, 7-7
(iv)
Periodical Check Table (Once a Day)
Check mark ...J :Normal

~ :Normal after rework or repair
Date of check
Inspector
Check items
a. I HAND I mode
Steering wheel PS 1o·
Rudder angle receiver (indicator)
indication (P, S 10·)
Indicator I HAND ION.
System selection and display
b. I NFU I mode,
Operate steering lever leftward and
rightward
Rudder angle indication moves in
the direction above
Rudder motion stops with lever at center
Indicator I NFU ION.
c. I AUTO I mode, setting course
Press and tum knob leftward and rightward.
Setting course display changes.
Heading deviation bar g@p]l display changes.
Auto course changing function
Indicator I AUTO ION.
d. [KJ mode (option)
Turn RC knob leftward, center, rightward
Rudder angle indication moves in the
direction above.
Rudder angle 0 with knob at center
Indicator[]£] ON.
e. I LAMP TEST I
Press switch
All display lamps and alarm lamps ON.
Buzzer sounds.
f. PIS indicator ON.
Helm unit
In the direction of order rudder angle,
Green (STBD) or
Red (PORT) ON
g. W aming labels coming off, dirtiness
(facia panel, remote control, inside stand)
Items to be informed
Periodical Check Table (Once a half year I a year)
Check mark >J : Normal

L'l : Normal after rework or repair
Date of check
Inspector
Check item
a. Fixing screws in mechanical sections

Connecting screws in terminal boards
Check and retighten loosing parts
Electronic (electric) parts mounting condition
b. Connecting wires inside
Root of mounting (being near cutting)
c. Control knobs
Loosened play in fixings
Retighten loosened parts
d. Switches
Conditions of motion
e. Repeater unit
Open scale
Loosened play in driving gears
Loosened play yes or no
Wearing yes or no
f .. Taking rudder time
(Read rudder angle indicator indication)
HANDmade
o~ P30° (sec)
P30° ~ 0 (sec)
o~ S30° (sec)
S30°-+ 0 (sec)
NFUmode
o~ P30° (sec)
P30o ~ 0 (sec)
o~ S30° (sec)
S30° ~ 0 (sec)
a
e· Warning labels (all labels)
(Cleanliness, coming off, dirtiness)
SEAVANS AUTOPILOT
PR-6000-ED
AUTOPILOT
• OPERATOR'S MANUAL [Document No. E11-1228D]
Jan. 18, 2000 5th Edition
-..IImIE TOKIMEC INC.

2-16-46, MINAMI-KAMATA, OTA-KU,
TOKYO 144-8551, JAPAN
CONTROL SYSTEMS DIVISION
Tel. (81) 3-3737-8631

Fax. (81) 3-3737-8663
Notice: This operator's manual must not be copied or reproduced without expressed written
permission of TOKIMEC.
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I RUD. LIM. I !±lb·fltU ~ ra, ~= 0 ~ t T 0
~%1f¥1H:T!±I SYS. FAIL I' I AUTO FAIL I' I CAUTION l"fti:'ffiU$~~=0 ~ t T -fO){ili 0
No.l~lJ'No.2~~J±fURII-PWRF. 1,1 2-PWRF. 1, DC~?W.~1itfl~:krl DCPWR J;0~0

~ t To ~ L? ~=, 1fQJJ.lUfUR:kTO) No.1 ~ct'No.2 ~t~i!JIJf!Pif¥R I lSG CNT I, I 2SG CNT I, -¥
J}jf'~~.:c- P'~1itff¥R:krl HAND M. I, §JJJf'~~.:c- F~1itfi~:kT I AUTOM. I' ~jlf;jf'~~
~1it~¥Rn 1 Rc M. 1, :; ""1 o ~1it¥¥Rn 1 GYRo 1, 1'\ 1 o 'J r- '7 ;t 'J .:rw=¥R~T
1 PILOT w. 1, v t::- :7 ~?W-~1itlf¥R~T 1 REP. PWR 1, AUTo .::::r...=- 'J r *~:ru5~1it!f~n
I INDICATE I~ c·;O~tc'fl!Ur:Fra, !:0 ~ t T 0
d. A 1 'J 7-~
7 /7'7A rl LAMP TEST I' 77-L 77/ v 'J:; I ALARMACK I' 7'1 '7- I -o I
I +@ I' 7'- 7' A 1 'J 7-l CHANGE I I -o I I +@ I ~;O~:tJT'fl!H:, I <l SEL. I ;0~7--:7 f.iJ.lU
3:\(~~0);;b~ ~= ~ ~ t "to
2-8
® 1J .::c-:1 :.-ww..::r...::.. '/ r (:t-7'~ 3 :.-)
~ .::C- r r*J (J) ~- F 7 1 :.- 7· : Port Wing (P/W), A 7 - *'-

