User's Autopilot PT70 Manual Manual IM 80B20P-01€ eT YOKOGAWA @ IM 80B20P-01E Yokogawa Denshikiki Co, Ltd, 2nd EditionINTRODUCTION About this manual Revised record wene20°-0+6 This manual describes the PT70's functions and their operations. Read this manual carefully, ang become fully familiarized with the insteument before using thera (©The contents ofthis manual are subject to change without prior notice, 1f you have any questions of find any errors or information missing in this manual, please form Yokogawa Denshikiki or our sales office listed on the back cover of this manusl @All rights eserved. No part ofthis manual may be reproduced in aay form without ‘Yokogawa's written permission. @ one 2004 Ist edition © Aprit 2005 2nd editionIndex INTRODUCTION SECTION 1. SECTION 2. SECTION 3. SECTION 4. ‘st s0020°-01€ ua 12 2 22 34 35 4 42 43 44 45 GENERAL .... CONFIGURATION OPERATION . KEY OPERATION.. Introduction. Standard mode! Control stand .. Individual units and their functions .. . so 22.1 AUTO STEERING UNIT (MPB351) os oonsnsnenmsnnnen 22 22.2 HAND STEERING UNIT (MPB3S4) .vonsorsnsnosnse 24 22.3. STEERING REPEATER COMPASS (MKROS1) somenenenonens 25, 224 SWITCH UNIT (MPH73)).... smn 225 SWITCH UNIT (MPH732) 22.6 ANNUNCIATOR UNIT (MPH617).. 227 | DISTRIBUTION UNIT (MPC), AC adapter(MPC146) - ‘a Transmiter(MPTI32,139).. Operation 3.1 Preparation... ss Hand steering wen eunsnninmennns Auto steering . 33.1 Preparation for auto steering nnn 332 Course change during auto steering ss 34 333 NAVI steering (optional) 334 Override steering (optional) .... 335 Safety functions for auto steering 336 Switching to AUX. Compass ... 33.7 Change-over to gyrocompass. Remote steering: RC (optional) ‘Non-follow-up steering Switching the display Setting the rudder angle limit Setting the OFF course Ala#M agsonsonn Course change control mode selection. Seiting parameter . 45. Setting the dimmer and contrast sss 452 Setting the ship speed... sunsnanonennananseinsnnannnnen 453. Setting the operation mode aro a2 434 Sotting the draft mode on l3 455 Setting the off-heading elarm 414 456 Setting the heading monitor 416 45.7 Alarm cause display Al 458 Setting control items 419SECTION 5, SECTION 6. SECTION 7. SECTION 8, 4581 4582 Release of midship command . 4583 Release of counter rudder angle 4584 Setting the rough-seas stecring mode. 4585 Helm adjustment in steering mode switching 4586 Number of rudders. 4587 Course deviation limit functor 4588 Steering gear deadband compensation. 4589 Ship speed pulse rate. 458.10 Exponential smoothing time for ship speed 458.11 Gyrocompass moving average time 458.12 Auxiliary compass moving average time 458.13 Type of rudder angle display 458.14 Self-testing command run 459 Initial setting of contro! parameters... 459.1 Item switching... 4592 Setting the cruising speed .. 4593 Setting the hull length... 4594 Initial setting value of static gain. 4595 _ Setting value of time constant 4596 Setting value of static gain 459.7 Setting the Karman filter noise covariance matrix multiplier 4598 Setting differential gain multiplier. 4599 Setting the proportional gain multiplier 459.10. Setting the results computed from ship particulars (6table ship/unstable ship). ssn 459.11 Setting the parameter updated state (updated/not updated) 459.12 Setting the updated result (stable ship/unstable ship). 439.13. Preseting parametets cornu . 45.10 Automatic seting of cotrol parameters for each drat mode. 4SAL Average value display , 45.12 Setting the alartn limit of low ship speed ..w. ALARMS... SL Alarm types... 52 Annuneiator pattern... 53. __ Types of alarm displays. 531 Emergency alarms. 532. Caution alarms BASIC AUTOPILOT ACTION 61 Steering for fuel saving ... minimum steering frequency and rudder angle... 6-1 62 Adaptive autopilot control algorithm... 63 Changes in weather conditions and Adaptive Autopilot. MAINTENANCE AND INSPECTION. ATTACHED FIGURES ‘at s0820P.011. overviow GENERAL 1.1 Introduction ‘The PT70 Autopilots a digitally controlled automatic steering unit which has been developed on the bass ofthe Model P7500 Autopilot; the PTS00 Autopilot has bean highly eveluated by many customers ‘The PT70 has separate stecring functions for each unit to permit easy configuration of console, cockpits and other ypes. The adoption of function keys ensures operability. ich variety of actuators are available to ensure combination with all steering gears. 1.2 Standard model pt-7o-O-OO — (twin RUDDER) “Twin-rudder system ‘Type of steering gear ‘Style of control stand 'S: Stand H: Stand with butt-in gyrocompass : Built-in pane! mooa20P-1 rr2 CONFIGURATION 21 ozo" 01 Control Stand ‘The control stand of the PT70 Autopilot is composed of units separated by fonction. Figure 2-1 illustrates the individual units and their fonctions. ‘The structure and funetion of each unit are described on the following pages: CONTROL STAND | —Stand with top panol—-~ AUTO STEERING UNIT (MP8351) STEERING REPEATER COMPASS (MKROSt) ANNUNCIATOR UNIT (MPHG17) ‘SWITCH UNIT (MPH732) SWITCH UNIT (MPH731) HAND STEERING UNIT (MPa345) ‘Untsinsde send —-OISTRIBUTION UNIT PCAs) MASTER COMPASS (MKMOZ2 ) STEERING REPEATER COMPASS (MRCS!) ABUNGATORUNIT PHBA) AUTO STEERING — UNIT (MPBG54) SINITCH UNIT (MPHT31) SSwrTCH UNIT (MP H732) HAND STEERING ‘UNIT (PBS) Figure 2-4 24 j2.2 Individual units and their functions 2.2.4 AUTO STEERING UNIT (MPB351) .... See Figure 2-2. ‘The Auto Steering Unit incomporstes the functions required for auto stering, and is composed of a ‘CPU to control calculations and signaldsta inpuvoutput, end a man-smachine interface which supports setting and display functions. Ow O @ (8) Figure 2.2 22 ‘so8z0F-016soo z0F-01€ D Data display “The display of various set data and alarm factors, caleulations of hull parameters, and the display of results as well as other operations are provided by the operation of 16 key switehes and cowrse setting dials. Furthermore, the rudder angle and turn cate can be displayed in bar graphs by selection on the display seven, |® Gyrocompass selection key This key is used to select the gyracompass. "S Auiliory compass selection key ‘This key is use to select the auxiliary compass. If the eunliary compass is not connected, it ‘cannat be selected. & Buzzer stop key Pressing the buzzer stop key stops the buzzer inthe event of an alarm and allows the alarm item to be checked ® Rudder limit seting key Pressing tho rudder limit sting key sets the rudder angle to contol auto steering rudder limit angle ‘When the limit is reached, 4 LIMIT" or “LIMI Tap“ appears onthe data indicator. ‘© Off-course alarm setting key “This Key i used to set the deviation angle to detect an off-course alarm, ‘Off-course alarm will be disabled ifthe Aux, compass isnot connected Parameter setting key ‘This key i usod to set the dimmer contas, pilot control, hull parameter and so forth «© Data upldown key Pressing this key allows switching of items and adjustment of values for setting. © Data definition key ‘This is used to define these items and values. ® Course setting dial ‘The course can beset by tuning the dial while pressing. One dial rotation changes the set course bby 25 degrees. Turning the dial in a clockwise direction increases the Set course angle, while turning it ina counterclockwise direction decreases it. Furthermore, pressing and turning the dial while pressing the key during normal display allows updating ofthe set course, including the ‘numerals below the decimal point. (One dial rotation changes it by 2.5 degrees ) © Heading ead key ‘The heading entered by pressing the key is read as a set cours. © Set course