PM208 Adaptive Autopilot

PT500A Series
User’s Manual

IM 80B02-19E

IM 80B02-19E
22th Edition
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 i

PM208 Adaptive Autopilot

PT500A Series
User’s Manual
IM80B02-19E 22th Edition

CONTENTS
Foreword ..................................................................................................................v
For safe operation ................................................................................................viii
1. General ...................................................................................................... 1-1
1.1 Introduction ....................................................................................................... 1-1
1.2 Standard Model ................................................................................................. 1-1
1.3 Terms, definitions and abbreviations ............................................................. 1-1
2. Configuration ............................................................................................ 2-1
2.1 Control Stand .................................................................................................... 2-1
2.2 Individual Units and Their Functions.............................................................. 2-2
2.2.1 AUTO STEERING UNIT (PB343)...................................................... 2-2
2.2.2 HAND STEERING UNIT (PB335) ..................................................... 2-4
2.2.3 STEERING REPEATER COMPASS (MKR056) ............................... 2-5
2.2.4 SWITCH UNIT (PH720) ..................................................................... 2-6
2.2.5 SWITCH UNIT (PH721) .................................................................... 2-6
2.2.6 SWITCH UNIT (PH718) ..................................................................... 2-6
2.2.7 ANNUNCIATOR UNIT (PH614) ........................................................ 2-7
2.2.8 TERMINAL UNIT (PN026) ................................................................ 2-8
3. Operation................................................................................................... 3-1
3.1 Operation ........................................................................................................... 3-1
3.1.1 Preparation ........................................................................................ 3-1
3.2 Hand Steering .................................................................................................... 3-2
3.3 Auto Steering..................................................................................................... 3-2
3.3.1 Preparation for Auto Steering ............................................................ 3-2
3.3.2 Course Change during Auto Steering ................................................ 3-4
3.3.3 NAVI Steering (optional) .................................................................... 3-4
3.3.4 Override Steering (optional)............................................................... 3-5
3.3.5 Safety Functions for Automatic Steering ........................................... 3-6
3.3.6 Maneuvering for Reading Ship Parameters ...................................... 3-6
3.4 Remote Steering: RC (optional) ...................................................................... 3-8
3.5 Non-follow-up Steering .................................................................................... 3-8
3.6 Switching to AUX.compass ............................................................................. 3-9
4. Key Operation ........................................................................................... 4-1
4.1 Switching The Display ...................................................................................... 4-1

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4.2 Setting The Rudder Angle Limit ...................................................................... 4-3
4.3 Setting The Off-course alert............................................................................. 4-4
4.4 Setting The Operation Mode ............................................................................ 4-6
4.5 Setting The Draft Mode..................................................................................... 4-7
4.6 Setting The Ship Speed .................................................................................... 4-8
4.7 Course Change Control Mode Selection........................................................ 4-9
4.8 Setting Parameters ......................................................................................... 4-11
4.8.1 Setting The Dimmer and Contrast ................................................... 4-12
4.8.2 Setting The Off-heading alert ........................................................... 4-14
4.8.3 Setting for Heading Monitor ............................................................. 4-16
4.8.4 Alert Cause display .......................................................................... 4-18
4.8.5 Setting Control Items ....................................................................... 4-19
4.8.5.1 Item Switching ........................................................................... 4-19
4.8.5.2 Release of Midship Command .................................................. 4-20
4.8.5.3 Release of Counter Rudder Angle Limit.................................... 4-21
4.8.5.4 Setting The Rough-seas Steering Mode................................... 4-23
4.8.5.5 Helm Adjustment in Steering Mode Switching .......................... 4-24
4.8.5.6 Number of Rudders ................................................................... 4-26
4.8.5.7 Course Deviation Limit Function ............................................... 4-27
4.8.5.8 Steering Gear Deadband Compensation ................................. 4-28
4.8.5.9 Ship Speed Pulse Rate ............................................................. 4-29
4.8.5.10 Exponential Smoothing Time for Ship Speed ........................... 4-30
4.8.5.11 Gyrocompass Moving Average Time ........................................ 4-31
4.8.5.12 Auxiliary Compass Moving Average Time ................................ 4-32
4.8.5.13 Type of Rudder Angle Display ................................................... 4-33
4.8.5.14 Self-testing Command .............................................................. 4-34
4.8.6 Initial Setting of Control Parameters ................................................ 4-35
4.8.6.1 Item Switching ........................................................................... 4-35
4.8.6.2 Setting The Cruising Speed ...................................................... 4-36
4.8.6.3 Setting The Hull Length ............................................................. 4-37
4.8.6.4 Initial Setting Value of Static Gain ............................................. 4-38
4.8.6.5 Setting Value of Time Constant ................................................. 4-39
4.8.6.6 Setting Value of Static Gain....................................................... 4-40
4.8.6.7 Setting The Kalman Filter Noise Covariance Matrix Multiplier.. 4-41
4.8.6.8 Setting Differential Gain Multiplier ............................................. 4-42
4.8.6.9 Setting The Proportional Gain Multiplier ................................... 4-43
4.8.6.10 Setting The Results Computed from Ship Particulars
(Stable Ship/Unstable Ship) ..................................................... 4-44
4.8.6.11 Setting The Parameter Updated State
(Updated/Not Updated) ............................................................ 4-45
4.8.6.12 Setting The Updated Result (Stable Ship/Unstable Ship) ........ 4-46
4.8.6.13 Presetting Parameters .............................................................. 4-47
4.8.7 Automatic Setting of Control Parameters for Each Draft Mode....... 4-48
4.8.8 Average Value Display ..................................................................... 4-51

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4.8.9 Parameter Update Computations .................................................... 4-52
4.8.9.1 Enabling Parameter Update Computations and
The Display of Results .............................................................. 4-53
4.8.9.2 Disabling Parameter Update Computations ............................. 4-55
4.8.9.3 Initialize of Identified Parameters .............................................. 4-56
4.8.9.4 Inhibiting Parameter Update Computations.............................. 4-56
4.8.10 Setting The Alert Limit of Low Ship Speed....................................... 4-58
4.8.11 Date and Time Setting (UTC) .......................................................... 4-59
5. Alerts.......................................................................................................... 5-1
5.1 Alert Types ......................................................................................................... 5-1
5.2 Annunciator Pattern ......................................................................................... 5-2
5.3 Types of Alert Displays..................................................................................... 5-4
5.3.1 Alarms ................................................................................................ 5-4
5.3.2 Warnings ............................................................................................ 5-7
6. Basic Autopilot Action ............................................................................. 6-1
6.1 Steering for Fuel Saving ....
Minimum Steering Frequency and Rudder Angle ......................................... 6-1
6.2 Adaptive Autopilot Control Algorithm ............................................................ 6-1
6.3 Changes in Weather Conditions and Adaptive Autopilot............................. 6-2
6.4 Basic Behavior of BNAAC (OPTION) .............................................................. 6-3
6.5 BNAAC and Changes in Weather Conditions ................................................. 6-4
7. Maintenance and Inspection ................................................................... 7-1
8. Attached Figures ...................................................................................... 8-1
Figure 8.1 Cable connection diagram ................................................................ 8-1
Figure 8.2 Power line circuit ............................................................................... 8-2
Figure 8.3 Interface circuit A............................................................................... 8-3
Figure 8.4 Interface circuit B .............................................................................. 8-4
Figure 8.5 Interface circuit C .............................................................................. 8-5
Figure 8.6 Alarm circuit....................................................................................... 8-6

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 < Foreword > v

Foreword
This manual describes the PT500A's functions and their operations. Read this manual carefully,
and become fully familiarized with the instrument before using them.
There is the possibility that does not reach a setting value in a climate, the sea condition, ship's
speed, loads, the drafts and other special condition, in the case that it is using rate of turn control
or turning-radius control.
There is the possibility that the inaccurate ship's speed input does not become a correct control in
the case that it is using turning-radius control.

 About this manual

• This manual should be read by the end user.
• Read this manual thoroughly and have a clear understanding of the product before operation.
• After you have finished reading this User’s Manual, be sure to keep it at your side.
• This manual explains the functions of the product. Yokogawa Denshikiki Co.,Ltd. does not
guarantee that the product will suit a particular purpose of the user.
• Copying or reproducing all or any part of the contents of this manual without the permission of
Yokogawa Denshikiki Co.,Ltd. is strictly prohibited.
• The contents of this manual are subject to change without prior notice.
• Every effort has been made in the preparation of this manual to ensure the accuracy of its
contents. However, should you have any questions or find any errors, please contact your
nearest Yokogawa Denshikiki Co.,Ltd. dealer.

 Trademarks
• All the brands or names of Yokogawa Denshikiki Co.,Ltd.’s products used in this manual are
either trademarks or registered trademarks of Yokogawa Denshikiki Co.,Ltd..
• For purposes of this manual, the TM and ® symbols do not accompany their respective trade-
mark names or registered trademark names.
• Company and product names that appear in this manual are trademarks or registered trade-
marks of their respective holders.

 Safety precautions

 Notes about environmental condition for using

To use the PT500A Autopilot, keep the environment that satisfies “Specification” and “Equipment
condition” of this product.

 Notes about installation

If reinstallation will be needed , contact your nearest service agent of Yokogawa Denshikiki Co.,
Ltd..

 Notes about preparation before using

Read this manual thoroughly and have a clear understanding of the product before operation.

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vi < Foreword >

 Notes about using other than usage

This products are designed for Autopilot for vessel. Do not use for other purpose.

 Notes about maintenance and inspection

• Regular inspection is recommended to keep this system good condition.
• Do not detach the unit cover without the instruction of service engineer.
• Contact your nearest service agent when the inspection which is not permitted in this manu-
al is needed.

 Notes about abnormal circumstances

• When abnormal allophone or abnormal smell is generated from this product, turn off the
power supply.
• Do not keep using the system , if dealing methods are unknown when the system is under
abnormal condition.
• Contact your nearest service or sales agent to repair the system.
• When there is some instruction about the method of trouble shooting from service department
of Yokogawa Denshikiki Co., Ltd. , obey the instructions and work.

 Notes about disposal of the products

When this product is scrapped , follow the regulations specified by each country.

 A lithium battery is used in this product.

Before disposing , insulate the both of terminals of lithium battery with insulation tape. Dispose of
the lithium battery as industrial waste following the regulations.

 Precautions related to the protection, safety, and alteration of the product

• The following safety symbols are used on the product and in this manual.

"Handle with care." To avoid injury and damage to the instrument,

the operator must refer to the explanation in the manual.

“Risk of Electric Shock”

Protective ground terminal

AC

"High temperature." To avoid injury caused by hot surface, do not

touch locations where this symbol appears.

• For the protection and safe use of the product and the system controlled by it, be sure to follow
the instructions and precautions on safety that are stated in this manual whenever you handle
the product. Take special note that if you handle the product in a manner that violate these
instructions, the protection functionality of the product may be damaged or impaired. In such
cases, Yokogawa Denshikiki Co., Ltd. does not guarantee the quality, performance, function,
and safety of the product.

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 < Foreword > vii

• When installing protection and/or safety circuits such as lightning protection devices and equip-
ment for the product and control system or designing or installing separate protection and/or
safety circuits for fool-proof design and fail-safe design of the processes and lines that use the
product and the control system, the user should implement these using additional devices and
equipment.
• If you are replacing parts or consumable items of the product, make sure to use parts specified
by Yokogawa Denshikiki Co., Ltd..
• Do not modify this product without instruction from service engineer of Yokogawa Denshikiki
Co., Ltd. .

 Exemption from responsibility

• Yokogawa Denshikiki Co., Ltd. makes no warranties regarding the product except those
stated in the WARRANTY that is provided separately.
• Yokogawa Denshikiki Co., Ltd. assumes no liability to any party for any loss or damage, direct
or indirect, caused by the user or any unpredictable defect of the product.

 About the replacement parts for repair

• After discontinuation of production, the possession period of the replacement parts is ten years.
• The replacement parts for repair are the parts necessary to maintain the function of this product.

 How to use this manual

The following markings are used in this manual.

Improper handling or use can lead to injury to the user or damage to the instrument.
This symbol appears on the instrument to indicate that the user must refer to the
user’s manual for special instructions. The same symbol appears in the correspond-
ing place in the user’s manual to identify those instructions. In the manual, the
symbol is used in conjunction with the word “WARNING” or “CAUTION.”

WARNING
Calls attention to actions or conditions that could cause serious or fatal injury to the user, and pre-
cautions that can be taken to prevent such occurrences.

CAUTION
Calls attentions to actions or conditions that could cause light injury to the user or damage to the
instrument or user’s data, and precautions that can be taken to prevent such occurrences.

NOTE
Calls attention to information that is important for proper operation of the instrument.

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viii < Foreword >

For safe operation

WARNING

RISK OF ELECTRICAL SHOCK

Turn off the power supply before starting the wiring.

MODE switch
• When switching the steering mode to HAND or Remote, always set all the steering handles
and remote dials to the midship position before changing the mode.
• If there is a large difference between the actual rudder angle and the angle directed by the
steering handles or remote dials, switching the mode causes the rudder to turn greatly, and
may involve some danger.
Emergency alarm
• Operation on SERVO LOOP / FB FAIL
1. Immediately change over to NFU mode with SYSTEM SWITCH and steer
by NFU LEVER when SERVO LOOP or FB FAIL has been issued.
2. Start running another S/G Pump, then stop running S/G Pump
originally in use, if steering could not be restored on NFU mode.
In case of the alarm on two S/G Pumps running ;
Stop running No.1 S/G Pump for “1-SERVO LOOP” or “1-FB FAIL”
Stop running No.2 S/G Pump for “2-SERVO LOOP” or “2-FB FAIL”

CAUTION

No megger tests except for the on-board power supply terminals. A megger test may damage
the instrument.
In order to ward off the rudder pushes the mechanical stopper, operate the lever not to reach
more than 35 degrees of rudder angle indication.
In an area where many ships are sailing, it is dangerous to change course using the override
steering function while AUTO steering mode. Manual steering is preferable in such cases.

 Precautions on installation position

In case the TRACK CONTROL SYSTEM is installed as the option, each one of following override
facility shall be installed around the conning position to comply with IEC62065 Ed.2.
 MODE SWITCH (PH720)
 SYSTEM SWITCH& NFU LEVER (MPH718)
 O.R. ON/OFF SWITCH (MZY504A) & NFU LEVER (PH727)
 manual steering change-over device which is provided by steering gear or azi-
muth thruster manufacturer
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 < 1.General > 1-1

1. General
1.1 Introduction
The PT500A Adaptive Autopilot is a digitally controlled automatic steering unit which has been
developed on the basis of the Model PT200 Autopilot; the PT200 Autopilot has been highly appre-
ciated from many customers.
The PT500A has separate steering functions for each unit to permit easy configuration of consoles,
cockpits and other types. The adoption of function keys ensures operability. A rich variety of ac-
tuators are available to ensure combination with all steering gears.

1.2 Standard Model

PT-500A- - (TWIN RUDDER)

Twin-rudder system

Type of steering gear

Style of control stand

S: Stand
K: Stand with built-in gyrocompass
P: Built-in panel
Q: INS concept type

1.3 Terms, definitions and abbreviations

For the purposes of this manual, the following terms and abbreviations apply.

Abbreviations Terms and Definition

ACT Actuator
ADAP Adaptive
ADC Analog to Digital Converter
ANG Angle
AP AutoPilot
AUTO Automatic
AUX. Auxiliary
AVG. Average
BATT. Battery
BNAAC Batch Noise Adaptive Autopilot Controller
BZ STOP Buzzer Stop

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1-2 < 1.General >

Abbreviations Terms and Definition

CRS Course
COM. Command
COMP. Compass
COMPENSAT. Compensation
CONF. Confirmation
CORR. Correction
CPU Central Processing Unit
C-RUD. Counter Rudder
C/A Course Again
DAC Digital to Analog Converter
DEV Deviation
DIFF DIFFERENCE
DISP. Display
EMP. Empty
EXP. Exponential
FAIL Failure
FB Feed Back rudder
FU Follow-Up control
FUNC. Function
GYRO Gyrocompass
G1 Differential Gain Multiplier
G2 Proportional Gain Multiplier
HAND Hand steering
HDG Heading
H/S Heading Set
IDENT Identification
INHIBIT Inhibited
INS Integrated Navigation System
INIT. Initial
J Average evaluation index
Kn Knot
Ki Initial value of static gain
KV Value of static gain
LCD Liquid Crystal Display

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 < 1.General > 1-3

Abbreviations Terms and Definition

LED Light Emitting Diode
LOG Speed Log
MAG Magnetic
MAN Manual
MQ Kalman Filter Noise Covariance Matrix Multiplier
NAVI Navigation
NM Nautical miles
NFU Non Follow-Up
NVRAM Non-Volatile RAM(Random Access Memory)
OP’N Operation
PARAM. Parameter
PWR Power
P Port
PORT Port
P-D Proportional-Derivative Controller
PID Proportional-Integral-Derivative Controller
RAM Random Access Memory
RC Remote Control
RESP. Response
ROM Read Only Memory
ROT Rate Of Turn
RUDD Rudder
LIMIT Limit
Lpp Length between perpendiculars
RUN Running
SDME Speed and Distance Measuring Equipment
SEL. Select
S Starboard
STBD Starboard
S/G Steering Gear
SPD Speed
SW Switch
TV Ship’s Time constant
Vs Vessel speed

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 < 2.Configuration > 2-1

2. Configuration

2.1 Control Stand

The control stand of the PT500 Autopilot is composed of units separated by function. Figure 2-1
illustrates the individual units and their functions.
The structure and function of each unit are described on the following pages:

CONTROL STAND

Stand with top panel AUTO STEERING UNIT(PB343)

AUTO STEERING UNIT (PB345)
STEERING REPEATER COMPASS (MKR056)
ANNUNCIATOR UNIT (PH614)
SWITCH UNIT (PH718)
SWITCH UNIT (PH720)
SWITCH UNIT (PH721)...Optional
HAND STEERING UNIT (PB335)

Units inside stand TERMINAL UNIT(PN026)
MASTER COMPASS (MKM026)

STEERING REPEATER
COMPASS (MKR056)
ANNUNCIATOR
UNIT (PH614)
AUTO STEERING
UNIT (PB345)

SWITCH UNIT (PH721)

AUTO STEERING
UNIT (PB343)

SWITCH UNIT (PH720)

SWITCH UNIT (PH718)

HAND STEERING
UNIT (PB335)

Figure 2-1

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2-2 < 2.Configuration >

2.2 Individual Units and Their Functions

2.2.1 AUTO STEERING UNIT (PB343)
The Auto Steering Unit incorporates the functions required for auto steering, and is composed of a
CPU to control calculations and signal/data input/output, and a man-machine interface which sup-
ports setting and display functions.