r 7 1 ;_, 7· : Starboard Wing
(S(W), *1-JvJ\7A :WheelHouse (W!H) ~e:·m%*~ftl.A:1J~PJf~~T 1).::C::I:.-O)-l]-7''
.::C- r ~~;JKt" ~, )!~ §Jhf*~ c l ""C NAY ~ c·ji.~~:tvti!!ltrn:~~:}R"t" ~iTo
.::c- P't!JWA1 -:;7-~[_KJ.::c- )"(J)f}[rn:~:lt-:{~ (RC-lf-7''.::C- r·0):@:7:.-7',¢.i:i~), 1).::C
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Q3) ~A-TAtvw..::r...::..-:;J-
~A-rAtvwA1 -:;1-©l"Z"~:JR~ht-:NO.lJ<.~iN0.2~.A7A"Z"f'~~A::$' ;_, )"O)~imtiO~A
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a:ij:~i39:ul.tf¥R~~~: J: "? -c 7"-lf'- n~~~ '? iTo
2-9
77-l 1Im JJU fU!ti; fUR~IZ9 'V*R~HHl~JF ~ilfi*R~IF
No (~5F~;ft) SYSTEM AUTO CAUTION 1!m ~
FAIL FAIL
1 AUTO ::L::7 r MMA---+- PID :ifJHa~1it EOl.l - - (0)

~5F:g:j5~1lt MMA EEPROM.T.7- E01.2
/1-}-. RTCSRAM E01.3
'?:r.7 RTC I\ .• 77 1) - E01.4 - - 0
}.:C )77-!:J. ov
~'*" WDT
1
EOL5
1JJ.7'-r
E01.6
S. I/0-1 A.1J E01.7
(INDICATE) S. I/0-1 Jlr-7' E01.8
2 PILOT AUTO/NAY .:c- r • ~0) E02.1 - - 0
WATCH 1*it~ O);j7J-J.
(PILOTW.)
3 GYRO GYRO____,. PID :ii!Ha~'ffi" E03.1
FAIL GYRO/J{:il:~'ffi" E03.2 - 0 -
(GYRO) GYR0~1it E03.3
GYRO /J{:\1:~:& E03.4 - - 0
4 REP POWER ~·t1ovr'-7'~?~~ E04.1 - - 0
FAIL
(REP.PWR)
5 No.1 -lf-;J;· Jv---7' (;:btt) EOS.l DM, DW %tl)'i.
S/GCONT. -lf-;j;· JJ..-7' (ti:tt) E05.2 0 - - 11:177''' -~;jf ~3/
FAIL DM, DW %ti-)r!.
J:; ro-J!t.:c-7'7:r.1 Jv E05.3 D0%0)J.;.
t-J\ ·• -o- 1- •• (OL) E05.5 L0%0)J.;.

0-7' vJ. (LP) E05.6 L D%t7' ~3:;
o-v" ·• Jv (LL) E05.7 L0%t7'~3:1
(lSG CNT) t-7' :17:r.-J. •' (OP) E05.8 L D7f3-t7' ~3:;
6 No.2 "lf-;j;· JJ..-7' (;:btt) E06.1 DM, DW %£L)r!.
S/GCONT. -lf-;j;· JJ..-7' (ti:tt) E06.2 0 - - 11:177"'-~t7' ~3:1
FAIL DM, DW %£L)r!.
J:l ro-J!t.:c-7'7:r.1 Jv E06.3 D0%0)J.;.
t-J\ • -u- r• (OL) E06.5 L0%0)J.;.

