Pr-6000-E Auto Pilot Operator's Manual

I Document No.
I E11-3028E I
PR-6000-E □
AUTOPILOT
OPERATOR'S MANUAL
2008.10
TOKYO KEIKI INC.

CONTROL DIVISION I
PR-6000-E□ AUTOPILOT
COMPOSITION OF OPERATOR'S MANUAL
1. STEERING STAND •
2. REPEAT BACK UNIT
3. WIDE RUDDER ANGLE REPEAT BACK UNIT
PR-6000 OPERATOR'S MANUAL INDEX
PERIODICAL CHECK TABLES

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.
Explanation of the interfacing to the rudder control system is shown in Fig.2·5 .
.--··-·---'
~ .......... ~---
,_, --
-----·-
Au....- , ......
101r11:r...~~£.ii:~~~
( I
115421
--
L.....-.J::=-:-+-+__::======~
Steering gear room
•a... ... ,.....

,_______ ,
,_,
·---.·
Wheelhouse
~-, ..........
~ ...... ..,,"Ye_ _ ,... __ _
Fig. 2-4( 1) PR-60 0 0-DM

PR-60 0 0-DW type block dia1ram (Excludin& 3-4 pumps)
.................... ........ ,__

,_,
---------'
..... .....
---~
1--
--
t---+-+-'
.._
--
-
.......
--
-......
- S1ffring gear room
,------S...
:=:;;;;::;:::;:~
··-------·
----·
I SooMIII •11111---•
.-,
~
Wheelhouse
Fie. 2-4(2) PR-6000-DM

PR-6000-DW type block dia&ram (Pumps 3-4)
2-17
s-......
!1f<OC0ffll)US
......
. . . . COfNIOI
No.2
□
Meeaing
RS•22
Steering gear room

Ata,m oower
OC2•11
, - - - - - - SPNO si9'1a1
1 Spa.a IOQ !====~-
200 pulse/N,A
I 0 ..1 lo, remo<e I
(Ol)fion} lnenclM-ing I
'- - - - - - - J
(Ol)lion}
Wheel house
Fig. 2-4(3} PR-60 0 0-DT block diagram
' - - - - - - - - - S.11,ng eou<••

,-~-
--
I_________
Aul0"9W91NIIS,,SW"' J
(OO'ion} F--
AS422/RS232 ,---- ..........
--
.....
RS422
( Canoelluillin) ACHJO,1 110/1151220/HOII 1-

autoc,ilol si...a
, - - - - - - 5'INcl signal
I 5-dlog:=;::;;:::=::;:;J I OiaC to, lefflQle I Steering gear room
' ~. - 200pullwNM nencl •-inQ JI
I, _______
(opi;on}
Wheel house
Fig. 2-4(4) PR-6000-E□ type block diagram

(Excluding 3-4 pumps)
2-18
1- - - - - - - - - Setting course
No.1
, ..., •• .,.go,..,sys1om, Repeat back
{option) AutopiDI Feod bock AC100/110/115/220ft40V 1+ unit
stand 1udde, 1ng
AS422/AS232 1 ---~.!:"!:"'°~•~----+--+-_J
I
gyrocompass
HeaOiog
RS422 No.2
RerftOle hand Trantfonnw
Steering box
signal -1'
AC 100/110/ 115/220/440V 1 + No.2
( Can be buit in ) Ala1m power
A•p•Hbick
unit
autopilot stand
DC24V
Steering gear room
r - - - - - - Speed signal
I Speed log
1 D1a1 for remote 1
L - - - - - - 200 pulse/NM
(option ►
: ~B~d_5:~~9- ~
{optlOnl
Wheelhouse
Fig. 2·4(5) PR ·6 □ □ □ ·E □ type 3 or 4 pumps block diagram
1- - - - - - - - - Selling course
I Au!O f\l'll19&l1on l~ltm
Power suppty.
{op1ion) AulapilOl
slanO
FHdbacic
rudder angle ~~ •••••• f - - - AC220/440V 3~
(SlaffHJ
RS422/RS23? ~ - - - - •19n>'
Nol
1--.....J~.L-l=;S,.,C:::o:Cfing:::==::::;==r==>i ~ckoul,c p0Wlf
g9Al'Cot'Mfo(
SHjlnlll
No2
I====::==:::::::::)! hych,_, power
Heading """
AS422 No.2
Aernot1 htind
,in9
,1 ..
rnofOl'lllt\et' AC220/440V 31
1,,.... ,,
"9nal
Steering gear room
( Can be bull in) Alarm powe,
aulapilol stand
OC24V
I Speed 109 1Dial for ram01e 1
, (opli;;,l - 200 pulse/NM
:~a~Sl_e1:,'.~9- ~
(oplioo)
Wheel house
Fig. 2·4(6) PR-6 □□□ -L □ type block diagram
2·19
1 - - - - - - - - - Selling cou1se
I Auto nav,,9• 1ton sysitm
~--------1 Po•er supply
(oplion} AvlopilOI Feed back
Nol
stand rudder ancle Tr,nsformer AC 100/110/115/?20/UOV 3;
AS422/RS232 si&nal box
.-----
I 0 I No I
s,....,.,,,..., ,
)
Re 1&1 back uNI
Steering
g.a, con1,a1
MQnll No.2
9yrocompass
S•rvo-l'h040I I
Aep. . , b><kunot
HeaOing
RS422 No.2
Trasfor ■ er AC100/l l0/l 15/220/440V 3;
box
steering gear room
( Can be buill in) Ala1m power
aul opitol s1and
DC24V
1 Speed lo!il
L- - - - - 200 pulse/NM
(oplion)
Wheelhouse
Fig. 2·4(7) PR-6 □□□ -P □ type block diagram
2·20
Steering
IFunction I
Track
Control
System
Heading
Control
System
Gear
Control
System
Steering
Gear I I
Rudde,
manufa·
cturer
TOKYO
KEIKI
EC·7000
...
~
TOKYO
KEIKI
.~
TOKYOKEIKI
PR·6000
another
maker ...
~
another
maker
EC·7500 PR·6000
Tracking Rudder Rudder
Sub unit order Order
.. drive
(serial (analog E type (mechanical
& Steering
signal) power solenoid
Interface signal) engine stroke etc.}
unit valves
signal drive
(on/off
signal)
' DM/
DW ...
(analog Torque
type
Sub unit Rtidder signal) motors
power
Variation .Servo· unit
control
...
& device
DT
interface type Proportional
(analog solenoid
signal power signal) valves
unit
..
UP
type (mechanical Floating
power stroke) lever
unit
Fig.2·5 Interfacing to the rudder control system
2-21
CHAPTER 3 OPERATING METHOD
&WARNING
• Each steering mode of HAND, AUTO and remote (RC) has specific attention points for
use. These are shown in the corresponding clauses with ~ CAUTION and
Lt WARNING, etc. Observe strictly these items.
e Periodical 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
e I Emergency steering 1 I (wheel house]
When a trouble or failure occurs during the AUTO steering (gyro-compass or magnetic
compass is being used), the HAND steering, remote auto steering or remote hand
steering modes, take navigational safety means first such as reducing the ship's speed.
Turn the mode selection switch I MODE I to I NFU I (non-follow up steering) and steer
with the non ·follow up steering lever.
e I Emergency steering 2 I (wheel house]

If the non ·follow up steering cannot be regained, turn the system selection switch
I SYSTEM I to another system(from 'No.1' position to 'No.2' position or vice versa).
Then, steer with the non ·follow up steering lever.
e IEmergency steering 3 / (wheel house]

If the steering control still cannot be regained, stop the abnormal steering gear and
steer with the another steering gear.
e / Emergency steering 4 / (wheel house/ steering gear room]

When the steering control cannot be regained by the above methods, take a means such
as ordering astern of the engine, etc., to stop the ship safety. Then, make the emergency
steering according to the emergency steering procedure for the steering gear.
~WARNING
e For E type and D type, the steering gear control system is not switched even if the
system selection switch / SYSTEM is switched.
I
The steering gear control system is activated by the operation signal of the steering
system.
It is required to switch the steering gear when the steering gear control system is
failed.
~WARNING
• If any alarm indicating that normal steering may not be available occurs, the rudder is
locked frozen at the alarmed rudder angle to prevent abnormal rudder movement.
If any of alarms generated and the rudder is frozen, immediately turn the mode
selection switch / MODE / to the / NFU / position, and steer with the non·follow up
I
steering lever, or turn the system selection switch / SYSTEM to another system ,and
steer. If not, cannot steer and may cause collision or standing.
Refer to a table 2·1 alarm table about the alarm with which a rudder is frozen.
3·2
~WARNING
• Do not the use auto steering unit the gyro-compass has settled. If not, own ship does
not set on the desired course and may cause collision or stranding.
• Before switching the steering mode, be sure to set the setting knob at the center, and
then switch the mode selection switch I MODE I . If not, an unexpected large rudder
may be taken.
• Hold the mode selection switch surely with hand and turn 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 steerinf mode is switched correctly with
the steering mode display lamp ( I AUTO I , I HAND_ , I NFU I , [RQ] ).
e Loosened play in fixing the knobs for the mode selection s w i t c h ~ , 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 our service department.
3-3
(blank)
3-4
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, coincide the reading
by the following operation.
(Din case of step signal repeater compass (except for PR-6020 0 / 6040 0), turn
OFF the repeater switch, and press and turn the repeater synchronizing knob to
coincide the reading. Then, turn ON the repeater switch.
®In case of serial signal repeater compass (PR-60200 / 60400), the reading is
coincided automatically by turning ON the repeater switch (automatic synchronizing).
c. Make sure that the system selection switch I SYSTEM I 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. Turn the steering wheel of the helm unit to set the pointer of the order rudder angle
indicator at the center.
Repealer switch Compass repealer
--Repeat.er
syncbroniz.ing
knob
•
0
Order rudder
angle indicator
SysLem selection switch

Helm unit steering wheel
Fig. 3· 1 Facia panel (preparation before start)
3·5
(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
In case of Gyro log I/ F is equipped, please read 3.2.14 at first.
(1) The power is supplied to this system by turning the system selection switch
I SYSTEM Ito I NO.I I or I NO.2 I position.
Make sure that the power indicator on the AUTO unit ( I I ·SYS I or I 2-SYS I ) lights.
SYSTEM
orr
System seleclion switch
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 steering mode
indicator I HAND I lights and the I RC I display lamp blinks to inform that the RC
sub-mode is not selected. Until the RC sub·mode 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 I SYSTEM I
from No. I to No.2 or No.2 to No. I. Then the system is turned to the selected system.
(5) The RC sub-mode changes by the specifications of each ship. Refer to "OPERATION
PROCEDURE" of operation plate about the steering method of the remote steering (RC
mode).
~CAUTION
• Set 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 I or 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.
3·6
3.2.3 Stop (including emergency stop)
(1) Turn the steering wheel to set the pointer of the rudder angle indicator at the center.
(2) Turn the mode selection switch MODE to I I D I.
(3) Turn the system selection switch SYSTEM to OFF 1 and turn 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 a trouble or failure occurs during steering, perform the following emergency steering.
(1) I Emergency steering 1 I [ wheel house]

a . When a trouble or failure occurs during the AUTO steering (gyro-compass or magnetic
compass is being used), the HAND steering, remote auto steering or remote hand
steering modes, take navigational safety means first such as reducing the ship's
speed.
b. Turn the mode selection switch I MODE I to I NFU I (non-follow up steering) and
steer with the non ·follow up steering lever.
(2) I Emergency steering 2 I [wheel house]

If the non ·follow up steering cannot be regained, turn the system selection switch
I SYSTEM I to another system (from 'No.l' position to 'No.2' position or vice versa).
Then, steer with the non-follow up steering lever.
(3) I Emergency steering 3 I [wheel house]