display unit “This splays the curent set course ‘© Course change control mode seletion key This key is used to select the automatic course change contro! mode 232.2.2 HAND STEERING UNIT (MPB354) .... See Figure 2-3. ‘The hand steering unit commands rudder angle and indicates command rudder angle and steering | Bay wo IMB0820P-01E 43 | j4.3 Setting the off-course alarm NOTE: —————$ ‘The off-course alarm will be disabled if the AUX. compass is not connected. Tn the Autopilot connected with the magnetic compass signal as an auxiliary compass, an off-course alarm can be detected by the magnetic compass heading during auto steering. ‘The magnetic compass detects whether the gyrocompass is faulty or the ship is not running on the set course, and an alarm is issued. Set the limit angle and detection time for this off-course alarm. Course) Offtcourse alarm limit angle Set course(magnetic compass heading) OFF crs (Press the |ALARM | , and the following display will be given on the data display unit: OFF CRS ALARM # LIMIT ANGLE= 1a" @= Currently set course deviation alarm limit OFF CRS ALARM TIME= L2Gsec | Currently set off-course alarm detection time (2) Press the [A 4 or [Y key, and the following display will be given on the data display unit: (@)Changing the off-course alarm limit (-D'To change the offcourse alarm limit, press the [ENTER] key when the limit is displayed the data change wait stato will then be displayed. OFF CRS ALARM LIMIT ANGLES 18° |¢m Offcourse alarm limit to be set Setting Range‘ 1 to 90 (3-2)The limit will be adjusted by pressing the [A 4]or [¥ -] key. When the limit to be set is displayed, press the [ENTER key. ‘The data display will indicate the off-course alarm limit angle set in (1) 44 IMsoB20P-01(4) Changing the off-course detection time (4D To change the off-course detection time, press the [ENTER] key when the detection time is displayed: the data change wait state will then be dieplayed. OFF CRS ALARM TIMES Setting Range : 1 to 120 128526 |gaOsfcourse alarm detection time to be sot (4-2) The detection time will be adjusted by prossing the [A ¥ or [Y—] key. When the detection time to be set is displayed, press the key. ‘The data dieplay will indicate the off-course alarm detection time set in (2). Soo Ske fepotiee 28.68 faros| [oon ar tet| [A Vor * [EMER] nee ee Ein Pate hae OFF cas ALAR TiWe="" "Wise ao 3] OFF GR ALARW THe 500 =a iz Fe 2 ‘| aa wa OFF ORS ALAN TWeC” 2500 a : OFF. GR ALAR THE" 11900 Ga OFF GR ALAR Tied” "120se0 a oS IMeoB20P-01£ 45 | .4.4 Course change control mode selection 46 Select the automatic course change control mode from the following three control modes: P-D controlled course change ... Automatic course change function to mini mize the course change time normally used during ocean navigation Constant rate of tum course change ... Constant rate of turn course change function effectively used in narrow channels. Hull length and speed are used as para: meters for control, Constant radius course change ... Automatic course change to keep a constant turn: ing radius when changing course. ‘The ship's speed is used as a parameter for the control. RATE () Operate the|RADIUS|key in the standard display, and the currently selected course cha-nge control mode will appear on the data display. a: Currently selected course change control mode P-D: Normal course change control RATE-MIXX. /min.] + Constant rate of turn course change control mode (XX! current set value) RATE-TEXX, /t] Constant rate of turn course change control mode (XX: current sot value) RADIUS[XX.Xnm] : Constant radius course change control (XX: current set value) (2) To change the course change control mode, press the [ENTER] key to display the mode select wait state COURSE CHANGE 4 asaasaagaaqeaa a... aCourse change control mode to be selected The display will alternate between P-D, RATE-M, RATE-T and RADIUS every time the [Aa or [7 —| key is pressed Press the [ENTER] key when the course change control mode to be selected is displayed, (3) Select the P-D, and the display will read as given in (1). (4) Select the RATE-M, and the mode select wait state will appear. RATES Ht Prin ‘The rate of turn will change every time the [A 4 or [¥—] key is pressed. Press the [ENTER] key when the turn rate to be set is displayed. The data display will read as given in item (4) IMB0B20P.01&(6) Select the RATE-T, and the mode select wait state will appear. RATES He Be ‘The rate of tum will change every time tho [A ¥ or [¥ | key is prossod. Press the ENTER) key when the rate of turn to be set is displayed. The data display will read as given in item (6) RATES a nim () Select the RADIUS and the mode select wait state will appear. The turning radius will change every time the or key is pressed. Press the key when the turning radius to be set is displayed. The data display will read as given in item (6). $00 AUTO 15,6 Ke HEADING-8 228, 6° [> RATE ‘CoURSE Grane ERATE IX 1 ‘COURSE GAN = RADIUS FAK. Xt Ba & 5 z Rate __297min fF ea i CH ‘fh fy IMB0820P-01E 474.5 Setting parameters Sot and display all the parameters as shown below except for those in sections 4.1 through 4.4 @ ADJUST MODEt ® absust MopE2. @ ADJUST MODE3 @ ADJUST MODES © ADJUST MODES © ADJUST MODES. ® ADJUST MODE?- © ADJUST MODES- ® ADJUST MODES- ® ADJUST MODEIO- @® ADJUST MODEII ® ADJUST MODEI2 ® ADJUST MODES9 Note’ ‘The maintenance mode must be set hy the service personnel, and is disabled normally. ‘This mode is enabled only when the password is input. ———————— ) The adjust mode selection wait state will be displayed on the data display by pressing the [ADJUST | key during normal display. +Setting the dimmer and contrast + Setting the ship speed ing the operation mode ing the draft mode ing off-heading alarm ting for heading monitor isplay of alarm cause ‘Setting the control items Initial setting of control parameters ting parameter for each draft mode splay of average value Setting low ship speed alarm Maintenance mode Disabled (2) Display will be switched every time the [A key is pressed. DedadadaGnrGadoaoooBononsd ADJUST MODE i + ADJUST MODE 8 + © |otaieR/coNTRAST © | coNTROL FUNCTION ADJUST MODE 2 ¢ @| ADJUST MODE 9 ¢ SPEED SET MODE PARAMETER SET @ | ADJUST MODE 3 + @| ADJUST MODE ia + OPERATION MODE PARAMETER SET ® | ADJUST NODE 4 ¢ @| ADJUST MODE 11 + DRAFT MODE AUG. VALUE DISP © | ADJUST MODE 5 ¢ @| ADJUST MODE 12% OFF-HEADING ALM. LOW SPEED ALARM ® | AbIUST MODE 6 ¢ @| ADJUST MODE s3¢ HEADING MONITOR MAINTENANCE MODE © | ADJUST MODE 7¢ ERROR CONF. DISF Each item will be set and displayed by pressing the [ENTER | key when the item you want to set is displayed 48 IMsoB20P-01£4.5.1 Setting the dimmer and contrast ‘This is used to adjust the brightness of the auto steering unit and the contrast of the : data display. (2) Press the [ENTER] key when "ADJUST MODE 1” is indicated on the data display, and the currently set brightness control value is displayed on the data display as shown below: DIMMER/CONTRASTS DIMNMER= i6 (2) The following will be displayed on the data display by pressing the orf key. OINMER/CONTRASTS CONTRAST 5 (3) To change the brightness control value, press the [ENTER] key when (1) is displayed, DIMMER/CONTRAST# DIMMERS ig ‘The displayed adjustment value changes every time the [A Jor [V7 —]key is pressed, When the adjustment value you want to set is displayed, press the [ENTER] key. The brightness adjustment value will then be indicated on the data display as shown in() (A) To change the contrast control value, press the [ENTER] key when (2) is displayed. DIMMER/CONTRAST# MTRASTS 5 The displayed adjustment value changes every time the [A _+ or [V_-] key is pressed. When the adjustment value you want to set is displayed, press the ENTER) key. The contrast brightness adjustinent value will then be indicated on the data display as shown in (2) ImgoB20P-01€ 49440 Sip ATO 13.5 kt HEADING-6 255.8 SUUST MODE (| nM /cONRAST v. ERY CONTRASTS ERS ENTER [ear f — merveanreasr ismurcomeast eomasre oie Se i Ba means mR SoS commas wet, Ga imexreonrasr ies, coves Ss ome, vy x w x v x v imesceoasr meneame cowry ume ST, i meson mean mast to mer ImeoB20P-01€4.5.2 Setting the ship speed Sot the speed manually if the ship speed signal cannot be entered from the speed log. () Press the key when "ADJUST MODE 2” is indicated on the data display, and tho present input mode and ship speed will be displayed on the data display as shown below! SPD saaa=Ht.