Roll-Royce AzT US255 CP Aquapilot Control System User's Guide Serial No. 66823 & 66824 For YN 512530

AQUAPILOT CONTROL SYSTEM
USER’S GUIDE
WORK NO.: 514-S433
USER’S GUIDE
Aquapilot Control System
AzT US 255 CP
Work No.: 514-S433

Serial No.: 66819, 66820
Sales office:
Rolls-Royce Oy Ab
P.O.Box 220, FIN-26101 Rauma, Finland
Phone: +358 2 83791
Fax: +358 2 8379 4804
Azimuth Thrusters / Propulsion
Aftermarket
Fax +358 2 8379 4874
Home page: www.rolls-royce.com
Rev. Date Drawn Checked Approv. Changed pages Description

A 24 Oct. 12 ESKO New document
Save Date: 26.10.2012 Page 1 ( 6 ) 6461007-A-530 U

USER’S GUIDE
WORK NO.: 514-S433
TDI-A
BCP AQP
ACP AMP
Autopilot
100
60
100 30
60 0
30
0
Rolls- Royce Rolls- Royce
Rolls- Royce Rolls- Royce Rolls- Royce Rolls- Royce
MAIN CONTROL
TDI-A
BIU STATION BIU
( forward)
24VDC power supply 24VDC power supply

(UPS type) (UPS type)
WHEELHOUSE
TDI THRUSTER ROOM
230 230
ACU ACU
24VDC power supply 24VDC power supply

(UPS type) (UPS type)
CONTROL AND INTERFACE UNITS

ACU = A ZIMUTH T HRUSTER CONTROL UNIT
BIU = B RIDGE I NTERFACE U NIT
PANELS, LEVERS AND INDICATORS
AQP = A QUAPILOT CONTROL LEVER
BCP = BACK-UP C ONTROL P ANEL
ACP = A ZIMUTH THRUSTER CONTROL PANEL
AMP = A ZIMUTH THRUSTER M ODE PANEL
TDI = T HRUST D IRECTION I NDICATOR
TDI-A = T HRUST D IRECTION I NDICATOR A NALOG
Copyright 2000 by Rolls-Royce Oy Ab

All rights reserved. No part of this publication may be reproduced or copied in any form or by any means without the special
permission of the copyright owner.
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USER’S GUIDE
WORK NO.: 514-S433
Section Heading name Page number
LIST OF HEADINGS
1. GENERAL INFORMATION ...................................................... 5
2. CONTROL SYSTEM AND MODES .......................................... 5
3. CONTROL UNITS AND FUNCTIONS ...................................... 5
4. OPERATION ............................................................................ 5
5. ALARM AND FAILURE INDICATIONS .................................... 6
6. SAFETY INFORMATION.......................................................... 6
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USER’S GUIDE
WORK NO.: 514-S433
Drawing number Part List Drawing name Section / Subsect.
LIST OF DRAWINGS
6451657 000 Trouble shooting .................................................................. 5.1
6452400 002 Steering the ship, two Aquamaster stern ............................. 4.1
6454742 000 Serial link I/O units alarm indications ................................... 5.3
6455060 002 Hand Held Terminal (HHT) .................................................. 5.4
6455775 002 Maintenance switch ............................................................. 3.2
6456930 000 Safety information ............................................................... 6.1
6461005 000 Terminology ......................................................................... 1.2
6461008 001 How to find out failure history by using HHT-terminal .......... 5.5
6461108 000 Aquapilot for AZT with CPP and with clutch HyTu................ 2.1
6461135 002 Azimuth thruster interface to autopilot ................................. 2.2
6461136 001 Azimuth thruster interface to prime mover / PMS ................ 2.3
6461138 005 Back-up control ................................................................... 3.5
6461146 000 Description of alarms ........................................................... 5.2
6461166 002 Thrust direction, pitch angle and speed indication ............... 3.7
6461167 002 Analogue thrust direction, pitch angle and speed indication 3.6
6461172 002 Aquapilot control lever for CPP............................................ 3.1
6461386 000 Contents of the user's guide ................................................ 1.1
6461457 002 Azimuth thruster control panel CP ....................................... 3.3
6461458 002 Azimuth thruster mode panel CP ......................................... 3.4
7251329 000 General arrangement .......................................................... 2.4
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USER’S GUIDE
WORK NO.: 514-S433
A = Drawing revision / B = PL drawing number / C = PL revision / D = PL variant / E = PL = Part list / F = Revision of this document
Subsect. Drawing name A B C D E F
TABLE OF CONTENTS
1. GENERAL INFORMATION
1. Contents of the user's guide ........................................................... 6461386 000
2. Terminology ...................................................................................... 6461005 000
2. CONTROL SYSTEM AND MODES

1. Aquapilot for AZT with CPP and with clutch HyTu ........................ 6461108 000
2. Azimuth thruster interface to autopilot........................................... 6461135 002
3. Azimuth thruster interface to prime mover / PMS ......................... 6461136 001
4. General arrangement ........................................................................ 7251329 000
3. CONTROL UNITS AND FUNCTIONS

1. Aquapilot control lever for CPP ....................................................... 6461172 002
2. Maintenance switch .......................................................................... 6455775 002
3. Azimuth thruster control panel CP .................................................. 6461457 002
4. Azimuth thruster mode panel CP .................................................... 6461458 002
5. Back-up control................................................................................. 6461138 005
6. Analogue thrust direction, pitch angle and speed indication ...... 6461167 002
7. Thrust direction, pitch angle and speed indication....................... 6461166 002
4. OPERATION
1. Steering the ship, two Aquamaster stern ....................................... 6452400 002
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USER’S GUIDE
WORK NO.: 514-S433
A = Drawing revision / B = PL drawing number / C = PL revision / D = PL variant / E = PL = Part list / F = Revision of this document
Subsect. Drawing name A B C D E F
5. ALARM AND FAILURE INDICATIONS

1. Trouble shooting............................................................................... 6451657 000
2. Description of alarms ....................................................................... 6461146 000
3. Serial link I/O units alarm indications ............................................. 6454742 000
4. Hand Held Terminal (HHT) ............................................................... 6455060 002
5. How to find out failure history by using HHT-terminal ................. 6461008 001
6. SAFETY INFORMATION
1. Safety information ............................................................................ 6456930 000
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6461386-A-000
CONTENTS OF THE USER’S GUIDE
CONTENTS OF THE USER’S GUIDE
General
This Manual contains basic instructions for the operation of the azimuth
thruster propulsion units and AQUAPILOT Control System. It is assumed that
the operators have general technical knowledge and experience in vessel
operations, and a basic understanding of the function of azimuthing thrusters.
Detailed technical information about the azimuth thruster propulsion units and
AQUAPILOT Control System is contained in the supplementary manuals
listed below.
Development
Rolls-Royce Oy Ab reserves for itself the right to minor alterations and
improvements owing to engineering development without being obliged to
enter corresponding changes in this Guide.
Specifications of Equipment Delivered

The Aquapilot Control System and azimuth thrusters will be equipped as
agreed upon in the sales documents. No claim can be made on the basis of
this Guide, this Guide contains descriptions of components and functionalities
which are not included in every delivery.
NOTE! In all correspondence or when ordering spare parts, be

careful to state azimuth thruster type, azimuth thruster
number and delivery number stamped on the azimuth
thruster name plate.
Supplementary manuals
This manual is supplemented by:
• Azimuth Thruster Propulsion Unit Service Manual
• Aquapilot Control System Service Manual
• Other needed Manuals.
Those manuals include instructions, drawings and diagrams for operation and
maintenance of the azimuth thruster.
User's Guide includes instructions for azimuth thrusters and Aquapilot Control
System operation.

A 9 Oct..2008 MARS JAPA IILI New ND document
Page 1 ( 1 ) 6461386-A-000 U
Service Manual & User's Guide
Abbreviations
Next abbreviations are used in Rolls-Royce azimuth thruster manual for
Aquapilot ND control system units and modules.
ACC = Azimuth thruster Control Console (Azimuth thruster control desk at wheelhouse)
ACP = Azimuth thruster Control Panel
ACS = Additional Control Station
ACU = Azimuth thruster Control Unit
AHP = Azimuth thruster Hydraulic pump Panel
ALP = Azimuth thruster Lubrication pump Panel
AMP = Azimuth thruster Mode Panel
AMS = Hand held maintenance tool
APP = Azimuth thruster lubrication and hydraulic Pump Panel
AQP = AQuaPilot control head
AR = Azimuth thruster Room
ASP = Azimuth thruster Slipping clutch Panel
ASU = Actuator Servo Unit
ATB = Azimuth Transmitter Box (VERT-X version)
ATC-T = Azimuth thruster angle Transmitter
ATP = Azimuth thruster Tailor made mode Panel
AUPI = AutoPilot
AZT = AZimuth Thruster
BCO = Back-up Change-Over unit
BCP = Back-up Control Panel
BIU = Bridge Interface Unit
CCN = Can Controller Node
CCO = Control Change Over module
CCU = Control Change-over Unit
CCW = Counterclockwise
CPP = Controllable Pitch Propeller
CS1.. = Control Station 1 etc.
CSC = Control Station Connections
CW = Clockwise

A 17.6.2008 IILI JAPA AKHA New ND document
B 25.02.2010 SARA Removed obsolete abbreviations
C 15.11.11 MJV JAPA JAJA Added new indicator system abbreviations.
Page 1 ( 3 ) 6461005-C-000 U
CWP = Cooling Water Pump

CWS = Cooling Water pump motor Starter
DEFAM = Double-Ended Ferry Autopilot Mode
DP = Dynamic Positioning equipment/system
DPS = Draining Pump Starter
ECB = Engine room Control Board
ECP = Engine Control room Panel
ECR = Engine Control Room
EP = Electro-Pneumatic
ER = Engine Room
ESC = Engien Control Room station Connections
ESU = Electric Steering gear control Unit
FiFi = Fire Fighting
FP = Fixed Pitch Propeller
FU = Follow-up control
GT = Gravity tank
HACB = Alarm unit in bridge
HACE = Alarm unit in engine room
HACR = Alarm unit in machinery space
HMS = Main pump Starter
HPS = Stand –by Pump Starter
JOY = Joystick equipment/system
LLS = Load Limit Setting panel
LPS = Lubrication Pump Starter
LPS = Lubrication Pump Starter
MC = Maintenance Controller
MCC = Motor Control Central
MPP = Maintenance Pump Panel
MPS = Maintenance Pump Starter
NFU = Non Follow-up Control
PM = Prime Mover, engine, electric motor
POP = Potentiometer Panel
PTB = Pitch Transmitter Box (VERT-X version)
PWM = Pulse Width Modulation
SBCU = Shaft Brake Control Unit
SCU = Supply Change-Over unit
SLIO = Serial Link I/O
SMC = Speed Modulating Clutch
SPS = Slewing ring oil circulation Pump Starter
SUP = Supply Unit for control voltage Power / AC/DC converter
TAI = Thrust Azimuth Indicator (CAN bus)
Page 2 ( 3 ) 6461005-C-000 U
TDI = Thrust Direction Indicator (azimuth / rpm / pitch combined, various types available)
TRI = Thrust Rpm Indicator (CAN bus)
TPI = Thrust Pitch Indicator (CAN bus)
ULP = UL-lifting/lowering Control Panel
ULU = UL-lifting/lowering Control Unit
VDR = Voyage Data Recorder
VERT-X = Azimuth / pitch feedback encoder (CAN bus)
WH = Wheel House
Page 3 ( 3 ) 6461005-C-000 U
AQUAPILOT CONTROL SYSTEM FOR
6461108-A-000
CP PROPELLERS WITH CLUTCH
AQUAPILOT CONTROL SYSTEM FOR AZIMUTH

THRUSTER WITH CP PROPELLERS WITH CLUTCH
1. General
1.1. Aquapilot Control System for Azimuth Thruster