If the steering control still cannot be regained, stop the abnormal steering gear and
steer with the another steering gear.
(4) I Emergency steering 4 I [wheel house/ steering gear room J

a. When the steering control cannot be regained by the above methods, take a means
such as ordering astern of the engine, etc., to stop the ship safety.
b. Make the emergency steering according to the emergency steering procedure for the
steering gear.
3·7
3.2.5 Hand steering method
~WARNING
e When the rudder angle selection switch is installed, setting of the max rudder angle
selection switch should be used only in the narrow rudder angle side other than when
the steering is required a large rudder angle. Otherwise, an unexpected large rudder
angle may be taken to cause a dangerous steering situation.
(1) When turning the mode selection switch to the I iND II

osition, the system enters
the hand steering and the steering mode indicator HAND lights.
(2) [ - - - ] is shown in the AUTO SET. COURSE display.
(3) Turn 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. l AUTO
SET. COURSE
Order rudder display)
angle indicator '--......__1-----1
Order rndder
angle pointer Course set.ting
knob
Steering wheel ---
System selection . Mode selecLion

switch swiLch
Fig. 3·3 Hand steering
3·8
3.2.6 Auto steering method
Refer to 3.2.11 for adjustment of auto steering control knobs, etc. , used for auto steering.
~WARNING
• Do not use the auto steering in confined sea areas or narrow channels. In addition,
do not switch to the auto steering too.
Prompt avoidance is not in time and may cause collision or stranding.
e When 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.
e When the PID control mode is used, the auto steering adjusting knobs [RUDDER
(ratio), RATE, WEATHER] should surely be readjusted if the load condition and the
ship's speed are changed or weather and sea state vary.
The set course cannot be maintained when these knobs are set improperly or not
being readjusted, and may cause collision of the ship or stranding.
e Keep a strict "look out" (watch), in particular, during auto steering. Careless "look
out" (watch) may cause collision or stranding.
e When trouble happens on the gyro-compass, heading monitor (option) or the speed log
(option), make sure the repeated condition of thel~earinJ of the gyro·compass and the
speed of the speed log (option). (Push the switch SEL. on the data display number
of times, then make sure the bearing and the speed. For that method, refer to
3.2.12.)
If these data are not correct, the auto steering may not operate properly.
e When manual ship's speed input is selected and if ship's speed is not set correctly, the
autopilot can not operate properly due to yawing etc.
Therefore, when manual ship's speed input is selected, set the ship's speed referring to
3.2.12 (1).
~WARNING
e While the ship's speed is low, when the mode is switched to the auto steering from the
other steering modes, the set course may not be able to maintain. Steer under
monitoring the ship's motion.
e Make sure of the safety around own ship before changing the course during auto
steering.
e Course 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.
3·9
~CAUTION
e During 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.
e Always collect, note and accumulate data for the adjusting positions of various knobs of
the PID control so that the optimum values can be set according to variation of sailing
conditions.
e Pay attention on the following points when selecting the auto steering I ADPT I
I
(Selecting OPN I/ I I I
CNF of ADPT I/ I I
WEATHER knob) (option).
1. When steering in which any turning force is generated with othler equtment than
rudder at a speed higher than 7 kt is performed, switch to the OPN mode after
course changing by 10° of port and starboard in the hand steering.
I I
2. If weather becomes stormy during using the OPN mode, switch to the CNF I 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. 15minutes),
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 .
• Perform in the I CNF I mode of auto course changing by 10° of port and starboard, and
observe the state for approx. 15 minutes.
•When the yawing still continues, perform course changing by 10° of port and starboard
with the hand steering, and observe the state for approx. 15 minutes.
•When yawing does not settle yet, contact our service department.
e Switching between the PID mode (WEATHER) and the ADPT mode (OPN / CNF)
(option) with the weather adjusting control during auto steering should be made only
while the course is keeping. Switching in a large course changing may cause trouble
in operation of the auto steering.
e When switching from PID mode to ADPT mode during auto course changing, a
switching operation is reserved. In that case, a switching operation is done at the
moment when auto course changing was finished. While a switching operation is
reserved, ADPT blinks in a four-second period.
I I
(1) Turn the mode selection switch to the AUTO 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 I 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) Turn the course setting knob while pressing it to match the No.I or No.2 setting course
display value with the desired course. The setting course can be set at 0-359° by 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· 10
(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.
·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.
• ROT (rate of turn) under turning is controlled within the specified turn rate set value.
(4) Auto steering with magnetic compass (When the bearing sensor is a magnetic compass.)
a. Confirm the magnetic compass variation
b. Turn 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. Turn 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, turn 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 (NAV) method (option)

[Remote auto steering (NAV) is equivalent TRACK control steering.]
There are two methods for the remote auto steering (NAV).
It is distinguished which method this remote auto steering function is whether the course
order is displayed on the SET. COURSE display during the remote auto steering.
• The course order method
The course order(set course, leg course and etc.) is displayed on the SET. COURSE
display during the remote auto steering. This method automatically controls rudder in
consideration of cross-track error and etc., and connecting with the external navigation
equipment such as ECDIS or etc.
- The rudder order method
The course order is not displayed on the SET. COURSE display during the remote auto
steering (The set course display:- - - ) . This method controls rudder following the
rudder order from the external navigation equipment such as ECDIS or etc.
The following describes the remote auto steering method.
3·11
~WARNING
e Do not use the remote auto steering (NAV) in confined sea areas or narrow channels as
a rule.
For using it by any chance in such areas, suitable navigation means such as securing
safety around or reducing speed should be taken. If not, prompt action cannot be
made, and may cause collision or standing.
e Keep a strict "look out" (watch) , in particular, during remote auto steering. Careless
"look out" (watch) may cause collision or stranding
e If 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 .
(1) When the track control is ready on the external navigation equipment and this system
receives the Ready signal for the remote auto steering (NAV), the NAV-Ready lamp
turns on and you can switch to NAV. (The NAV-Ready lamp might not turn on because
of alarms for the remote auto steering or etc. See notes in (6)a.1 / (6)b.1.)
RC Seleclion
Remote control
c:::::::::J c:::::::::J c:::::::::J
Selection unit
[o P/W !lo W/H !lo S/W I
NAY-Ready lamp
Enable switch
•
RC Selecloin Uni!
MODE
HANO
0
~---t--- Mode selectin switch

RC
0
Mode Selecloin Uni!
(2) When the mode selection switch I MODE I is turned to I RC I , the mode becomes the
RC stand-by mode for the selected condition (in this condition, the steering mode
indicator [Rill blinks. I iND II is still lit. The hand steering is possible).
At the moment, pressing NAV and D
simultaneously makes it to the remote auto
steering mode, and the NAV mode indicator comes on. And the steering mode indicator
I RC I becomes continuous lighting from blinking.
(3) For switching to the other mode in the remote control selection unit, press the mode
switch and D switch simultaneously.
(4) For switching to the other mode than [ill , turn the mode selection switch I MODE I
as required .
3-12
(5) The set course cannot be changed even if the course setting knob is operated.
About the following, it is different by the specifications or the connected external navigation
equipment.
(6) [The course order method] (When the course order is displayed on the SET. COURSE
display in the remote auto steering mode)
a. When this system is connected with FURUNO ECDIS
1. Switching to the remote auto steering mode or performing the remote auto
steering is impossible while NAV·Ready lamp is turned off.
<Note l> NAV· Ready lamp does not turn on in the following cases.
1) When the communication error happens between this system and the
external navigation equipment,
2) When the communication error or etc. happen between this system and
gyro-compass (when E03.l/E03.2/E03.3 alarms are active),
3) When AUTO MODE FAIL (E08.4/E08.5/E08.6) is active,
4) "Rudder position feedback failure" alarm (E05.D/E05.E/E06.D/E06.E) 1s
active, or
5) When the manual speed is selected (When I SPD I indicator blinks).
2. The leg course is displayed on the SET. COURSE display during the remote auto
steering.
3. The rudder limit setting on the AUTO unit is unavailable during the remote auto
steering.
4. When the communication error happens between this system and external
navigation equipment, "Communication is invalid" alarm / "Not Ready" alarms
~ CAUTION I, I RC M.I, E09.l and E09.3/E09.2 and E09.4) are generated, the
steering mode indicator I RC I blinks and I AUTO I is lit. When these alarms are
generated while the course changing [turn mode] during the remote auto steering,
the ship takes a turn to the set course (the next leg course) shown on the SET.
COURSE display and then keeps the heading. When they are generated while
the course keeping [straight leg mode], the ship keeps the heading at the moment
the alarms are generated. Change to another mode as soon as when they are
generated.
5. The remote auto steering is applicable only in the ADPT control mode
(CNF/OPN). When this system is switch to the remote auto steering in the PID
control mode, the mode is automatically moved to theADPT control mode (OPN).
6. When the mode selection switch I MODE I is turned to I AUTO I within 5
seconds while the course changing in the remote auto steering, the ship takes a
turn to the set course (the next leg course) and then keeps the heading.
b. When this system is connected with TOKYO KEIKI ECDIS. JRC ECDIS. or others
steering is impossible while NAV·Ready lamp is turned off.
<Note l> NAV-Ready lamp may not turn on in the following cases depending on
the software version.
1) When the communication error happens between this system and the
external navigation equipment,
2) When the communication error or etc. happen between this system and
gyro·compass (when E03.l/E03.2/E03.3 alarms are active) ,
3) When AUTO MODE FAIL (E08.4/E08.5/E08.6) is active,
4) "Rudder position feedback failure" alarm (E05.D/E05.E/E06.D/E06.E) 1s
active, or
3·13
5) When the manual speed is selected (When / SPD I indicator blinks).
2. The set course is displayed on the SET. COURSE display during the remote auto
steering.
3. The rudder limit setting on the AUTO unit may be unavailable while the ship is
taking a turn in the remote auto steering depending on the specifications for the
connected external navigation equipment. Please ask a manufacturer for the
specifications.
4. When the communication error happens between this system and external
navigation equipment, "Communication is invalid" alarm / "Not Ready" alarms
Q CAUTION I, / RCM.I, E09.1 and E09.3/E09.2 and E09.4) are generated, the
steering mode indicator cm blinks and I AUTO I is lit. When these alarms are
generated while the course changing [turn mode] during the remote auto steering,
the ship takes a turn to the set course (the next leg course) shown on the SET.
COURSE display and then keeps the heading. When they are generated while
the course keeping [straight leg model, the ship keeps the set course displayed on
the SET. COURSE display. Change to another mode as soon as when they are
generated.
5. The remote auto steering may be applicable only in the ADPT control mode
(CNF/OPN) depending on the specifications for the external navigation
equipment <• 1>. In this case, When this system is switch to the remote auto
steering in the PID control mode, the mode is automatically moved to the ADPT
control mode (OPN) .
*1: When the external navigation equipment is JRC JAN-901M/701
(7) [The rudder order method] (When the set course is not displayed on the SET. COURSE
display in the remote auto steering mode)
steering is impossible while NAV-Ready lamp is turned off.
2. When the Ready signal transmitted from the external navigation equipment is
I
OFF, "RC steering is abnormal" alarm CAUTION , / RC M and E09 .5) are
generated, the steering mode indicator RC blinks and / HAND I is lit.
When these alarms are generated in the remote auto steering, the steering
mode automatically changes to the hand steering. Steer with the steering
wheel or steer after switching to another steering mode.
3.2.8 Remote hand steering (RC : Remote Control) method (option)
~WARNING
e 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.
e During the remote hand steering, always confirm the rudder angle and its direction
displayed on the rudder angle receiver (indicator). If not, when failure generated in
the remote control steering line, discovering the failure may be delayed to cause
collision or stranding.
• Set the remote control steering knob at the center before switching to the remote hand
steering mode from the other steering mode. If not, a large rudder may be taken after
switching to cause collision or stranding.
e If 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.
3·14
(1) For the specifications 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 D 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. Turn the remote control steering knob to steer.
S te erin g mo de
ind icator
S teerin g loca1 io11 •

selec tion sw itc h
= (P/W , W/H , S/\1/)
...0
....
:r------L.
NA V entry switc h
Enable switch
Re.m ote co n tro l
selectio n un it
- ....
0 _.,,,. Steering mode

selection switch
Remote con trol

sleeting (optional
funclion) position
Facia panel
Fig. 3·5 Remote control steering
(2) For the specifications in which confirmation action at the remote hand steering
location is determined.
a. When the mode selection switch I MODE I is turned to [Kl , 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 D
switch of
the 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.
3·15
(3) For the specifications 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 RC Jpress I,
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 [RQJ , 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
~CAUTION
• Perform non·follow up steering to confirm operation of the steering system at least once
every time when the operator changes.
e The 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 NFU I I.
The steering mode becomes the non ·follow up steering and the steering mode
I
indicator NFU lights.
J
(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, turn the lever in the reverse direction till the rudder
returns to the center while seeing the rudder angle receiver (indicator). PS display
lamps are not light in the NFU steering mode.
3.2.10 Override steering method (option) (Refer to chapter 3, clause 3.4 for details.)
~WARNING
e During the override steering, if such malfunction or failure is generated that the
rudder does not function properly, immediately reset the override steering by pushing
J I
RESET switch of OVERRIDE RESET UNIT (*1) , and perform the steering
according to 3.2.4 Emergency steering method.
*l: Reset procedure and switch name may differ depending on its specifications.
3·16
~CAUTION
• Taking 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.
e Confirm safety around when steering with the override unit.
e When switching to the override steering during the auto steering or remote auto
steering (The course order method), 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.
e 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 remote
auto steering (The course order method) 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. At this time, a intermittent sound
sounds at the steering stand side, and the then chosen steering mode indicator blinks.
(3) Releasing operation of the override steering at the override unit returns the 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.
(5) When OVERRIDE UNIT is a NFU steering lever type, while this steering lever is kept
turned and the rudder follow normally during override steering, a quick intermittent
sound "Pip, pip, pip, •• • "sounds at the steering position.
(It may not sound with the specifications)
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), counter rudder (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 adjusting
control knobs are ADPT course keeping mode (OPN I CNF) / PID manual weather
control (0~10), rudder ratio (1~9), counter rudder (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 / PID
manual weather adjustment.
In the PID or ADPT steering mode, these control knobs perform adjustments
(selections) shown in Table 3· l.
3·17
Table 3· l Auto steering adjusting control knobs (functions) for AUTO modes
- AUTO modes
Control item PID ADPT
(Control knobs) (option)
Counter rudder (RATE) 0 -
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: 0 shows function. - shows no function.
(3) Although these controls have correctly been adjusted by our 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)