0-7' vJ. (LP) E06.6 L0%t7'~3:1
o-v" •• Jv (LL) E06.7 L0%t7'~3:1
(2SGCNT) t-7 ° :17:r.-J. •' (OP) E06.8 L0%t7'~3:1
7 HAND RSA ~7~~1it E07.1 0 - -
MODE
(HANDM.)
8 AUTO PID ____,. MMA :iffi-m~1it E08.1
MODE t-7"' ~1it (D/A, AID E08.2 - 0 -
Jlr-7' f:r.77~'ffi")
PID 0)1\- r. '?:r.7 ~1it E08.3
ADPT---+- PID :iffi-ffi~'ffi" E08.4 - 0 0 *1 : ADPT ~:JR~
PID---+- ADPT :iffi-m~1it E08.5 *1 *2 *2 : ADPT *~:JR~
(AUTOM.) t7'~3:1
2- 10
77-J.,. i17JUIHR~ W¥11~129 I'¥R~Hm ~.g-fHIH~/F
No (£V1~;g~t) £VF SYSTEM AUTO CAUTION 1ilii ~
FAIL FAIL
9 RCMODE j}*~ 1 ~ MMA imfa E09.I t7';,-3:t

_,W_r.!!-
/ ' if,
j}*~ 2 ~ MMA imfa E09.2

~,g. -
if, - 0
j}*~ I Not Ready E09.3
j}*~ 2 Not Ready E09.4
(RC M.) RC f'~~'i:~?t E09.5
10 LOW SHIP ~a:i!1t1:T EIO.I - - 0 ;tf :,-3/
SPEED (AUTO ADPT a:!rO)J:I.)
(LOW SPD)
II DC POWER DC 1lt7mt (!1''1f1J-) EI 1.1 - - 0 1\.f ,, 1:17" 1:.::.7 (t7'Y3:1) 0)
FAIL
~'*" 1lt 7mtl?¥11 ~ ~ u
(DCPWR)
I2 STEERING *U~H*Jift ?Wi~1Jfi¥~ EI2.I - - 0
WHEEL
DISENGAGE[
(WHLOFF)
13 AUXFAIL ~~:iEn~?W:~1Jif¥R EI3.I - - 0 ;tfy3/
(AUX) J} *~ff¥11 I EI3.2 0 - -
ji.*~lf¥~2 EI3.3
n*~W¥113 E13.4 - - 0
n*~W¥114 E13.5
S. l/0-2 .A::iJ~?t E13.6
S. l/0-2 Jlr-7' ~?t E13.7
No.11f-;J;'' Jlr-7' (:titt) E05.I 0 - - OM, DW%0):f:~i;-
No.11f-;J;'' Jv-7' (:tJ:tt) E05.2
No.21f-;J;'' Jv-7' (:titt) E06.I
No.21J"-;J;'' Jlr-7' (1£/a!) E06.2
14 ;tf Y3:177-J.,. ;J-7' Y3:t77-J.,. I El4.1 0 - - ;f7';,-3:t
t7• :,-3:177-J.,. 2 EI4.2
t7• :,-3 :177-J.,. 3 El4.3
t7• Y3:t77-J.,. 4 El4.4
t7• :,-3:177-J.,. 5 El4.5
t7' Y3:177-J.,. 6 El4.6
;f7' :,-3:177-J.,. 7 El4.7 - - 0
t7' Y3:t77-J.,. 8 El4.8
t7• Y3:t77-J.,. 9 El4.9 0 - -
;f7' Y3 :177-J.,. I 0 E14.A
t7• Y3 :177-J.,. 11 El4.B - - 0
;f7' :,-3:177-J.,. 12 El4.C
- NO.I NO.I ~1ltEEtf¥!1 - - - - DC 1lt7m!""t'f'Ffh
POWER FAIL
(1-PWR F.)
- N0.2 N0.2 ~11tEEI'¥!1 - - - - [li}_t
POWER FAIL
(2-PWRF.)
2- I I
PR-6000~ .A -T,l,mJtZO) 7''tJ 'J 7 ~ ~~2-4~:* L;!: To ~%s:.\;ttt~~~1l!U tfre~~1l!U ~:}Jijh
;J: -til~, t~fil't~!i~~j"iij t: l"T o
,---------~it~
ri1li!Aitl.C~.A7.t.
~- (:i)·;;:;)--- *-fl\"fC7f
:!~/f"
7i-f" 1\"7?
r<~f~-%
I0 I
( )
TG-6000
:;,·-r'I'CJ/1\" A
' ~111'FI!!tr<lll 1
II~-,~~
_______ JI
(~7·;.:-)
~ 1iUl/l'tll?"f~-%
===> ,. i0/~.11~-%/Ill!~f~-l}it!!
!Zl2-4 (1) PR-6 ODD -DM,