1 16 14

2 13

SPD AUTO 23.5 Kt

––––––––––––––––
3

15

4
11

17

9 5 6 7 10 8 12

 Data display
The display of various set data and alert factors, calculations of hull parameters, and the display
of results as well as other operations are provided by the operation of 16 key switches and
course setting dials. Furthermore, the rudder angle and turn rate can be displayed in bar
graphs by selection on the display screen.
 Gyrocompass selection key
This key is used to select the gyrocompass.
 Auxiliary compass selection key
This key is used to select the auxiliary compass. If the auxiliary compass is not connected, it
cannot be selected.
 Buzzer stop key
Pressing the buzzer stop key stops the buzzer in the event of an alert and allows the alert item
to be checked.
 Rudder limit setting key
Pressing the rudder limit setting key sets the rudder angle to control auto steering rudder
limit angle.
When the limit is reached, " LIMIT" or "LIMIT " appears on the data indicator.
 Off-course alert setting key
This key is used to set the deviation angle to detect an off-course alert.
Off-course alert will be disabled if the Aux.compass is not connected.

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 < 2.Configuration > 2-3
 OP'N MODE selection key
Select one of the following modes:
ECONOMY: for auto steering with emphasis on fuel saving steering during ocean going.
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 are
converging, or in passage through narrow channels.

 Draft mode selection key

Select one of the following three modes:
FULL: Full-load mode (80 to 100% of designed full load draft)
MIDDLE: Middle mode (55 to 80% of designed full load draft)
BALLAST: Ballast mode (less than 55% of designed full load draft)

 Ship speed setting key

This key is used to select ship speed mode between the automatic input and manual input
modes, and to set the ship speed in the manual mode.
 Parameter setting key
This key is used to set the dimmer contrast, pilot control, hull parameter and so forth.
Data up/down key
Pressing this key allows switching of items and adjustment of values for setting.
Data definition key
This is used to define the set items and values.
Course setting dial
The course can be set by turning the dial while pressing. One dial rotation changes the set
course by 25 degrees. Turning the dial in a clockwise direction increases the set course angle,
while turning it in a counterclockwise direction decreases it. Furthermore, pressing and turn-
ing the dial while pressing the key during normal display allows updating of the set
course, including the numerals below the decimal point. (One dial rotation changes it by 2.5
degrees.)
Course setting key
Pressing the key increases the set course angle, while pressing the key de-
creases it. The set course angle including the numeral below the decimal point is changed by
pressing the key or key in the standard display while pressing the key.
Heading read key
The heading entered by pressing the key is read as a set course.
Set course display unit
This displays the current set course.
Course change control mode selection key
This key is used to select the automatic course change control mode.

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2-4 < 2.Configuration >

2.2.2 HAND STEERING UNIT (PB335)

The hand steering unit commands rudder angle and indicates command rudder angle and steering
direction during hand steering.

UPPER PANEL
STEERING REPEATER COMPASS
COVER (MKR056)
ANNUNCIATOR UNIT
(PH614) AUTO UNIT
DC (PB345)
NO.2 NO.1 SPD AUTO 23.5 Kt
––––––––––––––––
PWR PWR
ON ON

PWR PWR
FAIL FAIL
350 000 010 020
340 03
ACT ACT 0 0
RUN RUN 33 04
0 N
32 0
ACT ACT

05
0
FAIL

31
FAIL
0

0
1

06
0
9

30

0 07
260 270 280 290

0 080
8

090 100 11
E
W
SWITCH UNIT
PID1 PID2

3
AUTO AUTO
FAIL FAIL

250

0 1
4
(PH721)
EMRG EMRG 6

0
ALM ALM

20
24
5

13
CAUT CAUT

23

0
ALM ALM 0 14
S 22 0
15
OFF OFF 0 16 10
CRS CRS 0 170 0 2
180 190 20
FAIL
AUTO UNIT SELECTOR
DIMMER RUN SYNC
SWITCH
DIMMER

ADAP PID
SPD AUTO 23.5 Kt
––––––––––––––––

SWITCH UNIT
(PH720)
AUTO STEERING UNIT AUTO
STEERING MODE
(PB343) NAVI
AUTO HAND
RC SELECTOR SWITCH

MODE SWITCH UNIT

(PH718)
P S

NON FOLLOW-UP
STEERING LEVER

NFU

OFF
FU-2 FU-1
NFU NFU

HAND STEERING UNIT

SYSTEM SELECTOR
(PB335) SWITCH
SYSTEM

STEERING ANGLE INDICATOR

STEERING DIRECTION STEERING HANDLE

INDICATOR LAMP

(1) Steering angle indicator

The steering angle indicator indicates the rudder angle specified by the steering handle in the hand
steering mode.

(2) Dimmer
This is used to adjust the brightness of the steering angle indicator lamp.

(3) Steering direction indicator lamp

This lamp shows the actuator operation.
: Lights up when the actuator is moving in the left rudder direction.
: Lights up when the actuator is moving in the right rudder direction.

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 < 2.Configuration > 2-5

2.2.3 STEERING REPEATER COMPASS (MKR056)

The steering repeater compass receives serial signals from the master compass and drives the
repeater compass card to indicate the course of the vessel. The compass is provided with a ver-
nier card that can be read in increments of 1/10 degree.
When the steering repeater compass is fed power form the master compass, the repeater compass
card turns and adjusts to zero degree while the zero tracking LED is blinking. The LED is lit after
the indicator points to zero on the repeater compass card.
In response to serial heading signals from the master compass, the repeater compass card turns
and follows the heading.

350 000 010 020

340 03
0 0
33 04
0 N 0
32

05
0
31
0

0
Error LED (red) 1

06
0
9
30

0 0
260 270 280 290

70
080 090 100 110
8

2
E
W

3
250

4
Zero tracking switch
6

12
0
24

0
5

13
0
23

0
0 14

Dimmer
S 22 0
15 0
0 1 21
60
170 180 190 200
FAIL

RUN SYNC
Zero tracking LED (gleen) DIMMER

(1) Zero tracking switch

Use this switch when the compass reading is out of alignment.

(2) Dimmer
The dimmer adjusts the brightness of the repeater card, error LED, and zero tracking LED.

(3) Zero tracking LED (yellowgreen)

This LED is normally lit and blinks only when the repeater compass is performing zero adjustment.

(4) Error LED (red)

This LED normally stays out, but is lit or blinks when the repeater compass detects an error.

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2.2.4 SWITCH UNIT (PH720)

This is a switch to select the steering mode.
This has a cam switch to permit selection in four steps. The following
shows the symbols for the steering modes:
AUTO HAND
NAVI RC NAVI : Steering controlled by external computer, etc. (optional)
AUTO : Automatic steering
HAND : Manual steering
RC : Remote control steering (optional)
MODE
These symbols are displayed on LEDs. The dimmer is used also by
the PH718.

2.2.5 SWITCH UNIT (PH721)

(optional)
ADAP PID
This is an auto steering unit selector switch when the digital PID auto
steering unit (optional) is installed. The dimmer is used also by the
PH718.

AUTO

2.2.6 SWITCH UNIT (PH718)

This unit is provided with a control system selector switch and non-follow-up steering lever.

(1) System selector switch

This switch selects the control line in the pilot stand. The follow-
ing steering control lines are provided:
OFF : Power off position
P S
FU-1 : System No.1
NFU
LEVER FU-2 : System No.2
NFU : Non-follow-up steering system

NFU DIMMER (2) Non-follow-up steering lever

FU-2
OFF
FU-1 This self-returning lever switch is used for non-follow-up steering.
NFU NFU Throwing this lever to the right or left starts steering. When it is
released, the rubber stops at the present position. Non-follow-up
SYSTEM steering can be used when the system switch is set to the NFU
SWITCH position.
In case of models which Steering gear pump is controlled through
SYSTEM
Pump unit(Servo motor) or Power unit(-H2, -J2), NF lever is
controlling(stop/move) the unit, not Rudder itself.
Because the unit will move more quickly/in advance than Rudder,
the Rudder will not stop moving immediately(will have “over-
shoot“) after releasing the NF lever.
Therefore, NF lever should be operated with considering the over-
shoot.

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 < 2.Configuration > 2-7
(3) Dimmer
The dimmer adjusts the brightness of the LEDs which display the symbols on the plate. It is used
for both the PH720 and PH721.

2.2.7 ANNUNCIATOR UNIT (PH614)

This unit indicates the operation status of the power supply, steering unit and auto steering unit, and
issues an alert in the event of a failure. The alert point changes depending on the steering gear to
be combined, and the lamp arrangement changes accordingly.

(1) Indicator lamps

The number of indicator lamps and indication items are different
depending on the configuration of the autopilot and steering gear.
DC The labeling and meanings of the indicators normally used are as
follows:
NO.2 NO.1

PWR
ON
PWR
ON
DC : 24 VDC (battery) power indicator lamp (yellowgreen)
This lamp goes off if there is no 24 VDC power supply.
PWR PWR
FAIL FAIL PWR ON : 100 VAC power indicator lamp (yellowgreen)
ACT ACT
RUN RUN PWR FAIL : 100 VAC no-voltage alert lamp (red)
ACT
FAIL
ACT
FAIL
ACT RUN : Actuator run indicator lamp (yellowgreen)
ACT FAIL : Actuator failure alert lamp (red)
Factors causing this alert differ depending on the
type of steering gear.
AUTO FAIL : Auto steering unit failure alert (red)
AUTO Lights up if the CPU of the auto steering unit has become
AUTO
faulty.
FAIL
ALARM : Alarm lamp (red)
ALARM This alert requires that the control system or steering mode
be switched over as soon as the alert has occurred. See
WAR
NING SECTION 5 for details on the causes of these alerts.

WARNING : Warning lamp (orange)

This alert is designed to have marginal time to allow correc-
BZ STOP
tive action to be taken when the alert has occurred. See
SECTION 5 for details on the cause of these alerts.

DIMMER

(2) Buzzer stop key

The buzzer is stopped by pressing this key when an alert has occurred. At the same time, the
flickering alert lamp is turned off or is continuously lit.

(3) Dimmer, lamp test keys

These keys are used to control the brightness of the indicators in the unit and to test the lamp and
buzzer. Pressing the key increases the indicator brightness, while pressing de-
creases it. Simultaneous pressing of the two and keys will start the lamp test
function; the indicator will flicker and the buzzer will sound.

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2.2.8 TERMINAL UNIT (PN026)

The terminal unit provides input/output repeating and switching among the auto steering unit, hand
steering unit, switch unit, annunciator unit, steering repeater unit, control and power box, and other
external equipment and the power line.

(1) The unit converts the steering angle signal  from the automatic steering unit into current, and
sends it to the control power box.
(2) It converts the rudder angle feedback signal  from the control and power box, and sends it to
the auto steering unit.

TERMINAL UNIT (PN026)

WARNING
RISK OF ELECTRICAL SHOCK
Turn off the power supply before starting the wiring.

CAUTION
No megger tests except for the on-board power supply terminals. The megger test may damage
the instrument.

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 < 3.Operation > 3-1

3. Operation

3.1 Operation
3.1.1 Preparation
Prior to start-up, do the following:
(1) Check that the steering gear is ready for operation.
(2) Check that control & power box power supply is on. Check also that the test mode switch of
the control & power box is set to normal.
(3) Check that the annunciator unit's no. 1 and no. 2 PWR
ON indicator lamps are lit.
(4) Check that the steering repeater compass gives a correct heading. AUTO HAND
NAVI RC

After a preliminary inspection has been completed, the switch can be oper-
ated from the control stand.

(5) Set the MODE switch to the "HAND " position. MODE

(6) Set the steering handle to the midship position. OFF

FU-2 FU-1
(7) Set the SYSTEM switch to FU-1 (NO.1 SYSTEM) or FU-2 (NO.2 SYS- NFU NFU
TEM).
When the switch is set, the caution alarm, the data display of the auto
steering unit will indicate the following, and the buzzer will sound.
SYSTEM

PROGRAM START NN NN… denotes the hardware revision.

Version CR155x## X.... denotes the program version.
##... denotes the program revision.

Press the buzzer Stop button of the annunciator unit. Then press the key
on auto steering unit. The display changes to the normal indication, making it possible to use
automatic pilot. In the normal display mode, the vessel speed and heading are indicated as
illustrated below:

SPD aaaaa:12.5kn  vessel speed (indicated only when connected.)

HDG bbbbb:123.5°  vessel heading

aaaaa...vessel speed type SDME : Automatic speed input from Speed and
Distance Measuring Equipment
MAN : manual setting
bbbbb...vessel heading type GYRO : Gyro compass heading
GYRO1 : Gyrocompass No.1*1
GYRO2 : Gyrocompass No.2*1
MAG : Magnetic compass heading
AUX : Aux. compass heading
Note *1) Compass ID signal from gyrocompass sys-
tem is required.

(8) Selection between the two follow-up function systems is made with the system switch.

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3.2 Hand Steering

If the mode switch is in the "HAND" position, follow-up steering can be done with the steering han-
dle at any time.

WARNING
Set the steering handle to the midship position before changing the mode switch to “HAND”. If there
is a large difference between the actual rudder angle and the angle directed by the steering handle,
switching to the HAND steering mode causes the rudder to turn greatly, and may involve danger.

3.3 Auto Steering

3.3.1 Preparation for Auto Steering
Take the following procedure to prepare for auto steering:

(1) Defining the operation mode

Select the operation mode according to the cruising area, weather and oceanographic conditions.
 The following currently set operation mode will be displayed on the display unit by pressing
the key in the normal display.

OP'N= aaaaaaaaaa

"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 "ECON-
OMY" mode during ocean travel.
PRECISION 2: For auto steering with emphasis on course keeping in cruising area where
ships are converging, or in passage through narrow channels.

 If the displayed operation mode is satisfactory, press the key again to get back to
the normal display.
 To change the operation mode, press the key so that the change wait state is dis-
played.

OP'N< aaaaaaaaaa

"a......a" denotes the operation mode to be set.

The displayed operation mode changes as below every time the or key is
pressed.
→ PRECISION 1 ←
ECONOMY ← → PRECISION 2 ←
→ ECONOMY

When the operation mode to be set is displayed, press the key to define the data.
In this case, the data are displayed on the display unit as shown in .

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 < 3.Operation > 3-3
(2) Defining the draft mode
Select the draft condition:
 The following currently set draft mode will be displayed on the display unit by pressing the
key in the normal display.

DRAFT= aaaaaaa

"a.....a" denotes the currently set draft mode.

FULL: Full-load mode (80 to 100% of designed full load draft)
MIDDLE: Middle mode (55 to 80% of designed full load draft)
BALLAST: Ballast mode (less than 55% of designed full load draft)

 If the displayed draft mode is satisfactory, press the key again to get back to the
normal display.
 To change the draft mode, press the key so that the change wait state is displayed.

DRAFT< aaaaaaa

"a.....a" denotes the draft mode to be set. Everytime you press the or key,
the displayed draft mode changes between full, middle and ballast.
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 .

(3) Confirming the course in the AUTO mode

AUTO HAND While the steering mode is selected to manual mode ("HAND", "RC" OR
NAVI RC
"NFU"), the indicated value in set course display is always updated to
present heading.
And when the steering mode is switched to "AUTO", the auto steering unit
performs auto steering to maintain the current course.

MODE
(The value below the decimal point of the setting course is rounded off.)

(4) Set course entry

There are three methods for setting the course. Use any of the appropriate methods according to
the particular situation.
 Entering the course via course setting dial
Turn the dial in a clockwise direction while pressing it, and the set course angle in the course
is increased. Turning it in a counterclockwise direction decreases the set course angle. Course
settings below the decimal point cannot be updated.
Pressing and turning the dial while pressing the key during normal display allows
updating of the set course, including the numerals below the decimal point.
 Setting the course-by-course setting key ( )
Pressing the key decreases the course angle on the display. Pressing the
key increases it. Note that the set course below the decimal point cannot be updated.
The set course angle including the numeral below the decimal point is changed by pressing
the key or key in the standard display while pressing the key.

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 Entering the course via the heading set key

Pressing the key one second, transfers current gyrocompass heading into the set
course display. Note that the digit below the decimal point will be rounded off. Also, the
buzzer will sound when the display changes. This is a convenient method of setting the desired
course while watching the steering repeater compass during MANUAL steering.
The set course angle on the set course display is retained even if the power supply is turned off.

NOTE
The value of set course display is recorded in AUTO STEERING UNIT when the system is restarted.
Turn on the control stand after switching to HAND mode, Because the rudder moves immediately
if the course deviation is existing.

3.3.2 Course Change during Auto Steering

The course is changed by pressing the course setting dial or course setting key, and automatic
course change starts according to the new set course. The following three types of control modes
are available for automatic course change control:

(1) P-D controlled course change

Automatic course change function to minimize the course change time normally used during ocean
navigation

(2) Constant rate of turn course change

Constant rate of turn course change function effectively used in the narrow channel. Hull length and
speed are used as parameters for control.

(3) Constant radius course change

Automatic course change to keep constant turning radius when changing the course. Ship speed
is used as a parameter for the control.

The course change mode is selected by pressing the key switch. (See section 4.7.)

3.3.3 NAVI Steering (optional)

The system receives the steering command signal from integrated navigation system (INS)
when the steering mode switch is selected to [NAVI]. The course display of Auto steering unit indi-
cates the course to steer form INS and the system starts automatic steering in accordance with the
command from INS.

CAUTION
If the faulty course signal is maintained uncorrected for time out limit, "NAVIGATOR" (Timeout
error ) alert is generated.
At that time, the present heading is read as the set course until changing MODE switch and the set
course display changes as follows:

The heading when "NAVIGATOR" alert is generated.

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 < 3.Operation > 3-5

3.3.4 Override Steering (optional)

If a temporary course change is required to avoid collision with other ships during auto steering, it
is possible to change the course easily with the steering lever of the override switch unit.
Operation procedure
• Starboard command
The ship will continue to turn to the starboard while the lever is turned to the right.

OVERRIDEƒ The data are displayed on the display unit as shown on

HDG GYRO :135.6° the left

The course settings and are displayed alternately on the set course display.

• Port command
The ship will continue to turn to the port while the lever is turned to the left.

„OVERRIDE The data are displayed on the display unit as shown on

HDG GYRO :140.2° the left

The course settings and are displayed alternately on the set course display.

When the lever is set in the neutral position, the auto steering unit makes control so that the
current compass heading will be maintained. (The course display and are displayed
alternatively on the set course display.)
To get back to the original course after override steering, press the Course Again switch
( C A ) at the bottom left of the lever. In this case, the set course is continuously
displayed on the set course display unit.

CAUTION
In an area of ship congestion, it is dangerous to change course using the override steering function
while in the auto steering mode. Manual steering is preferable in such case.

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3.3.5 Safety Functions for Automatic Steering

(1) Rudder limit
The steering angle is limited during auto steering to ensure ship safety. The command steering
angle having reached the preset steering angle limit is indicated on the upper part of the data display
as follows:

LIMITƒ When the rudder limit on the starboard side has been reached:
HDG GYRO :135.6°

„LIMIT When the rudder limit on the port side has been reached:
HDG GYRO :140.2°

Rudder angle limit function

• P-D controlled course change
The rudder limit function is operated by the limit value set on the key.
• Constant rate of turn course change
The rudder limit function is operated by the limit value set on the key or the rate of
turn value set on the key, whichever is greater.