P[D weather adjustment (WEATHER) tn A' ) Rudder angle limit
Counter rudder =TE (RUDDER LIMIT)
Rudder angle limit Rudder ratio Pilot watch

(RUDDER LlMIT) (RUDDER) (Pll.OT WATCH)
No.2 System No.l System
Fig. 3·6 Auto steering adjusting section (AUTO unit)
3·18
a. Counter rudder (RATE)
The optimum value counter rudder changes depending on the load condition.
• Set the RATE knob at the optimum value till now (if unknown, set at [4].).
• Set the RUDDER knob at the optimum value till now (if unknown, set at [4].).
• When adjusting RATE, set to the WEATHER at [0].
(With ADPT control confirmed that the PID control mode indicator lights. Without
ADPT control the PID control mode indicator does not light.)
• Perform course changing to either right and left about 10 degrees with the auto
steering mode (PID control mode) .
•The amount of excess (overshoot) in ship's heading to a set course is observed.
• Refer to fig.3·7(1)"-'(3) for set the RATE knob at the optimum value.
(This figure is good sea condition.)
Under such a condition, go the ship straight in about 10 minutes and observe the
yawing.
Make fine adjustment within 1 graduation to permit minimum yawing width if
necessary.
S et Course
Shjp's H eading
Overshoo t : I
by about 10% of -+
the amount of . . . . , _ t - - - - - - y" - - -- - --:;::,,--'""-'C;::-.'--
___ ___ _ ____ _
course changin g.
Arroun t
of course
changing
Time
Fig. 3-7(1) Case of RATE value optimum
When overshoot of ship's heading is large, RATE knob is raised by 1"--2 graduation as
shown in the figure below.
~ 8• ' / Sh;p',H=ding
1'--------------- -------- ----- ----- ------ ---- ------------------------

I
I
I
'
Amount '
'
of cou rse
changing
Tune
Fig. 3-7(2) Case of RATE value small (Overshoot of ship's heading is large)
3·19
When not overshoot of ship's heading and it doesn't enter a set course easily, RATE knob
is lowered by l "-'2 graduation as shown in the figure below.
Amount
of course
c hanging
Tune
Fig. 3·7(3) Case of RATE value large (Not overshoot of ship's heading)
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 [41.).
•Set the RATE knob at the optimum position.
•When adjusting RUDDER, set to the WEATHER kriob at [0].
Under such a condition, change the RUDDER by 1-2 graduation under observing the
yawing width in the straight going in about 10 minutes, and set the RUDDER at the
position where the yawing width becomes minimum.
<Supplement>
• When the setting of the rudder angle ratio is large, ship's heading tends to swing at a short
cycle and to grow gradually the width of swinging. Moreover, the amount of steer at
course keeping / course changing grows. When course changing overshoot grows.
• When the setting of the rudder angle ratio is small, ship's heading tends to swing at a long
cycle compared with a large setting. Moreover, the function to settle ship's heading to the
influences of external disturbances such as waves and the winds is degraded though the
amount of the steer of course keeping / course changing rudder becomes small.
c. Weather adjustment (WEATHER)

Weather adjustment has automatic weather adjustment ( rOPN / CNF(withADPT control) J
or rAUTO(withoutADPT control)J )and manual weather adjustment(0 "-'10).
Refer to the clause of the course keeping mode selection for fOPNJ / fCNFJ (withADPT
control) setting.
With position of rAUTOJ ,when setting this position weather adjustment is automatically
done. If sets to automatic weather adjustment and there is no problem in the steer, set
this position.
When manual weather adjustment, it adjusts it according to the change of the weather and
sea condition by the following methods.
• 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.
3·20
• Setting at a [larger] value than the optimum value makes the rudder angle and
number or rudder takings less, but the course keeping capability becomes worse and
the yawing width becomes large .
•When sea state is calm, set it at [0].
• When sea state becomes stormy, set it a [larger] value.
•When sea state is very stormy, set the WEATHER at the same value as the yawing
width.
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, turn the ADPT / course keeping mode / 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 .)
According to the specifications of the connected navigation equipment and during the
remote auto steering (The course order method), the course keeping mode selection can
select only the ADPT control mode (cannot select the PID control mode) on the some
systems.
When yawing is large, change course by 10° of port and starboard with the hand
steering. Refer to the description of the I CAUTION I of clause 3.2.6 for detailed
correspondence when yawing is large.
<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
m open sea.
CNF: The course keeping accuracy of going the ship straight is preferred even with
taking a large rudder.
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.
This alarm may not generate during the remote auto steering (The course order method)
depending on the specifications for the connected external navigation equipment.
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 order 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
3·21
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 specifications of the connected navigation equipment and during the
remote auto steering (The course order method), the RUDDER LIMIT is ignored on the
some systems.
~WARNING
e This system has a function to specify the turn rate at the automatic course changing in
the auto steering or remote auto steering (The course order method), but sometimes the
specified turn rate may not be attained due to weather, sea condition, ship speed, load,
draft, trim, ship-motion character, and the amount of course changing, etc. In such
case , always confirm surrounding safety whenever the auto steering is being steered in
the auto steering or remote auto steering (The course order method) because there is
possibility that the actual course has changed from the expected one. In the event of
failure to confirm the surrounding safety, it may cause collision of the ship or
stranding.
(4) Specified turn rate order ( I R.O.T. I rate of turn)

Pressing the AUTO unit I~ I
SEL. switch a number of times lights the data selection
indicator I R.O.T. I and shows the rate of turn (unit deg/ min) .
At this time, pressing the DATA I CHANGE I switch located at the lower right shows the
turn rate order and the displayed value can be changed by pressing 1-0 I or ~ while
pressing DATA I CHANGE I .
This value becomes the turn rate order during automatic course changing. The setting,
however, cannot be changed during automatic course changing and remote auto steering
with setting course (The course order method) (option) .
When this setting is OFF, the ship does not turn at the constant rate of turn. The
I R.O.T. Idisplay blinks during turning at the specified turn rate order in automatic course
changing.
The turn rate order from external navigation equipment is displayed when auto steering
with setting course (The course order method) is selected.
However OFF is displayed when no turn rate order type equipment is used.
3·22
•Data display
Set. course
[ <JSEL. I switch
display (No.2) --.:-----1--------~~-t-,,--"----::=-1- AUTO unit •
Set. course
dispaly (No. I)
,;...__--5!!!50~~:::::::::::::::::::::::~i- Course setting
· · , ,. . V knob
[:Q]~switch
DATA I CHANGE I
switch
-- Mode scfoction
switch
F ig.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 SEL. I switch
number of times, and the ship's speed (unit kn) is displayed. The source of input for
ship's speed signal can be selected by pressing [QJ or ~ while pressing the
DATA I CHANGE I switch. But the source of input for ship's speed signal cannot be
selected during the remote auto steering depending on the specifications for the
connected external navigation equipment.
When the hand ship's speed is selected [ initial character [ ], reset that if the ship's
speed changes. During the hand ship's speed selection, I SPD I indicator may blink
depending on the .software version.
Ship's speed input signal Example of ordinary Example of display when

displav operating CHANGE switch.
1 Auto ship's speed
2D.5 P-Lc
2 Hand ship's speed
[ 15.D p Dc"'PYDc
(0~40kn)
3 Gyro (via) ship's speed
18.5
or ~□ DC
[ 17.D (□ Dis set at gyro side.)
(1 or 3 is not included according to the specifications.)
3·23
(2) Rudder Angle Indicator (option)
All data selection indicators and bar graph selection indicator put out the lights when
pressing the I <l SEL. I switch number of times, and the rudder angle from repeat back
unit is displayed a numerical value and bar graph in the data display and bar graph
display. " □ □ Dd" is displayed in the data display. Refer to 2.4 (2) @ a and b.
(3) Alarm detail display (ERR display)

The I ERR of the data selection indicator lights when pressing the I ~ SEL. switch
J J
number of times, and the alarm detail number is displayed. When plural alarms
generate, the other alarm detail number is displayed by pressing [QJ or ~
while pressing the DATA I CHANGE switch. Refer to 4.3 the troubleshooting
J
countermeasure table for the meanings and countermeasures.
(4) Rate of turn (R.O.T.) display

The I R.O.T. I of the data selection indicator lights when pressing the I <]SEL. I
switch number of times, and the rate of turn (R.O.T.) (unit deg / min) is displayed.
The turn rate order can be specified when the R.O.T. is displayed. For that method,
refer to 3.2.11 (4).
[- - - . -] may be displayed in the data display while GYRO FAIL (E03.1/E03.2/E03.3)
generates depending on the software version.
(5) Ship's heading (HDG) display

The I HDG I of the data selection indicator lights when pressing the I <lSEL. I
switch number of times, and ship's heading (unit deg) is displayed in the data display.
[- - - . -] may be displayed in the data display while GYRO FAIL (E03.1/E03.2/E03.3)
generates depending on the software version.
(6) 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.
(7) Dimmer (DIMMER)

Illumination of display lamps, etc., darkens by pressing the [JI] switch and brightens
by pressing the ~ 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 individual 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 <l SEL. I switch number of times to display the ERR . Further, by
pressing I -0 I or I t@ I while pressing the DATA CHANGE switch, the other
alarm detail number can be called up.
Every pressing the I t@ I switch displays the alarm generated after currently
displayed alarm, and every pressing the [QJ switch displays the alarm generated
before currently displayed alarm.
3·24
(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.I to No.2 or from No.2 to No.I) .
b. When the SYS. FAIL alarm indicator is not lighting and the I AUTO FAIIj
alarm indicator or the CAUTION alarm indicator is lighting, switch the system
selection switch to another system currently not operating (from No.I to No.2 from
No.2 to No.I), or switch the steering mode selection switch to the hand steering
I HAND I to steer with the steering wheel. When the hand steering is impossible,
turn the mode selection switch I MODE I to the I NFU I position and steer with the
non ·follow up steering lever.
3.2.14 Initial setting procedure for the Gyro-Log I/ F

• The following procedure is required to execute whenever the gyro bearing output is
other than serial signal (when step I synchro signal).
• This operation must be performed while not in turning.
(1) Place the system selection switch in "No. 1" or "No. 2" position.
OFF OFF OFF

No.2 r f r ' t o.1 No.2 ~ N o . 1 No.2 ~ o . 1
w----► w OR
(2) Confirm that the mode selection switch is in HAND position.
HAND
AUTO®NFU
RC
(optional)
(3) Confirm that the data display of AUTO unit displays heading ( I HDG I lamp is lit) .
If I HDG I is not lit, make I HDG I lit by pushing I <] SEL. I switch some times.
I HDG I I R.O.T. I
I SP D I I ERR. I
(4) Continue to push I CHANGE I switch of AUTO unit until to the item (7).
(Do not remove I CHANGE I switch until the initial heading input completed.)
I CHANGE I
i
Continue to push it. <After 5 seconds it proceed to (5))
3·25
(5) "GYrc" is displayed in the data display of AUTO unit.
(The display of "GYrc" means that it turns into the initial input mode.)
(6) The initial value can be changed to desired value (current gyro bearing) by pushing
I -0 I or I -t@ I switches some times with holding to push "CHANGE" switch.
I CHANGE I [QJ ~
t t
• Initial value increases by pushing

t I
or
-t@
I
I switch. (The increment becomes larger if
continued to push it.)
• Initial value decreases by pushing I -0 I switch. (The increment becomes larger if
continued to push it.)
(7) GYRO initial bearing is set when removed "CHANGE" switch.