Aquapilot control system is a digital follow-up (FU) type control system for
turning and pitch angle control of propeller of the azimuth thruster unit.
In case of loss of FU control there is a non-follow-up (NFU) back-up control
system (optional), which when selected supersedes the FU control in failure
situation temporarily.
1.2. Aquapilot Control System Functionality

The basic operation unit of the system is an Aquapilot control head (AQP), a
single lever for commands functions (turning and pitch) of the thruster.
The lever of AQP has feeling points for turning at each 90 degrees and for
tilting (adjustable 0-45°).
In case of more than one Control Stations (CS) at wheelhouse AQPs can be
synchronized (optional function), in synchronization mode the levers of
inactive CS(s) follow the levers of active CS.
Content of Aquapilot control system panels alternate, but they always include
basic functions such as indications for “CS on”, pitch angle control OK, turning
control OK. If there is more than one CS, only panels and AQPs at active CS
are lit.
All indication leds in panels and Aquapilots are dimmable from one push
button at one azimuth thruster control panel.
The Thrust Direction Indicator (TDI) has displays for thrust direction, propeller
rpm and pitch angle indication. The TDI is electrically independent from the
control systems and it is hardwired to the propulsion unit. Also dimming of TDI
is separate from rest of the Aquapilot control system.
1.2.1. Steering Control

Aquapilot control head provides azimuth thrusters turning (steering) control
with continuous 360 degrees rotation. Aquapilot control system has a digital
follow-up (FU) on azimuth thruster for controlling of the turning (rotational) of

A 25 Jul. 08 MARS JAPA IILI New ND document.
Page 1 ( 6 ) 6461108-A-000 U
6461108-A-000
the azimuth thruster unit. Control system adjusts the actual thrusters angular
position to correspond with the lever position.
1.2.2. Aquapilot Pitch Control

In controllable pitch thrusters the prime mover has a constant rpm (unless
otherwise selected) and the thrust is controlled by pitch angle of the propeller.
Aquapilot control head provides the pitch control angle with a limited degrees
tilting movement of the top lever.
Aquapilot control system has a digital follow-up (FU) on azimuth thruster for
controlling of the pitch angle of the azimuth thrusters’ propeller. Control
system adjusts the actual propeller pitch angle position to correspond with the
lever position. Prime mover has constant rpm unless otherwise selected. Pitch
control is electro-hydraulic system.
1.2.3. Clutch Control

The clutch of azimuth thrusters’ power shaft is of ON/OFF type. For the clutch
control there are push buttons for clutch opening and closing in the azimuth
thruster control panel. There are also separate “clutch engaged/disenganed”
indications in the azimuth thruster control panel.
2. Operation of Azimuth Thruster and Control Modes
2.1. Operational Modes

The operational modes are selected by push buttons on azimuth thruster
mode panel.
2.1.1. Autopilot Mode (Optional Function)

Autopilot system gives angle order for thrusters (+-45 degrees). Thrust (pitch
or prime mover rpm) control stays on Aquapilot. Each thruster can be selected
for Autopilot mode separately. Turning (steering) can be done also
asymmetrically or asymmetrically for multiple thrusters (optional function).
2.1.2. Tandem Mode (Optional Function)

Turning (steering) and thrust control (pitch or prime mover rpm) of both
thrusters is operated from one Aquapilot lever. Turning (steering) can be done
asymmetrically.
2.1.3. Crawling Mode (Optional Function)

Turning (steering) and thrust control (pitch or prime mover rpm) of both
thrusters are operated from one Aquapilot lever. From the other lever the
angle for crawling can be set. This mode can be combined with autopilot mode
when turning (steering) command is given by autopilot.
Page 2 ( 6 ) 6461108-A-000 U
6461108-A-000
2.1.4. DP Mode (Optional Function)

Dynamic Position system controls thrusters’ turning (steering) and thrust (pitch
or prime mover rpm). Usually all thrusters are on DP mode simultaneously.
2.1.5. Ice Operation Mode (Optional Function)

In ice operation mode there are two different power modes for prime mover.
When there is ice conditions the ice operation mode is activated and a
lowered power is taken from prime mover. When ice operation mode is not
selected full power is taken from prime mover.
2.1.6. Free Wheeling Mode (Optional Function)

In free wheeling mode other of two thrusters is not used and it is free
wheeling. Free wheeling mode will keep the additional free wheeling lubraction
pump running and lubricating the not used thruster.
2.2. Pitch Operation Control Modes

The pitch control modes are selected by push buttons on azimuth thruster
mode panel.
2.2.1. Combinator Mode (Pitch and RPM Control)

In combinator mode the control system controls prime mover rpm and
propeller pitch simultaneously.
2.2.2. Combinator Speed Mode (Pitch and RPM Control) (Optional Function)
In combinator speed mode the control system controls prime mover rpm and
propeller pitch simultaneously. The mode is tuned optimally for sailing
conditions.
2.2.3. Combinator Bollard Mode (Pitch and RPM Control) (Optional Function)
In combinator bollard mode the control system controls prime mover rpm and
propeller pitch simultaneously. The mode is tuned optimally for bollard pull
conditions.
2.2.4. Constant RPM Mode (Pitch Control) (Optional Function)

In constant rpm mode the AQP controls propeller pitch while prime mover rpm
is set to constant value. Prime mover constant rpm is either set by separate
rpm potentiometer (POP) or is pre-programmed.
2.2.5. Constant High RPM Mode (Pitch Control) (Optional Function)

In constant high rpm mode the AQP controls propeller pitch while prime mover
rpm is set to high pre-programmed constant rpm value.
Page 3 ( 6 ) 6461108-A-000 U
6461108-A-000
2.2.6. Constant Low RPM Mode (Pitch Control) (Optional Function)

In constant low rpm mode the AQP controls propeller pitch while prime mover
rpm is set to low pre-programmed constant rpm value.
2.2.7. Constant Pitch Mode (RPM Control) (Optional Function)

In constant pitch mode AQP controls prime mover rpm while pitch is set to
constant value.
2.2.8. Fire Fighting Mode (Optional Function)

In fire fighting (FiFi) mode AQP controls propeller pitch with constant prime
mover rpm.
In this mode the control system makes power reservation for FiFi pumps and
uses remaining power for thrust control. Prime mover rpm is limited to
predefined value.
2.3. Overload protection

The Aquapilot control unit (ACU) includes load control system. The load
control system prevents the prime mover from being overloaded. The system
measures the input rpm of the azimuth thrusters and calculates the from “load
curve” the corresponding maximum allowed fuel pump setting. When the
prime mover seems to be overloaded, the load control system will reduce the
pitch.
2.3.1. Load Limit Panel (Optional)

In load limit setting panel the maximum thrust given by control lever can be
set.
The load limit setting can be overridden by a “slow down” signal from the
prime mover safety system or from prime mover load measuring system. The
load limit is then set to a preprogrammed value.
3. Back-up control (Optional)

The back-up control system is a non-follow-up type system that is independent
from the Aquapilot control system. It has its own circuit breaker in ACU and it
has been hardwired from wheelhouse to the thruster room. One back-up
control panel controls the operation of one azimuth thruster.
The Back-up Control Panel (BCP) at the wheelhouse has a selector switch or
push buttons for activation and de-activation of the back-up control mode. If
there are more than one back-up control panel at wheelhouse there is back-up
change over unit (BCO) to control the selection of the control panels. The
request for back-up control can be made from desired control station and
others are de-activated.
Page 4 ( 6 ) 6461108-A-000 U
6461108-A-000
On the back-up control panel there are also push buttons for non follow-up
pitch angle control and push buttons or dials for steering control. Prime mover
RPM is set by potentiometer.
NOTICE: Back-up control is only purposed for manoeuvring the

vessel to safe location.
4. ECR control (Optional)

If ECR controls are provided there is one AQP lever or back-up control panel
for each azimuth thruster for turning and pitch control in ECR.
NOTICE! Change over from wheelhouse to ECR and back is

possible only when all AQP levers are in upright position.
During ECR control the wheelhouse control is not possible
5. Maintenance control (Optional)

For maintenance purpose there is a portable hand tool AMS08 or AMS07 (one
per ship, optional) or a fixed maintenance control panel (one per thruster,
optional) for steering and pitch control of azimuth thruster in the thruster room.
The AMS controller is connected inside to Aquapilot Control Unit (ACU).
The system does not include any local control for PM.
During maintenance control the wheelhouse control is not possible.
6. Local Control (Optional)

For local control a local control panel is provided. Local control panel is
located in thruster room near the thruster. From local control steering and
pitch angle can be adjusted with push buttons. The functionality is non-follow-
up type.
In case of lose of all other control methods the steering gear and the pitch
angle control can be actuated directly from solenoids. Aquapilot control
system does not include any local control for prime mover.
7. Stand-By Hydraulics (Optional)

If stand-by hydraulics provided then there are two electric motor driven
hydraulic pumps per thrusters unit, one is as a stand-by pump which
supersedes automatically the main pump if the it fails. Both of the pumps are
equal so it is possible to use them alternately as a main pump.
Page 5 ( 6 ) 6461108-A-000 U
6461108-A-000
The pumps have manual control possibility with push buttons and switches on
HMS starters. Stand-by and other lockings are not valid under manual control.
Starting of the pumps is only allowed when Aquapilot is on zero thrust order
position.
Page 6 ( 6 ) 6461108-A-000 U
AZIMUTH THRUSTER INTERFACE TO AUTOPILOT
Autopilot Mode
There are five different Autopilot modes built into the Aquapilot control system.
• Mode “One by one”
Autopilot drives only one azimuth thruster at a time, Port or Stbd.
• Mode “Symmetric”
Turn both units with equal azimuth angles.
• Mode “Asymmetric”
Initially the thruster on the same side as the turning curve operates
(usually outer thruster). For hard turns the other (usually inner thruster)
units joins operation automatically.
• Mode “DEFAM” for Double Ended Ferries
Initially the aft thruster operates alone. Forr hard turns the fore unit
joins operation automatically.
• Mode “ Reverse Autopilot”
Autopilot operating to reverse direction. Can be selected together with
One by One, Symmetric or Asymmetric.
Selection autopilot operation mode is done in commissioning. One of these
modes is available. Reverse autopilot can be used together with other
autopilot modes.
Autopilot mode is activated by push button on mode or control panel.
RPM control of the prime movers remains on Aquapilot control lever when
mode is selected to Autopilot. Only steering angle control is by Autopilot.
Azimuth Thruster -> Autopilot

Autopilot selection ..................................................................... Making contact
The mode selection contact will activate the autopilot.
In a typical installation autopilot does not receive any feedback signal from the
azimuth thruster.

A 15.10.2009 KIKO New ND document.
Page 1 ( 2 ) 6461135-A-002 U
Autopilot -> Azimuth Thruster

Control signal ...................................................................................-10…+10V
Aquapilot control system is closed loop system. When the autopilot mode is
selected system reads its set point from the autopilot.
Autopilot gives an angle set value (-10…+10V) to the Aquapilot system’s built-
in control loop. Signal values correspond thrust angles -45°…0…+45°.
(-10V ↔-45 deg., 0V ↔ 0 deg., +10V ↔ +45 deg.)
• Azimuth thruster analog input is galvanically isolated.
Page 2 ( 2 ) 6461135-A-002 U
AZIMUTH THRUSTER
INTERFACE TO PRIME MOVER
AZIMUTH THRUSTER INTERFACE TO PRIME

MOVER
Azimuth Thruster -> Prime Mover (diesel engine, PM)
Prime mover RPM control ..................................................................4...20 mA
PM starting allowed................................................................... Making contact
Starting is allowed when clutch is open or Aquapilot control lever is in zero
position. Starting allowing behaviour depends on the delivered system.
Zero pitch.................................................................................. Making contact
Prime Mover -> Azimuth Thruster

Fuel rack position (idle-full; 6...18 mA) ...............................................4...20 mA
PM stopped............................................................................... Making contact
When prime mover stop command given inappropriate alarms are reset when
prime mover is stopped and clutch is disengaged (if applicable).
Slow down................................................................................. Making contact
Pitch automatic reduction. When on order the prime mover safety system
reduces the load limit setting to an adjustable level as long as the contact
occurs.
Pitch angle can be adjusted with control lever between the reduced level and
zero.