# Kt a... a present input mode AUTO: Automatic input mode MAN.: Manual input mode (2) To awiteh the ship speed input mode, press the key and the data change wait state will appear. SPD asas=##.8 Kt “= atinput mode to be set SPD AUTO TSS]. Fleabino-a 238, 6°" BST] [ROWST}<-— ‘OAS OE TS] | DIMMER/OONTRAST f= >i v Bal ADJUST NODE 2 ‘] ' See er hake | >! ci) [seo aana-t kt Y Bare [seo AUTOS. tt aa Psp MA. < 1.0 kee Ea >| SPD WNC 2.0 ke [spo wan 64.0. kt aa wy Ly [0 WAN <65.0_ke ¥ (3) To display the ship speed to be set, press the ENTER) key and define the data. Then. the data display will read as given in (1) ig0B20P-01E att453 412 Setting the operation mode Select the operation mode according to the cruising area, weather and oceanogra~ phic conditions during navigation. () Press the [ENTER] key when “ADJUST MODE 3" is indicated on the data display, and the currently set operation mode will be displayed on the data display as follows! OR? aaaaaaaas ‘a....a" denotes the currently set operation mode. ECONOMY : For auto steering to ensure fuel saving during ocean navigation PRECISION 1 : When seas become somewhat rough and yawing is excessive in "ECONOMY" mode during ocean travel. PRECISION 2 : For auto steering with emphasis on course keeping in cruising area where ships aro converging, or in passage through narrow channels @) If the displayed operation mode is satisfactory, press the ADJUST key again to get back to the normal display. (8) To change the operation mode, press the [ENTER] key so that the change wait state is displayed. OP'MS aasasasaa Ya.....a" denotes the operation mode to be set. ‘The displayed operation mode changes as below every time the [A 4] or [V7] key is pressed. ECONOMY PRECISION’ @ PRECISION2 ¢ ECONOMY When the operation mode to be set is displayed, press the [ENTER] key to define the data. In thie case, the data are displayed on the display as shown in (1). SPD AITO 12.8 ke FEADING-61238.8° |. (ss) BURT DST NODE TF lone cons v ot [Roast Hoe 3 =} OPERATION MOE. a loptie_asnsoanan |<. oo EER ENTER Flore preci tou (os Mg0B20P.01E4.54 Setting the draft mode Select a draft condition of the chip. (D Press the ENTER] key when "ADJUST MODE 4° is indicated on the data display, and the currently set draft mode will be displayed on the data display as follows DRAF aaenaaa “aud! denotes the currently set draft mode, FULL: Full-toad mode (80 to 100% of designed full load draft) MIDDLE: Medale modo (55 to 80% of designed full load draft) BALLAST: Ballast mode (less than 65% of designed fall load draft) (2) If the displayed draft mode is satisfactory, prose tho ADJUST key again to got back to the normal display. (3) To change the draft mode, press the [ENTER] key so that the change wait state is displayed. DRAFTS SaSRSSS Tana” denotes the draft: mode to be set. ‘The displayed draft mode changes between full, meddle and ballast every time the A Jor key is pressed. FULL © MIDDLE © BALLAST © FULL When the draft mode to be set is displayed, press the key to define the data. In this case, the data are displayed on the display as shown in (1). SPD AUTO 13.5 Kt HEADING-G 235. 8° WEADING-# 236, 8° ADAUST MODE [DIABIER /CONTRAST a4 : ¥ WAIST MODE 43 }-—————y DRAFT MODE ~ aaa |< TER IDRAFT< BALLAST etn MgoB20P-01E 4434.8.5 Setting the off-heading alarm Set the limit angle and detection time for a "OFF-HEADING ALARM" which sends an alert of a course deviation from the course settings during auto steering. fF heading alarm limit angle Set course () Press the [ENTER] key when "ADJUST MODE 8” is indicated on the data display, and the currently set limit angle is displayed on the data display as shown below: OFF-HEADING ALM¢ LIMET ANGLE= 16° |qecunently sot off-heading alarm limit angle 2) The following will be displayed on the data display by pressing the [A or [7 key. OFF HEADING ALM? TIME= 1Bsec |faCurrently set detection time for off heading alarm (8) Changing the offtheading alarm limit (G1) To change the off-heading alarm limit, press the ENTER] key when the limit is displayed. The data change wait state will then be indicated on the data display. OFF-HEADING ALM LIMIT ANGLES 167 [ge Off-heading alarm limit to be set (5:2) The displayed limit changes every time the [A] or [9 | key is pressed. Whon the limit you want to set is displayed, press the ENTER] key. ‘The off heading alarm limit angle will then be indicated on the data display as shown in (1). (@ Changing the off-heading alarm detection time (&D To change the off-heading alarm detection time, press the ENTER key when the detection time is displayed. The data change wait state will then be indicated on the data display ADING ALMS 1a: Off-heading alarm detection time to be set. (4-2) The displayed detection time changes every time the [A 4 or Akey is pressed. When the detection time you want to set is displayed, pross the ENTER key, ‘The course deviation alarm detection time will then be indicated on the data display unit as shown in (2) ana ImeoB20P-018SPD AUTO 19,5 Ke HEADING-8 225.9 Cos Das ADsST WOE 13 DINNER OONTRAST IMB0820P.01 for AED NG Ain [wir ANGLE [OFFHEADING ALN | it Kee ER] ENTER * v Ba we fone mn ||. bercane a v meso" A Came Fe ats aa a |) | ma ea oS fei Gere Aa, Lee GS | pier ss, inte rs a | BS Ee fa ene A eee in Ae / fe snome-r aac esate FST ARE 4464.8.6 Setting for Heading monitor a @ Note | ‘The Heading monitor will be displayed if the AUX. Compass is not connected. If the ship is required to carry two independent compass, set the limit angle and detection time for “Heading monitor”. (Heading monitor is installed to monitor the actual heading information from independent heading sources) Heading information of oer compass Heading information of select compass Limit ange of Heading monitor Press the [ENTER | key whon "ADJUST MODE 6" is indicated on the data display, and the currently set limit angle value is displayed on the data display as shown below. HERDING MONITORS LIMIT ANGLE= 18° |4m Currently cot limit angle value ‘The following will be displayed on the data display by pressing the [Aa] or [7 key. HEADING MONITORS TIMES 18s = Currently sot detection time for Heading monitor (3) Changing limit angle value for Heading monitor alarm (3-D Tb change the limit angle value for Heading monitor, press the [ENTER] key when the limit is displayed. The data change wait state will then be indicated on the data display, HEADING MONITORS LIMIT ANGLES 14° 4 Limit angle value for Heading monitor to be ect Set value is 5°to 15° (5:2) The displayed limit changes every time the[A or [V7 ~ | key is pressed. When the limit you want to set is displayed, press the [ENTER ] key. The limit angle value for heading monitor alarm will then be indicated on the data display as shown in (D. (4) Changing detection time for Heading monitor (4-1) To