PR-6 ODD -DW 7f~ 7· D ·:; ~ IZl
1- - - - - - - - - WEit~
111li!Aitl.C~.A7'.t.
~-,*)·-;;.;;) __ _
TG-6000
:i"t1'0J/Il"A
IZI2-4 (2) PR-6 ODD -DT 7·o ·:; ~!Zl
2-12
, - - - - - - - - - WE:&ti3 AC1 00/11 0/115/220/440V 3 ~
1i111bMJ'I<:.-::>:7.t.
~-(~7·;.::) __ _ ~-fn'fD-Jf
;>;~;,;· 7i-f'n'71
RS422/RS232 ~ftlj!;1}
I0 I ( )
TG-6000
l-'tfCJ:-n· ;>;
AC100/110/115/220/440V 3~
~ 2-4 (3) PR-6 DOD -E Off~ -y· D ·:; 7 ~
r - - - - - - - - - !ltltiti3
1i111bMJ'I<:.-::>:7.t.
~-(~7.-;;.T--
TG-6000
l-'tfiiVn';>;
'1Ui!1ili.ll[
DC24V
I ~Jillli'f.lb!t~!ll 1
~-f~k
II _______ JI
<~n.:-l
~ 2-4 (4) PR-6 ODD -L D7'o ·:; 7~

,--------- ~lt&U&
1i111bMJ'I<:.-::>:7.t.
~-(:17·;.::)---
AC100/110/115/220/440V 3~
I0 I ( )
TG-6000
;,·t~OJ/1\.A
1Ui!1ili.ll[
OC24V
1 ~1!1li'f.lb!ll~!ll 1
I1~-f~k
_______ JI
(fJ'l-3/)
~ 2-4 (5) PR-6 DOD -P D7'o ·:; 7~