(2) Course deviation alarm cancel

When a course change of more than 1 degree is specified, the alarm action is canceled. It returns to
the original position if a course deviation of less than 3 degrees continues for more than 30 sec.

(3) Integral action limitation

• When course change command is less than 10 degrees, the previous integral amount is retained.
• When course change command is 10 degrees or more, the previous integral amount is reset
to "0" (zero).

3.3.6 Maneuvering for Reading Ship Parameters

The initial set values for the adaptive control parameters are entered by our service engineers at
the time of installation based on the hull design dimensions. Hull movement parameters in conform-
ity to the navigation conditions are set by maneuvering for reading ship parameters in the auto
steering mode, and optimal adaptive control is carried out.

NOTE
For reading ship parameters, the ship should be maneuvered in an area less affected by disturbanc-
es such as tidal currents under the conditions of the Beaufort scale of 3 (wave height: 0.5 m; wind
velocity: 5 m/s) or less. The draft mode should be Full Load (80 to 100% of the intended load).

(1) Preparation
a) Keep cruising speed constant.
b) Operate the key to call out the Course Change Control mode, and select the Constant
Rate of Turn Course Change Control; then set the rate of turn to 5 deg./t.
c) Operate the key to call out the parameter update computation (ADJUST MODE 9)

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 < 3.Operation > 3-7
and set "ENABLE".

(2) Maneuvering for parameter reading

Repeat course changes of 20 degrees or more as shown in “Figure: Parameter reading”.
Parameter update computation will be completed 10 to 15 minutes after this maneuvering is
started. Parameter update computation is executed for each course change.

10 to 15 min.

Course
change
Course
40° Course
change
change
t
Set course
20° 40°

5-min. straight run A A A A: Parameter reading in progress

Figure: Parameter reading

During a parameter reading, data display 2 will read as follows:

IDENTIFICATION …
=UPDATE X
Number of parameter iterations.

During a parameter reading, the displayed character will

flicker. Flickering will stop when the parameter update com-
putation is over.

(3) When the parameter update computation is completed, press the or keys. The
updated selection parameters will then be displayed. “TV,” “KV”, “S/SU” will appear every time
the or key is pressed.
(4) Press the or key to display “UPDATE X”, then press the key to display
"DISABLE".
Then press the key, and the data display will read as follows:

IDENTIFICATION …
= DISABLE

When the above display is given, press the key to complete the operation.

NOTE
When parameter read maneuvering is completed, be sure to "DISABLE" parameter update com-
putation. When the parameter has been updated by this maneuvering, the ship will thereafter be
maneuvered according to the new parameter.

NOTE
If satisfactory steering performance cannot be obtained by parameter read maneuvering, operate
the key to call out the parameter update computation (Adjust Mode 9 Initialize), and can-
cel the updated data (initialize it).

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3-8 < 3.Operation >

3.4 Remote Steering: RC (optional)

Setting the mode switch to RC enables remote steering. Both portable and mounted steering units
are available. If there are multiple steering positions, a steering position selector switch will be
provided, so the steering position should be checked carefully.

WARNING
When switching the steering mode to HAND or remote, always set all the steering handles and
remote dials to the midship position before changing the mode

3.5 Non-follow-up Steering

Setting the system switch to the NFU position selects non-follow-up
P S steering. The steering lever is on the right side of the hand steering
unit. The steering lever has on-off action with a self-return. As long
as the lever is held to one side, the rudder will turn to that side. The
helmsman should watch the rudder angle indicator while operating
the lever.

NFU
In case of models which Steering gear pump is controlled through
Pump unit(Servo motor) or Power unit(-H2, -J2), NF lever is
FU-2
OFF
FU-1 controlling(stop/move) the unit, not Rudder itself.
NFU NFU
Because the unit will move more quickly/in advance than Rudder,
the Rudder will not stop moving immediately(will have “overshoot“)
after releasing the NF lever.
Therefore, NF lever should be operated with considering the over-
SYSTEM shoot.

CAUTION
In order to ward off the rudder pushes the mechanical stopper, operate the lever not to reach more
than 35 degrees of rudder angle indication.

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 < 3.Operation > 3-9

3.6 Switching to AUX.compass

When switching from the gyrocompass to the AUX.compass and correcting the deviation angle of
AUX.compass, do not perform auto steering with the auto steering unit (Correct the deviation angle
by hand or NFU steering).

(1) Press the key in the normal display mode as follows:

SPD SDME :12.5kn Ship speed and gyrocompass heading

HDG GYRO :102.0°

Then the data display unit will prompt for a deviation angle as follows:

AUX COMP. CORR. Setting range: -20° to 20°

< -10°

Obtain a deviation angle to be set from the following equation:

Deviation angle = Gyrocompass heading – AUX.compass heading
(For example, when the gyrocompass heading is 000 °, the deviation angle is - 10° for AUX.
compass heading of 010°, and 10° for AUX.compass heading of 350°.)

(2) Deviation angle data will increase / decrease every time the or key is pressed.
When the desired value is displayed, press the key.
The data display unit will be as follows:

SPD SDME :12.5kn Ship speed and AUX.compass heading

HDG AUX :104.0°

NOTE
Pressing the key for two seconds or more will switch the PT500A to the AUX.compass
mode without setting a deviation angle.
The PT500A will use the gyrocompass heading for auto steering until the key lamp is lit
even if the is pressed.

Lit when gyrocompass is being

selected.
Pressing this key will cause the data display unit to
prompt for deviation data (Pressing the key for two sec-
onds of more will select the AUX.compass heading and
the last set value will be used as the deviation angle).

Pressing this key will select

the gyrocompass heading.
Lit when AUX.compass is be
ing selected.

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Blank Page
 < 4.Key Operation > 4-1

4. Key Operation

4.1 Switching The Display

Display item
The display items are switched every time you press or .

(a) Display of ship speed and heading

SPD SDME :12.5kn  Display of automatically SPD MAN :12.0kn  Ship speed manual entry
entered ship speed  Display of gyrocompass
HDG GYRO :256.3°  Display of gyrocompass HDG GYRO1:256.3° heading.
heading (Talker ID=HE) (Compass ID is required.)

SPD SDME :12.5kn SPD SDME :12.0kn

HDG MAG :256.3°  D i s p l a y o f m a g n e t i c HDG AUX. :256.3°  Display of heading from
compass heading Aux.port
(Talker ID=HC) (Talker ID=other than HE or
HC)

(b) Display of rudder angle

„ ‹‰‰  Bar graph display of rudder ‰‰Š ƒ  Bar graph display of actual
angle command rudder angle
RUDD-COM.:P18.5ˆ  Display of rudder angle RUDD-ANG.:S19.3ˆ  Display of actual rudder angle
command

(c) Display of rate of turn

„ Š‰‹‰‰  Bar graph display of rate of turn

ROT :P20.3†min  Display of rate of turn

(d) Display of course deviation

‰‰‹’  Bar graph display of course deviation

CRS DEV'N:S12.5°  Display of course deviation

(e) Display of operation mode (one of the following)

XXXXXX:CONTROL  Maintaining the course RATE : CONTROL  Changing the course with a
fixed rate of turn (20º/t)
STEADY 20†‡
XXXXXX : COURSE (=PT500A) or BNAAC

COURSE:CONTROL  Changing the course in PD RADIUS:CONTROL  Changing the course with a

control mode fixed radius (1.5 NM)
ALTER aR=01.45 1.50NM Actual radius is 1.45 NM

RATE : CONTROL  Changing the course with a MANUAL:CONTROL  Manual control

fixed rate of turn (30º/min)
30†min

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4-2 < 4.Key Operation >

(f) Display of gyrocompass and AUX.headings

(when the AUX.compass is connected and the off-course alert is enabled only)

HDG-GYRO :123.4°  Gyrocompass heading

HDG-AUX. :124.6°  AUX.compass heading

(g) Display of limit angle for off-course alert

(when the AUX.Compass is connected and the off-course alert is enabled only)

CRS-AUX.: 123.5°  Course setting of AUX.Compass

DEV. :E002.4°  Deviation angle from the course setting
↑ A deviation angle can be obtained from the following equation:
Deviation angle = AUX.Compass heading – Course setting
“W” means the deviation < 0, and “E” meanes the deviation >= 0.

CRS-AUX.: 123.5°  Course setting of AUX.Compass

DEV. :----.-°  When the off-couse alert is disabled, the steering
mode is other than AUTO and NAVI, or the PT500A
is changing the course.

(h) Display of program version (1)

MainCPU-CR155K10  Main program version

CalcCPU-CR325A10  Calc program version

(i) Display of program version (2)

This message is displayed on the system which equips with BNAAC.

BNAAC -CD075A07  BNAAC program version

(i) Display of UTC

UTC 2015/08/16  DATE Year / Month / Day

15:20:15  TIME Hour : Minute : Second

The above items are switched every time you press or .

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 < 4.Key Operation > 4-3

4.2 Setting The Rudder Angle Limit

Set the maximum command rudder angle during auto steering. The command steering angle having
reached the preset steering angle limit is indicated on the upper part of the data display as follows:

Wen the rudder limit on the port side Wen the rudder limit on the starboard
has been reached: side has been reached:

„LIMIT LIMITƒ
HDG GYRO:123.5° HDG AUX.:235.6°

It should be noted, however, that the limit function does not work for the integral control volume of
the command rudder angle.
(1) Press the key, and the data display unit will indicate the following:

RUDDER LIMIT=10°  Currently set rudder limit value

(2) If the displayed rudder angle limit is satisfactory, press the key again (to get back to
the normal display).
To change this value, press the key, and the data change wait state will be displayed
on the data display unit as follows:

RUDDER LIMIT<10°  Setting Range: 2 to 35°

Indicates the data wait state

SPD SDME :12.5kn

HDG GYRO :256.3°
(3) To change this value, press the or
key to adjust the display of the rud-
der angle limit.
RUDDER LIMIT=XX°

(4) If the displayed rudder angle limit is satisfac-

tory, press the key. The data dis-
play unit will indicate the rudder angle limit
RUDDER LIMIT< 2°
set in (1).

RUDDER LIMIT< 3°

RUDDER LIMIT<30°

RUDDER LIMIT<35°

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4-4 < 4.Key Operation >

4.3 Setting The Off-course Alert

NOTE
The off-course alert will be disabled if the AUX.compass is not connected.

In the Autopilot connected with the magnetic compass signal as an auxiliary compass, an off-course
alert can be detected by the magnetic compass heading during auto steering. The magnetic com-
pass detects whether the gyrocompass is faulty or the ship is not running on the set course, and an
alert is issued. Set the limit angle and detection time for this off-course alert.

Off-course alert limit angle

Course

Set course
(magnetic compass heading)

(1) Press the , and the following display will be given on the data display unit:

OFF CRS … 
LIMIT ANGLE= 10°  Currently set course deviation alert limit

(2) Press the or key, and the following display will be given on the data display
unit:

OFF CRS … 
TIME= 120s  Currently set off-course alert detection time

(3) Changing the off-course alert limit

(3-1) To change the off-course alert limit, press the key when the limit is displayed; the
data change wait state will then be displayed.

OFF CRS 
LIMIT ANGLE< 10°  Off-course alert limit to be set
Setting Range : 1 to 90°

(3-2) The limit will be adjusted by pressing the or key. When the limit to be set is
displayed, press the key. The data display will indicate the off-course alert limit
angle set in (1).
(4) Changing the off-course detection time
(4-1) To change the off-course detection time, press the key when the detection time is
displayed; the data change wait state will then be displayed.

OFF CRS 
TIME< 120s  Off-course alert detection time to be set
Setting Range : 1 to 120 s

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 < 4.Key Operation > 4-5

(4-2) The detection time will be adjusted by pressing the or key. When the detec-
tion time to be set is displayed, press the key. The data display will indicate the
off-course alert detection time set in (2).

SPD SDME :12.5kn

HDG GYRO :256.3°

OFF CRS …
LIMIT ANGLE= XX°

OFF CRS …
TIME= XXXs

OFF CRS OFF CRS

TIME< 1s LIMIT ANGLE< 1°

OFF CRS OFF CRS

TIME< 2s LIMIT ANGLE< 2°

OFF CRS OFF CRS

TIME< 119s LIMIT ANGLE< 85°

OFF CRS OFF CRS

TIME< 120s LIMIT ANGLE< 90°

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4-6 < 4.Key Operation >

4.4 Setting The Operation Mode

Select the operation mode according to the cruising area, weather and oceanographic conditions
during navigation.
(1) Press the key during normal operation, and the currently set operation mode will be
displayed on the data display as follows:

OP'N= aaaaaaaaaa

"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 "ECON-
OMY" mode during ocean travel.
PRECISION 2: For auto steering with emphasis on course keeping in cruising area where
ships are converging, or in passage through narrow channels

(2) If the displayed operation mode is satisfactory, press the key again to get back to
the normal display.
(3) To change the operation mode, press the key so that the change wait state is displayed.

OP'N< aaaaaaaaaa

"a......a" denotes the operation mode to be set.

The displayed operation mode changes as below every time the or key is
pressed.
→ PRECISION 1 ←
ECONOMY ← → PRECISION 2 ←
→ ECONOMY

When the operation 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 SDME :12.5kn

HDG GYRO :256.3°

OP'N= aaaaaaaaaa

OP'N< ECONOMY

OP'N< PRECISION1

OP'N< PRECISION2

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 < 4.Key Operation > 4-7

4.5 Setting The Draft Mode

Select a draft condition of the ship.
(1) Press the key during normal operation, and the currently set draft mode will be
displayed on the data display as follows:

DRAFT= aaaaaaa

"a.....a" denotes the currently set draft mode.

FULL: Full-load mode (80 to 100% of designed full load draft)
MIDDLE: Middle mode (55 to 80% of designed full load draft)
BALLAST: Ballast mode (less than 55% of designed full load draft)

(2) If the displayed draft mode is satisfactory, press the key again to get back to the
normal display.
(3) To change the draft mode, press the key so that the change wait state is displayed.

DRAFT< aaaaaaa

"a.....a" denotes the draft mode to be set.

The displayed draft mode changes between “FULL”, “MIDDLE” and “BALLAST” every time
the or key is pressed.
→ MIDDLE ←
FULL ← → 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 SDME :12.5kn

HDG GYRO :256.3°

DRAFT= aaaaaaa

DRAFT< FULL

DRAFT< MIDDLE

DRAFT< BALLAST

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4-8 < 4.Key Operation >

4.6 Setting The Ship Speed

Set the speed manually if the ship speed signal cannot be entered from the speed log.
(1) Press the key in standard display, and the present input mode and ship speed will
be displayed on the data display.

SPD aaaa=XX.X kn

a ... a : present input mode

SDME: Automatic input mode
MAN : Manual input mode

(2) To switch the ship speed input mode, press the key and the data change wait state
will appear.

SPD aaaa<XX.X kn

a ... a : input mode to be set

Display will be switched every time the or key is pressed.

SPD SDME 12.5kn SPD MAN 14.0kn

HDG GYRO 256.3° HDG GYRO 235.8°

SPD aaaa=XX.X kn

SPD SDME=XX.X kn

SPD MAN < 1.0 kn

SPD MAN < 2.0 kn

SPD MAN <64.0 kn

SPD MAN <65.0 kn

(3) To display the ship speed to be set, press the key and define the data. Then the
data display will read as given in (1).

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 < 4.Key Operation > 4-9

4.7 Course Change Control Mode Selection

Select the automatic course change control mode from the following three control modes:

P-D controlled course change ... Automatic course change function to minimize the
course change time normally used during ocean
navigation.
Constant rate of turn course change ... Constant rate of turn course change function effec-
tively used in narrow channels. Hull length and speed
are used as parameters for control.
Constant radius course change ... Automatic course change to keep a constant turning
radius when changing course. The ship's speed is
used as a parameter for the control.

(1) Operate the key in the standard display, and the currently selected course change
control mode will appear on the data display.

COURSE CHANGE
= aaaaaaaaaaaaaa

a...a : Currently selected course change control mode

P-D: Normal course change control.
RATE-M [XX°/min.]: Constant rate of turn course change control mode.
(XX: current set value)
RATE-T [XX°/t]: Constant rate of turn course change control mode .
(XX: current set value)
RADIUS [XX.XNM]: Constant radius course change control. (XX: current set v alue)

(2) To change the course change control mode, press the key to display the mode select
wait state.

COURSE CHANGE
< aaaaaaaaaaaaaa

a ... a : Course change control mode to be selected

The display will alternate between P-D, RATE-M, RATE-T and RADIUS every time the
or key is pressed.
Press the 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.


RATE< XXX †min  Setting Range : 1 to 200 °/min (*1)

The rate of turn will change every time the or key is pressed. Press the
key when the turn rate to be set is displayed. The data display will read as given in
item (1).

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4-10 < 4.Key Operation >

(5) Select the RATE-T, and the mode select wait state will appear.


RATE< XX †‡  Setting Range : 1 to 25 °/(*1)

The rate of turn will change every time the or key is pressed. Press the
key when the rate of turn to be set is displayed. The data display will read as given
in item (1).
(6) Select the RADIUS and the mode select wait state will appear.


RADIUS< X.XX NM  Setting Range : 0.1 to 10.0 NM (*1)

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 (1).

NOTE
*1: The maximum rate of turn and the minimum turning radius are due to the ship's actual turning
ability. Those values can be limited by Special-Data-4 and Data-5 of the maintenance mode
to not exceed the ship's turning ability.

SPD SDME :12.5kn

HDG GYRO :256.3°

COURSE CHANGE
=aaaaaaaaaaaaaaa

COURSE CHANGE
< P-D

COURSE CHANGE
<RATE-M[XXX†min]

COURSE CHANGE
< RATE-T[XX†‡]

COURSE CHANGE
< RADIUS[XX.XNM]

RADIUS< 0.1 NM RATE< 1 †‡ RATE< 1 †min

RADIUS< 0.2 NM RATE< 2 †‡ RATE< 2 †min

RADIUS< 9.5 NM RATE< 24 †‡ RATE< 190 †min

RADIUS< 10.0 NM RATE< 25 †‡ RATE< 200 †min

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 < 4.Key Operation > 4-11

4.8 Setting Parameters

Set and display all the parameters as shown below except for those in sections 4.1 through 4.7.

 ADJUST MODE 1 Setting the dimmer and contrast

 ADJUST MODE 2 Setting the off-heading alert
 ADJUST MODE 3 Setting limit angle and detection time of “Heading monitor”
 ADJUST MODE 4 Display of alert causes
 ADJUST MODE 5 Setting control function
 ADJUST MODE 6 Initial setting of control parameters
 ADJUST MODE 7 Setting parameters for each draft mode
 ADJUST MODE 8 Display of average value
 ADJUST MODE 9 Parameter reading
 ADJUST MODE 10 Setting low ship speed alert
ADJUST MODE 11 Setting Date & Time (UTC)
ADJUST MODE 99 Maintenance mode ... Disabled

NOTE The maintenance mode must be set by the service personnel, and is disabled normally.