A 31 Jul. 08 MARS JAPA IILI New ND document.
Page 1 ( 1 ) 6461136-A-001
JAJA
AASU
APPROVALDATE:2012-10-22
JAJA
AASU
APPROVALDATE:2012-10-22
6461172-A-002
Aquapilot® ND Control Lever (CP)

For
Variable Pitch Propeller

A 13 Aug 08 MJV MJV JPV New document.
Page 1 ( 4 ) 6461172-A-002 U
6461172-A-002
1. Control Lever Design Principles
1.1. Human Engineering

• Comfort grip design and shape for long operation periods.
• Optimized lever size for smaller and bigger hands.
• Optimized for natural hand wrist rotation.
• Can be used easily either in standing or sitting position.
1.2. Continuous 360°° Steering

• Thrust steering (direction) control is based on continuous 360°
movement.
• Most optimal way of rotation direction of thruster(s) can be thus easily
used.
• No logical operation limitations.
1.3. Designed For the Master

• Robust for heavy use.
• Smooth and precise operation.
• Friction adjustment by finger knobs.
• Changeable grip side fingertip covers either convex or concave type.
• Removable hand rest support.
• Dimmer controlled and illuminated scales for lever position indication.
• Non-reflecting coating.
• Non-metallic, safe to hand skin materials used; "warm" to hand.
• Low motor noise when lever is in follow-up mode.
• Colouring style by Rolls-Royce Marine standard.
1.4. Ergonomic Design and Shape

• Suitable for various operation conditions by changing grip of hand
Page 2 ( 4 ) 6461172-A-002 U
6461172-A-002
2. Aquapilot ND Control Lever Functionality
2.1. Combined Control

The Aquapilot control lever includes all controls for a Rolls-Royce azimuth
thruster in one single lever function:
• Azimuth thruster direction angle control (steering) is continuous 360°.
• Prime mover rpm and propeller pitch control with -30° … +90° tilting.
2.2. Operation Logic

• Azimuth thruster operation is logically connected to Aquapilot lever
movement, azimuth thruster follows lever command.
• Either ahead or astern ship operation can be easily used.
• Scales for steering and thrust (rpm and pitch combined).
2.3. Feeling Points

To assist operation, various feeling points (detents) can be used:
• 4 detents for 360° steering, 90° steps.
• 1 detent at 0% thrust
• 2 position adjustable detens for -100% … +100% thrust (rpm and pitch
combined).
2.4. Clutch Control

Azimuth thruster built-in clutch is not controlled by thrust lever directly.
2.5. Motorized Operation

For multiple control station installations, all levers can be kept synchronized by
built-in low-noise step motor function (optional).
2.6. Touch alarm

If lever is used in operation condition when there is no control possible or it is
disabled, built-in audible touch alarm function can be enabled. A sound
warning is given if lever position is then altered.
2.7. Redundancy
Optional feature for double sensors and electronics interface.
2.8. Maintenance and Service

Maintenance free for long operation period.
Mechanical movement limits can be calibrated by built-in function.
Electronic interface card includes 7-segment display for error codes.
Page 3 ( 4 ) 6461172-A-002 U
6461172-A-002
Aquapilot functions
Steering
• Aquapilot lever controls the turning of the Rolls-
Royce azimuth thruster.
• The control is based on comparison between set
steering direction angle from lever and acual feed-
back from the azimuth thruster.
• Actual turning control command clockwise or
counterclockwise is given based on this
comparison.
• Azimuth thruster follows the given path from lever
up to configurable maximum follow-up angle.
Typically this is set to 270°
• If maximum follow-up angle is exceeded, azimuth
thruster turning direction changes.
• The Aquapilot control lever includes a circular
scale where the set value is shown in range of 0°
to 359°.
• Default configuration includes feeling points
(detents) at 0°, 90°, 180° and 270° positions.
• Optionally tandem or other grouping method for
steering of 2 or more azimuth thrusters with one
lever is possible depending on sustem
requirements.
Thrust
• Thrust is controlled by altering prime mover speed
Zero
Maximum thrust setting (rpm) and propeller pitch % together.
thrust • Thrust scale indication is -100% to 100%
negative corresponding to -30° to +90° lever mechanical
movement.
• Zero thrust is achieved in lever position 0%
equalling to idle rpm and zero % pitch.
Maximum • Depending on current combinator curve in use,
thrust prime mover rpm and propeller pitch will change
positive together when lever is moved from 0% position
• Negative thrust is given at 0% to -100%.
• Positive thrust is given at 0% to +100%.
• Amount of thrust at any lever position depends on
used combinator curve charactreristics (there may
be several different modes available).
• Actual clutch engage / disengage function is
operated from separate panel.
• Two configurable feeling points can be used.
Page 4 ( 4 ) 6461172-A-002 U
6455775-A-002
MAINTENANCE SWITCH AMS08
MAINTENANCE SWITCH AMS08
General
Maintenance switch AMS08 is a hand tool for azimuth turning and pitch control
when commissioning or doing service actions needing engine side control.
Test plug of the tool shall be connected to the test terminal located inside of
the ACU-unit.
Use of AMS08
Note! When the test plug of AMS08 has

inserted to ACU’s test terminal,
the remote control is out of use.
1) PLUGGING AMS08 TO ACU`S TERMINAL.

a) Open the door of ACU.
b) Insert AMS08`s plug to the ACU’s
terminal XTf.
2) OPERATION OF THE SWITCHES
a) Hydraulic turning gear
i) Turning switch A to pos. 1 makes
thruster unit to turn C.W.
Turning switch A to pos. 2 makes
thruster unit to turn C.C.W.
b) Pitch control
i) Keeping switch B at pos. 1 encreases
pitch .
ii) Keeping switch B at pos. 2 decreases
pitch .

0 3.10.2003 HAVA New document.
A 9.12.2003 HAVA 1 (1) Removed ATU-part.
A 23.8.2004 mleh New layout.
Page 1 ( 1 ) 6455775-A-002 U
AZIMUTH THRUSTER CONTROL PANEL CP
AZIMUTH THRUSTER CONTROL PANEL
1. General
Panel node is used as part of Azimuth thruster remote control system. Panel
node is part of Aquapilot control system, which is based on CANopen protocol.
Control panel is used for controlling clutch, choosing control station and in
some projects choosing autopilot.
1.1. Indications Symbols

There are four different indication colours for symbols:
Green – When the function is activated and everything is ok green led is on
(normal operation) and led in designated push button’s turns off.
Red – Red is indication of failure which is high level alarm indication for user
about fatal malfunction in Aquapilot control system. Red indication needs
immediate actions for precautions because cause of the failure risks the
control of the thruster unit
Orange – Orange is indication of warning, which is low-level alarm indication
for user about possible trouble in Aquapilot control system. Warning does not
stop manoeuvring process but needs attention of user.
Blue – Blue colour is used for special purpose. The nature of information of
blue indication is neutral and it never can be indication of hazardous matter.
When a function of the push button is not activated the symbol back light led is
turned off and led of push button is turned on. Normally push button and
symbol are pair and they belong together but there are also independent push
buttons and symbols.
Examples:
Push button – one possible push button function without symbols is dimmer
which regulate brightness of the all leds in panel. This function does not need
individual symbol.
Symbols – There are symbols, which are controlled by software, and they do
not need any push buttons for activation of function.
All panel nodes have individual can device addresses that are set by dipswitch
in I-module. CAN bus end resistor usage is selected by a dipswitch.

A 20 Oct. 08 MARS JAPA IILI New ND document.
Page 1 ( 4 ) 6461457-A-002 U
Ref. Description Operation Status What happens

symbol /
Push button
text
AC01 Azimuth thruster Indication led at The indication led is on when
rpm control by control panel indicates Azimuth thruster rpm is
Aquapilot is active "This control station is controlled by Aquapilot.
indication active and speed If Aquapilot lever is out of the
control by Aquapilot". zero position when transfer
from Joystick/DP to AQP
control, the indication will blink
until the lever is set to zero
and after that the transfer is
completed.
AC02 Azimuth thruster Indication led at The indication led is on when
steering control by control panel indicates Azimuth thruster steering is
Aquapilot is active "This control station is controlled by Aquapilot.
indication active and steering
control by Aquapilot".
AC03 Azimuth thruster Indication led indicates The indication led is always on
selection / de- “AZT under autopilot when azimuth thruster steering
selection to control”. AZT can be is under autopilot control. RPM
autopilot control selected or de- control stays on the Aquapilot
indication and push selected by pushing AUTOPILOT lever.
button the push button. First ON/OFF Selection. AZT control is
push activates and transferred from manual
second one de- steering control to autopilot
activates. control.
De-selection. AZT control is
transferred from autopilot
control to manual control.
AC06 Open clutch Indication led indicates The indication led is on when
indication and push “clutch open is clutch is open or disengaged.
button disengaged”. Push Push of button releases
button is for opening azimuth thruster’s clutch.
the clutch. OPEN
CLUTCH
AC08 Close clutch Indication led indicates The indication led is on when
indication and push “clutch is engaged”. clutch is engaged. Push of
button Push button is for button actives azimuth
closing the clutch. thruster’s clutch.
CLOSE
CLUTCH
AC09 Clutch response Indication led indicates The indication led is on when
failure indication “clutch response clutch does not follow control
failure”. command neither open nor
close direction.
Page 2 ( 4 ) 6461457-A-002 U
AC10 Turning control CW Indication led indicates The indication led is on when
(clockwise) “turning control active”. the thruster is turning CW.
Pressing the push Thruster turns CW as long as
button turns thruster push button is pushed.
CW direction. TURNING
Function is usable when local
CW control is selected.
AC11 Turning control Indication led indicates The indication led is on when
CCW “turning control active”. the thruster is turning CCW.
(counterclockwise) Pressing the push Thruster turns CCW as long as
button turns thruster push button is pushed.
CCW direction. TURNING
Function is usable when local
CCW
control is selected.
AC12 Dimmer / lamp test The lamp test is The lamp test. Each indication
indication and push activated by two short leds of control panels are
button push of dimmer/lamp lighted up.
test button.
The dimming is altered DIMMER/
with duration of the LAMP TEST
push of dimmer/lamp The dimming. Each indication
test button. Each push leds of control panels are
of button will change dimmed/brightened.
the dim direction from
increasing to
degreasing and vice
versa.
When the dimmer set
value changes all
active lamps will blink.
AC13 Increase of Indication led indicates The symbol led is on when
propeller pitch “propeller pitch adjust propeller pitch is being
active”. Pressing the increased. The indication stays
push button “pitch +” on as long as the push button
propeller pitch PITCH + is pushed.
increases.
AC14 Reduction of Indication led indicates The symbol led is on when
propeller pitch “propeller pitch adjust propeller pitch is being
active”. Pressing the reduced. The indication stays
push button “pitch -” on as long as the push button
propeller pitch PITCH - is pushed.
decreases
AC15 Control station Indication led indicates The indication light is always
command request “control station is on, when the control station is
active”. “Request active. Pressing of push button
command” push button activates request command at
is for control station REQUEST this control station.
selection. COMMAND
Page 3 ( 4 ) 6461457-A-002 U
AC16 Local control active Indication led indicates The indication light is on, when
indication that the turning control the local selection is done.
of thruster is through
maintenance
controller’s push
buttons.
AC17 Bridge control Indication led at The indication led is always on,
selected indication control panel indicates when BRIDGE is selected . The
"Bridge control indication light is blinking if
Bridge / ECR
selected”. Control BRIDGE control is requested but
(engine control not yet accepted.
room) selection change over between CONTROL
push button Bridge and ECR is CHANGE
allowed/accepted by OVER
pushing the push
button.
AC18 ECR (engine Indication led at The indication led is always on,
control room) control panel indicates when ECR is selected. The
selected indication "ECR control indication light is blinking if ECR
selected”. Control control is requested but not yet
Bridge / ECR CONTROL accepted.
change over between
(engine control
room) selection
Bridge and ECR is CHANGE
allowed/accepted by OVER
push button
pushing the push
button.
Page 4 ( 4 ) 6461457-A-002 U
AZIMUTH THRUSTER MODE PANEL CP
AZIMUTH THRUSTER MODE PANEL
1. General
Panel node is used as part of Azimuth thruster remote control systems. Panel
node is part of Aquapilot control system, which is based on CANopen protocol.
Mode panel is used for controlling CP modes, operational modes and tailor
made mode functions. Customer decides tailored mode functions.
1.1. Indications Symbols