<After removed "CHANGE" switch, confirm that the bearing value displayed in the
data display corresponds to the entered value after that value and blank is displayed
(for 1.5 second). If the difference between the both is greater than 3 degrees, alarm
sound beeps. In such case, enter the initial heading again according to procedure from
the step (4).
I CHANGE I
i
When it corresponds to desired
bearing, remove I CHANGE I
switch.
(8) Confirm that the heading (GYRO bearing) displayed in the data display follows it when the
GYRO bearing has changed.
Further, the procedure from step (2) is required if the gyro system power was turned off
and turned on again.
3·26
3.3 Misuse <Miss-operation) and Countermeasures
PROHIBITION
(1) Wetting the autopilot operation unit (facia panel) by water or drink may cause growing
mold or performance reduction.
Do not steer or operate with drinking water, etc.
Wipe off liquid at once if the stand is wetted.
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 TOKYO KEIKI 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 mode selection switch or the system
system selection switch or vice selection switch is operated, the steering
versa by mistake. mode indicator or the system indicator is
changed over.
@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
lemrth of switching sound.
2 Course does not change even by The course does not change by turning the
turning the course setting knob. knob only to prevent malfunction.
Turn the course setting knob while pressing
the knob .
3 The display of the SET. COURSE Stop turning and release the hand from the
display changes during turning the knob. The system recognizes completion of
course setting knob, but the course the course setting, and the ship starts course
does not change. changing.
4 Adjusted values do not change even Use control knobs (5 pcs) located at the right
by turning knobs of the auto side when No.1 system is selected with the
steering adjusting section. (pilot) system selection switch, and knobs
located at the left side (5 pcs) when No.2
system is selected.
5 Yawing width in the auto·steering When the ADPT control is selected, the rudder
or overshoot amplitude in auto ratio and the counter rudder are automatically
course changing does not change adjusted and these knobs are not used. For
even by turning knobs of RUDDER adjustment of the ADPT yawing width, etc.,
and RATE at the auto steering refer to 3 . 2. 6 .& CAUTION of this manual.
1
adjuring se tion during lighting
the ADPT indicator of the
control mode indicators.
6 The data selection indicator When the rate of turn is displayed in the data
I R.O.T. I blinks, and the rate of display by pressing the I ~ SEL. I switch until
turn in the auto course changing is only the I R.O.T. I display lamp blinks (lights),
too large (small). the rate of turn set value in the auto course
changing is displayed by pressing the
I CHANGE I switch. When the rate of turn
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.
3·27
7 Some display lamps do not light in The following lamps are for optional
the lamp test. specifications. 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)IRC I lajp of steering mode indicator.
b) RC. M alarm indicator of individual
alarm [This indicator lights only when
there is RC (remote control) position in
steering mode selection switch].
@ a)iPIDl lamp of control mode indicator.
b) ADPT I lamp of control mode indicator.
c) CNF lamp of control mode indicator.
d) OPN lamp of control mode indicator.
e) SPD I lamp of control mode indicator.
ti LOW SPD I alarm indicator of
individual alarm (lights only when ADPT
control is attached.)
@ I AUX I alarm indicator of individual alarm
(lights only when the optional alarm is
attached.)
8 The compass repeater cannot be Synchronize the repeater after turning the
synchronized. (The repeater repeater switch located at the lower left
synchronizing knob is too heavy to repeater unit to OFF (Refer to 3.2.l(l)b about
turn.) synchronizing method) .
The compass repeater does not Be sure to return the repeater switch to ON
follow·up the l!Vro bearing. after synchronizing the repeater.
9 The dimmer ( illumination adjustment) The dimmer for the compass repeater or the
fur the compass repeater or the order rudder angle indicator is independently
order rudder angle indicator is adjusted. Adjust with the adjusting knob in
inoperative. each unit.
10 The I WHL OFF I alarm generates In the steering mode without using the
steering wheel, be sure to position the steering
in other modes than the hand
wheel at the center. For details of this alarm,
steering (HAND) mode when refer to TS-14 in Table 4.2 of this manual.
turning the steering wheel.
11 The ship's speed indicator (option) When pressing the I <l SEL. I switch until the
of the data display 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 Data selection indicator is off The display of "0 D O d" indicates the rudder
and only "OO □ d" is displayed in angle sent from the following transmitter and
the data display, or nothing it means that the rudder is in center position
displayed. (with optional specs.).
What nothing displayed is due to simply in
blank display and HDG goes to lit by pushing
once I <l SEL. I switch, displaying the heading
(Refer to 2·4 (2) @ b).
3·28
13 The l...RQJ of the steering mode When the remote steering can be performed in
indicator lamp blinks only and the plural locations or methods, one location or
remote steering cannot be method must be selected.
performed even by turning the Select that according to 3.3. 7 and 3.2.8 of this
steering mode selection switch to manual and perform the remote steering.
the RC position (option). Until this selection is made, the steering can be
performed with the steering wheel in the same
way as the hand steerine:.
(1 111111lI1111111111111,1111111 I 1111111 I I IJ
wF]Gre]Gu;J
lu• enh," enllu .... . J
,...... ,-o i+o·i
Fig. 3·9 AUTO unit auxiliary indicator
3·29
3.4 Description for an optional Override steering feature
3.4.1 Construction
• Override reset unit (Normally installed in steering stand)
Either one of follows should be selected.
• NFU steering lever type (OVERRIDE NFU CONI'ROILER [to be used with Override rest unit])
• FU steering knob type (FU OVERRIDE UNIT)
3.4.2 Steering modes available with override steering

Override steering is normally available other than non·follow up steering. (In accordance
with a specific steering specifications, the steering modes available with override 1s
changed.)
When the Ready lamp is lit, override steering is available. (Refer to Fig.3· 11, 3· 12)
3.4.3 Override steering method

3.4.3.1 In case ofNFU override
(1) Starting of override steering
a. Confirm that a Ready lamp for OVERRIDE NFU CONTROLLER(Override Reset Unit)
is turned on.
b. Pull the pin stopper inserted in the OVERRIDE NFU CONTROLLER out and turn the
lever as desired direction. Then steering control is overtaken to the OVERRIDE NFU
CONTROLLER and is available with the lever. ( I ON I indicator of this controller is
lit.) At this time, a intermittent sound sounds at the steering stand side, and the then
chosen steering mode indicator blinks. And I ON I lamp in the Override Reset Unit is
lit.
c. The rudder is taken during turning the lever, and the rudder stops motion when the
lever is returned to the neutral position.
d. To return the rudder to the center, turn the lever in the reverse direction till the rudder
returns to the center while seeing the rudder angle receiver (indicator).
e. Note that setting for PILOT WATCH and RUDDER LIMIT are not effective while
override steering.
f. While this steering lever is kept turned and the rudder follow normally during override
steering, a quick intermittent sound "Pip, pip ,pip,·· ·"sound at the steering position.
(2) Stop of override steering

a. For releasing override steering, push the I RESET I switch on the Override Reset Unit
at the steering position or in the steering stand to return to the original steering mode.
The other way to release is to turn the mode selection switch to the other steering mode
like non·follow up (NFU) steering mode.
b. After releasing override steering, when to the auto steering, the actual heading just
after the override steering is used as the auto steering set course.
c. After releasing override steering, when to the remote auto steering (NAV), the actual
heading just after the override steering is used as the auto steering set course. At the
moment, a heading order if provided from any external navigation equipment is invalid
for auto steering and then the alarm for the external set course invalid ( I CAUTION I
I AUX I E 13. 1) is activated. If the remote auto steering is desired to resume, once
turn the mode selection switch to the other steering mode and select the remote auto
steering again.
3·30
3.4.3.2 In case of FU override
(1) Start of the override steering
a. Confirm that the Ready lamp in FU OVERRIDE UNIT is turned on.
b. When I ON / OFF I switch in FU OVERRIDE UNIT is pressed, steering control is
overtaken to this unit and steering is available with a knob on the unit. ( I ON / OFF I
switch is lit.) At this time, a intermittent sound sounds at the steering stand side, and
the then chosen steering mode indicator blinks. And I ON I lamp in the Override Reset
Unit is lit.
c. Turn to steer with the knob in the FU OVERRIDE UNIT.
d. Note the settings for PILOT WATCH and RUDDER LIMIT are not effective while override
steering.
e.If I SERVO LOOP FALL I indication is started flickering (with buzzer sounding),
immediately push the I RESET I switch on the Override Reset Unit and release the
override steering. Steer with the emergency steering method shown 3.2.4. (Buzzer stops
by pushing the I ALARM ACK I switch on the AUTO UNIT in the steering stand.)
(2) Stop of override steering

a. For releasing override steering, push the I ON / OFF I switch indicating, ON in the FU
OVERRIDE UNIT or push the I RESET I switch on the Override Reset Unit in the steering
stand to return to the original steering mode. The other way to release is to turn the mode
selection switch to the other steering mode like non·follow up (NFU) steering.
b. After releasing override steering, when to the auto steering, the actual heading just after
the override steering is used as the auto steering set course.
c. After releasing override steering, when to the remote auto steering (NAV: The course order
method), the actual heading just after the override steering is used as the auto steering set
course. At the moment, a heading order if provided from any external navigation
equipment is invalid for auto steering and then the alarm for the external set course invalid
( I CAUTION 11 AUX I El3.1) is activated. If the remote auto steering is desired to
resume, once turn the mode selection switch to the other steering mode and select the
remote auto steering again.
Override indicator
OVERRIDE RESET
Override steering reset switch
Ready lamp
Dimmer knob
Fig. 3·10 Override Reset Unit
3·31
® I OVERRIDE NFU CONTROLLER I ®
NFU Override steering lever
◄ ►
PORT STBO
Pin stopper
t-F\Jlnl
OVERRIDE RESET Override indicator

Ready lamp
Override steering
reset switch
Dimmer knob
Fig. 3-11 OVERRIDE NFU CONTROLLER
1--+----,,-- Override steering knob
Ready lamp
Override steering Switch
Servo loop fail lamp
Buzzer
Dimmer knob
, ~IOTl£R llWI ~ II
Fig. 3·12 FU OVERRIDE UNIT
3·32
CHAPTER 4 TROUBLESHOOTING
L:hCAUTION
e When the alarm generated, confirm the content of the generating alarm at once and
take a suitable means according to the failure phenomena list.
e When failure generates, check and take a countermeasure at non-dangerous sea area
after confirming safety around, and with the ship stopped as a rule (Refer to page 3·7
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.
If any alarm indicating that normal steering may not be available occurs, the rudder is
locked frozen at that alarmed rudder angle to prevent abnormal rudder movement.
If any of alarms generated and the rudder is frozen, immediately turn the mode selection
switch I MODE I to the I NFU I position, and steer with the non-follow up steering lever,
or turn the system selection switch I SYSTEM I to another system, and steer. If not,
cannot steer and may cause collision or stranding.
An outline of the treatment that this system automatically does to secure safety in the
steering is as follows. Refer to a table 2· 1 alarm table about the alarm with which a
rudder is frozen.
a . When communication abnormality between Track Control System and PR-6000 is

generated in track control steering.
E09. l or E9.2 alarm is generated and steering mode is changed to auto steering with
the last set course properly received.
b. When GYRO bearing signal abnormality is generated.
E03.1, E03.2 or E03.3 alarm is generated and the rudder is frozen during auto steering
or track control steering.
c. When power supply for auto steering (Heading Control System) of PR-6000 is OFF.
E08.1 alarm is generated and the rudder becomes Midship during auto steering or
track control steering.
d. When a rudder order output cable for auto steering ( Heading Control System) of
PR-6000 is disconnected.
E08.2 alarm is generated and the rudder is frozen during auto steering or track control
steering.
e. When the rudder feedback cable disconnection or the rudder feedback sensor abnormal.
E05.D, E05.E, E06.D or E06.E alarm is generated and the rudder is frozen except in
non ·follow up steering.
f. When the power unit or the steer gear is abnormal.
E05. l, E05.2, E06.1 or E06.2 alarm is generated and the rudder is frozen except in
non-follow up steering. L type and P type do not contain the abnormal of the steering
gear.
4·1
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.
Suitable countermeasures, however, should be taken after confirming that the cause is
almost in the autopilot side.)
How to find the failure side.