This mode is enabled only when the password is input.

(1) The adjust mode selection wait state will be displayed on the data display by pressing the
key during normal display.
(2) Display will be switched every time the or key is pressed.
→ ←
← → ←
→ ←
→ ←
→ ←
→ ←
→ ←
→ ←
→ ←
→ →
← →
←

 ADJUST MODE 1 …  ADJUST MODE 7 …

DIMMER/CONTRAST PARAM. NVRAM SET

 ADJUST MODE 2 …  ADJUST MODE 8 …

OFF-HEADING AVG. VALUE DISP

 ADJUST MODE 3 …  ADJUST MODE 9 …

HEADING MONITOR IDENTIFICATION

ADJUST MODE 4 …
  ADJUST MODE 10…
ERROR CONF.DISP LOW SPEED

ADJUST MODE 5 … ADJUST MODE 11…


CONTROL FUNCTION DATE & TIME SET

 ADJUST MODE 6 … ADJUST MODE 99…

PARAMETER SET MAINTENANCE MODE

Each item will be set and displayed by pressing the key when the item you want to set is
displayed.

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4-12 < 4.Key Operation >

4.8.1 Setting The Dimmer and Contrast

This is used to adjust the brightness of the auto steering unit and the contrast of the data display.

(1) Press the 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/CONTRAST… 
DIMMER= 10  Currently set brightness control value

(2) The following will be displayed on the data display by pressing the or key.

DIMMER/CONTRAST… 
CONTRAST= 5  Currently set contrast control value

(3) To change the brightness control value, press the key when (1) is displayed.

DIMMER/CONTRAST 
DIMMER< 10  Brightness control value to be set
Setting Range : 1 to 10
The displayed adjustment value changes every time the or 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 (1)

(4) To change the contrast control value, press the key when (2) is displayed.

DIMMER/CONTRAST 
CONTRAST< 5  Contrast control value to be set
Setting Range : 1 to 10

The displayed adjustment value changes every time the or key is pressed.
When the adjustment value you want to set is displayed, press the key. The contrast
brightness adjustment value will then be indicated on the data display as shown in (2).

It is possible to reset the brightness to the default value (Dimmer/Contrast rank 5 per 10 steps) by the off/on
the power supply.

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 < 4.Key Operation > 4-13

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

DIMMER/CONTRAST…
DIMMER= XX

DIMMER/CONTRAST…
CONTRAST= XX

DIMMER/CONTRAST… DIMMER/CONTRAST DIMMER/CONTRAST

<EXIT> CONTRAST< 1 DIMMER< 1

DIMMER/CONTRAST DIMMER/CONTRAST
CONTRAST< 2 DIMMER< 2

DIMMER/CONTRAST DIMMER/CONTRAST
CONTRAST< 3 DIMMER< 3

DIMMER/CONTRAST DIMMER/CONTRAST
CONTRAST< 9 DIMMER< 9

DIMMER/CONTRAST DIMMER/CONTRAST
CONTRAST< 10 DIMMER< 10

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4-14 < 4.Key Operation >

4.8.2 Setting The Off-heading Alert

Set the limit angle and detection time for a "off heading alert" which was previously called the “course
deviation alert” and sends an alert of a course deviation from the course settings during auto steer-
ing.

Off heading alert limit angle

Course

Set course

(1) Press the key when “ADJUST MODE 2” is indicated on the data display, and the
currently set limit angle is displayed on the data display as shown below:

OFF HEADING 
LIMIT ANGLE= 10°  Currently set off-heading limit angle

(2) The following will be displayed on the data display by pressing the or key.

OFF HEADING 
TIME= 10s  Currently set detection time for off-heading alert

(3) Changing the off-heading alert limit

(3-1) To change the off-heading alert limit, press the key when the limit is displayed. The
data change wait state will then be indicated on the data display.

OFF HEADING
LIMIT ANGLE< 10°  Off-heading alert limit to be set
Setting range :2 to 45º

(3-2) The displayed limit changes every time the or key is pressed. When the
limit you want to set is displayed, press the key. The off-heading alert limit angle will
then be indicated on the data display as shown in (1).

(4) Changing the off-heading alert detection time

(4-1) To change the off-heading alert detection time, press the key when the detection
time is displayed. The data change wait state will then be indicated on the data display.

OFF HEADING
Off-heading detection time to be set
TIME< 10s  Setting range: 2 to 20 s

(4-2) The displayed detection time changes every time the or key is pressed. When
the detection time you want to set is displayed, press the key. The off-heading alert
detection time will then be indicated on the data display unit as shown in (2).

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 < 4.Key Operation > 4-15

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 2 …
OFF HEADING

OFF HEADING …
LIMIT ANGLE= XX°

OFF HEADING …
TIME= XXs

OFF HEADING … OFF HEADING OFF HEADING

<EXIT> TIME< 2s LIMIT ANGLE 2°

OFF HEADING OFF HEADING

TIME< 3s LIMIT ANGLE 3°

OFF HEADING OFF HEADING

TIME< 19s LIMIT ANGLE 40°

OFF HEADING OFF HEADING

TIME< 20s LIMIT ANGLE 45°

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4-16 < 4.Key Operation >

4.8.3 Setting for Heading Monitor

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 other compass

Heading information of select compass

Limit angle of Heading monitor

(1) Press the key when “ADJUST MODE 3” is indicated on the data display , and the
currently set limit angle value is displayed on the data display as shown below.

HEADING MONITOR… 
LIMIT ANGLE= 10°  Currently set limit angle value

(2) The following will be displayed on the data display by pressing the or key.

HEADING MONITOR… 
TIME= 10s  Currently set detection time for Heading monitor

(3) Changing limit angle value for Heading monitor alert.

(3-1) To change the limit angle value for Heading monitor, press the key when the limit is
displayed. The data change wait state will then be indicated on the data display.

HEADING MONITOR 
LIMIT ANGLE< 10°  Limit angle value for Heading monitor to be set
Setting Range : 1 to 15, 20, 25, 30, 35, 40, 45 °

(3-2) The displayed limit changes every time the or key is pressed. When the
limit you want to set is displayed, press key. The limit angle value for heading
monitor alert will then be indicated on the data display as shown in (1).

(4) Changing detection time for Heading monitor.

(4-1) To change the detection time for Heading monitor, press the key when the detection
time is displayed. The data change wait state will then be indicated on the data display.

HEADING MONITOR 
TIME< 10s  Heading monitor detection time to be set
Setting Range : 1 to 20 s

(4-2) The displayed detection time changes every time the or key is pressed. When
the detection time you want to set is displayed, press the key. The detection time
for Heading monitor alert will then be indicated on the data display as shown in (2).

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 < 4.Key Operation > 4-17

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 3 …
HEADING MONITOR

HEADING MONITOR…
LIMIT ANGLE= XX°

HEADING MONITOR…
TIME= XXs

HEADING MONITOR… HEADING MONITOR HEADING MONITOR

<EXIT> TIME< 1s LIMIT ANGLE 1°

HEADING MONITOR HEADING MONITOR

TIME< 2s LIMIT ANGLE 2°

HEADING MONITOR HEADING MONITOR

TIME< 19s LIMIT ANGLE 40°

HEADING MONITOR HEADING MONITOR

TIME< 20s LIMIT ANGLE 45°

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4-18 < 4.Key Operation >

4.8.4 Alert Cause Display

This function is used to display the list of the alert.
Storage number of alerts is maximum 100. These are overwritten sequentially.

NOTE
The cause of alerts is displayed in the time series.
When the alert is updated, the display is automatically updated.
However, the display position (position from the latest) does not change.

(1) Press the key when adjust mode 4 is indicated on the data display, the following
alert will be displayed on the data display.
1) When the alert has been already acknowledged and rectified.

hhmmss__aaa-XXX 
––––––––––––––––  Cause for alert
hhmmss : UTC Time
ALM : ALARM
WAR : WARNING
XXX : Alert code

2) If the error continues to be present and acknowledged by pressing key, the fol-
lowing display will be given to distinguish it from the already recovered one.

hhmmss_<aaa-XXX> 
–––––––––––––––– < > “Bracket” indication is fixed

3) If the error continues to be present and unacknowledged by pressing key, the

following display will be given to distinguish it from the already acknowledged one.

hhmmss_<aaa-XXX> 
–––––––––––––––– < > “Bracket” indication blinks.

(2) Other causes for alert will be indicated one after another every time the or
key is pressed.

(3) Already recovered causes of alerts will be deleted automatically.

(4) If there is no display at all, the following will be indicated on the data display unit:

ERROR NON

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 < 4.Key Operation > 4-19

4.8.5 Setting Control Items

This function is used to set control items. The following shows the items which can be set:

 Release of midship command  Ship speed pulse rate

 Release of counter rudder angle limit  Exponential smoothing time for ship speed
 Setting the rough-seas steering mode  Gyrocompass moving average time
 Helm adjustment in steering mode switching Auxiliary compass moving average time
 Number of rudders Type of rudder angle display
 Course deviation limit function Self-test command
 Steering gear deadband compensation

4.8.5.1 Item Switching

(1) Press the key when adjust mode 5 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 or key is pressed.
→ ←
 ← → ←
→ ←
→ ←
→ ←
→ ←
→ ←
→ ←
→ ←
→ →
← →
← →
←

RUDDER STATE … SPD PULSE RATE …

 
= aaaaaaa = aaaaaaaaaaaaa

C-RUD. LIMIT … SPD EXP.SMOOTH.…

 
= aaaaaaa RESP. TIME= XXX

ROUGH SEA … GYRO MOVING AVE…

 
= aaaaaa AVE. TIME= XXX

HELM ADJUST … AUX MOVING AVE…


= aaaaaaa AVE. TIME= XXX

NUMBER OF RUD.… ANGLE DISPLAY …


= aaaaaa RUDDER = aaaaaaaa

COURSE DEV'N … SELF TEST …


LIMIT FUNC.=aaaa RAM/ROM/APU TEST

GEAR DEADBAND …

COMPENSAT. =aaaa

When the item you want to set is displayed, press the key. Each item will then be set and
displayed.

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4-20 < 4.Key Operation >

4.8.5.2 Release of Midship Command

If an emergency occurs (except for a servo-loop failure), midship command control is selected.
This setting is used to release midship command control.
(1) 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
< aaaaaaa

"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 or
key is pressed. When the condition you want to set is displayed, press the
key to define the condition.

NOTE
The rudder is maintained at the angle with Emergency alert occurred when “BY-PASS” has been
selected as RUDDER STATE. ”MIDSHIP” is recommended to be selected during Heading Control.
However, when Track Control in accordance with IEC62065 is installed, it should be to select “BY-
PASS” by the rule requirement.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

RUDDER STATE
< MIDSHIP

RUDDER STATE
< BY-PASS

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 < 4.Key Operation > 4-21

4.8.5.3 Release of Counter Rudder Angle Limit

When a large course change is executed with auto steering, the final stage of the course change
process turns the rudder opposite side to the direction of ship rotation (this is called counter-rudder).
If limits are imposed on this rudder angle, this frequently results in phenomena such as
(1) overshoot increasing, and
(2) course changes taking more time.
This code is used to release the rudder angle limits for counter-rudder on course changes.

t
Heading

Counter rudder angle

when rudder limit
function is released

P
Rudder angle limit
t
Rudder angle 0
Rudder angle limit

(1) Press the key when the "C-RUD. LIMIT" appears on the data display. The condition
change wait state will appear on the data display as follows:

C-RUD. LIMIT
< aaaaaaa

a....a: Condition to be set

USE: Rudder limit function used
NOT USE: Rudder limit function not used

(2) The display will change between “USE” and “NOT USE” every time the or key is
pressed. When the condition to be set appears, press the key to define the condition.

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4-22 < 4.Key Operation >

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

C-RUD. LIMIT …
= aaaaaaa

C-RUD. LIMIT
< NOT USE

C-RUD. LIMIT
< USE

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 < 4.Key Operation > 4-23

4.8.5.4 Setting The Rough-seas Steering Mode

When the sea is very rough and the ship's speed must be reduced, ship control may become dif-
ficult against yawing even with frequent rudder operation. Such efforts may result in earlier wear
of the steering gear. In this case, select the "rough-seas steering mode". This mode will help reduce
the frequency of steering and minimize wear of the steering gear, though the course may not be
kept very accurately.

(1) Press the key when “ROUGH SEA” appears on the data display. The condition
change wait state will appear on the data display as follows:

ROUGH SEA
< aaaaaa

a....a: Condition to be set

USE: Rough-seas mode function used
NOT USE: Rough-seas mode function not used

(2) The display will change between “USE” and “NOT USE” every time the or
key is pressed. When the condition to be set appears, press the key to define the
condition.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

ROUGH SEA …
= aaaaaa

ROUGH SEA
< NOT USE

ROUGH SEA
< USE

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4-24 < 4.Key Operation >

4.8.5.5 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 il-
lustrated 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.

Course t

Rudder angle t

Hand steering mode Auto steering mode

(1) Press the key when “HELM ADJUST” appears on the data display. The condition
change wait state will appear on the data display as follows:

HELM ADJUST
< aaaaaaa

a....a: Condition to be set

MANUAL: Manual mode

AUTO: Automatic mode

(2) The display will change between “MANUAL” and “AUTO” every time the or
key is pressed. When the mode to be set appears, press the key to define the mode.

(3) AUTO mode adjustment

Press the 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 steering mode is changed over to the auto steering mode.

(4) MANUAL mode adjustment

Press the key when “MANUAL” appears on the data display. Then the rudder angle
adjustment change wait state will appear on the data display.

HELM ADJUST 
< a X°  Stting Range : S 5 to 0 to P 5 °
a : Direction for adjustment
P: Adjustment on the port side
S: Adjustment on the starboard side

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 < 4.Key Operation > 4-25

(5) The rudder adjustment angle will change every time the or key is pressed.
When the data to be set appears, press the 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 SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION

RUDDER STATE …
= aaaaaaa

HELM ADJUST …
= aaaaaa

HELM ADJUST
< MANUAL

HELM ADJUST HELM ADJUST

< AUTO < S 5°

HELM ADJUST
< S 4°

HELM ADJUST
< P 5°

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4-26 < 4.Key Operation >

4.8.5.6 Number of Rudders

This function is used to set a single- or twin-rudder ship.
(1) Press the key when the “NUMBER OF RUD.” is indicated on the data display, and
the following data change wait state will be indicated on the data display:

NUMBER OF RUD.
< aaaaaa RUDDER

"a...a" denotes the number of rudders to be set.

SINGLE: Single rudder
TWIN: Twin rudders

(2) The display changes between “SINGLE” and “TWIN” every time the or key
is pressed. When the number of rudders you want to set is displayed, press the key
to define it.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

NUMBER OF RUD. …
= aaaaaa RUDDER

NUMBER OF RUD.
< SINGLE RUDDER

NUMBER OF RUD.
< TWIN RUDDER

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 < 4.Key Operation > 4-27

4.8.5.7 Course Deviation Limit Function

(1) 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 DEV'N
LIMIT FUNC.<aaaa

a..a: Condition to be set

WITH: With course deviation limit function
NOT: Without course deviation limit function

(2) The condition display will change between “WITH” and “NOT” every time the or
key is pressed. When the condition to be set appears, press the key to
define the condition.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

COURSE DEV'N …
LIMIT FUNC.=aaaa

COURSE DEV'N
LIMIT FUNC.<WITH

COURSE DEV'N
LIMIT FUNC.< NOT

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4.8.5.8 Steering Gear Deadband Compensation

(1) Press the key when "GEAR DEADBAND COMPENSAT." is displayed on the data
display. Then the condition change wait state will appear on the data display.

GEAR DEADBAND
COMPENSAT. <aaaa

a..a : Condition to be set

WITH: With steering gear deadband compensation
NOT: Without steering gear deadband compensation

(2) The condition display will change between “WITH” and “NOT” every time the or
key is pressed. When the condition to be set appears, press the key to
define the condition.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

GEAR DEDBAND …
COMPENSAT. =aaaa

GEAR DEDBAND
COMPENSAT. < NOT

GEAR DEDBAND …
COMPENSAT. <WITH

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 < 4.Key Operation > 4-29

4.8.5.9 Ship Speed Pulse Rate

Set the ship speed pulse rate (pulse/n mile).
(1) Press the key when the "SPD PULSE RATE" is displayed on the data display. The
following data change wait state will be indicated on the data display:

SPD PULSE RATE … 

< aaaaaaaaaaaaa Setting Range : NO CONNECTION, Serial Input,
 100 to 900

NO CONNECTION : Speed signal is no connection

Serial Input : Speed signal is input by a serial signal

(2) The displayed speed pulse rate changes every time the or key is pressed.
When the speed pulse rate you want to set is displayed, press the key to define it.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

SPD PULSE RATE …

= aaaaaaaaaaaaa

SPD PULSE RATE

< NO CONNECTION

SPD PULSE RATE

< Serial Input

SPD PULSE RATE

< 100

SPD PULSE RATE

< 900

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4-30 < 4.Key Operation >

4.8.5.10 Exponential Smoothing Time for Ship Speed

This function is used to set exponential smoothing time constant for speed data.
(1) Press the 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. TIME< XXX  Setting Range : 6 to 30

(2) The displayed exponential smoothing time changes every time the or key is
pressed. When the exponential smoothing time you want to set is displayed, press the
key to define it.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

SPD EXP. SMOOTH…

RESP. TIME= XXX

SPD EXP.SMOOTH.
RESP. TIME< 6

SPD EXP.SMOOTH.
RESP. TIME< 7

SPD EXP.SMOOTH.
RESP. TIME< 29

SPD EXP.SMOOTH.
RESP. TIME< 30

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 < 4.Key Operation > 4-31

4.8.5.11 Gyrocompass Moving Average Time

This function is used to set the moving averaging time constant for gyrocompass heading data.
(1) 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:

GYRO MOVING AVE. 

AVE. TIME< XXX  Setting Range : OFF, 1 to 30

(2) The displayed time constant changes every time the or key is pressed. When
the time constant you want to set is displayed, press the key to define it. The time
constant display will change between off and "1 ...30". In the "OFF" state, a gyrocompass
heading is not provided with moving averaging.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

GYRO MOVING AVE…

AVE. TIME= XXX

GYRO MOVING AVE.

AVE. TIME< OFF

GYRO MOVING AVE.

AVE. TIME< 1

GYRO MOVING AVE.

AVE. TIME< 29

GYRO MOVING AVE.

AVE. TIME< 30

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4-32 < 4.Key Operation >

4.8.5.12 Auxiliary Compass Moving Average Time

NOTE
Setting will be disabled if the AUX.compass is not connected.