There are four different indication colours for symbols:
Green – When the function is activated and everything is ok green led is on
(normal operation) and led in designated push button’s turns off.
Red – Red is indication of failure which is high level alarm indication for user
about fatal malfunction in Aquapilot control system. Red indication needs
immediate actions for precautions because cause of the failure risks the
control of the thruster unit
Orange – Orange is indication of warning, which is low-level alarm indication
for user about possible trouble in Aquapilot control system. Warning does not
stop manoeuvring process but needs attention of user.
Blue – Blue colour is used for special purpose. The nature of information of
blue indication is neutral and it never can be indication of hazardous matter.
When a function of the push button is not activated the symbol back light led is
turned off and led of push button is turned on. Normally push button and
symbol are pair and they belong together but there are also independent push
buttons and symbols.
Examples:
Push button – one possible push button function without symbols is dimmer
which regulate brightness of the all leds in panel. This function does not need
individual symbol.
Symbols – There are symbols, which are controlled by software, and they do
not need any push buttons for activation of function.
All panel nodes have individual can device addresses that are set by dipswitch
in I-module. CAN bus end resistor usage is selected by a dipswitch.

A 20 Oct. 08 MARS JAPA IILI New ND document.
Page 1 ( 6 ) 6461458-A-002 U
Ref. Description Operation Status symbol / What happens

Push button text
AM01 Combinator mode Indication led The indication led is on when
selection indicates the combinator mode is
"Combinator mode” selected.
is active. SELECT The propulsive force (PM’s
Combinator mode COMBINATOR rpm and pitch angle) is
can be selected by MODE controlled by Aquapilot lever
pushing the push and will follow the preset
button. combinator curves.
AM02 Combinator Indication led The indication led is on when
speed mode indicates the combinator speed mode
selection "Combinator speed is selected.
mode” is active. The propulsive force (PM’s
Combinator speed SELECT rpm and pitch angle) is
mode can be COMBINATOR controlled by Aquapilot lever
selected by pushing SPEED MODE and will follow the preset
the push button. combinator curves.
AM03 Fire-Fight mode Indication led The indication led is on when
selection indicates "FI-FI mode FI-FI mode is selected. The
“ is active. indication led is blinking
FI-FI mode can be when FI-FI mode is
SELECT FIRE- requested but the clutch
selected by pushing
FIGHT MODE engaged feedback is not
the push button.
given from fire pump.
Selection. The clutch of AZT
is disengaged, the clutch of
fire pump is engaged and
indication led “FI-FI mode
selected” is on.
De-selection. When other
mode is selected. The clutch
of fire pump is disengaged,
the clutch of AZT is engaged
and indication light “FI-FI
mode selected” turns off.
AM04 Load limit Indication led The indication led is on when

override ON/OFF indicates that preset the preset load limit value is
load limit value is overridden.
overridden. The load limit value, which is
The pressing of push LOAD LIMIT set from the load limit setting
button overrides the OVERRIDE panel LLS (or programmed
preset load limit ON/OFF preset value) is overridden
value of AZT. The and the full propulsive force
second press returns is in use.
the preset value.
Page 2 ( 6 ) 6461458-A-002 U
AM05 Constant RPM Indication led The indication led is on when

mode selection indicates “Constant the constant RPM mode is
RPM mode” is active. selected.
Constant RPM mode SELECT The pitch angle is controlled
can be selected by by Aquapilot lever and PM’s
CONSTANT
pushing the push RPM is set to constant
button. RPM MODE pre-programmed value.
AM06 Constant RPM Indication led The indication led is on when
high mode indicates “Constant the constant high RPM mode
selection high RPM mode” is is selected.
active. The pitch angle is controlled
Constant high RPM SELECT by Aquapilot lever and PM’s
mode can be CONSTANT RPM is set to constant
selected by pushing HIGH RPM pre-programmed value.
the push button. MODE
AM07 Constant low Indication led The indication led is on when
RPM mode indicates “Constant the constant low RPM mode
selection low RPM mode” is is selected.
active. The pitch angle is controlled
Constant low RPM SELECT by Aquapilot lever and PM’s
mode can be CONSTANT RPM is set to constant
selected by pushing LOW RPM pre-programmed value.
the push button. MODE
AM08 Free wheeling Indication led The indication led is on when
mode selection / indicates “Free the free wheeling mode is
de-selection wheeling mode” is selected.
active. Mode is used for to lubricate
SELECT FREE
Free wheeling mode Azimuth thruster even if PM
WHEELING
can be selected or is not running.
de-selected by
MODE
pushing the push
button. First push
activates and second
one deactivates.
AM09 Ice operation Indication led The indication led is on when
mode selection / indicates when AZT the ice operation mode is
de-selection pitch angle is limited selected.
for ice operation. Mode request is sent by
Ice operation mode power management system.
can be selected or
SELECT ICE Maximum pitch and load are
de-selected by OPERATION limited.
pushing the push MODE
button. First push
one deactivates.
Page 3 ( 6 ) 6461458-A-002 U
AM10 Combinator Indication led The indication led is on when

bollard mode indicates the combinator bollar mode
selection “Combinator bollard is selected.
mode” is active. The propulsive force (PM’s
Combinator bollar SELECT rpm and pitch angle) is
mode can be COMBINATOR controlled by Aquapilot lever
selected by pushing BOLLARD and will follow the preset
the push button. MODE combinator curves.
AM11 Constant pitch Indication led The indication led is on when

mode selection indicates “Constant the constant pitch mode is
pitch mode” is active. selected.
Constant pitch mode The PM’s RPM is controlled
can be selected by SELECT by Aquapilot lever and pitch
pushing the push CONSTANT angle is set to constant
button. PITCH MODE pre-programmed value.
AM12 Increase RPM Indication led The indication led is on and
indicates “RPM +”. the RPM increases when the
Pressing the push push button is pressed.
button “RPM +”
increases the prime RPM +
mover RPM as long
as the button is
pressed.
AM13 Decrease RPM Indication led The indication led is on and
indicates “RPM -”. the RPM decreases when
Pressing the push the push button is pressed.
button “RPM -”
decreases the prime RPM -
mover RPM as long
as the button is
pressed.
AM14 Increase control Indication led The indication led is on and
value indicates “Increase the control value increases
control value” is when the push button is
active. pressed.
Control value INCREASE
increases as long as CONTROL
push button is VALUE
pressed.
AM15 Decrease control Indication led The indication led is on and
value indicates “Decrease the control value decreases
control value” is when the push button is
active. pressed.
Control value DECREASE
decreases as long as CONTROL
push button is VALUE
pressed.
Page 4 ( 6 ) 6461458-A-002 U
AM16 Tandem by Indication led The indication led is on when

aquapilot ON/OFF indicates "Tandem tandem control is active.
control ON”. Selected AQP controls both
Azimuth thrusters
Tandem by Aquapilot simultaneously.
can be selected or TANDEM BY
de-selected by AQUAPILOT Selection. Control is
pushing the push transferred from individual
ON/OFF steering control to tandem
button. First push
control by AQP.
one deactivates. De-selection. AQP control is
transferred from tandem to
individual control.
AM17 Crawling mode Indication led The indication led is on when
ON/OFF indicates "Crawling crawling mode is active.
mode ON”. Selected AQP controls both
Crawling mode can Azimuth thrusters
be selected or de- CRAWLING simultaneously.
selected by pushing MODE ON/OFF Selection. Speed control is
the push button. First transferred from handle(s) of
push activates and each thruster to the one
second one common control handle (port
deactivates. or stbd, only one) as
selected. Turning control of
thrusters stays on autopilot.
De-selection. Speed control
is transferred from the one
AQP to handle(s) of
respective thrusters. Turning
controls are from autopilot.
AM18 Close shaft brake Indication led The indication light is always
indicates "Shaft on when shaft brake is closed
brake closed". in one or both AZT units.
Shaft brake can be
engaged by pushing CLOSE
the push button. SHAFT
BRAKE
AM19 Open shaft brake Indication led The indication light is always
indicates "Shaft on when shaft brake is open in
brake open". one or both AZT units.
Shaft brake can be
disengaged by OPEN
pushing the push SHAFT
button. BRAKE
Page 5 ( 6 ) 6461458-A-002 U
AM20 Wheel control Indication led The indication led is on when

selection / de- indicates "Wheel the wheel control is selected.
selection control” is active.
Wheel control can be
selected or de- SELECT
selected by pushing WHEEL
the push button. First CONTROL
push activates and
second one
deactivates.
AM21 Thruster Indication led The indication light is always
controlled by indicates " Thruster on when thruster is controlled
joystick system controlled by joystick by joystick system.
system".
AM22 Thruster Indication led The indication light is always
controlled by DP indicates " Thruster on when thruster is controlled
(Dynamic controlled by DP by DP system.
Positioning) system".
system
Page 6 ( 6 ) 6461458-A-002 U
SECONDARY STEERING
SECONDARY STEERING
 Secondary steering control is time-dependent back-up control for

AQUAPILOT steering control.
 The electronic equipment are located in AZIMUTH THRUSTER
CONTROL UNIT.
 Secondary steering system is hardwired from bridge to AZIMUTH
THRUSTER CONTROL UNIT and it is totally separated from primary
control system.
 Selection between primary control system and secondary steering is
made with selector switch S50.
 The secondary steering with push buttons SH51 and SH52.
 The secondary pitch control with push buttons SH56 and SH57.
 Setting of prime mover RPM with potentiometer R50.