change the detection time for Heading monitor, preas the [ENTER | key when the detection time is displayed. The data change wait state will then be indicated on the data display. HEADING MONITORS TIMES 18s. 4 Heading monitor detection time to be set Set value is 2s to 208 (4-2) The displayed detection time changes every time the[A ‘Jor [¥ — ] key is pressed. When the 416 detection time you want to set is displayed, press the [ENTER ] key. The detection time for Heading monitor alarm will then be indicated on the data display aa shown in (2), lmg0B20P.01&0 AUTO, 19.8 kt]. Heabina-6 236, AST Tas Ie TF | of ant? | | + | RT aE | ' HEADING WONITOR { ! pone TER oes |! L ipa Ba GS |) bene winrar +b rego ie mon v lige wr Met ona wR) | z i | EXD} b! wo ay ey By eS Rep nur Ea ou a age EP PRS. yy i i i | y « i ¥. * Sp [HEADING Wo! TOR [HEADING WoW) TOR : “ee tone face i s * ee ok Fegan at ie MS eae ENTER j Ing0B20P-01€ 474.8.7 Alarm cause display 418 When an alarm has occurred, this function is used to display the cause of the alarm on the data dieplay. Note: If a new alarm occurs while the cause for an alarm is displayed, the display io auto: matically updated to indicate the cause of the new alarm. (D Press the key when "ADJUST MODE 7" is indicated on the data display, and the following alarm will be displayed on the data display: ERROR aaaa-hs tah OEE SHIGE |@@Cause for alarm Yaa" denotes the type of alarm. EMG: Emergency alarm CAUT: Cautionary alarm XX! error code If the error continues to be present, the following display will be given to distinguish it from the already recovered one. For details on the causes of alarms and the symbols, see SECTION 5, ERROR "Cause for alarm (2) New causes for alarm will be indicated one after another every time the [A 4] or [v=] key is pressed. (3) Already recovered causes of alarms can be erased by pressing the ENTER) key, (4) If there is no display at all, the following will be indicated on the data display unit: ERROR HON mig0B20P.01&4.5.8 Setting control items This function is used to set control items. The following shows the items which can be seti Release of midship command Release of counter rudder angle limit @Setting the rough-seas steering mode @Helm adjustment in steering mode switching ‘Number of rudders @Course deviation limit function ‘Steering gear deadband compensation. @Ship speed pulse rate @©Exponential smoothing time for ship speed | @Gyrocompass moving average time @Aurxiliary compass moving average time ype of rudder angle display BSelftest command 4.5.8.1 Item switching (A) Press the key when "ADJUST MODE 8" is indicated on the data display, and the control item selection wait state will be displayed on the data display’ (2) Displayed items changes every time the [A 4 or [V_-]koy is pressed. DEVHOEDEQSODoOoOH Oe ODeBeGeD o | RUDDER STATE ¢ @ | SEAR DEADBAND + | = aaaaaaa COMPEHSAT, =aaaa | ® Ub. LIMIT @ [SPO PULSE RATE = asaaaaa = asasaaaaaaaas o@ |. ROUGH SEA ¢ @ |SPR_EXP. SMOOTH. ¢ | o |RESP. TIME= HH | @ |, HELM ADJUST + @ [S80 HOUING AVES | = aaaaaga8 ~ |AUG. TIME= tHE ! © | MUNBER OF Rup. & AUX MOVING AUES | = asaaaa RUDDER @ lave. TIME= 4H @ |, COURSE DEUTH FINGLE DISPLAY ¢ | LIMIT FUNC, =asaa © |sasaaaaaaaaaaaaa ® SELF TEST = RAM/ROM/APU TEST When the item you want to set is displayed, press the [ENTER] key. Bach item will then be set and displayed. imeoB20P.01€, 44945.8.2 Release of midship command Tan emergency occurs (except for a servorloop failure), midship command control is selected. ‘This setting is used to release midship command control. () When the rudder state is displayed on the data display press the key. The following condition change wait state will then be displayed on the data display’ . RUDDER STATE ‘ anagaaS "a..a" denotes the condition to be set. MIDSHIP: Rudder midship command control valid BY-PASS: Rudder midship command control released (2 The displayed condition changes between midship and by-pass every time the [key is pressed. When the condition you want to set is displayed, press the [ENTER] key to define the condition, NOTE ‘The rudder is maintained at the angle witch Emorgency alarm occurred when “BY-PASS” has been selected as RUDDER STATE. “MIDSHIP” is recommended to be selected during Hoading Control, However, when Track Control in accordance with I.062065 is installed, it should, it should be to select “BY-PASS” by the rule requirement, [SPD AUTO 13,5 kt HEADING~@ 235. 8° ¥ AUST) — (AOAIST - ADGUST MODE 1 = ' DIMMER /CONTRAST i v t aa : ' ¥ : : ADJUST MODE 8 = ‘ CONTROL. FUNCTION aR ' ¥ i 5|_ RUDDER STATE = + Pls aaaaaaa | ENTER v £ ip] RUDDER STATE i] [ [>' = aazaaaa ROUGH SEA P|=_ aagaaa a ENTER v. [ ROUGH SEA >! < Nor USE L- Aa ImigoB20P-01E 4.234.5.8.5 Helm adjustment in steering mode switching A dig course deviation may occur momentarily if the hand steering mode is switched over to the auto steering mode when there is a tidal current or wind from a certain direction during cruising. This is the result of ignoring meeting the rudder before the auto steering mode is selected, as illustrated below. This setting function is used to adjust a big course deviation which may occur when selecting the auto steering mode. MANUAL and AUTO adjustment methods are available, "This must be avoided. £ i Rudder angle —~S\ | Hand steering mode —+/+-Auto steering mode (QD) Press the [ENTER] key when HELM ADJUST appears on the data display. The condition change wait state will appear on the data display as follows? HELM ADJUST aaaaaa a....a: Condition to be set MANUAL: Manual mode AUTO: Automatic mode (2) The display will change between MANUAL and AUTO every time the [A 4) or [V4 key is pressed. When the mode to be set appears, press the [ENTER key to define tho mode. (3) AUTO mode adjustment, Prose the [ENTER| key when AUTO is displayed on the data display. ‘The system then automatically computes the adjustment of the course deviation based on the rudder angle immediately before the hand steeying mode is changed over to the auto steering mode, (4) MANUAL mode adjustment Press the [ENTER key when hand appears on the data display. Then the rudder angle adjustment change wait state will appear on the data display. HELM ADJUST < a ai Direction for adjustment P: Adjustment on the port sido S: Adjustment on the starboard side 4-24 IMe0B20P.018(8) The ruddor adjustment angle will change every time the [A 4 or [7] key is pressed. When the data to be sot appears, press the [ENTER] key to define the data. ‘The set value is automatically input into the CPU by switching from the hand over to auto steering mode. ‘SPD AUTO 13.5 Kt], HEADING-6 ¥ /ADUST ADJUST MODE DIMNER/CONTRAS v @ v ADJUST MODE & |—————y CONTROL ENTER v RUDDER STATS = aaaaaaa_ fp, a v HELM ADJUST® = aaaaaa }--3 IMg0B20P-01£ woe ENTER4.6.8.6 Number of rudders ‘This function is used to set a single- or twin-rudder ship. (1) Press the ENTER key when tho number of rudders is indicated on the data display, and the following data change wait state will be indicated on the data display: NUMBER OF RUD. 4 agaaaaa RUD. SINGLE: single rudder ‘TWIN: twin rudders " denotes the number of rudders to be set. (2) The display changes between single and twin every time the [A or [YJ key is 8 You want to set is displayed, press the essed, When the number of rudder: INTER key to define it, SPD AUTO 13.5 kt]... HEADING-G 235. 8° HEADINGS 238.89 j TOUT ] ‘ADAUST J< ADJUST NODE 1 ¢ DIMRER/CONTRAST v aa : ¥ ADJUST NODE 8 CONTROL FUNCT ON ENTER ¥v RUDDER STATE ¢ = aaaaaaa NUMBER OF RUD. = [= aaaaaa RUDDER ENTER 4.26 i | NUMBER OF RUD. | < SINGLE RUDDER |"! ¥ x |: By wy: Imeosz0P-01€4.5.8.7 Course deviation limit function () Press the key when the "COURSE DEV'N LIMIT FUNC.