This function is used to set the moving averaging time constant for auxiliary compass heading data.
(1) Press the key when the “AUX MOVING AVE. is indicated on the data display, and
the following data change wait state will be indicated on the data display:

AUX MOVING AVE. 

AVE. TIME< XXX  Setting Range : OFF, 1 to 30

(2) The displayed time constant changes every time the or key is pressed. When
the time constant you want to set is displayed, press the key to define it. The time
constant display will change between “OFF” and "1...30". In the "OFF" state, an auxiliary
compass heading is not provided with moving averaging.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

AUX MOVING AVE…

AVE. TIME= XXX

AUX MOVING AVE.

AVE. TIME< OFF

AUX MOVING AVE.

AVE. TIME< 1

AUX MOVING AVE.

AVE. TIME< 29

AUX MOVING AVE.

AVE. TIME< 30

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 < 4.Key Operation > 4-33

4.8.5.13 Type of Rudder Angle Display

This function is used to set either the rudder command or rudder feedback as the rudder angle in-
dicated on the data display. The rudder command becomes the rudder command of the auto steer-
ing unit, while the rudder feedback becomes the rotary angle of the μ transmitter.

(1) Press the 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 "FEEDBACK" and "COMMAND" every time the
or key is pressed. When the condition you want to set is displayed, press the
key to define it.

SPD SDME :2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

ANGLE DISPLAY …
= aaaaaaaa

ANGLE DISPLAY
< FEEDBACK

ANGLE DISPLAY
< COMMAND

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4-34 < 4.Key Operation >

4.8.5.14 Self-testing Command

Self-testing monitoring is automatic. Command can be given by this setting.
(1) Press the key when the "SELF TEST" is indicated on the data display, and the fol-
lowing data change wait state will be indicated on the data display:

SELF TESTING
START : [ENTER]

(2) Self-testing is started by pressing the key, and the following self-testing display will
be indicated on the data display:

= SELF TESTING =

Display by flashing

"SELF TEST" will be displayed upon completion of the self test.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 5 …
CONTROL FUNCTION
RUDDER STATE …
= aaaaaaa

SELF TEST …
RAM/ROM/APU TEST

SELF TESTING
START : [ENTER]

= SELF TESTING =

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 < 4.Key Operation > 4-35

4.8.6 Initial Setting of Control 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 according to section
4.8.6.13, "Presetting parameters." This will enable parameter setting.

 Cruising speed  Differential gain multiplier

 Hull length  Proportional gain multiplier
 Initial setting value of static gain  Stable/unstable results computed from ship particulars
 Setting value of time constant  Parameter updated state (updated/not updated)
 Setting value of static gain Stable/unstable updated result

 Kalman filter noise covariance matrix multiplier Preset switch

4.8.6.1 Item Switching

(1) Press the key when "ADJUST MODE 6" is indicated on the data display, and the
control parameter initial set item selection wait state will be displayed on the data display:
(2) The display will change every time the or key is pressed.
← → ← → ← → ← → ← → ← → ←
→ ← → ←
→ ← → ← → ← → →
←

 PARAMETER SET …  PARAMETER SET …

Vs= XXkn G2= X.X

 PARAMETER SET …  PARAMETER SET …

Lpp= XXX m INIT.= aaaaaaaa

 PARAMETER SET …  PARAMETER SET …

Ki= X.XX 1/s IDENT=aaaaaaaaaa

 PARAMETER SET … PARAMETER SET …

TV= XXX s RESULT= aaaaaaaa

 PARAMETER SET … PARAMETER SET …

KV= X.XX 1/s PRESET SW

 PARAMETER SET … PARAMETER SET …

MQ= XX.XX <EXIT>

 PARAMETER SET …
G1= X.X

When the item you want to set is displayed, press the key. Each item will then be set and
displayed.

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4-36 < 4.Key Operation >

4.8.6.2 Setting The Cruising Speed

Set the cruising speed.
(1) Press the key when "Vs=" is displayed on the data display. Then the data change
wait state will appear on the data display as follows:

PARAMETER SET 
Vs< XXkn  Setting Range : 1 to 65 kn

(2) The data changes every time the or key is pressed. When the cruising speed
to be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET
Vs< 1kn

PARAMETER SET
Vs< 2kn

PARAMETER SET
Vs< 64kn

PARAMETER SET
Vs< 65kn

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 < 4.Key Operation > 4-37

4.8.6.3 Setting The Hull Length

Set the hull length.
(1) Press the key when "Lpp=" is displayed on the data display. Then the data change
wait state will appear on the data display as follows:

PARAMETER SET 
Lpp< XXX m  Setting Range : 10 to 360 m

(2) The data changes every time the or key is pressed. When the hull length to
be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
Lpp= XXX m

PARAMETER SET
Lpp< 10 m

PARAMETER SET
Lpp< 20 m

PARAMETER SET
Lpp< 350 m

PARAMETER SET
Lpp< 360 m

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4-38 < 4.Key Operation >

4.8.6.4 Initial Setting Value of Static Gain

(1) Press the 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 
Ki< X.XX 1/s  Setting Range : 0.02 to 0.60 1/s

(2) The data changes every time the or key is pressed. When value of static
gain to be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
Ki= X.XX 1/s

PARAMETER SET
Ki< 0.02 1/s

PARAMETER SET
Ki< 0.04 1/s

PARAMETER SET
Ki< 0.50 1/s

PARAMETER SET
Ki< 0.60 1/s

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 < 4.Key Operation > 4-39

4.8.6.5 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 
TV< XXX s  Setting Range : 3 to 250 s

(2) The data changes every time the or key is pressed. When the value of time
constant to be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
TV= XXX s

PARAMETER SET …
TV= 3 s

PARAMETER SET …
TV= 5 s

PARAMETER SET …
TV= 200 s

PARAMETER SET …
TV= 250 s

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4-40 < 4.Key Operation >

4.8.6.6 Setting Value of Static Gain

(1) Press the 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 
KV< X.XX 1/s  Setting Range : 0.02 to 0.60 1/s

(2) The data changes every time the or key is pressed. When the value of
static gain to be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
KV= X.XX 1/s

PARAMETER SET …
KV= 0.02 1/s

PARAMETER SET …
KV= 0.03 1/s

PARAMETER SET …
KV= 0.50 1/s

PARAMETER SET …
KV= 0.60 1/s

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 < 4.Key Operation > 4-41

4.8.6.7 Setting The Kalman Filter Noise Covariance Matrix Multiplier

(1) Press the key when "MQ=" is displayed on the data display. Then the data change
wait state will appear on the data display as follows:

PARAMETER SET 
MQ< XX.XX  Setting Range : 0.02 to 50.00

(2) The data changes every time the or key is pressed. When the noise covari-
ance matrix multiplier to be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
MQ= XX.XX

PARAMETER SET
MQ< 0.02

PARAMETER SET
MQ< 0.05

PARAMETER SET
MQ< 20.00

PARAMETER SET
MQ< 50.00

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4-42 < 4.Key Operation >

4.8.6.8 Setting Differential Gain Multiplier

Set the differential gain multiplier.
(1) Press the 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 
G1< X.X  Setting Range : 0.2 to 4.0

(2) The displayed data change every time the or key is pressed. When the dif-
ferential gain multiplier you want to set is displayed, press the key to define it.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
G1= X.X

PARAMETER SET
G1< 0.2

PARAMETER SET
G1< 0.4

PARAMETER SET
G1< 3.0

PARAMETER SET
G1< 4.0

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 < 4.Key Operation > 4-43

4.8.6.9 Setting The Proportional Gain Multiplier

(1) Press the key when "G2=" is displayed on the data display. Then the data change
wait state will appear on the data display as follows:

PARAMETER SET 
G2< X.X  Setting Range : 0.2 to 4.0

(2) The data changes every time the or key is pressed. When the proportional
gain multiplier to be set appears, press the key to define the data.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXkn

PARAMETER SET …
G2= X.X

PARAMETER SET
G2< 0.2

PARAMETER SET
G2< 0.4

PARAMETER SET
G2< 3.0

PARAMETER SET
G2< 4.0

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4-44 < 4.Key Operation >

4.8.6.10 Setting The Results Computed from Ship Particulars (Stable

Ship/Unstable Ship)
(1) Press the key when "INIT.=" is displayed on the data display. Then the data change
wait state will appear on the data display as follows:

PARAMETER SET
INIT.< aaaaaaaa

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 or
key is pressed. When the result to be set appears, press the key to define the result.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXXkn

PARAMETER SET …
INIT. = aaaaaaaa

PARAMETER SET
INIT. < STABLE

PARAMETER SET
INIT. < UNSTABLE

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 < 4.Key Operation > 4-45

4.8.6.11 Setting The Parameter Updated State (Updated/Not Updated)

(1) Press the 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<aaaaaaaaaa

a....a: State to be set

INCOMPLETE: Not updated
COMPLETE: Updated

(2) The data changes between “INCOMPLETE” and “COMPLETE” every time the or
key is pressed. When the state to be set appears, press the key to define
the state.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXXkn

PARAMETER SET …
IDENT=aaaaaaaaaa

PARAMETER SET
IDENT<INCOMPLETE

PARAMETER SET
IDENT< COMPLETE

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4-46 < 4.Key Operation >

4.8.6.12 Setting The Updated Result (Stable Ship/Unstable Ship)

(1) Press the key when "RESULT=" is displayed on the data display. Then the data
change wait state will appear on the data display as follows:

PARAMETER SET
RESULT< aaaaaaaa

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 or
key is pressed. When the result to be set appears, press the key to
define the result.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XXXkn

PARAMETER SET …
RESULT= aaaaaaaa

PARAMETER SET
RESULT< STABLE

PARAMETER SET
RESULT< UNSTABLE

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 < 4.Key Operation > 4-47

4.8.6.13 Presetting Parameters

The parameters must be preset to enable the initial setting of control parameters.
(1) Press the key when "PRESET SW" is indicated on the data display, and the follow-
ing will be displayed on the data display:

PARAMETER SET …
PRESET:[ENTER]

(2) Displayed data changes between “PRESET: [ENTER]” and “<EXIT>” every time the
or key is pressed.
The set parameter will be preset by pressing the key when “PRESET: [ENTER]” is
displayed.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 6 …
PARAMETER SET
PARAMETER SET …
Vs= XX kn

PARAMETER SET …
PRESET SW

PARAMETER SET
PRESET:[ENTER]

PARAMETER SET
<EXIT>

PARAMETER SET
PRESET!!

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4-48 < 4.Key Operation >

4.8.7 Automatic Setting of Control Parameters for Each Draft

Mode
This setting is very infrequently made in a special ship or coal ship where the hull movement char-
acteristics (K, T) are subject to drastic changes due to load changes. This type of ship cannot meet
control requirements even by switching the draft mode in conformity to load changes. To satisfy
such requirements, special control parameters are set for each of the draft modes (Full, Middle and
Ballast modes), thereby providing optimal control. The optimal control parameters must be se-
lected for each of the Full, Middle and Ballast modes.

NOTE
The best way to adjust this setting method is based on several cruising experiences. It is recom-
mended that you proceed with the work by keeping in close contact with the manufacturer.

(1) Press the key when “ADJUST MODE 7” is displayed on the data display. Then the
control parameters in the Full mode will appear on the data display as follows:
If the control parameters are already set, the content will be displayed, and "=IS NOT SET"
will be displayed if the control parameters are not yet set.

FULL … FULL …
= XXXXXXXXXXX or = IS NOT SET

(2) The display changes every time the or key is pressed.

(3) Setting the parameter for each draft mode

Press the key when the draft mode to be set is displayed on the data display. Then
the draft mode parameter will be set and the data will appear on the data display as follows:

aaaaaaa …  a.....a : Draft mode to be set

PARAM.SW WAS SET FULL, MIDDLE, BALLAST

(3-1) Press the key when the above display is given. Then the set parameter will appear
on the data display.

aaaaaaa …  a.....a : Draft mode to be set

= XXXXXXXXXXX FULL, MIDDLE, BALLAST

(4) Clearing the set parameter

Press the 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:

SW IN NVRAM
CLEAR FINISH

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 < 4.Key Operation > 4-49

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 7 …
PARAM. NVRAM SET

FULL … FULL FULL

= XXXXXXXXXXX PARAM.SW WAS SET = XXXXXXXXXXX

MIDDLE … MIDDLE MIDDLE

= XXXXXXXXXXX PARAM.SW WAS SET = XXXXXXXXXXX

BALLAST … BALLAST BALLAST

= XXXXXXXXXXX PARAM.SW WAS SET = XXXXXXXXXXX

SW IN NVRAM … SW IN NVRAM
CLEAR CLEAR FINISH

PARAM.NVRAM SET…
<EXIT>

aaaaaaa “a...a” is any one of FULL,MIDDLE, or BALLAST.

< XXXXXXXXXXX

Updated Result
Parameter Updated State
Results Computed from Ship Particulars
Proportional Gain Multiplier
Differntial Gain Multiplier
Kalman Filter Noise Covariance Matrix Multiplier
Value of Static Gain
Value of Time Consatant
Initial Value of Static Gain
Hull Length
Cruising Speed

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4-50 < 4.Key Operation >

Correspondence Between Parameter Displays and Their Values


The follwing table shows each parameter setting(y’s), which corresponds to X’s displayed in the
lower figure on page 4-49.

Kalman Differ-
Initial Propor- Results
Value of Value of Filler Noise ential
Cruising Hull Value of tional Computed Parameter Updated
Time Static Covariance Gain
Speed Length Static Gain form Ship Updated State Result
Constant Gain Matrix Multi-
Gain Multiplier Particulars
Multiplier plier
Vs[kn] Lpp[m] Ki TV Kv MQ G1 G2 INIT. IDENT RESULT
X yy X yyy X y.yy X yyy X y.yy X yy.yy X y.y X y.y X yyyyyyyy X yyyyyyyy X yyyyyyyy

0 1 0 10 0 0.02 0 3 0 0.02 0 0.02 0 0.2 0 0.2 0 UNSTABLE 0 INCOMPLETE 0 UNSTABLE

1 2 1 20 1 0.03 1 5 1 0.03 1 0.05 1 0.4 1 0.4 1 STABLE 1 COMPLETE 1 STABLE
2 3 2 30 2 0.04 2 7 2 0.04 2 0.10 2 0.5 2 0.5
3 4 3 40 3 0.05 3 10 3 0.05 3 0.20 3 0.6 3 0.6
4 5 4 50 4 0.06 4 15 4 0.06 4 0.30 4 0.7 4 0.7
5 6 5 60 5 0.07 5 20 5 0.07 5 0.50 5 0.8 5 0.8
6 7 6 70 6 0.08 6 25 6 0.08 6 0.70 6 0.9 6 0.9
7 8 7 80 7 0.09 7 30 7 0.09 7 1.00 7 1.0 7 1.0
8 9 8 90 8 0.10 8 35 8 0.10 8 1.50 8 1.1 8 1.1
9 10 9 100 9 0.11 9 40 9 0.11 9 2.00 9 1.2 9 1.2
A 11 A 110 A 0.12 A 50 A 0.12 A 3.00 A 1.4 A 1.4
B 12 B 120 B 0.13 B 60 B 0.13 B 5.00 B 1.6 B 1.6
C 13 C 130 C 0.14 C 70 C 0.14 C 7.00 C 1.8 C 1.8
D 14 D 140 D 0.16 D 80 D 0.16 D 10.00 D 2.0 D 2.0
E 15 E 150 E 0.18 E 100 E 0.18 E 20.00 E 3.0 E 3.0
F 16 F 160 F 0.20 F 120 F 0.20 F 50.00 F 4.0 F 4.0
G 17 G 170 G 0.30 G 150 G 0.30
H 18 H 180 H 0.40 H 200 H 0.40
I 19 I 190 I 0.50 I 250 I 0.50
J 20 J 200 J 0.60 J 0.60
K 21 K 210
L 22 L 220
M 23 M 230
N 24 N 240
O 25 O 250
P 26 P 260
Q 27 Q 270
R 28 R 280
S 29 S 290
T 30 T 300
U 31 U 310
V 32 V 320
W 33 W 330
X 34 X 340
Y 35 Y 350
X 36 X 360
a 37
: :

65

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 < 4.Key Operation > 4-51

4.8.8 Average Value Display

Each of the evaluation indices (J= 2+ 2) to evaluate controllability during steering can be dis-
played. The following describes the items to be displayed:

 Average course deviation (for one minute)

 Average rudder angle (for one minute)
 Average evaluation index (for one minute)
 Average evaluation index (for 30 minutes)

(1) Press the key when “ADJUST MODE 8” is displayed on the data display. Then the
average course deviation (for one minute) will appear on the data display as follows:

AVG. VALUE DISP…

CRS DEV'N=XX.XX°

(2) The display changes every time the or key is pressed.

SPD SDME : 2.5kn
HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 8 …
AVG. VALUE DISP

AVG. VALUE DISP…

CRS DEV'N=XX.XX°

AVG. VALUE DISP…

RUDD.ANG.=XX.XX°

AVG. VALUE DISP…

J (1min)=XXX.XX

AVG. VALUE DISP…

J (30min)=XXX.XX

AVG. VALUE DISP…

<EXIT>

(3) Press the key and the standard display will be given.

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4.8.9 Parameter Update Computations

Ship's parameter update computations are made.
 Disabling parameter update computations
 Enabling parameter update computations and the display of results
 Initializing ship's parameter computations

(1) Press the key when “ADJUST MODE 9” is displayed on the data display. Then the
parameter update computation wait state will appear on the data display as follows:

IDENTIFICATION …
= DISABLE  Item displayed

(2) The display changes between “DISABLE” and “EXIT” every time the or key
is pressed.
Press the key when "= DISABLE" is displayed on the data display. Then the item
to be displayed will appear on the data display as follows:
Press the or key to select the item to be operated.
Press the key to operate each item.

IDENTIFICATION
< DISABLE

IDENTIFICATION
< ENABLE

IDENTIFICATION
< INITIALINZE

(3) Press the key during the above operation and the standard display will appear.

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 < 4.Key Operation > 4-53

4.8.9.1 Enabling Parameter Update Computations and The Display of

Results
This function is used for parameter update computations of the ship's parameters after parameter-
read maneuvering. For the parameter-read maneuvering procedures, see section 3.3.6.
(1) Press the key when "ENABLE" is displayed on the data display. Then the following
display will appear on the data display to indicate the current process of the parameter update
computations.

IDENTIFICATION …
=UPDATE 0  Display of the number of update times

Flickers during update computations

(2) When parameter update computations are completed, the “UPDATE” flickering stops and the
number of update times increases by one and then the flickering display appears.