2-13
e-=F-~?'~Jim, §~?'~Jim&lfJi!Wif*Jimi±?'~1'F~-ftL-f'tL~:ff0)1tJI'Ll:O)ffi':.¢.i:~iJ'fJ; ~ ~To
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<f.!. f: V~o
-~~,f*Jim~: -:?v~-c <b tHliP ~ k:MB9~:mt ~ ~ L~lllt-* L -c i:3 ~, ~~JI;f~:~{}I*JO) t~.::. tJ~ ~
-c: <b fi3rt~=Mr.t-c: ~ ~ J: -7 ~= L -c <t.!.f: v~o
3.1 :tft~
:t- r ;~ 1 o -:; r PR-6000 O)fo;(<f'F:JJ$ f: -J It) -c Jzfi.r( iTo
7-f;:~@:I±J\re'd:- ~gJ}J-9 ~f";(<Mt~~U':;iJfsi:f~i}-t /-lf"-c'j; ~ ~ -'f 1 o :1 / ;-e.A 7J'i'~$i;Jlti~ t ~-? -c
") -c, I± C &"J -c lE L ") JJ.Jf'f:;O'i'1iJ~~ t ~ ~ iTo
!fr:f:, ~ -'f 1 o ::1 / ;-e.A l±!fr:til:.~JJJ:6' ~M}I::-9 ~ i -c'f:~ra,7J'i'7J':6' ~ i "9 o lliffl\Jl~O):J:!WO)
~irm 'd:- ~;h.~") -c' <t!. ~ ")0
~ :B, 7-j;:JrrB-O)f;(<Jire~ (':/.A 7 L) t ~ -'f 1 o : I / ;~;;q:-Jv)-c !±, ~;{- :iJ :6' ~fiUfl"~ tl~5Jij
illfO)JOtt.&mij!3«: 'd:-~~l'L L, f";(<f'FfiH:iT -7 :®tu~~irm t JOttlh) 'd:-iT-? -c <t!. ~ ")o
:t- r ;-e 1 o -:; r PR-6000 O)f;(<f'FI±, ~1=1itf";(<Jire 'd:- ~ ~ f";(<Jire.A :7 / P'l"iT -7 .:. t :Q'i'-z" ~ iTo
~ :B, !ire~~ f: "liT -7 ~1=1itf";(<Jire f: -J ") -c l±f";(<Jire:fl ;{ - iJ 1J!U O)JOtt&mij!3«: f:t:E-? "liT-? -c <t!. ~
3- 1
• ~/&.:!"~!itt 1
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7?{36-~ L t-=~il, jillO) :ii& ~ tfld) ~ ~ c.~~~~~~ ~ , .:c- r''tvw.A 1 /' -r 1 MODE 1
~I HAND If:V:i!: ~=mw ;t, -=FtJJl":f~J're~~@ L, :f~!itt L --c < t!. ~ "'~o
• ~1&-:f*Jitt 2
-=FtJJ:f~!ittil{/f§~~r~iJ, ~ATAtvw.A1 /'T 1 sYsTEM 1~1if!1.fO)~ATA~=tvwx.,
~i'*~=-=FtJJl":f~fre~~@] L, :f*Jitt L '"C <t!. ~ 'v~o
·~f&-:f*Jitt3
-=FtJJ:f*treil{/f§~O)r~iJ, .:c- vtvw.A 1 /' -r 1MODE 1~ 1 NFV 1f:V:i!:l=-sowx., / /
7 :t D 7 ";; 7·:f~fre v l { -"t":f~fre L '"( <t!. ~ 'v ~ 0
·~1&-:f*Jitt 4
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e :J "\' 1 D :I/;\;<, 1±]1-JE: L ~ v~l*J ~=, § fhf'~fre~{~ffl L ~ v~l" <t!. ~ 'v~o