A 01 Aug. 08 MARS JAPA IILI New document.
B 24.5.2012 SANT ESKO JAJA Buttons of picture updated
Page 1 ( 1 ) 6461138-B-005 U
User's Guide
THRUST DIRECTION INDICATOR
Unit Description
General
Display for pitch Display for Display for thrust
The Thrust Direction Indicator unit is indicating
angle propeller RPM direction literally direction of thrust but also pitch angle and
Dimmer propeller rpm.
The thrust direction indication is independent
from the control system.
Sensors (SIN-COS potentiometer, pitch angle
sensor and RPM pick-up sensor) locates on top
of the thruster unit.
TDI-A -unit versions

There are two vesions of thrust direction
indicator. One is meant for ahead installation and
I U other for astern installation.
R/ I F/U
converter converter F
R SIN-COS
potentiometer
Pitch angle
sensor RPM pick-up

A 12 Aug. 08 MARS JAPA IILI New ND Document
B 22 Jan. 09 MARS THKH IILI 2 Added optional pitch display
C 06.04.2010 SARA 1 Updated
Page 1 ( 3 ) 6461167-C-002 U
User's Guide
Function Description
Direction main figure

Direction main figure resolution is 5 and scale 360 .
Pitch display
The scale is -100%...0...+100 % or 0…+100 %.
Display indicates actual pitch angle.
Page 2 ( 3 ) 6461167-C-002 U
User's Guide
Rpm-display
Actual propeller rpm display, range is 0...400 rpm.
Dimmer
Dimmer control for panel illumination is de-active when pointer is
in zero position ans active when it is controlled.
NOTE! In case of loss of power the indicators do not show the

actual position of the indicated values. The indicators
show random value until power is restored
Page 3 ( 3 ) 6461167-C-002 U
User's Guide
THRUST DIRECTION INDICATOR
Unit Description
Thrust direction quick
Reading scale (15° steps)
General
Thrust direction accurate
Reading scale (1° steps)
The Thrust Direction Indicator unit TDI is used
Numeric display
(pitch angle / propeller RPM)
with the azimuth thruster propulsion unit for
indication of thrust direction, propeller pitch and
rpm.
Meter construction principle is optical and it is
based on red LEDs (light emitting diodes).
The thrust direction and pitch indications are
independent from the control system.
The thrust direction and pitch indicators operate
with independent thrust direction and pitch
indication located in the transmitter boxes on the
azimuth thruster unit.
The propeller speed indicator is integral with the
thrust direction indicator.
Starting the operation

When voltage is connected to the TDI, it lights all
LEDs for visual operation checking, and the
pitch/rpm-display indicates software version. If
Dimmer
Selection of the the unit passes the internal checking the TDI
numeric display
(pitch angle / RPM) unit starts indicating propulsion unit direction and
Bar display for pitch angle
propeller rpm/pitch.
(-100%...+100%)
TDI-unit versions
There are two version of TDI. One is meant for
Thrust direction Pitch angle
transmitter transmitter ahead instllation and other for astern installation.
RPM pick-up

A 11 Aug. 08 MARS JAPA IILI New ND document.
B 18.08.2010 SARA 1,2 Updated
Page 1 ( 3 ) 6461166-B-002 U
User's Guide
Direction main figure

Direction main figure resolution is 15 and scale 360 .
Transmitter failure
If this figure flashing, then the transmitter at the azimuth thruster
has failed.
The figure indicates the last correctly received data.
Accurate direction indicator scale

The direction indicator’s fine scale has accurary of 1 and range
of ±7 .
Pitch bar display.

The scale is -100%...0...+100 %.
Bar display indicates proportional pitch angle.
A flashing indication will be displayed in the “100% LED” in the
bar display when propeller pitch angle overrun 100%.
Transmitter failure
If this bar and number display flashing, then the transmitter at the
azimuth thruster has failed.
The bar and number display indicates the last correctly received
data.
Dimmer
Push buttons ± steps down or up one dimming unit. If kept
pushed the automatic key repeat is activated. There are 16
dimmer steps and stepping up or down is indicated by shortly
flashing display. If propulsion unit encoder error condition exists,
display will be in brightest state.
Page 2 ( 3 ) 6461166-B-002 U
User's Guide
Pitch/Rpm-display
Select Pitch or Rpm-display by 1º/rpm push button.
Pitch-display
Actual pitch display, range is ±35º
Rpm-display
Actual propeller rpm display , range is -999...999 rpm.
Indications / error codes

Program memory checksum error when the voltage supply power
is applied creates "E01" indication in number display, TDI-unit
operation is halted
RPM-display overrun from value –999 or 999 creates "E02"
indication in number display.
Pitch-display overrun from value ±35º creates "E03" indication in
number display.
Page 3 ( 3 ) 6461166-B-002 U
6452400-C-002
STEERING THE SHIP WITH AQUAPILOTS
STEERING THE SHIP WITH AQUAPILOTS, TWO

STERN AQUAMASTER® AZIMUTH THRUSTERS
CONTENTS
1. THE SYMBOL OF STEERING DIAGRAMS..................................................................3

Highest thrust ......................................................................................................................................3
Higher thrust ........................................................................................................................................3
Low thrust ............................................................................................................................................3
Zero thrust............................................................................................................................................3
2. POSITION KEEPING.....................................................................................................3
Position keeping with small power .....................................................................................................3
Basic starting and position keeping ...................................................................................................3
3. AHEAD ..........................................................................................................................4
Straight ahead......................................................................................................................................4
Turn port side.......................................................................................................................................4
Port side turn, minimum stream..........................................................................................................4
Turn starboard .....................................................................................................................................4
Starboard turn, minimum stream ........................................................................................................4
4. ASTERN ........................................................................................................................5
Straight astern .....................................................................................................................................5
Turn port side.......................................................................................................................................5
Turn starboard .....................................................................................................................................5
5. TURN AROUND THE SPOT .........................................................................................5

Turn port side.......................................................................................................................................5
Turn starboard .....................................................................................................................................5
6. SIDE STEP ....................................................................................................................6

Slow side step......................................................................................................................................6

A 18 Jun. 98 JAJA
B 03 May 06 JESO New layout.
C 28 Feb 07 KURT Added point 8 and table of contents.
Page 1 ( 8 ) 6452400-C-002 U
6452400-C-002
Fast side step.......................................................................................................................................6

Slow side step......................................................................................................................................6
Fast side step.......................................................................................................................................6
7. FROM AHEAD TO ASTERN (FAST STOP, CRASH STOP) ........................................7

Astern from ahead, fast stop...............................................................................................................7
Astern from ahead, no wash ...............................................................................................................7
8. PROPELLER WASH AND ENVIRONMENTAL SENSITIVE AREAS ...........................8
Page 2 ( 8 ) 6452400-C-002 U
6452400-C-002
1. The symbol of steering diagrams

Power Aquapilot® control lever symbol includes power
and thrust angle information.
Thrust angle
Highest thrust
Higher thrust
on Low thrust
off Zero thrust
2. Position keeping
Position keeping with small power

on
Avoiding propeller streams out.

Higher power levels are not recommended due to
vibrations. Requires more practise but it‘s also
possible to manoeuvre ship by this way.
on
Basic starting and position keeping

With any power, but both prime movers running
with equal power.
Trust should have the low thrust adjusted equal to
keep the ship from turning when powers set to
minimum. Turning in spot by adding power to one
Aquamaster.
Page 3 ( 8 ) 6452400-C-002 U
6452400-C-002
3. Ahead
Straight ahead
with equal power.
If both propellers turn to same direction small
counter angle might be required to steer straight
ahead.
Turn port side

It's recommended to use the port side
Aquamaster, since the starboard Aquamaster®
then helps the turn by pushing from outside
corner.
Port side turn, minimum stream

on
Port side engine minimum thrust, starboard

engine added thrust.
Propeller wash against the ships hull require
more power.
Turn starboard
It's recommended to use the starboard
Aquamaster, since the port side Aquamaster®
then helps the turn by pushing from outside
corner.
Starboard turn, minimum stream

Starboard engine minimum thrust, port side
engine added thrust.
Propeller wash against the ships hull require
more power.
on
Page 4 ( 8 ) 6452400-C-002 U
6452400-C-002
4. Astern
Straight astern
with equal power.
Depending of the hull form it is recommended to
use both Aquamasters for steering. If both
propellers turn to same direction this might cause
some yaw at high speeds.
Turn port side

It is more efficient to use both Aquamasters to
steer.
It's recommended to use both Aquamasters to
steer, but the inside Aquamaster® should be
turned more to avoid the propeller wash to hit the
skeg.
Turn starboard
It is more efficient to use both Aquamasters to
steer.
It's recommended to use both Aquamasters to
steer, but the inside Aquamaster® should be
turned more to avoid the propeller wash to hit the
skeg.
5. Turn around the spot
Turn port side

Avoid angles 90-270 since then the propeller
wash from one Aquamaster® goes straight in to
the other Aquamaster® causing cavitation at
higher speeds.
Turn starboard
Avoid angles 90-270 since then the propeller
wash from one Aquamaster® goes straight in to
the other Aquamaster® causing cavitation at
higher speeds.
Page 5 ( 8 ) 6452400-C-002 U
6452400-C-002
6. Side step
Slow side step

Engine powers are almost equal. Slightly more in
the port side Aquamaster, this to avoid forward
movement
Fast side step

Port side Aquamaster® less power than the other
one.
Depending of the hull form and ship length, inside
Aquamaster® approx. 40-45 dec. astern, outside
Aquamaster® approx. 20-30 dec. ahead and
some what more power to the outside
Aquamaster. Fore/aft movement and yaw is
controlled by adjusting the outside Aquamasters
angle and power.
Slow side step

Engine powers are almost equal. Slightly more in
the starboard Aquamaster, this to avoid forward
movement
Fast side step

Inside Aquamaster® less power than the other
one.
Depending on the hull form and ship length,
inside Aquamaster® approx. 40-45 dec. astern,
outside Aquamaster® approx. 20-30 dec. ahead
and some what more power to the outside
Aquamaster. Fore/aft movement and yaw is
controlled by adjusting the outside Aquamasters
angle and power.
Page 6 ( 8 ) 6452400-C-002 U
6452400-C-002
7. From ahead to astern (fast stop, crash stop)
WARNING! Fast (Crash) stop maneuver is allowed only in

emergency situation.
WARNING! Fast stop is to be done via decreasing the rpm of the

prime mover in stages to slow rpm and then turn the
units also in stages following the decrease of the
vessels speed.
WARNING! This maneuver should be recorded into the vessels

operating manual.
• This is performed when changing fast the movement of the ship to the
opposite direction or when stopping the ship quickly.
• Try to turn the Aquapilot® levers whit the same speed than the
propeller Aquamasters are actually turning, this way You can steer the
ship during this manoeuvre. If both Aquamasters maximum turning
rates aren’t equal they should be adjusted.
• However, if there occurs high vibration astern of the ship or overload
danger of the prime mover, cut down the rpm of the prime mover.
Astern from ahead, fast stop

Turn the propellers to the direction where the ship
is moving. The port side-Aquamaster® is turned
clockwise and the starboard-Aquamaster®
counterclockwise.
Both engines are running with equal power.
Always turn the Aquapilot® lever inside.
Astern from ahead, no wash

Both engines are running with equal power.
Always turn the Aquapilot® lever outside.
The Aquamasters may be turned with decreasing
limited power.
Page 7 ( 8 ) 6452400-C-002 U
6452400-C-002
8. Propeller wash and environmental sensitive areas

Propeller wash may cause erosion on river/harbour banks and sensitive
seabed areas, when too high propeller power is used.
Page 8 ( 8 ) 6452400-C-002 U
6451657-C-000
TROUBLE SHOOTING
TROUBLE SHOOTING
Where is the failure?

The first thing is to find out the system or the circuit in which the primary failure
occurs.
• mechanic
• electric
• electronic
• hydraulic
• lubrication
• external.
Is the electric power supply on?

First check, that
• circuit breakers
• switches
are in right position and
• fuses are in condition (no alarm indications of circuit breakers or fuses)
• control voltages are in specified limits
• supply voltage is present
Is the reason of failure in the electric control system

or outside of it?
When the faulty circuit has been identified, check the connection block of the
devices
• is the fault internal
• relays
• electronic circuit
• circuit breaker

B 11. May. 99 LILA New document.
C 13. Feb. 06 JESO New layout.
Page 1 ( 2 ) 6451657-C-000 U
6451657-C-000
TROUBLE SHOOTING
• or external
• sensors
• limit switches
• external control places
• displays
Repair or/and replace with a spare part.
Page 2 ( 2 ) 6451657-C-000 U
DESCRIPTION OF ALARM POINTS

ACU, failure:
Alarm Where Operation capability How to get off
Slio unit failure *SLIO-F Loss of control. There multiple I/O-units. Check
the Slio’s. If green light is not on
or blinking check channels. If
channels are ok the Slio-unit(s)
or the bus(es) is broken.
Steering angle *ATC-FII-F Steering control is not Check cabling and sensor.
sensor failure working.
Pitch feed-back *ATC-CP-F Pitch control is not working. Check cabling and sensor.
failure
Pitch command *CP-CM-F Pitch control is not working. Check combinator tables.
failure
Steering *ST-CM-F Steering control is not Check external control
command failure working. commands.
RPM command *RPM-CM-F RPM command goes to zero. Check combinator tables.
failure
Clutch command *CL-CM-F Clutch will not engaged. If Check mode parameters of the
failure clutch is closed it may not clutch.
disengaged.
Supply voltage low *S-LOW-F Possibility for loss of control. Adjust supply voltage.
Can damage control system
components.
Supply voltage *S-HIGH-F Possibility for loss of control. Adjust supply voltage.
high Can damage control system
components.
Circuit breaker trip *BIU-F Loss of control. Check fuses.
(BIU)
Load *FPS-F Load limit goes off. Check cabling and sensor.
measurement
failure
AQP thrust failure *AQP-THR-F RPM, steering and pitch Check AQP.
controls are not working.
AQP steering *AQP-FII-F Steering control is not Check AQP.
failure working.
Panel failure *P-F Panels will not work. Chosen Check cabling.
mode stays on.