e Switch to the NFU steering at the autopilot stand and move the NFU lever to the right
and left.
e •
Good (the rudder moves.)
Check the pilot stand side and
take a countermeasure according
e •
No good (the rudder does not move.)
Check the steering gear side, etc.
(The P or S display lamp of the helm unit
to the next clauses 4.3. does not light during throwing the lever.)
(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. I 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.I / 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.
4.3 Troubleshooting
~CAUTION
e Turn OFF the system selection switch, and the service switch located at the upper left
bottom 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.
e When checking and taking necessary measures are performed for the failure , check
and take a countermeasure at non ·dangerous sea area after confirming safety around,
and with the ship stopped as a rule.
Sland
Service switch
System selection switch
C, .
Facia panel (partial drawing) Stand front view (with the panel opened)
[In case of Gylot type (PR-60 02))
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
confirm 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
condition continues. In this case, press the l<J 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 -0 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 -0 I switch or the I +@ I switch while pressing the
I CHANGE I switch).
(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 our 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 FAIL I lights
TS-04 Group alarm indicator CAUTION I lights
TS-05 Individual alarm indicator INDICATE I lights
[Simultaneously group alarm indicator I CAUTION I lights]
TS-06 Individual alarm indicator I PILOT W. I lights
TS-07 Individual alarm indicator I GYRO I lights
[Simultaneously group alarm indicator I AUTO FAIL I lights]
TS-08 Individual alarm indicator I REP. PWR I lights
TS-09 Individual alarm indicator I lSG CNT I lights
[Simultaneously group alarm indicator I 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 I HAND M. I lights
[Simultaneously group alarm indicator I SYS. FAIL I lights]
TS-12 Individual alarm indicator I AUTO M. I lights
[Simultaneously group alarm indicator I AUTO FAIL I
or I CAUTION I lights]
TS-13 Individual alarm indicator I DC PWR I lights
TS-14 Individual alarm indicator I WHL OFF I lights
TS-15 Individual alarm indicator I 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 I CAUTION I lights]
TS-18 Rudder moves abnormally (in non-follow up steering)
TS-19 Rudder moves abnormally Gn 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/ 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 turn in auto

TS-37 I ADPT I of 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) 1s
depended on to the specifications. 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 I_C_A_U_T_I_O_N~l l
Display of individual alarm indicator in the ALARM UNIT (option) is
depended on to the specifications. Refer to PR-6000 Finished Plan.
TS·40 The PID control mode cannot be selected by the course keeping mode
selection.
(The control mode indicator automatically shifted to the ADPT control
mode.)
4·6
4.4 Countermeasure Table
Table 4·2 Countermeasure table
Trouble·
Phenomena
shoot Check procedure and action to be taken Remark
(contents)
No.
TS·Ol Power failure CDWhen I l·PWR F. I lights during No.1 is When the power
indicator selected with the system selection failure indicator
I 1-PWRF. I switch or when I 2-PWR·F. I lights lights, the
(No.1 no voltage) during No.2 is selected, turn the system corresponding
or selection switch to another system at power indicator
I 2-PWR F. I once. ( I 1-PWR I/
<No.2 no voltage) I 2-PWR I )goes off.
lights.
@When both No. l / No.2 power failure
.,...Alarms when .....
indicator light, steer at once according to
pilot power
the emergency steering method of the
is not supplied steering gear.
or voltage
@When HOV AC is not supplied between
reduced for
lACl I lAC2 (TBl, No.1 side) or 2AC1 /
No.1 or
2AC2 (TB3, No.2 side), check the
~o.2 system
following points.
•Motor starter in steering gear room.
(L type)
•Transformer box in steering gear room.
(E-0 type, P type)
•Control box in steering gear room
(DM /DWI DT type)
TS-02 Group alarm CDTurn the system selection switch to Confirm the
Indicator another system at once. generating alarm
I SYS. FAIL I with the
lights. individual alarm
(System is indicator.
abnormal)
@When I SYS. FAIL I in both systems
..... light, use the steering mode in which the
.,....Shows that
rudder operates normally in the hand
the alarm
(HAND) steering mode or in the non·
having a
follow up (NFU) steering mode of both
possibility of
systems. When steering trouble occurs
steering
in use, switch to one of the other
inability
steering modes.
generates in
@All steering modes in both systems are
the system
,side in use. abnormal, steer according to the
emergency steering method of the
steering gear.
@Check items related to the lighting
individual alarm indicator.
Trouble·
Phenomena
(contents)
No.
TS-03 Group alarm CD When operating auto steering, switch Confirm the
indicator the steering mode to hand steering. generated alarm
I AUTO FAIL I Do not use auto steering when this with the individual
lights. alarm indicator is lighting. alarm indicator.
(Auto steering
@ If the alarm is recovered to normal by
is abnormal.)
,.-Shows that switching the system, use that system
the alarm side.
having a @ Check items related to the lighting
possibility of individual alarm indicator.
steering
inability
generates in
the system
'-side in use. .J
TS-04 Group alarm CD Confirm the alarm generated with the
indicator individual alarm indicator and check
I CAUTION I related items.
li hts.(cautio~ Provided, when alarm generates in
Shows that remote steering (RC) mode (option),
alarms check whether any abnormality in
generate in operation exists or not, and switch to
display • one of the other steering modes at once
operation
if there is any abnormality.
section,
steering
function
currently not
used or
optional
'--function.
TS-05 Individual CD When alarm detail is displayed in the Note the code
alarm data display by pressing the I <I SEL. I because it is not
indicator switch, note the display code (E0L □ ) . redisplayed after
I INDICATE I recovermg.
lights. @ Turn OFF the system selection switch
(AUTO unit for approx. 1 second and reselect the
display section system used till now. When the alarm
is abnormal.) condition is recovered to normal, use it
r
Alarms when as is and see if the phenomenon
abnormalities reappears, for a while.
are discovered @ When alarm does not generate in No. 1
in AUTO unit system or in No.2 system, use that
display section system side.
and control Request to repair the system side in
'--circuitry. which the alarm is generated.
© When alarm generates in both systems
No.1 I No.2 and the other failure also
occurs, check these.
Request to repair after taking following
actions based on the alarm detail
number displayed.
Trouble-
Phenomena
(contents)
No.
TS-05
Alarm
Action to be taken for each No. Alarm detailed
detail
contents
No.
E0l.1 Remote auto steering (The Hardware of
course order method) mode AUTO unit
(option) cannot be used. display is
Use auto steering mode. abnormal.
E0l.2 When single alarm detail Memory of AUTO
E0l.3 number only is displayed, there unit display is
E0l.4 is no problem in functions and abnormal.
steering because it is covered
with redundant circuitry.
E0l.6 Remote auto steering (The Control sections
course order method) mode of AUTO unit
(option) cannot be used. display are
Use auto steering mode. abnormal.
When AUTO unit display is
inoperative, group alarm
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.
E0l.7 Some parts of alarm functions Input and output of
E0l.8 may not operate. AUTO unit display
Use the system with paying are abnormal.
full attention on steering.
TS-06 Individual CDConfirm that the pilot watch setting is Refer to 3.2.11(3) e
alarm indicator over 5° , check ship's heading display for alarm test
I PILOTW. I and setting course display then confirm during anchoring.
lights. that the course deviation is larger than
( ilot watch) the setting value.
Alarms when @ When yawing is large due to sea
course condition, reduce the yawing width or
deviation set the pilot watch setting value at a
exceeds the larger value.
setting
@ When rudder motion is not normal or
deviation due
to failure of other failure occurs, check than point.
steering gear
'9r autopilot. @ When there is no abnormality in pilot
Alarm detail side, check the steering gear side.
Number E02.1
4-9
Tuouble·
Phenomena
(contents)
No.
TS-07 Individual CD When alarm does not generate in either
alarm indicator of No.I system or No.2 system, use that
I GYRO I lights.
system side. Request to repair the system
(Gyro is side in which the alarm is generated.
abnormal.)
r. ...., ® When alarms generate in both sides of
Alarms when
No.land No.2 system, auto steering
ship's heading
digital signal
cannot be
~ and remote auto steering
option) cannot be used. Use hand
received or is steering I HAND I ,non·follow up steering
~bnormal data. I NFU I or remote hand steering mode.
@ The alarm detail No. E03.4 may be When operation is

generated when gyro bearing signal recovered to normal,
error is detected within 5 deg. alarm status for
Auto steering may be continued but E03.2 and E03.3 are
note for error on continuous auto continued until mode
steering. other than AUTO/
NAVisset.
Alarm
Action to be taken Alarm detailed
detail
for each No. contents
No.
E03.l Same as above ® Ship's heading
receiving is
abnormal.
The rudder is
frozen (in AUTO /
NAV mode only).
E03.2 Ditto Gyro bearing is
abnormal.
The rudder is
frozen (inAUTO /
NAV mode only).
E03.3 Ditto Gyro failure.
The rudder is
frozen (inAUTO /
NAV mode only).
E03.4 Same as above ® Gyro bearing has
error.
TS-08 Individual CD When other repeaters than in pilot

alarm indicator stand is installed, check those to
I REP.PWR I
confirm range of failure.
lights. Check gyro·compass side.
(Steering
(Refer to the gyro-compass instruction
repeater power
manual.)
is cut.)
,..Alarms when . .
power is not
supplied to
the steering
..._repeater.
Detail alarm
No. E04.l
4·10
1.rouble·
Phenomena
(contents)
No.
TS-09 Individual CD Push I <J SEL. I switch to display alarm
TS-10 alarm indicator
details in the data display, and record
I lSG. CNT I
lights. the displayed code [E05.D(TS -09) or

(No.l steering E0.6O (TS-10)], then perform the
gear control is following.
abnormal.) •Perform@and subsequent if the displayed
code is [E0.5.1 - E05.8, E05.D·E05.G,
I 2SG. CNT I
E06.l·E06.8 and E0.6.D· E06.G].
lights.
(No.2 steering •Perform®and subsequent if the displayed
gear control is code is [E05.B, E05.C, E06.B and E06.C].
abnormal.) When steering is recovered to normal,
,,..Alarms when...,, check according to the table in the next
failure of No. l page.
or No.2 ® When under the NFU override steering,
steering immediately push I RESET I switch of
gear itself, or OVERRIDE RESET UNIT to reset NFU
circuitry
override steering (*l). Then select the
controlling
steering gear, steering mode switch to the hand
Js detected. steering I HAI I or non ·follow up
steering NFU to perform.
The steering in the mode where the
rudder works properly.
*l: Reset procedure and switch name may
differ depending on its specifications.
@ If the alarm recovers and rudder
motion becomes normal by switching
the system selection switch to another
(from No. l to No.2 or from No.2 to
No.l), use the system under that
condition.
© In case of system configuration which When two or more
the steering gear is not changed even by steering gears are
switching the system selection switch, running in parallel,
stop No. l (TS-09) or No.2 (TS-10) operate one by one
steering gear, and use the other steering and if the alarm
gear. recovers and rudder
motion becomes
normal, use the
system under that
condition.
If the alarm recovers and rudder motion In this case, be
becomes normal, use the system under careful that taking
that condition. rudder speed
reduces than that
• before stopping.
4·11
Thmble· Phenomena Check procedure and action to be taken Remark
shoot (contents)
No.
TS-09 @ If rudder motion is still abnormal even
TS·lO by the above procedures, switch the
steering mode selection switch to non·
I
follow up NFU I.
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.
@ If rudder motion does not recover in
procedures Cg) / @ ~ @, 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.
l
Alarm Action to be taken for each No. Alarm detailed
Detail contents
No.
E05.1 Recover steering by procedures Rudder follow up
E06.1 @~@. is abnormal.
The (starboard
side) rudder is
frozen.
(Starboard side
(Except DM, DW) for twin rudders.)
E05.2 Ditto (Except DM, DW) Rudder follow up
E06.2 (option) is abnormal.
The port side
rudder is frozen.
(Port side for
twin rudders.)
E05.3 Check according to the control No.1 or No.2
E06.3 box (installed in steering gear control motor is
room) instruction manual. abnormal.
(D type only)
E05.5 Check cause of overload No.1 or No.2
E06.5 according to the hydraulic hydraulic power
power unit (installed in unit motor
steering gear room) instruction overloads.
manual. (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 unit pressure
in steering gear room) drops.
instruction manual.
(L type option)
4·12
Trouble- Phenomena Check procedure and action to be taken Remark
shoot (contents)
No.