IDENTIFICATION …
=UPDATE 1

Flicker

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 9 …
IDENTIFICATION

ENABLE IDENTIFICATION …
= UPDATE X

IDENTIFICATION
< UPDATE X ENABLE

IDENTIFICATION …
TV= XXX.XXXs

IDENTIFICATION
< DISABLE DISABLE

IDENTIFICATION …
KV= X.XXXXX1/S

IDENTIFICATION
< INITIALIZE INITIALIZE
IDENTIFICATION …
S/US= aaaaaaaa

IDENTIFICATION …
<EXIT>

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(3) Further, press the or key, and the ship’s parameters (“TV”, “KV”, “S/US”) will
be displayed in sequence.

IDENTIFICATION …
= UPDATE X

IDENTIFICATION …
TV= XXX.XXXs

IDENTIFICATION …
KV= X.XXXXX1/S

IDENTIFICATION …
S/US= aaaaaaaa

IDENTIFICATION … ADJUST MODE 9 …

<EXIT> IDENTIFICATION

(4) After the above procedure is completed, press the key to select “DISABLE” when
"=UPDATE" is displayed. For subsequent operations, see section 4.8.8.2.

(5) Press the key during the above procedure to return to the standard display.

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 < 4.Key Operation > 4-55

4.8.8.2 Disabling Parameter Update Computations

This function is used to disable parameter update computations.
(1) When "= UPDATE X" is displayed, press the key to display the item to be operated.
Press the or key to select the item to be operated. Press the key
to proceed to the item operation.

IDENTIFICATION
< UPDATE X

IDENTIFICATION
< DISABLE

IDENTIFICATION
< INITIALINZE

(2) When “DISABLE” is displayed on the data display, press the key. Then the following
display will appear on the data display to indicate disabled computation.

IDENTIFICATION …
= DISABLE

(3) When the above display is given, press the key to return to the standard display.
SPD SDME : 2.5kn
HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 9 …
IDENTIFICATION

DISABLE IDENTIFICATION …
= DISABLE

IDENTIFICATION
< DISABLE ENABLE

IDENTIFICATION …
<EXIT>

IDENTIFICATION
< ENABLE DISABLE

IDENTIFICATION
< INITIALIZE INITIALIZE

INITIALIZE IDENTIFICATION ENABLE

INITIALIZE END

DISABLE

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4.8.9.3 Initialize of Identified Parameters

This function is used to initialize ship's parameters updated by parameter-read maneuvering.
(1) Press the key when “INITIALIZE” is displayed on the data display. Then the follow-
ing display will appear on the display to indicate that the ship's parameters are completed.

IDENTIFICATION
INITIALIZE END

(2) When the above display is given, press the key to return to the standard display.

4.8.9.4 Inhibiting Parameter Update Computations

This function allows only the ship's parameters to be initialized when the control parameters are set
for each draft mode.

(1) Press the key when “ADJUST MODE 9” is displayed on the data display. Then the
following display will appear on the data display to indicate that parameter update computa-
tions are inhibited.

IDENTIFICATION …
= INHIBIT  Item displayed

(2) The display changes between “INHIBIT” and “EXIT” every time the or key is
pressed.
Press the key when "= INHIBIT" is displayed on the data display. Then the item to
be displayed will appear on the data display as follows:
Press the or key to select the item to be operated.
When the item to be operated is displayed, press the key to operate each item.

IDENTIFICATION
< INHIBIT

IDENTIFICATION
< INITIALINZE

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 < 4.Key Operation > 4-57

(3) Press the key during the above operation and the standard display will be given.

SPD SDME : 2.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

ADJUST MODE 9 …
IDENTIFICATION

IDENTIFICATION …
= INHIBIT

IDENTIFICATION
< INHIBIT

IDENTIFICATION …
<EXIT>

IDENTIFICATION
< INITIALIZE
IDENTIFICATION
INITIALIZE END

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4.8.10 Setting The Alert Limit of Low Ship Speed

Set the lower limit value of ship speed for which an alert 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 PT500A’s internal control computations) stays lower
than the limit value for approximately 10 seconds, an alert occurs.

(1) Press the key when “ADJUST MODE 10” is displayed on the data display.
Then the current alert limit setting will appear on the data display.

LOW SPEED …
LIMIT SPD= XXkn  Current alert limit of low ship speed

(2) To change the alert limit setting , press the key while the current setting is being
displayed to get the data display unit to prompt for data.

LOW SPEED
LIMIT SPD< XXkn  New alert limit setting
Setting range: 3 to 35 kn

Alert limit data will increase/decrease every time the or key is pressed. When
the desired value is displayed, press the key. The display as shown in step (1) will
appear with the new alert limit setting.

SPD SDME :12.5kn

HDG GYRO :256.3°

ADJUST MODE 1 …
DIMMER/CONTRAST

LOW SPEED
ADJUST MODE 10…
LIMIT SPD< 3kn
LOW SPEED

LOW SPEED …
LIMIT SPD 3kn LOW SPEED
LIMIT SPD< 4kn

LOW SPEED …
<EXIT>
LOW SPEED
LIMIT SPD< 34kn

LOW SPEED
LIMIT SPD< 35kn

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 < 4.Key Operation > 4-59

4.8.11 Date and Time Setting (UTC)

Set UTC (Coordinated Universal Time) and Date for PT500.

The setting items are as follows;

 Year
 Month
 Day
 Hour
 Minute
 Second

1. Item switching
(1) Press the key when “ADJUT MODE 11 … “ is indicated on the data display, and the
setting item selection wait state will be displayed on the data display:
(2) Displayed items changes every time the or key is pressed.

→ ←
 ← → ←
→ ←
→ ←
→ ←
→ ←
→

DATE & TIME Set…


Year= 2008

DATE & TIME Set…


Month= ##

DATE & TIME Set…


Day= ##

DATE & TIME Set…


Hour= ##

DATE & TIME Set…


Minute= ##

DATE & TIME Set…


Second= ##

DATE & TIME Set…


<Exit>

When the item you want to set is displayed, press the key. Each item will then be set and
displayed.

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2. Setting of Year
Set Year of current date. The setting range is from “2000” to “2099”.

(1) When “Year=” is displayed on the data display press the key. The following condition
change wait state will then be displayed on the data display:

DATE & TIME Set

Year< ###

#### : “Year” to be set

(2) The displayed Year changes every time the or key is pressed. When Year
you want to set is displayed, press the key to define it. The Year data display will
change between “2000” and “2099”.

3. Setting of Month
Set Month of current date. The setting range is from “01” to “12”.

(1) When “Month=” is displayed on the data display press the key. The following condi-
tion change wait state will then be displayed on the data display:

DATE & TIME Set

Month< ##

## : “Month” to be set
(2) The displayed Month changes every time the or key is pressed. When Month
you want to set is displayed, press the key to define it. The Month data display will
change between “01” and “12”.

4. Setting of Day
Set Day of current date. The setting range is from “01” to “31”.

(1) When “Day=” is displayed on the data display press the key. The following condition
change wait state will then be displayed on the data display:

DATE & TIME Set

Day< ##

## : “Day” to be set
(2) The displayed Day changes every time the or key is pressed. When Day you
want to set is displayed, press the key to define it. The Day data display will change
between “01” and “31”.
Check the maximum date of bissextile year and set the date accordingly because the adjustment
function is not included in this system.

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 < 4.Key Operation > 4-61
5. Setting of Hour
Set Hour of UTC. The setting range is from “00” to “23”.

(1) When “Hour=” is displayed on the data display press the key. The following condition
change wait state will then be displayed on the data display:

DATE & TIME Set

Hour< ##

##: “Hour” to be set

(2) The displayed Hour changes every time the or key is pressed. When Hour
you want to set is displayed, press the key to define it. The Hour data display will
change between “00” and “23”.

6. Setting of Minute
Set Hour of UTC. The setting range is from “00” to “59”.

(1) When “Minute=” is displayed on the data display press the key. The following condi-
tion change wait state will then be displayed on the data display:

DATE & TIME Set

Minute< ##

##: “Minute” to be set

(2) The displayed Minute changes every time the or key is pressed. When Minute
you want to set is displayed, press the key to define it. The Minute data display will
change between “00” and “59”.

7. Setting of Second
Set Second of UTC. The setting range is from “00” to “59”.

(1) When “Second=” is displayed on the data display press the key. The following con-
dition change wait state will then be displayed on the data display:

DATE & TIME Set

Second< ##

##: “Minute” to be set

(2) The displayed Second changes every time the or key is pressed. When
second you want to set is displayed, press the key to define it. The Second data
display will change between “00” and “59”.

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Blank Page
 < 5.Alerts > 5-1

5. Alerts
The PT500A autopilot is provided with many monitoring functions to ensure steering safety.

5.1 Alert Types

The following three alert types are available to make a quick and proper judgment if an abnormal
condition is found.

(1) Individual alerts

These alerts are completely independent for each cause of an alarm. Their lamps are mounted on
the ANNUNCIATOR UNIT. Alarms are processed also on the ANNUNCIATOR UNIT. For details
on these alarms, See Section 2.2.7.

(2) ALARM
These alerts require an immediate switchover to the control system, hand steering or non-follow-
up steering when they have been issued. When an “ALARM” occurs, the lamp on the AN-
ALARM

NUNCIATOR UNIT begins to flash and the buzzer sounds.

At the same time, the cause of the alert is shown on the data display of the AUTO STEERING UNIT.
(See Section 5.3.1 for details on the alert.)
To stop the buzzer, press the key on the ANNUNCIATOR UNIT and key on the
AUTO STEERING UNIT.

NOTE
Confirm the own Autopilot specification because the rudder status differs according to the setting
of “Release of midship command” function when the “ALARM” has occurred.
(See Section 5.8.5.2 for details on “Release of midship command”)

In case of "MIDSHIP" setting

The ALARM except “Servo-loop failure” has been occurred, Auto steering unit outputs MID-
SHIP command.
In case of "BY-PASS" setting
The ALARM except “Servo-loop failure” has been occurred, Auto steering unit maintains the
rudder command..
When Autopilot is a part of Track control system or the vessel is DNV class
The midship command has to be released (set to BY-PASS). Also when “Servo-loop failure”
has occurred, the rudder is maintained at the position.

CAUTION
■Alarm
• Operation on SERVO LOOP / FB FAIL
1.Immediately change over to NFU mode with SYSTEM SWITCH and steer
by NFU LEVER when SERVO LOOP or FB FAIL has been issued.
2. Start running another S/G Pump, then stop running S/G Pump
originally in use, if steering could not be restored on NFU mode.
In case of the alert on two S/G Pumps running ;
Stop running No.1 S/G Pump for “1-SERVO LOOP” or “1-FB FAIL”
Stop running No.2 S/G Pump for “2-SERVO LOOP” or “2-FB FAIL”

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5-2 < 5.Alerts >

(3) WARNING
These alerts are designed to have marginal time to allow corrective actions to be taken when an
alert has occurred. When a WARNING occurs, the NING WAR
lamp of the ANNUNCIATOR UNIT begins
to flash and the buzzer sounds. At the same time, the cause of the alert will be indicated on the data
display of AUTO STEERING UNIT. (See Section 5.3.1 for details on the alarm.)
To stop the buzzer, press the key on the ANNUNCIATOR UNIT and key on the
AUTO STEERING UNIT.
Switch the control mode or steering mode according to the display.

5.2 Annunciator Pattern

(1) The buzzer period differs depending on the type of alert.
Type of alarm Buzzer characteristics Alarm lamp flashing rate
Individual alert for steering gear Continuous 1Hz
control system
ALARM Every 7 seconds, sounding 1Hz
short sound at 3 times.
WARNING Sounding short sound at 2 times. 1Hz

(2) Annunciator pattern for ALARM

(UURQHRXVLQSXW

V

%X]]HU

$OHUWODPS

%X]]HUVWRS
$FNQRZOHGJH 6LOHQFH $FNQRZOHGJH
)LUVWWLPH 6HFRQGWLPH

/DPSWHVW

>$OHUWFRQGLWLRQ@
 $FWLYHXQDFNQRZOHGJHG
 $FWLYHVLOHQFHG
 $FWLYHDFNQRZOHGJHG
 5HFWLILHGXQDFNQRZOHGJHG
 1RUPDO

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 < 5.Alerts > 5-3
(3)Acknowledgement of the Alert
1) In the event of an alert, buzzer will be given as specified in above (1) and the alert message
is appeared on the data display as follows;

The following procedure is showing the example of occurrence of Heading and Speed sen-
sor failure.

LED on “ALARM” key Alert massage on Data Display

Blinking
Buzzer ALARM-005
Î Sounded GYRO COMPASS

2) Press “ALARM” key to stop the buzzer sound.

LED on “ALARM” key

Blinking
Buzzer ALARM-005
Î Stop GYRO COMPASS

3) Then press “ALARM” key one more time to acknowledge the displayed alert message.
If there is no more alert, the normal display is appeared on Data display. (See next para 4). )
If second or multiple alert are existing in the system, next priority alert will be appeared on the
Data display as follows.

LED on “ALARM” key 2 ndalert is appeared on Data Display

Blinking
WARNING-070
LOG FAIL

4) Press “ALARM” key to acknowledge the 2nd alert message.

If there is no more alert, the normal display is appeared on Data display.

LED on “ALARM” key Normal Data Display

Lightning
HDG GYRO:---.-°
SPD SDME:--.-kn

Note) Check the alert cause by using ADJUST MODE-4 ERROR CONF. DISP after the acknowl-
edgement of the alert.
The buzzer will be sounded again when another alert is generated after pressing “ALARM“
key.

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5-4 < 5.Alerts >

5.3 Types of Alert Displays

When a typical alert has occurred, the cause of the alarm is indicated on the data display. The fol-
lowing explains the alert displays:

5.3.1 Alarms
Alert No.
Alarm displays on data display Category Description
(in ALF)

CPU ERROR
001 ALARM-001 When the automatic steering mode is selected, Compare
B
(10001) CPU FAIL between input and output values by predefined computa-
tion executed by arithmetic IC

002 MEMORY (RAM) ERROR

ALARM-002
(10002) B When the automatic steering mode is selected, check
MEMORY(RAM) RAM writing and reading.

MEMORY (ROM) ERROR

003 ALARM-003
B When the automatic steering mode is selected, checks
(10003) MEMORY(ROM) ROM contents.

AUTO OUTPUT ERROR

When the automatic steering mode is selected, check to
004 ALARM-004
B see that the difference between the manual terminal unit
(10004) AUTO OUTPUT DAC output value and the ADC input value is within the
reference value of ±0.1V( 40 bits).

GYRO INPUT ERROR

005 ALARM-005 If select gyrocompass for autopilot’s heading sensor, is-
B
(10005) GYRO COMPASS sues an alert if a gyrocompass signal input failure con-
tinues for 2 seconds or longer.

AUX. COMPASS INPUT ERROR

006 ALARM-006 If select aux. Compass for autopilot’s heading sensor,
B
(10006) AUX. COMPASS issues an alert if an auxiliary compass signal input failure
continues for n-seconds or longer.

007
(10007) ALARM-XXX FB FAIL ERROR (Option)
Issues an alert if the signal from the rudder feed-back
to No.– FB FAIL B
potentiometer is faulty due to disconnection or ground-
010
ing.
(10010) 1 to 4 control systems

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 < 5.Alerts > 5-5

Alert No.
Alarm displays on data display Category Description
(in ALF)
SERVO LOOP FAILURE
ALARM-XXX This alert is issued if the difference between the rudder
order and feed back rudder angle is approx.5 degree or
No.– SERVO LOOP more and, the follow up time does not finish within the
following time.
1 to 4 control systems The monitor setting of Servo loop failure can be carried
out using the maintenance menu, and setting the mini-
mum & maximum commanded angle and the minimum
& maximum delay time can be adjusted as shown in the
following table.

SETTING VALUE FOR SERVO LOOP FAILURE

STATE OF S/G PUMP OPERATION Setting
ITEM SINGLE PARALLEL range
Min. Angle 5 degrees 2º 5 º
Max. Angle Maximum rudder angle × 2 70º 160 º
Min. Time 7s 6s 3s12s
Max. Time 30 s 22 s 15s 160s

011 In case that Max. angle is

(10011) 70 degrees
To B
014
(10014)
Detection
time

Max.Time Sw

Max.Time PW

Max.Time SN

Max.Time PN

Min.Time S
Min.Time P

Min.Angle Max.Angle N Max.Angle W Dgree

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
S : Single pump operation
P : Parallel pump operation
N : Normal rudder angle
W : Wide rudder angle

ALARM-015 DATA LINK MASTER UNIT ERROR

015
B Issues an alert if the data transmission master unit is
(10015) LINK-MASTER faulty.

016
ALARM-XXX
(10016) DATA LINK SLAVE ERROR
to No.– LINK-SLAVE B Issues an alert when the currently operating manual ter-
019 minal unit has been disabled.
(10019) 1 to 4 control systems

STEERING MODE SWITCH ERROR

020 ALARM-020 Issues an alert if two or more steering modes have been
B
(10020) STEERING MODE SW specified or no command is given for 2 seconds or long-
er.

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5-6 < 5.Alerts >

Alert No.
Alarm displays on data display Category Description
(in ALF)

RUDDER DIFFERENCE (Option)

Issue an alert if the deviation between rudder command
021 from Autopilot system and rudder command loop-back
(10021) ALARM-XXX signal from Control & Power Box exceeds the preset
to No.– RUDDER DIFF B limit for “N” seconds.
024 The preset value and delay time can be set by mainte-
(10024) 1 to 4 control systems nance mode.
Default setting: limit value=5 deg.,
delay time=3s.

201 ALARM-XXX
(10201) ACTUATOR FAILURE (Option)
to No.– ACT FAIL B In Y, KT and T type Autopilot, issue an alert when Control
204 & Power Box detects an Actuator alert.
(10204) 1 to 4 control systems

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 < 5.Alerts > 5-7

5.3.2 Warnings
Alert No.
Alert displays on data display Category Description
(in ALF)

TCS INPUT DATA ERROR

051 WARNING-051 Checks the input data and issues an alert if no normal
B
(10051) TCS NO COMMAND input is given for n seconds because of a signal or other
failure. (“n”=Timeout limit)

SYSTEM MODE SWITCH ERROR

052 WARNING-052 Issues an alert if two or more system changeover switch-
B
(10052) SYSTEM MODE SW es are specified or no switch is specified for 2 seconds
or longer.

COURSE SETTING DIAL ERROR

054 WARNING-054
B Issues an alert if the course setting dial remains on for
(10054) COURSE DIAL SW one minute or longer.

COMPASS SELECT KEY ERROR

055 WARNING-055
B Issues an alert if the compass selection key remains on
(10055) COMPASS SEL.KEY for eight seconds or longer.