A 6 Aug. 08 MARS JAPA IILI New ND document.
B 14 Apr. 08 MARS SARA IILI Added HyTu rows
Page 1 ( 5 ) 6461146-B-000 U
ACU, warning:
Alarm Where Operation capability How to get off
Steering response *ST-RS-F AZT will not follow steering Check hydraulics and valve
failure control command. control.
Pitch response *CP-RS-F AZT will not follow pitch Check hydraulics and valve
failure control command. control.
Clutch response *CL-RS-F Clutch will not follow control Check hydraulics, valve control
failure command. and clutch sensor.
RPM *SLRPM-F Control command might Check cabling and pulse sensor.
measurement alternate.
failure
Load control *LOADCO-F Load limit will not work. Check load limit sensor and it’s
failure connections.
Bus-A failure *BUSA-F Together with bus-B failure Check cabling.
the communication between
control stations will not work.
Bus-B failure *BUSB-F Together with bus-A failure Check cabling.
the communication between
control stations will not work.
Overload alarm *L-OL-AL Load limit control activates. Reduce load or increase RPM.
AQP thrust *AQP-THR- None Check AQP.
warning W
AQP steering *AQP-FII-W None Check AQP.
warning
Panel warning *P-W Panel indicates warning. Check panel.
Page 2 ( 5 ) 6461146-B-000 U
FP = Fixed Pitch
CP = Controllable Pitch
SMC = Speed Modulating Clutch
ESU = Electric Steering gear control Unit
Alarm Where Operation capability How to get off Appli-

cation
Clutch operating Lubrication Needs immediate actions to get the Check the reason of FP
pressure low vessel in safe situation. Only short the alarm. Repair it.
term use of PM is allowed.
Lubrication oil Lubrication If no other simultaneous alarms Check the reason of FP
pressure low (FP, exists then this alarm is not critical. the alarm. Repair it. SMC
clutch not included When having more simultaneous
in delivery) azimuth thruster alarms(SL200,
ST200), stop the PM as soon as
possible.
Clutch operating Lubrication Needs immediate actions to get the Look for the reason FP
temperature high vessel in safe situation. Reduce of the alarm. Repair
(Slipping Clutch) operating temperature by stopping it.
slipping and operate only clutch
totally closed.
Pitch operating Lubrication Needs immediate actions to get the Check the reason of CP
pressure low vessel in safe situation. Only short the alarm. Repair it.
term use of PM is allowed.
Lubrication oil filter Lubrication Needs immediate action to avoid the Change the clogged FP
1 clogged damage of the lubrication system. filter element as soon CP
Change filter 2 to use. as possible.
SMC
ESU
Lubrication oil filter Lubrication Needs immediate action to avoid the Change the clogged FP
2 clogged (In damage of the lubrication system. filter element as soon CP
smaller azimuth Change filter 1 to use. as possible.
thrusters) SMC
ESU
Azimuth thruster oil Lubrication Needs immediate actions to get the Check the reason for FP
level low vessel in a safe situation. Prime oil leakage and CP
mover must stopped as soon as repair it. After that
possible. The propulsion unit may be you can add oil to SMC
damaged so that you can’t operate the azimuth thruster. ESU
with it at all. If PM is stopped, starting
of PM is not allowed.
Azimuth thruster oil Lubrication Perform maneuverings, which are Check the reason of FP
temperature high necessary to finish the job. Long run the alarm. Repair it. CP
may heat up the oil and destroy
component in the azimuth thruster SMC
unit. ESU
Page 3 ( 5 ) 6461146-B-000 U

cation
Overload of Lubrication Lubrication pump stopped. Cooling oil Check the reason of FP
lubrication pump (If pump pressure low alarm (SP200) the alarm. Repair it. CP
electric driven starter activated.
lubrication pump SMC
included in delivery) ESU
Phase fault of Lubrication At least one phase of the supply is Stop the lubrication FP
lubrication pump (If pump missing or supply is asymmetrical for pump with CP
electric driven starter the lubrication pump. Long run of the consideration and
lubrication pump pump may damage the electric check the reason of SMC
included in delivery) motor. phase fault. ESU
Lubrication oil Lubrication When alarm active cooling oil SMC
pressure alarm pressure low alarm inhibited.
inhibit
Common warning of Electrical During the maneuvering check the Check the reason of ESU
turning gear. steering reason for the alarm as soon as the alarm. See more
(1U1, 2U1) system possible. The accurate alarm is information about
indicated on the control panel of freq. failures of freq.
converter on the door of ESU. converter on
document Faults and
alarms of freq.
converter on this
manual. Repair if
possible.
Common failure of Electrical Needs immediate actions. The Check the reason of ESU
turning gear. steering steering gear system is not the alarm. See more
(1U1, 2U1) system functioning on full capacity. The information about
accurate alarm is indicated on the failures of freq.
control panel of freq. converter on the converter on
door of ESU. document Faults and
alarms of freq.
converter on this
manual. Repair if
possible.
Overheat of brake Electrical Needs immediate action. Reduce Check brake resistor ESU
resistor steering steering command, brake resistor is fuse and circuit,
(BR1) system in danger to be destroyed. repair if possible. If
resistor not warm/hot
then fault in alarm
circuit cabling.
Mechanical steering Electrical Needs immediate action to check the Check the voltage ESU
brake failure. steering reason for the alarm. Azimuth supply and control
system thruster does not turn. circuit of steering
brake.
NOTE! Brake can be released
manually by releasing
lever in emergency
situation.
Page 4 ( 5 ) 6461146-B-000 U

cation
Booster pressure Hydraulic Needs immediate actions to get the Look for the reason FP
low steering vessel in safe situation. The result of of the alarm. Repair CP
system loosing booster pressure means it.
inoperative steering system. SMC
Hydraulic oil tank Hydraulic Needs immediate actions to get the Look the reason for FP
level low steering vessel in safe situation. In short run oil leakage and CP
system you may loose steering control totally. repair it. After repair
Prepare for stopping of the PM. refill oil to the SMC
specified limit.
Hydraulic oil tank Hydraulic Perform maneuverings, which are Look for the reason FP
temperature high steering necessary to finish the job. After that of the alarm. Repair CP
system check the reason of alarm and fix it. it.
SMC
Hydraulic oil filter 1 Hydraulic Needs immediate actions to avoid the Change the clogged FP
clogged steering damage of the hydraulic system. filter element as soon CP
system Change filter 2 to use. as possible.
SMC
Hydraulic oil filter 2 Hydraulic Needs immediate actions to avoid the Change the clogged FP
clogged steering damage of the hydraulic system. filter element as soon CP
system Change filter 1 to use. as possible.
SMC
Overload of Hydraulic The thermal relay has detected an Stop the hydraulic FP
hydraulic pump (If pump overload. Long overload run of the pump with
CP
electric driven starter pump may damage the el. motor or consideration and
hydraulic pump the pump. check the reason of SMC
included in delivery) overload.
Phase fault of Hydraulic At least one phase of the supply is Stop the hydraulic FP
hydraulic pump (If pump missing or supply is asymmetrical for pump with
CP
electric driven starter the main hydraulic pump. consideration and
hydraulic pump check the reason of SMC
Long run of the pump may damage
included in delivery) the electric motor. phase fault.
Gravity tank oil level Gravity Perform maneuverings, which are Look for the reason FP
low tank necessary to finish the job. After that for oil leakage and CP
check the reason of alarm and fix it. repair it. After that
you can add oil to SMC
the tank. ESU
Gravity tank air Pneumatic Needs immediate action to avoid the Check the reason of FP
supply pressure low system seawater getting into the azimuth the alarm. Repair it. CP
thruster unit through the sealing.
SMC
ESU
Gravity tank supply Pneumatic Needs immediate action to avoid the Check the reason of FP
air pressure high system damage of sealing. the alarm. Repair it. CP
SMC
ESU
Page 5 ( 5 ) 6461146-B-000 U
6454742-B-000
SERIAL LINK I/O ALARM INDICATIONS
SERIAL LINK I/O ALARM INDICATIONS
Running indication
Each SLIO board status is indicated by Running LED indication.
• Status ok indicated by green light.
• Failure status indicated by red light.
CAN bus indication

Each SLIO board status is indicated by CAN Status LED indication.
• Status sending/transmitting indicated by green light.
• Failure status indicated by red light.
• If no light is active the status is idle.
Alarm indications
Each channel on SLIO board are equipped with LED indications.
If LED …
• is not light then channel is not active.
• light is Green then channel is active and operation is normal.
• light is Red then Channel has failure.

0 15 Mar. 00 JASA New document.
B 27 Feb. 06 JESO New layout.
Page 1 ( 1 ) 6454742-B-000 U
6455060-A-00
HAND HELD TERMINAL (CCN02)

CONTENTS
1. GENERAL .....................................................................................................................4
1.1. Power up sequence...................................................................................................................5
1.2. Display.......................................................................................................................................5
1.3. Keyboard ...................................................................................................................................6
1.4. Passwords.................................................................................................................................6
2. OPERATION DESCRIPTION OF MAIN MENU.............................................................6

2.1. EXIT ...........................................................................................................................................6
2.2. EXIT REMOTE............................................................................................................................6
2.3. FREE..........................................................................................................................................7
2.4. WATCH ......................................................................................................................................7
2.5. DUMP.........................................................................................................................................7
2.6. I/O ..............................................................................................................................................7
2.6.1. Calibration, View ...........................................................................................................7
2.6.2. Calibration of an analog input channel ...........................................................................7
2.6.3. Calibration of an analog output channel .........................................................................8
2.6.4. Calibration of a digital input or output channel................................................................9
2.7. NUM. I/O.....................................................................................................................................9
2.7.1. Numeric calibration of a digital I/O channel ....................................................................9
2.7.2. Numeric calibration of an analog I/O channel ...............................................................10
2.8. LOG..........................................................................................................................................10
2.9. TIME.........................................................................................................................................10
2.10. PARAMETERS.........................................................................................................................10
2.11. SIGNALS..................................................................................................................................10
2.11.1. Select process / signal, view........................................................................................10
2.11.2. Simulation ...................................................................................................................11
2.11.3. Updating parameters ...................................................................................................11
2.11.4. Updating tables (function curves and ramp delays) ......................................................11
2.12. CONFIG 13
2.13. BUS SIGNALS .........................................................................................................................14
2.13.1. Select bus signal, View................................................................................................14

A 27.6.2008 MJV JAPA IILI New variant 002 for CCN02 controller
Page 1 ( 15 ) 6455060-A-002 U
6455060-A-00
2.13.2. Updating bus signal ID ................................................................................................14