~ b ~ v~ C., § 1illil{:ffi"~~t~I:5E~t~f, 1fr~-?J.~iH~O)~IZ9 C.~~ J3-t-nil{cb ~ iTo
e:f~tre.:c- r-0)-sowx.s:~n±, £,-r, -sowx.t.= c.~ ~=trei7{9=I~~=~ ~ J:-? ~= L, -t-0)1&, .:c-
v-sow;z, 1 /' 1- I MODE 1~-~mwx. --c <t!.~ v~o
~ b ~v~ c., }i~tv~::ktre~~~ J3-t-nil{~ ~i-to
e.:c- FtJJw.A 1 /' -Tii~~~:-=Fl"¥f!~ ;t '"C@'i~~ .. IE Lv~tvwX.f:V:i!:~5F-tO~Di -e
tJJ il" L , W: l1:: L '"C <t!. ~ v~ o
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7l;l-7°T 1 7"i!Jij~ .................................................................................................................. 2-5, 7-1
*"~~~·································································································································· 1-1
*"~~:~-9 .Qji.)]\f. ·················································································································· (1), 7-1
~~-=F-~t~:Jil't .......................................................................................................................... 3-10, 7-1
~~-=¥-~=l*:lilt:/Ji;i;; ·················································································································· 3-10
~~§~}"~:Jilt .......................................................................................................................... 3-9, 7-1
~ ~ § ~=l*:Jilt::1J1! .................................................................................................................. 3-9
:t- j--;{1 tJ "/ }- ·················································································································· 1-2, 7-1
:t-;\-71 ri!JU:f~ .............................................................................................................. 3-1L 7-1
:t- ;'\'71 rt~:lilt;:JJrt .......................................................................................................... 3-12
;jl!Jt~·········································································································································· 1-1
;jl!Jt~ ......................................................................................................................................... . 1-2
~tf~O);g~ t ;!£§~ ·················································································································· 2-3
~:i!T .Q l!it:t.&~EJ3t!f ............................................................................................................. . 1-6
~I*.J~i'f~~EE~ ······················································································································ 4-21
fit~~' ~15', 1±.)1\f.Jj[§ ·········································································································· (1), 7-1
~~-f"~:Jilt1f1! ·························································································································· 3-5
~ ~w.11: ::1J1! .......................................................................................................................... 3-5
~.li:4J.Jj[ ·································································································································· (12), 7-1
~15'-7./'(Jv .............................................................................................................................. (2), 7-1
W15' 7 .!'( Jv 0) .~~ ·················································································································· 5-5
lff!l-Ji~ .............................................................................................................................. 2-10
¥$R~O)f"~1'F::1J1! ·················································································································· 3-16
I¥ffl~OO, X~±~JV(;~ ······································································································ 1-5, 7-2
mJVt .......................................................................................................................................... 2-1
~1i!!ffl (~f"~1'F) t-'(- O))r;j"1ft ······························································································ 3-17
tt~:~m~-~~ ······················································································································ 4-5
i55c~Jrt}ft ·································································································································· 4-3
itl:~)r;j"}ft ~: 9r:."iL "? "'"( ····················•········································••···········•··································· 4-1
i55c~)r;j"1ft~ ........................................................................................ :.................................... . 4-7
ttl:~ t ..:c 0) )r;j"}ft ..................................................................................................................... . 4-1
1JQ17Jij~fa .................................................................................................................................. 2-7, 7-2
::z :/ '/- Jv ······························································································································ 1-3, 7-2
( i)
[~]
~ ATL:ff!f.nit .......................................................................................................................... 2-1