ALARM STOP KEY ERROR

056 WARNING-056
B Issues an alert if the buzzer stop key remains on for eight
(10056) ALARM STOP KEY seconds or longer.

COURSE SET KEY ERROR

057 WARNING-057
B Issues an alert when the course setting key is kept on for
(10057) COURSE SET KEY 2 minutes or more.

HEADING SET KEY ERROR

058 WARNING-058
B Issues an alert if the heading set key remains on for eight
(10058) HEADING SET KEY seconds or longer.

OPERATION KEY ERROR

059 WARNING-059
B Issues an alert if the operation key remains on for eight
(10059) OPERATION KEY seconds or longer.

DATA UP/DOWN KEY ERROR

060 WARNING-060
B Issues an alert if the data UP/DOWN key remains on for
(10060) DATA UP/DOWN KEY two minutes or longer.

OFF COURSE
Issues an alert if the course and heading set by the mag-
061 WARNING-061 netic compass remain over the set limit value for n-sec-
B
(10061) OFF COURSE onds or longer. The detection time n can be set with a
key operation.
(Please refer to Section 4.3)

OFF HEADING
Issues an alert if the set course and heading remain over
WARNING-141
141 A the set limit for about n-seconds or longer. The detection
OFF HEADING time n can be set with a key operation.
(Please refer to Section 4.8.2)

PUMP ALL REST

063 WARNING-063
B Issues an alert if all operation signals from the control/
(10063) PUMP ALL REST power box are off (rest).

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5-8 < 5.Alerts >

Alert No.
Alert displays on data display Category Description
(in ALF)

BACKUP BATTERY ERROR

064 WARNING-064
B Issues an alert if the RAM backup battery voltage is re-
(10064) BACKUP BATT.EMP. duced.

065 WARNING-XXX
(10065) DATA LINK SLAVE ERROR
No.– LINK-SLAVE
To B Issues an alert if the unused manual terminal unit is
068 disabled.
(10068) 1 to 4 : manual terminal unit number

LOG FAIL
070 WARNING-070 Issues an alert if not normally input.
B
(10070) LOG FAIL Note) Not issues an alert when select manual speed
setting.

LOW SPEED
WARNING-159
159 B Issues an alert if the ship’s speed below the set limit
LOW SPEED value for n-seconds or longer.

PARAMETER RESET
073 WARNING-073 In checking at power “ON”, it was judged that the content
B
(10073) PARAMETER RESET of the backup memory was destroyed, and was execut-
ed reset of various parameters.

HEADING MONITOR
When two independent compasses are connected with
the autopilot, issues an alert if the difference between
WARNING-155
155 A both heading exceeds the limit value for n-seconds or
HEADING MONITOR longer during Track control.
The detection time “n” can be set with a key operation.
(Please refer to Section 4.8.3)

GYRO COMPASS INPUT ERROR

075 WARNING-075 If select aux. compass for autopilot’s heading sensor,
B
(10075) GYRO COMPASS issues an alert if the gyrocompass heading signal is not
normally input.

AUX. COMPASS INPUT ERROR

076 WARNING-076 If select gyrocompass for autopilot’s heading sensor, is-
B
(10076) AUX. COMPASS sues an alert if the aux. compass heading signal is not
normally input.

CPU ERROR
078 WARNING-078 When the manual steering mode is selected, Compare
B
(10078) CPU FAIL between input and output values by predefined computa-
tion executed by arithmetic IC.

MEMORY (RAM) ERROR

079 WARNING-079
B When the manual steering mode is selected, checks
(10079) MEMORY(RAM) RAM writing and reading.

MEMORY (ROM) ERROR

080 WARNING-080
B When the manual steering mode is selected, checks
(10080) MEMORY(ROM) ROM contents.

IM80B02-19E 22th Edition:Sep.18,2015-00

 < 5.Alerts > 5-9

Alert No.
Alert displays on data display Category Description
(in ALF)

AUTO OUTPUT ERROR

When the manual steering mode is selected, checks to
081 WARNING-081
B see that the difference between the manual terminal unit
(10081) AUTO OUTPUT DAC output value and the ADC input value is within the
reference value of ±0.1V( 40 bits).

DATA LINK MASTER UNIT ERROR

082 WARNING-082
B When the manual steering mode is selected, issues an
(10082) LINK-MASTER alert if the data transmission master unit is faulty.

HEADING MONITOR
When two independent compasses are connected with
the autopilot, issues an alert if the difference between
WARNING-142
142 B both heading exceeds the limit value for n-seconds or
HEADING MONITOR longer during Heading control.
The detection time “n” can be set with a key operation.
(Please refer to Section 4.8.3)

HEADING MONITOR IMPOSSIBLE

084 WARNING-084
B When two independent compasses are connected with
(10084) HDG MONITOR IMP. the autopilot, issues an alert if one of them occurring fail.

GYRO HEADING CORRECTION ERROR

085 WARNING-085
B When the valid heading correction data could not be
(10085) GYRO HDG CORR. received to GYRO port for 3 seconds or longer.

IM80B02-19E 22th Edition:Sep.18,2015-00

Blank Page
 < 6.Basic Autopilot Action > 6-1

6. Basic Autopilot Action

Fig. 6-1 shows an overview of adaptive control.

6.1 Steering for Fuel Saving .... Minimum Steering

Frequency and Rudder Angle
The basics of fuel saving in steering is to minimize sea water reaction when the rudder is activated.
When rudder movement occurs, the increased reaction of sea water results in an increase in the
load on the engine, causing the engine speed to drop. The governor prevents the engine speed
from decreasing, thereby ensuring constant control. This results in increased fuel consumption.
To put it another way, the ship speed decreases when the reaction increases. These facts indicate
that economical steering of the ship is ensured by navigation along the set course with minimal
rudder movement.
Each ship has its own dynamic characteristics. The response time of a ship varies depending on
these characteristics. The ship will not respond if the rudder is moved quickly beyond its capacity
limit. This limit is called the response limit of a ship. The dynamic characteristics vary with the load,
trim and ship speed. This requires compensation based on correct information of these factors.
Yawing detected by the gyroscope is caused by two factors: the dynamic characteristics of the ship
and the noise from waves or the like. From a fuel-saving viewpoint, it is not recommended that the
rudder be activated in response to high-frequency noise in excess of the response limit of the ship.
Furthermore, it is not recommended that the rudder be moved resulting in great changes in rudder
angle control.

6.2 Adaptive Autopilot Control Algorithm

Fuel saving is ensured by the effective removal of noise and minimized rudder movement based
on correct information on the dynamic characteristics of the ship, as discussed above.
The PT500A Adaptive Autopilot is provided with a built-in extended Kalman filter and optimal con-
troller.

(1) Kalman filter

Statistic concepts are extensively used for more accurate extraction of information obtained from
the input containing irregular noise. Recently, Kalman filters have come to be used to pick up in-
formation on the dynamic characteristics of a ship from its yawing detected by a gyrocompass.
The Kalman filter is used to estimate the rate of turn resulting from operation of the rudder to some
extent by effective removal of the included noise from the gyrocompass output.
The Kalman filter has dynamic characteristics incorporated as a model. This model is turned when
the actual rudder angle is given. Operation of this model and the rate of turn measured by the gy-
rocompass are different. This difference is statistically processed to estimate the rate of turn of the
ship caused by rudder movement.

(2) Extended Kalman filter

As mentioned in the above discussion of the Kalman filter, it has dynamic characteristics incorpo-
rated as a model. It was also explained that this model must be changed according to the load, trim
and ship speed. The extended Kalman filter has a noise removal function and a function to create
a model and to retain its changes.
The function of detecting changes in the model and creating a new model is referred to as "identi-
fication". Normally, to identify the dynamic characteristics of a ship, a Z-test is conducted to create
a model.

IM80B02-19E 22th Edition:Sep.18,2015-00

6-2 < 6.Basic Autopilot Action >

The PT500A Adaptive Autopilot obtains the initial value of the ship model indicating the dynamic
characteristics of the ship from its particulars at the time of installation, and stores such information
in the adaptive controller. Identification is carried out based on maneuvering by reading the hull
parameters when leaving the harbor, and the model is updated.

(3) Optimal controller

Ship yawing as estimated by the extended Kalman filter is input into the optimal controller, and a
rudder angle command is transmitted to ensure that the rate of turn will be put on the correct course.
According to the current control theory, "the controlled object is placed under optimal control if some
evaluation criteria are provided and optimized."
As evaluation criteria, the PT500A Adaptive Autopilot provides optimal control on the basis of fuel-
saving evaluation criteria using the heading deviation, rate of turn and rudder angle as functions.
Controller parameters are automatically determined from the hull model corrected for ship speed
and the above mentioned evaluation functions, thereby eliminating the need for hand setting work
as in a conventional autopilot.

6.3 Changes in Weather Conditions and Adaptive

Autopilot
The above discussion is based on the assumption that the ship is cruising on a calm noiseless sea.
When the sea is rough, the noise from waves or the like will increase, having an increased impact
on the turn of the ship. This degrades the estimated heading accuracy of the Kalman filter.
Under this condition, however, the controller operates in such a way as to minimize the rudder
angle, so it provides the following advantages over a conventional autopilot using weather adjust-
ment:
• Improved fuel saving properties despite worsening weather conditions
• Increased yawing
The problem is found in the balance between fuel saving and maneuverability.
The PT500A Adaptive Autopilot has an economy mode, course-staying mode and rough-seas
steering mode available for selection according to the particular requirements. If maneuverability
is degraded, select the course-staying mode.
When economy mode is selected, the autopilot uses BNAAC algorithm which is described as fol-
lows.

IM80B02-19E 22th Edition:Sep.18,2015-00

 < 6.Basic Autopilot Action > 6-3

Set course
Modified extended Kalman filter
(improved version)
Estimated
Heading heading + - Rudder angle
Rate of turn Optimal command
Noise filter controller
Estimated rate of turn

Predicted heading and rate of turn

K,T
Estimation unit

Set rate of turn

Optimal gain
Actual
rudder angle
Non-linear
compensator

Non-linear
ship model

compensation
Ship’s speed
Ship’s movement Optimal gain
parameter identifier K’ T’ K,T computation

Computation of
Ship’s speed evaluation functions

Estimation Control
system system

Fig. 6-1 Adaptive Autopilot Control Block Diagram

6.4 Basic Behavior of BNAAC (OPTION)

The “BNAAC” is an abbreviation of “Batch Noise Adaptive Autopilot Controller”.
Fig. 6-2 shows an overview of the “BNAAC”.
The important function of “BNAAC” can be roughly divided into two functions.
• Updating of Ship’s Model
• Update of Optimal Gain

(1) Updating of Ship’s Model

aa. Ship’s Basic Model
This model which expresses characteristics of the ship is quite the same as PT500A autopilot.

IM80B02-19E 22th Edition:Sep.18,2015-00

6-4 < 6.Basic Autopilot Action >

bb. Model Identifier (Disturbance Model)

Disturbance caused by the wind and the wave is extracted by subtracting the actual deviation
and the estimated value of disturbance from ship’s basic model.
This disturbance data is collected for 400 seconds, and the disturbance model is produced
with this data.
cc. Current Ship’s Model
In this function, ship’s basic model and disturbance model is composed by mathematical
combination method. As a result, current ship’s model is generated.
This model expresses “how the ship moves by the rudder under current sea condition”.

(2) Update of Optimal Gain

This function is computation of optimal rudder gain by current ship’s model.
Performance index works evaluation of the previous rudder control. It is used as the index to cal-
culate the optimal rudder gain.
The optimal rudder controller which is calculated by “Performance index and Gain controller” can
achieve fuel saving.

6.5 BNAAC and Changes in Weather Conditions

BNAAC can calculate optimal rudder angle by using accurate disturbance model under various sea
conditions. If sea condition worsens remarkably, select the course-staying mode like the conven-
tional Adaptive AUTOPILOT.

Set Course Update of Ship’s Model

ψ Disturbance Model
Deviation ψ
‒
+ + + Current
Model Identifier
Ship’s Model
‒ +
Ship’s The characteristic of disturbance Mathematical
Basic Model is extracted. 㩷 Combination

Ship’s Basic Model

Commanded Optimal Gain Perfomance Index

Rudder
Calculator Gain Calculator

Commanded Rudder θ Update of Optimal Gain

Heading ψ Speed V

Steering Gyro Compass SDME

Geer

Wind / Wave

Fig. 6-2 Overview of the “BNAAC”

IM80B02-19E 22th Edition:Sep.18,2015-00

 < 7.Maintenance and Inspection > 7-1

7. Maintenance and Inspection

NOTE
The following describes the procedures for maintenance and inspection required to ensure normal
operation at all times. For the maintenance and inspection procedures for the system and equip-
ment installed in the steering gear room, refer to the instruction manual for the equipment installed
in that room.

Maintenance/inspection Description Intervals

Hand steering check Set the steering mode to “HAND”, and check to see that correct steer-
1 Every day
ing operation is possible with the hand steering handle.
Non-follow-up Set the System switch to NFU to select the non-follow-up steering
Every day
2 steering check mode. Make sure that the rudder can be controlled correctly with the
non-follow-up steering lever.
Auto steering check Set the steering mode to “AUTO”. Check to see that the operation
pilot lamp lights up in the correct direction and the rudder can be con-
3 Every day
trolled when the course is changed 1 to 2 degrees with the course
setting dial.
Remote control For a ship provided with the remote steering function, set the steering
4 steering check mode to RC, and make sure that the rudder can be controlled cor- Every day
rectly with the remote steering.
NO.1/2 system Confirm that normal operation is possible in each steering mode in
5 Every day
selection steps 1 to 4 when the System switch is switched to FU-1 and FU-2.
ANNUNCIATOR Test the lamp and buzzer by simultaneously pressing the and
6 UNIT Every week
keys on the ANNUNCIATOR UNIT.
Auto steering unit For the dimmer in Adjust Mode 1 and contrast adjustment items, test
7 the lamp, data display unit and buzzer by simultaneously pressing the Every week
and keys.
Course input check Make sure that the course displayed on the data display of the auto
steering unit agrees with the indication of the steering repeater com-
8 pass. For a ship connected with an auxiliary compass, select the aux- Every week
iliary compass, and check that the indication of the auxiliary compass
and display on the data display agree with each other.
Screw and fixed Check the terminal screws and other fixing screws on the terminal Every six
9
portion check board, and tighten them if required. months

IM80B02-19E 22th Edition:Sep.18,2015-00

Blank Page
 (OPTION) (OPTION)
AUTO STEERING UNIT(PB343,344) AUTO STEERING UNIT(PB345) ANNUNCIATOR UNIT
(PH614)
SWITCH UNIT SWITCH UNIT
8.
(PH720) (PH721)
SHEET KEY SHEET KEY MODE SWITCH AUTO UNIT SELECT SWITCH
CPU BD STEERING REPEATER
DC PS DC PS
COMPASS (MKR056)
CN6 CN5 CN6 CN5 (40P) (40P)
(14P) (5P) (14P) (5P) CN2 CN1 MODE AUTO
CN2 CN1
AUTO CPU AUTO CPU

CN1
CN1
CN1
CN1

(96P)
(96P)
(40P) (40P)

(96P)
(96P)
BACK LIGHT BOARD BACK LIGHT BOARD
LED DISPLAY BOARD
I/O (1) I/O (1) (50P) (10P) (10P)

(96P)
(96P)

(96P)
(96P)

CN2
CN1
CN2
CN1
MMI/F BD. MMI/F BD. CN3 CN1 CN1

I/O (2) I/O (2) TB1

CN3
CN1
CN3
CN1

(96P)
(96P)

(96P)
(96P)
(50P) (50P)
CN2 CN2

HAND STEERING
UNIT (PB335)

CN5-1 CN5-2 CN6 CN7-1 CN7-2 TERMINAL UNIT SWITCH UNIT

(PN026) (PH718) DIMMER
(50P) (50P) (50P) (8P) (5P) NO.1
CPU BOARD NON
SYSTEM CN2
CN2 CN1 FOLLOW-UP
(3P)
CN14 CN13 HAND BACK
(40P) (40P) LIGHT BOARD
(9P)

CN1
CN9

(44P)
(44P)
MODE MODE

(8P)
CN1

AUTO TERMINAL NO.1 CN3 CN4 CN5

MANUAL BACK LIGHT (5P) (5P) (9P)
Attached Figures

(8P)
BORAD
(10P)
CN10

BOARD HAND V/I CONVERTER

TERMINAL
(9P) (9P)
TB1-2(14P)

(7P)
CN2 CN1

TB1-1(14P)

CN10 CN11-3 CN11-2 CN11-1

(10P)
(6P)
CN19

DC PS

Figure 8.1 Cable connection diagram

NO.2
CPU BOARD
CN2 CN1
CN14 CN13
(40P) (40P)

CN2
CN9

(44P)
(44P)
(8P)

IM80B02-19E
NO.2
< 8.Attached Figures >

MANUAL (8P)
TERMINAL
TB1-2(14P)
(7P)

TB5(60P)

TB1-1(14P)
(10P)
CN10 CN11-3 CN11-2 CN11-1

(5P) (6P)
CN8 CN19

DC PS DC PS

22th Edition:Sep.18,2015-00
8-1
 8-2

IM80B02-19E
TERMINAL UNIT (PN026)
TB5 AUTO TERMINAL
12 TB6
24V DC P
13 TB5
N TP11 50Hz : CLOSE CN24
14 60Hz : OPEN 37 GND
E 1+15 9 100
2+15 19 38 M0A
CN23 101
39 UNIT
16 D19 3+15 NMI JP1 10 103 (OPTION)
NO.1 MANUAL TERMINAL SENSE 40
7 4+15 20 104
17
BATT NMI
F3 +24
TB1_1 CN11-1 CN11-1 CN9 CN1 TP7
1 10 9 2A 2A RL6
100V AC U 1 4 020
2 14 13 120 RL1
V 2 5 022 F1
3 26 25 122 RL6 +24 (OPTION)
CN19
2A

6 RL1
F3
MCA
D18

22th Edition:Sep.18,2015-00
4 21 22 6 RL6 TP1 AUTO UNIT
ACV 3 7 U RL1
5 17 18 5 (PB345)
FU CN11-3 8 DC GND
6 4 3 4 +24 I/O (2) MB.