2.14. REMOTE NODE .......................................................................................................................15
2.15. VERSION .................................................................................................................................15
2.16. CMSP 15
2.17. SERIAL PORTS .......................................................................................................................15
Page 2 ( 15 ) 6455060-A-002 U
6455060-A-00
F1 F2 F3 F4
A B C D E
/ ( 1 2 3
F G H I J
* ) 4 5 6
K L M N O
- # 7 8 9
P Q R S T
+ , = 0 .
U V W X Y
CTRL ESC
SHIFT SPACE ENTER
Z BKSP
Hand held terminal HHT
Page 3 ( 15 ) 6455060-A-002 U
6455060-A-00
1. General
This manual describes the functions in the Hand Held Terminal device (HHT)
for CCN02.
With the HHT it is possible to maintain the CCN02 i.e. perform calibration of
analogue and digital input/outputs, modification of system parameters and
display system messages.
The terminal may also be used to monitor and debug the internal operation of
the application software i.e. watching and simulating internal process signals.
Termiflex ST/2000 HHT cannot be directly connected to CCN02-controller
without suitable interface cable. For easy connection a HHT-compatible
(female 9-pin DSUB) access point is arranged either:
• Inside local CCN02-controller cabinet

in propulsion room.
• Bridge CCN02-controller cabinet,
bridge devices interface cabinet or
bare interface mounting plate (wihtout
cabinet).
Termiflex ST/2000 HHT can be connected directly to this access point and
+5V power is also supplied to terminal device for correct operation.
Connectivity with a normal PC computer is not covered by this document.
Warning: Please note that any action beyond "just viewing" e.g.
alteration of system operational parameters by any
means is a work covered by authorized Rolls-Royce
service person only.
Unauthorized alteration of operational parameters

voids warranty and may lead to serious operational
hazard.
Page 4 ( 15 ) 6455060-A-002 U
6455060-A-00
1.1. Power up sequence

When the terminal is connected and the CanMan System is started (power on
/ reset) the terminal will display some progress information after initial time
delay of approximately 30 seconds. This time is needed to first start operating
system.
After time delay text name CANMAN will appear on terminal screen. Each
character in the name indicates a successfully completed phase of the start up
procedure as follows:
C Operating system has been started and CanMan application is started.

This includes initializing parameters and log files, HHT serial
communication port and memory tests.
A Checksum for application file is tested.
N Indications and I/O is initialized.

CAN A and CAN B field buses are initialized.
M CAN SLIO field bus is initialized.
A CAN Open field bus is initialized.

Application processes and functionality is initialized.
N Rest of the system is checked. System is fully initialized and running.

Text “Password:” appears in the terminal window.
Running LED on CCN02 controller is blanking GREEN (activity
indication).
Following text will now be visible in the terminal window:
CANMAN
Apl: <application number & revision> <status>
CanMan Checksum: <application file checksum>
Nod: <node name> Id: <node CAN id number>
Password:
1.2. Display
The display is scrolled upwards which means that only the last row is updated
with valid information.
Page 5 ( 15 ) 6455060-A-002 U
6455060-A-00
1.3. Keyboard
• ENTER Enters the menu or function that is currently displayed.
• SPACE Scrolls within the current menu to the next item.
• BKSP Exits the current menu and goes back to the previous
menu.
• ESC Exits the current menu and goes back to the previous
menu.
• SHIFT Selects upper or lower cases of the keys. A Shift Lock
function is achieved if the SHIFT is pressed twice.
1.4. Passwords
• VIEW Only possible to view information. No password is
needed. Press ENTER to access menu.
• CALIBR. VIEW + calibration of I/O. Use suitable password and
press ENTER.
• PARAM. CALIBRATE + modification of parameters. Use suitable
password and press ENTER.
• RESTORE Default calibration and parameters are restored. Use
suitable password and press ENTER. WARNING:
Disables proper system functionality!
2. Operation description of main menu

To scroll between the main menus SPACE is used.
It is also possible to go directly to a menu by typing the first character in the
menu name. There are two exceptions, for the “CMSP” menu the character M
shall be used and for the menu “Serial Ports” it is not possible to go directly
with a character. Enter a menu choice with ENTER.
2.1. EXIT
The terminal session is terminated and possible simulations removed.
Following text will now be visible in the terminal window:
CANMAN
Apl: <application number & revision> <status>
CanMan Checksum: <application file checksum>
Nod: <node name> Id: <node CAN id number>
Password:
2.2. EXIT REMOTE

Return to local node in remote operation.
Page 6 ( 15 ) 6455060-A-002 U
6455060-A-00
2.3. FREE
Numbers in percent are given for free CPU-time, RAM memory space and
PARAMETER file space.
2.4. WATCH
The watch menu enables 2 signals to be continuously updated on the HHT
display. (7 signals with an 80-character terminal).
Procedure for WATCH:
• Select process
• Select signal
• Press - ENTER
• Repeat.....
The system remembers last signals watched, therefore it is possible to press
ENTER to specify processes and signals when re-entering the WATCH menu.
2.5. DUMP
Dumps calibration on the serial line. It is possible to capture the dump with a
PC-terminal but not with a HHT.
2.6. I/O
All I/O values can be viewed. If the CALIBRATION or PARAMETER password
has previously been given, calibration is also possible. Procedure:
2.6.1. Calibration, View

1. Select SLIO number by SPACE-key or type its no, press - ENTER.
2. Select type of I/O (Analog In,Analog Out, Digital In, Digital Out)
3. Select channel number by pressing SPACE or type it's number. The
display shows (second character) if the channel is an input or an output
(I or O). If an E appears in this position the signal has an error status.
The next displayed items are the name of the signal and its value,
normally in the range +/-1.00 or 0-1.00 for analog signals and On or Off
for digital.
2.6.2. Calibration of an analog input channel

1. Select a channel, according to VIEW above, press ENTER.
2. The first calibration item is the signal type. This shall not be changed
unless transmitter type has been changed. In that case press ENTER
(Parameter password required) and select the correct type by scrolling
through the list by the SPACE-key. Press ENTER. For normal
calibration, ignore this point by pressing SPACE.
Analog input types for SLIO01

For channel 0 and 1 it is only possible to select one of following:
Page 7 ( 15 ) 6455060-A-002 U
6455060-A-00
A1 4-20mA active
A0 Channel switched off.
For channel 2 to 5 it is only possible to select one of following:

A7 0.5-4.5V
Analog input types for SLIO02

For all channels it is possible to select one of following:
A1 4-20mA active
A3 4-20mA passive
A7 0.5-4.5V
A9 ±10V
A11 ±5V
A13 0-10V
3. The CANMAN calibration procedure requires that the input signal is
changed to values which correspond to displayed process values.
Normally, High: 1.0 is the first calibration point (the default value, 1.0,
can be changed by using the numeric keys). When the input has been
given the value which corresponds to process value High, press
ENTER.
4. Repeat the procedure for the Low calibration point. If the process value
is or has been changed from normally a negative value to 0 or a
positive value the next step will be ignored, otherwise.
5. Repeat the procedure for the 0 calibration point. 0-value is not possible
to change.
6. Press SPACE to go to next channel, or BKSP (or ESC) to go up one
menu level.
2.6.3. Calibration of an analog output channel

1. Select a channel, according to VIEW above, press ENTER.
2. The first calibration item is the signal Type. This shall not be changed
unless output load type has been changed. In that case press ENTER
(Parameter password required) and select the correct type by scrolling
through the list by the SPACE-key. Press ENTER. For normal
calibration, ignore this point by pressing SPACE.
Analog output types for SLIO01

For the only output channel it is possible to select one of following:
A4 4-20mA source
Analog output types for SLIO02

For all channels it is possible to select one of following:
Page 8 ( 15 ) 6455060-A-002 U
6455060-A-00
A2 4-20mA sink
A4 4-20mA source
A8 ±10V
3. The CANMAN calibration procedure requires that the output signal is
changed to values which correspond to displayed process values.
High, normally set to 1.0 is the first calibration point (the value, 1.0, can
be changed by using the numeric keys). When the ENTER-key is
pressed, the output signal will directly be given a value which
corresponds to the process value for the High calibration point.
4. The output signal can now be changed by +/- keys for
increase/decrease. If a faster rate is desired, use I/D keys (lower case
keys). When desired output signal has been reached, press ENTER.
5. Accept or change process value for the Low calibration point, then
press ENTER.
6. Change the output signal to desired value, then press ENTER.
7. Accept or change process value for the 0 calibration point. If the
process value for the Low calibration point was positive or 0, the 0
calibration point will never appear. Otherwise, press ENTER.
8. Change the output signal to desired value, then press ENTER.
9. Press SPACE to go to next channel, or BKSP (or ESC) to go up one
menu level.
2.6.4. Calibration of a digital input or output channel

1. Select a channel, according to VIEW above, press ENTER
2. Signal polarity can be changed Pos/Neg and the signal can also be
permanently set to On or Off. Select one of the possibilities by the
SPACE-key.
3. Press ENTER. Calibration is now done.
4. Return to MAIN menu by pressing BKSP (or ESC) repeatedly.
2.7. NUM. I/O

The numeric calibration assigns values for the 3 (2) calibration points of each
analogue channel and the function of a digital channel. Default / delivery /
commissioning values are specified in the original tuning instruction. Values
from further calibration shall also be documented. By means of these values it
is always possible to recreate a lost calibration.
2.7.1. Numeric calibration of a digital I/O channel

1. Select card number. Press ENTER.
2. Select channel number. Press ENTER.
3. Select or document Pos/Neg/On/Off. Press ENTER if changed.
Otherwise press SPACE.
Page 9 ( 15 ) 6455060-A-002 U
6455060-A-00
2.7.2. Numeric calibration of an analog I/O channel

1. Select card number. Press ENTER.
2. Select channel number. Press ENTER.
3. Change or document the values for: Type, High, Low, 0. If changed,
press ENTER, otherwise press SPACE.
2.8. LOG
The system maintains a log file over the last 21000 messages. No messages
in the log file will be lost at power off.
The last message is displayed when entering LOG. Pressing SPACE will
scroll the list backwards.
Every message is date-time stamped. The date-time is displayed in real date-
time format and uses the time reference CCN02 is se to (built-in real time
clock). If new time is set in the TIME menu, only new log messages will get the
new date-time stamped.
2.9. TIME
The time menu displays the current real date-time continuously. The date-time
is battery backup, which means the date-time will not be lost at power off.
Procedure to change to new date-time value:
1. Press ENTER when date-time is displayed
2. Input actual data in format: YYYYMMDDHHMMSS
Where:
YYYY year
MM month
DD date
HH hours (24 hour format)
MM minutes
SS seconds
2.10. PARAMETERS
The parameter menu works in the same way as the signals menu, but only
parameters and function curves in the selected process are displayed.
2.11. SIGNALS
This menu is used to view and modify Signals, Parameters and Function-
curves.
2.11.1. Select process / signal, view

1. Select appropriate process by scrolling (SPACE-key) or typing the
unique characters of its name. Pressing the SPACE-key when
specifying a process name will display the next character within the
current name. Information given for each process: The first field
Page 10 ( 15 ) 6455060-A-002 U
6455060-A-00
contains the status of the process R - running, H - halted or E -

delayed. The second field contains the process name and the last field
contains the process running time in seconds.
Press ENTER to select the showed process.
2. Select a signal in the same way. Information given for each signal: The
first field contains a character for the type of signal, P - parameter, F -
function curve = table, T - test point = ordinary signal, S - simulated
signal (flashing), C - constant (non-changeable), E -error indication
(flashing). The second field contains the name of the
signal/parameter/function-curve. The third field holds the current value
of the signal or parameter and the size of the function curve. The
information on the last line in the terminal is updated 5 times per
second.
2.11.2. Simulation
Signals may be simulated by assigning constant values, these signals will not
be updated by the application software. Procedure:
1. Continue from View. Press ENTER.
- Digital signals are toggled ON/OFF with the SPACE-key.
- Analog signals are simulated by typing a numerical value.
2. Press ENTER.
3. Removing of a simulation for a single signal is done by pressing
ENTER, immediately followed by BKSP (or ESC).
4. Removing of all simulations is done by selecting EXIT in the MAIN
menu, followed by pressing ENTER. All simulations are also
automatically removed if the HHT has not been used for 1 hour, or if
the system has been switched OFF.
2.11.3. Updating parameters