~ii.J~{iiij ·································································································································· 3-3
§ii.J:f~Jifi: ·································································································································· 3-6, 7-2
§ ii.l:f~Jifi:~(!)Wii.J~:1Jr:t ·········································································································· 3-13
§ ii.J:f~*~:1Jr! ·························································································································· 3-7
§ii.J~~t ·································································································································· 3-7, 7-2
~ii.J)Jr! ·································································································································· 3-4
:J-v1o-;;r .......................................................................................................................... 1-3, 7-2
~1?i'l'¥a ................................................................................................................................. . 2-7, 7-2
-=¥- iiJ1*Jifi: .................................................................................................................................. 3-7, 7-2
-=¥- iiJ :f~Jifi: :1J ¥! ......................................................................................................................... . 3-6
1±1* ......................................................................................................................................... . 2-2
1±1*&Lf:ff!j.:@t .................•.......•....•............................. ······························•······························· 2-1
itlt%~)t)E~ ······························································································································ 2-4, 7-2
;fl?J-Jifi: ...................................................................................................................................... 2-5, 7-2
:Jifm ~ :fL .Q :/ "\' 1 D ::I / J ~A c A ~ / ]"([)~:/X ............................................................. . 1-5
~*8Jfllltffi! .................................................................................................................................. (11), 7-2
:f~1'F:1Jr! .................................................................................................................................. 3-1
:f~Jifi::ml:~~(J)*i~ ······················································································································ 1-4
1*lifi:!.lllfrnr(J):f~1t:1Jr:t .............................................................................................................. 3-2
!.Ill!: {iiij !f;f ([) ff :t:.:J:Jj[ (:t\t:;J¢) ................................................................................................... . 6-1
[f.: J
Jiri:~§t{l§~ .............................................................................................................................. 3-11, 7-3
?P:ml:~~:ml:~ .............................................................................................................................. 1-1
1i. :t:.:J:Jj[ ................................................................................................................................. . (13), 7-3
J£!tEil!Uf!!J ...................................................................................................................:............. . 6-1
J£!tE!.lll!:rnt .................................................................................................................................. 2-2, 7-3
7EM ,¢!.1§t ................................................................................................................................. . 5-2, 7-3
w.il:.:1Jr:t .................................................................................................................................. 3-5
7Eit ·········································································································································· 1-3, 7-3
7'.:r.. 7 Jv7'1 /il!Uf!!J::iJA ...................................................................................................... 1-3, 7-3
-:;R.{~Wii.l~ .....••....•...........•.....•.........................•...................•..•..........................•......•.....•........... 3-15, 7-3
i!t.JiR7'r ······································································································································ 1-2, 7-3
i!tii.J:ml:i!t?J]ji-J\.;f§ ······················································································································ 7-3
ii.Jf'F)Jj(~ ·································································································································· 6-1
*1±-lT-l:::'A{i;~ . 1-t1ili5$1¥J""-(!)J!~ ·············································································· 4-22
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/ / 7 :t D 7 'J 7'il!U:fiE!Jii.J1'F .................................................................................................. 6-6
/ / 7 :t D 7 'J 7' (NFU) :f~Jifi: .......................................................................................... 1-4, 7-3
/ / 7 :t D 7 'J 7':f~Jifi:}J1i; .................................................................................................. 3-10
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Jtf9JJ~~ ······································································································································ 2-5, 7-4
Jtf9JJ~.ljfi:Jt· ······························································································································ 1-2, 7-4
§;!f:-m-~~ ·································································································································· 7-4
1:: .:::r.- ;t.: O)j(~1J$ ·············································································································· 5-5
*~lft..tl¥¥!! .......................................................................................................................... 1-5
1~7t~ ······································································································································ 2-5, 7-4
7 1 - ]'';'\ 'J 7 Jv-7° .......................................................................................................... 1-3, 7-4
7 :;f tJ - 7 'J 7o#flj{if!J •••••••••••••••••••••••••••••••·••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••;••••••• 6-1, 7-4
7"tJy7!jg] .............................................................................................................................. 2-12,7-4
"""'Jv 1.:.. ::r.. -. 'J 1- .................................•.................................................................................... 2-4, 7-4
1*~1ftt ......... ······························ ···············································································.··········· 5-8
1*~ . .¢!.~ ······························································································································ 5-1
f*IDE~JJ: .................................................................................................................................. 1-6, 7-4
i X.iJ'i:~ ·································································································································· (11)

~* !') ········•·······•··············•···········•······••·········•··········••········••·•············•················•·················· 1-1, 7-4
[~]
rffiEEf~T*~j:J ...................................................................................................................... 7-5

:ffjf;f.§-~ ·································································································································· (11)- 7-5
::1.. =- 'J }- ~~ J.;. .......•......................•..............•....•....•...............•................•............................. 1-3, 7-5
ffl~-if~ ······································································································································ 7-1
71iiil61 ...................................................................................................................................... 5-8
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) =- 7-::_, / 7 tJ ······················································································································
1
2-2, 7-5
ADPT ....................................................................................................................................... 2-5

ADPT #flj:fiflj (ADAPTIVE) ..................................................................................................... 2-5, 7-5
AUTO-ADPT illi.Jf'F .................................................................................................................. 6-3
AUTO-PID illi.Jf'F ...................................................................................................................... 6-6
AUTO ::r..=- 'J }- 0) 7'- -7 :tf~1fit ...................................................................................... 3-16
HAND illi.Jf'F ......................... .................................................................................................... 6-6
HGM ........................................................................................................................................ 7-5
LGM ......................................................................................................................................... 2-5, 7-5
PID i!Jlj:fap •••...••.••.•.•••••.•...........•...................••..•••....•..•.••.•...•....•....•.••••.•..•.••••.•...••......•.•.............. 2-5, 7-6
PR-6000 illi.Jf'FJJR~ ................................................................................................................... 6-2
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l&m~~.r:l~~[:x~.-i5-J11-1228D]
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'f144-8551 *~iB*EBl&jlBiEB2-16-46
ftIJ'OO ~ A T k$~flB
Tel. 03-3737-8611
Fax. 03-3737-8663

3e-2 Gyro Compass, Auto Pilot, Course Recorder

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• TOKIMEC

GYROCOMPASS & AUTO P I LOT

HULL NO. 5070

SHIPYARD SHIN KURUSHIMA DOCKYARD Co.,Ltd.Esq.