=" appears on the data display. Then the condition change wait state will appear on the data display as follows: COURSE DEU'H LIMIT FUNC. ! = seasaca | | [COURSE DEV. = >| LIWIT FUNG, =2aaa f-.~..-»f ENTER [ COURSE DEV CIWUT FUNG. : <_No conection |.) ¥v i $90 PULSE RATE] <_SERISAL INPUT ff: ¥v a |! Ay (vj |! v x PD PULSE RATE} >: 100, bP! v Aa Tv * *-P/SPD PULSE RATE} >" < 300 IMg0B20P-01& 4.294.8.8.10 Exponential smoothing time for ship speed This function is used to eet exponential smoothing time constant for epeed data. () Press the [ENTER] key when "SPD EXP. SMOOTH" is indicated on the data display, and the following data change wait state will be indicated on the data display: SPD EXP, SMOOTH. RESP. TIMES #44 (2) The displayed exponential smoothing time changes every time the [A + or [V_-] key is pressed. When the exponential smoothing time you want to set is displayed, press the [ENTER] key to define it. ‘SPD AUTO 13.5 kt HEADING~G 236. 8° v ‘ADWUST v ADJUST MODE 1 DIMMER/CONTRAST ¥ : t at : ' v. i i ADJUST MODE 8 § |---| | | CONTROL FUNCTION | aR ' i ¥. i ' RUDDER STATE =p! ‘ aeaanaa i ' By : ‘ SPD EXP. sHOoTH $f ' >[=_sasaaaaaaaaaa | ——-- ENTER ' i +p] SPD_EXP. SWOOTH, }4>! | | [REseTiweC 6 FES, iy aI i (|) By wel : ¥ x i +p /SPD EP SHOOTH +>! Resp. Tiwec 7 fb ESS 3: zy 4:30 ‘M4g0B20P-01E4.5.8.1 Gyrocompass moving average time ‘This function is used to set the moving averaging time constant for gyrocompass heading data. @) Press the key when "GYRO MOVING AVE." is indicated on the data display, and the following data change wait state will be indicated on the data display: (2) The displayed time constant changes every time the [A 4 or [¥_] key is pressed. When the time constant you want to sct is displayed, press the ENTER) key to define it. ‘The time constant display will change between off and "1 ..30", In the "OFE" state, a gyrocompass heading is not provided with moving averaging, SPD AUTO 13,5 kt HEADING-@ 235. 8° v AONUST v ‘ADJUST NODE 1 $ DIMMER/CONTRAST" ¥ re v ‘ADJUST WODE 8 = ce CONTROL FUNCTION [are] RUDDER STATE + = aagaaga As GYRO MOVING AVE AVE. TIME= XX’ YING AVE | iv =] [avRO WOVING AVE 1M80B20P-01E 4314.5.8.12 Auxiliary compass moving average time Note» Setting will be disabled if the AUX. COMPASS ie not connected. This function is used to set the moving averaging time constant for auxiliary compass heading data. (D Press the [ENTER] key when the “AUX MOVING AVE.” is indicated on the data display, and the following data change wait state will be indicated on tho data display: AUX. MOWING QUE. AVE. TIME< a @) The displayed time constant changes every time the [A 4] or [V key is pressed. When the time constant you want to set is displayed, press the [ENTER] key to define it. The time constant display will change between off and "1 ...90". In the "OFF" state, an auxiliary compass heading is not provided with moving averaging, SPD AUTO 13.5 kt HEADING-G_235, (HEADING-6_235, 8° | ‘AONUST ‘ADUST RODE 1-3 DIMER /CONTRAST ¥v v ADAST NODE 8 = }-— CONTROL FUNCTION }- >! ENTER v RUDDER STATE = asaaaaa ‘A ‘AUK WOVING AVE 3] TIMES XX PLANE. ENTER AUX MOVING AVE >: AVE. TIMES OFF ft, ¥v Ay wa 2 v ‘AUX HOV ING NE, AVE, TIMES (A+) AUK WOUING AVE AVE. TIMES ¥v 6y ws v. AUC HOTING AVE ENTER 4-32 IMe0B20°-01€48.813 Type of rudder angle display ‘his function is used to set either the rudder command or rudder feedback as the rudder angle indicated on the data display. The rudder command becomes the rudder command of the auto stesring unit, while the rudder feedback becomes the rotary angle of the 1 transmitter. (1) Press the [ENTER] key when the "ANGLE DISPLAY" is indicated on the data display, and the following condition change wait state will be indicated on the data display ANGLE DISPLAY aaaaaaaa "a...a" denotes the condition to be set. COMMAND: Rudder command FEEDBACK: Rudder feedback (2) The displayed condition changes between "RUDD-COM." and "RUDD-ANG." every time the [A 4] or [V_ key is pressed. When the condition you want to set is displayed, press the ENTER] key to define it. $PD AUTO 13.5 ke HEADING-G 235. 8° |°"? v. ADIUST ‘ADJUST J< v * ADUST NODE 1 DiMweR/coNTRAST’ >: v re ¥ ‘ADJUST NODE 8 ¢ | —————y {CONTROL FUNCTION aR ¥. RUDDER STATE + = aagaaaa TANGLE DISPLAY # aasaacea oon ENTER v. £ ‘ANGLE DISPLAY = FEEDBACK [= _ FEEDBACK _ Az We ¥v £ ‘ANGLE DISPLAY “COMMAND Imig0B20P-01€ 4.3346.8.14 Self-testing command Self-testing monitoring is automatic. Command can be given by this sotting () Press the [ENTER] key when the "SELF TEST" is indicated on the data display, and the following data change wait state will be indicated on the data display: SELEF TESTING START &# CENTERI (2) Selftesting is started by pressing the [ENTER] display will be indicated on the data display: Display by flashing key, and the following selftesting “SELF TEST" will be displayed upon completion of the self test. SPD AUTO 13.5 Kt |... HEADING-@ 235. 8° (HEADINGS 258.6" | AUST v ; ADJUST MODE. T : DINNER/CONTRAST ! “ : Az i i ADJUST HODE 8 ¢ |} ————y i CONTROL_FUNCTION Hie ' ¥ ' RUDDER STATE = >! = ___seaacaa SELF TEST = RAW/ROW/APU_TEST > [ENTER 4:34 v ‘SELF TSTING START : ENTER] T ENTER ¥ SELF TESTING IMe0B20P-0184.8.9 Initial setting of contro! parameters ‘This function provides initial setting of control parameters used inside the auto steering unit. The following shows which items can be set Note: ‘To change the initial setting of control parameters, first set the parameters acco rding to section 4.5.9.18, "Presetting parameters." This will enable parameter setting, © Cruising speed © Hull length © Initial setting value of static gain @ Setting value of time constant © Setting value of static gain © Karman filter noise covariance matrix multiplier © Differential gain multiplier © Proportional gain multiplier © Stablefunstable results computed from ship particulars @ Parameter updated state (updatedinot updated) @ Stablefunstable updated result @ Preset switch 4.5.9.4 Item switchin: () Press the [ENTER] key when "ADJUST MODE 9° is indicated on the data dis play, and the control parameter initial set item selection wait state will be d isplayed on the data display: (2) The display will change every time the [A 4 or [V_] key is pressed. DEDEEMDESD HOSP DH Oe Ge Oe DoBeGBhoD o |, PARAMETER SET # @ | PARAMETER SET + Us HHL Gl= Hit @ |, PARAMETER SET + @ | PARAMETER SET + Ler= aoe om t Ht @ | PARAMETER SET = @ | PARAMETER SET + is He HH » [INIT.= asaaasaaa © PARAMETER SET © @ PARAMETER SET + Tis He sec IDENT: aaaaaaa © PARAMETER SET © @ | PARAMETER SET + ke Het L/sec RESULT= asagaaa @ |, PARAMETER SET # @ | PARAMETER SET = Me HE tHE PRESET Shi @ PARAMETER = When the item you want to set is displayed, press the [ENTER] key. Each item will then be set and displayed. 1m80820P-01€ 4-364.5.9.2 Setting the cruising speed Set the cruising speed. (1) Press the [ENTER] key when "Ve=" is displayed on the data display. Then the data change wait state will appear on the data display as follows: PARAMETER SET + Us AKL (2) The data changes every time the [A 4] or [V_-| key is pressed. When the cruising speed to be set appears, press the [ENTER] key to define the data ‘SPD AUTO 13.5 kt HEADING-G 235. 