detail contents
No.
E05.7 Check cause of oil level drop No.I or No.2
E06.7 according to the hydraulic hydraulic power
power unit (installed in unit oil level
steering gear room) instruction drops.
manual. (L type option)
E05.8 Check cause of electric power No.I or No.2
E06.8 open phase according to the hydraulic power
hydraulic power unit (installed unit electric
in steering gear room) motor power
instruction manual.
phase opens
(L type option)
E05.B Recover steering by procedures Rudder follow up
E06.B ® ,..__ ®· is abnormal
(Except DM, DW) during NFU
(Option) override steering.
(Starboard side
for twin rudders.)
E05.C Same as the above. Rudder follow up
E06.C (Except DM, DW) is abnormal
(Option) during
NFU override
steering.
(Port side for
twin rudders.)
E05.D Recover steering by procedures Rudder position
E06.D ®-----®. feedback fail.
(Except DM, DW) The(starboard
side)rudder is
frozen.
(Starboard side
for twin rudders.)
E05.E Same as the above. Rudder position
E06.E (Except DM, DW) feedback fail.
(Option) The port side
rudder is frozen.
(Port side for
twin rudders.)
E05.F Recover steering by Steering signal
E06.F procedures ® ,..__ ® output fail.
(Port side for
(Except DM, DW) twin rudders.)
E05.G Same as the above. Steering signal
E06 .G (Except DM, DW) output fail.
(Option) (Port side for
twin rudders.)
4-13
'lrouble-
Phenomena
(contents)
No .
TS-11 Individual CD If the alarm recovers and rudder If hand steering is
alarm indicator motion becomes normal by switching abnormal, auto
I HANDM. I the system selection switch to another steering and remote
lights. (from No.I to No.2 or from No.2 to steering (option) also
(Hand steering No. I), use the system under that become abnormal.
mode is condition.
t-------------------------i
Take the same action
abnormal.) ® If rudder motion is still abnormal even during auto and
'Alarms when ..., by the above procedure, switch the remote steering ,too.
abnormality in steering mode selection switch to non - When E07 .1 or E07 .2
hand steering follow up I NFU I . When rudder alarm is generated,
circuitry is motion becomes normal with one of individual alarm
detected.
'- ..,, I No.1 I or I No. 2 I of system selection indicator
switch, steer under that condition. I AUTO M. I and
t-@
_3_l_f_ru_d_d~e_r_m_o_ti_o_n_d_o_e_s_n_ot-re_c_o_v_er-by----t RC M. I (with RC
procedures CD ~ ®, steer at once mode) lights.
method of steering gear.

Detail contents
No.
E07 .1 Described above in CD , . . . , @ No.1 rudder servo
amplifier power is
abnormal.
E07 .2 Ditto No.2 rudder servo
amplifier power is
abnormal.
TS-12 Individual CD If the alarm recovers and rudder

alarm indicator motion becomes normal by switching
I AUTOM. I the system selection switch to another
lights. (from No.1 to No.2 or from No.2 to
<Auto steering No.I), use the system under that
mode is
condition.
abnormal.)
,...Alarms when .... ® When rudder motion is abnormal even When adaptive
abnormality in by the above procedure, and adaptive control indicator
auto steering control indicator I ADPT I in AUTO I ADPT I is
circuitry is unit is lighting, switch to PID steering blinking and PID
..._detected. by setting weather adjustment knob of control indicator
course keeping mode selection / weather
I PID I is lighting,
that shows the
adjustment to O ~ 10. mode has been
1--- - - - -- - - - - - - - - -- - - - - i switched to PID
@ If rudder motion is still abnormal even steering from ADPT
by the above procedure, switch the steering
steering mode selection switch to hand automatically.
steering I HAND I or non-follow up At this time, if PID
NFUI I. steering is set by
When rudder motion becomes normal operations
with one of I No.I I or I No. 2 I of described in the left
system selection switch, steer under column, I ADPT I
that condition. indicator goes off.
4·14
shoot (contents)
No.
TS-12 © If rudder motion does not recover by
procedures CD ~ ®, steer at once

detail contents
No.
E08.1 Recover steering by procedures Auto steering
,.._, CD ,.._, © control circuitry
E08.3 is abnormal.
E08.4 Described above. ADPT steering
,.._, control circuitry
E08.70 is abnormal.
TS-13 Individual CD Check ship's power supply side when When heading
alarm indicator 24V DC between PBS+ / PBS- of monitor (option) is
I DCPWR I external terminal board (TB6) is not equipped, heading
lights. supplied. monitor(option )
[DC power Power fail is
(battery) including.
is abnormal.] @ When 24V DC is normal in procedure
,...Alarms when....,
CD.check whether service switch located
ship's power
at upper left bottom of control unit in the
24VDC used
for power steering stand is OFF, or fuse XF3 on
failure alarm, NSCC PWB(inserted to the center slot)
etc., is not of the same unit has blown.
supplied. _,
detail contents
No.
Ell.1 Described above. DC power (battery)
is abnormal.
TS-14 Individual CD Alarm generates to show that steering wheel

alarm indicator cannot be used in the current steering
I WHLOFF I mode when the hand steering mode
lights. indicator [HAND] is not lighting and
(Steering wheel steering wheel is turned rightward or
steering is leftward.
invalid.) In this case, return steering wheel to
,.I n t h e steermg
. ...., the neutral position.
modes without
using steering Alarm Action to be taken for each No. Alarm detailed
wheel, alarm detail contents
generates No.
when steering E12.1 Described above. Rudder position is
wheel is not neutral in other
turned steering modes
rightward or than steering wheel
Jeftward. steering.
4·15
'!rouble· Phenomena Check procedure and action to be taken Remark
shoot (contents)
No.
TS-15 Individual CDContinue auto steering as it is if normal This alarm does not
alarm indicator auto steering is performed even when inform that auto
I LOWSPD I ship's speed is low. steering is
lights. impossible due to
(Ship's speed is
® Reset ship's speed manually when
ship's speed value displayed on the data low ship's speed,
rlow) ...., display of AUTO unit is different from but informs a
Alarms when
ship's speed actual ship's speed. When ship's speed possibility of strong
reduces less from gyro·compass is used, check gyro· influence by wind
than half of compass side. And, when automatic and wave due to
service speed speed is used, check speed log side, and weak rudder
duringADPT change to manually input ship's speed effectiveness caused
steering (auto if necessary. by low ship's speed.
steering)
@ When ship's speed input circuit is
,__mode.
abnormal, the condition becomes
normal by switching the system.

Detail contents
No.
El0.1 Described above Ship's speed is
low.
TS-16 Individual CDSwitch at once to one of the other

alarm indicator steering modes.
I RC M. I lights.
® Press I <l SEL. I switch of AUTO unit to
(Remote display alarm detail on the data display,
steering mode and check according to table below.
is abnormal.)
,...Alarms when ...,
abnormality in Alarm Action to be taken for each No. Alarm detailed
remote Detail contents
steering mode No.
.__is detected. E09.1 Check external unit 1 side. External unit 1
Warm recovers by switching to communication is
one of the other steering modes) abnormal.
E09.2 Check external unit 2 side. External unit 2
Warm recovers by switching to communication is
one of the other steering modes.) abnormal.
E09.3 Check external unit 1 side. External unit 1 is
Warm recovers by switching to not ready yet.
one of the other steering modes)
E09.4 Check external unit 2 side. External unit 2 is
Warm recovers by switching to not ready yet.
one of the other steering modes.)
4·16
Trouble· Phenomena Check procedure and action to be taken Remark
shoot (contents)
No.
TS-16
detail contents
No.
E09.5 When steering is abnormal, Remote steering
switch at once to one of the control circuitry
other steering modes. is abnormal.
The rudder is frozen
E09.7 Switch at once to one of the Disconnection
other steering modes. alarm
The Cstarboard side)
rudder is frozen.
(Starboard side fur
twin rudders)
E09.8 Same as above. Disconnection
alarm
The port side rudder
is frozen.
<Port side fur twin
(option) rudders)
TS-17 Alarm display CD Pr~ss l<l SEL. I switch of AUTO unit

Indicator
to display alarm detail on the data
I AUX I lights. display, and check according to table
(optional
alarm) below.

detail contents
No.
E13.1 Release alarm by operations Set course invalid
below (auto steering only). alarm (option).
(!)Press SET. knob to confirm When override
current set course, or reset a steering during
new course. auto steering is
@Switch to the other steering finished, this
mode. alarm is 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 Depended on to
E13.4 the instruction manuals for the specifications.
E13.5 external units.
E13.6 Check and operate the steering ALARM UNIT
E13.7 carefully because some alarms (option)
may not operate. or contact output
signals.
Input and output
are abnormal.
4·17
Trouble·
Phenomena
(contents)
No .
TS-17
Detail contents
No.
E13.9 Immediately reset the FU FU override
override steering by pushing disconnection
I RESET I switch (*1), and alarm.
then, perform steering other The rudder is
than FU override. frozen.
(option)
* l)Reset procedure and switch
name may differ depending
on its specifications.
E05.l Perform action @ ......, @ in Rudder follow up
E06.1 TS-09, 10 and recover steering. failure.
The (starboard
(DM, DW only) side) rudder is
frozen.
(Starboard side
for twin rudders.)
E05.2 Same as above. Rudder follow up
E06.2 failure.
(DM, DW only) The port side
(option) rudder is frozen.
(Port side for
twin rudders.)
E05.B Immediately reset the NFU Rudder follow up
E06.B override steering by pushing is abnormal
I RESET I switch (*1). during NFU
And then, select hand steering override steering.
I HAND I or non ·follow up (Starboard side
steering I NFU I by the for twin rudders.)
steering mode switch, and
perform steering in the mode
where the rudder works
properly.
If steering can not be
performed by the above
method, recover steering by
performed @ through @ of
TS - 09 and 10.
(DM, DW only)
(Option)
*1) Reset procedure and switch
name may differ depending
on its specifications.
E05.C Same as above. Rudder follow up
E06.C (DM, DW only) is abnormal
(Option) during NFU
override steering.
(Port side for
twin rudders.)
4·18
Trouble· Phenomena Check procedure and action to be taken Remark
shoot (contents)
No.
TS-17
detail contents
No.
E05.D Perform action @ ,..,_, @ in Rudder position
E06.D TS-09, 10 and recover steering. feedback fall.
(DM, DW only) The (starboard
side) rudder is
frozen.
(Starboard side
for twin rudders.)
E05.E Same as above. Rudder position
E06.E (DM, DW only) feedback fall.
(option) The port side
rudder is frozen.
(Port side for
twin rudders.)
E05.F Perform action @ ,..,_, @ in Steering signal
E06.F TS-09, 10 and recover steering. output fail.
(DM, DW only) (Starboard side
for twin rudders.)
E05.G Same as above. Steering signal
E06.G (DM, DW only) (option) out put fall.
(Port side for
twin rudders.)
TS·18 Strange rudder CD Switch the system selection switch to another

motion in Cfrom No.l to No.2 or from No.2 to No.1).
non-follow up ® In case of system configuration which When two or more
steering mode. the steering gear is not changed by steering gears are
switching the system selection switch, running in parallel,
stop currently running steering gear steer only with the
and use the other steering gear.
steering gears
When alarm recovers and rudder
motion becomes normal, use the system running normally.
under that condition. In this case, be
careful that rudder
motion speed is
reduced.
@ If rudder motion does not recover by
procedures CD ~ ®, steer at once
TS-19 Strange rudder CD When alarm generates, take actions
motion in hand according to contents of the alarm
steering. troubleshoot number.
®When alarm does not generate, or the
action above CD is not sufficient, take
actions according to the troubleshoot
number TS·ll.
TS-20 Strange rudder Take actions according to the troubleshoot
motion in auto number TS-12.
steering.
4·19
shoot (contents)
No.
TS-21 Rudder limit is CD When PID steering is used, switch the According to the
inoperative in system selection switch to another. specifications of the
auto steering. ® When ADPT steering is used, switch the connected
system selection switch to another or navigation
use PID steering mode. equipment and
during the remote
auto steering[The
course order
method], the
RUDDER LIMIT is
ignored on the some
systems. For the
specifications of the
connected
navigation
equipment, ask to
the supplier.
TS-22 Rudder motion CD Switch the steering line to one of the
is fast I slow. others if the ship has other steering
gears.
® 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 actions
overshooting according to contents of the alarm
is large troubleshoot number.
(in auto ® When alarm does not generate, adjust
steering). knobs according to contents of 3.2.6 or
3.2.11.
TS-24 Ship sails CD When alarm generates, take actions
deviated according to contents of the alarm
from set course troubleshoot number.
(in auto ® When external disturbances such as Bearing deviation
steering). current and wind are large and bearing gradually becomes
deviation becomes gradually small, see smaller by the
the state as it is. integral rudder.
TS-25 Course setting CD Switch the system to another when the Setting course can
in auto steering SET. course display does not change be changed only in
cannot be done. even by turning of course setting knob. auto steering.
TS-26 No data is CD It is not abnormal if pressing Eve@pressing
displayed in the the <I SEL. switch displays data.
I I the SEL. I
data display. switch changes
® When alarm generates, take actions, data.
according to contents of the alarm No display(blank) is
troubleshoot number. included as one of
@When lighting normally by the lamp the display.
test, raise illumination by pressing the
~switch.
4·20
'fumble·
Phenomena
(contents)
TS·27 Some display CD Some lamps are for optional