Parameters may be permanently changed with the same procedure as for
SIMULATION of signals.
2.11.4. Updating tables (function curves and ramp delays)

A function curve is used for generation of a direct relationship between an
output and an input signal with a function generator (FUNG) block. The
breakpoints of the curve are defined as X(n) - Y(n) pairs. The (n) is the
number of the breakpoint. When the input value is between two breakpoints, a
straight-line interpolation is used to calculate the output. Figure 1 shows
examples of two curves and the table below gives the corresponding X - Y
pairs.
A ramp delay is used for generation of a time delay between an output and an
input signal with a RAMP block. The delay is achieved by limitation of the rate
of change by which the output moves towards the input. Two tables must be
defined for each RAMP block, one for increasing and one for decreasing
output. The delay curves are given as X(n) - Y(n) pairs, where the X value is
time in seconds and Y is the output from the RAMP block. Figure 2 shows an
Page 11 ( 15 ) 6455060-A-002 U
6455060-A-00
example of an increasing and a decreasing curve. Note carefully how the

curves are defined, always starting with X(0) = 0.
Procedure for updating a table:
1. Press ENTER in the SIGNALS-menu. The X(n) - Y(n) pair may be
displayed, without updating, by pressing SPACE a number of times or
typing it's index.
Procedure for updating proceed by:
1. Select the element
2. Press ENTER
3. Type the new value
4. Press ENTER
5. Select the next element....etc.
6. Press U after any element or SPACE after the last element to update
the table.
It is possible to abort the parameter update at any point by pressing BKSP (or
ESC). The original function curve will then be maintained.
6. Press - U
n FUNG 1 FUNG 2
X Y X Y
0 - 1.0 - 1.0 -1.0 1.0
1 - 0.95 -1.0 -0.95 1.0
2 - 0.05 0.0 -0.1 0.6
3 0.05 0.0 0.4 0.6
4 0.5 1.0 0.95 1.0
Page 12 ( 15 ) 6455060-A-002 U
6455060-A-00
5 1.0 1.0 1.0 1.0
n UP DOWN
X Y X Y
0 0.0 - 1.0 0.0 1.0
1 10 0.1 20 - 0.3
2 80 0.6 70 - 0.8
3 190 1.0 150 - 1.0
2.12. CONFIG
This menu is used to set Node name, Node id (number), SLIO maximum
update period, CAN bus bite rate and SLIO bus bit rate. Key SPACE displays
next line. Key ENTER let’s the user change current setting. Key DELETE is
used to erase previous character in edit-mode; otherwise it’s used to exit the
bus signal submenu.
The parameters for CAN bus bite rate (CAN BTR0, 1) and SLIO bus bit rate
(SLIO BTR0, 1) shall normally not be changed.
Switch Off and On the power after the Node id has been changed.
Page 13 ( 15 ) 6455060-A-002 U
6455060-A-00
Node Configuration menu:

Node: <node name> <SPACE>
Node id: <node id> <SPACE>
SLIO delay: 0.100s <SPACE>
CAN BTR0: 1 <SPACE>
CAN BTR1: 28 <SPACE>
SLIO BTR0: 1 <SPACE>
SLIO BTR1: 28 <SPACE>
<ESC>
Changing node name and ID:
Node: <node name> <ENTER>
Name: <new node name> <ENTER>
Node: <new node name> <SPACE>
Node id: <node ID> <ENTER>
New id: <new node ID> <ENTER>
Node id: <new node ID> <SPACE>
<ESC>
2.13. BUS SIGNALS

This menu is used to connect signal name to signal id, i.e. the message id
number used for the signal on the CAN bus. The signal is presented with
name and id number.
Key SPACE displays next signal
Key ENTER let’s the user change signal id
Key DELETE is used to erase previous character in edit-mode; otherwise it’s
used to exit the bus signal submenu.
2.13.1. Select bus signal, View

1. Select appropriate BUS signal by scrolling (SPACE-key) or typing the
unique characters of its name.
2. Press ENTER
2.13.2. Updating bus signal ID

1. BUS signal ID’s are altered by typing the numerical value for the ID.
2. Press ENTER
Page 14 ( 15 ) 6455060-A-002 U
6455060-A-00
2.14. REMOTE NODE

This menu is used to make remote HHT connections. A list of selectable
nodes is presented to the user.
Key SPACE is used to step through the list.
Key ENTER is a request for a remote connection.
Key DELETE is used to exit the bus signal submenu.
Remote HHT menu (example of available nodes in bus):
31 <SPACE>
43 <SPACE>
50 <SPACE>
60 <ENTER>
Software configuration for the remote node is now given and the remote node
can be accessed as if the HHT was connected locally
2.15. VERSION
Identifies version of system libraries.
2.16. CMSP
CMSP stands for CanMan Serial Protocol and can only be used together with
the HHT Recorder application in a PC (by Rolls-Royce). This menu is used to
make a software connection to the HHT Recorder for uploading/downloading
I/O-, parameter-, bus signals- and node configuration settings. See more
information in description about HHT Recorder.
2.17. SERIAL PORTS

This menu is used to change the baud rate for the serial communication ports
(RS232A, RS422A, RS422B and RS422C) on the CCN02. Note: RS232A is
only used for original CCN02, newer controller CCN02 rev. A uses RS422C
instead (hardware changes corrected in newer library files).
If the CALIBRATION or PARAMETER password has previously been given,
changing of the baud rate is possible. Procedure:
Calibration View:
1. Select comport by SPACE-key, press ENTER.
2. Actual baud rate is viewed. It can be changed between 4800 baud,
9600 or 19200 baud. Select one of the possibilities by the SPACE-key.
3. Press ENTER for update to new setting or BKSP (or ESC) to leave
without update.
4. Press SPACE to go to next comport, or BKSP (or ESC) to go up one
menu level.
Page 15 ( 15 ) 6455060-A-002 U
FAILURE HISTORY OF ND SYSTEM USING HHT
HOW TO FIND OUT

FAILURE HISTORY OF ND SYSTEM USING HHT
TERMINAL (HAND HELD TERMINAL)
HHT TERMINAL
1. Connect HHT to HHT connection plug
(there is a 9-pin D-connector marked
HHT/RS232) inside X15-1 or ACUxx
cabinet.
2. Press ENTER.
HHT starts to communicate with system
3. Write L (=LOG) and press ENTER.
now HHT shows the latest event
4. Start to check and write down the events
by pressing SPACE.
Pic 1 – Hand Held Terminal (HHT)
events can be seen one by one
5. End the checking by pressing SHIFT and
ESC.
6. Stop the monitoring by writing E (=EXIT)
and press ENTER.
7. Disconnect HHT from the HHT
connection plug.
Pic 2 – HHT Connection Plug

A 18.6.2008 IILI TUPE IILI All New document.
B 27 Dec. 10 ESKO SARA JAJA All HHT CONNECTION CHANGED FROM BIU TO X15-1
Page 1 ( 1 ) 6461008-B-001 U
Rolls-Royce azimuth thrusters
Rolls-Royce Oy Ab, Rauma, Finland SAFETY INFORMATION
SAFETY INFORMATION
The following signal words are used to identify the level of potential hazard.
• Notice
• Caution
• Warning
• Danger
The signal word descriptions of the potential hazard and their layout styles are
the following.
NOTICE Notice is used to notify people of installation, operation, or

maintenance information which is important but not
hazard-related.
CAUTION Caution is used to indicate the presence of a hazard

which will or can cause minor injury or property damage if
the warning is ignored.
WARNING Warning is used to indicate the presence of a hazard

which can cause severe injury, death, or substantial
property damage if the warning is ignored.
DANGER Danger is used to indicate the presence of a hazard

which will cause severe injury, death, or substantial
property damage if the warning is ignored.

0 24.9.2003 KATO JUPE KURT Replaces document 6451656.
Page 1 ( 1 ) 6456930-0-000 U

Roll-Royce AzT US255 CP Aquapilot Control System User's Guide Serial No. 66823 & 66824 For YN 512530

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Roll-Royce AzT US255 CP Aquapilot Control System User's Guide Serial No. 66823 & 66824 For YN 512530

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AQUAPILOT CONTROL SYSTEM

Work No.: 514-S433

Rev. Date Drawn Checked Approv. Changed pages Description

Save Date: 26.10.2012 Page 1 ( 6 ) 6461007-A-530 U

24VDC power supply 24VDC power supply

TDI THRUSTER ROOM

24VDC power supply 24VDC power supply

CONTROL AND INTERFACE UNITS

Copyright 2000 by Rolls-Royce Oy Ab

Save Date: 26.10.2012 Page 2 ( 6 ) 6461007-A-530 U

Section Heading name Page number

1. GENERAL INFORMATION ...................................................... 5

2. CONTROL SYSTEM AND MODES .......................................... 5

3. CONTROL UNITS AND FUNCTIONS ...................................... 5

5. ALARM AND FAILURE INDICATIONS .................................... 6

Save Date: 26.10.2012 Page 3 ( 6 ) 6461007-A-530 U

Drawing number Part List Drawing name Section / Subsect.

6455060 002 Hand Held Terminal (HHT) .................................................. 5.4

6455775 002 Maintenance switch ............................................................. 3.2

6456930 000 Safety information ............................................................... 6.1

6461005 000 Terminology ......................................................................... 1.2

6461135 002 Azimuth thruster interface to autopilot ................................. 2.2

6461138 005 Back-up control ................................................................... 3.5

6461146 000 Description of alarms ........................................................... 5.2

6461172 002 Aquapilot control lever for CPP............................................ 3.1

6461386 000 Contents of the user's guide ................................................ 1.1

6461457 002 Azimuth thruster control panel CP ....................................... 3.3

6461458 002 Azimuth thruster mode panel CP ......................................... 3.4

7251329 000 General arrangement .......................................................... 2.4

Save Date: 26.10.2012 Page 4 ( 6 ) 6461007-A-530 U

2. Terminology ...................................................................................... 6461005 000

2. CONTROL SYSTEM AND MODES

2. Azimuth thruster interface to autopilot........................................... 6461135 002

3. Azimuth thruster interface to prime mover / PMS ......................... 6461136 001

4. General arrangement ........................................................................ 7251329 000

3. CONTROL UNITS AND FUNCTIONS

2. Maintenance switch .......................................................................... 6455775 002

3. Azimuth thruster control panel CP .................................................. 6461457 002

4. Azimuth thruster mode panel CP .................................................... 6461458 002

5. Back-up control................................................................................. 6461138 005

7. Thrust direction, pitch angle and speed indication....................... 6461166 002

Save Date: 26.10.2012 Page 5 ( 6 ) 6461007-A-530 U

5. ALARM AND FAILURE INDICATIONS

2. Description of alarms ....................................................................... 6461146 000

3. Serial link I/O units alarm indications ............................................. 6454742 000

4. Hand Held Terminal (HHT) ............................................................... 6455060 002

Save Date: 26.10.2012 Page 6 ( 6 ) 6461007-A-530 U

CONTENTS OF THE USER’S GUIDE

CONTENTS OF THE USER’S GUIDE

Specifications of Equipment Delivered

NOTE! In all correspondence or when ordering spare parts, be

Rev. Date Drawn Checked Approv. Changed pages Description

Service Manual & User's Guide

Rev. Date Drawn Checked Approv. Changed pages Description

CWP = Cooling Water Pump

CP PROPELLERS WITH CLUTCH

AQUAPILOT CONTROL SYSTEM FOR AZIMUTH

1.1. Aquapilot Control System for Azimuth Thruster

1.2. Aquapilot Control System Functionality

1.2.1. Steering Control

Rev. Date Drawn Checked Approv. Changed pages Description

CP PROPELLERS WITH CLUTCH

1.2.2. Aquapilot Pitch Control