8° v ‘ADAUST v “ADJUST NODE 1 ¢ DINMER/CONTRAST v : | ay ' ADJUST MODE 9 ¢ -————— PARAMETER SET" }-> ENTER v ARAWETER SET > Vs= XxKt v [ ' | PT PARANETER SET ! Wsc 1Kt ' v ' Ba i Vv x ! PARANETER SET ! WS 2K i (aq vs] i PARANETER SET} : Ws< 6aKt v z Ay Wo i x t PARANETER SET ' ¥s< aot ' v z i A Vv ' T *% 4-36 IMgoB20P-014.5.9.3 Setting the hull length Set the hull length. () Press the [ENTER key when "Lpp=" is displayed on the date display. ‘Then the data change wait state will appear on the data display as follows: PARAMETER SET = Lees HEE om (2) The data changes every time the [A 4or[V -]key is pressed. When the hull length to be set appears, press the [ENTER] key to define the data. ‘SPD AUTO 13,5 kt HEADING-G 235. 8° (HEA ING-@ 298.6" J OUST] — [ADJUST Je a v * ; ‘ADJUST MODE T-$ \ DIMER/CONTRAST”_ | ->: i { v | | ' v i ADUUST MODE 3 |} ' PARAMETER SET" f >: TER ' v ' PARAMETER SET $ | | Vs= HaKt fp! A 4] t | >] PARAMETER SET $]-+ Lon 0X PARAMETER SET pos 350 0 ay Wo Ay ws ¥. x ‘PT PARARETER SET Lpo< 360m yw T % i a _t i y f : PARAMETER SET ' Lone 10m ' ¥ ry ' ay ows i ¥. i i PARAMETER SET ' Lov< 20m goB20P-1€ 4374.6.9.4 Initial setting value of static ga (Q) Press the ENTER key when "Ki=" is displayed on the data display. Then the data change wait state will appear on the data display as follows’ PARAMETER SET # kik Hee ifs (2) The data changes every time the [A 4] or [7] key is pressed. When value of static gain to be set appears, press the [ENTER] key to define the data. ‘SPD AUTO 13.5 kt |, HEADING-G 235. 8° |S? ¥. : ADIT ] ‘ADJUST }<~~ ADJUST MODE 1] [DIMMER/CONTRAST”_} - >i v Bal v t ADJUST NODE 9 ¢ |-———— ‘ PARAMETER SET ENTER v. PARAMETER SET $ Vs= yrkt_ fp By [PARAMETER SET ]--~------>[ ENTER Kis KK V/s " F ' cr ! ‘pT PARANETER SET i | | [kis 0.02 1/s ' v. EN } i} Ba we : v x i PARAMETER SET ‘ i< 0.04 1/8 ' ‘| Sa we ‘ v z Hl IRANETER SET : : 0.50 1/s ' ry it ' ve] |: ' zi 4:38 IigoB20.01&4.5.9.8 Setting value of time constant (1) Press the key when “TV=" is displayed on the data display. ‘Then the data change wait state will appear on the data display as follows: PARAMETER SET © TUS HE Ss (2) The data changes every time the {A +] or{V -]key is pressed. When the value of time constant to be set appears, press the ENTER key to define the data. v cm SPO AUTO 13.5 ke HEAD ING~@ 235. 8° ¥ ADWUST v. ADAUST NODE 1 3 DINER /CONTRAST v (a v ‘ADJUST NODE_9 = }-———_,_ | PARAMETER SET" } > ENTER | ¥ i | PARAMETER SET & : | Ws= aE : ¥ i za ' ¥ ' [PARAMETER SET = ENTER ' CUTE X's i | /P/PARMMETER SET ]7>! i : | Lvs sf i i v rN if Ax Ww] |i} ' i a |i t bp PARAMETER SET ]>" | : [hve Bs fp t : v. x i : | BE i t bp PARAMETER SET ]}>! | i 1) Live 200 8b -pr i i A i : ay wy |i ' if ee eit t PARAMETER SET >! | ' We 250s}! t ¥ HN t ' Ay Wo i 4 ~ [ENTER 1M80B20P-01€, 43948.9.6 Setting value of static gain (W) Press the [ENTER key when "KV=" is displayed on the data display. ‘Then the data change wait state will appear on the data display as follows! PARAMETER SET + TUS #48 i/s (2) The data changes every time the [A 4 or [VJ key is pressed. When the value of static gain to be set appears, press the ENTER key to define the data, SPD AUTO 13.5 kt HEADING-@ 235. 8° ADUST) v. ADJUST MODE 1 DIMMER /CONTRAST v t ‘ADWUST MODE 9 ¢ -—————, PARANETER SET. EATER v PARAMETER SET Vs= XXKE p>: v aa PARNIETER SET VE XK 1/8 PARAMETER SET KVe 0.02 1/s ¥ rN a w 2] v TARRIETER Ser (Ve 0.05 1/8, TZ * Ay [Wo PaRMETER SET KVe 0.50 t/s v F Aq x PARAMETER SET KV 0.60 t/s v at 4-40 Igoszop.o1€45.9.7 Setting the Karman filter noise covariance matrix multiplier 2) Press the [ENTER change wait state will appear on the data display as follows’ Mee PARAMETER SET ¢ a HE key when "MQ=" is displayed on the data display. Then the data (2) The data changes every time the [Aa] or [7] key is pressed. When the noise covariance matrix multiplier to be set appears, press the [ENTER] key to define the data. ‘SPD AUTO 13.6 kt |. HEADING-¢ 236, 8° ‘ADAUST. ‘ADAOST v ADJUST NODE 1 $ DINMER/CONTRAST ¥v [A] nagoB20P-01& v i ‘ADJUST NODE 9 = PARAMETER SET ENTER > ¥ PARANETER SET $ Vs= NK, ¥ ay [ENTER PARAMETER SET Wo= XX XX PARAMETER SET Nac 50.00 v ? : 4 coy ! PARAMETER SET ' os 0.02 ' fw x | aa] (wa ' ¥ = | PARAMETER SET i MOS 0.05, t ¥ * ' Az ws i v x I PARAMETER SET i HOS 20.00 | v x ' Ay [vs ' ¥. z 4444.5.9.8 Setting differential gain multiplier Set the differential gain multiplier. () Press the [ENTER key when "G1=" is indicated on the data display, and the following data change wait state will be displayed on the data display PARAMETER SET + Gi< Hat (2) The displayed data change every time the [A 4 or [VJ key is pressed. When the differential gain multiplier you want to set is displayed, press the [ENTER] key to define it. _ SPD AUTO 13,5 kt HEADING-G 235, 8° ¥. ‘ADWUST v ADJUST MODE 1 = DINER /CONTRAST v | ¥ L ADUST MODE 9 = }—————y, PARANETER SET EnTER v PARAMETER SET * Ve= XXKE Ba 7 PARAMETER SET + GI= XX — f cop) PARAMETER SET. GI< 0.2 (saa aq vo : Vv A PARAMETER SET ai< 04 Ay Wa |i: v x it PARAMETER SET pt [ik 3.0 Eb: me [ay Vj sii BA SS: a 442 ImgoBz0P.01&4.8.9.9 Setting the proportional gain multiplier (D Press the [ENTER] key when "G2=" is displayed on the data display. Then the data change wait state will appear on the data display as follows: DRRAMETER SET # +. * (2) The data changes every time the [A ¥] or -]key is pressed. When the proportional gain multiplier to be set appears, press the [ENTER] key to define the data. SPD AUTO 13.5 kt HEADING- 235, 8° S77 ¥ ‘ADWUST W. ADJUST NODE 1 = DIYBHER/CONTRAST ¥v re ¥. i ADJUST KODE 9 $ |————-y ‘ PARAWETER SET eet ‘ v i PARAMETER SET $ Vs= ANKE | TERETE SET # ENTER f Le 7 Vv [ oiaRMIETER SET ew PARAMETER SET arc 0.4 By ws V. * PARAMETER SET G2¢ 4.0 ¥ z By ws PARNVETER SET | aac 3.0 | i} —¥ a i | | 1Ms0B20P-01€ 4.434..9.10 Setting the results computed from ship particulars (stable ship/unstable ship) ) Press the [ENTER] key when "INIT=" is displayed on the data display. ‘Then the data change wait state will appear on the data display as follows PARAMETER. Te IMIT. < aasaaaaa a....a: Result to be set STABLE: Computed result - stable ship UNSTABLE: Computed result - unstable ship (2) The data changes between STABLE and UNSTABLE every time the [A key is pressed, When the result to be sot appears, press the ENTER the result, SPD AUTO 13.8 Kt |. HEADING-G 236. 8° v ‘ADHUST ADJUST MODE 1 DINNER /CONTRAST v aa v ADNUST MODE 9 PARANETER SET ENTER PARAMETER SET = Vs= XXKt wx PARAMETER SET ¢ INIT, = aaaaaaaa rq PARAMETER SET >" INIT. STABLE FE a3 PARAMETER SET] |>' INIT. CUNSTABLE {= v ES a 444 key to define Iigo820P-01€4.5.9.1 Setting the parameter updated state (updated/not updated) () Press the [ENTER] key when "IDENT=" is displayed on the data display. ‘Then the data change wait state will appear on the data display as follows: PARAMETER SET = IDENT< aaasasaaaa a....a' State to be set INCOMPLETE: Not updated COMPLETE: Updated (2) The data changes between INCOMPLETE and COMPLETE every time the [A 4] or [Y_-] key is pressed. When the state to be set appears, press the [ENTER key to define the state. ‘SPD AUTO 13.5 Kt |. HEADING~G 235. 