lamps or alarm specifications.
indicators do When the option is not installed on own
not light by the ship, the lamps do not light by the lamp
lamp test. test.
Refer to chapter 3,3.3 No. 7 for details.
® When alarm generates, take actions
according to contents of the troubleshoot
number.
@ When lamps do not light even by strong
I I
pressing the LAMP TEST switch,
check for display lamps by positions of
switches and control knobs, or for alarm
indicators by alarm detail display of the
data display.
TS·28 Steering mode CD Use by switching the system to another.
cannot be ® If the steering mode selection switch
changed over. stops at the middle position between
each steering mode, turn the switch to
the correct position.
TS·29 Strange bar I I
CD When CO. DEV of bar graph I
When the R.O.T. I
graph display
selection indicator is lighting, only one lights, ordinary bar
light emitting diode lights. It is not graph is displayed.
abnormal.
® Only one lighting of emitting diode in
both ends shows the bearing deviation
exceeds 31° or rate of turn exceeds 31°
/min.
These are not abnormal.
TS·30 Strange ship's Take actions in troubleshoot number TS· 15
speed display procedure® or@.
TS·31 Steering CD When alarm generates, take actions
repeater is according to contents of the alarm
abnormal. troubleshoot number.
® If the repeater switch is OFF, turn it
ON.
@When synchronization deviates,
resynchronize according to 3.2.1 (1) b.
TS-32 Display is too CDAdjust with ~ , [TI] switches.
bright /dark.
®When the system selection switch is in
I
OFF position, l·PWR I, I
2·PWR I.
Il·PWR F. I, I I
2·PWR F. are highest
illumination and ~ , [TI] switches
are ineffective.
These are not abnormal.
4·21
Trouble·
Phenomena
(contents)
No.
TS ·33 SET. course CD This display becomes 1-1-1-1 in other Shows that the
display modes than auto steering (AUTO) and setting course is not
does not light. remote auto steering (NAV) . This is not 1n use .
abnormal.
TS-34 Display other CD When the AUTO unit display section is
than the abnormal and during generating alarm
setting course characters corresponding to group
is indicated on alarm are displayed on the SET. course
the SET. display alternatively with the setting
course display. 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
RLJ1 indicator I AUTO FAIL I is according to the

to be lit is generating. troubleshoot No.
TS-03.
Alarm that the group alarm Check
[RU indicator I CAUTION I is
to be lit is generating.
abnormality in
steering, and if
there is any
abnormality,
switch at once to
one of the other
steering modes.
TS·35 IR.O.T. I of the CD When the rate of turn reaches the Refer to 3.2.11 (4)
setting value in auto course changing, for changing the
data selection
I R.O.T. I blinks to show that the ship is
setting value.
indicator
blinks. turning at the setting rate of turn.
TS·36 Rate of turn in CD Ditto Ditto
auto course ® Readjust the rudder limit setting value
changing is too when it is too large (small).
large (small).
TS-37 IADPT I of CD Even when ADPT steering is selected, WhenADPT
if abnormality occurs in ADPT steering steering is to be
control mode
circuitry, the mode is automatically switched for
indicator switched to PID steerIBfil
·n . At this time, check, etc., select
blinks. I ADPT I blinks and PID lights. PID steering
In this case switch to one of the other once and then
systems or use PID steering mode. selectADPT
steering again.
4·22
Trouble·
Phenomena
(contents)
No.
TS-38 Power failure Display of power failure indicator in the When the power
indicator in the ALARM UNIT (option) is depended on the failure indicator
ALARM UNIT specification. lights, the
(option) lights. corresponding
power indicator
goes off.
Power Action to be taken for Alarm detailed

failure each failure contents
indicator
I I·PWF I Check the transformer box Power failed for
(ED type) in the steering No.I~No.4
I 2-PWF
I
gear room and the control control box or
l3·PWF I box (DM/DW type) in the No.I~No.4
l4·PWF I steering gear room. steering gears.
(3 or 4 in parallel option)
SI·PWF Ditto Power failed for
(Twin rudder option) control box or
S2·PWF
steering gears to
PI·PWF starboard No. I,
P2·PWF No.2, Port No.I,
No.2
TS-39 Individual Display of power failure indicator in the

alarm ALARM UNIT (option) is depended on to
indicator in the the specification.
ALARM UNIT
(option) lights.
Individual Action to be taken for Alarm detailed

alarm each failure contents
indicator
I·CM.F. Check the control box ( in No.I~No.4
the steering gear room) control motor is
2-CM.F.
according to the abnormal.
3-CM.F. instruction manual.
4-CM.F. (For D type, 3 and 4 are
option)
SI-CM.F. I Ditto Starboard No. I,
(Twin rudder for D type No.2,
S2-CM.F. I
option) Port No. I , No.2
PI-CM.F. I control motor is
P2-cM.F. I abnormal.
4·23
Troub1e· Phenomena Check procedure and action to be taken Remark
shoot (contents)
No.
TS-39
Individual Action to be taken for Alarm detailed
alarm each failure contents
indicator
I l·LLVL
I
Check cause of oil level No.1 or No.2
drop according to the hydraulic power
12-LLVL I
hydraulic power unit unit oil lever
(installed in steering gear drops.
room) instruction manual.
(L type option)
I l·L.PRS I
Check cause of hydraulic No.l or No.2
pressure drop according to hydraulic power
I 2-LPRS I
the hydraulic power unit unit pressure
(installed in steering gear drops.
room) instruction manual.
(L type option)
I 1·O.PHA I
Check cause of electric No.l or No.2
power open phase hydraulic power .
I 2-0.PHA I
according to the hydraulic unit electric
power unit (installed in motor power
steering gear room) phase opens.
instruction manual.
(L type option)
I l·Ol.DAD I
Check cause of overload No.l or No.2
according to the hydraulic hydraulic power
I 2-01..0AD I
power unit (installed in unit motor
steering gear room) overloads.
instruction manual.
(L type option)
Alarm detailed The causality between alarm detailed No.

No. E14.1 ~ and individual alarm display is depended
E14.C on to the specification.
The action to be taken for each failure
shall be follow to each individual alarm
display.
TS-40 The PID control CD According to the specification of the
mode cannot be connected navigation equipment and
selected by the during the remote auto steering [The
course keeping course order method] , the course
mode selection. keeping mode selection can select only
(The control ADPT control mode. In that case, even if
mode indicator the course keeping mode selection is
automatically turned to the position of PID weather
shifted to the adjustment, the PID control mode is not
ADPT control selected. And, if changing to the remote
mode.) auto steering [The course order method]
during selecting the PID control mode,
the mode is automatically changed to
the ADPT control mode. For the
specifications of the connected
navigation equipment, ask to the
supplier.
4·24
4.5 Voltage table of Each Point
Table 4·3 Voltage table
Unit Test point or terminal Rated value Remark
External Between lAC 1 - 1AC2 ll0VAC, 60Hz No. lsystem pilot power
terminal input
Between 2AC1 - 2AC2 ll0VAC , 60Hz No.2 system pilot power
input
Between lLNl - 1LN2 8VAC, 400Hz Linear synchro exciting
voltage of No. l 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 PBS + - PBS· +24VDC Ship's power supply (battery)
Control unit Between SRI +!- +12VDC ±0.5V No. l system internal
stabilized power output.
Between SR2 +!- +12VDC ±0.5V No.2 system internal
Between SR3 +!- +12VDC ±0.5V No. l common power internal
Between SR4 +!- +12VDC ±0.5V No.2 common power internal
NSCCPWB Between TP4 - TP5 +12VDC ±0.5V Internal stabilized power
output for power failure
indicator, etc.
NSCVPWB Between TP6 - TP7 +5VDC ±0.2V Power for No. l system gyro
(right side) input signal
NSCVPWB Between TP6 - TP7 +5VDC ±0.2V Power for No.2 system gyro
(left side) input signal
RSAPWB Between TPl - TP2 +15VDC ±0.5V Power for No. l system servo
(right side) Between TP3 - TP2 • 15VDC ±0.5V amplifier.
RSAPWB Between TPl - TP2 +15VDC ±0.5V Power for No.2 system servo
(left side) Between TP3 - TP2 • 15VDC ±0.5V amplifier.
AUTO unit Between TP 14 - TP15 +12VDC ±0.2V Internal stabilized power
input for power failure
indicator, etc.
Between TP16 - TP15 + 5VDC ±0.2V +5V power for power failure
indicator etc.
Between TP8 - TP9 +12VDC ± lV No.l system
internal stabilized power
inout
Between TP6 - TP9 + 5VDC ±0.2V No.l system
Between TP7 - TP9 +15VDC ±0.5V auto steering circuitry power
Between TP 10 - TP9 · 15VDC ±0.5V
Between TPl - TP2 +12VDC ± lV No.2 system
internal stabilized power
input
Between TP3 - TP2 + 5VDC ±0.2V No.2 system
Between TP5 - TP2 +15VDC ±0.5V auto steering circuitry power
Between TP4 - TP2 ·15VDC ±0.5V
Between TP 12 - TP13 +12VDC ± lV Common power internal
stabilized power input
Between TP 11 - TP13 +5VDC ±0.2V Display operation circuitry
power
4·25
4.6 Information Items to TOKYO KEIKI 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-600 □-□□
(3) Where is the ship now ?
(4) Symptoms of failure
(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
(lO)Other noticed points
4·26
CHAPTER 5 MAINETENANCE·CHECK
&WARNING
• Make 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) .
• The ship's main power is supplied to the distribution board in this system even when
the main power supply switch (SYSTEM SWITCH) of this system is turned OFF.
Electric shock may occur by touching inside. Do not touch 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.
,r "\
~WARNING
Main power can cause electric
shock.
Do not touch terminal boards,
etc., even if unit power OFF.
'-.
In addition, the following labels are attached to the main positions of this stand to call
attention on electric shock.
I WARNING HIGH VOLTAGE I or I WARNING ELECTRIC SHOCK I
&WARNING
e The steering gear connected to this autopilot may cause, although very rarely, hydro
lock, etc., which makes the rudder disabled to steer.
e Although main parts of the autopilot consist of electronic circuitry having high
reliability, it cannot be said failure does not occur absolutely.
Accordingly, it is absolutely necessary to carry out check and maintenance described in
this chapter to exclude these dangers as long as possible and to maintain performance
of this system.
If not, detecting sign of failure delays and it yields failure of the system and may result
in collision or stranding (refer to clauses regarding maintenance and check of the
steering gear instruction manual).
• When trouble is discovered and cannot be recovered on board, contact our service
department or its sales agency of your area.
PROHIBITION
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
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, occurrence 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 change 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 resonance 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)
deteriorate 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
our 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 our service
department to repair at early stages.
(6) Confirm operations in each steering mode both for No. l 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 our 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 times 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 / 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.
5·2
(1) Periodical check table (including operation check) [once a day] (Copy and from in the
end of this manual when this tables becomes full and file them.)
Check mark ✓: Normal
(Example of note) 6 : Normal after rework or repair
Date of check Installation
'06.06.01
Inspector
Savi:e'.XCO
Check items
a IHAND I mode
No.I
.......,
-
No.2
Steering wheel PS 10°

Rudder angle receiver (indicator) ✓ ✓
indication ( P, S 10° )
Indicator I HAND I ON ✓ ✓
System selection and display ✓ ✓
h 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 1 • NFU I ON ✓ ✓
C. IAUTO I mode, setting course