HULL NO. 5.070

TYPE OF VESSEL 12,000 GT

Control Systems Divition

TOK I MEC INC.

INTER UNIT WIRING DIAGRAM 169902651 4-1

STEERING STAND 113399970 5-1-1

GYRO COMPASS ACCESSORIES 5-4

SPARE PARTS BOX

SPARE PARTS LIST

NO. N A ME Q'TY MASS(Kg) COLOR REMARKS

POWER SUPPLY AC440V 1cD. 60Hz. MAX. 250VA

FREQUENCY VARIATION +5% rv -5%

AMBIENT TEMPERATURE +55" c rv -20" c

NUMBER OF PILOT SYSTEM TWO COMPLETELY INDEPENDENT SYSTEMS

STEERING METHOD AUTO(AUTOMATIC)-HAND(MANUAL)-NFU(NON-FOLLOW UP)

ACTUATOR SYSTEM SOLENOID VALVE (24VDC) CONTROL SYSTEM

AUTO STEERING SYSTEM P. I.D CONTROL(DUAL) (PROPORTIONAL, INTEGRAL, DIFFERENTIAL)

DC24V STEP MOTOR TYPE

STEERING MODE (AUTO - HAND - NFU)

OWN SHIP'S HEADING

ALARM FACTOR GROUP IND. ALARM CODE INDI. DISPL Y REMARKS

NO.1 PILOT POWER FAIL

REPEATER POWER FAIL

NO.1 SERVO LOOP FAIL(STBD)

NO.1 SERVO LOOP FAIL (PORT)

NO.1 CONTROL MOTOR FAIL ONLY FOR D TYPE

NO.1 HYDRAULIC-POWER UNIT LOW PRESSURE ONLY FOR L TYPE

NO. 1 HYDRAULIC POWER UNIT LOW LEVEL ONLY FOR L TYPE

N0.2 SERVO LOOP FAIL(STBD)

N0.2 CONTROL MOTOR FAIL ONLY FOR D TYPE

N0.2 HYDRAULIC POWER UNIT LOW PRESSURE ONLY FOR L TYPE

N0.2 HYDRAULIC POWER UNIT LOW LEVEL ONLY FOR L TYPE

RSA POWER FAIL

PID HARDWARE FAIL

ADPT~PID COMM. ERROR AUTO FAIL

PID~ADPT COMM. ERROR AUTO FAIL

NAV1~MMA COMM. ERROR

NAV2~MMA. COMM ERROR

NAV1 NOT READY

LOW SHIP SPEED

STEERING WHEEL DISENGAGED (WHEEL OFF)

PRESET COURSE INVALID

MAIN POWER SUPPLY

2. Ship's supply 24VDC fed to an autopilot and a gyrocompass is used for

4. Be sure to install the recommended cables separated according to the

6. Connect terminals marked with~to the ground terminals of the ship.

7. Unless otherwise designated, cable is not furnished with the equipment.

8. Since semiconductor elements are used in the equipment, do not use

tr N0.9 ~----I.I.W.WN01..,__7_.~-. ~fJ~~

~--------~No""-~.A.~....-_~,., N0.2 STEERING GEAR STARTER (RUN AT ON CONTACT)

~----------------~-~~.7~ N0.1 STEERING GEAR STARTER (RUN AT ON CONTACT)

STEERING STAND (GYRO SIDE) ~---------------------------------~

~~A 9 ::J ~, (:Jv1Dil

'- ,• . -... ·:..~ ~ .- . - - -: ·::.·{1~;:.:

CABLE ENTRANCE(PILOT&GYRO) PR-60 62

-...,. --~:.· _:. . ':, ..

LOCATION STEERING ENGINE ROOM

MASS. (W: it> 20kg

SCALE DATE SIZE DRAWING NO.

,_ ...,..., .,__ ---r