8° v AOWUST v ADJUST MODE 1 $ DIMMER /CONTRAST ¥ Aa ¥ ‘ADUST MODE 9 = }-—————, PARAWETER SET" }->! EER v PARAMETER SET & Vs= WAKE, Se) PT PARAMETER SET} ~ ENTER IDENT=aaaaaaaaaa 7 ¥ f PARANETER SET IDENT < INCOMPLETE jaa wa x PARANETER SET WENT” COMPLETE ¥ % Ba wy T *& IBoB20P-01€ 4-454,6.9.12 Setting the updated result (stable ship/unstable ship) (D Press the [ENTER] key when "RESULT=" is displayed on the data display. ‘Then the data change wait state will appear on the data dieplay as follows: PARAMETER SET + RESULT< asasgaaa a....a: Result to be set STABLE: Update result - stable ship UNSTABLE: Update result - unstable ship (2) The data changes between "STABLE" and "UNSTABLE" every time the [A 4 or [7 key is pressed. When the result to be set appears, press the [ENTER key to define the result. SPD AUTO 13.5 kt |e. HEADING-@ 235, 8° : v ADJUST. v AOHUST MODE 1 = DINMER/CONTRAST v (A ——Y¥___ ADJUST MODE 9 = > ' PARAMETER SET > ENTER i < i PARAMETER SET # ] Vs: XXKE fi Aa H + v >| PARAWETER SET Potp--------> ENTER RESULT= aaaaaaa [>i PARAMETER SET }4>: RESULT< "STABLE }-/o, i ¥ * f 4 S|) v cy t PARAMETER SET }4>' RESULT< UNSTABLE }}- =) v z aa 4.46 ig0B20P-0184.5.9.13 Presetting parameters ‘The parameters must bo prosot to enable the initial setting of control parameters. () Press the [ENTER] key when "PRESET SW" is indicated on the data display, and the following will be displayed on the data display: (2) Displayed data changes between _ PRESET: [ENTER] and PRESET: [EXIT] every time the[A 4] or [7 "| key is pressed ‘The set parameter will be preset by pressing the [ENTER] key when PRESET: (ENTERI is displayed SPD AUTO 13,5 kt HEADING-@ 235.8" |S"? et ADWUST ‘ADJUST J<~ v * ADJUST MODE 1 $ DINMER/CONTRAST. ADJUST NODE 9 ¢ PARAMETER SET ENTER ¥ PARAMETER SET 3 Vs HOKE, ¥ A v PARAMETER SET © PRESET Si —y co PARAMETER SET }}>' PRESET : TENTER! }}- Ts | | Ay Wo | ¥ % : | PARAETER SET }}>" ' | ] [V Jkey is pressed Saaaaaa | a...a:Draft mode to be set PARAM. Shi WAS SET | FULL.MIDDLEBALLAST (B) Setting the parameter for each draft mode Press the [ENTER] key when the draft mode to be set is displayed on the data display. ‘Then the draft mode parameter will be sot and the data will appear on the data display as follows: (6-1) Press the [ENTER key when the above display is given, ‘Then the set parameter will appear on the data display. agaaaaa © | aa RRIELE SEP SMAE— KERLET, = Jeaer77ial FULL.MIDDLE,BALLAST (@) Clearing the set parameter Press the [ENTER] key when SW IN NVRAM CLEAR is displayed on the data display. ‘Then the parameters for each draft mode will be cleared, and the data will appear on the data display as follows: Su TH HURAM CLEAR FINISH mg0B20P.01&Correspondence Between parameter Displays and Their Values ‘The following table shows each parameter setting(y’s), which corresponds to X's | Displayed in the lower fiure on page 4-48 cite syne | sg ite omen) C8 | sana POSS) Ta Roser come. || ee Vs [kt] Lpp [m] Ki Ww Kv Ma Gt G2 IDENT RESULT. 0 qo 10 ~~ ood 0 onge 0970 029 oJOUNSTABLE | 0 INCOMPLETEOUNSTABLE i daar aols dy omls cods ods ote | 1 commen’ hone 3 45 GS Gohs ada Gols aads ods & 4 4 sq 4 0.05 4 " 0.05 4 osg4 a74 o. ¢ ods Sdewetsde Mectdle atte ede c > ao 7 oad? oar poner ¢ wo ve ano ado onle code 120 2 te tide ode alo ode sale ide & 19 & 16g E one 100F o18& 2007F 30F 3) Ft F te © o2dF tadF oad soodF 4dF aq 6 1 o 1746 03S 18GC 0.3 ToT ay oan aa oe de ez J ou J 08 ‘ 2g b 2 | u Bae ae 2 ae Q 2 a 27 | R 28, R 2 sas fd 7 aS | uooaiu oat | a w dw & | yay 2 | Y ay 36¢ | Yan | ay | 2 6 | Y 6: | t 64 | i | | IMB0B20P-01E 4-49SPO AUTO 13.5 kt |. HEADING-@ 235. 8° ABST ADJUST NODE 1 DIMMER /CONTRAST PARAM. NVRAM SET ENTER }>{ FULL ENTER || FULL, PARAM. SH_WAS SET = _XXIUXKIRKK ENTER J>[ MIDDLE >LENTER >[ MIDDLE PARAM. SW WAS SET ]>; = _ KOU ENTER }>{ BALLAST ~pLENTER ]>[ BALLAST PARAM. SH WAS SET >! = _OO0KK, ENTER ]>[~ SW_N NVRAN CLEAR FINISH [>! ol aay wy Ba Wa |: ENTER |<|] PARAM. NVRAM SET + "}1>} v a AVG. VALUE J Cmin)=X) I>! P ENTER (3) Press the[ADJUST) key and the standard display will be given. IMBOB20P-01€ 451 | | | |4.5.12. Setting the alarm limit of low ship speed 4-52 Set the lower limit value of ship speed for which an alarm is issued, When the ship speed (obtained by exponentially smoothing the speed data from the log’s ship speed pulse, which is displayed on the data display unit as well as used for the PT5004’s internal control computations) stays lower than the limit value for approximately 10 seconds, an alarm occurs. (1) Press the [ENTER key when "ADJUST MODE 12" is displayed on the data display. Then the current alarm limit setting will appear on the data display. LOW SPEED ALARM + LIMIT SPD= dk | —current alarm limit of low ship spood (2) To change the alarm limit setting, press the [ENTER] key while the current setting is being displayed to get the data display unit to prompt for data. LOW SPEED ALARM LIMIT SPD< Hike —New alarm limit setting Setting range : 3 to 35kt Alarm limit data will increase/decrease every time the [A Jorf7 key is pressed. When the desired value is displayed, press the ENTER key. The display as shown in step (1) will appear with the new alarm limit setting. SP AUTO 13.5 KE [HEADING-G 235.89 |... Tt i [abuusT] laDUST} ADJUST NODE TS] IDI MMER/CONTRAST i i 3! i —— 1 1 ay i ENTER i 7 i i — t (COW SPEED ALAR }-|>i ‘ADJUST ODE 12 ¢ }—;——> [ENTER LIMIT SPO" kt |LOW SPEED ALARM Vk Vv # i TOW” SPEED ALARIX Ba) wo) j | LIMUT sPD= ake. = i i v t [LOW SPEED ALARH + |>1 il @el ee LIMIT SPOS at | | i v x we x 1 Ig LOW SPEED ALARWX a+ iv - ! | ENTER [LIMIT sPD< “34kt | | | ¥ x i A+] fv-] |} i [LOW SPEED ALARW ICIMIT SPDC 35kt Ei Site Skt z IMg0B20P-01€5. ALARMS ‘The PT70 autopilot is provided with many monitoring Functions to ensure steering safety. 5.1 Alarm types (Individual alarms (2) Emergency alarms (3) Caution alarms 8200 on ‘The following three alarm types are available to make a quick and proper judgment if an abnormal condition is found. ‘Those alarms are completely independent for exch cause ofan alarm. Their lamps are mounted on the ANNUNCIATOR UNIT. Alarms are processed also on the ANNUNCIATOR UNIT. For details on these alarms, See Seston 2.2.7. ‘These alarms require an mediate switchover to the conto! system, hand stering or non-follow- up stering whe ty ve bec ised. When on emegney ala oss, te | EES] tenp ‘onthe ANNUNCIATOR UNIT begins flash and the buzzer sounds. At the same time, the cause of the alam is shown on the data display of the ALTO stering unit. (See Seetion 5.3.1 for dels on the alarm.) When an slarm except for a servo-oop faire has occured, conta ‘output goes tothe midship postion. Press the [ALAR] key on AUTO STEERING UNIT, and chook the slat type ZX WARNING Emergency alarm fan emergency slam occu, consol outputs set to the midship positon except forthe case of 2 servo-oop faure. Change the control system or select hand stoerng ot non-ollow-up steering fo restart stosing These alarms are designed to have marginal time to allow corrective actions to be taken when an slarm has occurred. When a caution alarm avcurs, the alarm lamp of the ANNUN: CIATOR UNIT begins to flash and the buzzer sounds, At the samo time, the cause of the alan will be indicated on the data display of AUTO STEERING UNIT. (For details on the display, see Section 53.2.) Press the [ALARM] key on the AUTO STEERING UNIT and check all the elarm types, ‘Then the data on the display go back to normal display, Switeh the control made ot steering mode according tothe display.5.2. Annunciator pattern (1) The buzzer period differs depending on the type of alarm. (2) Annunciator pattern 52 "Type of alarm Buzzer characiristce [Alarm lamp flashing rat] Tnaividusalane | Coninaous im Tnterraitent — —| mergency arm | terme 1H intermitent | Coaton alae Loninterval,2 Ha ia Erroneous input Buzzer ‘Aa tame MN) Ann ‘Buzzer stop Lamp test woe2cr-o165.3 Types of alarm displays ‘when atypical alarm has occurred, the cause ofthe alarm is indicated in symbols on the data display. The following explains the alarm displays: 5.3.1 Emergency alarms(1/2) NO.