Press and turn knob Leftward and
rightward.
Setting course display changes. ✓ ✓
Heading deviation bar graph display changes. ✓ ✓

Auto course changing function ✓ ✓
Indicator I AUTO I ON ✓ ✓
d [Jill] mode (option)
Turn RC knob leftward, center, rightward
Rudder angle indication moves · in ✓ ✓
the direction above.
Rudder angle O with knob at center ✓ ✓
Indicator I RC I ON
e. ILAMP TEST I
Press switch
All display lamps and alarm lamps ON ✓ ✓
Buzzer sounds. ✓ ✓
f. PIS indication ON
Helm unit
In the direction of order rudder angle. ✓ ✓
Green (STBD) or
Red (PORT) ON
g. Warning labels coming off, dirtiness
(facia panel, remote control, inside
stand)
h. Items to be dealt with none
Items to be Informed
Table 5· 1 Periodical check table (1)
5·3
(2) Periodical check table [once a half year/ once a year] (Copy and use a from in the end
of this manual when this table becomes full and file them.)
Check mark ✓ : Normal
l::,. : Normal after rework or repair
(Example of note)
Date of check '06.06.01
Inspector 0000
Check item
No. I No.2
,,__,, ,,__,,
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
0-+P30° (sec) 12 12
P30° -+0 (sec) 12 12
0-+S30° (sec) 12 12
s30• -+0 (sec) 12 12
NFU mode
0-+P30° (sec) 10 10
P30° -+0 (sec) 10 10
0-+S30° (sec) 11 11
s30• -+0 (sec) 11 11
g. Warring labels (all labels) ✓ ✓
(Cleanliness, comine- off, dirtiness)
h. Items to be dealt with
Table 5·2 Periodical check table (2)
5·4
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 TOKYO KEIKI.
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-6D □ D-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 switches No.land 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 gradually unit 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.
LhCAUTION
e Do not release hands from the facia panel till the panel is fixed with the two stoppers.
If not, may cause injury.
e Do not give strong vibration or shock to the facia panel when it is fixed with the stopper.
Dropping the facia panel due to loosing the stopper may cause failure of equipment or
injurv.
(6) Turn OFF the service switch located at the upper left bottom of the control unit
mounted in the pilot stand.(Refer to Fig.4-1.)
(7) Pull out the fuse from the fuse holder (Fl·Fll) at the upper left and right bottom of the
control unit.
(8) Restore the pilot stand in reverse procedures from (6)-(1) described above.
5-5
5.5 Spare Parts
Spare parts shown in Table 5·3 are attached to this autopilot.
Name Part No. External view Q'tv Remark

(1) Fuse F-7142-lA 4 For protection of
k ~
125V, IA 20 power load short
circuit.
o==DJ!
(2) Fuse MF51NR3.15 6 Ditto
k ~
250V, 3.15A 20
o==DJ!
(3) Fuse MF51NR5 8 Ditto -
k ~
250V, 5A 20
o==DJ!
Table 5·3 Spare Parts Table
5.6 Storage Method
NOTE
Observe the following items for storage.

(1) Turn all power switches of this system to OFF position, and cut the alarm power (24V DC)
supplied to the autopilot stand.
(2) Storage temperature should be between -20° ~ +55°C.
Avoid the place with high humidity as far as possible.
High humidity may cause rust.
(3) Prevent the storage place from generation of corrosive gas, breeding of bacteria such as
mold or intrusion of insects and small animals.
(4) Cover the system with a vinyl sheet, etc., when generation of dust is considered.
When welding works, etc., are carried out near this system, be sure to mount a suitable
protection cover on the steering stand to prevent damage caused by spark, etc.
5. 7 Disposal Method
Dispose of this system in proper manner treating it as an industrial waste product in

accordance with the law and regulations.
5·6
5.8 Precautions in installation (Extraction)
~WARNING
• Do not hang down the steering stand by passing ropes, etc., on the steering wheel or
handle for moving the steering stand in installation and so forth. The wheel or handle
should be broken due to weight of the steering stand, and the stand may drop to cause
lilJUry.
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 minus head screw driver (small type)
and connect cables in the procedures below. Do not connect plural lines to one terminal
CD Remove connected cable covering by approx. 6mm.
® Twist front edge of core lines (conductor) not to be scattered.
@ Press the spring of one terminal with the minus head screw driver (small type),
and insert the core line to the opening. Remove the minus head screw driver (small
type) 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.
(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.
(lO)Unless otherwise specified, cables are not included in this system.
(ll)The shipyard which will install this system for the first item, should receive technical
instruction by our service engineer before installation.
5-7
(blank)
5-8
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.
AulO pilol
Selling course
S1eering gear
--+0...0-_,'V-~~=~~f---+O con1rol system
Tractct'lo course
EX1.,nal 11aviga1ional
aquipmen1
~w
Steering
NFU Jeve,n _ _ _ _ _ _ ___.

~i::~w nuot sy11.m
Rudder
Q (Non-lollow up conuot)
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 I mode, 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 follows 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 IBQJ 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 turning 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-AD PT Operation ( Auto Steering, Adaptive Control ) (option)
... ....... ....

, ., ''
I \ Ship's heading Heading error
r---------
I
Gyro +
compass
Reference
trajectory
Ship Ship characteristics

Ship's speed
characteristics ....__ __..__ _...___ _ ___..__ _ _ ___.a--_.. Adaptive
Speed log
estimation observer
Estimated
heading
/rate
Reference
Steering ~----+--+-- Feedforward Feedback
trajectory
course controller controller
calculation
I- - - Course changing controller Course keeping

controller
Rudder angle Setting

feedback wheel
HAND
+
Steering
Rudder
gear
servo Order rudder
control amplifier
system angle
NAV/AUTO
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 ship characteristics), course keeping control unit, and course changing control unit.
Function of each unit will be explained as follows.
(1) Estimation unit

Generally speaking, the ship 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 PIO
parameters] to obtain the adaptive steering every time when ship 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 NCT (Notable Control Technology). The new
ADPT(NCT) estimates the ship characteristics as the mathematical model, and performs the
gain adjustment to be proper control.
In this system, this method is applied on course changing in the AUTO-AD PT mode.
6-3
In the former ADPT(which was called MRACS), the estimation algorithm was effective only
at the manual course changing.
In the new ADPT(NCT), it is possible that the ship characteristics is estimated even at the
automatic course changing. This system can flexibly manage the characteristic change.
(2) Course keeping control 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 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.
In the former ADPT(MRACS), the external disturbances is processed as a white noise. But,
the performance might decrease when the character of disturbances is actually different.
In the new ADPT(NCT), not only the ship characteristics but also the external disturbances is
processed by the mathematical model. As a result, a high effect can be achieved for
decreasing ineffective rudder in comparison with the former ADPT(MRACS).
(3) Course changing control unit

In the new ADPT(NCT), the reference trajectory and the feedforward controller is used at
the automatic course changing.
The reference trajectory is a curve with which the orbit from beginning of course change to
the end is smoothly connected. This trajectory is calculated in consideration of the ship
characteristics and the rudder characteristics.
The feedforward controller operates to match the ship's heading to the reference trajectory.
When these functions are used, the control of the state of the transition from beginning of
course change to the end becomes possible.
As a result, ideal operation with few overshoots can be achieved.
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 (proportional, differential integral) based on the deviation signal, the setting values on
the PID unit (weather adjustment, rudder ratio adjustment, counter rudder 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 adjusts the rudder amplitude (rudder
angle ratio) for the deviation signal, the differential control (D control) function which
performs the so called [counter rudder] (rate) 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.
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
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 actual 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 narrow 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, however, 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.
6·6
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, course
keeping controller, and course changing controller, and the
micro-processor is used to process input signals including
external disturbances, and the optimal control can be performed
without regard to sailing in calm sea or in rough sea.
In the PR-6000, the steering mode enters this mode with the
ADPT/WEATHER 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 I mode. 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 divided
and connected each other for easy understanding of the autopilot
functions. This is used to explain operations, etc.
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 TOKYO KEIKI)
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 display.
7:1
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 fur 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, 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 ·s teering 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.
7-2
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/
hand / remote steerings are this control systems.
Group alarm ........................ There are three kinds of group alarms (SYS. FAIL/ AUTO FAIL/
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 TOKYO KEIKI).
Hand steering ..................... ! 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 ... ............. .... ....... Apanel 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 [31, LMG is applied
for the deviation angle between O ~ 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.
7·3
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 O ~3° and HGM at the larger
angles than 3° .
+ Rudder angle
+
Deviation angle
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 / hand / 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/ a year. Works necessary for maintaining a long
term performance, and for safe and effective use.
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
(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 preplanned course
from external navigational equipment.
This mode is selected by I RC I first and then by I NAV I
(option) of the sub-mode.
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 sub·mode.
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.
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, chief 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 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.
Warranty ...... .. . .... .... ...... ...... Standard guaranteed contents of TOKYO KEIKI for autopilots.
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.
PR-6000
STEERING STAND
eOPERATOR'S MANUAL [Document No. E11-3034E]
Jan. 31 , 2007 Fourth Edition
Feb. 22, 2008 Fifth Edition
Oct. 01 , 2008 Sixth Edition
TOKYO KEIKI INC.

2-16-46, MINAMI-KAMATA, OTA-KU, TOKYO
144-8551 , JAPAN
CONTROL DIVISION I
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 TOKYO KEIKI.

Pr-6000-E Auto Pilot Operator's Manual

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I Document No.

TOKYO KEIKI INC.

COMPOSITION OF OPERATOR'S MANUAL

2. REPEAT BACK UNIT

3. WIDE RUDDER ANGLE REPEAT BACK UNIT

PR-6000 OPERATOR'S MANUAL INDEX

PERIODICAL CHECK TABLES

Explanation of the interfacing to the rudder control system is shown in Fig.2·5 .

•a... ... ,.....

Fig. 2-4( 1) PR-60 0 0-DM

.................... ........ ,__

Fie. 2-4(2) PR-6000-DM

Steering gear room

Fig. 2-4(3} PR-60 0 0-DT block diagram

' - - - - - - - - - S.11,ng eou<••

AS422/RS232 ,---- ..........

( Canoelluillin) ACHJO,1 110/1151220/HOII 1-

Fig. 2-4(4) PR-6000-E□ type block diagram

Fig. 2·4(5) PR ·6 □ □ □ ·E □ type 3 or 4 pumps block diagram

Fig. 2·4(6) PR-6 □□□ -L □ type block diagram

Fig. 2·4(7) PR-6 □□□ -P □ type block diagram

Fig.2·5 Interfacing to the rudder control system

e I Emergency steering 2 I (wheel house]

e IEmergency steering 3 / (wheel house]

e / Emergency steering 4 / (wheel house/ steering gear room]

Repealer switch Compass repealer

SysLem selection switch

Fig. 3· 1 Facia panel (preparation before start)

System seleclion switch

Fig. 3·2 System selection switch (Facia panel partial drawing)

3.2.4 Emergency steering method

(1) I Emergency steering 1 I [ wheel house]

(2) I Emergency steering 2 I [wheel house]

(3) I Emergency steering 3 I [wheel house]

(4) I Emergency steering 4 I [wheel house/ steering gear room J

(1) When turning the mode selection switch to the I iND II

Steering wheel ---

System selection . Mode selecLion

Fig. 3·3 Hand steering

3.2.7 Remote auto steering (NAV) method (option)

~---t--- Mode selectin switch

Mode Selecloin Uni!

3.2.8 Remote hand steering (RC : Remote Control) method (option)

S teerin g loca1 io11 •

0 _.,,,. Steering mode

Remote con trol

Fig. 3·5 Remote control steering

3.2.9 Non-follow up steering (NFU) method

3.2.11 Adjusting method for auto steering

ADPT course keeping mode (OPN/CNF) (option)

Rudder angle limit Rudder ratio Pilot watch

Fig. 3·6 Auto steering adjusting section (AUTO unit)

Fig. 3-7(1) Case of RATE value optimum

1'--------------- -------- ----- ----- ------ ---- ------------------------

b. Rudder angle ratio (RUDDER)

c. Weather adjustment (WEATHER)

e. Pilot watch, (PILOT WATCH)

f. Rudder limit (RUDDER LIMIT)

(4) Specified turn rate order ( I R.O.T. I rate of turn)

F ig.3·8 AUTO unit data display

3.2.12 Data display method of AUTO unit

Ship's speed input signal Example of ordinary Example of display when

(1 or 3 is not included according to the specifications.)