TP14
TP10
TP13
NFS 1 -15
F2
CN11-3 1-15 RL7 CN5_2 CN2 +24
7 2 1 PS 3
5
4
3
2
1

NFP 2 3 +15 2A 024

8 2 1+15 CN3 124 +24 +24 DC
020
CN8

NF +5 RL7 025 PS
1+5 120 125 +5V +5V
V

1
U

SWITCH UNIT
+24

022
GND
GND
< 8.Attached Figures >

[SYS/NF] TP15 014 1+15 122 RL7

NO.1 CN10 014 3+15
114 1-15 114 3-15

D32
D29
D30
(PH718) 115 DC PS MMI/F SHEET
CPU 5 +24 24B KEY
CN1 24B I/O (1) (1)
CN13 6 1+15 +5V +5V +5V
+15 018 1+15 CN11_2 +5 +15 -15
1 2
7 1 018 +24
-15 118 1-15 2A CN4 F5
8 1-15 2 016 020 AUTO CPU
+5 019 1+5 +24 +24 +24 120 2A CN7_1 +5V
24B TP12 F2 022 7
9 116 SW UNIT
119 122

HAND
STEERING UNIT
10 7 015 014 4+15 8 [MODE/AUTO]
020 114 4-15
8 115 115 AUTO UNIT
120 (PB343,344)
D31 +24 I/O (2) MMI/F
+24 +24 CN5_1 CN2 +24 BD.
CN7_2 024
124 +24
4 SW UNIT 025
[AUTO SELECT] 125 +5V
5 +24 DC
TP2 +5V PS
NO.2 MANUAL TERMINAL
I/O (1)
1+15 1RC+ +24 +5V SHEET
TB5 KEY
F3 2+15 +5V
TB1_1 CN16 CN24 26
CN11-1 CN11-1 CN9 CN2 F4 AUTO CPU
1 12 11 2A 13 24V RC
100V AC U 1 4 020 RC STEER 6 27 +5V
2 16 15 120 2A 4 1RC+ STEERING
V 2 5 022 I/V CONV. 7 28 UNIT

Figure 8.2 Power line circuit

D14

3 27 28 CN19 122 14 1RC -

MCA 6 V (STBD) 8 29
4 23 24 6 5 GND (STBD)
ACV 3 7 U 9 ANNUNCIATOR
5 19 20 5 1-15 UNIT (PH614)
FU CN11-3 8 DC GND 1RC- 24B
6 8 7 4

TP14
TP10
TP13
NFS 1 CN11-3 -15 2-15 CN6 CN3 LED CPU BD
7 6 5 3 2-15 BG DISPLAY BD.
NFP 2 3 PS +15 24B 120
8 2 2+15 24B 022 24B +5V
NF +5
TP3 24B 122
SWITCH UNIT 1 2+5 TP5 24B 023 +5V
BG 123
[SYS/NF] TP15 014 2+15 BG 024
NO.2 CN10 BG 124
114 2-15 3+15 2RC+ +24 025

D32
D29
D30
BG DC
CPU 5 +24 (PH718) 24B TB5 125 PS
CN1 CN13 24B 4+15 CN25
6 2+15 CN11_2 +5 +15 -15 CN17 46
+15 018 2+15 1 2 13 24V RC
7 1 018 RC STEER 6 47
-15 118 2-15 2A 4 2RC+ STEERING
8 2-15 2 016 I/V CONV. 7 48 UNIT
D16

+5 019 2+5 +24 TP12 F2 +24 +24 14 2RC -

9 24B 116 (PORT) 8 49
119 5 GND (PORT) +24

HAND
STEERING UNIT
10 7 015 9 TB5
020 3-15 CN23
8 115 2RC- 19
120 10 24V DIGITAL
4-15 20
20 GND RC
D31
+24 TP6
 TERMINAL UNIT (PN026)
HAND STEERING UNIT NO.1 MANUAL TERMINAL SO TP5
PB335 NO.1 CPU CN13-112
TP2 TP4
±0.1V/1° TP6
(-:P, +:S) TP3 VR3 SPAN TP7 TP9 -
±0.1V/1° 1+V RL2
μ CN13-13
(-:P, +:S) +
1+V
TP2 TP3 ±1mA/1° - 100Ω
TP5 TP6 TP4 -
(-:P,+:S) - +
- 100Ω HAND
1+V HAND θ + TB1-2 θ- COM (OUTPUT)
CN1-1 CN10-1 + 1+V 1 NO.1
CN1-5 + 1-V θ
100Ω VR1 2
1-V RC RUDDER ORDER
1-V ZERO μ
CN1-3 4 SIGNAL
TP15 COM
COM AUTO 1-V VR4 SPAN ±1mA/1°
CN1-4 TP8 TP11
1+V RL3 (- : P, + : S)
TP1 - 100Ω μ- COM (INPUT)
VR1 1S-SPAN -
+ 2+V RL4 SYS.NO1 NO.1
+ RUDDER FEEDBACK
NO.1 1+V 1+V 1-V
- AUTO θ RL2 SIGNAL
CN3-5 CN13-11 VR2
CN3-4 + ZERO
±1mA/1°
CN3-3 RL3 SYS.NO2 (- : P, + : S)
CN3-2 1-V
CN3-1 VR3 1P-SPAN RL4
RL8 SW1
CN13-15 -
- CN9-3 CN1-3 RC STEERING 1 OFF
+ 1RCS
+ HAND CN9-109 CN1-109 100Ω CN1-7 CN9-7
RC CN9-10 CN1-10
1-ZERO AUTO CN9-9 CN1-9
VR2 CN1-107 CN9-107
CN11-2-4
CN11-2-3

1+V
- SW UNIT SW UNIT
1-V CN7-1-3 AUTO
+ (MODE) CN7-1-4 (SYSTEM)
(PH720) CN7-1-2
TERMINAL (PH718)
INV
CN2-7 CN9-7
HAND
HAND V/I CONV. RC
CN9-109 CN2-109
CN9-10 CN2-10 CN2-107 CN9-107
AUTO
CN11-2-4
CN11-2-3

TP8 TP9 CN9-9 CN2-9

2+V RL9

POTENTIOMETER
TP11 TP12TP10 NO.2 MANUAL TERMINAL -
CN9-3 CN2-3 RC STEERING 2
- 100Ω NO.2 CPU + 2RCS 2+V RL4 SYS.NO1
2+V
CN2-5 + 100Ω
RL2
2-V
CN2-3 2-V
RL3 SYS.NO2
COM

Figure 8.3 Interface circuit A

±0.1V/1°
CN2-4 (-:P, +:S) SO
RL4
TP7 TP2 TP4 CN13-112
VR4 2S-SPAN TP6 ±0.1V/1° SW1
TP3 VR3 SPAN TP7 TP9
(-:P, +:S) 2+V RL2
NO.2 ON
- ±1mAV/1° - 100Ω
CN4-5 -
CN4-4 + (-:P, +:S) - +
HAND
+ 1
TB1-2 θ- COM (OUTPUT)
CN4-3 HAND θ NO.2
CN2-1 CN10-1 + 2+V θ
CN4-2 2-V 2 RUDDER ORDER
VR6 2P-SPAN 100Ω VR1 μ
CN4-1 RC SIGNAL
ZERO 4
COM ±1mA/1°
TP15
AUTO 2-V VR4 SPAN (- : P, + : S)
- TP8 TP11
2+V RL3
+ TP5
μ- COM (INPUT)
- 100Ω NO.2
-
2-ZERO + RUDDER FEEDBACK

IM80B02-19E
+ - SIGNAL
VR5 2+V 2+V μ CN13-13
< 8.Attached Figures >

AUTO θ 2-V + ±1mA/1°

2+V CN13-11 VR2
ZERO (- : P, + : S)
-
2-V + 2-V
CN13-15
INV

22th Edition:Sep.18,2015-00
8-3
 AUTO STEERING UNIT TERMINAL UNIT (PN026)
(PB343, 344)
8-4

I/O (2) NO.1

R MANUAL TERMINAL 1X R
A CN2-107 CN5-1-107 CN1-1 CN9-1 CN13-9 CN1-9 A

IM80B02-19E
R R

D 1Y D
D B CN2-8 CN5-1-8 CN1-101 CN9-101 CN13-109 CN1-109 B D

CN2-108 CN5-1-108

CPU
CPU
R 2X R
A CN2-9 CN5-1-9 CN1-2 CN9-2 CN13-10 CN1-10 A
R R

D 2Y D
D B CN2-109 CN5-1-109 CN1-102 CN9-102 CN13-110 CN1-110 B D

CN13-20 CN1-20
CN2-10 CN5-1-10 CN1-115 CN9-115 AUTO θ CN13-120 CN1-120

22th Edition:Sep.18,2015-00
SA D/A
TB1-2 CN13-11 CN1-11 S/H
ACTUAL RUDDER ANGLE 11 RDA
(OPTION) RDA CN13-12 CN1-12 S/H OUT
OUTPUT
(P40 to S40 : 0V DC to 5V DC) 12 CDV
(OPTION) COM CN13-111 CN1-111
S/H
AUTO STEERING UNIT 13
TP13
< 8.Attached Figures >

(PB345) COURSE DEVIATION CDV TP8 TP6 TP7

(OPTION) OUTPUT 14
I/O (2) COM ±0.1V/° A/D
R
(P20 to S20 : 0V DC to 5V DC) (-:P, +: S)
A CN2-107 CN5-2-107 AUTO θ
R SO
FEEDBACK CN13-112 CN1-112
D
B CN2-8 CN5-2-8 μ SFB IN
D CN13-13 CN1-13
3 SM
CN2-108 CN5-2-108 MOT CN13-113 CN1-113
INPUT 4
COM NO.1 CPU BD
CPU
TB1-2
R
A CN2-9 CN5-2-9
R

D NO.2
D B CN2-109 CN5-2-109 MANUAL TERMINAL R
CN2-1 CN9-1 CN13-9 CN1-9 A
R
CN2-10 CN5-2-10 D
CN2-101 CN9-101 CN13-109 CN1-109 B D

Figure 8.4 Interface circuit B

CPU
R
CN2-2 CN9-2 CN13-10 CN1-10 A
R

D
CN2-102 CN9-102 CN13-110 CN1-110 B D

CN13-20 CN1-20
CN2-115 CN9-115 AUTO θ CN13-120 CN1-120
AUTO
TERMINAL SA D/A
TB1-2 CN13-11 CN1-11 S/H
ACTUAL RUDDER ANGLE 11 RDA
(OPTION) RDA CN13-12 CN1-12 S/H OUT
OUTPUT
(P40 to S40 : 0V DC to 5V DC) 12 CDV
COM CN13-111 CN1-111
S/H
13
COURSE DEVIATION CDV TP13
OUTPUT TP8 TP6 TP7
(OPTION) 14
COM ±0.1V/° A/D
(P20 to S20 : 0V DC to 5V DC) (-:P, +: S)
AUTO θ SO
FEEDBACK CN13-112 CN1-112
μ SFB IN
CN13-13 CN1-13
3 CN1-113 SM
MOT CN13-113
INPUT 4
COM
NO.2 CPU BD
TB1-2
 AUTO TERMINAL (PN026) AUTO SEERING UNIT (PB343, BNAAC)
VOC
TB5 I/O (2) I/O (1) U16
AUTO CPU
RL2
GYRO COMPASS 1 RD1A CN5-1-1 CN2-1 CN1-24 CN1-24 H8 BUS AUTO
IN UART
(NMEA 0183) RL2 CPU
2 RD1B
RL2 CN5-1-101 CN2-101 CN1-124 CN1-124 VOC
AUX COMPASS 3 RD2A U17
(NMEA 0183) IN RL2
4 RD2B AUTO
CN5-1-2 CN2-2 CN1-224 CN1-224 UART H8 BUS CPU
RL3
5 RD3A
IN RL3 CN5-1-102 CN2-102 CN1-25 CN1-25 VOC
EXT. COMPUTER 6 RD3B
(NMEA0183) RL3 U2
7 SD1A CN5-1-3 CN2-3 CN1-125 CN1-125 RXD3
OUT RL3 CN1-213 CN1-213
8 SD1B
CN5-1-103 CN2-103 CN1-225 CN1-225
9 SG ADRS BUFF H8 BUS
SPEED LOG 10 LOG CN5-1-4 CN2-4 CN1-26
IN CN1-26 TXD3
(Pulse/n mile) CN1-112 CN1-112
11 GND
CN5-1-104 CN2-104 CN1-126 CN1-126 VOC
TB5 GND
BUFF H8
RL16 E3

3
15 RDA CN5-1-5 CN2-5 CN1-226 CN1-226

2
IN RXD4
RL16 CN1-014 CN1-014
16 RDB

1
(OPTION)
DIGITAL RC RL16 CN5-1-105 CN2-105 CN1-27 CN1-27
(NMEA0183) 17 SDA
OUT RL16 DATA BUFF
18 SDB CN5-1-6 CN2-6 CN1-127 CN1-127 TXD4
CN1-212 CN1-212
CN5-1-106 CN2-106 CN1-227 CN1-227
TB5
30 ORS AUTO U101
(OPTION) CN5-1-7 CN2-7 BUFF H8 BUS U108
OVERRIDE CPU
SIGNAL INPUT 31 ORP
CN5-1-13 CN2-13 UART BUS
32 GND
OVERRIDE CN5-1-113 CN2-113 AUTO
COURSE AGAIN 33 HDS CN5-1-14 CN2-14
BUFF H8 BUS CPU
U109 SH4
34 GND CN5-1-112 CN2-112

CN5-1-8 CN2-8 UART BUS

GND
CN5-1-10 CN2-10
+24V CN101
GND GND
(Dsub9) SCi

Figure 8.5 Interface circuit C

RL2 RL3 RL16
SCiF
SW UNIT
CN7-2-2
GND (PH721)
CN5-2-1
CN5-2-101
CN5-2-2 U18
CN2-1
CN5-2-102
CN5-2-3 UART H8 BUS AUTO CPU
CN5-2-103 CN2-2 VOC
CN5-2-4
CN5-2-104 (OPTION) U19
CN5-2-5 AUTO
CN5-2-105 CN2-3 UART H8 BUS
STEERING UNIT AUTO CPU
CN5-2-6
CN5-2-106 CN2-4 VOC U20
CN5-2-7

IM80B02-19E
CN5-2-13
< 8.Attached Figures >

CN5-2-113
CN5-2-14 CN2-5
CN5-2-112
CN5-2-8
CN2-6 UART H8 BUS AUTO CPU
CN5-2-10
GND
CN2-7
(OPTION) TB5 (20P)
VDR OUTPUT A1 SD8A CN1-8
B1 SD8B CPLD
LOG INPUT A2 RD9A
B2 RD9B
A3 RD10A
ALR INPUT/OUTPUT B3 RD10B
A4 SD10A
B4 SD10B

22th Edition:Sep.18,2015-00
8-5
 ANNUNCIATOR UNIT (PH614) TERMINAL UNIT (PN026)
8-6

24B +24 AUTO TERMINAL MANUAL TERMINAL

TB5
(NO.1)

IM80B02-19E
CPU BD 50 U
FL
51 TB1-1
RL12 D96 RL13 D97 RL14 D98 RL15 D99 EMG
CPU 52 24B RL1 1
CAU U 100V AC
PC1 PC1 PC1 PC1 53 V
2
CRS V
54 RL10 RL9 RL8 RL7 RL6
GND

JP11
JP12
JP13
JP14
9
RUN
LED DISPLAY BD. 10
CN3 CN6 SFL1
CN5-1 11
FL1 CN26 SFL2
001 116 CN5-2 12
001 SFL3

RL12
RL13
RL14
RL15
FL2 101 116 13
EMG1 101 SFL4
002 017 CN1 CN9 14
EMG2 002 BCM
102 017 1RUN 103 RUN
CAU1 102
003 117 1NV 006 NV
003

AUTO UNIT (PB343, 344)

CAU2

22th Edition:Sep.18,2015-00
103 117 1SFL1 004 SFL1 JP2 TB1-2
CRS1 103 RL1 NC
004 018 1SFL2 SFL2 9

(OPTION)
004 104 NVA NO.1 NO VOLT.

AUTO UNIT (PB345)

CRS2 104 018 1SFL3 SFL3 NO ALARM OUTPUT
005
10 NVB
1RUN 104
005 1SFL4 105 SFL4
2RUN 005
105 SWITCH
3RUN 105 3RUN CN3
006 103 24B UNIT
CN4
< 8.Attached Figures >

4RUN 006 24B

RL10
RL9
RL8
RL7
RL1
RL6

106 4RUN 103

CN11-2 [SYS/NF]
1NV 106
007 P
007 018 1
2NV 107 24VB 2A
107 CN3 016 2
3NV 008 3NV 006 BG F2
008 CN4 116
4NV 108 4NV 006
1SFL1 108
009
1SFL2 009
109
1SFL3 109
010
1SFL4 010 MANUAL TERMINAL
110
2SFL1 110 (NO.2)
011 U
2SFL2 011 TB1-1
111 RL1
2SFL3 111 24B 1
012 U 100V AC
2SFL4 012 V
2
112 V
112 3SFL1 CN3 RL10 RL9 RL8 RL7 RL6
3SFL1 013 004
3SFL2 013
113 3SFL2 104 9
3SFL3 113 RUN
014 3SFL3 005 10
3SFL4 014 SFL1
114 3SFL4 105 11

Figure 8.6 Alarm circuit

4SFL1 114 4SFL1 CN4 SFL2
015 004 12
4SFL2 015 4SFL2 SFL3
115 104 13
4SFL3 115 4SFL3 SFL4
016 005 CN2 CN9 14
016 CN5-1 BCM
4SFL4 116 4SFL4 105 115 2RUN RUN
116 CN5-2 103
115 2NV NV
CN5-1 006
CN25 016 2SFL1 SFL1 JP2 TB1-2
BSP 020 BSP 8 CN5-2 004 RL1 NC
AUTO UNIT (PB343, 344)

JP7 BG BG 016 2SFL2 104 SFL2 9

120 18 NVA NO.2 NO VOLT.
(OPTION)

RL1 NC 2SFL3 SFL3 NO ALARM OUTPUT

BSA BSA 005
AUTO UNIT (PB345)

10 NVB
021 9
NO BSB BSB 2SFL4 105 SFL4
121 19
24B FLA SWITCH
022 24B
10
24B FLB CN24 103 24B UNIT
24B 122 20 24B
RL10
RL9
RL8
RL7
RL1
RL6

BUZZER 24B 10 [SYS/NF]

CIRCUIT 023 CN23 CN11-2
24B P P P
123 16 018 1
CN26 24VB 2A
BG 024 024 016 2
CN23 N
RL1 BG N BG F2
124 124 7 116
BG 025 025
BG 125 125

55
56
57
58
59
60
39
40
12
13
14

TB5
TB5
P
E
N

103
104

FLA
FLB

BSP
BSA
BSB

BCM INPUT
FAIL

BZ STOP
OUTPUT
BZ STOP
(OPTION)
M0A UNIT
BATT

AUTO UNIT
24V DC
Revision Information
 Title : PM208 Adaptive Autopilot
PT500A Series User’s Manual
 Manual No. : IM 80B02-19E

Aug, 1996 1st Edition

Aug, 1997 2nd Edition
Apr, 1998 3rd Edition
Apr, 1999 4th Edition
Aug, 1999 5th Edition
Aug, 2000 6th Edition
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Oct, 2011 20th Edition
Dec, 2014 21th Edition
Sep, 2015 22th Edition

 Inquiries
For inquiries about the content of this manual, please visit the following URL. Also
visit the Yokogawa Denshikiki website at the following address for information on this
product.
URL for inquiries:
Yokogawa Denshikiki website: http://www.yokogawa.com/YDK/contact.htm
 Written by Yokogawa Denshikiki Co,.Ltd.
 Published by Yokogawa Denshikiki Co,.Ltd.
5-23-13 Sendagaya, Shibuya-ku, Tokyo 151-0051, JAPAN

IM80B02-19E 22th Edition:Sep.18,2015-00

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