| Alarm displays on data display | Description ENERGENCY-@1 CPU ERROR on CPU Comparison between input and output values by predefined computation erected by aietietC o EMERGENCY —@2 MEMORY (RAM) ERROR NEMORYCRAM> ‘Checks RAM wating and reading ENERGENCY-@3 3 MEMORY CRON) se pie RON cents AUTO OUTPUTERROR ENERGENCY—04 Cheek ose that the difrence between the manu terial o AUTO GUTPUT tn DAC outpt value andthe ADC inp value is within he taonee valve of 2.1 V(C40 bs), ENERGENGV—05 {GYRO OUTPUT INPUT ERROR os | GYRO COMPASS Issues an alarm if a gyrocompass signal input failure ceatiuesfor2 second or tnger. | EMERGENCY —B6 AUX. COMPASS INPUT ERROR 06 AUS COMPASS iesues an alam If an aviary compass signal input faite continves for seconds or lng wy ecezoeot ExEmergency alarms(2/2) No. Alarm displays on data display Description 07 EMERGENCY-a? 1 SERUO LOOP 08 EMERGENCY: iS RUC LOOP SERVO LOOP FAILURE ‘This alarm is issued ifthe difference between the rudder order and feed back rudder angle is approx.S degree or more and, the follow uptime does not finish within the following time. ‘The monitor setting of Servo loop failure can be carried out using the maintenance menu, and seting the minimum & ‘maximum commanded angle and the minimum & maximum delay time can be adjusted as shown in the following table. ers vawe fon envo Loop ure STATE OF 57a Pus overaTin] neat ewe [pane a a Taw oF Nox fogs] Weems nt ngex | 9 = a iss me otra See Tae Tina ase ‘SW: Single pump operation and Wide rudder angle PW: Parallel pump operation and Wide rudder angle ‘SN: Single pump operation and Normal rudder angle PN: Parallel pump operation and Normal rudder angle :Single pump operation P ;Parallel pump operation N Normal rudder angle W :Wide rudder angle 09 ENERGENCY-o3 STEERING MODE Sid STEERING MODE SWITCH ERROR Issues an alarm if two or more steering modes have been specified or no command is given for 2 seconds or longer. a4 1M o0n20P-0165.3.2 Caution alarms(1/2) NO. im displays on data display Deseription NAVIGATE INPUT DATA ERROR a CAUTIOH-81 ‘Checks the input data and issues an alarm if no normal HAUIGATE input is given for 30 seconds because of a signal ot other failure, = ae OVERRIDE SWITCH ERROR o cee Issues an alarm ifthe override switch is kept pressed for : 10 minutes or longer = COURSE SETTING DIAL ERROR 0 Eaunee ORL su Tesues an alarm i the course setting dal remains on for S| 8 one minute or longer. COMPASS SELECT KEY ERROR 04 cao Bs ecw Issues an alarm ifthe compass selection key remains on IMPASS SEL. for eight seconds or longer. ms ALARM STOP KEY ERROR | os Cee eet Tssues an alarm ifthe buzzer stop key remains on for i « eight seconds or longer. | = ae HEADING SET KEY ERROR | 0s Heeo te Bey key Tssues an alarm if the heading set key remains on for SET KEV cight seconds or longer. | canton et eg nto “i 2 fs sett . |e a na paar . a |e i i i i OF ir i sie novel oni i parameter identifier i i * . Computation of oa — seit cen sgt | os Fig. 6-1 Adaptive Autopilot Control Block Diagram Isaoe20P 01 637. MAINTENANCE AND INSPECTION Note: ‘The folowing describes the procedures for maintenance and inspection required to ‘ensure normal operation at all times. For the maintenance and inspection procedures. {or the system and equipment installed in the steering gear room, refer to the instruc tion manual for the equipment installed in that room. [Naintenancotnspecton| Desens Titers ” [eth eving mde to "HAND and chest at tht cones searing operation pombe wth | — py [Hand stesing check fhe fand sang hance Every ary fz Non-oliowam Sethe Systm svc to NFU sales he nor folow-up tearing mods. Make su hat the ade | gx gu Steering check __fam be conoled correct with the ronfllow.up seeing ove dy Sele steering mode (0"AUTO". Check io see tat te opeeon pt Tap ii up ne coves] gy auto steeting check _flcetion andthe oer canbe colle when he course changed 02 deprees with thscouse | EW dy beking dia, [Remote contol fora ship provided with he ete secring fanalon sl theslaring mode RC, an meke wre | vary ay stecringheck othe rer an be controled cosy wih the remote nearing ney [S"NO.12 syst [Conti ta normal operation i possible in eat testing made in tepa Loa wien he Sytem | pow ay selection fitch is switched to Fuel and FU-2 yy Al lay an [Pest Emp and ize by ematansiny seme he and @ Keane ANNUNCIATOR | nag uN. . [For tbe dimmer in Adjust Mode | and contrast adjustment hes, ete lamp, data dspay unit an 7, Auo seeding it bpsrrer by simlancsly pesing thea rand ~keys Every work [ake sre hat he course dplyed onthe daa pay of Re avo ecing ontagrees WTS | a wag lindiation ofthe sterng repeater compass. Fora tip coneced with an auxiliary comps, sleet | 5°61” we 8. Course np check he wiry compas, and chook tat the indication ofthe may compas and pay on the dca lispayaproe wit each ether, [Screw and ned [heck he enna seems and ler Fag seews on he eal bac and igen thm if Bey porioncheck __ eared sixmonts uens20r ote 7A8. ATTACHED FIGURES 8.1 CONNECTION DIAGRAM AND CIRCUIT DIAGRAM Figure 8.1 Cable connection diagram A IMg0B20P-01EFigure 8.2 Cable connection diagram B ImigoB20P-01& 8283 wonsanss 6 Figure 8.3 Cable connection diagram C ImeoB20P-01€Figure 8.4 Cable connection diagram D ImigoB20P-01&EE) sowetst ve Paes PEER [Regen frre ge Figure 8. POWER CIRCUIT 85 iMgoB20P-01Esro fares Figure 8.6 INTERFACE CIRCUIT"A” (Signal interface for the external devices) IMeoB20P-01€ 863 Figure 8.6 INTERFACE CIRCUIT"B” (for N2 : Steering mode selection) 87 IM80B20P-01Esn NABsIS IMgoB20P-01E Figure 8.8 INTERFACE CIRCUIT"C” (for N2 : The each unit connection) a8Figure 8.9 INTERFACE CIRCUIT”D” (for N2 : Adjustment of the order and the feed-back signals) Inagoaz0p.01& 89aS ey HEE ele Figure 8.10 INTERFACE CIRCUIT"E” (for N2 : Solenoid power internal supply) IMgosz0P-01 e410Figure 8.11 INTERFACE CIRCUIT"F” (for N2 : Solenoid power external supply) att IMg0B20P-01€Figure 8.12 INTERFACE CIRCUIT”G"” (for Analog Voltate Control : Ex. Water-Jet System) IMe0B20P-01E 812Figure 8.13 ALARM CIRCUIT (for N2 or Twin rudder system) 843 IMB0B20P-018THe eure a aoe edad ThE 4 AE ‘A0oL Ov ‘AOLLOW ‘ASHIOW nozzow ‘A0seov (prepueis) AoPYOV ovoan LNA wBLavay Ov ‘Snoeear ASSY 08 NAIsILORE Prowgos ‘vied Prousjos 90304 BI) wn vonanaa on sanog sus IMB0B20P-01£ Figure 8.14 CONNECTION DIAGRAM OF AC ADAPTER (MPC146) a4Figure 8.15 DIFF. AMP BD. CIRCUIT DIAGRAM. IM80B20P.01E 8-15Leh | BIB Beis alae Figure 8.16 INTERFACE BD. 4 twig0820P-01£ 818Bb ob b k b bo ob ob b Ob8.2 COMPONENTS LIST CONTROL STAND 2 € GOH ~ | 4| * ‘. = Oo —@ oO | © PSE HOF SOS —@ O-7 | wo wae a) aes waa | 4 | TERMINAL BD. | V8220XBXCYHYJ | & | CABLE ASSY va22iWe | 2. | INTERFACE 60. ‘VO220XEXF XOXH | 9 | CABLE ASST ve22tWH | 3 | SR BDL VOZ20XK.XL_ 10 | CABLE ASSY ‘V8221WK [or 0 Yar [CARE SY aaa © [Pore SL [an [eae ST 2 | + [porch SFY [ mo [oom AY ze | 7 [ease aren [rea Figure 8.19 DISTRIBUTION UNIT(MPC145-S) iigoB20P-01E 19NO. nah ease [NO ro waes 1_| TERMINAL 80. vezzoxaxcvnys | 8 | CABLE ASSY vez2t¥0 2_| INTERFACE Bo. VO220XEXF.XGXH | 9 | CABLE ASSY vez2iWs 3 | SRB. VOZ20XKXL 10 | CABLE ASSY vez2iM. 4 | OFF, ANP 8D, vaz2iso tt | CABLE assy voz2i0N 5 | POWER SUPPLY ‘N285UP 12 | CARE ASSY ve22iHs: 6 | POWER SUPPLY ABEUP. 8 | CARE ASSY vez2i¥o 7_| NOSE FILTER ‘ST#646030-04 8-20 Figure 8.20 DISTRIBUTION UNIT(MPC145-W) Imig0B20P-01€2 4 3 NO. od waat 1 | TRANSFORMER ve220%S 2_| RECTFER a0, vez20¥0 3 | NO FUSE BREAKER | fate10017-0t 4 [ NOSE FLTER 5T1646030-01 5 | POWER RELAY 511630076-01 6 | RELAY SOCKET 511630077-01 7_ | TERNAL BOARD Voz0R Figure 8.21 AC ADAPTER(MPC146) IMB0B20P-01E 8218:22 No ana Raae 1_| POTENTIOMETER s0620016-01 2 | GEAR va2t7se 3 | GEAR ASSY ve2irse 4 | TERMINAL BOARO STITAA0L5-04 5 | MRO SWITCH BBLENTO' Figure 8.22 1 TRANSMITTER (MPT132) IMg0B20P-01[no.| aah ase 1_| POTENTIOMETER 101620086-01 2 | SEAR SUB ASSY ve22080 2 | GEAR SUB ASSY V6220BE 4 | TERMINAL BOARD s01712182-12 5_| MORO SWITCH $616 4EDt1-O1 Figure 8.23 1 TRANSMITTER (MPT133) Imieonz0p-01 823